diff --git a/CHANGELOG.md b/CHANGELOG.md
index 31e559e04d95b76d5376ac1a6727357fa0de15b5..75abfd90f245568bd237ce055db10d5b2f83f651 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -45,6 +45,10 @@ 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)
+### Changed
+- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579)
+
+
## [0.9.1] - 2023-06-05
### Changed
diff --git a/ale/drivers/lo_drivers.py b/ale/drivers/lo_drivers.py
index 42a7d2d97b947cc7ec6bb002a60889be1de04b76..7150982c6fa63575a75b83e61d4f7782ea0baca1 100644
--- a/ale/drivers/lo_drivers.py
+++ b/ale/drivers/lo_drivers.py
@@ -1,6 +1,5 @@
import spiceypy as spice
import numpy as np
-import affine6p
from ale.base.data_naif import NaifSpice
from ale.base.label_isis import IsisLabel
from ale.base.type_sensor import Framer
@@ -156,17 +155,25 @@ class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDisto
p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value
# Create Affine Transformation
-
p_src = [p_fidSamples, p_fidLines]
p_dst = [p_fidXCoords, p_fidYCoords]
- # format the fiducial coordinatens as [ [x, y], [x, y]...]
+ # Format the fiducial coordinates as [ [x, y], [x, y]...]
p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))
p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))
- # find a best match for the transformation based on source and destination coordinates
- tr_mat = affine6p.estimate(p_src, p_dst).get_matrix()
+ # Pad data with ones so that the transformation allows translations
+ pad = lambda x: np.hstack([x, np.ones((x.shape[0], 1))])
+ X = pad(p_src)
+ Y = pad(p_dst)
+ # Solve the least squares problem X * A = Y to find our transformation matrix A
+ A, res, rank, s = np.linalg.lstsq(X, Y)
+
+ # Transpose matrix and convert to list
+ tr_mat = np.transpose(A).tolist()
+
+ # Compute inverse of transformation matrix
tr_mat_inv = np.linalg.inv(tr_mat)
# X and Y, Inverse S and L components of transformation
@@ -175,7 +182,7 @@ class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDisto
itranss = tr_mat_inv[0]
itransl = tr_mat_inv[1]
- # move the last item to the front to get the ordering standard in ISIS
+ # Move the last item to the front to get the ordering standard in ISIS
transx.insert(0, transx.pop())
transy.insert(0, transy.pop())
itranss = np.roll(itranss, 1).tolist()
diff --git a/environment.yml b/environment.yml
index b450dc6010e7e2e00f2dd6f14ad5506a66c39c98..062d3e934e7af97e7d0fc7db2b9e786a02b791af 100644
--- a/environment.yml
+++ b/environment.yml
@@ -22,6 +22,3 @@ dependencies:
- pytest-cov
- networkx
- breathe
- - pip
- - pip:
- - affine6p
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index 3ce001b069feaa2aae96e7d778fe57a9ef3e2ce7..80bc112dd500111904ab566f345eae2b76682864 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -18,7 +18,6 @@ requirements:
- cmake>=3.15
- eigen
host:
- - pip
- python
- nlohmann_json
run:
diff --git a/tests/pytests/test_lo_drivers.py b/tests/pytests/test_lo_drivers.py
index f1c2befa21e2cf28997737e6e877caa6eb2acca3..50010ad764570de11a93142e5626af5f80c443e1 100644
--- a/tests/pytests/test_lo_drivers.py
+++ b/tests/pytests/test_lo_drivers.py
@@ -98,7 +98,6 @@ class test_high_isis3_naif(unittest.TestCase):
namfrm.assert_called_with("LO3_HIGH_RESOLUTION_CAMERA")
def test_naif_keywords(self):
-
with patch('ale.drivers.lo_drivers.LoHighCameraIsisLabelNaifSpiceDriver.ikid', new_callable=PropertyMock) as ikid, \
patch('ale.base.data_naif.spice.bodvrd', return_value=[1737.4, 1737.4, 1737.4]) as bodvrd:
@@ -114,6 +113,22 @@ class test_high_isis3_naif(unittest.TestCase):
"INS-533001_ITRANSL" : [4541.692430539061, -0.05845617762411283, 143.95514969883214]
}
- assert self.driver.naif_keywords == naif_keywords
+ assert self.driver.naif_keywords["BODY_CODE"] == naif_keywords["BODY_CODE"]
+ assert self.driver.naif_keywords["BODY301_RADII"] == naif_keywords["BODY301_RADII"]
+ assert self.driver.naif_keywords["BODY_FRAME_CODE"] == naif_keywords["BODY_FRAME_CODE"]
+
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSX"]),
+ np.asarray(naif_keywords["INS-533001_TRANSX"]),
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSY"]),
+ np.asarray(naif_keywords["INS-533001_TRANSY"]),
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSS"]),
+ np.asarray(naif_keywords["INS-533001_ITRANSS"]),
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSL"]),
+ np.asarray(naif_keywords["INS-533001_ITRANSL"]),
+ decimal=10)
+
bodvrd.assert_called_with('Moon', 'RADII', 3)