Unverified Commit e898629c authored by acpaquette's avatar acpaquette Committed by GitHub
Browse files

ISIS Ephemeris Times (#479) 

* Updated ALE to create initial ISIS ephemeris data before any sort of reduction

* Removed left over prints in type_sensor and updated doc strings

* Further fixed lro doc strings

* Updated MRO tests

* Updated lro tests

* Updated mex tests

* Further updated mro tests

* Updated new horizons leisa tests

* Updated cassini tests

* Updated data_naif tests

* Fixed CTX kernels from poor slice

* Final edit to tests

* Removed leftover debugging print statements

* Fixed tests

* Reduced marci image and ISD sizes for testing

* Pushed smaller ctx data/isds and fixed marci tests

* Final changes to test data
parent 71990f46

ale/base/type_sensor.py

+7 −5
Original line number Original line Diff line number Diff line
@@ -54,7 +54,9 @@ class LineScanner(): 
        : ndarray

        : ndarray

          ephemeris times split based on image lines

          ephemeris times split based on image lines

        """

        """

        return np.linspace(self.ephemeris_start_time,  self.ephemeris_stop_time, max(2, int(self.image_lines/64)))

        if not hasattr(self, "_ephemeris_time"):

          self._ephemeris_time = np.linspace(self.ephemeris_start_time, self.ephemeris_stop_time, self.image_lines + 1)

        return self._ephemeris_time





    @property

    @property

    def ephemeris_stop_time(self):

    def ephemeris_stop_time(self):
@@ -227,7 +229,7 @@ class Radar(): 
    def ephemeris_time(self):

    def ephemeris_time(self):

        """

        """

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

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

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

        based on the start/stop times with a timestep (stop - start) / image_lines.

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

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

        floating point numbers containing the start and stop times of the

        floating point numbers containing the start and stop times of the

        images.

        images.
@@ -237,9 +239,9 @@ class Radar(): 
        : ndarray

        : ndarray

          ephemeris times split based on image lines

          ephemeris times split based on image lines

        """

        """

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

        if not hasattr(self, "_ephemeris_time"):

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

          self._ephemeris_time = np.linspace(self.ephemeris_start_time, self.ephemeris_stop_time, self.image_lines + 1)

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

        return self._ephemeris_time





    @property

    @property

    def wavelength(self):

    def wavelength(self):

ale/drivers/lro_drivers.py

+2 −2
Original line number Original line Diff line number Diff line
@@ -807,7 +807,7 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver): 
    @property

    @property

    def ephemeris_start_time(self):

    def ephemeris_start_time(self):

        """

        """

        Returns the start and stop ephemeris times for the image.

        Returns the start ephemeris time for the image.





        Returns

        Returns

        -------

        -------
@@ -819,7 +819,7 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver): 
    @property

    @property

    def ephemeris_stop_time(self):

    def ephemeris_stop_time(self):

        """

        """

        Returns the stop ephemeris times for the image.

        Returns the stop ephemeris time for the image.





        Returns

        Returns

        -------

        -------

ale/transformation.py

+43 −28
Original line number Original line Diff line number Diff line
@@ -99,7 +99,10 @@ class FrameChain(nx.DiGraph): 
    def from_spice(cls, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], nadir=False, exact_ck_times=False):

    def from_spice(cls, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], nadir=False, exact_ck_times=False):

        frame_chain = cls()

        frame_chain = cls()

        sensor_times = []

        sensor_times = []

        target_times = np.array(ephemeris_times)

        # Default assume one time

        target_times = np.asarray(ephemeris_times)

        if len(target_times) > 1:

            target_times = np.asarray([ephemeris_times[0], ephemeris_times[-1]])





        if exact_ck_times and not nadir:

        if exact_ck_times and not nadir:

            try:

            try:
@@ -120,31 +123,8 @@ class FrameChain(nx.DiGraph): 




        constant_frames.extend(target_constant_frames)

        constant_frames.extend(target_constant_frames)





        for s, d in sensor_time_dependent_frames:

        frame_chain.compute_time_dependent_rotiations(sensor_time_dependent_frames, sensor_times)

            quats = np.zeros((len(sensor_times), 4))

