From c7c54e88396d5cd04a6bae7f3bddaf8daf96f805 Mon Sep 17 00:00:00 2001
From: Tyler Wilson <tjwilson@usgs.gov>
Date: Mon, 27 Aug 2018 14:21:56 -0700
Subject: [PATCH] A few more focal plane tests (#101)
* Added framing test for setFocalPlane. Also enabled the testing of protected member functions, and modification of the ISD within the test fixture.
* Added jupyter_notebooks folder to CSM-CameraModel.
* Refactored setFocalPlane test so that the ISD changes are made local to the test (and not global).
* Refactored tests for setFocalPlane, distortionJacobian to modify Isd parameters and use them in tests.
* Added two new failing tests and a printIsd() helper function in the FrameIsdTest fixture to help with debugging.
* Fixed the failing tests. They were due to the Jacobian being unexpectedly singular.
* Added a createModel function to the FrameIsdTest fixture. Also added 2 more tests.
* Made requested changes to clean up tests, and added a parameterized testing fixture.
* Removed a debugging statement in the JacobianTest.
---
include/usgscsm/UsgsAstroFrameSensorModel.h | 4 +
.../UsgsAstroFrameSensorModelTesting.ipynb | 115 +++--
src/UsgsAstroFrameSensorModel.cpp | 16 +-
tests/FrameCameraTests.cpp | 423 ++++++++++++------
4 files changed, 362 insertions(+), 196 deletions(-)
diff --git a/include/usgscsm/UsgsAstroFrameSensorModel.h b/include/usgscsm/UsgsAstroFrameSensorModel.h
index fb9052a..c82d1d8 100644
--- a/include/usgscsm/UsgsAstroFrameSensorModel.h
+++ b/include/usgscsm/UsgsAstroFrameSensorModel.h
@@ -299,10 +299,14 @@ class UsgsAstroFrameSensorModel : public csm::RasterGM {
static const std::string _SENSOR_MODEL_NAME;
protected:
+
+ FRIEND_TEST(FramerParameterizedTest,JacobianTest);
FRIEND_TEST(FrameIsdTest, setFocalPlane1);
FRIEND_TEST(FrameIsdTest, Jacobian1);
FRIEND_TEST(FrameIsdTest, setFocalPlane_AllCoefficientsOne);
FRIEND_TEST(FrameIsdTest, distortMe_AllCoefficientsOne);
+ FRIEND_TEST(FrameIsdTest, setFocalPlane_AlternatingOnes);
+ FRIEND_TEST(FrameIsdTest, distortMe_AlternatingOnes);
virtual bool setFocalPlane(double dx,double dy,double &undistortedX,double &undistortedY) const;
virtual void distortionFunction(double ux, double uy, double &dx, double &dy) const;
diff --git a/jupyter_notebooks/UsgsAstroFrameSensorModelTesting.ipynb b/jupyter_notebooks/UsgsAstroFrameSensorModelTesting.ipynb
index 1a87cb4..98eb4b7 100644
--- a/jupyter_notebooks/UsgsAstroFrameSensorModelTesting.ipynb
+++ b/jupyter_notebooks/UsgsAstroFrameSensorModelTesting.ipynb
@@ -14,7 +14,7 @@
},
{
"cell_type": "code",
- "execution_count": 284,
+ "execution_count": 94,
"metadata": {},
"outputs": [],
"source": [
@@ -24,7 +24,7 @@
},
{
"cell_type": "code",
- "execution_count": 285,
+ "execution_count": 95,
"metadata": {},
"outputs": [],
"source": [
@@ -79,7 +79,7 @@
},
{
"cell_type": "code",
- "execution_count": 286,
+ "execution_count": 96,
"metadata": {},
"outputs": [],
"source": [
@@ -88,7 +88,7 @@
},
{
"cell_type": "code",
- "execution_count": 287,
+ "execution_count": 97,
"metadata": {},
"outputs": [],
