diff --git a/include/usgscsm/Utilities.h b/include/usgscsm/Utilities.h
index 84fabec5bfe9b5dd682fdb6e0198d63808db8a3b..363676243251c6340923f87a6f1405912b253c39 100644
--- a/include/usgscsm/Utilities.h
+++ b/include/usgscsm/Utilities.h
@@ -176,4 +176,8 @@ void applyRotationToQuatVec(ale::Rotation const& r, std::vector<double> & quater
void applyRotationTranslationToXyzVec(ale::Rotation const& r, ale::Vec3d const& t,
std::vector<double> & xyz);
+// Convert ephemeris time, in seconds since January 1, 2000 12:00:00 AM GMT,
+// to a calendar time string, such as 2000-01-01T00:16:40Z.
+std::string ephemTimeToCalendarTime(double ephemTime);
+
#endif // INCLUDE_USGSCSM_UTILITIES_H_
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index 52640a353d914dd80c6a9e199407b0e1d97e5f8d..eb1fdbf8f399106d3b2f3f64309f4ccbe8787d7b 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -693,16 +693,8 @@ std::string UsgsAstroFrameSensorModel::getSensorMode() const {
std::string UsgsAstroFrameSensorModel::getReferenceDateAndTime() const {
MESSAGE_LOG("Accessing reference data and time");
time_t ephemTime = m_ephemerisTime;
- struct tm t = {0}; // Initalize to all 0's
- t.tm_year = 100; // This is year-1900, so 100 = 2000
- t.tm_mday = 1;
- time_t timeSinceEpoch = mktime(&t);
- time_t finalTime = ephemTime + timeSinceEpoch;
- char buffer[22];
- strftime(buffer, 22, "%Y-%m-%dT%H:%M:%SZ", localtime(&finalTime));
- buffer[21] = '\0';
-
- return buffer;
+
+ return ephemTimeToCalendarTime(ephemTime);
}
std::string UsgsAstroFrameSensorModel::getModelState() const {
diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index 479b8e7585c0d7a8e2eb72b88de336d18c13a273..208e47ba98cd7956bd2d4b6adbca3867f5036b59 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -1206,22 +1206,14 @@ std::string UsgsAstroLsSensorModel::getTrajectoryIdentifier() const {
//***************************************************************************
std::string UsgsAstroLsSensorModel::getReferenceDateAndTime() const {
csm::EcefCoord referencePointGround =
- UsgsAstroLsSensorModel::getReferencePoint();
+ UsgsAstroLsSensorModel::getReferencePoint();
csm::ImageCoord referencePointImage =
- UsgsAstroLsSensorModel::groundToImage(referencePointGround);
+ UsgsAstroLsSensorModel::groundToImage(referencePointGround);
double relativeTime =
- UsgsAstroLsSensorModel::getImageTime(referencePointImage);
+ UsgsAstroLsSensorModel::getImageTime(referencePointImage);
time_t ephemTime = m_centerEphemerisTime + relativeTime;
- struct tm t = {0}; // Initalize to all 0's
- t.tm_year = 100; // This is year-1900, so 100 = 2000
- t.tm_mday = 1;
- time_t timeSinceEpoch = mktime(&t);
- time_t finalTime = ephemTime + timeSinceEpoch;
- char buffer[22];
- strftime(buffer, 22, "%Y-%m-%dT%H:%M:%SZ", localtime(&finalTime));
- buffer[21] = '\0';
- return buffer;
+ return ephemTimeToCalendarTime(ephemTime);
}
//***************************************************************************
@@ -2380,8 +2372,6 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(
state["m_detectorSampleOrigin"].dump(),
state["m_detectorLineOrigin"].dump())
-
-
ale::Orientations j2000_to_sensor = ale::getInstrumentPointing(jsonIsd);
ale::State interpInstState, rotatedInstState;
std::vector<double> positions = {};
@@ -2481,8 +2471,8 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(
MESSAGE_LOG("m_currentParameterValue: {}",
state["m_currentParameterValue"].dump())
- // get radii
- // ALE operates in Km and we want m
+ // Get radii
+ // ALE operates in km and we want m
state["m_minorAxis"] = ale::getSemiMinorRadius(jsonIsd) * 1000;
state["m_majorAxis"] = ale::getSemiMajorRadius(jsonIsd) * 1000;
MESSAGE_LOG(
diff --git a/src/UsgsAstroPushFrameSensorModel.cpp b/src/UsgsAstroPushFrameSensorModel.cpp
index f8ea14818236758f711f30c10cb26ee6e5742cea..1dd8b6447861f1a4fcce53ec875cc6900e2234d0 100644
--- a/src/UsgsAstroPushFrameSensorModel.cpp
+++ b/src/UsgsAstroPushFrameSensorModel.cpp
@@ -1191,16 +1191,8 @@ std::string UsgsAstroPushFrameSensorModel::getReferenceDateAndTime() const {
double relativeTime =
UsgsAstroPushFrameSensorModel::getImageTime(referencePointImage);
time_t ephemTime = m_centerEphemerisTime + relativeTime;
- struct tm t = {0}; // Initalize to all 0's
- t.tm_year = 100; // This is year-1900, so 100 = 2000
- t.tm_mday = 1;
- time_t timeSinceEpoch = mktime(&t);
- time_t finalTime = ephemTime + timeSinceEpoch;
- char buffer[22];
