ALE driver verification script addition (#584)

- Added Nadir option to isd_generate, used to generate nadir instrument pointing [#564](https://github.com/DOI-USGS/ale/pull/564)

- Added Nadir option to isd_generate, used to generate nadir instrument pointing [#564](https://github.com/DOI-USGS/ale/pull/564)

- Added radial and tangential distortion model [#575](https://github.com/DOI-USGS/ale/pull/575)

- Added radial and tangential distortion model [#575](https://github.com/DOI-USGS/ale/pull/575)

- Updated the spiceypy version used in environment.yml [#552](https://github.com/DOI-USGS/ale/issues/552)

- Updated the spiceypy version used in environment.yml [#552](https://github.com/DOI-USGS/ale/issues/552)

- added driver verification script that helps in comparing ALE and ISIS driver spice data usage and outputs [#584](https://github.com/DOI-USGS/ale/pull/584)

### Fixed

### Fixed

- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)

- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)

#!/usr/bin/env python

import ale

from ale import drivers

from ale.base.base import Driver

from ale.base.data_isis import IsisSpice

from ale.base.label_isis import IsisLabel

from networkx.algorithms.shortest_paths.generic import shortest_path

from importlib import reload

import argparse

import importlib

import pvl

import pkgutil

import os

ale_root = os.environ.get('ALEROOT')

import shutil

import subprocess

import difflib

from pathlib import Path

import numpy as np

class ReadIsis(IsisSpice, IsisLabel, Driver):

    def sensor_model_version(self):

        return 0

# Define the function to run spiceinit with ISIS

def run_spiceinit_isis(image_path):

    if ale_root is None:

        raise EnvironmentError("The environment variable 'ALEROOT' is not set.")

    # Move ALE drivers to a temporary subfolder

    ale_drivers_path = Path(ale_root) / 'ale' / 'drivers'

    temp_folder = ale_drivers_path.parent / 'temp_drivers'

    temp_folder.mkdir(exist_ok=True)

    for driver in ale_drivers_path.glob('*'): # this globs wrong

        shutil.move(str(driver), str(temp_folder))

    # Run spiceinit with ISIS

    try:

        subprocess.run(['spiceinit', f'from={image_path}']) # I believe this is where the crashes are coming from

    except:

        pass

    # Move the drivers back

    for driver in temp_folder.glob('*'):

        shutil.move(str(driver), str(ale_drivers_path))

    temp_folder.rmdir()

# Define the function to run spiceinit with ALE

def run_spiceinit_ale(image_path):

    # Run spiceinit with ALE

    subprocess.run(['spiceinit', f'from={image_path}'])

def generate_body_rotation(driver, target_frame_id):

    frame_chain = driver.frame_chain

    target_frame = target_frame_id

    J2000 = 1 # J2000 frame id

    body_rotation = {}

    source_frame, destination_frame, time_dependent_target_frame = frame_chain.last_time_dependent_frame_between(target_frame, J2000)

    if source_frame != J2000:

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        body_rotation['time_dependent_frames'] = shortest_path(frame_chain, source_frame, J2000)

        time_dependent_rotation = frame_chain.compute_rotation(J2000, source_frame)

        body_rotation['ck_table_start_time'] = time_dependent_rotation.times[0]

        body_rotation['ck_table_end_time'] = time_dependent_rotation.times[-1]

        body_rotation['ck_table_original_size'] = len(time_dependent_rotation.times)

        body_rotation['ephemeris_times'] = time_dependent_rotation.times

        body_rotation['quaternions'] = time_dependent_rotation.quats[:, [3, 0, 1, 2]]

        body_rotation['angular_velocities'] = time_dependent_rotation.av

    if source_frame != target_frame:

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        body_rotation['constant_frames'] = shortest_path(frame_chain, target_frame, source_frame)

        constant_rotation = frame_chain.compute_rotation(source_frame, target_frame)

        body_rotation['constant_rotation'] = constant_rotation.rotation_matrix().flatten()

    body_rotation["reference_frame"] = destination_frame

    return body_rotation

def generate_instrument_rotation(driver, sensor_frame_id):

    # sensor orientation

    frame_chain = driver.frame_chain

    sensor_frame = sensor_frame_id

    J2000 = 1 # J2000 frame id

    instrument_pointing = {}

    source_frame, destination_frame, _ = frame_chain.last_time_dependent_frame_between(J2000, sensor_frame)

    # Reverse the frame order because ISIS orders frames as

    # (destination, intermediate, ..., intermediate, source)

    instrument_pointing['time_dependent_frames'] = shortest_path(frame_chain, destination_frame, J2000)

    time_dependent_rotation = frame_chain.compute_rotation(J2000, destination_frame)

    instrument_pointing['ck_table_start_time'] = time_dependent_rotation.times[0]

    instrument_pointing['ck_table_end_time'] = time_dependent_rotation.times[-1]

    instrument_pointing['ck_table_original_size'] = len(time_dependent_rotation.times)

    instrument_pointing['ephemeris_times'] = time_dependent_rotation.times

    instrument_pointing['quaternions'] = time_dependent_rotation.quats[:, [3, 0, 1, 2]]

    instrument_pointing['angular_velocities'] = time_dependent_rotation.av

    # reference frame should be the last frame in the chain

    instrument_pointing["reference_frame"] = instrument_pointing['time_dependent_frames'][-1]

