import json
from math import modf, floor
import time
import numpy as np
import warnings

from subprocess import CalledProcessError

import numbers

import sys

from skimage import transform as tf
from skimage import data
from skimage import registration 
from skimage import filters
from scipy import fftpack 

from matplotlib import pyplot as plt

from plio.io.io_gdal import GeoDataset

import pvl

import PIL
from PIL import Image

from autocnet.matcher.naive_template import pattern_match, pattern_match_autoreg
from autocnet.matcher import ciratefi
from autocnet.spatial import isis 
from autocnet.io.db.model import Measures, Points, Images, JsonEncoder
from autocnet.graph.node import NetworkNode
from autocnet.transformation import roi
from autocnet import spatial
from autocnet.utils.utils import bytescale

from sqlalchemy import inspect

PIL.Image.MAX_IMAGE_PIXELS = sys.float_info.max

def check_geom_func(func):
    # TODO: Pain. Stick with one of these and delete this function along with
    # everything else
    geom_funcs = {
            "classic": geom_match_classic,
            "new": geom_match,
            "simple" : geom_match_simple,
    }

    if func in geom_funcs.values():
        return func

    if func in geom_funcs.keys():
        return geom_funcs[func]

    raise Exception(f"{func} not a valid geometry function.")

def check_match_func(func):
    match_funcs = {
        "classic": subpixel_template_classic,
        "phase": iterative_phase,
        "template": subpixel_template
        # "mutualinformation": mutual_information
    }

    if func in match_funcs.values():
        return func

    if func in match_funcs.keys():
        return match_funcs[func]

    raise Exception(f"{func} not a valid matching function.")

# TODO: look into KeyPoint.size and perhaps use to determine an appropriately-sized search/template.
def _prep_subpixel(nmatches, nstrengths=2):
    """
    Setup the data strutures to return for subpixel matching.

    Parameters
    ----------
    nmatches : int
                The number of pixels to be subpixel matches

    nstrengths : int
                    The number of 'strength' values to be returned
                    by the subpixel matching method.

    Returns
    -------
    shifts_x : ndarray
               (nmatches, 1) to store the x_shift parameter

    shifts_y : ndarray
               (nmatches, 1) to store the y_shift parameter

    strengths : ndarray
                (nmatches, nstrengths) to store the strengths for each point

    new_x : ndarray
            (nmatches, 1) to store the updated x coordinates

    new_y : ndarray
            (nmatches, 1) to store the updated y coordinates
    """
    # Setup to store output to append to dataframes
    shifts_x = np.zeros(nmatches)
    shifts_y = np.zeros(nmatches)
    strengths = np.zeros((nmatches, nstrengths))

    new_x = np.empty(nmatches)
    new_y = np.empty(nmatches)

    return shifts_x, shifts_y, strengths, new_x, new_y

def check_image_size(imagesize):
    """
    Given an x,y tuple, ensure that the values
    are odd. Used by the subpixel template to also ensure
    that the template size is the one requested and not 2x
    the template size.

    Parameters
    ----------
    imagesize : tuple
                in the form (size_x, size_y)
    """
    if isinstance(imagesize, numbers.Number):
        imagesize = (int(imagesize), int(imagesize))


    x = imagesize[0]
    y = imagesize[1]

    if x % 2 == 0:
        x += 1
    if y % 2 == 0:
        y += 1
    x = floor(x/2)
    y = floor(y/2)
    return x,y

def clip_roi(img, center_x, center_y, size_x=200, size_y=200, dtype="uint64"):
    """
    Given an input image, clip a square region of interest
    centered on some pixel at some size.

    Parameters
    ----------
    img : ndarray or object
          The input image to be clipped or an object
          with a read_array method that takes a pixels
          argument in the form [xstart, ystart, xstop, ystop]

    center_x : Numeric
               The x coordinate to the center of the roi

    center_y : Numeric
               The y coordinate to the center of the roi

    img_size : int
               1/2 of the total image size. This value is the
               number of pixels grabbed from each side of the center

    Returns
    -------
    clipped_img : ndarray
                  The clipped image
    """

    try:
        raster_size = img.raster_size
    except:
        # x,y form
        raster_size = img.shape[::-1]
    axr, ax = modf(center_x)
    ayr, ay = modf(center_y)

    if ax + size_x > raster_size[0]:
        size_x = floor(raster_size[0] - center_x)
    if ax - size_x < 0:
        size_x = int(ax)
    if ay + size_y > raster_size[1]:
        size_y =floor(raster_size[1] - center_y)
    if ay - size_y < 0:
        size_y = int(ay)

    # Read from the upper left origin
    pixels = [ax-size_x, ay-size_y, size_x*2, size_y*2]
    pixels = list(map(int, pixels))  #
    if isinstance(img, np.ndarray):
        subarray = img[pixels[1]:pixels[1] + pixels[3] + 1, pixels[0]:pixels[0] + pixels[2] + 1]
    else:
        try:
            subarray = img.read_array(pixels=pixels, dtype=dtype)
        except:
            return None, 0, 0
    return subarray, axr, ayr

def subpixel_phase(sx, sy, dx, dy,
                   s_img, d_img,
                   image_size=(51, 51),
                   **kwargs):
    """
    Apply the spectral domain matcher to a search and template image. To
    shift the images, the x_shift and y_shift, need to be subtracted from
    the center of the search image. It may also be necessary to apply the
    fractional pixel adjustment as well (if for example the center of the
    search is not an integer); this function do not manage shifting.

    Parameters
    ----------
    template : ndarray
               The template used to search

    search : ndarray
             The search image

    Returns
    -------
    x_offset : float
               Shift in the x-dimension

    y_offset : float
               Shift in the y-dimension

    strength : tuple
               With the RMSE error and absolute difference in phase
    """
    image_size = check_image_size(image_size)

    s_roi = roi.Roi(s_img, sx, sy, size_x=image_size[0], size_y=image_size[1])
    d_roi = roi.Roi(d_img, dx, dy, size_x=image_size[0], size_y=image_size[1])

    s_image = s_roi.clip()
    d_template = d_roi.clip()

    if s_image.shape != d_template.shape:

        s_size = s_image.shape
        d_size = d_template.shape
        updated_size_x = int(min(s_size[1], d_size[1]))
        updated_size_y = int(min(s_size[0], d_size[0]))

        # Have to subtract 1 from even entries or else the round up that
        # occurs when the size is split over the midpoint causes the
        # size to be too large by 1.
        if updated_size_x % 2 == 0:
            updated_size_x -= 1
        if updated_size_y % 2 == 0:
            updated_size_y -= 1

        # Since the image is smaller than the requested size, set the size to
        # the current maximum image size and reduce from there on potential
        # future iterations.
        size = check_image_size((updated_size_x, updated_size_y))
        s_roi = roi.Roi(s_img, sx, sy,
                        size_x=size[0], size_y=size[1])
        d_roi = roi.Roi(d_img, dx, dy,
                        size_x=size[0], size_y=size[1])
        s_image = s_roi.clip()
        d_template = d_roi.clip()

        if (s_image is None) or (d_template is None):
            return None, None, None

    (shift_y, shift_x), error, diffphase = registration.phase_cross_correlation(s_image, d_template, **kwargs)
    dx = d_roi.x - shift_x
    dy = d_roi.y - shift_y

    return dx, dy, error, None

def subpixel_transformed_template(sx, sy, dx, dy,
                                  s_img, d_img,
                                  transform,
                                  image_size=(251, 251),
                                  template_size=(51, 51),
                                  template_buffer=5,
                                  func=pattern_match,
                                  verbose=False,
                                  **kwargs):
    """
    Uses a pattern-matcher on subsets of two images determined from the passed-in keypoints and optional sizes to
    compute an x and y offset from the search keypoint to the template keypoint and an associated strength.

