Replace affine6p transformation with numpy solution (#579)

* Replace affine6p transformation with numpy solution

* Remove affine6p dependency

* Update changelog and remove pip from conda-recipe

CHANGELOG.md

@@ -45,6 +45,10 @@ 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)
 
+### Changed
+- Removed the affine6p library and replaced affine6p's affine transformation with a numpy solution [#579](https://github.com/DOI-USGS/ale/pull/579) 
+
+
 ## [0.9.1] - 2023-06-05
 
 ### Changed

ale/drivers/lo_drivers.py

@@ -1,6 +1,5 @@
 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
@@ -156,17 +155,25 @@ def naif_keywords(self):
  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]...]
+ # Format the fiducial coordinates 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()
+ # Pad data with ones so that the transformation allows translations 
+ pad = lambda x: np.hstack([x, np.ones((x.shape[0], 1))])
+ X = pad(p_src)
+ Y = pad(p_dst)
 
+ # Solve the least squares problem X * A = Y to find our transformation matrix A
+ A, res, rank, s = np.linalg.lstsq(X, Y)
+
+ # Transpose matrix and convert to list
+ tr_mat = np.transpose(A).tolist()
+
+ # Compute inverse of transformation matrix
  tr_mat_inv = np.linalg.inv(tr_mat)
 
  # X and Y, Inverse S and L components of transformation
@@ -175,7 +182,7 @@ def naif_keywords(self):
  itranss = tr_mat_inv[0]
  itransl = tr_mat_inv[1]
 
- # move the last item to the front to get the ordering standard in ISIS
+ # 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()

environment.yml

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

recipe/meta.yaml

@@ -18,7 +18,6 @@ requirements:
  - cmake>=3.15
  - eigen
  host:
- - pip
  - python
  - nlohmann_json
  run:

tests/pytests/test_lo_drivers.py

@@ -98,7 +98,6 @@ def test_focal2pixel_lines(self):
  namfrm.assert_called_with("LO3_HIGH_RESOLUTION_CAMERA")
 
  def test_naif_keywords(self):
-
  with patch('ale.drivers.lo_drivers.LoHighCameraIsisLabelNaifSpiceDriver.ikid', new_callable=PropertyMock) as ikid, \
  patch('ale.base.data_naif.spice.bodvrd', return_value=[1737.4, 1737.4, 1737.4]) as bodvrd:
 
@@ -114,6 +113,22 @@ def test_naif_keywords(self):
  "INS-533001_ITRANSL" : [4541.692430539061, -0.05845617762411283, 143.95514969883214]
  }
 
- assert self.driver.naif_keywords == naif_keywords
+ assert self.driver.naif_keywords["BODY_CODE"] == naif_keywords["BODY_CODE"]
+ assert self.driver.naif_keywords["BODY301_RADII"] == naif_keywords["BODY301_RADII"]
+ assert self.driver.naif_keywords["BODY_FRAME_CODE"] == naif_keywords["BODY_FRAME_CODE"]
+
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSX"]), 
+ np.asarray(naif_keywords["INS-533001_TRANSX"]), 
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_TRANSY"]), 
+ np.asarray(naif_keywords["INS-533001_TRANSY"]), 
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSS"]), 
+ np.asarray(naif_keywords["INS-533001_ITRANSS"]), 
+ decimal=10)
+ np.testing.assert_almost_equal(np.asarray(self.driver.naif_keywords["INS-533001_ITRANSL"]), 
+ np.asarray(naif_keywords["INS-533001_ITRANSL"]), 
+ decimal=10)
+
  bodvrd.assert_called_with('Moon', 'RADII', 3)