Commit 54657748 authored by AustinSanders's avatar AustinSanders Committed by GitHub
Browse files

Added initial nadir pointing (#332) 



* Added nadir orientation calculation to frame_chain

* Added comments, replaced conditional dict access, replaced hard-coded bool for nadir parameter.

* Updated orientation to be obtained from the frame chain and added tests

* Updated the frame trace returns if nadir is true and propogated those changes to the frame chain from_spice function

* Updated focal2pixel_lines test for the time being

Co-authored-by: default avatarAdam Paquette <acpaquette@usgs.gov>
parent 910a04f2

ale/base/data_naif.py

+30 −14
Original line number Diff line number Diff line
@@ -392,12 +392,39 @@ class NaifSpice(): 
    @property

    def frame_chain(self):

        if not hasattr(self, '_frame_chain'):

            nadir = self._props.get('nadir', False)

            self._frame_chain = FrameChain.from_spice(sensor_frame=self.sensor_frame_id,

                                                      target_frame=self.target_frame_id,

                                                      center_ephemeris_time=self.center_ephemeris_time,

                                                      ephemeris_times=self.ephemeris_time)

                                                      ephemeris_times=self.ephemeris_time,

                                                      nadir=nadir)



            if nadir:

                # Logic for nadir calculation was taken from ISIS3

                #  SpiceRotation::setEphemerisTimeNadir

                rotation = self._frame_chain.compute_rotation(self.target_frame_id, 1)

                p_vec, v_vec, times = self.sensor_position

                rotated_positions = rotation.apply_at(p_vec, times)

                rotated_velocities = rotation.rotate_velocity_at(p_vec, v_vec, times)



                p_vec = rotated_positions

                v_vec = rotated_velocities



                velocity_axis = 2

                trans_x = self.focal2pixel_lines



                if (trans_x[0] < trans_x[1]):

                    velocity_axis = 1



                quats = [spice.m2q(spice.twovec(-p_vec[i], 3, v_vec[i], velocity_axis)) for i, time in enumerate(times)]

                quats = np.array(quats)[:,[1,2,3,0]]



                rotation = TimeDependentRotation(quats, times, 1, self.sensor_frame_id)

                self._frame_chain.add_edge(rotation)



        return self._frame_chain





    @property

    def sensor_orientation(self):

        """
@@ -405,7 +432,7 @@ class NaifSpice(): 
        to be defined. This must be a floating point number containing the

        ephemeris time. Expects instrument_id to be defined. This must be a string

        containing the short name of the instrument. Expects reference frame to be defined.

        This must be a sring containing the name of the target reference frame.

        This must be a string containing the name of the target reference frame.



        Returns

        -------
@@ -413,18 +440,7 @@ class NaifSpice(): 
          Quaternions describing the orientation of the sensor

        """

        if not hasattr(self, '_orientation'):

            ephem = self.ephemeris_time



            qua = np.empty((len(ephem), 4))

            for i, time in enumerate(ephem):

                # Find the rotation matrix

                camera2bodyfixed = spice.pxform(self.instrument_id,

                                                self.reference_frame,

                                                time)

                q = spice.m2q(camera2bodyfixed)

                qua[i,:3] = q[1:]

                qua[i,3] = q[0]

            self._orientation = qua

            self._orientation = self.frame_chain.compute_rotation(self.sensor_frame_id, self.target_frame_id).quats

        return self._orientation.tolist()



    @property

ale/drivers/lro_drivers.py

+2 −8
Original line number Diff line number Diff line
@@ -142,10 +142,7 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver) 
          focal plane to detector lines

        """

        focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))

        if self.spacecraft_direction < 0:

        return focal2pixel_lines

        else:

            return -focal2pixel_lines



    @property

    def ephemeris_start_time(self):
@@ -402,10 +399,7 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
          focal plane to detector lines

        """

        focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))

        if self.spacecraft_direction < 0:

        return focal2pixel_lines

        else:

            return -focal2pixel_lines



    @property

    def multiplicative_line_error(self):

ale/transformation.py

+6 −3
Original line number Diff line number Diff line
@@ -96,12 +96,12 @@ class FrameChain(nx.DiGraph): 
                     of frame rotations in the frame chain

    """

    @classmethod

    def from_spice(cls, *args, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], **kwargs):

    def from_spice(cls, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], nadir=False):

        frame_chain = cls()



        times = np.array(ephemeris_times)



        sensor_time_dependent_frames, sensor_constant_frames = cls.frame_trace(sensor_frame, center_ephemeris_time)

        sensor_time_dependent_frames, sensor_constant_frames = cls.frame_trace(sensor_frame, center_ephemeris_time, nadir)

        target_time_dependent_frames, target_constant_frames = cls.frame_trace(target_frame, center_ephemeris_time)



        time_dependent_frames = list(zip(sensor_time_dependent_frames[:-1], sensor_time_dependent_frames[1:]))
@@ -139,11 +139,14 @@ class FrameChain(nx.DiGraph): 
        return frame_chain



    @staticmethod

    def frame_trace(reference_frame, ephemeris_time):

    def frame_trace(reference_frame, ephemeris_time, nadir=False):

        frame_codes = [reference_frame]

        _, frame_type, _ = spice.frinfo(frame_codes[-1])

        frame_types = [frame_type]



        if nadir:

            return [], []



        while(frame_codes[-1] != 1):

            try:

                center, frame_type, frame_type_id = spice.frinfo(frame_codes[-1])

tests/pytests/test_data_naif.py

+19 −0
Original line number Diff line number Diff line
@@ -101,6 +101,25 @@ class test_data_naif(unittest.TestCase): 
        assert len(times) == 1

        np.testing.assert_allclose(times[0], 297088762.61698407)



    def test_sensor_orientation(self):

        self.driver.ephemeris_time = [297088762.61698407]

        self.driver._props = {}

        orientation = self.driver.sensor_orientation

        np.testing.assert_allclose(orientation[0], [0.08410784798989432, 0.017724689780841133, 0.9945884195952942, 0.058357355025882435])



    def test_sensor_position(self):

        self.driver.ephemeris_time = [297088762.61698407]

        positions, velocities, times = self.driver.sensor_position

        np.testing.assert_allclose(positions[0], [-616295.93509894, -97815.27289939, -3573807.40392374])

        np.testing.assert_allclose(velocities[0], [-3386.49396159, 411.4392769, 564.95648816])

        np.testing.assert_allclose(times[0], 297088762.61698407)



    def test_nadir_sensor_orientation(self):

        self.driver.ephemeris_time = [297088762.61698407]

        self.driver._props = {'nadir': True}

        orientation = self.driver.sensor_orientation

        np.testing.assert_allclose(orientation[0], [-0.08443224924851939, -0.017974644466439982, -0.9949019866167608, -0.052135827116906064])



def test_light_time_correction_keyword():

    with patch('ale.base.data_naif.spice.gcpool', return_value=['NONE']) as gcpool, \

         patch('ale.base.data_naif.NaifSpice.ikid', new_callable=PropertyMock) as ikid:

tests/pytests/test_lro_drivers.py

+2 −2
Original line number Diff line number Diff line
@@ -292,7 +292,7 @@ class test_pds_naif(unittest.TestCase): 
            spacecraft_direction.return_value = -1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

            spacecraft_direction.return_value = 1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])





# ========= Test isislabel and naifspice driver =========
@@ -383,4 +383,4 @@ class test_isis_naif(unittest.TestCase): 
            spacecraft_direction.return_value = -1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

            spacecraft_direction.return_value = 1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])
 
            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])