Commit 4d790bbe authored by Kristin Berry's avatar Kristin Berry
Browse files

cleanup debug output now that problem is fixed

parent 70275c0c

src/UsgsAstroFrameSensorModel.cpp

+0 −12
Original line number Diff line number Diff line
@@ -225,7 +225,6 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i 
  double sample = imagePt.samp;

  double line = imagePt.line;



  std::cout << "in i->g (s, l): " << sample << ", " << line << std::endl; 

  //Here is where we should be able to apply an adjustment to opk

  double m[3][3];

  calcRotationMatrix(m);
@@ -245,7 +244,6 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i 
  // Apply the distortion model (remove distortion)

  double undistorted_cameraX, undistorted_cameraY = 0.0;



  std::cout << "x_camera, y_camera: " << x_camera << ", " << y_camera << std::endl; 

  setFocalPlane(x_camera, y_camera, undistorted_cameraX, undistorted_cameraY);



  //Now back from distorted mm to pixels
@@ -253,9 +251,6 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i 
  udx = undistorted_cameraX;

  udy = undistorted_cameraY;



  std::cout << "udx, udy: " << udx << ", " << udy << std::endl; 

  std::cout << "focal length: " << m_focalLength << std::endl; 



  xl = m[0][0] * udx + m[0][1] * udy - m[0][2] * -m_focalLength;

  yl = m[1][0] * udx + m[1][1] * udy - m[1][2] * -m_focalLength;

  zl = m[2][0] * udx + m[2][1] * udy - m[2][2] * -m_focalLength;
@@ -268,7 +263,6 @@ csm::EcefCoord UsgsAstroFrameSensorModel::imageToGround(const csm::ImageCoord &i 


  // Intersect with some height about the ellipsoid.



  std::cout << "height, xc, yc, zc, x1, y1, z1 " << height << ", "<< xc << ", " << yc << ", " << zc << ", " << xl << ", " << yl << ", " << zl << std::endl; 

  losEllipsoidIntersect(height, xc, yc, zc, xl, yl, zl, x, y, z);



  return csm::EcefCoord(x, y, z);
@@ -932,8 +926,6 @@ void UsgsAstroFrameSensorModel::calcRotationMatrix( 
  double y = m_currentParameterValue[5];

  double z = m_currentParameterValue[6];



  std::cout << "w, x, y, z: " << w << ", " << x << ", " << y << ", " << z << std::endl; 

  

  m[0][0] = w*w + x*x - y*y - z*z;

  m[0][1] = 2 * (x*y - w*z);

  m[0][2] = 2 * (w*y + x*z);
@@ -943,10 +935,6 @@ void UsgsAstroFrameSensorModel::calcRotationMatrix( 
  m[2][0] = 2 * (x*z - w*y);

  m[2][1] = 2 * (w*x + y*z);

  m[2][2] = w*w - x*x - y*y + z*z;



  std::cout << "[ " << m[0][0] << " " << m[0][1] << " " << m[0][2] << "]" << std::endl; 

  std::cout << "[ " << m[1][0] << " " << m[1][1] << " " << m[1][2] << "]" << std::endl; 

  std::cout << "[ " << m[2][0] << " " << m[2][1] << " " << m[2][2] << "]" << std::endl; 

}

tests/FrameCameraTests.cpp

+19 −38
Original line number Diff line number Diff line
@@ -90,8 +90,6 @@ TEST_F(FrameSensorModel, setFocalPlane1) { 
  csm::ImageCoord imagePt(7.5, 7.5);

  double ux,uy;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);



  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);
@@ -111,7 +109,6 @@ TEST_F(FrameSensorModel, setFocalPlane1) { 
TEST_F(FrameSensorModel, Jacobian1) {

  csm::ImageCoord imagePt(7.5, 7.5);



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state["m_odtX"] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0};
@@ -136,7 +133,6 @@ TEST_F(FrameSensorModel, Jacobian1) { 
TEST_F(FrameSensorModel, distortMe_AllCoefficientsOne) {

  csm::ImageCoord imagePt(7.5, 7.5);



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state["m_odtX"] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0};
@@ -157,7 +153,6 @@ TEST_F(FrameSensorModel, distortMe_AllCoefficientsOne) { 
TEST_F(FrameSensorModel, setFocalPlane_AllCoefficientsOne) {

  csm::ImageCoord imagePt(1872.25, 1872.25);



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state["m_odtX"] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0};
@@ -181,7 +176,6 @@ TEST_F(FrameSensorModel, setFocalPlane_AllCoefficientsOne) { 
TEST_F(FrameSensorModel, distortMe_AlternatingOnes) {

  csm::ImageCoord imagePt(7.5, 7.5);



