void IsisMain() { // Create a process so we can output the noproj'd labels without overwriting Process p; // Open the user interface and get the input file and the ideal specs file UserInterface &ui = Application::GetUserInterface(); Cube *mcube, *icube; // If a MATCH cube is entered, make sure to SetInputCube it first to get the SPICE blobs // from it propagated to the TO labels // Until polygon blobs are detached without "/" don't propagate them p.PropagatePolygons(false); if((ui.WasEntered("MATCH"))) { mcube = p.SetInputCube("MATCH"); icube = p.SetInputCube("FROM"); } else { mcube = icube = p.SetInputCube("FROM"); } Camera *incam = mcube->camera(); // Extract Instrument groups from input labels for the output match and noproj'd cubes PvlGroup inst = mcube->group("Instrument"); PvlGroup fromInst = icube->group("Instrument"); QString groupName = (QString) inst["SpacecraftName"] + "/"; groupName += (QString) inst.findKeyword("InstrumentId"); // Get Ideal camera specifications FileName specs; if((ui.WasEntered("SPECS"))) { specs = ui.GetFileName("SPECS"); } else { specs = "$base/applications/noprojInstruments???.pvl"; specs = specs.highestVersion(); } Pvl idealSpecs(specs.expanded()); PvlObject obSpecs = idealSpecs.findObject("IdealInstrumentsSpecifications"); PvlGroup idealGp = obSpecs.findGroup(groupName); double transx, transy, transl, transs; transx = transy = transl = transs = 0.; if(idealGp.hasKeyword("TransX")) transx = idealGp["TransX"]; if(idealGp.hasKeyword("TransY")) transy = idealGp["TransY"]; if(idealGp.hasKeyword("ItransL")) transl = idealGp["ItransL"]; if(idealGp.hasKeyword("ItransS")) transs = idealGp["ItransS"]; int detectorSamples = mcube->sampleCount(); if(idealGp.hasKeyword("DetectorSamples")) detectorSamples = idealGp["DetectorSamples"]; int numberLines = mcube->lineCount(); int numberBands = mcube->bandCount(); if(idealGp.hasKeyword("DetectorLines")) numberLines = idealGp["DetectorLines"]; int xDepend = incam->FocalPlaneMap()->FocalPlaneXDependency(); // Get output summing mode if(ui.GetString("SOURCE") == "FROMMATCH") { LoadMatchSummingMode(); } else if(ui.GetString("SOURCE") == "FROMINPUT") { LoadInputSummingMode(); } double pixPitch = incam->PixelPitch() * ui.GetDouble("SUMMINGMODE"); detectorSamples /= (int)(ui.GetDouble("SUMMINGMODE")); // Get the user options int sampleExpansion = int((ui.GetDouble("SAMPEXP") / 100.) * detectorSamples + .5); int lineExpansion = int((ui.GetDouble("LINEEXP") / 100.) * numberLines + .5); QString instType; // Adjust translations for summing mode transl /= ui.GetDouble("SUMMINGMODE"); transs /= ui.GetDouble("SUMMINGMODE"); detectorSamples += sampleExpansion; numberLines += lineExpansion; // Determine whether this ideal camera is a line scan or framing camera and // set the instrument id and exposure int detectorLines; int expandFlag; if(incam->DetectorMap()->LineRate() != 0.0) { instType = "LINESCAN"; // Isis3 line rate is always in seconds so convert to milliseconds for the // Ideal instrument detectorLines = 1; expandFlag = 1; } else { instType = "FRAMING"; detectorLines = numberLines; expandFlag = 0; // Framing cameras don't need exposure time } // Adjust focal plane translations with line expansion for scanners since // the CCD is only 1 line if(expandFlag) { transl += lineExpansion / 2; if(xDepend == CameraFocalPlaneMap::Line) { transx -= lineExpansion / 2.*pixPitch * expandFlag; } else { transy -= lineExpansion / 2.