Unverified Commit 10fe7dd5 authored by Kelvin Rodriguez's avatar Kelvin Rodriguez Committed by GitHub
Browse files

Heldimage + MEstimation tests for jigsaw (#4099) 



* jigsaw to app conversion and remove unnecessary tests

* Updated based on comments

* Updated spacing

* Adds apollo fixture for jigsaw tests

* Updated to use pvl control network

* added error tests

* started new test

* first take

* finished mestrimator test

* removed things

* more merge conflicts

Co-authored-by: default avatarKristin <kberry@usgs.gov>
parent 3035ac9d

isis/tests/Fixtures.cpp

+2 −2
Original line number Diff line number Diff line
@@ -307,9 +307,9 @@ namespace Isis { 
    cubeListFile = tempDir.path() + "/cubes.lis";

    cubeList->write(cubeListFile);



    ControlNet inputNet("data/apolloNetwork/apolloNet.pvl");

    network = new ControlNet("data/apolloNetwork/apolloNet.pvl");

    controlNetPath = tempDir.path() + "/apolloNet.net";

    inputNet.Write(controlNetPath);

    network->Write(controlNetPath);

  }



  void ApolloNetwork::TearDown() {

isis/tests/Fixtures.h

+17 −15
Original line number Diff line number Diff line
@@ -121,20 +121,6 @@ namespace Isis { 
      void TearDown() override;

  };

  

  class ApolloNetwork: public TempTestingFiles {

    protected:

      Cube *cube1, *cube2, *cube3, *cube4, *cube5, *cube6, *cube7; 

      FileName *isdFile1, *isdFile2, *isdFile3, *isdFile4, *isdFile5, *isdFile6, *isdFile7,

               *cubeLabel, *label1, *label2, *label3, *label4, *label5, *label6, *label7;



      FileList *cubeList;

      QString cubeListFile;

      QString controlNetPath;

      

      void SetUp() override;

      void TearDown() override;

  };



  class ObservationPair : public TempTestingFiles {

    protected:
@@ -157,6 +143,22 @@ namespace Isis { 
      void TearDown() override;

  };

  

  class ApolloNetwork: public TempTestingFiles {

    protected:

      Cube *cube1, *cube2, *cube3, *cube4, *cube5, *cube6, *cube7; 

      FileName *isdFile1, *isdFile2, *isdFile3, *isdFile4, *isdFile5, *isdFile6, *isdFile7, 

           *cubeLabel, *label1, *label2, *label3, *label4, *label5, *label6, *label7;



      FileList *cubeList;

      QString cubeListFile;



      ControlNet *network; 

      QString controlNetPath;



      void SetUp() override;

      void TearDown() override;

  };



  class MroCube : public DefaultCube {

    protected:

      QString ckPath = "data/mroKernels/mroCK.bc";

isis/tests/FunctionalTestsJigsaw.cpp

+144 −23
Original line number Diff line number Diff line 
#include <iostream>

#include <QtMath>



#include <QFile>

#include <QHash>

#include <QSet>

#include <QString>

#include <QStringList>

#include <QTextStream>



#include "jigsaw.h"

#include "Angle.h"

#include "ControlNet.h"

#include "ControlPoint.h"

#include "ControlMeasure.h"

#include "Distance.h"

#include "FileName.h"

#include "Latitude.h"

#include "Longitude.h"

#include "SurfacePoint.h"

#include "gmock/gmock.h"

#include "UserInterface.h"

#include "CSVReader.h"

#include "Pvl.h"

#include "PvlGroup.h"

#include "Statistics.h"

#include "CSVReader.h"

#include "Latitude.h"

#include "Longitude.h"

#include "ControlPoint.h"



#include "jigsaw.h"
@@ -211,7 +197,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawApollo) { 


  for (int i=0; i < inputPoints.length(); i++) {

    ControlPoint* inputPoint = inputPoints[i];

    ControlPoint* outputPoint;

    ControlPoint* outputPoint = nullptr;

    EXPECT_NO_THROW({

        outputPoint = outputNet.GetPoint(inputPoint->GetId());

    }
@@ -354,6 +340,142 @@ TEST_F(ObservationPair, FunctionalTestJigsawCamSolveAll) { 
  EXPECT_NEAR(elems.at(56).toDouble(), 0.365717165,          0.00001); 

}





TEST_F(ApolloNetwork, FunctionalTestJigsawHeldList) {

  QTemporaryDir prefix;

  

  QString heldlistpath = prefix.path() + "/heldlist.lis"; 

  FileList heldList; 

  heldList.append(cube6->fileName());

  heldList.write(heldlistpath); 



  QString outCnetFileName = prefix.path() + "/outTemp.net";

  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+controlNetPath, "onet="+outCnetFileName, "heldlist="+heldlistpath,  

                           "radius=yes", "errorpropagation=yes", "spsolve=position", "Spacecraft_position_sigma=1000", 

                           "Residuals_csv=off", "Camsolve=angles", "Twist=yes", "Camera_angles_sigma=2", 

                           "Output_csv=off", "imagescsv=on", "file_prefix="+prefix.path()+"/"};



  UserInterface options(APP_XML, args);

  

  Pvl log; 

  

  try {

    jigsaw(options, &log);

  }

  catch (IException &e) {

    FAIL() << "Unable to bundle: " << e.what() << std::endl;

  }



  CSVReader::CSVAxis csvLine;

  CSVReader header = CSVReader(prefix.path()+"/bundleout_images.csv",

                               false, 0, ',', false, true);



  csvLine = header.getRow(7);



  // assert corrections are very small 

  // X Correction

  EXPECT_LE(std::abs(csvLine[5].toDouble()), 1e-10); 

