Commit d3759e84 authored by dcookastrog's avatar dcookastrog
Browse files

Updated unitTests for LidarData and LidarControlPoint and fixed problems encountered

parent fae5ed6b

isis/src/base/objs/LidarData/LidarData.cpp

+19 −19
Original line number Diff line number Diff line
@@ -214,14 +214,14 @@ namespace Isis { 


        if (pointObject.contains("aprioriMatrix") &&

                                 pointObject["aprioriMatrix"].isArray()) {

          QJsonArray  aprioriMatrixArray = pointObject["apriorMatrix"].toArray();

          QJsonArray  aprioriMatrixArray = pointObject["aprioriMatrix"].toArray();

          boost::numeric::ublas::symmetric_matrix<double, upper> aprioriMatrix(3);

          aprioriMatrix.clear();

          aprioriMatrix(0, 0) = aprioriMatrixArray[0].toDouble();

          aprioriMatrix(0, 1) = aprioriMatrixArray[1].toDouble();

          aprioriMatrix(0, 2) = aprioriMatrixArray[2].toDouble();

          aprioriMatrix(0, 1) = aprioriMatrix(1, 0) = aprioriMatrixArray[1].toDouble();

          aprioriMatrix(0, 2) = aprioriMatrix(2, 0) = aprioriMatrixArray[2].toDouble();

          aprioriMatrix(1, 1) = aprioriMatrixArray[3].toDouble();

          aprioriMatrix(1, 2) = aprioriMatrixArray[4].toDouble();

          aprioriMatrix(1, 2) = aprioriMatrix(2, 1) = aprioriMatrixArray[4].toDouble();

          aprioriMatrix(2, 2) = aprioriMatrixArray[5].toDouble();

          

          lcp->SetAprioriSurfacePoint(SurfacePoint(Latitude(latitude, Angle::Units::Degrees),
@@ -259,10 +259,10 @@ namespace Isis { 
            boost::numeric::ublas::symmetric_matrix<double, upper> adjustedMatrix(3);

            adjustedMatrix.clear();

            adjustedMatrix(0, 0) = adjustedMatrixArray[0].toDouble();

            adjustedMatrix(0, 1) = adjustedMatrixArray[1].toDouble();

            adjustedMatrix(0, 2) = adjustedMatrixArray[2].toDouble();

            adjustedMatrix(0, 1) = adjustedMatrix(1, 0) = adjustedMatrixArray[1].toDouble();

            adjustedMatrix(0, 2) = adjustedMatrix(2, 0) = adjustedMatrixArray[2].toDouble();

            adjustedMatrix(1, 1) = adjustedMatrixArray[3].toDouble();

            adjustedMatrix(1, 2) = adjustedMatrixArray[4].toDouble();

            adjustedMatrix(1, 2) = adjustedMatrix(2, 1) = adjustedMatrixArray[4].toDouble();

            adjustedMatrix(2, 2) = adjustedMatrixArray[5].toDouble();

          

            lcp->SetAdjustedSurfacePoint(SurfacePoint(Latitude(adjustedLatitude, Angle::Units::Degrees),
@@ -380,12 +380,12 @@ namespace Isis { 
        // Serialize the apriori matrix

        symmetric_matrix<double, upper> aprioriMatrix = aprioriSurfacePoint.GetSphericalMatrix();

        QJsonArray aprioriMatrixArray;

        aprioriMatrixArray += toString(aprioriMatrix(0, 0));

        aprioriMatrixArray += toString(aprioriMatrix(0, 1));

        aprioriMatrixArray += toString(aprioriMatrix(0, 2));

        aprioriMatrixArray += toString(aprioriMatrix(1, 1));

        aprioriMatrixArray += toString(aprioriMatrix(1, 2));

        aprioriMatrixArray += toString(aprioriMatrix(2, 2));

        aprioriMatrixArray += aprioriMatrix(0, 0);

        aprioriMatrixArray += aprioriMatrix(0, 1);

        aprioriMatrixArray += aprioriMatrix(0, 2);

        aprioriMatrixArray += aprioriMatrix(1, 1);

        aprioriMatrixArray += aprioriMatrix(1, 2);

        aprioriMatrixArray += aprioriMatrix(2, 2);



        // If the covariance matrix has a value, add it to the PVL point.

        if ( aprioriMatrix(0, 0) != 0.0
@@ -410,12 +410,12 @@ namespace Isis { 
        // Serialize the adjusted matrix

        symmetric_matrix<double, upper> adjustedMatrix = adjustedSurfacePoint.GetSphericalMatrix();