- strftime(buffer, 22, "%Y-%m-%dT%H:%M:%SZ", localtime(&finalTime));
- buffer[21] = '\0';
-
- return buffer;
+
+ return ephemTimeToCalendarTime(ephemTime);
}
//***************************************************************************
diff --git a/src/UsgsAstroSarSensorModel.cpp b/src/UsgsAstroSarSensorModel.cpp
index 622a198e20055f3049ecbf51afa370dca3c5a1b1..fe1017fa5b8c97786bb72c93fa405f0801abcaa8 100644
--- a/src/UsgsAstroSarSensorModel.cpp
+++ b/src/UsgsAstroSarSensorModel.cpp
@@ -8,6 +8,8 @@
#include <nlohmann/json.hpp>
+#include "ale/Util.h"
+
using json = nlohmann::json;
using namespace std;
@@ -44,63 +46,84 @@ string UsgsAstroSarSensorModel::constructStateFromIsd(
std::shared_ptr<csm::WarningList> parsingWarnings(new csm::WarningList);
- state["m_modelName"] = getSensorModelName(isd, parsingWarnings.get());
- state["m_imageIdentifier"] = getImageId(isd, parsingWarnings.get());
- state["m_sensorName"] = getSensorName(isd, parsingWarnings.get());
- state["m_platformName"] = getPlatformName(isd, parsingWarnings.get());
-
- state["m_nLines"] = getTotalLines(isd, parsingWarnings.get());
- state["m_nSamples"] = getTotalSamples(isd, parsingWarnings.get());
-
// Zero computed state values
state["m_referencePointXyz"] = vector<double>(3, 0.0);
- // sun_position and velocity are required for getIlluminationDirection
- state["m_sunPosition"] = getSunPositions(isd, parsingWarnings.get());
- state["m_sunVelocity"] = getSunVelocities(isd, parsingWarnings.get());
-
- state["m_centerEphemerisTime"] = getCenterTime(isd, parsingWarnings.get());
- state["m_startingEphemerisTime"] = getStartingTime(isd, parsingWarnings.get());
- state["m_endingEphemerisTime"] = getEndingTime(isd, parsingWarnings.get());
+ state["m_modelName"] = ale::getSensorModelName(isd);
+ state["m_imageIdentifier"] = ale::getImageId(isd);
+ state["m_sensorName"] = ale::getSensorName(isd);
+ state["m_platformName"] = ale::getPlatformName(isd);
- state["m_exposureDuration"] = getExposureDuration(isd, parsingWarnings.get());
-
- try {
- state["m_dtEphem"] = isd.at("dt_ephemeris");
- } catch (...) {
- std::string msg = "dt_ephemeris not in ISD";
- MESSAGE_LOG(msg);
- parsingWarnings->push_back(
- csm::Warning(csm::Warning::DATA_NOT_AVAILABLE, msg,
- "UsgsAstroSarSensorModel::constructStateFromIsd()"));
+ MESSAGE_LOG(
+ "m_modelName: {} "
+ "m_imageIdentifier: {} "
+ "m_sensorName: {} "
+ "m_platformName: {} ",
+ state["m_modelName"].dump(), state["m_imageIdentifier"].dump(),
+ state["m_sensorName"].dump(), state["m_platformName"].dump());
+
+ state["m_nLines"] = ale::getTotalLines(isd);
+ state["m_nSamples"] = ale::getTotalSamples(isd);
+ MESSAGE_LOG(
+ "m_nLines: {} "
+ "m_nSamples: {} ",
+ state["m_nLines"].dump(), state["m_nSamples"].dump());
+
+ ale::States inst_state = ale::getInstrumentPosition(isd);
+ std::vector<double> ephemTime = inst_state.getTimes();
+ if (ephemTime.size() < 2) {
+ parsingWarnings->push_back(csm::Warning(
+ csm::Warning::DATA_NOT_AVAILABLE, "Instrument position has less than 2 states.",
+ "UsgsAstroSarSensorModel::constructStateFromIsd()"));
+ MESSAGE_LOG("m_dtEphem not in ISD")
}
-
- try {
- state["m_t0Ephem"] = isd.at("t0_ephemeris");
- } catch (...) {
- std::string msg = "t0_ephemeris not in ISD";
- MESSAGE_LOG(msg);
- parsingWarnings->push_back(
- csm::Warning(csm::Warning::DATA_NOT_AVAILABLE, msg,
- "UsgsAstroSarSensorModel::constructStateFromIsd()"));
+ else {
+ // Re-compute times so that they are linearly spaced
+ double startTime = ephemTime.front();
+ double timeStep = (ephemTime.back() - ephemTime.front()) / (ephemTime.size() - 1);
+ state["m_t0Ephem"] = startTime;
+ state["m_dtEphem"] = timeStep;
+ for (int i = 0; i < ephemTime.size(); i++) {
+ ephemTime[i] = startTime + i * timeStep;
+ }
}
- state["m_positions"] = getSensorPositions(isd, parsingWarnings.get());
- state["m_velocities"] = getSensorVelocities(isd, parsingWarnings.get());
-
- state["m_currentParameterValue"] = vector<double>(NUM_PARAMETERS, 0.0);
+ // Make the Sun positions and velocities be in target body coordinates
+ ale::States sunState = ale::getSunPosition(isd);
+ ale::Orientations j2000_to_target = ale::getBodyRotation(isd);
+
+ std::vector<double> sunPositions = {};
+ std::vector<double> sunVelocities = {};
+ for (int i = 0; i < ephemTime.size(); i++) {
+
+ ale::State j2000SunState = sunState.getState(ephemTime[i], ale::SPLINE);
+ ale::State rotatedSunState =
+ j2000_to_target.rotateStateAt(ephemTime[i], j2000SunState, ale::SLERP);
