Commit 910a04f2 authored by acpaquette's avatar acpaquette Committed by GitHub
Browse files

Kaguya and LRO Image Inversion Changes, and HRSC Update (#329) 

* Added adjustments for inverted kaguyaTc images

* Updated mex driver

* Updated kaguya and mex tests associated with driver updates

* Updated LRO with a flipped focal2pixel lines if the spacecraft is going backwards

* Updated lro driver to get the correct direction of the spacecraft

* Update the lro and kaguya tests

* Added a doc string to the kaguya spacecraft_direction property
parent a500e0c0

ale/drivers/lro_drivers.py

+91 −0
Original line number Diff line number Diff line
@@ -129,6 +129,24 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver) 
        """

        return super().detector_center_sample - 0.5



    @property

    def focal2pixel_lines(self):

        """

        Expects ikid to be defined. This must be the integer Naif id code of

        the instrument. For LROC NAC this is flipped depending on the spacecraft

        direction.



        Returns

        -------

        : list<double>

          focal plane to detector lines

        """

        focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))

        if self.spacecraft_direction < 0:

            return focal2pixel_lines

        else:

            return -focal2pixel_lines



    @property

    def ephemeris_start_time(self):

        """
@@ -222,6 +240,34 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver) 
        """

        return self.crosstrack_summing



    @property

    def spacecraft_direction(self):

        """

        Returns the x axis of the first velocity vector relative to the

        spacecraft. This indicates of the craft is moving forwards or backwards.



        From LROC Frame Kernel: lro_frames_2014049_v01.tf

        "+X axis is in the direction of the velocity vector half the year. The

        other half of the year, the +X axis is opposite the velocity vector"



        Hence we rotate the first velocity vector into the sensor reference

        frame, but the X component of that vector is inverted compared to the

        spacecraft so a +X indicates backwards and -X indicates forwards



        The returned velocity is also slightly off from the spacecraft velocity

        due to the sensor being attached to the craft with wax.



        Returns

        -------

        direction : double

                    X value of the first velocity relative to the sensor

        """

        rotation = self.frame_chain.compute_rotation(self.target_frame_id, self.sensor_frame_id)

        positions, velocities, times = self.sensor_position

        velocity = rotation.rotate_velocity_at([positions[0]], [velocities[0]], [times[0]])[0]

        return velocity[0]







class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver):

    @property
@@ -343,6 +389,24 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
         """

        return super().exposure_duration * (1 + self.multiplicative_line_error) + self.additive_line_error



    @property

    def focal2pixel_lines(self):

        """

        Expects ikid to be defined. This must be the integer Naif id code of

        the instrument. For LROC NAC this is flipped depending on the spacecraft

        direction.



        Returns

        -------

        : list<double>

          focal plane to detector lines

        """

        focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))

        if self.spacecraft_direction < 0:

            return focal2pixel_lines

        else:

            return -focal2pixel_lines



    @property

    def multiplicative_line_error(self):

        """
@@ -404,3 +468,30 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
          Number of samples and lines combined from the original data to produce a single pixel in this image

        """

        return self.label['IsisCube']['Instrument']['SpatialSumming']



    @property

    def spacecraft_direction(self):

        """

        Returns the x axis of the first velocity vector relative to the

        spacecraft. This indicates of the craft is moving forwards or backwards.



        From LROC Frame Kernel: lro_frames_2014049_v01.tf

        "+X axis is in the direction of the velocity vector half the year. The

        other half of the year, the +X axis is opposite the velocity vector"



        Hence we rotate the first velocity vector into the sensor reference

        frame, but the X component of that vector is inverted compared to the

        spacecraft so a +X indicates backwards and -X indicates forwards



        The returned velocity is also slightly off from the spacecraft velocity

        due to the sensor being attached to the craft with wax.



