Lunar orbiter high camera (#553) (a9939ac0) · Commits · aflab / astrogeology / Ale

ale/base/type_distortion.py

+26 −0

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		import numpy as np
		import spiceypy as spice

		class LegendreDistortion():
		"""
		@@ -167,3 +168,28 @@ class ChandrayaanMrffrDistortion():
		"y_coefficients" : transy
		}
		}

		class LoDistortion():
		@property
		def usgscsm_distortion_model(self):

		# From ISIS LoHighDistortionMap::SetDistortion()
		# Get the perspective correction factors for x and y and the distortion
		# center (point of symmetry of distortion)
		perspective_key = 'INS{}_PERSPECTIVE_FACTORS'.format(self.ikid)
		center_key = 'INS{}_POINT_OF_SYMMETRY'.format(self.ikid)
		perspective_x = float(spice.gdpool(perspective_key, 0, 1)[0])
		perspective_y = float(spice.gdpool(perspective_key, 0, 2)[1])
		center_point_x = float(spice.gdpool(center_key, 0, 1)[0])
		center_point_y = float(spice.gdpool(center_key, 0, 2)[1])

		# Get the distortion coefficients
		# CameraDistortionMap::SetDistortion(naifIkCode);
		return {
		"lunarorbiter":{
		"perspective_x" : perspective_x,
		"perspective_y" : perspective_y,
		"center_point_x" : center_point_x,
		"center_point_y" : center_point_y
		}
		}
		No newline at end of file

ale/drivers/lo_drivers.py

0 → 100644

+198 −0

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		import spiceypy as spice
		import numpy as np
		import affine6p
		from ale.base.data_naif import NaifSpice
		from ale.base.label_isis import IsisLabel
		from ale.base.type_sensor import Framer
		from ale.base.type_distortion import LoDistortion
		from ale.base.base import Driver

		class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDistortion, Driver):

		@property
		def instrument_id(self):
		"""
		Returns the ID of the instrument.

		Returns
		-------
		: str
		Name of the instrument
		"""

		lo_table = {'Lunar Orbiter 1': 'LO1_HIGH_RESOLUTION_CAMERA',
		'Lunar Orbiter 2': 'LO2_HIGH_RESOLUTION_CAMERA',
		'Lunar Orbiter 3': 'LO3_HIGH_RESOLUTION_CAMERA',
		'Lunar Orbiter 4': 'LO4_HIGH_RESOLUTION_CAMERA',
		'Lunar Orbiter 5': 'LO5_HIGH_RESOLUTION_CAMERA'}

		lookup_table = {'High Resolution Camera': lo_table[self.spacecraft_name]}

		return lookup_table[super().instrument_id]

		@property
		def sensor_model_version(self):
		"""
		The ISIS Sensor model number. This is likely just 1

		Returns
		-------
		: int
		ISIS sensor model version
		"""
		return 1

		@property
		def sensor_name(self):
		"""
		Returns the name of the instrument

		Returns
		-------
		: str
		Name of the sensor
		"""
		return self.instrument_id

		@property
		def ephemeris_start_time(self):
		"""
		Returns the ephemeris time of the image.
		Expects spacecraft_id to be defined. This should be the integer
		Naif ID code for the spacecraft.

		Returns
		-------
		: float
		ephemeris time of the image
		"""

		return spice.utc2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))

		@property
		def ephemeris_stop_time(self):
		"""
		Returns the ephemeris time of the image.
		Expects spacecraft_id to be defined. This should be the integer
		Naif ID code for the spacecraft.

		Returns
		-------
		: float
		ephemeris time of the image
		"""

		return self.ephemeris_start_time



		@property
		def ikid(self):
		"""
		Overridden to grab the ikid from the Isis Cube since there is no way to
		obtain this value with a spice bods2c call.

		Returns
		-------
		: int
		Naif ID used to for identifying the instrument in Spice kernels
		"""
		return spice.namfrm(self.instrument_id)

		@property
		def detector_center_line(self):
		"""
		Returns the center detector line. This is a placeholder for use within
		Isis. Since Isis does not use much of the ISD this value allows the as
		accurate ISD for use in Isis but will be inaccurate for USGSCSM.

		Returns
		-------
		: float
		Detector sample of the principal point
		"""
		return 0

		@property
		def detector_center_sample(self):
		"""
		Returns the center detector sample. This is a placeholder for use within
		Isis. Since Isis does not use much of the ISD this value allows the as
		accurate ISD for use in Isis but will be inaccurate for USGSCSM.