+ // ALE operates in Km and we want m
+ sunPositions.push_back(rotatedSunState.position.x * 1000);
+ sunPositions.push_back(rotatedSunState.position.y * 1000);
+ sunPositions.push_back(rotatedSunState.position.z * 1000);
+ sunVelocities.push_back(rotatedSunState.velocity.x * 1000);
+ sunVelocities.push_back(rotatedSunState.velocity.y * 1000);
+ sunVelocities.push_back(rotatedSunState.velocity.z * 1000);
+ }
+ state["m_sunPosition"] = sunPositions;
+ state["m_sunVelocity"] = sunVelocities;
- // get radii
- state["m_minorAxis"] = getSemiMinorRadius(isd, parsingWarnings.get());
- state["m_majorAxis"] = getSemiMajorRadius(isd, parsingWarnings.get());
+ state["m_startingEphemerisTime"] = ale::getStartingTime(isd);
+ state["m_centerEphemerisTime"] = ale::getCenterTime(isd);
+ state["m_endingEphemerisTime"] = getEndingTime(isd, parsingWarnings.get());
+ MESSAGE_LOG("m_startingEphemerisTime: {} "
+ "m_centerEphemerisTime: {} "
+ "m_endingEphemerisTime: {} ",
+ state["m_startingEphemerisTime"].dump(),
+ state["m_centerEphemerisTime"].dump(),
+ state["m_endingEphemerisTime"].dump()
+ )
- // set identifiers
- state["m_platformIdentifier"] = getPlatformName(isd, parsingWarnings.get());
- state["m_sensorIdentifier"] = getSensorName(isd, parsingWarnings.get());
+ state["m_exposureDuration"] = getExposureDuration(isd, parsingWarnings.get());
- // get reference_height
- state["m_minElevation"] = -1000;
- state["m_maxElevation"] = 1000;
+ state["m_currentParameterValue"] = vector<double>(NUM_PARAMETERS, 0.0);
// SAR specific values
state["m_scaledPixelWidth"] = getScaledPixelWidth(isd, parsingWarnings.get());
@@ -111,6 +134,52 @@ string UsgsAstroSarSensorModel::constructStateFromIsd(
state["m_wavelength"] = getWavelength(isd, parsingWarnings.get());
state["m_lookDirection"] = getLookDirection(isd, parsingWarnings.get());
+ // Process positions and velocities
+ ale::State interpInstState, rotatedInstState;
+ std::vector<double> instPositions = {};
+ std::vector<double> instVelocities = {};
+ for (int i = 0; i < ephemTime.size(); i++) {
+
+ interpInstState = inst_state.getState(ephemTime[i], ale::SPLINE);
+ rotatedInstState =
+ j2000_to_target.rotateStateAt(ephemTime[i], interpInstState, ale::SLERP);
+
+ // ALE operates in Km and we want m
+ instPositions.push_back(rotatedInstState.position.x * 1000);
+ instPositions.push_back(rotatedInstState.position.y * 1000);
+ instPositions.push_back(rotatedInstState.position.z * 1000);
+ instVelocities.push_back(rotatedInstState.velocity.x * 1000);
+ instVelocities.push_back(rotatedInstState.velocity.y * 1000);
+ instVelocities.push_back(rotatedInstState.velocity.z * 1000);
+
+ }
+ state["m_positions"] = instPositions;
+ state["m_velocities"] = instVelocities;
+
+ // Get radii
+ // ALE operates in km and we want m
+ state["m_minorAxis"] = ale::getSemiMinorRadius(isd) * 1000;
+ state["m_majorAxis"] = ale::getSemiMajorRadius(isd) * 1000;
+ MESSAGE_LOG("m_minorAxis: {}"
+ "m_majorAxis: {}",
+ state["m_minorAxis"].dump(), state["m_majorAxis"].dump());
+
+ // set identifiers
+ state["m_platformIdentifier"] = ale::getPlatformName(isd);
+ state["m_sensorIdentifier"] = ale::getSensorName(isd);
+ MESSAGE_LOG(
+ "m_platformIdentifier: {}"
+ "m_sensorIdentifier: {}",
+ state["m_platformIdentifier"].dump(), state["m_sensorIdentifier"].dump());
+
+ // Get reference_height
+ state["m_minElevation"] = ale::getMinHeight(isd);
+ state["m_maxElevation"] = ale::getMaxHeight(isd);
+ MESSAGE_LOG(
+ "m_minElevation: {}"
+ "m_maxElevation: {}",
+ state["m_minElevation"].dump(), state["m_maxElevation"].dump());
+
// Default to identity covariance
state["m_covariance"] = vector<double>(NUM_PARAMETERS * NUM_PARAMETERS, 0.0);
for (int i = 0; i < NUM_PARAMETERS; i++) {
@@ -501,8 +570,11 @@ csm::EcefCoord UsgsAstroSarSensorModel::imageToGround(
double time =
m_startingEphemerisTime + (imagePt.line - 0.5) * m_exposureDuration;
double groundRange = (imagePt.samp - 0.5) * m_scaledPixelWidth;
+ MESSAGE_LOG("Ground range: {}", groundRange);
+
std::vector<double> coeffs = getRangeCoefficients(time);
double slantRange = groundRangeToSlantRange(groundRange, coeffs);
+ MESSAGE_LOG("Slant range: {}", slantRange);
// Compute the in-track, cross-track, nadir, coordinate system to solve in
csm::EcefVector spacecraftPosition = getSpacecraftPosition(time);
@@ -514,11 +586,15 @@ csm::EcefCoord UsgsAstroSarSensorModel::imageToGround(
