From 269fdb6af7e2e3de8ddef58572aeb5977f3d6d82 Mon Sep 17 00:00:00 2001
From: acpaquette <acpaquette@usgs.gov>
Date: Fri, 29 Sep 2023 09:20:26 -0700
Subject: [PATCH] MSL Nadir Pointing (#564)
* Enabled nadir pointing in MSL/CAHVOR driver
* Removed commented out position changes
* Fix MSL test
* More msl fiddling
* Update for MSL Nadir pointing rotation in the cahvor mixin
* Fixed msl tests and added nadir test
---
ale/base/type_sensor.py | 34 ++-
ale/drivers/msl_drivers.py | 10 +-
ale/isd_generate.py | 17 +-
tests/pytests/data/isds/msl_nadir_isd.json | 295 +++++++++++++++++++++
tests/pytests/test_msl_drivers.py | 14 +-
5 files changed, 359 insertions(+), 11 deletions(-)
create mode 100644 tests/pytests/data/isds/msl_nadir_isd.json
diff --git a/ale/base/type_sensor.py b/ale/base/type_sensor.py
index 87b4394..613bb48 100644
--- a/ale/base/type_sensor.py
+++ b/ale/base/type_sensor.py
@@ -1,10 +1,11 @@
import math
import numpy as np
+import spiceypy as spice
from scipy.spatial.transform import Rotation
from ale.transformation import FrameChain
-from ale.transformation import ConstantRotation
+from ale.transformation import ConstantRotation, TimeDependentRotation
class LineScanner():
"""
@@ -468,7 +469,7 @@ class Cahvor():
H_prime = (self.cahvor_camera_dict['H'] - h_c * self.cahvor_camera_dict['A'])/h_s
V_prime = (self.cahvor_camera_dict['V'] - v_c * self.cahvor_camera_dict['A'])/v_s
if self._props.get("landed", False):
- self._cahvor_rotation_matrix = np.array([H_prime, -V_prime, -self.cahvor_camera_dict['A']])
+ self._cahvor_rotation_matrix = np.array([-H_prime, -V_prime, self.cahvor_camera_dict['A']])
else:
self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
return self._cahvor_rotation_matrix
@@ -485,12 +486,39 @@ class Cahvor():
A networkx frame chain object
"""
if not hasattr(self, '_frame_chain'):
+ nadir = self._props.get("nadir", False)
self._frame_chain = FrameChain.from_spice(sensor_frame=self.final_inst_frame,
target_frame=self.target_frame_id,
center_ephemeris_time=self.center_ephemeris_time,
ephemeris_times=self.ephemeris_time,
- nadir=False, exact_ck_times=False)
+ nadir=nadir, exact_ck_times=False)
cahvor_quats = Rotation.from_matrix(self.cahvor_rotation_matrix).as_quat()
+
+ if nadir:
+ # Logic for nadir calculation was taken from ISIS3
+ # SpiceRotation::setEphemerisTimeNadir
+ rotation = self._frame_chain.compute_rotation(self.target_frame_id, 1)
+ p_vec, v_vec, times = self.sensor_position
+ rotated_positions = rotation.apply_at(p_vec, times)
+ rotated_velocities = rotation.rotate_velocity_at(p_vec, v_vec, times)
+
+ p_vec = rotated_positions
+ v_vec = rotated_velocities
+
+ velocity_axis = 2
+ # Get the default line translation with no potential flipping
+ # from the driver
+ trans_x = np.array(self.focal2pixel_lines)
+
+ if (trans_x[0] < trans_x[1]):
+ velocity_axis = 1
+
+ quats = [spice.m2q(spice.twovec(-p_vec[i], 3, v_vec[i], velocity_axis)) for i, time in enumerate(times)]
+ quats = np.array(quats)[:,[1,2,3,0]]
+
+ rotation = TimeDependentRotation(quats, times, 1, self.final_inst_frame)
+ self._frame_chain.add_edge(rotation)
+
# If we are landed we only care about the final cahvor frame relative to the target
if self._props.get("landed", False):
cahvor_rotation = ConstantRotation(cahvor_quats, self.target_frame_id, self.sensor_frame_id)
diff --git a/ale/drivers/msl_drivers.py b/ale/drivers/msl_drivers.py
index b06677b..f61402f 100644
--- a/ale/drivers/msl_drivers.py
+++ b/ale/drivers/msl_drivers.py
@@ -108,7 +108,10 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
: list<double>
focal plane to detector lines
"""
- return [0, 0, 1/self.pixel_size]
+ if self._props.get("landed", False):
+ return [0, 0, -1/self.pixel_size]
+ else:
+ return [0, 0, 1/self.pixel_size]
@property
def focal2pixel_samples(self):
@@ -120,7 +123,10 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
: list<double>
focal plane to detector samples
"""
- return [0, -1/self.pixel_size, 0]
+ if (self._props.get("nadir", False)):
+ return [0, 1/self.pixel_size, 0]
+ else:
+ return [0, -1/self.pixel_size, 0]
@property
def sensor_model_version(self):
diff --git a/ale/isd_generate.py b/ale/isd_generate.py
index 103d18f..6b9695b 100755
--- a/ale/isd_generate.py
+++ b/ale/isd_generate.py
@@ -70,9 +70,15 @@ def main():
parser.add_argument(
"-l", "--local",
action="store_true",
- help="Generate local spice data, or image that is unaware of itself relative to "
+ help="Generate local spice data, an isd that is unaware of itself relative to "
"target body. This is largely used for landed/rover data."
