def sensor_orientation(self):
if not hasattr(self, '_sensor_orientation'):
current_et = self.starting_ephemeris_time
qua = np.empty((self.number_of_ephemerides, 4))
for i in range(self.number_of_quaternions):
# Find the rotation matrix
camera2bodyfixed = spice.pxform(self.instrument_id,
self.reference_frame,
current_et)
q = spice.m2q(camera2bodyfixed)
qua[i,:3] = q[1:]
qua[i,3] = q[0]
current_et += getattr(self, 'dt_quaternion', 0)
self._sensor_orientation = qua
return self._sensor_orientation.tolist()
def _sensor_orientation(self):
if not hasattr(self, '_orientation'):
ephem = self.ephemeris_time
qua = np.empty((len(ephem), 4))
for i, time in enumerate(ephem):
# Find the rotation matrix
camera2bodyfixed = spice.pxform(self.instrument_id,
self.reference_frame,
time)
q = spice.m2q(camera2bodyfixed)
qua[i,:3] = q[1:]
qua[i,3] = q[0]
self._orientation = qua
return self._orientation.tolist()
def _sensor_orientation(self):
if not hasattr(self, '_orientation'):
ephem = self.ephemeris_time
qua = np.empty((len(ephem), 4))
for i, time in enumerate(ephem):
instrument = self.label.get("INSTRUMENT_ID")
# Find the rotation matrix
camera2bodyfixed = spice.pxform(
"LISM_{}_HEAD".format(instrument), self.reference_frame,
time)
q = spice.m2q(camera2bodyfixed)
qua[i, :3] = q[1:]
qua[i, 3] = q[0]
self._orientation = qua
return self._orientation.tolist()
def frame_chain(self):
if not hasattr(self, '_frame_chain'):
nadir = self._props.get('nadir', False)
self._frame_chain = FrameChain.from_spice(
sensor_frame=self.sensor_frame_id,
target_frame=self.target_frame_id,
center_ephemeris_time=self.center_ephemeris_time,
ephemeris_times=self.ephemeris_time,
nadir=nadir)
if nadir:
# Logic for nadir calculation was taken from ISIS3
# SpiceRotation::setEphemerisTimeNadir
rotation = self._frame_chain.compute_rotation(
self.target_frame_id, 1)
p_vec, v_vec, times = self.sensor_position
rotated_positions = rotation.apply_at(p_vec, times)
rotated_velocities = rotation.rotate_velocity_at(
p_vec, v_vec, times)
p_vec = rotated_positions
v_vec = rotated_velocities
velocity_axis = 2
# Get the default line translation with no potential flipping
# from the driver
trans_x = np.array(
list(spice.gdpool('INS{}_ITRANSL'.format(self.ikid), 0,
3)))
if (trans_x[0] < trans_x[1]):
velocity_axis = 1
quats = [
spice.m2q(
spice.twovec(-p_vec[i], 3, v_vec[i], velocity_axis))
for i, time in enumerate(times)
]
quats = np.array(quats)[:, [1, 2, 3, 0]]
rotation = TimeDependentRotation(quats, times, 1,
self.sensor_frame_id)
self._frame_chain.add_edge(rotation)
return self._frame_chain
def get_isd(label):
"""
TODO: This function (and all like it) needs to open with some robust method to make sure this is
in fact an MDIS label.
"""
instrument_name = {
'MDIS-NAC': 'MSGR_MDIS_NAC',
'MERCURY DUAL IMAGING SYSTEM NARROW ANGLE CAMERA': 'MSGR_MDIS_NAC',
'MERCURY DUAL IMAGING SYSTEM WIDE ANGLE CAMERA': 'MSGR_MDIS_WAC'
}
metakernel_dir = config.mdis
mks = sorted(glob(os.path.join(metakernel_dir, '*.tm')))
instrument_id = instrument_name[label['INSTRUMENT_ID']]
spacecraft_name = label['MISSION_NAME']
target_name = label['TARGET_NAME']
time = label['START_TIME']
messenger_mk = None
for mk in mks:
if str(time.year) in os.path.basename(mk):
messenger_mk = mk
spice.furnsh(messenger_mk)
# Spice likes ids over names, so grab the ids from the names
spacecraft_id = spice.bods2c(spacecraft_name)
ikid = spice.bods2c(instrument_id)
# Load the instrument and target metadata into the ISD
reference_frame = 'IAU_{}'.format(target_name)
isd = {}
rad = spice.bodvrd(target_name, 'RADII', 3)
isd['radii'] = {}
isd['radii']['semimajor'] = rad[1][0]
isd['radii']['semiminor'] = rad[1][1]
isd['optical_distortion'] = {}
odk_mssgr_x = spice.gdpool('INS{}_OD_T_X'.format(ikid), 0, 10)
odk_mssgr_y = spice.gdpool('INS{}_OD_T_Y'.format(ikid), 0, 10)
isd['optical_distortion']['x'] = list(odk_mssgr_x)
isd['optical_distortion']['y'] = list(odk_mssgr_y)
isd['focal2pixel_samples'] = list(
spice.gdpool('INS{}_TRANSX'.format(ikid), 0, 3))
isd['focal2pixel_lines'] = list(
spice.gdpool('INS{}_TRANSY'.format(ikid), 0, 3))
# Load information from the IK kernel
isd['focal_length_model'] = {}
focal_legnth_coeffs = spice.gdpool('INS{}_FL_TEMP_COEFFS '.format(ikid), 0,
5)