csm::EcefVector tHat = normalized(rejection(spacecraftPosition, vHat));
// Cross-track unit vector
csm::EcefVector uHat = cross(vHat, tHat);
+ MESSAGE_LOG("In track vector: {}, {}, {}", vHat.x, vHat.y, vHat.z);
+ MESSAGE_LOG("Nadir vector: {}, {}, {}", tHat.x, tHat.y, tHat.z);
+ MESSAGE_LOG("In track vector: {}, {}, {}", uHat.x, uHat.y, uHat.z);
// Compute the spacecraft position in the new coordinate system
// The cross-track unit vector is orthogonal to the position so we ignore it
double nadirComp = dot(spacecraftPosition, tHat);
-
+ MESSAGE_LOG("Nadir position component: {}", nadirComp);
+
// Iterate to find proper radius value. Limit the number of iterations
// because the desired precision may not drop beyond 1e-10 no matter
// how many iterations one does. As it was observed, this in fact
@@ -533,10 +609,12 @@ csm::EcefCoord UsgsAstroSarSensorModel::imageToGround(
double alpha =
(radiusSqr - slantRange * slantRange - positionMag * positionMag) /
(2 * nadirComp);
+ MESSAGE_LOG("Iteration alpha: {}", alpha);
double beta = sqrt(slantRange * slantRange - alpha * alpha);
if (m_lookDirection == LEFT) {
beta *= -1;
}
+ MESSAGE_LOG("Iteration beta: {}", beta);
groundVec = alpha * tHat + beta * uHat + spacecraftPosition;
pointHeight = computeEllipsoidElevation(
groundVec.x, groundVec.y, groundVec.z, m_majorAxis, m_minorAxis);
@@ -546,9 +624,10 @@ csm::EcefCoord UsgsAstroSarSensorModel::imageToGround(
break;
}
- if (achievedPrecision) {
+ if (achievedPrecision)
*achievedPrecision = fabs(pointHeight - height);
- }
+
+ MESSAGE_LOG("Iteration ground point: {}, {}, {}", groundVec.x, groundVec.y, groundVec.z);
csm::EcefCoord groundPt(groundVec.x, groundVec.y, groundVec.z);
@@ -665,9 +744,8 @@ csm::EcefLocus UsgsAstroSarSensorModel::imageToProximateImagingLocus(
}
tangent = normalized(tangent);
- if (achievedPrecision) {
+ if (achievedPrecision)
*achievedPrecision = 0.0;
- }
return csm::EcefLocus(closestVec.x, closestVec.y, closestVec.z, tangent.x,
tangent.y, tangent.z);
@@ -779,6 +857,8 @@ csm::EcefCoord UsgsAstroSarSensorModel::getAdjustedSensorPosition(
spacecraftPosition.y = m_positions[1] + getValue(1, adj);
spacecraftPosition.z = m_positions[2] + getValue(2, adj);
}
+ MESSAGE_LOG("Adjusted sensor positions is {}, {}, {}.",
+ spacecraftPosition.x, spacecraftPosition.y, spacecraftPosition.z);
return csm::EcefCoord(spacecraftPosition.x, spacecraftPosition.y,
spacecraftPosition.z);
}
@@ -817,6 +897,8 @@ csm::EcefVector UsgsAstroSarSensorModel::getAdjustedSensorVelocity(
spacecraftVelocity.y = m_velocities[1] + getValue(4, adj);
spacecraftVelocity.z = m_velocities[2] + getValue(5, adj);
}
+ MESSAGE_LOG("Adjusted sensor velocity is {}, {}, {}",
+ spacecraftVelocity.x, spacecraftVelocity.y, spacecraftVelocity.z);
return spacecraftVelocity;
}
@@ -1042,18 +1124,11 @@ string UsgsAstroSarSensorModel::getSensorMode() const { return "STRIP"; }
string UsgsAstroSarSensorModel::getReferenceDateAndTime() const {
csm::ImageCoord referencePointImage = groundToImage(m_referencePointXyz);
- double relativeTime = getImageTime(referencePointImage);
+ double relativeTime =
+ UsgsAstroSarSensorModel::getImageTime(referencePointImage);
time_t ephemTime = m_centerEphemerisTime + relativeTime;
- struct tm t = {0}; // Initalize to all 0's
- t.tm_year = 100; // This is year-1900, so 100 = 2000
- t.tm_mday = 1;
- time_t timeSinceEpoch = mktime(&t);
- time_t finalTime = ephemTime + timeSinceEpoch;
- char buffer[22];
- strftime(buffer, 22, "%Y-%m-%dT%H:%M:%SZ", localtime(&finalTime));
- buffer[21] = '\0';
-
- return buffer;
+
+ return ephemTimeToCalendarTime(ephemTime);
}
csm::Ellipsoid UsgsAstroSarSensorModel::getEllipsoid() const {
diff --git a/src/Utilities.cpp b/src/Utilities.cpp
index 5ec9cb04167c68e4531ffccdd00270b1842e82b1..030e19a8cac6d10093d4e02313ed1be12bf62d1d 100644
--- a/src/Utilities.cpp
+++ b/src/Utilities.cpp
@@ -5,6 +5,7 @@
#include <stack>
#include <stdexcept>
#include <utility>
+#include <ctime>
#include "ale/Distortion.h"
@@ -1375,3 +1376,18 @@ void applyRotationTranslationToXyzVec(ale::Rotation const& r, ale::Vec3d const&
}
}
+
+// Convert ephemeris time, in seconds since January 1, 2000 12:00:00 AM GMT,
+// to a calendar time string, such as 2000-01-01T00:16:40Z.
+std::string ephemTimeToCalendarTime(double ephemTime) {
+
+ // Care must be taken to not use mktime() or localtime() as their
+ // precise value depends on if a location respects Daylight Savings Time.
