single isd format + mro test conversion (#336) (b612bd94) · Commits · aflab / astrogeology / Ale

ale/drivers/init.py

+5 −3

Original line number	Diff line number	Diff line
		@@ -16,6 +16,7 @@ from collections import OrderedDict

		from ale.formatters.usgscsm_formatter import to_usgscsm
		from ale.formatters.isis_formatter import to_isis
		from ale.formatters.formatter import to_isd
		from ale.base.data_isis import IsisSpice

		from abc import ABC
		@@ -32,7 +33,8 @@ __all__ = [driver for driver in __all__ if driver not in __disabled_drivers__]
		__driver_modules__ = [importlib.import_module('.'+m, package='ale.drivers') for m in __all__]

		__formatters__ = {'usgscsm': to_usgscsm,
		'isis': to_isis}
		'isis': to_isis,
		'ale' : to_isd}

		def sort_drivers(drivers=[]):
		return list(sorted(drivers, key=lambda x:IsisSpice in x.__bases__, reverse=False))
		@@ -51,7 +53,7 @@ class AleJsonEncoder(json.JSONEncoder):
		return obj.isoformat()
		return json.JSONEncoder.default(self, obj)

		def load(label, props={}, formatter='usgscsm', verbose=False):
		def load(label, props={}, formatter='ale', verbose=False):
		"""
		Attempt to load a given label from all possible drivers

		@@ -86,6 +88,6 @@ def load(label, props={}, formatter='usgscsm', verbose=False):
		traceback.print_exc()
		raise Exception('No Such Driver for Label')

		def loads(label, props='', formatter='usgscsm', verbose=False):
		def loads(label, props='', formatter='ale', verbose=False):
		res = load(label, props, formatter, verbose=verbose)
		return json.dumps(res, cls=AleJsonEncoder)

ale/formatters/formatter.py

0 → 100644

+164 −0

Original line number	Diff line number	Diff line
		import json
		import numpy as np
		from scipy.interpolate import interp1d, BPoly

		from networkx.algorithms.shortest_paths.generic import shortest_path

		from ale.transformation import FrameChain
		from ale.base.type_sensor import LineScanner, Framer
		from ale.rotation import ConstantRotation, TimeDependentRotation

		def to_isd(driver):
		"""
		Formatter to create sensor model meta data from a driver.

		Parameters
		----------
		driver : Driver
		Concrete driver for the image that meta data is being generated for.

		Returns
		-------
		string
		The ISIS compatible meta data as a JSON encoded string.
		"""


		meta_data = {}

		meta_data['IsisCameraVersion'] = driver.sensor_model_version

		# interiror orientation
		meta_data['NaifKeywords'] = driver.naif_keywords
		meta_data['detector_sample_summing'] = driver.sample_summing
		meta_data['detector_line_summing'] = driver.line_summing
		meta_data['focal_length_model'] = {
		'focal_length' : driver.focal_length
		}
		meta_data['detector_center'] = {
		'line' : driver.detector_center_line,
		'sample' : driver.detector_center_sample
		}

		meta_data['starting_detector_line'] = driver.detector_start_line
		meta_data['starting_detector_sample'] = driver.detector_start_sample
		meta_data['focal2pixel_lines'] = driver.focal2pixel_lines
		meta_data['focal2pixel_samples'] = driver.focal2pixel_samples
		meta_data['optical_distortion'] = driver.usgscsm_distortion_model

		# general information
		meta_data['image_lines'] = driver.image_lines
		meta_data['image_samples'] = driver.image_samples
		meta_data['name_platform'] = driver.platform_name
		meta_data['name_sensor'] = driver.sensor_name
		meta_data['reference_height'] = {
		"maxheight": 1000,
		"minheight": -1000,
		"unit": "m"
		}

		# line scan sensor model specifics
		if isinstance(driver, LineScanner):
		meta_data['name_model'] = 'USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL'
		meta_data['interpolation_method'] = 'lagrange'

		start_lines, start_times, scan_rates = driver.line_scan_rate
		center_time = driver.center_ephemeris_time
		meta_data['line_scan_rate'] = [[line, time, rate] for line, time, rate in zip(start_lines, start_times, scan_rates)]
		meta_data['starting_ephemeris_time'] = driver.ephemeris_start_time
		meta_data['center_ephemeris_time'] = center_time