isd['focal_length_model']['focal_length'] = focal_length_from_temp(
label['FOCAL_PLANE_TEMPERATURE'].value, focal_legnth_coeffs)
isd['focal_length_model']['focal_length_epsilon'] = float(
spice.gdpool('INS{}_FL_UNCERTAINTY'.format(ikid), 0, 1)[0])
isd['image_lines'] = int(
spice.gipool('INS{}_PIXEL_LINES'.format(ikid), 0, 1)[0])
isd['image_samples'] = int(
spice.gipool('INS{}_PIXEL_SAMPLES'.format(ikid), 0, 1)[0])
isd['starting_detector_sample'] = int(
spice.gdpool('INS{}_FPUBIN_START_SAMPLE'.format(ikid), 0, 1)[0])
isd['starting_detector_line'] = int(
spice.gdpool('INS{}_FPUBIN_START_LINE'.format(ikid), 0, 1)[0])
# Now time
sclock = label['SPACECRAFT_CLOCK_START_COUNT']
exposure_duration = label['EXPOSURE_DURATION'].value
exposure_duration = exposure_duration * 0.001 # Scale to seconds
# Get the instrument id, and, since this is a framer, set the time to the middle of the exposure
start_et = spice.scs2e(spacecraft_id, sclock)
start_et += (exposure_duration / 2.0)
end_et = spice.scs2e(
spacecraft_id,
label['SPACECRAFT_CLOCK_STOP_COUNT']) + (exposure_duration / 2.0)
del_et = end_et - start_et
et = (start_et + end_et) / 2
isd['starting_ephemeris_time'] = start_et
isd['dt_ephemeris'] = del_et
isd['number_of_ephemerides'] = 1
isd['interpolation_method'] = 'lagrange'
isd['center_ephemeris_time'] = et
# Get the rotation angles from MDIS NAC frame to Mercury body-fixed frame
camera2bodyfixed = spice.pxform(instrument_id, reference_frame, et)
quat = spice.m2q(camera2bodyfixed)
isd['sensor_orientation'] = list(quat)
# Get the Sensor Position
loc, _ = spice.spkpos(target_name, et, reference_frame, 'LT+S',
spacecraft_name)
isd['sensor_location'] = {}
isd['sensor_location']['x'] = loc[0]
isd['sensor_location']['y'] = loc[1]
isd['sensor_location']['z'] = loc[2]
isd['sensor_location']['unit'] = 'm'
# Get the velocity
v_state, lt = spice.spkezr(spacecraft_name, et, reference_frame, 'NONE',
target_name)
isd['sensor_velocity'] = {}
isd['sensor_velocity']['x'] = v_state[3]
isd['sensor_velocity']['y'] = v_state[4]
isd['sensor_velocity']['z'] = v_state[5]
isd['sensor_velocity']['unit'] = 'm'
isd['reference_height'] = {}
isd['reference_height']['minheight'] = label.get('min_valid_height', -8000)
isd['reference_height']['maxheight'] = label.get('max_valid_height', 8000)
isd['reference_height']['unit'] = 'KM'
# Get the sun position
sun_state, lt = spice.spkezr("SUN", et, reference_frame, 'NONE',
target_name)
# Get the sun position, convert to meters
xpos, ypos, zpos = [e.value for e in label['SC_SUN_POSITION_VECTOR']]
xvel, yvel, zvel = [e.value for e in label['SC_SUN_VELOCITY_VECTOR']]
# lighttime should always be off
isd['sun_position'] = {}
isd['sun_position']['x'] = sun_state[0]
isd['sun_position']['y'] = sun_state[1]
isd['sun_position']['z'] = sun_state[2]
isd['sun_velocity'] = {}
isd['sun_velocity']['x'] = sun_state[3]
isd['sun_velocity']['y'] = sun_state[4]
isd['sun_velocity']['z'] = sun_state[5]
return isd
def __Geometry(self, boresight=''):
#if self.geometry_flag is True and \
# self.time.window.all() == self.previous_tw.all():
# return
distance = []
altitude = []
boresight_latitude = []
boresight_longitude = []
latitude = []
longitude = []
subpoint_xyz = []
subpoint_pgc = []
subpoint_pcc = []
zaxis_target_angle = []
myaxis_target_angle = []
yaxis_target_angle = []
xaxis_target_angle = []
beta_angle = []
qs, qx, qy, qz = [], [], [] ,[]
x, y, z = [],[],[]
tar = self.target
time = self.time
for et in time.window:
try:
#
# Compute the distance
#
ptarg, lt = spiceypy.spkpos(tar.name, et, tar.frame, time.abcorr,
self.name)
x.append(ptarg[0])
y.append(ptarg[1])
z.append(ptarg[2])
vout, vmag = spiceypy.unorm(ptarg)
distance.append(vmag)
#
# Compute the geometric sub-observer point.
#
if tar.frame == 'MARSIAU':
tar_frame = 'IAU_MARS'
else:
tar_frame = tar.frame
spoint, trgepc, srfvec = spiceypy.subpnt(tar.method, tar.name, et,
tar_frame, time.abcorr,
self.name)
subpoint_xyz.append(spoint)
#
# Compute the observer's altitude from SPOINT.
#
dist = spiceypy.vnorm(srfvec)
altitude.append(dist)
#
# Convert the sub-observer point's rectangular coordinates to
# planetographic longitude, latitude and altitude.
#
spglon, spglat, spgalt = spiceypy.recpgr(tar.name, spoint,
tar.radii_equ, tar.flat)