    Parameters
    ----------
    sx : Numeric
         Source X coordinate

    sy : Numeric
         Source y coordinate

    dx : Numeric
         The desintation x coordinate

    dy : Numeric
         The destination y coordinate

    s_img : GeoDataset
            The source image GeoDataset

    d_img : GeoDataset
            The destination image GeoDataset

    transform : object
                A skiage transform object that has scale. The transform object is
                used to project the template into the image.

    image_size : tuple
                 (xsize, ysize) of the image that is searched within (this should be larger
                 than the template size)

    template_size : tuple
                    (xsize, ysize) of the template to iterate over the image in order
                    to identify the area(s) of highest correlation.

    template_buffer : int
                      The inverse buffer applied to the transformed template image. When
                      the warp is applied to project from the template into the image, some
                      amount of no data exists around the edges. This variable is used to clip
                      some number of pixels off the edges of the template. The higher the rotation
                      the higher this value should be.

    func : callable
           The function used to pattern match

    verbose : bool
              If true, generate plots of the matches

    Returns
    -------
    x_shift : float
               Shift in the x-dimension

    y_shift : float
               Shift in the y-dimension

    strength : float
               Strength of the correspondence in the range [-1, 1]

    corrmap : ndarray
              An n,m array of correlation coefficients

    See Also
    --------
    autocnet.matcher.naive_template.pattern_match : for the kwargs that can be passed to the matcher
    autocnet.matcher.naive_template.pattern_match_autoreg : for the jwargs that can be passed to the autoreg style matcher
    """
    image_size = check_image_size(image_size)
    template_size = check_image_size(template_size)

    template_size_x = int(template_size[0] * transform.scale[0])
    template_size_y = int(template_size[1] * transform.scale[1])

    s_roi = roi.Roi(s_img, sx, sy, size_x=image_size[0], size_y=image_size[1])
    d_roi = roi.Roi(d_img, dx, dy, size_x=template_size_x, size_y=template_size_y)

    if not s_roi.is_valid or not d_roi.is_valid:
        return [None] * 4

    try:
        s_image_dtype = isis.isis2np_types[pvl.load(s_img.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    except:
        s_image_dtype = None

    try:
        d_template_dtype = isis.isis2np_types[pvl.load(d_img.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    except:
        d_template_dtype = None

    s_image = bytescale(s_roi.clip(dtype=s_image_dtype))
    d_template = bytescale(d_roi.clip(dtype=d_template_dtype))

    if verbose:
        fig, axs = plt.subplots(1, 5, figsize=(20,10))
        # Plot of the original image and template
        axs[0].imshow(s_image, cmap='Greys')
        axs[0].set_title('Destination')
        axs[1].imshow(d_template, cmap='Greys')
        axs[1].set_title('Original Source')

    # Build the transformation chance
    shift_x, shift_y = d_roi.center

    tf_rotate = tf.AffineTransform(rotation=transform.rotation, shear=transform.shear)
    tf_shift = tf.SimilarityTransform(translation=[-shift_x, -shift_y])
    tf_shift_inv = tf.SimilarityTransform(translation=[shift_x, shift_y])

    # Define the full chain and the inverse
    trans = (tf_shift + (tf_rotate + tf_shift_inv))
    itrans = trans.inverse

    # Now apply the affine transformation
    transformed_roi = tf.warp(d_template,
                                itrans,
                                order=3)

    # Scale the source arr to the destination array size
    scale_y, scale_x = transform.scale
    template_shape_y, template_shape_x = d_template.shape
    scaled_roi = tf.resize(transformed_roi, (int(template_shape_x/scale_x), int(template_shape_y/scale_x)))

    # Clip the transformed template to avoid no data around around the edges
    buffered_template = scaled_roi[template_buffer:-template_buffer,template_buffer:-template_buffer]

    # Apply the matcher on the transformed array
    shift_x, shift_y, metrics, corrmap = func(bytescale(buffered_template), s_image, **kwargs)

    # Hard check here to see if we are on the absolute edge of the template
    max_coord = np.unravel_index(corrmap.argmax(), corrmap.shape)[::-1]
    if 0 in max_coord or corrmap.shape[0]-1 == max_coord[0] or corrmap.shape[1]-1 == max_coord[1]:
        warnings.warn('Maximum correlation is at the edge of the template. Results are ambiguous.', UserWarning)
        return [None] * 4

    if verbose:
        axs[2].imshow(transformed_roi, cmap='Greys')
        axs[2].set_title('Affine Transformed Source')
        axs[3].imshow(buffered_template, cmap='Greys')
        axs[3].set_title('Scaled and Buffered Source')
        axs[4].imshow(corrmap)
        axs[4].set_title('Correlation')
        plt.show()

    # Project the center into the affine space
    projected_center = itrans(d_roi.center)[0]

    # Shifts need to be scaled back into full resolution, affine space
    shift_x *= scale_x
    shift_y *= scale_y

    # Apply the shifts (computed using the warped image) to the affine space center
    new_projected_x = projected_center[0] - shift_x
    new_projected_y = projected_center[1] - shift_y

    # Project the updated location back into image space
    new_unprojected_x, new_unprojected_y = trans([new_projected_x, new_projected_y])[0]

    # Apply the shift
    dx = d_roi.x - (d_roi.center[0] - new_unprojected_x)
    dy = d_roi.y - (d_roi.center[1] - new_unprojected_y)

    return dx, dy, metrics, corrmap

def subpixel_template_classic(sx, sy, dx, dy,
                              s_img, d_img,
                              image_size=(251, 251),
                              template_size=(51,51),
                              func=pattern_match,
                              **kwargs):
    """
    Uses a pattern-matcher on subsets of two images determined from the passed-in keypoints and optional sizes to
    compute an x and y offset from the search keypoint to the template keypoint and an associated strength.
    Parameters
    ----------
    sx : Numeric
         Source X coordinate
    sy : Numeric
         Source y coordinate
    dx : Numeric
         The desintation x coordinate
    dy : Numeric
         The destination y coordinate
    s_img : GeoDataset
            The source image GeoDataset
    d_img : GeoDataset
            The destination image GeoDataset
    image_size : tuple
                 (xsize, ysize) of the image that is searched within (this should be larger
                 than the template size)
    template_size : tuple
                    (xsize, ysize) of the template to iterate over the image in order
                    to identify the area(s) of highest correlation.

    Returns
    -------
    x_shift : float
              Shift in the x-dimension
    y_shift : float
              Shift in the y-dimension
    strength : float
               Strength of the correspondence in the range [-1, 1]
    See Also
    --------
    autocnet.matcher.naive_template.pattern_match : for the kwargs that can be passed to the matcher
    autocnet.matcher.naive_template.pattern_match_autoreg : for the jwargs that can be passed to the autoreg style matcher
    """

    # Image or source is the reference that the template is registered to

    image_size = check_image_size(image_size)
    template_size = check_image_size(template_size)

    # In ISIS source image is the search and destination image is the pattern.
    # In ISIS the search is CTX and the pattern is THEMIS
    # So the data that are being used are swapped between autocnet and ISIS.
    
    print('source image avg: ', s_img.mean())  #THEMIS
    print('dest image avg: ', d_img.mean())  # CTX

    s_roi = roi.Roi(s_img, sx, sy, size_x=image_size[0], size_y=image_size[1])
    d_roi = roi.Roi(d_img, dx, dy, size_x=template_size[0], size_y=template_size[1])

    print('Source: ', sx, sy, d_roi.x, d_roi.y)
    print('Destination ',dx, dy, s_roi.x, s_roi.y )

    print('d shape', d_roi.clip().shape)
    print('d mean: ', d_roi.clip().mean())
    print(f'd mm: {d_roi.clip().min()} {d_roi.clip().max()}')
    #print(f'{len(isis.get_isis_special_pixels(d_roi.clip()))} chip sps : ', isis.get_isis_special_pixels(d_roi.clip()))

    s_image = s_roi.clip()
    d_template = d_roi.clip()

    print('s shape', s_image.shape)
    print('s mean: ', s_image.mean())
    print(f's mm: {s_image.min()} {s_image.max()}')
    #print(f'{len(isis.get_isis_special_pixels(s_image))} chip sps: ', isis.get_isis_special_pixels(s_image))

    if d_roi.variance == 0:
        warnings.warn('Input ROI has no variance.')
        return [None] * 4

    if (s_image is None) or (d_template is None):
        return None, None, None, None

    shift_x, shift_y, metrics, corrmap = func(d_template.astype('float32'), s_image.astype('float32'), **kwargs)

    # Apply the shift and return
    dx = d_roi.x - shift_x
    dy = d_roi.y - shift_y
    return dx, dy, metrics, corrmap

def subpixel_template(sx, sy, dx, dy,
                      s_img, d_img,
                      image_size=(251, 251),
                      template_size=(51,51),
                      func=pattern_match,
                      verbose=False,
                      **kwargs):
    """
    Uses a pattern-matcher on subsets of two images determined from the passed-in keypoints and optional sizes to
    compute an x and y offset from the search keypoint to the template keypoint and an associated strength.

