Initial rosetta virtis driver (#520) (4ea98c6c) · Commits · aflab / astrogeology / Ale

CHANGELOG.md

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		@@ -36,6 +36,7 @@ release.
		## [Unreleased]
		### Added
		- Apollo Metric drivers, tests, and data [#533](https://github.com/DOI-USGS/ale/pull/533)
		- Rosetta Virtis drivers, tests, and data [#520](https://github.com/DOI-USGS/ale/pull/520)

		### Fixed

ale/drivers/rosetta_drivers.py

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		import re
		import spiceypy as spice
		import math
		import numpy as np
		from scipy.spatial.transform import Rotation
		from scipy.interpolate import CubicSpline


		from ale.base import Driver
		from ale.base.data_naif import NaifSpice
		from ale.base.data_isis import read_table_data, parse_table
		from ale.base.label_isis import IsisLabel
		from ale.base.type_distortion import RadialDistortion
		from ale.base.type_sensor import LineScanner
		from ale.transformation import ConstantRotation, FrameChain, TimeDependentRotation


		class RosettaVirtisIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialDistortion, Driver):
		@property
		def instrument_id(self):
		"""
		Returns the instrument id for Rosetta Virtis

		Returns
		-------
		: str
		Frame Reference for Rosetta VIRTIS
		"""
		inst_id_lookup = {
		"VIRTIS_M_VIS" : "ROS_VIRTIS-M_VIS",
		"VIRTIS_M_IR" : "ROS_VIRTIS-M_IR",
		}
		return inst_id_lookup[self.label['IsisCube']['Instrument']['ChannelID']]


		@property
		def sensor_model_version(self):
		"""
		The ISIS Sensor model number for Rosetta Virtis in ISIS.

		Returns
		-------
		: int
		ISIS sensor model version
		"""
		return 1


		@property
		def spacecraft_name(self):
		"""
		Return the spacecraft name. The label calls it "ROSETTA-ORBITER", NAIF calls it "ROSETTA"
		"""
		return "ROSETTA"

		@property
		def ephemeris_start_time(self):
		"""
		Returns the start ephemeris time for the image.

		Returns
		-------
		: float
		start time
		"""
		try:
		# first line's middle et - 1/2 exposure duration = cube start time
		return self.hk_ephemeris_time[0] - (self.line_exposure_duration/2)
		except:
		return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStartCount'])


		@property
		def ephemeris_stop_time(self):
		"""
		Returns the stop ephemeris time for the image.

		Returns
		-------
		: float
		stop time
		"""

		try:
		# last line's middle et + 1/2 exposure duration = cube start time
		return self.hk_ephemeris_time[-1] + (self.line_exposure_duration/2)
		except:
		return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStopCount'])

		@property
		def housekeeping(self):
		"""
		Read the housekeeping table from the cub and populate data.

		Returns
		-------
		None
		"""
		if not hasattr(self, "_housekeeping"):
		degs_per_rad = 57.2957795
		binary = read_table_data(self.label['Table'], self._file)
		hk_table = parse_table(self.label['Table'], binary)
		data_scet = hk_table['dataSCET']
		shutter_mode_list = hk_table['Data Type__Shutter state']
		mirror_sin_list = hk_table['M_MIRROR_SIN_HK']
		mirror_cos_list = hk_table['M_MIRROR_COS_HK']

		opt_angles = []
		x = np.array([])
		y = np.array([])
		for index, mirror_sin in enumerate(mirror_sin_list):
		shutter_mode = shutter_mode_list[index]
		is_dark = (shutter_mode == 1)

		mirror_cos = mirror_cos_list[index]

		scan_elec_deg = math.atan(mirror_sin/mirror_cos) * degs_per_rad
		opt_ang = ((scan_elec_deg - 3.7996979) * 0.25/0.257812) / 1000

		if not is_dark:
		x = np.append(x, index + 1)
		y = np.append(y, opt_ang)

		if not self.is_calibrated:
		opt_angles.append(opt_ang)

		cs = CubicSpline(x, y, extrapolate="periodic")

		for i, opt_ang in enumerate(opt_angles):
		shutter_mode = shutter_mode_list[i]
		is_dark = (shutter_mode == 1)

		if (is_dark):
		if (i == 0):
		opt_angles[i] = opt_angles[i+1]
		elif (i == len(opt_angles) - 1):
		opt_angles[i] = opt_angles[i-1]
		else:
		opt_angles[i] = cs(i+1)

		line_mid_times = [spice.scs2e(self.spacecraft_id, str(round(i,5))) for i in data_scet]
		self._hk_ephemeris_time = line_mid_times
		self._optical_angle = opt_angles
		self._housekeeping= True

		@property
		def hk_ephemeris_time(self):
		"""
		Ephemeris times from the housekeeping table.

		Returns
		-------
		: list
		Ephemeris times from the housekeeping table
		"""
		if not hasattr(self, "_hk_ephemeris_time"):
		self.housekeeping
		return self._hk_ephemeris_time

		@property
		def optical_angle(self):
		"""
		Return optical angles from the housekeeping table.

