Msl Landed Fix

CHANGELOG.md

@@ -35,6 +35,10 @@ release.
 
 ## [Unreleased]
 
+### Fixed
+
+- Fixed landed sensors to correctly project locally [#590](https://github.com/DOI-USGS/ale/pull/590)
+
 ## [0.10.0] - 2024-01-08 
 
 ### Added

ale/base/type_sensor.py

@@ -500,10 +500,7 @@ def cahvor_rotation_matrix(self):
             v_s = self.compute_v_s()
             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']])
-            else:
-              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']])
         return self._cahvor_rotation_matrix
 
     @property

ale/drivers/msl_drivers.py

@@ -183,8 +183,11 @@ def focal_length(self):
             # See is_navcam() for an explanation.
             return (self.compute_h_s() + self.compute_v_s())/2.0
 
+        if self._props.get("landed", False):
+            return -super().focal_length
+
         # For mast cam
-        return super().focal_length 
+        return super().focal_length
 
     @property
     def pixel_size(self):