#
# Convert radians to degrees.
#
spglon *= spiceypy.dpr()
spglat *= spiceypy.dpr()
subpoint_pgc.append([spglon, spglat, spgalt])
#
# Convert sub-observer point's rectangular coordinates to
# planetocentric radius, longitude, and latitude.
#
spcrad, spclon, spclat = spiceypy.reclat(spoint)
#
# Convert radians to degrees.
#
spclon *= spiceypy.dpr()
spclat *= spiceypy.dpr()
subpoint_pcc.append([spclon, spclat, spcrad])
latitude.append(spclat) #TODO: Remove with list extraction
longitude.append(spclon) # TODO: Remove with list extraction
#
# Compute the geometric sub-boresight point.
#
if tar.frame == 'MARSIAU':
tar_frame = 'IAU_MARS'
else:
tar_frame = tar.frame
if boresight:
try:
id = spiceypy.bodn2c(boresight)
(shape,framen, bsight, n, bounds) = spiceypy.getfov(id, 80)
mat = spiceypy.pxform(framen,tar_frame,et)
except:
framen = boresight
bsight = 0,0,1
else:
bsight = self.name
try:
if tar.method == 'INTERCEPT/ELLIPSOID':
method = 'ELLIPSOID'
else:
method = tar.method
spoint, trgepc, srfvec = spiceypy.sincpt(method, tar.name, et,
tar_frame, time.abcorr,
self.name, framen,
bsight)
#
# Convert the sub-observer point's rectangular coordinates to
# planetographic longitude, latitude and altitude.
#
spglon, spglat, spgalt = spiceypy.recpgr(tar.name, spoint,
tar.radii_equ, tar.flat)
#
# Convert radians to degrees.
#
spglon *= spiceypy.dpr()
spglat *= spiceypy.dpr()
#
# Convert sub-observer point's rectangular coordinates to
# planetocentric radius, longitude, and latitude.
#
spcrad, spclon, spclat = spiceypy.reclat(spoint)
#
# Convert radians to degrees.
#
spclon *= spiceypy.dpr()
spclat *= spiceypy.dpr()
boresight_latitude.append(spclat)
boresight_longitude.append(spclon)
except:
pass
#
# Compute the angle between the observer's S/C axis and the
# geometric sub-observer point
#
obs_tar, ltime = spiceypy.spkpos(tar.name, et,
'J2000', time.abcorr,
self.name)
obs_zaxis = [0, 0, 1]
obs_myaxis = [0, -1, 0]
obs_yaxis = [0, 1, 0]
obs_xaxis = [1, 0, 0]
#
# We need to account for when there is no CK attitude available.
#
try:
matrix = spiceypy.pxform(self.frame, 'J2000', et)
z_vecout = spiceypy.mxv(matrix, obs_zaxis)
zax_target_angle = spiceypy.vsep(z_vecout, obs_tar)
zax_target_angle *= spiceypy.dpr()
zaxis_target_angle.append(zax_target_angle)
my_vecout = spiceypy.mxv(matrix, obs_myaxis)
myax_target_angle = spiceypy.vsep(my_vecout, obs_tar)
myax_target_angle *= spiceypy.dpr()
myaxis_target_angle.append(myax_target_angle)
y_vecout = spiceypy.mxv(matrix, obs_myaxis)
yax_target_angle = spiceypy.vsep(y_vecout, obs_tar)
yax_target_angle *= spiceypy.dpr()
yaxis_target_angle.append(yax_target_angle)
x_vecout = spiceypy.mxv(matrix, obs_myaxis)
xax_target_angle = spiceypy.vsep(x_vecout, obs_tar)
xax_target_angle *= spiceypy.dpr()
xaxis_target_angle.append(xax_target_angle)
quat = spiceypy.m2q(spiceypy.invert(matrix))
qs.append(quat[0])
qx.append(-1*quat[1])
qy.append(-1*quat[2])
qz.append(-1*quat[3])
except:
zaxis_target_angle.append(0.0)
myaxis_target_angle.append(0.0)
yaxis_target_angle.append(0.0)
xaxis_target_angle.append(0.0)
qs.append(0.0)
qx.append(0.0)
qy.append(0.0)
qz.append(0.0)
beta_angle.append(spiops.beta_angle(self.name, self.target.name,
et))
except:
boresight_latitude = 0
boresight_longitude = 0
distance = 0
altitude = 0
latitude = 0
longitude = 0
subpoint_xyz = [0,0,0]
subpoint_pgc = [0,0,0]
subpoint_pcc = [0,0,0]
zaxis_target_angle = 0
myaxis_target_angle = 0
yaxis_target_angle = 0
xaxis_target_angle = 0
beta_angle = 0
(qx, qy, qz, qs) = 0, 0, 0, 0
(x, y, z) = 0, 0, 0
self.boresight_latitude = boresight_latitude
self.boresight_longitude = boresight_longitude
self.distance = distance
self.altitude = altitude
self.latitude = latitude
self.longitude = longitude
self.subpoint_xyz = subpoint_xyz
self.subpoint_pgc = subpoint_pgc
self.subpoint_pcc = subpoint_pcc
self.zaxis_target_angle = zaxis_target_angle
self.myaxis_target_angle = myaxis_target_angle
self.yaxis_target_angle = yaxis_target_angle
self.xaxis_target_angle = xaxis_target_angle
self.beta_angle = beta_angle
self.quaternions = [qx, qy, qz, qs]
self.trajectory = [x,y,z]
self.geometry_flag = True
self.previous_tw = self.time.window