+
+ std::time_t y2k = 946684800; // January 1, 2000 12:00:00 AM GMT
+ std::time_t finalTime = ephemTime + y2k;
+ char buffer[22];
+ strftime(buffer, 22, "%Y-%m-%dT%H:%M:%SZ", std::gmtime(&finalTime));
+ buffer[21] = '\0';
+ return buffer;
+}
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 1b10252407b1ec949fb2ce353f8e45c041a9d68f..ebb29831819bbdb37a35fe9be700d1921a565b81 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,5 +1,7 @@
cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CTEST_ARGUMENTS "--output-on-failure")
+
# Link runCSMCameraModelTests with what we want to test and the GTest and pthread library
add_executable(runCSMCameraModelTests
PluginTests.cpp
diff --git a/tests/LineScanCameraTests.cpp b/tests/LineScanCameraTests.cpp
index f08abb7ea9956dbaf9a981cc3132ac2d7942154d..6a3aff4b98949fbb636e4d65fb3f8ebc11aab84d 100644
--- a/tests/LineScanCameraTests.cpp
+++ b/tests/LineScanCameraTests.cpp
@@ -325,3 +325,4 @@ TEST_F(ConstVelocityLineScanSensorModel, FocalLengthAdjustment) {
EXPECT_DOUBLE_EQ(locus.direction.y, -0.4 / scale);
EXPECT_DOUBLE_EQ(locus.direction.z, -0.05 / scale);
}
+
diff --git a/tests/PluginTests.cpp b/tests/PluginTests.cpp
index 93acccf341761c7faaf0ca594679b1c7cf4d70ea..233a707c98e38d4bdd70cff00a3f693a1ec2fc6f 100644
--- a/tests/PluginTests.cpp
+++ b/tests/PluginTests.cpp
@@ -195,8 +195,9 @@ TEST_F(SarIsdTest, ConstructValidCamera) {
UsgsAstroPlugin testPlugin;
csm::WarningList warnings;
std::shared_ptr<csm::Model> cameraModel(NULL);
- EXPECT_NO_THROW(cameraModel = std::shared_ptr<csm::Model>(testPlugin.constructModelFromISD
- (isd, "USGS_ASTRO_SAR_SENSOR_MODEL", &warnings)));
+ EXPECT_NO_THROW(cameraModel = std::shared_ptr<csm::Model>(testPlugin.constructModelFromISD
+ (isd, "USGS_ASTRO_SAR_SENSOR_MODEL",
+ &warnings)));
for (auto &warn : warnings) {
std::cerr << "Warning in " << warn.getFunction() << std::endl;
std::cerr << " " << warn.getMessage() << std::endl;
@@ -211,7 +212,8 @@ TEST_F(SarIsdTest, ConstructInvalidCamera) {
isd.setFilename("data/empty.img");
std::shared_ptr<csm::Model> cameraModel(NULL);
try {
- cameraModel = std::shared_ptr<csm::Model>(testPlugin.constructModelFromISD(isd, "USGS_ASTRO_SAR_SENSOR_MODEL", nullptr));
+ cameraModel = std::shared_ptr<csm::Model>(testPlugin.constructModelFromISD
+ (isd, "USGS_ASTRO_SAR_SENSOR_MODEL", nullptr));
FAIL() << "Expected an error";
} catch (csm::Error &e) {
diff --git a/tests/SarTests.cpp b/tests/SarTests.cpp
index 8871d4f1b646de7a1e679ed9ad44d9c00d881164..71b0a0e087243b96b0620e4ca48d1b47e22f21ee 100644
--- a/tests/SarTests.cpp
+++ b/tests/SarTests.cpp
@@ -12,14 +12,45 @@
#include <fstream>
#include <iostream>
#include <string>
+#include <vector>
using json = nlohmann::json;
+std::vector<std::string> compareJson(json &leftJson, json &rightJson) {
+ std::vector<std::string> differences;
+ for (json::iterator it = leftJson.begin(); it != leftJson.end(); ++it) {
+ std::string key = it.key();
+ if (!rightJson.contains(key)) {
+ differences.push_back("Right JSON object is missing key [" + key +
+ "] which is present in the left JSON object.");
+ }
+ else if (leftJson[key].type() != rightJson[key].type()) {
+ differences.push_back("Different types for key [" + key + "].");
+ }
+ else if (leftJson[key].is_object() && rightJson[key].is_object()) {
+ differences.push_back("Difference(s) in object for key [" + key + "].");
+ std::vector<std::string> deeperDiffs = compareJson(leftJson[key], rightJson[key]);
+ differences.insert(differences.end(), deeperDiffs.begin() , deeperDiffs.end());
+ }
+ else if (leftJson[key] != rightJson[key]) {
+ differences.push_back("Different values for key [" + key + "].");
+ }
+ }
+
+ for (json::iterator it = rightJson.begin(); it != rightJson.end(); ++it) {
+ std::string key = it.key();
+ if (!leftJson.contains(key)) {
+ differences.push_back("Left JSON object is missing key [" + key +
+ "] which is present in the right JSON object.");
+ }
+ }
+ return differences;
+}
+
