Add the rig-related executables, move stereo_utils.py to Python dir

.github/workflows/build_isis.sh

@@ -1,7 +1,5 @@
 #!/bin/bash
 
-# TODO(oalexan1): This broke after GitHub no longer allows unzipping
-# files to system directories. See build_test.sh for the latest logic.
 
 # This is a scratch pad of commands used to build ASP dependencies for OSX
 # in the cloud, while connecting with ssh.yml. It will go away once
@@ -10,9 +8,9 @@
 cd
 echo Now in $(pwd)
 
-# Fetch previously built packages
-wget https://github.com/NeoGeographyToolkit/BinaryBuilder/releases/download/mac_conda_env6/asp_deps.tar.gz
-/usr/bin/time tar xzf asp_deps.tar.gz -C / > /dev/null 2>&1 # this is verbose
+# Fetch the ASP dependencies, as described in build_test.sh. Update the needed
+# packages as further down this document. Then archive them as in build_test.sh,
+# and continue the rest of the instructions from there.
 
 # Set up the conda env
 conda init bash
@@ -94,15 +92,17 @@ else
 fi
 export PREFIX=/usr/local/miniconda/envs/asp_deps
 mkdir -p build && cd build
-cmake .. -DALE_USE_EXTERNAL_EIGEN=ON -DALE_USE_EXTERNAL_JSON=ON -DUSGSCSM_EXTERNAL_DEPS=ON -DCMAKE_VERBOSE_MAKEFILE=TRUE -DCMAKE_C_COMPILER=${PREFIX}/bin/$cc_comp -DCMAKE_CXX_COMPILER=${PREFIX}/bin/$cxx_comp -DUSGSCSM_BUILD_DOCS=OFF -DALE_BUILD_DOCS=OFF -DCMAKE_INSTALL_PREFIX=${PREFIX} -DALE_BUILD_TESTS=OFF -DUSGSCSM_BUILD_TESTS=OFF -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_EIGEN=ON -DALE_BUILD_TESTS=OFF
+cmake .. -DALE_USE_EXTERNAL_EIGEN=ON -DALE_USE_EXTERNAL_JSON=ON -DUSGSCSM_EXTERNAL_DEPS=ON -DCMAKE_VERBOSE_MAKEFILE=TRUE -DCMAKE_C_COMPILER=${PREFIX}/bin/$cc_comp -DCMAKE_CXX_COMPILER=${PREFIX}/bin/$cxx_comp -DALE_BUILD_DOCS=OFF -DCMAKE_INSTALL_PREFIX=${PREFIX} -DALE_BUILD_TESTS=OFF -DUSGSCSM_BUILD_TESTS=OFF -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_EIGEN=ON -DALE_BUILD_TESTS=OFF
 make -j 20 install
 
 # Continue with building usgscsm with the same env as above
 cd 
 #git clone git@github.com:USGS-Astrogeology/usgscsm.git --recursive
-git clone https://github.com/DOI-USGS/usgscsm.git --recursive
+#git clone https://github.com/DOI-USGS/usgscsm.git --recursive
+git clone git@github.com:oleg-alexandrov/usgscsm.git --recursive
 cd usgscsm
-git reset --hard 0f065ca
+#git reset --hard 0f065ca
+git checkout height_radtan_fixes
 mkdir -p build && cd build
 cmake .. -DALE_USE_EXTERNAL_EIGEN=ON -DALE_USE_EXTERNAL_JSON=ON -DUSGSCSM_EXTERNAL_DEPS=ON -DCMAKE_VERBOSE_MAKEFILE=TRUE -DCMAKE_C_COMPILER=${PREFIX}/bin/$cc_comp -DCMAKE_CXX_COMPILER=${PREFIX}/bin/$cxx_comp -DUSGSCSM_BUILD_DOCS=OFF -DALE_BUILD_DOCS=OFF -DCMAKE_INSTALL_PREFIX=${PREFIX} -DALE_BUILD_TESTS=OFF -DUSGSCSM_BUILD_TESTS=OFF -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_JSON=ON -DALE_USE_EXTERNAL_EIGEN=ON -DALE_BUILD_TESTS=OFF
 make -j 20 install

.github/workflows/build_test.sh

@@ -24,7 +24,6 @@ if [ 1 -eq 0 ]; then
   mkdir -p ~/work/StereoPipeline/packages
   /usr/bin/time tar cfz ~/work/StereoPipeline/packages/asp_deps.tar.gz \
     /Users/runner/miniconda3/envs
-  #/usr/local/miniconda/envs/asp_deps /usr/local/miniconda/envs/python_isis8
 
