EIS wac camera model gtest (#4554) (b03abdb6) · Commits · aflab / astrogeology / ISIS3

isis/src/clipper/objs/ClipperWacFcCamera/ClipperWacFcCamera.h

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		@@ -44,7 +44,7 @@ namespace Isis {
		* @return @b int The appropriate instrument code for the "Camera-matrix"
		* Kernel Frame ID
		*/
		virtual int CkFrameId() const { return (-159011); }
		virtual int CkFrameId() const { return (-159104); }


		/**

isis/src/clipper/objs/ClipperWacFcCamera/ClipperWacFcCamera.truth

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		Unit Test for ClipperWacFcCamera...
		Testing with test image...
		FileName: "simulated_clipper_eis_wac_rolling_shutter.cub"
		CK Frame: -159104

		Kernel IDs:
		CK Frame ID = -159011
		CK Reference ID = 1
		SPK Target ID = -159
		SPK Reference ID = 1

		Focal Length = 150.401990000000012

		For upper left corner ...
		DeltaSample = ERROR
		DeltaLine = ERROR

		For upper right corner ...
		DeltaSample = ERROR
		DeltaLine = ERROR

		For lower left corner ...
		DeltaSample = ERROR
		DeltaLine = ERROR

		For lower right corner ...
		DeltaSample = ERROR
		DeltaLine = ERROR

		For center pixel position ...
		ERROR

isis/src/clipper/objs/ClipperWacFcCamera/unitTest.cpp

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		/** This is free and unencumbered software released into the public domain.

		The authors of ISIS do not claim copyright on the contents of this file.
		For more details about the LICENSE terms and the AUTHORS, you will
		find files of those names at the top level of this repository. **/

		/* SPDX-License-Identifier: CC0-1.0 */

		#include <QDebug>

		#include <iomanip>
		#include <iostream>

		#include "Camera.h"
		#include "CameraFactory.h"
		#include "FileName.h"
		#include "IException.h"
		#include "iTime.h"
		#include "ClipperWacFcCamera.h"
		#include "Preference.h"
		#include "Pvl.h"
		#include "PvlGroup.h"

		using namespace std;
		using namespace Isis;

		void TestLineSamp(Camera *cam, double samp, double line);

		/**
		* Unit test for Clipper Wac Framing Camera
		*
		* @internal
		* @history 2020-01-24 Kristin Berry - Original version. At the time this was written, many values
		* were preliminary or set to arbitrary numbers for testing reasons. These
		* will need to be updated in the future.
		*/

		// IMPORTANT NOTE: This test is believed to be failing because the test data has an arbitrary date
		// for the StartTime, which means that the spice probably shows the spacecraft as not being near and
		// pointed at Europa. If the spacecraft isn't near and pointed at Europa, there will be no intersection
		// and SetImage will fail.
		int main(void) {
		Preference::Preferences(true);

		qDebug() << "Unit Test for ClipperWacFcCamera...";
		try {
		// These should be lat/lon at center of image. To obtain these numbers for a new cube/camera,
		// set both the known lat and known lon to zero and copy the unit test output
		// "Latitude off by: " and "Longitude off by: " values directly into these variables.
		double knownLat = 0;
		double knownLon = 0;

		qDebug() << "Testing with test image...";
		Cube c("$ISISTESTDATA/isis/src/clipper/unitTestData/simulated_clipper_eis_wac_rolling_shutter.cub", "r");
		ClipperWacFcCamera cam = (ClipperWacFcCamera ) CameraFactory::Create(c);
		qDebug() << "FileName: " << FileName(c.fileName()).name();
		qDebug() << "CK Frame: " << cam->instrumentRotation()->Frame();
		qDebug() << "";

		// Test kernel IDs
		qDebug() << "Kernel IDs: ";
		qDebug() << "CK Frame ID = " << cam->CkFrameId();
		qDebug() << "CK Reference ID = " << cam->CkReferenceId();
		qDebug() << "SPK Target ID = " << cam->SpkTargetId();
		qDebug() << "SPK Reference ID = " << cam->SpkReferenceId();
		qDebug() << "";

		qDebug() << qSetRealNumberPrecision(18) << "Focal Length = " << cam->FocalLength();
		qDebug() << "";

