Fixes for MSL (#580) (5124f92b) · Commits · aflab / astrogeology / Ale

CHANGELOG.md

+4 −0

Original line number	Original line	Diff line number	Diff line
	@@ -44,6 +44,7 @@ release.

	### 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)
			- Bugfix for position and orientation for MSL cameras (driver MslMastcamPds3NaifSpiceDriver). Validated that Nav and Mast LBL files (for both left and right sensor) produce correctly positioned and oriented CSM cameras, that are self-consistent and consistent with a prior DEM for the site. [#580](https://github.com/DOI-USGS/ale/pull/580)

	### Changed		### Changed
	- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579)		- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579)
	@@ -77,3 +78,6 @@ release.
	- Chandrayaan1_mrffr IsisLabelNaifSpice driver, tests and test data [#519](https://github.com/DOI-USGS/ale/pull/519)		- Chandrayaan1_mrffr IsisLabelNaifSpice driver, tests and test data [#519](https://github.com/DOI-USGS/ale/pull/519)
	- MGS MOC Narrow Angle IsisLabelNaifSpice driver, tests, and test data [#517](https://github.com/DOI-USGS/ale/pull/517)		- MGS MOC Narrow Angle IsisLabelNaifSpice driver, tests, and test data [#517](https://github.com/DOI-USGS/ale/pull/517)
	- Hayabusa NIRS IsisLabelNaifSpice driver, tests and test data [#532](https://github.com/DOI-USGS/ale/pull/532)		- Hayabusa NIRS IsisLabelNaifSpice driver, tests and test data [#532](https://github.com/DOI-USGS/ale/pull/532)

ale/base/type_sensor.py

+59 −15

Original line number	Original line	Diff line number	Diff line
	@@ -373,9 +373,8 @@ class RollingShutter():

	class Cahvor():		class Cahvor():
	"""		"""
	Mixin for largely ground based sensors to add an		Mixin for ground-based sensors to add to the position and rotation
	extra step in the frame chain to go from ground camera to		the components going from rover frame to camera frame.
	the Camera
	"""		"""

	@property		@property
	@@ -396,17 +395,50 @@ class Cahvor():

	@property		@property
	def sensor_position(self):		def sensor_position(self):
			"""
			Find the rover position, then add the camera position relative to the
			rover. The returned position is in ECEF.

			Returns
			-------
			: (positions, velocities, times)
			a tuple containing a list of positions, a list of velocities, and a
			list of times.
			"""

			# Rover position in ECEF
	positions, velocities, times = super().sensor_position		positions, velocities, times = super().sensor_position
	positions += self.cahvor_camera_dict["C"]
			nadir = self._props.get("nadir", False)
			if nadir:
			# For nadir applying the rover-to-camera offset runs into
			# problems, so return early. TBD
			return positions, velocities, times

			# Rover-to-camera offset in rover frame
			cam_ctr = self.cahvor_center

			# Rover-to-camera offset in ECEF
			ecef_frame = self.target_frame_id
			rover_frame = self.final_inst_frame
			frame_chain = self.frame_chain
			rover2ecef_rotation = \
			frame_chain.compute_rotation(rover_frame, ecef_frame)
			cam_ctr = rover2ecef_rotation.apply_at([cam_ctr], times)[0]

			# Go from rover position to camera position
			positions[0] += cam_ctr

	if self._props.get("landed", False):		if self._props.get("landed", False):
	positions = np.array([[0, 0, 0]] * len(times))		positions = np.array([[0, 0, 0]] * len(times))
	velocities = np.array([[0, 0, 0]] * len(times))		velocities = np.array([[0, 0, 0]] * len(times))

	return positions, velocities, times		return positions, velocities, times

	def compute_h_c(self):		def compute_h_c(self):
	"""		"""
	Computes the h_c element of a cahvor model for the conversion		Computes the h_c element of a cahvor model for the conversion
	to a photogrametric model		to a photogrammetric model

	Returns		Returns
	-------		-------
	@@ -418,7 +450,7 @@ class Cahvor():
	def compute_h_s(self):		def compute_h_s(self):
	"""		"""
	Computes the h_s element of a cahvor model for the conversion		Computes the h_s element of a cahvor model for the conversion
	to a photogrametric model		to a photogrammetric model

	Returns		Returns
	-------		-------
	@@ -430,7 +462,7 @@ class Cahvor():
	def compute_v_c(self):		def compute_v_c(self):
	"""		"""
	Computes the v_c element of a cahvor model for the conversion		Computes the v_c element of a cahvor model for the conversion
	to a photogrametric model		to a photogrammetric model

	Returns		Returns
	-------		-------
	@@ -442,7 +474,7 @@ class Cahvor():
	def compute_v_s(self):		def compute_v_s(self):
	"""		"""
	Computes the v_s element of a cahvor model for the conversion		Computes the v_s element of a cahvor model for the conversion
	to a photogrametric model		to a photogrammetric model

	Returns		Returns
	-------		-------
	@@ -474,6 +506,18 @@ class Cahvor():
	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']])
	return self._cahvor_rotation_matrix		return self._cahvor_rotation_matrix

			@property
			def cahvor_center(self):
			"""
			Computes the cahvor center for the sensor relative to the rover frame

			Returns
			-------
			: array
			Cahvor center as a 1D numpy array
			"""
			return self.cahvor_camera_dict['C']

