Commit 56f1b361 authored by Jesse Mapel's avatar Jesse Mapel Committed by jlaura
Browse files

To ISIS formatter (#172) 

* stub to_isis formatter

* ISIS formatter test

* Non-working isis formatter

* in progress commit

* More in progress

* Moved find child frame to FrameNode

* Moved find child frame to FrameNode

* Moved last time dependent frame into transformation

* Removed old identity matrix

* To ISIS formatter now properly handling numpy

* Cleaned up rotation construction slightly

* Clean up from code review

* Added doc strings to formatters

* More docs clean up
parent e76d251a

ale/encoders.py

0 → 100644
+15 −0
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import json

import numpy as np

import datetime



class NumpyEncoder(json.JSONEncoder):

    def default(self, obj):

        if isinstance(obj, np.integer):

            return int(obj)

        elif isinstance(obj, np.floating):

            return float(obj)

        elif isinstance(obj, np.ndarray):

            return obj.tolist()

        elif isinstance(obj, datetime.date):

            return obj.isoformat()

        return json.JSONEncoder.default(self, obj)

ale/formatters/__init__.py

+1 −1
Original line number Diff line number Diff line 
from . import usgscsm_formatter
 
from . import usgscsm_formatter, isis_formatter

ale/formatters/isis_formatter.py

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+95 −0
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import json



from ale.transformation import FrameNode

from ale.rotation import ConstantRotation, TimeDependentRotation

from ale.encoders import NumpyEncoder



def to_isis(driver):

    """

    Formatter to create ISIS sensor model meta data from a driver.



    Parameters

    ----------

    driver : Driver

        Concrete driver for the image that meta data is being generated for.



    Returns

    -------

    string

        The ISIS compatible meta data as a JSON encoded string.

    """

    meta_data = {}



    meta_data['CameraVersion'] = driver.sensor_model_version



    meta_data['NaifKeywords'] = driver.isis_naif_keywords



    j2000 = driver.frame_chain



    instrument_pointing = {}

    sensor_frame = j2000.find_child_frame(driver.sensor_frame_id)

    time_dependent_sensor_frame = j2000.last_time_dependent_frame_between(sensor_frame)

    if time_dependent_sensor_frame != j2000:

        forward_path, reverse_path = j2000.path_to(time_dependent_sensor_frame)

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        instrument_pointing['TimeDependentFrames'] = [frame.id for frame in (forward_path + reverse_path)[::-1]]

        time_dependent_rotation = j2000.rotation_to(time_dependent_sensor_frame)

        instrument_pointing['CkTableStartTime'] = time_dependent_rotation.times[0]

        instrument_pointing['CkTableEndTime'] = time_dependent_rotation.times[-1]

        instrument_pointing['CkTableOriginalSize'] = len(time_dependent_rotation.times)

        instrument_pointing['EphemerisTimes'] = time_dependent_rotation.times

        instrument_pointing['Quaternions'] = time_dependent_rotation.quats

    if time_dependent_sensor_frame != sensor_frame:

        forward_path, reverse_path = time_dependent_sensor_frame.path_to(sensor_frame)

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        instrument_pointing['ConstantFrames'] = [frame.id for frame in (forward_path + reverse_path)[::-1]]

        constant_rotation = time_dependent_sensor_frame.rotation_to(sensor_frame)

        instrument_pointing['ConstantRotation'] = constant_rotation.rotation_matrix()

    meta_data['InstrumentPointing'] = instrument_pointing



    body_rotation = {}

    target_frame = j2000.find_child_frame(driver.target_frame_id)

    time_dependent_target_frame = j2000.last_time_dependent_frame_between(target_frame)

    if time_dependent_target_frame != j2000:

        forward_path, reverse_path = j2000.path_to(time_dependent_target_frame)

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        body_rotation['TimeDependentFrames'] = [frame.id for frame in (forward_path + reverse_path)[::-1]]

        time_dependent_rotation = j2000.rotation_to(time_dependent_target_frame)

        body_rotation['CkTableStartTime'] = time_dependent_rotation.times[0]

        body_rotation['CkTableEndTime'] = time_dependent_rotation.times[-1]

        body_rotation['CkTableOriginalSize'] = len(time_dependent_rotation.times)

        body_rotation['EphemerisTimes'] = time_dependent_rotation.times

        body_rotation['Quaternions'] = time_dependent_rotation.quats

    if time_dependent_target_frame != target_frame:

        forward_path, reverse_path = time_dependent_target_frame.path_to(target_frame)

