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Unit test and truth data for OsirisREx tagcams instruments. Addresses D…
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…OI-USGS#5424.
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@kledmundson
kledmundson committed Mar 10, 2024
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84 changes: 84 additions & 0 deletions isis/src/osirisrex/objs/OsirisRexTagcamsCamera/OsirisRexTagcamsCamera.truth
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Unit Test for OsirisRexTagcamsCamera...

Testing NAVCam (backwards compatibility)...
FileName: 20200303T213031S138_ncm_L0-reduced.cub
NAIF Frame ID: -64081

Kernel IDs:
CK Frame ID = -64000
CK Reference ID = 1
SPK Target ID = -64
SPK Reference ID = 1

Spacecraft Name Long: OSIRIS-REx
Spacecraft Name Short: OSIRIS-REx
Instrument Name Long: Primary Optical Navigation (NCM) Camera
Instrument Name Short: NAVCam

Shutter open = 636543100.323429942
Shutter close = 636543100.323434234

For upper left corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For upper right corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For lower left corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For lower right corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For known pixel position (129.500000000, 97.000000000...
Latitude OK
Longitude OK
============================================================================

Testing NFTCam (backwards compatibility)...
FileName: 20201020T214241S004_nft_L0-reduced.cub
NAIF Frame ID: -64082

Kernel IDs:
CK Frame ID = -64000
CK Reference ID = 1
SPK Target ID = -64
SPK Reference ID = 1

Spacecraft Name Long: OSIRIS-REx
Spacecraft Name Short: OSIRIS-REx
Instrument Name Long: Natural Feature Tracking (NFT) Camera
Instrument Name Short: NFTCam

Shutter open = 656502230.156404018
Shutter close = 656502230.156409860

For upper left corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For upper right corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For lower left corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For lower right corner ...
DeltaSample = 0.000000000
DeltaLine = 0.000000000

For known pixel position (129.500000000, 97.000000000...
Latitude OK
Longitude OK
============================================================================

Testing StowCam (backwards compatibility)...

TODO: COMPLETE IF/WHEN NAIF KERNELS AVAILABLE; CURRENT IK IS PLACEHOLDER.
============================================================================
128 changes: 54 additions & 74 deletions isis/src/osirisrex/objs/OsirisRexTagcamsCamera/unitTest.cpp
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/**
* @file
*
* Unless noted otherwise, the portions of Isis written by the USGS are public
* domain. See individual third-party library and package descriptions for
* intellectual property information,user agreements, and related information.
*
* Although Isis has been used by the USGS, no warranty, expressed or implied,
* is made by the USGS as to the accuracy and functioning of such software
* and related material nor shall the fact of distribution constitute any such
* warranty, and no responsibility is assumed by the USGS in connection
* therewith.
*
* For additional information, launch
* $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
* the Privacy & Disclaimers page on the Isis website,
* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
* http://www.usgs.gov/privacy.html.
*/
/** This is free and unencumbered software released into the public domain.
The authors of ISIS do not claim copyright on the contents of this file.
For more details about the LICENSE terms and the AUTHORS, you will
find files of those names at the top level of this repository. **/

/* SPDX-License-Identifier: CC0-1.0 */

#include <iomanip>
#include <iostream>

#include "Camera.h"
#include "CameraFactory.h"
#include "IException.h"
#include "iTime.h"
#include "OsirisRexOcamsCamera.h"
#include "OsirisRexTagcamsCamera.h"
#include "Preference.h"
#include "Pvl.h"
#include "PvlGroup.h"
Expand All @@ -36,70 +25,58 @@ void testCamera(Cube &c, double sample, double line, double knownLat, double kno
void testLineSamp(Camera *cam, double sample, double line);

/**
* This is the unit test for the Osiris Rex Camera model.
* OSIRIS-REx Tagcams Camera model unit test for instruments NAVCam, NFTCam
* (and perhaps someday, StowCam).
*
* @author 2015-11-10 Stuart C. Sides
* @author 2024-03-01 Ken Edmundson
* @internal
* @history 2015-11-10 Stuart C. Sides - Original version (PolyCam test).
* @history 2016-12-27 Jeannie Backer - Added test for MapCam. Added placeholder
* for SamCam test (when we have an image we can spiceinit).
* @history 2017-08-29 Jeannie Backer - Added test for PolyCam and MapCam with
* PolyCamFocusPositionNaifId keyword.
* @history 2017-09-18 Kristin Berry - Updated known latitudes and longitudes for the addition of
* the distortion model. (For non-backwards compatibility MapCam cube
* only, since we do not yet have a PolyCam cube with a motor position
* that we have a distortion solution for.)
* @history 2024-03-01 Ken Edmundson - Initial version.
*
*/

int main(void) {
Preference::Preferences(true);

cout << "Unit Test for OsirisRexOcamsCamera..." << endl;
cout << "Unit Test for OsirisRexTagcamsCamera..." << endl;
try {

cout << "\nTesting PolyCam (backwards compatibility)..." << endl;
Cube polyCamCube("$osirisrex/testData/2019-01-13T23_36_05.000_PCAM_L2b_V001.cub", "r");
double knownLat = 13.9465663689936950;
double knownLon = 349.0213035062322433;
double sample = 512.0;
double line = 512.0;
testCamera(polyCamCube, sample, line, knownLat, knownLon);
cout << "\nTesting PolyCam (with PolyCamFocusPositionNaifId keyword)..." << endl;
Cube polyCamCube2("$osirisrex/testData/20190113T191852S740_pol_iofL2pan_V001.cub", "r");
knownLat = -5.5191879351483450;
knownLon = 349.6939492565607566;
sample = 512.0;
line = 512.0;
testCamera(polyCamCube2, sample, line, knownLat, knownLon);
cout << "\nTesting NAVCam (backwards compatibility)..." << endl;
Cube navCube(FileName("$ISISROOT/../isis/tests/data/osirisRexImages/20200303T213031S138_ncm_L0-reduced.cub").expanded(), "r");

