Unverified Commit fe6c55e5 authored by jlaura's avatar jlaura Committed by GitHub
Browse files

Adds IsisDataIsisLabel driver for Kaguya (#501) 

* Adds IsisDataIsisLabel driver for Kaguya

* Updates README to discuss setting ALESPICEROOT

* Adds Kaguya SELENE isis isis driver

* Removes missed debugging print

* Removes a debug print

* Updates tests for comments; fully tests swath mode

* Remove debug print
parent 97f653bc

README.md

+8 −0
Original line number Diff line number Diff line
@@ -60,6 +60,14 @@ running the following command will retrieve the gtest submodule manually: 
git submodule update --init --recursive

```



## Adding the ALESPICEROOT environment variable

If an ale driver is going to be used that leverages SPICE data, it is necessary to set the ALESPICEROOT. One can do this using normal shell syntax, e.g.:



`export ALESPICEROOT=/path/to/ale/spice`



or inside of a conda environment:



`conda env config vars set ALESPICEROOT=/path/to/ale/spice`.

## Adding ALE as a dependency



You can add ALE as a dependency of your CMake based C++ project by linking the exported CMake target, `ale::ale`.

ale/base/type_distortion.py

+45 −0
Original line number Diff line number Diff line
@@ -61,3 +61,48 @@ class NoDistortion(): 
          Dictionary containing the usgscsm specification for no distortion.

        """

        return {"radial": {"coefficients": [0.0, 0.0, 0.0]}}



class KaguyaSeleneDistortion():

    """

    Mix-in for sensors on the Kaguya/Selene mission. 

    """



    @property

    def usgscsm_distortion_model(self):

        """

        Kaguya uses a unique radial distortion model so we need to overwrite the

        method packing the distortion model into the ISD.



        from the IK:



        Line-of-sight vector of pixel no. n can be expressed as below.



        Distortion coefficients information:

        INS<INSTID>_DISTORTION_COEF_X  = ( a0, a1, a2, a3)

        INS<INSTID>_DISTORTION_COEF_Y  = ( b0, b1, b2, b3),



        Distance r from the center:

        r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.



        Line-of-sight vector v is calculated as

        v[X] = INS<INSTID>BORESIGHT[X] + a0 + a1*r + a2*r^2 + a3*r^3 ,

        v[Y] = INS<INSTID>BORESIGHT[Y] + r+a0 + a1*r +a2*r^2 + a3*r^3 ,

        v[Z] = INS<INSTID>BORESIGHT[Z]



        Expects odkx and odky to be defined. These should be a list of optical

        distortion x and y coefficients respectively.



        Returns

        -------

        : dict

            radial distortion model



        """

        return {

            "kaguyalism": {

                "x" : self._odkx,

                "y" : self._odky,

                "boresight_x" : self.boresight_x,

                "boresight_y" : self.boresight_y

            }

        }

ale/drivers/__init__.py

+0 −1
Original line number Diff line number Diff line
@@ -125,7 +125,6 @@ def load(label, props={}, formatter='ale', verbose=False): 
            res = driver(label, props=props, parsed_label=parsed_label)

            # get instrument_id to force early failure

            res.instrument_id



            with res as driver:

                isd = formatter(driver)

                if verbose:

ale/drivers/selene_drivers.py

+91 −137
Original line number Diff line number Diff line 
import os

from glob import glob

import numpy as np

import spiceypy as spice



from ale.base import Driver

from ale.base.data_naif import NaifSpice

from ale.base.data_isis import IsisSpice

from ale.base.label_pds3 import Pds3Label

from ale.base.label_isis import IsisLabel

from ale.base.type_distortion import KaguyaSeleneDistortion

from ale.base.type_sensor import LineScanner





class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver):

class KaguyaTcIsisLabelIsisSpiceDriver(LineScanner, IsisLabel, IsisSpice, KaguyaSeleneDistortion, Driver):

    """

    """



    @property

    def spacecraft_name(self):

        return self.label['IsisCube']['Instrument']['SpacecraftName']



    @property

    def detector_start_line(self):

        return 1



    @property

    def _swath_mode(self):

      return self.label["IsisCube"]["Instrument"]["SwathModeId"]



    @property

    def detector_start_sample(self):

        if (self._swath_mode == "FULL"):

          start_sample = 1

        elif (self._swath_mode == "NOMINAL"):

