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Merge pull request #462 from mwoehlke-kitware/crp-io
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Add I/O for registration points
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@mleotta
mleotta committed May 6, 2021
2 parents 0691c73 + 1ef2c83 commit afe188e
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Showing 5 changed files with 212 additions and 83 deletions.
204 changes: 157 additions & 47 deletions gui/GroundControlPointsHelper.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,10 @@ const auto TAG_POINT = QStringLiteral("Point");

// Property keys (not part of GeoJSON specification)
const auto TAG_NAME = QStringLiteral("name");
const auto TAG_FRAME = QStringLiteral("frameId");
const auto TAG_FRAMES = QStringLiteral("frames");
const auto TAG_LOCATION = QStringLiteral("location");
const auto TAG_REGISTRATIONS = QStringLiteral("registrations");
const auto TAG_USER_REGISTERED = QStringLiteral("userRegistered");

enum class Reset
Expand All @@ -94,6 +97,13 @@ Q_DECLARE_OPERATORS_FOR_FLAGS(ResetFlags)
using id_t = GroundControlPointsHelper::id_t;
using gcp_sptr = GroundControlPointsHelper::gcp_sptr;

//-----------------------------------------------------------------------------
struct GroundControlPoint
{
kv::ground_control_point_sptr gcp;
kv::track_sptr feature;
};

//-----------------------------------------------------------------------------
bool isDoubleArray(QJsonArray const& a)
{
Expand All @@ -108,22 +118,22 @@ bool isDoubleArray(QJsonArray const& a)
}

//-----------------------------------------------------------------------------
gcp_sptr extractGroundControlPoint(QJsonObject const& f)
GroundControlPoint extractGroundControlPoint(QJsonObject const& f)
{
// Check for geometry
auto const& geom = f.value(TAG_GEOMETRY).toObject();
if (geom.isEmpty())
{
qDebug() << "ignoring feature" << f
<< "with bad or missing geometry";
return nullptr;
return {};
}

// Check geometry type
if (geom.value(TAG_TYPE).toString() != TAG_POINT)
{
// Non-point features are silently ignored
return nullptr;
return {};
}

// Create point
Expand Down Expand Up @@ -155,47 +165,105 @@ gcp_sptr extractGroundControlPoint(QJsonObject const& f)
}
else if (gcp->geo_loc().is_empty())
{
qDebug() << "ignoring point feature" << f
<< "with bad or missing coordinate specification "
"and bad or missing scene location";
return nullptr;
gcp = nullptr;
}
else
{
gcp->set_geo_loc_user_provided(props.value(TAG_USER_REGISTERED).toBool());
}

gcp->set_geo_loc_user_provided(props.value(TAG_USER_REGISTERED).toBool());
// Read feature track
auto ft = kv::track::create();
auto const& regs = props.value(TAG_REGISTRATIONS).toArray();
for (auto const& riter : regs)
{
if (!riter.isObject())
{
continue;
}

return gcp;
auto const& reg = riter.toObject();
auto const& frame = reg.value(TAG_FRAME);
if (frame.isDouble())
{
auto const& loc = reg.value(TAG_LOCATION).toArray();
if (loc.size() == 2 && isDoubleArray(loc))
{
auto const t = static_cast<kv::frame_id_t>(frame.toDouble());
auto feature = std::make_shared<kv::feature_d>();
feature->set_loc({loc[0].toDouble(), loc[1].toDouble()});

ft->insert(
std::make_shared<kv::feature_track_state>(t, std::move(feature)));
}
}
}
if (ft->empty())
{
ft = nullptr;
}

// Check if we read anything usable
if (!gcp && !ft)
{
qDebug() << "ignoring point feature" << f
<< "with no valid location information";
return {};
}

return {gcp, ft};
}

//-----------------------------------------------------------------------------
QJsonValue buildFeature(gcp_sptr const& gcpp)
QJsonValue buildFeature(GroundControlPoint const& item)
{
if (!gcpp)
if (!item.gcp && !item.feature)
{
return {};
}

// Get point and point's locations (scene, world/geodetic)
auto const& gcp = *gcpp;
auto const& sl = gcp.loc();
auto const& wl = gcp.geo_loc();

// Create geometry
QJsonObject geom;
auto geom = QJsonObject{};
auto props = QJsonObject{};
geom.insert(TAG_TYPE, TAG_POINT);
if (!wl.is_empty())

if (item.gcp)
{
auto const& rwl = wl.location(kv::SRID::lat_lon_WGS84);
geom.insert(TAG_COORDINATES, QJsonArray{rwl[0], rwl[1], gcp.elevation()});
// Get point and point's locations (scene, world/geodetic)
auto const& gcp = *(item.gcp);
auto const& sl = gcp.loc();
auto const& wl = gcp.geo_loc();

if (!wl.is_empty())
{
auto const& rwl = wl.location(kv::SRID::lat_lon_WGS84);
geom.insert(TAG_COORDINATES, QJsonArray{rwl[0], rwl[1], gcp.elevation()});
}

// Fill in ground control point properties
props.insert(TAG_NAME, qtString(gcp.name()));
props.insert(TAG_LOCATION, QJsonArray{sl[0], sl[1], sl[2]});
props.insert(TAG_USER_REGISTERED, gcp.is_geo_loc_user_provided());
}

