void IsisMain() {
Process p;
// Get the list of names of input CCD cubes to stitch together
FileList flist;
UserInterface &ui = Application::GetUserInterface();
flist.Read(ui.GetFilename("FROMLIST"));
if (flist.size() < 1) {
string msg = "The list file[" + ui.GetFilename("FROMLIST") +
" does not contain any filenames";
throw iException::Message(iException::User,msg,_FILEINFO_);
}
string projection("Equirectangular");
if(ui.WasEntered("MAP")) {
Pvl mapfile(ui.GetFilename("MAP"));
projection = (string) mapfile.FindGroup("Mapping")["ProjectionName"];
}
if(ui.WasEntered("PROJECTION")) {
projection = ui.GetString("PROJECTION");
}
// Gather other user inputs to projection
string lattype = ui.GetString("LATTYPE");
string londir = ui.GetString("LONDIR");
string londom = ui.GetString("LONDOM");
int digits = ui.GetInteger("PRECISION");
// Fix them for mapping group
lattype = (lattype == "PLANETOCENTRIC") ? "Planetocentric" : "Planetographic";
londir = (londir == "POSITIVEEAST") ? "PositiveEast" : "PositiveWest";
Progress prog;
prog.SetMaximumSteps(flist.size());
prog.CheckStatus();
Statistics scaleStat;
Statistics longitudeStat;
Statistics latitudeStat;
Statistics equiRadStat;
Statistics poleRadStat;
PvlObject fileset("FileSet");
// Save major equitorial and polar radii for last occuring
double eqRad;
double eq2Rad;
double poleRad;
string target("Unknown");
for (unsigned int i = 0 ; i < flist.size() ; i++) {
// Set the input image, get the camera model, and a basic mapping
// group
Cube cube;
cube.Open(flist[i]);
int lines = cube.Lines();
int samples = cube.Samples();
PvlObject fmap("File");
fmap += PvlKeyword("Name",flist[i]);
fmap += PvlKeyword("Lines", lines);
fmap += PvlKeyword("Samples", samples);
Camera *cam = cube.Camera();
Pvl mapping;
cam->BasicMapping(mapping);
PvlGroup &mapgrp = mapping.FindGroup("Mapping");
mapgrp.AddKeyword(PvlKeyword("ProjectionName",projection),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("LatitudeType",lattype),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("LongitudeDirection",londir),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("LongitudeDomain",londom),Pvl::Replace);
// Get the radii
double radii[3];
cam->Radii(radii);
eqRad = radii[0] * 1000.0;
eq2Rad = radii[1] * 1000.0;
poleRad = radii[2] * 1000.0;
target = cam->Target();
equiRadStat.AddData(&eqRad, 1);
poleRadStat.AddData(&poleRad, 1);
// Get resolution
double lowres = cam->LowestImageResolution();
double hires = cam->HighestImageResolution();
scaleStat.AddData(&lowres, 1);
scaleStat.AddData(&hires, 1);
double pixres = (lowres+hires)/2.0;
double scale = Scale(pixres, poleRad, eqRad);
mapgrp.AddKeyword(PvlKeyword("PixelResolution",pixres),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("Scale",scale,"pixels/degree"),Pvl::Replace);
mapgrp += PvlKeyword("MinPixelResolution",lowres,"meters");
mapgrp += PvlKeyword("MaxPixelResolution",hires,"meters");
// Get the universal ground range
double minlat,maxlat,minlon,maxlon;
cam->GroundRange(minlat,maxlat,minlon,maxlon,mapping);
mapgrp.AddKeyword(PvlKeyword("MinimumLatitude",minlat),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("MaximumLatitude",maxlat),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("MinimumLongitude",minlon),Pvl::Replace);
mapgrp.AddKeyword(PvlKeyword("MaximumLongitude",maxlon),Pvl::Replace);
fmap.AddGroup(mapgrp);
fileset.AddObject(fmap);
longitudeStat.AddData(&minlon, 1);
longitudeStat.AddData(&maxlon, 1);
latitudeStat.AddData(&minlat, 1);
latitudeStat.AddData(&maxlat, 1);
p.ClearInputCubes();
