Minirf Fixes

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_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/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/clementine_drivers.py

@@ -1,25 +1,16 @@
-import os
 import spiceypy as spice
-import json
-import numpy as np
-import pvl
 
 import ale
 from ale.base import Driver
 from ale.base.label_isis import IsisLabel
 from ale.base.data_naif import NaifSpice
-from ale.base.type_distortion import RadialDistortion, NoDistortion
-from ale.base.type_sensor import Framer, LineScanner
-from ale.util import generate_kernels_from_cube
-from ale.base.type_sensor import Framer
 from ale.base.type_distortion import NoDistortion
-
-from ale import util
+from ale.base.type_sensor import Framer
 
 
-class ClementineUvvisIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, NoDistortion, Driver):
+class ClementineIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, NoDistortion, Driver):
     """
-    Driver for reading Ultra-violet Invisible Spectrum ISIS3 Labels
+    Driver for reading UUVIS, HIRES, NIR, and LWIR ISIS3 Labels
     """
 
     @property
@@ -37,7 +28,10 @@ def instrument_id(self):
           instrument id
         """
         lookup_table = {
-        "UVVIS": "ULTRAVIOLET/VISIBLE CAMERA"
+        "UVVIS": "ULTRAVIOLET/VISIBLE CAMERA",
+        "NIR": "Near Infrared Camera",
+        "HIRES": "High Resolution Camera",
+        "LWIR": "Long Wave Infrared Camera"
         }
         return lookup_table[super().instrument_id]
 
@@ -51,8 +45,7 @@ def sensor_name(self):
         : str
           instrument name
         """
-        filter = self.label["IsisCube"]['BandBin']['FilterName']
-        return "CLEM_" + super().instrument_id + "_" + filter
+        return super().instrument_id
 
     @property
     def spacecraft_name(self):
@@ -109,3 +102,29 @@ def ikid(self):
           Naif ID used to for identifying the instrument in Spice kernels
         """
         return self.label["IsisCube"]["Kernels"]["NaifFrameCode"]
+
+    @property
+    def focal_length(self):
+        """
+        NIR manually sets focal length based on filter.
+
+        Returns
+        -------
+        : float
+          focal length
+        """
+        if (self.instrument_id == "Near Infrared Camera"):
+          filter = self.label["IsisCube"]['BandBin']['FilterName']
+
+          lookup_table = {
+          "A": 2548.2642,
+          "B": 2530.8958,
+          "C": 2512.6589,
+          "D": 2509.0536,
+          "E": 2490.7378,
+          "F": 2487.8694
+          }
+
+          return lookup_table[filter.upper()] * 0.038
+
+        return super().focal_length