        QJsonArray adjustedMatrixArray;

        adjustedMatrixArray += toString(adjustedMatrix(0, 0));

        adjustedMatrixArray += toString(adjustedMatrix(0, 1));

        adjustedMatrixArray += toString(adjustedMatrix(0, 2));

        adjustedMatrixArray += toString(adjustedMatrix(1, 1));

        adjustedMatrixArray += toString(adjustedMatrix(1, 2));

        adjustedMatrixArray += toString(adjustedMatrix(2, 2));

        adjustedMatrixArray += adjustedMatrix(0, 0);

        adjustedMatrixArray += adjustedMatrix(0, 1);

        adjustedMatrixArray += adjustedMatrix(0, 2);

        adjustedMatrixArray += adjustedMatrix(1, 1);

        adjustedMatrixArray += adjustedMatrix(1, 2);

        adjustedMatrixArray += adjustedMatrix(2, 2);



        // If the covariance matrix has a value, add it to the PVL point.

        if ( adjustedMatrix(0, 0) != 0.0

isis/src/base/objs/LidarData/LidarData.truth

+442 −0
Original line number Diff line number Diff line 
Testing default constructor... 

	number of points: 0



Testing insert(QSharedPointer<LidarControlPoint>)... 

	number of points: 1

	name of point:    testLidarControlPoint

	time of point:    2018-01-31T14:05:00.1233999



Testing write(FileName)... 

json



json

dat

./test.dat

Testing read(FileName) from binary data... 

LidarData:

	LidarControlPoint:

		id: testLidarControlPoint3

		latitude:  53

		longitude: 103

		radius:    1000

		range:     85

		sigmaRange:0.1

		time:      2018-01-31T14:08:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 3

			SN:     SN_3-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 3

			SN:     SN_3-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint4

		latitude:  54

		longitude: 104

		radius:    1000

		range:     95

		sigmaRange:0.1

		time:      2018-01-31T14:09:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 4

			SN:     SN_4-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 4

			SN:     SN_4-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint5

		latitude:  55

		longitude: 105

		radius:    1000

		range:     105

		sigmaRange:0.1

		time:      2018-01-31T14:10:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 5

			SN:     SN_5-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 5

			SN:     SN_5-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint1

		latitude:  51

		longitude: 101

		radius:    1000

		range:     65

		sigmaRange:0.1

		time:      2018-01-31T14:06:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 1

			SN:     SN_1-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 1

			SN:     SN_1-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint7

		latitude:  57

		longitude: 107

		radius:    1000

		range:     125

		sigmaRange:0.1

		time:      2018-01-31T14:12:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 7

			SN:     SN_7-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 7

			SN:     SN_7-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint9

		latitude:  59

		longitude: 109

		radius:    1000

		range:     145

		sigmaRange:0.1

		time:      2018-01-31T14:14:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 9

			SN:     SN_9-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 9

			SN:     SN_9-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint8

		latitude:  58

		longitude: 108

		radius:    1000

		range:     135

		sigmaRange:0.1

		time:      2018-01-31T14:13:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 8

			SN:     SN_8-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 8

			SN:     SN_8-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint10

		latitude:  60

		longitude: 110

		radius:    1000

		range:     155

		sigmaRange:0.1

		time:      2018-01-31T14:15:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 10

			SN:     SN_10-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 10

			SN:     SN_10-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint2

		latitude:  52

		longitude: 102

		radius:    1000

		range:     75

		sigmaRange:0.1

		time:      2018-01-31T14:07:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 2

			SN:     SN_2-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 2

			SN:     SN_2-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint6

		latitude:  56

		longitude: 106

		radius:    1000

		range:     115

		sigmaRange:0.1

		time:      2018-01-31T14:11:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 6

			SN:     SN_6-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 6

			SN:     SN_6-1

		#END_ControlMeasure.

	#END_LidarControlPoint.







Testing read(FileName) from JSON data... 

