Workhorse of stereo matcher. More...

#include <SmtkMatcher.h>

Collaboration diagram for Isis::SmtkMatcher:

Public Member Functions
	SmtkMatcher ()
	Construct default matcher.

	SmtkMatcher (const QString &regdef)
	Construct with Gruen definintions file.

	SmtkMatcher (const QString &regdef, Cube lhImage, Cube rhImage)
	Construct with Gruen definintions file and camera objects

	SmtkMatcher (Cube lhImage, Cube rhImage)

	~SmtkMatcher ()
	Free random number generator in destructor.

void	setImages (Cube lhImage, Cube rhImage)
	Assign cubes for matching.

void	setGruenDef (const QString &regdef)
	Initialize Gruen algorithm with definitions in Pvl file provided.

bool	isValid (const Coordinate &pnt)
	Determine if a point is valid in both left/right images.

bool	isValid (const SmtkPoint &spnt)
	Valid a point prior to insertion.

Chip *	PatternChip () const
	Return pattern chip.

Chip *	SearchChip () const
	Return search chip.

Chip *	FitChip () const
	Returns the fit chip.

void	setWriteSubsearchChipPattern (const QString &fileptrn="SmtkMatcher")
	Set file pattern for output subsearch chips.

SmtkQStackIter	FindSmallestEV (SmtkQStack &stack)
	Find the smallest eigen value on the given stack.

SmtkQStackIter	FindExpDistEV (SmtkQStack &stack, const double &seedsample, const double &minEV, const double &maxEV)
	Find the best eigen value using exponential distribution formula.

SmtkPoint	Register (const Coordinate &lpnt, const AffineRadio &affrad=AffineRadio())
	This method takes a sample, line from the left-hand image and tries to find the matching point in the right-hand image.

SmtkPoint	Register (const PointPair &pnts, const AffineRadio &affrad=AffineRadio())
	Register a defined left/right point pair.

SmtkPoint	Register (const SmtkPoint &spnt, const AffineRadio &affrad=AffineRadio())
	Register an SmtkPoint.

SmtkPoint	Register (const PointGeometry &lpg, const PointGeometry &rpg, const AffineRadio &affrad=AffineRadio())
	Applies registration of two points.

SmtkPoint	Create (const Coordinate &left, const Coordinate &right)
	Create a valid, unregistered SmtkPoint.

SmtkPoint	Clone (const SmtkPoint &point, const Coordinate &left)
	Clone a point set from a nearby (left image) point and Gruen affine.

BigInt	OffImageErrorCount () const

BigInt	SpiceErrorCount () const

PvlGroup	RegTemplate ()
	Return Gruen template parameters.

Pvl	RegistrationStatistics ()
	Return Gruen registration statistics.

Private Member Functions
SmtkMatcher &	operator= (const SmtkMatcher &matcher)

	SmtkMatcher (const SmtkMatcher &matcher)

void	randomNumberSetup ()
	Initialize the random number generator.

bool	validate (const bool &throwError=true) const
	Validates the state of the Camera and Gruen algoritm.

Camera &	lhCamera ()

Camera &	rhCamera ()

Coordinate	getLineSample (Camera &camera, const Coordinate &geom)
	Compute line,sample from latitude, longitude.

Coordinate	getLatLon (Camera &camera, const Coordinate &pnt)
	Compute latitude, longitude from line,sample.

bool	inCube (const Camera &camera, const Coordinate &point) const
	Determines if the line/sample is within physical cube boundaries.

SmtkPoint	makeRegisteredPoint (const PointGeometry &left, const PointGeometry &right, Gruen *gruen)
	Create an SmtkPoint from Gruen match result.

Private Attributes
Cube *	m_lhCube

Cube *	m_rhCube

QSharedPointer< Gruen >	m_gruen

BigInt	m_offImage

BigInt	m_spiceErr

bool	m_useAutoReg

const gsl_rng_type *	T

gsl_rng *	r

Detailed Description

Workhorse of stereo matcher.

This class provides stereo matching functionality to the SMTK toolkit. It registers points, clones them by adjusting parameters to nearby point locations and manages point selection processes.

The Gruen algorithm is initialized here and maintained for use in the stereo matching process.

Author: 2011-05-28 Kris Becker

History

2012-12-20 Debbie A. Cook - Removed unused Projection.h References #775.

2017-08-18 Summer Stapleton, Ian Humphrey, Tyler Wilson - Changed auto_ptr reference to QSharedPointer so this class compiles under C++14.
References #4809.

Definition at line 45 of file SmtkMatcher.h.

