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

ale/base/type_distortion.py

@@ -1,4 +1,5 @@
 import numpy as np
+import spiceypy as spice
 
 class LegendreDistortion():
  """
@@ -166,4 +167,29 @@ def usgscsm_distortion_model(self):
  "x_coefficients" : transx,
  "y_coefficients" : transy
  }
+ }
+
+class LoDistortion():
+ @property
+ def usgscsm_distortion_model(self):
+
+ # From ISIS LoHighDistortionMap::SetDistortion()
+ # Get the perspective correction factors for x and y and the distortion
+ # center (point of symmetry of distortion)
+ perspective_key = 'INS{}_PERSPECTIVE_FACTORS'.format(self.ikid)
+ center_key = 'INS{}_POINT_OF_SYMMETRY'.format(self.ikid)
+ perspective_x = float(spice.gdpool(perspective_key, 0, 1)[0])
+ perspective_y = float(spice.gdpool(perspective_key, 0, 2)[1])
+ center_point_x = float(spice.gdpool(center_key, 0, 1)[0])
+ center_point_y = float(spice.gdpool(center_key, 0, 2)[1])
+
+ # Get the distortion coefficients
+ # CameraDistortionMap::SetDistortion(naifIkCode);
+ return {
+ "lunarorbiter":{
+ "perspective_x" : perspective_x,
+ "perspective_y" : perspective_y,
+ "center_point_x" : center_point_x,
+ "center_point_y" : center_point_y
+ }
  }

