Fixed AV multiplication and added MDIS ISIS test (#280) (7d0aac3f) · Commits · aflab / astrogeology / Ale

ale/rotation.py

+8 −3

Original line number	Diff line number	Diff line
		@@ -110,7 +110,7 @@ class ConstantRotation:
		new_rot = self._rot * other._rot
		return ConstantRotation(new_rot.as_quat(), other.source, self.dest)
		elif isinstance(other, TimeDependentRotation):
		return TimeDependentRotation((self._rot * other._rots).as_quat(), other.times, other.source, self.dest, av=self._rot.apply(other.av))
		return TimeDependentRotation((self._rot * other._rots).as_quat(), other.times, other.source, self.dest, av=other.av)
		else:
		raise TypeError("Rotations can only be composed with other rotations.")

		@@ -325,13 +325,18 @@ class TimeDependentRotation:
		if self.source != other.dest:
		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, av=self.av)
		if self.av is not None:
		other_inverse = other._rot.inv()
		new_av = np.asarray([other_inverse.apply(av) for av in self.av])
		else:
		new_av = None
		return TimeDependentRotation((self._rots * other._rot).as_quat(), self.times, other.source, self.dest, av=new_av)
		elif isinstance(other, TimeDependentRotation):
		merged_times = np.union1d(np.asarray(self.times), np.asarray(other.times))
		reinterp_self = self.reinterpolate(merged_times)
		reinterp_other = other.reinterpolate(merged_times)
		new_quats = (reinterp_self._rots * reinterp_other._rots).as_quat()
		new_av = reinterp_self.av + reinterp_self._rots.apply(reinterp_other.av)
		new_av = reinterp_other._rots.inv().apply(reinterp_self.av) + reinterp_other.av
		return TimeDependentRotation(new_quats, merged_times, other.source, self.dest, av=new_av)
		else:
		raise TypeError("Rotations can only be composed with other rotations.")

tests/pytests/test_mdis_drivers.py

+154 −46

Original line number	Diff line number	Diff line
		@@ -20,9 +20,114 @@ def test_kernels():
		for kern in binary_kernels:
		os.remove(kern)

