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24 results

DistortionTests.cpp

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    • DistortionTests.cpp 12.58 KiB 
    #include "Distortion.h"

#include <gtest/gtest.h>

#include "Fixtures.h"

// NOTE: The imagePt format is (Lines,Samples)

INSTANTIATE_TEST_SUITE_P(JacobianTest, ImageCoordParameterizedTest,
                         ::testing::Values(csm::ImageCoord(2.5, 2.5),
                                           csm::ImageCoord(7.5, 7.5)));

TEST_P(ImageCoordParameterizedTest, JacobianTest) {
  std::vector<double> transverseDistortionCoeffs = {
      1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0,
      0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0};

  double Jxx, Jxy, Jyx, Jyy;

  csm::ImageCoord imagePt = GetParam();
  double jacobian[4];
  transverseDistortionJacobian(imagePt.samp, imagePt.line, jacobian,
                               transverseDistortionCoeffs);

  // Jxx * Jyy - Jxy * Jyx
  double determinant =
      fabs(jacobian[0] * jacobian[3] - jacobian[1] * jacobian[2]);
  EXPECT_GT(determinant, 1e-3);
}

TEST(Transverse, Jacobian1) {
  csm::ImageCoord imagePt(7.5, 7.5);

  std::vector<double> transverseDistortionCoeffs = {
      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,
      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0};

  double jacobian[4];
  transverseDistortionJacobian(imagePt.samp, imagePt.line, jacobian,
                               transverseDistortionCoeffs);

  EXPECT_NEAR(jacobian[0], 56.25, 1e-8);
  EXPECT_NEAR(jacobian[1], 112.5, 1e-8);
  EXPECT_NEAR(jacobian[2], 56.25, 1e-8);
  EXPECT_NEAR(jacobian[3], 281.25, 1e-8);
}

TEST(Transverse, distortMe_AlternatingOnes) {
  csm::ImageCoord imagePt(7.5, 7.5);

  std::vector<double> transverseDistortionCoeffs = {
      1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0,
      0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0};

  double dx, dy;
  computeTransverseDistortion(imagePt.samp, imagePt.line, dx, dy,
                              transverseDistortionCoeffs);

  EXPECT_NEAR(dx, 908.5, 1e-8);
  EXPECT_NEAR(dy, 963.75, 1e-8);
}

TEST(Transverse, distortMe_AllCoefficientsOne) {
  csm::ImageCoord imagePt(7.5, 7.5);

  std::vector<double> transverseDistortionCoeffs = {
      1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
      1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0};

  double dx, dy;
      computeTransverseDistortion(imagePt.samp, imagePt.line, dx, dy,
                              transverseDistortionCoeffs);

  EXPECT_NEAR(dx, 1872.25, 1e-8);
  EXPECT_NEAR(dy, 1872.25, 1e-8);
}

TEST(transverse, removeDistortion1) {
  csm::ImageCoord imagePt(7.5, 7.5);
  double ux, uy;

  std::vector<double> transverseDistortionCoeffs = {
      0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
      0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy,
                   transverseDistortionCoeffs, DistortionType::TRANSVERSE);

  EXPECT_NEAR(imagePt.samp, 7.5, 1e-8);
  EXPECT_NEAR(imagePt.line, 7.5, 1e-8);
  EXPECT_NEAR(imagePt.line, ux, 1e-8);
  EXPECT_NEAR(imagePt.samp, uy, 1e-8);
}

TEST(transverse, removeDistortion_AllCoefficientsOne) {
  csm::ImageCoord imagePt(1872.25, 1872.25);
  double ux, uy;

  std::vector<double> transverseDistortionCoeffs = {
      1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
      1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy,
                   transverseDistortionCoeffs, DistortionType::TRANSVERSE);

  // The Jacobian is singular, so the setFocalPlane should break out of it's
  // iteration and returns the same distorted coordinates that were passed in.
  EXPECT_NEAR(ux, imagePt.samp, 1e-8);
  EXPECT_NEAR(uy, imagePt.line, 1e-8);
}

