LRO WAC drivers, pushframe model, and tests (#447) (36217e1d) · Commits · aflab / astrogeology / Ale

ale/base/label_isis.py

+25 −0

Original line number	Diff line number	Diff line
		@@ -274,3 +274,28 @@ class IsisLabel():
		# if no units are available, assume the exposure duration is given in milliseconds
		line_exposure_duration = line_exposure_duration * 0.001
		return line_exposure_duration


		@property
		def interframe_delay(self):
		"""
		The interframe delay in seconds

		Returns
		-------
		: float
		interframe delay in seconds
		"""
		interframe_delay = self.label['IsisCube']['Instrument']['InterframeDelay']
		if isinstance(interframe_delay, pvl.collections.Quantity):
		units = interframe_delay.units
		if "ms" in units.lower():
		interframe_delay = interframe_delay.value * 0.001
		else:
		# if not milliseconds, the units are probably seconds
		interframe_delay = interframe_delay.value
		else:
		# if no units are available, assume the interframe delay is given in milliseconds
		interframe_delay = interframe_delay * 0.001

		return interframe_delay

ale/base/type_sensor.py

+75 −0

Original line number	Diff line number	Diff line
		@@ -72,6 +72,81 @@ class LineScanner():
		"""
		return self.ephemeris_start_time + (self.image_lines * self.exposure_duration)


		class PushFrame():

		@property
		def name_model(self):
		"""
		Returns Key used to define the sensor type. Primarily
		used for generating camera models.

		Returns
		-------
		: str
		USGS Frame model
		"""
		return "USGS_ASTRO_PUSH_FRAME_SENSOR_MODEL"


		@property
		def ephemeris_time(self):
		"""
		Returns an array of times between the start/stop ephemeris times
		based on the number of lines in the image.
		Expects ephemeris start/stop times to be defined. These should be
		floating point numbers containing the start and stop times of the
		images.
		Expects image_lines to be defined. This should be an integer containing
		the number of lines in the image.

		Returns
		-------
		: ndarray
		ephemeris times split based on image lines
		"""

		return np.arange(self.ephemeris_start_time + (.5 * self.exposure_duration), self.ephemeris_stop_time + self.interframe_delay, self.interframe_delay)


		@property
		def framelet_height(self):
		return 1


		@property
		def framelet_order_reversed(self):
		return False


		@property
		def framelets_flipped(self):
		return False


		@property
		def num_frames(self):
		return int(self.image_lines // self.framelet_height)


		@property
		def ephemeris_stop_time(self):
		"""
		Returns the sum of the starting ephemeris time and the number of lines
		times the exposure duration. Expects ephemeris start time, exposure duration
		and image lines to be defined. These should be double precision numbers
		containing the ephemeris start, exposure duration and number of lines of
		the image.

		Returns
		-------
		: double
		Center ephemeris time for an image
		"""
		return self.ephemeris_start_time + (self.interframe_delay) * (self.num_frames - 1) + self.exposure_duration



		class Framer():
		"""
		Mix-in for framing sensors.

ale/drivers/lro_drivers.py

+207 −6

Original line number	Diff line number	Diff line
		@@ -5,16 +5,16 @@ import pvl
		import spiceypy as spice
		from glob import glob

		from ale.util import get_metakernels
		from ale.util import get_metakernels, query_kernel_pool
		from ale.base import Driver
		from ale.base.data_naif import NaifSpice
		from ale.base.data_isis import IsisSpice
		from ale.base.label_pds3 import Pds3Label
		from ale.base.label_isis import IsisLabel
		from ale.base.type_sensor import LineScanner, Radar
		from ale.base.type_sensor import LineScanner, Radar, PushFrame
		from ale.base.type_distortion import RadialDistortion


		class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver):
		class LroLrocNacPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver):
		"""
		Driver for reading LROC NACL, NACR (not WAC, it is a push frame) labels. Requires a Spice mixin to
		acquire additional ephemeris and instrument data located exclusively in SPICE kernels, A PDS3 label,
		@@ -278,7 +278,7 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver)



		class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver):
		class LroLrocNacIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver):
		@property
		def instrument_id(self):
		"""
		@@ -513,7 +513,7 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver)
		return rotated_velocity[0]


