Commit e564862e authored by Kristin's avatar Kristin Committed by Jesse Mapel
Browse files

Adds MiniRF driver to ale, Radar sensor type, and to_usgscsm Radar formatter (#352) 

* Adds MiniRF driver to ale, along with a Radar sensor type and updates to_usgscsm formatter to output Radar-specific ISD

* remove debug output

* Added updates based on comments, additional problems I found, and add test and test data

* Add dt_ephem to Radar, update to actually ouput same # of positions/velocities as socetset code

* cleanup

* Forgot to add pck

* Add pck in transfer format

* Hopefully fix failing test?

* Move isd information to external file
parent 4cf3489d

ale/base/type_sensor.py

+82 −0
Original line number Diff line number Diff line
@@ -112,3 +112,85 @@ class Framer(): 
          Ephemeris stop time for an image

        """

        return self.ephemeris_start_time + self.exposure_duration



class Radar():

    @property

    def name_model(self):

        """

        Returns Key used to define the sensor type. Primarily

        used for generating camera models.



        Returns

        -------

        : str

          USGS SAR (synthetic aperture radar) model

        """

        return "USGS_ASTRO_SAR_MODEL"



    @property

    def ephemeris_time(self):

        """

        Returns an array of times between the start/stop ephemeris times

        based on the start/stop times with a timestep 0.25.

        Expects ephemeris start/stop times to be defined. These should be

        floating point numbers containing the start and stop times of the

        images.



        Returns

        -------

        : ndarray

          ephemeris times split based on image lines

        """

        # 0.25 is the delta used by minirf, used as a default.

        num_states = int((self.ephemeris_stop_time - self.ephemeris_start_time)/0.25) + 1

        return np.linspace(self.ephemeris_start_time,  self.ephemeris_stop_time, num_states)



    @property

    def wavelength(self):

        """

        Returns the wavelength used for image acquistion. 



        Returns

        -------

        : double

          Wavelength used to create an image in meters

        """

        raise NotImplementedError



    @property

    def line_exposure_duration(self):

        """

        Returns the exposure duration for each line.



        Returns

        -------

        : double

          Exposure duration for a line

        """

        raise NotImplmentedError

       



    @property

    def scaled_pixel_width(self):

        """

        Returns the scaled pixel width



        Returns

        -------

        : double

          Scaled pixel width

        """

        raise NotImplementedError



    @property

    def range_conversion_coefficients(self):

        """

        Returns the range conversion coefficients



        Returns

        -------

        : list

          Coefficients needed for range conversion

        """

        raise NotImplementedError

ale/drivers/lro_drivers.py

+102 −2
Original line number Diff line number Diff line
@@ -9,7 +9,7 @@ from ale.base import Driver 
from ale.base.data_naif import NaifSpice

from ale.base.label_pds3 import Pds3Label

from ale.base.label_isis import IsisLabel

from ale.base.type_sensor import LineScanner

from ale.base.type_sensor import LineScanner, Radar





class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver):
@@ -452,7 +452,6 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
    def additional_preroll(self):

        """

        Returns the addition preroll defined in an IAK.



         Returns

         -------

         : float
@@ -505,3 +504,104 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
        rotation = frame_chain.compute_rotation(1, lro_bus_id)

        rotated_velocity = spice.mxv(rotation._rots.as_dcm()[0], velocity)

        return rotated_velocity[0]





class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver):

    @property

    def instrument_id(self):

        """

        The short text name for the instrument



        Returns an instrument id uniquely identifying the instrument. Used to acquire

        instrument codes from Spice Lib bods2c routine.



        Returns

        -------

        str

          The short text name for the instrument

        """

        return super().instrument_id



    @property

    def wavelength(self):

        """

        Returns the wavelength in meters used for image acquistion. 



        Returns

        -------

        : double

          Wavelength in meters used to create an image

        """



        # Get float value of frequency in GHz

        frequency = self.label['IsisCube']['Instrument']['Frequency'].value

        wavelength = spice.clight() / frequency / 1000.0

        return wavelength



    @property

    def scaled_pixel_width(self):

        """

        Returns the scaled pixel width



        Returns

        -------

        : double

          scaled pixel width

        """

        return self.label['IsisCube']['Instrument']['ScaledPixelHeight']; 





    # Default line_exposure_duration assumes that time is given in milliseconds and coverts

    # in this case, the time is already given in seconds.

    @property

    def line_exposure_duration(self):

        """

        Line exposure duration in seconds. The sum of the burst and the delay for the return. 



