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Distortion.cpp
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acpaquette authored
* Added more logging to various functions * Updated distortion and warning parseing * Removed duplicate distortion models for kaguya * Adds the dawn radial distortion model * Updated comments in distortion and the line scanner * Updated dawn distortion logic * Removed duplicate logging statement in the frame sensor * Updated dawn distortion model and added tests
acpaquette authored* Added more logging to various functions * Updated distortion and warning parseing * Removed duplicate distortion models for kaguya * Adds the dawn radial distortion model * Updated comments in distortion and the line scanner * Updated dawn distortion logic * Removed duplicate logging statement in the frame sensor * Updated dawn distortion model and added tests
FrameCameraTests.cpp 6.53 KiB
#include "UsgsAstroFramePlugin.h"
#include "UsgsAstroFrameSensorModel.h"
#include <json.hpp>
#include <sstream>
#include <fstream>
#include <gtest/gtest.h>
using json = nlohmann::json;
class FrameIsdTest : public ::testing::Test {
protected:
csm::Isd isd;
virtual void SetUp() {
std::ifstream isdFile("data/simpleFramerISD.json");
json jsonIsd = json::parse(isdFile);
for (json::iterator it = jsonIsd.begin(); it != jsonIsd.end(); ++it) {
json jsonValue = it.value();
if (jsonValue.size() > 1) {
for (int i = 0; i < jsonValue.size(); i++) {
isd.addParam(it.key(), jsonValue[i].dump());
}
}
else {
isd.addParam(it.key(), jsonValue.dump());
}
}
isdFile.close();
}
};
class FrameSensorModel : public ::testing::Test {
protected:
UsgsAstroFrameSensorModel *sensorModel;
void SetUp() override {
sensorModel = NULL;
std::ifstream isdFile("data/simpleFramerISD.json");
json jsonIsd = json::parse(isdFile);
csm::Isd isd;
for (json::iterator it = jsonIsd.begin(); it != jsonIsd.end(); ++it) {
json jsonValue = it.value();
if (jsonValue.size() > 1) {
for (int i = 0; i < jsonValue.size(); i++) {
isd.addParam(it.key(), jsonValue[i].dump());
}
}
else {
isd.addParam(it.key(), jsonValue.dump());
}
}
isdFile.close();
UsgsAstroFramePlugin frameCameraPlugin;
csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");
sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
ASSERT_NE(sensorModel, nullptr);
}
void TearDown() override {
if (sensorModel) {
delete sensorModel;
sensorModel = NULL;
}
}
};
//NOTE: The imagePt layour is (Lines,Samples)
// Also subtract 0.5 from the lines/samples. Hence Samples=0 and Lines=15 -> 14.5,-0.5
//centered and slightly off-center:
TEST_F(FrameSensorModel, Center) {
csm::ImageCoord imagePt(7.5, 7.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 10.0, 1e-8);
EXPECT_NEAR(groundPt.y, 0, 1e-8);
EXPECT_NEAR(groundPt.z, 0, 1e-8);
}
TEST_F(FrameSensorModel, SlightlyOffCenter) {
csm::ImageCoord imagePt(7.5, 6.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 9.80194018, 1e-8);
EXPECT_NEAR(groundPt.y, 0, 1e-8);
EXPECT_NEAR(groundPt.z, 1.98039612, 1e-8);
}
//Test all four corners:
TEST_F(FrameSensorModel, OffBody1) {
csm::ImageCoord imagePt(15.0, 0.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);
EXPECT_NEAR(groundPt.y, -14.99325304, 1e-8);
EXPECT_NEAR(groundPt.z, 14.99325304, 1e-8);
}
TEST_F(FrameSensorModel, OffBody2) {
csm::ImageCoord imagePt(0.0, 15.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);
EXPECT_NEAR(groundPt.y, 14.99325304, 1e-8);
EXPECT_NEAR(groundPt.z, -14.99325304, 1e-8);
}
TEST_F(FrameSensorModel, OffBody3) {
csm::ImageCoord imagePt(0.0, 0.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);
EXPECT_NEAR(groundPt.y, 14.99325304, 1e-8);
EXPECT_NEAR(groundPt.z, 14.99325304, 1e-8);
}
TEST_F(FrameSensorModel, OffBody4) {
csm::ImageCoord imagePt(15.0, 15.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 0.44979759, 1e-8);
EXPECT_NEAR(groundPt.y, -14.99325304, 1e-8);
EXPECT_NEAR(groundPt.z, -14.99325304, 1e-8);
}
// Focal Length Tests:
TEST_F(FrameIsdTest, FL500_OffBody4) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
UsgsAstroFramePlugin frameCameraPlugin;
csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");
UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(15.0, 15.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 9.77688917, 1e-8);
EXPECT_NEAR(groundPt.y, -1.48533467, 1e-8);
EXPECT_NEAR(groundPt.z, -1.48533467, 1e-8);
}
TEST_F(FrameIsdTest, FL500_OffBody3) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
UsgsAstroFramePlugin frameCameraPlugin;
csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");
UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(0.0, 0.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 9.77688917, 1e-8);
EXPECT_NEAR(groundPt.y, 1.48533467, 1e-8);
EXPECT_NEAR(groundPt.z, 1.48533467, 1e-8);
}
TEST_F(FrameIsdTest, FL500_Center) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
UsgsAstroFramePlugin frameCameraPlugin;
csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");
UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 7.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 10.0, 1e-8);
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 0.0, 1e-8);
}
TEST_F(FrameIsdTest, FL500_SlightlyOffCenter) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
UsgsAstroFramePlugin frameCameraPlugin;
csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");
UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 6.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 9.99803960, 1e-8);
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 1.98000392e-01, 1e-8);
}