Commit b594fd57 authored by Oleg Alexandrov's avatar Oleg Alexandrov Committed by Jesse Mapel
Browse files

Add test for desired precision in usgscsm_cam_test, and a CTX dataset which is... 

Add test for desired precision in usgscsm_cam_test, and a CTX dataset which is useful for testing distortion issues
parent ed1778d4

bin/usgscsm_cam_test.cc

+24 −6
Original line number Diff line number Diff line
@@ -23,8 +23,9 @@ struct Options { 
  std::string model;              // the .json file in isd or model state format

  std::string output_model_state; // the output model state in .json format

  int sample_rate;

  double subpixel_offset, height_above_datum;

  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0) {}

  double subpixel_offset, height_above_datum, desired_precision;

  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0), desired_precision(0.0)

  {}

};



void printUsage(std::string const& progName) {
@@ -85,11 +86,15 @@ bool parseOptions(int argc, char **argv, Options & opt) { 
    return false;

  }



  if (parsed_options["desired-precision"].empty())

    parsed_options["desired-precision"] = "0.001"; // set default value



  // Collect all other option values. If not set, the values will default to 0.

  opt.output_model_state = parsed_options["output-model-state"];

  opt.sample_rate        = sample_rate_double;

  opt.subpixel_offset    = atof(parsed_options["subpixel-offset"].c_str());

  opt.height_above_datum = atof(parsed_options["height-above-datum"].c_str());

  opt.desired_precision  = atof(parsed_options["desired-precision"].c_str());



  return true;

}
@@ -116,7 +121,8 @@ bool readFileInString(std::string const& filename, std::string & str) { 
}



// Sort the errors and print some stats

void printErrors(std::vector<double> & errors) {

void printErrors(std::vector<double> & errors, double desired_precision,

                 double max_achieved_precision) {

  std::sort(errors.begin(), errors.end());



  if (errors.empty()) {
@@ -129,6 +135,10 @@ void printErrors(std::vector<double> & errors) { 
  std::cout << "Median: " << errors[errors.size()/2] << "\n";

  std::cout << "Max:    " << errors.back() << "\n";

  std::cout << "Count:  " << errors.size() << "\n";



  std::cout << std::endl;

  std::cout << "Desired precision: " << desired_precision << std::endl;

  std::cout << "Max achieved precision: " << max_achieved_precision << std::endl;

}



double pixDiffNorm(csm::ImageCoord const& a, csm::ImageCoord const& b) {
@@ -237,17 +247,25 @@ int main(int argc, char **argv) { 
    std::cout << "Row and column sample rate: " << opt.sample_rate << "\n";

    std::cout << "Subpixel offset for each pixel: " << opt.subpixel_offset << "\n";

    std::cout << "Ground height (relative to datum): " << opt.height_above_datum << "\n";

    double max_achieved_precision = 0.0;

    std::vector<double> errors;

    for (int samp = 0; samp < image_size.samp; samp += opt.sample_rate) {

      for (int line = 0; line < image_size.line; line += opt.sample_rate) {

        csm::ImageCoord c(line + opt.subpixel_offset, samp + opt.subpixel_offset);

        csm::EcefCoord ground = model->imageToGround(c, opt.height_above_datum);

        csm::ImageCoord d = model->groundToImage(ground);

        

        double achieved_precision = 0.0;

        csm::EcefCoord ground = model->imageToGround(c, opt.height_above_datum,

                                                     opt.desired_precision, &achieved_precision);

        max_achieved_precision = std::max(max_achieved_precision, achieved_precision);



        csm::ImageCoord d = model->groundToImage(ground, opt.desired_precision,

                                                 &achieved_precision);

        max_achieved_precision = std::max(max_achieved_precision, achieved_precision);

        double error = pixDiffNorm(c, d);

        errors.push_back(error);

      }   

    }

    printErrors(errors);

    printErrors(errors, opt.desired_precision, max_achieved_precision);

  }

    

  return 0;

docs/source/tools/usgscsm_cam_test.rst

+4 −0
Original line number Diff line number Diff line
@@ -39,5 +39,9 @@ Command line options 
    Let the ground be obtained from the datum for this camera by 

    adding to its radii this value (the units are meters).



--desired-precision <double (default: 0.001)>

    Use this value for operations (ground-to-image and image-to-ground)

    which need a precision value. Measured in pixels.



--help <no value>

    Print the usage message.

tests/CMakeLists.txt

+1 −1
Original line number Diff line number Diff line
@@ -26,7 +26,7 @@ endif() 
# uses as input the output of the first test.

# 1. Save the model state for an ISD camera model.

add_test(NAME test_usgscsm_cam_test_save_state

    COMMAND usgscsm_cam_test --model data/toughLroNacLineScan.json  --sample-rate 100 --subpixel-offset 0.3 --height-above-datum 2307.5 --output-model-state model_state.json

    COMMAND usgscsm_cam_test --model data/toughLroNacLineScan.json  --sample-rate 100 --subpixel-offset 0.3 --height-above-datum 2307.5 --desired-precision 1e-8 --output-model-state model_state.json

    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/tests)

# 2. Load back the state and save it again.

add_test(NAME test_usgscsm_cam_test_load_state

tests/data/ctxLineScan.json

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tests/Fixtures.h

+1 −1

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