Unverified Commit 1e3fdeae authored by acpaquette's avatar acpaquette Committed by GitHub
Browse files

Fixes MSI IsisLabelNaifSpice driver and adds tests (#598) 

* msi ephemeris time fix

* Fixed spacing on math for center_ephemeris_time

* Updated MSI driver and added tests

* Enabled MSI driver

* Added test kernels for MSI

* Update sensor model version to 2

* Fixed truth camera version
parent 54c3e7be

ale/drivers/__init__.py

+1 −2
Original line number Diff line number Diff line
@@ -26,8 +26,7 @@ from abc import ABC 
__disabled_drivers__ = ["ody_drivers",

                        "hayabusa2_drivers",

                        "juno_drivers",

                        "tgo_drivers",

                        "msi_drivers"]

                        "tgo_drivers"]



# dynamically load drivers

__all__ = [os.path.splitext(os.path.basename(d))[0] for d in glob(os.path.join(os.path.dirname(__file__), '*_drivers.py'))]

ale/drivers/msi_drivers.py

+5 −35
Original line number Diff line number Diff line
@@ -30,6 +30,10 @@ class MsiIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, NoDistortion, Dr 
        lookup_table = {"MSI": "NEAR EARTH ASTEROID RENDEZVOUS"}

        return lookup_table[super().instrument_id]

    

    @property

    def center_ephemeris_time(self):

        return self.ephemeris_start_time + self.exposure_duration / 2.0



    @property

    def sensor_name(self):

        """
@@ -52,41 +56,7 @@ class MsiIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, NoDistortion, Dr 
        : int

          ISIS sensor model version

        """

        return 1



    @property

    def spacecraft_clock_start_count(self):

        """

        The spacecraft clock start count, frequently used to determine the start time

        of the image.



        Returns

        -------

        : str

          spacecraft clock start count

        """

        if "SpacecraftClockStartCount" in self.label["IsisCube"]["Instrument"]:

            return str(

                self.label["IsisCube"]["Instrument"]["SpacecraftClockStartCount"])

        else:

            return None



    @property

    def spacecraft_clock_stop_count(self):

        """

        The spacecraft clock stop count, frequently used to determine the stop time

        of the image.



        Returns

        -------

        : str

          spacecraft clock stop count

        """

        if "SpacecraftClockStopCount" in self.label["IsisCube"]["Instrument"]:

            return str(

                self.label["IsisCube"]["Instrument"]["SpacecraftClockStopCount"])

        else:

            return None

        return 2



    @property

    def ikid(self):

tests/pytests/data/isds/msi_isd.json

0 → 100644
+262 −0
Original line number Diff line number Diff line 
{

  "isis_camera_version": 2,

  "image_lines": 412,

  "image_samples": 537,

  "name_platform": "NEAR EARTH ASTEROID RENDEZVOUS",

  "name_sensor": "MULTI-SPECTRAL IMAGER",

  "reference_height": {

    "maxheight": 1000,

    "minheight": -1000,

    "unit": "m"

  },

  "name_model": "USGS_ASTRO_FRAME_SENSOR_MODEL",

  "center_ephemeris_time": 4750816.53996159,

  "radii": {

    "semimajor": 17.0,

    "semiminor": 5.5,

    "unit": "km"

  },

  "body_rotation": {

    "time_dependent_frames": [

      2000433,

      1

    ],

    "ck_table_start_time": 4750816.53996159,

    "ck_table_end_time": 4750816.53996159,

    "ck_table_original_size": 1,

    "ephemeris_times": [

      4750816.53996159

    ],

    "quaternions": [

      [

        -0.21742791831046224,

        -0.5915927720196109,

        0.04469058688780722,

        -0.7750779598704606

      ]

    ],

    "angular_velocities": [

      [

        0.00031013516468020774,

        6.225262045195156e-05,

        9.803883131191956e-05

      ]

    ],

    "reference_frame": 1

  },

  "instrument_pointing": {

    "time_dependent_frames": [

      -93000,

      1

    ],

    "ck_table_start_time": 4750816.53996159,

    "ck_table_end_time": 4750816.53996159,

    "ck_table_original_size": 1,

    "ephemeris_times": [

      4750816.53996159

    ],

    "quaternions": [

      [

        -0.6037146505713888,

        -0.2184429492380255,

        0.26555847710047836,

        0.7192287493237002

      ]

    ],

    "angular_velocities": [

      [

        -1.0366620787684243e-05,

        2.9058844213815335e-05,

        -8.620710132728253e-06

      ]

    ],

    "reference_frame": 1,

    "constant_frames": [

      -93001,

      -93000

    ],

    "constant_rotation": [

      -0.0014422521585655882,

      6.97819591591179e-07,

      0.9999989599535712,

      -0.00048384015636002327,

      -0.9999998829493447,

      0.0,

      0.9999988429030378,

      -0.00048383965314379655,

      0.0014422523273822038

    ]

