Minirf Fixes (#563)

* Fixes LRO minirf driver

* Reverted gitignore

* Reverted sensor_frame_id override

* Added naifkeyword test for minirf

* Added changelog entry

* Updated minirf json

* Lunar orbiter high camera (#553)

* skeleton class for LO

* lo center time and ikid

* detector center line/sample dummy values

* LO driver (processes cube w/o error)

* lo test data

* lunar orbiter tests

* removed old comment

* removed geotransform and projection from ISD

* Clementine LWIR, NIR, and HIRES Drivers (#565)

* Clementine Drivers

* Added missing kernels

* Combined to one driver

* Updated doc strings

* MSL Nadir Pointing (#564)

* Enabled nadir pointing in MSL/CAHVOR driver

* Removed commented out position changes

* Fix MSL test

* More msl fiddling

* Update for MSL Nadir pointing rotation in the cahvor mixin

* Fixed msl tests and added nadir test

* Updated ALE version in CmakeList.txt (#555)

* Ale Path Expansion Fixes (#551)

* Fixed expandvar function to expand paths completely

* Made expandvars fail if it can't expand a variable

* fixed typo

---------

Co-authored-by: Jacob Cain <[email protected]>
Co-authored-by: Amy Stamile <[email protected]>
Co-authored-by: Kelvin <[email protected]>

CHANGELOG.md

@@ -36,7 +36,10 @@ release.
 ## [Unreleased]
 
 ### Added
-- Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547) 
+- Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547)
+
+### Fixed
+- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#563](https://github.com/DOI-USGS/ale/pull/563)
 
 ## [0.9.1] - 2023-06-05
 

ale/drivers/lro_drivers.py

@@ -814,19 +814,21 @@ def ephemeris_start_time(self):
  : float
  start time
  """
- return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+ return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f")) - self.line_exposure_duration
 
  @property
  def ephemeris_stop_time(self):
  """
- Returns the stop ephemeris time for the image.
+ Returns the stop ephemeris time for the image. This is computed from 
+ the start time plus the line exposure per line, plus the line exposure
+ removed from the start time, plus the line exposure for the final line.
 
  Returns
  -------
  : float
  stop time
  """
- return spice.str2et(self.utc_stop_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+ return self.ephemeris_start_time + (self.image_lines * self.line_exposure_duration) + (self.line_exposure_duration * 2)
 
  @property
  def look_direction(self):
@@ -846,15 +848,35 @@ def sensor_frame_id(self):
  Returns the Naif ID code for the sensor reference frame
  We replace this with the target frame ID because the sensor operates
  entirely in the target reference frame
-
  Returns
  -------
  : int
  Naif ID code for the sensor frame
  """
  return self.target_frame_id
 
+ @property
+ def naif_keywords(self):
+ """
+ Adds the correct TRANSX/Y and ITRANS/L values for use in ISIS. By default
+ these values are placeholders in the ISIS iaks and need to be computed manully
+ from the ground range resolution. See RadarGroundRangeMap.cpp in ISIS for
+ the calculations.
 
+ Returns
+ -------
+ : dict
+ An updated dictionary of NAIF keywords with the correct TRANSX/Y and ITRANSS/L
+ values computed
+ """
+ naif_keywords = super().naif_keywords
+ ground_range_resolution = self.label['IsisCube']['Instrument']["ScaledPixelHeight"]
+ icode = "INS" + str(self.ikid)
+ naif_keywords[icode + "_TRANSX"] = [-1.0 * ground_range_resolution, ground_range_resolution, 0.0]
+ naif_keywords[icode + "_TRANSY"] = [0.0, 0.0, 0.0]
+ naif_keywords[icode + "_ITRANSS"] = [1.0, 1.0 / ground_range_resolution, 0.0]
+ naif_keywords[icode + "_ITRANSL"] = [0.0, 0.0, 0.0]
+ return naif_keywords
 
 class LroLrocWacIsisLabelIsisSpiceDriver(PushFrame, IsisLabel, IsisSpice, RadialDistortion, Driver):
  @property