        frame_chain.compute_time_dependent_rotiations(target_time_dependent_frames, target_times)

            avs = np.zeros((len(sensor_times), 3))

            for j, time in enumerate(sensor_times):

                state_matrix = spice.sxform(spice.frmnam(s), spice.frmnam(d), time)

                rotation_matrix, avs[j] = spice.xf2rav(state_matrix)

                quat_from_rotation = spice.m2q(rotation_matrix)

                quats[j,:3] = quat_from_rotation[1:]

                quats[j,3] = quat_from_rotation[0]



            rotation = TimeDependentRotation(quats, sensor_times, s, d, av=avs)

            frame_chain.add_edge(rotation=rotation)



        for s, d in target_time_dependent_frames:

            quats = np.zeros((len(target_times), 4))

            avs = np.zeros((len(target_times), 3))

            for j, time in enumerate(target_times):

                state_matrix = spice.sxform(spice.frmnam(s), spice.frmnam(d), time)

                rotation_matrix, avs[j] = spice.xf2rav(state_matrix)

                quat_from_rotation = spice.m2q(rotation_matrix)

                quats[j,:3] = quat_from_rotation[1:]

                quats[j,3] = quat_from_rotation[0]



            rotation = TimeDependentRotation(quats, target_times, s, d, av=avs)

            frame_chain.add_edge(rotation=rotation)





        for s, d in constant_frames:

        for s, d in constant_frames:

            quats = np.zeros(4)

            quats = np.zeros(4)
@@ -324,10 +304,13 @@ class FrameChain(nx.DiGraph): 
        SOURCESIZ = 128;

        SOURCESIZ = 128;





        currentTime = observStart

        currentTime = observStart

        timeLoaded = False





        count = spice.ktotal("ck")

        count = spice.ktotal("ck")

        file, filtyp, source, handle = spice.kdata(0, "ck", FILESIZ, TYPESIZ, SOURCESIZ)

        if (count > 1):

            msg = "Unable to get exact CK record times when more than 1 CK is loaded, Aborting"

            raise Exception(msg)



        _, _, _, handle = spice.kdata(0, "ck", FILESIZ, TYPESIZ, SOURCESIZ)

        spice.dafbfs(handle)

        spice.dafbfs(handle)

        found = spice.daffna()

        found = spice.daffna()

        spCode = int(targetFrame / 1000) * 1000

        spCode = int(targetFrame / 1000) * 1000
@@ -395,3 +378,35 @@ class FrameChain(nx.DiGraph): 
            found = spice.daffna()   # Find next forward array in current daf

            found = spice.daffna()   # Find next forward array in current daf





        return times

        return times



    def compute_time_dependent_rotiations(self, frames, times):

        """

        Computes the time dependent rotations based on a list of tuples that define the

        relationships between frames as (source, destination) and a list of times to

        compute the rotation at. The rotations are then appended to the frame chain

        object



        frames : list

                 A list of tuples that define the relationships between frames



        times : list

                A list of times to compute the rotation at

        """

        for s, d in frames:

            quats = np.zeros((len(times), 4))

            avs = []

            for j, time in enumerate(times):

                try:

                    state_matrix = spice.sxform(spice.frmnam(s), spice.frmnam(d), time)

                    rotation_matrix, av = spice.xf2rav(state_matrix)

                    avs.append(av)

                except:

                    rotation_matrix = spice.pxform(spice.frmnam(s), spice.frmnam(d), time)

                quat_from_rotation = spice.m2q(rotation_matrix)

                quats[j,:3] = quat_from_rotation[1:]

                quats[j,3] = quat_from_rotation[0]



            if not avs:

                avs = None

            rotation = TimeDependentRotation(quats, times, s, d, av=avs)

            self.add_edge(rotation=rotation)
 
 No newline at end of file

ale/util.py

+3 −0
Original line number Original line Diff line number Diff line
@@ -277,6 +277,9 @@ def get_kernels_from_isis_pvl(kernel_group, expand=True, format_as="list"): 
              warnings.warn("No IsisPreferences file found, is your ISISROOT env var set?")

              warnings.warn("No IsisPreferences file found, is your ISISROOT env var set?")