TEST_F(SarSensorModel, stateFromIsd) {
- std::ifstream isdFile("data/orbitalSar.json");
- json isdJson;
- isdFile >> isdJson;
- std::string isdString = isdJson.dump();
+ csm::Isd("data/orbitalSar.json");
+ UsgsAstroPlugin plugin;
+ std::string isdString = plugin.loadImageSupportData(isd);
csm::WarningList warnings;
std::string stateString;
try {
@@ -37,19 +68,26 @@ TEST_F(SarSensorModel, stateFromIsd) {
TEST_F(SarSensorModel, State) {
std::string modelState = sensorModel->getModelState();
EXPECT_NO_THROW(sensorModel->replaceModelState(modelState));
- EXPECT_EQ(sensorModel->getModelState(), modelState);
+ std::string newModelState = sensorModel->getModelState();
+ json oldJson = stateAsJson(modelState);
+ json newJson = stateAsJson(newModelState);
+ std::vector<std::string> differences = compareJson(oldJson, newJson);
+ for (std::string &difference : differences) {
+ std::cerr << difference << std::endl;
+ }
+ EXPECT_TRUE(differences.empty());
}
TEST_F(SarSensorModel, Center) {
csm::ImageCoord imagePt(500.0, 500.0);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
- EXPECT_NEAR(groundPt.x, 1737387.8671710272, 1e-3);
- EXPECT_NEAR(groundPt.y, -5300.6282306119301, 1e-3);
- EXPECT_NEAR(groundPt.z, -3749.9796183814506, 1e-3);
+ EXPECT_NEAR(groundPt.x, -1520427.2924246688, 1e-3);
+ EXPECT_NEAR(groundPt.y, -450240.98096817418, 1e-3);
+ EXPECT_NEAR(groundPt.z, 710030.04690435971, 1e-3);
}
TEST_F(SarSensorModel, GroundToImage) {
- csm::EcefCoord groundPt(1737387.8671710272, -5300.6282306119301, -3749.9796358514604);
+ csm::EcefCoord groundPt(-1520427.2924246688, -450240.98096817418, 710030.04690435971);
csm::ImageCoord imagePt = sensorModel->groundToImage(groundPt, 0.001);
EXPECT_NEAR(imagePt.line, 500.0, 1e-3);
EXPECT_NEAR(imagePt.samp, 500.0, 1e-3);
@@ -57,36 +95,37 @@ TEST_F(SarSensorModel, GroundToImage) {
TEST_F(SarSensorModel, spacecraftPosition) {
csm::EcefVector position = sensorModel->getSpacecraftPosition(-0.0025);
- EXPECT_NEAR(position.x, 3.73740000e+06, 1e-8);
- EXPECT_NEAR(position.y, 0.00000000e+00, 1e-8);
- EXPECT_NEAR(position.z, 0.00000000e+00, 1e-8);
+ EXPECT_NEAR(position.x, 212048065766.25, 1e-8);
+ EXPECT_NEAR(position.y, 64616398201.375, 1e-8);
+ EXPECT_NEAR(position.z, 488643469101.125, 1e-8);
}
TEST_F(SarSensorModel, spacecraftVelocity) {
csm::EcefVector velocity = sensorModel->getSensorVelocity(-0.0025);
- EXPECT_NEAR(velocity.x, 0.00000000e+00, 1e-8);
- EXPECT_NEAR(velocity.y, 0.00000000e+00, 1e-8);
- EXPECT_NEAR(velocity.z, -3.73740000e+06, 1e-8);
+ EXPECT_NEAR(velocity.x, -427443125.77587891, 1e-8);
+ EXPECT_NEAR(velocity.y, -144589932.36868286, 1e-8);
+ EXPECT_NEAR(velocity.z, 203454745.77563477, 1e-8);
}
TEST_F(SarSensorModel, getRangeCoefficients) {
std::vector<double> coeffs = sensorModel->getRangeCoefficients(-0.0025);
- EXPECT_NEAR(coeffs[0], 2000000.0, 1e-8);
- EXPECT_NEAR(coeffs[1], 0.0040333608396661775, 1e-8);
- EXPECT_NEAR(coeffs[2], 0.0, 1e-8);
- EXPECT_NEAR(coeffs[3], 0.0, 1e-8);
+ EXPECT_NEAR(coeffs[0], 108115.564453125, 1e-8);
+ EXPECT_NEAR(coeffs[1], 28749.89952051267,1e-8);
+ EXPECT_NEAR(coeffs[2], -0.25643537028547314, 1e-8);
+ EXPECT_NEAR(coeffs[3], 1.0983187306945561e-06, 1e-8);
}
TEST_F(SarSensorModel, computeGroundPartials) {
- csm::EcefCoord groundPt(1737400.0, 0.0, 0.0);
+ csm::EcefCoord groundPt(-1520427.2924246688, -450240.98096817418, 710030.04690435971);
+
std::vector<double> partials = sensorModel->computeGroundPartials(groundPt);
ASSERT_EQ(partials.size(), 6);
- EXPECT_NEAR(partials[0], 6.5128150576280552e-09, 1e-8);
- EXPECT_NEAR(partials[1], -5.1810407815840636e-15, 1e-8);
- EXPECT_NEAR(partials[2], -0.13333333443071135, 1e-8);
- EXPECT_NEAR(partials[3], -33.057625791698072, 1e-8);
- EXPECT_NEAR(partials[4], 6.1985123841926308e-05, 1e-8);
- EXPECT_NEAR(partials[5], 0.0077565105243007169, 1e-8);
+ EXPECT_NEAR(partials[0], -0.052475430922178629, 1e-8);
+ EXPECT_NEAR(partials[1], -0.015883011992733977, 1e-8);
+ EXPECT_NEAR(partials[2], -0.12147919510717504, 1e-8);
