feat: initial commit

.gitignore

+# Python generics
+__pycache__/
+target/
+.mypy_cache/
+.pytest_cache/
+.ropeproject/
+.coverage
+dist/
+doc/build/
+
+# Project
+personal/
+result/
+*.mp4
+*.png
+*.log

.mdl.rb

+all
+rule 'MD024', :allow_different_nesting => true
+exclude_rule 'MD031'
+exclude_rule 'MD032'
+exclude_rule 'MD033'
+exclude_rule 'MD034'

.pre-commit-config.yaml

+---
+default_language_version:
+  ruby: 2.7.2
+fail_fast: true
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.2.0
+  hooks:
+  - id: check-added-large-files
+    args: [--maxkb=500]
+  - id: check-executables-have-shebangs
+  - id: check-merge-conflict
+  - id: check-toml
+  - id: check-yaml
+  - id: end-of-file-fixer
+  - id: trailing-whitespace
+- repo: https://github.com/jumanjihouse/pre-commit-hooks
+  rev: 2.1.6
+  hooks:
+  - id: forbid-binary
+  - id: markdownlint
+    args: [-s, .mdl.rb]
+- repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+  rev: 0.1.1
+  hooks:
+  - id: yamlfmt
+    args: [--mapping, '2', --sequence, '2', --offset, '0']
+- repo: local
+  hooks:
+  - id: isort
+    name: isort
+    stages: [commit]
+    language: system
+    entry: poetry run isort .
+    types: [python]
+    pass_filenames: false
+  - id: black
+    name: black
+    stages: [commit]
+    language: system
+    entry: poetry run black .
+    types: [python]
+    pass_filenames: false
+  - id: flake8
+    name: flake8
+    stages: [commit]
+    language: system
+    entry: poetry run flake8
+    types: [python]
+    pass_filenames: false
+  - id: mypy
+    name: mypy
+    stages: [commit]
+    language: system
+    entry: poetry run mypy .
+    types: [python]
+    pass_filenames: false
+exclude: (personal)

LICENSE

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+   5. Submission of Contributions. Unless You explicitly state otherwise,
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+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
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+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
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+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
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+   END OF TERMS AND CONDITIONS
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+   Copyright 2022 Grégoire Henry for the Royal Observatory of Belgium
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+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

+# Visualisation Tools for Hera
+
+Licensed under the [Apache 2.0 license](./LICENSE). Copyright 2022 Grégoire
+Henry for the Royal Observatory of Belgium.

