From 463a5f43984a064c73963e9ca64f7ae5c0ab2c0e Mon Sep 17 00:00:00 2001 From: Oleg Alexandrov Date: Thu, 5 May 2022 09:19:56 -0700 Subject: [PATCH] Add test for desired precision in usgscsm_cam_test, and a CTX dataset which is useful for testing distortion issues --- bin/usgscsm_cam_test.cc | 30 +- docs/source/tools/usgscsm_cam_test.rst | 4 + tests/CMakeLists.txt | 2 +- tests/Fixtures.h | 2 +- tests/data/ctxLineScan.json | 2516 ++++++++++++++++++++++++ 5 files changed, 2546 insertions(+), 8 deletions(-) create mode 100644 tests/data/ctxLineScan.json diff --git a/bin/usgscsm_cam_test.cc b/bin/usgscsm_cam_test.cc index e514c00a0..2e2b39566 100644 --- a/bin/usgscsm_cam_test.cc +++ b/bin/usgscsm_cam_test.cc @@ -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 & errors) { +void printErrors(std::vector & 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 & 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 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; diff --git a/docs/source/tools/usgscsm_cam_test.rst b/docs/source/tools/usgscsm_cam_test.rst index 19fa3281c..3fb1b92ef 100644 --- a/docs/source/tools/usgscsm_cam_test.rst +++ b/docs/source/tools/usgscsm_cam_test.rst @@ -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 + Use this value for operations (ground-to-image and image-to-ground) + which need a precision value. Measured in pixels. + --help Print the usage message. diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index ebb298318..721ef0649 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -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 diff --git a/tests/Fixtures.h b/tests/Fixtures.h index 875103288..35a225184 100644 --- a/tests/Fixtures.h +++ b/tests/Fixtures.h @@ -252,7 +252,7 @@ class OrbitalLineScanSensorModel : public ::testing::Test { isd.setFilename("data/orbitalLineScan.img"); UsgsAstroPlugin cameraPlugin; - model = std::shared_ptr(cameraPlugin.constructModelFromISD( + model = std::shared_ptr(cameraPlugin.constructModelFromISD( isd, UsgsAstroLsSensorModel::_SENSOR_MODEL_NAME)); sensorModel = dynamic_cast(model.get()); diff --git a/tests/data/ctxLineScan.json b/tests/data/ctxLineScan.json new file mode 100644 index 000000000..c69838e56 --- /dev/null +++ b/tests/data/ctxLineScan.json @@ -0,0 +1,2516 @@ +{ + "isis_camera_version": 1, + "image_lines": 11264, + "image_samples": 5000, + "name_platform": "Mars_Reconnaissance_Orbiter", + "name_sensor": "CONTEXT CAMERA", + "reference_height": { + "maxheight": 1000, + "minheight": 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