From 3aff4592a0a2ad1ed472606bf44d2589635ddd2e Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jmapel@usgs.gov>
Date: Thu, 2 Jun 2022 14:31:43 -0700
Subject: [PATCH] Adds CassiniIssNac/Wac IsisLabel NaifData Driver (#470)
* stuff
* Fixes cassini iss wac/nac drivers and adds tests for isis label naif spice
* Address warnings in tests
* Remove print statement
* Removed notebooks/notebook changes
* Added caching to focal length property in cassiniIss IsisLabel NaifSpice
* Addressed failing tests
Co-authored-by: acpaquette <acp263@nau.edu>
---
ale/base/data_isis.py | 26 ++-
ale/drivers/co_drivers.py | 199 ++++++++++++++++++
ale/util.py | 18 +-
.../data/isds/cassiniiss_isis_isd.json | 4 +-
tests/pytests/test_cassini_drivers.py | 90 +++++++-
5 files changed, 320 insertions(+), 17 deletions(-)
diff --git a/ale/base/data_isis.py b/ale/base/data_isis.py
index 92d6b08..ec49ef7 100644
--- a/ale/base/data_isis.py
+++ b/ale/base/data_isis.py
@@ -62,7 +62,7 @@ def parse_table(table_label, data):
'Real' : 'f'}
# Parse the binary data
- fields = table_label.getlist('Field')
+ fields = table_label.getall('Field')
results = {field['Name']:[] for field in fields}
offset = 0
for record in range(table_label['Records']):
@@ -200,7 +200,11 @@ class IsisSpice():
Instrument pointing table
"""
if not hasattr(self, "_inst_pointing_table"):
- for table in self.label.getlist('Table'):
+ tables = []
+ if "Table" in self.label:
+ tables = self.label.getall('Table')
+
+ for table in tables:
if table['Name'] == 'InstrumentPointing':
binary_data = read_table_data(table, self._file)
self._inst_pointing_table = parse_table(table, binary_data)
@@ -220,7 +224,11 @@ class IsisSpice():
Body orientation table
"""
if not hasattr(self, "_body_orientation_table"):
- for table in self.label.getlist('Table'):
+ tables = []
+ if "Table" in self.label:
+ tables = self.label.getall('Table')
+
+ for table in tables:
if table['Name'] == 'BodyRotation':
binary_data = read_table_data(table, self._file)
self._body_orientation_table = parse_table(table, binary_data)
@@ -240,7 +248,11 @@ class IsisSpice():
Instrument position table
"""
if not hasattr(self, "_inst_position_table"):
- for table in self.label.getlist('Table'):
+ tables = []
+ if "Table" in self.label:
+ tables = self.label.getall('Table')
+
+ for table in tables:
if table['Name'] == 'InstrumentPosition':
binary_data = read_table_data(table, self._file)
self._inst_position_table = parse_table(table, binary_data)
@@ -260,7 +272,11 @@ class IsisSpice():
Sun position table
"""
if not hasattr(self, "_sun_position_table"):
- for table in self.label.getlist('Table'):
+ tables = []
+ if "Table" in self.label:
+ tables = self.label.getall('Table')
+
+ for table in tables:
if table['Name'] == 'SunPosition':
binary_data = read_table_data(table, self._file)
self._sun_position_table = parse_table(table, binary_data)
diff --git a/ale/drivers/co_drivers.py b/ale/drivers/co_drivers.py
index 311c25f..261d295 100644
--- a/ale/drivers/co_drivers.py
+++ b/ale/drivers/co_drivers.py
@@ -110,6 +110,188 @@ wac_filter_to_focal_length = {
("T3","IRP90"):201.07
}
+class CassiniIssIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, RadialDistortion, Driver):
+
+ @property
+ def instrument_id(self):
+ """
+ Returns an instrument id for unquely identifying the instrument, but often
+ also used to be piped into Spice Kernels to acquire instrument kernel (IK) NAIF IDs.
+ Therefore they use the same NAIF ID asin bods2c calls. Expects instrument_id to be
+ defined from a mixin class. This should return a string containing either 'ISSNA' or
+ 'ISSWA'
+
+ Returns
+ -------
+ : str
+ instrument id
+ """
+ return id_lookup[super().instrument_id]
+
+ @property
+ def spacecraft_name(self):
+ """
+ Spacecraft name used in various Spice calls to acquire
+ ephemeris data.
+
+ Returns
+ -------
+ : str
+ Name of the spacecraft
+ """
+ return 'CASSINI'
+
+ @property
+ def sensor_name(self):
+ """
+ Returns the name of the instrument
+
+ Returns
+ -------
+ : str
+ Name of the sensor
+ """
+ return name_lookup[super().instrument_id]
+
+ @property
+ def ephemeris_start_time(self):
+ """
+ Returns the start and stop ephemeris times for the image.