        # Reverse the frame order because ISIS orders frames as

        # (destination, intermediate, ..., intermediate, source)

        body_rotation['ConstantFrames'] = [frame.id for frame in (forward_path + reverse_path)[::-1]]

        constant_rotation = time_dependent_target_frame.rotation_to(target_frame)

        body_rotation['ConstantRotation'] = constant_rotation.rotation_matrix()

    meta_data['BodyRotation'] = body_rotation



    instrument_position = {}

    positions, velocities, times = driver.sensor_position

    instrument_position['SpkTableStartTime'] = times[0]

    instrument_position['SpkTableEndTime'] = times[-1]

    instrument_position['SpkTableOriginalSize'] = len(times)

    instrument_position['EphemerisTimes'] = times

    instrument_position['Positions'] = positions

    instrument_position['Velocities'] = velocities

    meta_data['InstrumentPosition'] = instrument_position



    sun_position = {}

    positions, velocities, times = driver.sun_position

    sun_position['SpkTableStartTime'] = times[0]

    sun_position['SpkTableEndTime'] = times[-1]

    sun_position['SpkTableOriginalSize'] = len(times)

    sun_position['EphemerisTimes'] = times

    sun_position['Positions'] = positions

    sun_position['Velocities'] = velocities

    meta_data['SunPosition'] = sun_position



    return json.dumps(meta_data, cls=NumpyEncoder)

ale/formatters/usgscsm_formatter.py

+15 −1
Original line number Diff line number Diff line 
import json

from ale.base.type_sensor import LineScanner, Framer

from ale.encoders import NumpyEncoder



def to_usgscsm(driver):

    """

    Formatter to create USGSCSM meta data from a driver.



    Parameters

    ----------

    driver : Driver

        Concrete driver for the image that meta data is being generated for.



    Returns

    -------

    string

        The USGSCSM compatible meta data as a JSON encoded string.

    """

    isd_data = {}



    # exterior orientation
@@ -88,4 +102,4 @@ def to_usgscsm(driver): 
        raise Exception('No CSM sensor model name found!')



    # Convert to JSON object

    return json.dumps(isd_data)
 
    return json.dumps(isd_data, cls=NumpyEncoder)

ale/rotation.py

+13 −7
Original line number Diff line number Diff line
@@ -32,7 +32,7 @@ class ConstantRotation: 
        """

        self.source = source

        self.dest = dest

        self.quat = quat

        self.quat = np.asarray(quat)



    @property

    def quat(self):
@@ -54,7 +54,13 @@ class ConstantRotation: 
                   The new quaternion as an array.

                   The quaternion must be in scalar last format (x, y, z, w).

        """

        self._rot = Rotation.from_quat(new_quat)

        self._rot = Rotation.from_quat(np.asarray(new_quat))



    def rotation_matrix(self):

        """

        The rotation matrix representation of the constant rotation

        """

        return self._rot.as_dcm()



    def inverse(self):

        """
@@ -77,7 +83,7 @@ class ConstantRotation: 
                Another rotation object, it can be constant or time dependent.

        """

        if self.source != other.dest:

            raise ValueError("Destination frame of first rotation is not the same as source frame of second rotation.")

            raise ValueError("Destination frame of first rotation {} is not the same as source frame of second rotation {}.".format(other.dest, self.source))

        if isinstance(other, ConstantRotation):

            new_rot = self._rot * other._rot

            return ConstantRotation(new_rot.as_quat(), other.source, self.dest)
@@ -119,8 +125,8 @@ class TimeDependentRotation: 
        """

        self.source = source

        self.dest = dest

        self.quats = quats

        self.times = times

        self.quats = np.asarray(quats)

        self.times = np.asarray(times)



    @property

    def quats(self):
@@ -142,7 +148,7 @@ class TimeDependentRotation: 
                    The new quaternions as a 2d array. The quaternions must be

                    in scalar last format (x, y, z, w).

        """

        self._rots = Rotation.from_quat(new_quats)

        self._rots = Rotation.from_quat(np.asarray(new_quats))



    def inverse(self):

        """
@@ -169,7 +175,7 @@ class TimeDependentRotation: 
                Another rotation object, it can be constant or time dependent.

        """

        if self.source != other.dest:

            raise ValueError("Destination frame of first rotation is not the same as source frame of second rotation.")

            raise ValueError("Destination frame of first rotation {} is not the same as source frame of second rotation {}.".format(other.dest, self.source))

        if isinstance(other, ConstantRotation):

            return TimeDependentRotation((self._rots * other._rot).as_quat(), self.times, other.source, self.dest)

        elif isinstance(other, TimeDependentRotation):