Commit 1c7979b4 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Updates for ISIS ideal line scan (#224) 

* Updates for ISIS ideal line scan

* Updated euler angle test to use radians and negative angles

* Added a note about noproj

* Updated detector center

* Added rotation extrapolation

* Updated rotations to extrapolate when possible

* Added proper velocity rotations

* Updated based on comments
parent aa0824eb

ale/base/base.py

+12 −0
Original line number Diff line number Diff line
@@ -296,3 +296,15 @@ class Driver(ABC): 
          The stop time of the image in ephemeris seconds past the J2000 epoch.

        """

        pass



    @property

    def center_ephemeris_time(self):

        """

        Returns the average of the start and stop ephemeris times.



        Returns

        -------

        : double

          Center ephemeris time for an image

        """

        return (self.ephemeris_start_time + self.ephemeris_stop_time) / 2

ale/base/data_isis.py

+35 −72
Original line number Diff line number Diff line
@@ -84,11 +84,11 @@ def parse_table(table_label, data): 


    return results



def rotate_positions(table, rotation):

def rotate_state(table, rotation):

    """

    Rotate the positions in a position Table.

    Rotate the positions and velocities in an ISIS position Table.



    If the table stores positions as a function, then it will re compute them

    If the table stores states as a function, then it will re compute them

    based on the original size of the table.



    Parameters
@@ -102,62 +102,27 @@ def rotate_positions(table, rotation): 
    -------

    : 2darray

      Array of rotated positions

    : 2darray

      Array of rotated velocities. Returns None if no velocities are in the table.

    : array

      Array of times for the positions



      Array of times for the states

    """

    # Case 1, the table has positions at discrete times

    positions = None

    velocities = None

    ephemeris_times = None

    # Case 1, the table has states at discrete times

    if 'J2000X' in table:

        ephemeris_times = table['ET']

        positions = 1000 * np.array([table['J2000X'],

                                     table['J2000Y'],

                                     table['J2000Z']]).T

        rotated_pos = rotation.apply_at(positions, ephemeris_times)

    # Case 2, the table has coefficients of polynomials for the position

    elif 'J2000SVX' in table:

        ephemeris_times = np.linspace(table['SpkTableStartTime'],

                                      table['SpkTableEndTime'],

                                      table['SpkTableOriginalSize'])

        base_time = table['J2000SVX'][-1]

        time_scale = table['J2000SVY'][-1]

        scaled_times = (ephemeris_times - base_time) / time_scale

        coeffs = np.array([table['J2000SVX'][:-1],

                           table['J2000SVY'][:-1],

                           table['J2000SVZ'][:-1]]).T

        positions = 1000 * polyval(scaled_times, coeffs).T

        rotated_pos = rotation.apply_at(positions, ephemeris_times)

    else:

        raise ValueError('No positions are available in the input table.')

    return rotated_pos, ephemeris_times



def rotate_velocities(table, rotation):

    """

    Rotate the velocities in a position Table.



    If the table stores positions as a function, then it will re compute them

    based on the original size of the table.



    Parameters

    ----------

    table : dict

            The position table as a dict from parse_position_table

    rotation : TimeDependentRotation

               The rotation to rotate the velocities by



    Returns

    -------

    : 2darray

      Array of rotated velocities. Returns None if no velocities are in the table.



    """

    # Case 1, the table has velocities at discrete times

        if 'J2000XV' in table:

            ephemeris_times = table['ET']

        velocity = 1000 * np.array([table['J2000XV'],

            velocities = 1000 * np.array([table['J2000XV'],

                                          table['J2000YV'],

                                          table['J2000ZV']]).T

        rotated_vel = rotation.apply_at(velocity, ephemeris_times)

    # Case 2, the table has coefficients of polynomials for the position



    # Case 2, the table has coefficients of polynomials for the states

    elif 'J2000SVX' in table:

        ephemeris_times = np.linspace(table['SpkTableStartTime'],

                                      table['SpkTableEndTime'],
@@ -168,14 +133,20 @@ def rotate_velocities(table, rotation): 
        coeffs = np.array([table['J2000SVX'][:-1],

                           table['J2000SVY'][:-1],

                           table['J2000SVZ'][:-1]])

        positions = 1000 * polyval(scaled_times, coeffs.T).T

        scaled_vel = 1000 * polyval(scaled_times,  polyder(coeffs,axis=1).T).T

        # We took a derivative in scaled time, so we have to multiply by our

        # scale in order to get the derivative in real time

        velocity = scaled_vel / time_scale

        rotated_vel = rotation.apply_at(velocity, ephemeris_times)

        velocities = scaled_vel / time_scale

    else:

        raise ValueError('No positions are available in the input table.')



    rotated_pos = rotation.apply_at(positions, ephemeris_times)

    if velocities is not None:

        rotated_vel = rotation.rotate_velocity_at(positions, velocities, ephemeris_times)

    else:

        rotated_vel = None

    return rotated_vel

    return rotated_pos, rotated_vel, ephemeris_times



class IsisSpice():

    """Mixin class for reading from an ISIS cube that has been spiceinit'd
@@ -297,6 +268,14 @@ class IsisSpice(): 
        """

        return self



    def __exit__(self, exc_type, exc_val, exc_tb):

        """

        Called when the context goes out of scope. This is

        implemented to conform to the context manager paradigm

        used by other data mix ins.