TEST(transverse, removeDistortion_AlternatingOnes) {
  csm::ImageCoord imagePt(963.75, 908.5);
  double ux, uy;

  std::vector<double> transverseDistortionCoeffs = {
      1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0,
      0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy,
                   transverseDistortionCoeffs, DistortionType::TRANSVERSE);

  EXPECT_NEAR(ux, 7.5, 1e-8);
  EXPECT_NEAR(uy, 7.5, 1e-8);
}

TEST(Radial, testUndistortDistort) {
  
  // Distorted pixel
  csm::ImageCoord imagePt(0.0, 1e-1);

  // Undistort
  double ux, uy;
  std::vector<double> coeffs = {0.03, 0.00001, 0.000004};
  double tolerance = 1e-2;
  removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,
                   DistortionType::RADIAL, tolerance);
  
  // Distort back
  double desiredPrecision = 1e-6;
      double dx, dy;
  applyDistortion(ux, uy, dx, dy, coeffs,
                  DistortionType::RADIAL, desiredPrecision, tolerance);
  
  EXPECT_NEAR(dx, imagePt.samp, 1e-8);
  EXPECT_NEAR(dy, imagePt.line, 1e-8);
}

// If coeffs are 0 then this will have the same result as removeDistortion
// with 0 distortion coefficients
TEST(Radial, testInverseDistortion) {
  csm::ImageCoord imagePt(0.0, 4.0);

  double dx, dy;
  double desiredPrecision = 0.01;
  std::vector<double> coeffs = {0, 0, 0};

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::RADIAL, desiredPrecision);

  EXPECT_NEAR(dx, 4, 1e-8);
  EXPECT_NEAR(dy, 0, 1e-8);
}

TEST(Radial, testInverseOnesCoeffs) {
  csm::ImageCoord imagePt(0.0, 4.0);

  double dx, dy;
  double desiredPrecision = 0.01;
  std::vector<double> coeffs = {1, 1, 1};

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::RADIAL, desiredPrecision);

  EXPECT_NEAR(dx, 4, 1e-8);
  EXPECT_NEAR(dy, 0, 1e-8);
}

TEST(DawnFc, testApply) {
  csm::ImageCoord imagePt(10.0, 10.0);

  double dx, dy;
  double desiredPrecision = 0.0000001;
  std::vector<double> coeffs = {8.4e-06};

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::DAWNFC, desiredPrecision);

  ASSERT_DOUBLE_EQ(dx, 10.0168);
  ASSERT_DOUBLE_EQ(dy, 10.0168);
}

TEST(DawnFc, testRemove) {
  csm::ImageCoord imagePt(10.0168, 10.0168);

  double ux, uy;
  double desiredPrecision = 0.0000001;
  // Coeffs obtained from file FC21A0039691_15231053805F1E.IMG
  std::vector<double> coeffs = {8.4e-06};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,
                   DistortionType::DAWNFC, desiredPrecision);

  EXPECT_NEAR(ux, 10.0, 1e-8);
  EXPECT_NEAR(uy, 10.0, 1e-8);
}

TEST(DawnFc, testZeroCoeffs) {
  csm::ImageCoord imagePt(10.0, 10.0);

      double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  std::vector<double> coeffs = {0};

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::DAWNFC, desiredPrecision);

  removeDistortion(dx, dy, ux, uy, coeffs, DistortionType::DAWNFC,
                   desiredPrecision);