// Create properties
QJsonObject props;
props.insert(TAG_NAME, qtString(gcp.name()));
props.insert(TAG_LOCATION, QJsonArray{sl[0], sl[1], sl[2]});
props.insert(TAG_USER_REGISTERED, gcp.is_geo_loc_user_provided());
if (item.feature)
{
auto regs = QJsonArray{};
for (auto const& s : (*item.feature) | kv::as_feature_track)
{
auto const& l = s->feature->loc();

auto reg = QJsonObject{};
reg.insert(TAG_FRAME, static_cast<double>(s->frame()));
reg.insert(TAG_LOCATION, QJsonArray{l[0], l[1]});

regs.append(reg);
}
props.insert(TAG_REGISTRATIONS, regs);
}

// Create and return feature
QJsonObject f;
auto f = QJsonObject{};
f.insert(TAG_TYPE, TAG_FEATURE);
f.insert(TAG_GEOMETRY, geom);
f.insert(TAG_PROPERTIES, props);
Expand All @@ -218,7 +286,7 @@ void executeForHandle(
{
qWarning()
<< "Failed to find the VTK ID associated with the VTK handle"
<< handleWidget << " and the ground control point with ID" << id;
<< handleWidget << " and the point with ID" << id;
}
else
{
Expand All @@ -228,19 +296,10 @@ void executeForHandle(
else
{
qWarning() << "Failed to find the VTK handle associated with "
"the camera registration point with ID" << id;
"the point with ID" << id;
}
}

//-----------------------------------------------------------------------------
struct GroundControlPoint
{
kv::ground_control_point_id_t id;
kv::ground_control_point_sptr gcp;
kv::track_sptr feature;
// type_tbd feature;
};

//-----------------------------------------------------------------------------
kv::feature_track_state_sptr getFeature(
GroundControlPoint const& gcp, kv::frame_id_t frame)
Expand Down Expand Up @@ -837,12 +896,12 @@ void GroundControlPointsHelper::moveRegistrationPoint()
else
{
qWarning() << "No feature for ground control point with id"
<< *pid << "at frame" << frame;
<< pid->second << "at frame" << frame;
}
}
else
{
qWarning() << "No ground control point with id" << *pid;
qWarning() << "No ground control point with id" << pid->second;
}
}
else
Expand All @@ -866,7 +925,7 @@ void GroundControlPointsHelper::updateCameraViewPoints()
d->crpIdToHandleMap.clear();
auto activeHandle = decltype(d->crpWidget->activeHandle()){-1};

auto widgetPointCount = d->cameraWidget->numberOfPoints();
auto widgetPointCount = d->crpWidget->numberOfPoints();
auto pointsUsed = decltype(widgetPointCount){0};

for (auto const& p : d->groundControlPoints)
Expand Down Expand Up @@ -910,6 +969,7 @@ void GroundControlPointsHelper::updateCameraViewPoints()
kwiver::arrows::vtk::vtkKwiverCamera* camera = d->mainWindow->activeCamera();
if (!camera)
{
d->cameraWidget->clearPoints();
return;
}

Expand Down Expand Up @@ -1252,9 +1312,9 @@ bool GroundControlPointsHelper::readGroundControlPoints(QString const& path)
return fail("invalid FeatureCollection");
}


// Don't signal addition of individual points
auto pointsAdded = false;
auto const activeFrame = d->mainWindow->activeFrame();
with_expr (qtScopedBlockSignals{this})
{
// Read points from feature collection
Expand All @@ -1267,9 +1327,31 @@ bool GroundControlPointsHelper::readGroundControlPoints(QString const& path)
<< "in FeatureCollection";
continue;
}
if (auto gcp = extractGroundControlPoint(fo))
auto const& gcp = extractGroundControlPoint(fo);
if (gcp.gcp)
{
d->addPoint(d->nextId, gcp.gcp);
}
if (gcp.feature)
{
d->addPoint(d->nextId++, gcp);
gcp.feature->set_id(d->nextId);
d->groundControlPoints[d->nextId].feature = gcp.feature;

auto const& si = gcp.feature->find(activeFrame);
if (si != gcp.feature->end())
{
auto const& s = kv::feature_track_state::downcast(*si);
auto const& loc = s->feature->loc();
auto const k = d->crpWidget->addPoint(loc[0], loc[1], 0.0);
auto const h = d->crpWidget->handleWidget(k);

d->crpHandleToIdMap.emplace(h, d->nextId);
d->crpIdToHandleMap.emplace(d->nextId, h);
}
}
if (gcp.gcp || gcp.feature)
{
++d->nextId;
pointsAdded = true;
}
}
Expand All @@ -1291,13 +1373,25 @@ bool GroundControlPointsHelper::writeGroundControlPoints(
{
QTE_D();

QJsonArray features;
QStringList errors;
// Build feature array
auto features = QJsonArray{};
auto errors = QStringList{};
auto framesUsed = QSet<kv::frame_id_t>{};
for (auto const& gcpi : d->groundControlPoints)
{
// Extract set of cameras used
if (gcpi.second.feature)
{
for (auto const& s : (*gcpi.second.feature))
{
framesUsed.insert(s->frame());
}
}

// Create feature
try
{
auto const& f = buildFeature(gcpi.second.gcp);
auto const& f = buildFeature(gcpi.second);
if (f.isObject())
{
features.append(f);
Expand All @@ -1309,10 +1403,26 @@ bool GroundControlPointsHelper::writeGroundControlPoints(
}
}

QJsonObject root;
// Build frame name map
auto frames = QJsonArray{};
for (auto fi : framesUsed)
{
auto frame = QJsonObject{};
frame.insert(TAG_FRAME, static_cast<double>(fi));
frame.insert(TAG_NAME, d->mainWindow->frameName(fi));
frames.append(frame);
}

auto props = QJsonObject{};
props.insert(TAG_FRAMES, frames);

// Build feature collection
auto root = QJsonObject{};
root.insert(TAG_TYPE, TAG_FEATURECOLLECTION);
root.insert(TAG_FEATURES, features);
root.insert(TAG_PROPERTIES, props);

// Write JSON
QJsonDocument doc{root};

QFile out{path};
Expand Down

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