prog.CheckStatus();
}
// Construct the output mapping group with statistics
PvlGroup mapping("Mapping");
double avgPixRes((scaleStat.Minimum()+scaleStat.Maximum())/2.0);
double avgLat((latitudeStat.Minimum()+latitudeStat.Maximum())/2.0);
double avgLon((longitudeStat.Minimum()+longitudeStat.Maximum())/2.0);
double avgEqRad((equiRadStat.Minimum()+equiRadStat.Maximum())/2.0);
double avgPoleRad((poleRadStat.Minimum()+poleRadStat.Maximum())/2.0);
double scale = Scale(avgPixRes, avgPoleRad, avgEqRad);
mapping += PvlKeyword("ProjectionName",projection);
mapping += PvlKeyword("TargetName", target);
mapping += PvlKeyword("EquatorialRadius",eqRad,"meters");
mapping += PvlKeyword("PolarRadius",poleRad,"meters");
mapping += PvlKeyword("LatitudeType",lattype);
mapping += PvlKeyword("LongitudeDirection",londir);
mapping += PvlKeyword("LongitudeDomain",londom);
mapping += PvlKeyword("PixelResolution", SetRound(avgPixRes, digits), "meters/pixel");
mapping += PvlKeyword("Scale", SetRound(scale, digits), "pixels/degree");
mapping += PvlKeyword("MinPixelResolution",scaleStat.Minimum(),"meters");
mapping += PvlKeyword("MaxPixelResolution",scaleStat.Maximum(),"meters");
mapping += PvlKeyword("CenterLongitude", SetRound(avgLon,digits));
mapping += PvlKeyword("CenterLatitude", SetRound(avgLat,digits));
mapping += PvlKeyword("MinimumLatitude", MAX(SetFloor(latitudeStat.Minimum(),digits), -90.0));
mapping += PvlKeyword("MaximumLatitude", MIN(SetCeil(latitudeStat.Maximum(),digits), 90.0));
mapping += PvlKeyword("MinimumLongitude",MAX(SetFloor(longitudeStat.Minimum(),digits), -180.0));
mapping += PvlKeyword("MaximumLongitude",MIN(SetCeil(longitudeStat.Maximum(),digits), 360.0));
PvlKeyword clat("PreciseCenterLongitude", avgLon);
clat.AddComment("Actual Parameters without precision applied");
mapping += clat;
mapping += PvlKeyword("PreciseCenterLatitude", avgLat);
mapping += PvlKeyword("PreciseMinimumLatitude", latitudeStat.Minimum());
mapping += PvlKeyword("PreciseMaximumLatitude", latitudeStat.Maximum());
mapping += PvlKeyword("PreciseMinimumLongitude",longitudeStat.Minimum());
mapping += PvlKeyword("PreciseMaximumLongitude",longitudeStat.Maximum());
Application::GuiLog(mapping);
// Write the output file if requested
if (ui.WasEntered("TO")) {
Pvl temp;
temp.AddGroup(mapping);
temp.Write(ui.GetFilename("TO","map"));
}
if (ui.WasEntered("LOG")) {
Pvl temp;
temp.AddObject(fileset);
temp.Write(ui.GetFilename("LOG","log"));
}
p.EndProcess();
}
/** The ISIS smtk main application */
void IsisMain() {
UserInterface &ui = Application::GetUserInterface();
// Open the first cube. It is the left hand image.
Cube lhImage;
CubeAttributeInput &attLeft = ui.GetInputAttribute("FROM");
vector<QString> bandLeft = attLeft.bands();
lhImage.setVirtualBands(bandLeft);
lhImage.open(ui.GetFileName("FROM"),"r");
// Open the second cube, it is geomertricallty altered. We will be matching the
// first to this one by attempting to compute a sample/line offsets
Cube rhImage;
CubeAttributeInput &attRight = ui.GetInputAttribute("MATCH");
vector<QString> bandRight = attRight.bands();
rhImage.setVirtualBands(bandRight);
rhImage.open(ui.GetFileName("MATCH"),"r");
// Ensure only single bands
if (lhImage.bandCount() != 1 || rhImage.bandCount() != 1) {
QString msg = "Input Cubes must have only one band!";
throw IException(IException::User,msg,_FILEINFO_);
}
// Both images must have a Camera and can also have a Projection. We will
// only deal with a Camera, however as a projected, non-mosaicked image
// uses a Projection internal to the Camera object.
