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

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/drivers/lo_drivers.py

@@ -0,0 +1,198 @@
+import spiceypy as spice
+import numpy as np
+import affine6p
+from ale.base.data_naif import NaifSpice
+from ale.base.label_isis import IsisLabel
+from ale.base.type_sensor import Framer
+from ale.base.type_distortion import LoDistortion
+from ale.base.base import Driver
+
+class LoHighCameraIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, LoDistortion, Driver):
+
+    @property
+    def instrument_id(self):
+        """
+        Returns the ID of the instrument.
+
+        Returns
+        -------
+        : str
+          Name of the instrument
+        """
+
+        lo_table = {'Lunar Orbiter 1': 'LO1_HIGH_RESOLUTION_CAMERA',
+                    'Lunar Orbiter 2': 'LO2_HIGH_RESOLUTION_CAMERA',
+                    'Lunar Orbiter 3': 'LO3_HIGH_RESOLUTION_CAMERA',
+                    'Lunar Orbiter 4': 'LO4_HIGH_RESOLUTION_CAMERA',
+                    'Lunar Orbiter 5': 'LO5_HIGH_RESOLUTION_CAMERA'}
+
+        lookup_table = {'High Resolution Camera': lo_table[self.spacecraft_name]}
+
+        return lookup_table[super().instrument_id]
+
+    @property
+    def sensor_model_version(self):
+        """
+        The ISIS Sensor model number. This is likely just 1
+
+        Returns
+        -------
+        : int
+          ISIS sensor model version
+        """
+        return 1
+
+    @property
+    def sensor_name(self):
+        """
+        Returns the name of the instrument
+
+        Returns
+        -------
+        : str
+          Name of the sensor
+        """
+        return self.instrument_id
+
+    @property
+    def ephemeris_start_time(self):
+        """
+        Returns the ephemeris time of the image.
+        Expects spacecraft_id to be defined. This should be the integer
+        Naif ID code for the spacecraft.
+
+        Returns
+        -------
+        : float
+          ephemeris time of the image
+        """
+
+        return spice.utc2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))
+
+    @property
+    def ephemeris_stop_time(self):
+        """
+        Returns the ephemeris time of the image.
+        Expects spacecraft_id to be defined. This should be the integer
+        Naif ID code for the spacecraft.
+
+        Returns
+        -------
+        : float
+          ephemeris time of the image
+        """
+
+        return self.ephemeris_start_time
+
+
+
+    @property
+    def ikid(self):
+        """
+        Overridden to grab the ikid from the Isis Cube since there is no way to
+        obtain this value with a spice bods2c call.
+
+        Returns
+        -------
+        : int
+          Naif ID used to for identifying the instrument in Spice kernels
+        """
+        return spice.namfrm(self.instrument_id)
+
+    @property
+    def detector_center_line(self):
+        """
+        Returns the center detector line. This is a placeholder for use within
+        Isis. Since Isis does not use much of the ISD this value allows the as
+        accurate ISD for use in Isis but will be inaccurate for USGSCSM.
+
+        Returns
+        -------
+        : float
+          Detector sample of the principal point
+        """
+        return 0
+
+    @property
+    def detector_center_sample(self):
+        """
+        Returns the center detector sample. This is a placeholder for use within
+        Isis. Since Isis does not use much of the ISD this value allows the as
+        accurate ISD for use in Isis but will be inaccurate for USGSCSM.
+
+        Returns
+        -------
+        : float
+          Detector line of the principal point
+        """
+        return 0
+
+    @property
+    def focal2pixel_samples(self):
+        return self.naif_keywords[f"INS{self.ikid}_ITRANSS"]
+
+    @property
+    def focal2pixel_lines(self):
+        return self.naif_keywords[f"INS{self.ikid}_ITRANSL"]
+
+
+    @property
+    def naif_keywords(self):
+        """
+        Adds base LO instrument distortion.
+        Returns
+        -------
+        : dict
+          Dictionary of keywords and values that ISIS creates and attaches to the label
+        """
+
+        if (not hasattr(self, "_naif_keywords")):
+          # From ISIS LoCameraFiducialMap
+
+          # Read Fiducials
+          p_fidSamples = self.label['IsisCube']['Instrument']['FiducialSamples'].value
+          p_fidLines = self.label['IsisCube']['Instrument']['FiducialLines'].value
+          p_fidXCoords = self.label['IsisCube']['Instrument']['FiducialXCoordinates'].value
+          p_fidYCoords = self.label['IsisCube']['Instrument']['FiducialYCoordinates'].value
+
+          # Create Affine Transformation
+
+          p_src = [p_fidSamples, p_fidLines]
+          p_dst = [p_fidXCoords, p_fidYCoords]
+
+          # format the fiducial coordinatens as [ [x, y], [x, y]...]
+          p_src = np.rot90(np.array([p_fidSamples, p_fidLines]))
+          p_dst = np.rot90(np.array([p_fidXCoords, p_fidYCoords]))
+
+          # find a best match for the transformation based on source and destination coordinates
+          tr_mat = affine6p.estimate(p_src, p_dst).get_matrix()
+
+          tr_mat_inv = np.linalg.inv(tr_mat)
+
+          # X and Y, Inverse S and L components of transformation
+          transx = tr_mat[0]
+          transy = tr_mat[1]
+          itranss = tr_mat_inv[0]
+          itransl = tr_mat_inv[1]
+
+          # move the last item to the front to get the ordering standard in ISIS
+          transx.insert(0, transx.pop())
+          transy.insert(0, transy.pop())
+          itranss = np.roll(itranss, 1).tolist()
+          itransl = np.roll(itransl, 1).tolist()
+
+          # Set the x-axis direction.  The medium camera is reversed.
+          # High Cam is -53X001, Medium Cam is -53X002
+          if (self.ikid % 2 == 0):
+            x_dir = -1
+            transx = [i * x_dir for i in transx]
+            itranss[1] *= x_dir
+            itransl[1] *= x_dir
+
+          self._naif_keywords = {**super().naif_keywords,
+                f"INS{self.ikid}_TRANSX": transx,
+                f"INS{self.ikid}_TRANSY": transy,
+                f"INS{self.ikid}_ITRANSS": itranss,
+                f"INS{self.ikid}_ITRANSL": itransl}
+
+        return self._naif_keywords

environment.yml

@@ -22,3 +22,6 @@ dependencies:
   - pytest-cov
   - networkx
   - breathe
+  - pip
+  - pip:
+    - affine6p

include/ale/Distortion.h

@@ -8,7 +8,8 @@ namespace ale {
     KAGUYALISM,
     DAWNFC,
     LROLROCNAC,
-    CAHVOR
+    CAHVOR,
+    LUNARORBITER
   };
 }