          start_sample = 297

        elif (self._swath_mode == "HALF"):

          start_sample = 1172;

        return start_sample - 0.5



    @property

    def _odkx(self):

        """

        Returns the x coefficients of the optical distortion model.

        Expects tc_id to be defined. This should be a string of the form

        LISM_TC1 or LISM_TC2.



        Returns

        -------

        : list

          Optical distortion x coefficients

        """

        return self.label['NaifKeywords'][f'INS{self.ikid}_DISTORTION_COEF_X']



    @property

    def _odky(self):

        """

        Returns the y coefficients of the optical distortion model.

        Expects tc_id to be defined. This should be a string of the form

        LISM_TC1 or LISM_TC2.



        Returns

        -------

        : list

          Optical distortion y coefficients

        """

        return self.label['NaifKeywords'][f'INS{self.ikid}_DISTORTION_COEF_Y']



    @property

    def boresight_x(self):

        """

        Returns the x focal plane coordinate of the boresight.

        Expects ikid to be defined. This should be the NAIF integer ID for the

        sensor.



        Returns

        -------

        : float

          Boresight focal plane x coordinate

        """

        return self.label['NaifKeywords'][f'INS{self.ikid}_BORESIGHT'][0]



    @property

    def boresight_y(self):

        """

        Returns the y focal plane coordinate of the boresight.

        Expects ikid to be defined. This should be the NAIF integer ID for the

        sensor.



        Returns

        -------

        : float

          Boresight focal plane x coordinate

        """

        return self.label['NaifKeywords'][f'INS{self.ikid}_BORESIGHT'][1]

    

    @property

    def sensor_model_version(self):

        return 2

        

class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, KaguyaSeleneDistortion, Driver):

    """

    Driver for a PDS3 Kaguya Terrain Camera (TC) images. Specifically level2b0 mono and stereo images.
@@ -350,46 +435,6 @@ class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        """

        return float(spice.gdpool('INS{}_FOCAL_LENGTH'.format(self.ikid), 0, 1)[0])



    @property

    def usgscsm_distortion_model(self):

        """

        Kaguya uses a unique radial distortion model so we need to overwrite the

        method packing the distortion model into the ISD.



        from the IK:



        Line-of-sight vector of pixel no. n can be expressed as below.



        Distortion coefficients information:

        INS<INSTID>_DISTORTION_COEF_X  = ( a0, a1, a2, a3)

        INS<INSTID>_DISTORTION_COEF_Y  = ( b0, b1, b2, b3),



        Distance r from the center:

        r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.



        Line-of-sight vector v is calculated as

        v[X] = INS<INSTID>BORESIGHT[X] + a0 + a1*r + a2*r^2 + a3*r^3 ,

        v[Y] = INS<INSTID>BORESIGHT[Y] + r+a0 + a1*r +a2*r^2 + a3*r^3 ,

        v[Z] = INS<INSTID>BORESIGHT[Z]



        Expects odkx and odky to be defined. These should be a list of optical

        distortion x and y coefficients respectively.



        Returns

        -------

        : dict

          radial distortion model



        """

        return {

            "kaguyalism": {

                "x" : self._odkx,

                "y" : self._odky,

                "boresight_x" : self.boresight_x,

                "boresight_y" : self.boresight_y

            }

        }



    @property

    def detector_start_sample(self):

        """
@@ -497,8 +542,7 @@ class KaguyaTcPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        """

        return 2





class KaguyaMiPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver):

class KaguyaMiPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, KaguyaSeleneDistortion, Driver):

    """

    Driver for a PDS3 Kaguya Multiband Imager (Mi) images. Specifically level2b2 Vis and Nir images.
@@ -803,46 +847,6 @@ class KaguyaMiPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        """

        return float(spice.gdpool('INS{}_FOCAL_LENGTH'.format(self.ikid), 0, 1)[0])



    @property

    def usgscsm_distortion_model(self):

        """

        Kaguya uses a unique radial distortion model so we need to overwrite the

