diff --git a/CHANGELOG.md b/CHANGELOG.md
index 75abfd90f245568bd237ce055db10d5b2f83f651..8e012f76b3cac8306f905c2cb7ffd4f342e79203 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -44,6 +44,7 @@ release.
### Fixed
- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#569](https://github.com/DOI-USGS/ale/pull/569)
+- Bugfix for position and orientation for MSL cameras (driver MslMastcamPds3NaifSpiceDriver). Validated that Nav and Mast LBL files (for both left and right sensor) produce correctly positioned and oriented CSM cameras, that are self-consistent and consistent with a prior DEM for the site. [#580](https://github.com/DOI-USGS/ale/pull/580)
### Changed
- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579)
@@ -77,3 +78,6 @@ release.
- Chandrayaan1_mrffr IsisLabelNaifSpice driver, tests and test data [#519](https://github.com/DOI-USGS/ale/pull/519)
- MGS MOC Narrow Angle IsisLabelNaifSpice driver, tests, and test data [#517](https://github.com/DOI-USGS/ale/pull/517)
- Hayabusa NIRS IsisLabelNaifSpice driver, tests and test data [#532](https://github.com/DOI-USGS/ale/pull/532)
+
+
+
diff --git a/ale/base/type_sensor.py b/ale/base/type_sensor.py
index 613bb48b64cf001b96c7f54ffe5c082a236d9311..eca9178018e1f57ae7e2c7f8909aed74ba94a212 100644
--- a/ale/base/type_sensor.py
+++ b/ale/base/type_sensor.py
@@ -373,9 +373,8 @@ class RollingShutter():
class Cahvor():
"""
- Mixin for largely ground based sensors to add an
- extra step in the frame chain to go from ground camera to
- the Camera
+ Mixin for ground-based sensors to add to the position and rotation
+ the components going from rover frame to camera frame.
"""
@property
@@ -396,17 +395,50 @@ class Cahvor():
@property
def sensor_position(self):
- positions, velocities, times = super().sensor_position
- positions += self.cahvor_camera_dict["C"]
- if self._props.get("landed", False):
- positions = np.array([[0, 0, 0]] * len(times))
- velocities = np.array([[0, 0, 0]] * len(times))
- return positions, velocities, times
+ """
+ Find the rover position, then add the camera position relative to the
+ rover. The returned position is in ECEF.
+
+ Returns
+ -------
+ : (positions, velocities, times)
+ a tuple containing a list of positions, a list of velocities, and a
+ list of times.
+ """
+
+ # Rover position in ECEF
+ positions, velocities, times = super().sensor_position
+
+ nadir = self._props.get("nadir", False)
+ if nadir:
+ # For nadir applying the rover-to-camera offset runs into
+ # problems, so return early. TBD
+ return positions, velocities, times
+
+ # Rover-to-camera offset in rover frame
+ cam_ctr = self.cahvor_center
+
+ # Rover-to-camera offset in ECEF
+ ecef_frame = self.target_frame_id
+ rover_frame = self.final_inst_frame
+ frame_chain = self.frame_chain
+ rover2ecef_rotation = \
+ frame_chain.compute_rotation(rover_frame, ecef_frame)
+ cam_ctr = rover2ecef_rotation.apply_at([cam_ctr], times)[0]
+
+ # Go from rover position to camera position
+ positions[0] += cam_ctr
+
+ if self._props.get("landed", False):
+ positions = np.array([[0, 0, 0]] * len(times))
+ velocities = np.array([[0, 0, 0]] * len(times))
+
+ return positions, velocities, times
def compute_h_c(self):
"""
Computes the h_c element of a cahvor model for the conversion
- to a photogrametric model
+ to a photogrammetric model
Returns
-------
@@ -418,7 +450,7 @@ class Cahvor():
def compute_h_s(self):
"""
Computes the h_s element of a cahvor model for the conversion