    Parameters
    ----------
    sx : Numeric
         Source X coordinate

    sy : Numeric
         Source y coordinate

    dx : Numeric
         The desintation x coordinate

    dy : Numeric
         The destination y coordinate

    s_img : GeoDataset
            The source image GeoDataset

    d_img : GeoDataset
            The destination image GeoDataset

    image_size : tuple
                 (xsize, ysize) of the image that is searched within (this should be larger
                 than the template size)

    template_size : tuple
                    (xsize, ysize) of the template to iterate over the image in order
                    to identify the area(s) of highest correlation.

    func : callable
           The function used to pattern match

    verbose : bool
              If true, generate plots of the matches

    Returns
    -------
    x_shift : float
               Shift in the x-dimension

    y_shift : float
               Shift in the y-dimension

    strength : float
               Strength of the correspondence in the range [-1, 1]

    corrmap : ndarray
              An n,m array of correlation coefficients

    See Also
    --------
    autocnet.matcher.naive_template.pattern_match : for the kwargs that can be passed to the matcher
    autocnet.matcher.naive_template.pattern_match_autoreg : for the jwargs that can be passed to the autoreg style matcher
    """
    image_size = check_image_size(image_size)
    template_size = check_image_size(template_size)

    template_size_x = template_size[0]
    template_size_y = template_size[1]

    s_roi = roi.Roi(s_img, sx, sy, size_x=image_size[0], size_y=image_size[1])
    d_roi = roi.Roi(d_img, dx, dy, size_x=template_size_x, size_y=template_size_y)

    if d_roi.variance == 0:
        return [None] * 4

    if not s_roi.is_valid or not d_roi.is_valid:
        return [None] * 4

    try:
        s_image_dtype = isis.isis2np_types[pvl.load(s_img.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    except:
        s_image_dtype = None

    try:
        d_template_dtype = isis.isis2np_types[pvl.load(d_img.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    except:
        d_template_dtype = None

    s_image = bytescale(s_roi.clip(dtype=s_image_dtype))
    d_template = bytescale(d_roi.clip(dtype=d_template_dtype))

    if (s_image is None) or (d_template is None):
        return None, None, None, None

    # Apply the matcher function
    shift_x, shift_y, metrics, corrmap = func(d_template, s_image, **kwargs)

    if verbose:
        fig, axs = plt.subplots(1, 3, figsize=(20,10))
        axs[0].imshow(s_image, cmap='Greys')
        axs[1].imshow(d_template, cmap='Greys')
        axs[3].imshow(corrmap)
        plt.show()

    # Hard check here to see if we are on the absolute edge of the template
    max_coord = np.unravel_index(corrmap.argmax(), corrmap.shape)[::-1]
    if 0 in max_coord or corrmap.shape[0]-1 == max_coord[0] or corrmap.shape[1]-1 == max_coord[1]:
        warnings.warn('Maximum correlation is at the edge of the template. Results are ambiguous.', UserWarning)
        return [None] * 4

    # Apply the shift to the center of the ROI object
    dx = d_roi.x - shift_x
    dy = d_roi.y - shift_y

    return dx, dy, metrics, corrmap

def subpixel_ciratefi(sx, sy, dx, dy, s_img, d_img, search_size=251, template_size=51, **kwargs):
    """
    Uses a pattern-matcher on subsets of two images determined from the passed-in keypoints and optional sizes to
    compute an x and y offset from the search keypoint to the template keypoint and an associated strength.

    Parameters
    ----------
    sx : numeric
         The x position of the center of the template to be matched to
    sy : numeric
         The y position of the center of the template to be matched to
    dx : numeric
         The x position of the center of the search to be matched from
    dy : numeric
         The y position of the center of the search to be matched to
    s_img : object
            A plio geodata object from which the template is extracted
    d_img : object
            A plio geodata object from which the search is extracted
    search_size : int
                  An odd integer for the size of the search image
    template_size : int
                    A odd integer for the size of the template that is iterated
                    over the search images

    Returns
    -------
    x_offset : float
               Shift in the x-dimension

    y_offset : float
               Shift in the y-dimension

    strength : float
               Strength of the correspondence in the range [-1, 1]
    """
    t_roi = roi.Roi(d_img, dx, dy,
                              size_x=template_size, size_y=template_size)
    s_roi = roi.Roi(s_img, sx, sy,
                                size_x=search_size, size_y=search_size)
    template = t_roi.clip()
    search = s_roi.clip()

    if template is None or search is None:
        return None, None, None

    x_offset, y_offset, strength = ciratefi.ciratefi(template, search, **kwargs)
    dx += (x_offset + t_roi.axr)
    dy += (y_offset + t_roi.ayr)
    return dx, dy, strength

def iterative_phase(sx, sy, dx, dy, s_img, d_img, size=(51, 51), reduction=11, convergence_threshold=1.0, max_dist=50, **kwargs):
    """
    Iteratively apply a subpixel phase matcher to source (s_img) and destination (d_img)
    images. The size parameter is used to set the initial search space. The algorithm
    is recursively applied to reduce the total search space by reduction until the convergence criteria
    are met. Convergence is defined as the point at which the computed shifts (x_shift,y_shift) are
    less than the convergence_threshold. In instances where the size is reducted to 1 pixel the
    algorithm terminates and returns None.

    Parameters
    ----------
    sx : numeric
         The x position of the center of the template to be matched to
    sy : numeric
         The y position of the center of the template to be matched to
    dx : numeric
         The x position of the center of the search to be matched from
    dy : numeric
         The y position of the center of the search to be matched to
    s_img : object
            A plio geodata object from which the template is extracted
    d_img : object
            A plio geodata object from which the search is extracted
    size : tuple
           Size of the template in the form (x,y)
    reduction : int
                With each recursive call to this func, the size is reduced by this amount
    convergence_threshold : float
                            The value under which the result can shift in the x and y directions to force a break

    Returns
    -------
    dx : float
         The new x value for the match in the destination (d) image
    dy : float
         The new y value for the match in the destination (d) image
    metrics : tuple
              A tuple of metrics. In the case of the phase matcher this are difference
              and RMSE in the phase dimension.

    See Also
    --------
    subpixel_phase : the function that applies a single iteration of the phase matcher
    """

    # get initial destination location
    dsample = dx
    dline = dy

    while True:
        shifted_dx, shifted_dy, metrics, _ = subpixel_phase(sx, sy, dx, dy, s_img, d_img, image_size=size, **kwargs)

        # Compute the amount of move the matcher introduced
        delta_dx = abs(shifted_dx - dx)
        delta_dy = abs(shifted_dy - dy)
        dx = shifted_dx
        dy = shifted_dy

        # Break if the solution has converged
        size = (size[0] - reduction, size[1] - reduction)
        dist = np.linalg.norm([dsample-dx, dline-dy])

        if min(size) < 1:
            return None, None, (None, None)
        if delta_dx <= convergence_threshold and\
           delta_dy<= convergence_threshold and\
           abs(dist) <= max_dist:
           break

    return dx, dy, metrics

def estimate_affine_transformation(destination_coordinates, source_coordinates):
    """
    Given a set of destination control points compute the affine transformation
    required to project the source control points into the destination.

    Parameters
    ----------
    destination_coordinates : array-like
                              An n,2 data structure containing the destination control points

    source_coordinates : array-like
                         An n,2 data structure containing the source control points

    Returns
    -------
     : object
       An skimage affine transform object
    """
    destination_coordinates = np.asarray(destination_coordinates)
    source_coordinates = np.asarray(source_coordinates)

    return tf.estimate_transform('affine', destination_coordinates, source_coordinates)

def geom_match_simple(base_cube,
                       input_cube,
                       bcenter_x,
                       bcenter_y,
                       size_x=60,
                       size_y=60,
                       match_func="classic",
                       match_kwargs={"image_size":(101,101), "template_size":(31,31)},
                       preprocess=None,
                       verbose=False):
    """
    Propagates a source measure into destination images and then perfroms subpixel registration.
    Measure creation is done by projecting the (lon, lat) associated with the source measure into the
    destination image. The created measure is then matched to the source measure using a quick projection
    of the destination image into source image space (using an affine transformation) and a naive
    template match with optional phase template match.

    This version projects the entirity of the input cube onto the base

    Parameters
    ----------
    base_cube:  plio.io.io_gdal.GeoDataset
                source image
    input_cube: plio.io.io_gdal.GeoDataset
                destination image; gets matched to the source image
    bcenter_x:  int
                sample location of source measure in base_cube
    bcenter_y:  int
                line location of source measure in base_cube
    size_x:     int
                half-height of the subimage used in the affine transformation
    size_y:     int
                half-width of the subimage used in affine transformation
    template_kwargs: dict
                     contains keywords necessary for autocnet.matcher.subpixel.subpixel_template
    phase_kwargs:    dict
                     contains kwargs for autocnet.matcher.subpixel.subpixel_phase
    verbose:    boolean
                indicates level of print out desired. If True, two subplots are output; the first subplot contains
                the source subimage and projected destination subimage, the second subplot contains the registered
                measure's location in the base subimage and the unprojected destination subimage with the corresponding
                template metric correlation map.
    Returns
    -------
    sample: int
            sample of new measure in destination image space
    line:   int
            line of new measures in destination image space
    dist:   np.float or tuple of np.float
            distance matching algorithm moved measure
            if template matcher only (default): returns dist_template
            if template and phase matcher:      returns (dist_template, dist_phase)
    metric: np.float or tuple of np.float
            matching metric output by the matcher
            if template matcher only (default): returns maxcorr
            if template and phase matcher:      returns (maxcorr, perror, pdiff)
    temp_corrmap: np.ndarray
            correlation map of the naive template matcher
    See Also
    --------
    autocnet.matcher.subpixel.subpixel_template: for list of kwargs that can be passed to the matcher
    autocnet.matcher.subpixel.subpixel_phase: for list of kwargs that can be passed to the matcher
    """
    t1 = time.time()
    if not isinstance(input_cube, GeoDataset):
        raise Exception("input cube must be a geodataset obj")
    if not isinstance(base_cube, GeoDataset):
        raise Exception("match cube must be a geodataset obj")

