/**
* Checks if this latitude value is within the given range. Defines the
* range as the change from the minimum latitude to the maximum latitude (an
* angle), and returns whether the change from the minimum latitude to this
* latitude is less than or equal to the maximum change allowed (the range).
*
* @param min The beginning of the valid latitude range
* @param max The end of the valid latitude range
*
* @return Whether the latitude is in the given range
*/
bool Latitude::inRange(Latitude min, Latitude max) const {
// Validity check on the range
if (min > max) {
IString msg = "Minimum latitude [" + IString(min.degrees()) +
"] degrees is greater than maximum latitude [" +
IString(max.degrees()) + "] degrees";
throw IException(IException::User, msg, _FILEINFO_);
}
// Provide a little wriggle room for precision problems
Angle epsilon(DBL_EPSILON, Angle::Degrees);
Latitude adjustedMin = min - epsilon;
Latitude adjustedMax = max + epsilon;
// Is this latitude between the min and the max
return *this >= adjustedMin && *this <= adjustedMax;
}
// Compute the radius at the lat/lon
Distance GetRadius(QString filename, Latitude lat, Longitude lon) {
Cube cube(filename, "r");
Sensor sensor(cube);
sensor.SetGround(SurfacePoint(lat, lon, sensor.LocalRadius(lat, lon)));
Distance radius = sensor.LocalRadius();
if(!radius.isValid()) {
QString msg = "Could not determine radius from DEM at lat/lon [";
msg += toString(lat.degrees()) + "," + toString(lon.degrees()) + "]";
throw IException(IException::Unknown, msg, _FILEINFO_);
}
return radius;
}
/**
* Returns whether the lat/lon position was set successfully in the camera
* model or projection.
*
* @param lat The universal latitude or ring radius for ring planes
* @param lon The universal longitude or ring longitude (azimuth) for ring planes
*
* @return Returns true if the lat/lon position was set successfully, and
* false if it was not
*/
bool UniversalGroundMap::SetGround(Latitude lat, Longitude lon) {
if(p_camera != NULL) {
if(p_camera->SetGround(lat, lon)) { // This should work for rings (radius,azimuth)
return p_camera->InCube();
}
else {
return false;
}
}
else {
double universalLat = lat.degrees();
double universalLon = lon.degrees();
return p_projection->SetUniversalGround(universalLat, universalLon); // This should work for rings (radius,azimuth)
}
}
/** Compute undistorted focal plane coordinate from ground position
*
* @param lat Planetocentric latitude in degrees
* @param lon Planetocentric longitude in degrees
*
* @return @b bool Indicates whether the conversion was successful
*
* @internal
* @history 2007-04-18 Tracie Sucharski - Added check for reasonable
* match when attempting to find closest
* lat/lon in map arrays.
* @history 2007-09-14 Tracie Sucharski - Added check for longitude
* outside min/max bounds. Don't know why
* this wasn't put in before (lat check was
* in), was it oversight, or did I take it out
* for some reason???
* @history 2007-12-14 Tracie Sucharski - Remove resolution test, too
* image dependent and the resolution for vims is
* incorrect due to the instrument having
* rectangular pixels.
* @history 2008-01-02 Tracie Sucharski - Check validity of resulting
* sample and line against edge of starting
* ending pixels (0.5/Parent+0.5) instead of
* center of pixels.
* @history 2012-12-03 Tracie Sucharski - Check for valid minLat/maxLat, minLon/maxLon. If
* none are valid, this means the latMap and lonMap have no valid
* data, therefore we cannot back project, so return false.
*
*/
bool VimsGroundMap::SetGround(const Latitude &lat, const Longitude &lon) {
QVector3D xyz;
if (p_camera->target()->shape()->name() == "Plane") {
double radius = lat.degrees();
if(radius <= 0.0)
return false;
double xCheck = radius * 0.001 * cos(lon.radians());
double yCheck = radius * 0.001 * sin(lon.radians());
xyz.setX(xCheck);
xyz.setY(yCheck);
xyz.setZ(0.);
}
else {
// Convert lat/lon to x/y/z
Distance radius = p_camera->LocalRadius(lat, lon);
SpiceDouble pB[3];
latrec_c(radius.kilometers(), lon.radians(), lat.radians(), pB);
xyz.setX(pB[0]);
xyz.setY(pB[1]);
xyz.setZ(pB[2]);
}
double minDist = DBL_MAX;
int minSamp = -1;
int minLine = -1;
// Find closest points ??? what tolerance ???