   # When ssh.yml exits, it will cache ~/work/StereoPipeline/packages
   # This can be fetched on a local machine, then the desired tarball

src/asp/CMakeLists.txt

@@ -231,15 +231,6 @@ find_external_library(USGSCSM ${ASP_DEPS_DIR} "usgscsm" "usgscsm" REQUIRED)
 # ALE
 find_external_library(ALE ${ASP_DEPS_DIR} "ale" "ale" REQUIRED)
 
-# These are needed for rig_calibrator
-# MVE
-set(MVE_LIB_NAMES mveUtil mveCore mveOgl mveDmrecon)
-find_external_library(MVE ${ASP_DEPS_DIR} "mve" "${MVE_LIB_NAMES}" REQUIRED)
-# Rayint only has headers, no libraries
-find_external_library(MVE ${ASP_DEPS_DIR} "rayint" "" REQUIRED)
-# texture reconstruction
-find_external_library(TEXRECON ${ASP_DEPS_DIR} "" "texture_reconstruction" REQUIRED)
-
 # PCL
 # The PCL include directory is include/pcl-x.xx
 file(GLOB PCL_DIRS "${ASP_DEPS_DIR}/include/pcl-*") # all matches
@@ -276,6 +267,9 @@ set(PDAL_LIB_NAMES pdal_plugin_kernel_fauxplugin
                    pdal_plugin_writer_tiledb pdalcpp)
 find_external_library(PDAL ${ASP_DEPS_DIR} "pdal" "${PDAL_LIB_NAMES}" REQUIRED)
 
+set(TBB_LIB_NAMES tbb tbbmalloc tbbmalloc_proxy)
+find_external_library(TBB ${ASP_DEPS_DIR} "" "${TBB_LIB_NAMES}" REQUIRED)
+
 # This is an experiment, to be continued
 # Use only a small portion of VTK, and only in one stand-alone
 # tool. That one is a giant library. Thse are installed using
@@ -288,11 +282,21 @@ find_external_library(PDAL ${ASP_DEPS_DIR} "pdal" "${PDAL_LIB_NAMES}" REQUIRED)
 #find_external_library(VTK ${ASP_DEPS_DIR} "vtk-9.1" "${VTK_LIB_NAMES}" REQUIRED)
 
 # For convenience, list some libraries that VW and ISIS depend on.
-set(VW_3RD_PARTY_LIBS ${Z_LIBRARIES} ${OPENCV_LIBRARIES} ${ILMBASE_LIBRARIES} ${OPENEXR_LIBRARIES}
-    ${GDAL_LIBRARIES} ${LAPACK_LIBRARIES} ${Boost_LIBRARIES}  ${PROJ4_LIBRARIES}
-    ${GEOTIFF_LIBRARIES}  ${JPEG_LIBRARIES} ${TIFF_LIBRARIES} ${PNG_LIBRARIES}
-    ${FLANN_LIBRARIES} ${LZ4_LIBRARIES})
-set(ISIS_3RD_PARTY_LIBS Qt5::Core ${EMBREE_LIBRARIES} ${PROTOBUF_LIBRARIES} ${QWT_LIBRARIES} ${ARMADILLO_LIBRARIES})
+set(VW_3RD_PARTY_LIBS ${Z_LIBRARIES} ${OPENCV_LIBRARIES} ${ILMBASE_LIBRARIES} 
+    ${OPENEXR_LIBRARIES} ${GDAL_LIBRARIES} ${LAPACK_LIBRARIES} ${Boost_LIBRARIES}  
+    ${PROJ4_LIBRARIES} ${GEOTIFF_LIBRARIES}  ${JPEG_LIBRARIES} ${TIFF_LIBRARIES} 
+    ${PNG_LIBRARIES} ${FLANN_LIBRARIES} ${LZ4_LIBRARIES})
+set(ISIS_3RD_PARTY_LIBS Qt5::Core ${EMBREE_LIBRARIES} ${PROTOBUF_LIBRARIES} 
+    ${QWT_LIBRARIES} ${ARMADILLO_LIBRARIES})
+
+# These are needed for rig_calibrator
+# MVE
+set(MVE_LIB_NAMES mveUtil mveCore mveOgl mveDmrecon)
+find_external_library(MVE ${ASP_DEPS_DIR} "mve" "${MVE_LIB_NAMES}" REQUIRED)
+# Rayint only has headers, no libraries
+find_external_library(RAYINT ${ASP_DEPS_DIR} "rayint" "" REQUIRED)
+# texture reconstruction
+find_external_library(TEXRECON ${ASP_DEPS_DIR} "" "texture_reconstruction" REQUIRED)
 
 # Libraries use paths like "asp/src/Core/Common.h" so we just need to
 # add this one include path. These must take precedence over anything
@@ -338,12 +342,6 @@ get_all_source_files( "OpenMVG" ASP_OPENMVG_SRC_FILES)
 get_all_source_files( "OpenMVG/tests" ASP_OPENMVG_TEST_FILES)
 set(ASP_OPENMVG_LIB_DEPENDENCIES "")
 
