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test_lro_drivers.py 19.15 KiB
import pytest
import numpy as np
import os
import unittest
from unittest.mock import MagicMock, PropertyMock, patch
import spiceypy as spice
import json
import ale
from ale import util
from ale.drivers.lro_drivers import LroLrocPds3LabelNaifSpiceDriver
from ale.drivers.lro_drivers import LroLrocIsisLabelNaifSpiceDriver
from ale.transformation import TimeDependentRotation
from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts
image_dict = {
'M103595705LE': {
'isis': {
"CameraVersion": 2,
"NaifKeywords": {
"BODY301_RADII": [ 1737.4, 1737.4, 1737.4 ],
"BODY_FRAME_CODE": 31001,
"BODY_CODE": 301,
"INS-85600_MULTIPLI_LINE_ERROR": 0.0045,
"INS-85600_CK_FRAME_ID": -85000,
"TKFRAME_-85600_RELATIVE": "LRO_SC_BUS",
"INS-85600_PIXEL_SAMPLES": 5064,
"INS-85600_WAVELENGTH_RANGE": [ 400, 760 ],
"INS-85600_ITRANSL": [ 0, 142.857, 0 ],
"INS-85600_TRANSX": [ 0, 0, 0.007 ],
"INS-85600_SWAP_OBSERVER_TARGET": "TRUE",
"INS-85600_TRANSY": [ 0, 0.007, 0 ],
"INS-85600_ITRANSS": [ 0, 0, 142.857 ],
"INS-85600_LIGHTTIME_CORRECTION": "NONE",
"INS-85600_ADDITIVE_LINE_ERROR": 0,
"INS-85600_FOV_BOUNDARY_CORNERS": [
0.0000049738,
-0.025335999999999997,
1,
0.0000049747,
-0.024943,
1,
0.0000050026999999999996,
0,
1,
0.000004975
],
"FRAME_-85600_NAME": "LRO_LROCNACL",
"CK_-85600_SPK": -85,
"INS-85600_CONSTANT_TIME_OFFSET": 0,
"CK_-85600_SCLK": -85,
"INS-85600_PIXEL_LINES": 1,
"INS-85600_BORESIGHT": [ 0, 0, 1 ],
"INS-85600_PLATFORM_ID": -85000,
"INS-85600_BORESIGHT_LINE": 0,
"FRAME_-85600_CLASS": 3,
"INS-85600_FOCAL_LENGTH": 699.62,
"INS-85600_F/RATIO": 3.577,
"INS-85600_OD_K": 0.0000181,
"INS-85600_FOV_SHAPE": "POLYGON",
"INS-85600_PIXEL_SIZE": [ 0.007, 0.007 ],
"INS-85600_BORESIGHT_SAMPLE": 2548,
"INS-85600_PIXEL_PITCH": 0.007,
"INS-85600_ADDITIONAL_PREROLL": 1024,
"INS-85600_CK_REFERENCE_ID": 1,
"INS-85600_LT_SURFACE_CORRECT": "TRUE",
"INS-85600_FOV_FRAME": "LRO_LROCNACL",
"FRAME_-85600_CLASS_ID": -85600,
"INS-85600_IFOV": 0.000010005399999999999,
"FRAME_-85600_CENTER": -85,
"INS-85600_CCD_CENTER": [ 2532.5, 1 ],
"BODY301_POLE_RA": [ 269.9949, 0.0031, 0 ],
"BODY301_NUT_PREC_PM": [ 3.561, 0.1208, -0.0642, 0.0158, 0.0252, -0.0066, -0.0047, -0.0046, 0.0028, 0.0052 ],
"BODY301_NUT_PREC_RA": [ -3.8787000000000003, -0.1204, 0.07, -0.0172, 0, 0.0072, 0, 0, 0, -0.0052 ],
"BODY301_LONG_AXIS": 0,
"BODY301_NUT_PREC_DEC": [ 1.5419, 0.0239, -0.0278, 0.0068, 0, -0.0029, 0.0009, 0, 0, 0.0008 ],
"BODY301_POLE_DEC": [ 66.5392, 0.013, 0 ],
"BODY301_PM": [ 38.3213, 13.17635815, -1.3999999999999999e-12 ]
},
"InstrumentPointing": {
"TimeDependentFrames": [ -85600, -85000, 1 ],
"CkTableStartTime": 302228504.36824864,
"CkTableEndTime": 302228504.7816205,
"CkTableOriginalSize": 6,
"EphemerisTimes": [
302228504.36824864,
302228504.450923,
302228504.5335974,
302228504.61627173,
302228504.6989461,
302228504.7816205
],
"Quaternions": [
[ 0.22984449090659237, 0.8562360121526155, -0.014576324183122052, 0.4624055928145594 ],
[ 0.22984459963498413, 0.8562197280950775, -0.014583335437683352, 0.4624354696246142 ],
[ 0.22984367991941132, 0.8562032842671137, -0.014590196641096627, 0.4624661554895512 ],
[ 0.2298423219602694, 0.8561872277925395, -0.01459745672913303, 0.46249632675068797 ],
[ 0.2298413596492449, 0.8561711699907094, -0.014604593844944487, 0.4625263051005321 ],
[ 0.22984081705372042, 0.8561549931881817, -0.014611505650658618, 0.4625562996626938 ]
],
"AngularVelocity": [
[ 0.00015796288676771882, -0.0007643782570599635, -0.0003174531428220953 ],
[ 0.00015631294459532674, -0.0007657803825957866, -0.0003184081089449395 ],
[ 0.00013745925497849103, -0.0007797744104491687, -0.00032988161600413016 ],
