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Commit 785d9aa8 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by Kristin
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Kaguya Driver Updates (#105) 

* added Kaguya TC driver

* addressed comments

* forgot to import config

* ijport glob

* all the things

* for some reason line_exposure_duration is a list, but only sometimes

* updated Dawn with new bnames

* better names for CTX Isis drivers(?)

* renamed distortion

* moved enter/exit logic back into the spice class

* removed print statement

* revert name change

* tc_id -> _tc_id

* something something kaguya

* KaguyaTC now uses correct line exposure duration

* removed compression key

* added comments

* added starting sample method

* added more comments

* updated comments

* typos fixed

* more typos
parent 0e7e1f66
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ale/drivers/kaguya_driver.py
+ 138
− 22
View file @ 785d9aa8
...@@ -11,6 +11,29 @@ from ale import config ...@@ -11,6 +11,29 @@ from ale import config
from ale.drivers.base import Driver, LineScanner, PDS3, Spice, TransverseDistortion from ale.drivers.base import Driver, LineScanner, PDS3, Spice, TransverseDistortion
class TcPds3Driver(Driver, LineScanner, PDS3, Spice): class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
"""
Driver for a PDS3 Kaguya Terrain Camera (TC) images. Specifically level2b0 mono and stereo images.
NOTES
-----
* Kaguaya has adjusted values for some of its keys, usually suffixed with `CORRECTED_`.
These corrected values should always be preffered over the original values.
* The Kaguya TC doesn't use a generic Distortion Model, uses on unique to the TC.
Therefore, methods normally in the Distortion classes are reimplemented here.
"""
@property
def metakernel(self):
metakernel_dir = config.kaguya
mks = sorted(glob(os.path.join(metakernel_dir,'*.tm')))
if not hasattr(self, '_metakernel'):
for mk in mks:
if str(self.start_time.year) in os.path.basename(mk):
self._metakernel = mk
return self._metakernel
@property @property
def instrument_id(self): def instrument_id(self):
""" """
...@@ -19,7 +42,8 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -19,7 +42,8 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
INSTRUMENT_ID = TC1/TC2 INSTRUMENT_ID = TC1/TC2
SD = S/D short for single or double, which in turn means whether the SD = S/D short for single or double, which in turn means whether the
the label belongs to a mono or stereo image. the label belongs to a mono or stereo image.
COMPRESS = D/T short for DCT or through, we assume labels belong COMPRESS = D/T short for DCT or through, we assume image has been decompressed already
SWATCH = swatch mode, different swatch modes have different FOVs
""" """
instrument = self.label.get("INSTRUMENT_ID") instrument = self.label.get("INSTRUMENT_ID")
swath = self.label.get("SWATH_MODE_ID")[0] swath = self.label.get("SWATH_MODE_ID")[0]
...@@ -31,25 +55,19 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -31,25 +55,19 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
@property @property
def _tc_id(self): def _tc_id(self):
""" """
Returns ikid of LISM_TC1 or LISM_TC2, depending which camera was used
for capturing the image.
Some keys are stored in the IK kernel under a general ikid for TC1/TC2 Some keys are stored in the IK kernel under a general ikid for TC1/TC2
presumably because they are not affected by the addtional parameters encoded in presumably because they are not affected by the addtional parameters encoded in
the ikid returned by self.ikid. This method exists for those gdpool calls. the ikid returned by self.ikid. This method exists for those gdpool calls.
""" """
return spice.bods2c("LISM_{}".format(self.label.get("INSTRUMENT_ID"))) return spice.bods2c("LISM_{}".format(self.label.get("INSTRUMENT_ID")))
@property
def metakernel(self):
metakernel_dir = config.kaguya
mks = sorted(glob(os.path.join(metakernel_dir,'*.tm')))