  ASSERT_DOUBLE_EQ(dx, 10.0);
  ASSERT_DOUBLE_EQ(dy, 10.0);
  ASSERT_DOUBLE_EQ(ux, 10.0);
  ASSERT_DOUBLE_EQ(uy, 10.0);
}

TEST(KaguyaLism, testRemoveCoeffs) {
  csm::ImageCoord imagePt(1.0, 1.0);

  double ux, uy;
  double desiredPrecision = 0.0000001;
  std::vector<double> distortionCoeffs = {0.5, 1, 2, 3, 4, 0.5, 1, 2, 3, 4};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy, distortionCoeffs,
                   DistortionType::KAGUYALISM, desiredPrecision);

  EXPECT_NEAR(ux, 1 + 1 + 2.828427125 + 6 + 11.313708499 + 0.5, 1e-8);
  EXPECT_NEAR(uy, 1 + 1 + 2.828427125 + 6 + 11.313708499 + 0.5, 1e-8);
}

TEST(KaguyaLism, testCoeffs) {
  csm::ImageCoord imagePt(1.0, 1.0);

  double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  // Coeffs obtained from file TC1W2B0_01_05211N095E3380.img
  std::vector<double> coeffs = {-0.0725,     -0.0009649900000000001,
                                0.00098441,  8.5773e-06,
                                -3.7438e-06, 0.0214,
                                -0.0013796,  1.3502e-05,
                                2.7251e-06,  -6.193800000000001e-06};

  removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,
                   DistortionType::KAGUYALISM, desiredPrecision);
  applyDistortion(ux, uy, dx, dy, coeffs, DistortionType::KAGUYALISM,
                  desiredPrecision);

  EXPECT_NEAR(ux, 0.9279337415074662, 1e-6);
  EXPECT_NEAR(uy, 1.0200274261995939, 1e-5);
  EXPECT_NEAR(dx, 1.0, 1e-8);
  EXPECT_NEAR(dy, 1.0, 1e-8);
}

TEST(KaguyaLism, testZeroCoeffs) {
  csm::ImageCoord imagePt(1.0, 1.0);

  double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  std::vector<double> coeffs = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::KAGUYALISM, desiredPrecision);

  removeDistortion(dx, dy, ux, uy, coeffs, DistortionType::KAGUYALISM,
                   desiredPrecision);

  ASSERT_DOUBLE_EQ(dx, 1.0);
  ASSERT_DOUBLE_EQ(dy, 1.0);
  ASSERT_DOUBLE_EQ(ux, 1.0);
  ASSERT_DOUBLE_EQ(uy, 1.0);
    }

// Test for LRO LROC NAC
TEST(LroLrocNac, testLastDetectorSample) {
  double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  // Coeffs obtained from file: lro_lroc_v18.ti
  std::vector<double> coeffs = {1.81E-5};

  removeDistortion(0.0, 5064.0 / 2.0 * 0.007, ux, uy, coeffs,
                   DistortionType::LROLROCNAC, desiredPrecision);

  applyDistortion(ux, uy, dx, dy, coeffs, DistortionType::LROLROCNAC,
                  desiredPrecision);

  EXPECT_NEAR(dx, 0.0, 1e-8);
  EXPECT_NEAR(dy, 17.724, 1e-8);
  EXPECT_NEAR(ux, 0.0, 1e-8);
  EXPECT_NEAR(uy, 17.6237922244, 1e-8);
}

TEST(LroLrocNac, testCoeffs) {
  double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  // Coeff obtained from file: lro_lroc_v18.ti
  std::vector<double> coeffs = {1.81E-5};

  applyDistortion(0.0, 0.0, dx, dy, coeffs, DistortionType::LROLROCNAC,
                  desiredPrecision);

  removeDistortion(dx, dy, ux, uy, coeffs, DistortionType::LROLROCNAC,
                   desiredPrecision);

  EXPECT_NEAR(dx, 0.0, 1e-8);
  EXPECT_NEAR(dy, 0.0, 1e-8);
  EXPECT_NEAR(ux, 0.0, 1e-8);
  EXPECT_NEAR(uy, 0.0, 1e-8);
}