        Returns

        -------

        : double

          scaled pixel width

        """

        return self.label['IsisCube']['Instrument']['LineExposureDuration']; 



    @property

    def range_conversion_coefficients(self):

        """

        Range conversion coefficients



        Returns

        -------

        : List

          range conversion coefficients

        """



        range_coefficients_utc = self.label['IsisCube']['Instrument']['RangeCoefficientSet']; 

        range_coefficients_et = [[spice.str2et(elt[0])] + elt[1:] for elt in range_coefficients_utc] 

        return range_coefficients_et



    @property

    def ephemeris_start_time(self):

        """

        Returns the start and stop ephemeris times for the image. 



        Returns

        -------

        : float

          start time

        """

        return spice.str2et(str(self.utc_start_time))



    @property

    def ephemeris_stop_time(self):

        """

        Returns the stop ephemeris times for the image. 



        Returns

        -------

        : float

          stop time

        """

        return spice.str2et(str(self.utc_stop_time))

ale/formatters/usgscsm_formatter.py

+75 −55
Original line number Diff line number Diff line
@@ -4,7 +4,7 @@ from scipy.interpolate import interp1d, BPoly 


from ale.transformation import FrameChain



from ale.base.type_sensor import LineScanner, Framer

from ale.base.type_sensor import LineScanner, Framer, Radar

from ale.rotation import ConstantRotation, TimeDependentRotation



def to_usgscsm(driver):
@@ -23,7 +23,14 @@ def to_usgscsm(driver): 
    """

    isd_data = {}



    # exterior orientation



    # general information

    isd_data['image_lines'] = driver.image_lines

    isd_data['image_samples'] = driver.image_samples

    isd_data['name_platform'] = driver.platform_name

    isd_data['name_sensor'] = driver.sensor_name



    # shared exterior orientation

    body_radii = driver.target_body_radii

    isd_data['radii'] = {

        'semimajor' : body_radii[0],
@@ -36,6 +43,10 @@ def to_usgscsm(driver): 
        'velocities' : velocities,

        'unit' : 'm'

    }

    

    # shared isd keywords for Framer and Linescanner

    if isinstance(driver, LineScanner) or isinstance(driver, Framer):

        # exterior orientation for just Framer and LineScanner

        sun_positions, sun_velocities, _ = driver.sun_position

        isd_data['sun_position'] = {

            'positions' : sun_positions,
@@ -67,27 +78,14 @@ def to_usgscsm(driver): 
        isd_data['optical_distortion'] = driver.usgscsm_distortion_model



        # general information

    isd_data['image_lines'] = driver.image_lines

    isd_data['image_samples'] = driver.image_samples

    isd_data['name_platform'] = driver.platform_name

    isd_data['name_sensor'] = driver.sensor_name

        isd_data['reference_height'] = {

            "maxheight": 1000,

            "minheight": -1000,

            "unit": "m"

        }



    # line scan sensor model specifics

    if isinstance(driver, LineScanner):

        isd_data['name_model'] = 'USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL'

        isd_data['interpolation_method'] = 'lagrange'



        start_lines, start_times, scan_rates = driver.line_scan_rate

        center_time = driver.center_ephemeris_time

        isd_data['line_scan_rate'] = [[line, time, rate] for line, time, rate in zip(start_lines, start_times, scan_rates)]

        isd_data['starting_ephemeris_time'] = driver.ephemeris_start_time

        isd_data['center_ephemeris_time'] = center_time



    # shared interpolation needed for LineScanner and Radar

    if isinstance(driver, LineScanner) or isinstance(driver, Radar):

        interp_times = np.linspace(position_times[0],

                                   position_times[-1],

                                   int(driver.image_lines / 64))
@@ -121,6 +119,21 @@ def to_usgscsm(driver): 
            'velocities' : interp_vel,

            'unit' : 'm'

