Added more LS tests (#207) (52649bc0) · Commits · aflab / astrogeology / Usgscsm

tests/Fixtures.h

+27 −0

Original line number	Diff line number	Diff line
		@@ -200,6 +200,33 @@ class ConstAngularVelocityLineScanSensorModel : public ::testing::Test {
		}
		};

		class OrbitalLineScanSensorModel : public ::testing::Test {
		protected:
		csm::Isd isd;
		UsgsAstroLsSensorModel *sensorModel;

		void SetUp() override {
		sensorModel = NULL;

		isd.setFilename("data/orbitalLineScan.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 −0

Original line number	Diff line number	Diff line
		@@ -121,3 +121,60 @@ TEST_F(ConstVelocityLineScanSensorModel, calculateAttitudeCorrection) {
		EXPECT_NEAR(attCorr[7], 0, 1e-8);
		EXPECT_NEAR(attCorr[8], 0, 1e-8);
		}

		TEST_F(OrbitalLineScanSensorModel, Center) {
		csm::ImageCoord imagePt(8.5, 8.0);
		csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
		EXPECT_DOUBLE_EQ(groundPt.x, 999999.680000017);
		EXPECT_DOUBLE_EQ(groundPt.y, 0.0);
		EXPECT_DOUBLE_EQ(groundPt.z, -799.99991466668735);
		}

		TEST_F(OrbitalLineScanSensorModel, Inversion) {
		for (double line = 0.5; line < 16; line++) {
		csm::ImageCoord imagePt(line, 8);
		csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 0.0);
		csm::ImageCoord imageReprojPt = sensorModel->groundToImage(groundPt);

		// groundToImage has a default precision of 0.001m and each pixel is 100m
		// so we should be within 0.1 pixels
		EXPECT_NEAR(imagePt.line, imageReprojPt.line, 0.1);
		EXPECT_NEAR(imagePt.samp, imageReprojPt.samp, 0.1);
		}
		}

		TEST_F(OrbitalLineScanSensorModel, ImageToGroundHeight) {
		csm::ImageCoord imagePt(8.5, 8);
		csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 100.0);
		double height = sqrt(groundPt.x*groundPt.x +
		groundPt.y*groundPt.y +
		groundPt.z*groundPt.z);

		EXPECT_DOUBLE_EQ(height, 1000100);
		}

		TEST_F(OrbitalLineScanSensorModel, InversionHeight) {
		for (double line = 0.5; line < 16; line++) {
		csm::ImageCoord imagePt(line, 8);
		csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 100.0);
		csm::ImageCoord imageReprojPt = sensorModel->groundToImage(groundPt);

		// groundToImage has a default precision of 0.001m and each pixel is 100m
		// so we should be within 0.1 pixels
		EXPECT_NEAR(imagePt.line, imageReprojPt.line, 0.1);
		EXPECT_NEAR(imagePt.samp, imageReprojPt.samp, 0.1);
		}
		}

		TEST_F(OrbitalLineScanSensorModel, InversionReallyHigh) {
		for (double line = 0.5; line < 16; line++) {
		csm::ImageCoord imagePt(line, 8);
		csm::EcefCoord groundPt = sensorModel->imageToGround(imagePt, 49000.0);
		csm::ImageCoord imageReprojPt = sensorModel->groundToImage(groundPt);

		// groundToImage has a default precision of 0.001m and each pixel is 2m
		// so we should be within 0.002 pixels
		EXPECT_NEAR(imagePt.line, imageReprojPt.line, 0.002);
		EXPECT_NEAR(imagePt.samp, imageReprojPt.samp, 0.002);
		}
		}

tests/data/orbitalLineScan.json

0 → 100644

+113 −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": 0.1,
		"t0_quaternion": -0.8,
		"dt_quaternion": 0.1,
		"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": 1000,
		"semiminor": 1000,
		"unit":"km"
		},
		"reference_height": {
		"maxheight": 1000,
		"minheight": -1000,
		"unit": "m"
		},
		"sensor_position": {
		"unit": "km",
		"positions": [
		[1050.0, 0.0, 0.0],
		[1049.99999475, 0.0, -0.104999999825],
		[1049.9999790000002, 0.0, -0.2099999986],
		[1049.9999527500004, 0.0, -0.3149999952750001],
		[1049.9999160000013, 0.0, -0.4199999888000002],
		[1049.9998687500029, 0.0, -0.5249999781250003],
		[1049.9998110000056, 0.0, -0.6299999622000008],
		[1049.9997427500105, 0.0, -0.7349999399750016],
		[1049.999664000018, 0.0, -0.839999910400003],
		[1049.9995747500286, 0.0, -0.9449998724250054],
		[1049.999475000044, 0.0, -1.049999825000009],
		[1049.999364750064, 0.0, -1.1549997670750143],
		[1049.9992440000908, 0.0, -1.259999697600022],
		[1049.9991127501248, 0.0, -1.3649996155250328],
		[1049.9989710001682, 0.0, -1.4699995198000473],
		[1049.9988187502213, 0.0, -1.5749994093750666]
		],
		"velocities": [
		[ 0.0, 0.0, -1.0],
		[-0.0000999999998333, 0.0, -0.999999995],
		[-0.0001999999986667, 0.0, -0.9999999800000001],
		[-0.0002999999955, 0.0, -0.9999999550000004],
		[-0.0003999999893333, 0.0, -0.9999999200000013],
		[-0.0004999999791667, 0.0, -0.9999998750000026],
		[-0.000599999964, 0.0, -0.9999998200000054],
		[-0.0006999999428333, 0.0, -0.9999997550000099],
		[-0.0007999999146667, 0.0, -0.999999680000017],
		[-0.0008999998785, 0.0, -0.9999995950000273],
		[-0.0009999998333333, 0.0, -0.9999995000000418],
		[-0.0010999997781667, 0.0, -0.999999395000061],
		[-0.001199999712, 0.0, -0.9999992800000864],
		[-0.0012999996338334, 0.0, -0.9999991550001189],
		[-0.0013999995426667, 0.0, -0.9999990200001602],
		[-0.0014999994375001, 0.0, -0.9999988750002108]
		]
		},
		"sensor_orientation": {
		"quaternions": [
		[0.0, 0.707106781186547, 0, 0.707106781186547],
		[0.0, 0.70707142496362, 0, -0.707142135641709],
		[0.0, 0.707036066973013, 0, -0.707177488329014],
		[0.0, 0.707000707214816, 0, -0.707212839248377],
		[0.0, 0.706965345689117, 0, -0.707248188399706],
		[0.0, 0.706929982396005, 0, -0.707283535782916],
		[0.0, 0.706894617335569, 0, -0.707318881397917],
		[0.0, 0.706859250507895, 0, -0.70735422524462],
		[0.0, 0.706823881913074, 0, -0.707389567322938],
		[0.0, 0.706788511551192, 0, -0.707424907632782],
		[0.0, 0.70675313942234, 0, -0.707460246174064],
		[0.0, 0.706717765526604, 0, -0.707495582946695],
		[0.0, 0.706682389864075, 0, -0.707530917950587],
		[0.0, 0.706647012434839, 0, -0.707566251185652],
		[0.0, 0.706611633238985, 0, -0.707601582651801],
		[0.0, 0.706576252276603, 0, -0.707636912348946]
		]
		},
		"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"
		}
		}