		Returns
		-------
		: float
		Detector line of the principal point
		"""
		return 0

		@property
		def focal2pixel_samples(self):
		return self.naif_keywords[f"INS{self.ikid}_ITRANSS"]

		@property
		def focal2pixel_lines(self):
		return self.naif_keywords[f"INS{self.ikid}_ITRANSL"]


		@property
		def naif_keywords(self):
		"""
		Adds base LO instrument distortion.
		Returns
		-------
		: dict
		Dictionary of keywords and values that ISIS creates and attaches to the label
		"""

		if (not hasattr(self, "_naif_keywords")):
		# From ISIS LoCameraFiducialMap

		# Read Fiducials
		p_fidSamples = self.label['IsisCube']['Instrument']['FiducialSamples'].value
		p_fidLines = self.label['IsisCube']['Instrument']['FiducialLines'].value
		p_fidXCoords = self.label['IsisCube']['Instrument']['FiducialXCoordinates'].value
		p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value

		# Create Affine Transformation

		p_src = [p_fidSamples, p_fidLines]
		p_dst = [p_fidXCoords, p_fidYCoords]

		# format the fiducial coordinatens as [ [x, y], [x, y]...]
		p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))
		p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))

		# find a best match for the transformation based on source and destination coordinates
		tr_mat = affine6p.estimate(p_src, p_dst).get_matrix()

		tr_mat_inv = np.linalg.inv(tr_mat)

		# X and Y, Inverse S and L components of transformation
		transx = tr_mat[0]
		transy = tr_mat[1]
		itranss = tr_mat_inv[0]
		itransl = tr_mat_inv[1]

		# move the last item to the front to get the ordering standard in ISIS
		transx.insert(0, transx.pop())
		transy.insert(0, transy.pop())
		itranss = np.roll(itranss, 1).tolist()
		itransl = np.roll(itransl, 1).tolist()

		# Set the x-axis direction. The medium camera is reversed.
		# High Cam is -53X001, Medium Cam is -53X002
		if (self.ikid % 2 == 0):
		x_dir = -1
		transx = [i * x_dir for i in transx]
		itranss[1] *= x_dir
		itransl[1] *= x_dir

		self._naif_keywords = {**super().naif_keywords,
		f"INS{self.ikid}_TRANSX": transx,
		f"INS{self.ikid}_TRANSY": transy,
		f"INS{self.ikid}_ITRANSS": itranss,
		f"INS{self.ikid}_ITRANSL": itransl}

		return self._naif_keywords
		No newline at end of file

environment.yml

+3 −0

Original line number	Diff line number	Diff line
		@@ -22,3 +22,6 @@ dependencies:
		- pytest-cov
		- networkx
		- breathe
		- pip
		- pip:
		- affine6p

include/ale/Distortion.h

+2 −1

Original line number	Diff line number	Diff line
		@@ -8,7 +8,8 @@ namespace ale {
		KAGUYALISM,
		DAWNFC,
		LROLROCNAC,
		CAHVOR
		CAHVOR,
		LUNARORBITER
		};
		}

src/Util.cpp

+148 −116

Original line number	Diff line number	Diff line
		@@ -360,6 +360,8 @@ DistortionType getDistortionModel(json isd) {
		return DistortionType::LROLROCNAC;
		} else if (distortion.compare("cahvor") == 0) {
		return DistortionType::CAHVOR;
		} else if (distortion.compare("lunarorbiter") == 0) {
		return DistortionType::LUNARORBITER;
		}
		} catch (...) {
		throw std::runtime_error("Could not parse the distortion model.");
		@@ -494,8 +496,38 @@ std::vector<double> getDistortionCoeffs(json isd) {
		"Could not parse the cahvor distortion model coefficients.");
		coefficients = std::vector<double>(5, 0.0);
		}
		} break;
		case DistortionType::LUNARORBITER:
		{
		try
		{
		double perspectiveX = isd.at("optical_distortion")
		.at("lunarorbiter")
		.at("perspective_x")
		.get<double>();
		double perspectiveY = isd.at("optical_distortion")
		.at("lunarorbiter")
		.at("perspective_y")
		.get<double>();
		double centerPointX = isd.at("optical_distortion")
		.at("lunarorbiter")
		.at("center_point_x")
		.get<double>();
		double centerPointY = isd.at("optical_distortion")
		.at("lunarorbiter")
		.at("center_point_y")
		.get<double>();

		coefficients = {perspectiveX, perspectiveY, centerPointX, centerPointY};
		return coefficients;
		}
		break;
		catch (...)
		{
		throw std::runtime_error(
		"Could not parse the Lunar Orbiter distortion model coefficients.");
		coefficients = std::vector<double>(4, 0.0);
		}
		} break;
		}
		throw std::runtime_error(
		"Could not parse the distortion model coefficients.");