#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); }