  },

  "naif_keywords": {

    "BODY2000433_RADII": [

      17.0,

      5.5,

      5.5

    ],

    "BODY_FRAME_CODE": 2000433,

    "BODY_CODE": 2000433,

    "INS-93001_PIXEL_PITCH": 0.016,

    "INS-93001_LT_SURFACE_CORRECT": "FALSE",

    "INS-93001_SWAP_OBSERVER_TARGET": "TRUE",

    "INS-93001_TRANSX": [

      0.0,

      0.016,

      0.0

    ],

    "INS-93001_TRANSY": [

      0.0,

      0.0,

      -0.016

    ],

    "INS-93001_LIGHTTIME_CORRECTION": "LT+S",

    "INS-93001_FOV_BOUNDARY_CORNERS": [

      1.0,

      0.019744857140000002,

      0.02575366124,

      1.0,

      -0.019744857140000002,

      0.02575366124,

      1.0,

      -0.019744857140000002,

      -0.02575366124,

      1.0

    ],

    "TKFRAME_-93001_UNITS": "DEGREES",

    "INS-93001_FOCAL_LENGTH": 166.85,

    "INS-93001_FOV_FRAME": "NEAR_MSI",

    "FRAME_-93001_NAME": "NEAR_MSI",

    "TKFRAME_-93001_AXES": [

      2.0,

      1.0,

      2.0

    ],

    "TKFRAME_-93001_SPEC": "ANGLES",

    "INS-93001_BORESIGHT_SAMPLE": 269.0,

    "INS-93001_ITRANSL": [

      0.0,

      0.0,

      -62.5

    ],

    "INS-93001_K1": -7e-05,

    "INS-93001_ITRANSS": [

      0.0,

      62.5,

      0.0

    ],

    "FRAME_-93001_CLASS_ID": -93001.0,

    "INS-93001_PLATFORM_ID": -93000.0,

    "INS-93001_BORESIGHT_LINE": 206.5,

    "INS-93001_FRAME_ID": -93001.0,

    "TKFRAME_-93001_RELATIVE": "NEAR_SC_BUS_PRIME",

    "INS-93001_BORESIGHT": [

      1.0,

      0.0,

      0.0

    ],

    "TKFRAME_-93001_ANGLES": [

      90.0,

      -179.972278,

      -0.082635

    ],

    "FRAME_-93001_CENTER": -93.0,

    "FRAME_-93001_CLASS": 4.0,

    "INS-93001_FOV_SHAPE": "POLYGON",

    "FRAME_2000433_NAME": "EROS_FIXED",

    "FRAME_2000433_CLASS_ID": 2000433.0,

    "BODY2000433_POLE_DEC": [

      17.22,

      0.0,

      0.0

    ],

    "BODY2000433_PM": [

      326.07,

      1639.38864745,

      0.0

    ],

    "FRAME_2000433_CENTER": 2000433.0,

    "BODY2000433_LONG_AXIS": 0.0,

    "OBJECT_2000433_FRAME": "EROS_FIXED",

    "FRAME_2000433_CLASS": 2.0,

    "BODY2000433_POLE_RA": [

      11.35,

      0.0,

      0.0

    ]

  },

  "detector_sample_summing": 1,

  "detector_line_summing": 1,

  "focal_length_model": {

    "focal_length": 166.85

  },

  "detector_center": {

    "line": 206.5,

    "sample": 269.0

  },

  "focal2pixel_lines": [

    0.0,

    0.0,

    -62.5

  ],

  "focal2pixel_samples": [

    0.0,

    62.5,

    0.0

  ],

  "optical_distortion": {

    "radial": {

      "coefficients": [

        0.0,

        0.0,

        0.0

      ]

    }

  },

  "starting_detector_line": 0,

  "starting_detector_sample": 0,

  "instrument_position": {

    "spk_table_start_time": 4750816.53996159,

    "spk_table_end_time": 4750816.53996159,

    "spk_table_original_size": 1,

    "ephemeris_times": [

      4750816.53996159

    ],

    "positions": [

      [

        69.13367389282288,

        -276.40770781355167,

        222.2546049363491

      ]

    ],

    "velocities": [

      [

        0.0007228575310681364,

        -0.00018739946234992287,

        -0.0005859505443755211

      ]

    ],

    "reference_frame": 1

  },

  "sun_position": {

    "spk_table_start_time": 4750816.53996159,

    "spk_table_end_time": 4750816.53996159,

    "spk_table_original_size": 1,

    "ephemeris_times": [

      4750816.53996159

    ],

    "positions": [

      [

        122682357.26743293,

        156146522.97922137,

        110874367.26208726

      ]

    ],

    "velocities": [

      [

        -16.298773023439573,

        15.981064278673381,

        6.140837444633245

      ]

    ],

    "reference_frame": 1

  }

}
 
 No newline at end of file

tests/pytests/data/m0126888978f7_2p/eros_fixed.tf

0 → 100755
+74 −0
Original line number Diff line number Diff line 
KPL/FK



EROS Body-Fixed Frame Definition Kernel

===============================================================================



   This frame kernel contains asteroid EROS body-fixed frame definition.