    # Reverse the frame order because ISIS orders frames as

    # (destination, intermediate, ..., intermediate, source)

    instrument_pointing['constant_frames'] = shortest_path(frame_chain, sensor_frame, destination_frame)

    constant_rotation = frame_chain.compute_rotation(destination_frame, sensor_frame)

    instrument_pointing['constant_rotation'] = constant_rotation.rotation_matrix().flatten()

    return instrument_pointing

def generate_instrument_position(driver):

    instrument_position = {}

    positions, velocities, times = driver.sensor_position

    instrument_position['spk_table_start_time'] = times[0]

    instrument_position['spk_table_end_time'] = times[-1]

    instrument_position['spk_table_original_size'] = len(times)

    instrument_position['ephemeris_times'] = times

    # Rotate positions and velocities into J2000 then scale into kilometers

    # velocities = j2000_rotation.rotate_velocity_at(positions, velocities, times)/1000

    # positions = j2000_rotation.apply_at(positions, times)/1000

    instrument_position['positions'] = positions

    instrument_position['velocities'] = velocities

    return instrument_position

def generate_sun_position(driver):

    sun_position = {}

    positions, velocities, times = driver.sun_position

    sun_position['spk_table_start_time'] = times[0]

    sun_position['spk_table_end_time'] = times[-1]

    sun_position['spk_table_original_size'] = len(times)

    sun_position['ephemeris_times'] = times

    # Rotate positions and velocities into J2000 then scale into kilometers

    # velocities = j2000_rotation.rotate_velocity_at(positions, velocities, times)/1000

    # positions = j2000_rotation.apply_at(positions, times)/1000

    sun_position['positions'] = positions

    sun_position['velocities'] = velocities

    # sun_position["reference_frame"] = j2000_rotation.dest

    return sun_position

def create_json_dump(driver, sensor_frame_id, target_frame_id):

    json_dump = {}

    json_dump["instrument_rotation"] = generate_instrument_rotation(driver, sensor_frame_id)

    json_dump["body_rotation"] = generate_body_rotation(driver, target_frame_id)

    json_dump["instrument_position"] = generate_instrument_position(driver)

    json_dump["sun_position"] = generate_sun_position(driver)

    return json_dump

def diff_and_describe(json1, json2, key_array):

    for key in key_array:

        json1 = json1[key]

        json2 = json2[key]

    diff = json1 - json2

    print(" ".join(key_array) + "\nNum records:", len(diff), "\nMean:", np.mean(diff, axis=(0)), "\nMedian:", np.median(diff, axis=(0)), "\n")

# Define the function to compare ISDs

def compare_isds(json1, json2):

    diff_and_describe(json1, json2, ["instrument_position", "positions"])

    diff_and_describe(json1, json2, ["instrument_position", "velocities"])

    diff_and_describe(json1, json2, ["sun_position", "positions"])

    diff_and_describe(json1, json2, ["sun_position", "velocities"])

    diff_and_describe(json1, json2, ["instrument_rotation", "quaternions"])

    diff_and_describe(json1, json2, ["instrument_rotation", "angular_velocities"])

    diff_and_describe(json1, json2, ["body_rotation", "quaternions"])

    diff_and_describe(json1, json2, ["body_rotation", "angular_velocities"])

# Define the main function

def main(image):

    # Duplicate the image for ALE and ISIS processing

    image_ale_path = Path(f"{image}_ALE.cub")

    image_isis_path = Path(f"{image}_ISIS.cub")

    shutil.copy(image, image_ale_path)

    shutil.copy(image, image_isis_path)

    # Run spiceinit with ISIS

    run_spiceinit_isis(image_isis_path)

    # try ale.loads

    isis_kerns = ale.util.generate_kernels_from_cube(image_isis_path, expand=True)

    # this can be uncommented and used when the PVL loads fix PR goes in (#587)

    isis_label = pvl.load(image_isis_path)

    try:

        ale.loads(isis_label, props={"kernels": isis_kerns}, only_naif_spice=True)

    except:

        print("No driver for such Label")

        exit

    # Run spiceinit with ALE

    run_spiceinit_ale(image_ale_path)

    # try ale.loads

    ale_kerns = ale.util.generate_kernels_from_cube(image_ale_path, expand=True)

    ale.loads(image_ale_path, props={"kernels": ale_kerns}, only_naif_spice=True)

    # Generate ISD for both ALE and ISIS

    read_ale_driver = ReadIsis(image_ale_path)

    ale_json_dump = create_json_dump(read_ale_driver, read_ale_driver.sensor_frame_id, read_ale_driver.target_frame_id)

    read_isis_driver = ReadIsis(image_isis_path)

    isis_json_dump = create_json_dump(read_isis_driver, read_isis_driver.sensor_frame_id, read_isis_driver.target_frame_id)

    # Compare the ISDs

    compare_isds(ale_json_dump, isis_json_dump)

# Set up argparse to handle command line arguments

if __name__ == "__main__":

    parser = argparse.ArgumentParser(description="Script to compare ALE driver and ISIS3 driver against an image.")

    parser.add_argument('image', type=str, help='Image to process.')

    args = parser.parse_args()

    # Call the main function

    main(args.image)