Commit 74fbf9d6 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by Jesse Mapel
Browse files

Cassini update (#215) 

* added data area change scropt

* now featuring regex

* now featuring less whitespace

* inverted focal2pixel

* updated tests

* updated focal length and rotation

* updated tests

* updated comments
parent 8f37849d

ale/config.yml

+2 −2
Original line number Diff line number Diff line 
spice_root: '/data/spice/'

cassini: '/usgs/cpkgs/isis3/data/cassini/kernels/mk/' # Cassini ISS

spice_root: "/data/spice/"

cassini: '/scratch/jlaura/spice/co-s_j_e_v-spice-6-v1.0/cosp_1000/extras/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

ale/drivers/cassini_drivers.py

+126 −4
Original line number Diff line number Diff line
@@ -12,6 +12,12 @@ from ale.base.label_pds3 import Pds3Label 
from ale.base.type_distortion import RadialDistortion

from ale.base.type_sensor import Framer



from ale.util import find_latest_metakernel



from ale.rotation import ConstantRotation

from ale.transformation import FrameChain

from scipy.spatial.transform import Rotation





class CassiniIssPds3LabelNaifSpiceDriver(Pds3Label, NaifSpice, Framer, RadialDistortion, Driver):

    """
@@ -22,6 +28,59 @@ class CassiniIssPds3LabelNaifSpiceDriver(Pds3Label, NaifSpice, Framer, RadialDis 
        "ISSWA" : "CASSINI_ISS_WAC"

    }



    nac_filter_to_focal_length = {

        ("P0","BL2"):2002.19,

        ("P0","CB1"):2002.30,

        ("P0","GRN"):2002.38,

        ("P0","IR1"):2002.35,

        ("P0","MT1"):2002.40,

        ("P0","UV3"):2002.71,

        ("P60","BL2"):2002.13,

        ("P60","CB1"):2002.18,

        ("P60","GRN"):2002.28,

        ("P60","IR1"):2002.36,

        ("P60","MT1"):2002.34,

        ("P60","UV3"):2002.51,

        ("RED","GRN"):2002.61,

        ("RED","IR1"):2002.48,

        ("UV1","CL2"):2003.03,

        ("UV2","CL2"):2002.91,

        ("UV2","UV3"):2002.90,

        ("RED","CL2"):2002.69,

        ("CL1","IR3"):2002.65,

        ("CL1","BL2"):2002.37,

        ("CL1","CB1"):2002.66,

        ("CL1","CB2"):2002.66,

        ("CL1","CB3"):2002.68,

        ("CL1","MT1"):2002.88,

        ("CL1","MT2"):2002.91,

        ("CL1","MT3"):2002.87,

        ("CL1","UV3"):2003.09,

        ("HAL","CL2"):2002.94,

        ("IR2","CL2"):2002.71,

        ("IR2","IR1"):2002.56,

        ("IR2","IR3"):2002.55,

        ("IR4","CL2"):2002.89,

        ("IR4","IR3"):2002.81,

        ("BL1","CL2"):2002.79,

        ("CL1","CL2"):2002.88,

        ("CL1","GRN"):2002.75,

        ("CL1","IR1"):2002.74,

        ("IRP0","CB2"):2002.48,

        ("IRP0","CB3"):2002.74,

        ("IRP0","IR1"):2002.60,

        ("IRP0","IR3"):2002.48,

        ("IRP0","MT2"):2002.72,

        ("IRP0","MT3"):2002.72,

        ("P120","BL2"):2002.11,

        ("P120","CB1"):002.28,

        ("P120","GRN"):2002.38,

        ("P120","IR1"):2002.39,

        ("P120","MT1"):2002.54,

        ("P120","UV3"):2002.71

    }





    @property

    def metakernel(self):

        """
@@ -33,12 +92,10 @@ class CassiniIssPds3LabelNaifSpiceDriver(Pds3Label, NaifSpice, Framer, RadialDis 
          Path to latest metakernel file

        """

        metakernel_dir = config.cassini

        year = self.utc_start_time.year



        mks = sorted(glob(os.path.join(metakernel_dir,'*.tm')))

        if not hasattr(self, '_metakernel'):

            for mk in mks:

               if str(self.utc_start_time.year) in os.path.basename(mk):

                   self._metakernel = mk

            self._metakernel = find_latest_metakernel(metakernel_dir, year)

        return self._metakernel



    @property
@@ -175,3 +232,68 @@ class CassiniIssPds3LabelNaifSpiceDriver(Pds3Label, NaifSpice, Framer, RadialDis 
          ISIS sensor model version

        """

        return 1



    @property

    def frame_chain(self):

        if not hasattr(self, '_frame_chain'):

            if self.instrument_id == 'CASSINI_ISS_NAC':

                self._frame_chain = FrameChain.from_spice(frame_changes = [(1, self._original_naif_sensor_frame_id), (1, self.target_frame_id)], ephemeris_time=self.ephemeris_time)

                rot_180 = Rotation.from_euler('z', 180, degrees=True)

                self._frame_chain.add_edge(self._original_naif_sensor_frame_id, self.sensor_frame_id, ConstantRotation(rot_180.as_quat(), self._original_naif_sensor_frame_id, self.sensor_frame_id))

            elif self.instrument_id == "CASSINI_ISS_WAC":

                self._frame_chain =  super(CassiniIssPds3LabelNaifSpiceDriver, self).frame_chain

        return self._frame_chain



    @property

    def focal_length(self):

        """

        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

        so we aquired updated NAC filter data from ISIS's IAK kernel.



        """

        # default focal defined by IK kernel

        default_focal_len = super(CassiniIssPds3LabelNaifSpiceDriver, self).focal_length



        if self.instrument_id == "CASSINI_ISS_NAC":

          filters = tuple(self.label['FILTER_NAME'])

          return self.nac_filter_to_focal_length.get(filters, default_focal_len)



        elif self.instrument_id == "CASSINI_ISS_WAC":

          return default_focal_len



    @property

    def _original_naif_sensor_frame_id(self):

        """

        Original sensor frame ID as defined in Cassini's IK kernel. This

        is the frame ID you want to default to for WAC. For NAC, this Frame ID

        sits between J2000 and an extra 180 rotation since NAC was mounted

        upside down.



        Returns

        -------

        : int

          sensor frame code from NAIF's IK kernel

        """

        return self.ikid



    @property

    def sensor_frame_id(self):

        """

        Overwrite sensor frame id to return fake frame ID for NAC representing a

        mounting point with a 180 degree rotation. ID was taken from ISIS's IAK

        kernel for Cassini. This is because NAC requires an extra rotation not

        in NAIF's Cassini kernels. Wac does not require an extra rotation so

        se simply return original sensor frame id for Wac.



        Returns

        -------

        : int

          NAIF's Wac sensor frame ID, or ALE's Nac sensor frame ID



        """

        if self.instrument_id == "CASSINI_ISS_NAC":

          return 14082360

        elif self.instrument_id == "CASSINI_ISS_WAC":

          return self._original_naif_sensor_frame_id