Initial MSL Mastcam Driver (#491) (1b5a5969) · Commits · aflab / astrogeology / Ale

ale/base/label_pds3.py

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	@@ -288,19 +288,23 @@ class Pds3Label():
	"""		"""
	# The EXPOSURE_DURATION may either be stored as a (value, unit) or just a value		# The EXPOSURE_DURATION may either be stored as a (value, unit) or just a value
	if 'EXPOSURE_DURATION' in self.label:		if 'EXPOSURE_DURATION' in self.label:
			key = self.label['EXPOSURE_DURATION']
			elif 'INSTRUMENT_STATE_PARMS' in self.label:
			key = self.label['INSTRUMENT_STATE_PARMS']['EXPOSURE_DURATION']
			else:
			return self.line_exposure_duration
	try:		try:
	unit = self.label['EXPOSURE_DURATION'].units		unit = key.units
	unit = unit.lower()		unit = unit.lower()
	if unit == "ms" or unit == "msec" or unit == "millisecond":		if unit == "ms" or unit == "msec" or unit == "millisecond":
	return self.label['EXPOSURE_DURATION'].value * 0.001		return key.value * 0.001
	else:		else:
	return self.label['EXPOSURE_DURATION'].value		return key.value

	# With no units, assume milliseconds		# With no units, assume milliseconds
	except:		except:
	return self.label['EXPOSURE_DURATION'] * 0.001		return key * 0.001
	else:
	return self.line_exposure_duration


	# Consider expanding this to handle units		# Consider expanding this to handle units

ale/drivers/msl_drivers.py

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			import numpy as np
			import spiceypy as spice

			from ale.base.data_naif import NaifSpice
			from ale.base.label_pds3 import Pds3Label
			from ale.base.type_sensor import Framer
			from ale.base.type_distortion import NoDistortion
			from ale.base.base import Driver

			class MslMastcamPds3NaifSpiceDriver(Framer, Pds3Label, NaifSpice, NoDistortion, Driver):
			@property
			def spacecraft_name(self):
			"""
			Spacecraft name used in various SPICE calls to acquire
			ephemeris data. MSL Mastcam img PDS3 labels do not the have a SPACECRAFT_NAME keyword,
			so we override it here to find INSTRUMENT_HOST_NAME in the label.

			Returns
			-------
			: str
			Spacecraft name
			"""
			return self.instrument_host_name

			@property
			def instrument_id(self):
			"""
			Returns an instrument id for uniquely identifying the instrument, but often
			also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
			the same ID the Spice expects in bods2c calls.

			Expects instrument_id to be defined in the Pds3Label mixin. This should
			be a string of the form MAST_RIGHT or MAST_LEFT.

			Returns
			-------
			: str
			instrument id
			"""
			lookup = {
			"MAST_RIGHT": 'MASTCAM_RIGHT',
			"MAST_LEFT": 'MASTCAM_LEFT'
			}
			return self.instrument_host_id + "_" + lookup[super().instrument_id]

			@property
			def cahvor_camera_dict(self):
			"""
			Gets the PVL group that represents the CAHVOR camera model
			for the site
			Returns
			-------
			: dict
			A dict of CAHVOR keys to use in other methods
			"""
			if not hasattr(self, '_cahvor_camera_params'):
			camera_model_group = self.label.get('GEOMETRIC_CAMERA_MODEL_PARMS', None)

			self._cahvor_camera_params = {}
			self._cahvor_camera_params['C'] = np.array(camera_model_group["MODEL_COMPONENT_1"])
			self._cahvor_camera_params['A'] = np.array(camera_model_group["MODEL_COMPONENT_2"])
			self._cahvor_camera_params['H'] = np.array(camera_model_group["MODEL_COMPONENT_3"])
			self._cahvor_camera_params['V'] = np.array(camera_model_group["MODEL_COMPONENT_4"])
			if len(camera_model_group.get('MODEL_COMPONENT_ID', ['C', 'A', 'H', 'V'])) == 6:
			self._cahvor_camera_params['O'] = np.array(camera_model_group["MODEL_COMPONENT_5"])
			self._cahvor_camera_params['R'] = np.array(camera_model_group["MODEL_COMPONENT_6"])
			return self._cahvor_camera_params

