def plot_Earth_Mayavi(
earthTexture='MAPLEAF/IO/blue_marble_spherical_splitFlipped.jpg'):
from mayavi import mlab
from tvtk.api import tvtk # python wrappers for the C++ vtk ecosystem
# create a figure window (and scene)
fig = mlab.figure(size=(600, 600))
# load and map the texture
img = tvtk.JPEGReader()
img.file_name = getAbsoluteFilePath(earthTexture)
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# (interpolate for a less raster appearance when zoomed in)
# use a TexturedSphereSource, a.k.a. getting our hands dirty
R = 6371007.1809
Nrad = 180
# create the sphere source with a given radius and angular resolution
sphere = tvtk.TexturedSphereSource(radius=R,
theta_resolution=Nrad,
phi_resolution=Nrad)
# assemble rest of the pipeline, assign texture
sphere_mapper = tvtk.PolyDataMapper(input_connection=sphere.output_port)
sphere_actor = tvtk.Actor(mapper=sphere_mapper, texture=texture)
fig.scene.add_actor(sphere_actor)
def draw(self, figure):
from tvtk.api import tvtk
import tempfile
import urllib.request
from pathlib import Path
local_filename = Path("/hermes_temp/blue_marble.jpg")
if not local_filename.is_file():
local_filename.parent.mkdir(parents=True, exist_ok=True)
print("Downloading Earth")
from tqdm import tqdm
dbar = tqdm(leave=False)
def download_bar(count, block_size, total_size):
dbar.total = total_size
dbar.update(block_size)
local_filename, headers = urllib.request.urlretrieve(
"https://eoimages.gsfc.nasa.gov/images/imagerecords/73000/73909/world.topo.bathy.200412.3x5400x2700.jpg",
"/hermes_temp/blue_marble.jpg",
reporthook=download_bar)
else:
local_filename = str(local_filename)
img = tvtk.JPEGReader()
img.file_name = local_filename
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# use a TexturedSphereSource, a.k.a. getting our hands dirty
Nrad = 180
# create the sphere source with a given radius and angular resolution
sphere = tvtk.TexturedSphereSource(radius=self.poli_body.R_mean.to(
visualisation.SCALE_UNIT).value,
theta_resolution=Nrad,
phi_resolution=Nrad)
# assemble rest of the pipeline, assign texture
sphere_mapper = tvtk.PolyDataMapper(
input_connection=sphere.output_port)
self.sphere_actor = tvtk.Actor(mapper=sphere_mapper, texture=texture)
figure.scene.add_actor(self.sphere_actor)
def draw(self, figure):
from tvtk.api import tvtk
img = tvtk.JPEGReader()
img.file_name = "D:/git/thesis/mmWaveISL/mmWaveISL/blue_marble.jpg"
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# use a TexturedSphereSource, a.k.a. getting our hands dirty
Nrad = 180
# create the sphere source with a given radius and angular resolution
sphere = tvtk.TexturedSphereSource(radius=self.R_mean.to(u.km).value, theta_resolution=Nrad,
phi_resolution=Nrad)
# assemble rest of the pipeline, assign texture
sphere_mapper = tvtk.PolyDataMapper(input_connection=sphere.output_port)
self.sphere_actor = tvtk.Actor(mapper=sphere_mapper, texture=texture)
figure.scene.add_actor(self.sphere_actor)
def __source_dict_default(self):
"""Default value for source dict."""