    # Parse the match_func into a function if it comes in as a string
    if not callable(match_func):
        match_func = check_match_func(match_func)

    base_startx = int(bcenter_x - size_x)
    base_starty = int(bcenter_y - size_y)
    base_stopx = int(bcenter_x + size_x)
    base_stopy = int(bcenter_y + size_y)

    image_size = input_cube.raster_size
    match_size = base_cube.raster_size

    # for now, require the entire window resides inside both cubes.
    if base_stopx > match_size[0]:
        raise Exception(f"Window: {base_stopx} > {match_size[0]}, center: {bcenter_x},{bcenter_y}")
    if base_startx < 0:
        raise Exception(f"Window: {base_startx} < 0, center: {bcenter_x},{bcenter_y}")
    if base_stopy > match_size[1]:
        raise Exception(f"Window: {base_stopy} > {match_size[1]}, center: {bcenter_x},{bcenter_y} ")
    if base_starty < 0:
        raise Exception(f"Window: {base_starty} < 0, center: {bcenter_x},{bcenter_y}")

    # specifically not putting this in a try/except, this should never fail
    center_x, center_y = bcenter_x, bcenter_y

    base_corners = [(base_startx,base_starty),
                    (base_startx,base_stopy),
                    (base_stopx,base_stopy),
                    (base_stopx,base_starty),
                    (bcenter_x, bcenter_y)]

    dst_corners = []
    for x,y in base_corners:
        try:
            lon, lat = spatial.isis.image_to_ground(base_cube.file_name, x, y)
            dst_corners.append(
                spatial.isis.ground_to_image(input_cube.file_name, lon, lat)
            )
        except: pass

    if len(dst_corners) < 3:
        raise ValueError('Unable to find enough points to compute an affine transformation.')

    base_gcps = np.array([*base_corners])

    dst_gcps = np.array([*dst_corners])

    affine = tf.estimate_transform('affine', np.array([*base_gcps]), np.array([*dst_gcps]))
    t2 = time.time()
    print(f'Estimation of the transformation took {t2-t1} seconds.')
    # read_array not getting correct type by default

    base_type = isis.isis2np_types[pvl.load(base_cube.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    base_arr = base_cube.read_array(dtype=base_type)

    dst_type = isis.isis2np_types[pvl.load(input_cube.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    dst_arr = input_cube.read_array(dtype=dst_type)

    box = (0, 0, max(dst_arr.shape[1], base_arr.shape[1]), max(dst_arr.shape[0], base_arr.shape[0]))
    dst_arr = np.array(Image.fromarray(dst_arr).crop(box))

    dst_arr = tf.warp(dst_arr, affine, order=3)      
    t3 = time.time()
    print(f'Affine warp took {t3-t2} seconds.')
    if verbose:
        fig, axs = plt.subplots(1, 2)
        axs[0].set_title("Base")
        axs[0].imshow(roi.Roi(bytescale(base_arr, cmin=0), bcenter_x, bcenter_y, 25, 25).clip(), cmap="Greys_r")
        axs[1].set_title("Projected Image")
        axs[1].imshow(roi.Roi(bytescale(dst_arr, cmin=0), bcenter_x, bcenter_y, 25, 25).clip(), cmap="Greys_r")
        plt.show()
    # Run through one step of template matching then one step of phase matching
    # These parameters seem to work best, should pass as kwargs later
    print('dst_arr mean: ', dst_arr.mean())
    print(f'dst_arr mm: {dst_arr.min()} {dst_arr.max()}')
    #print(f'special pixels: ', isis.get_isis_special_pixels(dst_arr))
    
    if preprocess:
        base_arr, dst_arr = preprocess(base_arr, dst_arr)

    restemplate = match_func(bcenter_x, bcenter_y, bcenter_x, bcenter_y, base_arr, dst_arr, **match_kwargs)
    t4 = time.time()
    print(f'Matching took {t4-t3} seconds')

    try: 
        x,y,maxcorr,temp_corrmap = restemplate
    except: 
        # did not return a corrmap 
        x,y,maxcorr = restemplate 
        temp_corrmap = np.empty((size_x, size_y))
        temp_corrmap[:] = np.nan
    
    if x is None or y is None:
        return None, None, None, None, None
    metric = maxcorr
    sample, line = affine([x, y])[0]
    dist = np.linalg.norm([bcenter_x-x, bcenter_y-y])

    if verbose:
        fig, axs = plt.subplots(2, 3)
        fig.set_size_inches((30,30))

        oarr = roi.Roi(input_cube.read_array(), sample, line, 150, 150).clip()
        axs[0][2].imshow(bytescale(oarr, cmin=0), cmap="Greys_r")
        axs[0][2].axhline(y=oarr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][2].axvline(x=oarr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][2].set_title("Original Registered Image")

        barr = roi.Roi(base_arr, bcenter_x, bcenter_y, size_x, size_y).clip()
        axs[0][0].imshow(bytescale(barr, cmin=0), cmap="Greys_r")
        axs[0][0].axhline(y=barr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][0].axvline(x=barr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][0].set_title("Base")

        darr = roi.Roi(dst_arr, x, y, size_x, size_y).clip()
        axs[0][1].imshow(bytescale(darr, cmin=0), cmap="Greys_r")
        axs[0][1].axhline(y=darr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][1].axvline(x=darr.shape[1]/2, color="red", linestyle="-", alpha=1)
        axs[0][1].set_title("Projected Registered Image")

        #axs[1][0].imshow(bytescale(darr.astype("f")/barr.astype("f")), cmap="Greys_r", alpha=.6)
        axs[1][0].imshow(bytescale(barr.astype("f")), cmap="Blues", alpha=1.0)
        axs[1][0].imshow(bytescale(darr.astype("f")), cmap="Pastel2", alpha=0.5)
        axs[1][0].axhline(y=barr.shape[1]/2, color="red", linestyle="-", alpha=.5)
        axs[1][0].axvline(x=barr.shape[1]/2, color="red", linestyle="-", alpha=.5)
        axs[1][0].set_title("overlap")

        pcm = axs[1][1].imshow(temp_corrmap**2, interpolation=None, cmap="coolwarm")
        plt.show()

    return sample, line, dist, metric, temp_corrmap


def geom_match_classic(base_cube,
                       input_cube,
                       bcenter_x,
                       bcenter_y,
                       size_x=60,
                       size_y=60,
                       template_kwargs={"image_size":(59,59), "template_size":(31,31)},
                       phase_kwargs=None,
                       verbose=True):
    """
    Propagates a source measure into destination images and then perfroms subpixel registration.
    Measure creation is done by projecting the (lon, lat) associated with the source measure into the
    destination image. The created measure is then matched to the source measure using a quick projection
    of the destination image into source image space (using an affine transformation) and a naive
    template match with optional phase template match.
    Parameters
    ----------
    base_cube:  plio.io.io_gdal.GeoDataset
                source image
    input_cube: plio.io.io_gdal.GeoDataset
                destination image; gets matched to the source image
    bcenter_x:  int
                sample location of source measure in base_cube
    bcenter_y:  int
                line location of source measure in base_cube
    size_x:     int
                half-height of the subimage used in the affine transformation
    size_y:     int
                half-width of the subimage used in affine transformation
    template_kwargs: dict
                     contains keywords necessary for autocnet.matcher.subpixel.subpixel_template
    phase_kwargs:    dict
                     contains kwargs for autocnet.matcher.subpixel.subpixel_phase
    verbose:    boolean
                indicates level of print out desired. If True, two subplots are output; the first subplot contains
                the source subimage and projected destination subimage, the second subplot contains the registered
                measure's location in the base subimage and the unprojected destination subimage with the corresponding
                template metric correlation map.
    Returns
    -------
    sample: int
            sample of new measure in destination image space
    line:   int
            line of new measures in destination image space
    dist:   np.float or tuple of np.float
            distance matching algorithm moved measure
            if template matcher only (default): returns dist_template
            if template and phase matcher:      returns (dist_template, dist_phase)
    metric: np.float or tuple of np.float
            matching metric output by the matcher
            if template matcher only (default): returns maxcorr
            if template and phase matcher:      returns (maxcorr, perror, pdiff)
    temp_corrmap: np.ndarray
            correlation map of the naive template matcher
    See Also
    --------
    autocnet.matcher.subpixel.subpixel_template: for list of kwargs that can be passed to the matcher
    autocnet.matcher.subpixel.subpixel_phase: for list of kwargs that can be passed to the matcher
    """

    if not isinstance(input_cube, GeoDataset):
        raise Exception("input cube must be a geodataset obj")
    if not isinstance(base_cube, GeoDataset):
        raise Exception("match cube must be a geodataset obj")

    base_startx = int(bcenter_x - size_x)
    base_starty = int(bcenter_y - size_y)
    base_stopx = int(bcenter_x + size_x)
    base_stopy = int(bcenter_y + size_y)

    image_size = input_cube.raster_size
    match_size = base_cube.raster_size

    # for now, require the entire window resides inside both cubes.
    if base_stopx > match_size[0]:
        raise Exception(f"Window: {base_stopx} > {match_size[0]}, center: {bcenter_x},{bcenter_y}")
    if base_startx < 0:
        raise Exception(f"Window: {base_startx} < 0, center: {bcenter_x},{bcenter_y}")
    if base_stopy > match_size[1]:
        raise Exception(f"Window: {base_stopy} > {match_size[1]}, center: {bcenter_x},{bcenter_y} ")
    if base_starty < 0:
        raise Exception(f"Window: {base_starty} < 0, center: {bcenter_x},{bcenter_y}")