        Returns

        -------

        direction : double

                    X value of the first velocity relative to the sensor

        """

        rotation = self.frame_chain.compute_rotation(self.target_frame_id, self.sensor_frame_id)

        positions, velocities, times = self.sensor_position

        velocity = rotation.rotate_velocity_at([positions[0]], [velocities[0]], [times[0]])[0]

        return velocity[0]

ale/drivers/mex_drivers.py

+0 −11
Original line number Diff line number Diff line
@@ -270,17 +270,6 @@ class MexHrscPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, RadialDistor 
        return FILTER_SPECIFIC_LOOKUP[self.fikid][2]





    @property

    def detector_start_line(self):

        """

        Returns

        -------

        : int

          Detector sample corresponding to the first image sample

        """

        return 1





    @property

    def detector_center_line(self):

        """

ale/drivers/selene_drivers.py

+26 −3
Original line number Diff line number Diff line
@@ -245,7 +245,10 @@ class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
          focal plane to detector lines

        """

        pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self.ikid), 0, 1)[0]

        if self.spacecraft_direction < 0:

            return [0, -1/pixel_size, 0]

        elif self.spacecraft_direction > 0:

            return [0, 1/pixel_size, 0]





    @property
@@ -306,7 +309,7 @@ class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        return spice.gdpool('INS{}_BORESIGHT'.format(self.ikid), 1, 1)[0]



    @property

    def line_exposure_duration(self):

    def exposure_duration(self):

        """

        Returns Line Exposure Duration
@@ -432,7 +435,27 @@ class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        : int

          Detector sample corresponding to the first image sample

        """

        return self.label["FIRST_PIXEL_NUMBER"]

        return self.label["FIRST_PIXEL_NUMBER"] - .5



    @property

    def detector_start_line(self):

        if self.spacecraft_direction < 0:

            return super().detector_start_line

        elif self.spacecraft_direction > 0:

            return 1



    @property

    def spacecraft_direction(self):

        """

        Gets the moving direction of the spacecraft from the label, where -1 is moving

        as intended and 1 is moving inverted.



        Returns

        -------

        : int

          Moving direction of the spacecraft

        """

        return int(self.label['SATELLITE_MOVING_DIRECTION'])





    @property

tests/pytests/test_kaguya_drivers.py

+67 −57
Original line number Diff line number Diff line
@@ -6,7 +6,8 @@ import spiceypy as spice 
from importlib import reload

import json



from unittest.mock import PropertyMock, patch

import unittest

from unittest.mock import MagicMock, PropertyMock, patch



from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts
@@ -54,9 +55,9 @@ image_dict = { 
            'detector_center': {

                'line': 0.5,

                'sample': 2048.0},

            'starting_detector_line': 0,

            'starting_detector_sample': 1,

            'focal2pixel_lines': [0, -142.85714285714286, 0],

            'starting_detector_line': 1,

            'starting_detector_sample': .5,

            'focal2pixel_lines': [0, 142.85714285714286, 0],

            'focal2pixel_samples': [0, 0, -142.85714285714286],

            'optical_distortion': {

                'kaguyalism': {
@@ -216,72 +217,81 @@ def test_kaguya_load(test_kernels, label_type, formatter, image): 


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



@pytest.fixture(params=["Pds3NaifDriver"])

def driver(request):

    if request.param == "Pds3NaifDriver":

# ========= Test pdslabel and naifspice driver =========

class test_pds_naif(unittest.TestCase):



    def setUp(self):

        label = get_image_label("TC1S2B0_01_06691S820E0465", "pds3")

        return KaguyaTcPds3NaifSpiceDriver(label)

        self.driver = KaguyaTcPds3NaifSpiceDriver(label)



def test_short_mission_name(driver):

    assert driver.short_mission_name == 'selene'

    def test_short_mission_name(self):

        assert self.driver.short_mission_name == 'selene'



def test_utc_start_time(driver):

    assert driver.utc_start_time == datetime.datetime(2009, 4, 5, 20, 9, 53, 607478, tzinfo=datetime.timezone.utc)

    def test_utc_start_time(self):

        assert self.driver.utc_start_time == datetime.datetime(2009, 4, 5, 20, 9, 53, 607478, tzinfo=datetime.timezone.utc)



def test_utc_stop_time(driver):

    assert driver.utc_stop_time == datetime.datetime(2009, 4, 5, 20, 10, 23, 864978, tzinfo=datetime.timezone.utc)