+ EXPECT_NEAR(partials[3], 0.075598918597946374, 1e-8);
+ EXPECT_NEAR(partials[4], 0.16130604972264942, 1e-8);
+ EXPECT_NEAR(partials[5], -0.053874104068177074, 1e-8);
}
TEST_F(SarSensorModel, imageToProximateImagingLocus) {
@@ -99,12 +138,12 @@ TEST_F(SarSensorModel, imageToProximateImagingLocus) {
0.001,
&precision,
&warnings);
- EXPECT_NEAR(locus.point.x, 1737388.1411342232, 1e-2);
- EXPECT_NEAR(locus.point.y, -5403.0102509726485, 1e-2);
- EXPECT_NEAR(locus.point.z, -3749.9801945280433, 1e-2);
- EXPECT_NEAR(locus.direction.x, 0.002701478402694769, 1e-5);
- EXPECT_NEAR(locus.direction.y, -0.9999963509835628, 1e-5);
- EXPECT_NEAR(locus.direction.z, -5.830873570731962e-06, 1e-5);
+ EXPECT_NEAR(locus.point.x, -1479321.6695206575, 1e-2);
+ EXPECT_NEAR(locus.point.y, -511087.07386316231, 1e-2);
+ EXPECT_NEAR(locus.point.z, 700287.08593895065, 1e-2);
+ EXPECT_NEAR(locus.direction.x, -0.1672556005460577, 1e-5);
+ EXPECT_NEAR(locus.direction.y, 0.9842529974996953, 1e-5);
+ EXPECT_NEAR(locus.direction.z, -0.057197910790887985, 1e-5);
EXPECT_LT(precision, 0.001);
EXPECT_TRUE(warnings.empty());
}
@@ -158,5 +197,5 @@ TEST_F(SarSensorModel, adjustedPositionVelocity) {
TEST_F(SarSensorModel, ReferenceDateTime) {
std::string date = sensorModel->getReferenceDateAndTime();
- EXPECT_EQ(date, "2000-01-01T00:00:04Z");
+ EXPECT_EQ(date, "2020-08-16T08:52:18Z");
}
diff --git a/tests/UtilitiesTests.cpp b/tests/UtilitiesTests.cpp
index 1a6fcd9f47afb23632ba3c588ce8dc4a916b35fa..86be3f4fb34965b12cb5bf49e5a9e1c7cf1822c3 100644
--- a/tests/UtilitiesTests.cpp
+++ b/tests/UtilitiesTests.cpp
@@ -477,3 +477,11 @@ TEST(UtilitiesTests, stateAsJsonWithoutModel) {
json state = stateAsJson(modelState);
EXPECT_STREQ(modelState.c_str(), state.dump().c_str());
}
+
+TEST(UtilitiesTests, ephemTimeToCalendarTime) {
+
+ double ephemTime = 0.0;
+ std::string timeStr = ephemTimeToCalendarTime(ephemTime);
+
+ EXPECT_STREQ(timeStr.c_str(), "2000-01-01T00:00:00Z");
+}
diff --git a/tests/data/orbitalSar.json b/tests/data/orbitalSar.json
index 51bd08e76e51a247adbb85311512ae39efb466c8..81728726772f329742b18971ca6ae2e3c7177b6b 100644
--- a/tests/data/orbitalSar.json
+++ b/tests/data/orbitalSar.json
@@ -1,122 +1,28204 @@
{
+ "isis_camera_version": 1,
+ "image_lines": 64576,
+ "image_samples": 2367,
+ "name_platform": "LUNAR RECONNAISSANCE ORBITER",
+ "name_sensor": "MINI-RF LRO",
+ "reference_height": {
+ "maxheight": 1000,
+ "minheight": -1000,
+ "unit": "m"
+ },
"name_model": "USGS_ASTRO_SAR_SENSOR_MODEL",
- "image_identifier" : "test_sar.img",
- "name_platform": "TEST LUNAR PLATFORM",
- "name_sensor": "TEST SAR",
- "image_lines": 1000,
- "image_samples": 1000,
- "starting_ephemeris_time": 0.0,
- "center_ephemeris_time": 2.5,
- "ending_ephemeris_time": 5.0,
+ "starting_ephemeris_time": 325441417.4304223,
+ "ending_ephemeris_time": 325441721.22304827,
+ "center_ephemeris_time": 325441569.32673526,
+ "wavelength": 0.12596322416750805,
+ "line_exposure_duration": 0.004704421474,
+ "scaled_pixel_width": 7.5,
+ "range_conversion_times": [
+ 325441417.4705483,
+ 325441439.8505483,
+ 325441454.8985483,
+ 325441469.9465483,
+ 325441484.9955483,
+ 325441500.0435483,
+ 325441515.0915483,
+ 325441530.1405483,
+ 325441545.1885483,
+ 325441560.2365483,
+ 325441575.2845483,
+ 325441590.3335483,
+ 325441605.3815483,
+ 325441620.4295483,
+ 325441635.4775483,
+ 325441650.5265483,
+ 325441665.5745483,
+ 325441680.6225483,
+ 325441695.6705483,
+ 325441718.0395482
+ ],
+ "range_conversion_coefficients": [
+ [
+ 79942.380871,
+ 0.6921229,
+ 3.401937e-06,
+ -2.399242e-11
+ ],
+ [
+ 79942.37957,
+ 0.6907953,
+ 3.413779e-06,
+ -2.404314e-11
+ ],
+ [
+ 79942.378479,
+ 0.6899233,
+ 3.421423e-06,
+ -2.407141e-11
+ ],
+ [
+ 79942.378297,
+ 0.6890917,
+ 3.428773e-06,
+ -2.410212e-11
+ ],
+ [
+ 79942.377491,
+ 0.6882584,
+ 3.43615e-06,
+ -2.413188e-11
+ ],
+ [
+ 79942.375472,
+ 0.6874664,
+ 3.4431e-06,
+ -2.415961e-11
+ ],
+ [
+ 79942.375823,
+ 0.6866729,
+ 3.450098e-06,