    # specifically not putting this in a try/except, this should never fail
    mlon, mlat = spatial.isis.image_to_ground(base_cube.file_name, bcenter_x, bcenter_y)
    center_x, center_y = spatial.isis.ground_to_image(input_cube.file_name, mlon, mlat)

    base_corners = [(base_startx,base_starty),
                    (base_startx,base_stopy),
                    (base_stopx,base_stopy),
                    (base_stopx,base_starty)]

    dst_corners = []
    for x,y in base_corners:
        try:
            lon, lat = spatial.isis.image_to_ground(base_cube.file_name, x, y)
            dst_corners.append(
                spatial.isis.ground_to_image(input_cube.file_name, lon, lat)
            )
        except CalledProcessError as e:
            if 'Requested position does not project in camera model' in e.stderr:
                print(f'Skip geom_match; Region of interest corner located at ({lon}, {lat}) does not project to image {input_cube.base_name}')
                return None, None, None, None, None

    base_gcps = np.array([*base_corners])
    base_gcps[:,0] -= base_startx
    base_gcps[:,1] -= base_starty

    dst_gcps = np.array([*dst_corners])
    start_x = dst_gcps[:,0].min()
    start_y = dst_gcps[:,1].min()
    stop_x = dst_gcps[:,0].max()
    stop_y = dst_gcps[:,1].max()
    dst_gcps[:,0] -= start_x
    dst_gcps[:,1] -= start_y

    affine = tf.estimate_transform('affine', np.array([*base_gcps]), np.array([*dst_gcps]))

    base_pixels = list(map(int, [base_corners[0][0], base_corners[0][1], size_x*2, size_y*2]))
    base_type = isis.isis2np_types[pvl.load(base_cube.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    base_arr = base_cube.read_array(pixels=base_pixels, dtype=base_type)

    dst_pixels = list(map(int, [start_x, start_y, stop_x-start_x, stop_y-start_y]))
    dst_type = isis.isis2np_types[pvl.load(input_cube.file_name)["IsisCube"]["Core"]["Pixels"]["Type"]]
    dst_arr = input_cube.read_array(pixels=dst_pixels, dtype=dst_type)

    dst_arr = tf.warp(dst_arr, affine)
    dst_arr = dst_arr[:size_y*2, :size_x*2]

    if verbose:
        fig, axs = plt.subplots(1, 2)
        axs[0].set_title("Base")
        axs[0].imshow(bytescale(base_arr), cmap="Greys_r")
        axs[1].set_title("Projected Image")
        axs[1].imshow(bytescale(dst_arr), cmap="Greys_r")
        plt.show()

    # Run through one step of template matching then one step of phase matching
    # These parameters seem to work best, should pass as kwargs later
    restemplate = subpixel_template_classic(size_x, size_y, size_x, size_y, bytescale(base_arr), bytescale(dst_arr), **template_kwargs)

    x,y,maxcorr,temp_corrmap = restemplate
    if x is None or y is None:
        return None, None, None, None, None
    metric = maxcorr
    sample, line = affine([x, y])[0]
    sample += start_x
    line += start_y
    dist = np.linalg.norm([center_x-sample, center_y-line])

    if verbose:
        fig, axs = plt.subplots(1, 3)
        fig.set_size_inches((30,30))
        darr = roi.Roi(input_cube.read_array(dtype=dst_type), sample, line, 100, 100).clip()
        axs[1].imshow(darr, cmap="Greys_r")
        axs[1].scatter(x=[darr.shape[1]/2], y=[darr.shape[0]/2], s=10, c="red")
        axs[1].set_title("Original Registered Image")

        axs[0].imshow(base_arr, cmap="Greys_r")
        axs[0].scatter(x=[base_arr.shape[1]/2], y=[base_arr.shape[0]/2], s=10, c="red")
        axs[0].set_title("Base")

        pcm = axs[2].imshow(temp_corrmap**2, interpolation=None, cmap="coolwarm")
        plt.show()

    return sample, line, dist, metric, temp_corrmap


def geom_match(destination_cube,
               source_cube,
               bcenter_x,
               bcenter_y,
               template_kwargs={"image_size":(59,59), "template_size":(31,31)},
               verbose=True):
    """
    Propagates a source measure into destination images and then perfroms subpixel registration.
    Measure creation is done by projecting the (lon, lat) associated with the source measure into the
    destination image. The created measure is then matched to the source measure using a quick projection
    of the destination image into source image space (using an affine transformation) and a naive
    template match with optional phase template match.

    Parameters
    ----------
    destination_cube:  plio.io.io_gdal.GeoDataset
                       The image to be matched to

    source_cube: plio.io.io_gdal.GeoDataset
                 The image that is transformed and matched into the destination_cube

    bcenter_x:  int
                sample location of source measure in base_cube

    bcenter_y:  int
                line location of source measure in base_cube

    size_x:     int
                half-height of the subimage used in the affine transformation

    size_y:     int
                half-width of the subimage used in affine transformation

    template_kwargs: dict
                     contains keywords necessary for autocnet.matcher.subpixel.subpixel_template

    verbose:    boolean
                indicates level of print out desired. If True, two subplots are output; the first subplot contains
                the source subimage and projected destination subimage, the second subplot contains the registered
                measure's location in the base subimage and the unprojected destination subimage with the corresponding
                template metric correlation map.

    Returns
    -------
    sample: int
            sample of new measure in destination image space

    line:   int
            line of new measures in destination image space

    dist:   np.float or tuple of np.float
            distance matching algorithm moved measure
            if template matcher only (default): returns dist_template
            if template and phase matcher:      returns (dist_template, dist_phase)

    metric: np.float or tuple of np.float
            matching metric output by the matcher
            if template matcher only (default): returns maxcorr
            if template and phase matcher:      returns (maxcorr, perror, pdiff)

    temp_corrmap: np.ndarray
                  correlation map of the naive template matcher

    See Also
    --------
    autocnet.matcher.subpixel.subpixel_template: for list of kwargs that can be passed to the matcher
    autocnet.matcher.subpixel.subpixel_phase: for list of kwargs that can be passed to the matcher

    """

    if not isinstance(source_cube, GeoDataset):
        raise Exception("source cube must be a geodataset obj")

    if not isinstance(destination_cube, GeoDataset):
        raise Exception("destination cube must be a geodataset obj")

    destination_size_x = template_kwargs['image_size'][0]
    destination_size_y = template_kwargs['image_size'][1]

    destination_startx = int(bcenter_x - destination_size_x)
    destination_starty = int(bcenter_y - destination_size_y)
    destination_stopx = int(bcenter_x + destination_size_x)
    destination_stopy = int(bcenter_y + destination_size_y)

    image_size = source_cube.raster_size
    match_size = destination_cube.raster_size

    # for now, require the entire window resides inside both cubes.
    if destination_stopx > match_size[0]:
        raise Exception(f"Window: {destination_stopx} > {match_size[0]}, center: {bcenter_x},{bcenter_y}")
    if destination_startx < 0:
        raise Exception(f"Window: {destination_startx} < 0, center: {bcenter_x},{bcenter_y}")
    if destination_stopy > match_size[1]:
        raise Exception(f"Window: {destination_stopy} > {match_size[1]}, center: {bcenter_x},{bcenter_y} ")
    if destination_starty < 0:
        raise Exception(f"Window: {destination_starty} < 0, center: {bcenter_x},{bcenter_y}")

    destination_corners = [(destination_startx,destination_starty),
                    (destination_startx,destination_stopy),
                    (destination_stopx,destination_stopy),
                    (destination_stopx,destination_starty)]