Version and Date

--------------------------------------------------------



   Version 1.0 -- June 18, 2002 -- Boris Semenov



      Initial release.





References

--------------------------------------------------------



   1. ``Frames Required Reading''



   2. ``PCK Required Reading''





Contact Information

--------------------------------------------------------



   Boris V. Semenov, NAIF/JPL, (818)-354-8136, bsemenov@spice.jpl.nasa.gov





Implementation Notes

--------------------------------------------------------



   This file is used by the SPICE system as follows: programs that make

   use of this frame kernel must `load' the kernel, normally during program

   initialization. Loading the kernel associates data items with their

   names in a data structure called the `kernel pool'. The SPICELIB

   routine FURNSH loads a kernel file into the pool as shown below.



      CALL FURNSH ( frame_kernel_name )



   This file was created and may be updated with a text editor or word

   processor.





EROS Body-Fixed Frame

--------------------------------------------------------



   This kernel file defines asteroid EROS body-frame, EROS_FIXED, with the 

   frame ID code 2000433 in the same as any other PCK frame:

   

      *  +Z along asteroid's North pole;

      

      *  +X along asteroid's prime meridian;

      

      *  +Y complements to the right hand frame;

      

      *  the origin of this frame is at the center of the asteroid ellipsoid.

      

   As for any PCK frame orientation of this frame is computed by evaluating 

   corresponding rotation constants provided in a PCK file.



   \begindata



      FRAME_EROS_FIXED       =  2000433

      FRAME_2000433_NAME     = 'EROS_FIXED'

      FRAME_2000433_CLASS    =  2

      FRAME_2000433_CLASS_ID =  2000433

      FRAME_2000433_CENTER   =  2000433



      OBJECT_2000433_FRAME   = 'EROS_FIXED'



   \begintext

tests/pytests/data/m0126888978f7_2p/m0126888978f7_2p_isis.lbl

0 → 100644
+360 −0
Original line number Diff line number Diff line 
Object = IsisCube

  Object = Core

    StartByte   = 65537

    Format      = Tile

    TileSamples = 179

    TileLines   = 412



    Group = Dimensions

      Samples = 537

      Lines   = 412

      Bands   = 1

    End_Group



    Group = Pixels

      Type       = Real

      ByteOrder  = Lsb

      Base       = 0.0

      Multiplier = 1.0

    End_Group

  End_Object



  Group = Instrument

    SpacecraftName                    = "NEAR EARTH ASTEROID RENDEZVOUS"

    InstrumentId                      = MSI

    TargetName                        = EROS

    StartTime                         = 2000-02-25T11:39:11.972

    StopTime                          = 2000-02-25T11:39:12.737

    SpacecraftClockStartCount         = 126888978154

    SpacecraftClockStopCount          = 126888978919

    ExposureDuration                  = 765.00 <ms>

    OriginalSpacecraftClockStartCount = 126888978.154

    OriginalSpacecraftClockStopCount  = 126888978.919

    DpuDeckTemperature                = 286.50 <K>

  End_Group



  Group = Archive

    DataSetId          = NEAR-A-MSI-2-EDR-EROS/ORBIT-V1.0

    ProducerFullName   = "Howard W. Taylor"

    ProductId          = M0126888978F7_2P.LBL

    ProductVersionId   = 1.01

    InstrumentHostName = "NEAR EARTH ASTEROID RENDEZVOUS"

    InstrumentName     = "MULTI-SPECTRAL IMAGER"

    InstrumentId       = MSI

    TargetName         = EROS

  End_Group



  Group = BandBin

    FilterNumber = 7

    Center       = 1050 <nm>

  End_Group



  Group = Kernels

    NaifFrameCode             = -93001

    LeapSecond                = $base/kernels/lsk/naif0012.tls

    TargetAttitudeShape       = $base/kernels/pck/pck00009.tpc

    TargetPosition            = (Table, $base/kernels/spk/de405.bsp,

                                 $near/kernels/tspk/erosephem_1999004_2002181.-

                                 bsp)

    InstrumentPointing        = (Table, $near/kernels/ck/near_2000056_v01.bc,

                                 $near/kernels/fk/eros_fixed.tf)

    Instrument                = $near/kernels/ik/msi15.ti

    SpacecraftClock           = $near/kernels/sclk/near_171.tsc

    InstrumentPosition        = (Table,

                                 $near/kernels/spk/near_erosorbit_nav_v1.bsp)