ale/drivers/lo_drivers.py

@@ -0,0 +1,198 @@
+import spiceypy as spice
+import numpy as np
+import affine6p
+from ale.base.data_naif import NaifSpice
+from ale.base.label_isis import IsisLabel
+from ale.base.type_sensor import Framer
+from ale.base.type_distortion import LoDistortion
+from ale.base.base import Driver
+
+class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDistortion, Driver):
+
+ @property
+ def instrument_id(self):
+ """
+ Returns the ID of the instrument.
+
+ Returns
+ -------
+ : str
+ Name of the instrument
+ """
+
+ lo_table = {'Lunar Orbiter 1': 'LO1_HIGH_RESOLUTION_CAMERA',
+ 'Lunar Orbiter 2': 'LO2_HIGH_RESOLUTION_CAMERA',
+ 'Lunar Orbiter 3': 'LO3_HIGH_RESOLUTION_CAMERA',
+ 'Lunar Orbiter 4': 'LO4_HIGH_RESOLUTION_CAMERA',
+ 'Lunar Orbiter 5': 'LO5_HIGH_RESOLUTION_CAMERA'}
+
+ lookup_table = {'High Resolution Camera': lo_table[self.spacecraft_name]}
+
+ return lookup_table[super().instrument_id]
+
+ @property
+ def sensor_model_version(self):
+ """
+ The ISIS Sensor model number. This is likely just 1
+
+ Returns
+ -------
+ : int
+ ISIS sensor model version
+ """
+ return 1
+
+ @property
+ def sensor_name(self):
+ """
+ Returns the name of the instrument
+
+ Returns
+ -------
+ : str
+ Name of the sensor
+ """
+ return self.instrument_id
+
+ @property
+ def ephemeris_start_time(self):
+ """
+ Returns the ephemeris time of the image.
+ Expects spacecraft_id to be defined. This should be the integer
+ Naif ID code for the spacecraft.
+
+ Returns
+ -------
+ : float
+ ephemeris time of the image
+ """
+
+ return spice.utc2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+
+ @property
+ def ephemeris_stop_time(self):
+ """
+ Returns the ephemeris time of the image.
+ Expects spacecraft_id to be defined. This should be the integer
+ Naif ID code for the spacecraft.
+
+ Returns
+ -------
+ : float
+ ephemeris time of the image
+ """
+
+ return self.ephemeris_start_time
+
+
+
+ @property
+ def ikid(self):
+ """
+ Overridden to grab the ikid from the Isis Cube since there is no way to
+ obtain this value with a spice bods2c call.
+
+ Returns
+ -------
+ : int
+ Naif ID used to for identifying the instrument in Spice kernels
+ """
+ return spice.namfrm(self.instrument_id)
+
+ @property
+ def detector_center_line(self):
+ """
+ Returns the center detector line. This is a placeholder for use within
+ Isis. Since Isis does not use much of the ISD this value allows the as
+ accurate ISD for use in Isis but will be inaccurate for USGSCSM.
+
+ Returns
+ -------
+ : float
+ Detector sample of the principal point
+ """
+ return 0
+
+ @property
+ def detector_center_sample(self):
+ """
+ Returns the center detector sample. This is a placeholder for use within
+ Isis. Since Isis does not use much of the ISD this value allows the as
+ accurate ISD for use in Isis but will be inaccurate for USGSCSM.
+
+ Returns
+ -------
+ : float
+ Detector line of the principal point
+ """
+ return 0
+
+ @property
+ def focal2pixel_samples(self):
+ return self.naif_keywords[f"INS{self.ikid}_ITRANSS"]
+
+ @property
+ def focal2pixel_lines(self):
+ return self.naif_keywords[f"INS{self.ikid}_ITRANSL"]
+
+
+ @property
+ def naif_keywords(self):
+ """
+ Adds base LO instrument distortion.
+ Returns
+ -------
+ : dict
+ Dictionary of keywords and values that ISIS creates and attaches to the label
+ """
+
+ if (not hasattr(self, "_naif_keywords")):
+ # From ISIS LoCameraFiducialMap
+
+ # Read Fiducials
+ p_fidSamples = self.label['IsisCube']['Instrument']['FiducialSamples'].value
+ p_fidLines = self.label['IsisCube']['Instrument']['FiducialLines'].value
+ p_fidXCoords = self.label['IsisCube']['Instrument']['FiducialXCoordinates'].value
+ p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value
+
+ # Create Affine Transformation
+
+ p_src = [p_fidSamples, p_fidLines]
+ p_dst = [p_fidXCoords, p_fidYCoords]
+
+ # format the fiducial coordinatens as [ [x, y], [x, y]...]
+ p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))
+ p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))
+
+ # find a best match for the transformation based on source and destination coordinates
+ tr_mat = affine6p.estimate(p_src, p_dst).get_matrix()
+
+ tr_mat_inv = np.linalg.inv(tr_mat)
+
+ # X and Y, Inverse S and L components of transformation
+ transx = tr_mat[0]
+ transy = tr_mat[1]
+ itranss = tr_mat_inv[0]
+ itransl = tr_mat_inv[1]
+
+ # move the last item to the front to get the ordering standard in ISIS
+ transx.insert(0, transx.pop())
+ transy.insert(0, transy.pop())
+ itranss = np.roll(itranss, 1).tolist()
+ itransl = np.roll(itransl, 1).tolist()
+
+ # Set the x-axis direction. The medium camera is reversed.
+ # High Cam is -53X001, Medium Cam is -53X002
+ if (self.ikid % 2 == 0):
+ x_dir = -1
+ transx = [i * x_dir for i in transx]
+ itranss[1] *= x_dir
+ itransl[1] *= x_dir
+
+ self._naif_keywords = {**super().naif_keywords,
+ f"INS{self.ikid}_TRANSX": transx,
+ f"INS{self.ikid}_TRANSY": transy,
+ f"INS{self.ikid}_ITRANSS": itranss,
+ f"INS{self.ikid}_ITRANSL": itransl}
+
+ return self._naif_keywords

environment.yml

@@ -22,3 +22,6 @@ dependencies:
  - pytest-cov
  - networkx
  - breathe
+ - pip
+ - pip:
+ - affine6p

include/ale/Distortion.h

@@ -8,7 +8,8 @@ namespace ale {
  KAGUYALISM,
  DAWNFC,
  LROLROCNAC,
- CAHVOR
+ CAHVOR,
+ LUNARORBITER
  };
 }