    # specifically not putting this in a try/except, this should never fail
    # 07/28 - putting it in a try/except because of how we ground points
    # Transform from the destination center to the source_cube center
    try:
        mlon, mlat = spatial.isis.image_to_ground(destination_cube.file_name, bcenter_x, bcenter_y)
        center_x, center_y = spatial.isis.ground_to_image(source_cube.file_name, mlon, mlat)
    except CalledProcessError as e:
            if 'Requested position does not project in camera model' in e.stderr:
                print(f'Skip geom_match; Region of interest center located at ({mlon}, {mlat}) does not project to image {source_cube.base_name}')
                print('This should only appear when propagating ground points')
                return None, None, None, None, None

    # Compute the mapping between the destination corners and the source_cube corners in
    # order to estimate an affine transformation
    source_corners = []
    for x,y in destination_corners:
        try:
            lon, lat = spatial.isis.image_to_ground(destination_cube.file_name, x, y)
            source_corners.append(
                spatial.isis.ground_to_image(source_cube.file_name, lon, lat)
            )
        except CalledProcessError as e:
            if 'Requested position does not project in camera model' in e.stderr:
                print(f'Skip geom_match; Region of interest corner located at ({lon}, {lat}) does not project to image {source_cube.base_name}')
                return None, None, None, None, None


    # Estimate the transformation
    affine = estimate_affine_transformation(destination_corners, source_corners)

    # Apply the subpixel matcher with an affine transformation
    restemplate = subpixel_transformed_template(bcenter_x, bcenter_y,
                                                center_x, center_y,
                                                destination_cube, source_cube,
                                                affine,
                                                verbose=verbose,
                                                **template_kwargs)

    x, y, metric, corrmap = restemplate

    if x is None or y is None:
        return None, None, None, None, None

    dist = np.linalg.norm([center_x-x, center_y-y])
    return x, y, dist, metric, corrmap


def subpixel_register_measure(measureid,
                              subpixel_template_kwargs={},
                              size_x=100, size_y=100,
                              cost_func=lambda x,y: 1/x**2 * y,
                              threshold=0.005,
                              ncg=None,
                              **kwargs):
    """
    Given a measure, subpixel register to the reference measure of its associated point.

    Parameters
    ----------
    ncg : obj
          the network candidate graph that the point is associated with; used for
          the DB session that is able to access the point.

    measureid : int or obj
              The identifier of the measure in the DB or a Measures object

    subpixel_template_kwargs : dict
                               Any keyword arguments passed to the template matcher

    cost : func
           A generic cost function accepting two arguments (x,y), where x is the
           distance that a point has shifted from the original, sensor identified
           intersection, and y is the correlation coefficient coming out of the
           template matcher.

    threshold : numeric
                measures with a cost <= the threshold are marked as ignore=True in
                the database.
    """

    if isinstance(measureid, Measures):
        measureid = measureid.id

    result = {'measureid':measureid,
              'status':''}

    if not ncg.Session:
        raise BrokenPipeError('This func requires a database session from a NetworkCandidateGraph.')

    with ncg.session_scope() as session:
        # Setup the measure that is going to be matched
        destination = session.query(Measures).filter(Measures.id == measureid).one()
        destinationimageid = destination.imageid
        destinationimage = session.query(Images).filter(Images.id == destinationimageid).one()
        destination_node = NetworkNode(node_id=destinationimageid, image_path=destinationimage.path)

        # Get the point id and set up the reference measure
        pointid = destination.pointid
        measures = session.query(Measures).filter(Measures.pointid==pointid).order_by(Measures.id).all()

        reference_index = measures[0].reference_index
        source = measures[reference_index]

        source.template_metric = 1
        source.template_shift = 0
        source.phase_error = 0
        source.phase_diff = 0
        source.phase_shift = 0
        source.weight = 1

        sourceid = source.imageid
        sourceimage = session.query(Images).filter(Images.id == sourceid).one()
        source_node = NetworkNode(node_id=sourceid, image_path=sourceimage.path)

        resultlog = []
        print(f'Attempting to subpixel register measure {measureid}: ({pointid}, {destinationimage.name})')
        currentlog = {'measureid': measureid,
                      'status': ''}
        
        if source.measureid == measureid:
            currentlog['status'] = f'Unable to register this measure. Measure {measureid} is the reference measure.'
            return resultlog

        try:
            new_x, new_y, dist, metric = geom_match_simple(source_node.geodata, destination_node.geodata,
                                                            source.sample, source.line,
                                                            match_func=match_func,
                                                            template_kwargs=subpixel_template_kwargs)
        except Exception as e:
            print(f'geom_match failed on measure {measureid} with exception -> {e}')
            destination.ignore = True # geom_match failed
            currentlog['status'] = f"Failed to register measure {measureid}"
            resultlog.append(currentlog)
            return resultlog

        if new_x == None or new_y == None:
            destination.ignore = True # Unable to geom match
            currentlog['status'] = 'Failed to geom match.'
            resultlog.append(currentlog)
            return resultlog

        destination.template_metric = metric
        destination.template_shift = dist

        cost = cost_func(destination.template_shift, destination.template_metric)

        if cost <= threshold:
            destination.ignore = True # Threshold criteria not met
            currentlog['status'] = f'Cost failed. Distance shifted: {destination.template_shift}. Metric: {destination.template_metric}.'
            resultlog.append(currentlog)
            return resultlog

        # Update the measure
        destination.sample = new_x
        destination.line = new_y
        destination.weight = cost
        destination.choosername = 'subpixel_register_measure'

        # In case this is a second run, set the ignore to False if this
        # measures passed. Also, set the source measure back to ignore=False
        destination.ignore = False
        source.ignore = False
        currentlog['status'] = f'Success.'
        resultlog.append(currentlog)


    return resultlog


def subpixel_register_point(pointid,
                            cost_func=lambda x,y: 1/x**2 * y,
                            threshold=0.005,
                            ncg=None,
                            geom_func='simple',
                            match_func='classic',
                            match_kwargs={},
                            use_cache=False,
                            verbose=False,
                            chooser='subpixel_register_point',
                            **kwargs):

    """
    Given some point, subpixel register all of the measures in the point to the
    first measure.

    Parameters
    ----------
    pointid : int or obj
              The identifier of the point in the DB or a Points object

    cost_func : func
                A generic cost function accepting two arguments (x,y), where x is the
                distance that a point has shifted from the original, sensor identified
                intersection, and y is the correlation coefficient coming out of the
                template matcher.

    threshold : numeric
                measures with a cost <= the threshold are marked as ignore=True in
                the database.
    ncg : obj
          the network candidate graph that the point is associated with; used for
          the DB session that is able to access the point.
    
    geom_func : callable
                function used to tranform the source and/or destination image before 
                running a matcher. 
    
    match_func : callable
                 subpixel matching function to use registering measures   

    use_cache : bool
                If False (default) this func opens a database session and writes points
                and measures directly to the respective tables. If True, this method writes 
                messages to the point_insert (defined in ncg.config) redis queue for 
                asynchronous (higher performance) inserts.   
    """

    geom_func=geom_func.lower()
    match_func=match_func.lower()

    print(f"Using {geom_func} with the {match_func} matcher.")
    
    match_func = check_match_func(match_func)
    geom_func = check_geom_func(geom_func)

    if not ncg.Session:
        raise BrokenPipeError('This func requires a database session from a NetworkCandidateGraph.')
    
    if isinstance(pointid, Points):
        pointid = pointid.id
    
    t1 = time.time()
    with ncg.session_scope() as session:
        measures = session.query(Measures).filter(Measures.pointid == pointid).order_by(Measures.id).all()
        point = session.query(Points).filter(Points.id == pointid).one()
        reference_index = point.reference_index
        t2 = time.time()
        print(f'Query took {t2-t1} seconds to find the measures and reference measure.')
        # Get the reference measure. Previously this was index 0, but now it is a database tracked attribute
        source = measures[reference_index]

        print(f'Using measure {source.id} on image {source.imageid}/{source.serial} as the reference.')
        print(f'Measure reference index is: {reference_index}')
        source.template_metric = 1
        source.template_shift = 0
        source.phase_error = 0
        source.phase_diff = 0
        source.phase_shift = 0

        sourceid = source.imageid
        sourceres = session.query(Images).filter(Images.id == sourceid).one()
        source_node = NetworkNode(node_id=sourceid, image_path=sourceres.path)
        source_node.parent = ncg
        t3 = time.time()
        print(f'Query for the image to use as source took {t3-t2} seconds.')
        print(f'Attempting to subpixel register {len(measures)-1} measures for point {pointid}')
        nodes = {}
        for measure in measures:
            res = session.query(Images).filter(Images.id == measure.imageid).one()
            nodes[measure.imageid] = NetworkNode(node_id=measure.imageid, image_path=res.path)

