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Commit 2257afbe authored by Amy Stamile's avatar Amy Stamile
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examples/sensor_utils.ipynb
+ 25
− 26
View file @ 2257afbe
%% Cell type:markdown id: tags:
# Sensor Utils
%% Cell type:code id: tags:
``` python
import os
os.environ["ISISROOT"] = "/Users/astamile/ISIS3/build"
os.environ["ISISDATA"] = "/Volumes/isis_data1/isis_data/"
from csmapi import csmapi
from knoten import csm, sensor_utils
from knoten.shape import Ellipsoid
from knoten.illuminator import Illuminator
import ale
import json
```
%% Cell type:markdown id: tags:
## Create a usgscsm sensor model
%% Cell type:code id: tags:
``` python
fileName = "data/N1573082850_1.cub"
kernels = ale.util.generate_kernels_from_cube(fileName, expand=True)
isd_string = ale.loads(fileName, props={'kernels': kernels})
csm_isd = os.path.splitext(fileName)[0] + '.json'
with open(csm_isd, 'w') as isd_file:
isd_file.write(isd_string)
```
%% Output
/Users/astamile/opt/anaconda3/envs/knoten/lib/python3.9/site-packages/osgeo/gdal.py:312: FutureWarning: Neither gdal.UseExceptions() nor gdal.DontUseExceptions() has been explicitly called. In GDAL 4.0, exceptions will be enabled by default.
warnings.warn(
%% Cell type:markdown id: tags:
## Run Sensor Utils with usgscsm sensor model and image point
%% Cell type:code id: tags:
``` python
camera = csm.create_csm(csm_isd)
image_pt = csmapi.ImageCoord(511.5, 511.5)
shape = Ellipsoid.from_csm_sensor(camera)
illuminator = Illuminator()
```
%% Cell type:code id: tags:
``` python
phaseAngle = sensor_utils.phase_angle(image_pt, camera)
phaseAngle = sensor_utils.phase_angle(image_pt, camera, shape, illuminator)
phaseAngle
```
%% Output
38.87212509629893
38.87212509629895
%% Cell type:code id: tags:
``` python
emissionAngle = sensor_utils.emission_angle(image_pt, camera)
emissionAngle = sensor_utils.emission_angle(image_pt, camera, shape)
emissionAngle
```
%% Output
49.60309924896046
49.60309924893989
%% Cell type:code id: tags:
``` python
slantDistance = sensor_utils.slant_distance(image_pt, camera)
slantDistance = sensor_utils.slant_distance(image_pt, camera, shape)
slantDistance
```
%% Output
2903512972.146144
2903512972.146115
%% Cell type:code id: tags:
``` python
targetCenterDistance = sensor_utils.target_center_distance(image_pt, camera)
targetCenterDistance
```
%% Output
2943536048.858226
%% Cell type:code id: tags:
``` python
subSpacecraftPoint = sensor_utils.sub_spacecraft_point(image_pt, camera)
subSpacecraftPoint
```
%% Output
LatLon(lat=3.2229625890973583, lon=258.6197326526089)
%% Cell type:code id: tags:
``` python
localRadius = sensor_utils.local_radius(image_pt, camera)
localRadius = sensor_utils.local_radius(image_pt, camera, shape)
localRadius
```
%% Output
59096282.02424558
59096282.024265066
%% Cell type:code id: tags:
``` python
rightAscDec = sensor_utils.right_ascension_declination(image_pt, camera)
rightAscDec
```
%% Output
(79.34815579474038, -2.7790780986459485)
%% Cell type:code id: tags:
``` python
lineResolution = sensor_utils.line_resolution(image_pt, camera)
lineResolution = sensor_utils.line_resolution(image_pt, camera, shape)
lineResolution
```
%% Output
17397.960941876583
17397.96094194587
%% Cell type:code id: tags:
``` python
sampleResolution = sensor_utils.sample_resolution(image_pt, camera)
sampleResolution = sensor_utils.sample_resolution(image_pt, camera, shape)
sampleResolution
```
%% Output
17397.933700407997
17397.93370038153
%% Cell type:code id: tags:
``` python
pixelResolution = sensor_utils.pixel_resolution(image_pt, camera)
pixelResolution = sensor_utils.pixel_resolution(image_pt, camera, shape)
pixelResolution
```
%% Output
17397.94732114229
17397.9473211637
......
