Adding MEX HRSC Naif driver (#211) (5137b54f) · Commits · aflab / astrogeology / Ale

ale/base/type_sensor.py

+6 −2

Original line number	Diff line number	Diff line
		@@ -26,10 +26,14 @@ class LineScanner():
		Returns
		-------
		: list
		2d list of scan rates in the form: [[start_line, line_time, exposure_duration], ...]
		Start lines
		: list
		Line times
		: list
		Exposure durations
		"""
		t0_ephemeris = self.ephemeris_start_time - self.center_ephemeris_time
		return [[0.5], [t0_ephemeris], [self.exposure_duration]]
		return [0.5], [t0_ephemeris], [self.exposure_duration]

		@property
		def ephemeris_time(self):

ale/config.yml

+1 −0

Original line number	Diff line number	Diff line
		spice_root: "/data/spice/"
		cassini: '/usgs/cpkgs/isis3/data/cassini/kernels/mk/' # Cassini ISS
		mdis: '/scratch/jlaura/spice/mess-e_v_h-spice-6-v1.0/messsp_1000/extras/mk' # Messenger
		mex: '/scratch/jlaura/spice/mex-e_m-spice-6-v1.0/mexsp_1000/EXTRAS/MK' # Mars Explorer
		mro: '/data/spice/mro-m-spice-6-v1.0/mrosp_1000/extras/mk' # Mars Reconnaissance Orbiter
		kaguya: '/data/spice/SELENE/kernels/mk/'
		dawn: '/data/spice/dawn-m_a-spice-6-v1.0/dawnsp_1000/extras/mk'

ale/drivers/mex_drivers.py

0 → 100644

+425 −0

Original line number	Diff line number	Diff line
		import os
		from glob import glob

		import numpy as np

		import pvl
		import struct
		import spiceypy as spice
		import warnings

		from ale import config
		from ale.base import Driver
		from ale.base.data_naif import NaifSpice
		from ale.base.label_pds3 import Pds3Label
		from ale.base.type_sensor import LineScanner
		from ale.base.type_distortion import RadialDistortion
		from ale.util import find_latest_metakernel

		FILTER_SPECIFIC_LOOKUP = {
		# This table contains the filter specific information from the ISIS iak kernel. The format is as follows:
		#
		# fikid: [focal_length, ITRANSX, ITRANSY, ITRANSS, ITRANSL]
		-41211: [174.80,
		[-0.026155499841886, -0.006999999957684, 0.0000007696901985785],
		[-59.9926971240526, 0.0000007696901985785, 0.006999999957684],
		[-2.7941368739538, -142.857141993552, 0.015707963236297],
		[8570.3856624766, 0.015707963236297, 142.857141993552]],
		-41212: [174.61,
		[-0.049776299960244, -0.006999999994409, -0.0000002797762790202],
		[-49.7678019894611, -0.0000002797762790202, 0.006999999994409],
		[-7.39506020202098, -142.85714274304, -0.005709719980004],
		[7109.68570860705, -0.005709719980004, 142.85714274304]],
		-41213: [174.74,
		[-0.022301998711020, -0.006999999595423, -0.000002379930922169],
		[-39.5483075824599, -0.000002379930922169, 0.006999999595423],
		[-5.10686167529011, -142.857134600479, -0.048570018819771],
		[5649.75681632013, -0.048570018819771, 142.857134600479]],
		-41214: [175.01,
		[0.066552498797889, -0.006999999873562, 0.000001330464480785],
		[-10.2417126493911, 0.000001330464480785, 0.006999999873562],
		[9.78558608311961, -142.85714027677, 0.027152336342545],
		[1463.0999735726, 0.027152336342545, 142.85714027677]],
		-41215: [175.01,
		[0.033863199938965, -0.006999999987383, -0.0000004202752836277],
		[-0.005497966876288, -0.0000004202752836277, 0.006999999987383],
		[4.83755282624351, -142.857142599663, -0.008577046604648],
		[0.785714284298145, -0.008577046604648, 142.857142599663]],
		-41216: [175.23,
		[0.044402379964146, -0.006999996841365, 0.000006649877982807],
		[10.212957818494, 0.000006649877982807, 0.006999996841365],
		[4.95717543186894, -142.857078395208, 0.135711795567498],
		[-1458.99934165026, 0.135711795567498, 142.857078395208]],
		-41217: [174.80,
		[0.032494699283744, -0.006999999845704, 0.000001469741752306],
		[39.5530931773118, 0.000001469741752306, 0.006999999845704],
		[3.45571545912004, -142.857139708249, 0.029994729638890],
		[-5650.44273259436, 0.029994729638890, 142.857139708249]],
		-41218: [174.82,
		[0.016461898406507, -0.006999999322408, 0.000003079982431615],
		[49.7917927568053, 0.000003079982431615, 0.006999999322408],
		[-0.778052433438109, -142.857129028729, 0.062856784318668],
		[-7113.11359717265, 0.062856784318668, 142.857129028729]],
		-41219: [174.87,
		[0.024021897233075, -0.006999999193716, 0.000003359758681093],
		[59.9868884703161, 0.000003359758681093, 0.006999999193716],
		[-0.681392000547864, -142.857126402363, 0.068566503695773],
		[-8569.5561557859, 0.068566503695773, 142.857126402363]],
		}