        session.expunge_all()
    
    resultlog = []
    updated_measures = []
    for i, measure in enumerate(measures):
        if i == reference_index:
            continue
        
        currentlog = {'measureid':measure.id,
                    'status':''}
        cost = None
        destinationid = measure.imageid

        destination_node = nodes[measure.imageid]

        print('geom_match image:', destination_node['image_path'])
        print('geom_func', geom_func)
        try:
            # new geom_match has a incompatible API, until we decide on one, put in if.
            if (geom_func == geom_match):
               new_x, new_y, dist, metric,  _ = geom_func(source_node.geodata, destination_node.geodata,
                                                    source.apriorisample, source.aprioriline,
                                                    template_kwargs=match_kwargs,
                                                    verbose=verbose)
            else:
                new_x, new_y, dist, metric,  _ = geom_func(source_node.geodata, destination_node.geodata,
                                                    source.apriorisample, source.aprioriline,
                                                    match_func=match_func,
                                                    match_kwargs=match_kwargs,
                                                    verbose=verbose)
        except Exception as e:
            print(f'geom_match failed on measure {measure.id} with exception -> {e}')
            currentlog['status'] = f"geom_match failed on measure {measure.id}"
            resultlog.append(currentlog)
            if measure.weight is None:
                measure.ignore = True # Geom match failed and no previous sucesses
            updated_measures.append(measure)
            continue

        if new_x == None or new_y == None:
            currentlog['status'] = f'Failed to register measure {measure.id}.'
            resultlog.append(currentlog)
            if measure.weight is None:
                measure.ignore = True # Unable to geom match and no previous sucesses
            updated_measures.append(measure)
            continue

        measure.template_metric = metric
        measure.template_shift = dist

        cost = cost_func(measure.template_shift, measure.template_metric)

        print(f'Current Cost: {cost},  Current Weight: {measure.weight}')

        # Check to see if the cost function requirement has been met
        if measure.weight and cost <= measure.weight:
            currentlog['status'] = f'Previous match provided better correlation. {measure.weight} > {cost}.'
            resultlog.append(currentlog)
            updated_measures.append(measure)
            continue

        if cost <= threshold:
            currentlog['status'] = f'Cost failed. Distance calculated: {measure.template_shift}. Metric calculated: {measure.template_metric}.'
            resultlog.append(currentlog)
            updated_measures.append(measure)
            if measure.weight is None:
                measure.ignore = True # Threshold criteria not met and no previous sucesses
            continue

        # Update the measure
        measure.sample = new_x
        measure.line = new_y
        measure.weight = cost
        measure.choosername = chooser

        # In case this is a second run, set the ignore to False if this
        # measures passed. Also, set the source measure back to ignore=False
        measure.ignore = False
        # Maybe source?
        source.ignore = False
        updated_measures.append(measure)
        currentlog['status'] = f'Success. Distance shifted: {measure.template_shift}. Metric: {measure.template_metric}.'
        resultlog.append(currentlog)
    
    # Once here, update the source measure (possibly back to ignore=False)
    updated_measures.append(source)

    if use_cache:
        t4 = time.time()
        ncg.redis_queue.rpush(ncg.measure_update_queue,
                              *[json.dumps(measure.to_dict(_hide=[]), cls=JsonEncoder) for measure in updated_measures])
        ncg.redis_queue.incr(ncg.measure_update_counter, amount=len(updated_measures))
        t5 = time.time()
        print(f'Cache load took {t5-t4} seconds')
    else:
        t4 = time.time()
        # Commit the updates back into the DB
        with ncg.session_scope() as session:
            for m in updated_measures:
                ins = inspect(m)
                session.add(m)
        t5 = time.time()
        print(f'Database update took {t5-t4} seconds.')
    return resultlog


def subpixel_register_points(subpixel_template_kwargs={'image_size':(251,251)},
                             cost_kwargs={},
                             threshold=0.005,
                             Session=None):
    """
    Serial subpixel registration of all of the points in a given DB table.

    Parameters
    ----------
    Session : obj
              A SQLAlchemy Session factory.

    pointid : int
              The identifier of the point in the DB

    subpixel_template_kwargs : dict
                               Ay keyword arguments passed to the template matcher

    cost : func
           A generic cost function accepting two arguments (x,y), where x is the
           distance that a point has shifted from the original, sensor identified
           intersection, and y is the correlation coefficient coming out of the
           template matcher.

    threshold : numeric
                measures with a cost <= the threshold are marked as ignore=True in
                the database.
    """
    if not Session:
        raise BrokenPipeError('This func requires a database session.')
    session = Session()
    pointids = [point.id for point in session.query(Points)]
    session.close()
    for pointid in pointids:
        subpixel_register_point(pointid,
                                subpixel_template_kwargs=subpixel_template_kwargs,
                                **cost_kwargs)

def register_to_base(pointid,
                     base_image,
                     cost_func=lambda x, y: y == np.max(x),
                     ncg=None,
                     geom_func='simple',
                     geom_kwargs={"size_x": 16, "size_y": 16},
                     match_func='classic',
                     match_kwargs={},
                     verbose=False,
                     **kwargs):
    """
    """

    if not ncg.Session:
     raise BrokenPipeError('This func requires a database session from a NetworkCandidateGraph.')

    geom_func = check_geom_func(geom_func)
    match_func = check_match_func(match_func)
    session = ncg.Session()

    if isinstance(base_image, str):
        base_image = GeoDataset(base_image)

    if isinstance(pointid, Points):
        point = pointid
        pointid = pointid.id

    with ncg.session_scope() as session:
        if isinstance(pointid, Points):
            point = pointid
            pointid = point.id
        else:
            point = session.query(Points).filter(Points.id == pointid).one()
        
        # Get all of the measures associated with the given point
        measures = point.measures

        # Attempt to project the point into the base image
        bpoint = spatial.isis.point_info(base_image.file_name, point.geom.x, point.geom.y, 'ground')
        if bpoint is None:
            print('unable to find point in ground image')
            # Need to set the point to False
            return
        bline = bpoint.get('Line')
        bsample = bpoint.get('Sample')

        # Setup a cache so that we can get the file handles one time instead of 
        # once per measure in the measures list.
        image_cache = {}

        # list of matching results in the format:
        # [measure_id, measure_index, x_offset, y_offset, offset_magnitude]
        match_results = []

        # Step over all of the measures (images) that are not the base image
        for measure_index, measure in enumerate(measures):
            res = session.query(Images).filter(Images.id == measure.imageid).one()
            try:
                measure_image = image_cache[res.id]
            except:
                measure_image = GeoDataset(measure_image.path)
                image_cache[res.id] = measure_image

            # Attempt to match the base 
            try:
                print(f'prop point: base_image: {base_image}')
                print(f'prop point: dest_image: {measure_image}')
                print(f'prop point: (sx, sy): ({measure.sample}, {measure.line})')
                x, y, dist, metrics = geom_func(base_image, measure_image,
                        bsample, bline,
                        match_func = match_func,
                        match_kwargs = match_kwargs,
                        verbose=verbose,
                        **geom_kwargs)

            except Exception as e:
                raise Exception(e)
                match_results.append(e)
                continue

            match_results.append([measure.id, measure_index, x, y,
                                 metrics, dist, base_image.file_name, measure_image.file_name])

    if verbose:
      print("Match Results: ", match_results)

    # Clean out any instances where None has been return by the geom matcher.
    match_results = np.copy(np.array([res for res in match_results if isinstance(res, list) and all(r is not None for r in res)]))

    # If all of the results are None, this point was not matchable
    if match_results.shape[0] == 0:
        raise Exception("Point with id {pointid} has no measure that matches criteria, reference measure will remain unchanged")

    # Compute the cost function for each match using the 
    costs = [cost_func(match_results[:,3], match[3]) for match in match_results]

    if verbose:
      print("Values:", costs)

    # column index 3 is the metric returned by the geom matcher
    best_results = match_results[np.argmax(costs)]

    if verbose:
        print("match_results final length: ", len(match_results))
        print("best_results length: ", len(best_results))
        print("Full results: ", best_results)
        print("Winning CORRs: ", best_results[3], "Base Pixel shifts: ", best_results[4])
        print('\n')

    if len(best_results[3])==1 or best_results[3] is None:
        raise Exception("Point with id {pointid} has no measure that matches criteria, reference measure will remain unchanged")

    # Finally, update the point that will be the reference
    with ncg.session_scope() as session:
       measure = session.query(Measures).filter(Measures.id == best_results[0]).one()
       measure.sample = best_results[2]
       measure.line = best_results[3]

       point = session.query(Points).filter(Points.id == pointid).one()
       point.ref_measure = best_results[1]
    return
    
def estimate_logpolar_transform(img1, img2, low_sigma=0.5, high_sigma=30, verbose=False): 
    """
    Estimates the rotation and scale difference for img1 that maps to img2 using phase cross correlation on a logscale projection. 
    