"source": [
@@ -97,7 +97,7 @@
},
{
"cell_type": "code",
- "execution_count": 288,
+ "execution_count": 98,
"metadata": {},
"outputs": [],
"source": [
@@ -108,7 +108,7 @@
},
{
"cell_type": "code",
- "execution_count": 289,
+ "execution_count": 99,
"metadata": {},
"outputs": [],
"source": [
@@ -117,7 +117,7 @@
},
{
"cell_type": "code",
- "execution_count": 290,
+ "execution_count": 100,
"metadata": {},
"outputs": [],
"source": [
@@ -134,7 +134,7 @@
},
{
"cell_type": "code",
- "execution_count": 291,
+ "execution_count": 101,
"metadata": {},
"outputs": [
{
@@ -153,7 +153,7 @@
},
{
"cell_type": "code",
- "execution_count": 292,
+ "execution_count": 102,
"metadata": {},
"outputs": [],
"source": [
@@ -162,7 +162,7 @@
},
{
"cell_type": "code",
- "execution_count": 293,
+ "execution_count": 103,
"metadata": {},
"outputs": [
{
@@ -179,7 +179,7 @@
},
{
"cell_type": "code",
- "execution_count": 294,
+ "execution_count": 104,
"metadata": {},
"outputs": [
{
@@ -201,7 +201,7 @@
},
{
"cell_type": "code",
- "execution_count": 295,
+ "execution_count": 105,
"metadata": {},
"outputs": [
{
@@ -210,7 +210,7 @@
"400.0"
]
},
- "execution_count": 295,
+ "execution_count": 105,
"metadata": {},
"output_type": "execute_result"
}
@@ -223,7 +223,7 @@
},
{
"cell_type": "code",
- "execution_count": 296,
+ "execution_count": 106,
"metadata": {},
"outputs": [
{
@@ -232,7 +232,7 @@
"990.0"
]
},
- "execution_count": 296,
+ "execution_count": 106,
"metadata": {},
"output_type": "execute_result"
}
@@ -244,7 +244,7 @@
},
{
"cell_type": "code",
- "execution_count": 297,
+ "execution_count": 107,
"metadata": {},
"outputs": [],
"source": [
@@ -253,7 +253,7 @@
},
{
"cell_type": "code",
- "execution_count": 298,
+ "execution_count": 108,
"metadata": {},
"outputs": [],
"source": [
@@ -262,7 +262,7 @@
},
{
"cell_type": "code",
- "execution_count": 299,
+ "execution_count": 109,
"metadata": {},
"outputs": [
{
@@ -289,7 +289,7 @@
},
{
"cell_type": "code",
- "execution_count": 300,
+ "execution_count": 110,
"metadata": {},
"outputs": [],
"source": [
@@ -316,7 +316,7 @@
},
{
"cell_type": "code",
- "execution_count": 301,
+ "execution_count": 111,
"metadata": {},
"outputs": [],
"source": [
@@ -325,7 +325,7 @@
},
{
"cell_type": "code",
- "execution_count": 302,
+ "execution_count": 112,
"metadata": {},
"outputs": [],
"source": [
@@ -334,7 +334,7 @@
},
{
"cell_type": "code",
- "execution_count": 303,
+ "execution_count": 113,
"metadata": {},
"outputs": [],
"source": [
@@ -343,7 +343,7 @@
},
{
"cell_type": "code",
- "execution_count": 304,
+ "execution_count": 114,
"metadata": {},
"outputs": [
{
@@ -372,7 +372,7 @@
},
{
"cell_type": "code",
- "execution_count": 305,
+ "execution_count": 115,
"metadata": {},
"outputs": [],
"source": [
@@ -394,7 +394,7 @@
},
{
"cell_type": "code",
- "execution_count": 306,
+ "execution_count": 116,
"metadata": {},
"outputs": [],
"source": [
@@ -418,7 +418,7 @@
},
{
"cell_type": "code",
- "execution_count": 307,
+ "execution_count": 117,
"metadata": {},
"outputs": [],
"source": [
@@ -427,7 +427,7 @@