sd = {
'arrow': tvtk.ArrowSource(),
'cone': tvtk.ConeSource(),
'cube': tvtk.CubeSource(),
'cylinder': tvtk.CylinderSource(),
'disk': tvtk.DiskSource(),
'earth': tvtk.EarthSource(),
'line': tvtk.LineSource(),
'outline': tvtk.OutlineSource(),
'plane': tvtk.PlaneSource(),
'point': tvtk.PointSource(),
'polygon': tvtk.RegularPolygonSource(),
'sphere': tvtk.SphereSource(),
'superquadric': tvtk.SuperquadricSource(),
'textured sphere': tvtk.TexturedSphereSource(),
'glyph2d': tvtk.GlyphSource2D()
}
return sd
def auto_sphere(image_file):
# create a figure window (and scene)
fig = mlab.figure(size=(600, 600))
# load and map the texture
img = tvtk.PNGReader()
img.file_name = image_file
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# (interpolate for a less raster appearance when zoomed in)
# use a TexturedSphereSource, a.k.a. getting our hands dirty
R = 1
Nrad = 180
# create the sphere source with a given radius and angular resolution
sphere = tvtk.TexturedSphereSource(radius=R,
theta_resolution=Nrad,
phi_resolution=Nrad)
# assemble rest of the pipeline, assign texture
sphere_mapper = tvtk.PolyDataMapper(input_connection=sphere.output_port)
sphere_actor = tvtk.Actor(mapper=sphere_mapper, texture=texture)
fig.scene.add_actor(sphere_actor)
def createSphere(fig, image_file):
# load and map the texture
img = tvtk.JPEGReader()
img.file_name = image_file
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# (interpolate for a less raster appearance when zoomed in)
# use a TexturedSphereSource, a.k.a. getting our hands dirty
R = 6371 * 1000
Nrad = 360
# create the sphere source with a given radius and angular resolution
sphere = tvtk.TexturedSphereSource(radius=R,
theta_resolution=Nrad,
phi_resolution=Nrad)
# assemble rest of the pipeline, assign texture
sphere_mapper = tvtk.PolyDataMapper(input_connection=sphere.output_port)
sphere_actor = tvtk.Actor(mapper=sphere_mapper, texture=texture)
fig.scene.add_actor(sphere_actor)
sphere_actor.rotate_z(180)
return fig, sphere_actor
def maven_orbit_image(time,
camera_pos=[1, 0, 0],
camera_up=[0, 0, 1],
extent=3,
parallel_projection=True,
view_from_orbit_normal=False,
view_from_periapsis=False,
show_maven=False,
show_orbit=True,
label_poles=None,
show=True,
transparent_background=False,
background_color=(0, 0, 0)):
"""Creates an image of Mars and the MAVEN orbit at a specified time.
Parameters
----------
time : str
Time to diplay, in a string format interpretable by spiceypy.str2et.
camera_pos : length 3 iterable
Position of camera in MSO coordinates.
camera_up : length 3 iterable
Vector defining the image vertical.
extent : float
Half-width of image in Mars radii.
parallel_projection : bool
Whether to display an isomorphic image from the camera
position. If False, goofy things happen. Defaults to True.
view_from_orbit_normal : bool
Override camera_pos with a camera position along MAVEN's orbit
normal. Defaults to False.
view_from_periapsis : bool
Override camera_pos with a camera position directly above
MAVEN's periapsis. Defaults to False.
show_maven : bool
Whether to draw a circle showing the position of MAVEN at the
specified time. Defaults to False.
show_orbit : bool
Whether to draw the MAVEN orbit. Defaults to True.
label_poles : bool
Whether to draw an 'N' and 'S' above the visible poles of Mars.
show : bool
Whether to show the image when called, or supress
display. Defaults to True.
transparent_background : bool
If True, the image background is transparent, otherwise it is
set to background_color. Defaults to False.
background_color : RGB1 tuple
Background color to use if transparent_background=False.
Specified as an RGB tuple with values between 0 and 1.
Returns
-------
rgb_array : 1000x1000x3 numpy array of image RGB values
Image RGB values.
return_coords : dict
Description of the image coordinate system useful for plotting
on top of output image.
Notes
-----
Call maven_iuvs.load_iuvs_spice() before calling this function to
ensure kernels are loaded.