-# ASP Rig
-get_all_source_files( "Rig"       ASP_RIG_SRC_FILES)
-get_all_source_files( "Rig/tests" ASP_RIG_TEST_FILES)
-set(ASP_RIG_LIB_DEPENDENCIES AspCore AspOpenMvg ${OPENCV_LIBRARIES}
-    ${SOLVER_LIBRARIES})
-
 # ASP_CAMERA
 get_all_source_files( "Camera"       ASP_CAMERA_SRC_FILES)
 get_all_source_files( "Camera/tests" ASP_CAMERA_TEST_FILES)
@@ -364,14 +362,21 @@ set(ASP_GUI_LIB_DEPENDENCIES AspCore AspCamera Qt5::Core Qt5::Gui Qt5::Widgets $
 # ASP_GOTCHA
 get_all_source_files( "Gotcha"       ASP_GOTCHA_SRC_FILES)
 get_all_source_files( "Gotcha/tests" ASP_GOTCHA_TEST_FILES)
-set(ASP_GOTCHA_LIB_DEPENDENCIES ${VISIONWORKBENCH_LIBRARIES} ${OPENCV_LIBRARIES} ${Boost_LIBRARIES})
+set(ASP_GOTCHA_LIB_DEPENDENCIES ${VISIONWORKBENCH_LIBRARIES} ${OPENCV_LIBRARIES} 
+    ${Boost_LIBRARIES})
 
 # ASP_PclIO
 get_all_source_files("PclIO" ASP_PCLIO_SRC_FILES)
 get_all_source_files( "PclIO/tests" ASP_PCLIO_TEST_FILES)
 set(ASP_PCLIO_LIB_DEPENDENCIES  pcl_common pcl_io_ply pcl_io
     AspCore ${VISIONWORKBENCH_LIBRARIES})
 
+# ASP Rig
+get_all_source_files("Rig"       ASP_RIG_SRC_FILES)
+get_all_source_files("Rig/tests" ASP_RIG_TEST_FILES)
+set(ASP_RIG_LIB_DEPENDENCIES AspCore AspOpenMvg AspPclIO tbb ${OPENCV_LIBRARIES}
+    ${SOLVER_LIBRARIES} ${MVE_LIBRARIES} ${RAYINT_LIBRARIES} ${TEXRECON_LIBRARIES})
+
 # Add all of the library subdirectories
 
 add_subdirectory(Core)

src/asp/Python/CMakeLists.txt

@@ -5,7 +5,8 @@
 set(PYTHON_FILES asp_alg_utils.py   asp_image_utils.py
                  asp_cmd_utils.py   asp_string_utils.py
                  asp_file_utils.py  asp_system_utils.py
-                 asp_geo_utils.py)
+                 asp_geo_utils.py   asp_stereo_utils.py
+                 asp_rig_utils.py) 
 
 foreach(p ${PYTHON_FILES})
   INSTALL(FILES ${p}  DESTINATION libexec)

src/asp/Python/asp_system_utils.py

@@ -25,7 +25,7 @@
 import os.path as P
 import asp_string_utils, asp_cmd_utils
 
-# This is explained further down.
+# This is explained further down
 if 'ASP_LIBRARY_PATH' in os.environ:
     os.environ['LD_LIBRARY_PATH'] = os.environ['ASP_LIBRARY_PATH']
 

src/asp/Tools/CMakeLists.txt

@@ -14,12 +14,14 @@ set(PYTHON_TOOLS cam2map4stereo.py    hiedr2mosaic.py
                  time_trials          camera_calibrate
                  camera_solve         parallel_sfs
                  mapproject           parallel_bundle_adjust
+                 extract_bag          list_timestamps
+                 rig_bracket          texrecon
+                 theia_sfm            multi_stereo
                  historical_helper.py 
                  bathy_threshold_calc.py 
                  scale_bathy_mask.py
                  crs2crs2grid.py 
                  orbit_plot.py)
-set(PYTHON_LIBS stereo_utils.py)
 
 foreach(p ${PYTHON_TOOLS})
   INSTALL(FILES ${p} PERMISSIONS
@@ -28,9 +30,6 @@ foreach(p ${PYTHON_TOOLS})
     WORLD_READ WORLD_EXECUTE
     DESTINATION bin)
 endforeach()
-foreach(p ${PYTHON_LIBS})
-  INSTALL(FILES ${p}  DESTINATION libexec)
-endforeach()
 