},
{
"cell_type": "code",
- "execution_count": 308,
+ "execution_count": 118,
"metadata": {},
"outputs": [],
"source": [
@@ -436,7 +436,7 @@
},
{
"cell_type": "code",
- "execution_count": 309,
+ "execution_count": 119,
"metadata": {},
"outputs": [
{
@@ -466,7 +466,7 @@
},
{
"cell_type": "code",
- "execution_count": 310,
+ "execution_count": 120,
"metadata": {},
"outputs": [],
"source": [
@@ -485,7 +485,7 @@
},
{
"cell_type": "code",
- "execution_count": 311,
+ "execution_count": 121,
"metadata": {},
"outputs": [],
"source": [
@@ -562,7 +562,7 @@
},
{
"cell_type": "code",
- "execution_count": 312,
+ "execution_count": 122,
"metadata": {},
"outputs": [],
"source": [
@@ -588,33 +588,32 @@
},
{
"cell_type": "code",
- "execution_count": 313,
+ "execution_count": 123,
"metadata": {},
"outputs": [],
"source": [
"def undistortMe(dx,dy,odtx,odty):\n",
- " epsilon =1.4e-5\n",
+ " epsilon =1.4e-7\n",
" maxIts = 60\n",
" #initial guess\n",
" x = dx\n",
" y = dy\n",
" [fx,fy]= distortMe(x,y,odtx,odty)\n",
- " for i in range(maxIts):\n",
- " print(i)\n",
+ " for i in range(maxIts): \n",
" [fx,fy]=distortMe(x,y,odtx,odty)\n",
" fx=dx-fx\n",
" fy = dy-fy\n",
- " J = Jacobian(x,y,odtx,odty)\n",
- " determinant = J[0]*J[3]-J[1]*J[2]\n",
+ " [Jxx,Jxy,Jyx,Jyy] = Jacobian(x,y,odtx,odty)\n",
+ " determinant = Jxx*Jyy-Jxy*Jyx\n",
" \n",
" if (abs(determinant) < 1e-7):\n",
" print(\"Jacobian is singular.\")\n",
" print(determinant)\n",
" break;\n",
" else:\n",
- " x = x+(J[3]*fx-J[1]*fy)/determinant\n",
- " y = y+(J[0]*fy-J[2]*fx)/determinant\n",
- " if (abs(fx)+abs(fy) <= epsilon):\n",
+ " x = x+(Jyy*fx-Jxy*fy)/determinant\n",
+ " y = y+(Jxx*fy-Jyx*fx)/determinant\n",
+ " if ( (abs(fx)+abs(fy)) <= epsilon):\n",
" return [x,y]\n",
" return [dx,dy] \n",
" \n",
@@ -624,37 +623,14 @@
},
{
"cell_type": "code",
- "execution_count": null,
- "metadata": {},
- "outputs": [],
- "source": []
- },
- {
- "cell_type": "code",
- "execution_count": 314,
+ "execution_count": 124,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
- "0\n",
- "1\n",
- "2\n",
- "3\n",
- "4\n",
- "5\n",
- "6\n",
- "7\n",
- "8\n",
- "9\n",
- "10\n",
- "11\n",
- "12\n",
- "13\n",
- "14\n",
- "15\n",
- "16\n",
+ "[232.5, 121.0, 128.5, 240.0]\n",
"[908.5, 963.75]\n",
"[7.499999999999999, 7.5]\n"
]
@@ -663,10 +639,19 @@
"source": [
"distortion = distortMe(7.5,7.5,odtx,odty)\n",
"undistorted = undistortMe(distortion[0],distortion[1],odtx,odty)\n",
+ "J=Jacobian(2.5,2.5,odtx,odty)\n",
"\n",
+ "print([Jxx,Jxy,Jyx,Jyy])\n",
"print(distortion)\n",
"print (undistorted)"
]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
}
],
"metadata": {
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index 8ff4026..f3050b4 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -1043,10 +1043,9 @@ bool UsgsAstroFrameSensorModel::setFocalPlane(double dx,double dy,
double &undistortedX,
double &undistortedY ) const {
-
// Solve the distortion equation using the Newton-Raphson method.
// Set the error tolerance to about one millionth of a NAC pixel.