LidarData:

	LidarControlPoint:

		id: testLidarControlPoint3

		latitude:  53

		longitude: 103

		radius:    1000

		range:     85

		sigmaRange:0.1

		time:      2018-01-31T14:08:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 3

			SN:     SN_3-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 3

			SN:     SN_3-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint4

		latitude:  54

		longitude: 104

		radius:    1000

		range:     95

		sigmaRange:0.1

		time:      2018-01-31T14:09:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 4

			SN:     SN_4-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 4

			SN:     SN_4-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint5

		latitude:  55

		longitude: 105

		radius:    1000

		range:     105

		sigmaRange:0.1

		time:      2018-01-31T14:10:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 5

			SN:     SN_5-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 5

			SN:     SN_5-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint1

		latitude:  51

		longitude: 101

		radius:    1000

		range:     65

		sigmaRange:0.1

		time:      2018-01-31T14:06:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 1

			SN:     SN_1-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 1

			SN:     SN_1-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint7

		latitude:  57

		longitude: 107

		radius:    1000

		range:     125

		sigmaRange:0.1

		time:      2018-01-31T14:12:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 7

			SN:     SN_7-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 7

			SN:     SN_7-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint9

		latitude:  59

		longitude: 109

		radius:    1000

		range:     145

		sigmaRange:0.1

		time:      2018-01-31T14:14:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 9

			SN:     SN_9-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 9

			SN:     SN_9-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint8

		latitude:  58

		longitude: 108

		radius:    1000

		range:     135

		sigmaRange:0.1

		time:      2018-01-31T14:13:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 8

			SN:     SN_8-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 8

			SN:     SN_8-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint10

		latitude:  60

		longitude: 110

		radius:    1000

		range:     155

		sigmaRange:0.1

		time:      2018-01-31T14:15:00.1233998

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 10

			SN:     SN_10-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 10

			SN:     SN_10-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint2

		latitude:  52

		longitude: 102

		radius:    1000

		range:     75

		sigmaRange:0.1

		time:      2018-01-31T14:07:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 2

			SN:     SN_2-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 2

			SN:     SN_2-1

		#END_ControlMeasure.

	#END_LidarControlPoint.



	LidarControlPoint:

		id: testLidarControlPoint6

		latitude:  56

		longitude: 106

		radius:    1000

		range:     115

		sigmaRange:0.1

		time:      2018-01-31T14:11:00.1233999

		matrix:      [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))

		ControlMeasure: 

			line:   0

			sample: 6

			SN:     SN_6-0

		#END_ControlMeasure.

		ControlMeasure: 

			line:   1

			sample: 6

			SN:     SN_6-1

		#END_ControlMeasure.

	#END_LidarControlPoint.

isis/src/base/objs/LidarData/unitTest.cpp

+37 −11
Original line number Diff line number Diff line
@@ -14,8 +14,11 @@ 
#include "Preference.h"

#include "SurfacePoint.h"



#include "boost/numeric/ublas/symmetric.hpp"



using namespace std;

using namespace Isis;

using namespace boost::numeric::ublas;



void print(const LidarData &lidarData);
@@ -30,9 +33,9 @@ int main(int argc, char *argv[]) { 
  // Set up our unit test preferences

  Preference::Preferences(true);



  LidarData data;

  FileName csvFile("RDR_98E100E_60N62NPointPerRow_csv_table-original.csv");

  data.readCsv(csvFile);

  // LidarData data;

  // FileName csvFile("RDR_98E100E_60N62NPointPerRow_csv_table-original.csv");

  // data.readCsv(csvFile);



  // Test LidarData()

  cout << "Testing default constructor... " << endl;
@@ -40,9 +43,9 @@ int main(int argc, char *argv[]) { 
  cout << "\tnumber of points: " << defaultData.points().size() << endl;

  cout << endl;



  // Test LidarData(FileName)

  cout << "Testing LidarData(FileName)... " << endl;

  cout << endl;

  // // Test LidarData(FileName)

  // cout << "Testing LidarData(FileName)... " << endl;

  // cout << endl;



  // Test insert(QSharedPointer<LidarControlPoint>)

  cout << "Testing insert(QSharedPointer<LidarControlPoint>)... " << endl;
@@ -50,30 +53,50 @@ int main(int argc, char *argv[]) { 
  double range = 55.0;

  double sigmaRange = 0.1;

  QSharedPointer<LidarControlPoint> lcp =

      QSharedPointer<LidarControlPoint>(new LidarControlPoint(time, range, sigmaRange));

      QSharedPointer<LidarControlPoint>(new LidarControlPoint());

  lcp->setTime(time);

  iTime check = lcp->time();

  lcp->setRange(range);

  lcp->setSigmaRange(sigmaRange);

  lcp->SetId("testLidarControlPoint");

  defaultData.insert(lcp);

  cout << "\tnumber of points: " << defaultData.points().size() << endl;

  cout << "\tname of point:    " << defaultData.points().first()->GetId() << endl;

  cout << "\ttime of point:    " << defaultData.points().first()->time().UTC() << endl;

  cout << endl;



  // Test write() JSON format

  cout << "Testing write(FileName)... " << endl;