Constructor & Destructor Documentation

◆ SmtkMatcher() [1/3]

Isis::SmtkMatcher::SmtkMatcher ( )

Construct default matcher.

Definition at line 25 of file SmtkMatcher.cpp.

References randomNumberSetup().

◆ SmtkMatcher() [2/3]

Isis::SmtkMatcher::SmtkMatcher ( const QString & regdef )

Construct with Gruen definintions file.

Definition at line 32 of file SmtkMatcher.cpp.

References randomNumberSetup(), and setGruenDef().

◆ SmtkMatcher() [3/3]

Isis::SmtkMatcher::SmtkMatcher	(	const QString &	regdef,
		Cube *	lhImage,
		Cube *	rhImage )

Construct with Gruen definintions file and camera objects

Definition at line 43 of file SmtkMatcher.cpp.

References randomNumberSetup(), and setGruenDef().

◆ ~SmtkMatcher()

Isis::SmtkMatcher::~SmtkMatcher ( )

Free random number generator in destructor.

Definition at line 54 of file SmtkMatcher.cpp.

Member Function Documentation

◆ Clone()

SmtkPoint Isis::SmtkMatcher::Clone	(	const SmtkPoint &	point,
		const Coordinate &	left )

Clone a point set from a nearby (left image) point and Gruen affine.

This method is used to clone a PointPair from a new point and an Affine transform. Assume the left point in the set is at the center of the box and compute the offset of the point using the Affine. Apply it the right point.

Parameters

point	Chip center location
newpoint	New point to clone to via application of affine transform
affine	The affine transform to apply to get new (right) clone point

Returns: PointPair The clone point from the original

Definition at line 467 of file SmtkMatcher.cpp.

References Isis::SmtkPoint::getAffine(), Isis::SmtkPoint::getLeft(), Isis::SmtkPoint::getRight(), and inCube().

◆ Create()

SmtkPoint Isis::SmtkMatcher::Create	(	const Coordinate &	left,
		const Coordinate &	right )

Create a valid, unregistered SmtkPoint.

This method is typically used to create a point from a control point network. The point is deemed registered, but not necessarily by Gruen. Therefore, it is set as unregistered.

The left and right coordinates are deemed valid and geometry for both points is computed and verified (either the points are off image or does not map to a lat/long).

The points is set as valid and when Register() is called it will likely be run through the Gruen algorithm.

In essence, a valid, but unregistered SmtkPoint is returned if all the line/sample coordinates and geometry check out.

Author: Kris Becker - 5/30/2011

Parameters

left	Left point
right	Right point

Returns: SmtkPoint

Definition at line 427 of file SmtkMatcher.cpp.

References getLatLon().

◆ FindExpDistEV()

SmtkQStackIter Isis::SmtkMatcher::FindExpDistEV	(	SmtkQStack &	stack,
		const double &	seedsample,
		const double &	minEV,
		const double &	maxEV )

Find the best eigen value using exponential distribution formula.

This method has the same objective as FindSmallestEV, but uses a different test to find the best value. It uses s randomly generated value within an exponential distribution from the minimum to maximum occuring eigen value.

Upon each call to this routine, the random seed is regenerated.

NOTE: This implementation differs somewhat from the ISIS2 version in that the value of the computed eigenvalue is used as the best eigenvalue. This implementation produced better distributoion of points

Parameters

stack	Stack to find the best value in
seedsample	The point within the exponential distribution of interest
minEV	Minimum occuring eigen value
maxEV	Maximum occuring eigen value

Returns: SmtkQStackIter Stack interator

Definition at line 182 of file SmtkMatcher.cpp.

◆ FindSmallestEV()

SmtkQStackIter Isis::SmtkMatcher::FindSmallestEV ( SmtkQStack & stack )

Find the smallest eigen value on the given stack.

This static method iterates through a stack to find the best (smallest) eigen value as computed by the Gruen registration algorithm. If the stack is empty or if for some unapparent reason why the best point cannot be found, stack.end() is returned.

Parameters

stack Stack to find the best point in.

Returns: SmtkQStackIter Returns an iterator with the best value

Definition at line 149 of file SmtkMatcher.cpp.

◆ FitChip()

Chip * Isis::SmtkMatcher::FitChip ( ) const

inline

Returns the fit chip.

Definition at line 72 of file SmtkMatcher.h.

References validate().

◆ getLatLon()

Coordinate Isis::SmtkMatcher::getLatLon	(	Camera &	camera,
		const Coordinate &	pnt )

private

Compute latitude, longitude from line,sample.

