def Intersect(filen, site, drive):
hirise_dem = 'HiRISE_%s_%s_150m.VIC' % (site, drive)
print hirise_dem
working_dir = 'test_data/'
searchStr = 'N_L000_' + '*' + 'ZZZ' + '*' + site + '*' + drive + '*' + '5RNGM' + '*' + '.VIC'
searchStr = working_dir + searchStr
print searchStr
navcam_dem = str(glob.glob(searchStr)[-1])
print navcam_dem
if os.path.exists(navcam_dem) == True:
dem_type = 'site'
dem = navcam_dem
z_offset = 0 # z offset needs to be corrected
elif os.path.exists(hirise_dem) == True:
dem_type = 'global'
dem = hirise_dem
z_offset = places.getLocoSiteTranslation('ops', '0,0,0', site, drive,
'rover2orbital')[3]
print "InstPos.ArmInstLoc z_offset: ", z_offset
else:
raise SystemExit('no DEM available')
point2xyz.marsp2xyz(filen, dem, InFile, OutFile, z_offset, 'arm')
sid = dem
x, y, z, dem_status = parseXyz(OutFile)
pos = x, y, z
print "Leaving InstPos.ArmInstLoc and returning pos, dem_type, inFile, Outfile, sid, dem_status: ", pos, dem_type, InFile, OutFile, sid, dem_status
return pos, dem_type, InFile, OutFile, sid, dem_status
def main():
print "Entering Main loop [ArmInstLoc]"
try:
os.environ['R2LIB']
except KeyError as e:
print "%s is not set, run select" % (e)
raise SystemExit
usage = "%(prog)s <FILENAME>"
parser = argparse.ArgumentParser(
usage=usage, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("filen", metavar="filen", help="OBSERVATION FILENAME")
args = parser.parse_args()
venue = 'ops' #temporary override
filen = args.filen
site = parseVicarLabel.getSite(filen)
drive = parseVicarLabel.getDrive(filen)
pos = InstPos(filen, site, drive, oLBL, oDAT)
parseXyz(out_file)
if dem_type == 'site':
x, y, z = places.getLocoSiteTranslation(venue, pos, site, drive)
elif dem_type == 'global':
x, y, z = pos[0], pos[1], pos[2]
print "Leaving Main loop [ArmInstLoc] and returing x,y,z: ", x, y, z
return x, y, z
def allLoc(filen):
print "Entering " + __name__ + ".MastInstLoc.py"
print "Running allLoc"
print "filen: ", filen
loco = 'rover2orbital'
print "loco: ", loco
site = parseVicarLabel.getSite(filen)
print "Site Index: ", site
drive = parseVicarLabel.getDrive(filen)
print "Drive Index: ", drive
venue = "ops"
print "PLACES Venue: ", venue
inst = parseVicarLabel.getInstrumentId(filen)
print "Instrument: ", inst
pos = InstPos(filen)
if pos == '':
sid = 'Cpoint'
pos = str(parseVicarLabel.getCameraCPoint(filen))
else:
sid = instruments.InstDic[inst][4]
pos = pos.tolist()
pos = pos.replace("]", ")")
pos = pos.replace(" ", "")
x, y, z = places.getLocoSiteTranslation(venue, pos, site, drive, loco)
p2xyz_status = 0
print "Leaving " + __name__ + ".MastInstLoc.py and returing x,y,z: ", x, y, z
return x, y, z, sid, p2xyz_status
def main():
try:
os.environ['R2LIB']
except KeyError as e:
print "%s is not set, run select" % (e)
raise SystemExit
usage = "%(prog)s <FILENAME>"
parser = argparse.ArgumentParser(
usage=usage, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("filen", metavar="filen", help="OBSERVATION FILENAME")
args = parser.parse_args()
venue = 'ops'
filen = os.path.basename(args.filen)
inst = parseVicarLabel.getInstrumentId(filen)
site = parseVicarLabel.getSite(args.filen)
drive = parseVicarLabel.getDrive(args.filen)
loco = 'rover2orbital'
pos = instruments.InstDic[inst][1] #position of instrument in rover frame
x, y, z = places.getLocoSiteTranslation(
venue, pos, site, drive, loco) #xyz translated to global frame
print x, y, z
return x, y, z
def allLoc(filen, loco):
print "Entering allLoc.ArmInstLoc.py"
site = parseVicarLabel.getSite(filen)
drive = parseVicarLabel.getDrive(filen)
pos, sid, dem_status = str(InstPos(filen, site, drive))
x, y, z = places.getLocoSiteTranslation("ops", pos, site, drive, loco)
print "Leaving allLoc.ArmInstLoc.py and returning x,y,z,sid,dem_status: ", x, y, z, sid, dem_status
return x, y, z, sid, dem_status
def allLoc(filen): print "Running allLoc" print "filen: ",filen loco = 'rover2orbital' print "loco: ",loco site = parseVicarLabel.getSite(filen) print "Site: ",site drive = parseVicarLabel.getDrive(filen) print "Drive: ",drive venue = "ops" inst = parseVicarLabel.getInstrumentId(filen) pos = instruments.InstDic[inst][1] print "Pos: ",pos sid = "NA" p2xyz_status = "0" x,y,z = places.getLocoSiteTranslation(venue,pos,site,drive,loco) #print str(len(xyz)) #print xyz return x,y,z,sid,p2xyz_status
def ArmInstLoc(pds, oLBL, oDAT):
print "Entering ArmInstLoc.ArmInstLoc.py"
venue = 'ops'
#print "PDS: ", pds
base = os.path.basename(pds)
#print "Base: ", base
core = os.path.splitext(base)[0]
#print "Core: ",core
filen = core + '.VIC'
#print "filename:", filen
print "inputs", pds, oLBL, oDAT
ext = os.path.splitext(base)[1]
if ext == '.VIC':
filen = core + '.VIC'
if ext == '.IMG':
filen = pds
print "[ArmInstLoc.ArmInstLoc] filen before the rest: ", filen
site = parseVicarLabel.getSite(filen)
print "[ArmInstLoc.ArmInstLoc] Site from filen: ", site
drive = parseVicarLabel.getDrive(filen)
print "[ArmInstLoc.ArmInstLoc] Drive from filen: ", drive
pos, dem_type, InFile, OutFile, sid, dem_status = InstPos(
filen, site, drive, oLBL, oDAT)
#print pos
pos = str(pos)
pos = pos.replace("'", "")
pos = pos.replace(" ", "")
#print venue,pos,site,drive,'rover2orbital'
x, y, z = places.getLocoSiteTranslation(venue, pos, site, drive,
'rover2orbital')
print "[ArmInstLoc.ArmInstLoc] Leaving function and returning x,y,z,sid,dem_status : ", x, y, z, sid, dem_status
return x, y, z, sid, dem_status