  LidarData mockData;

  double lat, lon, rad;

  lat = 100.0;

  lon = 50.0;

  lat = 50.0;

  lon = 100.0;

  rad = 1000.0;

  boost::numeric::ublas::symmetric_matrix<double, upper> aprioriMatrix(3);

  aprioriMatrix.clear();

  aprioriMatrix(0, 0) = 0.028656965032217;

  aprioriMatrix(1, 1) = 0.031198128120272;

  aprioriMatrix(2, 2) = 38.454887335682053718134171237789;

                                // Angle(1.64192315,Angle::Degrees),

                                // Angle(1.78752107, Angle::Degrees),

                                // Distance(38.454887335682053718134171237789, Distance::Meters));

  

  for (int i = 1; i < 11; i++) {

    time += 60.0;

    range += 10.0;

    lcp = QSharedPointer<LidarControlPoint>(new LidarControlPoint(time, range, sigmaRange));

    lcp = QSharedPointer<LidarControlPoint>(new LidarControlPoint());

    lcp->setTime(time);

    lcp->setRange(range);

    lcp->setSigmaRange(sigmaRange);

    lcp->SetId("testLidarControlPoint" + QString::number(i));

    lat += 1.0;

    lon += 1.0;

    SurfacePoint sp(Latitude(lat, Angle::Units::Degrees),

                    Longitude(lon, Angle::Units::Degrees),

                    Distance(rad, Distance::Units::Kilometers));

    sp.SetRadii(Distance(1000.0, Distance::Meters), Distance(1000.0, Distance::Meters),

                Distance(1000.0, Distance::Meters));

    sp.SetSphericalMatrix(aprioriMatrix);

    lcp->SetAprioriSurfacePoint(sp);

    for (int j = 0; j < 2; j++) {

      ControlMeasure *measure = new ControlMeasure();
@@ -128,12 +151,15 @@ void print(const LidarData &lidarData) { 
    lat = sp.GetLatitude().planetocentric(Angle::Units::Degrees);

    lon = sp.GetLongitude().positiveEast(Angle::Units::Degrees);

    rad = sp.GetLocalRadius().kilometers();

    symmetric_matrix<double, upper> aprioriMatrix = sp.GetSphericalMatrix();

    std::cout << "\t\tlatitude:  " << lat << std::endl;

    std::cout << "\t\tlongitude: " << lon << std::endl;

    std::cout << "\t\tradius:    " << rad << std::endl;

    std::cout << "\t\trange:     " << point->range() << std::endl;

    std::cout << "\t\tsigmaRange:" << point->sigmaRange() << std::endl;

    std::cout << "\t\ttime:      " << point->time().Et() << std::endl;

    // std::cout << "\t\ttime:      " << point->time().Et() << std::endl;

    std::cout << "\t\ttime:      " << point->time().UTC() << std::endl;

    std::cout << "\t\tmatrix:      " << aprioriMatrix << std::endl;

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

    foreach (ControlMeasure *measure, measures) {

      std::cout << "\t\tControlMeasure: " << std::endl;

isis/src/control/objs/LidarControlPoint/LidarControlPoint.truth

+2 −0
Original line number Diff line number Diff line
@@ -8,3 +8,5 @@ Testing Setters and Getters 
Set the range

Set the sigma range

Set the time

Testing addSimultaneous and getter

Serial number for simultaneous image added successfully

isis/src/control/objs/LidarControlPoint/unitTest.cpp

+16 −1
Original line number Diff line number Diff line
@@ -11,7 +11,8 @@ int main() { 
  

  cout << "LidarControlPoint Unit Test" << endl;

  

  LidarControlPoint lcp(iTime(13.00), 10, 12);

  // LidarControlPoint lcp(iTime(13.00), 10, 12);

  LidarControlPoint lcp;

  

  

  cout << "Testing EditLocking" << endl;
@@ -77,4 +78,18 @@ int main() { 
  else {

    cout << "Error: Could not set the time." << endl;

  }



  cout << "Testing addSimultaneous and getter" << endl;

  QString newSerial = "LRO/1/286265995:36824/NACL";

  if (lcp.addSimultaneous(newSerial) == ControlPoint::Status::Success) {

    cout << "Serial number for simultaneous image added successfully" << endl;

    QList < QString > simultaneousList = lcp.snSimultaneous();

    if (simultaneousList[0] != "LRO/1/286265995:36824/NACL") {

      cout << "Error:  Incorrect serial number added to list:  " <<

        simultaneousList[0] << endl;

    }

  }

  else {

      cout << "Add to simultaneous image list failed!" << endl;

  }

}