Unverified Commit cf11ad78 authored by Christine Kim's avatar Christine Kim Committed by GitHub
Browse files

Replace affine6p transformation with numpy solution (#579) 

* Replace affine6p transformation with numpy solution

* Remove affine6p dependency

* Update changelog and remove pip from conda-recipe
parent b9a28e69

CHANGELOG.md

+4 −0
Original line number Original line Diff line number Diff line
@@ -45,6 +45,10 @@ release. 
### Fixed

### Fixed

- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)

- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)





### Changed

- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579) 





## [0.9.1] - 2023-06-05

## [0.9.1] - 2023-06-05





### Changed

### Changed

ale/drivers/lo_drivers.py

+13 −6
Original line number Original line Diff line number Diff line 
import spiceypy as spice

import spiceypy as spice

import numpy as np

import numpy as np

import affine6p

from ale.base.data_naif import NaifSpice

from ale.base.data_naif import NaifSpice

from ale.base.label_isis import IsisLabel

from ale.base.label_isis import IsisLabel

from ale.base.type_sensor import Framer

from ale.base.type_sensor import Framer
@@ -156,17 +155,25 @@ class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDisto 
          p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value

          p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value





          # Create Affine Transformation

          # Create Affine Transformation

          

          p_src = [p_fidSamples, p_fidLines]

          p_src = [p_fidSamples, p_fidLines]

          p_dst = [p_fidXCoords, p_fidYCoords]

          p_dst = [p_fidXCoords, p_fidYCoords]





          # format the fiducial coordinatens as [ [x, y], [x, y]...]

          # Format the fiducial coordinates as [ [x, y], [x, y]...]

          p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))

          p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))

          p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))

          p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))





          # find a best match for the transformation based on source and destination coordinates

          # Pad data with ones so that the transformation allows translations 

          tr_mat = affine6p.estimate(p_src, p_dst).get_matrix()

          pad = lambda x: np.hstack([x, np.ones((x.shape[0], 1))])

          X = pad(p_src)

          Y = pad(p_dst)



          # Solve the least squares problem X * A = Y to find our transformation matrix A

          A, res, rank, s = np.linalg.lstsq(X, Y)



          # Transpose matrix and convert to list

          tr_mat = np.transpose(A).tolist()





          # Compute inverse of transformation matrix

          tr_mat_inv = np.linalg.inv(tr_mat)

          tr_mat_inv = np.linalg.inv(tr_mat)





          # X and Y, Inverse S and L components of transformation

          # X and Y, Inverse S and L components of transformation
@@ -175,7 +182,7 @@ class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDisto 
          itranss = tr_mat_inv[0]

          itranss = tr_mat_inv[0]

          itransl = tr_mat_inv[1]

          itransl = tr_mat_inv[1]





          # move the last item to the front to get the ordering standard in ISIS

          # Move the last item to the front to get the ordering standard in ISIS

          transx.insert(0, transx.pop())

          transx.insert(0, transx.pop())

          transy.insert(0, transy.pop())

          transy.insert(0, transy.pop())

          itranss = np.roll(itranss, 1).tolist()

          itranss = np.roll(itranss, 1).tolist()

environment.yml

+0 −3
Original line number Original line Diff line number Diff line
@@ -22,6 +22,3 @@ dependencies: 
  - pytest-cov

  - pytest-cov

  - networkx

  - networkx

  - breathe
 
  - breathe
 
  - pip

  - pip:

    - affine6p

recipe/meta.yaml

+0 −1
Original line number Original line Diff line number Diff line
@@ -18,7 +18,6 @@ requirements: 
    - cmake>=3.15

    - cmake>=3.15

    - eigen

    - eigen

  host:

  host:

    - pip

    - python

    - python

    - nlohmann_json

    - nlohmann_json

  run:

  run:

tests/pytests/test_lo_drivers.py

+17 −2
Original line number Original line Diff line number Diff line
@@ -98,7 +98,6 @@ class test_high_isis3_naif(unittest.TestCase): 
            namfrm.assert_called_with("LO3_HIGH_RESOLUTION_CAMERA")

            namfrm.assert_called_with("LO3_HIGH_RESOLUTION_CAMERA")





    def test_naif_keywords(self):

    def test_naif_keywords(self):



        with patch('ale.drivers.lo_drivers.LoHighCameraIsisLabelNaifSpiceDriver.ikid', new_callable=PropertyMock) as ikid, \

        with patch('ale.drivers.lo_drivers.LoHighCameraIsisLabelNaifSpiceDriver.ikid', new_callable=PropertyMock) as ikid, \

            patch('ale.base.data_naif.spice.bodvrd', return_value=[1737.4, 1737.4, 1737.4]) as bodvrd:

            patch('ale.base.data_naif.spice.bodvrd', return_value=[1737.4, 1737.4, 1737.4]) as bodvrd:
@@ -114,6 +113,22 @@ class test_high_isis3_naif(unittest.TestCase): 
                "INS-533001_ITRANSL" : [4541.692430539061, -0.05845617762411283, 143.95514969883214]

                "INS-533001_ITRANSL" : [4541.692430539061, -0.05845617762411283, 143.95514969883214]

            }

            }

            

            

            assert self.driver.naif_keywords == naif_keywords

            assert self.driver.naif_keywords["BODY_CODE"] == naif_keywords["BODY_CODE"]

            assert self.driver.naif_keywords["BODY301_RADII"] == naif_keywords["BODY301_RADII"]

            assert self.driver.naif_keywords["BODY_FRAME_CODE"] == naif_keywords["BODY_FRAME_CODE"]



            np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSX"]), 

                                           np.asarray(naif_keywords["INS-533001_TRANSX"]), 

                                           decimal=10)

            np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSY"]), 

                                           np.asarray(naif_keywords["INS-533001_TRANSY"]), 

                                           decimal=10)

            np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSS"]), 

                                           np.asarray(naif_keywords["INS-533001_ITRANSS"]), 

                                           decimal=10)

            np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSL"]), 

                                           np.asarray(naif_keywords["INS-533001_ITRANSL"]), 

                                           decimal=10)



            bodvrd.assert_called_with('Moon', 'RADII', 3)

            bodvrd.assert_called_with('Moon', 'RADII', 3)