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UsgsAstroFrameSensorModel.cpp
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acpaquette authored
* Added and registered the log when a new plugin is being created * Updated frame and ls models to log to a registered spdlogger only if it exists * Updated h files in line with new named logger approach * Fixed failing tests * Resolved rebase changes that snuck back in * Set default logger for framer * Updated default logger for the framer * Added more checks to prevent seg faults from a poorly set environment variable * Removed try catch blocks and one register command * Updated sensor models to carry around a pointer to the logger
acpaquette authored* Added and registered the log when a new plugin is being created * Updated frame and ls models to log to a registered spdlogger only if it exists * Updated h files in line with new named logger approach * Fixed failing tests * Resolved rebase changes that snuck back in * Set default logger for framer * Updated default logger for the framer * Added more checks to prevent seg faults from a poorly set environment variable * Removed try catch blocks and one register command * Updated sensor models to carry around a pointer to the logger
FrameCameraTests.cpp 3.26 KiB
#include "UsgsAstroFramePlugin.h"
#include "UsgsAstroFrameSensorModel.h"
#include <json.hpp>
#include <sstream>
#include <fstream>
#include <gtest/gtest.h>
using json = nlohmann::json;
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(7.0, 7.0);
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(7.0, 6.0);
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(14.5, -0.5);
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(-0.5, 14.5);
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(-0.5, -0.5);
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(14.5, 14.5);
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);
}