[ 0.00013211442776748356, -0.0007623315159936997, -0.00033874000799855454 ],
[ 0.00014047395809259157, -0.0007614279586831931, -0.0003284683667926366 ],
[ 0.0001443115614238801, -0.0007630657146284228, -0.00032321391571062645 ]
],
"ConstantFrames": [ -85600 ],
"ConstantRotation": [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ]
},
"BodyRotation": {
"TimeDependentFrames": [ 31006, 1 ],
"CkTableStartTime": 302228504.36824864,
"CkTableEndTime": 302228504.7816205,
"CkTableOriginalSize": 6,
"EphemerisTimes": [
302228504.36824864,
302228504.450923,
302228504.5335974,
302228504.61627173,
302228504.6989461,
302228504.7816205
],
"Quaternions": [
[ -0.8896294526439446, 0.18337484217069425, -0.07150784453785884, 0.41209189802380003 ],
[ -0.8896294073127606, 0.1833748342493258, -0.07150786471014642, 0.41209199590986223 ],
[ -0.889629361981566, 0.18337482632795524, -0.07150788488243316, 0.41209209379591966 ],
[ -0.8896293166503605, 0.18337481840658243, -0.07150790505471902, 0.41209219168197186 ],
[ -0.8896292713191442, 0.18337481048520735, -0.071507925227004, 0.4120922895680191 ],
[ -0.8896292259879173, 0.18337480256383012, -0.0715079453992881, 0.41209238745406124 ]
],
"AngularVelocity": [
[ 6.23828510009553e-8, -0.0000010257490014652093, 0.000002455354036200098 ],
[ 6.238285108687342e-8, -0.0000010257490015380855, 0.0000024553540362115642 ],
[ 6.238285117279176e-8, -0.000001025749001610962, 0.0000024553540362230297 ],
[ 6.238285125870996e-8, -0.0000010257490016838385, 0.000002455354036234496 ],
[ 6.2382851344628e-8, -0.0000010257490017567146, 0.0000024553540362459614 ],
[ 6.238285143054625e-8, -0.0000010257490018295912, 0.0000024553540362574277 ]
],
"ConstantFrames": [ 31001, 31007, 31006 ],
"ConstantRotation": [
0.9999998732547144,
-0.00032928542237557133,
0.00038086961867138755,
0.00032928600021094723,
0.9999999457843062,
-0.0000014544409378362713,
-0.00038086911909607826,
0.0000015798557868269087,
0.9999999274681067
]
},
"InstrumentPosition": {
"SpkTableStartTime": 302228504.36824864,
"SpkTableEndTime": 302228504.7816205,
"SpkTableOriginalSize": 6,
"EphemerisTimes": [
302228504.36824864,
302228504.450923,
302228504.5335974,
302228504.61627173,
302228504.6989461,
302228504.7816205
],
"Positions": [[-1516.1039882048947, -668.6745734893002, 902.1405183116759 ],
[ -1516.176000573894, -668.6422150991707, 902.0346703324196 ],
[ -1516.2480053780712, -668.6098533709328, 901.9288178499854 ],
[ -1516.320002565111, -668.5774883280569, 901.8229609411912 ],
[ -1516.3919922384162, -668.5451199240163, 901.7170994539005 ],
[ -1516.4639743456696, -668.5127481822817, 901.6112334649276 ]],
"Velocities": [[-0.8710817993164441, 0.3913754105818205, -1.2802723434988814 ],
[ -0.8709903003882029, 0.39141578800691706, -1.2803268153571778 ],
[ -0.8708987964969201, 0.3914561637581709, -1.2803812811841886 ],
[ -0.8708072877088842, 0.391496537806338, -1.2804357409401614 ],
[ -0.8707157738925385, 0.3915369102094339, -1.2804901947032974 ],
[ -0.8706242551142269, 0.39157728093812155, -1.2805446424339852 ]]
},
"SunPosition": {
"SpkTableStartTime": 302228504.5749346,
"SpkTableEndTime": 302228504.5749346,
"SpkTableOriginalSize": 1,
"EphemerisTimes": [ 302228504.5749346 ],
"Positions": [ [ -91885596.62561405, 111066639.06681778, 48186230.75049895 ] ],
"Velocities": [ [ -23.97582426247181, -15.920790540011309, -6.940052709040858 ] ]
}
}
}
}
@pytest.fixture(scope="module")
def test_kernels():
updated_kernels = {}
binary_kernels = {}
for image in image_dict.keys():
kernels = get_image_kernels(image)
updated_kernels[image], binary_kernels[image] = convert_kernels(kernels)
yield updated_kernels
for kern_list in binary_kernels.values():
for kern in kern_list:
os.remove(kern)
@pytest.mark.parametrize("label_type", ['isis3'])
@pytest.mark.parametrize("formatter", ['isis'])
@pytest.mark.parametrize("image", image_dict.keys())
def test_load_isis(test_kernels, label_type, formatter, image):
label_file = get_image_label(image, label_type)
isis_isd = ale.loads(label_file, props={'kernels': test_kernels[image]}, formatter=formatter, verbose=True)
isis_isd_obj = json.loads(isis_isd)
print(json.dumps(isis_isd_obj, indent=4))
assert compare_dicts(isis_isd_obj, image_dict[image][formatter]) == []
# ========= Test pdslabel and naifspice driver =========
class test_pds_naif(unittest.TestCase):
def setUp(self):
label = get_image_label('M103595705LE', 'pds3')
self.driver = LroLrocPds3LabelNaifSpiceDriver(label)
def test_short_mission_name(self):
assert self.driver.short_mission_name=='lro'
def test_instrument_id_left(self):
self.driver.label['FRAME_ID'] = 'LEFT'
assert self.driver.instrument_id == 'LRO_LROCNACL'
def test_instrument_id_right(self):
self.driver.label['FRAME_ID'] = 'RIGHT'
assert self.driver.instrument_id == 'LRO_LROCNACR'
def test_spacecraft_name(self):
assert self.driver.spacecraft_name == 'LRO'
def test_sensor_model_version(self):
assert self.driver.sensor_model_version == 2
def test_odtk(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=np.array([1.0])) as gdpool, \
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c:
assert self.driver.odtk == [1.0]
gdpool.assert_called_with('INS-12345_OD_K', 0, 1)
def test_usgscsm_distortion_model(self):
with patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.odtk', \
new_callable=PropertyMock) as odtk:
odtk.return_value = [1.0]
distortion_model = self.driver.usgscsm_distortion_model
assert distortion_model['lrolrocnac']['coefficients'] == [1.0]
def test_ephemeris_start_time(self):
with patch('ale.drivers.lro_drivers.spice.scs2e', return_value=5) as scs2e, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.exposure_duration', \
new_callable=PropertyMock) as exposure_duration, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.spacecraft_id', \
new_callable=PropertyMock) as spacecraft_id:
exposure_duration.return_value = 0.1
spacecraft_id.return_value = 1234
assert self.driver.ephemeris_start_time == 107.4
scs2e.assert_called_with(1234, "1/270649237:07208")
def test_exposure_duration(self):
with patch('ale.base.label_pds3.Pds3Label.exposure_duration', \
new_callable=PropertyMock) as exposure_duration:
exposure_duration.return_value = 1
assert self.driver.exposure_duration == 1.0045
@patch('ale.transformation.FrameChain')
@patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
@patch('ale.transformation.FrameChain.compute_rotation', return_value=TimeDependentRotation([[0, 0, 1, 0]], [0], 0, 0))
def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):
with patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.target_frame_id', \
new_callable=PropertyMock) as target_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_frame_id', \
new_callable=PropertyMock) as sensor_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_start_time', \
new_callable=PropertyMock) as ephemeris_start_time, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_stop_time', \
new_callable=PropertyMock) as ephemeris_end_time, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_position', \
new_callable=PropertyMock) as sensor_position:
sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]
assert self.driver.spacecraft_direction < 0
compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)
def test_focal2pixel_lines(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ikid', \
new_callable=PropertyMock) as ikid, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.spacecraft_direction', \