)
+ parser.add_argument(
+ "-N", "--nadir",
+ action="store_true",
+ help="Generate nadir spice pointing, an isd that has pointing directly towards "
+ "the center of the target body."
+ )
parser.add_argument(
'--version',
action='version',
@@ -117,7 +123,8 @@ def main():
"log_level": log_level,
"only_isis_spice": args.only_isis_spice,
"only_naif_spice": args.only_naif_spice,
- "local": args.local}
+ "local": args.local,
+ "nadir": args.nadir}
): f for f in args.input
}
for f in concurrent.futures.as_completed(futures):
@@ -138,7 +145,8 @@ def file_to_isd(
log_level=logging.WARNING,
only_isis_spice=False,
only_naif_spice=False,
- local=False
+ local=False,
+ nadir=False
):
"""
Returns nothing, but acts as a thin wrapper to take the *file* and generate
@@ -167,6 +175,9 @@ def file_to_isd(
if local:
props['landed'] = local
+ if nadir:
+ props['nadir'] = nadir
+
if kernels is not None:
kernels = [str(PurePath(p)) for p in kernels]
props["kernels"] = kernels
diff --git a/tests/pytests/data/isds/msl_nadir_isd.json b/tests/pytests/data/isds/msl_nadir_isd.json
new file mode 100644
index 0000000..c131a90
--- /dev/null
+++ b/tests/pytests/data/isds/msl_nadir_isd.json
@@ -0,0 +1,295 @@
+{
+ "isis_camera_version": 1,
+ "image_lines": 1193,
+ "image_samples": 1338,
+ "name_platform": "MARS SCIENCE LABORATORY",
+ "name_sensor": "MAST CAMERA LEFT",
+ "reference_height": {
+ "maxheight": 1000,
+ "minheight": -1000,
+ "unit": "m"
+ },
+ "name_model": "USGS_ASTRO_FRAME_SENSOR_MODEL",
+ "center_ephemeris_time": 598494669.4412209,
+ "radii": {
+ "semimajor": 3396.19,
+ "semiminor": 3376.2,
+ "unit": "km"
+ },
+ "body_rotation": {
+ "time_dependent_frames": [
+ 10014,
+ 1
+ ],
+ "ck_table_start_time": 598494669.4412209,
+ "ck_table_end_time": 598494669.4412209,
+ "ck_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "quaternions": [
+ [
+ -0.31921039676060065,
+ 0.2937636389682398,
+ -0.12264933637077348,
+ 0.8926168199781396
+ ]
+ ],
+ "angular_velocities": [
+ [
+ 3.1623010827381965e-05,
+ -2.881378599775597e-05,
+ 5.651578887273642e-05
+ ]
+ ],
+ "reference_frame": 1
+ },
+ "instrument_pointing": {
+ "time_dependent_frames": [
+ -76205,
+ 1
+ ],
+ "ck_table_start_time": 598494669.4412209,
+ "ck_table_end_time": 598494669.4412209,
+ "ck_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "quaternions": [
+ [
+ 0.7419897630883615,
+ 0.4156401046800741,
+ 0.25055247114123014,
+ 0.4625126528632889
+ ]
+ ],
+ "angular_velocities": null,
+ "reference_frame": 1,
+ "constant_frames": [
+ -76573,
+ -76205
+ ],
+ "constant_rotation": [
+ 0.4165667270357225,
+ 0.908831179877854,
+ -0.02231699819809352,
+ -0.7809014963237929,
