Adds Cassini Vims driver for use within ISIS (#466)

* Added cassini vims vis/ir drivers

* Various cassini vims centric driver changes

* fixed rebase conflict

* Finalized cassini vims drivers

* Added cassini vims test data

* Added tests for cassini vims

* Updated cassini vims tests after pck loading order change

* Changed env var monkey patch from ISIS3DATA to ISISDATA

* Fixed typos in doc strings

---------

Co-authored-by: acpaquette <[email protected]>
Co-authored-by: acpaquette <[email protected]>

ale/drivers/co_drivers.py

@@ -12,21 +12,36 @@
 from ale.base.label_isis import IsisLabel
 from ale.base.type_distortion import RadialDistortion, NoDistortion
 from ale.base.type_sensor import Framer
+from ale.base.type_sensor import LineScanner
 
 from ale.rotation import ConstantRotation
 from ale.transformation import FrameChain
+from ale.util import query_kernel_pool
 from scipy.spatial.transform import Rotation
 
-id_lookup = {
+vims_id_lookup = {
+ "VIMS_VIS" : "CASSINI_VIMS_V",
+ "VIMS_IR" : "CASSINI_VIMS_IR"
+}
+
+vims_name_lookup = {
+ "VIMS" : "Visible and Infrared Mapping Spectrometer",
+}
+
+iss_id_lookup = {
  "ISSNA" : "CASSINI_ISS_NAC",
  "ISSWA" : "CASSINI_ISS_WAC"
 }
 
-name_lookup = {
+iss_name_lookup = {
  "ISSNA" : "Imaging Science Subsystem Narrow Angle Camera",
  "ISSWA" : "Imaging Science Subsystem Wide Angle Camera"
 }
 
+spacecraft_name_lookup = {
+ 'Cassini-Huygens': 'Cassini'
+}
+
 nac_filter_to_focal_length = {
  ("P0","BL2"):2002.19,
  ("P0","CB1"):2002.30,
@@ -126,7 +141,7 @@ def instrument_id(self):
  : str
  instrument id
  """
- return id_lookup[super().instrument_id]
+ return iss_id_lookup[super().instrument_id]
 
  @property
  def spacecraft_name(self):
@@ -151,7 +166,7 @@ def sensor_name(self):
  : str
  Name of the sensor
  """
- return name_lookup[super().instrument_id]
+ return iss_name_lookup[super().instrument_id]
 
  @property
  def ephemeris_start_time(self):
@@ -293,6 +308,204 @@ def frame_chain(self):
  def sensor_model_version(self):
  return 1
 