+ -2.418824e-11
+ ],
+ [
+ 79942.375868,
+ 0.6859205,
+ 3.456725e-06,
+ -2.42163e-11
+ ],
+ [
+ 79942.373743,
+ 0.6851668,
+ 3.463351e-06,
+ -2.424279e-11
+ ],
+ [
+ 79942.375815,
+ 0.6844538,
+ 3.46968e-06,
+ -2.426866e-11
+ ],
+ [
+ 79942.373348,
+ 0.683783,
+ 3.475549e-06,
+ -2.429128e-11
+ ],
+ [
+ 79942.373154,
+ 0.6831113,
+ 3.481415e-06,
+ -2.431581e-11
+ ],
+ [
+ 79942.374596,
+ 0.6824809,
+ 3.486939e-06,
+ -2.433737e-11
+ ],
+ [
+ 79942.372358,
+ 0.681849,
+ 3.492526e-06,
+ -2.435993e-11
+ ],
+ [
+ 79942.373415,
+ 0.6812596,
+ 3.497654e-06,
+ -2.437994e-11
+ ],
+ [
+ 79942.372623,
+ 0.6807117,
+ 3.502473e-06,
+ -2.439886e-11
+ ],
+ [
+ 79942.370855,
+ 0.6801635,
+ 3.507223e-06,
+ -2.441812e-11
+ ],
+ [
+ 79942.371772,
+ 0.6796141,
+ 3.512016e-06,
+ -2.443704e-11
+ ],
+ [
+ 79942.370673,
+ 0.6791496,
+ 3.516075e-06,
+ -2.445206e-11
+ ],
+ [
+ 79942.371067,
+ 0.6784302,
+ 3.522331e-06,
+ -2.447717e-11
+ ]
+ ],
+ "look_direction": "right",
"radii": {
"semimajor": 1737.4,
"semiminor": 1737.4,
"unit": "km"
- },
- "wavelength" : 0.125,
- "line_exposure_duration" : 0.005,
- "scaled_pixel_width" : 7.5,
- "t0_ephemeris": -0.0025,
- "dt_ephemeris": 0.25,
- "look_direction": "right",
- "sensor_position": {
- "positions":
- [[3737400.0, 0.0, -0.0],
- [3737399.912943243, 0.0, -806.6795148600813],
- [3737399.651772976, 0.0, -1613.3589921395437],
- [3737399.216489211, 0.0, -2420.03839425777],
- [3737398.607091969, 0.0, -3226.7176836341473],
- [3737397.823581278, 0.0, -4033.396822688065],
- [3737396.8659571735, 0.0, -4840.075773838925],
- [3737395.734219702, 0.0, -5646.754499506133],
- [3737394.4283689144, 0.0, -6453.432962109106],
- [3737392.9484048723, 0.0, -7260.111124067275],
- [3737391.2943276456, 0.0, -8066.788947800083],
- [3737389.4661373096, 0.0, -8873.466395726995],
- [3737387.4638339505, 0.0, -9680.14343026748],
- [3737385.287417662, 0.0, -10486.820013841041],
- [3737382.936888544, 0.0, -11293.496108867193],
- [3737380.4122467074, 0.0, -12100.17167776548],
- [3737377.713492269, 0.0, -12906.846682955462],
- [3737374.840625355, 0.0, -13713.521086856732],
- [3737371.7936460995, 0.0, -14520.194851888911],
- [3737368.5725546437, 0.0, -15326.867940471646],
- [3737365.177351138, 0.0, -16133.540315024615]],
- "velocities":
- [[-0.0, 0.0, -3737400.0],
- [-806.6795148600813, 0.0, -3737399.912943243],
- [-1613.3589921395437, 0.0, -3737399.651772976],
- [-2420.03839425777, 0.0, -3737399.216489211],
- [-3226.7176836341473, 0.0, -3737398.607091969],
- [-4033.396822688065, 0.0, -3737397.823581278],
- [-4840.075773838925, 0.0, -3737396.8659571735],
- [-5646.754499506133, 0.0, -3737395.734219702],
- [-6453.432962109106, 0.0, -3737394.4283689144],
- [-7260.111124067275, 0.0, -3737392.9484048723],
- [-8066.788947800083, 0.0, -3737391.2943276456],
- [-8873.466395726995, 0.0, -3737389.4661373096],
- [-9680.14343026748, 0.0, -3737387.4638339505],
- [-10486.820013841041, 0.0, -3737385.287417662],
- [-11293.496108867193, 0.0, -3737382.936888544],
- [-12100.17167776548, 0.0, -3737380.4122467074],
- [-12906.846682955462, 0.0, -3737377.713492269],
- [-13713.521086856732, 0.0, -3737374.840625355],
- [-14520.194851888911, 0.0, -3737371.7936460995],
- [-15326.867940471646, 0.0, -3737368.5725546437],
- [-16133.540315024615, 0.0, -3737365.177351138]],
- "unit": "m"
},
- "range_conversion_times": [0.0, 0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25, 2.5, 2.75, 3.0,
- 3.25, 3.5, 3.75, 4.0, 4.25, 4.5, 4.75],
- "range_conversion_coefficients" : [
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
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- [2000000.0, 0.0040333608396661775, 0.0, 0.0],
- [2000000.0, 0.0040333608396661775, 0.0, 0.0]
- ],
+ "body_rotation": {
+ "time_dependent_frames": [
+ 31006,
+ 1
+ ],
+ "ck_table_start_time": 325441417.4304223,
+ "ck_table_end_time": 325441721.22304827,
+ "ck_table_original_size": 1216,
+ "ephemeris_times": [
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