*pixPitch * expandFlag; } } // Get the start time for parent line 1 AlphaCube alpha(*icube); double sample = alpha.BetaSample(.5); double line = alpha.BetaLine(.5); incam->SetImage(sample, line); double et = incam->time().Et(); // Get the output file name and set its attributes CubeAttributeOutput cao; // Can we do a regular label? Didn't work on 12-15-2006 cao.setLabelAttachment(Isis::DetachedLabel); // Determine the output image size from // 1) the idealInstrument pvl if there or // 2) the input size expanded by user specified percentage Cube *ocube = p.SetOutputCube("match.cub", cao, 1, 1, 1); // Extract the times and the target from the instrument group QString startTime = inst["StartTime"]; QString stopTime; if(inst.hasKeyword("StopTime")) stopTime = (QString) inst["StopTime"]; QString target = inst["TargetName"]; // rename the instrument groups inst.setName("OriginalInstrument"); fromInst.setName("OriginalInstrument"); // add it back to the IsisCube object under a new group name ocube->putGroup(inst); // and remove the version from the IsisCube Object ocube->deleteGroup("Instrument"); // Now rename the group back to the Instrument group and clear out old keywords inst.setName("Instrument"); inst.clear(); // Add keywords for the "Ideal" instrument Isis::PvlKeyword key("SpacecraftName", "IdealSpacecraft"); inst.addKeyword(key); key.setName("InstrumentId"); key.setValue("IdealCamera"); inst.addKeyword(key); key.setName("TargetName"); key.setValue(target); inst.addKeyword(key); key.setName("SampleDetectors"); key.setValue(Isis::toString(detectorSamples)); inst.addKeyword(key); key.setName("LineDetectors"); key.setValue(Isis::toString(detectorLines)); inst.addKeyword(key); key.setName("InstrumentType"); key.setValue(instType); inst.addKeyword(key); Pvl &ocubeLabel = *ocube->label(); PvlObject *naifKeywordsObject = NULL; if (ocubeLabel.hasObject("NaifKeywords")) { naifKeywordsObject = &ocubeLabel.findObject("NaifKeywords"); // Clean up the naif keywords object... delete everything that isn't a radii for (int keyIndex = naifKeywordsObject->keywords() - 1; keyIndex >= 0; keyIndex--) { QString keyName = (*naifKeywordsObject)[keyIndex].name(); if (!keyName.contains("RADII")) { naifKeywordsObject->deleteKeyword(keyIndex); } } // Clean up the kernels group... delete everything that isn't internalized or the orig frame // code PvlGroup &kernelsGroup = ocube->group("Kernels"); for (int keyIndex = kernelsGroup.keywords() - 1; keyIndex >= 0; keyIndex--) { PvlKeyword &kernelsKeyword = kernelsGroup[keyIndex]; bool isTable = false; bool isFrameCode = kernelsKeyword.isNamed("NaifFrameCode") || kernelsKeyword.isNamed("NaifIkCode"); bool isShapeModel = kernelsKeyword.isNamed("ShapeModel"); for (int keyValueIndex = 0; keyValueIndex < kernelsKeyword.size(); keyValueIndex++) { if (kernelsKeyword[keyValueIndex] == "Table") { isTable = true; } } if (!isTable && !isFrameCode && !isShapeModel) { kernelsGroup.deleteKeyword(keyIndex); } } } if (naifKeywordsObject) { naifKeywordsObject->addKeyword(PvlKeyword("IDEAL_FOCAL_LENGTH", toString(incam->FocalLength())), Pvl::Replace); } else { inst.addKeyword(PvlKeyword("FocalLength", toString(incam->FocalLength()), "millimeters")); } double newPixelPitch = incam->PixelPitch() * ui.GetDouble("SUMMINGMODE"); if (naifKeywordsObject) { naifKeywordsObject->addKeyword(PvlKeyword("IDEAL_PIXEL_PITCH", toString(newPixelPitch)), Pvl::Replace); } else { inst.addKeyword(PvlKeyword("PixelPitch", toString(newPixelPitch), "millimeters")); } key.setName("EphemerisTime"); key.setValue(Isis::toString(et), "seconds"); inst.addKeyword(key); key.setName("StartTime"); key.setValue(startTime); inst.addKeyword(key); if(stopTime != "") { key.setName("StopTime"); key.setValue(stopTime); inst.addKeyword(key); } key.setName("FocalPlaneXDependency"); key.setValue(toString((int)incam->FocalPlaneMap()->FocalPlaneXDependency())); inst.addKeyword(key); int xDependency = incam->FocalPlaneMap()->FocalPlaneXDependency(); double newInstrumentTransX = incam->FocalPlaneMap()->SignMostSigX(); inst.addKeyword(PvlKeyword("TransX", toString(newInstrumentTransX))); double newInstrumentTransY = incam->FocalPlaneMap()->SignMostSigY(); inst.addKeyword(PvlKeyword("TransY", toString(newInstrumentTransY))); storeSpice(&inst, naifKeywordsObject, "TransX0", "IDEAL_TRANSX", transx, newPixelPitch * newInstrumentTransX, (xDependency == CameraFocalPlaneMap::Sample)); storeSpice(&inst, naifKeywordsObject, "TransY0", "IDEAL_TRANSY", transy, newPixelPitch * newInstrumentTransY, (xDependency == CameraFocalPlaneMap::Line)); double transSXCoefficient = 1.0 / newPixelPitch * newInstrumentTransX; double transLXCoefficient = 1.0 / newPixelPitch * newInstrumentTransY; if (xDependency == CameraFocalPlaneMap::Line) { swap(transSXCoefficient, transLXCoefficient); } storeSpice(&inst, naifKeywordsObject, "TransS0", "IDEAL_TRANSS", transs, transSXCoefficient, (xDependency == CameraFocalPlaneMap::Sample)); storeSpice(&inst, naifKeywordsObject, "TransL0", "IDEAL_TRANSL", transl, transLXCoefficient, (xDependency == CameraFocalPlaneMap::Line)); if(instType == "LINESCAN") { key.setName("ExposureDuration"); key.setValue(Isis::toString(incam->DetectorMap()->LineRate() * 1000.), "milliseconds"); inst.addKeyword(key); } key.setName("MatchedCube"); key.setValue(mcube->fileName()); inst.addKeyword(key); ocube->putGroup(inst); p.EndProcess(); // Now adjust the label to fake the true size of the image to match without // taking all the space it would require for the image data Pvl label; label.read("match.lbl"); PvlGroup &dims = label.findGroup("Dimensions", Pvl::Traverse); dims["Lines"] = toString(numberLines); dims["Samples"] = toString(detectorSamples); dims["Bands"] = toString(numberBands); label.write("match.lbl"); // And run cam2cam to apply the transformation QString parameters; parameters += " FROM= " + ui.GetFileName("FROM"); parameters += " MATCH= " + QString("match.cub"); parameters += " TO= " + ui.GetFileName("TO"); parameters += " INTERP=" + ui.GetString("INTERP"); ProgramLauncher::RunIsisProgram("cam2cam", parameters); // Cleanup by deleting the match files remove("match.History.IsisCube"); remove("match.lbl"); remove("match.cub"); remove("match.OriginalLabel.IsisCube"); remove("match.Table.BodyRotation"); remove("match.Table.HiRISE Ancillary"); remove("match.Table.HiRISE Calibration Ancillary"); remove("match.Table.HiRISE Calibration Image"); remove("match.Table.InstrumentPointing"); remove("match.Table.InstrumentPosition"); remove("match.Table.SunPosition"); // Finally finish by adding the OriginalInstrument group to the TO cube Cube toCube; toCube.open(ui.GetFileName("TO"), "rw"); // Extract label and create cube object Pvl *toLabel = toCube.label(); PvlObject &o = toLabel->findObject("IsisCube"); o.deleteGroup("OriginalInstrument"); o.addGroup(fromInst); toCube.close(); }
/** 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(); }