		Returns
		-------
		: list
		Optical angles from the housekeeping table
		"""
		if not hasattr(self, "_optical_angle"):
		self.housekeeping
		return self._optical_angle


		@property
		def line_exposure_duration(self):
		"""
		Returns the exposure duration for each line.

		Returns
		-------
		: double
		Exposure duration for a line
		"""
		return self.label['IsisCube']['Instrument']['FrameParameter'][0] * 0.001


		@property
		def line_summing(self):
		"""
		Returns
		-------
		: int
		Line summing
		"""
		return self.label['IsisCube']['Instrument']['FrameParameter'][1]

		@property
		def sample_summing(self):
		"""
		Returns
		-------
		: int
		Sample summing
		"""
		return self.label['IsisCube']['Instrument']['FrameParameter'][1]

		@property
		def scan_rate(self):
		"""
		Returns
		: Double
		Scan rate
		"""
		return self.label['IsisCube']['Instrument']['FrameParameter'][2]

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

		Returns
		-------
		: list
		Radial distortion coefficients
		"""
		return [0.0, .038, 0.38]


		@property
		def sensor_frame_id(self):
		"""
		Returns the sensor frame id. Depends on the instrument that was used to
		capture the image.

		Returns
		-------
		: int
		Sensor frame id
		"""

		if self.has_articulation_kernel:
		return super().sensor_frame_id
		else:
		return super().sensor_frame_id - 1


		@property
		def is_calibrated(self):
		"""
		Determine if this image is calibrated.

		Returns
		-------
		: bool
		True if calibrated else False
		"""
		return self.label['IsisCube']['Instrument']['ProcessingLevelID'] == '3'

		@property
		def has_articulation_kernel(self):
		"""
		Determine if this image has an associated articulation kernel

		Returns
		-------
		: bool
		True if the image has an articulation kernel else False
		"""
		regex = re.compile('.*ROS_VIRTIS_M_[0-9]{4}_[0-9]{4}_V[0-9].BC')
		return any([re.match(regex, i) for i in self.kernels])


		@property
		def frame_chain(self):
		"""
		Construct the frame chain. Use super to construct base chain and add edges via inst_pointing_rotation

		Returns
		-------
		: FrameChain
		"""
		frame_chain = super().frame_chain
		frame_chain.add_edge(rotation=self.inst_pointing_rotation)
		return frame_chain

		@property
		def inst_pointing_rotation(self):
		"""
		Returns a time dependent instrument pointing rotation for virtis frames
		Returns
		-------
		: TimeDependentRotation
		Instrument pointing rotation
		"""
		time_dep_quats = np.zeros((len(self.hk_ephemeris_time), 4))
		avs = []

		for i, time in enumerate(self.hk_ephemeris_time):
		try:
		state_matrix = spice.sxform("J2000", spice.frmnam(self.sensor_frame_id), time)
		except:
		rotation_matrix = spice.pxform("J2000", spice.frmnam(self.sensor_frame_id), time)
		state_matrix = spice.rav2xf(rotation_matrix, [0, 0, 0])

		opt_angle = self.optical_angle[i]

		xform = spice.eul2xf([0, -opt_angle, 0, 0, 0, 0], 1, 2, 3)
		xform2 = spice.mxmg(xform, state_matrix)

		rot_mat, av = spice.xf2rav(xform2)
		avs.append(av)

		quat_from_rotation = spice.m2q(rot_mat)
		time_dep_quats[i,:3] = -quat_from_rotation[1:]
		time_dep_quats[i, 3] = -quat_from_rotation[0]

		time_dep_rot = TimeDependentRotation(time_dep_quats, self.hk_ephemeris_time, 1, self.sensor_frame_id, av=avs)

		return time_dep_rot
		No newline at end of file

tests/pytests/conftest.py

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		@@ -63,6 +63,15 @@ def compare_dicts(ldict, rdict):
		differences.append(f'Array sizes of key {key} are not equal {item} : {rdict[key]}.')
		else:
		list_item = np.array(item).flat[0]
		# quaternion (q) and its additive inverse (qi) yield the same rotation. Equivalent quaternions should pass
		if key == 'quaternions':
		# Cannot compare abs, it has to be full sign flip, because (1, -1, 1, -1) != (1, 1, 1, 1), but (-1,-1,-1,-1) ~= (1,1,1,1)
		l = np.array(item).flat
		li = [-x for x in l]
		r = np.array(rdict[key]).flat
		if not (np.allclose(l, r) or np.allclose(li,r)):
		differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')
		else:
		if isinstance(list_item, numbers.Number):
		if not np.allclose(item, rdict[key]):
		differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')

tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127.xc

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tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127_0_sliced_-226000.xc

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		DAFETF NAIF DAF ENCODED TRANSFER FILE
		'DAF/CK '
		'2'
		'6'
		'/home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/ATNR_P0403020933'
		TOTAL_ARRAYS 0
		~NAIF/SPC BEGIN COMMENTS~

		This CK is for testing with the image: /Users/arsanders/data/rosetta/virtis/ale_testing/i1_00237330013.cub

		This CK was generated using the following command: {}
		~NAIF/SPC END COMMENTS~