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Test camera model #95

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merged 6 commits into from
Aug 22, 2018
Merged

Test camera model #95

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8a2b780
removed 0.5 pixel offsets
AstroKEW78 Aug 22, 2018
4986276
fixed 0.5 pixel offsets in tests
AstroKEW78 Aug 22, 2018
f8238d0
added focal length tests
AstroKEW78 Aug 22, 2018
08c48f8
cleaned up isd variable.
AstroKEW78 Aug 22, 2018
cb074f3
fixed isd variable again
AstroKEW78 Aug 22, 2018
28b2ee6
cleaned up key/newValue and comments
AstroKEW78 Aug 22, 2018
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12 changes: 6 additions & 6 deletions src/UsgsAstroFrameSensorModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,8 +206,8 @@ csm::ImageCoord UsgsAstroFrameSensorModel::groundToImage(

//Convert distorted mm into line/sample
double sample, line;
sample = m_iTransS[0] + m_iTransS[1] * distortedx + m_iTransS[2] * distortedx + m_ccdCenter[0] - 0.5;
line = m_iTransL[0] + m_iTransL[1] * distortedy + m_iTransL[2] * distortedy + m_ccdCenter[0] - 0.5;
sample = m_iTransS[0] + m_iTransS[1] * distortedx + m_iTransS[2] * distortedx + m_ccdCenter[0];
line = m_iTransL[0] + m_iTransL[1] * distortedy + m_iTransL[2] * distortedy + m_ccdCenter[0];

return csm::ImageCoord(line, sample);
}
Expand Down Expand Up @@ -244,8 +244,8 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i

//Convert from the pixel space into the metric space
double optical_center_x, optical_center_y, x_camera, y_camera;
optical_center_x = m_ccdCenter[0] - 0.5;
optical_center_y = m_ccdCenter[1] - 0.5;
optical_center_x = m_ccdCenter[0];
optical_center_y = m_ccdCenter[1];
y_camera = m_transY[0] + m_transY[1] * (lo - optical_center_y) + m_transY[2] * (lo - optical_center_y);
x_camera = m_transX[0] + m_transX[1] * (so - optical_center_x) + m_transX[2] * (so - optical_center_x);

Expand Down Expand Up @@ -301,8 +301,8 @@ csm::EcefLocus UsgsAstroFrameSensorModel::imageToRemoteImagingLocus(const csm::I
csm::WarningList *warnings) const {
// Find the line,sample on the focal plane (mm)
// CSM center = 0.5, MDIS IK center = 1.0
double col = imagePt.samp - (m_ccdCenter[0] - 0.5);
double row = imagePt.line - (m_ccdCenter[1] - 0.5);
double col = imagePt.samp - (m_ccdCenter[0]);
double row = imagePt.line - (m_ccdCenter[1]);
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I could have sworn this was already merged by #91 weird

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I bet that upstream was not pulled and merged, so we are seeing both.

double focalPlaneX = m_transX[0] + m_transX[1] * col + m_transX[2] * col;
double focalPlaneY = m_transY[0] + m_transY[1] * row + m_transY[2] * row;

Expand Down
111 changes: 104 additions & 7 deletions tests/FrameCameraTests.cpp
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Expand Up @@ -10,11 +10,33 @@

using json = nlohmann::json;

class FrameIsdTest : public ::testing::Test {
protected:


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();
}
};

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code copy and paste will be removed once Fixtures.h files gets merged.

class FrameSensorModel : public ::testing::Test {
protected:

UsgsAstroFrameSensorModel *sensorModel;

csm::Isd isd;
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This needs to be removed

void SetUp() override {
sensorModel = NULL;
std::ifstream isdFile("data/simpleFramerISD.json");
Expand Down Expand Up @@ -57,14 +79,14 @@ class FrameSensorModel : public ::testing::Test {

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You can yank this comment, since this is fixed.

//centered and slightly off-center:
TEST_F(FrameSensorModel, Center) {
csm::ImageCoord imagePt(7.0, 7.0);
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(7.0, 6.0);
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);
Expand All @@ -73,31 +95,106 @@ TEST_F(FrameSensorModel, SlightlyOffCenter) {

//Test all four corners:
TEST_F(FrameSensorModel, OffBody1) {
csm::ImageCoord imagePt(14.5, -0.5);
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(-0.5, 14.5);
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(-0.5, -0.5);
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(14.5, 14.5);
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) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
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This super nit picky. Can we use a single variable for the key? std::string key = "focal_length"? This will make refactoring later easier and is better form I think to help maintain these.

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) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
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) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
UsgsAstroFramePlugin frameCameraPlugin;

csm::Model *model = frameCameraPlugin.constructModelFromISD(
isd,
"USGS_ASTRO_FRAME_SENSOR_MODEL");

UsgsAstroFrameSensorModel* sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);

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All these repeated instantiations look good. We can refactor out once parameterized tests are working the way we want them to.

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) {
isd.clearParams("focal_length");
isd.addParam("focal_length","500.0");
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);

}