Commit bc3a612b authored by Summer Stapleton's avatar Summer Stapleton Committed by Jesse Mapel
Browse files

Gtests for Utilities.cpp (#181) 

* Finishing modularization of UsgsAstroLsSensorModel::computeViewingPixel

* Fixes per request

* Removing ISIS references in variable names while I'm here

* Beginning to implement tests for modularization changes in LS sensor model class

* Adding tests for Utilities as well as a few minor modifications

* Making suggested changes and adding test for caculateAttitudeCorrection

* Fixing vector size
parent 674166dd

include/usgscsm/UsgsAstroLsSensorModel.h

+5 −5
Original line number Diff line number Diff line
@@ -891,6 +891,11 @@ public: 
   //> This method sets the planetary ellipsoid.

   //<



   void calculateAttitudeCorrection(

       const double& time,

       const std::vector<double>& adj,

       double attCorr[9]) const;



private:



   void determineSensorCovarianceInImageSpace(
@@ -923,11 +928,6 @@ private: 
   void getQuaternions(const double& time,

                       double quaternion[4]) const;



   void calculateAttitudeCorrection(

       const double& time,

       const std::vector<double>& adj,

       double attCorr[9]) const;



// This method computes the imaging locus.

// imaging locus : set of ground points associated with an image pixel.

   void losToEcf(

include/usgscsm/Utilities.h

+3 −4
Original line number Diff line number Diff line
@@ -15,7 +15,7 @@ 
// for now, put everything in here.

// TODO: later, consider if it makes sense to pull sample/line offsets out

// Compute distorted focalPlane coordinates in mm

std::tuple<double, double> computeDistortedFocalPlaneCoordinates(

void computeDistortedFocalPlaneCoordinates(

  const double& line,

  const double& sample,

  const double& sampleOrigin,
@@ -24,7 +24,8 @@ std::tuple<double, double> computeDistortedFocalPlaneCoordinates( 
  const double& startingSample,

  const double& lineOffset,

  const double iTransS[],

  const double iTransL[]);

  const double iTransL[],

  std::tuple<double, double>& natFocalPlane);



void calculateRotationMatrixFromQuaternions(

  double quaternions[4],
@@ -39,8 +40,6 @@ void createCameraLookVector( 
  const double& undistortedFocalPlaneY,

  const double& zDirection,

  const double& focalLength,

  const double& focalLengthBias,

  const double& halfSwath,

  double cameraLook[]);



//void calculateAttitudeCorrection(

src/UsgsAstroLsSensorModel.cpp

+7 −3
Original line number Diff line number Diff line
@@ -1657,7 +1657,11 @@ void UsgsAstroLsSensorModel::getQuaternions(const double& time, double q[4]) con 
}





void UsgsAstroLsSensorModel::calculateAttitudeCorrection(const double& time, const std::vector<double>& adj, double attCorr[9]) const {

void UsgsAstroLsSensorModel::calculateAttitudeCorrection(

   const double& time,

   const std::vector<double>& adj,

   double attCorr[9]) const

{

  double aTime = time - m_t0Quat;

  double euler[3];

  double nTime = aTime / m_halfTime;
@@ -1704,7 +1708,7 @@ void UsgsAstroLsSensorModel::losToEcf( 


   // Compute distorted image coordinates in mm (sample, line on image (pixels) -> focal plane

   std::tuple<double, double> natFocalPlane;

   natFocalPlane = computeDistortedFocalPlaneCoordinates(fractionalLine, sampleUSGSFull, m_detectorSampleOrigin, m_detectorLineOrigin, m_detectorSampleSumming, m_startingSample, m_detectorLineOffset, m_iTransS, m_iTransL);

   computeDistortedFocalPlaneCoordinates(fractionalLine, sampleUSGSFull, m_detectorSampleOrigin, m_detectorLineOrigin, m_detectorSampleSumming, m_startingSample, m_detectorLineOffset, m_iTransS, m_iTransL, natFocalPlane);



   // Remove lens distortion

   std::tuple<double, double> undistortedPoint;
@@ -1712,7 +1716,7 @@ void UsgsAstroLsSensorModel::losToEcf( 