+
+ Returns
+ -------
+ : float
+ start time
+ """
+ return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))[0]
+
+ @property
+ def center_ephemeris_time(self):
+ """
+ Returns the starting ephemeris time as the ssi framers center is the
+ start.
+
+ Returns
+ -------
+ : double
+ Center ephemeris time for an image
+ """
+ center_time = self.ephemeris_start_time + (self.exposure_duration / 2.0)
+ return center_time
+
+ @property
+ def odtk(self):
+ """
+ The radial distortion coeffs are not defined in the ik kernels, instead
+ they are defined in the ISS Data User Guide (Knowles). Therefore, we
+ manually specify the codes here.
+ Expects instrument_id to be defined. This should be a string containing either
+ CASSINI_ISS_WAC or CASSINI_ISIS_NAC
+
+ Returns
+ -------
+ : list<float>
+ radial distortion coefficients
+ """
+ if self.instrument_id == 'CASSINI_ISS_WAC':
+ # WAC
+ return [0, float('-6.2e-5'), 0]
+ elif self.instrument_id == 'CASSINI_ISS_NAC':
+ # NAC
+ return [0, float('-8e-6'), 0]
+
+ @property
+ def focal_length(self):
+ """
+ NAC uses multiple filter pairs, each filter combination has a different focal length.
+ NAIF's Cassini kernels do not contain focal lengths for NAC filters and
+ so we aquired updated NAC filter data from ISIS's IAK kernel.
+
+ """
+ # default focal defined by IAK kernel
+ if not hasattr(self, "_focal_length"):
+ try:
+ default_focal_len = super(CassiniIssPds3LabelNaifSpiceDriver, self).focal_length
+ except:
+ default_focal_len = float(spice.gdpool('INS{}_DEFAULT_FOCAL_LENGTH'.format(self.ikid), 0, 2)[0])
+
+ filters = tuple(self.label["IsisCube"]["BandBin"]['FilterName'].split("/"))
+
+ if self.instrument_id == "CASSINI_ISS_NAC":
+ self._focal_length = nac_filter_to_focal_length.get(filters, default_focal_len)
+
+ elif self.instrument_id == "CASSINI_ISS_WAC":
+ self._focal_length = wac_filter_to_focal_length.get(filters, default_focal_len)
+ return self._focal_length
+
+ @property
+ def _original_naif_sensor_frame_id(self):
+ """
+ Original sensor frame ID as defined in Cassini's IK kernel. This
+ is the frame ID you want to default to for WAC. For NAC, this Frame ID
+ sits between J2000 and an extra 180 rotation since NAC was mounted
+ upside down.
+
+ Returns
+ -------
+ : int
+ sensor frame code from NAIF's IK kernel
+ """
+ return self.ikid
+
+ @property
+ def sensor_frame_id(self):
+ """
+ Overwrite sensor frame id to return fake frame ID for NAC representing a
+ mounting point with a 180 degree rotation. ID was taken from ISIS's IAK
+ kernel for Cassini. This is because NAC requires an extra rotation not
+ in NAIF's Cassini kernels. Wac does not require an extra rotation so
+ we simply return original sensor frame id for Wac.
+
+ Returns
+ -------
+ : int
+ NAIF's Wac sensor frame ID, or ALE's Nac sensor frame ID
+ """
+ if self.instrument_id == "CASSINI_ISS_NAC":
+ return 14082360
+ elif self.instrument_id == "CASSINI_ISS_WAC":
+ return 14082361
+
+ @property
+ def frame_chain(self):
+ """
+ Construct the initial frame chain using the original sensor_frame_id
+ obtained from the ikid. Then tack on the ISIS iak rotation.
+
+ Returns
+ -------
+ : Object
+ Custom Cassini ALE Frame Chain object for rotation computation and application
+ """
+ if not hasattr(self, '_frame_chain'):
+
+ try:
+ # Call frinfo to check if the ISIS iak has been loaded with the
+ # additional reference frame. Otherwise, Fail and add it manually
+ _ = spice.frinfo(self.sensor_frame_id)
+ self._frame_chain = super().frame_chain
+ except spice.utils.exceptions.NotFoundError as e:
+ self._frame_chain = FrameChain.from_spice(sensor_frame=self._original_naif_sensor_frame_id,
+ target_frame=self.target_frame_id,
+ center_ephemeris_time=self.center_ephemeris_time,
+ ephemeris_times=self.ephemeris_time,)
+
+ rotation = ConstantRotation([[0, 0, 1, 0]], self.sensor_frame_id, self._original_naif_sensor_frame_id)
+
+ self._frame_chain.add_edge(rotation=rotation)
+
+ return self._frame_chain
+
+ @property
+ def sensor_model_version(self):
+ return 1
+
class CassiniIssPds3LabelNaifSpiceDriver(Framer, Pds3Label, NaifSpice, RadialDistortion, Driver):
"""
Cassini mixin class for defining Spice calls.