		@pytest.fixture()
		def usgscsm_compare_dict():
		return {
		image_dict = {
		# MDIS NAC
		'EN1072174528M': {
		'isis': {
		'CameraVersion': 2,
		'NaifKeywords': {
		'BODY_CODE' : 199,
		'BODY199_RADII' : [2439.4, 2439.4, 2439.4],
		'BODY_FRAME_CODE' : 10011,
		'INS-236820_SWAP_OBSERVER_TARGET' : 'TRUE',
		'INS-236820_LIGHTTIME_CORRECTION' : 'LT+S',
		'INS-236820_LT_SURFACE_CORRECT' : 'FALSE',
		'INS-236820_REFERENCE_FRAME' : 'MSGR_SPACECRAFT',
		'INS-236820_FRAME' : 'MSGR_MDIS_NAC',
		'INS-236820_FOCAL_LENGTH' : 549.11781953727,
		'INS-236820_PIXEL_PITCH' : 0.014,
		'INS-236820_TRANSX' : [0.0, 0.014, 0.0],
		'INS-236820_TRANSY' : [0.0, 0.0, 0.014],
		'INS-236820_ITRANSS' : [0.0, 71.42857143, 0.0],
		'INS-236820_ITRANSL' : [0.0, 0.0, 71.42857143],
		'INS-236820_BORESIGHT_SAMPLE' : 512.5,
		'INS-236820_BORESIGHT_LINE' : 512.5,
		'INS-236820_OD_T_X' : [0.0, 1.0018542696238, 0.0, 0.0, -5.09444047494111e-04, 0.0, 1.00401047146886e-05, 0.0, 1.00401047146886e-05, 0.0],
		'INS-236820_OD_T_Y' : [0.0, 0.0, 1.0, 9.06001059499675e-04, 0.0, 3.57484262662076e-04, 0.0, 1.00401047146886e-05, 0.0, 1.00401047146886e-05],
		'INS-236820_FPUBIN_START_SAMPLE': 9.0,
		'INS-236820_CK_TIME_TOLERANCE': 1.0,
		'INS-236820_CK_REFERENCE_ID': 1.0,
		'INS-236820_FOV_CLASS_SPEC': 'ANGLES',
		'INS-236820_FOV_REF_VECTOR': [1.0,0.0,0.0],
		'INS-236820_CK_FRAME_ID': -236000.0,
		'INS-236820_FOV_SHAPE': 'RECTANGLE',
		'INS-236820_FOV_ANGLE_UNITS': 'DEGREES',
		'FRAME_-236820_CLASS': 4.0,
		'INS-236820_BORESIGHT_LINE': 512.5,
		'INS-236820_SWAP_OBSERVER_TARGET': 'TRUE',
		'INS-236820_LIGHTTIME_CORRECTION': 'LT+S',
		'INS-236820_FOV_FRAME': 'MSGR_MDIS_NAC',
		'INS-236820_PIXEL_SAMPLES': 1024.0,
		'INS-236820_REFERENCE_FRAME': 'MSGR_SPACECRAFT',
		'INS-236820_FL_UNCERTAINTY': 0.5,
		'INS-236820_ITRANSL': [0.0,0.0,71.42857143],
		'INS-236820_ITRANSS': [0.0,71.42857143,0.0],
		'INS-236820_FOV_CROSS_ANGLE': 0.7465,
		'TKFRAME_-236820_SPEC': 'MATRIX',
		'INS-236820_BORESIGHT_SAMPLE': 512.5,
		'INS-236820_PIXEL_LINES': 1024.0,
		'INS-236820_F/NUMBER': 22.0,
		'INS-236820_IFOV': 25.44,
		'INS-236820_SPK_TIME_BIAS': 0.0,
		'INS-236820_CCD_CENTER': [512.5,512.5],
		'FRAME_-236820_NAME': 'MSGR_MDIS_NAC',
		'INS-236820_FRAME': 'MSGR_MDIS_NAC',
		'INS-236820_PLATFORM_ID': -236000.0,
		'INS-236820_LT_SURFACE_CORRECT': 'FALSE',
		'INS-236820_TRANSX': [0.0,0.014,0.0],
		'INS-236820_TRANSY': [0.0,0.0,0.014],
		'INS-236820_FL_TEMP_COEFFS': [549.5120497341695,0.01018564339123439,0.0,0.0,0.0,0.0],
		'FRAME_-236820_CENTER': -236.0,
		'TKFRAME_-236820_RELATIVE': 'MSGR_MDIS_WAC',
		'INS-236820_WAVELENGTH_RANGE': [700.0,800.0],
		'INS-236820_CK_TIME_BIAS': 0.0,
		'INS-236820_FOV_REF_ANGLE': 0.7465,
		'TKFRAME_-236820_MATRIX': [-0.9998215487408793,-0.018816063038872958,0.001681203469647119,0.01881610195359367,-0.9998229614554359,7.33168257224375e-06,0.0016807678784302768,3.8964070113872887e-05,0.9999985867495713],
		'INS-236820_FPUBIN_START_LINE': 1.0,
		'FRAME_-236820_CLASS_ID': -236820.0,
		'INS-236820_PIXEL_PITCH': 0.014,
		'INS-236820_BORESIGHT': [0.0,0.0,1.0],
		'BODY199_PM': [329.5988,6.1385108,0.0],
		'BODY199_POLE_RA': [281.0103,-0.0328,0.0],
		'BODY199_NUT_PREC_PM': [0.01067257,-0.00112309,-0.0001104,-2.539e-05,-5.71e-06],
		'BODY199_LONG_AXIS': 0.0,
		'BODY199_POLE_DEC': [61.4155,-0.0049,0.0],
		'BODY199_NUT_PREC_RA': [0.0,0.0,0.0,0.0,0.0],
		'BODY199_NUT_PREC_DEC': [0.0,0.0,0.0,0.0,0.0]
		},
		'InstrumentPointing': {
		'TimeDependentFrames': [-236890, -236892, -236880, -236000, 1],
		'ConstantFrames': [-236820, -236800, -236890],
		'ConstantRotation': (0.001686595916635, 0.99996109494739, 0.0086581745086423, 6.3008625209968e-04, -0.0086592477671008, 0.99996230949942, 0.99999837919145, -0.0016810769512645, -6.44666390486019e-04),
		'CkTableStartTime': 483122606.85252,
		'CkTableEndTime': 483122606.85252,
		'CkTableOriginalSize': 1,
		'EphemerisTimes': [483122606.85252],
		'Quaternions': [[-0.38021468196247,-0.021997068513824,0.88129521110671,0.27977075522175]],
		'AngularVelocity' : [[3.70128511234226e-04,-0.0012069098299837,-6.64295531160265e-04]]},
		'BodyRotation': {
		'TimeDependentFrames': [10011, 1],
		'CkTableStartTime': 483122606.85252,
		'CkTableEndTime': 483122606.85252,
		'CkTableOriginalSize': 1,
		'EphemerisTimes': [483122606.85252],
		'Quaternions': [[-0.58791736752687,0.18448696708541,-0.16404715837556,0.77032866866346]],
		'AngularVelocity' : [[1.13272180361114e-07,-5.82448215686951e-07,1.08896661936564e-06]]},
		'InstrumentPosition': {
		'SpkTableStartTime': 483122606.85252,
		'SpkTableEndTime': 483122606.85252,
		'SpkTableOriginalSize': 1,
		'EphemerisTimes': [483122606.85252],
		'Positions': [[1844.0372753409,-966.47836059939,1322.8442926008]],
		'Velocities': [[-2.6146204621248,-0.30506719264668,2.8563617189104]]},
		'SunPosition': {
		'SpkTableStartTime': 483122606.85252,
		'SpkTableEndTime': 483122606.85252,
		'SpkTableOriginalSize': 1,
		'EphemerisTimes': [483122606.85252],
		'Positions': [[11805115.780304,-39513889.220831,-22331586.824705]],
		'Velocities': [[56.903276907758496, 11.401211521119633, 0.19123815749182813]]}},
		'usgscsm': {
		'radii': {
		'semimajor': 2439.4,
		'semiminor': 2439.4,
		@@ -61,16 +166,19 @@ def usgscsm_compare_dict():
		'minheight': -1000,
		'unit': 'm'},
		'name_model': 'USGS_ASTRO_FRAME_SENSOR_MODEL',
		'center_ephemeris_time': 483122606.85252464}
		'center_ephemeris_time': 483122606.85252464}}}

