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LRO Direction Fix + Summing Mode Fix (#333)
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* Updated spacecraft direction for lro

* Fixes the focal2pixel transform to account for the summing mode of the camera.

* Fixed lro tests
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@acpaquette
acpaquette authored Mar 27, 2020
1 parent 5465774 commit 0bf1bbd
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Showing 3 changed files with 54 additions and 33 deletions.
4 changes: 3 additions & 1 deletion ale/base/data_naif.py
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Original file line number Diff line number Diff line change
Expand Up @@ -411,7 +411,9 @@ def frame_chain(self):
v_vec = rotated_velocities

velocity_axis = 2
trans_x = self.focal2pixel_lines
# Get the default line translation with no potential flipping
# from the driver
trans_x = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))

if (trans_x[0] < trans_x[1]):
velocity_axis = 1
Expand Down
40 changes: 28 additions & 12 deletions ale/drivers/lro_drivers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,11 @@ def focal2pixel_lines(self):
: list<double>
focal plane to detector lines
"""
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))
return focal2pixel_lines
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3))) / self.sampling_factor
if self.spacecraft_direction < 0:
return -focal2pixel_lines
else:
return focal2pixel_lines

@property
def ephemeris_start_time(self):
Expand Down Expand Up @@ -259,10 +262,15 @@ def spacecraft_direction(self):
direction : double
X value of the first velocity relative to the sensor
"""
rotation = self.frame_chain.compute_rotation(self.target_frame_id, self.sensor_frame_id)
positions, velocities, times = self.sensor_position
velocity = rotation.rotate_velocity_at([positions[0]], [velocities[0]], [times[0]])[0]
return velocity[0]
frame_chain = self.frame_chain
lro_bus_id = spice.bods2c('LRO_SC_BUS')
time = self.ephemeris_start_time
state, _ = spice.spkezr(self.spacecraft_name, time, 'J2000', 'None', self.target_name)
position = state[:3]
velocity = state[3:]
rotation = frame_chain.compute_rotation(1, lro_bus_id)
rotated_velocity = spice.mxv(rotation._rots.as_dcm()[0], velocity)
return rotated_velocity[0]



Expand Down Expand Up @@ -398,8 +406,11 @@ def focal2pixel_lines(self):
: list<double>
focal plane to detector lines
"""
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3)))
return focal2pixel_lines
focal2pixel_lines = np.array(list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0, 3))) / self.sampling_factor
if self.spacecraft_direction < 0:
return -focal2pixel_lines
else:
return focal2pixel_lines

@property
def multiplicative_line_error(self):
Expand Down Expand Up @@ -485,7 +496,12 @@ def spacecraft_direction(self):
direction : double
X value of the first velocity relative to the sensor
"""
rotation = self.frame_chain.compute_rotation(self.target_frame_id, self.sensor_frame_id)
positions, velocities, times = self.sensor_position
velocity = rotation.rotate_velocity_at([positions[0]], [velocities[0]], [times[0]])[0]
return velocity[0]
frame_chain = self.frame_chain
lro_bus_id = spice.bods2c('LRO_SC_BUS')
time = self.ephemeris_start_time
state, _ = spice.spkezr(self.spacecraft_name, time, 'J2000', 'None', self.target_name)
position = state[:3]
velocity = state[3:]
rotation = frame_chain.compute_rotation(1, lro_bus_id)
rotated_velocity = spice.mxv(rotation._rots.as_dcm()[0], velocity)
return rotated_velocity[0]
43 changes: 23 additions & 20 deletions tests/pytests/test_lro_drivers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -271,17 +271,18 @@ def test_exposure_duration(self):
def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):
with patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.target_frame_id', \
new_callable=PropertyMock) as target_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_frame_id', \
new_callable=PropertyMock) as sensor_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_start_time', \
new_callable=PropertyMock) as ephemeris_start_time, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.ephemeris_stop_time', \
new_callable=PropertyMock) as ephemeris_end_time, \
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.sensor_position', \
new_callable=PropertyMock) as sensor_position:
sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]
assert self.driver.spacecraft_direction < 0
compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c, \
patch('ale.drivers.lro_drivers.spice.spkezr', return_value=[[1, 1, 1, 1, 1, 1], 0]) as spkezr, \
patch('ale.drivers.lro_drivers.spice.mxv', return_value=[1, 1, 1]) as mxv:
ephemeris_start_time.return_value = 0
assert self.driver.spacecraft_direction > 0
bods2c.assert_called_with('LRO_SC_BUS')
spkezr.assert_called_with(self.driver.spacecraft_name, 0, 'J2000', 'None', self.driver.target_name)
compute_rotation.assert_called_with(1, -12345)
np.testing.assert_array_equal(np.array([[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 1.0]]), mxv.call_args[0][0])
np.testing.assert_array_equal(np.array([1, 1, 1]), mxv.call_args[0][1])