- to a photogrametric model
+ to a photogrammetric model
Returns
-------
@@ -430,7 +462,7 @@ class Cahvor():
def compute_v_c(self):
"""
Computes the v_c element of a cahvor model for the conversion
- to a photogrametric model
+ to a photogrammetric model
Returns
-------
@@ -442,7 +474,7 @@ class Cahvor():
def compute_v_s(self):
"""
Computes the v_s element of a cahvor model for the conversion
- to a photogrametric model
+ to a photogrammetric model
Returns
-------
@@ -474,6 +506,18 @@ class Cahvor():
self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
return self._cahvor_rotation_matrix
+ @property
+ def cahvor_center(self):
+ """
+ Computes the cahvor center for the sensor relative to the rover frame
+
+ Returns
+ -------
+ : array
+ Cahvor center as a 1D numpy array
+ """
+ return self.cahvor_camera_dict['C']
+
@property
def frame_chain(self):
"""
@@ -566,6 +610,6 @@ class Cahvor():
Returns
-------
: float
- Focal length of a cahvor model instrument
+ Pixel size of a cahvor model instrument
"""
- return self.focal_length/self.compute_h_s()
+ return -self.focal_length/self.compute_h_s()
diff --git a/ale/drivers/co_drivers.py b/ale/drivers/co_drivers.py
index f800c06b1e08e8afce73cf2a13dc2987170c00bc..a062d838dde0f8ac9e6c83353fad73b456b99e1c 100644
--- a/ale/drivers/co_drivers.py
+++ b/ale/drivers/co_drivers.py
@@ -205,7 +205,7 @@ class CassiniIssIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, RadialDis
"""
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.
+ so we acquired updated NAC filter data from ISIS's IAK kernel.
"""
# default focal defined by IAK kernel
diff --git a/ale/drivers/lro_drivers.py b/ale/drivers/lro_drivers.py
index ed2b531a934a4a92c7772e30282b75186a7e3802..1cb50f4272a233386ea8ba5e256b7f947fb838ff 100644
--- a/ale/drivers/lro_drivers.py
+++ b/ale/drivers/lro_drivers.py
@@ -102,7 +102,7 @@ class LroLrocNacPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driv
@property
def light_time_correction(self):
"""
- Returns the type of light time correction and abberation correction to
+ Returns the type of light time correction and aberration correction to
use in NAIF calls.
LROC is specifically set to not use light time correction because it is
@@ -112,7 +112,7 @@ class LroLrocNacPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driv
Returns
-------
: str
- The light time and abberation correction string for use in NAIF calls.
+ The light time and aberration correction string for use in NAIF calls.
See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/abcorr.html
for the different options available.
"""
diff --git a/ale/drivers/msl_drivers.py b/ale/drivers/msl_drivers.py
index f61402f96053effeba6913dcac16031423036de7..4aa009a74c4dfb64026f32abdb1cfa7a2e4766ae 100644
--- a/ale/drivers/msl_drivers.py
+++ b/ale/drivers/msl_drivers.py
@@ -42,10 +42,28 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
"""
lookup = {
"MAST_RIGHT": 'MASTCAM_RIGHT',
- "MAST_LEFT": 'MASTCAM_LEFT'
+ "MAST_LEFT": 'MASTCAM_LEFT',
+ "NAV_RIGHT_B": 'NAVCAM_RIGHT_B',
+ "NAV_LEFT_B": 'NAVCAM_LEFT_B'
}
return self.instrument_host_id + "_" + lookup[super().instrument_id]
+ @property
+ def is_navcam(self):
+ """
+ Returns True if the camera is a nav cam, False otherwise.
+ Need to handle nav cam differently as its focal length
+ cannot be looked up in the spice data. Use instead
+ a focal length in pixels computed from the CAHVOR model,
+ and a pixel size of 1.