        }

        if len(interp_times) > 1:

            isd_data['dt_ephemeris'] = (interp_times[-1] - interp_times[0]) / (len(interp_times) - 1)

        else:

            isd_data['dt_ephemeris'] = 0



    # line scan sensor model specifics

    if isinstance(driver, LineScanner):

        isd_data['name_model'] = 'USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL'

        isd_data['interpolation_method'] = 'lagrange'



        start_lines, start_times, scan_rates = driver.line_scan_rate

        center_time = driver.center_ephemeris_time

        isd_data['line_scan_rate'] = [[line, time, rate] for line, time, rate in zip(start_lines, start_times, scan_rates)]

        isd_data['starting_ephemeris_time'] = driver.ephemeris_start_time

        isd_data['center_ephemeris_time'] = center_time



        rotation_interp = sensor_to_target.reinterpolate(interp_times)

        isd_data['sensor_orientation'] = {
@@ -128,10 +141,7 @@ def to_usgscsm(driver): 
        }



        isd_data['t0_ephemeris'] = interp_times[0] - center_time

        if len(interp_times) > 1:

            isd_data['dt_ephemeris'] = (interp_times[-1] - interp_times[0]) / (len(interp_times) - 1)

        else:

            isd_data['dt_ephemeris'] = 0



        isd_data['t0_quaternion'] = isd_data['t0_ephemeris']

        isd_data['dt_quaternion'] = isd_data['dt_ephemeris']
@@ -141,6 +151,16 @@ def to_usgscsm(driver): 
        isd_data['name_model'] = 'USGS_ASTRO_FRAME_SENSOR_MODEL'

        isd_data['center_ephemeris_time'] = driver.center_ephemeris_time



    # radar sensor model specifics

    if isinstance(driver, Radar):

        isd_data['name_model'] = 'USGS_ASTRO_SAR_MODEL'

        isd_data['starting_ephemeris_time'] = driver.ephemeris_start_time

        isd_data['ending_ephemeris_time'] = driver.ephemeris_stop_time

        isd_data['wavelength'] = driver.wavelength

        isd_data['line_exposure_duration'] = driver.line_exposure_duration

        isd_data['scaled_pixel_width'] = driver.scaled_pixel_width

        isd_data['range_conversion_coefficients'] = driver.range_conversion_coefficients



    # check that there is a valid sensor model name

    if 'name_model' not in isd_data:

        raise Exception('No CSM sensor model name found!')

tests/pytests/data/03821_16N196_S1/03821_16N196_S1_isis3.lbl

0 → 100644
+405 −0
Original line number Diff line number Diff line 
Object = IsisCube

  Object = Core

    StartByte   = 65537

    Format      = Tile

    TileSamples = 128

    TileLines   = 128



    Group = Dimensions

      Samples = 2367

      Lines   = 64576

      Bands   = 1

    End_Group



    Group = Pixels

      Type       = Real

      ByteOrder  = Lsb

      Base       = 0.0

      Multiplier = 1.0

    End_Group

  End_Object



  Group = Instrument

    MissionName               = "LUNAR RECONNAISSANCE ORBITER"

    SpacecraftName            = "LUNAR RECONNAISSANCE ORBITER"

    InstrumentHostId          = LRO

    InstrumentName            = "MINI-RF LRO"