+ 0.37028293957648445,
+ 0.503073948538243,
+ 0.4654728939111354,
+ -0.19213649091316684,
+ 0.8639551804888768
+ ]
+ },
+ "naif_keywords": {
+ "BODY499_RADII": [
+ 3396.19,
+ 3396.19,
+ 3376.2
+ ],
+ "BODY_FRAME_CODE": 10014,
+ "BODY_CODE": 499,
+ "FRAME_-76210_NAME": "MSL_MASTCAM_LEFT",
+ "INS-76210_CAHVOR_H": [
+ 712.373106,
+ 4664.465028,
+ 33.182389
+ ],
+ "TKFRAME_-76210_UNITS": "DEGREES",
+ "INS-76210_IFOV_VERTICAL": 0.01230196,
+ "INS-76210_CAHVOR_O": [
+ 0.999627,
+ 0.026908,
+ 0.004759
+ ],
+ "INS-76210_CAHVOR_R": [
+ -0.000151,
+ -0.139189,
+ -1.250336
+ ],
+ "INS-76210_CAHVOR_V": [
+ 570.612488,
+ -14.279011,
+ 4648.733195
+ ],
+ "INS-76210_CAHVOR_FILE": "MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor",
+ "INS-76210_DISTORTION_PIXEL": [
+ 837.77915717,
+ 592.14046615
+ ],
+ "TKFRAME_-76210_AXES": [
+ 2.0,
+ 1.0,
+ 3.0
+ ],
+ "TKFRAME_-76210_SPEC": "ANGLES",
+ "INS-76210_FOCAL_LENGTH": 34.0,
+ "INS-76210_CAHVOR_QUAT": [
+ 1e-05,
+ -0.00325,
+ -0.00104,
+ 0.99999
+ ],
+ "INS-76210_CAHVOR_POS": [
+ 0.80436,
+ 0.55942,
+ -1.90608
+ ],
+ "INS-76210_FOV_BOUNDARY": [
+ 0.17483767,
+ 0.12730492,
+ 0.97633255,
+ -0.0,
+ 0.12834274,
+ 0.99172987,
+ -0.17476887,
+ 0.12719345,
+ 0.9763594,
+ -0.17553059
+ ],
+ "INS-76210_PIXEL_LINES": 1200.0,
+ "INS-76210_CAHVOR_MODEL": " CAHVOR",
+ "INS-76210_PIXEL_SIZE": 0.0074,
+ "INS-76210_CAHVOR_HC": 829.187822,
+ "INS-76210_IFOV_NOMINAL": 0.01247026,
+ "INS-76210_CAHVOR_HS": 4645.242086,
+ "INS-76210_BORESIGHT_PIXEL": [
+ 829.18782212,
+ 601.33514402
+ ],
+ "FRAME_-76210_CLASS_ID": -76210.0,
+ "INS-76210_FOV_CENTER_PIXEL": [
+ 823.5,
+ 599.5
+ ],
+ "INS-76210_FOV_CLASS_SPEC": "CORNERS",
+ "INS-76210_BORESIGHT": [
+ -0.0,
+ -0.0,
+ 1.0
+ ],
+ "INS-76210_CAHVOR_THETA": -1.5710039999999998,
+ "INS-76210_IFOV": 0.01228988,
+ "TKFRAME_-76210_RELATIVE": "MSL_RSM_HEAD",
+ "FRAME_-76210_CLASS": 4.0,
+ "INS-76210_CAHVOR_DIMS": [
+ 1648.0,
+ 1200.0
+ ],
+ "INS-76210_FOV_SHAPE": "POLYGON",
+ "INS-76210_PIXEL_SAMPLES": 1648.0,
+ "INS-76210_IFOV_HORIZONTAL": 0.0122778,
+ "INS-76210_CAHVOR_VC": 601.335144,
+ "INS-76210_CAHVOR_VS": 4644.882626,
+ "TKFRAME_-76210_ANGLES": [
+ -90.01,
+ 1.484,
+ 89.655
+ ],
+ "FRAME_-76210_CENTER": -76.0,
+ "INS-76210_CAHVOR_A": [
+ 0.999664,
+ 0.025047,
+ 0.006727
+ ],
+ "INS-76210_CAHVOR_C": [
+ 0.767151,
+ 0.433709,
+ -1.971648
+ ],
+ "INS-76210_FOV_FRAME": "MSL_MASTCAM_LEFT",
+ "BODY499_POLE_DEC": [
+ 52.8865,
+ -0.0609,
+ 0.0
+ ],
+ "BODY499_POLE_RA": [
+ 317.68143,
+ -0.1061,
+ 0.0
+ ],
+ "BODY499_PM": [
+ 176.63,
+ 350.89198226,
+ 0.0
+ ]
+ },
+ "detector_sample_summing": 1,
+ "detector_line_summing": 1,
+ "focal_length_model": {
+ "focal_length": 34.0