"""
myet = spice.str2et(time)
# disable mlab display (this is done by matplotlib later)
mlab.options.offscreen = True
# create a figure window (and scene)
mlab_pix = 1000
mfig = mlab.figure(size=(mlab_pix, mlab_pix),
bgcolor=background_color)
# disable rendering as objects are added
mfig.scene.disable_render = True
#
# Set up the planet surface
#
# load and map the Mars surface texture
image_file = os.path.join(anc_dir, 'marssurface_2.jpg')
img = tvtk.JPEGReader()
img.file_name = image_file
texture = tvtk.Texture(input_connection=img.output_port, interpolate=1)
# attach the texture to a sphere
mars_radius = 3395.
sphere_radius = 1 # radius of planet is 1 rM
sphere_resolution = 180 # 180 points on the sphere
sphere = tvtk.TexturedSphereSource(radius=sphere_radius,
theta_resolution=sphere_resolution,
phi_resolution=sphere_resolution)
sphere_mapper = tvtk.PolyDataMapper(input_connection=sphere.output_port)
mars = tvtk.Actor(mapper=sphere_mapper, texture=texture)
# adjust the reflection properties for a pretty image
mars.property.ambient = 0.2 # so the nightside is slightly visible
mars.property.specular = 0.15 # make it shinier near dayside
# now apply the rotation matrix to the planet
# tvtk only thinks about rotations with Euler angles, so we need
# to use a SPICE routine to get these from the rotation matrix
# to get from the surface to MSO coordinates we'd normally do
# this:
rmat = spice.pxform('IAU_MARS', 'MAVEN_MSO', myet)
# but we need to use transpose because spice.m2eul assumes the matrix
# defines a coordinate system rotation, the inverse of the matrix
# to rotate vectors
trmat = spice.pxform('MAVEN_MSO', 'IAU_MARS', myet)
# now we can get the Euler angles
rangles = np.rad2deg(spice.m2eul(trmat, 2, 1, 3))
# ^^^^^^^^
# 2,1,3 because vtk performs
# rotations in the order
# z,x,y and SPICE wants these
# in REVERSE order
mars.orientation = rangles[[1, 0, 2]]
# ^^^^^^^
# orientation must be specified as x,y,z
# rotations in that order even though they
# are applied in the order above
# OK, that was hard, but now we're good!
mfig.scene.add_actor(mars)
#
# make a lat/lon grid
#
line_x = []
line_y = []
line_z = []
line_o = []
line_t = np.linspace(0, 2*np.pi, 100)
line_r = 1.0
longrid = np.arange(0, 360, 30)
for lon in longrid:
line_x.append(line_r*np.cos(np.deg2rad(lon))*np.cos(line_t))
line_x.append([0])
line_y.append(line_r*np.sin(np.deg2rad(lon))*np.cos(line_t))
line_y.append([0])
line_z.append(line_r*np.sin(line_t))
line_z.append([0])
line_o.append(np.ones_like(line_t))
line_o.append([0])
latgrid = np.arange(-90, 90, 30)[1:]
for lat in latgrid:
line_x.append(line_r*np.cos(np.deg2rad(lat))*np.cos(line_t))
line_x.append([0])
line_y.append(line_r*np.cos(np.deg2rad(lat))*np.sin(line_t))
line_y.append([0])
line_z.append(line_r*np.sin(np.deg2rad(lat))*np.ones_like(line_t))
line_z.append([0])
line_o.append(np.ones_like(line_t))
line_o.append([0])
line_x = np.concatenate(line_x)
line_y = np.concatenate(line_y)
line_z = np.concatenate(line_z)
line_o = np.concatenate(line_o)
linearray = [np.matmul(rmat, [x, y, z]) for x, y, z in zip(line_x,
line_y,
line_z)]
(line_x, line_y, line_z) = np.transpose(np.array(linearray))
grid_linewidth = 0.25*mlab_pix/1000
mlab.plot3d(line_x, line_y, line_z, line_o,
transparent=True,
color=(0, 0, 0),
tube_radius=None,
line_width=grid_linewidth)
#
# compute the spacecraft orbit
#
# for the given time, we determine the orbit period
maven_state = spice.spkezr('MAVEN', myet,
'MAVEN_MME_2000', 'NONE', 'MARS')[0]