		# frame sensor model specifics
		if isinstance(driver, Framer):
		meta_data['name_model'] = 'USGS_ASTRO_FRAME_SENSOR_MODEL'
		meta_data['center_ephemeris_time'] = driver.center_ephemeris_time

		frame_chain = driver.frame_chain
		sensor_frame = driver.sensor_frame_id
		target_frame = driver.target_frame_id

		body_radii = driver.target_body_radii
		meta_data['radii'] = {
		'semimajor' : body_radii[0],
		'semiminor' : body_radii[2],
		'unit' : 'km'
		}

		instrument_pointing = {}
		source_frame, destination_frame, time_dependent_sensor_frame = frame_chain.last_time_dependent_frame_between(1, sensor_frame)

		# Reverse the frame order because ISIS orders frames as
		# (destination, intermediate, ..., intermediate, source)
		instrument_pointing['TimeDependentFrames'] = shortest_path(frame_chain, destination_frame, 1)
		time_dependent_rotation = frame_chain.compute_rotation(1, destination_frame)
		instrument_pointing['CkTableStartTime'] = time_dependent_rotation.times[0]
		instrument_pointing['CkTableEndTime'] = time_dependent_rotation.times[-1]
		instrument_pointing['CkTableOriginalSize'] = len(time_dependent_rotation.times)
		instrument_pointing['EphemerisTimes'] = time_dependent_rotation.times
		instrument_pointing['Quaternions'] = time_dependent_rotation.quats[:, [3, 0, 1, 2]]
		instrument_pointing['AngularVelocity'] = time_dependent_rotation.av

		# Reverse the frame order because ISIS orders frames as
		# (destination, intermediate, ..., intermediate, source)
		instrument_pointing['ConstantFrames'] = shortest_path(frame_chain, sensor_frame, destination_frame)
		constant_rotation = frame_chain.compute_rotation(destination_frame, sensor_frame)
		instrument_pointing['ConstantRotation'] = constant_rotation.rotation_matrix().flatten()
		meta_data['InstrumentPointing'] = instrument_pointing

		body_rotation = {}
		source_frame, destination_frame, time_dependent_target_frame = frame_chain.last_time_dependent_frame_between(target_frame, 1)

		if source_frame != 1:
		# Reverse the frame order because ISIS orders frames as
		# (destination, intermediate, ..., intermediate, source)
		body_rotation['TimeDependentFrames'] = shortest_path(frame_chain, source_frame, 1)
		time_dependent_rotation = frame_chain.compute_rotation(1, source_frame)
		body_rotation['CkTableStartTime'] = time_dependent_rotation.times[0]
		body_rotation['CkTableEndTime'] = time_dependent_rotation.times[-1]
		body_rotation['CkTableOriginalSize'] = len(time_dependent_rotation.times)
		body_rotation['EphemerisTimes'] = time_dependent_rotation.times
		body_rotation['Quaternions'] = time_dependent_rotation.quats[:, [3, 0, 1, 2]]
		body_rotation['AngularVelocity'] = time_dependent_rotation.av

		if source_frame != target_frame:
		# Reverse the frame order because ISIS orders frames as
		# (destination, intermediate, ..., intermediate, source)
		body_rotation['ConstantFrames'] = shortest_path(frame_chain, target_frame, source_frame)
		constant_rotation = frame_chain.compute_rotation(source_frame, target_frame)
		body_rotation['ConstantRotation'] = constant_rotation.rotation_matrix().flatten()

		meta_data['BodyRotation'] = body_rotation

		j2000_rotation = frame_chain.compute_rotation(target_frame, 1)