if not hasattr(self, '_metakernel'):
for mk in mks:
if str(self.start_time.year) in os.path.basename(mk):
self._metakernel = mk
return self._metakernel
@property @property
def ending_ephemeris_time(self): def ending_ephemeris_time(self):
if not hasattr(self, '_ending_ephemeris_time'): if not hasattr(self, '_ending_ephemeris_time'):
# We need to get the corrected time
self._ending_ephemeris_time = self.label.get('CORRECTED_SC_CLOCK_STOP_COUNT').value self._ending_ephemeris_time = self.label.get('CORRECTED_SC_CLOCK_STOP_COUNT').value
self._ending_ephemeris_time = spice.sct2e(self.spacecraft_id, self._ending_ephemeris_time) self._ending_ephemeris_time = spice.sct2e(self.spacecraft_id, self._ending_ephemeris_time)
return self._ending_ephemeris_time return self._ending_ephemeris_time
...@@ -58,17 +76,19 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -58,17 +76,19 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
@property @property
def starting_ephemeris_time(self): def starting_ephemeris_time(self):
if not hasattr(self, '_starting_ephemeris_time'): if not hasattr(self, '_starting_ephemeris_time'):
# We need to get the corrected time
self._starting_ephemeris_time = self.label.get('CORRECTED_SC_CLOCK_START_COUNT').value self._starting_ephemeris_time = self.label.get('CORRECTED_SC_CLOCK_START_COUNT').value
self._starting_ephemeris_time = spice.sct2e(self.spacecraft_id, self._starting_ephemeris_time) self._starting_ephemeris_time = spice.sct2e(self.spacecraft_id, self._starting_ephemeris_time)
return self._starting_ephemeris_time return self._starting_ephemeris_time
@property @property
def _detector_center_line(self): def _detector_center_line(self):
return 1 return 0
@property @property
def _detector_center_sample(self): def _detector_center_sample(self):
return spice.gdpool('INS{}_CENTER'.format(self._tc_id), 0, 2)[0] # Pixels are 0 based, not one based, so subtract 1
return spice.gdpool('INS{}_CENTER'.format(self._tc_id), 0, 2)[0]-1
@property @property
def _sensor_orientation(self): def _sensor_orientation(self):
...@@ -88,13 +108,25 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -88,13 +108,25 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
self._orientation = qua self._orientation = qua
return self._orientation.tolist() return self._orientation.tolist()
@property
def reference_frame(self):
"""
Kaguya uses a slightly more accurate "mean Earth" reference frame for
moon obvervations. see https://darts.isas.jaxa.jp/pub/spice/SELENE/kernels/fk/moon_assoc_me.tf
"""
if self.target_name.lower == "moon":
"MOON_ME"
else:
# TODO: How do we handle no target?
return "NO TARGET"
@property @property
def focal2pixel_samples(self): def focal2pixel_samples(self):
""" """
Calculated using 1/pixel pitch Calculated using 1/pixel pitch
""" """
pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self._tc_id), 0, 1)[0] pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self._tc_id), 0, 1)[0]
return [0, 0, 1/pixel_size] return [0, 0, -1/pixel_size]
@property @property
...@@ -103,7 +135,7 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -103,7 +135,7 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
Calculated using 1/pixel pitch Calculated using 1/pixel pitch
""" """
pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self._tc_id), 0, 1)[0] pixel_size = spice.gdpool('INS{}_PIXEL_SIZE'.format(self._tc_id), 0, 1)[0]
return [0, 1/pixel_size, 0] return [0, -1/pixel_size, 0]
@property @property
...@@ -129,21 +161,105 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice): ...@@ -129,21 +161,105 @@ class TcPds3Driver(Driver, LineScanner, PDS3, Spice):
@property @property
def line_exposure_duration(self): def line_exposure_duration(self):
# this is dumb """
if isinstance(self.label['LINE_EXPOSURE_DURATION'], list): Returns Line Exposure Duration
return self.label['LINE_EXPOSURE_DURATION'][0].value * 0.001 # Scale to seconds
