From 54657748721cfc23cf04f601f1e21c37411d8cd7 Mon Sep 17 00:00:00 2001
From: AustinSanders <arsanders@usgs.gov>
Date: Wed, 18 Mar 2020 09:42:57 -0700
Subject: [PATCH] Added initial nadir pointing (#332)
* Added nadir orientation calculation to frame_chain
* Added comments, replaced conditional dict access, replaced hard-coded bool for nadir parameter.
* Updated orientation to be obtained from the frame chain and added tests
* Updated the frame trace returns if nadir is true and propogated those changes to the frame chain from_spice function
* Updated focal2pixel_lines test for the time being
Co-authored-by: Adam Paquette <acpaquette@usgs.gov>
---
ale/base/data_naif.py | 44 +++++++++++++++++++++----------
ale/drivers/lro_drivers.py | 10 ++-----
ale/transformation.py | 9 ++++---
tests/pytests/test_data_naif.py | 19 +++++++++++++
tests/pytests/test_lro_drivers.py | 4 +--
5 files changed, 59 insertions(+), 27 deletions(-)
diff --git a/ale/base/data_naif.py b/ale/base/data_naif.py
index 009c590..60c0abc 100644
--- a/ale/base/data_naif.py
+++ b/ale/base/data_naif.py
@@ -392,12 +392,39 @@ class NaifSpice():
@property
def frame_chain(self):
if not hasattr(self, '_frame_chain'):
+ nadir = self._props.get('nadir', False)
self._frame_chain = FrameChain.from_spice(sensor_frame=self.sensor_frame_id,
target_frame=self.target_frame_id,
center_ephemeris_time=self.center_ephemeris_time,
- ephemeris_times=self.ephemeris_time)
+ ephemeris_times=self.ephemeris_time,
+ nadir=nadir)
+
+ 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
+ trans_x = 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.sensor_frame_id)
+ self._frame_chain.add_edge(rotation)
+
return self._frame_chain
+
@property
def sensor_orientation(self):
"""
@@ -405,7 +432,7 @@ class NaifSpice():
to be defined. This must be a floating point number containing the
ephemeris time. Expects instrument_id to be defined. This must be a string
containing the short name of the instrument. Expects reference frame to be defined.
- This must be a sring containing the name of the target reference frame.
+ This must be a string containing the name of the target reference frame.
Returns
-------
@@ -413,18 +440,7 @@ class NaifSpice():
Quaternions describing the orientation of the sensor
"""
if not hasattr(self, '_orientation'):
- ephem = self.ephemeris_time
-
- qua = np.empty((len(ephem), 4))
- for i, time in enumerate(ephem):
- # Find the rotation matrix
- camera2bodyfixed = spice.pxform(self.instrument_id,
- self.reference_frame,
- time)
- q = spice.m2q(camera2bodyfixed)
- qua[i,:3] = q[1:]
- qua[i,3] = q[0]
- self._orientation = qua
+ self._orientation = self.frame_chain.compute_rotation(self.sensor_frame_id, self.target_frame_id).quats
return self._orientation.tolist()
@property
diff --git a/ale/drivers/lro_drivers.py b/ale/drivers/lro_drivers.py
index 7ddc778..0ddc160 100644
--- a/ale/drivers/lro_drivers.py
+++ b/ale/drivers/lro_drivers.py
@@ -142,10 +142,7 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver)
focal plane to detector lines
"""
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))
- if self.spacecraft_direction < 0:
- return focal2pixel_lines
- else:
- return -focal2pixel_lines
+ return focal2pixel_lines
@property
def ephemeris_start_time(self):
@@ -402,10 +399,7 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver)
focal plane to detector lines
"""
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))
- if self.spacecraft_direction < 0:
- return focal2pixel_lines
- else:
- return -focal2pixel_lines
+ return focal2pixel_lines
@property
def multiplicative_line_error(self):
diff --git a/ale/transformation.py b/ale/transformation.py
index 07a2de4..80935f3 100644
--- a/ale/transformation.py
