Unverified Commit b861a956 authored by acpaquette's avatar acpaquette Committed by GitHub
Browse files

Proj Speed Up (#479) 

* Moved around model construction

* Added verbose option to usgscsm_cam_test

* Cleaned up model instantiation

* Fixed warning from getUsgsModel function

* Removed commented out code

* Removed last line of commented out code

* Fix linux builds

* Removed m_camera delete on reset

* Proj sensor now carries an identifier for the underlying csm model

* Added basic projected sensor model tests

* Added warning for users using the projected model

* Hide dependent library symbols

* Defined proj env var

* Adjusted proj camera tests for specific OSs

* Set proj data dir in tests

* Fixed ConstVelocityProjectedSensorModel, RemoteImageLocus test

* Removed duplicate comment from other test
parent 568ea462

.github/workflows/ci_testing.yml

+4 −0
Original line number Diff line number Diff line
@@ -8,6 +8,9 @@ on: 
    branches:

      - main



env:

  PROJ_IGNORE_CELESTIAL_BODY: Yes



jobs:

  Build-and-Test-LinuxOsX:

    runs-on: ${{ matrix.os }}
@@ -38,6 +41,7 @@ jobs: 
        run: |

          mkdir -p build

          cd build

          export PROJ_DATA=$PWD/PROJ/data

          cmake -DCMAKE_BUILD_TYPE=RELEASE -DUSGSCSM_EXTERNAL_DEPS=OFF -DUSGSCSM_BUILD_DOCS=OFF ..

          cmake --build .

      - name: Test Package

CMakeLists.txt

+15 −7
Original line number Diff line number Diff line
@@ -7,7 +7,7 @@ message(STATUS "CMake Module Path: " ${CMAKE_MODULE_PATH}) 


include(GNUInstallDirs)



set(CMAKE_CXX_STANDARD 11)

set(CMAKE_CXX_STANDARD 14)



# Set a default build type if none was specified

set(default_build_type "Release")
@@ -17,6 +17,8 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) 
      STRING "Choose the type of build." FORCE)

endif()



set(VISIBILITY_INLINES_HIDDEN 1)



# Use external or embedded dependencies

option(USGSCSM_EXTERNAL_DEPS "If the library should be built with external or embedded dependencies" OFF)

option(ENABLE_CURL "Set to build the curl components of proj" OFF)
@@ -61,7 +63,7 @@ if(USGSCSM_EXTERNAL_DEPS) 
  find_package(Eigen3 3.3 REQUIRED NO_MODULE)



  # ALE

  find_package(ale REQUIRED)

  find_package(ale REQUIRED CONFIG)

  set(ALE_TARGET ale::ale)



  # Proj
@@ -160,7 +162,7 @@ else() 


  # default config is shared

  option(BUILD_SHARED_LIBS

    "Build PROJ library shared." ON)

    "Build PROJ library shared." OFF)



  find_package(Threads QUIET)

  if(Threads_FOUND AND CMAKE_USE_PTHREADS_INIT)
@@ -516,7 +518,6 @@ else() 
    ${ALL_LIBPROJ_HEADERS}

    ${PROJ_RESOURCES}

  )

  add_library(PROJ::proj ALIAS proj)



  if(MSVC OR MINGW)

      target_compile_definitions(proj PRIVATE -DNOMINMAX)
@@ -570,7 +571,9 @@ else() 


  set_target_properties(proj

    PROPERTIES

    LINKER_LANGUAGE CXX)

    LINKER_LANGUAGE CXX

    CXX_VISIBILITY_PRESET hidden

  )



  ##############################################

  # Link properties
@@ -628,6 +631,7 @@ else() 
  # ALE

  # Use Eigen included with ALE

  add_library (eigen INTERFACE)

  set_target_properties(eigen PROPERTIES CXX_VISIBILITY_PRESET hidden)

  add_library (Eigen3::Eigen ALIAS eigen)

  target_include_directories (eigen INTERFACE

    ${CMAKE_CURRENT_SOURCE_DIR}/ale/eigen)
@@ -643,6 +647,7 @@ else() 
                       ${CMAKE_CURRENT_SOURCE_DIR}/ale/src/Vectors.cpp)



  add_library(ale OBJECT ${ALE_SOURCE_FILES})

  set_target_properties(ale PROPERTIES CXX_VISIBILITY_PRESET hidden)

  set(ALE_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/ale/include/ale/")



  target_include_directories(ale
@@ -693,10 +698,12 @@ target_include_directories(usgscsm 
)



target_link_libraries(usgscsm

                      PUBLIC

                      nlohmann_json::nlohmann_json

                      ${CSM_LIBRARY}

                      ${ALE_TARGET}

                      ${PROJ_TARGET}

                      nlohmann_json::nlohmann_json)

                      PRIVATE

                      ${PROJ_TARGET})



add_executable(usgscsm_cam_test bin/usgscsm_cam_test.cc)

target_link_libraries(usgscsm_cam_test
@@ -718,6 +725,7 @@ if(USGSCSM_BUILD_TESTS) 
  find_package (Threads)



  target_link_libraries(usgscsm

                        PUBLIC

                        gtest ${CMAKE_THREAD_LIBS_INIT})

  include(CTest)

  enable_testing()

bin/usgscsm_cam_test.cc

+25 −6
Original line number Diff line number Diff line
@@ -28,8 +28,9 @@ struct Options { 
  std::string modify_sup_file;    // the .sup file needing a modified model state

  std::string output_model_state; // the output model state in .json format

  int sample_rate;

  bool verbose;

  double subpixel_offset, height_above_datum, desired_precision;