		class LroLrocIsisLabelIsisSpiceDriver(LineScanner, IsisSpice, IsisLabel, Driver):
		class LroLrocNacIsisLabelIsisSpiceDriver(LineScanner, IsisSpice, IsisLabel, Driver):
		@property
		def instrument_id(self):
		"""
		@@ -849,3 +849,204 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver):
		Naif ID code for the sensor frame
		"""
		return self.target_frame_id



		class LroLrocWacIsisLabelIsisSpiceDriver(PushFrame, IsisLabel, IsisSpice, RadialDistortion, Driver):
		@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
		expect the same ID the Spice expects in bods2c calls.
		Expects instrument_id to be defined in the IsisLabel mixin. This should be
		a string of the form 'WAC-UV' or 'WAC-VIS'

		Returns
		-------
		: str
		instrument id
		"""
		id_lookup = {
		"WAC-UV" : "LRO_LROCWAC_UV",
		"WAC-VIS" : "LRO_LROCWAC_VIS"
		}
		return id_lookup[super().instrument_id]


		@property
		def sensor_name(self):
		return self.label['IsisCube']['Instrument']['SpacecraftName']


		@property
		def sensor_model_version(self):
		"""
		Returns ISIS instrument sensor model version number

		Returns
		-------
		: int
		ISIS sensor model version
		"""
		return 2


		@property
		def odtk(self):
		"""
		The coefficients for the distortion model

		Returns
		-------
		: list
		Radial distortion coefficients.
		"""
		return [self.naif_keywords.get('INS{}_OD_K'.format(self.ikid), None)]


		@property
		def framelet_height(self):
		if self.instrument_id == "LRO_LROCWAC_UV":
		return 16
		elif self.instrument_id == "LRO_LROCWAC_VIS":
		return 14

		class LroLrocWacIsisLabelNaifSpiceDriver(PushFrame, IsisLabel, NaifSpice, RadialDistortion, Driver):
		"""
		Driver for Lunar Reconnaissance Orbiter WAC ISIS cube
		"""
		@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
		expect the same ID the Spice expects in bods2c calls.
		Expects instrument_id to be defined in the IsisLabel mixin. This should be
		a string of the form 'WAC-UV' or 'WAC-VIS'

		Returns
		-------
		: str
		instrument id
		"""
		id_lookup = {
		"WAC-UV" : "LRO_LROCWAC_UV",
		"WAC-VIS" : "LRO_LROCWAC_VIS"
		}
		return id_lookup[super().instrument_id]

		@property
		def sensor_model_version(self):
		return 2


		@property
		def ephemeris_start_time(self):
		"""
		Returns the ephemeris start time of the image.
		Expects spacecraft_id to be defined. This should be the integer
		Naif ID code for the spacecraft.

		Returns
		-------
		: float
		ephemeris start time of the image
		"""
		if not hasattr(self, '_ephemeris_start_time'):
		sclock = self.label['IsisCube']['Instrument']['SpacecraftClockStartCount']
		self._ephemeris_start_time = spice.scs2e(self.spacecraft_id, sclock)
		return self._ephemeris_start_time


		@property
		def detector_center_line(self):
		"""
		The center of the CCD in detector pixels
		ISIS uses 0.5 based CCD lines, so we need to convert to 0 based.

		Returns
		-------
		float :
		The center line of the CCD
		"""
		return super().detector_center_line - 0.5


		@property
		def detector_center_sample(self):
		"""
		The center of the CCD in detector pixels
		ISIS uses 0.5 based CCD samples, so we need to convert to 0 based.

		Returns
		-------
		float :
		The center sample of the CCD
		"""
		return super().detector_center_sample - 0.5


		@property
		def sensor_name(self):
		return self.label['IsisCube']['Instrument']['SpacecraftName']


		@property
		def odtk(self):
		"""
		The coefficients for the distortion model

		Returns
		-------
		: list
		Radial distortion coefficients.
		"""
		return spice.gdpool('INS{}_OD_K'.format(self.ikid), 0, 3).tolist()


		@property
		def naif_keywords(self):
		"""
		Updated set of naif keywords containing the NaifIkCode for the specific
		WAC filter used when taking the image.

