Frame cam no bounds (#492)

* removed pixel boundary check from frame sensor model

* docstring edit

* test for pixel exceeding bounds

* changelog entry frame sensor model no bounds

* better test with EQ checks

Author: jrcain-usgs

CHANGELOG.md

@@ -36,6 +36,7 @@ release.
 ## [Unreleased]
 
 ### Fixed
+- Removed boundary checks for Frame Sensor Model getSensorPosition [#492](https://github.com/DOI-USGS/usgscsm/pull/492)
 - Fixed CAHVOR model optical shifts by removing tolerance check [#488](https://github.com/DOI-USGS/usgscsm/issues/488)
 
 ## [2.0.1] - 2024-01-23

include/usgscsm/UsgsAstroFrameSensorModel.h

@@ -118,7 +118,7 @@ class UsgsAstroFrameSensorModel : public csm::RasterGM,
    *
    * @return @b csm::EcefCoord Returns the body-fixed sensor position.
    *
-   * @throw csm::Error::BOUNDS "Image coordinate () out of bounds."
+   * @throw csm::Error::BOUNDS "Image time () out of bounds."
    */
   virtual csm::EcefCoord getSensorPosition(
       const csm::ImageCoord &imagePt) const;

src/UsgsAstroFrameSensorModel.cpp

@@ -723,26 +723,13 @@ csm::EcefCoord UsgsAstroFrameSensorModel::getSensorPosition(
     spdlog::level::debug,
     "Accessing sensor position for image point {}, {}",
     imagePt.line, imagePt.samp);
-  // check if the image point is in range
-  if (imagePt.samp >= m_startingDetectorSample &&
-      imagePt.samp <= (m_startingDetectorSample + m_nSamples) &&
-      imagePt.line >= m_startingDetectorSample &&
-      imagePt.line <= (m_startingDetectorLine + m_nLines)) {
-    csm::EcefCoord sensorPosition;
-    sensorPosition.x = m_currentParameterValue[0];
-    sensorPosition.y = m_currentParameterValue[1];
-    sensorPosition.z = m_currentParameterValue[2];
+    
+  csm::EcefCoord sensorPosition;
+  sensorPosition.x = m_currentParameterValue[0];
+  sensorPosition.y = m_currentParameterValue[1];
+  sensorPosition.z = m_currentParameterValue[2];
 
-    return sensorPosition;
-  } else {
-    MESSAGE_LOG(
-        spdlog::level::err,
-        "ERROR: UsgsAstroFrameSensorModel::getSensorPosition: "
-        "Image Coordinate {},{} out of Bounds",
-        imagePt.line, imagePt.samp);
-    throw csm::Error(csm::Error::BOUNDS, "Image Coordinate out of Bounds",
-                     "UsgsAstroFrameSensorModel::getSensorPosition");
-  }
+  return sensorPosition;
 }
 
 /**

tests/FrameCameraTests.cpp

@@ -531,6 +531,14 @@ TEST_F(FrameSensorModelLogging, GetSensorPositionPixel) {
   sensorModel->getSensorPosition(imagePt);
 }
 
+TEST_F(FrameSensorModelLogging, GetSensorPositionPixelExceedsBounds) {
+  csm::ImageCoord imagePt(-1, -1);
+  csm::EcefCoord sensorPos = sensorModel->getSensorPosition(imagePt);
+  EXPECT_EQ(sensorPos.x, 1000);
+  EXPECT_EQ(sensorPos.y, 0);
+  EXPECT_EQ(sensorPos.z, 0);
+}
+
 TEST_F(FrameSensorModelLogging, GetSensorPositionTime) {
   csm::ImageCoord imagePt(7.5, 7.5);
   double time = sensorModel->getImageTime(imagePt);