Commit 51ba8b21 authored by paarongiroux's avatar paarongiroux Committed by Jesse Mapel
Browse files

updated usgscsm formatter and tests to work with formatter (#182)

parent bf720ec2

ale/formatters/usgscsm_formatter.py

+8 −3
Original line number Diff line number Diff line 
import json

from ale.base.type_sensor import LineScanner, Framer

from ale.encoders import NumpyEncoder

from ale.rotation import ConstantRotation, TimeDependentRotation



def to_usgscsm(driver):

    """
@@ -37,9 +38,13 @@ def to_usgscsm(driver): 
        'velocities' : sun_velocities,

        'unit' : 'm'

    }

    rotation_chain = driver.rotation_chain

    sensor_to_target = rotation_chain.rotation(rotation_chain[-1], rotation_chain[0])

    quaternions, _, rotation_times = sensor_to_target.simplified_rotation()



    j2000 = driver.frame_chain

    sensor_frame = j2000.find_child_frame(driver.sensor_frame_id)

    target_frame = j2000.find_child_frame(driver.target_frame_id)

    sensor_to_target = sensor_frame.rotation_to(target_frame)

    quaternions = sensor_to_target.quats

    rotation_times = sensor_to_target.times

    isd_data['sensor_orientation'] = {

        'quaternions' : quaternions

    }

tests/pytests/test_usgscsm_formatter.py

+46 −28
Original line number Diff line number Diff line 
import pytest

import json

import numpy as np



from ale.formatters import usgscsm_formatter

from ale.base.type_sensor import LineScanner, Framer





# These should be removed once the rotation chain class is finished

class RotationTest:

    def __init__(self, source, dest, quat):

        self.source = source

        self.dest = dest

        self.quat = quat



    def simplified_rotation(self):

        return [self.quat], [[-1, -2, -3, -4]], [875]





class RotationTestChain:

    def __init__(self):

        self.frames = [0, -100, -200, 20020, -20021]

        self.quat = [0, 1, 2, 3]



    def __getitem__(self, key):

        return self.frames[key]



    def rotation(self, source, dest):

        return RotationTest(source, dest, self.quat)

from ale.transformation import FrameNode

from ale.rotation import ConstantRotation, TimeDependentRotation



class TestLineScanner(LineScanner):

    """
@@ -38,6 +18,23 @@ class TestLineScanner(LineScanner): 


@pytest.fixture

def test_line_scan_driver():

    j2000 = FrameNode(1)

    body_rotation = TimeDependentRotation(

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

        np.array([0, 1]),

        100,

        1

    )

    body_fixed = FrameNode(100, parent=j2000, rotation=body_rotation)

    spacecraft_rotation = TimeDependentRotation(

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

        np.array([0, 1]),

        1000,

        1

    )

    spacecraft = FrameNode(1000, parent=j2000, rotation=spacecraft_rotation)

    sensor_rotation = ConstantRotation(np.array([0, 0, 0, 1]), 1010, 1000)

    sensor = FrameNode(1010, parent=spacecraft, rotation=sensor_rotation)

    driver = TestLineScanner()

    driver.target_body_radii = (1100, 1000)

    driver.positions = (
@@ -50,7 +47,9 @@ def test_line_scan_driver(): 
        [[0, -1, -2], [-3, -4, -5]],

        [800, 900]

    )

    driver.rotation_chain = RotationTestChain()

    driver.sensor_frame_id = 1010

    driver.target_frame_id = 100

    driver.frame_chain = j2000

    driver.sample_summing = 2

    driver.line_summing = 4

    driver.focal_length = 500
@@ -76,6 +75,23 @@ def test_line_scan_driver(): 


@pytest.fixture

def test_frame_driver():

    j2000 = FrameNode(1)

    body_rotation = TimeDependentRotation(

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

        np.array([0, 1]),

        100,

        1

    )

    body_fixed = FrameNode(100, parent=j2000, rotation=body_rotation)

    spacecraft_rotation = TimeDependentRotation(

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

        np.array([0, 1]),

        1000,

        1

    )

    spacecraft = FrameNode(1000, parent=j2000, rotation=spacecraft_rotation)

    sensor_rotation = ConstantRotation(np.array([0, 0, 0, 1]), 1010, 1000)

    sensor = FrameNode(1010, parent=spacecraft, rotation=sensor_rotation)

    driver = Framer()

    driver.target_body_radii = (1100, 1000)

    driver.positions = (
@@ -88,7 +104,9 @@ def test_frame_driver(): 
        [[0, -1, -2]],

        [850]

    )

    driver.rotation_chain = RotationTestChain()

    driver.sensor_frame_id = 1010

    driver.target_frame_id = 100

    driver.frame_chain = j2000

    driver.sample_summing = 2

    driver.line_summing = 4

    driver.focal_length = 500
@@ -185,7 +203,7 @@ def test_framer_sensor_position(test_frame_driver): 
def test_sensor_orientation(test_frame_driver):

    isd = json.loads(usgscsm_formatter.to_usgscsm(test_frame_driver))

    sensor_orientation_obj = isd['sensor_orientation']

    assert sensor_orientation_obj['quaternions'] == [[0, 1, 2, 3]]

    assert sensor_orientation_obj['quaternions'] ==  [[0, 0, 0, -1], [0, 0, 0, -1]]



def test_detector_start(test_frame_driver):

    isd = json.loads(usgscsm_formatter.to_usgscsm(test_frame_driver))
@@ -214,8 +232,8 @@ def test_position_times(test_line_scan_driver): 


def test_rotation_times(test_line_scan_driver):

    isd = json.loads(usgscsm_formatter.to_usgscsm(test_line_scan_driver))

    assert isd['t0_quaternion'] == 25

    assert isd['dt_quaternion'] == 0

    assert isd['t0_quaternion'] == -850

    assert isd['dt_quaternion'] == 1



def test_interpolation_method(test_line_scan_driver):

    isd = json.loads(usgscsm_formatter.to_usgscsm(test_line_scan_driver))