diff --git a/ale/rotation.py b/ale/rotation.py
index 62bc3855a56d75bf98606ef5e1086673f3732d15..600ca3881348a1d40f5acd0cca597da46d602a7e 100644
--- a/ale/rotation.py
+++ b/ale/rotation.py
@@ -110,7 +110,7 @@ class ConstantRotation:
new_rot = self._rot * other._rot
return ConstantRotation(new_rot.as_quat(), other.source, self.dest)
elif isinstance(other, TimeDependentRotation):
- return TimeDependentRotation((self._rot * other._rots).as_quat(), other.times, other.source, self.dest, av=self._rot.apply(other.av))
+ return TimeDependentRotation((self._rot * other._rots).as_quat(), other.times, other.source, self.dest, av=other.av)
else:
raise TypeError("Rotations can only be composed with other rotations.")
@@ -325,13 +325,18 @@ class TimeDependentRotation:
if self.source != other.dest:
raise ValueError("Destination frame of first rotation {} is not the same as source frame of second rotation {}.".format(other.dest, self.source))
if isinstance(other, ConstantRotation):
- return TimeDependentRotation((self._rots * other._rot).as_quat(), self.times, other.source, self.dest, av=self.av)
+ if self.av is not None:
+ other_inverse = other._rot.inv()
+ new_av = np.asarray([other_inverse.apply(av) for av in self.av])
+ else:
+ new_av = None
+ return TimeDependentRotation((self._rots * other._rot).as_quat(), self.times, other.source, self.dest, av=new_av)
elif isinstance(other, TimeDependentRotation):
merged_times = np.union1d(np.asarray(self.times), np.asarray(other.times))
reinterp_self = self.reinterpolate(merged_times)
reinterp_other = other.reinterpolate(merged_times)
new_quats = (reinterp_self._rots * reinterp_other._rots).as_quat()
- new_av = reinterp_self.av + reinterp_self._rots.apply(reinterp_other.av)
+ new_av = reinterp_other._rots.inv().apply(reinterp_self.av) + reinterp_other.av
return TimeDependentRotation(new_quats, merged_times, other.source, self.dest, av=new_av)
else:
raise TypeError("Rotations can only be composed with other rotations.")
diff --git a/tests/pytests/test_mdis_drivers.py b/tests/pytests/test_mdis_drivers.py
index 424adffa6824fd4298b25b237523b339ee1401fb..b2ac9b2fae92bb9f7c6e59f5916704590d2165f7 100644
--- a/tests/pytests/test_mdis_drivers.py
+++ b/tests/pytests/test_mdis_drivers.py
@@ -20,57 +20,165 @@ def test_kernels():
for kern in binary_kernels:
os.remove(kern)
-@pytest.fixture()
-def usgscsm_compare_dict():
- return {
- 'radii': {
- 'semimajor': 2439.4,
- 'semiminor': 2439.4,
- 'unit': 'km'},
- 'sensor_position': {
- 'positions': np.array([[-629496.4862139452, -1582946.0091313303, 1783952.6403104223]]),
- 'velocities': np.array([[1732.186663134826, 2502.768253236102, 2412.6523222267365]]),
- 'unit': 'm'},
- 'sun_position': {
- 'positions': np.array([[-4.68946673e+10, -5.36158427e+08, 2.71167863e+07]]),