return
def get_isd(label):
mission_name = {"CASSINI-HUYGENS": "CASSINI"}
instrument_names = {"ISSNA": "CASSINI_ISS_NAC", "ISSWA": "CASSINI_ISS_WAC"}
metakernal_dir = config.cassini
mks = sorted(glob(metakernal_dir + '/*.tm'))
instrument_name = instrument_names[label['INSTRUMENT_ID']]
spacecraft_name = mission_name[label['MISSION_NAME']]
target_name = label['TARGET_NAME']
time = label['START_TIME']
cassini_mk = None
for mk in mks:
if str(time.year) in os.path.basename(mk):
cassini_mk = mk
spice.furnsh(cassini_mk)
# Spice likes ids over names, so grab the ids from the names
spacecraft_id = spice.bods2c(spacecraft_name)
instrument_id = spice.bods2c(instrument_name)
# Load the instrument and target metadata into the ISD
reference_frame = 'IAU_{}'.format(target_name)
isd = {}
rad = spice.bodvrd(target_name, 'RADII', 3)
isd['semimajor'] = rad[1][0] * 1000
isd['semiminor'] = rad[1][1] * 1000
# transx and transy are unavailable so fill in with pixel_size after conversion to millimeters from microns
# assuming pixels are square
pixel_size = int(
spice.gipool('INS{}_PIXEL_SIZE'.format(instrument_id), 0,
1)[0]) * 0.001
isd['focal2pixel_samples'] = [0.0, pixel_size, 0.0]
isd['focal2pixel_lines'] = [0.0, 0.0, pixel_size]
# unavailable so default to 0
isd['starting_detector_sample'] = 0.0
isd['starting_detector_line'] = 0.0
isd['image_lines'] = float(
spice.gipool('INS{}_PIXEL_LINES'.format(instrument_id), 0, 1)[0])
isd['image_samples'] = float(
spice.gipool('INS{}_PIXEL_SAMPLES'.format(instrument_id), 0, 1)[0])
isd['focal_length_model'] = {}
isd['focal_length_model']['focal_length'] = float(
spice.gdpool('INS{}_FOCAL_LENGTH'.format(instrument_id), 0, 1)[0])
isd['focal_length_model']['focal_length_epsilon'] = float(
spice.gdpool('INS{}_FL_UNCERTAINTY'.format(instrument_id), 0, 1)[0])
# this following part is ripped from the mdis driver. Since they are both framers this code should be able to be applied to both
# Now time
sclock = label['SPACECRAFT_CLOCK_START_COUNT']
exposure_duration = label['EXPOSURE_DURATION'].value
exposure_duration = exposure_duration * 0.001 # Scale to seconds
# Get the instrument id, and, since this is a framer, set the time to the middle of the exposure
start_et = spice.scs2e(spacecraft_id, sclock)
start_et += (exposure_duration / 2.0)
end_et = spice.scs2e(
spacecraft_id,
label['SPACECRAFT_CLOCK_STOP_COUNT']) + (exposure_duration / 2.0)
del_et = end_et - start_et
et = (start_et + end_et) / 2
isd['starting_ephemeris_time'] = start_et
isd['dt_ephemeris'] = del_et
isd['number_of_ephemerides'] = 1
isd['interpolation_method'] = 'lagrange'
isd['center_ephemeris_time'] = et
# Get the rotation angles from MDIS NAC frame to Mercury body-fixed frame
camera2bodyfixed = spice.pxform(instrument_name, reference_frame, et)
quat = spice.m2q(camera2bodyfixed)
# cassini follows spice style for quaternions so no transformation is needed
isd['sensor_orientation'] = list(quat)
# Get the Sensor Position
loc, _ = spice.spkpos(target_name, et, reference_frame, 'None',
spacecraft_name)
loc *= -1000
isd['sensor_location'] = {}
isd['sensor_location']['x'] = loc[0]
isd['sensor_location']['y'] = loc[1]
isd['sensor_location']['z'] = loc[2]
isd['sensor_location']['unit'] = 'm'
# Get the velocity
v_state, lt = spice.spkezr(spacecraft_name, et, reference_frame, 'NONE',
target_name)
isd['sensor_velocity'] = {}
isd['sensor_velocity']['x'] = v_state[3] * 1000
isd['sensor_velocity']['y'] = v_state[4] * 1000
isd['sensor_velocity']['z'] = v_state[5] * 1000
isd['sensor_velocity']['unit'] = 'm'
isd['reference_height'] = {}
isd['reference_height']['minheight'] = label.get('min_valid_height', -8000)
isd['reference_height']['maxheight'] = label.get('max_valid_height', 8000)
isd['reference_height']['unit'] = 'KM'
# Get the sun position
sun_state, lt = spice.spkezr("SUN", et, reference_frame, 'NONE',
target_name)
# lighttime should always be off
isd['sun_position'] = {}
isd['sun_position']['x'] = sun_state[0] * 1000
isd['sun_position']['y'] = sun_state[1] * 1000
isd['sun_position']['z'] = sun_state[2] * 1000
isd['sun_velocity'] = {}
isd['sun_velocity']['x'] = sun_state[3] * 1000
isd['sun_velocity']['y'] = sun_state[4] * 1000