            kernels = [expandvars(expandvars(k, dict_to_lower(isisprefs['DataDirectory']))) for k in kernels]

            kernels = [expandvars(expandvars(k, dict_to_lower(isisprefs['DataDirectory']))) for k in kernels]

        # Ensure that the ISIS Addendum kernel is last in case it overrides

        # some values from the default Instrument kernel

        kernels = sorted(kernels, key=lambda x: "Addendum" in x)

        return kernels

        return kernels

    elif (format_as == 'dict'):

    elif (format_as == 'dict'):

        # return created dict

        # return created dict

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

+58 −38
Original line number Original line Diff line number Diff line
@@ -104,7 +104,7 @@ Object = IsisCube 




  Group = Kernels

  Group = Kernels

    NaifFrameCode             = -85700

    NaifFrameCode             = -85700

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

    LeapSecond                = $base/kernels/lsk/naif0012.tls

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

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

                                 $lro/kernels/pck/moon_080317.tf,

                                 $lro/kernels/pck/moon_080317.tf,

                                 $lro/kernels/pck/moon_assoc_me.tf)

                                 $lro/kernels/pck/moon_assoc_me.tf)
@@ -112,18 +112,20 @@ Object = IsisCube 
                                 $lro/kernels/tspk/moon_pa_de421_1900-2050.bpc,

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

                                 $lro/kernels/tspk/de421.bsp)

                                 $lro/kernels/tspk/de421.bsp)

    InstrumentPointing        = (Table,

    InstrumentPointing        = (Table,

                                 $lro/kernels/ck/moc42_2010115_2010116_v02.bc,

                                 $lro/kernels/ck/moc42r_2010090_2010121_v03.bc,

                                 $lro/kernels/fk/lro_frames_2010277_v01.tf)

                                 $lro/kernels/fk/lro_frames_2014049_v01.tf)

    Instrument                = Null

    Instrument                = Null

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

    SpacecraftClock           = $lro/kernels/sclk/lro_clkcor_2022208_v00.tsc

    InstrumentPosition        = (Table, LOLA_spk/spkLOLA_100209_100503.bsp)

    InstrumentPosition        = (Table,

                                 $lro/kernels/spk/fdf29r_2010091_2010121_v01.b-

                                 sp)

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

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

    ShapeModel                = Null

    ShapeModel                = $base/dems/ldem_128ppd_Mar2011_clon180_radius-

    InstrumentPositionQuality = Unknown

                                _pad.cub

    InstrumentPositionQuality = Reconstructed

    InstrumentPointingQuality = Reconstructed

    InstrumentPointingQuality = Reconstructed

    StartPadding              = 2.0 <seconds>

    EndPadding                = 2.0 <seconds>

    CameraVersion             = 1

    CameraVersion             = 1

    Source                    = isis

  End_Group

  End_Group





  Group = ImageInfo

  Group = ImageInfo
@@ -146,21 +148,22 @@ End_Object 




Object = Table

Object = Table

  Name                = InstrumentPointing

  Name                = InstrumentPointing

  StartByte           = 628892136

  StartByte           = 7536641

  Bytes               = 98624

  Bytes               = 1216

  Records             = 1541

  Records             = 19

  ByteOrder           = Lsb

  ByteOrder           = Lsb

  TimeDependentFrames = (-85000, 1)

  TimeDependentFrames = (-85000, 1)

  ConstantFrames      = (-85700, -85000)

  ConstantFrames      = (-85700, -85000)

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

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

                         0.73845534062588, 0.0, -0.73845534062588,

                         0.73845534062588, 0.0, -0.73845534062588,

                         0.67430238758372)

                         0.67430238758372)

  CkTableStartTime    = 325441415.42572

  CkTableStartTime    = 325441417.42572

  CkTableEndTime      = 325441723.22785

  CkTableEndTime      = 325441420.72822

  CkTableOriginalSize = 64577

  CkTableOriginalSize = 701

  FrameTypeCode       = 3

  Description         = "Created by spiceinit"

  Description         = "Created by spiceinit"

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

  Kernels             = ($lro/kernels/ck/moc42r_2010090_2010121_v03.bc,

                         $lro/kernels/fk/lro_frames_2010277_v01.tf)