+ },
+ "detector_center": {
+ "line": 576.4026068104001,
+ "sample": 680.1442422028802
+ },
+ "focal2pixel_lines": [
+ 0,
+ 0,
+ 136.49886775101945
+ ],
+ "focal2pixel_samples": [
+ 0,
+ 136.49886775101945,
+ 0
+ ],
+ "optical_distortion": {
+ "cahvor": {
+ "coefficients": [
+ 0,
+ 0,
+ 0,
+ 0,
+ 0
+ ]
+ }
+ },
+ "starting_detector_line": 0,
+ "starting_detector_sample": 0,
+ "instrument_position": {
+ "spk_table_start_time": 598494669.4412209,
+ "spk_table_end_time": 598494669.4412209,
+ "spk_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "positions": [
+ [
+ -42.94908602840011,
+ -2878.1178384691016,
+ -1794.0007301446622
+ ]
+ ],
+ "velocities": [
+ [
+ 0.2143509476698853,
+ 0.054297300199827,
+ -0.09225670467004271
+ ]
+ ],
+ "reference_frame": 1
+ },
+ "sun_position": {
+ "spk_table_start_time": 598494669.4412209,
+ "spk_table_end_time": 598494669.4412209,
+ "spk_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "positions": [
+ [
+ -178112289.0644448,
+ -111686023.67244285,
+ -46420243.18796099
+ ]
+ ],
+ "velocities": [
+ [
+ 12.688344510456547,
+ -19.98128446099907,
+ -9.507348850576207
+ ]
+ ],
+ "reference_frame": 1
+ }
+}
\ No newline at end of file
diff --git a/tests/pytests/test_msl_drivers.py b/tests/pytests/test_msl_drivers.py
index 3590016..0b25ee1 100644
--- a/tests/pytests/test_msl_drivers.py
+++ b/tests/pytests/test_msl_drivers.py
@@ -5,7 +5,7 @@ import pytest
import unittest
import ale
-from conftest import get_image, get_image_label, get_isd, get_image_kernels, convert_kernels, compare_dicts
+from conftest import get_image_label, get_isd, get_image_kernels, convert_kernels, compare_dicts
from ale.drivers.msl_drivers import MslMastcamPds3NaifSpiceDriver
from conftest import get_image_label
@@ -20,11 +20,19 @@ def test_mastcam_kernels():
for kern in binary_kernels:
os.remove(kern)
-def test_msl_mastcam_load(test_mastcam_kernels):
+def test_msl_mastcam_load_local(test_mastcam_kernels):
label_file = get_image_label('2264ML0121141200805116C00_DRCL', "pds3")
compare_dict = get_isd("msl")
- isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels})
+ isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels, 'local': True})
+ isd_obj = json.loads(isd_str)
+ assert compare_dicts(isd_obj, compare_dict) == []
+
+def test_msl_mastcam_load_nadir(test_mastcam_kernels):
+ label_file = get_image_label('2264ML0121141200805116C00_DRCL', "pds3")
+ compare_dict = get_isd("msl_nadir")
+
+ isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels, 'nadir': True})
isd_obj = json.loads(isd_str)
assert compare_dicts(isd_obj, compare_dict) == []
--
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