- const double tol = 1.4E-5;
+ const double tol = 1.4E-7;
// The maximum number of iterations of the Newton-Raphson method.
const int maxTries = 60;
@@ -1066,7 +1065,8 @@ bool UsgsAstroFrameSensorModel::setFocalPlane(double dx,double dy,
distortionFunction(x, y, fx, fy);
- for (int count = 1; ((fabs(fx) + fabs(fy)) > tol) && (count < maxTries); count++) {
+
+ for (int count = 1; ((fabs(fx) +fabs(fy)) > tol) && (count < maxTries); count++) {
this->distortionFunction(x, y, fx, fy);
@@ -1076,12 +1076,16 @@ bool UsgsAstroFrameSensorModel::setFocalPlane(double dx,double dy,
distortionJacobian(x, y, Jxx, Jxy, Jyx, Jyy);
double determinant = Jxx * Jyy - Jxy * Jyx;
- if (fabs(determinant) < 1E-6) {
+ if (fabs(determinant) < 1E-7) {
+
+ cout << "Singular determinant." << endl;
+ undistortedX = x;
+ undistortedY = y;
//
// Near-zero determinant. Add error handling here.
//
//-- Just break out and return with no convergence
- break;
+ return false;
}
x = x + (Jyy * fx - Jxy * fy) / determinant;
@@ -1092,6 +1096,7 @@ bool UsgsAstroFrameSensorModel::setFocalPlane(double dx,double dy,
// The method converged to a root.
undistortedX = x;
undistortedY = y;
+ return true;
}
else {
@@ -1099,6 +1104,7 @@ bool UsgsAstroFrameSensorModel::setFocalPlane(double dx,double dy,
// number of iterations. Return with no distortion.
undistortedX = dx;
undistortedY = dy;
+ return false;
}
return true;
diff --git a/tests/FrameCameraTests.cpp b/tests/FrameCameraTests.cpp
index cdf235d..454d663 100644
--- a/tests/FrameCameraTests.cpp
+++ b/tests/FrameCameraTests.cpp
@@ -13,6 +13,61 @@
using namespace std;
using json = nlohmann::json;
+
+class FramerParameterizedTest : public ::testing::TestWithParam<csm::ImageCoord> {
+
+protected:
+ csm::Isd isd;
+
+
+ void printIsd(csm::Isd &localIsd) {
+ multimap<string,string> isdmap= localIsd.parameters();
+ for (auto it = isdmap.begin(); it != isdmap.end();++it){
+
+ cout << it->first << " : " << it->second << endl;
+ }
+ }
+ UsgsAstroFrameSensorModel* createModel(csm::Isd &modifiedIsd) {
+
+ UsgsAstroFramePlugin frameCameraPlugin;
+ csm::Model *model = frameCameraPlugin.constructModelFromISD(
+ modifiedIsd,"USGS_ASTRO_FRAME_SENSOR_MODEL");
+
+ UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+
+ if (sensorModel)
+ return sensorModel;
+ else
+ return nullptr;
+
+
+ }
+
+
+
+ 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 FrameIsdTest : public ::testing::Test {
protected:
@@ -24,9 +79,23 @@ class FrameIsdTest : public ::testing::Test {
cout << it->first << " : " << it->second << endl;
}
+ }
+ UsgsAstroFrameSensorModel* createModel(csm::Isd &modifiedIsd) {
+
+ UsgsAstroFramePlugin frameCameraPlugin;
+ csm::Model *model = frameCameraPlugin.constructModelFromISD(
+ modifiedIsd,"USGS_ASTRO_FRAME_SENSOR_MODEL");
+
+ UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+
+ if (sensorModel)
+ return sensorModel;
+ else
+ return nullptr;
+
+ }
- }
virtual void SetUp() {
std::ifstream isdFile("data/simpleFramerISD.json");
@@ -94,6 +163,57 @@ class FrameSensorModel : public ::testing::Test {
}
};
+
+
+INSTANTIATE_TEST_CASE_P(JacobianTest,FramerParameterizedTest,
+ ::testing::Values(csm::ImageCoord(2.5,2.5),csm::ImageCoord(7.5,7.5)));
+
+TEST_P(FramerParameterizedTest,JacobianTest) {
+
+ int precision = 20;
+ std:string odtx_key= "odt_x";
+ std::string odty_key="odt_y";
+
+ isd.clearParams(odty_key);
+ isd.clearParams(odtx_key);
+
+
+ vector<double> odtx{1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0};
+ vector<double> odty{0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0};
+
+