		class MexHrscPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, RadialDistortion, Driver):
		"""
		Driver for a PDS3 Mars Express (Mex) High Resolution Stereo Camera (HRSC) images.

		NOTES
		-----

		* HRSC has 9 different filters. Each has it's own instrument id, as well as
		the main/"HEAD" camera composing those filters. There is also another
		"SRC" instrument, making-up a total of 11 distinct sensors. It is very
		important to understand which code is needed when/where.

		* HRSC is a variable line scanner, and so does not maintain one exposure
		duration, but rather differing exposure durations per line. This
		information is stored within the individual records in the image data
		itself, with the the first 8 bytes making up the double presicion
		ephemeris time that the line exposure was started, and the next 4 bytes
		making up the float containing that line's exposure duration.

		"""


		@property
		def metakernel(self):
		"""
		Returns latest instrument metakernels

		Returns
		-------
		: string
		Path to latest metakernel file
		"""
		warnings.warn('This driver has currently not been tested! Use at your own risk.')
		self._metakernel_dir = config.mex
		if not hasattr(self, '_metakernel'):
		self._metakernel = find_latest_metakernel(self._metakernel_dir, self.utc_start_time.year)
		return self._metakernel


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

		Returns
		-------
		: list
		Radial distortion coefficients. There is only one coefficient for LROC NAC l/r
		"""
		return [0.0, 0.0, 0.0]


		@property
		def ikid(self):
		"""
		Returns the Naif ID code for the HRSC head instrument

		This would be the Naif ID code for the base (or "head") instrument.

		Returns
		-------
		: int
		Naif ID used to for indentifying the instrument in Spice kernels
		"""
		return spice.bods2c("MEX_HRSC_HEAD")


		@property
		def fikid(self):
		"""
		Naif ID code of the filter dependent instrument codes.

		Expects filter_number to be defined. This should be an integer containing
		the filter number from the pds3 label.
		Expects ikid to be defined. This should be the integer Naid ID code for
		the instrument.

		Returns
		-------
		: int
		Naif ID code used in calculating focal length
		"""
		return spice.bods2c(self.label['DETECTOR_ID'])


		# TODO Since HRSC has different frames based on filters, need to check that
		# this is returning the value needed for all calculations from the base
		# class and therefor does not need to be reimplemented.
		# @property
		# def sensor_frame_id(self):
		# """
		# Returns the Naif ID code for the sensor reference frame
		#
		#
		# This is the frame of the HRSC instrument itself, and is not dependant on filter.
		#
		# Returns
		# -------
		# : int
		# Naif ID code for the sensor frame
		# """
		# return -41210


		@property
		def instrument_id(self):
		"""
		Returns the short name of the instrument

		MEX HRSC has nine different filters each with their own name.

		Returns
		-------
		: str
		Short name of the instrument
		"""
		return self.label['DETECTOR_ID']


		@property
		def spacecraft_name(self):
		"""
		Spacecraft name used in various SPICE calls to acquire
		ephemeris data. MEX HRSC img PDS3 labels do not the have SPACECRAFT_NAME
		keyword, so we override it here to use the label_pds3 property for
		instrument_host_id

		Returns
		-------
		: str
		Spacecraft name
		"""
		return self.instrument_host_id


		@property
		def focal_length(self):
		"""
		Returns the focal length of the filter-specific sensor

		Expects fikid to be defined. This must be the integer Naif id code of
		the filter-specific instrument.

		NOTE: These values are pulled from ISIS iak kernels.

		Returns
		-------
		: float
		focal length
		"""
		return FILTER_SPECIFIC_LOOKUP[self.fikid][0]


		@property
		def focal2pixel_lines(self):
		"""
		Expects fikid to be defined. This must be the integer Naif id code of
		the filter-sepcific instrument.

		NOTE: These values are pulled from ISIS iak kernels.

