Commit b2ae4b31 authored by Jesse Mapel's avatar Jesse Mapel
Browse files

Added ground partials test and orbital framer ISD

parent 8c56e3d4

tests/Fixtures.h

+27 −0
Original line number Diff line number Diff line
@@ -62,6 +62,33 @@ class FrameSensorModel : public ::testing::Test { 
      }

};



class OrbitalFrameSensorModel : public ::testing::Test {

   protected:

      csm::Isd isd;

      UsgsAstroFrameSensorModel *sensorModel;



      void SetUp() override {

         sensorModel = NULL;



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

         UsgsAstroPlugin frameCameraPlugin;



         csm::Model *model = frameCameraPlugin.constructModelFromISD(

               isd,

               "USGS_ASTRO_FRAME_SENSOR_MODEL");

         sensorModel = dynamic_cast<UsgsAstroFrameSensorModel *>(model);



         ASSERT_NE(sensorModel, nullptr);

      }



      void TearDown() override {

         if (sensorModel) {

            delete sensorModel;

            sensorModel = NULL;

         }

      }

};



class FrameIsdTest : public ::testing::Test {

   protected:

      csm::Isd isd;

tests/FrameCameraTests.cpp

+23 −0
Original line number Diff line number Diff line
@@ -79,6 +79,29 @@ TEST_F(FrameSensorModel, getImageIdentifier) { 
  EXPECT_EQ("simpleFramerISD", sensorModel->getImageIdentifier());

}



TEST_F(OrbitalFrameSensorModel, Center) {

   csm::ImageCoord imagePt(8.0, 8.0);

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

   EXPECT_DOUBLE_EQ(groundPt.x, 1000000.0);

   EXPECT_DOUBLE_EQ(groundPt.y, 0);

   EXPECT_DOUBLE_EQ(groundPt.z, 0);

}



TEST_F(OrbitalFrameSensorModel, GroundPartials) {

   csm::EcefCoord groundPt(1000000.0, 0.0, 0.0);

   std::vector<double> partials = sensorModel->computeGroundPartials(groundPt);

   // Pixels are 100m

   // lines are increasing z and samples are increasing y in body fixed

   // lines partials should be 0 except for the z partial which should be 1/100

   // sample partials should be 0 except for the y partial which should be 1/100

   EXPECT_DOUBLE_EQ(partials[0], 0.0);

   EXPECT_DOUBLE_EQ(partials[1], 0.0);

   EXPECT_DOUBLE_EQ(partials[2], 1 / 100.0);

   EXPECT_DOUBLE_EQ(partials[3], 0.0);

   EXPECT_DOUBLE_EQ(partials[4], 1 / 100.0);

   EXPECT_DOUBLE_EQ(partials[5], 0.0);

}





// Focal Length Tests:

TEST_F(FrameStateTest, FL500_OffBody4) {

tests/data/orbitalFramer.json

0 → 100644
+59 −0
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{

  "name_model" : "USGS_ASTRO_FRAME_SENSOR_MODEL",

  "name_platform" : "TEST_PLATFORM",

  "name_sensor" : "TEST_SENSOR",

  "center_ephemeris_time": 1000.0,

  "detector_sample_summing": 1,

  "detector_line_summing": 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" : 8.0,

    "sample" : 8.0

  },

  "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]

    ],

    "velocities": [

      [ 0.0, 0.0, -1.0]

    ]

  },

  "sensor_orientation": {

    "quaternions": [

      [0.0, -0.707106781186547, 0, 0.707106781186547]

    ]

  },

  "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"

  }

}