def main(argsIn):
print "Started lronacCameraRotationCorrector.py"
try:
try:
usage = "usage: lronacCameraRotationCorrector.py [--output <path>][--manual]\n "
parser = optparse.OptionParser(usage=usage)
parser.add_option("--left", dest="leftPath", help="Path to LE .cub file")
parser.add_option("--right", dest="rightPath", help="Path to RE .cub file")
parser.add_option("--rotation", dest="rotationPath", help="Path to already computed new rotation")
parser.add_option("-g", "--gdcLogPath", dest="gdcLogPath",
help="Optional path to save computed GDC points to")
parser.add_option("-s", "--spk", dest="spkPath",
help="Path to optional specified SPK (position) file to use.")
parser.add_option("-c", "--ck", dest="ckPath",
help="Path to optional specified CK (orientation) file to use.")
parser.add_option("--workDir", dest="workDir", help="Folder to store temporary files in")
parser.add_option("-o", "--output", dest="outputPath",
help="Where to write the output (RE) file.")
parser.add_option("--manual", action="callback", callback=man,
help="Read the manual.")
parser.add_option("--keep", action="store_true", dest="keep",
help="Do not delete the temporary files.")
(options, args) = parser.parse_args(argsIn)
if not options.leftPath:
parser.error("Need left input path")
if not options.rightPath:
parser.error("Need right input path")
if not options.outputPath:
parser.error("Need output path")
except optparse.OptionError, msg:
raise Usage(msg)
print "Beginning processing....."
startTime = time.time()
outputFolder = os.path.dirname(options.outputPath)
inputBaseName = os.path.basename(options.leftPath)
tempFolder = outputFolder + '/' + inputBaseName + '_rotCorrectTemp/'
if options.workDir:
tempFolder = options.workDir
if not os.path.exists(tempFolder):
os.mkdir(tempFolder)
# File must already have had spiceinit called
# Copy the input file to the output location (only the RE image is modified
cmd = "cp " + options.rightPath + " " + options.outputPath
#print cmd
os.system(cmd)
# Call head -120 on file
cmd = ['head', '-120', options.outputPath]
p = subprocess.Popen(cmd, stdout=subprocess.PIPE)
headText, err = p.communicate()
# Parse output looking for the IK frame file
print 'Looking for source frame file...'
kernels = IrgIsisFunctions.parseHeadOutput(headText, options.outputPath)
if not ('Frame' in kernels):
os.remove(options.outputPath)
raise Exception('Error! Unable to find frame file!')
inputFramePath = kernels['Frame'][0]
if not os.path.exists(inputFramePath):
os.remove(options.outputPath)
raise Exception('Unable to find any IK kernel file in ' + tempTextPath)
if not options.rotationPath:
# Make sure the output path does not already exist
rotationAnglePath = os.path.join(tempFolder, "solvedRotationAngles.txt")
if os.path.exists(rotationAnglePath):
os.remove(rotationAnglePath)
# Call lronacSpkParser to generate modified text file
gdcText = ''
if options.gdcLogPath: # Handle GDC point logging option
gdcText = ' --gdcPointsOutPath ' + options.gdcLogPath
cmd = 'lronacAngleSolver --outputPath '+ \
rotationAnglePath + gdcText + ' ' + options.leftPath + ' ' + options.rightPath
print cmd
os.system(cmd)
if not os.path.exists(rotationAnglePath):
os.remove(options.outputPath)
raise Exception('Failed to solve for rotation angles!')
else: # New rotation provided as a command line argument, skip computation
rotationAnglePath = options.rotationPath
# Read the rotation angles
newRotation = readRotationFile(rotationAnglePath)
# Generate a modified frame file
tempIkPath = os.path.join(tempFolder, "angleCorrectedIkFile.tf")
modifyFrameFile(inputFramePath, tempIkPath, newRotation)
# Re-run spiceinit (on the copied RE file) using the new frame file
cmd = ['spiceinit', 'attach=', 'true', 'from=', options.outputPath, 'fk=', tempIkPath]
if (options.spkPath): # Add forced SPK path if needed
cmd.append('spk=')
cmd.append(options.spkPath)
if (options.ckPath): # Add forced CK path if needed
cmd.append('ck=')
cmd.append(options.ckPath)
#print cmd
p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
outputText, err = p.communicate()
if (outputText.find('ERROR') >= 0):
print cmd
print outputText
raise Exception('Found error when calling spiceinit!')
# Clean up temporary files
if not options.keep:
os.remove(rotationAnglePath)
os.remove(tempIkPath)
os.remove(options.spkPath)
endTime = time.time()
print "Finished in " + str(endTime - startTime) + " seconds."
return 0