Camera *lhCamera = NULL;
Camera *rhCamera = NULL;
try {
lhCamera = lhImage.camera();
rhCamera = rhImage.camera();
}
catch (IException &ie) {
QString msg = "Both input images must have a camera";
throw IException(ie, IException::User, msg, _FILEINFO_);
}
// Since we are generating a DEM, we must turn off any existing
// DEM that may have been initialized with spiceinit.
lhCamera->IgnoreElevationModel(true);
rhCamera->IgnoreElevationModel(true);
// Get serial number
QString serialLeft = SerialNumber::Compose(lhImage, true);
QString serialRight = SerialNumber::Compose(rhImage, true);
// This still precludes band to band registrations.
if (serialLeft == serialRight) {
QString sLeft = FileName(lhImage.fileName()).name();
QString sRight = FileName(rhImage.fileName()).name();
if (sLeft == sRight) {
QString msg = "Cube Serial Numbers must be unique - FROM=" + serialLeft +
", MATCH=" + serialRight;
throw IException(IException::User,msg,_FILEINFO_);
}
serialLeft = sLeft;
serialRight = sRight;
}
Progress prog;
prog.SetText("Finding Initial Seeds");
int nl = lhImage.lineCount();
int ns = lhImage.sampleCount();
BigInt numAttemptedInitialPoints = 0;
// Declare Gruen matcher
SmtkMatcher matcher(ui.GetFileName("REGDEF"), &lhImage, &rhImage);
// Get line/sample linc/sinc parameters
int space = ui.GetInteger("SPACE");
int linc (space), sinc(space);
// Do we have a seed points from a control net file?
bool useseed = ui.WasEntered("CNET");
// Base points on an input cnet
SmtkQStack gstack;
double lastEigen(0.0);
if (useseed) {
ControlNet cnet(ui.GetFileName("CNET"));
prog.SetMaximumSteps(cnet.GetNumPoints());
prog.CheckStatus();
gstack.reserve(cnet.GetNumPoints());
for (int cpIndex = 0; cpIndex < cnet.GetNumPoints(); cpIndex ++) {
ControlPoint *cp = cnet.GetPoint(cpIndex);
if (!cp->IsIgnored()) {
ControlMeasure *cmLeft(0), *cmRight(0);
for(int cmIndex = 0; cmIndex < cp->GetNumMeasures(); cmIndex ++) {
ControlMeasure *cm = cp->GetMeasure(cmIndex);
if (!cm->IsIgnored()) {
if (cm->GetCubeSerialNumber() == serialLeft)
cmLeft = cp->GetMeasure(cmIndex);
if (cm->GetCubeSerialNumber() == serialRight)
cmRight = cp->GetMeasure(cmIndex);
}
}
// If we have both left and right images in the control point, save it
if ( (cmLeft != 0) && (cmRight != 0) ) {
Coordinate left = Coordinate(cmLeft->GetLine(), cmLeft->GetSample());
Coordinate right = Coordinate(cmRight->GetLine(), cmRight->GetSample());
SmtkPoint spnt = matcher.Create(left, right);
// Insert the point (unregistered)
if ( spnt.isValid() ) {
int line = (int) cmLeft->GetLine();
int samp = (int) cmLeft->GetSample();
matcher.isValid(spnt);
gstack.insert(qMakePair(line, samp), spnt);
lastEigen = spnt.GoodnessOfFit();
}
}
}
prog.CheckStatus();
}
}
else {
// We want to create a grid of control points that is N rows by M columns.
int rows = (lhImage.lineCount() + linc - 1)/linc;
int cols = (lhImage.sampleCount() + sinc - 1)/sinc;
prog.SetMaximumSteps(rows * cols);
prog.CheckStatus();
// First pass stack and eigen value statistics
SmtkQStack fpass;
fpass.reserve(rows * cols);
Statistics temp_mev;
// Loop through grid of points and get statistics to compute
// initial set of points
for (int line = linc / 2 + 1; line < nl; line += linc) {
for (int samp = sinc / 2 + 1 ; samp < ns; samp += sinc) {
numAttemptedInitialPoints ++;
SmtkPoint spnt = matcher.Register(Coordinate(line,samp));
if ( spnt.isValid() ) {
matcher.isValid(spnt);
fpass.insert(qMakePair(line, samp), spnt);
temp_mev.AddData(spnt.GoodnessOfFit());
}
prog.CheckStatus();
}
}
// Now select a subset of fpass points as the seed points
cout << "Number of Potential Seed Points: " << fpass.size() << "\n";
cout << "Min / Max Eigenvalues Matched: " << temp_mev.Minimum() << ", "
<< temp_mev.Maximum() << "\n";
// How many seed points are requested
double nseed = ui.GetDouble("NSEED");
int inseed;
if (nseed >= 1.0) inseed = (int) nseed;
else if (nseed > 0.0) inseed = (int) (nseed * (double) (fpass.size()));
else inseed = (int) ((double) (fpass.size()) * 0.05);
double seedsample = ui.GetDouble("SEEDSAMPLE");
// Generate a new stack
gstack.reserve(inseed);
while ((gstack.size() < inseed) && (!fpass.isEmpty() )) {
SmtkQStack::iterator bestm;
if (seedsample <= 0.0) {
bestm = matcher.FindSmallestEV(fpass);
}
else {
bestm = matcher.FindExpDistEV(fpass, seedsample, temp_mev.Minimum(),
temp_mev.Maximum());
}
// Add point to stack
if (bestm != fpass.end()) {
Coordinate right = bestm.value().getRight();
matcher.isValid(bestm.value());
gstack.insert(bestm.key(), bestm.value());
lastEigen = bestm.value().GoodnessOfFit();
fpass.erase(bestm);
}
}
// If a user wants to see the seed network, write it out here
if (ui.WasEntered("OSEEDNET")) {
WriteCnet(ui.GetFileName("OSEEDNET"), gstack,
lhCamera->target()->name(), serialLeft, serialRight);
}
}
///////////////////////////////////////////////////////////////////////
// All done with seed points. Sanity check ensures we actually found
// some.