for (int line = 0; line < p_camera->ParentLines(); line++) {
for (int samp = 0; samp < p_camera->ParentSamples(); samp++) {
if (p_xyzMap[line][samp].isNull()) continue;
// Subtract map from coordinate then get length
QVector3D deltaXyz = xyz - p_xyzMap[line][samp];
if (deltaXyz.length() < minDist) {
minDist = deltaXyz.length();
minSamp = samp;
minLine = line;
}
}
}
//-----------------------------------------------------------------
// If dist is less than some ??? tolerance ??? this is the
// closest point. Use this point and surrounding 8 pts as
// control pts.
//----------------------------------------------------------------
if (minDist >= DBL_MAX) return false;
//-------------------------------------------------------------
// Set-up for LU decomposition (least2 fit).
// Assume we will have 9 control points, this may not be true
// and will need to be adjusted before the final solution.
//-------------------------------------------------------------
BasisFunction sampXyzBasis("Sample", 4, 4);
BasisFunction lineXyzBasis("Line", 4, 4);
LeastSquares sampXyzLsq(sampXyzBasis);
LeastSquares lineXyzLsq(lineXyzBasis);
vector<double> knownXyz(4);
// Solve using x/y/z
for (int line = minLine - 1; line < minLine + 2; line++) {
if (line < 0 || line > p_camera->ParentLines() - 1) continue;
for (int samp = minSamp - 1; samp < minSamp + 2; samp++) {
// Check for edges
if (samp < 0 || samp > p_camera->ParentSamples() - 1) continue;
if (p_xyzMap[line][samp].isNull()) continue;
knownXyz[0] = p_xyzMap[line][samp].x();
knownXyz[1] = p_xyzMap[line][samp].y();
knownXyz[2] = p_xyzMap[line][samp].z();
knownXyz[3] = 1;
sampXyzLsq.AddKnown(knownXyz, samp + 1);
lineXyzLsq.AddKnown(knownXyz, line + 1);
}
}
if (sampXyzLsq.Knowns() < 4) return false;
sampXyzLsq.Solve();
lineXyzLsq.Solve();
// Solve for sample, line position corresponding to input lat, lon
knownXyz[0] = xyz.x();
knownXyz[1] = xyz.y();
knownXyz[2] = xyz.z();
knownXyz[3] = 1;
double inSamp = sampXyzLsq.Evaluate(knownXyz);
double inLine = lineXyzLsq.Evaluate(knownXyz);
if (inSamp < 0.5 || inSamp > p_camera->ParentSamples() + 0.5 ||
inLine < 0.5 || inLine > p_camera->ParentLines() + 0.5) {
return false;
}
p_camera->IgnoreProjection(true);
p_camera->SetImage(inSamp, inLine);
p_camera->IgnoreProjection(false);
if (!p_camera->HasSurfaceIntersection()) return false;
p_focalPlaneX = inSamp;
p_focalPlaneY = inLine;
return true;
}
void IsisMain() {
UserInterface &ui = Application::GetUserInterface();
FileList addList(ui.GetFileName("ADDLIST"));
bool log = false;
FileName logFile;
if (ui.WasEntered("LOG")) {
log = true;
logFile = ui.GetFileName("LOG");
}
Pvl results;
results.setName("cnetadd_Results");
PvlKeyword added("FilesAdded");
PvlKeyword omitted("FilesOmitted");
PvlKeyword pointsModified("PointsModified");
bool checkMeasureValidity = ui.WasEntered("DEFFILE");
ControlNetValidMeasure validator;
if (checkMeasureValidity) {
Pvl deffile(ui.GetFileName("DEFFILE"));
validator = ControlNetValidMeasure(deffile);
}
SerialNumberList *fromSerials = ui.WasEntered("FROMLIST") ?