		Returns
		-------
		: dict
		Dictionary of keywords and values that ISIS creates and attaches to the label
		"""
		_naifKeywords = {**super().naif_keywords,
		*query_kernel_pool("_FOCAL_LENGTH"),
		*query_kernel_pool("_BORESIGHT_SAMPLE"),
		*query_kernel_pool("_BORESIGHT_LINE"),
		*query_kernel_pool("_TRANS*"),
		*query_kernel_pool("_ITRANS*"),
		*query_kernel_pool("_OD_K")}
		return _naifKeywords


		@property
		def framelets_flipped(self):
		return self.label['IsisCube']['Instrument']['SpacecraftName'] == "Yes"


		@property
		def sampling_factor(self):
		if self.instrument_id == "LRO_LROCWAC_UV":
		return 4
		elif self.instrument_id == "LRO_LROCWAC_VIS":
		return 1


		@property
		def num_frames(self):
		return self.image_lines // (self.framelet_height // self.sampling_factor)


		@property
		def framelet_height(self):
		if self.instrument_id == "LRO_LROCWAC_UV":
		return 16
		elif self.instrument_id == "LRO_LROCWAC_VIS":
		return 14

ale/formatters/formatter.py

+13 −2

Original line number	Diff line number	Diff line
		@@ -5,7 +5,7 @@ from scipy.interpolate import interp1d, BPoly
		from networkx.algorithms.shortest_paths.generic import shortest_path

		from ale.transformation import FrameChain
		from ale.base.type_sensor import LineScanner, Framer, Radar
		from ale.base.type_sensor import LineScanner, Framer, Radar, PushFrame
		from ale.rotation import ConstantRotation, TimeDependentRotation

		def to_isd(driver):
		@@ -55,6 +55,17 @@ def to_isd(driver):
		meta_data['name_model'] = 'USGS_ASTRO_FRAME_SENSOR_MODEL'
		meta_data['center_ephemeris_time'] = driver.center_ephemeris_time

		if isinstance(driver, PushFrame):
		meta_data['name_model'] = 'USGS_ASTRO_PUSH_FRAME_SENSOR_MODEL'
		meta_data['starting_ephemeris_time'] = driver.ephemeris_start_time
		meta_data['ending_ephemeris_time'] = driver.ephemeris_stop_time
		meta_data['center_ephemeris_time'] = driver.center_ephemeris_time
		meta_data['exposure_duration'] = driver.exposure_duration
		meta_data['interframe_delay'] = driver.interframe_delay
		meta_data['framelet_order_reversed'] = driver.framelet_order_reversed
		meta_data['framelets_flipped'] = driver.framelets_flipped
		meta_data['framelet_height'] = driver.framelet_height

		# SAR sensor model specifics
		if isinstance(driver, Radar):
		meta_data['name_model'] = 'USGS_ASTRO_SAR_SENSOR_MODEL'
		@@ -104,7 +115,7 @@ def to_isd(driver):
		body_rotation["reference_frame"] = destination_frame
		meta_data['body_rotation'] = body_rotation

		if isinstance(driver, LineScanner) or isinstance(driver, Framer):
		if isinstance(driver, LineScanner) or isinstance(driver, Framer) or isinstance(driver, PushFrame):
		# sensor orientation
		sensor_frame = driver.sensor_frame_id

tests/pytests/conftest.py

+11 −8

Original line number	Diff line number	Diff line
		@@ -191,6 +191,7 @@ def convert_kernels(kernels):
		# Get the full path to the kernel then truncate it to the relative path
		path = os.path.join(data_root, kernel)
		path = os.path.relpath(path)
		try:
		bin_output = subprocess.run(['tobin', path],
		capture_output=True, check=True)
		matches = re.search(r'To: (.\.b\w)', str(bin_output.stdout))
		@@ -199,5 +200,7 @@ def convert_kernels(kernels):
		else:
		kernel = matches.group(1)
		binary_kernels.append(kernel)
		except:
		warnings.warn(f"Unable to convert {path} to binary kernel")
		updated_kernels.append(kernel)
		return updated_kernels, binary_kernels