    Scale and angular changes in cartesian space become translation in log-polar space. Translation from subpixel registration 
    in log-polar space can then be translated into scale/rotation change in the original cartesian images. This scale + roation 
    change estimation is then returned as an affine transform object. This can then be used before other subpixel registration 
    methods to enable scale+rotation invariance. 
    
    See Also 
    --------

    skimage.filters.difference_of_gaussians : Bandpass filtering using a difference of gaussians 
    skimage.filters.window : Simple wondowing function to remove spectral leakage along the axes in the fourier transform

    References
    ----------
    
    .. [1] Rittavee Matungka. 2009. Studies on log-polar transform for image registration and improvements 
       using adaptive sampling and logarithmic spiral. Ph.D. Dissertation. Ohio State University, USA. Advisor(s) Yuan F. Zheng. 
       Order Number: AAI3376091.
    .. [2] https://github.com/polakluk/fourier-mellin
    .. [3] https://scikit-image.org/docs/stable/auto_examples/registration/plot_register_rotation.html 
    
    Parameters
    ----------
    
    img1: np.ndarray 
          The source image, this is the image that is used as a base as img2 is registered to the center on img1
    
    img2: np.ndarray 
          The image that will be moved to match img1

    low_sigma : float, list, np.array
                The low standard deviation for the Gaussian kernel used in the difference of gaussians filter. This reccomended
                to remove high frequency noise from the image before the log-polar projection as high frequency noise negatively impact registration
                in log-polar space. The lower the sigma, the sharper the resulting image will be. Use a small low_sigma with a large high_sigma 
                to remove high frequency noise. Default is 0.5.
    
    high_sigma : float, list, np.array
                Standard deviation for the Gaussian kernel with the larger sigmas across all axes used in the difference of gaussians filter. This reccomended
                to remove high frequency noise from the image before the log-polar projection as high frequency noise negatively impact registration
                in log-polar space. The higher this sigma compared to the low_sigma, the more detail will be preserved. Use a small low_sigma with a large high_sigma 
                to remove high frequency noise. A high sigma equal to ~1.6x the low sigma is reccomended for edge detection, so consider high_sigmas >= low_sigma*1.6. Default is 30.

    verbose : bool 
              If true, prints out information detailing the registration process 
    
    Returns 
    -------
    : skimage.transform.SimilarityTansform
      Scikit-image affine transformation object containing rotation and scale information to warp img1 to img2
      
    """
    # First, band-pass filter both images
    img1 = filters.difference_of_gaussians(img1, low_sigma, high_sigma)
    img2 = filters.difference_of_gaussians(img2, low_sigma, high_sigma)

    # window images
    wimg1 = img1 * (filters.window('hann', img1.shape))
    wimg2 = img2 * (filters.window('hann', img2.shape))

    # work with shifted FFT magnitudes
    img1_fs = np.abs(fftpack.fftshift(fftpack.fft2(wimg1)))
    img2_fs = np.abs(fftpack.fftshift(fftpack.fft2(wimg2)))

    # Create log-polar transformed FFT mag images and register
    shape = img1_fs.shape
    radius = shape[0] // 4  # only take lower frequencies
    warped_img1_fs = tf.warp_polar(img1_fs, radius=radius, output_shape=shape,
                                 scaling='log', order=0)
    warped_img2_fs = tf.warp_polar(img2_fs, radius=radius, output_shape=shape,
                               scaling='log', order=0)

    warped_img1_fs = warped_img1_fs[:shape[0] // 2, :]
    warped_img2_fs = warped_img2_fs[:shape[0] // 2, :]
    shifts, error, phasediff = registration.phase_cross_correlation(warped_img1_fs,
                                                       warped_img2_fs,
                                                       upsample_factor=10)

    # Use translation parameters to calculate rotation and scaling parameters
    shiftr, shiftc = shifts[:2]
    recovered_angle = -(360 / shape[0]) * shiftr
    klog = shape[1] / np.log(radius)
    shift_scale = np.exp(shiftc / klog)
    if recovered_angle < - 45:
        recovered_angle += 180
    else:
        if recovered_angle > 90.0:
            recovered_angle -= 180
            
    if verbose: 
        fig, axes = plt.subplots(2, 2, figsize=(8, 8))
        ax = axes.ravel()
        ax[0].set_title("Original Image FFT\n(magnitude; zoomed)")
        center = np.array(shape) // 2
        ax[0].imshow(img1_fs[center[0] - radius:center[0] + radius,
                              center[1] - radius:center[1] + radius],
                     cmap='magma')
        ax[1].set_title("Modified Image FFT\n(magnitude; zoomed)")
        ax[1].imshow(img2_fs[center[0] - radius:center[0] + radius,
                            center[1] - radius:center[1] + radius],
                     cmap='magma')
        ax[2].set_title("Log-Polar-Transformed\nOriginal FFT")
        ax[2].imshow(warped_img1_fs, cmap='magma')
        ax[3].set_title("Log-Polar-Transformed\nModified FFT")
        ax[3].imshow(warped_img2_fs, cmap='magma')
        fig.suptitle('Working in frequency domain can recover rotation and scaling')
        plt.show()

        print(f"Recovered value for cc rotation: {recovered_angle}")
        print()
        print(f"Recovered value for scaling difference: {shift_scale}")

    # offset by the center of the image, scikit's ceter image rotation is defined by `axis / 2 - 0.5` 
    shift_y, shift_x = np.asarray(img1.shape) / 2 - 0.5
    tf_scale = tf.SimilarityTransform(scale=shift_scale)
    tf_rotate = tf.SimilarityTransform(rotation=np.deg2rad(recovered_angle))
    tf_shift = tf.SimilarityTransform(translation=[-shift_x, -shift_y])
    tf_shift_inv = tf.SimilarityTransform(translation=[shift_x, shift_y])

    tf_rotate_from_center = (tf_shift + (tf_rotate + tf_shift_inv))
    return tf.SimilarityTransform((tf_rotate_from_center + tf_scale)._inv_matrix)
    
    
def fourier_mellen(img1, img2, verbose=False, phase_kwargs={}):
    """
    Iterative phase registration using a log-polar projection to estimate an affine for scale and roation invariance. 

    
    Parameters 
    ----------
    
    img1: np.ndarray 
          The source image, this is the image that is used as a base as img2 is registered to the center on img1
    
    img2: np.ndarray 
          The image that will be moved to match img1
        
    verbose : bool 
              If true, prints out information detailing the registration process 
    
    phase_kwargs : dict
                   Parameters to be passed into the iterative_phase matcher 
                   
    Returns 
    -------
    
    : float
      The new x coordinate for img2 that registers to the center of img1 
      
    : float 
      The new y coordinate for img2 that registers to the center of img1 
    
    : float 
      Error returned by the iterative phase matcher 
    """
    # Get the affine transformation for scale + rotation invariance  
    affine = estimate_logpolar_transform(img1, img2, verbose=verbose)
    
    # warp the source image to match the destination
    img1_warped = tf.warp(img1, affine)
    sx, sy = affine.inverse(np.asarray(img1.shape)/2)[0]
    
    # get translation with iterative phase 
    newx, newy, error = iterative_phase(sx, sy, sx, sy, img1_warped, img2, **phase_kwargs)
    
    if verbose:
        fig, axes = plt.subplots(2, 2, figsize=(8, 8))
        ax = axes.ravel()
        
        ax[0].imshow(img1_warped)
        ax[0].set_title("Image 1 Transformed")
        ax[0].axhline(y=sy, color="red", linestyle="-", alpha=1, linewidth=1)
        ax[0].axvline(x=sx, color="red", linestyle="-", alpha=1, linewidth=1)
        
        ax[2].imshow(img1)
        ax[2].set_title("Image 1")
        ax[2].axhline(y=img1.shape[0]/2, color="red", linestyle="-", alpha=1, linewidth=1)
        ax[2].axvline(x=img1.shape[1]/2, color="red", linestyle="-", alpha=1, linewidth=1)
        
        ax[1].imshow(img2)
        ax[3].imshow(img2)
        
        if not newx or not newy:
            ax[1].set_title("Image 2 REGISTRATION FAILED")
            ax[3].set_title("Image 2 REGISTRATION FAILED")
        else :
            ax[3].set_title("Image 2 Registered")
            ax[1].axhline(y=newy, color="red", linestyle="-", alpha=1, linewidth=1)
            ax[1].axvline(x=newx, color="red", linestyle="-", alpha=1, linewidth=1)
            ax[3].axhline(y=newy, color="red", linestyle="-", alpha=1, linewidth=1)
            ax[3].axvline(x=newx, color="red", linestyle="-", alpha=1, linewidth=1)
        
    return newx, newy, error