new SerialNumberList(ui.GetFileName("FROMLIST")) : new SerialNumberList();
ControlNet inNet = ControlNet(ui.GetFileName("CNET"));
inNet.SetUserName(Application::UserName());
inNet.SetModifiedDate(iTime::CurrentLocalTime()); //This should be done in ControlNet's Write fn
QString retrievalOpt = ui.GetString("RETRIEVAL");
PvlKeyword duplicates("DupSerialNumbers");
if (retrievalOpt == "REFERENCE") {
FileList list1(ui.GetFileName("FROMLIST"));
SerialNumberList addSerials(ui.GetFileName("ADDLIST"));
//Check for duplicate files in the lists by serial number
for (int i = 0; i < addSerials.Size(); i++) {
// Check for duplicate SNs accross the lists
if (fromSerials->HasSerialNumber(addSerials.SerialNumber(i))) {
duplicates.addValue(addSerials.FileName(i));
}
// Check for duplicate SNs within the addlist
for (int j = i + 1; j < addSerials.Size(); j++) {
if (addSerials.SerialNumber(i) == addSerials.SerialNumber(j)) {
QString msg = "Add list files [" + addSerials.FileName(i) + "] and [";
msg += addSerials.FileName(j) + "] share the same serial number.";
throw IException(IException::User, msg, _FILEINFO_);
}
}
}
// Get the lat/long coords from the existing reference measure
setControlPointLatLon(*fromSerials, inNet);
}
else {
for (int cp = 0; cp < inNet.GetNumPoints(); cp++) {
// Get the surface point from the current control point
ControlPoint *point = inNet.GetPoint(cp);
SurfacePoint surfacePoint = point->GetBestSurfacePoint();
if (!surfacePoint.Valid()) {
QString msg = "Unable to retreive lat/lon from Control Point [";
msg += point->GetId() + "]. RETREIVAL=POINT cannot be used unless ";
msg += "all Control Points have Latitude/Longitude keywords.";
throw IException(IException::User, msg, _FILEINFO_);
}
g_surfacePoints[point->GetId()] = surfacePoint;
}
}
FileName outNetFile(ui.GetFileName("ONET"));
Progress progress;
progress.SetText("Adding Images");
progress.SetMaximumSteps(addList.size());
progress.CheckStatus();
STRtree coordTree;
QList<ControlPoint *> pointList;
bool usePolygon = ui.GetBoolean("POLYGON");
if (usePolygon) {
for (int cp = 0; cp < inNet.GetNumPoints(); cp++) {
ControlPoint *point = inNet.GetPoint(cp);
SurfacePoint surfacePoint = g_surfacePoints[point->GetId()];
Longitude lon = surfacePoint.GetLongitude();
Latitude lat = surfacePoint.GetLatitude();
Coordinate *coord = new Coordinate(lon.degrees(), lat.degrees());
Envelope *envelope = new Envelope(*coord);
coordTree.insert(envelope, point);
}
}
else {
for (int cp = 0; cp < inNet.GetNumPoints(); cp++) {
pointList.append(inNet.GetPoint(cp));
}
}
// Loop through all the images
for (int img = 0; img < addList.size(); img++) {
Cube cube;
cube.open(addList[img].toString());
Pvl *cubepvl = cube.label();
QString sn = SerialNumber::Compose(*cubepvl);
Camera *cam = cube.camera();
// Loop through all the control points
QList<ControlPoint *> validPoints = usePolygon ?
getValidPoints(cube, coordTree) : pointList;
bool imageAdded = false;
for (int cp = 0; cp < validPoints.size(); cp++) {
ControlPoint *point = validPoints[cp];
// If the point is locked and Apriori source is "AverageOfMeasures"
// then do not add the measures.
if (point->IsEditLocked() &&
point->GetAprioriSurfacePointSource() ==
ControlPoint::SurfacePointSource::AverageOfMeasures) {
continue;
}
if (point->HasSerialNumber(sn)) continue;
// Only use the surface point's latitude and longitude, rely on the DEM
// for computing the radius. We do this because otherwise we will receive
// inconsistent results from successive runs of this program if the
// different DEMs are used, or the point X, Y, Z was generated from the
// ellipsoid.