        """

        pass





    @property

    def _sclock_hex_string(self):
@@ -335,20 +314,6 @@ class IsisSpice(): 
        """

        return struct.unpack('d', bytes.fromhex(self._sclock_hex_string))[0]



    @property

    def center_ephemeris_time(self):

        """

        Returns the average of the start and stop ephemeris times. Expects

        ephemeris start and stop times to be defined. These should be double precision

        numbers containing the ephemeris start and stop times of the image.



        Returns

        -------

        : double

          Center ephemeris time for an image

        """

        return (self.ephemeris_start_time + self.ephemeris_stop_time) / 2



    @property

    def detector_center_sample(self):

        """
@@ -558,8 +523,7 @@ class IsisSpice(): 
            as a tuple of numpy arrays.

        """

        j2000_to_target = self.frame_chain.compute_rotation(1, self.target_frame_id)

        positions, times = rotate_positions(self.sun_position_table, j2000_to_target)

        velocities = rotate_velocities(self.sun_position_table, j2000_to_target)

        positions, velocities, times = rotate_state(self.sun_position_table, j2000_to_target)

        return positions, velocities, times
@@ -579,8 +543,7 @@ class IsisSpice(): 
          a tuple containing a list of positions, a list of velocities, and a list of times

        """

        j2000_to_target = self.frame_chain.compute_rotation(1, self.target_frame_id)

        positions, times = rotate_positions(self.inst_position_table, j2000_to_target)

        velocities = rotate_velocities(self.inst_position_table, j2000_to_target)

        positions, velocities, times = rotate_state(self.inst_position_table, j2000_to_target)

        return positions, velocities, times

ale/base/data_naif.py

+7 −6
Original line number Diff line number Diff line
@@ -368,18 +368,19 @@ class NaifSpice(): 
        return spice.scs2e(self.spacecraft_id, self.spacecraft_clock_start_count)



    @property

    def center_ephemeris_time(self):

    def ephemeris_stop_time(self):

        """

        Returns the average of the start and stop ephemeris times. Expects

        ephemeris start and stop times to be defined. These should be double precision

        numbers containing the ephemeris start and stop times of the image.

        Returns the ephemeris stop time of the image. Expects spacecraft_id to

        be defined. This must be the integer Naif Id code for the spacecraft.

        Expects spacecraft_clock_stop_count to be defined. This must be a string

        containing the stop clock count of the spacecraft



        Returns

        -------

        : double

          Center ephemeris time for an image

          Ephemeris stop time of the image

        """

        return (self.ephemeris_start_time + self.ephemeris_stop_time) / 2

        return spice.scs2e(self.spacecraft_id, self.spacecraft_clock_stop_count)



    @property

    def detector_center_sample(self):

ale/base/label_isis.py

+1 −1
Original line number Diff line number Diff line
@@ -214,7 +214,7 @@ class IsisLabel(): 
            # Check for units on the PVL keyword

            if isinstance(exposure_duration, pvl._collections.Units):

                units = exposure_duration.units

                if "ms" in units.lower():

                if "ms" in units.lower() or 'milliseconds' in units.lower():

                    exposure_duration = exposure_duration.value * 0.001

                else:

                    # if not milliseconds, the units are probably seconds

ale/drivers/isis_ideal_drivers.py

+39 −6
Original line number Diff line number Diff line
@@ -158,7 +158,40 @@ class IdealLsIsisLabelIsisSpiceDriver(IsisSpice, LineScanner, IsisLabel, NoDisto 
       """

        return self.isis_naif_keywords.get('IDEAL_TRANSS')



    @property

    def focal_length(self):

        """

        The focal length of the instrument

        Expects isis_naif_keywords to be defined. This should be a dict containing

        Naif keyworkds from the label.



        Returns

        -------

        float :

            The focal length in millimeters

        """

        return self.isis_naif_keywords.get('IDEAL_FOCAL_LENGTH', None)



    @property

    def frame_chain(self):

        pass
 
    def detector_center_sample(self):

        """

        The center sample of the CCD in detector pixels



        Returns

        -------

        float :

            The center sample of the CCD

        """

        return self.label['IsisCube']['Instrument']['SampleDetectors'] / 2.0



    @property

    def detector_center_line(self):

        """

        The center line of the CCD in detector pixels



        Returns

        -------

        float :

            The center of line the CCD

        """

        return 0.0