knoten/csm.py
+ 3
− 23
View file @ 2257afbe
......@@ -9,7 +9,6 @@ import numpy as np
import requests
import scipy.stats
from functools import singledispatch
import spiceypy as spice
from knoten.surface import EllipsoidDem
......@@ -42,28 +41,6 @@ def get_radii(camera):
semi_minor = ellipsoid.getSemiMinorRadius()
return semi_major, semi_minor
def get_surface_normal(sensor, ground_pt):
"""
Given a sensor model and ground point, calculate the surface normal.
Parameters
----------
sensor : object
A CSM compliant sensor model object
ground_pt: tuple
The ground point as an (x, y, z) tuple
Returns
-------
: tuple
in the form (x, y, z)
"""
semi_major, semi_minor = get_radii(sensor)
normal = spice.surfnm(semi_major, semi_major, semi_minor, np.array([ground_pt.x, ground_pt.y, ground_pt.z]))
return utils.Point(normal[0], normal[1], normal[2])
def create_camera(label, url='http://pfeffer.wr.usgs.gov/api/1.0/pds/'):
"""
Given an ALE supported label, create a CSM compliant ISD file. This func
......@@ -114,6 +91,9 @@ def get_state(sensor, image_pt):
: dict
Dictionary containing lookVec, sensorPos, sensorTime, and imagePoint
"""
if not isinstance(sensor, csmapi.RasterGM):
raise TypeError("inputted sensor not a csm.RasterGM object")
sensor_time = sensor.getImageTime(image_pt)
locus = sensor.imageToRemoteImagingLocus(image_pt)
sensor_position = sensor.getSensorPosition(image_pt)
......
knoten/illuminator.py 0 → 100644
+ 23
− 0
View file @ 2257afbe
from knoten import csm, utils
import spiceypy as spice
import numpy as np
class Illuminator:
def __init__(self, position=None, velocity=None):
self.position = position
self.velocity = velocity
def get_position_from_csm_sensor(self, sensor, ground_pt):
sunEcefVec = sensor.getIlluminationDirection(ground_pt)
self.position = utils.Point(ground_pt.x - sunEcefVec.x, ground_pt.y - sunEcefVec.y, ground_pt.z - sunEcefVec.z)
return self.position
# def get_position_from_time(self, sensor_state):
# return 0
# def get_velocity(self, sensor_state):
# return 0
\ No newline at end of file
knoten/sensor_utils.py
+ 111
− 19
View file @ 2257afbe
......@@ -2,7 +2,7 @@ from knoten import csm, utils, bundle
from csmapi import csmapi
import numpy as np
def phase_angle(image_pt, sensor):
def phase_angle(image_pt, sensor, shape, illuminator):
"""
Computes and returns phase angle, in degrees for a given image point.
......@@ -18,6 +18,12 @@ def phase_angle(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
illuminator: object
An illuminator object
Returns
-------
: np.ndarray
......@@ -27,10 +33,9 @@ def phase_angle(image_pt, sensor):
image_pt = csmapi.ImageCoord(*image_pt)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
sunEcefVec = sensor.getIlluminationDirection(ground_pt)
illum_pos = utils.Point(ground_pt.x - sunEcefVec.x, ground_pt.y - sunEcefVec.y, ground_pt.z - sunEcefVec.z)
illum_pos = illuminator.get_position_from_csm_sensor(sensor, ground_pt)
vec_a = utils.Point(sensor_state["sensorPos"].x - ground_pt.x,
sensor_state["sensorPos"].y - ground_pt.y,
......@@ -42,7 +47,7 @@ def phase_angle(image_pt, sensor):
return np.rad2deg(utils.sep_angle(vec_a, vec_b))
def emission_angle(image_pt, sensor):
def emission_angle(image_pt, sensor, shape):
"""
Computes and returns emission angle, in degrees, for a given image point.