 add_executable(aster2asp aster2asp.cc)
 target_link_libraries(aster2asp AspSessions)
@@ -251,3 +250,24 @@ install(TARGETS disp2ip DESTINATION bin)
 add_executable(pc_filter pc_filter.cc)
 target_link_libraries(pc_filter AspPclIO AspSessions)
 install(TARGETS pc_filter DESTINATION bin)
+
+add_executable(rig_calibrator rig_calibrator.cc)
+target_link_libraries(rig_calibrator AspRig)
+install(TARGETS rig_calibrator DESTINATION bin)
+
+add_executable(undistort_image_texrecon undistort_image_texrecon.cc)
+target_link_libraries(undistort_image_texrecon AspRig)
+install(TARGETS undistort_image_texrecon DESTINATION bin)
+
+add_executable(fit_rpc fit_rpc.cc)
+target_link_libraries(fit_rpc AspRig)
+install(TARGETS fit_rpc DESTINATION bin)
+
+add_executable(sfm_submap sfm_submap.cc)
+target_link_libraries(sfm_submap AspRig)
+install(TARGETS sfm_submap DESTINATION bin)
+
+add_executable(sfm_merge sfm_merge.cc)
+target_link_libraries(sfm_merge AspRig)
+install(TARGETS sfm_merge DESTINATION bin)
+

src/asp/Tools/cam2map4stereo.py

@@ -27,7 +27,7 @@
 sys.path.insert(0, pythonpath)
 sys.path.insert(0, libexecpath)
 
-from stereo_utils import get_asp_version
+from asp_stereo_utils import get_asp_version
 from asp_system_utils import mkdir_p
 
 import asp_system_utils

src/asp/Tools/dg_mosaic

@@ -34,7 +34,7 @@ sys.path.insert(0, pythonpath)
 sys.path.insert(0, libexecpath)
 
 from asp_system_utils import * # must be after the path is altered above
-from stereo_utils import get_asp_version
+from asp_stereo_utils import get_asp_version
 verify_python_version_is_supported()
 
 # Prepend to system PATH

src/asp/Tools/hiedr2mosaic.py

@@ -25,7 +25,7 @@
 
 libexecpath = os.path.abspath(sys.path[0] + '/../libexec')
 sys.path.insert(0, libexecpath) # prepend to Python path
-from stereo_utils import get_asp_version
+from asp_stereo_utils import get_asp_version
 
 import asp_system_utils
 asp_system_utils.verify_python_version_is_supported()

src/asp/Tools/lronac2mosaic.py

@@ -22,7 +22,7 @@
 
 libexecpath = os.path.abspath(sys.path[0] + '/../libexec')
 sys.path.insert(0, libexecpath) # prepend to Python path
-from stereo_utils import get_asp_version
+from asp_stereo_utils import get_asp_version
 
 import asp_system_utils
 asp_system_utils.verify_python_version_is_supported()

src/asp/Tools/parallel_bundle_adjust

@@ -35,7 +35,7 @@ sys.path.insert(0, libexecpath)
 import asp_system_utils, asp_cmd_utils
 asp_system_utils.verify_python_version_is_supported()
 
-from stereo_utils import * # must be after the path is altered above
+from asp_stereo_utils import * # must be after the path is altered above
 
 # Prepend to system PATH
 os.environ["PATH"] = libexecpath + os.pathsep + os.environ["PATH"]

src/asp/Tools/parallel_stereo

@@ -29,7 +29,7 @@ sys.path.insert(0, libexecpath)
 
 import asp_system_utils, asp_string_utils, asp_cmd_utils
 asp_system_utils.verify_python_version_is_supported()
-from stereo_utils import * # must be after the path is altered above
+from asp_stereo_utils import * # must be after the path is altered above
 
 # Prepend to system PATH
 os.environ["PATH"] = libexecpath + os.pathsep + os.environ["PATH"]

src/asp/Tools/sparse_disp

@@ -67,7 +67,7 @@ sys.path.insert(0, basepath) # prepend to Python path
 sys.path.insert(0, pythonpath)
 sys.path.insert(0, libexecpath)
 
-from stereo_utils import get_asp_version
+from asp_stereo_utils import get_asp_version
 
 #==============================================================================
 # Start of supporting functions

src/asp/Tools/stereo

@@ -28,7 +28,7 @@ sys.path.insert(0, basepath) # prepend to Python path
 sys.path.insert(0, pythonpath)
 sys.path.insert(0, libexecpath)
 
-from stereo_utils import * # must be after the path is altered above
+from asp_stereo_utils import * # must be after the path is altered above
 
 import asp_system_utils, asp_cmd_utils
 asp_system_utils.verify_python_version_is_supported()

src/asp/Tools/time_trials

@@ -19,7 +19,7 @@
 from __future__ import print_function
 import os, sys, optparse, string, subprocess, math
 
-from stereo_utils.py import get_asp_version
+from asp_stereo_utils import get_asp_version
 
 import asp_system_utils
 asp_system_utils.verify_python_version_is_supported()