		Returns
		-------
		: list<double>
		focal plane to detector lines
		"""
		return FILTER_SPECIFIC_LOOKUP[self.fikid][4]


		@property
		def focal2pixel_samples(self):
		"""
		Expects fikid to be defined. This must be the integer Naif id code of
		the filter-sepcific instrument.

		NOTE: These values are pulled from ISIS iak kernels.

		Returns
		-------
		: list<double>
		focal plane to detector samples
		"""
		return FILTER_SPECIFIC_LOOKUP[self.fikid][3]


		@property
		def pixel2focal_x(self):
		"""
		Expects fikid to be defined. This must be the integer Naif id code of
		the filter-specific instrument.

		NOTE: These values are pulled from ISIS iak kernels.

		Returns
		-------
		: list<double>
		detector to focal plane x
		"""
		return FILTER_SPECIFIC_LOOKUP[self.fikid][1]


		@property
		def pixel2focal_y(self):
		"""
		Expects fikid to be defined. This must be the integer Naif id code of
		the filter-specific instrument.

		NOTE: These values are pulled from ISIS iak kernels.

		Returns
		-------
		: list<double>
		detector to focal plane y
		"""
		return FILTER_SPECIFIC_LOOKUP[self.fikid][2]


		@property
		def detector_start_line(self):
		"""
		Returns
		-------
		: int
		Detector sample corresponding to the first image sample
		"""
		return 1


		@property
		def detector_center_line(self):
		"""
		Returns the center detector line.

		For HRSC, we are dealing with a single line, so center line will be 1.

		Returns
		-------
		: float
		Detector line of the principal point
		"""
		return 0.0


		@property
		def detector_start_sample(self):
		"""
		Returns
		-------
		: int
		Detector line corresponding to the first image sample
		"""
		return self.label["SAMPLE_FIRST_PIXEL"]


		@property
		def detector_center_sample(self):
		"""
		Returns the center detector sample.

		For HRSC, center sample is consistent regardless of filter.

		Returns
		-------
		: float
		Detector sample of the principal point
		"""
		return 2592.5


		@property
		def line_scan_rate(self):
		"""
		Returns a 2D array of line scan rates.

		For HRSC, this data is actually imbedded in the binary data of the image
		itself. Each line is stored in what is referred to as a "record" within
		the image. The label will have the size of each record, the number of
		records, and the number of records in the label, so the beginning of
		binary data can be calculated.

		For each line/record of the binary data, the first 8 bytes make up the
		double presicion value of the ephemeris time, with the next 4 bytes
		making up the float value of the line exposure duration for the
		associated line. NOTE: The image label specifies MSB_INTEGER as the byte
		order, however, to match ISIS values, we used python struct's little
		endian functionality.

		Returns
		-------
		: list
		Start lines
		: list
		Line times
		: list
		Exposure durations
		"""
		lines = []
		times = []
		durations = []

		with open(self._file, 'rb') as image_file:
		bytes_per_record = self.label['RECORD_BYTES']
		num_records = self.label['FILE_RECORDS']
		img_start_record = self.label['^IMAGE']
		img_start_byte = bytes_per_record * (img_start_record - 1) # Offset by one for zero-based records
		num_img_records = num_records - img_start_record
		image_file.seek(img_start_byte)

		for record in range(num_img_records):
		record_bytes = image_file.read(bytes_per_record)
		eph_time = struct.unpack('<d', record_bytes[:8])[0]
		exp_dur = struct.unpack('<f', record_bytes[8:12])[0] / 1000
		if record == 0:
		# Offset for zero-based corrections, and then offest for ISIS pixel definition
		lines.append(record+1-0.5)
		times.append(eph_time)
		durations.append(exp_dur)
		# Only add records if exposure duration has changed since the line before
		elif exp_dur != durations[-1]:
		# Offset for zero-based corrections, and then offest for ISIS pixel definition
		lines.append(record+1-0.5)
		times.append(eph_time)
		durations.append(exp_dur)

		return lines, times, durations


		# TODO We need to confirm that returning nothing here does not affect
		# calculations elsewhere in code. Or is there possibly just a better way of
		# doing this?
		@property
		def line_exposure_duration(self):
		"""
		Line exposure duration returns the time between the exposures for
		subsequent lines.

		Since HRSC is a variable line scan camera, it does not make sense to
		have one exposure duration value.

		Returns
		-------
		: float
		Returns the line exposure duration in seconds from the PDS3 label.
		"""
		return


		@property
		def sensor_model_version(self):
		"""
		Returns
		-------
		: int
		ISIS sensor model version
		"""
		return 1