CSM Camera Skymap (#5072)

* stuff

* idk

* working skypt on csm cam

* Initial tweeks to the CSM camera to get skymap to work with it

* Adds body rotation in csminit if it is present on the ISD

* Adds test to extract body rotation from isd if it exists

* Addressed feedback and did extra clean uip

* A bunch of msl related camera changes

* Removed left over print statements

* Updated csminit/CSMCamera pipeline to get the correct data

* Small doc fix in RaDecRange in Camera.cpp

* Cleaned up constant frame check in SpiceRotation

* Set camera based center longitude and allowed users to select mapping direction

* Updated the skymap docs

* Addressed PR feedback

* Moved git into its own environment

* Removed git submodule update in favor of jenkins doing it

* Fixed most test failures

* Fixed last failing test

* Clean up

* Fixed changes to comments in camera.cpp

* Added changelog entries

* Minor fixes and guards in CSMCamera

* Fixes in qview tools when working with sky target imagery

* Fixed spacing

* Removed body rotation extraction from ISDs

* Fixed failing test

* Updated cam camera tests

* Remove body rotation tests

* Added print statement

* Removed print statement

* Modified imageToRemoteImageLocus expected call

---------

Co-authored-by: Kelvin Rodriguez <[email protected]>
Co-authored-by: EC2 Default User <[email protected]>

CHANGELOG.md

@@ -35,6 +35,11 @@ release.
 
 ## [Unreleased]
 
+### Added
+
+- CSMCamera can now read and use the body rotation from ALE produced ISDs [#5072](https://github.com/DOI-USGS/ISIS3/pull/5072)
+- CSMSkyMap added to CSMCamera for use with local rover projections in ISIS [#5072](https://github.com/DOI-USGS/ISIS3/pull/5072)
+
 ### Fixed
 - Fixed <i>noproj</i> bug where some temporary files were not deleted after call to cam2cam.  Issue: [#4813](https://github.com/USGS-Astrogeology/ISIS3/issues/4813)
 - Fixed <i>noproj</i> bug where missing shapemodel-related keywords (RayTraceEngine, BulletParts, Tolerance) are dropped when the output label is created. This resulted in the Bullet collision detection engine not being used. Issue: [#5377](https://github.com/USGS-Astrogeology/ISIS3/issues/5377)

isis/src/base/apps/csminit/csminit.cpp

@@ -29,8 +29,10 @@ find files of those names at the top level of this repository. **/
 #include "Pvl.h"
 #include "PvlGroup.h"
 #include "PvlKeyword.h"
+#include "SpiceRotation.h"
 
 using namespace std;
+using json = nlohmann::json;
 
 namespace Isis {
 
@@ -417,6 +419,24 @@ namespace Isis {
     blobLabel += PvlKeyword("PluginName", pluginName);
     cube->write(csmStateBlob);
 
+    // Try to add naif keywords
+    if (ui.WasEntered("ISD")) {
+      QString isdFilePath = ui.GetFileName("ISD");
+      std::ifstream isdFileStream(isdFilePath.toStdString());
+      try {
+        json isd = json::parse(isdFileStream);
+
+        if (isd.contains("naif_keywords")) {
+          json aleNaifKeywords = isd["naif_keywords"];
+          PvlObject naifKeywords = PvlObject("NaifKeywords", aleNaifKeywords);
+          *cube->label() += naifKeywords;
+        }
+      }
+      catch (json::parse_error &e) {
+        // continue if we hit a parse error
+      }
+    }
+
     try {
       CameraFactory::Create(*cube);
       p.WriteHistory(*cube);