marsmu = spice.bodvrd('MARS', 'GM', 1)[1][0]
maven_elements = spice.oscltx(maven_state, myet, marsmu)
orbit_period = 1.001*maven_elements[-1]
# make an etlist corresponding to the half-orbit ahead and behind
orbit_subdivisions = 2000
etlist = (myet
- orbit_period/2
+ orbit_period*np.linspace(0, 1,
num=orbit_subdivisions))
# get the position of the orbit in MSO
statelist = spice.spkezr('MAVEN', etlist,
'MAVEN_MSO', 'NONE', 'MARS')[0]
statelist = np.append(statelist, [statelist[0]], axis=0) # close the orbit
poslist = np.transpose(statelist)[:3]/mars_radius # scale to Mars radius
# plot the orbit
orbitcolor = np.array([222, 45, 38])/255 # a nice red
orbitcolor = tuple(orbitcolor)
maven_x, maven_y, maven_z = poslist
if show_orbit:
mlab.plot3d(maven_x, maven_y, maven_z,
color=orbitcolor,
tube_radius=None,
line_width=3*mlab_pix/1000)
if not parallel_projection:
# add a dot indicating the location of the Sun
# this only makes sense with a perspective transform... with
# orthographic coordinates we're always too far away
# TODO: non parallel projection results in goofy images
sun_distance = 10
sun_sphere = tvtk.SphereSource(center=(sun_distance, 0, 0),
radius=1*np.pi/180*sun_distance,
theta_resolution=sphere_resolution,
phi_resolution=sphere_resolution)
sun_sphere_mapper = tvtk.PolyDataMapper(input_connection=sun_sphere.output_port)
sun_sphere = tvtk.Actor(mapper=sun_sphere_mapper)
sun_sphere.property.ambient = 1.0
sun_sphere.property.lighting = False
# mfig.scene.add_actor(sun_sphere)
# put a line along the x-axis towards the sun
# sunline_x=np.arange(0, 5000, 1)
# mlab.plot3d(sunline_x, 0*sunline_x, 0*sunline_x,
# color=(1.0,1.0,1.0),
# tube_radius=None,line_width=6)
#
# Define camera coordinates
#
if view_from_periapsis:
# to do this we need to get the position of apoapsis and the
# orbit normal
rlist = [np.linalg.norm(p) for p in np.transpose(poslist)]
apoidx = np.argmax(rlist)
apostate = spice.spkezr('MAVEN', etlist[apoidx],
'MAVEN_MSO', 'NONE', 'MARS')[0]
camera_pos = -1.0 * apostate[:3]
camera_pos = 5 * (camera_pos/np.linalg.norm(camera_pos))
camera_up = np.cross(apostate[:3], apostate[-3:])
camera_up = camera_up/np.linalg.norm(camera_up)
parallel_projection = True
if view_from_orbit_normal:
# to do this we need to get the position of apoapsis and the
# orbit normal
rlist = [np.linalg.norm(p) for p in np.transpose(poslist)]
apoidx = np.argmax(rlist)
apostate = spice.spkezr('MAVEN', etlist[apoidx],
'MAVEN_MSO', 'NONE', 'MARS')[0]
camera_up = apostate[:3]
camera_up = camera_up/np.linalg.norm(camera_up)
camera_pos = np.cross(apostate[:3], apostate[-3:])
camera_pos = 5 * (camera_pos/np.linalg.norm(camera_pos))
parallel_projection = True
# construct an orthonormal coordinate system
camera_pos = np.array(camera_pos)
camera_pos_norm = camera_pos/np.linalg.norm(camera_pos)
camera_up = (camera_up
- camera_pos_norm*np.dot(camera_pos_norm,
camera_up))
camera_up = camera_up/np.linalg.norm(camera_up)
camera_right = np.cross(-camera_pos_norm, camera_up)
# set location of camera and orthogonal projection
camera = mlab.gcf().scene.camera
if parallel_projection:
camera_pos = 5*camera_pos_norm
camera.parallel_projection = True
camera.parallel_scale = extent # half box size
else:
# TODO: this results in goofy images, fix this
camera.parallel_projection = False
camera.view_angle = 50
camera.position = np.array(camera_pos)
camera.focal_point = (0, 0, 0)
camera.view_up = camera_up
camera.clipping_range = (0.01, 5000)
