DOI-USGS · Kelvinrr · Apr 4, 2024 · Jul 26, 2018 · Sep 19, 2018 · Dec 2, 2018
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -39,7 +39,6 @@ release.
 - Changed the default spiceinit url to https://astrogeology.usgs.gov/apis/ale/v0.9.1/spiceserver/ and added deprecation warning for use of https://services.isis.astrogeology.usgs.gov/cgi-bin/spiceinit.cgi url. [#5327](https://github.com/USGS-Astrogeology/ISIS3/issues/5327)
 - Skypt has been refactored to be callable; old Makefile tests have been removed and replaced by gtests. Issue: [#5443](https://github.com/USGS-Astrogeology/ISIS3/issues/5443)
 
-
 ### Fixed
 - Fixed a bug in which the histogram tool used the entire image to calculate bin size, which caused an issue with high dynamic range images. [#5371](https://github.com/DOI-USGS/ISIS3/issues/5371)
 - Fixed a bug in which 'version' file was compiled as source and prevented subsequent ISIS recompilation [#5374](https://github.com/DOI-USGS/ISIS3/issues/5374)
@@ -56,6 +55,7 @@ release.
 - Added new option in `ctxcal` to use monthly computed flatfield files for "Frown" removal in CTX images. [#5338](https://github.com/DOI-USGS/ISIS3/pull/5338)
 - 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)
+- OSIRIS-REx Tagcams instrument support, tests, and test data added [#5424](https://github.com/DOI-USGS/ISIS3/issues/5424)
 
 
 ## [8.1.0] - 2024-01-08

diff --git a/isis/appdata/serialnumbers/OsirisRexTagCamsSerialNumber.trn b/isis/appdata/serialnumbers/OsirisRexTagCamsSerialNumber.trn
@@ -0,0 +1,30 @@
+# history 2019-01-19 Kris Becker - Original version added to UofA codebase.
+
+Group = Keyword1
+  Auto
+  InputKey = SpacecraftName
+  InputGroup = "IsisCube,Instrument"
+  InputPosition  = (IsisCube, Instrument)
+  OutputName = Keyword1
+  OutputPosition = ("Group","SerialNumberKeywords")
+  Translation = ("OsirisRex", "OSIRIS-REx")
+  Translation = (*,*)
+EndGroup
+Group = Keyword2
+  Auto
+  InputKey = InstrumentId
+  InputGroup = "IsisCube,Instrument"
+  InputPosition  = (IsisCube, Instrument)
+  OutputName = Keyword2
+  OutputPosition = ("Group","SerialNumberKeywords")
+  Translation = (*,*)
+EndGroup
+Group = Keyword3
+  Auto
+  InputKey = SpacecraftClockStartCount
+  InputGroup = "IsisCube,Instrument"
+  InputPosition  = (IsisCube, Instrument)
+  OutputName = Keyword3
+  OutputPosition = ("Group","SerialNumberKeywords")
+  Translation = (*,*)
+EndGroup
diff --git a/isis/appdata/translations/Instruments.trn b/isis/appdata/translations/Instruments.trn
@@ -142,6 +142,10 @@ Group = InstrumentName
   Translation   = (OCams, SamCam)
   Translation   = (OCams, PolyCam)
 
+  Translation   = (TagCams, NAVCam)
+  Translation   = (TagCams, NFTCam)
+  Translation   = (TagCams, StowCam)
+
   # Rosetta
   Translation   = (Osiris, OSINAC)
   Translation   = (Osiris, OSIWAC)

diff --git a/isis/src/base/objs/CameraGroundMap/CameraGroundMap.h b/isis/src/base/objs/CameraGroundMap/CameraGroundMap.h
@@ -1,5 +1,6 @@
 #ifndef CameraGroundMap_h
 #define CameraGroundMap_h
+
 /** This is free and unencumbered software released into the public domain.
 The authors of ISIS do not claim copyright on the contents of this file.
 For more details about the LICENSE terms and the AUTHORS, you will
@@ -69,6 +70,9 @@ namespace Isis {
    *                          allow the bundle adjustment to skip the back of planet test during iterations. 
    *                          Also changed the name of the angle variable to cosangle to be more 
    *                          descriptive. References #2591.
+   *  @history 2018-07-26 Kris Becker - Move all local variables  and methods to
+   *                         protected scope so derived objects can be developed
+   *                         properly
    */
   class CameraGroundMap {
     public:
@@ -135,7 +139,6 @@ namespace Isis {
       double p_focalPlaneX; //!< Camera's x focal plane coordinate
       double p_focalPlaneY; //!< Camera's y focal plane coordinate
 