    InstrumentId              = MRFLRO

    TargetName                = MOON

    StartTime                 = 2010-04-25T04:22:31.244874

    StopTime                  = 2010-04-25T04:27:35.0375

    SpacecraftClockStartCount = UNK

    SpacecraftClockStopCount  = UNK

    OrbitNumber               = 3821

    IncidenceAngle            = 47.86735008 <deg>

    InstrumentModeId          = ZOOM_S

    InstrumentModeDesc        = SAR

    LookDirection             = RIGHT

    ScaledPixelHeight         = 7.500000000000

    ScaledPixelWidth          = 7.500000000000

    LineExposureDuration      = 0.004704421474

    AzimuthResolution         = 15.752510

    RangeResolution           = 32.991745

    RangeCoefficientSet       = (("2010-04-25T04:22:31.285", 79942.380871,

                                 6.921229E-01, 3.401937E-06, -2.399242E-11),

                                 ("2010-04-25T04:22:53.665", 79942.379570,

                                 6.907953E-01, 3.413779E-06, -2.404314E-11),

                                 ("2010-04-25T04:23:08.713", 79942.378479,

                                 6.899233E-01, 3.421423E-06, -2.407141E-11),

                                 ("2010-04-25T04:23:23.761", 79942.378297,

                                 6.890917E-01, 3.428773E-06, -2.410212E-11),

                                 ("2010-04-25T04:23:38.810", 79942.377491,

                                 6.882584E-01, 3.436150E-06, -2.413188E-11),

                                 ("2010-04-25T04:23:53.858", 79942.375472,

                                 6.874664E-01, 3.443100E-06, -2.415961E-11),

                                 ("2010-04-25T04:24:08.906", 79942.375823,

                                 6.866729E-01, 3.450098E-06, -2.418824E-11),

                                 ("2010-04-25T04:24:23.955", 79942.375868,

                                 6.859205E-01, 3.456725E-06, -2.421630E-11),

                                 ("2010-04-25T04:24:39.003", 79942.373743,

                                 6.851668E-01, 3.463351E-06, -2.424279E-11),

                                 ("2010-04-25T04:24:54.051", 79942.375815,

                                 6.844538E-01, 3.469680E-06, -2.426866E-11),

                                 ("2010-04-25T04:25:09.099", 79942.373348,

                                 6.837830E-01, 3.475549E-06, -2.429128E-11),

                                 ("2010-04-25T04:25:24.148", 79942.373154,

                                 6.831113E-01, 3.481415E-06, -2.431581E-11),

                                 ("2010-04-25T04:25:39.196", 79942.374596,

                                 6.824809E-01, 3.486939E-06, -2.433737E-11),

                                 ("2010-04-25T04:25:54.244", 79942.372358,

                                 6.818490E-01, 3.492526E-06, -2.435993E-11),

                                 ("2010-04-25T04:26:09.292", 79942.373415,

                                 6.812596E-01, 3.497654E-06, -2.437994E-11),

                                 ("2010-04-25T04:26:24.341", 79942.372623,

                                 6.807117E-01, 3.502473E-06, -2.439886E-11),

                                 ("2010-04-25T04:26:39.389", 79942.370855,

                                 6.801635E-01, 3.507223E-06, -2.441812E-11),

                                 ("2010-04-25T04:26:54.437", 79942.371772,

                                 6.796141E-01, 3.512016E-06, -2.443704E-11),

                                 ("2010-04-25T04:27:09.485", 79942.370673,

                                 6.791496E-01, 3.516075E-06, -2.445206E-11),

                                 ("2010-04-25T04:27:31.854", 79942.371067,

                                 6.784302E-01, 3.522331E-06, -2.447717E-11))

    Frequency                 = 2379.9998768 <GHz>

  End_Group



  Group = Archive

    DataSetId               = LRO-L-MRFLRO-4-CDR-V1.0

    DataSetName             = "LRO MOON MINI-RF 4 CALIBRATED DATA RECORD V1.0"

    ProducerId              = JHUAPL

    ProducerFullName        = "MINI-RF POC TEAM"

    ProducerInstitutionName = "JOHNS HOPKINS UNIVERSITY APPLIED PHYSICS

                               LABORATORY"

    ProductId               = LSZ_03821_1CD_XKU_16N196_V1

    ProductVersionId        = 1.0

    ProductCreationTime     = 2010-04-29T15:39:21

    ReleaseId               = 0001

    SoftwareName            = FOCUS

    SoftwareVersionId       = 10.0.050

  End_Group



  Group = BandBin

    FilterName = "H RECEIVE INTENSITY"

  End_Group



  Group = Kernels

    NaifFrameCode             = -85700

    LeapSecond                = $base/kernels/lsk/naif0009.tls

    TargetAttitudeShape       = ($base/kernels/pck/pck00009.tpc,

                                 $lro/kernels/pck/moon_080317.tf,

                                 $lro/kernels/pck/moon_assoc_me.tf)

    TargetPosition            = (Table,

                                 $lro/kernels/tspk/moon_pa_de421_1900-2050.bpc,

                                 $lro/kernels/tspk/de421.bsp)

    InstrumentPointing        = (Table,

                                 $lro/kernels/ck/moc42_2010115_2010116_v02.bc,

                                 $lro/kernels/fk/lro_frames_2010277_v01.tf)

    Instrument                = Null

    SpacecraftClock           = $lro/kernels/sclk/lro_clkcor_2010292_v00.tsc

    InstrumentPosition        = (Table, LOLA_spk/spkLOLA_100209_100503.bsp)