        method packing the distortion model into the ISD.



        from the IK:



        Line-of-sight vector of pixel no. n can be expressed as below.



        Distortion coefficients information:

        INS<INSTID>_DISTORTION_COEF_X  = ( a0, a1, a2, a3)

        INS<INSTID>_DISTORTION_COEF_Y  = ( b0, b1, b2, b3),



        Distance r from the center:

        r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.



        Line-of-sight vector v is calculated as

        v[X] = INS<INSTID>BORESIGHT[X] + a0 + a1*r + a2*r^2 + a3*r^3 ,

        v[Y] = INS<INSTID>BORESIGHT[Y] + r+a0 + a1*r +a2*r^2 + a3*r^3 ,

        v[Z] = INS<INSTID>BORESIGHT[Z]



        Expects odkx and odky to be defined. These should be a list of optical

        distortion x and y coefficients respectively.



        Returns

        -------

        : dict

          radial distortion model



        """

        return {

            "kaguyalism": {

                "x" : self._odkx,

                "y" : self._odky,

                "boresight_x" : self.boresight_x,

                "boresight_y" : self.boresight_y

            }

        }



    @property

    def sensor_model_version(self):

        """
@@ -853,8 +857,7 @@ class KaguyaMiPds3NaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, Driver): 
        """

        return 1





class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver):

class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, KaguyaSeleneDistortion, Driver):

    @property

    def base_band(self):

        """
@@ -920,8 +923,6 @@ class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver 
        """

        return self.label['IsisCube']['Instrument']['CorrectedScClockStartCount'].value







    @property

    def spacecraft_clock_stop_count(self):

        """
@@ -935,7 +936,6 @@ class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver 
        """

        return self.label['IsisCube']['Instrument']['CorrectedScClockStopCount'].value





    @property

    def ephemeris_start_time(self):

        """
@@ -1071,49 +1071,6 @@ class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver 
        """

        return spice.gdpool('INS{}_BORESIGHT'.format(self.ikid), 1, 1)[0]







    @property

    def usgscsm_distortion_model(self):

        """

        Kaguya uses a unique radial distortion model so we need to overwrite the

        method packing the distortion model into the ISD.



        from the IK:



        Line-of-sight vector of pixel no. n can be expressed as below.



        Distortion coefficients information:

        INS<INSTID>_DISTORTION_COEF_X  = ( a0, a1, a2, a3)

        INS<INSTID>_DISTORTION_COEF_Y  = ( b0, b1, b2, b3),



        Distance r from the center:

        r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.



        Line-of-sight vector v is calculated as

        v[X] = INS<INSTID>BORESIGHT[X] + a0 + a1*r + a2*r^2 + a3*r^3 ,

        v[Y] = INS<INSTID>BORESIGHT[Y] + r+a0 + a1*r +a2*r^2 + a3*r^3 ,

        v[Z] = INS<INSTID>BORESIGHT[Z]



        Expects odkx and odky to be defined. These should be a list of optical

        distortion x and y coefficients respectively.



        Returns

        -------

        : dict

          radial distortion model



        """

        return {

            "kaguyalism": {

                "x" : self._odkx,

                "y" : self._odky,

                "boresight_x" : self.boresight_x,

                "boresight_y" : self.boresight_y

            }

        }





    @property

    def line_exposure_duration(self):

        """
@@ -1137,8 +1094,6 @@ class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver 
        except:

            return self.label['IsisCube']['Instrument']['CorrectedSamplingInterval'].value * 0.001  # Scale to seconds







    @property

    def focal2pixel_samples(self):

        """
@@ -1154,7 +1109,6 @@ class KaguyaMiIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver 
        pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self.ikid), 0, 1)[0]

        return [0, 0, -1/pixel_size]





    @property

    def focal2pixel_lines(self):

        """

tests/pytests/data/TC1S2B0_01_06691S820E0465/TC1S2B0_01_06691S820E0465_isis.lbl

0 → 100644
+439 −0
Original line number Diff line number Diff line 