#
# Set up lighting
#
# The only light is the Sun, which is fixed on the MSO +x axis.
# VTK's default lights are uniform and don't fall off with
# distance, which is what we want
mfig.scene.light_manager.light_mode = "vtk"
sun = mfig.scene.light_manager.lights[0]
sun.activate = True
sun_vec = (1, 0, 0)
# The only way to set a light in mayavi/vtk is with respect to the
# camera position. This means we have to get elevation/azimuth
# coordinates for the Sun with respect to the camera, which could
# be anywhere.
# Here's how the coordinate system is defined:
# elevation:
# [-90 -- +90]
# +90 places the light along the direction of camera_up
# azimuth:
# [-180 -- +180],
# +90 is in the plane of camera_up and camera_right.
# +/-180 is behind, pointing at the camera
# -90 places light to the left
# so, to get elevation we need to put the sun in scene coordinates
sun_scene = np.matmul([camera_right, camera_up, camera_pos_norm],
sun_vec)
# elevation is the angle is latitude measured wrt the y-axis of
# the scene
sun_elevation = np.rad2deg(np.arcsin(np.dot(sun_scene, [0, 1, 0])))
# azimuth is the angle in the x-z plane, clockwise from the z-axis
sun_azimuth = np.rad2deg(np.arctan2(sun_scene[0], sun_scene[2]))
# now we can set the location of the light, computed to always lie
# along MSO+x
sun.azimuth = sun_azimuth
sun.elevation = sun_elevation
# set the brightness of the Sun based on the ambient lighting of
# Mars so there is no washing out
sun.intensity = 1.0 - mars.property.ambient
#
# Render the 3D scene
#
mfig.scene.disable_render = False
# mfig.scene.anti_aliasing_frames = 0 # can uncomment to make
# # rendering faster and uglier
mlab.show()
mode = 'rgba' if transparent_background else 'rgb'
img = mlab.screenshot(mode=mode, antialiased=True)
mlab.close(all=True) # 3D stuff ends here
#
# Draw text and labels in matplotlib
#
fig, ax = plt.subplots(1, 1,
dpi=400*mlab_pix/1000,
figsize=(2.5, 2.5))
ax.imshow(img)
# put an arrow along the orbit direction
if show_orbit:
arrow_width = 5
arrow_length = 1.5*arrow_width
# by default, draw the arrow at the closest point on the orbit
# to the viewer
arrowidx = np.argmax([np.dot(camera_pos_norm, p) for p in
np.transpose(poslist)])
if view_from_periapsis:
# draw the arrow 45 degrees after periapsis
arrowidx = np.argmax(
[np.dot(
(camera_right + camera_pos_norm)/np.sqrt(2),
p)
for p in np.transpose(poslist)])
if view_from_orbit_normal:
# draw the arrow 45 degrees after periapsis
arrowidx = np.argmax(
[np.dot(
(camera_right-camera_up)/np.sqrt(2.),
p)
for p in np.transpose(poslist)])
arrowetlist = etlist[arrowidx] + 5*60*np.array([0, 1])
arrowstatelist = spice.spkezr('MAVEN', arrowetlist,
'MAVEN_MSO', 'NONE', 'MARS')[0]
arrowdir = arrowstatelist[1][:3] - arrowstatelist[0][:3]
arrowdirproj = [np.dot(camera_right, arrowdir),
np.dot(camera_up, arrowdir)]
arrowdirproj = arrowdirproj/np.linalg.norm(arrowdirproj)
arrowloc = np.transpose(poslist)[arrowidx]
arrowlocproj = np.array([np.dot(camera_right, arrowloc),
np.dot(camera_up, arrowloc)])
arrowlocdisp = (arrowlocproj + extent)/extent/2
arrow = ax.annotate('',
