Fix findfeatures matrix inversion issues and improve FastGeom performance

isis/CMakeLists.txt

@@ -441,6 +441,7 @@ file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/appdata/translations
                     ${CMAKE_BINARY_DIR}/appdata/templates/hidtmgen
                     ${CMAKE_BINARY_DIR}/appdata/import
                     ${CMAKE_BINARY_DIR}/appdata/templates/findfeatures
+                    ${CMAKE_BINARY_DIR}/appdata/templates/findfeatures/mosaics
                     ${CMAKE_BINARY_DIR}/appdata/templates/fullcnetdiff
                     ${CMAKE_BINARY_DIR}/appdata/templates/jigsaw
                     ${CMAKE_BINARY_DIR}/appdata/templates/kernels
@@ -524,7 +525,8 @@ add_custom_target(controlnetworks ALL COMMAND ${CMAKE_COMMAND} -E copy_if_differ
 add_dependencies(isis controlnetworks)
 
 add_custom_target(findfeatures ALL COMMAND ${CMAKE_COMMAND} -E copy_if_different
-  ${CMAKE_SOURCE_DIR}/appdata/templates/findfeatures/* ${CMAKE_BINARY_DIR}/appdata/templates/findfeatures/)
+  ${CMAKE_SOURCE_DIR}/appdata/templates/findfeatures/* ${CMAKE_BINARY_DIR}/appdata/templates/findfeatures/
+  ${CMAKE_SOURCE_DIR}/appdata/templates/findfeatures/mosaics/* ${CMAKE_BINARY_DIR}/appdata/templates/findfeatures/mosaics/)
 add_dependencies(isis findfeatures)
 
 add_custom_target(fullcnetdiff ALL COMMAND ${CMAKE_COMMAND} -E copy_if_different

isis/appdata/templates/findfeatures/findfeatures_fastgeom_defaults.pvl

@@ -0,0 +1,40 @@
+Group = FastGeomCommonParameters
+  # Defaults used for findfeatures FastGeom Algorithms
+
+  # FastGeomAlgorithm           = radial
+  FastGeomPoints               = 25
+  FastGeomTolerance            = 3
+  # GeomType                    = camera
+
+  FastGeomQuerySampleTolerance = 0
+  FastGeomQueryLineTolerance   = 0
+  FastGeomTrainSampleTolerance = 0
+  FastGeomTrainLineTolerance   = 0
+
+  FastGeomDumpMapping = false
+EndGroup = FastGeomCommonParameters
+
+
+Group = FastGeomGridParameters
+  # FastGeomAlgorithm            =  grid
+
+  FastGeomGridStartIteration   = 0
+  # FastGeomGridStopIteration    = 1 to N
+  FastGeomGridIterationStep    = 1
+
+  FastGeomTotalGridIterations  = 1
+
+  FastGeomGridSaveAllPoints    = false
+EndGroup = FastGeomGridParameters
+
+
+Group = FastGeomRadialParameters
+  # FastGeomAlgorithm           = radial
+
+  FastGeomRadialSegmentLength  = 25
+  FastGeomRadialPointCount     = 5
+  FastGeomRadialPointFactor    = 1.0
+
+  # FastGeomRadialSegments       = N
+EndGroup = FastGeomRadialParameters
+End