+
+ Returns
+ -------
+ : bool
+ True if the camera is a nav cam, False otherwise
+ """
+ return 'NAVCAM' in self.instrument_id
+
@property
def cahvor_camera_dict(self):
"""
@@ -72,14 +90,14 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
@property
def final_inst_frame(self):
"""
- Defines MSLs last naif frame before the cahvor model frame
+ Defines the rover frame, relative to which the MSL cahvor camera is defined
Returns
-------
: int
- Naif frame code for MSL_RSM_HEAD
+ Naif frame code for MSL_ROVER
"""
- return spice.bods2c("MSL_RSM_HEAD")
+ return spice.bods2c("MSL_ROVER")
@property
def sensor_frame_id(self):
@@ -108,10 +126,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
: list<double>
focal plane to detector lines
"""
- if self._props.get("landed", False):
- return [0, 0, -1/self.pixel_size]
- else:
- return [0, 0, 1/self.pixel_size]
+ return [0, 0, -1/self.pixel_size]
@property
def focal2pixel_samples(self):
@@ -123,10 +138,7 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
: list<double>
focal plane to detector samples
"""
- if (self._props.get("nadir", False)):
- return [0, 1/self.pixel_size, 0]
- else:
- return [0, -1/self.pixel_size, 0]
+ return [0, -1/self.pixel_size, 0]
@property
def sensor_model_version(self):
@@ -137,3 +149,56 @@ class MslMastcamPds3NaifSpiceDriver(Cahvor, Framer, Pds3Label, NaifSpice, Cahvor
ISIS sensor model version
"""
return 1
+
+ @property
+ def light_time_correction(self):
+ """
+ Returns the type of light time correction and aberration correction to
+ use in NAIF calls.
+
+ For MSL using such a correction returns wrong results, so turn it off.
+
+ Returns
+ -------
+ : str
+ The light time and aberration correction string for use in NAIF calls.
+ See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/abcorr.html
+ for the different options available.
+ """
+ return 'NONE'
+
+ @property
+ def focal_length(self):
+ """
+ Returns the focal length of the sensor with a negative sign.
+ This was tested to work with MSL mast and nav cams.
+
+ Returns
+ -------
+ : float
+ focal length
+ """
+ if self.is_navcam:
+ # Focal length in pixel as computed for a cahvor model.
+ # See is_navcam() for an explanation.
+ return -(self.compute_h_s() + self.compute_v_s())/2.0
+
+ # For mast cam
+ return -super().focal_length
+
+ @property
+ def pixel_size(self):
+ """
+ Returns the pixel size.
+
+ Returns
+ -------
+ : float
+ pixel size
+ """
+ if self.is_navcam:
+ # See is_navcam() for an explanation.
+ return 1.0
+
+ # For mast cam
+ return super().pixel_size
diff --git a/ale/formatters/formatter.py b/ale/formatters/formatter.py
index 73a9d644435eb621eca0c11f83cc97ec61df8aac..afeb2f96605fb46198a057bef68b038aadb2889b 100644
--- a/ale/formatters/formatter.py
+++ b/ale/formatters/formatter.py
@@ -26,7 +26,7 @@ def to_isd(driver):
meta_data = {}
meta_data['isis_camera_version'] = driver.sensor_model_version
-
+
# general information
meta_data['image_lines'] = driver.image_lines
meta_data['image_samples'] = driver.image_samples
@@ -89,14 +89,15 @@ def to_isd(driver):
frame_chain = driver.frame_chain
target_frame = driver.target_frame_id
+ J2000 = 1 # J2000 frame id
body_rotation = {}
- source_frame, destination_frame, time_dependent_target_frame = frame_chain.last_time_dependent_frame_between(target_frame, 1)
-
- if source_frame != 1:
+ source_frame, destination_frame, time_dependent_target_frame = frame_chain.last_time_dependent_frame_between(target_frame, J2000)