- 'velocities': np.array([[-4629.73346128, 256.72086237, 10.63960444]]),
- 'unit': 'm'},
- 'sensor_orientation': {
- 'quaternions': np.array([[-0.9341837162001089, -0.0014477307579469636, 0.0044938223368195815, 0.3567611161870253]])},
- 'detector_sample_summing': 2,
- 'detector_line_summing': 2,
- 'focal_length_model': {
- 'focal_length': 549.5535053027719},
- 'detector_center': {
- 'line': 512,
- 'sample': 512},
- 'starting_detector_line': 1,
- 'starting_detector_sample': 9,
- 'focal2pixel_lines': [0.0, 0.0, 71.42857143],
- 'focal2pixel_samples': [0.0, 71.42857143, 0.0],
- 'optical_distortion': {
- 'transverse': {
- 'x': [0.0, 1.001854269623802, 0.0, 0.0, -0.0005094440474941111, 0.0, 1.004010471468856e-05, 0.0, 1.004010471468856e-05, 0.0],
- 'y': [0.0, 0.0, 1.0, 0.0009060010594996751, 0.0, 0.0003574842626620758, 0.0, 1.004010471468856e-05, 0.0, 1.004010471468856e-05]}},
- 'image_lines': 512,
- 'image_samples': 512,
- 'name_platform': 'MESSENGER',
- 'name_sensor': 'MERCURY DUAL IMAGING SYSTEM NARROW ANGLE CAMERA',
- 'reference_height': {
- 'maxheight': 1000,
- 'minheight': -1000,
- 'unit': 'm'},
- 'name_model': 'USGS_ASTRO_FRAME_SENSOR_MODEL',
- 'center_ephemeris_time': 483122606.85252464}
+image_dict = {
+ # MDIS NAC
+ 'EN1072174528M': {
+ 'isis': {
+ 'CameraVersion': 2,
+ 'NaifKeywords': {
+ 'BODY_CODE' : 199,
+ 'BODY199_RADII' : [2439.4, 2439.4, 2439.4],
+ 'BODY_FRAME_CODE' : 10011,
+ 'INS-236820_SWAP_OBSERVER_TARGET' : 'TRUE',
+ 'INS-236820_LIGHTTIME_CORRECTION' : 'LT+S',
+ 'INS-236820_LT_SURFACE_CORRECT' : 'FALSE',
+ 'INS-236820_REFERENCE_FRAME' : 'MSGR_SPACECRAFT',
+ 'INS-236820_FRAME' : 'MSGR_MDIS_NAC',
+ 'INS-236820_FOCAL_LENGTH' : 549.11781953727,
+ 'INS-236820_PIXEL_PITCH' : 0.014,
+ 'INS-236820_TRANSX' : [0.0, 0.014, 0.0],
+ 'INS-236820_TRANSY' : [0.0, 0.0, 0.014],
+ 'INS-236820_ITRANSS' : [0.0, 71.42857143, 0.0],
+ 'INS-236820_ITRANSL' : [0.0, 0.0, 71.42857143],
+ 'INS-236820_BORESIGHT_SAMPLE' : 512.5,
+ 'INS-236820_BORESIGHT_LINE' : 512.5,
+ 'INS-236820_OD_T_X' : [0.0, 1.0018542696238, 0.0, 0.0, -5.09444047494111e-04, 0.0, 1.00401047146886e-05, 0.0, 1.00401047146886e-05, 0.0],
+ 'INS-236820_OD_T_Y' : [0.0, 0.0, 1.0, 9.06001059499675e-04, 0.0, 3.57484262662076e-04, 0.0, 1.00401047146886e-05, 0.0, 1.00401047146886e-05],
+ 'INS-236820_FPUBIN_START_SAMPLE': 9.0,
+ 'INS-236820_CK_TIME_TOLERANCE': 1.0,
+ 'INS-236820_CK_REFERENCE_ID': 1.0,
+ 'INS-236820_FOV_CLASS_SPEC': 'ANGLES',
+ 'INS-236820_FOV_REF_VECTOR': [1.0,0.0,0.0],
+ 'INS-236820_CK_FRAME_ID': -236000.0,
+ 'INS-236820_FOV_SHAPE': 'RECTANGLE',
+ 'INS-236820_FOV_ANGLE_UNITS': 'DEGREES',
+ 'FRAME_-236820_CLASS': 4.0,
+ 'INS-236820_BORESIGHT_LINE': 512.5,
+ 'INS-236820_SWAP_OBSERVER_TARGET': 'TRUE',
+ 'INS-236820_LIGHTTIME_CORRECTION': 'LT+S',
+ 'INS-236820_FOV_FRAME': 'MSGR_MDIS_NAC',
