Bufixes for MSL sensor intrinsics (#589)

* Bufixes for MSL sensor intrinsics

* Fix msl tests

* Add to changelog the ray direction MSL fix

CHANGELOG.md

@@ -54,6 +54,7 @@ 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)
 - Bugfix for position and orientation for MSL cameras (driver MslMastcamPds3NaifSpiceDriver). Validated that Nav and Mast LBL files (for both left and right sensor) produce correctly positioned and oriented CSM cameras, that are self-consistent and consistent with a prior DEM for the site. [#580](https://github.com/DOI-USGS/ale/pull/580) 
+- Bug fix for ray direction for MSL. [#589](https://github.com/DOI-USGS/ale/pull/589)
 
 ### Changed
 - Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579) 

ale/base/type_sensor.py

@@ -612,4 +612,4 @@ def pixel_size(self):
  : float
  Pixel size of a cahvor model instrument
  """
- return -self.focal_length/self.compute_h_s()
+ return self.focal_length/self.compute_h_s()

ale/drivers/msl_drivers.py

@@ -126,7 +126,7 @@ def focal2pixel_lines(self):
  : list<double>
  focal plane to detector lines
  """
- return [0, 0, -1/self.pixel_size]
+ return [0, 0, 1/self.pixel_size]
 
  @property
  def focal2pixel_samples(self):
@@ -138,7 +138,7 @@ def focal2pixel_samples(self):
  : list<double>
  focal plane to detector samples
  """
- return [0, -1/self.pixel_size, 0]
+ return [0, 1/self.pixel_size, 0]
 
  @property
  def sensor_model_version(self):
@@ -181,10 +181,10 @@ def focal_length(self):
  if self.is_navcam:
  # Focal length in pixel as computed for a cahvor model.
  # See is_navcam() for an explanation.
- return -(self.compute_h_s() + self.compute_v_s())/2.0
+ return (self.compute_h_s() + self.compute_v_s())/2.0
 
- # For mast cam 
- return -super().focal_length 
+ # For mast cam
+ return super().focal_length 
 
  @property
  def pixel_size(self):
@@ -200,5 +200,5 @@ def pixel_size(self):
  # See is_navcam() for an explanation.
  return 1.0
 
- # For mast cam 
+ # For mast cam
  return super().pixel_size 

tests/pytests/data/isds/msl_isd.json

@@ -226,7 +226,7 @@
  "detector_sample_summing": 1,
  "detector_line_summing": 1,
  "focal_length_model": {
- "focal_length": -34.0
+ "focal_length": 34.0
  },
  "detector_center": {
  "line": 576.4026068104001,
@@ -235,11 +235,11 @@
  "focal2pixel_lines": [
  0,
  0,
- -136.49886775101947
+ 136.49886775101947
  ],
  "focal2pixel_samples": [
  0,
- -136.49886775101947,
+ 136.49886775101947,
  0
  ],
  "optical_distortion": {
@@ -301,4 +301,4 @@
  ],
  "reference_frame": 1
  }
-}
+}

tests/pytests/data/isds/msl_nadir_isd.json

@@ -217,7 +217,7 @@
  "detector_sample_summing": 1,
  "detector_line_summing": 1,
  "focal_length_model": {
- "focal_length": -34.0
+ "focal_length": 34.0
  },
  "detector_center": {
  "line": 576.4026068104001,
@@ -226,11 +226,11 @@
  "focal2pixel_lines": [
  0,
  0,
- -136.49886775101947
+ 136.49886775101947
  ],
  "focal2pixel_samples": [
  0,
- -136.49886775101947,
+ 136.49886775101947,
  0
  ],
  "optical_distortion": {
@@ -292,4 +292,4 @@
  ],
  "reference_frame": 1
  }
-}
+}

tests/pytests/test_cahvor_mixin.py

@@ -65,4 +65,4 @@ def test_cahvor_detector_center_sample(self, cahvor_camera_dict):
 
  @patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())
  def test_cahvor_pixel_size(self, cahvor_camera_dict):
- assert self.driver.pixel_size == -0.007248034226138798
+ assert self.driver.pixel_size == 0.007248034226138798

tests/pytests/test_msl_drivers.py

@@ -73,13 +73,13 @@ def test_sensor_frame_id(self):
  def test_focal2pixel_lines(self):
  with patch('ale.drivers.msl_drivers.spice.bods2c', new_callable=PropertyMock, return_value=-76220) as bods2c, \
  patch('ale.drivers.msl_drivers.spice.gdpool', new_callable=PropertyMock, return_value=[100]) as gdpool:
- np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 0, -137.96844341513602])
+ np.testing.assert_allclose(self.driver.focal2pixel_lines, [0, 0, 137.96844341513602])
  bods2c.assert_called_with('MSL_MASTCAM_RIGHT')
  gdpool.assert_called_with('INS-76220_FOCAL_LENGTH', 0, 1)
 
  def test_focal2pixel_samples(self):
  with patch('ale.drivers.msl_drivers.spice.bods2c', new_callable=PropertyMock, return_value=-76220) as bods2c, \
  patch('ale.drivers.msl_drivers.spice.gdpool', new_callable=PropertyMock, return_value=[100]) as gdpool:
- np.testing.assert_allclose(self.driver.focal2pixel_samples, [0, -137.96844341513602, 0])
+ np.testing.assert_allclose(self.driver.focal2pixel_samples, [0, 137.96844341513602, 0])
  bods2c.assert_called_with('MSL_MASTCAM_RIGHT')
  gdpool.assert_called_with('INS-76220_FOCAL_LENGTH', 0, 1)