                         $lro/kernels/fk/lro_frames_2014049_v01.tf)





  Group = Field

  Group = Field

    Name = J2000Q0

    Name = J2000Q0
@@ -214,12 +217,15 @@ End_Object 
Object = Table

Object = Table

  Name                 = InstrumentPosition

  Name                 = InstrumentPosition

  StartByte            = 628990760

  StartByte            = 628990760

  Bytes       = 280

  Bytes                = 168

  Records     = 5

  Records              = 3

  ByteOrder            = Lsb

  ByteOrder            = Lsb

  CacheType            = HermiteSpline

  CacheType            = HermiteSpline

  SpkTableStartTime    = 325441417.42572

  SpkTableEndTime      = 325441420.72822

  SpkTableOriginalSize = 701.0

  Description          = "Created by spiceinit"

  Description          = "Created by spiceinit"

  Kernels     = LOLA_spk/spkLOLA_100209_100503.bsp

  Kernels              = $lro/kernels/spk/fdf29r_2010091_2010121_v01.bsp





  Group = Field

  Group = Field

    Name = J2000X

    Name = J2000X
@@ -277,16 +283,17 @@ Object = Table 
                         0.99999994578431, -1.45444093783627e-06,

                         0.99999994578431, -1.45444093783627e-06,

                         -3.80869119096078e-04, 1.57985578682691e-06,

                         -3.80869119096078e-04, 1.57985578682691e-06,

                         0.99999992746811)

                         0.99999992746811)

  CkTableStartTime    = 325441415.42572

  CkTableStartTime    = 325441417.42572

  CkTableEndTime      = 325441723.22785

  CkTableEndTime      = 325441420.72822

  CkTableOriginalSize = 2

  CkTableOriginalSize = 2

  FrameTypeCode       = 6

  Description         = "Created by spiceinit"

  Description         = "Created by spiceinit"

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

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

                         $lro/kernels/tspk/de421.bsp,

                         $lro/kernels/tspk/de421.bsp,

                         $base/kernels/pck/pck00009.tpc,

                         $base/kernels/pck/pck00009.tpc,

                         $lro/kernels/pck/moon_080317.tf,

                         $lro/kernels/pck/moon_080317.tf,

                         $lro/kernels/pck/moon_assoc_me.tf)

                         $lro/kernels/pck/moon_assoc_me.tf)

  SolarLongitude      = 106.55850890612

  SolarLongitude      = 106.55387897673





  Group = Field

  Group = Field

    Name = J2000Q0

    Name = J2000Q0
@@ -344,6 +351,9 @@ Object = Table 
  Records              = 2

  Records              = 2

  ByteOrder            = Lsb

  ByteOrder            = Lsb

  CacheType            = Linear

  CacheType            = Linear

  SpkTableStartTime    = 325441417.42572

  SpkTableEndTime      = 325441420.72822

  SpkTableOriginalSize = 2.0

  Description          = "Created by spiceinit"

  Description          = "Created by spiceinit"

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

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

                          $lro/kernels/tspk/de421.bsp)

                          $lro/kernels/tspk/de421.bsp)
@@ -394,7 +404,7 @@ End_Object 
Object = History

Object = History

  Name      = IsisCube

  Name      = IsisCube

  StartByte = 628991280

  StartByte = 628991280

  Bytes     = 1816

  Bytes     = 3667

End_Object

End_Object





Object = OriginalLabel

Object = OriginalLabel
@@ -402,4 +412,14 @@ Object = OriginalLabel 
  StartByte = 628883457

  StartByte = 628883457

  Bytes     = 7598

  Bytes     = 7598

End_Object

End_Object



Object = NaifKeywords

  BODY_CODE         = 301

  BODY301_RADII     = (1737.4, 1737.4, 1737.4)

  BODY_FRAME_CODE   = 31001

  INS-85700_TRANSX  = (-7.5, 7.5, 0.0)

  INS-85700_TRANSY  = (0.0, 0.0, 0.0)

  INS-85700_ITRANSS = (1.0, 0.13333333333333, 0.0)

  INS-85700_ITRANSL = (0.0, 0.0, 0.0)

End_Object

End
 
End