  // Define imaging ray (look vector) in camera space

   double cameraLook[3];

   createCameraLookVector(std::get<0>(undistortedPoint), std::get<1>(undistortedPoint), m_zDirection, m_focal, getValue(15, adj), m_halfSwath, cameraLook);

   createCameraLookVector(std::get<0>(undistortedPoint), std::get<1>(undistortedPoint), m_zDirection, m_focal, cameraLook);



   // Apply attitude correction

   double attCorr[9];

src/Utilities.cpp

+37 −32
Original line number Diff line number Diff line
@@ -3,8 +3,10 @@ 
using json = nlohmann::json;



// Calculates a rotation matrix from Euler angles

void calculateRotationMatrixFromEuler(double euler[],

                                      double rotationMatrix[]) {

void calculateRotationMatrixFromEuler(

    double euler[],

    double rotationMatrix[])

{

  double cos_a = cos(euler[0]);

  double sin_a = sin(euler[0]);

  double cos_b = cos(euler[1]);
@@ -25,7 +27,10 @@ void calculateRotationMatrixFromEuler(double euler[], 




// uses a quaternion to calclate a rotation matrix.

void calculateRotationMatrixFromQuaternions(double q[4], double rotationMatrix[9]) {

void calculateRotationMatrixFromQuaternions(

    double q[4],

    double rotationMatrix[9])

{

  double norm = sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);

  q[0] /= norm;

  q[1] /= norm;
@@ -43,7 +48,7 @@ void calculateRotationMatrixFromQuaternions(double q[4], double rotationMatrix[9 
  rotationMatrix[8] = -q[0] * q[0] - q[1] * q[1] + q[2] * q[2] + q[3] * q[3];

}



std::tuple<double, double> computeDistortedFocalPlaneCoordinates(

void computeDistortedFocalPlaneCoordinates(

    const double& line,

    const double& sample,

    const double& sampleOrigin,
@@ -52,7 +57,9 @@ std::tuple<double, double> computeDistortedFocalPlaneCoordinates( 
    const double& startingSample,

    const double& lineOffset,

    const double iTransS[],

  const double iTransL[]) {

    const double iTransL[],

    std::tuple<double, double>& natFocalPlane)

{

  double detSample = (sample - 1.0) * sampleSumming + startingSample;

  double m11 = iTransL[1];

  double m12 = iTransL[2];
@@ -66,9 +73,8 @@ std::tuple<double, double> computeDistortedFocalPlaneCoordinates( 
  double p21 = -m21 / determinant;

  double p22 = m22 / determinant;



  double distortedLine = p11 * t1 + p12 * t2;

  double distortedSample = p21 * t1 + p22 * t2;

  return std::make_tuple(distortedLine, distortedSample);

  std::get<0>(natFocalPlane) = p11 * t1 + p12 * t2;

  std::get<1>(natFocalPlane) = p21 * t1 + p22 * t2;

};



// Define imaging ray in image space (In other words, create a look vector in camera space)
@@ -77,12 +83,11 @@ void createCameraLookVector( 
    const double& undistortedFocalPlaneY,

    const double& zDirection,

    const double& focalLength,

  const double& focalLengthBias,

  const double& halfSwath,

  double cameraLook[]) {

    double cameraLook[])

{

  cameraLook[0] = -undistortedFocalPlaneX * zDirection;

  cameraLook[1] = -undistortedFocalPlaneY * zDirection;

   cameraLook[2] = -focalLength * (1.0 - focalLengthBias / halfSwath);

  cameraLook[2] = -focalLength;

  double magnitude = sqrt(cameraLook[0] * cameraLook[0]

                + cameraLook[1] * cameraLook[1]

                + cameraLook[2] * cameraLook[2]);

tests/CMakeLists.txt

+2 −1
Original line number Diff line number Diff line
@@ -6,7 +6,8 @@ add_executable(runCSMCameraModelTests 
               FrameCameraTests.cpp

               LineScanCameraTests.cpp

               DistortionTests.cpp

               ISDParsingTests.cpp)

               ISDParsingTests.cpp

               UtilitiesTests.cpp)

if(WIN32)

  option(CMAKE_USE_WIN32_THREADS_INIT "using WIN32 threads" ON)

  option(gtest_disable_pthreads "Disable uses of pthreads in gtest." ON)