Initial rosetta virtis driver (#520)

* Initial rosetta virtis driver

* Updated rosetta virtis driver

* virtis test data

* Added logic to allow quaternion inverse to pass

* Updated rosetta virtis driver

* rosetta virtis tests

* Added missing docstrings

* Updated changelog

CHANGELOG.md

@@ -36,6 +36,7 @@ release.
 ## [Unreleased]
 ### Added
 - Apollo Metric drivers, tests, and data [#533](https://github.com/DOI-USGS/ale/pull/533)
+- Rosetta Virtis drivers, tests, and data [#520](https://github.com/DOI-USGS/ale/pull/520)
 
 ### Fixed
 

ale/drivers/rosetta_drivers.py

@@ -0,0 +1,321 @@
+import re
+import spiceypy as spice
+import math
+import numpy as np
+from scipy.spatial.transform import Rotation
+from scipy.interpolate import CubicSpline
+
+
+from ale.base import Driver
+from ale.base.data_naif import NaifSpice
+from ale.base.data_isis import read_table_data, parse_table
+from ale.base.label_isis import IsisLabel
+from ale.base.type_distortion import RadialDistortion
+from ale.base.type_sensor import LineScanner
+from ale.transformation import ConstantRotation, FrameChain, TimeDependentRotation
+
+
+class RosettaVirtisIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialDistortion, Driver):
+ @property
+ def instrument_id(self):
+ """
+ Returns the instrument id for Rosetta Virtis
+ 
+ Returns
+ -------
+ : str
+ Frame Reference for Rosetta VIRTIS
+ """
+ inst_id_lookup = {
+ "VIRTIS_M_VIS" : "ROS_VIRTIS-M_VIS",
+ "VIRTIS_M_IR" : "ROS_VIRTIS-M_IR",
+ }
+ return inst_id_lookup[self.label['IsisCube']['Instrument']['ChannelID']] 
+
+
+ @property
+ def sensor_model_version(self):
+ """
+ The ISIS Sensor model number for Rosetta Virtis in ISIS.
+ 
+ Returns
+ -------
+ : int
+ ISIS sensor model version
+ """
+ return 1
+
+
+ @property
+ def spacecraft_name(self):
+ """
+ Return the spacecraft name. The label calls it "ROSETTA-ORBITER", NAIF calls it "ROSETTA"
+ """
+ return "ROSETTA"
+
+ @property
+ def ephemeris_start_time(self):
+ """
+ Returns the start ephemeris time for the image.
+
+ Returns
+ -------
+ : float
+ start time
+ """
+ try:
+ # first line's middle et - 1/2 exposure duration = cube start time
+ return self.hk_ephemeris_time[0] - (self.line_exposure_duration/2)
+ except:
+ return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStartCount'])
+
+
+ @property
+ def ephemeris_stop_time(self):
+ """
+ Returns the stop ephemeris time for the image.
+
+ Returns
+ -------
+ : float
+ stop time
+ """
+
+ try:
+ # last line's middle et + 1/2 exposure duration = cube start time
+ return self.hk_ephemeris_time[-1] + (self.line_exposure_duration/2)
+ except:
+ return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStopCount'])
+
+ @property
+ def housekeeping(self):
+ """
+ Read the housekeeping table from the cub and populate data.
+
+ Returns
+ -------
+ None
+ """
+ if not hasattr(self, "_housekeeping"):
+ degs_per_rad = 57.2957795 
+ binary = read_table_data(self.label['Table'], self._file)
+ hk_table = parse_table(self.label['Table'], binary)
+ data_scet = hk_table['dataSCET']
+ shutter_mode_list = hk_table['Data Type__Shutter state']
+ mirror_sin_list = hk_table['M_MIRROR_SIN_HK']
+ mirror_cos_list = hk_table['M_MIRROR_COS_HK']
+
+ opt_angles = []
+ x = np.array([])
+ y = np.array([])
+ for index, mirror_sin in enumerate(mirror_sin_list):
+ shutter_mode = shutter_mode_list[index]
+ is_dark = (shutter_mode == 1) 
+
+ mirror_cos = mirror_cos_list[index]
+
+ scan_elec_deg = math.atan(mirror_sin/mirror_cos) * degs_per_rad
+ opt_ang = ((scan_elec_deg - 3.7996979) * 0.25/0.257812) / 1000
+
+ if not is_dark:
+ x = np.append(x, index + 1)
+ y = np.append(y, opt_ang)
+
+ if not self.is_calibrated:
+ opt_angles.append(opt_ang)
+
+ cs = CubicSpline(x, y, extrapolate="periodic")
+
+ for i, opt_ang in enumerate(opt_angles):
+ shutter_mode = shutter_mode_list[i]
+ is_dark = (shutter_mode == 1)
+
+ if (is_dark):
+ if (i == 0):
+ opt_angles[i] = opt_angles[i+1]
+ elif (i == len(opt_angles) - 1):