	@property		@property
	def frame_chain(self):		def frame_chain(self):
	"""		"""
	@@ -566,6 +610,6 @@ class Cahvor():
	Returns		Returns
	-------		-------
	: float		: float
	Focal length of a cahvor model instrument		Pixel size of a cahvor model instrument
	"""		"""
	return self.focal_length/self.compute_h_s()		return -self.focal_length/self.compute_h_s()

ale/drivers/co_drivers.py

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -205,7 +205,7 @@ class CassiniIssIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, RadialDis
	"""		"""
	NAC uses multiple filter pairs, each filter combination has a different focal length.		NAC uses multiple filter pairs, each filter combination has a different focal length.
	NAIF's Cassini kernels do not contain focal lengths for NAC filters and		NAIF's Cassini kernels do not contain focal lengths for NAC filters and
	so we aquired updated NAC filter data from ISIS's IAK kernel.		so we acquired updated NAC filter data from ISIS's IAK kernel.

	"""		"""
	# default focal defined by IAK kernel		# default focal defined by IAK kernel

ale/drivers/lro_drivers.py

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -102,7 +102,7 @@ class LroLrocNacPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driv
	@property		@property
	def light_time_correction(self):		def light_time_correction(self):
	"""		"""
	Returns the type of light time correction and abberation correction to		Returns the type of light time correction and aberration correction to
	use in NAIF calls.		use in NAIF calls.

	LROC is specifically set to not use light time correction because it is		LROC is specifically set to not use light time correction because it is
	@@ -112,7 +112,7 @@ class LroLrocNacPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driv
	Returns		Returns
	-------		-------
	: str		: str
	The light time and abberation correction string for use in NAIF calls.		The light time and aberration correction string for use in NAIF calls.
	See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/abcorr.html		See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/abcorr.html
	for the different options available.		for the different options available.
	"""		"""

ale/drivers/msl_drivers.py

+77 −12

Original line number	Original line	Diff line number	Diff line
	@@ -42,10 +42,28 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
	"""		"""
	lookup = {		lookup = {
	"MAST_RIGHT": 'MASTCAM_RIGHT',		"MAST_RIGHT": 'MASTCAM_RIGHT',
	"MAST_LEFT": 'MASTCAM_LEFT'		"MAST_LEFT": 'MASTCAM_LEFT',
			"NAV_RIGHT_B": 'NAVCAM_RIGHT_B',
			"NAV_LEFT_B": 'NAVCAM_LEFT_B'
	}		}
	return self.instrument_host_id + "_" + lookup[super().instrument_id]		return self.instrument_host_id + "_" + lookup[super().instrument_id]

			@property
			def is_navcam(self):
			"""
			Returns True if the camera is a nav cam, False otherwise.
			Need to handle nav cam differently as its focal length
			cannot be looked up in the spice data. Use instead
			a focal length in pixels computed from the CAHVOR model,
			and a pixel size of 1.

			Returns
			-------
			: bool
			True if the camera is a nav cam, False otherwise
			"""
			return 'NAVCAM' in self.instrument_id

	@property		@property
	def cahvor_camera_dict(self):		def cahvor_camera_dict(self):
	"""		"""
	@@ -72,14 +90,14 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
	@property		@property
	def final_inst_frame(self):		def final_inst_frame(self):
	"""		"""
	Defines MSLs last naif frame before the cahvor model frame		Defines the rover frame, relative to which the MSL cahvor camera is defined

	Returns		Returns
	-------		-------
	: int		: int
	Naif frame code for MSL_RSM_HEAD		Naif frame code for MSL_ROVER
	"""		"""
	return spice.bods2c("MSL_RSM_HEAD")		return spice.bods2c("MSL_ROVER")

	@property		@property
	def sensor_frame_id(self):		def sensor_frame_id(self):
	@@ -108,10 +126,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
	: list<double>		: list<double>
	focal plane to detector lines		focal plane to detector lines
	"""		"""
	if self._props.get("landed", False):
	return [0, 0, -1/self.pixel_size]		return [0, 0, -1/self.pixel_size]
	else:
	return [0, 0, 1/self.pixel_size]

	@property		@property
	def focal2pixel_samples(self):		def focal2pixel_samples(self):
	@@ -123,9 +138,6 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
	: list<double>		: list<double>
	focal plane to detector samples		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]		return [0, -1/self.pixel_size, 0]

	@property		@property
	@@ -137,3 +149,56 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
	ISIS sensor model version		ISIS sensor model version
	"""		"""
	return 1		return 1

			@property
			def light_time_correction(self):
			"""
			Returns the type of light time correction and aberration correction to
			use in NAIF calls.

			For MSL using such a correction returns wrong results, so turn it off.

			Returns
			-------
			: str
			The light time and aberration correction string for use in NAIF calls.
			See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/abcorr.html
			for the different options available.
			"""
			return 'NONE'

			@property
			def focal_length(self):
			"""
			Returns the focal length of the sensor with a negative sign.
			This was tested to work with MSL mast and nav cams.

			Returns
			-------
			: float
			focal length
			"""
			if self.is_navcam:
			# Focal length in pixel as computed for a cahvor model.
			# See is_navcam() for an explanation.
			return -(self.compute_h_s() + self.compute_v_s())/2.0

			# For mast cam
			return -super().focal_length

			@property
			def pixel_size(self):
			"""
			Returns the pixel size.

			Returns
			-------
			: float
			pixel size
			"""
			if self.is_navcam:
			# See is_navcam() for an explanation.
			return 1.0

			# For mast cam
			return super().pixel_size