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state["m_odtX"] = {1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0};
@@ -203,7 +197,6 @@ TEST_F(FrameSensorModel, distortMe_AlternatingOnes) { 
TEST_F(FrameSensorModel, setFocalPlane_AlternatingOnes) {

  csm::ImageCoord imagePt(963.75, 908.5);



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state["m_odtX"] = {1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0,1.0,0.0};
@@ -229,7 +222,6 @@ TEST_F(FrameSensorModel, FL500_OffBody4) { 
  std::string key = "m_focalLength";

  double newValue = 500.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue;
@@ -240,10 +232,9 @@ TEST_F(FrameSensorModel, FL500_OffBody4) { 
  sensorModel->setParameterValue(2, 0.0); // Z



  modelState = sensorModel->getModelState(); 

  EXPECT_STREQ("", modelState.c_str()); 



  ASSERT_NE(sensorModel, nullptr);

  csm::ImageCoord imagePt(15.5, 15.5);

  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);
@@ -258,14 +249,13 @@ TEST_F(FrameSensorModel, FL500_OffBody3) { 
  std::string key = "m_focalLength";

  double newValue = 500.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue; 

  sensorModel->replaceModelState(state.dump()); 

  

  ASSERT_NE(sensorModel, nullptr);

  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, 9.77688917, 1e-8);

  EXPECT_NEAR(groundPt.y, 1.48533467, 1e-8);
@@ -280,7 +270,6 @@ TEST_F(FrameSensorModel, FL500_Center) { 
  std::string key = "m_focalLength";

  double newValue = 500.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue;
@@ -302,7 +291,6 @@ TEST_F(FrameSensorModel, FL500_SlightlyOffCenter) { 
  std::string key = "m_focalLength";

  double newValue = 500.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue;
@@ -322,7 +310,6 @@ TEST_F(FrameSensorModel, FL500_SlightlyOffCenter) { 
// Observer x position:

TEST_F(FrameSensorModel, X10_SlightlyOffCenter) {

   double newValue = 10.0;

//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

   sensorModel->setParameterValue(0, newValue); // X



   ASSERT_NE(sensorModel, nullptr);
@@ -339,7 +326,6 @@ TEST_F(FrameSensorModel, X10_SlightlyOffCenter) { 
TEST_F(FrameSensorModel, X1e9_SlightlyOffCenter) {

   double newValue = 1000000000.0;



//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

   sensorModel->setParameterValue(0, newValue); // X



   ASSERT_NE(sensorModel, nullptr);
@@ -357,7 +343,6 @@ TEST_F(FrameSensorModel, X1e9_SlightlyOffCenter) { 


// Angle rotations:

TEST_F(FrameSensorModel, Rotation_omegaPi_Center) {

//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);



   sensorModel->setParameterValue(3, 1.0); 

   sensorModel->setParameterValue(4, 1.0);
@@ -381,7 +366,7 @@ TEST_F(FrameSensorModel, Rotation_omegaPi_Center) { 




TEST_F(FrameSensorModel, Rotation_NPole_Center) {

//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);



  sensorModel->setParameterValue(3, 0.0); 

  sensorModel->setParameterValue(4, -1.0); 

  sensorModel->setParameterValue(5, 0.0);
@@ -404,7 +389,6 @@ TEST_F(FrameSensorModel, Rotation_NPole_Center) { 




TEST_F(FrameSensorModel, Rotation_SPole_Center) {

//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

   sensorModel->setParameterValue(4, 0.0); // phi

   sensorModel->setParameterValue(0, 0.0); // X

   sensorModel->setParameterValue(1, 0.0); // Y
@@ -427,7 +411,6 @@ TEST_F(FrameSensorModel, SemiMajorAxis100x_Center) { 
  std::string key = "m_majorAxis";

  double newValue = 1000.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue;
@@ -449,7 +432,6 @@ TEST_F(FrameSensorModel, SemiMajorAxis10x_SlightlyOffCenter) { 
  std::string key = "m_majorAxis";

  double newValue = 100.0;



//  UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

  std::string modelState = sensorModel->getModelState(); 

  auto state = json::parse(modelState);

  state[key] = newValue;
@@ -475,7 +457,6 @@ TEST_F(FrameSensorModel, SemiMinorAxis10x_SlightlyOffCenter) { 
   std::string key = "m_minorAxis";

   double newValue = 100.0;



//   UsgsAstroFrameSensorModel* sensorModel = createModel(isd);

   std::string modelState = sensorModel->getModelState(); 

   auto state = json::parse(modelState);

   state[key] = newValue;