def test_focal2pixel_lines(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \
Expand All @@ -290,7 +291,7 @@ def test_focal2pixel_lines(self):
patch('ale.drivers.lro_drivers.LroLrocPds3LabelNaifSpiceDriver.spacecraft_direction', \
new_callable=PropertyMock) as spacecraft_direction:
spacecraft_direction.return_value = -1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])
spacecraft_direction.return_value = 1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

Expand Down Expand Up @@ -362,17 +363,19 @@ def test_sampling_factor(self):
def test_spacecraft_direction(self, compute_rotation, from_spice, frame_chain):
with patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.target_frame_id', \
new_callable=PropertyMock) as target_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_frame_id', \
new_callable=PropertyMock) as sensor_frame_id, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_start_time', \
new_callable=PropertyMock) as ephemeris_start_time, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.ephemeris_stop_time', \
new_callable=PropertyMock) as ephemeris_end_time, \
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.sensor_position', \
new_callable=PropertyMock) as sensor_position:
sensor_position.return_value = [[np.array([50, 50, 50])], [np.array([1, 1, 1])], [0]]
assert self.driver.spacecraft_direction < 0
compute_rotation.assert_called_with(target_frame_id.return_value, sensor_frame_id.return_value)
patch('ale.drivers.lro_drivers.spice.cidfrm', return_value=[-12345]) as cidfrm, \
patch('ale.drivers.lro_drivers.spice.scs2e', return_value=0) as scs2e, \
patch('ale.drivers.lro_drivers.spice.bods2c', return_value=-12345) as bods2c, \
patch('ale.drivers.lro_drivers.spice.spkezr', return_value=[[1, 1, 1, 1, 1, 1], 0]) as spkezr, \
patch('ale.drivers.lro_drivers.spice.mxv', return_value=[1, 1, 1]) as mxv:
ephemeris_start_time.return_value = 0
assert self.driver.spacecraft_direction > 0
spkezr.assert_called_with(self.driver.spacecraft_name, 0, 'J2000', 'None', self.driver.target_name)
compute_rotation.assert_called_with(1, -12345)
np.testing.assert_array_equal(np.array([[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 1.0]]), mxv.call_args[0][0])
np.testing.assert_array_equal(np.array([1, 1, 1]), mxv.call_args[0][1])

def test_focal2pixel_lines(self):
with patch('ale.drivers.lro_drivers.spice.gdpool', return_value=[0, 1, 0]) as gdpool, \
Expand All @@ -381,6 +384,6 @@ def test_focal2pixel_lines(self):
patch('ale.drivers.lro_drivers.LroLrocIsisLabelNaifSpiceDriver.spacecraft_direction', \
new_callable=PropertyMock) as spacecraft_direction:
spacecraft_direction.return_value = -1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, -1, 0])
spacecraft_direction.return_value = 1
np.testing.assert_array_equal(self.driver.focal2pixel_lines, [0, 1, 0])

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