Author: Kris Becker - 5/23/2011

Parameters

camera	Camera object to compute lat/lon coordinates in
pnt	Line/Sample coordinate of point to compute

Returns: Coordinate Returns a latitude/longitude pair of point

Definition at line 562 of file SmtkMatcher.cpp.

References inCube(), Isis::Camera::SetImage(), Isis::Coordinate::setLatLon(), Isis::Sensor::UniversalLatitude(), and Isis::Sensor::UniversalLongitude().

Referenced by Create(), isValid(), makeRegisteredPoint(), and Register().

◆ getLineSample()

Coordinate Isis::SmtkMatcher::getLineSample	(	Camera &	camera,
		const Coordinate &	geom )

private

Compute line,sample from latitude, longitude.

Author: Kris Becker - 5/23/2011

Parameters

camera	Camera object to compute lat/lon coordinates in
pnt	Latitude/longitude coordinate to compute

Returns: Coordinate Returns a line/sample pair of point

Definition at line 587 of file SmtkMatcher.cpp.

References Isis::Camera::InCube(), Isis::Coordinate::isValid(), Isis::Camera::Line(), Isis::Camera::Sample(), Isis::Coordinate::setLineSamp(), and Isis::Camera::SetUniversalGround().

Referenced by isValid(), and Register().

◆ inCube()

bool Isis::SmtkMatcher::inCube	(	const Camera &	camera,
		const Coordinate &	pnt ) const

private

Determines if the line/sample is within physical cube boundaries.

Author: Kris Becker - 5/1/2011

Parameters

camera	Camera to determine dimensions
sample	Sample location
line	Line location

Returns: bool

Definition at line 540 of file SmtkMatcher.cpp.

References Isis::Camera::Lines(), and Isis::Camera::Samples().

Referenced by Clone(), getLatLon(), and isValid().

◆ isValid() [1/2]

bool Isis::SmtkMatcher::isValid ( const Coordinate & pnt )

Determine if a point is valid in both left/right images.

This method accepts a point from the left hand image and determines if it maps to a valid lat/lon coordinate in the left image. It then takes the lat/lon from the left and determines if it maps to a valid line/sample int the right image.

Both images must have cameras associated with them or an exception is thrown.

Author: kbecker (5/25/2011)

Parameters

pnt	Line/Sample coordinate in left image

Returns: bool True if valid in both images, otherwise false

Definition at line 101 of file SmtkMatcher.cpp.

References getLatLon(), getLineSample(), and validate().

◆ isValid() [2/2]

bool Isis::SmtkMatcher::isValid ( const SmtkPoint & spnt )

Valid a point prior to insertion.

This method can be used to valid a point prior to adding it to a point stack. It is a final validation check and should not be used in production but used to debug.

Author: kbecker (6/2/2011)

Parameters

spnt	SmtkPoint to check for valid coordiantes

Returns: bool True if valid, false if not

Definition at line 220 of file SmtkMatcher.cpp.

References inCube().

◆ lhCamera()

Camera & Isis::SmtkMatcher::lhCamera ( )

inlineprivate

Definition at line 119 of file SmtkMatcher.h.

◆ makeRegisteredPoint()

SmtkPoint Isis::SmtkMatcher::makeRegisteredPoint	(	const PointGeometry &	left,
		const PointGeometry &	right,
		Gruen *	gruen )

private

Create an SmtkPoint from Gruen match result.

This method applies the Gruen registration to the points as provided. It assumes the points have been already set up in the gruen algorithm (

See also: Register()) and simply calls the Gruen::RegisterI() function.

The result is the transformed into a SmtkPoint base upon the result of the registration. The status of the point is set to reflect the registration processing result.

Author: Kris Becker - 5/26/2011

Parameters

left	Left point with geometry
right	RIght point with geometry
gruen	Gruen algorithm to use to register points

Returns: SmtkPoint

Definition at line 620 of file SmtkMatcher.cpp.

References getLatLon(), and Isis::AutoReg::SuccessSubPixel.

Referenced by Register().

◆ OffImageErrorCount()

BigInt Isis::SmtkMatcher::OffImageErrorCount ( ) const

inline

Definition at line 95 of file SmtkMatcher.h.

◆ PatternChip()

Chip * Isis::SmtkMatcher::PatternChip ( ) const

inline

Return pattern chip.

Definition at line 60 of file SmtkMatcher.h.

References validate().

◆ randomNumberSetup()

void Isis::SmtkMatcher::randomNumberSetup ( )

private

Initialize the random number generator.