isis/src/base/apps/skymap/main.cpp

@@ -88,7 +88,9 @@ void IsisMain() {
   userGrp.addKeyword(PvlKeyword("EquatorialRadius", toString(1.0)), Pvl::Replace);
   userGrp.addKeyword(PvlKeyword("PolarRadius", toString(1.0)), Pvl::Replace);
   userGrp.addKeyword(PvlKeyword("LatitudeType", "Planetocentric"), Pvl::Replace);
-  userGrp.addKeyword(PvlKeyword("LongitudeDirection", "PositiveWest"), Pvl::Replace);
+  if (!userGrp.hasKeyword("LongitudeDirection")) {
+    userGrp.addKeyword(PvlKeyword("LongitudeDirection", "PositiveWest"), Pvl::Replace);
+  }
   userGrp.addKeyword(PvlKeyword("LongitudeDomain", "360"), Pvl::Replace);
   if(userGrp.hasKeyword("PixelResolution")) {
     userGrp.deleteKeyword("PixelResolution");
@@ -102,6 +104,9 @@ void IsisMain() {
     userGrp.addKeyword(PvlKeyword("MaximumLongitude", toString(maxRa)), Pvl::Replace);
     userGrp.addKeyword(PvlKeyword("MinimumLatitude", toString(minDec)), Pvl::Replace);
     userGrp.addKeyword(PvlKeyword("MaximumLatitude", toString(maxDec)), Pvl::Replace);
+    incam->SetImage(icube->sampleCount() / 2.0, icube->lineCount() / 2.0);
+    double centerRa = incam->RightAscension();
+    userGrp.addKeyword(PvlKeyword("CenterLongitude", toString(centerRa)), Pvl::Replace);
   }
   if(ui.GetString("DEFAULTSCALE") == "CAMERA") {
     double res = incam->RaDecResolution();
@@ -247,6 +252,13 @@ bool sky2map::Xform(double &inSample, double &inLine,
   if(p_incam->Sample() > p_inputSamples + 0.5) return false;
   if(p_incam->Line() > p_inputLines + 0.5) return false;
 
+  p_incam->SetImage(p_incam->Sample(), p_incam->Line());
+
+  // Check that the new line and sample projects close to the input Right Ascension 
+  // and Declination
+  if (abs(p_incam->RightAscension() - lon) > 0.1) return false;
+  if (abs(p_incam->Declination() - lat) > 0.1) return false;
+
   // Everything is good
   inSample = p_incam->Sample();
   inLine = p_incam->Line();

isis/src/base/apps/skymap/skymap.xml

@@ -29,9 +29,10 @@
     MaximumLatitude        = Computed from the input camera cube or map file
     MinimumLongitude       = Computed from the input camera cube or map file
     MaximumLongitude       = Computed from the input camera cube or map file
+    CenterLongitude        = Computed from the input camera cube at the center of the image
 
     ProjectionName         = Projection name in the map file
-    Scale                 = Computed from the input camera cube or map file
+    Scale                  = Computed from the input camera cube or map file
   EndGroup
     </pre>
 
@@ -48,6 +49,14 @@
     Finally, the user has the option to override the pixel resolution and the ground range (latitude/longitude).  These changes can be
     facilitied through the parameters SCALE, SRA, ERA, SDEC, and EDEC.
   </p>
+
+  <p>
+    In addition, skymap can be used to produce landed mosaics from rovers like MSL. This can be done using ALE to generate an ISD
+    which can be attached to the cube via <def link="csminit">csminit</def>. The user would then have to update the LongitudeDirection 
+    their map file to PositiveWest. This converts the projection from a right ascension/declination projection to an azimuth/elevation 
+    projection. Once that is done, the user would run their ISIS cube through <def link="skymap">skymap</def> and see that the landed 
+    rover data would project relative to other images in the same image sequence.
+  </p>
   </description>
 
   <category>
@@ -101,6 +110,10 @@
       <change name="Debbie A. Cook" date="2012-12-10">
         Changed to use TProjection instead of Projection.  References #775
       </change>
+      <change name="Adam Paquette" date="2023-05-01">
+        Updated camera to properly calculate the center longitude. Also
+        allowed users to select PositiveEast in there mapping file.
+      </change>
  </history>
 
   <groups>

isis/src/base/apps/skypt/main.cpp

@@ -2,6 +2,7 @@
 
 #include "Brick.h"
 #include "Camera.h"
+#include "CSMCamera.h"
 #include "IException.h"
 #include "iTime.h"
 
@@ -47,8 +48,13 @@ void IsisMain() {
   int intLine = (int)(line + 0.5);
   b.SetBasePosition(intSamp, intLine, 1);
   cube.read(b);
-
-  double rot = cam->CelestialNorthClockAngle();
+
+  double rot;
+  if (cube.hasBlob("CSMState", "String")) {
+    rot = ((CSMCamera*)cam)->CelestialNorthClockAngle();
+  } else {
+    rot = cam->CelestialNorthClockAngle();
+  }
 
   // Create group with sky position
   PvlGroup sp("SkyPoint");