isis/appdata/templates/findfeatures/mosaics/00_basic_proc.sh

@@ -0,0 +1,188 @@
+#!/bin/bash
+#set -o pipefail
+###############################################################################
+#
+# Applies basic ISIS processing for control preparation
+#
+# Prerequisites:
+#   ISIS3        - must have an appropriate version of system initilized
+#
+# Defaults;
+#   Current directory set to processing root dir
+#
+# @author  2021-03-02 Kris Becker Original Version
+###############################################################################
+usage() { echo "Usage: $0 [-0 {invokes dryrun}] [-h] [-v]  \
+[-S {do not run spiceinit}] [-l] [-p] [-e {error list}] \
+ *.IMG | *.cub  \
+" 1>&2; exit 1; }
+
+dryrun=0
+verbose=0
+
+run_spice=1   # run spiceinit by default, disable with -S
+pwddir='$PWD'
+lev0dir='$PWD/Lev0'
+lev1dir='$PWD/Lev1'
+lev2dir='$PWD/Lev2'
+prtfile=""
+errlist=""
+
+##################################################################
+#  finesse_isis_command - Adds additional components to ISIS commmand
+#
+#  This function will add logging and preference files to an ISIS
+#  command that will be executed within this script.
+#
+# Should be called as:
+#    newcmd=$(finesse_isis_command "cmd")
+#
+# @author Kris Becker 2018-05-23
+##################################################################
+function finesse_isis_command() {
+command="$1"
+
+# Check for logging
+logger=""
+if [ -n "${prtfile}" ]; then
+  logger="-log=${prtfile}"
+else
+  logger="-log=/dev/null"
+fi
+
+echo "${command} ${logger}"
+}
+
+##################################################################
+#  execute - Executes a command as a subshell
+#
+#  This function will execute a command to the users shell and
+#  return status. If the variable $dryurn is set, it will only
+#  print out the command and not execute
+#
+# @author Kris Becker 2018-05-23
+##################################################################
+function execute() {  # (command)
+  command="$1"
+  echo "$command"
+  if [ $dryrun -eq 1 ]; then
+    status=0
+  else
+    eval $command
+    status=$?
+  fi
+  return $status
+}
+
+###################################################################
+# MAIN script section
+# Accumulate the parameters
+###################################################################
+while getopts ":0hvSlpe:" o; do
+    case "${o}" in
+        0)
+            dryrun=1
+            verbose=1
+            ;;
+        h)
+            usage
+            ;;
+        v)
+            verbose=1
+            ;;
+        S)
+            run_spice=0
+            ;;
+        l)
+            maklog=1
+            ;;
+        p)
+            prtfile="print.prt"
+            ;;
+        e)
+            errlist="${OPTARG}"
+            ;;
+        *)
+            usage
+            ;;
+    esac
+done
+shift $((OPTIND-1))
+
+declare -a fromfiles=( "$@" )
+
+# Check to see if the input file list exists
+# I. Variable definition
+if [ ${#fromfiles[@]} -le 0 ]; then
+  echo ""
+  echo "ERROR: No files provided!"
+  usage
+  exit 1
+fi
+
+
+###############################################################################
+#  Main processing loop. Process all give files checking for errors along
+#  the way.
+###############################################################################
+
+for from in "${fromfiles[@]}"; do
+
+    ifile="${from##*/}"
+    base="${ifile%%.*}"
+    ext="${ifile#*.}"
+
+    (
+
+# If given a cube, it is assumed import and radiometric calibration has
+# been applied
+      edrfile="${from}"
+      lev0file="${from}"
+      lev1file="${from}"
+
+# Level0 DATA IMPORT processing
+# Run import and apply radiometric calibrated images
+      if [ "${ext}" != "cub" ]; then
+        execute "mkdir -p ${lev0dir}"
+        lev0file="${lev0dir}/${base}.cub"
+        cmd="mdis2isis from=${from} to=${lev0file}"
+        execute "$(finesse_isis_command "$cmd")" ||  exit $?
+      fi
+
+# Apply a prior SPICE kernels
+      if [[ $run_spice -eq 1 ]]; then
+        cmd="spiceinit from=${lev0file}"
+        execute "$(finesse_isis_command "$cmd")" || exit $?
+      fi
+
+# Level1 - radiometric calibration processing
+      if [ "${ext}" != "cub" ]; then
+        execute "mkdir -p ${lev1dir}"
+        lev1file="${lev1dir}/${base}.cal.cub"
+        cmd="mdiscal from=${lev0file} to=${lev1file}"
+        execute "$(finesse_isis_command "$cmd")" || exit $?
+      fi
+
+# Know Your Data!
+      cmd="camstats from=${lev1file} attach=true linc=10 sinc=10"
+      execute "$(finesse_isis_command "$cmd")" || exit $?
+
+      cmd="footprintinit from=${lev1file} linc=10 sinc=10 maxemission=89 maxincidence=89 increaseprecision=true"
+      execute "$(finesse_isis_command "$cmd")" || exit $?
+
+    )
+
+    # Subshell exist status and testing
+    err=$?
+    if [ $err != 0 ]; then
+    #  If errlist file given, append this file to the list
+      if [ -n "$errlist" ]; then
+        [ -f "$errlist" ] || execute "touch $errlist"
+        execute "echo ${from} >> $errlist"
+      fi
+      echo "Error encountered with file ${from}"
+    fi
+done
+
+exit 0
+

isis/appdata/templates/findfeatures/mosaics/clean_restart.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+/bin/rm -f *.lis *.cub *.net *.png *_Island.* *.csv *.txt *.log print.prt
+/bin/rm -rf ./Lev0 ./Lev1 ./Lev2 ./Phot ./Updated_Lev1
+
+exit 0

isis/appdata/templates/findfeatures/mosaics/equi_clon180_PosEast_200m.map

@@ -0,0 +1,12 @@
+Group = Mapping
+ ProjectionName = Equirectangular
+ TargetName = Mercury
+ EquatorialRadius  = 2440000.0
+ PolarRadius = 2440000.0
+ CenterLatitude  = 0.0
+ CenterLongitude = 180.0
+ LatitudeType = Planetocentric
+ LongitudeDirection = PositiveEast
+ LongitudeDomain = 360
+ PixelResolution = 200
+End_Group

isis/appdata/templates/findfeatures/mosaics/fetch_edrs.sh

@@ -0,0 +1,14 @@
+#!/bin/sh
+
+
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2008_014/EN0108828436M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2008_014/EN0108828483M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2008_014/EN0108828488M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_179/EN0217733143M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_179/EN0217733334M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_183/EN0218118182M.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_154/EW0215590428G.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_183/EW0218075871G.IMG
+wget -P . https://pds-imaging.jpl.nasa.gov/data/messenger/MDIS/MDIS/msgrmds_1001/DATA/2011_183/EW0218118239G.IMG
+
+exit 0

isis/appdata/templates/findfeatures/mosaics/pointreg_P31x31_S51x51.def

@@ -0,0 +1,23 @@
+Object = AutoRegistration
+  Group = Algorithm
+    Name            = MaximumCorrelation
+    Tolerance       = 0.9
+  End_Group
+
+  Group = PatternChip
+    Samples       = 31
+    Lines         = 31
+  End_Group
+
+  Group = SearchChip
+    Samples = 51
+    Lines   = 51
+  End_Group
+
+  Group = SurfaceModel
+    DistanceTolerance = 1.5
+    WindowSize        = 7
+  End_Group
+End_Object
+End
+