		instrument_position = {}
		positions, velocities, times = driver.sensor_position
		instrument_position['SpkTableStartTime'] = times[0]
		instrument_position['SpkTableEndTime'] = times[-1]
		instrument_position['SpkTableOriginalSize'] = len(times)
		instrument_position['EphemerisTimes'] = times
		# Rotate positions and velocities into J2000 then scale into kilometers
		velocities = j2000_rotation.rotate_velocity_at(positions, velocities, times)/1000
		positions = j2000_rotation.apply_at(positions, times)/1000
		instrument_position['Positions'] = positions
		instrument_position['Velocities'] = velocities
		meta_data['InstrumentPosition'] = instrument_position

		sun_position = {}
		positions, velocities, times = driver.sun_position
		sun_position['SpkTableStartTime'] = times[0]
		sun_position['SpkTableEndTime'] = times[-1]
		sun_position['SpkTableOriginalSize'] = len(times)
		sun_position['EphemerisTimes'] = times
		# Rotate positions and velocities into J2000 then scale into kilometers
		velocities = j2000_rotation.rotate_velocity_at(positions, velocities, times)/1000
		positions = j2000_rotation.apply_at(positions, times)/1000
		sun_position['Positions'] = positions
		sun_position['Velocities'] = velocities
		meta_data['SunPosition'] = sun_position

		# check that there is a valid sensor model name
		if 'name_model' not in meta_data:
		raise Exception('No CSM sensor model name found!')

		return meta_data

tests/pytests/conftest.py

+13 −0

Original line number	Diff line number	Diff line
		@@ -3,6 +3,8 @@ import os
		import re
		import warnings
		import numpy as np
		import json

		import ale

		from glob import glob
		@@ -93,6 +95,17 @@ def get_image_label(image, label_type='pds3'):

		return label_file[0]

		def get_isd(instrument):
		if not isinstance(instrument, str):
		raise KeyError('instrument name is not a string')

		label_file = glob(os.path.join(data_root, 'isds',f'{instrument}_isd.json'))
		if not label_file:
		raise Exception(f'Could not find label file for {instrument}')

		return json.load(open(label_file[0]))


		def get_image_kernels(image):
		"""
		Get the kernels to use with a test image.