		// Test all four corners to make sure the conversions are right
		// The actual four corners are not on the body, so shifting a little
		qDebug() << "For upper left corner ...";
		TestLineSamp(cam, 145.0, 161.0);

		qDebug() << "For upper right corner ...";
		TestLineSamp(cam, 3655.0, 157.0);

		qDebug() << "For lower left corner ...";
		TestLineSamp(cam, 289, 1767);

		qDebug() << "For lower right corner ...";
		TestLineSamp(cam, 3767, 1579);

		double samp = cam->Samples() / 2;
		double line = cam->Lines() / 2;
		qDebug() << "For center pixel position ...";

		if(!cam->SetImage(samp, line)) {
		qDebug() << "ERROR";
		return 0;
		}

		if(abs(cam->UniversalLatitude() - knownLat) < 1E-13) {
		qDebug() << "Latitude OK";
		}
		else {
		qDebug() << qSetRealNumberPrecision(18)
		<< "Latitude off by: " << cam->UniversalLatitude() - knownLat;
		}

		if(abs(cam->UniversalLongitude() - knownLon) < 1E-11) {
		qDebug() << "Longitude OK";
		}
		else {
		qDebug() << qSetRealNumberPrecision(18)
		<< "Longitude off by: " << cam->UniversalLongitude() - knownLon;
		}
		}
		catch(IException &e) {
		e.print();
		}
		}

		void TestLineSamp(Camera *cam, double samp, double line) {
		bool success = cam->SetImage(samp, line);

		if(success) {
		success = cam->SetUniversalGround(cam->UniversalLatitude(), cam->UniversalLongitude());
		}

		if(success) {
		double deltaSamp = samp - cam->Sample();
		double deltaLine = line - cam->Line();
		if(fabs(deltaSamp) < 1.1e-2) deltaSamp = 0.0;
		if(fabs(deltaLine) < 1.0e-2) deltaLine = 0.0;
		qDebug() << "DeltaSample = " << deltaSamp;
		qDebug() << "DeltaLine = " << deltaLine;
		qDebug() << "";
		}
		else {
		qDebug() << "DeltaSample = ERROR";
		qDebug() << "DeltaLine = ERROR";
		qDebug() << "";
		}
		}

isis/tests/ClipperWacFcCameraTests.cpp

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		#include <gtest/gtest.h>
		#include "Fixtures.h"
		#include "Camera.h"
		#include "CameraFactory.h"
		#include "Cube.h"
		#include "ClipperWacFcCamera.h"
		#include "IException.h"
		#include "iTime.h"
		#include "TestUtilities.h"

		using namespace Isis;

		void TestLineSamp(Camera *cam, double samp, double line) {
		bool success = cam->SetImage(samp, line);
		EXPECT_TRUE(success);

		if(success) {
		success = cam->SetUniversalGround(cam->UniversalLatitude(), cam->UniversalLongitude());
		}
		EXPECT_TRUE(success);

		if(success) {
		EXPECT_NEAR(samp, cam->Sample(), 1.1e-2);
		EXPECT_NEAR(line, cam->Line(), 1.0e-2);
		}
		}


		TEST_F(ClipperWacFcCube, ClipperWacFcCameraUnitTest) {
		ClipperWacFcCamera *cam;
		try {
		cam = (ClipperWacFcCamera ) CameraFactory::Create(wacFcCube);
		} catch(IException &e) {
		FAIL() << "Unable to create ClipperWacFcCamera" << std::endl;
		}

		// Camera info
		//EXPECT_EQ(cam->instrumentRotation()->Frame(), -27002); // from the defaultcube isd
		EXPECT_EQ(cam->CkFrameId(), -159104);
		EXPECT_EQ(cam->CkReferenceId(), 1);
		EXPECT_EQ(cam->SpkTargetId(), -159);
		EXPECT_EQ(cam->SpkReferenceId(), 1);
		EXPECT_NEAR(cam->FocalLength(), 150.402, 1e-4);