///////////////////////////////////////////////////////////////////////
if (gstack.size() <= 0) {
QString msg = "No seed points found - may need to check Gruen parameters.";
throw IException(IException::User, msg, _FILEINFO_);
}
// Report seed point status
if (!useseed) {
cout << "Number of Seed Points used: " << gstack.size() << "\n";
cout << "EV of last Seed Point: " << lastEigen << "\n";
}
else {
cout << "Number of Manual Seed Points: " << gstack.size() << "\n";
}
// Use seed points (in stack) to grow
SmtkQStack bmf;
bmf.reserve(gstack.size()); // Probably need much more but for starters...
BigInt numOrigPoints = gstack.size();
BigInt passpix2 = 0;
int subcbox = ui.GetInteger("SUBCBOX");
int halfBox((subcbox-1)/2);
while (!gstack.isEmpty()) {
SmtkQStackIter cstack = matcher.FindSmallestEV(gstack);
// Print number on stack
if ((gstack.size() % 1000) == 0) {
cout << "Number on Stack: " << gstack.size()
<< ". " << cstack.value().GoodnessOfFit() << "\n";
}
// Test to see if already determined
SmtkQStackIter bmfPt = bmf.find(cstack.key());
if (bmfPt == bmf.end()) {
// Its not in the final stack, process it
// Retrieve the point
SmtkPoint spnt = cstack.value();
// Register if its not already registered
if (!spnt.isRegistered()) {
spnt = matcher.Register(spnt, spnt.getAffine());
}
// Still must check for validity if the point was just registered,
// otherwise should be good
if ( spnt.isValid() ) {
passpix2++;
bmf.insert(cstack.key(), spnt); // inserts (0,0) offset excluded below
int line = cstack.key().first;
int sample = cstack.key().second;
// Determine match points
double eigen(spnt.GoodnessOfFit());
for (int sampBox = -halfBox ; sampBox <= halfBox ; sampBox++ ) {
int csamp = sample + sampBox;
for (int lineBox = -halfBox ; lineBox <= halfBox ; lineBox++) {
int cline = line + lineBox;
if ( !( (sampBox == 0) && (lineBox == 0)) ) {// Already added above
SmtkQPair dupPair(cline, csamp);
SmtkQStackIter temp = bmf.find(dupPair);
SmtkPoint bmfpnt;
if (temp != bmf.end()) {
if (temp.value().GoodnessOfFit() > eigen) {
// Create cloned point with better fit
bmfpnt = matcher.Clone(spnt, Coordinate(cline,csamp));
}
}
else { // ISIS2 is BMF(SAMP,LINE,7) .EQ VALID_MAX4)
// Clone new point for insert
bmfpnt = matcher.Clone(spnt, Coordinate(cline,csamp));
}
// Add if good point
if (bmfpnt.isValid()) {
bmf.insert(dupPair, bmfpnt);
}
}
}
}
// Grow stack with spacing adding info to stack
for (int i = -1 ; i <= 1 ; i ++) { // Sample
for (int j = -1 ; j <= 1 ; j ++) { // Line
// Don't re-add the original sample, line
if ( !((i == 0) && (j == 0)) ) {
// Grow based upon spacing
double ssamp = sample + (i * space);
double sline = line + (j * space);
Coordinate pnt = Coordinate(sline, ssamp);
SmtkPoint gpnt = matcher.Clone(spnt, pnt);
if ( gpnt.isValid() ) {
SmtkQPair growpt((int) sline, (int) ssamp);
// double check we don't have a finalized result at this position
SmtkQStackIter temp = bmf.find(growpt);
if(temp == bmf.end()) {
gstack.insert(growpt, gpnt);
}
}
}
}
}
}
}
// Remove the current point from the grow stack (hole)
gstack.erase(cstack);
}
/////////////////////////////////////////////////////////////////////////
// All done with creating points. Perform output options.
