This library provides Community Sensor Model (CSM)-compliant sensor models created by the USGS Astrogeology Science Center.
USGSCSM contains three different sensor models. The first is a generic framing camera model written from scratch. The second is a generic line scan camera model based on code from BAE Systems Information and Electronic Systems Integration, Inc. The third is a generic synthetic-aperture radar (SAR) sensor model.
This library is a CSM plugin library that is intended to be dynamically loaded at run-time alongside the CSM API library.
Once the library is loaded, it can be accessed through the CSM plugin interface. For an example of how to do through the CSM C++ interface see the SensorModelFactory class in SensorUtils. For an example of how to do this through the CSM Python bindings see this notebook.
From the CSM plugin interface, a generic framing camera model (USGS_ASTRO_FRAME_SENSOR_MODEL), line scan camera model (USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL), or a SAR model (USGS_ASTRO_SAR_SENSOR_MODEL) can be instantiated from a suitable Image Support Data (ISD) file.
Under the CSM standard, each plugin library can define its own ISD camera model format. This library uses an auxiliary JSON formatted file that must be next to the image file passed to the CSM::ISD class. We provide an OpenAPI server for generating these, pfeffernusse. The swagger specification is located on swaggerhub. You can also use ALE directly with metakernels to generate the auxiliary JSON file.
The camera model read from an ISD file is converted at load time to an internal representation which makes camera operations more efficient. This optimized model state can be saved to disk as a JSON-formatted file, be used interchangeably with the original ISD model, and also shared among various photogrammetric packages.
The camera model state can be modified by an application of a rotation and translation, which is necessary in order to refine a camera's position and orientation in photogrammetry, while these operations are not easy to express in the original ISD format.
This library provides functionality for saving the model state file, as discussed in the next section.
USGSCSM ships with a program named usgscsm_cam_test
, which is
able to load a CSM camera model, whether in the original ISD format or its
model state representation, export the model state, and perform basic
camera operations, as described in its
documentation.
Logging of the internal operations in the sensor models can be enabled by setting
the USGSCSM_LOG_FILE
environment variable to the file the log should be written to.
To have the logging information printed to the standard output or standard error, set
this to stdout
or stderr
. Note that these logs can become several GB in size.
- cmake 3.15 or newer
- GNU-compatible Make
- a C++11 compliant compiler
This repository has all of its external C++ dependencies included in it. The
excellent header-only JSON library
JSON for Modern C++ is included directly in
the source code. The other three dependencies, The Abstraction Library for
Ephemerides, the CSM API library, and googletest are included as git submodules.
When you clone this library make sure you add the --recursive
flag to your
git clone
command. Alternatively, you can run
git submodule update --init --recursive
after cloning.
You can also install the build requirements using Conda with the provided
environment.yml
file. The following commands will create a new environment
to build against. Note that googletest cannot be installed via anaconda and must
be available within the source code. You can remove the googletest dependency
by disabling the tests.
conda env create -n usgscsm -f environment.yml
USGSCSM uses a standard cmake build system. To compile the library and tests use the following commands:
mkdir build && cd build
cmake .. && cmake --build .
If you are using external dependencies via Conda or system level installations
add the -DUSGSCSM_EXTERNAL_DEPS=ON
flag to the cmake command.
You can also disable the tests and the googletest dependency by adding the
-DUSGSCSM_BUILD_TESTS=OFF
flag to the cmake command.
All of the tests for USGSCSM are written in the googletest framework
and are run via ctest. To run all of the tests simply run ctest
in the build.
All of the tests are purposefully written to use generic data that values have
been hand validated. This data can be found under tests/data
.
This software package uses a modified form of the Google C++ Style Guide.
Here are some exceptions:
- Non-const pass-by-reference is allowed.
- No copyright notice is necessary
- Static/global string constants are allowed to be std::strings, rather than C-style strings
To attempt to automatically format any new code to this style, run:
clang-format -style=Google -i file.cpp
For more information see: ClangFormat
To check for compliance, run: cpplint file.cpp
and ignore errors in the list of exclusions above.
For more information, see: cpplint.