		EXPECT_PRED_FORMAT2(AssertQStringsEqual, cam->spacecraftNameLong(), "Europa Clipper");
		EXPECT_PRED_FORMAT2(AssertQStringsEqual, cam->spacecraftNameShort(), "Clipper");
		EXPECT_PRED_FORMAT2(AssertQStringsEqual, cam->instrumentNameLong(), "Europa Imaging System Framing Wide Angle Camera");
		EXPECT_PRED_FORMAT2(AssertQStringsEqual, cam->instrumentNameShort(), "EIS-FWAC");


		// Check SetImage on corners
		int line, samp, nline, nsamp;
		line = 1.0; samp = 1.0;
		nline = 1203.0; nsamp = 1055.0;
		TestLineSamp(cam, line, samp);
		TestLineSamp(cam, line, nsamp);
		TestLineSamp(cam, nline, nsamp);
		TestLineSamp(cam, nline, samp);


		// Simple test for ClipperWacFcCamera::ShutterOpenCloseTimes
		PvlGroup &inst = label.findGroup("Instrument", Pvl::Traverse);
		QString startTime = inst["StartTime"];
		iTime etStart(startTime);

		std::pair<iTime, iTime> startStop;
		startStop = cam->ShutterOpenCloseTimes(etStart.Et(), 0.00005); // dummy value for exposure duration
		EXPECT_TRUE(startStop.first.Et() < startStop.second.Et());
		}

isis/tests/Fixtures.cpp

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		@@ -1551,6 +1551,59 @@ namespace Isis {
		}
		}

		void ClipperWacFcCube::SetUp() {
		TempTestingFiles::SetUp();

		// Use defaultCube label and isd for now
		std::ifstream isdFile("data/defaultImage/defaultCube.isd");
		std::ifstream cubeLabel("data/defaultImage/defaultCube.pvl");
		isdFile >> isd;
		cubeLabel >> label;

		// Define WAC cube
		wacFcCube = new Cube();
		FileName wacFn(tempDir.path() + "/ClipperWAC.cub");
		wacFcCube->fromIsd(wacFn, label, isd, "rw");

		PvlGroup &wacKernels = wacFcCube->label()->findObject("IsisCube").findGroup("Kernels");
		wacKernels.findKeyword("NaifFrameCode").setValue("-159104");

		// Instruments Group
		PvlGroup &realWacInst = wacFcCube->label()->findObject("IsisCube").findGroup("Instrument");
		std::istringstream newWacInst(R"(
		Group = Instrument
		SpacecraftName = Clipper
		InstrumentId = EIS-WAC-FC
		TargetName = Europa
		StartTime = 2025-01-01T00:00:00.000
		End_Group
		)");
		PvlGroup newWacInstPvl; newWacInst >> newWacInstPvl;
		realWacInst = newWacInstPvl;

		// NaifKeywords Group
		PvlObject &realWacNk = wacFcCube->label()->findObject("NaifKeywords");
		std::istringstream newWacNk(R"(
		INS-159104_FOCAL_LENGTH = 150.40199
		INS-159104_PIXEL_PITCH = 0.014
		INS-159104_TRANSX = (0.0, 0.014004651, 0.0)
		INS-159104_TRANSY = (0.0, 0.0, 0.01399535)
		INS-159104_ITRANSS = (0.0, 71.404849, 0.0)
		INS-159104_ITRANSL = (0.0, 0.0, 71.4523)
		End_Object
		)");
		PvlObject newWacNkPvl; newWacNk >> newWacNkPvl;
		realWacNk = newWacNkPvl;

		wacFcCube->reopen("rw");
		}

		void ClipperWacFcCube::TearDown() {
		if (wacFcCube) {
		delete wacFcCube;
		}
		}

		void ClipperNacRsCube::SetUp() {
		DefaultCube::SetUp();

		@@ -1610,5 +1663,4 @@ namespace Isis {
		delete testCube;
		}
		}

		}