# USGSCSM This library provides *Community Sensor Model (CSM)*-compliant sensor models created by the USGS Astrogeology Science Center. USGSCSM contains three different sensor models. The first is a generic framing camera model written from scratch. The second is a generic line scan camera model based on code from BAE Systems Information and Electronic Systems Integration, Inc. The third is a generic synthetic-aperture radar (SAR) sensor model. ## Using USGSCSM This library is a CSM plugin library that is intended to be dynamically loaded at run-time alongside the [CSM API library](https://github.com/USGS-Astrogeology/csm). Once the library is loaded, it can be accessed through the CSM plugin interface. For an example of how to do through the CSM C++ interface see the SensorModelFactory class in [SensorUtils](https://github.com/USGS-Astrogeology/SensorUtils). For an example of how to do this through the CSM Python bindings see this [notebook](http://nbviewer.jupyter.org/gist/thareUSGS/4c0eb72799edc33ff4816b2587027148). From the CSM plugin interface, a generic framing camera model (USGS_ASTRO_FRAME_SENSOR_MODEL), line scan camera model (USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL), or a SAR model (USGS_ASTRO_SAR_SENSOR_MODEL) can be instantiated from a suitable *Image Support Data (ISD)* file. ## Camera model format and model state Under the CSM standard, each plugin library can define its own ISD camera model format. This library uses an auxiliary JSON formatted file that must be next to the image file passed to the CSM::ISD class. We provide an OpenAPI server for generating these, [pfeffernusse](https://github.com/USGS-Astrogeology/pfeffernusse). The swagger specification is located on [swaggerhub](https://app.swaggerhub.com/apis/USGS-Astro/pfeffernusse2/0.1.4-oas3). You can also use [ALE](https://github.com/USGS-Astrogeology/ale) directly with metakernels to generate the auxiliary JSON file. The camera model read from an ISD file is converted at load time to an internal representation which makes camera operations more efficient. This optimized *model state* can be saved to disk as a JSON-formatted file, be used interchangeably with the original ISD model, and also shared among various photogrammetric packages. The camera model state can be modified by an application of a rotation and translation, which is necessary in order to refine a camera's position and orientation in photogrammetry, while these operations are not easy to express in the original ISD format. This library provides functionality for saving the model state file, as discussed in the next section. ## Camera model processsing USGSCSM ships with a program named ``usgscsm_cam_test``, which is able to load a CSM camera model, whether in the original ISD format or its model state representation, export the model state, and perform basic camera operations, as described in its [documentation](docs/source/tools/usgscsm_cam_test.rst). ## Enabling logging Logging of the internal operations in the sensor models can be enabled by setting the `USGSCSM_LOG_FILE` environment variable to the file the log should be written to. To have the logging information printed to the standard output or standard error, set this to `stdout` or `stderr`. Note that these logs can become several GB in size. --- ## Build requirements * cmake 3.15 or newer * GNU-compatible Make * a C++11 compliant compiler This repository has all of its external C++ dependencies included in it. The excellent header-only JSON library [JSON for Modern C++](https://github.com/nlohmann/json) is included directly in the source code. The other three dependencies, The Abstraction Library for Ephemerides, the CSM API library, and googletest are included as git submodules. When you clone this library make sure you add the `--recursive` flag to your `git clone` command. Alternatively, you can run `git submodule update --init --recursive` after cloning. You can also install the build requirements using Conda with the provided `environment.yml` file. The following commands will create a new environment to build against. Note that googletest cannot be installed via anaconda and must be available within the source code. You can remove the googletest dependency by disabling the tests. ``` conda env create -n usgscsm -f environment.yml ``` ## Building USGSCSM USGSCSM uses a standard cmake build system. To compile the library and tests use the following commands: 1. `mkdir build && cd build` 2. `cmake .. && cmake --build .` If you are using external dependencies via Conda or system level installations add the `-DUSGSCSM_EXTERNAL_DEPS=ON` flag to the cmake command. You can also disable the tests and the googletest dependency by adding the `-DUSGSCSM_BUILD_TESTS=OFF` flag to the cmake command. ## Testing USGSCSM All of the tests for USGSCSM are written in the googletest framework and are run via ctest. To run all of the tests simply run `ctest` in the build. All of the tests are purposefully written to use generic data that values have been hand validated. This data can be found under `tests/data`. ## Code style This software package uses a modified form of the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). Here are some exceptions: 1. Non-const pass-by-reference is allowed. 2. No copyright notice is necessary 3. Static/global string constants are allowed to be std::strings, rather than C-style strings To attempt to automatically format any new code to this style, run: `clang-format -style=Google -i file.cpp` For more information see: [ClangFormat](https://clang.llvm.org/docs/ClangFormat.html) To check for compliance, run: `cpplint file.cpp` and ignore errors in the list of exclusions above. For more information, see: [cpplint](https://github.com/cpplint/cpplint).