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DistortionTests.cpp
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acpaquette authored
* debugging * Added kaguya distortion test * Mentioned where I got some coefficients for testing * Removed leftover debugging statements * Updated kaguya remove coefficients test * Updated as many EXPECT_NEAR macros to ASSERT_DOUBLE_EQ as possible
acpaquette authored* debugging * Added kaguya distortion test * Mentioned where I got some coefficients for testing * Removed leftover debugging statements * Updated kaguya remove coefficients test * Updated as many EXPECT_NEAR macros to ASSERT_DOUBLE_EQ as possible
DistortionTests.cpp 8.03 KiB
#include "Distortion.h"
#include <gtest/gtest.h>
#include "Fixtures.h"
// NOTE: The imagePt format is (Lines,Samples)
INSTANTIATE_TEST_CASE_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];
distortionJacobian(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];
distortionJacobian(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, testRemoveDistortion) {
csm::ImageCoord imagePt(0.0, 4.0);
double ux, uy;
std::vector<double> coeffs = {0, 0, 0};
removeDistortion(imagePt.samp, imagePt.line, ux, uy, coeffs, DistortionType::RADIAL);
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(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(KaguyaTc, testRemoveCoeffs) {
csm::ImageCoord imagePt(1.0, 1.0);
double ux, uy;
double desiredPrecision = 0.0000001;
std::vector<double> distortionCoeffs = {1, 2, 3, 4,
1, 2, 3, 4};
removeDistortion(imagePt.samp, imagePt.line, ux, uy, distortionCoeffs,
DistortionType::KAGUYATC, desiredPrecision);
EXPECT_NEAR(ux, 1 + 1 + 2.828427125 + 6 + 11.313708499, 1e-8);
EXPECT_NEAR(uy, 1 + 1 + 2.828427125 + 6 + 11.313708499, 1e-8);
}
TEST(KaguyaTc, 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 = {-0.0009649900000000001, 0.00098441, 8.5773e-06, -3.7438e-06,
-0.0013796, 1.3502e-05, 2.7251e-06, -6.193800000000001e-06};
applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
DistortionType::KAGUYATC, desiredPrecision);
removeDistortion(dx, dy, ux, uy, coeffs,
DistortionType::KAGUYATC, desiredPrecision);
EXPECT_NEAR(dx, 0.999566, 1e-6);
EXPECT_NEAR(dy, 1.00137, 1e-5);
EXPECT_NEAR(ux, 1.0, 1e-8);
EXPECT_NEAR(uy, 1.0, 1e-8);
}
TEST(KaguyaTc, 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};
applyDistortion(imagePt.samp, imagePt.line, dx, dy, coeffs,
DistortionType::KAGUYATC, desiredPrecision);
removeDistortion(dx, dy, ux, uy, coeffs,
DistortionType::KAGUYATC, 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);
}