Unverified Commit 775ff216 authored by Oleg Alexandrov's avatar Oleg Alexandrov Committed by GitHub
Browse files

Bufixes for MSL sensor intrinsics (#589) 

* Bufixes for MSL sensor intrinsics

* Fix msl tests

* Add to changelog the ray direction MSL fix
parent ec889338

CHANGELOG.md

+1 −0
Original line number Diff line number Diff line
@@ -54,6 +54,7 @@ release. 
### Fixed

- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)

- Bugfix for position and orientation for MSL cameras (driver MslMastcamPds3NaifSpiceDriver). Validated that Nav and Mast LBL files (for both left and right sensor) produce correctly positioned and oriented CSM cameras, that are self-consistent and consistent with a prior DEM for the site. [#580](https://github.com/DOI-USGS/ale/pull/580) 

- Bug fix for ray direction for MSL. [#589](https://github.com/DOI-USGS/ale/pull/589)



### Changed

- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579)

ale/base/type_sensor.py

+1 −1
Original line number Diff line number Diff line
@@ -612,4 +612,4 @@ class Cahvor(): 
        : float

          Pixel size of a cahvor model instrument

        """

        return -self.focal_length/self.compute_h_s()
 
        return self.focal_length/self.compute_h_s()

ale/drivers/msl_drivers.py

+6 −6
Original line number Diff line number Diff line
@@ -126,7 +126,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor 
        : list<double>

          focal plane to detector lines

        """

        return [0, 0, -1/self.pixel_size]

        return [0, 0, 1/self.pixel_size]

    

    @property

    def focal2pixel_samples(self):
@@ -138,7 +138,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor 
        : list<double>

          focal plane to detector samples

        """

        return [0, -1/self.pixel_size, 0]

        return [0, 1/self.pixel_size, 0]



    @property

    def sensor_model_version(self):
@@ -181,10 +181,10 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor 
        if self.is_navcam:

            # Focal length in pixel as computed for a cahvor model.

            # See is_navcam() for an explanation.

            return -(self.compute_h_s() + self.compute_v_s())/2.0

            return (self.compute_h_s() + self.compute_v_s())/2.0

        

        # For mast cam

        return -super().focal_length 

        return super().focal_length 



    @property

    def pixel_size(self):

tests/pytests/data/isds/msl_isd.json

+4 −4
Original line number Diff line number Diff line
@@ -226,7 +226,7 @@ 
  "detector_sample_summing": 1,

  "detector_line_summing": 1,

  "focal_length_model": {

    "focal_length": -34.0

    "focal_length": 34.0

  },

  "detector_center": {

    "line": 576.4026068104001,
@@ -235,11 +235,11 @@ 
  "focal2pixel_lines": [

    0,

    0,

    -136.49886775101947

    136.49886775101947

  ],

  "focal2pixel_samples": [

    0,

    -136.49886775101947,

    136.49886775101947,

    0

  ],

  "optical_distortion": {

tests/pytests/data/isds/msl_nadir_isd.json

+4 −4
Original line number Diff line number Diff line
@@ -217,7 +217,7 @@ 
  "detector_sample_summing": 1,

  "detector_line_summing": 1,

  "focal_length_model": {

    "focal_length": -34.0

    "focal_length": 34.0

  },

  "detector_center": {

    "line": 576.4026068104001,
@@ -226,11 +226,11 @@ 
  "focal2pixel_lines": [

    0,

    0,

    -136.49886775101947

    136.49886775101947

  ],

  "focal2pixel_samples": [

    0,

    -136.49886775101947,

    136.49886775101947,

    0

  ],

  "optical_distortion": {