MSL Nadir Pointing (#564) (269fdb6a) · Commits · aflab / astrogeology / Ale

ale/base/type_sensor.py

+31 −3

Original line number	Diff line number	Diff line
		import math

		import numpy as np
		import spiceypy as spice
		from scipy.spatial.transform import Rotation

		from ale.transformation import FrameChain
		from ale.transformation import ConstantRotation
		from ale.transformation import ConstantRotation, TimeDependentRotation

		class LineScanner():
		"""
		@@ -468,7 +469,7 @@ class Cahvor():
		H_prime = (self.cahvor_camera_dict['H'] - h_c * self.cahvor_camera_dict['A'])/h_s
		V_prime = (self.cahvor_camera_dict['V'] - v_c * self.cahvor_camera_dict['A'])/v_s
		if self._props.get("landed", False):
		self._cahvor_rotation_matrix = np.array([H_prime, -V_prime, -self.cahvor_camera_dict['A']])
		self._cahvor_rotation_matrix = np.array([-H_prime, -V_prime, self.cahvor_camera_dict['A']])
		else:
		self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
		return self._cahvor_rotation_matrix
		@@ -485,12 +486,39 @@ class Cahvor():
		A networkx frame chain object
		"""
		if not hasattr(self, '_frame_chain'):
		nadir = self._props.get("nadir", False)
		self._frame_chain = FrameChain.from_spice(sensor_frame=self.final_inst_frame,
		target_frame=self.target_frame_id,
		center_ephemeris_time=self.center_ephemeris_time,
		ephemeris_times=self.ephemeris_time,
		nadir=False, exact_ck_times=False)
		nadir=nadir, exact_ck_times=False)
		cahvor_quats = Rotation.from_matrix(self.cahvor_rotation_matrix).as_quat()

		if nadir:
		# Logic for nadir calculation was taken from ISIS3
		# SpiceRotation::setEphemerisTimeNadir
		rotation = self._frame_chain.compute_rotation(self.target_frame_id, 1)
		p_vec, v_vec, times = self.sensor_position
		rotated_positions = rotation.apply_at(p_vec, times)
		rotated_velocities = rotation.rotate_velocity_at(p_vec, v_vec, times)

		p_vec = rotated_positions
		v_vec = rotated_velocities

		velocity_axis = 2
		# Get the default line translation with no potential flipping
		# from the driver
		trans_x = np.array(self.focal2pixel_lines)

		if (trans_x[0] < trans_x[1]):
		velocity_axis = 1

		quats = [spice.m2q(spice.twovec(-p_vec[i], 3, v_vec[i], velocity_axis)) for i, time in enumerate(times)]
		quats = np.array(quats)[:,[1,2,3,0]]

		rotation = TimeDependentRotation(quats, times, 1, self.final_inst_frame)
		self._frame_chain.add_edge(rotation)

		# If we are landed we only care about the final cahvor frame relative to the target
		if self._props.get("landed", False):
		cahvor_rotation = ConstantRotation(cahvor_quats, self.target_frame_id, self.sensor_frame_id)

ale/drivers/msl_drivers.py

+8 −2

Original line number	Diff line number	Diff line
		@@ -108,6 +108,9 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
		: list<double>
		focal plane to detector lines
		"""
		if self._props.get("landed", False):
		return [0, 0, -1/self.pixel_size]
		else:
		return [0, 0, 1/self.pixel_size]

		@property
		@@ -120,6 +123,9 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
		: list<double>
		focal plane to detector samples
		"""
		if (self._props.get("nadir", False)):
		return [0, 1/self.pixel_size, 0]
		else:
		return [0, -1/self.pixel_size, 0]

		@property

ale/isd_generate.py

+14 −3

Original line number	Diff line number	Diff line
		@@ -70,9 +70,15 @@ def main():
		parser.add_argument(
		"-l", "--local",
		action="store_true",
		help="Generate local spice data, or image that is unaware of itself relative to "
		help="Generate local spice data, an isd that is unaware of itself relative to "
		"target body. This is largely used for landed/rover data."
		)
		parser.add_argument(
		"-N", "--nadir",
		action="store_true",
		help="Generate nadir spice pointing, an isd that has pointing directly towards "
		"the center of the target body."
		)
		parser.add_argument(
		'--version',
		action='version',
		@@ -117,7 +123,8 @@ def main():
		"log_level": log_level,
		"only_isis_spice": args.only_isis_spice,
		"only_naif_spice": args.only_naif_spice,
		"local": args.local}
		"local": args.local,
		"nadir": args.nadir}
		): f for f in args.input
		}
		for f in concurrent.futures.as_completed(futures):
		@@ -138,7 +145,8 @@ def file_to_isd(
		log_level=logging.WARNING,
		only_isis_spice=False,
		only_naif_spice=False,
		local=False
		local=False,
		nadir=False
		):
		"""
		Returns nothing, but acts as a thin wrapper to take the file and generate
		@@ -167,6 +175,9 @@ def file_to_isd(
		if local:
		props['landed'] = local