isd['sun_velocity']['z'] = sun_state[5] * 1000
# cassini has no optical distortion model
isd['optical_distortion'] = None
return isd
def create_ck(kernels, frames_to_convert, fks, stop_ets, output_ck):
"""
Create CK from FKs and times at which the FKs end being valid
"""
### FURNSH any kernels
for kernel in kernels:
sp.furnsh(kernel)
### Set last ET to None so it will be initialized in loop's first pass
last_et = None
### Do not overwrite existing output CK
assert (not sp.exists(output_ck)
) or dict()['Cannot overwrite existing CK[{}]'.format(output_ck)]
### Initialize CK handle to None
ck_handle = None
### Loop over CKs
while fks:
### Get FK and corresponding stop ET
fk = fks.pop()
stop_et = stop_ets.pop()
### Loop over reference frames (reffrms)
for reffrm in frames_to_convert:
### Get reffrm ID, SCLK ID; N.B. latter comes from new FK
reffrm_id = sp.gipool('FRAME_{}'.format(reffrm.upper()), 0, 1)[0]
sclk_id = sp.gipool('CK_{}_{}'.format(reffrm_id, 'SCLK'), 0, 1)[0]
### Set start DP-SCLK of window for this old FK (outer loop)
### - Set to zero for first window
### - Covnert ET to DP-SCLK for subsequent windows
if last_et is None: begtim = 0.0
else: begtim = sp.sce2t(sclk_id, last_et)
### Load old FK, get RELATIVE frame name, get time-invariant
### matrix, and unload old FK
sp.furnsh(fk)
relative_reffrm = sp.gcpool(
'TKFRAME_{}_{}'.format(reffrm_id, 'RELATIVE'), 0, 1, 99)[0]
mtx = sp.pxform(relative_reffrm, reffrm, 0.0)
sp.unload(fk)
### Covnert matrix to quaternion
quat = sp.m2q(mtx)
### Calculate tick rate: seconds per tick
rate = (sp.sct2e(sclk_id, 1e3) - sp.sct2e(sclk_id, 0.)) / 1e3
if doVerbose:
### if VERBOSE environment variable is present, log information
print((
relative_reffrm,
reffrm,
fk,
last_et,
stop_et,
'{:010.3f}'.format(1. / rate),
quat,
))
### Set stop DP-SCLK of window
if stop_et < -1e30:
### Use end of encoded DP_SCLK for final window
endtim = sp.gdpool('SCLK_PARTITION_END_{}'.format(-sclk_id), 0,
999)[-1]
else:
### Else convert stop ET to DP-SCLK
endtim = sp.sce2t(sclk_id, stop_et)
if doDebug:
### Debug output
pprint.pprint(
dict(fk=fk,
reffrm=reffrm,
reffrm_id=reffrm_id,
relative_reffrm=relative_reffrm,
rate=rate,
begtim=begtim,
endtim=endtim,
diff=endtim - begtim,
mtx=mtx,
quat=quat))
### Open CK, once
if ck_handle is None:
ck_handle = sp.ckopn(output_ck, 'ORX FK REPLACEMENT', 0)
### Write Type 2 CK segment with one record; angular velocity = 0
sp.ckw02(ck_handle, begtim, endtim, reffrm_id, relative_reffrm,
'{}[{}]'.format(os.path.basename(fk), reffrm)[:40], 1,
[begtim], [endtim], [quat], [[0., 0., 0.]], [rate])
### Save stop ET for start ET of next pass
last_et = stop_et
### Close CK
if not (ck_handle is None): sp.ckcls(ck_handle)
def test_ck(kernels, frames_to_convert, fks, stop_ets, output_ck):
"""
Text CK against FKs at times at which the FKs are valid
"""
### Load base kernels (LSK, new FK, SCLK)
for kernel in kernels + [output_ck]:
sp.furnsh(kernel)
### Set last ET to None so it will be initialized in loop's first pass
last_et = None
### Create dict of info; keys will be new FK filenames
dt = dict()
while fks:
### Pop FK and stop ET off of lists
fk = fks.pop()
stop_et = stop_ets.pop()
### Create dict for this FK
dt[fk] = dict()
### Loop over refernce frames
for reffrm in frames_to_convert:
### Get reffrm ID, SCLK ID; N.B. latter comes from new FK
reffrm_id = sp.gipool('FRAME_{}'.format(reffrm.upper()), 0, 1)[0]
sclk_id = sp.gipool('CK_{}_{}'.format(reffrm_id, 'SCLK'), 0, 1)[0]
### Set start DP-SCLK of window for this old FK (outer loop)
### - Set to zero for first window
### - Covnert ET to DP-SCLK for subsequent windows
if last_et is None: et_lo = sp.sct2e(sclk_id, 0.)
else: et_lo = last_et
### Load old FK, get RELATIVE frame name, get time-invariant
### matrix, and unload old FK
sp.furnsh(fk)
relative_reffrm = sp.gcpool(
'TKFRAME_{}_{}'.format(reffrm_id, 'RELATIVE'), 0, 1, 99)[0]
sp.unload(fk)
### Get ETs at which to do the tests:
### - 10s after start of window
### - 10s before end of window, or 1e6s after start if last window
if stop_et < -1e30:
et_test_lo = et_lo + 10.
et_test_hi = et_lo + 1e6
else:
et_delta = min([10., (stop_et - et_lo) / 3.])
