MSL Nadir Pointing #564
MSL Nadir Pointing #564
Conversation
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@oleg-alexandrov This PR would also be a good idea to look at on Monday |
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I am not sure why you need to have it both ways with the signs. I did not encounter such an issue with MSL. But maybe there are more cases to consider. I had my own tweaks for signs for MSL in my branch of ale, and I think I made some big changes to what actually gets saved in the .json file for the constant rotation. If you are getting unexpected cameras when saving from disk, you may want to take a look. BTW, I also had a fix for ensuring the left and right nav cam sensor have the proper baseline. This may not be important for stitching, but it becomes important for stereo. And a question. You still need some kind of rotation matrix to place the rover in ellipsoid coordinates rather than at planet center. How do you get that rotation? |
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@oleg-alexandrov the isd_generate script has an extra argument in this PR that only puts the rover at the center of the body when you set |
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Looks good. This brings us closer to accurate pose for the rover on the planet. By now the issue is not with cahvor but in the rover frame. |
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@oleg-alexandrov Right, I was able to get around this by just computing nadir pointing which seems to work well. I would be curious to see how close the nadir rotations are from the rotations you are computing in your PR |
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I think this only needs passing tests? |
* Fixes LRO minirf driver * Reverted gitignore * Reverted sensor_frame_id override * Added naifkeyword test for minirf * Added changelog entry * Updated minirf json * Lunar orbiter high camera (#553) * skeleton class for LO * lo center time and ikid * detector center line/sample dummy values * LO driver (processes cube w/o error) * lo test data * lunar orbiter tests * removed old comment * removed geotransform and projection from ISD * Clementine LWIR, NIR, and HIRES Drivers (#565) * Clementine Drivers * Added missing kernels * Combined to one driver * Updated doc strings * MSL Nadir Pointing (#564) * Enabled nadir pointing in MSL/CAHVOR driver * Removed commented out position changes * Fix MSL test * More msl fiddling * Update for MSL Nadir pointing rotation in the cahvor mixin * Fixed msl tests and added nadir test * Updated ALE version in CmakeList.txt (#555) * Ale Path Expansion Fixes (#551) * Fixed expandvar function to expand paths completely * Made expandvars fail if it can't expand a variable * fixed typo --------- Co-authored-by: Jacob Cain <115182890+jrcain-usgs@users.noreply.github.com> Co-authored-by: Amy Stamile <74275278+amystamile-usgs@users.noreply.github.com> Co-authored-by: Kelvin <krodriguez@usgs.gov>
Adds the ability to request nadir pointing for MSL data.
This allows for orthographic projection in ISIS using cam2map.