		if nadir:
		props['nadir'] = nadir

		if kernels is not None:
		kernels = [str(PurePath(p)) for p in kernels]
		props["kernels"] = kernels

tests/pytests/data/isds/msl_nadir_isd.json

0 → 100644

+295 −0

Original line number	Diff line number	Diff line
		{
		"isis_camera_version": 1,
		"image_lines": 1193,
		"image_samples": 1338,
		"name_platform": "MARS SCIENCE LABORATORY",
		"name_sensor": "MAST CAMERA LEFT",
		"reference_height": {
		"maxheight": 1000,
		"minheight": -1000,
		"unit": "m"
		},
		"name_model": "USGS_ASTRO_FRAME_SENSOR_MODEL",
		"center_ephemeris_time": 598494669.4412209,
		"radii": {
		"semimajor": 3396.19,
		"semiminor": 3376.2,
		"unit": "km"
		},
		"body_rotation": {
		"time_dependent_frames": [
		10014,
		1
		],
		"ck_table_start_time": 598494669.4412209,
		"ck_table_end_time": 598494669.4412209,
		"ck_table_original_size": 1,
		"ephemeris_times": [
		598494669.4412209
		],
		"quaternions": [
		[
		-0.31921039676060065,
		0.2937636389682398,
		-0.12264933637077348,
		0.8926168199781396
		]
		],
		"angular_velocities": [
		[
		3.1623010827381965e-05,
		-2.881378599775597e-05,
		5.651578887273642e-05
		]
		],
		"reference_frame": 1
		},
		"instrument_pointing": {
		"time_dependent_frames": [
		-76205,
		1
		],
		"ck_table_start_time": 598494669.4412209,
		"ck_table_end_time": 598494669.4412209,
		"ck_table_original_size": 1,
		"ephemeris_times": [
		598494669.4412209
		],
		"quaternions": [
		[
		0.7419897630883615,
		0.4156401046800741,
		0.25055247114123014,
		0.4625126528632889
		]
		],
		"angular_velocities": null,
		"reference_frame": 1,
		"constant_frames": [
		-76573,
		-76205
		],
		"constant_rotation": [
		0.4165667270357225,
		0.908831179877854,
		-0.02231699819809352,
		-0.7809014963237929,
		0.37028293957648445,
		0.503073948538243,
		0.4654728939111354,
		-0.19213649091316684,
		0.8639551804888768
		]
		},
		"naif_keywords": {
		"BODY499_RADII": [
		3396.19,
		3396.19,
		3376.2
		],
		"BODY_FRAME_CODE": 10014,
		"BODY_CODE": 499,
		"FRAME_-76210_NAME": "MSL_MASTCAM_LEFT",
		"INS-76210_CAHVOR_H": [
		712.373106,
		4664.465028,
		33.182389
		],
		"TKFRAME_-76210_UNITS": "DEGREES",
		"INS-76210_IFOV_VERTICAL": 0.01230196,
		"INS-76210_CAHVOR_O": [
		0.999627,
		0.026908,
		0.004759
		],
		"INS-76210_CAHVOR_R": [
		-0.000151,
		-0.139189,
		-1.250336
		],
		"INS-76210_CAHVOR_V": [
		570.612488,
		-14.279011,
		4648.733195
		],
		"INS-76210_CAHVOR_FILE": "MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor",
		"INS-76210_DISTORTION_PIXEL": [
		837.77915717,
		592.14046615
		],
		"TKFRAME_-76210_AXES": [
		2.0,
		1.0,
		3.0
		],
		"TKFRAME_-76210_SPEC": "ANGLES",
		"INS-76210_FOCAL_LENGTH": 34.0,
		"INS-76210_CAHVOR_QUAT": [
		1e-05,
		-0.00325,
		-0.00104,
		0.99999
		],
		"INS-76210_CAHVOR_POS": [
		0.80436,
		0.55942,
		-1.90608
		],
		"INS-76210_FOV_BOUNDARY": [
		0.17483767,
		0.12730492,
		0.97633255,
		-0.0,
		0.12834274,
		0.99172987,
		-0.17476887,
		0.12719345,
		0.9763594,
		-0.17553059
		],
		"INS-76210_PIXEL_LINES": 1200.0,
		"INS-76210_CAHVOR_MODEL": " CAHVOR",
		"INS-76210_PIXEL_SIZE": 0.0074,
		"INS-76210_CAHVOR_HC": 829.187822,
		"INS-76210_IFOV_NOMINAL": 0.01247026,
		"INS-76210_CAHVOR_HS": 4645.242086,
		"INS-76210_BORESIGHT_PIXEL": [
		829.18782212,
		601.33514402
		],
		"FRAME_-76210_CLASS_ID": -76210.0,
		"INS-76210_FOV_CENTER_PIXEL": [
		823.5,
		599.5
		],
		"INS-76210_FOV_CLASS_SPEC": "CORNERS",
		"INS-76210_BORESIGHT": [
		-0.0,
		-0.0,
		1.0
		],
		"INS-76210_CAHVOR_THETA": -1.5710039999999998,
		"INS-76210_IFOV": 0.01228988,
		"TKFRAME_-76210_RELATIVE": "MSL_RSM_HEAD",
		"FRAME_-76210_CLASS": 4.0,
		"INS-76210_CAHVOR_DIMS": [
		1648.0,
		1200.0
		],
		"INS-76210_FOV_SHAPE": "POLYGON",
		"INS-76210_PIXEL_SAMPLES": 1648.0,
		"INS-76210_IFOV_HORIZONTAL": 0.0122778,
		"INS-76210_CAHVOR_VC": 601.335144,
		"INS-76210_CAHVOR_VS": 4644.882626,
		"TKFRAME_-76210_ANGLES": [
		-90.01,
		1.484,
		89.655
		],
		"FRAME_-76210_CENTER": -76.0,
		"INS-76210_CAHVOR_A": [
		0.999664,
		0.025047,
		0.006727
		],
		"INS-76210_CAHVOR_C": [
		0.767151,
		0.433709,
		-1.971648
		],
		"INS-76210_FOV_FRAME": "MSL_MASTCAM_LEFT",
		"BODY499_POLE_DEC": [
		52.8865,
		-0.0609,
		0.0
		],
		"BODY499_POLE_RA": [
		317.68143,
		-0.1061,
		0.0
		],
		"BODY499_PM": [
		176.63,
		350.89198226,
		0.0
		]
		},
		"detector_sample_summing": 1,
		"detector_line_summing": 1,
		"focal_length_model": {
		"focal_length": 34.0
		},
		"detector_center": {
		"line": 576.4026068104001,
		"sample": 680.1442422028802
		},
		"focal2pixel_lines": [
		0,
		0,
		136.49886775101945
		],
		"focal2pixel_samples": [
		0,
		136.49886775101945,
		0
		],
		"optical_distortion": {
		"cahvor": {
		"coefficients": [
		0,
		0,
		0,
		0,
		0
		]
		}
		},
		"starting_detector_line": 0,
		"starting_detector_sample": 0,
		"instrument_position": {
		"spk_table_start_time": 598494669.4412209,
		"spk_table_end_time": 598494669.4412209,
		"spk_table_original_size": 1,
		"ephemeris_times": [
		598494669.4412209
		],
		"positions": [
		[
		-42.94908602840011,
		-2878.1178384691016,
		-1794.0007301446622
		]
		],
		"velocities": [
		[
		0.2143509476698853,
		0.054297300199827,
		-0.09225670467004271
		]
		],
		"reference_frame": 1
		},
		"sun_position": {
		"spk_table_start_time": 598494669.4412209,
		"spk_table_end_time": 598494669.4412209,
		"spk_table_original_size": 1,
		"ephemeris_times": [
		598494669.4412209
		],
		"positions": [
		[
		-178112289.0644448,
		-111686023.67244285,
		-46420243.18796099
		]
		],
		"velocities": [
		[
		12.688344510456547,
		-19.98128446099907,
		-9.507348850576207
		]
		],
		"reference_frame": 1
		}
		}
		No newline at end of file