+
+ if source_frame != J2000:
# Reverse the frame order because ISIS orders frames as
# (destination, intermediate, ..., intermediate, source)
- body_rotation['time_dependent_frames'] = shortest_path(frame_chain, source_frame, 1)
- time_dependent_rotation = frame_chain.compute_rotation(1, source_frame)
+ body_rotation['time_dependent_frames'] = shortest_path(frame_chain, source_frame, J2000)
+ time_dependent_rotation = frame_chain.compute_rotation(J2000, source_frame)
body_rotation['ck_table_start_time'] = time_dependent_rotation.times[0]
body_rotation['ck_table_end_time'] = time_dependent_rotation.times[-1]
body_rotation['ck_table_original_size'] = len(time_dependent_rotation.times)
@@ -122,8 +123,8 @@ def to_isd(driver):
# Reverse the frame order because ISIS orders frames as
# (destination, intermediate, ..., intermediate, source)
- instrument_pointing['time_dependent_frames'] = shortest_path(frame_chain, destination_frame, 1)
- time_dependent_rotation = frame_chain.compute_rotation(1, destination_frame)
+ instrument_pointing['time_dependent_frames'] = shortest_path(frame_chain, destination_frame, J2000)
+ time_dependent_rotation = frame_chain.compute_rotation(J2000, destination_frame)
instrument_pointing['ck_table_start_time'] = time_dependent_rotation.times[0]
instrument_pointing['ck_table_end_time'] = time_dependent_rotation.times[-1]
instrument_pointing['ck_table_original_size'] = len(time_dependent_rotation.times)
@@ -141,7 +142,7 @@ def to_isd(driver):
instrument_pointing['constant_rotation'] = constant_rotation.rotation_matrix().flatten()
meta_data['instrument_pointing'] = instrument_pointing
- # interiror orientation
+ # interior orientation
meta_data['naif_keywords'] = driver.naif_keywords
if isinstance(driver,LineScanner) or isinstance(driver, Framer) or isinstance(driver, PushFrame):
@@ -162,9 +163,8 @@ def to_isd(driver):
meta_data['starting_detector_line'] = driver.detector_start_line
meta_data['starting_detector_sample'] = driver.detector_start_sample
-
- j2000_rotation = frame_chain.compute_rotation(target_frame, 1)
+ j2000_rotation = frame_chain.compute_rotation(target_frame, J2000)
instrument_position = {}
positions, velocities, times = driver.sensor_position
diff --git a/ale/transformation.py b/ale/transformation.py
index ab3ff5e6f3b8706be46f4af531e094b3a316f3ba..7113931920de92b5318715f8405cb0da223ea134 100644
--- a/ale/transformation.py
+++ b/ale/transformation.py
@@ -123,8 +123,8 @@ class FrameChain(nx.DiGraph):
constant_frames.extend(target_constant_frames)
- frame_chain.compute_time_dependent_rotiations(sensor_time_dependent_frames, sensor_times, inst_time_bias)
- frame_chain.compute_time_dependent_rotiations(target_time_dependent_frames, target_times, 0)
+ frame_chain.compute_time_dependent_rotations(sensor_time_dependent_frames, sensor_times, inst_time_bias)
+ frame_chain.compute_time_dependent_rotations(target_time_dependent_frames, target_times, 0)
for s, d in constant_frames:
quats = np.zeros(4)
@@ -380,7 +380,7 @@ class FrameChain(nx.DiGraph):
return times
- def compute_time_dependent_rotiations(self, frames, times, time_bias):
+ def compute_time_dependent_rotations(self, frames, times, time_bias):
"""
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
diff --git a/tests/pytests/data/isds/msl_isd.json b/tests/pytests/data/isds/msl_isd.json
index 496fc0da7def7bf69ccdd64d15fe1e79ead75af9..87194f8e84aeb854769fffc2a87f5729d73e8dd0 100644