+ opt_angles[i] = opt_angles[i-1]
+ else:
+ opt_angles[i] = cs(i+1)
+
+ line_mid_times = [spice.scs2e(self.spacecraft_id, str(round(i,5))) for i in data_scet]
+ self._hk_ephemeris_time = line_mid_times
+ self._optical_angle = opt_angles
+ self._housekeeping= True
+
+ @property
+ def hk_ephemeris_time(self):
+ """
+ Ephemeris times from the housekeeping table.
+
+ Returns
+ -------
+ : list
+ Ephemeris times from the housekeeping table
+ """
+ if not hasattr(self, "_hk_ephemeris_time"):
+ self.housekeeping
+ return self._hk_ephemeris_time
+
+ @property
+ def optical_angle(self):
+ """
+ Return optical angles from the housekeeping table.
+
+ Returns
+ -------
+ : list
+ Optical angles from the housekeeping table
+ """
+ if not hasattr(self, "_optical_angle"):
+ self.housekeeping
+ return self._optical_angle
+
+
+ @property
+ def line_exposure_duration(self):
+ """
+ Returns the exposure duration for each line.
+
+ Returns
+ -------
+ : double
+ Exposure duration for a line
+ """
+ return self.label['IsisCube']['Instrument']['FrameParameter'][0] * 0.001
+
+
+ @property
+ def line_summing(self):
+ """
+ Returns
+ -------
+ : int
+ Line summing
+ """
+ return self.label['IsisCube']['Instrument']['FrameParameter'][1]
+
+ @property
+ def sample_summing(self):
+ """
+ Returns
+ -------
+ : int
+ Sample summing
+ """
+ return self.label['IsisCube']['Instrument']['FrameParameter'][1]
+
+ @property
+ def scan_rate(self):
+ """
+ Returns
+ : Double
+ Scan rate
+ """
+ return self.label['IsisCube']['Instrument']['FrameParameter'][2]
+
+ @property
+ def odtk(self):
+ """
+ The coefficients for the distortion model
+ Defined in the IAK
+
+ Returns
+ -------
+ : list
+ Radial distortion coefficients
+ """
+ return [0.0, .038, 0.38]
+
+
+ @property
+ def sensor_frame_id(self):
+ """
+ Returns the sensor frame id. Depends on the instrument that was used to
+ capture the image. 
+
+ Returns
+ -------
+ : int
+ Sensor frame id
+ """
+
+ if self.has_articulation_kernel:
+ return super().sensor_frame_id
+ else:
+ return super().sensor_frame_id - 1
+
+
+ @property
+ def is_calibrated(self):
+ """
+ Determine if this image is calibrated.
+
+ Returns
+ -------
+ : bool
+ True if calibrated else False
+ """
+ return self.label['IsisCube']['Instrument']['ProcessingLevelID'] == '3'
+
+ @property 
+ def has_articulation_kernel(self):
+ """
+ Determine if this image has an associated articulation kernel
+
+ Returns
+ -------
+ : bool
+ True if the image has an articulation kernel else False
+ """
+ regex = re.compile('.*ROS_VIRTIS_M_[0-9]{4}_[0-9]{4}_V[0-9].BC')
+ return any([re.match(regex, i) for i in self.kernels])
+
+
+ @property
+ def frame_chain(self):
+ """
+ Construct the frame chain. Use super to construct base chain and add edges via inst_pointing_rotation
+
+ Returns
+ -------
+ : FrameChain
+ """
+ frame_chain = super().frame_chain
+ frame_chain.add_edge(rotation=self.inst_pointing_rotation)
+ return frame_chain
+
+ @property
+ def inst_pointing_rotation(self):
+ """
+ Returns a time dependent instrument pointing rotation for virtis frames
+ Returns
+ -------
+ : TimeDependentRotation
+ Instrument pointing rotation
+ """
+ time_dep_quats = np.zeros((len(self.hk_ephemeris_time), 4))
+ avs = []
+
+ for i, time in enumerate(self.hk_ephemeris_time):
+ try:
+ state_matrix = spice.sxform("J2000", spice.frmnam(self.sensor_frame_id), time)
+ except:
+ rotation_matrix = spice.pxform("J2000", spice.frmnam(self.sensor_frame_id), time)
+ state_matrix = spice.rav2xf(rotation_matrix, [0, 0, 0])
+
+ opt_angle = self.optical_angle[i]
+
+ xform = spice.eul2xf([0, -opt_angle, 0, 0, 0, 0], 1, 2, 3)
+ xform2 = spice.mxmg(xform, state_matrix)
+
+ rot_mat, av = spice.xf2rav(xform2)
+ avs.append(av)
+
+ quat_from_rotation = spice.m2q(rot_mat)
+ time_dep_quats[i,:3] = -quat_from_rotation[1:]
+ time_dep_quats[i, 3] = -quat_from_rotation[0]
+
+ time_dep_rot = TimeDependentRotation(time_dep_quats, self.hk_ephemeris_time, 1, self.sensor_frame_id, av=avs)
+
+ return time_dep_rot