tests/pytests/data/isds/ctx_isd.json

0 → 100644

+506 −0

Original line number	Diff line number	Diff line
		{
		"IsisCameraVersion": 1,
		"NaifKeywords": {
		"BODY499_RADII": [
		3396.19,
		3396.19,
		3376.2
		],
		"BODY_FRAME_CODE": 10014,
		"BODY_CODE": 499,
		"INS-74021_FOV_ANGLE_UNITS": "DEGREES",
		"TKFRAME_-74021_UNITS": "DEGREES",
		"INS-74021_FOV_ANGULAR_SIZE": [
		5.73,
		0.001146
		],
		"INS-74021_PIXEL_LINES": 1.0,
		"TKFRAME_-74021_ANGLES": [
		0.0,
		0.0,
		0.0
		],
		"INS-74021_IFOV": [
		2e-05,
		2e-05
		],
		"FRAME_-74021_CENTER": -74.0,
		"INS-74021_F/RATIO": 3.25,
		"INS-74021_PLATFORM_ID": -74000.0,
		"INS-74021_CCD_CENTER": [
		2500.5,
		0.5
		],
		"INS-74021_PIXEL_SAMPLES": 5000.0,
		"INS-74021_FOCAL_LENGTH": 352.9271664,
		"INS-74021_FOV_CROSS_ANGLE": 0.00057296,
		"INS-74021_TRANSX": [
		0.0,
		0.0,
		0.007
		],
		"INS-74021_FOV_CLASS_SPEC": "ANGLES",
		"INS-74021_TRANSY": [
		0.0,
		0.007,
		0.0
		],
		"INS-74021_FOV_REF_VECTOR": [
		0.0,
		1.0,
		0.0
		],
		"INS-74021_BORESIGHT": [
		0.0,
		0.0,
		1.0
		],
		"FRAME_-74021_NAME": "MRO_CTX",
		"INS-74021_PIXEL_PITCH": 0.007,
		"TKFRAME_-74021_AXES": [
		1.0,
		2.0,
		3.0
		],
		"TKFRAME_-74021_SPEC": "ANGLES",
		"INS-74021_BORESIGHT_LINE": 0.430442527,
		"INS-74021_FOV_SHAPE": "RECTANGLE",
		"INS-74021_BORESIGHT_SAMPLE": 2543.46099,
		"FRAME_-74021_CLASS": 4.0,
		"INS-74021_CK_FRAME_ID": -74000.0,
		"INS-74021_ITRANSL": [
		0.0,
		142.85714285714,
		0.0
		],
		"INS-74021_FOV_REF_ANGLE": 2.86478898,
		"INS-74021_ITRANSS": [
		0.0,
		0.0,
		142.85714285714
		],
		"FRAME_-74021_CLASS_ID": -74021.0,
		"INS-74021_OD_K": [
		-0.0073433925920054505,
		2.8375878636241697e-05,
		1.2841989124027099e-08
		],
		"INS-74021_FOV_FRAME": "MRO_CTX",
		"INS-74021_CK_REFERENCE_ID": -74900.0,
		"TKFRAME_-74021_RELATIVE": "MRO_CTX_BASE",
		"INS-74021_PIXEL_SIZE": [
		0.007,
		0.007
		],
		"SCLK_PARTITION_END_74999": [
		52973626698957.0,
		56987144678331.0,
		58187590527162.99,
		60316687182323.0,
		60877152115000.0,
		61228279788693.0,
		61339176915162.99,
		61899057915627.0,
		63521451859691.0,
		65622287643263.0
		],
		"SCLK01_N_FIELDS_74999": 2.0,
		"SCLK01_OUTPUT_DELIM_74999": 1.0,
		"BODY499_POLE_DEC": [
		52.8865,
		-0.0609,
		0.0
		],
		"SCLK01_OFFSETS_74999": [
		0.0,
		0.0
		],
		"SCLK_DATA_TYPE_74999": 1.0,
		"SCLK01_COEFFICIENTS_74999": [
		0.0,
		-631195148.816,
		1.0,
		3097283854336.0,
		-583934347.816,
		1.0,
		5164027215872.0,
		-552398346.816,
		1.0,
		7230770577408.0
		],
		"SCLK01_TIME_SYSTEM_74999": 2.0,
		"SCLK_PARTITION_START_74999": [
		0.0,
		52973626982399.99,
		56987144683520.0,
		58187590533120.0,
		60316687204352.01,
		60877152124927.99,
		61228279791616.0,
		61339176927232.0,
		61899057922048.0,
		63521451868160.0
		],
		"BODY499_POLE_RA": [
		317.68143,
		-0.1061,
		0.0
		],
		"BODY499_PM": [
		176.63,
		350.89198226,
		0.0
		],
		"SCLK01_MODULI_74999": [
		4294967296.0,
		65536.0
		]
		},
		"detector_sample_summing": 1,
		"detector_line_summing": 1,
		"focal_length_model": {
		"focal_length": 352.9271664
		},
		"detector_center": {
		"line": 0.430442527,
		"sample": 2542.96099
		},
		"starting_detector_line": 0,
		"starting_detector_sample": 0,
		"focal2pixel_lines": [
		0.0,
		142.85714285714,
		0.0
		],
		"focal2pixel_samples": [
		0.0,
		0.0,
		142.85714285714
		],
		"optical_distortion": {
		"radial": {
		"coefficients": [
		-0.0073433925920054505,
		2.8375878636241697e-05,
		1.2841989124027099e-08
		]
		}
		},
		"image_lines": 400,
		"image_samples": 5056,
		"name_platform": "Mars_Reconnaissance_Orbiter",
		"name_sensor": "CONTEXT CAMERA",
		"reference_height": {
		"maxheight": 1000,
		"minheight": -1000,
		"unit": "m"