			@property
			def sensor_frame_id(self):
			"""
			Returns the Naif ID code for the site reference frame
			Expects REFERENCE_COORD_SYSTEM_INDEX to be defined in the camera
			PVL group.
			Returns
			-------
			: int
			Naif ID code for the sensor frame
			"""
			if not hasattr(self, "_site_frame_id"):
			site_frame = "MSL_SITE_" + str(self.label["GEOMETRIC_CAMERA_MODEL_PARMS"]["REFERENCE_COORD_SYSTEM_INDEX"][0])
			self._site_frame_id= spice.bods2c(site_frame)
			return self._site_frame_id

			@property
			def focal2pixel_lines(self):
			"""
			Expects pixel_size to be defined.

			Returns
			-------
			: list<double>
			focal plane to detector lines
			"""
			return [0, 1/self.pixel_size, 0]

			@property
			def focal2pixel_samples(self):
			"""
			Expects pixel_size to be defined.

			Returns
			-------
			: list<double>
			focal plane to detector samples
			"""
			return [1/self.pixel_size, 0, 0]

			@property
			def sensor_model_version(self):
			"""
			Returns
			-------
			: int
			ISIS sensor model version
			"""
			return 1

tests/pytests/data/1664MR0086340000802438C00_DRCL/1664MR0086340000802438C00_DRCL_pds3.lbl

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File added.

Preview size limit exceeded, changes collapsed.

tests/pytests/test_msl_drivers.py

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			import numpy as np
			import unittest

			import ale
			from ale.drivers.msl_drivers import MslMastcamPds3NaifSpiceDriver

			from conftest import get_image_label
			from unittest.mock import PropertyMock, patch

			class test_mastcam_pds_naif(unittest.TestCase):
			def setUp(self):
			label = get_image_label("1664MR0086340000802438C00_DRCL", "pds3")
			self.driver = MslMastcamPds3NaifSpiceDriver(label)

			def test_instrument_id(self):
			assert self.driver.instrument_id == "MSL_MASTCAM_RIGHT"

			def test_spacecraft_name(self):
			assert self.driver.spacecraft_name == "MARS SCIENCE LABORATORY"

			def test_exposure_duration(self):
			np.testing.assert_almost_equal(self.driver.exposure_duration, 0.0102)

			def test_cahvor_camera_dict(self):
			cahvor_camera_dict = self.driver.cahvor_camera_dict
			assert len(cahvor_camera_dict) == 4
			np.testing.assert_allclose(cahvor_camera_dict['C'], [6.831825e-01, 5.243722e-01, -1.955875e+00])
			np.testing.assert_allclose(cahvor_camera_dict['A'], [-3.655151e-01, 5.396012e-01, 7.584387e-01])
			np.testing.assert_allclose(cahvor_camera_dict['H'], [-1.156881e+04, -7.518712e+03, 6.618359e+02])
			np.testing.assert_allclose(cahvor_camera_dict['V'], [5.843885e+03, -8.213856e+03, 9.438374e+03])

			def test_sensor_frame_id(self):
			with patch('ale.drivers.msl_drivers.spice.bods2c', return_value=-76562) as bods2c:
			assert self.driver.sensor_frame_id == -76562
			bods2c.assert_called_with("MSL_SITE_62")

			# uncomment once cahvor mixin is merged
			# def test_focal2pixel_lines(self):
			# np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 137968.44341513602, 0])

			# def test_focal2pixel_samples(self):
			# np.testing.assert_allclose(self.driver.focal2pixel_samples, [137968.44341513602, 0, 0])