@@ -374,3 +556,20 @@ class CassiniIssIsisLabelIsisSpiceDriver(Framer, IsisLabel, IsisSpice, NoDistort
: float
"""
return self.inst_position_table['SpkTableStartTime']
+
+ @property
+ def focal_length(self):
+ """
+ The focal length of the instrument
+ Expects naif_keywords to be defined. This should be a dict containing
+ Naif keyworkds from the label.
+ Expects ikid to be defined. This should be the integer Naif ID code
+ for the instrument.
+
+ Returns
+ -------
+ float :
+ The focal length in millimeters
+ """
+ filters = self.label["IsisCube"]["BandBin"]['FilterName'].split("/")
+ return self.naif_keywords.get('INS{}_{}_{}_FOCAL_LENGTH'.format(self.ikid, filters[0], filters[1]), None)
diff --git a/ale/util.py b/ale/util.py
index 6460aab..96bb2fc 100644
--- a/ale/util.py
+++ b/ale/util.py
@@ -559,7 +559,7 @@ def get_isis_mission_translations(isis_data):
"""
mission_translation_file = read_pvl(os.path.join(isis_data, "base", "translations", "MissionName2DataDir.trn"))
# For some reason this file takes the form [value, key] for mission name -> data dir
- lookup = [l[::-1] for l in mission_translation_file["MissionName"].getlist("Translation")]
+ lookup = [l[::-1] for l in mission_translation_file["MissionName"].getall("Translation")]
return dict(lookup)
@@ -693,15 +693,19 @@ def search_isis_db(dbobj, labelobj, isis_data):
# Flag is set when kernels encapsulating the entire image time is found
full_match = False
- for selection in dbobj.getlist("Selection"):
- files = selection.getlist("File")
+ for selection in dbobj.getall("Selection"):
+ files = selection.getall("File")
+ if not files:
+ raise Exception(f"No File found in {selection}")
# selection criteria
- matches = selection.getlist("Match")
- times = selection.getlist("Time")
+ matches = []
+ if "Match" in selection:
+ matches = selection.getall("Match")
- if not files:
- raise Exception(f"No File found in {selection}")
+ times = []
+ if "Time" in selection:
+ times = selection.getall("Time")
files = [path.join(*file) if isinstance(file, list) else file for file in files]
diff --git a/tests/pytests/data/isds/cassiniiss_isis_isd.json b/tests/pytests/data/isds/cassiniiss_isis_isd.json
index d45e51c..9dda856 100644
--- a/tests/pytests/data/isds/cassiniiss_isis_isd.json
+++ b/tests/pytests/data/isds/cassiniiss_isis_isd.json
@@ -125,7 +125,7 @@
"detector_sample_summing": 1,
"detector_line_summing": 1,
"focal_length_model": {
- "focal_length": null
+ "focal_length": 2003.09
},
"detector_center": {
"line": 512.5,
@@ -198,4 +198,4 @@
],
"reference_frame": 1
}
-}
\ No newline at end of file
+}
diff --git a/tests/pytests/test_cassini_drivers.py b/tests/pytests/test_cassini_drivers.py
index 1770df5..4207aa4 100644
--- a/tests/pytests/test_cassini_drivers.py
+++ b/tests/pytests/test_cassini_drivers.py
@@ -10,7 +10,7 @@ from unittest.mock import PropertyMock, patch
import json
from conftest import get_image_label, get_image_kernels, get_isd, convert_kernels, compare_dicts, get_table_data
-from ale.drivers.co_drivers import CassiniIssPds3LabelNaifSpiceDriver
+from ale.drivers.co_drivers import CassiniIssPds3LabelNaifSpiceDriver, CassiniIssIsisLabelNaifSpiceDriver
@pytest.fixture()
def test_kernels(scope="module", autouse=True):
@@ -27,7 +27,8 @@ def test_load_pds(test_kernels):
isd_str = ale.loads(label_file, props={'kernels': test_kernels})
isd_obj = json.loads(isd_str)
print(json.dumps(isd_obj, indent=2))
- assert compare_dicts(isd_obj, compare_dict) == []
+ x = compare_dicts(isd_obj, compare_dict)
+ assert x == []
def test_load_isis():
label_file = get_image_label("N1702360370_1", label_type="isis3")
@@ -40,7 +41,18 @@ def test_load_isis():
isd_str = ale.loads(label_file)
isd_obj = json.loads(isd_str)
print(json.dumps(isd_obj, indent=2))
- assert compare_dicts(isd_obj, compare_dict) == []
+ x = compare_dicts(isd_obj, compare_dict)
+ assert x == []
+
+def test_load_isis_naif(test_kernels):
+ label_file = get_image_label("N1702360370_1")
+ compare_dict = get_isd("cassiniiss")
+