+ 'INS-236820_PIXEL_SAMPLES': 1024.0,
+ 'INS-236820_REFERENCE_FRAME': 'MSGR_SPACECRAFT',
+ 'INS-236820_FL_UNCERTAINTY': 0.5,
+ 'INS-236820_ITRANSL': [0.0,0.0,71.42857143],
+ 'INS-236820_ITRANSS': [0.0,71.42857143,0.0],
+ 'INS-236820_FOV_CROSS_ANGLE': 0.7465,
+ 'TKFRAME_-236820_SPEC': 'MATRIX',
+ 'INS-236820_BORESIGHT_SAMPLE': 512.5,
+ 'INS-236820_PIXEL_LINES': 1024.0,
+ 'INS-236820_F/NUMBER': 22.0,
+ 'INS-236820_IFOV': 25.44,
+ 'INS-236820_SPK_TIME_BIAS': 0.0,
+ 'INS-236820_CCD_CENTER': [512.5,512.5],
+ 'FRAME_-236820_NAME': 'MSGR_MDIS_NAC',
+ 'INS-236820_FRAME': 'MSGR_MDIS_NAC',
+ 'INS-236820_PLATFORM_ID': -236000.0,
+ 'INS-236820_LT_SURFACE_CORRECT': 'FALSE',
+ 'INS-236820_TRANSX': [0.0,0.014,0.0],
+ 'INS-236820_TRANSY': [0.0,0.0,0.014],
+ 'INS-236820_FL_TEMP_COEFFS': [549.5120497341695,0.01018564339123439,0.0,0.0,0.0,0.0],
+ 'FRAME_-236820_CENTER': -236.0,
+ 'TKFRAME_-236820_RELATIVE': 'MSGR_MDIS_WAC',
+ 'INS-236820_WAVELENGTH_RANGE': [700.0,800.0],
+ 'INS-236820_CK_TIME_BIAS': 0.0,
+ 'INS-236820_FOV_REF_ANGLE': 0.7465,
+ 'TKFRAME_-236820_MATRIX': [-0.9998215487408793,-0.018816063038872958,0.001681203469647119,0.01881610195359367,-0.9998229614554359,7.33168257224375e-06,0.0016807678784302768,3.8964070113872887e-05,0.9999985867495713],
+ 'INS-236820_FPUBIN_START_LINE': 1.0,
+ 'FRAME_-236820_CLASS_ID': -236820.0,
+ 'INS-236820_PIXEL_PITCH': 0.014,
+ 'INS-236820_BORESIGHT': [0.0,0.0,1.0],
+ 'BODY199_PM': [329.5988,6.1385108,0.0],
+ 'BODY199_POLE_RA': [281.0103,-0.0328,0.0],
+ 'BODY199_NUT_PREC_PM': [0.01067257,-0.00112309,-0.0001104,-2.539e-05,-5.71e-06],
+ 'BODY199_LONG_AXIS': 0.0,
+ 'BODY199_POLE_DEC': [61.4155,-0.0049,0.0],
+ 'BODY199_NUT_PREC_RA': [0.0,0.0,0.0,0.0,0.0],
+ 'BODY199_NUT_PREC_DEC': [0.0,0.0,0.0,0.0,0.0]
+ },
+ 'InstrumentPointing': {
+ 'TimeDependentFrames': [-236890, -236892, -236880, -236000, 1],
+ 'ConstantFrames': [-236820, -236800, -236890],
+ 'ConstantRotation': (0.001686595916635, 0.99996109494739, 0.0086581745086423, 6.3008625209968e-04, -0.0086592477671008, 0.99996230949942, 0.99999837919145, -0.0016810769512645, -6.44666390486019e-04),
+ 'CkTableStartTime': 483122606.85252,
+ 'CkTableEndTime': 483122606.85252,
+ 'CkTableOriginalSize': 1,
+ 'EphemerisTimes': [483122606.85252],
+ 'Quaternions': [[-0.38021468196247,-0.021997068513824,0.88129521110671,0.27977075522175]],
+ 'AngularVelocity' : [[3.70128511234226e-04,-0.0012069098299837,-6.64295531160265e-04]]},
+ 'BodyRotation': {
+ 'TimeDependentFrames': [10011, 1],
+ 'CkTableStartTime': 483122606.85252,
+ 'CkTableEndTime': 483122606.85252,
+ 'CkTableOriginalSize': 1,
+ 'EphemerisTimes': [483122606.85252],
+ 'Quaternions': [[-0.58791736752687,0.18448696708541,-0.16404715837556,0.77032866866346]],
+ 'AngularVelocity' : [[1.13272180361114e-07,-5.82448215686951e-07,1.08896661936564e-06]]},
