Merge remote-tracking branch 'refs/remotes/upstream/main' into dawnfc…

…-driver

CHANGELOG.md

@@ -36,7 +36,10 @@ release.
 ## [Unreleased]
 
 ### Added
-- Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547) 
+- Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547)
+
+### Fixed
+- Fixed LRO MiniRF drivers naif keywords focal to pixel and pixel to focal translations to be correct. [#563](https://github.com/DOI-USGS/ale/pull/563)
 
 ## [0.9.1] - 2023-06-05
 

CMakeLists.txt

@@ -7,7 +7,7 @@
 # Specify the required version of CMake.
 # cmake 3.15 required for findPython virtualenv configuration
 cmake_minimum_required(VERSION 3.15)
-project(ale VERSION 0.9.0 DESCRIPTION "Abstraction Library for Ephemerides ")
+project(ale VERSION 0.9.1 DESCRIPTION "Abstraction Library for Ephemerides ")
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 

ale/base/type_sensor.py

@@ -1,10 +1,11 @@
 import math
 
 import numpy as np
+import spiceypy as spice
 from scipy.spatial.transform import Rotation
 
 from ale.transformation import FrameChain
-from ale.transformation import ConstantRotation
+from ale.transformation import ConstantRotation, TimeDependentRotation
 
 class LineScanner():
     """
@@ -468,7 +469,7 @@ def cahvor_rotation_matrix(self):
             H_prime = (self.cahvor_camera_dict['H'] - h_c * self.cahvor_camera_dict['A'])/h_s
             V_prime = (self.cahvor_camera_dict['V'] - v_c * self.cahvor_camera_dict['A'])/v_s
             if self._props.get("landed", False):
-              self._cahvor_rotation_matrix = np.array([H_prime, -V_prime, -self.cahvor_camera_dict['A']])
+              self._cahvor_rotation_matrix = np.array([-H_prime, -V_prime, self.cahvor_camera_dict['A']])
             else:
               self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
         return self._cahvor_rotation_matrix
@@ -485,12 +486,39 @@ def frame_chain(self):
           A networkx frame chain object
         """
         if not hasattr(self, '_frame_chain'):
+            nadir = self._props.get("nadir", False)
             self._frame_chain = FrameChain.from_spice(sensor_frame=self.final_inst_frame,
                                                       target_frame=self.target_frame_id,
                                                       center_ephemeris_time=self.center_ephemeris_time,
                                                       ephemeris_times=self.ephemeris_time,
-                                                      nadir=False, exact_ck_times=False)
+                                                      nadir=nadir, exact_ck_times=False)
             cahvor_quats = Rotation.from_matrix(self.cahvor_rotation_matrix).as_quat()
+
+            if nadir:
+                # Logic for nadir calculation was taken from ISIS3
+                #  SpiceRotation::setEphemerisTimeNadir
+                rotation = self._frame_chain.compute_rotation(self.target_frame_id, 1)
+                p_vec, v_vec, times = self.sensor_position
+                rotated_positions = rotation.apply_at(p_vec, times)
+                rotated_velocities = rotation.rotate_velocity_at(p_vec, v_vec, times)
+
+                p_vec = rotated_positions
+                v_vec = rotated_velocities
+
+                velocity_axis = 2
+                # Get the default line translation with no potential flipping
+                # from the driver
+                trans_x = np.array(self.focal2pixel_lines)
+
+                if (trans_x[0] < trans_x[1]):
+                    velocity_axis = 1
+
+                quats = [spice.m2q(spice.twovec(-p_vec[i], 3, v_vec[i], velocity_axis)) for i, time in enumerate(times)]
+                quats = np.array(quats)[:,[1,2,3,0]]
+
+                rotation = TimeDependentRotation(quats, times, 1, self.final_inst_frame)
+                self._frame_chain.add_edge(rotation)
+
             # If we are landed we only care about the final cahvor frame relative to the target
             if self._props.get("landed", False):
               cahvor_rotation = ConstantRotation(cahvor_quats, self.target_frame_id, self.sensor_frame_id)

ale/drivers/lro_drivers.py

@@ -814,19 +814,21 @@ def ephemeris_start_time(self):
         : float
           start time
         """
-        return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+        return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f")) - self.line_exposure_duration
 
     @property
     def ephemeris_stop_time(self):
         """
-        Returns the stop ephemeris time for the image.
+        Returns the stop ephemeris time for the image. This is computed from 
+        the start time plus the line exposure per line, plus the line exposure
+        removed from the start time, plus the line exposure for the final line.
 
