Initial MSL Mastcam Driver (#491)

* Initial MSL Mastcam Driver

* added docs

* added cahvor params and sensor frame id to driver.

* added unit tests

* added test data

* small updates to cahvor camera model function

* added focal2pixel functions

* fixes docs

ale/base/label_pds3.py

@@ -288,19 +288,23 @@ class Pds3Label():
          """
         # The EXPOSURE_DURATION may either be stored as a (value, unit) or just a value
         if 'EXPOSURE_DURATION' in self.label:
+            key = self.label['EXPOSURE_DURATION']
+        elif 'INSTRUMENT_STATE_PARMS' in self.label:
+            key = self.label['INSTRUMENT_STATE_PARMS']['EXPOSURE_DURATION']
+        else:
+            return self.line_exposure_duration
         try:
-                unit = self.label['EXPOSURE_DURATION'].units
+            unit = key.units
             unit = unit.lower()
             if unit == "ms" or unit == "msec" or unit == "millisecond":
-                  return self.label['EXPOSURE_DURATION'].value * 0.001
+                return key.value * 0.001
             else:
-                  return self.label['EXPOSURE_DURATION'].value
+                return key.value
 
         # With no units, assume milliseconds
         except:
-                return self.label['EXPOSURE_DURATION'] * 0.001
-        else:
-            return self.line_exposure_duration
+            return key * 0.001
+        
 
 
     # Consider expanding this to handle units

ale/drivers/msl_drivers.py

+import numpy as np
+import spiceypy as spice
+
+from ale.base.data_naif import NaifSpice
+from ale.base.label_pds3 import Pds3Label
+from ale.base.type_sensor import Framer
+from ale.base.type_distortion import NoDistortion
+from ale.base.base import Driver
+
+class MslMastcamPds3NaifSpiceDriver(Framer, Pds3Label, NaifSpice, NoDistortion, Driver):
+    @property
+    def spacecraft_name(self):
+        """
+        Spacecraft name used in various SPICE calls to acquire
+        ephemeris data. MSL Mastcam img PDS3 labels do not the have a SPACECRAFT_NAME keyword,
+        so we override it here to find INSTRUMENT_HOST_NAME in the label.
+
+        Returns
+        -------
+        : str
+          Spacecraft name
+        """
+        return self.instrument_host_name
+    
+    @property
+    def instrument_id(self):
+        """
+        Returns an instrument id for uniquely identifying the instrument, but often
+        also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
+        the same ID the Spice expects in bods2c calls.
+
+        Expects instrument_id to be defined in the Pds3Label mixin. This should
+        be a string of the form MAST_RIGHT or MAST_LEFT.
+
+        Returns
+        -------
+        : str
+          instrument id
+        """
+        lookup = {
+          "MAST_RIGHT": 'MASTCAM_RIGHT',
+          "MAST_LEFT": 'MASTCAM_LEFT'
+        }
+        return self.instrument_host_id + "_" + lookup[super().instrument_id]
+
+    @property
+    def cahvor_camera_dict(self):
+        """
+        Gets the PVL group that represents the CAHVOR camera model
+        for the site
+        Returns
+        -------
+        : dict
+          A dict of CAHVOR keys to use in other methods
+        """
+        if not hasattr(self, '_cahvor_camera_params'):
+            camera_model_group = self.label.get('GEOMETRIC_CAMERA_MODEL_PARMS', None)
+
+            self._cahvor_camera_params = {}
+            self._cahvor_camera_params['C'] = np.array(camera_model_group["MODEL_COMPONENT_1"])
+            self._cahvor_camera_params['A'] = np.array(camera_model_group["MODEL_COMPONENT_2"])
+            self._cahvor_camera_params['H'] = np.array(camera_model_group["MODEL_COMPONENT_3"])
+            self._cahvor_camera_params['V'] = np.array(camera_model_group["MODEL_COMPONENT_4"])
+            if len(camera_model_group.get('MODEL_COMPONENT_ID', ['C', 'A', 'H', 'V'])) == 6:
+                self._cahvor_camera_params['O'] = np.array(camera_model_group["MODEL_COMPONENT_5"])
+                self._cahvor_camera_params['R'] = np.array(camera_model_group["MODEL_COMPONENT_6"])
+        return self._cahvor_camera_params
+
+    @property
+    def sensor_frame_id(self):
+        """
+        Returns the Naif ID code for the site reference frame
+        Expects REFERENCE_COORD_SYSTEM_INDEX to be defined in the camera
+        PVL group. 
+        Returns
+        -------
+        : int
+          Naif ID code for the sensor frame
+        """
+        if not hasattr(self, "_site_frame_id"):
+          site_frame = "MSL_SITE_" + str(self.label["GEOMETRIC_CAMERA_MODEL_PARMS"]["REFERENCE_COORD_SYSTEM_INDEX"][0])
+          self._site_frame_id= spice.bods2c(site_frame)
+        return self._site_frame_id
+
+    @property
+    def focal2pixel_lines(self):
+        """
+        Expects pixel_size to be defined.
+
+        Returns
+        -------
+        : list<double>
+          focal plane to detector lines
+        """
+        return [0, 1/self.pixel_size, 0]
+    
+    @property
+    def focal2pixel_samples(self):
+        """
+        Expects pixel_size to be defined. 
+
+        Returns
+        -------
+        : list<double>
+          focal plane to detector samples
+        """
+        return [1/self.pixel_size, 0, 0]
+    
+    @property
+    def sensor_model_version(self):
+        """
+        Returns
+        -------
+        : int
+          ISIS sensor model version
+        """
+        return 1