  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0), desired_precision(0.0)

  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0), desired_precision(0.0), verbose(false)

  {}

};
@@ -45,10 +46,15 @@ bool parseOptions(int argc, char **argv, Options & opt) { 


  std::vector<std::string> params;

  for (int it = 1; it < argc; it++) {

    if (std::string(argv[it]) == std::string("--help")) {

    std::string arg = std::string(argv[it]);

    if (arg == std::string("--help")) {

      printUsage(argv[0]);

      return false;

    }

    if (arg == std::string("--verbose") || arg == std::string("-v")) {

      opt.verbose = true;

      continue;

    }

    params.push_back(argv[it]);

  }
@@ -132,7 +138,8 @@ double pixDiffNorm(csm::ImageCoord const& a, csm::ImageCoord const& b) { 


// Load a CSM camera model from an ISD or state file. Return true on success.

bool loadCsmCameraModel(std::string const& model_file,

                       std::shared_ptr<csm::RasterGM> & model) {

                       std::shared_ptr<csm::RasterGM> & model,

                       Options & opt) {



  // This is needed to trigger loading libusgscsm.so. Otherwise 0

  // plugins are detected.
@@ -163,10 +170,11 @@ bool loadCsmCameraModel(std::string const& model_file, 


    // First try to construct the model from isd, and if that fails, from the state

    csm::Model *csm = NULL;

    csm::WarningList* warnings = NULL;

    csm::WarningList *warnings = new csm::WarningList;

    for (size_t i = 0; i < num_models; i++) {



      std::string model_name = (*iter)->getModelName(i);



      if (csm_plugin->canModelBeConstructedFromISD(isd, model_name, warnings)) {

        // Try to construct the model from the isd

        csm = csm_plugin->constructModelFromISD(isd, model_name, warnings);
@@ -180,10 +188,20 @@ bool loadCsmCameraModel(std::string const& model_file, 
                  << model_file << ".\n";

        success = true;

      } else {

        // No luck so far

        if (opt.verbose) {

          std::string startStr = "<<<<<< Warnings from " + model_name + " <<<<<<";

          std::cout << startStr << std::endl;

          for (auto warning : *warnings)

            std::cout << warning.getMessage() << std::endl;

          std::string endStr(startStr.size(), '<');

          std::cout << endStr << std::endl;

        }

        warnings->clear();

        continue;

      }



      delete warnings;



      csm::RasterGM *modelPtr = dynamic_cast<csm::RasterGM*>(csm);

      if (modelPtr == NULL) {

        // Normally earlier checks should be enough and this should not happen
@@ -192,6 +210,7 @@ bool loadCsmCameraModel(std::string const& model_file, 
      } else {

        // Assign to a smart pointer which will handle deallocation

        model = std::shared_ptr<csm::RasterGM>(modelPtr);

        std::cout << "Final model: " << model->getModelName() << std::endl;

        break;

      }

    }
@@ -240,7 +259,7 @@ int main(int argc, char **argv) { 
  // specific model types inherit.

  std::shared_ptr<csm::RasterGM> model;



  if (!loadCsmCameraModel(opt.model, model))

  if (!loadCsmCameraModel(opt.model, model, opt))

    return 1;



  if (opt.output_model_state != "") {

include/usgscsm/UsgsAstroPluginSupport.h

+2 −1
Original line number Diff line number Diff line
@@ -4,6 +4,7 @@ 
#include <RasterGM.h>

#include <csm/Plugin.h>



csm::RasterGM *getUsgsCsmModel(const std::string &stringIsd, const std::string &modelName, csm::WarningList *warnings);

csm::RasterGM *getUsgsCsmModelFromIsd(const std::string &stringIsd, const std::string &modelName, csm::WarningList *warnings);

csm::RasterGM *getUsgsCsmModelFromState(const std::string &stringState, const std::string &modelName, csm::WarningList *warnings);



#endif // INCLUDE_USGSCSM_USGSASTROPLUGINSUPPORT_H_

include/usgscsm/UsgsAstroProjectedSensorModel.h

+9 −2
Original line number Diff line number Diff line
@@ -38,6 +38,8 @@ OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 


#include "spdlog/spdlog.h"



#include <proj.h>



#include "UsgsAstroLsSensorModel.h"



class UsgsAstroProjectedSensorModel : public csm::RasterGM,
@@ -67,13 +69,18 @@ public: 
    static std::string getModelNameFromModelState(const std::string &model_state);



    std::string constructStateFromIsd(const std::string imageSupportData, 

                                      const std::string modelName,

                                      csm::WarningList *list);



    // State data elements;

    double m_majorAxis;

    double m_minorAxis;

    PJ *m_isdProj = NULL;

    PJ *m_ecefProj = NULL;

    PJ *m_isdProj2ecefProj = NULL;

    std::vector<double> m_geoTransform;

    std::string m_projString;

    std::string m_subModelName;



    // Define logging pointer and file content

    std::shared_ptr<spdlog::logger> m_logger = spdlog::get("usgscsm_logger");
@@ -822,7 +829,7 @@ public: 
    //<



 protected:

  csm::RasterGM *m_camera;

  csm::RasterGM *m_camera = NULL;

};



#endif  // INCLUDE_USGSCSM_USGSASTROPROJECTEDSENSORMODEL_H_