SurfacePoint surfacePoint = g_surfacePoints[point->GetId()];
if (cam->SetGround(
surfacePoint.GetLatitude(), surfacePoint.GetLongitude())) {
// Make sure the samp & line are inside the image
if (cam->InCube()) {
ControlMeasure *newCm = new ControlMeasure();
newCm->SetCoordinate(cam->Sample(), cam->Line(), ControlMeasure::Candidate);
newCm->SetAprioriSample(cam->Sample());
newCm->SetAprioriLine(cam->Line());
newCm->SetCubeSerialNumber(sn);
newCm->SetDateTime();
newCm->SetChooserName("Application cnetadd");
// Check the measure for DEFFILE validity
if (checkMeasureValidity) {
if (!validator.ValidEmissionAngle(cam->EmissionAngle())) {
//TODO: log that it was Emission Angle that failed the check
newCm->SetIgnored(true);
}
else if (!validator.ValidIncidenceAngle(cam->IncidenceAngle())) {
//TODO: log that it was Incidence Angle that failed the check
newCm->SetIgnored(true);
}
else if (!validator.ValidResolution(cam->resolution())) {
//TODO: log that it was Resolution that failed the check
newCm->SetIgnored(true);
}
else if (!validator.PixelsFromEdge((int)cam->Sample(), (int)cam->Line(), &cube)) {
//TODO: log that it was Pixels from Edge that failed the check
newCm->SetIgnored(true);
}
else {
Portal portal(1, 1, cube.pixelType());
portal.SetPosition(cam->Sample(), cam->Line(), 1);
cube.read(portal);
if (!validator.ValidDnValue(portal[0])) {
//TODO: log that it was DN that failed the check
newCm->SetIgnored(true);
}
}
}
point->Add(newCm); // Point takes ownership
// Record the modified Point and Measure
g_modifications[point->GetId()].insert(newCm->GetCubeSerialNumber());
newCm = NULL; // Do not delete because the point has ownership
if (retrievalOpt == "POINT" && point->GetNumMeasures() == 1)
point->SetIgnored(false);
imageAdded = true;
}
}
}
cubepvl = NULL;
cam = NULL;
if (log) {
PvlKeyword &logKeyword = (imageAdded) ? added : omitted;
logKeyword.addValue(addList[img].baseName());
}
progress.CheckStatus();
}
if (log) {
// Add the list of modified points to the output log file
QList<QString> modifiedPointsList = g_modifications.keys();
for (int i = 0; i < modifiedPointsList.size(); i++)
pointsModified += modifiedPointsList[i];
results.addKeyword(added);
results.addKeyword(omitted);
results.addKeyword(pointsModified);
if (duplicates.size() > 0) {
results.addKeyword(duplicates);
}
results.write(logFile.expanded());
}
// List the modified points
if (ui.WasEntered("MODIFIEDPOINTS")) {
FileName pointList(ui.GetFileName("MODIFIEDPOINTS"));
// Set up the output file for writing
std::ofstream out_stream;
out_stream.open(pointList.expanded().toAscii().data(), std::ios::out);
out_stream.seekp(0, std::ios::beg); //Start writing from beginning of file
QList<QString> modifiedPointsList = g_modifications.keys();
for (int i = 0; i < modifiedPointsList.size(); i++)
out_stream << modifiedPointsList[i].toStdString() << std::endl;
out_stream.close();
}
// Modify the inNet to only have modified points/measures
if (ui.GetString("EXTRACT") == "MODIFIED") {
for (int cp = inNet.GetNumPoints() - 1; cp >= 0; cp--) {
ControlPoint *point = inNet.GetPoint(cp);
// If the point was not modified, delete
// Even get rid of edit locked points in this case
if (!g_modifications.contains(point->GetId())) {
point->SetEditLock(false);
inNet.DeletePoint(cp);
}
// Else, remove the unwanted measures from the modified point
else {
for (int cm = point->GetNumMeasures() - 1; cm >= 0; cm--) {
ControlMeasure *measure = point->GetMeasure(cm);
// Even get rid of edit locked measures in this case
if (point->GetRefMeasure() != measure &&
!g_modifications[point->GetId()].contains(
measure->GetCubeSerialNumber())) {
measure->SetEditLock(false);
point->Delete(cm);
}
}
}
}
}
// Generate the TOLIST if wanted
if (ui.WasEntered("TOLIST")) {
SerialNumberList toList;
SerialNumberList addSerials(ui.GetFileName("ADDLIST"));
const QList<QString> snList = inNet.GetCubeSerials();
for (int i = 0; i < snList.size(); i++) {
QString sn = snList[i];
if (addSerials.HasSerialNumber(sn))
toList.Add(addSerials.FileName(sn));
else if (fromSerials->HasSerialNumber(sn))
toList.Add(fromSerials->FileName(sn));
}
IString name(ui.GetFileName("TOLIST"));
std::fstream out_stream;
out_stream.open(name.c_str(), std::ios::out);
out_stream.seekp(0, std::ios::beg); //Start writing from beginning of file
for (int f = 0; f < (int) toList.Size(); f++)
out_stream << toList.FileName(f) << std::endl;
out_stream.close();
}
inNet.Write(outNetFile.expanded());
delete fromSerials;
}