tests/pytests/test_msl_drivers.py

+import numpy as np
+import unittest
+
+import ale
+from ale.drivers.msl_drivers import MslMastcamPds3NaifSpiceDriver
+
+from conftest import get_image_label
+from unittest.mock import PropertyMock, patch
+
+class test_mastcam_pds_naif(unittest.TestCase):
+    def setUp(self):
+        label = get_image_label("1664MR0086340000802438C00_DRCL", "pds3")
+        self.driver = MslMastcamPds3NaifSpiceDriver(label)
+
+    def test_instrument_id(self):
+        assert self.driver.instrument_id == "MSL_MASTCAM_RIGHT"
+
+    def test_spacecraft_name(self):
+        assert self.driver.spacecraft_name == "MARS SCIENCE LABORATORY"
+
+    def test_exposure_duration(self):
+        np.testing.assert_almost_equal(self.driver.exposure_duration, 0.0102)
+
+    def test_cahvor_camera_dict(self):
+        cahvor_camera_dict = self.driver.cahvor_camera_dict
+        assert len(cahvor_camera_dict) == 4
+        np.testing.assert_allclose(cahvor_camera_dict['C'], [6.831825e-01, 5.243722e-01, -1.955875e+00])
+        np.testing.assert_allclose(cahvor_camera_dict['A'], [-3.655151e-01, 5.396012e-01, 7.584387e-01])
+        np.testing.assert_allclose(cahvor_camera_dict['H'], [-1.156881e+04, -7.518712e+03, 6.618359e+02])
+        np.testing.assert_allclose(cahvor_camera_dict['V'], [5.843885e+03, -8.213856e+03, 9.438374e+03])
+
+    def test_sensor_frame_id(self):
+        with patch('ale.drivers.msl_drivers.spice.bods2c', return_value=-76562) as bods2c:
+            assert self.driver.sensor_frame_id == -76562
+            bods2c.assert_called_with("MSL_SITE_62")
+
+    # uncomment once cahvor mixin is merged
+    # def test_focal2pixel_lines(self):
+    #     np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 137968.44341513602, 0])
+
+    # def test_focal2pixel_samples(self):
+    #     np.testing.assert_allclose(self.driver.focal2pixel_samples, [137968.44341513602, 0, 0])