Commit 3dbad619 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Continuation of #176 data_naif frame chain implementation (#181) 

* First pass at adding frame chain to NaifSpice class

* Tweaked data_naif frame_chain implementation

* Cleaned up reference frames in data naif
parent 51ba8b21

ale/base/data_naif.py

+69 −3
Original line number Diff line number Diff line 
import spiceypy as spice

import numpy as np

from ale.base.type_sensor import Framer

from ale.transformation import FrameNode

from ale.rotation import TimeDependentRotation



class NaifSpice():

    def __enter__(self):
@@ -74,7 +76,10 @@ class NaifSpice(): 


    @property

    def target_frame_id(self):

        return spice.gipool('BODY_FRAME_CODE', 0, 1)

        frame_id, frame_name, found = spice.cidfrm(self.target_id)

        if not found:

            raise ValueError("No reference frame could be found for target ID {}.".format(self.target_id))

        return frame_id



    @property

    def sensor_frame_id(self):
@@ -150,10 +155,71 @@ class NaifSpice(): 


    @property

    def frame_chain(self):

        pass

        """

        Return the root node of the rotation frame tree/chain.



        The root node is the J2000 reference frame. The other nodes in the

        tree can be accessed via the methods in the FrameNode class.



        This property expects the ephemeris_time property/attribute to be defined.

        It should be a list of the ephemeris seconds past the J2000 epoch for each

        exposure in the image.



        Returns

        -------

        FrameNode

            The root node of the frame tree. This will always be the J2000 reference frame.

        """

        if not hasattr(self, '_root_frame'):

            j2000_id = 1 #J2000 is our root reference frame

            self._root_frame = FrameNode(j2000_id)



            sensor_quats = np.zeros((len(self.ephemeris_time), 4))

            sensor_times = np.array(self.ephemeris_time)

            body_quats = np.zeros((len(self.ephemeris_time), 4))

            body_times = np.array(self.ephemeris_time)

            for i, time in enumerate(self.ephemeris_time):

                sensor2j2000 = spice.pxform(

                    self.sensor_frame_id,

                    j2000_id,

                    time)

                q_sensor = spice.m2q(sensor2j2000)

                sensor_quats[i,:3] = q_sensor[1:]

                sensor_quats[i,3] = q_sensor[0]



                body2j2000 = spice.pxform(

                    self.target_frame_id,

                    j2000_id,

                    time)

                q_body = spice.m2q(body2j2000)

                body_quats[i,:3] = q_body[1:]

                body_quats[i,3] = q_body[0]



            sensor2j2000_rot = TimeDependentRotation(

                sensor_quats,

                sensor_times,

                self.sensor_frame_id,

                j2000_id

            )

            sensor_node = FrameNode(

                self.sensor_frame_id,

                parent=self._root_frame,

                rotation=sensor2j2000_rot)



            body2j2000_rot = TimeDependentRotation(

                body_quats,

                body_times,

                self.target_frame_id,

                j2000_id

            )

            body_node = FrameNode(

                self.target_frame_id,

                parent=self._root_frame,

                rotation=body2j2000_rot)

        return self._root_frame



    @property

    def _sensor_orientation(self):

    def sensor_orientation(self):

        if not hasattr(self, '_orientation'):

            ephem = self.ephemeris_time

tests/pytests/conftest.py

+3 −1
Original line number Diff line number Diff line
@@ -20,13 +20,15 @@ class SimpleSpice(): 
    def unload(self, *args):

        return

    def pxform(self, *args):

        return

        return np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])

    def m2q(self, *args):

        return np.asarray([1,2,3,4])

    def bodn2c(self, *args):

        return "SPACE"

    def sct2e(self, *args):

        return 0.1

    def cidfrm(self, *args):

        return (2000, "Test_Body_Frame", True)



def get_mockkernels(self, *args):

    return "some_metakernel"

tests/pytests/test_data_naif.py

+15 −1
Original line number Diff line number Diff line
@@ -15,9 +15,20 @@ def test_naif_data(): 
    naif_data = data_naif.NaifSpice()

    naif_data.instrument_id = "INSTRUMENT"

    naif_data.target_name = "TARGET"

    naif_data.ephemeris_time = [0, 1]



    return naif_data



def test_frame_chain(test_naif_data):

    j2000 = test_naif_data.frame_chain

    assert j2000.parent == None

    assert j2000.id == 1

    assert len(j2000.children) == 2

    for child in j2000.children:

        assert child.parent == j2000

        np.testing.assert_equal(child.rotation.times, np.array([0, 1]))

        assert child.rotation.quats.shape == (2, 4)



def test_target_id(test_naif_data):

    assert test_naif_data.target_id == -12345
@@ -29,10 +40,13 @@ def test_radii(test_naif_data): 


def test_naif_keywords(test_naif_data):

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['BODY-12345_RADII'], np.ones(3))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['BODY_FRAME_CODE'], np.arange(1))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['BODY_FRAME_CODE'], 2000)

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_PIXEL_SIZE'], (0.001))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_ITRANSL'], np.ones(3))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_ITRANSS'], np.ones(3))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_FOCAL_LENGTH'], np.ones(1))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_BORESIGHT_LINE'], np.ones(1))

    np.testing.assert_equal(test_naif_data.isis_naif_keywords['INS-12345_BORESIGHT_SAMPLE'], np.ones(1))



def test_target_frame_id(test_naif_data):

    assert test_naif_data.target_frame_id == 2000