         Returns
         -------
         : float
           stop time
         """
-        return spice.str2et(self.utc_stop_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+        return self.ephemeris_start_time + (self.image_lines * self.line_exposure_duration) + (self.line_exposure_duration * 2)
 
     @property
     def look_direction(self):
@@ -846,15 +848,35 @@ def sensor_frame_id(self):
         Returns the Naif ID code for the sensor reference frame
         We replace this with the target frame ID because the sensor operates
         entirely in the target reference frame
-
         Returns
         -------
         : int
           Naif ID code for the sensor frame
         """
         return self.target_frame_id
 
+    @property
+    def naif_keywords(self):
+        """
+        Adds the correct TRANSX/Y and ITRANS/L values for use in ISIS. By default
+        these values are placeholders in the ISIS iaks and need to be computed manully
+        from the ground range resolution. See RadarGroundRangeMap.cpp in ISIS for
+        the calculations.
 
+        Returns
+        -------
+          : dict
+            An updated dictionary of NAIF keywords with the correct TRANSX/Y and ITRANSS/L
+            values computed
+        """
+        naif_keywords = super().naif_keywords
+        ground_range_resolution = self.label['IsisCube']['Instrument']["ScaledPixelHeight"]
+        icode = "INS" + str(self.ikid)
+        naif_keywords[icode + "_TRANSX"] = [-1.0 * ground_range_resolution, ground_range_resolution, 0.0]
+        naif_keywords[icode + "_TRANSY"] = [0.0, 0.0, 0.0]
+        naif_keywords[icode + "_ITRANSS"] = [1.0, 1.0 / ground_range_resolution, 0.0]
+        naif_keywords[icode + "_ITRANSL"] = [0.0, 0.0, 0.0]
+        return naif_keywords
 
 class LroLrocWacIsisLabelIsisSpiceDriver(PushFrame, IsisLabel, IsisSpice, RadialDistortion, Driver):
     @property

ale/drivers/msl_drivers.py

@@ -108,7 +108,10 @@ def focal2pixel_lines(self):
         : list<double>
           focal plane to detector lines
         """
-        return [0, 0, 1/self.pixel_size]
+        if self._props.get("landed", False):
+            return [0, 0, -1/self.pixel_size]
+        else:
+            return [0, 0, 1/self.pixel_size]
 
     @property
     def focal2pixel_samples(self):
@@ -120,7 +123,10 @@ def focal2pixel_samples(self):
         : list<double>
           focal plane to detector samples
         """
-        return [0, -1/self.pixel_size, 0]
+        if (self._props.get("nadir", False)):
+            return [0, 1/self.pixel_size, 0]
+        else:
+            return [0, -1/self.pixel_size, 0]
 
     @property
     def sensor_model_version(self):

ale/isd_generate.py

@@ -70,9 +70,15 @@ def main():
     parser.add_argument(
         "-l", "--local",
         action="store_true",
-        help="Generate local spice data, or image that is unaware of itself relative to "
+        help="Generate local spice data, an isd that is unaware of itself relative to "
              "target body. This is largely used for landed/rover data."
     )
+    parser.add_argument(
+        "-N", "--nadir",
+        action="store_true",
+        help="Generate nadir spice pointing, an isd that has pointing directly towards "
+             "the center of the target body."
+    )
     parser.add_argument(
         '--version',
         action='version',
@@ -117,7 +123,8 @@ def main():
                                        "log_level": log_level, 
                                        "only_isis_spice": args.only_isis_spice, 
                                        "only_naif_spice": args.only_naif_spice,
-                                       "local": args.local}
+                                       "local": args.local,
+                                       "nadir": args.nadir}
                 ): f for f in args.input
             }
             for f in concurrent.futures.as_completed(futures):
@@ -138,7 +145,8 @@ def file_to_isd(
     log_level=logging.WARNING,
     only_isis_spice=False,
     only_naif_spice=False,
-    local=False
+    local=False,
+    nadir=False
 ):
     """
     Returns nothing, but acts as a thin wrapper to take the *file* and generate
@@ -167,6 +175,9 @@ def file_to_isd(
     if local:
         props['landed'] = local
 