new_callable=PropertyMock) as spacecraft_direction:
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])
# ========= Test isislabel and naifspice driver =========
class test_isis_naif(unittest.TestCase):
def setUp(self):
label = get_image_label('M103595705LE', 'isis3')
self.driver = LroLrocIsisLabelNaifSpiceDriver(label)
def test_short_mission_name(self):
assert self.driver.short_mission_name == 'lro'
def test_intrument_id(self):
assert self.driver.instrument_id == 'LRO_LROCNACL'
def test_usgscsm_distortion_model(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=np.array([1.0])) as gdpool, \
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c:
distortion_model = self.driver.usgscsm_distortion_model
assert distortion_model['lrolrocnac']['coefficients'] == [1.0]
gdpool.assert_called_with('INS-12345_OD_K', 0, 1)
bods2c.assert_called_with('LRO_LROCNACL')
def test_odtk(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=np.array([1.0])) as gdpool, \
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c:
assert self.driver.odtk == [1.0]
gdpool.assert_called_with('INS-12345_OD_K', 0, 1)
bods2c.assert_called_with('LRO_LROCNACL')
def test_light_time_correction(self):
assert self.driver.light_time_correction == 'NONE'
def test_detector_center_sample(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=np.array([1.0])) as gdpool, \
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c:
assert self.driver.detector_center_sample == 0.5
gdpool.assert_called_with('INS-12345_BORESIGHT_SAMPLE', 0, 1)
bods2c.assert_called_with('LRO_LROCNACL')
def test_exposure_duration(self):
np.testing.assert_almost_equal(self.driver.exposure_duration, .0010334296)
def test_ephemeris_start_time(self):
with patch('ale.drivers.lro_drivers.spice.scs2e', return_value=321) as scs2e:
np.testing.assert_almost_equal(self.driver.ephemeris_start_time, 322.05823191)
scs2e.assert_called_with(-85, '1/270649237:07208')
def test_multiplicative_line_error(self):
assert self.driver.multiplicative_line_error == 0.0045
def test_additive_line_error(self):
assert self.driver.additive_line_error == 0
def test_constant_time_offset(self):
assert self.driver.constant_time_offset == 0
def test_additional_preroll(self):
assert self.driver.additional_preroll == 1024
def test_sampling_factor(self):
assert self.driver.sampling_factor == 1
@patch('ale.transformation.FrameChain')
@patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
@patch('ale.transformation.FrameChain.compute_rotation', return_value=TimeDependentRotation([[0, 0, 1, 0]], [0], 0, 0))
def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):
with patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.target_frame_id', \
new_callable=PropertyMock) as target_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_frame_id', \
new_callable=PropertyMock) as sensor_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_start_time', \
new_callable=PropertyMock) as ephemeris_start_time, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_stop_time', \
new_callable=PropertyMock) as ephemeris_end_time, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_position', \
new_callable=PropertyMock) as sensor_position:
sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]
assert self.driver.spacecraft_direction < 0
compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)
def test_focal2pixel_lines(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ikid', \
new_callable=PropertyMock) as ikid, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.spacecraft_direction', \
new_callable=PropertyMock) as spacecraft_direction:
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])