    def test_utc_stop_time(self):

        assert self.driver.utc_stop_time == datetime.datetime(2009, 4, 5, 20, 10, 23, 864978, tzinfo=datetime.timezone.utc)



def test_instrument_id(driver):

    assert driver.instrument_id == 'LISM_TC1_STF'

    def test_instrument_id(self):

        assert self.driver.instrument_id == 'LISM_TC1_STF'



def test_sensor_frame_id(driver):

    def test_sensor_frame_id(self):

        with patch('ale.drivers.selene_drivers.spice.namfrm', return_value=12345) as namfrm:

        assert driver.sensor_frame_id == 12345

            assert self.driver.sensor_frame_id == 12345

            namfrm.assert_called_with('LISM_TC1_HEAD')



def test_instrument_host_name(driver):

    assert driver.instrument_host_name == 'SELENE-M'

    def test_instrument_host_name(self):

        assert self.driver.instrument_host_name == 'SELENE-M'



def test_ikid(driver):

    def test_ikid(self):

        with patch('ale.drivers.selene_drivers.spice.bods2c', return_value=12345) as bods2c:

        assert driver.ikid == 12345

            assert self.driver.ikid == 12345

            bods2c.assert_called_with('LISM_TC1')



def test_spacecraft_name(driver):

    assert driver.spacecraft_name == 'SELENE'

    def test_spacecraft_name(self):

        assert self.driver.spacecraft_name == 'SELENE'



def test_spacecraft_clock_start_count(driver):

    assert driver.spacecraft_clock_start_count == 922997380.174174

    def test_spacecraft_clock_start_count(self):

        assert self.driver.spacecraft_clock_start_count == 922997380.174174



def test_spacecraft_clock_stop_count(driver):

    assert driver.spacecraft_clock_stop_count == 922997410.431674

    def test_spacecraft_clock_stop_count(self):

        assert self.driver.spacecraft_clock_stop_count == 922997410.431674



def test_ephemeris_start_time(driver):

    def test_ephemeris_start_time(self):

        with patch('ale.drivers.selene_drivers.spice.sct2e', return_value=12345) as sct2e, \

             patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.ephemeris_start_time == 12345

            assert self.driver.ephemeris_start_time == 12345

            sct2e.assert_called_with(-12345, 922997380.174174)



def test_detector_center_line(driver):

    def test_detector_center_line(self):

        with patch('ale.drivers.selene_drivers.spice.gdpool', return_value=np.array([54321, 12345])) as gdpool, \

             patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.detector_center_line == 12344.5

            assert self.driver.detector_center_line == 12344.5

            gdpool.assert_called_with('INS-12345_CENTER', 0, 2)



def test_detector_center_sample(driver):

    def test_detector_center_sample(self):

        with patch('ale.drivers.selene_drivers.spice.gdpool', return_value=np.array([54321, 12345])) as gdpool, \

             patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.detector_center_sample == 54320.5

            assert self.driver.detector_center_sample == 54320.5

            gdpool.assert_called_with('INS-12345_CENTER', 0, 2)



def test_focal2pixel_samples(driver):

    def test_focal2pixel_samples(self):

        with patch('ale.drivers.selene_drivers.spice.gdpool', return_value=np.array([2])) as gdpool, \

             patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.focal2pixel_samples == [0, 0, -1/2]

            assert self.driver.focal2pixel_samples == [0, 0, -1/2]

            gdpool.assert_called_with('INS-12345_PIXEL_SIZE', 0, 1)



def test_focal2pixel_lines(driver):

    def test_focal2pixel_lines(self):

        with patch('ale.drivers.selene_drivers.spice.gdpool', return_value=np.array([2])) as gdpool, \

         patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.focal2pixel_lines == [0, -1/2, 0]

             patch('ale.drivers.selene_drivers.spice.bods2c', return_value=-12345) as bods2c, \

             patch('ale.drivers.selene_drivers.KaguyaTcPds3NaifSpiceDriver.spacecraft_direction', \

             new_callable=PropertyMock) as spacecraft_direction:

