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    • FrameCameraTests.cpp 13.50 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 format is (Lines,Samples)

//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) {
   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);
   
       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) {
   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);
   
   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) {
   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);
   
   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) {
   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);
   
   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);
   
}

//Observer x position:
    TEST_F(FrameIsdTest, X10_SlightlyOffCenter) {
   std::string key = "x_sensor_origin";
   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);
   
   ASSERT_NE(sensorModel, nullptr);
   csm::ImageCoord imagePt(7.5, 6.5);
   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, 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);
   
   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 very large distance being tested (~6.68 AU).
   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);
   
}

//Angle rotations:
TEST_F(FrameIsdTest, Rotation_omegaPi_Center) {
   std::string key = "omega";
   std::ostringstream strval;
   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);
   
   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, Rotation_NPole_Center) {
   std::string key = "phi";
   std::ostringstream strval;
       strval << std::setprecision(20) << -M_PI;
   isd.clearParams(key);
   isd.addParam(key,strval.str());
   key = "x_sensor_origin";
   std::string newValue = "0.0";
   isd.clearParams(key);
   isd.addParam(key,newValue);
   key = "y_sensor_origin";
   newValue = "0.0";
   isd.clearParams(key);
   isd.addParam(key,newValue);
   key = "z_sensor_origin";
   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);
   
   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);
   
}
TEST_F(FrameIsdTest, Rotation_SPole_Center) {
   std::string key = "phi";
   std::string newValue = "0.0";
   isd.clearParams(key);
   isd.addParam(key,newValue);
   key = "x_sensor_origin";
   newValue = "0.0";
   isd.clearParams(key);
   isd.addParam(key,newValue);
   key = "y_sensor_origin";
   newValue = "0.0";
   isd.clearParams(key);
   isd.addParam(key,newValue);
   key = "z_sensor_origin";
   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);
   
   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);

}


// Ellipsoid axis tests:
TEST_F(FrameIsdTest, SemiMajorAxis100x_Center) {
   std::string key = "semi_major_axis";
   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);
   
   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);
   
}
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);
   
   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 
   //      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);
   
}
// 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);
   
   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);
   
}