tests/pytests/conftest.py

@@ -63,14 +63,23 @@ def compare_dicts(ldict, rdict):
  differences.append(f'Array sizes of key {key} are not equal {item} : {rdict[key]}.')
  else:
  list_item = np.array(item).flat[0]
- if isinstance(list_item, numbers.Number):
- if not np.allclose(item, rdict[key]):
+ # quaternion (q) and its additive inverse (qi) yield the same rotation. Equivalent quaternions should pass
+ if key == 'quaternions':
+ # Cannot compare abs, it has to be full sign flip, because (1, -1, 1, -1) != (1, 1, 1, 1), but (-1,-1,-1,-1) ~= (1,1,1,1)
+ l = np.array(item).flat
+ li = [-x for x in l]
+ r = np.array(rdict[key]).flat
+ if not (np.allclose(l, r) or np.allclose(li,r)):
  differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')
- elif isinstance(list_item, str):
- if not (np.array(item) == np.array(rdict[key])).all():
- differences.append(f'Array values of key {key} are not equal {item} : {rdict[key]}.')
  else:
- raise TypeError("No comparison handled for underlying list type {} for key {}".format(list_item, key))
+ if isinstance(list_item, numbers.Number):
+ if not np.allclose(item, rdict[key]):
+ differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')
+ elif isinstance(list_item, str):
+ if not (np.array(item) == np.array(rdict[key])).all():
+ differences.append(f'Array values of key {key} are not equal {item} : {rdict[key]}.')
+ else:
+ raise TypeError("No comparison handled for underlying list type {} for key {}".format(list_item, key))
  elif isinstance(item, str):
  if item.lower() != rdict[key].lower():
  differences.append(f'Values of key {key} are not equal {item} : {rdict[key]}.')