Object = IsisCube

  Object = Core

    StartByte   = 65537

    Format      = Tile

    TileSamples = 802

    TileLines   = 776



    Group = Dimensions

      Samples = 3208

      Lines   = 4656

      Bands   = 1

    End_Group



    Group = Pixels

      Type       = SignedWord

      ByteOrder  = Lsb

      Base       = 0.0

      Multiplier = 0.013

    End_Group

  End_Object



  Group = Instrument

    MissionName                       = SELENE

    SpacecraftName                    = KAGUYA

    InstrumentName                    = "TERRAIN CAMERA 1"

    InstrumentId                      = TC1

    TargetName                        = MOON

    ObservationModeId                 = NORMAL

    SensorDescription                 = "Imagery type:Pushbroom.

                                         ImageryMode:Mono,Stereo.

                                         ExposureTimeMode:Long,Middle,Short.

                                         CompressionMode:NonComp,DCT.

                                         Q-table:32 patterns. H-table:4

                                         patterns.

                                         SwathMode:F(Full),N(Nominal),H(Half).

                                         First pixel

                                         number:1(F),297(N),1172(H)."

    SensorDescription2                = "Pixel size:7x7[micron^2](TC1/TC2).

                                         Wavelength range:430-850[nm](TC1/TC2).

                                         A/D rate:10[bit](TC1/TC2). Slant

                                         angle:+/-15[degree] (from nadir to +x

                                         of S/C)(TC1/TC2). Focal

                                         length:72.45/72.63[mm](TC1/TC2). F

                                         number:3.97/3.98(TC1/TC2)."

    StartTime                         = 2009-04-05T20:09:53.607478

    StopTime                          = 2009-04-05T20:10:23.864978

    OriginalStartTime                 = 2009-04-05T20:09:53.610804

    OriginalStopTime                  = 2009-04-05T20:10:23.868304

    ExposureModeId                    = LONG

    ExposureDuration                  = 6.500000 <ms>

    OriginalSpacecraftClockStartCount = "922997380.1775 <s>"

    OriginalSpacecraftClockStopCount  = "922997410.4350 <s>"

    SpacecraftClockStartCount         = 922997380.174174 <s>

    SpacecraftClockStopCount          = 922997410.431674 <s>

    OriginalLineSamplingInterval      = 6.500000 <ms>

    LineSamplingInterval              = 6.500000 <ms>

    SwathModeId                       = FULL

    IlluminationCondition             = MORNING

  End_Group



  Group = Archive

    ProductId                   = TC1S2B0_01_06691S820E0465

    SoftwareName                = RGC_TC_s_Level2B0

    SoftwareVersion             = 1.0.0

    ProcessVersionId            = L2B

    ProductCreationTime         = 2013-06-10T09:23:07

    ProgramStartTime            = 2013-06-10T09:23:01

    ProducerId                  = LISM

    ProductSetId                = TC_s_Level2B0

    ProductVersionId            = 01

    RegisteredProduct           = Y

    Level2AFileName             = TC1S2A0_02TLF06691_001_0001.img

    SpiceMetakernelFileName     = RGC_INF_TCv401IK_MIv200IK_SPv105IK_RISE100h-

                                  _02_LongCK_D_V02_de421_110706.mk

    DataSetId                   = SLN-L-TC-3-S-LEVEL2B0-V1.0

    ImageValueType              = RADIANCE

    ImageUnit                   = W/m**2/micron/sr

    MinForStatisticalEvaluation = 0

    MaxForStatisticalEvaluation = 32767

    SceneMaximumDn              = 3612

    SceneMinimumDn              = 0

    SceneAverageDn              = 401.1

    SceneStdevDn                = 420.5

    SceneModeDn                 = 0

    ShadowedAreaMinimum         = 0

    ShadowedAreaMaximum         = 0

    ShadowedAreaPercentage      = 12

    InvalidType                 = (SATURATION, MINUS, DUMMY_DEFECT, OTHER)

    InvalidValue                = (-20000, -21000, -22000, -23000)

    InvalidPixels               = (3314, 0, 0, 0)

    DarkFileName                = TC1_DRK_04740_07536_L_N_b05.csv

    FlatFileName                = TC1_FLT_04740_07536_N_N_b05.csv

    EfficFileName               = TC1_EFF_PRFLT_N_N_v01.csv

    NonlinFileName              = TC1_NLT_PRFLT_N_N_v01.csv