+ 'InstrumentPosition': {
+ 'SpkTableStartTime': 483122606.85252,
+ 'SpkTableEndTime': 483122606.85252,
+ 'SpkTableOriginalSize': 1,
+ 'EphemerisTimes': [483122606.85252],
+ 'Positions': [[1844.0372753409,-966.47836059939,1322.8442926008]],
+ 'Velocities': [[-2.6146204621248,-0.30506719264668,2.8563617189104]]},
+ 'SunPosition': {
+ 'SpkTableStartTime': 483122606.85252,
+ 'SpkTableEndTime': 483122606.85252,
+ 'SpkTableOriginalSize': 1,
+ 'EphemerisTimes': [483122606.85252],
+ 'Positions': [[11805115.780304,-39513889.220831,-22331586.824705]],
+ 'Velocities': [[56.903276907758496, 11.401211521119633, 0.19123815749182813]]}},
+ 'usgscsm': {
+ 'radii': {
+ 'semimajor': 2439.4,
+ 'semiminor': 2439.4,
+ 'unit': 'km'},
+ 'sensor_position': {
+ 'positions': np.array([[-629496.4862139452, -1582946.0091313303, 1783952.6403104223]]),
+ 'velocities': np.array([[1732.186663134826, 2502.768253236102, 2412.6523222267365]]),
+ 'unit': 'm'},
+ 'sun_position': {
+ 'positions': np.array([[-4.68946673e+10, -5.36158427e+08, 2.71167863e+07]]),
+ 'velocities': np.array([[-4629.73346128, 256.72086237, 10.63960444]]),
+ 'unit': 'm'},
+ 'sensor_orientation': {
+ 'quaternions': np.array([[-0.9341837162001089, -0.0014477307579469636, 0.0044938223368195815, 0.3567611161870253]])},
+ 'detector_sample_summing': 2,
+ 'detector_line_summing': 2,
+ 'focal_length_model': {
+ 'focal_length': 549.5535053027719},
+ 'detector_center': {
+ 'line': 512,
+ 'sample': 512},
+ 'starting_detector_line': 1,
+ 'starting_detector_sample': 9,
+ 'focal2pixel_lines': [0.0, 0.0, 71.42857143],
+ 'focal2pixel_samples': [0.0, 71.42857143, 0.0],
+ 'optical_distortion': {
+ 'transverse': {
+ 'x': [0.0, 1.001854269623802, 0.0, 0.0, -0.0005094440474941111, 0.0, 1.004010471468856e-05, 0.0, 1.004010471468856e-05, 0.0],
+ 'y': [0.0, 0.0, 1.0, 0.0009060010594996751, 0.0, 0.0003574842626620758, 0.0, 1.004010471468856e-05, 0.0, 1.004010471468856e-05]}},
+ 'image_lines': 512,
+ 'image_samples': 512,
+ 'name_platform': 'MESSENGER',
+ 'name_sensor': 'MERCURY DUAL IMAGING SYSTEM NARROW ANGLE CAMERA',
+ 'reference_height': {
+ 'maxheight': 1000,
+ 'minheight': -1000,
+ 'unit': 'm'},
+ 'name_model': 'USGS_ASTRO_FRAME_SENSOR_MODEL',
+ 'center_ephemeris_time': 483122606.85252464}}}
@pytest.mark.parametrize("label_type", ["pds3", "isis3"])
-def test_load(test_kernels, usgscsm_compare_dict, label_type):
- label_file = get_image_label('EN1072174528M', label_type)
+@pytest.mark.parametrize("formatter", ['usgscsm', 'isis'])
+@pytest.mark.parametrize("image", image_dict.keys())
+def test_load(test_kernels, label_type, formatter, image):
+ label_file = get_image_label(image, label_type)
- usgscsm_isd_str = ale.loads(label_file, props={'kernels': test_kernels}, formatter='usgscsm')