-    private:
       void LookCtoFocalPlaneXY();  //!< Calculate focalplane x/y from lookvector in camera
       /** Surface point calculated from ground coordinates in GetXY and used for partials*/
       std::vector<double> m_pB;

diff --git a/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.cpp b/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.cpp
@@ -0,0 +1,47 @@
+/** This is free and unencumbered software released into the public domain.
+The authors of ISIS do not claim copyright on the contents of this file.
+For more details about the LICENSE terms and the AUTHORS, you will
+find files of those names at the top level of this repository. **/
+
+/* SPDX-License-Identifier: CC0-1.0 */
+
+#include "IrregularBodyCameraGroundMap.h"
+
+#include "SurfacePoint.h"
+
+using namespace std;
+
+namespace Isis {
+
+  /** 
+   * Constructor
+   *
+   * @param parent Pointer to camera to be used for mapping with ground
+   */
+  IrregularBodyCameraGroundMap::IrregularBodyCameraGroundMap(Camera *parent,
+      const bool clip_emission_angles) : CameraGroundMap(parent),
+      m_clip_emission(clip_emission_angles) {
+  }
+
+  /** 
+   * This method computes the undistorted focal plane coordinates for a ground
+   * position, using the current Spice settings (time and kernels) without
+   * resetting the current point values for lat/lon/radius/x/y. The class value
+   * value for m_pB and m_lookJ are set by this method.
+   * 
+   * This method has been reimplemented from the CameraGroundMap class to never
+   * perform the emission angle check. This is because it uses the ellipsoid for
+   * the check which is in general not adequate for irregular bodies.
+   *
+   * @param point Surface point (ground position) 
+   * @param cudx [out] Pointer to computed undistored x focal plane coordinate
+   * @param cudy [out] Pointer to computed undistored y focal plane coordinate
+   *
+   * @return @b bool If conversion was successful
+   */
+  bool IrregularBodyCameraGroundMap::GetXY(const SurfacePoint &point, 
+                                           double *cudx, double *cudy) {
+
+      return CameraGroundMap::GetXY(point, cudx, cudy, m_clip_emission);
+  }      
+}
diff --git a/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.h b/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.h
@@ -0,0 +1,54 @@
+#ifndef IrregularBodyCameraGroundMap_h
+#define IrregularBodyCameraGroundMap_h
+
+/** This is free and unencumbered software released into the public domain.
+The authors of ISIS do not claim copyright on the contents of this file.
+For more details about the LICENSE terms and the AUTHORS, you will
+find files of those names at the top level of this repository. **/
+
+/* SPDX-License-Identifier: CC0-1.0 */
+
+#include "Camera.h"
+#include "CameraGroundMap.h"
+#include "SurfacePoint.h"
+
+namespace Isis {
+  /** 
+   * Convert between undistorted focal plane and ground coordinates
+   * 
+   * This class is derived from CameraGroundMap to support the special case of
+   * irregular bodies. Particularly, only the GetXY() method is reimplemented
+   * here to never perform the "emission angle" (in places called "back-of-the-
+   * planet") test. This is because the test uses the ellipsoid to validate
+   * ground point visibility along the look vector to the surface. This is not
+   * adequate for most irregular bodies.
+   *
+   * @ingroup Camera
+   *
+   * @see CameraGroundMap
+   *
+   * @author 2018-07-26 UA/OSIRIS-REx IPWG Team 
+   *
+   * @internal
+   *  @history 2018-07-26 UA/OSIRIS-REx IPWG Team  - Developed to support control
+   *                         of irregular bodies
+   *  @history 2024-03-10 Ken Edmundson - Modified per Kris Becker such that the
+   *                         emission angle (or back-of-the-planet) test is never
+   *                         performed in the GetXY method (see class description
+   *                         above). 
+   */
+  class IrregularBodyCameraGroundMap : public CameraGroundMap {
+    public:
+      IrregularBodyCameraGroundMap(Camera *parent, const bool clip_emission_angles = false);
+
+      //! Destructor
+      virtual ~IrregularBodyCameraGroundMap() {};
+
+      virtual bool GetXY(const SurfacePoint &spoint, double *cudx, double *cudy);
+
+    protected:
+      bool   m_clip_emission;   /**! Test for emission angles? */
+
+  };
+};
+#endif
diff --git a/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.truth b/isis/src/base/objs/IrregularBodyCameraGroundMap/IrregularBodyCameraGroundMap.truth
@@ -0,0 +1 @@