+ for (auto & val: odtx){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_x", strval.str());
+ }
+ for (auto & val: odty){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_y", strval.str());
+ }
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
+ double Jxx,Jxy,Jyx,Jyy;
+
+ ASSERT_NE(sensorModel, nullptr);
+
+ csm::ImageCoord imagePt1 = GetParam();
+ cout << "[" << imagePt1.samp << "," << imagePt1.line << "]"<< endl;
+ sensorModel->distortionJacobian(imagePt1.samp, imagePt1.line, Jxx, Jxy,Jyx,Jyy);
+
+
+ double determinant = fabs(Jxx*Jyy - Jxy*Jyx);
+
+ EXPECT_GT(determinant,1e-3);
+
+ delete sensorModel;
+ sensorModel=NULL;
+
+
+}
+
//NOTE: The imagePt format is (Lines,Samples)
//centered and slightly off-center:
@@ -146,7 +266,6 @@ TEST_F(FrameSensorModel, OffBody4) {
TEST_F(FrameIsdTest, setFocalPlane1) {
int precision = 20;
- UsgsAstroFramePlugin frameCameraPlugin;
std:string odtx_key= "odt_x";
std::string odty_key="odt_y";
@@ -171,17 +290,14 @@ TEST_F(FrameIsdTest, setFocalPlane1) {
isd.addParam("odt_y", strval.str());
}
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
-
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+ UsgsAstroFrameSensorModel* sensorModel =createModel(isd);
+ ASSERT_NE(sensorModel, nullptr);
sensorModel->setFocalPlane(imagePt.samp, imagePt.line, ux, uy);
EXPECT_NEAR(imagePt.samp,7.5,1e-8 );
- EXPECT_NEAR(imagePt.line,7.5,1e-8);
+ EXPECT_NEAR(imagePt.line,7.5,1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
@@ -190,7 +306,6 @@ TEST_F(FrameIsdTest, setFocalPlane1) {
TEST_F(FrameIsdTest, Jacobian1) {
int precision = 20;
- UsgsAstroFramePlugin frameCameraPlugin;
std:string odtx_key= "odt_x";
std::string odty_key="odt_y";
@@ -213,30 +328,29 @@ TEST_F(FrameIsdTest, Jacobian1) {
isd.addParam("odt_y", strval.str());
}
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
double Jxx,Jxy,Jyx,Jyy;
- sensorModel->distortionJacobian(imagePt.samp, imagePt.line, Jxx, Jxy,Jyx,Jyy);
-
+ ASSERT_NE(sensorModel, nullptr);
+ sensorModel->distortionJacobian(imagePt.samp, imagePt.line, Jxx, Jxy,Jyx,Jyy);
EXPECT_NEAR(Jxx,56.25,1e-8 );
EXPECT_NEAR(Jxy,112.5,1e-8);
EXPECT_NEAR(Jyx,56.25,1e-8);
EXPECT_NEAR(Jyy,281.25,1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, distortMe_AllCoefficientsOne) {
int precision = 20;
- UsgsAstroFramePlugin frameCameraPlugin;
+
std:string odtx_key= "odt_x";
std::string odty_key="odt_y";
@@ -259,29 +373,24 @@ TEST_F(FrameIsdTest, distortMe_AllCoefficientsOne) {
isd.addParam("odt_y", strval.str());
}
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
-
- printIsd(isd);
double dx,dy;
+ ASSERT_NE(sensorModel, nullptr);
sensorModel->distortionFunction(imagePt.samp, imagePt.line,dx,dy );
- cout << "dx: " << dx << endl;
- cout << "dy: " << dy << endl;
-
EXPECT_NEAR(dx,1872.25,1e-8 );
EXPECT_NEAR(dy,1872.25,1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, setFocalPlane_AllCoefficientsOne) {
int precision = 20;
- UsgsAstroFramePlugin frameCameraPlugin;
std:string odtx_key= "odt_x";
std::string odty_key="odt_y";
@@ -304,14 +413,13 @@ TEST_F(FrameIsdTest, setFocalPlane_AllCoefficientsOne) {
isd.addParam("odt_y", strval.str());
}
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
double ux,uy;
+ ASSERT_NE(sensorModel, nullptr);
sensorModel->setFocalPlane(imagePt.samp, imagePt.line,ux,uy );
@@ -320,6 +428,92 @@ TEST_F(FrameIsdTest, setFocalPlane_AllCoefficientsOne) {
EXPECT_NEAR(ux,imagePt.samp,1e-8 );
EXPECT_NEAR(uy,imagePt.line,1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
+}
+
+
+TEST_F(FrameIsdTest, distortMe_AlternatingOnes) {
+
+ int precision = 20;
+ std:string odtx_key= "odt_x";