tests/pytests/test_msl_drivers.py

+11 −3

Original line number	Diff line number	Diff line
		@@ -5,7 +5,7 @@ import pytest
		import unittest

		import ale
		from conftest import get_image, get_image_label, get_isd, get_image_kernels, convert_kernels, compare_dicts
		from conftest import get_image_label, get_isd, get_image_kernels, convert_kernels, compare_dicts
		from ale.drivers.msl_drivers import MslMastcamPds3NaifSpiceDriver

		from conftest import get_image_label
		@@ -20,11 +20,19 @@ def test_mastcam_kernels():
		for kern in binary_kernels:
		os.remove(kern)

		def test_msl_mastcam_load(test_mastcam_kernels):
		def test_msl_mastcam_load_local(test_mastcam_kernels):
		label_file = get_image_label('2264ML0121141200805116C00_DRCL', "pds3")
		compare_dict = get_isd("msl")

		isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels})
		isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels, 'local': True})
		isd_obj = json.loads(isd_str)
		assert compare_dicts(isd_obj, compare_dict) == []

		def test_msl_mastcam_load_nadir(test_mastcam_kernels):
		label_file = get_image_label('2264ML0121141200805116C00_DRCL', "pds3")
		compare_dict = get_isd("msl_nadir")

		isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels, 'nadir': True})
		isd_obj = json.loads(isd_str)
		assert compare_dicts(isd_obj, compare_dict) == []