+++ b/ale/transformation.py
@@ -96,12 +96,12 @@ class FrameChain(nx.DiGraph):
of frame rotations in the frame chain
"""
@classmethod
- def from_spice(cls, *args, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], **kwargs):
+ def from_spice(cls, sensor_frame, target_frame, center_ephemeris_time, ephemeris_times=[], nadir=False):
frame_chain = cls()
times = np.array(ephemeris_times)
- sensor_time_dependent_frames, sensor_constant_frames = cls.frame_trace(sensor_frame, center_ephemeris_time)
+ sensor_time_dependent_frames, sensor_constant_frames = cls.frame_trace(sensor_frame, center_ephemeris_time, nadir)
target_time_dependent_frames, target_constant_frames = cls.frame_trace(target_frame, center_ephemeris_time)
time_dependent_frames = list(zip(sensor_time_dependent_frames[:-1], sensor_time_dependent_frames[1:]))
@@ -139,11 +139,14 @@ class FrameChain(nx.DiGraph):
return frame_chain
@staticmethod
- def frame_trace(reference_frame, ephemeris_time):
+ def frame_trace(reference_frame, ephemeris_time, nadir=False):
frame_codes = [reference_frame]
_, frame_type, _ = spice.frinfo(frame_codes[-1])
frame_types = [frame_type]
+ if nadir:
+ return [], []
+
while(frame_codes[-1] != 1):
try:
center, frame_type, frame_type_id = spice.frinfo(frame_codes[-1])
diff --git a/tests/pytests/test_data_naif.py b/tests/pytests/test_data_naif.py
index 7b63804..2212915 100644
--- a/tests/pytests/test_data_naif.py
+++ b/tests/pytests/test_data_naif.py
@@ -101,6 +101,25 @@ class test_data_naif(unittest.TestCase):
assert len(times) == 1
np.testing.assert_allclose(times[0], 297088762.61698407)
+ def test_sensor_orientation(self):
+ self.driver.ephemeris_time = [297088762.61698407]
+ self.driver._props = {}
+ orientation = self.driver.sensor_orientation
+ np.testing.assert_allclose(orientation[0], [0.08410784798989432, 0.017724689780841133, 0.9945884195952942, 0.058357355025882435])
+
+ def test_sensor_position(self):
+ self.driver.ephemeris_time = [297088762.61698407]
+ positions, velocities, times = self.driver.sensor_position
+ np.testing.assert_allclose(positions[0], [-616295.93509894, -97815.27289939, -3573807.40392374])
+ np.testing.assert_allclose(velocities[0], [-3386.49396159, 411.4392769, 564.95648816])
+ np.testing.assert_allclose(times[0], 297088762.61698407)
+
+ def test_nadir_sensor_orientation(self):
+ self.driver.ephemeris_time = [297088762.61698407]
+ self.driver._props = {'nadir': True}
+ orientation = self.driver.sensor_orientation
+ np.testing.assert_allclose(orientation[0], [-0.08443224924851939, -0.017974644466439982, -0.9949019866167608, -0.052135827116906064])
+
def test_light_time_correction_keyword():
with patch('ale.base.data_naif.spice.gcpool', return_value=['NONE']) as gcpool, \
patch('ale.base.data_naif.NaifSpice.ikid', new_callable=PropertyMock) as ikid:
diff --git a/tests/pytests/test_lro_drivers.py b/tests/pytests/test_lro_drivers.py
index fc605de..5328b53 100644
--- a/tests/pytests/test_lro_drivers.py
+++ b/tests/pytests/test_lro_drivers.py
@@ -292,7 +292,7 @@ class test_pds_naif(unittest.TestCase):
spacecraft_direction.return_value = -1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
spacecraft_direction.return_value = 1
- np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])
+ np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
# ========= Test isislabel and naifspice driver =========
@@ -383,4 +383,4 @@ class test_isis_naif(unittest.TestCase):
spacecraft_direction.return_value = -1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
spacecraft_direction.return_value = 1
- np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])
+ np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
--
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