et_test_lo = et_lo + et_delta
et_test_hi = stop_et - et_delta
### Save the relative reffrm, the reffrm, the window, and an empty
### dict for this reffrm under this FK
dt[fk][reffrm] = (relative_reffrm, et_test_lo, et_test_hi, dict())
### For next pass
last_et = stop_et
### Clear all kernels, and test
sp.kclear()
assert 0 == sp.ktotal('all')
### Load base kernels including new FK and new CK
for kernel in kernels + [output_ck]:
sp.furnsh(kernel)
### Loop over old FKs, reffrms, and ETs
for fk in dt:
for reffrm in dt[fk]:
### Retrieve relative reffrm, ETs and quat dict
relative_reffrm, et_test_lo, et_test_hi, dtquat = dt[fk][reffrm]
for et in (
et_test_lo,
et_test_hi,
):
### Lookup CK-based matrix, convrt to and save quat at each ET
dtquat[et] = sp.m2q(sp.pxform(relative_reffrm, reffrm, et))
### Loop over the old FKs again
for fk in dt:
### Clear all kernels, and test
sp.kclear()
assert 0 == sp.ktotal('all')
### Load only the old FK
sp.furnsh(fk)
### Loop over reffrms, and ETs
for reffrm in dt[fk]:
relative_reffrm, et_test_lo, et_test_hi, dtquat = dt[fk][reffrm]
for et in (
et_test_lo,
et_test_hi,
):
### Calculate norm of difference of CK-based and FK-based quats
quat_error = round(
sp.vnorm(dtquat[et] -
sp.m2q(sp.pxform(relative_reffrm, reffrm, et))),
16)
### Output that norm as an error for each case, which norm
### should be zero
print(
dict(fk=fk,
quat_error=quat_error,
relative_reffrm=relative_reffrm,
reffrm=reffrm,
et='{:015.4f}'.format(et)))
def get_isd(label):
metakernel_dir = config.mro
mks = sorted(glob(os.path.join(config.mro, '*.tm')))
time = label['START_TIME']
mro_mk = None
for mk in mks:
if str(time.year) in os.path.basename(mk):
mro_mk = mk
spice.furnsh(mro_mk)
isd = {}
instrument_name = label['INSTRUMENT_NAME']
spacecraft_name = label['SPACECRAFT_NAME']
target_name = label['TARGET_NAME']
# Spice likes ids over names, so grab the ids from the names
spacecraft_id = spice.bods2c(
'MRO') # Label specifies: MARS_RECONNAISSANCE_ORBITER
ikid = spice.bods2c('MRO_CTX') # Label specifies: CONTEXT CAMERA
# Load the instrument and target metadata into the ISD
reference_frame = 'IAU_{}'.format(target_name)
# Instrument / Spacecraft Metadata
isd['OPTICAL_DIST_COEF'] = [
0, 0, 0
] # spice.gdpool('INS{}_OD_K'.format(ikid),0, 3)
isd['ITRANSL'] = spice.gdpool('INS{}_ITRANSL'.format(ikid), 0, 3)
isd['ITRANSS'] = spice.gdpool('INS{}_ITRANSS'.format(ikid), 0, 3)
isd['DETECTOR_SAMPLE_ORIGIN'] = spice.gdpool(
'INS{}_BORESIGHT_SAMPLE'.format(ikid), 0, 1)
isd['DETECTOR_LINE_ORIGIN'] = spice.gdpool(
'INS{}_BORESIGHT_LINE'.format(ikid), 0, 1)
isd['DETECTOR_SAMPLE_SUMMING'] = label['SAMPLING_FACTOR']
isd['STARTING_SAMPLE'] = 0 # label['SAMPLE_FIRST_PIXEL']
isd['TOTAL_LINES'] = nlines = label['IMAGE']['LINES']
isd['TOTAL_SAMPLES'] = label['IMAGE'][
'LINE_SAMPLES'] # spice.gdpool('INS{}_PIXEL_SAMPLES'.format(ikid), 0, 1)
isd['SENSOR_TYPE'] = 'USGSAstroLineScanner'
isd['MOUNTING_ANGLES'] = np.zeros(3)
isd['ISIS_Z_DIRECTION'] = 1
isd['STARTING_LINE'] = 1.0
isd['DETECTOR_LINE_OFFSET'] = 0.0
# Body Parameters
target_name = label['TARGET_NAME']
rad = spice.bodvrd(target_name, 'RADII', 3)
a = rad[1][1]
b = rad[1][2]
isd['SEMI_MAJOR_AXIS'] = a * 1000 # Scale to meters
isd['ECCENTRICITY'] = np.sqrt(1 - (b**2 / a**2)) # Standard eccentricity
isd['FOCAL'] = spice.gdpool('INS{}_FOCAL_LENGTH'.format(ikid), 0, 1)
isd['ABERR'] = 0
isd['ATMREF'] = 0
isd['PLATFORM'] = 1
# It really is hard coded this way...
isd['TRI_PARAMETERS'] = np.zeros(18)
isd['TRI_PARAMETERS'][15] = isd['FOCAL']
# Time
sclock = label['SPACECRAFT_CLOCK_START_COUNT']
et = spice.scs2e(spacecraft_id, sclock)