/////////////////////////////////////////////////////////////////////////
// If a TO parameter was specified, create DEM with errors
if (ui.WasEntered("TO")) {
// Create the output DEM
cout << "\nCreating output DEM from " << bmf.size() << " points.\n";
Process p;
Cube *icube = p.SetInputCube("FROM");
Cube *ocube = p.SetOutputCube("TO", icube->sampleCount(),
icube->lineCount(), 3);
p.ClearInputCubes();
int boxsize = ui.GetInteger("BOXSIZE");
double plotdist = ui.GetDouble("PLOTDIST");
TileManager dem(*ocube), eigen(*ocube), stErr(*ocube);
dem.SetTile(1, 1); // DEM Data/elevation
stErr.SetTile(1, 2); // Error in stereo computation
eigen.SetTile(1, 3); // Eigenvalue of the solution
int nBTiles(eigen.Tiles()/3); // Total tiles / 3 bands
prog.SetText("Creating DEM");
prog.SetMaximumSteps(nBTiles);
prog.CheckStatus();
Statistics stAng;
while ( !eigen.end() ) { // Must use the last band for this!!
PointPlot tm = for_each(bmf.begin(), bmf.end(), PointPlot(dem, plotdist));
tm.FillPoints(*lhCamera, *rhCamera, boxsize, dem, stErr, eigen, &stAng);
ocube->write(dem);
ocube->write(stErr);
ocube->write(eigen);
dem.next();
stErr.next();
eigen.next();
prog.CheckStatus();
}
// Report Stereo separation angles
PvlGroup stresultsPvl("StereoSeparationAngle");
stresultsPvl += PvlKeyword("Minimum", toString(stAng.Minimum()), "deg");
stresultsPvl += PvlKeyword("Average", toString(stAng.Average()), "deg");
stresultsPvl += PvlKeyword("Maximum", toString(stAng.Maximum()), "deg");
stresultsPvl += PvlKeyword("StandardDeviation", toString(stAng.StandardDeviation()), "deg");
Application::Log(stresultsPvl);
// Update the label with BandBin keywords
PvlKeyword filter("FilterName", "Elevation", "meters");
filter.addValue("ElevationError", "meters");
filter.addValue("GoodnessOfFit", "unitless");
PvlKeyword center("Center", "1.0");
center.addValue("1.0");
center.addValue("1.0");
PvlGroup &bandbin = ocube->label()->findGroup("BandBin", PvlObject::Traverse);
bandbin.addKeyword(filter, PvlContainer::Replace);
bandbin.addKeyword(center, PvlContainer::Replace);
center.setName("Width");
bandbin.addKeyword(center, PvlContainer::Replace);
p.EndProcess();
}
// If a cnet file was entered, write the ControlNet pvl to the file
if (ui.WasEntered("ONET")) {
WriteCnet(ui.GetFileName("ONET"), bmf, lhCamera->target()->name(), serialLeft,
serialRight);
}
// Create output data
PvlGroup totalPointsPvl("Totals");
totalPointsPvl += PvlKeyword("AttemptedPoints", toString(numAttemptedInitialPoints));
totalPointsPvl += PvlKeyword("InitialSuccesses", toString(numOrigPoints));
totalPointsPvl += PvlKeyword("GrowSuccesses", toString(passpix2));
totalPointsPvl += PvlKeyword("ResultingPoints", toString(bmf.size()));
Application::Log(totalPointsPvl);
Pvl arPvl = matcher.RegistrationStatistics();
PvlGroup smtkresultsPvl("SmtkResults");
smtkresultsPvl += PvlKeyword("SpiceOffImage", toString(matcher.OffImageErrorCount()));
smtkresultsPvl += PvlKeyword("SpiceDistanceError", toString(matcher.SpiceErrorCount()));
arPvl.addGroup(smtkresultsPvl);
for(int i = 0; i < arPvl.groups(); i++) {
Application::Log(arPvl.group(i));
}
// add the auto registration information to print.prt
PvlGroup autoRegTemplate = matcher.RegTemplate();
Application::Log(autoRegTemplate);
// Don't need the cubes opened anymore
lhImage.close();
rhImage.close();
}