TEST(LroLrocNac, testZeroCoeffs) {
  double ux, uy, dx, dy;
  double desiredPrecision = 0.0000001;
  std::vector<double> coeffs = {0};

  applyDistortion(0.0, 0.0, dx, dy, coeffs, DistortionType::LROLROCNAC,
                  desiredPrecision);

  removeDistortion(dx, dy, ux, uy, coeffs, DistortionType::LROLROCNAC,
                   desiredPrecision);

  ASSERT_DOUBLE_EQ(dx, 0.0);
  ASSERT_DOUBLE_EQ(dy, 0.0);
  ASSERT_DOUBLE_EQ(ux, 0.0);
  ASSERT_DOUBLE_EQ(uy, 0.0);
}

INSTANTIATE_TEST_SUITE_P(CahvorTest, CoeffOffsetParameterizedTest,
                         ::testing::Values(std::vector<double>(2, 0),
                                           std::vector<double>(2, 1)));

TEST_P(CoeffOffsetParameterizedTest, RemoveDistortionCahvorTest)
{
  csm::ImageCoord imagePt(0.0, 4.0);

  double ux, uy;
  std::vector<double> offsets = GetParam();
  std::vector<double> coeffs = {0, 0, 0};
  coeffs.insert(coeffs.end(), offsets.begin(), offsets.end());

  removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs,
                       DistortionType::CAHVOR);

  EXPECT_NEAR(ux, 4, 1e-8);
  EXPECT_NEAR(uy, 0, 1e-8);
}

// If coeffs are 0 then this will have the same result as removeDistortion
// with 0 distortion coefficients
TEST_P(CoeffOffsetParameterizedTest, InverseDistortionCahvorTest)
{
  csm::ImageCoord imagePt(0.0, 4.0);

  double dx, dy;
  double desiredPrecision = 0.01;
  std::vector<double> offsets = GetParam();
  std::vector<double> coeffs = {0, 0, 0};
  coeffs.insert(coeffs.end(), offsets.begin(), offsets.end());

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::CAHVOR, desiredPrecision);

  EXPECT_NEAR(dx, 4, 1e-8);
  EXPECT_NEAR(dy, 0, 1e-8);
}

TEST_P(CoeffOffsetParameterizedTest, InverseOnesCoeffsCahvorTest)
{
  csm::ImageCoord imagePt(0.0, 4.0);

  double dx, dy;
  double desiredPrecision = 0.01;
  std::vector<double> offsets = GetParam();
  std::vector<double> coeffs = {1, 1, 1};
  coeffs.insert(coeffs.end(), offsets.begin(), offsets.end());

  applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
                  DistortionType::CAHVOR, desiredPrecision);

  EXPECT_NEAR(dx, 4, 1e-8);
  EXPECT_NEAR(dy, 0, 1e-8);
}

INSTANTIATE_TEST_SUITE_P(RadTanInversionTest, RadTanTest,
                         ::testing::Values(std::vector<double>(0, 0)));

TEST_P(RadTanTest, RadTanInversionTest)
{

  // Initialize radtan distortion coefficients (k1, k2, p1, p2, k3)  
  std::vector<double> distCoeffs= {0.000031, -0.000056, 1.3e-5, -1.7e-6, 2.9e-8};
  
  double ux = 5.0, uy = 6.0; 
  
  // Compute distortion 
  double dx, dy;
  applyDistortion(ux, uy, dx, dy, distCoeffs, DistortionType::RADTAN, 1e-8, 1e-8);
  
  // Remove distortion (undistort)
  double ux2, uy2;
  removeDistortion(dx, dy, ux2, uy2, distCoeffs, DistortionType::RADTAN, 1e-8);
  
  EXPECT_NEAR(dx, 4.0010785450000004, 1e-8);
  EXPECT_NEAR(dy, 4.8022116940000013, 1e-8);
  EXPECT_NEAR(ux2, ux, 1e-8);
  EXPECT_NEAR(uy2, uy, 1e-8);
}