Coordinate transformation methods

Coordinate transformation methods#

Coordinate Frame Class#

class marsimage.frames.CoordinateFrame(coordinate_system_name, coordinate_system_index, origin_offset_vector, origin_rotation, reference_coordinate_system_name, reference_coordinate_system_index, variant)[source]

Represents a coordinate frame and provides methods for coordinate transformations.

Coordinate frames are defined by an origin offset vector and an origin rotation. A reference coordinate system must be specified with a name and an index.

Parameters:

coordinate_system_name (str) – The name of the coordinate system.
coordinate_system_index (int) – The index of the coordinate system.
origin_offset_vector (numpy.ndarray) – The offset vector of the origin of the coordinate system.
origin_rotation (scipy.spatial.transform.Rotation) – The rotation of the coordinate system.
reference_coordinate_system_name (str) – The name of the reference coordinate system.
reference_coordinate_system_index (int) – The index of the reference coordinate system.
variant (str) – The variant of the coordinate system (e.g. NED, ENU).

classmethod from_odl(coord_system_parms)[source]

Create a CoordinateFrame object from an ODL COORD_SYSTEM_PARMS dictionary.

Parameters:: coord_system_parms (dict) – Dictionary containing coordinate system parameters.
Returns:: An instance of the CoordinateFrame class.
Return type:: CoordinateFrame

Note

The dictionary coord_system_parms must contain the following keys:

“COORDINATE_SYSTEM_NAME”

“COORDINATE_SYSTEM_INDEX”

“ORIGIN_OFFSET_VECTOR”

“ORIGIN_ROTATION_QUATERNION”

“REFERENCE_COORD_SYSTEM_NAME”

“REFERENCE_COORD_SYSTEM_INDEX”

property origin_rotation_quaternion: Convenience function, returns the origin rotation in JPL style quaternion.

property origin_rotation_matrix: Convenience function, returns the origin rotation as a rotation matrix.

transform_to(target_system)[source]

Transform the coordinate system to a specified reference system.

Note

The reference system must match the reference system of the coordinate system. The reference system must be a CoordinateFrame object with the same coordinate system variant (e.g. NED, ENU).

Parameters:

target_system (CoordinateFrame) – The reference system to transform to.

Returns:

The transformed coordinate system.

Return type:

CoordinateFrame

Raises:

ValueError –

If the target system is not a CoordinateFrame object. - If the target system does not have the same reference system name. - If the target system does not have the same reference system index. - If the target system does not have the same variant.

xyz(variant='NED')[source]

Return the xyz coordinates of the origin of the coordinate system.

Parameters:: variant (str, optional) – The coordinate system variant, by default “NED”.
Returns:: The xyz coordinates of the origin of the coordinate system.
Return type:: numpy.ndarray

property easting

Return the easting coordinate of the origin of the coordinate system.

Returns:: The easting coordinate of the origin.
Return type:: float
Raises:: ValueError – If the reference coordinate system is not “ORBITAL” or if the variant is unknown.

property northing

Returns the northing coordinate of the origin of the coordinate system.

Returns:: The northing coordinate of the origin.
Return type:: float
Raises:: ValueError – If the reference coordinate system is not “ORBITAL” or if the variant is unknown.

property elevation

Return the elevation of the origin of the coordinate system.

Returns:: The elevation coordinate of the origin in the ORBITAL coordinate system.
Return type:: float
Raises:: ValueError – If the reference coordinate system is not “ORBITAL” or if the variant is unknown.

property ypr

Calculate the YPR (Yaw, Pitch, Roll) from the origin rotation.

This method assumes that the camera is looking down for ypr = (0, 0, 0).

Returns:: A tuple containing the yaw, pitch, and roll angles.
Return type:: tuple

property ypr_dji

Calculate the DJI YPR (Yaw, Pitch, Roll) values.

DJI YPR values assume that the camera is looking forward for ypr = (0, 0, 0).

Returns:: The YPR values as a numpy array.
Return type:: numpy.ndarray

property wphik

Calculate the (Omega, Phi, Kappa) angles from the origin rotation.