            spacecraft_direction.return_value = 1

            assert self.driver.focal2pixel_lines == [0, 1/2, 0]

            spacecraft_direction.return_value = -1

            assert self.driver.focal2pixel_lines == [0, -1/2, 0]

            gdpool.assert_called_with('INS-12345_PIXEL_SIZE', 0, 1)



    def test_spacecraft_direction(self):

        assert self.driver.spacecraft_direction == 1

tests/pytests/test_lro_drivers.py

+115 −54
Original line number Diff line number Diff line
@@ -2,7 +2,7 @@ import pytest 
import numpy as np

import os

import unittest

from unittest.mock import PropertyMock, patch

from unittest.mock import MagicMock, PropertyMock, patch

import spiceypy as spice

import json
@@ -10,6 +10,7 @@ import ale 
from ale import util

from ale.drivers.lro_drivers import LroLrocPds3LabelNaifSpiceDriver

from ale.drivers.lro_drivers import LroLrocIsisLabelNaifSpiceDriver

from ale.transformation import TimeDependentRotation



from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts
@@ -200,43 +201,54 @@ def test_kernels(): 
        for kern in kern_list:

            os.remove(kern)



@pytest.fixture(params=["Pds3NaifDriver"])

def driver(request):

    if request.param == "Pds3NaifDriver":

        label = get_image_label("M103595705LE", "pds3")

        return LroLrocPds3LabelNaifSpiceDriver(label)

@pytest.mark.parametrize("label_type", ['isis3'])

@pytest.mark.parametrize("formatter", ['isis'])

@pytest.mark.parametrize("image", image_dict.keys())

def test_load_isis(test_kernels, label_type, formatter, image):

    label_file = get_image_label(image, label_type)

    isis_isd = ale.loads(label_file, props={'kernels': test_kernels[image]}, formatter=formatter, verbose=True)

    isis_isd_obj = json.loads(isis_isd)

    print(json.dumps(isis_isd_obj, indent=4))

    assert compare_dicts(isis_isd_obj, image_dict[image][formatter]) == []



def test_short_mission_name(driver):

    assert driver.short_mission_name=='lro'

# ========= Test pdslabel and naifspice driver =========

class test_pds_naif(unittest.TestCase):



def test_instrument_id_left(driver):

    driver.label['FRAME_ID'] = 'LEFT'

    assert driver.instrument_id == 'LRO_LROCNACL'

    def setUp(self):

        label = get_image_label('M103595705LE', 'pds3')

        self.driver = LroLrocPds3LabelNaifSpiceDriver(label)



    def test_short_mission_name(self):

        assert self.driver.short_mission_name=='lro'



def test_instrument_id_right(driver):

    driver.label['FRAME_ID'] = 'RIGHT'

    assert driver.instrument_id == 'LRO_LROCNACR'

    def test_instrument_id_left(self):

        self.driver.label['FRAME_ID'] = 'LEFT'

        assert self.driver.instrument_id == 'LRO_LROCNACL'



    def test_instrument_id_right(self):

        self.driver.label['FRAME_ID'] = 'RIGHT'

        assert self.driver.instrument_id == 'LRO_LROCNACR'



def test_spacecraft_name(driver):

    assert driver.spacecraft_name == 'LRO'

    def test_spacecraft_name(self):

        assert self.driver.spacecraft_name == 'LRO'



def test_sensor_model_version(driver):

    assert driver.sensor_model_version == 2

    def test_sensor_model_version(self):

        assert self.driver.sensor_model_version == 2



def test_odtk(driver):

    def test_odtk(self):

        with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=np.array([1.0])) as gdpool, \

             patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c:

        assert driver.odtk == [1.0]

            assert self.driver.odtk == [1.0]

            gdpool.assert_called_with('INS-12345_OD_K', 0, 1)



def test_usgscsm_distortion_model(driver):

    def test_usgscsm_distortion_model(self):

        with patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.odtk', \

                   new_callable=PropertyMock) as odtk:

            odtk.return_value = [1.0]

