Commit 26709615 authored by Jesse Mapel's avatar Jesse Mapel Committed by Kristin
Browse files

Example for LS testing (#171) 

* Removed odd height gradient descent search from image to ground when not intersecting.

* Added first off body test.

* Added angular velocity line scan test

* Added failing, copy paste tests

* Commented out line scan pan tests until 0 velocity bug is addressed

* Removed extraneous focal epsilon from LS test ISDs
parent 4e46d45f

src/UsgsAstroLsSensorModel.cpp

+0 −13
Original line number Diff line number Diff line
@@ -2213,19 +2213,6 @@ void UsgsAstroLsSensorModel::losEllipsoidIntersect( 
   computeElevation(x, y, z, h, aPrec, desired_precision);

   slope = -1;



   while (MKTR > ktr && fabs(height - h) > desired_precision)

   {

      sprev = scale;

      scale += slope * (height - h);

      x = xc + scale * xl;

      y = yc + scale * yl;

      z = zc + scale * zl;

      hprev = h;

      computeElevation(x, y, z, h, aPrec, desired_precision);

      slope = (sprev - scale) / (hprev - h);

      ktr++;

   }



   achieved_precision = fabs(height - h);

}

tests/Fixtures.h

+27 −0
Original line number Diff line number Diff line
@@ -171,6 +171,33 @@ class ConstVelocityLineScanSensorModel : public ::testing::Test { 
      }

};



class ConstAngularVelocityLineScanSensorModel : public ::testing::Test {

   protected:

      csm::Isd isd;

      UsgsAstroLsSensorModel *sensorModel;



      void SetUp() override {

         sensorModel = NULL;



         isd.setFilename("data/constAngularVelocityLineScan.img");

         UsgsAstroPlugin cameraPlugin;



         csm::Model *model = cameraPlugin.constructModelFromISD(

               isd,

               "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL");

         sensorModel = dynamic_cast<UsgsAstroLsSensorModel *>(model);



         ASSERT_NE(sensorModel, nullptr);

      }



      void TearDown() override {

         if (sensorModel) {

            delete sensorModel;

            sensorModel = NULL;

         }

      }

};







#endif

tests/LineScanCameraTests.cpp

+57 −3
Original line number Diff line number Diff line
@@ -25,6 +25,8 @@ TEST_F(ConstVelocityLineScanSensorModel, State) { 
   // EXPECT_EQ(sensorModel->getModelState(), modelState);

}



// Fly by tests



TEST_F(ConstVelocityLineScanSensorModel, Center) {

   csm::ImageCoord imagePt(8.5, 8.0);

   csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
@@ -45,9 +47,9 @@ TEST_F(ConstVelocityLineScanSensorModel, Inversion) { 
TEST_F(ConstVelocityLineScanSensorModel, OffBody1) {

   csm::ImageCoord imagePt(4.5, 4.0);

   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);

   EXPECT_NEAR(groundPt.x, 0.063995905, 1e-8);

   EXPECT_NEAR(groundPt.y, -7.999488033, 1e-8);

   EXPECT_NEAR(groundPt.z, 8, 1e-8);

}

TEST_F(ConstVelocityLineScanSensorModel, OffBody2) {

   csm::ImageCoord imagePt(4.5, 12.0);
@@ -72,3 +74,55 @@ TEST_F(ConstVelocityLineScanSensorModel, OffBody4) { 
   // EXPECT_NEAR(groundPt.y, -14.99325304, 1e-8);

   // EXPECT_NEAR(groundPt.z, -14.99325304, 1e-8);

}



// Pan tests



TEST_F(ConstAngularVelocityLineScanSensorModel, Center) {

   csm::ImageCoord imagePt(8.5, 8.0);

   csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);

   // EXPECT_DOUBLE_EQ(groundPt.x, 10.0);

   // EXPECT_DOUBLE_EQ(groundPt.y, 0.0);

   // EXPECT_DOUBLE_EQ(groundPt.z, 0.0);



   std::cerr << sensorModel->getModelState() << std::endl;

}



TEST_F(ConstAngularVelocityLineScanSensorModel, Inversion) {

  csm::ImageCoord imagePt(8.5, 8);

  csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);

  csm::ImageCoord imageReprojPt = sensorModel->groundToImage(groundPt);



