f2m.pangu_interface package

Submodules

f2m.pangu_interface.generate_frames module

f2m.pangu_interface.generate_frames.generate_frames(flight_file: Path, output_folder: Path, pangu_model: str = 'models/malapert/spole_flat.pan', width: int = 1024, height: int = 1024, sun: list[float] = [149600000000.0, 300, 4], reflectance: str = 'hapke', shadows: Literal['static', 'dynamic', 'none'] = 'static', sun_samples: int = 20, shadowmap: str | None = None, use_virtual_display: bool = True, spice_flags: tuple = None, move_model: tuple[list[int], list[int]] | None = None, verbose: bool = False, **pangu_kwargs: str) → None

Generate frames using PANGU

Parameters:

  • flight_file (Path) – The flight file to use

  • output_folder (Path) – The output folder to save the frames

  • pangu_model (str) – The PANGU model to use. Defaults to “models/malapert/spole_flat.pan”.

  • width (int) – The width of the frames. Defaults to 1024.

  • height (int) – The height of the frames. Defaults to 1024.

  • sun (list[float]) – The sun position parameters. Defaults to [1.496e11, 300, 4].

  • reflectance (str) – The reflectance model to use. Defaults to “hapke”.

  • shadows (Literal["static, dynamic", "none"]) – The type of shadows to use. Defaults to “static”.

  • sun_samples (int) – The number of samples to use for the shadowmap. Ignored if shadows is not “static”. Defaults to 20.

  • shadowmap (Optional[str]) – The shadowmap to use, ignored if shadows is not “static”. If None, the name of the shadowmap is inferred from the model name and sun position. Defaults to None.

  • use_virtual_display (bool) – Whether to use a virtual display to run PANGU. Defaults to True.

  • spice_flags (tuple) – Consists of (spice_frame, spice_epoch, spice_search). Give None to disable spice entirely. If specific indices are None, a default is assigned.

  • move_model (Optional[tuple]) – [0] being an ArrayLike object of position (3x1) and [1] being an ArrayLike (4x1) quaternion (in wxyz) for the rotation

  • verbose (bool) – Whether to print the shell command that is run. Defaults to False.

Note

Make sure you have the spice kernels installed in the right place:

For spice_flags:

spice_frame : J2000|MOON_ME|IAU_MARS|ITOKAWA_FIXED| spice_epoch : 2000/01/01 00:00:00.0 (“yyyy/mm/dd hh:mm:ss.frac”) spice_search : pangu_path

For debugging: set -sky to ‘red’ instead of ‘black’

f2m.pangu_interface.rangefinder module

f2m.pangu_interface.rangefinder.close_server_mode() → Popen

Closes the PANGU server mode

f2m.pangu_interface.rangefinder.rangefinder(fli_file: Path, output_path: Path, pangu_model: str = 'models/malapert/spole_flat.pan', h: int = 1024, w: int = 1024, use_virtual_display: bool = True, indices: list[int] | None = None, move_model: tuple[list[int], list[int]] | None = None) → list[float]

Generate depth maps for the flight trajectory from .fli files

Parameters:

  • fli_file (Path) – The flight file to use

  • output_path (Path) – The output folder to save the frames

  • pangu_model (str) – The PANGU model to use. Defaults to “models/malapert/spole_flat.pan”.

  • h (int) – The height of the frames. Defaults to 1024.

  • w (int) – The width of the frames. Defaults to 1024.

  • use_virtual_display (bool) – Whether to use a virtual display to run PANGU. Defaults to True.

  • indices (Optional[list[int]]) – indices in the flight file to take the snapshot of. If None, the whole flight file will be used. Defaults to None.

  • move_model (Optional[tuple]) – [0] being an ArrayLike object of position (3x1) and [1] being an ArrayLike (4x1) quaternion (in wxyz) for the rotation.

Returns:

The rangefinder values

Return type:

list[float]

f2m.pangu_interface.rangefinder.snapshot_lidar_call(output_path: Path, x: float, y: float, z: float, q1: float, q2: float, q3: float, q4: float) → None
f2m.pangu_interface.rangefinder.start_server_mode(pangu_model: str = 'models/malapert/spole_flat.pan', width: int = 1024, height: int = 1024, fov: int = 60, move_model: tuple[list[int], list[int]] | None = None) → Popen

Starts PANGU model in server mode

Parameters:

  • pangu_model (str) – The PANGU model to use. Defaults to “models/malapert/spole_flat.pan”.

  • width (int) – The width of the frames. Defaults to 1024.

  • height (int) – The height of the frames. Defaults to 1024.

  • fov (int) – The field of view. Defaults to 60.

Returns:

The PANGU process

Return type:

subprocess.Popen

f2m.pangu_interface.utils module

f2m.pangu_interface.utils.generate_shadowmap(pangu_model: str, sun: list[float], samples: int = 20, threads: int | None = None) → None

Generates the PANGU shadowmap

Parameters:

  • pangu_model (str) – The PANGU model to use.

  • sun (list[float]) – The sun parameters.

  • samples (int) – The number of samples to use for the shadowmap. Defaults to 20.

  • threads (Optional[int]) – The number of threads to use. If None, it will use 125% of the available CPU cores. Defaults to None.

f2m.pangu_interface.utils.get_landing_site_dir(pangu_model: str) → str

Returns the PANGU model directory

Parameters:

pangu_model (str) – The PANGU model to use.

Returns:

The PANGU model directory

Return type:

str

f2m.pangu_interface.utils.get_shadowmap(pangu_model: str, sun: list[float], samples: int = 20) → str

Returns the name of the PANGU shadowmap

Parameters:

  • pangu_model (str) – The PANGU model to use.

  • sun (list[float]) – The sun parameters.

  • samples (int) – The number of samples to use for the shadowmap. Defaults to 20.

Returns:

The PANGU shadowmap name

Return type:

str

f2m.pangu_interface.utils.handle_pangu_error(e: CalledProcessError, use_virtual_display: bool) → None

Handles PANGU errors

Parameters:

  • e (subprocess.CalledProcessError) – The error

  • use_virtual_display (bool) – Whether a virtual display is used

Module contents