Unverified Commit 840bddd2 authored by acpaquette's avatar acpaquette Committed by GitHub
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Cahvor Distortion (#503) 

* Adds CahvorDistortion mixin for MSL

* Small CahvorDistortion fix and adds test for CahvorDistortion

* Fixed CahvorDistortion to return all zero coefficients and offsets if no OR(E) in model

* Changed cahvor distortion test

* Reduced number of lines in line scan cameras if we don't care about the exact ck times

* More cahvor stuff

* Addressed PR feedback

* Removed extra line reduction code

* Updated math to compute x, y distortion offsets

* Changed assert to assert_allclose
parent 710778bc

ale/base/type_distortion.py

+45 −0
Original line number Diff line number Diff line 
import numpy as np



class LegendreDistortion():

    """

    Mix-in for sensors that use a legendre distortion model.
@@ -106,3 +108,46 @@ class KaguyaSeleneDistortion(): 
                "boresight_y" : self.boresight_y

            }

        }



class CahvorDistortion():

    """

    Mix-in for sensors and data sets that have a CAHVOR distortion model.



    This model is based on info from https://agupubs.onlinelibrary.wiley.com/doi/full/10.1029/2003JE002199

    Expects that cahvor_camera_dict and focal_length to be defined. This should be

    a dictionary defining the CAHVOR distortion parameters.

    """



    @property

    def usgscsm_distortion_model(self):

        """

        Dictionary containing the usgscsm specification for CAHVOR distortion.

        This will be a list of coeffs for radial distortion (x0, x1, x2)

        followed by the optical center (x, y)



        Returns

        -------

        : dict

        """

        R = [0, 0, 0]

        x = 0

        y = 0

        # If our model contains OR in the CAHVOR model

        # then compute the distortion coeffs/offset

        if (len(self.cahvor_camera_dict.keys()) >= 6):

            A = self.cahvor_camera_dict.get("A", [0, 0, 0])

            H = self.cahvor_camera_dict.get("H", [0, 0, 0])

            V = self.cahvor_camera_dict.get("V", [0, 0, 0])

            O = self.cahvor_camera_dict.get("O", [0, 0, 0])

            i = np.dot(O, H) / np.dot(O, A)

            j = np.dot(O, V) / np.dot(O, A)

            x = self.pixel_size * (i - self.compute_h_c())

            y = self.pixel_size * (self.compute_v_c() - j)

            R = self.cahvor_camera_dict.get("R", [0, 0, 0])

            R[1] /= self.focal_length**2

            R[2] /= self.focal_length**4

        return {

            "cahvor": {

                "coefficients": [*R, x, y]

            }

        }

ale/drivers/msl_drivers.py

+22 −3
Original line number Diff line number Diff line
@@ -4,11 +4,13 @@ import spiceypy as spice 
from ale.base.data_naif import NaifSpice

from ale.base.label_pds3 import Pds3Label

from ale.base.type_sensor import Framer

from ale.base.type_distortion import NoDistortion

from ale.base.type_distortion import CahvorDistortion

from ale.base.type_sensor import Cahvor

from ale.base.base import Driver



class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, NoDistortion, Driver):

class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, CahvorDistortion, Driver):

    """

    """

    @property

    def spacecraft_name(self):

        """
@@ -73,6 +75,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, NoDist 
        Returns the Naif ID code for the site reference frame

        Expects REFERENCE_COORD_SYSTEM_INDEX to be defined in the camera

        PVL group. 



        Returns

        -------

        : int
@@ -107,6 +110,22 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, NoDist 
        """

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



    @property

    def detector_center_line(self):

        return self.label["INSTRUMENT_STATE_PARMS"]["DETECTOR_LINES"]/2



    @property

    def detector_center_sample(self):

        return self.label["INSTRUMENT_STATE_PARMS"]["MSL:DETECTOR_SAMPLES"]/2



    @property

    def detector_start_line(self):

        return self.label["IMAGE_REQUEST_PARMS"]["FIRST_LINE"]



    @property

    def detector_start_sample(self):

        return self.label["IMAGE_REQUEST_PARMS"]["FIRST_LINE_SAMPLE"]



    @property

    def sensor_model_version(self):

        """

include/ale/Distortion.h

+2 −1
Original line number Diff line number Diff line
@@ -7,7 +7,8 @@ namespace ale { 
    RADIAL,

    KAGUYALISM,

    DAWNFC,

    LROLROCNAC

    LROLROCNAC,

    CAHVOR

  };

}

src/Util.cpp

+21 −0
Original line number Diff line number Diff line
@@ -333,6 +333,8 @@ DistortionType getDistortionModel(json isd) { 
      return DistortionType::DAWNFC;

    } else if (distortion.compare("lrolrocnac") == 0) {

      return DistortionType::LROLROCNAC;

    } else if (distortion.compare("cahvor") == 0) {

      return DistortionType::CAHVOR;

    }

  } catch (...) {

    throw std::runtime_error("Could not parse the distortion model.");
@@ -450,6 +452,25 @@ std::vector<double> getDistortionCoeffs(json isd) { 
      coefficients = std::vector<double>(1, 0.0);

    }

  } break;

  case DistortionType::CAHVOR:

  {

    try

    {

      coefficients = isd.at("optical_distortion")

                         .at("cahvor")

                         .at("coefficients")

                         .get<std::vector<double>>();



      return coefficients;

    }

    catch (...)

    {

      throw std::runtime_error(

          "Could not parse the cahvor distortion model coefficients.");

      coefficients = std::vector<double>(5, 0.0);

    }

  }

  break;

  }

  throw std::runtime_error(

      "Could not parse the distortion model coefficients.");

tests/pytests/test_cahvor_mixin.py

+0 −2
Original line number Diff line number Diff line
@@ -38,7 +38,6 @@ class test_cahvor_sensor(unittest.TestCase): 
    @patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())

    def test_cahvor_model_elements(self, cahvor_camera_dict):

        cahvor_matrix = self.driver.cahvor_rotation_matrix

        print(cahvor_matrix)

        np.testing.assert_allclose(cahvor_matrix, [[-0.82067034, -0.57129702, 0.01095033],

                                                   [-0.43920248, 0.6184257, -0.65165238],

                                                   [ 0.3655151, -0.5396012, -0.7584387 ]])
@@ -51,7 +50,6 @@ class test_cahvor_sensor(unittest.TestCase): 
      assert -76000 in frame_chain.nodes()

      assert -76562 in frame_chain.nodes()

      from_spice.assert_called_with(center_ephemeris_time=0, ephemeris_times=[0], sensor_frame=-76000, target_frame=10014, nadir=False, exact_ck_times=False)

      print(frame_chain[-76562][-76000]['rotation'].quat)

      np.testing.assert_allclose(frame_chain[-76562][-76000]['rotation'].quat, [-0.28255205, 0.8940826, -0.33309383, 0.09914206])



    @patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())