xytext=(arrowlocdisp - 0.05*arrowdirproj),
xy=(arrowlocdisp + 0.05*arrowdirproj),
xycoords='axes fraction',
textcoords='axes fraction',
arrowprops=dict(facecolor=orbitcolor,
edgecolor='none',
width=0,
headwidth=arrow_width,
headlength=arrow_length))
# label the poles
if view_from_periapsis:
label_poles = True
if view_from_orbit_normal:
label_poles = True
if label_poles is None:
label_poles = False
if label_poles:
# label the north and south pole if they are visible
def label_pole(loc, lbl):
polepos = np.matmul(rmat, loc)
poleposproj = np.array([np.dot(camera_right, polepos),
np.dot(camera_up, polepos)])
poleposdisp = (poleposproj+extent)/extent/2
# determine if the north pole is visible
polevis = (not (np.linalg.norm([poleposproj]) < 1
and np.dot(camera_pos, polepos) < 0))
if polevis:
polelabel = ax.text(*poleposdisp, lbl,
transform=ax.transAxes,
color='#888888',
ha='center', va='center',
size=4, zorder=1)
# outline the letter
polelabel.set_path_effects([
path_effects.withStroke(linewidth=0.75, foreground='k')])
label_pole([0, 0, 1], 'N')
label_pole([0, 0, -1], 'S')
if show_orbit:
# add a mark for periapsis and apoapsis
rlist = [np.linalg.norm(p) for p in np.transpose(poslist)]
# find periapsis/apoapsis
def label_apsis(apsis_fn, label, **kwargs):
apsisidx = apsis_fn(rlist)
apsispos = np.transpose(poslist)[apsisidx]
apsisposproj = np.array([np.dot(camera_right, apsispos),
np.dot(camera_up, apsispos)])
apsisposdisp = (apsisposproj + extent)/extent/2
apsisvis = (not (np.linalg.norm([apsisposproj]) < 1
and np.dot(camera_pos, apsispos) < 0))
if apsisvis:
apsis = mpatches.CirclePolygon(apsisposdisp, 0.015,
resolution=4,
transform=ax.transAxes,
fc=orbitcolor, lw=0, zorder=10)
ax.add_patch(apsis)
ax.text(*apsisposdisp, label,
transform=ax.transAxes,
color='k',
ha='center',
size=4, zorder=10,
**kwargs)
label_apsis(np.argmin, 'P', va='center_baseline')
label_apsis(np.argmax, 'A', va='center')
if show_maven:
# add a dot for the spacecraft location
mavenpos = spice.spkezr('MAVEN', myet,
'MAVEN_MSO', 'NONE', 'MARS')[0][:3]/mars_radius
mavenposproj = np.array([np.dot(camera_right, mavenpos),
np.dot(camera_up, mavenpos)])
mavenposdisp = (mavenposproj + extent)/extent/2
mavenvis = (not (np.linalg.norm([mavenposproj]) < 1
and np.dot(camera_pos, mavenpos) < 0))
if mavenvis:
maven = mpatches.Circle(mavenposdisp, 0.012,
transform=ax.transAxes,
fc=orbitcolor,
lw=0, zorder=11)
ax.add_patch(maven)
ax.text(*mavenposdisp, 'M',
transform=ax.transAxes,
color='k', ha='center', va='center_baseline',
size=4, zorder=11)
# suppress all whitespace around the plot
plt.subplots_adjust(top=1, bottom=0, right=1, left=0,
hspace=0, wspace=0)
plt.margins(0, 0)
ax.set_axis_off()
ax.xaxis.set_major_locator(plt.NullLocator())
ax.yaxis.set_major_locator(plt.NullLocator())
fig.canvas.draw()
rgb_array = fig2rgb_array(fig)
if not show:
plt.close(fig)
return_coords = {'extent': extent,
'scale': '3395 km',
'camera_pos': camera_pos,
'camera_pos_norm': camera_pos_norm,
'camera_up': camera_up,
'camera_right': camera_right,
'orbit_coords': poslist}
return rgb_array, return_coords