--- a/tests/pytests/data/isds/msl_isd.json
+++ b/tests/pytests/data/isds/msl_isd.json
@@ -37,19 +37,15 @@
],
"angular_velocities": [
[
- 3.1623010827381965e-05,
+ 3.162301082738196e-05,
-2.881378599775597e-05,
- 5.651578887273642e-05
+ 5.651578887273641e-05
]
],
"reference_frame": 1
},
"instrument_pointing": {
"time_dependent_frames": [
- -76204,
- -76203,
- -76202,
- -76201,
-76000,
-76910,
-76900,
@@ -64,35 +60,34 @@
],
"quaternions": [
[
- 0.5220816838298279,
- -0.21018675356622796,
- -0.22520580724316586,
- -0.7953204312845581
+ -0.15620799812369596,
+ -0.10975869489004511,
+ 0.492119901898648,
+ 0.8493350883917882
]
],
"angular_velocities": [
[
- 0.00023743002562463675,
- -0.005620403629369784,
- -0.003106243307946095
+ 3.170513304263995e-05,
+ -2.8784577092481574e-05,
+ 5.646693411150336e-05
]
],
"reference_frame": 1,
"constant_frames": [
-76573,
- -76205,
- -76204
+ -76000
],
"constant_rotation": [
- 0.41995474711084907,
- 0.9072597689641163,
- -0.022753505185826722,
- -0.7790017804603829,
- 0.3732225088642592,
- 0.5038463901990582,
- 0.4656116798563116,
- -0.19386766232728606,
- 0.8634935396892888
+ 0.41656672703572295,
+ 0.908831179877854,
+ -0.022316998198093657,
+ -0.7809014963237929,
+ 0.3702829395764849,
+ 0.503073948538243,
+ 0.46547289391113544,
+ -0.19213649091316684,
+ 0.8639551804888768
]
},
"naif_keywords": {
@@ -231,20 +226,20 @@
"detector_sample_summing": 1,
"detector_line_summing": 1,
"focal_length_model": {
- "focal_length": 34.0
+ "focal_length": -34.0
},
"detector_center": {
"line": 576.4026068104001,
- "sample": 680.1442422028802
+ "sample": 680.1442422028803
},
"focal2pixel_lines": [
0,
0,
- 136.49886775101945
+ -136.49886775101947
],
"focal2pixel_samples": [
0,
- -136.49886775101945,
+ -136.49886775101947,
0
],
"optical_distortion": {
@@ -269,16 +264,16 @@
],
"positions": [
[
- -42.94908602840011,
- -2878.1178384691016,
- -1794.0007301446622
+ -42.942715970517135,
+ -2877.9103543439596,
+ -1793.8709578319247
]
],
"velocities": [
[
- 0.2143509476698853,
- 0.054297300199827,
- -0.09225670467004271
+ 0.21433558786732382,
+ 0.054300659253033345,
+ -0.09224553252379056
]
],
"reference_frame": 1
@@ -293,15 +288,15 @@
"positions": [
[
-178112289.0644448,
- -111686023.67244285,
- -46420243.18796099
+ -111686023.6724429,
+ -46420243.18796098
]
],
"velocities": [
[
12.688344510456547,
- -19.98128446099907,
- -9.507348850576207
+ -19.98128446099721,
+ -9.507348850574344
]
],
"reference_frame": 1
diff --git a/tests/pytests/data/isds/msl_nadir_isd.json b/tests/pytests/data/isds/msl_nadir_isd.json
index c131a90c1a900077583e2dc6f71dd55ca234989b..5193198501f197f1773ca3c5132c0683a1ed6e13 100644
--- a/tests/pytests/data/isds/msl_nadir_isd.json
+++ b/tests/pytests/data/isds/msl_nadir_isd.json
@@ -37,16 +37,16 @@
],
"angular_velocities": [
[
- 3.1623010827381965e-05,
+ 3.162301082738196e-05,
-2.881378599775597e-05,
- 5.651578887273642e-05
+ 5.651578887273641e-05
]
],
"reference_frame": 1
},
"instrument_pointing": {
"time_dependent_frames": [
- -76205,
+ -76000,
1
],
"ck_table_start_time": 598494669.4412209,
@@ -57,26 +57,26 @@
],
"quaternions": [
[
- 0.7419897630883615,
- 0.4156401046800741,
- 0.25055247114123014,
- 0.4625126528632889
+ 0.7419899275668841,
+ 0.41563986262021746,
+ 0.25055291222506065,
+ 0.4625123675815364
]
],
"angular_velocities": null,
"reference_frame": 1,
"constant_frames": [
-76573,
- -76205
+ -76000
],
"constant_rotation": [
- 0.4165667270357225,
+ 0.41656672703572295,