    InstrumentAddendum        = $lro/kernels/iak/mrflroAddendum002.ti

    ShapeModel                = Null

    InstrumentPositionQuality = Unknown

    InstrumentPointingQuality = Reconstructed

    StartPadding              = 2.0 <seconds>

    EndPadding                = 2.0 <seconds>

    CameraVersion             = 1

  End_Group



  Group = ImageInfo

    MaximumLatitude      = 24.224238 <deg>

    MinimumLatitude      = 8.266014 <deg>

    WesternmostLongitude = 195.964317 <deg>

    EasternmostLongitude = 196.607373 <deg>

    CenterLongitude      = -163.67628 <deg>

    CenterLatitude       = 16.243414 <deg>

    Minimum              = 0.000000000

    Maximum              = 7.699049950

    Mean                 = 0.401860886

    StandardDeviation    = 0.024454923

  End_Group

End_Object



Object = Label

  Bytes = 65536

End_Object



Object = Table

  Name                = InstrumentPointing

  StartByte           = 628892136

  Bytes               = 98624

  Records             = 1541

  ByteOrder           = Lsb

  TimeDependentFrames = (-85000, 1)

  ConstantFrames      = (-85700, -85000)

  ConstantRotation    = (1.0, 0.0, 0.0, 0.0, 0.67430238758372,

                         0.73845534062588, 0.0, -0.73845534062588,

                         0.67430238758372)

  CkTableStartTime    = 325441415.42572

  CkTableEndTime      = 325441723.22785

  CkTableOriginalSize = 64577

  Description         = "Created by spiceinit"

  Kernels             = ($lro/kernels/ck/moc42_2010115_2010116_v02.bc,

                         $lro/kernels/fk/lro_frames_2010277_v01.tf)



  Group = Field

    Name = J2000Q0

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name        = InstrumentPosition

  StartByte   = 628990760

  Bytes       = 280

  Records     = 5

  ByteOrder   = Lsb

  CacheType   = HermiteSpline

  Description = "Created by spiceinit"

  Kernels     = LOLA_spk/spkLOLA_100209_100503.bsp



  Group = Field

    Name = J2000X

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Y

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Z

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000XV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000YV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000ZV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name                = BodyRotation

  StartByte           = 628991040

  Bytes               = 128

  Records             = 2

  ByteOrder           = Lsb

  TimeDependentFrames = (31006, 1)

  ConstantFrames      = (31001, 31007, 31006)

  ConstantRotation    = (0.99999987325471, -3.29285422375571e-04,

                         3.80869618671387e-04, 3.29286000210947e-04,

                         0.99999994578431, -1.45444093783627e-06,

                         -3.80869119096078e-04, 1.57985578682691e-06,

                         0.99999992746811)

  CkTableStartTime    = 325441415.42572

  CkTableEndTime      = 325441723.22785

  CkTableOriginalSize = 2

  Description         = "Created by spiceinit"

  Kernels             = ($lro/kernels/tspk/moon_pa_de421_1900-2050.bpc,

                         $lro/kernels/tspk/de421.bsp,

                         $base/kernels/pck/pck00009.tpc,

                         $lro/kernels/pck/moon_080317.tf,

                         $lro/kernels/pck/moon_assoc_me.tf)

  SolarLongitude      = 106.55850890612



  Group = Field

    Name = J2000Q0

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Q3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV1

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV2

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = AV3

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = Table

  Name        = SunPosition

  StartByte   = 628991168

  Bytes       = 112

  Records     = 2

  ByteOrder   = Lsb

  CacheType   = Linear

  Description = "Created by spiceinit"

  Kernels     = ($lro/kernels/tspk/moon_pa_de421_1900-2050.bpc,

                 $lro/kernels/tspk/de421.bsp)



  Group = Field

    Name = J2000X

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Y

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000Z

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000XV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000YV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = J2000ZV

    Type = Double

    Size = 1

  End_Group



  Group = Field

    Name = ET

    Type = Double

    Size = 1

  End_Group

End_Object



Object = History

  Name      = IsisCube

  StartByte = 628991280

  Bytes     = 1816

End_Object



Object = OriginalLabel

  Name      = IsisCube

  StartByte = 628883457

  Bytes     = 7598

End_Object

End

tests/pytests/data/03821_16N196_S1/03821_16N196_S1_new_spice_0.xsp

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+277 −0

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