    InstrumentAddendum        = $near/kernels/iak/msiAddendum002.ti

    ShapeModel                = Null

    InstrumentPositionQuality = Reconstructed

    InstrumentPointingQuality = Reconstructed

    CameraVersion             = 2

    Source                    = isis

  End_Group

End_Object



Object = Label

  Bytes = 65536

End_Object



Object = Table

  Name                = InstrumentPointing

  StartByte           = 955685

  Bytes               = 64

  Records             = 1

  ByteOrder           = Lsb

  TimeDependentFrames = (-93000, 1)

  ConstantFrames      = (-93001, -93000)

  ConstantRotation    = (-0.0014422521585655, 6.97819591591201e-07,

                         0.99999895995357, -4.83840156360023e-04,

                         -0.99999988294934, 2.96266649392629e-20,

                         0.99999884290304, -4.83839653143796e-04,

                         0.0014422523273821)

  CkTableStartTime    = 4750816.5399616

  CkTableEndTime      = 4750816.5399616

  CkTableOriginalSize = 1

  FrameTypeCode       = 3

  Description         = "Created by spiceinit"

  Kernels             = ($near/kernels/ck/near_2000056_v01.bc,

                         $near/kernels/fk/eros_fixed.tf)



  Group = Field

    Name = J2000Q0

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name                 = InstrumentPosition

  StartByte            = 955749

  Bytes                = 56

  Records              = 1

  ByteOrder            = Lsb

  CacheType            = Linear

  SpkTableStartTime    = 4750816.5399616

  SpkTableEndTime      = 4750816.5399616

  SpkTableOriginalSize = 1.0

  Description          = "Created by spiceinit"

  Kernels              = $near/kernels/spk/near_erosorbit_nav_v1.bsp



  Group = Field

    Name = J2000X

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Y

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Z

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000XV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000YV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000ZV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name                = BodyRotation

  StartByte           = 955805

  Bytes               = 64

  Records             = 1

  ByteOrder           = Lsb

  TimeDependentFrames = (2000433, 1)

  CkTableStartTime    = 4750816.5399616

  CkTableEndTime      = 4750816.5399616

  CkTableOriginalSize = 1

  FrameTypeCode       = 2

  PoleRa              = (11.35, 0.0, 0.0)

  PoleDec             = (17.22, 0.0, 0.0)

  PrimeMeridian       = (326.07, 1639.38864745, 0.0)

  Description         = "Created by spiceinit"

  Kernels             = ($base/kernels/spk/de405.bsp,

                         $near/kernels/tspk/erosephem_1999004_2002181.bsp,

                         $base/kernels/pck/pck00009.tpc)

  SolarLongitude      = 128.86157495957



  Group = Field

    Name = J2000Q0

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name                 = SunPosition

  StartByte            = 955869

  Bytes                = 56

  Records              = 1

  ByteOrder            = Lsb

  CacheType            = Linear

  SpkTableStartTime    = 4750816.5399616

  SpkTableEndTime      = 4750816.5399616

  SpkTableOriginalSize = 1.0

  Description          = "Created by spiceinit"

  Kernels              = ($base/kernels/spk/de405.bsp,

                          $near/kernels/tspk/erosephem_1999004_2002181.bsp)



  Group = Field

    Name = J2000X

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Y

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Z

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000XV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000YV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000ZV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = History

  Name      = IsisCube

  StartByte = 955925

  Bytes     = 2374

End_Object



Object = OriginalLabel

  Name      = IsisCube

  StartByte = 950513

  Bytes     = 3700

End_Object



Object = NaifKeywords

  BODY_CODE                          = 2000433

  BODY2000433_RADII                  = (17.0, 5.5, 5.5)

  BODY_FRAME_CODE                    = 2000433

  INS-93001_SWAP_OBSERVER_TARGET     = TRUE

  INS-93001_LIGHTTIME_CORRECTION     = LT+S

  INS-93001_LT_SURFACE_CORRECT       = FALSE

  INS-93001_FOCAL_LENGTH             = 166.85

  INS-93001_PIXEL_PITCH              = 0.016

  CLOCK_ET_-93_126888978154_COMPUTED = c7d9130a781f5241

  INS-93001_TRANSX                   = (0.0, 0.016, 0.0)

  INS-93001_TRANSY                   = (0.0, 0.0, -0.016)

  INS-93001_ITRANSS                  = (0.0, 62.5, 0.0)

  INS-93001_ITRANSL                  = (0.0, 0.0, -62.5)

  INS-93001_BORESIGHT_LINE           = 206.5

  INS-93001_BORESIGHT_SAMPLE         = 269.0

  INS-93001_K1                       = -7.0e-05

End_Object

End