0.908831179877854,
- -0.02231699819809352,
+ -0.022316998198093657,
-0.7809014963237929,
- 0.37028293957648445,
+ 0.3702829395764849,
0.503073948538243,
- 0.4654728939111354,
+ 0.46547289391113544,
-0.19213649091316684,
0.8639551804888768
]
@@ -217,20 +217,20 @@
"detector_sample_summing": 1,
"detector_line_summing": 1,
"focal_length_model": {
- "focal_length": 34.0
+ "focal_length": -34.0
},
"detector_center": {
"line": 576.4026068104001,
- "sample": 680.1442422028802
+ "sample": 680.1442422028803
},
"focal2pixel_lines": [
0,
0,
- 136.49886775101945
+ -136.49886775101947
],
"focal2pixel_samples": [
0,
- 136.49886775101945,
+ -136.49886775101947,
0
],
"optical_distortion": {
@@ -255,16 +255,16 @@
],
"positions": [
[
- -42.94908602840011,
- -2878.1178384691016,
- -1794.0007301446622
+ -42.94189787175925,
+ -2877.908568116462,
+ -1793.8700624828516
]
],
"velocities": [
[
- 0.2143509476698853,
- 0.054297300199827,
- -0.09225670467004271
+ 0.21433546111887108,
+ 0.0543006771748966,
+ -0.09224545246537652
]
],
"reference_frame": 1
@@ -279,15 +279,15 @@
"positions": [
[
-178112289.0644448,
- -111686023.67244285,
- -46420243.18796099
+ -111686023.6724429,
+ -46420243.18796098
]
],
"velocities": [
[
12.688344510456547,
- -19.98128446099907,
- -9.507348850576207
+ -19.98128446099721,
+ -9.507348850574344
]
],
"reference_frame": 1
diff --git a/tests/pytests/test_cahvor_mixin.py b/tests/pytests/test_cahvor_mixin.py
index b3ad22f4b41c2181c3328af7fcb791008cb8fa69..ad9b3a68d06895a95f0504424eeb0dafe4a686b4 100644
--- a/tests/pytests/test_cahvor_mixin.py
+++ b/tests/pytests/test_cahvor_mixin.py
@@ -65,4 +65,4 @@ class test_cahvor_sensor(unittest.TestCase):
@patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())
def test_cahvor_pixel_size(self, cahvor_camera_dict):
- assert self.driver.pixel_size == 0.007248034226138798
\ No newline at end of file
+ assert self.driver.pixel_size == -0.007248034226138798
\ No newline at end of file
diff --git a/tests/pytests/test_msl_drivers.py b/tests/pytests/test_msl_drivers.py
index 0b25ee1177035a5fa653fb2fd8771967991406fd..c12d308c151d1c4dbd378029a5811e560489e1fa 100644
--- a/tests/pytests/test_msl_drivers.py
+++ b/tests/pytests/test_msl_drivers.py
@@ -53,9 +53,9 @@ class test_mastcam_pds_naif(unittest.TestCase):
np.testing.assert_almost_equal(self.driver.exposure_duration, 0.0102)
def test_final_inst_frame(self):
- with patch('ale.drivers.msl_drivers.spice.bods2c', new_callable=PropertyMock, return_value=-76562) as bods2c:
- assert self.driver.final_inst_frame == -76562
- bods2c.assert_called_with("MSL_RSM_HEAD")
+ with patch('ale.drivers.msl_drivers.spice.bods2c', new_callable=PropertyMock, return_value=-76000) as bods2c:
+ assert self.driver.final_inst_frame == -76000
+ bods2c.assert_called_with("MSL_ROVER")
def test_cahvor_camera_dict(self):
cahvor_camera_dict = self.driver.cahvor_camera_dict
@@ -73,7 +73,7 @@ class test_mastcam_pds_naif(unittest.TestCase):
def test_focal2pixel_lines(self):
with patch('ale.drivers.msl_drivers.spice.bods2c', new_callable=PropertyMock, return_value=-76220) as bods2c, \
patch('ale.drivers.msl_drivers.spice.gdpool', new_callable=PropertyMock, return_value=[100]) as gdpool:
- np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 0, 137.96844341513602])
+ np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 0, -137.96844341513602])
bods2c.assert_called_with('MSL_MASTCAM_RIGHT')
gdpool.assert_called_with('INS-76220_FOCAL_LENGTH', 0, 1)