+ isd_str = ale.loads(label_file, props={"kernels": test_kernels})
+ isd_obj = json.loads(isd_str)
+ print(json.dumps(isd_obj, indent=2))
+ x = compare_dicts(isd_obj, compare_dict)
+ assert x == []
# ========= Test cassini pds3label and naifspice driver =========
class test_cassini_pds3_naif(unittest.TestCase):
@@ -130,3 +142,75 @@ class test_cassini_pds3_naif(unittest.TestCase):
frame_chain = self.driver.frame_chain
assert len(frame_chain.nodes()) == 0
from_spice.assert_called_with(center_ephemeris_time=2.4, ephemeris_times=[2.4], nadir=False, sensor_frame=14082360, target_frame=-800)
+
+# ========= Test cassini isislabel and naifspice driver =========
+class test_cassini_isis_naif(unittest.TestCase):
+
+ def setUp(self):
+ label = get_image_label("N1702360370_1", "isis3")
+ self.driver = CassiniIssIsisLabelNaifSpiceDriver(label)
+
+ def test_instrument_id(self):
+ assert self.driver.instrument_id == "CASSINI_ISS_NAC"
+
+ def test_spacecraft_name(self):
+ assert self.driver.spacecraft_name == "CASSINI"
+
+ def test_sensor_name(self):
+ assert self.driver.sensor_name == "Imaging Science Subsystem Narrow Angle Camera"
+
+ def test_ephemeris_start_time(self):
+ with patch('ale.drivers.co_drivers.spice.str2et', return_value=[12345]) as str2et:
+ assert self.driver.ephemeris_start_time == 12345
+ str2et.assert_called_with('2011-12-12 05:02:19.773000')
+
+ def test_center_ephemeris_time(self):
+ with patch('ale.drivers.co_drivers.spice.str2et', return_value=[12345]) as str2et:
+ print(self.driver.exposure_duration)
+ assert self.driver.center_ephemeris_time == 12347.3
+ str2et.assert_called_with('2011-12-12 05:02:19.773000')
+
+ def test_odtk(self):
+ assert self.driver.odtk == [0, -8e-06, 0]
+
+ def test_focal_length(self):
+ # This value isn't used for anything in the test, as it's only used for the
+ # default focal length calculation if the filter can't be found.
+ with patch('ale.drivers.co_drivers.spice.gdpool', return_value=[10.0]) as gdpool, \
+ patch('ale.base.data_naif.spice.bods2c', return_value=-12345) as bods2c:
+ assert self.driver.focal_length == 2003.09
+
+ def test_sensor_model_version(self):
+ assert self.driver.sensor_model_version == 1
+
+ def test_sensor_frame_id(self):
+ assert self.driver.sensor_frame_id == 14082360
+
+ @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
+ def test_custom_frame_chain(self, from_spice):
+ with patch('ale.drivers.co_drivers.spice.bods2c', return_value=-12345) as bods2c, \
+ patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.target_frame_id', \
+ new_callable=PropertyMock) as target_frame_id, \
+ patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.ephemeris_start_time', \
+ new_callable=PropertyMock) as ephemeris_start_time:
+ ephemeris_start_time.return_value = .1
+ target_frame_id.return_value = -800
+ frame_chain = self.driver.frame_chain
+ assert len(frame_chain.nodes()) == 2
+ assert 14082360 in frame_chain.nodes()
+ assert -12345 in frame_chain.nodes()
+ from_spice.assert_called_with(center_ephemeris_time=2.4000000000000004, ephemeris_times=[2.4000000000000004], sensor_frame=-12345, target_frame=-800)
+
+ @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
+ def test_custom_frame_chain_iak(self, from_spice):
+ with patch('ale.drivers.co_drivers.spice.bods2c', return_value=-12345) as bods2c, \
+ patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.target_frame_id', \
+ new_callable=PropertyMock) as target_frame_id, \
+ patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.ephemeris_start_time', \
+ new_callable=PropertyMock) as ephemeris_start_time, \
+ patch('ale.drivers.co_drivers.spice.frinfo', return_value=True) as frinfo:
+ ephemeris_start_time.return_value = .1
+ target_frame_id.return_value = -800
+ frame_chain = self.driver.frame_chain
+ assert len(frame_chain.nodes()) == 0
+ from_spice.assert_called_with(center_ephemeris_time=2.4000000000000004, ephemeris_times=[2.4000000000000004], nadir=False, sensor_frame=14082360, target_frame=-800, )
--
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