isd['STARTING_EPHEMERIS_TIME'] = et
half_lines = nlines / 2
isd['INT_TIME'] = line_rate = label['LINE_EXPOSURE_DURATION'][
0] * 0.001 # Scale to seconds
center_sclock = et + half_lines * line_rate
isd['CENTER_EPHEMERIS_TIME'] = center_sclock
isd['SCAN_DURATION'] = line_rate * nlines
# The socetlinekeywords code is pushing ephemeris and quaternion off of either side of the image. Therefore,
# the code needs to know when the start time is. Since we are not pushing off the edge of the image, the start-time
# should be identical to the actual image start time.
isd['T0_QUAT'] = isd['T0_EPHEM'] = isd['STARTING_EPHEMERIS_TIME'] - isd[
'CENTER_EPHEMERIS_TIME']
isd['DT_EPHEM'] = 80 * isd['INT_TIME'] # This is every 300 lines
# Determine how many ephemeris points to compute
n_ephemeris = int(isd['SCAN_DURATION'] / isd['DT_EPHEM'])
if n_ephemeris % 2 == 0:
n_ephemeris += 1
isd['NUMBER_OF_EPHEM'] = n_ephemeris
eph = np.empty((n_ephemeris, 3))
eph_rates = np.empty(eph.shape)
current_et = et
for i in range(n_ephemeris):
loc_direct, _ = spice.spkpos(target_name, current_et, 'IAU_MARS',
'NONE', 'MRO')
state, _ = spice.spkezr(target_name, current_et, 'IAU_MARS', 'NONE',
'MRO')
eph[i] = loc_direct
eph_rates[i] = state[3:]
current_et += isd[
'DT_EPHEM'] # Increment the time by the number of lines being stepped
eph *= -1000 # Reverse to be from body center and convert to meters
eph_rates *= -1000 # Same, reverse and convert
isd['EPHEM_PTS'] = eph.flatten()
isd['EPHEM_RATES'] = eph_rates.flatten()
# Why should / should not the n_quaternions equal the number of ephemeris pts?
n_quaternions = n_ephemeris
isd['NUMBER_OF_QUATERNIONS'] = n_quaternions
isd['DT_QUAT'] = isd['SCAN_DURATION'] / n_quaternions
qua = np.empty((n_quaternions, 4))
current_et = et
for i in range(n_quaternions):
# Find the rotation matrix
camera2bodyfixed = spice.pxform('MRO_CTX', 'IAU_MARS', current_et)
q = spice.m2q(camera2bodyfixed)
qua[i, :3] = q[1:]
qua[i, 3] = q[0]
current_et += isd['DT_QUAT']
isd['QUATERNIONS'] = qua.flatten()
# Now the 'optional' stuff
isd['REFERENCE_HEIGHT'] = label.get('reference_height', 30)
isd['MIN_VALID_HT'] = label.get('min_valid_height', -8000)
isd['MAX_VALID_HT'] = label.get('max_valid_height', 8000)
isd['IMAGE_ID'] = label.get('image_id', 'UNKNOWN')
isd['SENSOR_ID'] = label.get('sensor_id', 'USGS_LINE_SCANNER')
isd['PLATFORM_ID'] = label.get('platform_id', 'UNKNOWN')
isd['TRAJ_ID'] = label.get('traj_id', 'UNKNOWN')
isd['COLL_ID'] = label.get('coll_id', 'UNKNOWN')
isd['REF_DATE_TIME'] = label.get('ref_date_time', 'UNKNOWN')
spice.unload(mro_mk)
return isd
for p in iFiles:
# getting positions and quaternion in the camera frame
et1Str = getImageTime(p)
target = 'HAYABUSA'
et1 = spiceypy.utc2et(et1Str)
frame = 'ITOKAWA_FIXED'
center = 'ITOKAWA'
state1 = spiceypy.spkezr(target, spiceypy.utc2et(et1Str), frame, 'none',
center)[0]
stateSun = spiceypy.spkezr('SUN', spiceypy.utc2et(et1Str), frame, 'none',
center)[0]
frame2 = 'HAYABUSA_AMICA'
frame1 = 'ITOKAWA_FIXED'
rot1 = spiceypy.pxform(frame1, frame2, et1)
quat1 = spiceypy.m2q(rot1)
# SPICE data are in km
s.setObjectPosition(
'camera', vec3(state1[0] * 1000, state1[1] * 1000, state1[2] * 1000))
# opposite convetion is used between SurRender and JPL
s.setObjectAttitude('camera',
vec4(quat1[0], -quat1[1], -quat1[2], -quat1[3]))
# SPICE data are in km
s.setObjectPosition(
'sun', vec3(stateSun[0] * 1000, stateSun[1] * 1000,
stateSun[2] * 1000))
s.setObjectPosition('asteroid', vec3(0, 0, 0))
s.printState(s.getState())
def ctx_isd_from_json(data, meta):
time = parser.parse(data['START_TIME'])
for k in meta:
if k.year.year == time.year:
obs_kernels = k.path
# Load the meta kernel
spice.furnsh(obs_kernels)
isd = {}
spacecraft_name = data['SPACECRAFT_NAME']
spacecraft_id = spice.bods2c('MRO')
# Need to map CONTEXT CAMERA to what spice wants - MRO_CTX
instrument_name = data['INSTRUMENT_NAME']
ikid = isd['IKCODE'] = spice.bods2c('MRO_CTX')
# Instrument / Spacecraft Metadata
isd['OPTICAL_DIST_COEF'] = spice.gdpool('INS{}_OD_K'.format(ikid), 0, 3)
isd['ITRANSL'] = spice.gdpool('INS{}_ITRANSL'.format(ikid), 0, 3)
isd['ITRANSS'] = spice.gdpool('INS{}_ITRANSS'.format(ikid), 0, 3)
isd['DETECTOR_SAMPLE_ORIGIN'] = spice.gdpool(
'INS{}_BORESIGHT_SAMPLE'.format(ikid), 0, 1)
isd['DETECTOR_LINE_ORIGIN'] = spice.gdpool(
'INS{}_BORESIGHT_LINE'.format(ikid), 0, 1)
isd['DETECTOR_SAMPLE_SUMMING'] = data['SAMPLING_FACTOR']
isd['DETECTOR_SAMPLE_SUMMING'] = data['SAMPLING_FACTOR']
isd['STARTING_SAMPLE'] = data['SAMPLE_FIRST_PIXEL']
isd['TOTAL_LINES'] = nlines = data['IMAGE']['LINES']
isd['TOTAL_SAMPLES'] = spice.gdpool('INS{}_PIXEL_SAMPLES'.format(ikid), 0,
1)
isd['SENSOR_TYPE'] = 'USGSAstroLineScanner'
isd['MOUNTING_ANGLES'] = np.zeros(3)
isd['ISIS_Z_DIRECTION'] = 1
isd['STARTING_LINE'] = 1.0
isd['DETECTOR_LINE_OFFSET'] = 0.0
# Body Parameters
target_name = find_in_dict(data, 'TARGET_NAME')
rad = spice.bodvrd(target_name, 'RADII', 3)
a = rad[1][1]
b = rad[1][2]
isd['SEMI_MAJOR_AXIS'] = a * 1000 # Scale to meters
isd['ECCENTRICITY'] = sqrt(1 - (b**2 / a**2)) # Standard eccentricity
isd['FOCAL'] = spice.gdpool('INS{}_FOCAL_LENGTH'.format(ikid), 0, 1)