+This class will be tested by the applications and the individual Camera models.
diff --git a/isis/src/base/objs/IrregularBodyCameraGroundMap/Makefile b/isis/src/base/objs/IrregularBodyCameraGroundMap/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+	echo "Please set ISISROOT";
+else
+	include $(ISISROOT)/make/isismake.objs
+endif
diff --git a/isis/src/osirisrex/apps/tagcams2isis/Makefile b/isis/src/osirisrex/apps/tagcams2isis/Makefile
@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+	echo "Please set ISISROOT";
+else
+	include $(ISISROOT)/make/isismake.apps
+endif
diff --git a/isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsArchive_fit.trn b/isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsArchive_fit.trn
@@ -0,0 +1,92 @@
+#
+# This translation file is used to produce the ISIS Archive label group
+# for the Osiris-REx Tagcams cameras (NAVCam, StowCam, NFTCam).
+#
+# Translation = (left,right) convert the input "right" to "left"
+#
+# history 2019-01-10 Kris Becker - Original version added to UofA codebase. 
+#
+Group = ProducerId
+  Auto
+  Optional
+  InputKey       = ORIGIN
+  InputPosition  = FITSLABELS
+  OutputName     = ProducerId
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = CheckSumStatus
+  Auto
+  Optional
+  InputKey       = CKPASS
+  InputPosition  = FITSLABELS
+  OutputName     = CheckSumStatus
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = MetaKernel
+  Auto
+  Optional
+  InputKey       = META_KER
+  InputPosition  = FITSLABELS
+  OutputName     = MetaKernel
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = TAGCAMSCommandedSequenceId
+  Auto
+  Optional
+  InputKey       = TCSEQID
+  InputPosition  = FITSLABELS
+  OutputName     = TagcamsCommandedSequenceId
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = TAGCAMSCommandedImageId
+  Auto
+  Optional
+  InputKey       = TCIMGID
+  InputPosition  = FITSLABELS
+  OutputName     = TagcamsCommandedImageId
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = RawCameraHeadTemperature
+  Auto
+  Optional
+  InputKey       = TCCHTEMP
+  InputPosition  = FITSLABELS
+  InputDefault   = 0
+  OutputName     = RawCameraHeadTemperature
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = RAAtReferencePixel
+  Auto
+  Optional
+  InputKey       = CRVAL1
+  InputPosition  = FITSLABELS
+  InputDefault   = 0
+  OutputName     = RAAtReferencePixel
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+Group = DecAtReferencePixel
+  Auto
+  Optional
+  InputKey       = CRVAL2
+  InputPosition  = FITSLABELS
+  InputDefault   = 0
+  OutputName     = DecAtReferencePixel
+  OutputPosition = (Object, IsisCube, Group, Archive)
+  Translation    = (*, *)
+End_Group
+
+End
diff --git a/isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsBandBin_fit.trn b/isis/src/osirisrex/apps/tagcams2isis/OsirisRexTagcamsBandBin_fit.trn
@@ -0,0 +1,57 @@
+#
+# This translation file is used to produce the ISIS BandBin label group
+# for the OSIRIS-REx Tagcams cameras (NAVCam, StowCam, NFTCam).
+# Translation = (left,right) convert the input "right" to "left"
+# 
+# history 2019-01-19 Kris Becker - Original version added to UofA codebase.
+
+Group = FilterName
+  Auto
+  InputKey       = FILTNAME
+  InputPosition  = FITSLABELS
+  InputDefault   = Monochrome
+  OutputName     = FilterName
+  OutputPosition = (Object, IsisCube, Group, BandBin)
+  InputDefault   = Unknown
+  Translation    = (*, *)
+End_Group
+
+Group = Name
+  Auto
+  InputKey       = INSTRUME
+  InputPosition  = FITSLABELS
+  InputDefault   = TagCams
+  OutputName     = Name
+  OutputPosition = (Object, IsisCube, Group, BandBin)
+  InputDefault   = Unknown
+  Translation    = (NAVCam, NCM)
+  Translation    = (NFTCam, NFT)
+  Translation    = (StowCam, STO)
+  Translation    = (TagCams, *)
+End_Group
+
+Group = FilterNumber
+  Auto
+  InputKey       = FILTNUMB
+  InputPosition  = FITSLABELS
+  InputDefault = 1
+  OutputName     = Number
+  OutputPosition = (Object, IsisCube, Group, BandBin)
+  InputDefault   = Unknown
+  Translation    = (*, *)
+End_Group
+
+Group = FilterCenter
+  Auto
+  InputKey       = INSTRUME
+  InputPosition  = FITSLABELS
+  OutputName     = Center
+  OutputPosition = (Object, IsisCube, Group, BandBin)
+  Translation    = (550 <nm>, N/A)
+  Translation    = (550 <nm>, NCM)
+  Translation    = (550 <nm>, NFT)
+  Translation    = (550 <nm>, STO)
+  Translation    = (*, *)
+End_Group
+
+End
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		This class will be tested by the applications and the individual Camera models.