else: Kaguya TC has an unintuitive key for this called CORRECTED_SAMPLING_INTERVAL.
return self.label['LINE_EXPOSURE_DURATION'].value * 0.001 # Scale to seconds The original LINE_EXPOSURE_DURATION PDS3 keys is often incorrect and cannot
be trusted.
"""
# It's a list, but only sometimes.
# seems to depend on whether you are using the original zipped archives or
# if its downloaded from Jaxa's image search:
# (https://darts.isas.jaxa.jp/planet/pdap/selene/product_search.html#)
try:
return self.label['CORRECTED_SAMPLING_INTERVAL'][0].value * 0.001 # Scale to seconds
except:
return self.label['CORRECTED_SAMPLING_INTERVAL'].value * 0.001 # Scale to seconds
@property @property
def _focal_length(self): def _focal_length(self):
"""
Returns
-------
: float
Camera focal length
"""
return float(spice.gdpool('INS{}_FOCAL_LENGTH'.format(self._tc_id), 0, 1)[0]) return float(spice.gdpool('INS{}_FOCAL_LENGTH'.format(self._tc_id), 0, 1)[0])
@property @property
def optical_distortion(self): def optical_distortion(self):
"""
Kaguya uses a unique radial distortion model so we need to overwrite the
method packing the distortion model into the ISD.
from the IK:
Line-of-sight vector of pixel no. n can be expressed as below.
Distortion coefficients information:
INS<INSTID>_DISTORTION_COEF_X = ( a0, a1, a2, a3)
INS<INSTID>_DISTORTION_COEF_Y = ( b0, b1, b2, b3),
Distance r from the center:
r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.
Line-of-sight vector v is calculated as
v[X] = INS<INSTID>BORESIGHT[X] + a0 + a1*r + a2*r^2 + a3*r^3 ,
v[Y] = INS<INSTID>BORESIGHT[Y] + r+a0 + a1*r +a2*r^2 + a3*r^3 ,
v[Z] = INS<INSTID>BORESIGHT[Z]
"""
return { return {
"kaguyatc": { "kaguyatc": {
"x" : self._odky, "x" : self._odkx,
"y" : self._odkx "y" : self._odky
} }
} }
@property
def starting_detector_sample(self):
"""
Returns starting detector sample
Starting sample varies from swath mode (either FULL, NOMINAL or HALF).
From Kaguya IK kernel:
End
Start Pixel
Sensor Pixel (+dummy) NAIF ID
-----------------------------------------------------------------
LISM_TC1 1 4096 -131351
LISM_TC2 1 4096 -131371
LISM_TC1_WDF (Double DCT Full) 1 4096 -131352
LISM_TC1_WTF (Double Through Full) 1 1600 -131353
LISM_TC1_SDF (Single DCT Full) 1 4096 -131354
LISM_TC1_STF (Single Through Full) 1 3208 -131355
LISM_TC1_WDN (Double DCT Nominal) 297 3796(+4) -131356
LISM_TC1_WTN (Double Through Nominal) 297 1896 -131357
LISM_TC1_SDN (Single DCT Nominal) 297 3796(+4) -131358
LISM_TC1_STN (Single Through Nominal) 297 3504 -131359
LISM_TC1_WDH (Double DCT Half) 1172 2921(+2) -131360
LISM_TC1_WTH (Double Through Half) 1172 2771 -131361
LISM_TC1_SDH (Single DCT Half) 1172 2921(+2) -131362
LISM_TC1_STH (Single Through Half) 1172 2923 -131363
LISM_TC1_SSH (Single SP_support Half) 1172 2921 -131364
LISM_TC2_WDF (Double DCT Full) 1 4096 -131372
LISM_TC2_WTF (Double Through Full) 1 1600 -131373
LISM_TC2_SDF (Single DCT Full) 1 4096 -131374
LISM_TC2_STF (Single Through Full) 1 3208 -131375
LISM_TC2_WDN (Double DCT Nominal) 297 3796(+4) -131376
LISM_TC2_WTN (Double Through Nominal) 297 1896 -131377
LISM_TC2_SDN (Single DCT Nominal) 297 3796(+4) -131378
LISM_TC2_STN (Single Through Nominal) 297 3504 -131379
LISM_TC2_WDH (Double DCT Half) 1172 2921(+2) -131380
LISM_TC2_WTH (Double Through Half) 1172 2771 -131381
LISM_TC2_SDH (Single DCT Half) 1172 2921(+2) -131382
LISM_TC2_STH (Single Through Half) 1172 2923 -131383
LISM_TC2_SSH (Single SP_support Half) 1172 2921 -131384
"""
return self.label["FIRST_PIXEL_NUMBER"]
tests/pytests/conftest.py
+ 0
− 2
View file @ 785d9aa8
...@@ -25,8 +25,6 @@ class SimpleSpice(): ...@@ -25,8 +25,6 @@ class SimpleSpice():
return "SPACE" return "SPACE"
def sct2e(self, *args): def sct2e(self, *args):
return 0.1 return 0.1
def scs2e(self, *args):
return 0.1
def get_mockkernels(self, *args): def get_mockkernels(self, *args):
return "some_metakernel" return "some_metakernel"
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