isd['ABERR'] = 0
isd['ATMREF'] = 0
isd['PLATFORM'] = 1
# It really is hard coded this way...
isd['TRI_PARAMETERS'] = np.zeros(18)
isd['TRI_PARAMETERS'][15] = isd['FOCAL']
# Time
sclock = find_in_dict(data, 'SPACECRAFT_CLOCK_START_COUNT')
et = spice.scs2e(spacecraft_id, sclock)
isd['STARTING_EPHEMERIS_TIME'] = et
half_lines = nlines / 2
isd['INT_TIME'] = line_rate = data['LINE_EXPOSURE_DURATION'][
0] * 0.001 # Scale to seconds
center_sclock = et + half_lines * line_rate
isd['CENTER_EPHEMERIS_TIME'] = center_sclock
isd['SCAN_DURATION'] = line_rate * nlines
# The socetlinekeywords code is pushing ephemeris and quaternion off of either side of the image. Therefore,
# the code needs to know when the start time is. Since we are not pushing off the edge of the image, the start-time
# should be identical to the actual image start time.
isd['T0_QUAT'] = isd['T0_EPHEM'] = isd['STARTING_EPHEMERIS_TIME'] - isd[
'CENTER_EPHEMERIS_TIME']
isd['DT_EPHEM'] = 80 * isd['INT_TIME'] # This is every 300 lines
# Determine how many ephemeris points to compute
n_ephemeris = int(isd['SCAN_DURATION'] / isd['DT_EPHEM'])
if n_ephemeris % 2 == 0:
n_ephemeris += 1
isd['NUMBER_OF_EPHEM'] = n_ephemeris
eph = np.empty((n_ephemeris, 3))
eph_rates = np.empty(eph.shape)
current_et = et
for i in range(n_ephemeris):
loc_direct, _ = spice.spkpos(target_name, current_et, 'IAU_MARS',
'LT+S', 'MRO')
state, _ = spice.spkezr(target_name, current_et, 'IAU_MARS', 'LT+S',
'MRO')
eph[i] = loc_direct
eph_rates[i] = state[3:]
current_et += isd[
'DT_EPHEM'] # Increment the time by the number of lines being stepped
eph *= -1000 # Reverse to be from body center and convert to meters
eph_rates *= -1000 # Same, reverse and convert
isd['EPHEM_PTS'] = eph.flatten()
isd['EPHEM_RATES'] = eph_rates.flatten()
# Why should / should not the n_quaternions equal the number of ephemeris pts?
n_quaternions = n_ephemeris
isd['NUMBER_OF_QUATERNIONS'] = n_quaternions
isd['DT_QUAT'] = isd['SCAN_DURATION'] / n_quaternions
qua = np.empty((n_quaternions, 4))
current_et = et
for i in range(n_quaternions):
# Find the rotation matrix
camera2bodyfixed = spice.pxform('MRO_CTX', 'IAU_MARS', current_et)
q = spice.m2q(camera2bodyfixed)
qua[i][:3] = q[1:]
qua[i][-1] = q[0]
current_et += isd['DT_QUAT']
isd['QUATERNIONS'] = qua.flatten()
# Now the 'optional' stuff
isd['REFERENCE_HEIGHT'] = data.get('reference_height', 30)
isd['MIN_VALID_HT'] = data.get('min_valid_height', -8000)
isd['MAX_VALID_HT'] = data.get('max_valid_height', 8000)
isd['IMAGE_ID'] = data.get('image_id', 'UNKNOWN')
isd['SENSOR_ID'] = data.get('sensor_id', 'USGS_LINE_SCANNER')
isd['PLATFORM_ID'] = data.get('platform_id', 'UNKNOWN')
isd['TRAJ_ID'] = data.get('traj_id', 'UNKNOWN')
isd['COLL_ID'] = data.get('coll_id', 'UNKNOWN')
isd['REF_DATE_TIME'] = data.get('ref_date_time', 'UNKNOWN')
spice.unload(obs_kernels)
return json.dumps(isd, cls=NumpyEncoder)