This randome number generator uses the GSL version. It can be set using envirnment variables. Please see the documenation at the GSL site http://www.gnu.org/software/gsl/manual/html_node/Random-Number-Generation.html.

Author: kbecker (6/3/2011)

Definition at line 496 of file SmtkMatcher.cpp.

References Isis::GSL::GSLUtility::getInstance().

Referenced by SmtkMatcher(), SmtkMatcher(), and SmtkMatcher().

◆ Register() [1/4]

SmtkPoint Isis::SmtkMatcher::Register	(	const Coordinate &	lpnt,
		const AffineRadio &	affrad = AffineRadio() )

This method takes a sample, line from the left-hand image and tries to find the matching point in the right-hand image.

Definition at line 250 of file SmtkMatcher.cpp.

References Register().

Referenced by Register(), Register(), and Register().

◆ Register() [2/4]

SmtkPoint Isis::SmtkMatcher::Register	(	const PointGeometry &	lpg,
		const PointGeometry &	rpg,
		const AffineRadio &	affrad = AffineRadio() )

Applies registration of two points.

This method applies the registration of a left and right point set. The points sets may only have the left point defined. This method determines the valid geometry of the left point. If the right point is not defined, it uses the left geometry to determine the right point to register the left point with. If the right point is defined, it verifies the point has valid geometry mapping in the right image. All points and geometry must fall within the boundaries of the image and be valid or the point is deemed invalid.

Once the points is validated, registration is applied to the two points using the left point as truth (or the pattern chip) and the right point (search chip) is loaded according to the geometry of the left chip. An affine transform is immediately applied in the Gruen algorithm to apply the user supplied state of the affine and radiometric parameters.

Author: Kris Becker - 6/4/2011

Parameters

lpg
rpg
affrad

Returns: SmtkPoint

Definition at line 333 of file SmtkMatcher.cpp.

References getLatLon(), getLineSample(), makeRegisteredPoint(), Isis::IException::Programmer, and validate().

◆ Register() [3/4]

SmtkPoint Isis::SmtkMatcher::Register	(	const PointPair &	pnts,
		const AffineRadio &	affrad = AffineRadio() )

Register a defined left/right point pair.

Author: Kris Becker - 5/30/2011

Parameters

pnts	Points to register
affrad	Affine/Radiometric parameters to use

Returns: SmtkPoint Result of point registration

Definition at line 265 of file SmtkMatcher.cpp.

References Register().

◆ Register() [4/4]

SmtkPoint Isis::SmtkMatcher::Register	(	const SmtkPoint &	spnt,
		const AffineRadio &	affrad = AffineRadio() )

Register an SmtkPoint.

This method will register an established SmtkPoint. It will determine what parts of the point need to be completed in order for the registration to be valid. For instance, a default initialization of an SmtkPoint may only requre the left point to be defined. Or both points are defined but it has been registered but cloned (see Clone()).

It the point is deemed registered it will simply be returned as is without further processing. So to register a point ensure it the m_register flag is set to false.

Author: Kris Becker - 5/30/2011

Parameters

spnt	SmtkPoint to register
affrad	Affine/Radiometrics to use for registration

Returns: SmtkPoint A registered point. Test for validity on return to evaluate success.

Definition at line 294 of file SmtkMatcher.cpp.

References Register().

◆ RegistrationStatistics()

Pvl Isis::SmtkMatcher::RegistrationStatistics ( )

inline

Return Gruen registration statistics.

Definition at line 101 of file SmtkMatcher.h.

◆ RegTemplate()

PvlGroup Isis::SmtkMatcher::RegTemplate ( )

inline

Return Gruen template parameters.

Definition at line 99 of file SmtkMatcher.h.

◆ rhCamera()

Camera & Isis::SmtkMatcher::rhCamera ( )

inlineprivate

Definition at line 120 of file SmtkMatcher.h.

◆ SearchChip()

Chip * Isis::SmtkMatcher::SearchChip ( ) const

inline

Return search chip.

Definition at line 66 of file SmtkMatcher.h.

References validate().

◆ setGruenDef()

void Isis::SmtkMatcher::setGruenDef ( const QString & regdef )

Initialize Gruen algorithm with definitions in Pvl file provided.

This method will initialize the Gruen algorithm with a standard AutoReg definitions file. It is re-entrant in that should an existing Gruen object be present, it is freed and replaced by the one resulting from the instantion with the regdef file provided.

Author: Kris Becker - 5/26/2011

Parameters

regdef Gruen definitions Pvl file

Definition at line 78 of file SmtkMatcher.cpp.