		},
		"name_model": "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",
		"interpolation_method": "lagrange",
		"line_scan_rate": [
		[
		0.5,
		-0.37540000677108765,
		0.001877
		]
		],
		"starting_ephemeris_time": 297088762.24158406,
		"center_ephemeris_time": 297088762.61698407,
		"radii": {
		"semimajor": 3396.19,
		"semiminor": 3376.2,
		"unit": "km"
		},
		"InstrumentPointing": {
		"TimeDependentFrames": [
		-74000,
		-74900,
		1
		],
		"CkTableStartTime": 297088762.24158406,
		"CkTableEndTime": 297088762.9923841,
		"CkTableOriginalSize": 6,
		"EphemerisTimes": [
		297088762.24158406,
		297088762.3917441,
		297088762.5419041,
		297088762.69206405,
		297088762.84222406,
		297088762.9923841
		],
		"Quaternions": [
		[
		0.42061124835443375,
		0.1860622266332136,
		-0.23980124331599867,
		0.8549633847610767
		],
		[
		0.42062260840195603,
		0.186123564618581,
		-0.23976950628253949,
		0.8549533460089124
		],
		[
		0.4206354696231763,
		0.18618437842074986,
		-0.23973759356053978,
		0.8549427262458993
		],
		[
		0.42064763332258537,
		0.18624550650991442,
		-0.23970570189408144,
		0.8549323694681581
		],
		[
		0.42065922954773666,
		0.1863066728084066,
		-0.23967381992970707,
		0.8549222750073063
		],
		[
		0.4206714374933977,
		0.1863668684529047,
		-0.23964184692167076,
		0.8549121108185723
		]
		],
		"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
		]
		],
		"ConstantFrames": [
		-74021,
		-74020,
		-74699,
		-74690,
		-74000
		],
		"ConstantRotation": [
		0.9999995608798441,
		-1.51960241928035e-05,
		0.0009370214510594064,
		1.5276552075356694e-05,
		0.9999999961910578,
		-8.593317911879532e-05,
		-0.000937020141647677,
		8.594745584079714e-05,
		0.9999995573030465
		]
		},
		"BodyRotation": {
		"TimeDependentFrames": [
		10014,
		1
		],
		"CkTableStartTime": 297088762.24158406,
		"CkTableEndTime": 297088762.9923841,
		"CkTableOriginalSize": 6,
		"EphemerisTimes": [
		297088762.24158406,
		297088762.3917441,
		297088762.5419041,
		297088762.69206405,
		297088762.84222406,
		297088762.9923841
		],
		"Quaternions": [
		[
		-0.8371209459443085,
		0.2996928944391797,
		0.10720760458181891,
		0.4448811306448063
		],
		[
		-0.8371185783490869,
		0.2996934649760026,
		0.1072060096645597,
		0.4448855856569007
		],
		[
		-0.8371162107293473,
		0.2996940355045328,
		0.10720441474371896,
		0.44489004065791765
		],
		[
		-0.8371138430875174,
		0.2996946060241849,
		0.1072028198209324,
		0.44489449564328926
		],
		[
		-0.8371114754203602,
		0.2996951765357392,
		0.10720122489401934,
		0.44489895061910595
		],
		[
		-0.8371091077303039,
		0.29969574703861046,
		0.10719962996461516,
		0.4449034055807993
		]
		],
		"AngularVelocity": [
		[
		3.16238646979841e-05,
		-2.880432898124293e-05,
		5.6520131658726165e-05
		],
		[
		3.1623864697983686e-05,
		-2.880432898124763e-05,
		5.652013165872402e-05
		],
		[
		3.162386469798325e-05,
		-2.880432898125237e-05,
		5.652013165872185e-05
		],
		[
		3.162386469798283e-05,
		-2.880432898125708e-05,
		5.6520131658719694e-05
		],
		[
		3.1623864697982405e-05,
		-2.8804328981261782e-05,
		5.6520131658717505e-05
		],
		[
		3.162386469798195e-05,
		-2.88043289812665e-05,
		5.652013165871536e-05
		]
		]
		},
		"InstrumentPosition": {
		"SpkTableStartTime": 297088762.24158406,
		"SpkTableEndTime": 297088762.9923841,
		"SpkTableOriginalSize": 6,
		"EphemerisTimes": [
		297088762.24158406,
		297088762.3917441,
		297088762.5419041,
		297088762.69206405,
		297088762.84222406,
		297088762.9923841
		],
		"Positions": [
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tests/pytests/test_mro_drivers.py

+11 −284

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