Minirf Fixes (#563)

* Fixes LRO minirf driver

* Reverted gitignore

* Reverted sensor_frame_id override

* Added naifkeyword test for minirf

* Added changelog entry

* Updated minirf json

* Lunar orbiter high camera (#553)

* skeleton class for LO

* lo center time and ikid

* detector center line/sample dummy values

* LO driver (processes cube w/o error)

* lo test data

* lunar orbiter tests

* removed old comment

* removed geotransform and projection from ISD

* Clementine LWIR, NIR, and HIRES Drivers (#565)

* Clementine Drivers

* Added missing kernels

* Combined to one driver

* Updated doc strings

* 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

* Updated ALE version in CmakeList.txt (#555)

* Ale Path Expansion Fixes (#551)

* Fixed expandvar function to expand paths completely

* Made expandvars fail if it can't expand a variable

* fixed typo

---------

Co-authored-by: Jacob Cain <115182890+jrcain-usgs@users.noreply.github.com>
Co-authored-by: Amy Stamile <74275278+amystamile-usgs@users.noreply.github.com>
Co-authored-by: Kelvin <krodriguez@usgs.gov>

CHANGELOG.md

@@ -38,6 +38,9 @@ release.
 ### Added
 - Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547)
 
+### Fixed
+- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#563](https://github.com/DOI-USGS/ale/pull/563)
+
 ## [0.9.1] - 2023-06-05
 
 ### Changed

ale/drivers/lro_drivers.py

@@ -814,19 +814,21 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver):
         : float
           start time
         """
-        return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+        return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f")) - self.line_exposure_duration
 
     @property
     def ephemeris_stop_time(self):
         """
-        Returns the stop ephemeris time for the image.
+        Returns the stop ephemeris time for the image. This is computed from 
+        the start time plus the line exposure per line, plus the line exposure
+        removed from the start time, plus the line exposure for the final line.
 
         Returns
         -------
         : float
           stop time
         """
-        return spice.str2et(self.utc_stop_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+        return self.ephemeris_start_time + (self.image_lines * self.line_exposure_duration) + (self.line_exposure_duration * 2)
 
     @property
     def look_direction(self):
@@ -846,7 +848,6 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver):
         Returns the Naif ID code for the sensor reference frame
         We replace this with the target frame ID because the sensor operates
         entirely in the target reference frame
-
         Returns
         -------
         : int
@@ -854,7 +855,28 @@ class LroMiniRfIsisLabelNaifSpiceDriver(Radar, NaifSpice, IsisLabel, Driver):
         """
         return self.target_frame_id
 
+    @property
+    def naif_keywords(self):
+        """
+        Adds the correct TRANSX/Y and ITRANS/L values for use in ISIS. By default
+        these values are placeholders in the ISIS iaks and need to be computed manully
+        from the ground range resolution. See RadarGroundRangeMap.cpp in ISIS for
+        the calculations.
 
+        Returns
+        -------
+          : dict
+            An updated dictionary of NAIF keywords with the correct TRANSX/Y and ITRANSS/L
+            values computed
+        """
+        naif_keywords = super().naif_keywords
+        ground_range_resolution = self.label['IsisCube']['Instrument']["ScaledPixelHeight"]
+        icode = "INS" + str(self.ikid)
+        naif_keywords[icode + "_TRANSX"] = [-1.0 * ground_range_resolution, ground_range_resolution, 0.0]
+        naif_keywords[icode + "_TRANSY"] = [0.0, 0.0, 0.0]
+        naif_keywords[icode + "_ITRANSS"] = [1.0, 1.0 / ground_range_resolution, 0.0]
+        naif_keywords[icode + "_ITRANSL"] = [0.0, 0.0, 0.0]
+        return naif_keywords
 
 class LroLrocWacIsisLabelIsisSpiceDriver(PushFrame, IsisLabel, IsisSpice, RadialDistortion, Driver):
     @property

tests/pytests/test_lro_drivers.py

@@ -261,12 +261,20 @@ class test_miniRf(unittest.TestCase):
 
     def test_ephmeris_start_time(self):
         with patch('ale.drivers.lro_drivers.spice.str2et', return_value=12345) as str2et:
-          assert self.driver.ephemeris_start_time == 12345
+          assert self.driver.ephemeris_start_time == 12344.995295578527
 
     def test_ephmeris_stop_time(self):
         with patch('ale.drivers.lro_drivers.spice.str2et', return_value=12345) as str2et:
-          assert self.driver.ephemeris_stop_time == 12345
-
+          assert self.driver.ephemeris_stop_time == 12348.297799453276
+
+    @patch('ale.base.data_naif.NaifSpice.naif_keywords', new_callable=PropertyMock, return_value={})
+    def test_naif_keywords(self, naif_keywords):
+        with patch("ale.base.data_naif.spice.bods2c", return_value=12345) as bods2c:
+            print(self.driver.naif_keywords["INS12345_ITRANSL"])
+            np.testing.assert_array_almost_equal(self.driver.naif_keywords["INS12345_ITRANSL"], [0.0, 0.0, 0.0])
+            np.testing.assert_array_almost_equal(self.driver.naif_keywords["INS12345_ITRANSS"], [1.0, 0.13333333333333, 0])
+            np.testing.assert_array_almost_equal(self.driver.naif_keywords["INS12345_TRANSX"], [-7.5, 7.5, 0])
+            np.testing.assert_array_almost_equal(self.driver.naif_keywords["INS12345_TRANSY"], [0, 0, 0])
 
 # ========= Test WAC isislabel and naifspice driver =========
 class test_wac_isis_naif(unittest.TestCase):