Referenced by SmtkMatcher(), and SmtkMatcher().

◆ setImages()

void Isis::SmtkMatcher::setImages	(	Cube *	lhImage,
		Cube *	rhImage )

Assign cubes for matching.

Definition at line 60 of file SmtkMatcher.cpp.

◆ setWriteSubsearchChipPattern()

void Isis::SmtkMatcher::setWriteSubsearchChipPattern ( const QString & fileptrn = "SmtkMatcher" )

Set file pattern for output subsearch chips.

This method should be used to set the output subsearch chip file pattern that will be used to write the transformed chip at each Gruen iteration. This is handy to test the pattern chip with the Gruen algorithm search chip. A chip will be generated for each search chip that is transformed for the current iteration.

Note this pattern is only validate for the next call to Register(). It will be reset so that chips are not automatically written for every call to Register().

The pattern can be complete directory path and a file pattern. See Gruen for a complete description.

Author: kbecker (9/15/2011)

Parameters

pattern Set the file pattern of the output cube search chips.

Definition at line 132 of file SmtkMatcher.cpp.

References validate().

◆ SpiceErrorCount()

BigInt Isis::SmtkMatcher::SpiceErrorCount ( ) const

inline

Definition at line 96 of file SmtkMatcher.h.

◆ validate()

bool Isis::SmtkMatcher::validate ( const bool & throwError = true ) const

private

Validates the state of the Camera and Gruen algoritm.

Basically ensures all the pointers are initialized.

Author: Kris Becker - 5/1/2011

Parameters

throwError Throws an exception if user sets this to true. Otherwise status can be determined from the return value.

Returns: bool If throwError is not set, this will return status. throwError will cause an exception instead if true.

Definition at line 517 of file SmtkMatcher.cpp.

References Isis::IException::Programmer.

Referenced by FitChip(), isValid(), PatternChip(), Register(), SearchChip(), and setWriteSubsearchChipPattern().

Member Data Documentation

◆ m_gruen

QSharedPointer<Gruen> Isis::SmtkMatcher::m_gruen

private

Definition at line 109 of file SmtkMatcher.h.

◆ m_lhCube

Cube* Isis::SmtkMatcher::m_lhCube

private

Definition at line 107 of file SmtkMatcher.h.

◆ m_offImage

BigInt Isis::SmtkMatcher::m_offImage

private

Definition at line 110 of file SmtkMatcher.h.

◆ m_rhCube

Cube* Isis::SmtkMatcher::m_rhCube

private

Definition at line 108 of file SmtkMatcher.h.

◆ m_spiceErr

BigInt Isis::SmtkMatcher::m_spiceErr

private

Definition at line 111 of file SmtkMatcher.h.

◆ m_useAutoReg

bool Isis::SmtkMatcher::m_useAutoReg

private

Definition at line 112 of file SmtkMatcher.h.

◆ r

gsl_rng* Isis::SmtkMatcher::r

private

Definition at line 114 of file SmtkMatcher.h.

◆ T

const gsl_rng_type* Isis::SmtkMatcher::T

private

Definition at line 113 of file SmtkMatcher.h.

The documentation for this class was generated from the following files:

src/base/objs/SmtkMatcher/SmtkMatcher.h
src/base/objs/SmtkMatcher/SmtkMatcher.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SmtkMatcher() [1/3]

◆ SmtkMatcher() [2/3]

◆ SmtkMatcher() [3/3]

◆ ~SmtkMatcher()

Member Function Documentation

◆ Clone()

◆ Create()

◆ FindExpDistEV()

◆ FindSmallestEV()

◆ FitChip()

◆ getLatLon()

◆ getLineSample()

◆ inCube()

◆ isValid() [1/2]

◆ isValid() [2/2]

◆ lhCamera()

◆ makeRegisteredPoint()

◆ OffImageErrorCount()

◆ PatternChip()

◆ randomNumberSetup()

◆ Register() [1/4]

◆ Register() [2/4]

◆ Register() [3/4]

◆ Register() [4/4]

◆ RegistrationStatistics()

◆ RegTemplate()

◆ rhCamera()

◆ SearchChip()

◆ setGruenDef()

◆ setImages()

◆ setWriteSubsearchChipPattern()

◆ SpiceErrorCount()

◆ validate()

Member Data Documentation

◆ m_gruen

◆ m_lhCube

◆ m_offImage

◆ m_rhCube

◆ m_spiceErr

◆ m_useAutoReg

◆ r

◆ T