// checking at center of format of NavCam
double knownLat = 49.7487786981275;
double knownLon = 43.7549667753273;
double sample = 129.5;
double line = 97.0;

testCamera(navCube, sample, line, knownLat, knownLon);
cout << "============================================================================" << endl;

cout << "\nTesting MapCam (backwards compatibility)..." << endl;
Cube mapCamCube("$osirisrex/testData/D19030320000.cub", "r");
knownLat = 73.9976065262802933;
knownLon = 149.3814386120742768;
sample = 512.0;
line = 512.0;
testCamera(mapCamCube, sample, line, knownLat, knownLon);
cout << "\nTesting MapCam (with PolyCamFocusPositionNaifId keyword)..." << endl;
Cube mapCamCube2("$osirisrex/testData/20190303T100344S990_map_iofL2pan_V001.cub", "r");
knownLat = -19.2946930665326732;
knownLon = 145.9510736765638512;
sample = 512.0;
line = 512.0;
testCamera(mapCamCube2, sample, line, knownLat, knownLon);
cout << "\nTesting NFTCam (backwards compatibility)..." << endl;
Cube nftCube(FileName("$ISISROOT/../isis/tests/data/osirisRexImages/20201020T214241S004_nft_L0-reduced.cub").expanded(), "r");

// checking at center of format of NftCam
knownLat = 53.7314045659365;
knownLon = 45.4736806050086;
sample = 129.5;
line = 97.0;

testCamera(nftCube, sample, line, knownLat, knownLon);
cout << "============================================================================" << endl;

// TODO: COMPLETE IF/WHEN NAIF HAS PROVIDED KERNELS FOR STOWCAM. CURRENT IK IS LABELED AS
// PLACEHOLDER ONLY.

cout << "\nTesting StowCam (backwards compatibility)..." << endl;
cout << "\nTODO: COMPLETE IF/WHEN NAIF KERNELS AVAILABLE; CURRENT IK IS PLACEHOLDER." << endl;
/*
cout << "\nTesting SamCam..." << endl;
Cube samCamCube("$osirisrex/testData/20141111T202650_SCAM_L2_V001_SCAM.cub", "r");
Cube stowCube(placeholder, "r");
knownLat = 0.0;
knownLon = 0.0;
sample = 512.0;
line = 512.0;
testCamera(samCamCube, sample, line, knownLat, knownLon);
cout << "============================================================================" << endl;
sample = 1296.0;
line = 972.0;
testCamera(stowCube, sample, line, knownLat, knownLon);
*/
cout << "============================================================================" << endl;
}
catch (IException &e) {
cout << "Failed unitTest." << endl;
Expand All @@ -111,7 +88,7 @@ void testCamera(Cube &cube,
double sample, double line,
double knownLat, double knownLon) {

OsirisRexOcamsCamera *cam = (OsirisRexOcamsCamera *) CameraFactory::Create(cube);
OsirisRexTagcamsCamera *cam = (OsirisRexTagcamsCamera *) CameraFactory::Create(cube);
cout << "FileName: " << FileName(cube.fileName()).name() << endl;
cout << "NAIF Frame ID: " << cam->instrumentRotation()->Frame() << endl << endl;
cout.setf(std::ios::fixed);
Expand Down Expand Up @@ -145,15 +122,18 @@ void testCamera(Cube &cube,
testLineSamp(cam, 1.0, 1.0);

cout << "For upper right corner ..." << endl;
testLineSamp(cam, 1024.0, 1.0);
// testLineSamp(cam, 2596.0, 1.0);
testLineSamp(cam, 259.0, 1.0);

cout << "For lower left corner ..." << endl;
testLineSamp(cam, 1.0, 1024.0);
// testLineSamp(cam, 1.0, 1944.0);
testLineSamp(cam, 1.0, 194.0);

cout << "For lower right corner ..." << endl;
testLineSamp(cam, 1024.0, 1024.0);
// testLineSamp(cam, 2596.0, 1944.0);
testLineSamp(cam, 259.0, 194.0);

cout << "For known pixel position ..." << endl;
cout << "For known pixel position (" << sample << ", " << line << "..." << endl;
if (!cam->SetImage(sample, line)) {
throw IException(IException::Unknown, "ERROR setting image to known position.", _FILEINFO_);
}
Expand All @@ -174,9 +154,9 @@ void testCamera(Cube &cube,

void testLineSamp(Camera *cam, double samp, double line) {
bool success = cam->SetImage(samp, line);

if (success) {
success = cam->SetUniversalGround(cam->UniversalLatitude(), cam->UniversalLongitude());
success = cam->SetUniversalGround(cam->UniversalLatitude(), cam->UniversalLongitude());
}

if (success) {
Expand Down

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