camera_simulator.py

+#!/usr/bin/env python3
+
+"""
+File description.
+"""
+
+from pathlib import Path  # noqa:F401
+from typing import Optional  # noqa:F401
+
+import numpy
+import pyvista
+import simplelogging
+import spiceypy as spice
+from matplotlib import pyplot  # noqa:F401
+from pudb import set_trace as bp  # noqa:F401
+
+import constant  # noqa:F401
+import mesh
+import tool  # noqa:F401
+
+# Set inputs.
+SHOW_WINDOW = False
+SHOW_PROGRESSION = False
+
+# 1 or 2 for Didymos or Dimorphos.
+PRIMARY_CHOICE = 1
+
+# UTC_START = "2027-MAR-23 16:00:00"
+UTC_START = "2027-APR-03 16:00:00"
+# UTC_START = "2027-APR-09 16:00:00"
+# UTC_START = "2027-MAY-09 16:00:00"
+
+# UTC_END = "2027-APR-01 16:00:00"
+# UTC_END = "2027-APR-02 16:00:00"
+# UTC_END = "2027-APR-10 16:00:00"
+# UTC_END = "2027-MAY-07 16:00:00"
+# UTC_END = "2027-MAY-10 16:00:00"
+UTC_END = "2027-JUN-03 16:00:00"
+
+if PRIMARY_CHOICE == 1:
+    PRIMARY_NAME = "didymos"
+    SECONDARY_NAME = "dimorphos"
+    PRIMARY_FRAME = "didymos_fixed"
+    SECONDARY_FRAME = "dimorphos_fixed"
+    REFERENCE_FRAME = "eclipJ2000"
+    PRIMARY_OBJ_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_50677mm_rad_obj_dida_0000n00000_v001.obj"
+    PRIMARY_DSK_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_50677mm_rad_obj_dida_0000n00000_v001.bds"
+    SECONDARY_OBJ_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_08438mm_lgt_obj_didb_0000n00000_v002.obj"
+    SECONDARY_DSK_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_08438mm_lgt_obj_didb_0000n00000_v002.bds"
+else:
+    PRIMARY_NAME = "dimorphos"
+    SECONDARY_NAME = "didymos"
+    PRIMARY_FRAME = "dimorphos_fixed"
+    SECONDARY_FRAME = "didymos_fixed"
+    REFERENCE_FRAME = "eclipJ2000"
+    PRIMARY_OBJ_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_08438mm_lgt_obj_didb_0000n00000_v002.obj"
+    PRIMARY_DSK_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_08438mm_lgt_obj_didb_0000n00000_v002.bds"
+    SECONDARY_OBJ_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_50677mm_rad_obj_dida_0000n00000_v001.obj"
+    SECONDARY_DSK_PATH_STR = "/home/greg/data/spice-kernel/hera/dsk/g_50677mm_rad_obj_dida_0000n00000_v001.bds"
+
+TIME_STEP = 1.0 * constant.MINUTE
+
+# SPACECRAFT_NAME = "hera"
+SPACECRAFT_NAME = "-15513"
+
+# SPACECRAFT_NICKNAME = "hera"
+SPACECRAFT_NICKNAME = "juventas"
+
+# SPACECRAFT_FRAME = "hera_spacecraft"
+SPACECRAFT_FRAME = "none"
+
+# CAMERA_NAME = "hera_afc-1"
+CAMERA_NAME = "navcam"
+
+# FOV_ANGLE = (5.47, 5.47)
+FOV_ANGLE = (38, 28.5)
+
+# SPACECRAFT_UP_LOCAL = numpy.array([0, 1, 0])
+SPACECRAFT_UP_LOCAL = numpy.array([0, 0, 1])
+
+FOLDER_SCREENSHOTS = Path(
+    f"result/{SPACECRAFT_NICKNAME}/fov images/{PRIMARY_NAME}/{UTC_START.split()[0]} to {UTC_END.split()[0]}/"
+)
+
+ABCORR_NONE = "none"
+ABCORR = "lt+s"
+
+I3 = numpy.eye(3)
+O3 = numpy.zeros(3)
+
+FOV_FIEW_ASPECT_RATIO = FOV_ANGLE[0] / FOV_ANGLE[1]
+
+FOLDER_SCREENSHOTS.mkdir(parents=True, exist_ok=True)
+
+log = simplelogging.get_logger(
+    __name__,
+    console=False,
+    console_level=simplelogging.INFO,
+    file_name="camera_simulator.log",
+)
+
+log.info(f"Start: {UTC_START}.")
+log.info(f"End: {UTC_START}.")
+
+spice.furnsh("/home/greg/data/spice-kernel/hera/mk/hera_study_PO_EMA_2024.tm")
+spice.furnsh("/home/greg/data/spice-kernel/juventas/mk/juv.tm")
+
+# Format inputs.
+ET_START = spice.str2et(UTC_START)
+ET_END = spice.str2et(UTC_END)
+ET_TIMELINE_START = spice.str2et(constant.TIMELINE_UTC_START)
+
+log.info("Getting information from SPICE.")