+ usgscsm_isd_str = ale.loads(label_file, props={'kernels': test_kernels}, formatter=formatter)
usgscsm_isd_obj = json.loads(usgscsm_isd_str)
+ print(json.dumps(usgscsm_isd_obj, indent=2))
- assert compare_dicts(usgscsm_isd_obj, usgscsm_compare_dict) == []
+ assert compare_dicts(usgscsm_isd_obj, image_dict[image][formatter]) == []
# ========= Test Pds3 Label and NAIF Spice driver =========
class test_pds3_naif(unittest.TestCase):
diff --git a/tests/pytests/test_mro_drivers.py b/tests/pytests/test_mro_drivers.py
index 205051f12855770da200d2bc55481f1869da4ac1..e1d96d601cdf1656ac028e36899c2463adc7fd9b 100644
--- a/tests/pytests/test_mro_drivers.py
+++ b/tests/pytests/test_mro_drivers.py
@@ -235,12 +235,12 @@ def isis_compare_dict():
[0.42064763, 0.18624551, -0.2397057 , 0.85493237],
[0.42065923, 0.18630667, -0.23967382, 0.85492228],
[0.42067144, 0.18636687, -0.23964185, 0.85491211]],
- 'AngularVelocity': [[-5.797334508173795e-05, 0.0009339642673794059, -0.00011512424986625757],
- [-5.872001786769966e-05, 0.0009343455952639878, -0.00011371124132355403],
- [-6.244619825703372e-05, 0.000935616649435616, -0.00010584418382022431],
- [-5.965469273385757e-05, 0.0009306551165985512, -0.00010670063014175982],
- [-6.001692495046523e-05, 0.0009318842753552843, -0.00010732755544866732],
- [-5.9466333983691536e-05, 0.0009375199811173681, -0.00010690951512741344]]},
+ 'AngularVelocity': [[-0.0006409728984903079, 0.0005054077299115119, 0.0004718267948468069],
+ [-0.0006410700774431097, 0.0005044862657976017, 0.0004731836236807216],
+ [-0.0006408186407087456, 0.0004992170698116158, 0.0004802237192760833],
+ [-0.0006363961683672021, 0.0004989647975959612, 0.00047654664046286975],
+ [-0.0006376443791903504, 0.0004996117504290811, 0.00047678850931380653],
+ [-0.0006404093657132724, 0.0005028749658176146, 0.0004805228583087444]]},
'BodyRotation': {'TimeDependentFrames': [10014, 1],
'CkTableStartTime': 297088762.24158406,
'CkTableEndTime': 297088762.9923841,
diff --git a/tests/pytests/test_rotation.py b/tests/pytests/test_rotation.py
index 249cf2d1b40ebbf8220efffee04ecce44df40fab..ff700a13a1f7672d46eaab12f27acd657a82f87e 100644
--- a/tests/pytests/test_rotation.py
+++ b/tests/pytests/test_rotation.py
@@ -24,10 +24,9 @@ def test_constant_time_dependent_composition():
assert rot1_3.source == 1
assert rot1_3.dest == 3
expected_quats = [[0.5, 0.5, -0.5, 0.5],[1.0/np.sqrt(2), 0, -1.0/np.sqrt(2), 0]]
- expected_av = [[0, 0, -np.pi/2], [0, 0, -np.pi/2]]
np.testing.assert_equal(rot1_3.times, times)
np.testing.assert_almost_equal(rot1_3.quats, expected_quats)
- np.testing.assert_almost_equal(rot1_3.av, expected_av)
+ np.testing.assert_almost_equal(rot1_3.av, av)
def test_time_dependent_constant_composition():
rot1_2 = ConstantRotation([1.0/np.sqrt(2), 0, 0, 1.0/np.sqrt(2)], 1, 2)