......@@ -62,6 +67,9 @@ def emission_angle(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
......@@ -71,9 +79,9 @@ def emission_angle(image_pt, sensor):
image_pt = csmapi.ImageCoord(*image_pt)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
normal = csm.get_surface_normal(sensor, ground_pt)
normal = shape.get_surface_normal(ground_pt)
sensor_diff = utils.Point(sensor_state["sensorPos"].x - ground_pt.x,
sensor_state["sensorPos"].y - ground_pt.y,
......@@ -81,7 +89,7 @@ def emission_angle(image_pt, sensor):
return np.rad2deg(utils.sep_angle(normal, sensor_diff))
def slant_distance(image_pt, sensor):
def slant_distance(image_pt, sensor, shape):
"""
Computes the slant distance from the sensor to the ground point.
......@@ -93,6 +101,9 @@ def slant_distance(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
......@@ -102,7 +113,7 @@ def slant_distance(image_pt, sensor):
image_pt = csmapi.ImageCoord(*image_pt)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
return utils.distance(sensor_state["sensorPos"], ground_pt)
......@@ -154,7 +165,7 @@ def sub_spacecraft_point(image_pt, sensor):
return utils.radians_to_degrees(lat_lon_rad)
def local_radius(image_pt, sensor):
def local_radius(image_pt, sensor, shape):
"""
Gets the local radius for a given image point.
......@@ -166,6 +177,9 @@ def local_radius(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
......@@ -174,7 +188,9 @@ def local_radius(image_pt, sensor):
if not isinstance(image_pt, csmapi.ImageCoord):
image_pt = csmapi.ImageCoord(*image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
return utils.magnitude(ground_pt)
def right_ascension_declination(image_pt, sensor):
......@@ -204,7 +220,8 @@ def right_ascension_declination(image_pt, sensor):
return (ra_dec.lon, ra_dec.lat)
def line_resolution(image_pt, sensor):
def line_resolution(image_pt, sensor, shape):
"""
Compute the line resolution in meters per pixel for the current set point.
......@@ -224,6 +241,9 @@ def line_resolution(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
......@@ -232,14 +252,16 @@ def line_resolution(image_pt, sensor):
if not isinstance(image_pt, csmapi.ImageCoord):
image_pt = csmapi.ImageCoord(*image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
image_partials = bundle.compute_image_partials(sensor, ground_pt)
return np.sqrt(image_partials[0] * image_partials[0] +
image_partials[2] * image_partials[2] +
image_partials[4] * image_partials[4])
def sample_resolution(image_pt, sensor):
def sample_resolution(image_pt, sensor, shape):
"""
Compute the sample resolution in meters per pixel for the current set point.
......@@ -255,6 +277,9 @@ def sample_resolution(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
......@@ -263,14 +288,16 @@ def sample_resolution(image_pt, sensor):
if not isinstance(image_pt, csmapi.ImageCoord):
image_pt = csmapi.ImageCoord(*image_pt)
ground_pt = csm.generate_ground_point(0.0, image_pt, sensor)
sensor_state = csm.get_state(sensor, image_pt)
ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
image_partials = bundle.compute_image_partials(sensor, ground_pt)
return np.sqrt(image_partials[1] * image_partials[1] +
image_partials[3] * image_partials[3] +
image_partials[5] * image_partials[5])
def pixel_resolution(image_pt, sensor):
def pixel_resolution(image_pt, sensor, shape):
"""
Returns the pixel resolution at the current position in meters/pixel.