        distortion_model = driver.usgscsm_distortion_model

            distortion_model = self.driver.usgscsm_distortion_model

            assert distortion_model['lrolrocnac']['coefficients'] == [1.0]



def test_ephemeris_start_time(driver):

    def test_ephemeris_start_time(self):

        with patch('ale.drivers.lro_drivers.spice.scs2e', return_value=5) as scs2e, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.exposure_duration', \

                   new_callable=PropertyMock) as exposure_duration, \
@@ -244,24 +256,44 @@ def test_ephemeris_start_time(driver): 
                   new_callable=PropertyMock) as spacecraft_id:

            exposure_duration.return_value = 0.1

            spacecraft_id.return_value = 1234

        assert driver.ephemeris_start_time == 107.4

            assert self.driver.ephemeris_start_time == 107.4

            scs2e.assert_called_with(1234, "1/270649237:07208")



def test_exposure_duration(driver):

    def test_exposure_duration(self):

        with patch('ale.base.label_pds3.Pds3Label.exposure_duration', \

                   new_callable=PropertyMock) as exposure_duration:

            exposure_duration.return_value = 1

        assert driver.exposure_duration == 1.0045

            assert self.driver.exposure_duration == 1.0045



    @patch('ale.transformation.FrameChain')

    @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())

    @patch('ale.transformation.FrameChain.compute_rotation', return_value=TimeDependentRotation([[0, 0, 1, 0]], [0], 0, 0))

    def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):

        with patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.target_frame_id', \

             new_callable=PropertyMock) as target_frame_id, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_frame_id', \

             new_callable=PropertyMock) as sensor_frame_id, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_start_time', \

             new_callable=PropertyMock) as ephemeris_start_time, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_stop_time', \

             new_callable=PropertyMock) as ephemeris_end_time, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_position', \

             new_callable=PropertyMock) as sensor_position:

            sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]

            assert self.driver.spacecraft_direction < 0

            compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)



    def test_focal2pixel_lines(self):

        with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ikid', \

             new_callable=PropertyMock) as ikid, \

             patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.spacecraft_direction', \

             new_callable=PropertyMock) as spacecraft_direction:

            spacecraft_direction.return_value = -1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

            spacecraft_direction.return_value = 1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])



@pytest.mark.parametrize("label_type", ['isis3'])

@pytest.mark.parametrize("formatter", ['isis'])

@pytest.mark.parametrize("image", image_dict.keys())

def test_load_isis(test_kernels, label_type, formatter, image):

    label_file = get_image_label(image, label_type)

    isis_isd = ale.loads(label_file, props={'kernels': test_kernels[image]}, formatter=formatter, verbose=True)

    isis_isd_obj = json.loads(isis_isd)

    print(json.dumps(isis_isd_obj, indent=4))

    assert compare_dicts(isis_isd_obj, image_dict[image][formatter]) == []



# ========= Test isislabel and naifspice driver =========

class test_isis_naif(unittest.TestCase):
@@ -323,3 +355,32 @@ class test_isis_naif(unittest.TestCase): 


    def test_sampling_factor(self):

        assert self.driver.sampling_factor == 1



    @patch('ale.transformation.FrameChain')

    @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())

    @patch('ale.transformation.FrameChain.compute_rotation', return_value=TimeDependentRotation([[0, 0, 1, 0]], [0], 0, 0))

    def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):

        with patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.target_frame_id', \

             new_callable=PropertyMock) as target_frame_id, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_frame_id', \

             new_callable=PropertyMock) as sensor_frame_id, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_start_time', \

             new_callable=PropertyMock) as ephemeris_start_time, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_stop_time', \

             new_callable=PropertyMock) as ephemeris_end_time, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_position', \

             new_callable=PropertyMock) as sensor_position:

            sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]

            assert self.driver.spacecraft_direction < 0

            compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)



    def test_focal2pixel_lines(self):

        with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ikid', \

             new_callable=PropertyMock) as ikid, \

             patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.spacecraft_direction', \

             new_callable=PropertyMock) as spacecraft_direction:

            spacecraft_direction.return_value = -1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

            spacecraft_direction.return_value = 1

            np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])