+class CassiniVimsIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, NoDistortion, Driver):
+
+ @property
+ def vims_channel(self):
+ if not hasattr(self, '_vims_channel'):
+ self._vims_channel = self.label['IsisCube']["Instrument"]["Channel"]
+ return self._vims_channel
+
+ @property
+ def instrument_id(self):
+ """
+ Returns an instrument id for uniquely identifying the instrument, but often
+ also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
+ the same ID the Spice expects in bods2c calls.
+ Expects instrument_id to be defined in the IsisLabel mixin. This should be
+ a string of the form 'CTX'
+
+ Returns
+ -------
+ : str
+ instrument id
+ """
+ return vims_id_lookup[super().instrument_id + "_" + self.vims_channel]
+
+ @property
+ def sensor_name(self):
+ """
+ ISIS doesn't propagate this to the ingested cube label, so hard-code it.
+ """
+ return vims_name_lookup[super().instrument_id]
+
+ @property
+ def spacecraft_name(self):
+ """
+ Returns the spacecraft name used in various Spice calls to acquire
+ ephemeris data.
+ Expects the platform_name to be defined. This should be a string of
+ the form 'Mars_Reconnaissance_Orbiter'
+
+ Returns
+ -------
+ : str
+ spacecraft name
+ """
+ return spacecraft_name_lookup[super().platform_name]
+
+ @property
+ def exposure_duration(self):
+ """
+ The exposure duration of the image, in seconds
+
+ Returns
+ -------
+ : float
+ Exposure duration in seconds
+ """
+ if 'ExposureDuration' in self.label['IsisCube']['Instrument']:
+ exposure_duration = self.label['IsisCube']['Instrument']['ExposureDuration']
+
+ for i in exposure_duration:
+ if i.units == "VIS":
+ exposure_duration = i
+
+ exposure_duration = exposure_duration.value * 0.001
+ return exposure_duration
+ else:
+ return self.line_exposure_duration
+
+ @property
+ def focal_length(self):
+ """
+ Hardcoded value taken from ISIS
+ """
+ if not hasattr(self, '_focal_length'):
+ if self.vims_channel == "VIS":
+ self._focal_length = 143.0
+ else:
+ self._focal_length = 426.0
+ return self._focal_length
+
+ @property
+ def detector_center_line(self):
+ return 0
+
+ @property
+ def detector_center_sample(self):
+ return 0
+
+ def compute_vims_time(self, line, sample, number_of_samples, mode="VIS"):
+ instrument_group = self.label["IsisCube"]["Instrument"]
+ time = str(instrument_group["NativeStartTime"])
+ int_time, decimal_time = str(time).split(".")
+
+ ephemeris_time = spice.scs2e(self.spacecraft_id, int_time)
+ ephemeris_time += float(decimal_time) / 15959.0
+
+ ir_exp = float(instrument_group["ExposureDuration"][0]) * 1.01725 / 1000.0;
+ vis_exp = float(instrument_group["ExposureDuration"][1]) / 1000.0
+
+ interline_delay = (float(instrument_group["InterlineDelayDuration"]) * 1.01725) / 1000.0
+
+ swath_width = instrument_group["SwathWidth"];
+
+ if mode == "VIS":
+ ephemeris_time = (float(ephemeris_time) + (((ir_exp * swath_width) - vis_exp) / 2.0)) + ((line + 0.5) * vis_exp)
+ elif mode == "IR":
+ ephemeris_time = float(ephemeris_time) + (line * number_of_samples * ir_exp) + (line * interline_delay) + ((sample + 0.5) * ir_exp)
+
+ return ephemeris_time
+
+ @property
+ def ephemeris_start_time(self):
+ return self.compute_vims_time(0 - 0.5, 0 - 0.5, self.image_samples, mode=self.vims_channel)
+
+ @property
+ def ephemeris_stop_time(self):
+ return self.compute_vims_time((self.image_lines - 1) + 0.5, (self.image_samples - 1) + 0.5, self.image_samples, mode=self.vims_channel)
+
+ @property
+ def sensor_model_version(self):
+ """
+ Returns instrument model version
+ Returns
+ -------
+ : int
+ ISIS sensor model version
+ """
+ try:
+ return super().sensor_model_version
+ except:
+ return 1
+
+
+class CassiniVimsIsisLabelIsisSpiceDriver(LineScanner, IsisLabel, IsisSpice, NoDistortion, Driver):
+
+ @property
+ def instrument_id(self):
+ """
+ Returns an instrument id for uniquely identifying the instrument, but often
+ also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
+ the same ID the Spice expects in bods2c calls.
+ Expects instrument_id to be defined in the IsisLabel mixin. This should be
+ a string of the form 'CTX'
+
+ Returns
+ -------
+ : str
+ instrument id
+ """
+
+ image_type = self.label['IsisCube']["Instrument"]["Channel"]
+ return vims_id_lookup[super().instrument_id + "_" + image_type]
+
+ @property
+ def sensor_name(self):
+ """
+ ISIS doesn't propagate this to the ingested cube label, so hard-code it.
+ """
+ return "Visible and Infrared Mapping Spectrometer"
+
+ @property
+ def spacecraft_name(self):
+ """
+ Returns the spacecraft name used in various Spice calls to acquire
+ ephemeris data.
+ Expects the platform_name to be defined. This should be a string of
+ the form 'Mars_Reconnaissance_Orbiter'
+
+ Returns
+ -------
+ : str
+ spacecraft name
+ """
+ return spacecraft_name_lookup[super().platform_name]
+
+ @property
+ def exposure_duration(self):
+ """
+ The exposure duration of the image, in seconds
+
+ Returns
+ -------
+ : float
+ Exposure duration in seconds
+ """
+ if 'ExposureDuration' in self.label['IsisCube']['Instrument']:
+ exposure_duration = self.label['IsisCube']['Instrument']['ExposureDuration']
+
+ for i in exposure_duration:
+ if i.units == "VIS":
+ exposure_duration = i
+
+ exposure_duration = exposure_duration.value * 0.001
+ return exposure_duration
+ else:
+ return self.line_exposure_duration
+
+
 class CassiniIssPds3LabelNaifSpiceDriver(Framer, Pds3Label, NaifSpice, RadialDistortion, Driver):
  """
  Cassini mixin class for defining Spice calls.
@@ -313,7 +526,7 @@ def instrument_id(self):
  : str
  instrument id
  """
- return id_lookup[super().instrument_id]
+ return iss_id_lookup[super().instrument_id]
 
  @property
  def focal_epsilon(self):
@@ -530,7 +743,7 @@ def instrument_id(self):
  : str
  ID of the sensor
  """
- return id_lookup[super().instrument_id]
+ return iss_id_lookup[super().instrument_id]
 
  @property
  def sensor_name(self):
@@ -542,7 +755,7 @@ def sensor_name(self):
  : str
  Name of the sensor
  """
- return name_lookup[super().instrument_id]
+ return iss_name_lookup[super().instrument_id]
 
  @property
  def center_ephemeris_time(self):