  // Y Correction

  EXPECT_LE(std::abs(csvLine[10].toDouble()), 1e-10); 

  // Z Correction

  EXPECT_LE(std::abs(csvLine[15].toDouble()), 1e-10); 

  // RA Correction

  EXPECT_LE(std::abs(csvLine[20].toDouble()), 1e-10); 

  // DEC Correction

  EXPECT_LE(std::abs(csvLine[25].toDouble()), 1e-10); 

  // TWIST Correction

  EXPECT_LE(std::abs(csvLine[30].toDouble()), 1e-10); 

}





TEST_F(ApolloNetwork, FunctionalTestJigsawMEstimator) {

  QTemporaryDir prefix;

  QString newNetworkPath = prefix.path()+"/badMeasures.net";

  

  QVector<QString> pid = {"AS15_000031985", 

                          "AS15_000033079", 

                          "AS15_SocetPAN_03", 

                          "AS15_Tie03"};

 

  QVector<QString> mid = {"APOLLO15/METRIC/1971-07-31T14:01:40.346", 

                          "APOLLO15/METRIC/1971-07-31T14:02:27.179", 

                          "APOLLO15/METRIC/1971-07-31T14:02:03.751", 

                          "APOLLO15/METRIC/1971-07-31T14:00:53.547"};

  

  for (int i = 0; i < pid.size(); i++) {

    // grab random points and add error to a single measure 

    ControlPoint *point = network->GetPoint(pid[i]);

    ControlMeasure *measure = point->GetMeasure(mid[i]);

    measure->SetCoordinate(measure->GetLine()+50, measure->GetLine()+50); 

  }



  network->Write(newNetworkPath); 

  

  QString outCnetFileName = prefix.path() + "/outTemp.net";

  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+newNetworkPath, "onet="+outCnetFileName,

                           "Radius=yes", "Errorpropagation=yes", "Spsolve=position","Spacecraft_position_sigma=1000.0",

                           "Camsolve=angles", "twist=yes", "Camera_angles_sigma=2", 

                           "Model1=huber", "Max_model1_c_quantile=0.6", "Model2=chen", "Max_model2_c_quantile=0.98", "Sigma0=1e-3", 

                           "bundleout_txt=yes", "Output_csv=on", "imagescsv=on", "file_prefix="+prefix.path()+"/"};



  UserInterface options(APP_XML, args);



  Pvl log; 

  try {

    jigsaw(options, &log);

  }

  catch (IException &e) {

    FAIL() << "Unable to bundle: " << e.what() << std::endl;

  }



  CSVReader::CSVAxis csvLine;

  CSVReader header = CSVReader(prefix.path()+"/bundleout_images.csv",

                               false, 0, ',', false, true);



  ControlNet onet; 

  onet.ReadControl(outCnetFileName);

 

  QVector<double> presiduals = {};

  QVector<QVector<double>> mresiduals = {{1.27975, 1.54281, 1.8778, 1.30159}, 

                                         {2.25115, 2.33559, 0.547574, 3.16777}, 

                                         {1.15396, 0.69243, 1.03005, 0.848934}, 

                                         {2.24641, 4.39168, 0.560941, 2.844}}; 



  for (int i = 0; i < pid.size(); i++) {

    ControlPoint *point = network->GetPoint(pid[i]);

    QList<ControlMeasure*> measures = point->getMeasures();

    for (int j = 0; j < measures.size(); j++ ) {

      EXPECT_NEAR(measures.at(j)->GetResidualMagnitude(), mresiduals[i][j], 0.0001); 

    }

  }



  QFile bo(prefix.path()+"/bundleout.txt");

  QString contents; 

  if (bo.open(QIODevice::ReadOnly)) {

    contents = bo.read(bo.size()); 

  }

  else { 

    FAIL() << "Failed to open bundleout.txt" << std::endl;

  }



  QStringList lines = contents.split("\n");



  EXPECT_THAT(lines[31].toStdString(), HasSubstr("Tier 0 Enabled: TRUE"));

  EXPECT_THAT(lines[32].toStdString(), HasSubstr("Maximum Likelihood Model: Huber"));

  EXPECT_THAT(lines[33].toStdString(), HasSubstr("Quantile used for tweaking constant: 0.6"));

  EXPECT_THAT(lines[34].toStdString(), HasSubstr("Quantile weighted R^2 Residual value: 0.207"));

  EXPECT_THAT(lines[35].toStdString(), HasSubstr("Approx. weighted Residual cutoff: N/A"));



  EXPECT_THAT(lines[37].toStdString(), HasSubstr("Tier 1 Enabled: TRUE"));

  EXPECT_THAT(lines[38].toStdString(), HasSubstr("Maximum Likelihood Model: Chen"));

  EXPECT_THAT(lines[39].toStdString(), HasSubstr("Quantile used for tweaking constant: 0.98"));

  EXPECT_THAT(lines[40].toStdString(), HasSubstr("Quantile weighted R^2 Residual value: 1.0"));

  EXPECT_THAT(lines[41].toStdString(), HasSubstr("Approx. weighted Residual cutoff: 1.0"));



  EXPECT_THAT(lines[43].toStdString(), HasSubstr(" Tier 2 Enabled: FALSE"));

}





 TEST_F(ObservationPair, FunctionalTestJigsawErrorNoSolve) {

  QTemporaryDir prefix;

  QString outCnetFileName = prefix.path() + "/outTemp.net";
@@ -361,7 +483,6 @@ TEST_F(ObservationPair, FunctionalTestJigsawErrorNoSolve) { 
                           "camsolve=None", "spsolve=None"}; 

  

  UserInterface options(APP_XML, args); 

  

  Pvl log; 



  try {