		@pytest.mark.parametrize("label_type", ["pds3", "isis3"])
		def test_load(test_kernels, usgscsm_compare_dict, label_type):
		label_file = get_image_label('EN1072174528M', label_type)
		@pytest.mark.parametrize("formatter", ['usgscsm', 'isis'])
		@pytest.mark.parametrize("image", image_dict.keys())
		def test_load(test_kernels, label_type, formatter, image):
		label_file = get_image_label(image, label_type)

		usgscsm_isd_str = ale.loads(label_file, props={'kernels': test_kernels}, formatter='usgscsm')
		usgscsm_isd_str = ale.loads(label_file, props={'kernels': test_kernels}, formatter=formatter)
		usgscsm_isd_obj = json.loads(usgscsm_isd_str)
		print(json.dumps(usgscsm_isd_obj, indent=2))

		assert compare_dicts(usgscsm_isd_obj, usgscsm_compare_dict) == []
		assert compare_dicts(usgscsm_isd_obj, image_dict[image][formatter]) == []

		# ========= Test Pds3 Label and NAIF Spice driver =========
		class test_pds3_naif(unittest.TestCase):

tests/pytests/test_mro_drivers.py

+6 −6

Original line number	Diff line number	Diff line
		@@ -235,12 +235,12 @@ def isis_compare_dict():
		[0.42064763, 0.18624551, -0.2397057 , 0.85493237],
		[0.42065923, 0.18630667, -0.23967382, 0.85492228],
		[0.42067144, 0.18636687, -0.23964185, 0.85491211]],
		'AngularVelocity': [[-5.797334508173795e-05, 0.0009339642673794059, -0.00011512424986625757],
		[-5.872001786769966e-05, 0.0009343455952639878, -0.00011371124132355403],
		[-6.244619825703372e-05, 0.000935616649435616, -0.00010584418382022431],
		[-5.965469273385757e-05, 0.0009306551165985512, -0.00010670063014175982],
		[-6.001692495046523e-05, 0.0009318842753552843, -0.00010732755544866732],
		[-5.9466333983691536e-05, 0.0009375199811173681, -0.00010690951512741344]]},
		'AngularVelocity': [[-0.0006409728984903079, 0.0005054077299115119, 0.0004718267948468069],
		[-0.0006410700774431097, 0.0005044862657976017, 0.0004731836236807216],
		[-0.0006408186407087456, 0.0004992170698116158, 0.0004802237192760833],
		[-0.0006363961683672021, 0.0004989647975959612, 0.00047654664046286975],
		[-0.0006376443791903504, 0.0004996117504290811, 0.00047678850931380653],
		[-0.0006404093657132724, 0.0005028749658176146, 0.0004805228583087444]]},
		'BodyRotation': {'TimeDependentFrames': [10014, 1],
		'CkTableStartTime': 297088762.24158406,
		'CkTableEndTime': 297088762.9923841,

tests/pytests/test_rotation.py

+1 −2

Original line number	Diff line number	Diff line
		@@ -24,10 +24,9 @@ def test_constant_time_dependent_composition():
		assert rot1_3.source == 1
		assert rot1_3.dest == 3
		expected_quats = [[0.5, 0.5, -0.5, 0.5],[1.0/np.sqrt(2), 0, -1.0/np.sqrt(2), 0]]
		expected_av = [[0, 0, -np.pi/2], [0, 0, -np.pi/2]]
		np.testing.assert_equal(rot1_3.times, times)
		np.testing.assert_almost_equal(rot1_3.quats, expected_quats)
		np.testing.assert_almost_equal(rot1_3.av, expected_av)
		np.testing.assert_almost_equal(rot1_3.av, av)

		def test_time_dependent_constant_composition():
		rot1_2 = ConstantRotation([1.0/np.sqrt(2), 0, 0, 1.0/np.sqrt(2)], 1, 2)