+TIMES = numpy.arange(ET_START, ET_END, TIME_STEP)
+TIMES_UTC = spice.timout(TIMES, constant.SPICE_DATE_FMT)
+ELAPSED_TIME = TIMES - TIMES[0]
+ELAPSED_TIMELINE_START = ET_TIMELINE_START - ET_TIMELINE_START[0]
+
+SUN_POSITIONS, SUN_LT = spice.spkpos(
+    "sun", TIMES, REFERENCE_FRAME, ABCORR, PRIMARY_NAME
+)
+
+SPACECRAFT_POSITIONS, _ = spice.spkpos(
+    SPACECRAFT_NAME, TIMES, REFERENCE_FRAME, ABCORR_NONE, PRIMARY_NAME
+)
+
+PRIMARY_POSITION = numpy.zeros(3)
+
+SECONDARY_POSITIONS, SECONDARY_LT = spice.spkpos(
+    SECONDARY_NAME, TIMES, REFERENCE_FRAME, ABCORR_NONE, PRIMARY_NAME
+)
+
+SUN_DIRECTIONS = SUN_POSITIONS / numpy.linalg.norm(SUN_POSITIONS, axis=1).reshape(
+    TIMES.size, 1
+)
+SECONDARY_DIRECTIONS = SECONDARY_POSITIONS / numpy.linalg.norm(
+    SECONDARY_POSITIONS, axis=1
+).reshape(TIMES.size, 1)
+
+PRIMARY_ROTATIONS = numpy.zeros((TIMES.shape[0], 3, 3))
+PRIMARY_ORIENTATIONS = numpy.zeros((TIMES.shape[0], 3, 3))
+for INDEX, ET in enumerate(TIMES):
+    if not INDEX:
+        PRIMARY_LAST_ORIENTATION = I3
+    else:
+        PRIMARY_LAST_ORIENTATION = PRIMARY_ORIENTATIONS[INDEX - 1]
+
+    PRIMARY_ORIENTATIONS[INDEX] = spice.pxform(PRIMARY_FRAME, REFERENCE_FRAME, ET)
+    PRIMARY_ROTATIONS[INDEX] = numpy.matmul(
+        PRIMARY_ORIENTATIONS[INDEX], numpy.linalg.inv(PRIMARY_LAST_ORIENTATION)
+    )
+
+SECONDARY_ROTATIONS = numpy.zeros((TIMES.shape[0], 3, 3))
+SECONDARY_ORIENTATIONS = numpy.zeros((TIMES.shape[0], 3, 3))
+for INDEX, ET in enumerate(TIMES):
+    if not INDEX:
+        SECONDARY_LAST_ORIENTATION = numpy.eye(3)
+    else:
+        SECONDARY_LAST_ORIENTATION = SECONDARY_ORIENTATIONS[INDEX - 1]
+
+    SECONDARY_ORIENTATIONS[INDEX] = spice.pxform(SECONDARY_FRAME, REFERENCE_FRAME, ET)
+    SECONDARY_ROTATIONS[INDEX] = numpy.matmul(
+        SECONDARY_ORIENTATIONS[INDEX], numpy.linalg.inv(SECONDARY_LAST_ORIENTATION)
+    )
+
+SPACECRAFT_ORIENTATIONS = numpy.zeros((TIMES.shape[0], 3, 3))
+if SPACECRAFT_FRAME != "none":
+    for INDEX, ET in enumerate(TIMES):
+        SPACECRAFT_ORIENTATIONS[INDEX] = spice.pxform(
+            SPACECRAFT_FRAME, REFERENCE_FRAME, ET
+        )
+
+    CAMERA_ID = spice.bodn2c(CAMERA_NAME)
+    FOV_SHAPE, CAMERA_FIXREF, CAMERA_BSIGHT, _, CAMERA_BOUNDS = spice.getfov(
+        CAMERA_ID, 4
+    )
+
+log.info("Initializing window.")
+pyvista.global_theme.background = "black"
+
+FONTSIZE = 11
+if SHOW_WINDOW:
+    RESOLUTION = (int(1008 * FOV_FIEW_ASPECT_RATIO), 1008)
+else:
+    # RESOLUTION = (int(1024 * FOV_FIEW_ASPECT_RATIO), 1024)
+    RESOLUTION = (int(1536 * FOV_FIEW_ASPECT_RATIO), 1536)
+
+plotter = pyvista.Plotter(
+    lighting="none", window_size=RESOLUTION, off_screen=not SHOW_WINDOW
+)
+
+light = pyvista.Light(position=SUN_POSITIONS[0])
+plotter.add_light(light)
+
+PRIMARY_DSK_HANDLE = spice.dasopr(PRIMARY_DSK_PATH_STR)
+SECONDARY_DSK_HANDLE = spice.dasopr(SECONDARY_DSK_PATH_STR)
+
+primary_mesh = pyvista.read(PRIMARY_OBJ_PATH_STR)
+secondary_mesh = pyvista.read(SECONDARY_OBJ_PATH_STR)
+
+PRIMARY_CENTERS = primary_mesh.cell_centers().points
+SECONDARY_CENTERS = secondary_mesh.cell_centers().points
+
+CLIM = [0, 1]
+primary_mesh["map"] = numpy.ones(PRIMARY_CENTERS.shape[0])
+secondary_mesh["map"] = numpy.ones(SECONDARY_CENTERS.shape[0])
+
+primary_plot = plotter.add_mesh(
+    primary_mesh,
+    scalars="map",
+    cmap="gray",
+    lighting=True,
+    clim=CLIM,
+    show_scalar_bar=False,
+)
+secondary_plot = plotter.add_mesh(
+    secondary_mesh,
+    scalars="map",
+    cmap="gray",
+    lighting=True,