Returns:: A tuple containing the omega, phi, and kappa angles.
Return type:: tuple

Camera Model and CAHVORE#

The formulas used in this module are based on [Di and Li, 2004].

class marsimage.frames.CAHVORE(cm_type: Literal['CAHV', 'CAHVOR', 'CAHVORE'], C: ndarray, A: ndarray, H: ndarray, V: ndarray, coordinate_system_name: str, coordinate_system_index: int, reference_coordinate_system_name: str, reference_coordinate_system_index: int, O: ndarray = None, R: ndarray = None, E: float = None, T: float = None, P: float = None, variant: Literal['NED', 'ENU'] = 'NED')[source]#

Dataclass that holds the parameters of a CAHVOR(E) camera model.

classmethod from_odl(geometric_camera_model)[source]#

Create a CAHVORE object from an ODL Label GEOMETRIC_CAMERA_MODEL group.

Parameters:: geometric_camera_model (dict) – The GEOMETRIC_CAMERA_MODEL group from the ODL Label.

Note

The dictionary GEOMETRIC_CAMERA_MODEL must at least contain the following keys:

MODEL_TYPE
MODEL_COMPONENT_1
MODEL_COMPONENT_2
MODEL_COMPONENT_3
MODEL_COMPONENT_4
REFERENCE_COORD_SYSTEM_NAME
REFERENCE_COORD_SYSTEM_INDEX

If the MODEL_TYPE is CAHVOR, the dictionary must also contain the following keys:

MODEL_COMPONENT_5
MODEL_COMPONENT_6

If the MODEL_TYPE is CAHVORE, the dictionary must also contain the following keys:

MODEL_COMPONENT_7
MODEL_COMPONENT_8
MODEL_COMPONENT_9

Returns:: The CAHVORE object.
Return type:: CAHVORE

property hs#: The hs parameter.

property vs#: The vs parameter.

property hc#: The hc parameter.

property vc#: The vc parameter.

property H_n#: The normalized H vector H’.

property V_n#: The normalized V vector V’.

class marsimage.frames.CameraModel(width: int, height: int, pixel_size: float, pixel_size_x: float, pixel_size_y: float, f: float, f_mm: float, crop_factor: float, f_35: float, model_type: str, x0: float, y0: float, x0_mm: float, y0_mm: float, cf: CoordinateFrame)[source]#

Camera model class based on the Photogrammetric camera model.

classmethod from_cahvore(cahvore, width, height, pixel_size)[source]#

Initialize the photogrammetric camera model from a CAHVORE camera model.

Calculations based on ‘CAHVOR camera model and its photogrammetric conversion for planetary applications (https://doi.org/10.1029/2003JE002199)’.

Parameters:

cahvore (CAHVORE) – The CAHVORE camera model object.
width (int) – The image width in pixels.
height (int) – The image height in pixels.
pixel_size (float) – The pixel size in mm.

Returns:

The CameraModel object.

Return type:

CameraModel

transform_to(target_frame)[source]#

Transform the CameraModel to a specified reference system.

Parameters:: target_frame (CoordinateFrame) – The reference system to transform to.
Returns:: The transformed CameraModel object.
Return type:: CameraModel

property ypr#

Calculate the YPR (Yaw, Pitch, Roll) from the origin rotation.

This method assumes that the camera is looking down for ypr = (0, 0, 0).

Returns:: A tuple containing the yaw, pitch, and roll angles.
Return type:: tuple

property ypr_dji#

Calculate the DJI YPR (Yaw, Pitch, Roll) values.

DJI YPR values assume that the camera is looking forward for ypr = (0, 0, 0).

Returns:: The YPR values as a numpy array.
Return type:: numpy.ndarray

property cam_heading#: The compass heading of the camera.

property planetocentric_latitude#: The planetocentric latitude of the camera.

property planetodetic_latitude#: The planetodetic latitude of the camera.

property longitude#: The longitude of the camera.

property elevation#: The geographic elevation of the camera.

OrbitalCoordinateFrame Class#

class marsimage.frames.OrbitalCoordinateFrame[source]#

Localization class to parse the Rover localization data from different sources.

classmethod from_places(mission, site, drive)[source]#

Create a Localization object from the PLACES data.

Parameters:

mission (str) – The mission name, either “MSL” or “M20”.
site (int) – The site number.
drive (int) – The drive number.

Returns:

The Localization object describing the coordinate frame of the rover at a specific site and drive in the orbital frame.

Return type:

OrbitalCoordinateFrame

property longitude#: The longitude of the rover in degrees.

property planetocentric_latitude#: The planetocentric latitude of the rover in degrees. I.e. no ellipsoidal correction.

property planetodetic_latitude#: The planetodetic latitude of the rover in degrees. I.e. with ellipsoidal correction.

Coordinate transformation methods

Contents

Coordinate transformation methods#

Coordinate Frame Class#

Camera Model and CAHVORE#

OrbitalCoordinateFrame Class#