  // EXPECT_DOUBLE_EQ(imagePt.line, imageReprojPt.line);

  // EXPECT_DOUBLE_EQ(imagePt.samp, imageReprojPt.samp);

}



TEST_F(ConstAngularVelocityLineScanSensorModel, OffBody1) {

   csm::ImageCoord imagePt(4.5, 4.0);

   csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);

   // EXPECT_NEAR(groundPt.x, 0.063995905, 1e-8);

   // EXPECT_NEAR(groundPt.y, -7.999488033, 1e-8);

   // EXPECT_NEAR(groundPt.z, 8, 1e-8);

}

TEST_F(ConstAngularVelocityLineScanSensorModel, OffBody2) {

   csm::ImageCoord imagePt(4.5, 12.0);

   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(ConstAngularVelocityLineScanSensorModel, OffBody3) {

   csm::ImageCoord imagePt(12.5, 4.0);

   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(ConstAngularVelocityLineScanSensorModel, OffBody4) {

   csm::ImageCoord imagePt(12.0, 12.0);

   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);

}

tests/data/constAngularVelocityLineScan.json

0 → 100644
+92 −0
Original line number Diff line number Diff line 
{

  "name_model" : "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",

  "name_platform" : "TEST_PLATFORM",

  "name_sensor" : "TEST_SENSOR",

  "center_ephemeris_time": 1000.0,

  "starting_ephemeris_time": 999.2,

  "line_scan_rate": [

    [0.5, -0.8, 0.1]

  ],

  "detector_sample_summing": 1,

  "detector_line_summing": 1,

  "t0_ephemeris": -0.8,

  "dt_ephemeris": 0.2,

  "t0_quaternion": -0.8,

  "dt_quaternion": 0.2,

  "focal2pixel_lines": [0.0, 10.0, 0.0],

  "focal2pixel_samples": [0.0, 0.0, 10.0],

  "focal_length_model": {

    "focal_length": 50

  },

  "image_lines": 16,

  "image_samples": 16,

  "detector_center" : {

    "line" : 0.5,

    "sample" : 8.0

  },

  "interpolation_method": "lagrange",

  "optical_distortion": {

    "radial": {

      "coefficients": [0.0, 0.0, 0.0]

    }

  },

  "radii": {

    "semimajor": 10,

    "semiminor": 10,

    "unit":"m"

  },

  "reference_height": {

    "maxheight": 1,

    "minheight": -1,

    "unit": "m"

  },

  "sensor_position": {

    "unit": "m",

    "positions": [

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0],

      [1000.0, 0.0, 0.0]

    ],

    "velocities": [

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0],

      [0.0, 0.0, 0.0]

    ]

  },

  "sensor_orientation": {

    "quaternions": [

      [0.0, -0.660435174378928, 0, 0.750883067090392],

      [0.0, -0.672364256957188, 0, 0.740220444169444],

      [0.0, -0.68412121795764, 0, 0.729368328857344],

      [0.0, -0.695703047662478, 0, 0.718329499236346],

      [0.0, -0.707106781186547, 0.0, 0.707106781186547],

      [0.0, -0.718329499236346, 0, 0.695703047662478],

      [0.0, -0.729368328857344, 0, 0.68412121795764],

      [0.0, -0.740220444169444, 0, 0.672364256957188],

      [0.0, -0.750883067090392, 0, 0.660435174378928]

    ]

  },

  "starting_detector_line": 0,

  "starting_detector_sample": 0,

  "sun_position": {

    "positions": [

      [100.0, 100.0, 0.0]

    ],

    "velocities": [

      [0.0, 0.0, 0.0]

    ],

    "unit": "m"

  }

}

tests/data/constVelocityLineScan.json

+1 −2
Original line number Diff line number Diff line
@@ -16,8 +16,7 @@ 
  "focal2pixel_lines": [0.0, 10.0, 0.0],

  "focal2pixel_samples": [0.0, 0.0, 10.0],

  "focal_length_model": {

    "focal_length": 50,

    "focal_epsilon": 1.0

    "focal_length": 50

  },

  "image_lines": 16,

  "image_samples": 16,