    RadCnvCoef                  = 3.790009 <W/m**2/micron/sr>

    L2aDeadPixelThreshold       = 30

    L2aSaturationThreshold      = 1023

    DarkValidMinimum            = -5

    RadianceSaturationThreshold = 425.971000 <W/m**2/micron/sr>

    UpperLeftLatitude           = -81.172073 <deg>

    UpperLeftLongitude          = 44.883039 <deg>

    UpperRightLatitude          = -81.200350 <deg>

    UpperRightLongitude         = 48.534829 <deg>

    LowerLeftLatitude           = -82.764677 <deg>

    LowerLeftLongitude          = 43.996992 <deg>

    LowerRightLatitude          = -82.797271 <deg>

    LowerRightLongitude         = 48.427901 <deg>

  End_Group



  Group = BandBin

    FilterName = BroadBand

    Center     = 640nm

    Width      = 420nm

  End_Group



  Group = Kernels

    NaifCkCode                = -131350

    NaifFrameCode             = -131351

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

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

                                 $kaguya/kernels/pck/moon_080317.tf,

                                 $kaguya/kernels/pck/moon_assoc_me.tf)

    TargetPosition            = (Table,

                                 $kaguya/kernels/tspk/moon_pa_de421_1900-2050.-

                                 bpc, $kaguya/kernels/tspk/de421.bsp)

    InstrumentPointing        = (Table, $kaguya/kernels/ck/SEL_M_ALL_D_V02.BC,

                                 $kaguya/kernels/fk/SEL_V01.TF)

    Instrument                = $kaguya/kernels/ik/SEL_TC_V01.TI

    SpacecraftClock           = $kaguya/kernels/sclk/SEL_M_V01.TSC

    InstrumentPosition        = (Table,

                                 $kaguya/kernels/spk/SEL_M_071020_090610_SGMH_-

                                 02.BSP)

    InstrumentAddendum        = $kaguya/kernels/iak/kaguyaTcAddendum007.ti

    ShapeModel                = /caldera/projects/usgs/hazards/astro/dems/Lun-

                                ar_LRO_LOLAKaguya_DEMmerge_Global_512ppd_radi-

                                us.cub

    InstrumentPositionQuality = Reconstructed

    InstrumentPointingQuality = Reconstructed

    CameraVersion             = 2

    Source                    = isis

  End_Group

End_Object



Object = Label

  Bytes = 65536

End_Object



Object = Table

  Name                = InstrumentPointing

  StartByte           = 29946357

  Bytes               = 1088

  Records             = 17

  ByteOrder           = Lsb

  TimeDependentFrames = (-131000, 1)

  ConstantFrames      = (-131350, -131320, -131000)

  ConstantRotation    = (0.96621809368586, -9.13008670889038e-04,

                         -0.25772419725208, 7.985363329953e-04,

                         0.99999953055997, -5.4883472482896e-04,

                         0.25772457735688, 3.24491906175013e-04,

                         0.96621836917501)

  CkTableStartTime    = 292234259.82294

  CkTableEndTime      = 292234290.08694

  CkTableOriginalSize = 4657

  FrameTypeCode       = 3

  Description         = "Created by spiceinit"

  Kernels             = ($kaguya/kernels/ck/SEL_M_ALL_D_V02.BC,

                         $kaguya/kernels/fk/SEL_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            = 29947445

  Bytes                = 224

  Records              = 4

  ByteOrder            = Lsb

  CacheType            = HermiteSpline

  SpkTableStartTime    = 292234259.82294

  SpkTableEndTime      = 292234290.08694

  SpkTableOriginalSize = 4657.0

  Description          = "Created by spiceinit"

  Kernels              = $kaguya/kernels/spk/SEL_M_071020_090610_SGMH_02.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           = 29947669

  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    = 292234259.82294

  CkTableEndTime      = 292234290.08694

  CkTableOriginalSize = 2

  FrameTypeCode       = 6

  Description         = "Created by spiceinit"

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

                         $kaguya/kernels/tspk/de421.bsp,

                         $base/kernels/pck/pck00009.tpc,

                         $kaguya/kernels/pck/moon_080317.tf,

                         $kaguya/kernels/pck/moon_assoc_me.tf)

  SolarLongitude      = 65.391672102148



  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

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