+    if nadir:
+        props['nadir'] = nadir
+
     if kernels is not None:
         kernels = [str(PurePath(p)) for p in kernels]
         props["kernels"] = kernels

ale/util.py

@@ -131,14 +131,15 @@ def find_latest_metakernel(path, year):
 
 
 def dict_merge(dct, merge_dct):
+    new_dct = dct.copy()
     for k, v in merge_dct.items():
         if (k in dct and isinstance(dct[k], dict)
                 and isinstance(merge_dct[k], Mapping)):
-            dict_merge(dct[k], merge_dct[k])
+            new_dct[k] = dict_merge(dct[k], merge_dct[k])
         else:
-            dct[k] = merge_dct[k]
+            new_dct[k] = merge_dct[k]
 
-    return dct
+    return new_dct
 
 
 def get_isis_preferences(isis_preferences=None):
@@ -178,15 +179,23 @@ def dict_to_lower(d):
 
 
 def expandvars(path, env_dict=os.environ, default=None, case_sensitive=True):
-    user_dict = env_dict if case_sensitive else dict_to_lower(env_dict)
+    if env_dict != os.environ:
+        env_dict = dict_merge(env_dict, os.environ)
 
-    def replace_var(m):
-        group0 = m.group(0) if case_sensitive else m.group(0).lower()
-        group1 = m.group(1) if case_sensitive else m.group(1).lower()
+    while "$" in path:
+        user_dict = env_dict if case_sensitive else dict_to_lower(env_dict)
 
-        return user_dict.get(m.group(2) or group1, group0 if default is None else default)
-    reVar = r'\$(\w+|\{([^}]*)\})'
-    return re.sub(reVar, replace_var, path)
+        def replace_var(m):
+            group1 = m.group(1) if case_sensitive else m.group(1).lower()
+            val = user_dict.get(m.group(2) or group1 if default is None else default)
+            if not val:
+                raise KeyError(f"Failed to evaluate {m.group(0)} from env_dict. " + 
+                               f"Should {m.group(0)} be an environment variable?")
+
+            return val
+        reVar = r'\$(\w+|\{([^}]*)\})'
+        path = re.sub(reVar, replace_var, path)
+    return path
 
 
 def generate_kernels_from_cube(cube,  expand=False, format_as='list'):
@@ -281,7 +290,7 @@ def load_table_data(key):
             if not "DataDirectory" in isisprefs:
               warnings.warn("No IsisPreferences file found, is your ISISROOT env var set?")
 
-            kernels = [expandvars(expandvars(k, isisprefs['DataDirectory'], case_sensitive=False)) for k in kernels]
+            kernels = [expandvars(k, isisprefs['DataDirectory'], case_sensitive=False) for k in kernels]
         # Ensure that the ISIS Addendum kernel is last in case it overrides
         # some values from the default Instrument kernel
         # Sorts planetary constants kernel first so it can be overridden by more specific kernels
@@ -295,7 +304,7 @@ def load_table_data(key):
             for kern_list in mk_paths:
                 for index, kern in enumerate(mk_paths[kern_list]):
                     if kern is not None:
-                        mk_paths[kern_list][index] = expandvars(expandvars(kern, isisprefs['DataDirectory'], case_sensitive=False))
+                        mk_paths[kern_list][index] = expandvars(kern, isisprefs['DataDirectory'], case_sensitive=False)
         return mk_paths
     else:
         raise Exception(f'{format_as} is not a valid return format')