+    clim=CLIM,
+    show_scalar_bar=False,
+)
+
+text_utc = plotter.add_text(
+    f"{UTC_START}",
+    position=2,
+    color="white",
+    font_size=FONTSIZE,
+    font="courier",
+)
+text_utc_prop = text_utc.GetTextProperty()
+
+log.info("Starting time loop.")
+TOTAL_ITERATIONS = TIMES.size - 1
+LAST_PRIMARY_POSITION = O3
+LAST_SECONDARY_POSITION = O3
+LAST_PROGRESS = -1
+LENGTH_DIGITS_SCREENSHOTS = int(numpy.log10(TOTAL_ITERATIONS)) + 1
+for INDEX, (
+    SUN_POSITION,
+    SPACECRAFT_POSITION,
+    SECONDARY_POSITION,
+    SPACECRAFT_ORIENTATION,
+    PRIMARY_ROTATION,
+    SECONDARY_ROTATION,
+    _SECONDARY_DIRECTION,
+    ET,
+    TIME_UTC,
+) in enumerate(
+    zip(
+        SUN_POSITIONS,
+        SPACECRAFT_POSITIONS,
+        SECONDARY_POSITIONS,
+        SPACECRAFT_ORIENTATIONS,
+        PRIMARY_ROTATIONS,
+        SECONDARY_ROTATIONS,
+        SECONDARY_DIRECTIONS,
+        TIMES,
+        TIMES_UTC,
+    )
+):
+    if SHOW_PROGRESSION:
+        PROGRESS = int(INDEX / TOTAL_ITERATIONS * 100)
+        if PROGRESS > LAST_PROGRESS:
+            print(f"\rProgression: {PROGRESS}%", end="")
+            LAST_PROGRESS = PROGRESS
+
+    light.position = SUN_POSITION
+
+    trans = numpy.eye(4)
+    trans[:-1, -1] = -LAST_PRIMARY_POSITION
+    primary_mesh.transform(trans)
+
+    trans = numpy.eye(4)
+    trans[:-1, :-1] = PRIMARY_ROTATION
+    trans[:-1, -1] = PRIMARY_POSITION
+    primary_mesh.transform(trans)
+
+    trans = numpy.eye(4)
+    trans[:-1, -1] = -LAST_SECONDARY_POSITION
+    secondary_mesh.transform(trans)
+
+    trans = numpy.eye(4)
+    trans[:-1, :-1] = SECONDARY_ROTATION
+    trans[:-1, -1] = SECONDARY_POSITION
+    secondary_mesh.transform(trans)
+
+    # (start) Shadows.
+
+    PRIMARY_ORIENTATION_FROM_SECONDARY = spice.pxform(
+        PRIMARY_FRAME, SECONDARY_FRAME, ET
+    )
+
+    PRIMARY_POSITION_FROM_SECONDARY, _ = spice.spkpos(
+        PRIMARY_NAME, ET, SECONDARY_FRAME, ABCORR_NONE, SECONDARY_NAME
+    )
+
+    SUN_POSITION_FROM_SECONDARY, _ = spice.spkpos(
+        "sun", ET, SECONDARY_FRAME, ABCORR, SECONDARY_NAME
+    )
+
+    PRIMARY_LIGHTS = mesh.compute_light(
+        PRIMARY_CENTERS,
+        SECONDARY_DSK_HANDLE,
+        PRIMARY_POSITION_FROM_SECONDARY,
+        PRIMARY_ORIENTATION_FROM_SECONDARY,
+        SUN_POSITION_FROM_SECONDARY,
+    )
+
+    SECONDARY_ORIENTATION_FROM_PRIMARY = spice.pxform(
+        SECONDARY_FRAME, PRIMARY_FRAME, ET
+    )
+
+    SECONDARY_POSITION_FROM_PRIMARY, _ = spice.spkpos(
+        SECONDARY_NAME, ET, PRIMARY_FRAME, ABCORR_NONE, PRIMARY_NAME
+    )
+
+    SUN_POSITION_FROM_PRIMARY, _ = spice.spkpos(
+        "sun", ET, PRIMARY_FRAME, ABCORR, PRIMARY_NAME
+    )
+
+    SECONDARY_LIGHTS = mesh.compute_light(
+        SECONDARY_CENTERS,
+        PRIMARY_DSK_HANDLE,
+        SECONDARY_POSITION_FROM_PRIMARY,
+        SECONDARY_ORIENTATION_FROM_PRIMARY,
+        SUN_POSITION_FROM_PRIMARY,
+    )
+
+    primary_mesh["map"] = PRIMARY_LIGHTS
+    secondary_mesh["map"] = SECONDARY_LIGHTS
+
+    # (end) Shadows.
+
+    text_utc.SetText(2, f"{TIME_UTC}")
+    log.info(f"Current time: {TIME_UTC}.")
+
+    LAST_PRIMARY_POSITION = PRIMARY_POSITION
+    LAST_SECONDARY_POSITION = SECONDARY_POSITION
+
+    if SPACECRAFT_FRAME != "none":
+        SPACECRAFT_UP = SPACECRAFT_ORIENTATION.dot(SPACECRAFT_UP_LOCAL)
+    else:
+        SPACECRAFT_UP = SPACECRAFT_UP_LOCAL
+
+    plotter.camera.position = SPACECRAFT_POSITION
+    plotter.camera.focal_point = PRIMARY_POSITION
+    plotter.camera.up = SPACECRAFT_UP
+