+ std::string odty_key="odt_y";
+
+ isd.clearParams(odty_key);
+ isd.clearParams(odtx_key);
+
+ csm::ImageCoord imagePt(7.5, 7.5);
+
+ vector<double> odtx{1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0};
+ vector<double> odty{0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0};
+
+ for (auto & val: odtx){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_x", strval.str());
+ }
+ for (auto & val: odty){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_y", strval.str());
+ }
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
+ double dx,dy;
+ ASSERT_NE(sensorModel, nullptr);
+ sensorModel->distortionFunction(imagePt.samp, imagePt.line,dx,dy );
+
+ EXPECT_NEAR(dx,908.5,1e-8 );
+ EXPECT_NEAR(dy,963.75,1e-8);
+
+ delete sensorModel;
+ sensorModel = NULL;
+
+}
+
+
+
+
+TEST_F(FrameIsdTest, setFocalPlane_AlternatingOnes) {
+
+ int precision = 20;
+ std:string odtx_key= "odt_x";
+ std::string odty_key="odt_y";
+
+ isd.clearParams(odty_key);
+ isd.clearParams(odtx_key);
+
+ csm::ImageCoord imagePt(963.75, 908.5);
+
+ vector<double> odtx{1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0};
+ vector<double> odty{0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0};
+
+ for (auto & val: odtx){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_x", strval.str());
+ }
+ for (auto & val: odty){
+ ostringstream strval;
+ strval << setprecision(precision) << val;
+ isd.addParam("odt_y", strval.str());
+ }
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
+ double ux,uy;
+ ASSERT_NE(sensorModel, nullptr);
+
+ sensorModel->setFocalPlane(imagePt.samp, imagePt.line,ux,uy );
+
+ EXPECT_NEAR(ux,7.5,1e-8 );
+ EXPECT_NEAR(uy,7.5,1e-8);
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
@@ -330,13 +524,9 @@ TEST_F(FrameIsdTest, FL500_OffBody4) {
std::string newValue = "500.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(15.0, 15.0);
@@ -344,19 +534,17 @@ TEST_F(FrameIsdTest, FL500_OffBody4) {
EXPECT_NEAR(groundPt.x, 9.77688917, 1e-8);
EXPECT_NEAR(groundPt.y, -1.48533467, 1e-8);
EXPECT_NEAR(groundPt.z, -1.48533467, 1e-8);
+
+ delete sensorModel;
+ sensorModel = NULL;
}
TEST_F(FrameIsdTest, FL500_OffBody3) {
std::string key = "focal_length";
std::string newValue = "500.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(0.0, 0.0);
@@ -364,19 +552,17 @@ TEST_F(FrameIsdTest, FL500_OffBody3) {
EXPECT_NEAR(groundPt.x, 9.77688917, 1e-8);
EXPECT_NEAR(groundPt.y, 1.48533467, 1e-8);
EXPECT_NEAR(groundPt.z, 1.48533467, 1e-8);
+
+ delete sensorModel;
+ sensorModel = NULL;
}
TEST_F(FrameIsdTest, FL500_Center) {
std::string key = "focal_length";
std::string newValue = "500.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 7.5);
@@ -384,19 +570,17 @@ TEST_F(FrameIsdTest, FL500_Center) {
EXPECT_NEAR(groundPt.x, 10.0, 1e-8);
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 0.0, 1e-8);
+
+ delete sensorModel;
+ sensorModel = NULL;
}
TEST_F(FrameIsdTest, FL500_SlightlyOffCenter) {
std::string key = "focal_length";
std::string newValue = "500.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 6.5);
@@ -405,6 +589,9 @@ TEST_F(FrameIsdTest, FL500_SlightlyOffCenter) {
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 1.98000392e-01, 1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
//Observer x position:
@@ -413,13 +600,8 @@ TEST_F(FrameIsdTest, X10_SlightlyOffCenter) {
std::string newValue = "10.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 6.5);
@@ -428,19 +610,17 @@ TEST_F(FrameIsdTest, X10_SlightlyOffCenter) {
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 0.0, 1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, X1e9_SlightlyOffCenter) {