......@@ -282,15 +309,80 @@ def pixel_resolution(image_pt, sensor):
sensor : object
A CSM compliant sensor model object
shape : object
A shape model object
Returns
-------
: np.ndarray
pixel resolution in meters/pixel
"""
line_res = line_resolution(image_pt, sensor)
samp_res = sample_resolution(image_pt, sensor)
line_res = line_resolution(image_pt, sensor, shape)
samp_res = sample_resolution(image_pt, sensor, shape)
if (line_res < 0.0):
return None
if (samp_res < 0.0):
return None
return (line_res + samp_res) / 2.0
# def sub_solar_point(image_pt, sensor, illuminator, shape):
# sensor_state = csm.get_state(sensor, image_pt)
# illum_pos = illuminator.get_position_from_time(sensor_state)
# lookVec = utils.Point(-illum_pos.x, -illum_pos.y, -illum_pos.z)
# pt = shape.intersect_surface(illum_pos, lookVec)
# return utils.Point(pt.x, pt.y, pt.z)
# def local_solar_time(image_pt, sensor, illuminator, shape):
# if not isinstance(image_pt, csmapi.ImageCoord):
# image_pt = csmapi.ImageCoord(*image_pt)
# sensor_state = csm.get_state(sensor, image_pt)
# sub_solar_pt = sub_solar_point(image_pt, sensor, illuminator, shape)
# sub_solar_pt_degrees = utils.radians_to_degrees(utils.rect_to_spherical(sub_solar_pt))
# ground_pt = shape.intersect_surface(sensor_state["sensorPos"], sensor_state["lookVec"])
# spherical_pt = utils.rect_to_spherical(ground_pt)
# spherical_pt_degrees = utils.radians_to_degrees(spherical_pt)
# lst = spherical_pt_degrees.lon - sub_solar_pt_degrees.lon + 180.0
# lst = lst / 15.0
# if (lst < 0.0):
# lst += 24.0
# if (lst > 24.0):
# lst -= 24.0
# return lst
# def solar_longitude(image_pt, sensor, illuminator, body):
# sensor_state = csm.get_state(sensor, image_pt)
# illum_pos = illuminator.get_position_from_time(sensor_state)
# illum_vel = illuminator.get_velocity(sensor_state)
# body_rot = body.rotation(sensor_state)
# sun_av = utils.unit_vector(utils.cross_product(illum_pos, illum_vel))
# npole = [body_rot[6], body_rot[7], body_rot[8]]
# z = sun_av
# x = utils.unit_vector(utils.cross_product(npole, z))
# y = utils.unit_vector(utils.cross_product(z, x))
# trans = np.matrix([[x.x, x.y, x.z], [y.x, y.y, y.z], [z.x, z.y, z.z]])
# pos = np.matmul(trans, illum_pos)
# spherical_pos = utils.rect_to_spherical(pos)
# longitude360 = np.rad2deg(spherical_pos.lon)
# if (longitude360 != 360.0):
# longitude360 -= 360 * np.floor(longitude360 / 360)
# return longitude360
\ No newline at end of file
knoten/shape.py 0 → 100644
+ 58
− 0
View file @ 2257afbe
from knoten import csm, utils
import spiceypy as spice
import numpy as np
import csmapi
class Ellipsoid:
"""
A biaxial ellipsoid shape model.
"""
def __init__(self, semi_major, semi_minor = None):
"""
Create an ellipsoid shape model from a set of radii
Parameters
----------
semi_major : float
The equatorial semi-major radius of the ellipsoid.
semi_minor : float
The polar semi-minor radius of the ellipsoid.
"""
self.a = semi_major
self.b = semi_major
self.c = semi_major
if semi_minor is not None:
self.c = semi_minor
@classmethod
def from_csm_sensor(cls, sensor):
semi_major, semi_minor = csm.get_radii(sensor)
return cls(semi_major, semi_minor)
def get_surface_normal(self, ground_pt):
"""
Given a ground point, calculate the surface normal.
Parameters
----------
ground_pt: tuple
The ground point as an (x, y, z) tuple
Returns
-------
: tuple
in the form (x, y, z)
"""
normal = spice.surfnm(self.a, self.b, self.c, np.array([ground_pt.x, ground_pt.y, ground_pt.z]))
return utils.Point(normal[0], normal[1], normal[2])
def intersect_surface(self, sensor_pos, look_vec):
sensor_pos = np.array([sensor_pos.x, sensor_pos.y, sensor_pos.z])
look_vec = np.array([look_vec.x, look_vec.y, look_vec.z])
ground_pt = spice.surfpt(sensor_pos, look_vec, self.a, self.b, self.c)
return csmapi.EcefCoord(ground_pt[0], ground_pt[1], ground_pt[2])
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