std::string key = "x_sensor_origin";
std::string newValue = "1000000000.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 6.5);
@@ -449,7 +629,10 @@ TEST_F(FrameIsdTest, X1e9_SlightlyOffCenter) {
EXPECT_NEAR(groundPt.x, 3.99998400e+03, 1e-4);
EXPECT_NEAR(groundPt.y, 0.0, 1e-4);
EXPECT_NEAR(groundPt.z, 1.99999200e+06, 1e-4);
-
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
//Angle rotations:
@@ -459,21 +642,19 @@ TEST_F(FrameIsdTest, Rotation_omegaPi_Center) {
strval << std::setprecision(20) << M_PI;
isd.clearParams(key);
isd.addParam(key,strval.str());
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
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);
-
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, Rotation_NPole_Center) {
std::string key = "phi";
@@ -493,21 +674,19 @@ TEST_F(FrameIsdTest, Rotation_NPole_Center) {
newValue = "1000.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 7.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 0.0, 1e-8);
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 10.0, 1e-8);
-
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, Rotation_SPole_Center) {
std::string key = "phi";
@@ -526,14 +705,9 @@ TEST_F(FrameIsdTest, Rotation_SPole_Center) {
newValue = "-1000.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 7.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
@@ -541,6 +715,9 @@ TEST_F(FrameIsdTest, Rotation_SPole_Center) {
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, -10.0, 1e-8);
+ delete sensorModel;
+ sensorModel = NULL;
+
}
@@ -550,65 +727,59 @@ TEST_F(FrameIsdTest, SemiMajorAxis100x_Center) {
std::string newValue = "1.0";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 7.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
EXPECT_NEAR(groundPt.x, 1000.0, 1e-8);
EXPECT_NEAR(groundPt.y, 0.0, 1e-8);
EXPECT_NEAR(groundPt.z, 0.0, 1e-8);
-
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
TEST_F(FrameIsdTest, SemiMajorAxis10x_SlightlyOffCenter) {
std::string key = "semi_major_axis";
std::string newValue = "0.10";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
ASSERT_NE(sensorModel, nullptr);
csm::ImageCoord imagePt(7.5, 6.5);
csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
- //Note: In the following, the tolerance was increased due to the combination of an offset image point and
+ //Note: In the following, the tolerance was increased due to the combination of an offset image point and
// a very large deviation from sphericity.
EXPECT_NEAR(groundPt.x, 9.83606557e+01, 1e-7);
EXPECT_NEAR(groundPt.y, 0.0, 1e-7);
EXPECT_NEAR(groundPt.z, 1.80327869, 1e-7);
-
+
+ delete sensorModel;
+ sensorModel = NULL;
+
}
-// The following test is for the scenario where the semi_minor_axis is actually larger
+// The following test is for the scenario where the semi_minor_axis is actually larger
// than the semi_major_axis:
TEST_F(FrameIsdTest, SemiMinorAxis10x_SlightlyOffCenter) {
std::string key = "semi_minor_axis";
std::string newValue = "0.10";
isd.clearParams(key);
isd.addParam(key,newValue);
- UsgsAstroFramePlugin frameCameraPlugin;
-
- csm::Model *model = frameCameraPlugin.constructModelFromISD(
- isd,
- "USGS_ASTRO_FRAME_SENSOR_MODEL");
-
- UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);
-
+
+ UsgsAstroFrameSensorModel* sensorModel = createModel(isd);
+
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, 1.98000392, 1e-8);
-
-}
\ No newline at end of file
+
+ delete sensorModel;
+ sensorModel = NULL;
+
+}
--
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