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1. 17 1 4 Programming C and C in the RCDE The enhancements made to the basic Lucid FFI include handles Lisp types that C does not support directly symbols and forms and syntax for automatically passing arrays Because of these enhancements several new concepts were defined for the LCI This section briefly describes these concepts and related terminology At this point it should be clear that there are two ways to refer to the coupling modes the Tightly Coupled mode is also called the Performance mode in the menu options while the Loosely Coupled mode is also called the Debugging mode in the menu options Code Reuse Proxies In either coupling mode variables functions methods and classes may be declared in one language that serve only to communicate with corresponding real variables functions methods and classes in another language Such stand in functions and classes are called Prories and support the concept of code reuse A C proxy class looks and acts like a real C class A Lisp proxy class looks and acts like a real Lisp class Such class proxies may be used in the same manner as any normal class in the language To access this reuse capability the declaration header h files for these classes are included in the code as any external library would be In Lisp these definitions are loaded as standard Lisp definitions Proxy classes in either language have similar structure and format All methods of a proxy class are func
2. C C Function Foreign Function Function IPC C C Function Foreign Callable Function return RCDE 030a Figure 17 1 System Level View of Lisp C C Interface Architecture The figure shows both LCI modes and the switch between modes C C code can exist within the Lisp process and within a separate user process 144 RCDE User s Manual 17 1 1 Executing C and C within Lisp Performance Mode The first LCI mode more commonly called the Tightly Coupled mode makes use of the LCI to link Lisp and C C code at the compiled code level The C C code shares the same address space with Lisp thereby providing a highly efficient way to couple the two languages from a run time perspective The Lisp environment supplies the linking facilities normally available through Unix In addition Lisp controls the execution of C C code replacing the standard C function main with its own generic version The user must rename the main function in his source code to prevent a Lisp loading error It is difficult to debug tightly coupled code because Lucid Lisp does not support an integrated debugger at this time The existing Lisp debugger does not provide access to the C run time stack nor to C data that is not explicitly declared in Lisp Therefore the Lucid debugger does not offer much help in debugging C C code Run time errors within the user s C C code send the system into the Lisp debugg
3. Normalize stretch limits of the given view s colormap e Threshold Interactively threshold the given view 12 3 9 Super Methods The following additional methods are available for SUPERELLIPSE and or SUPERQUADRIC objects e XY Exponent Change the X and Y exponents of a superellipse e X Exponent Change the X exponent of a superquadric e Y Exponent Change the Y exponent of a superquadric e Z Exponent Change the Z exponent of either a superellipse or superquadric The RCDE Objects 95 12 3 10 Camera Methods The following additional methods are available for CAMERA objects e Move Cam W Move the camera along its axis W axis This method is also available for PERSPECTIVE TRANSFORM objects e Focal Length Change the focal length of a camera This method is also available for PERSPECTIVE TRANSFORM objects e Force Z Up Reset the camera to its canonical orientation This method is also available for PERSPECTIVE TRANSFORM objects e Princ Pt Move the principal point of a camera This method is also available for PERSPECTIVE TRANSFORM objects 12 3 11 House Methods The following additional methods are available for HOUSE objects e Roof Pitch Adjust the pitch of a house s roof 12 3 12 Cylinder Methods The following additional methods are available for CYLINDER objects e XY Scale Adjust the radius of a cylinder 12 3 13 Rectangle Methods The following additional meth
4. v plane is parallel to the image plane Note that the w axis is by definition always perpendicular to the image plane implying that the ray from the focal point to the stare point is not perpendicular to the image plane 108 RCDE User s Manual primary purpose of the stare point is to provide a mechanism for moving the camera relative to an arbitrary point in the model resulting in a more intuitive set of camera manipulation tools When a blank view is first created with the New View Transform on Image option on the Transforms menu the projection of the stare point and the principal point are at the same location in the image recall that the principal point is defined in the camera coordinate system while the location of the stare point in the image is the projection of its location in the site The stare point can be moved in the image plane without adjusting the camera by using Stare Point Stare Pt UV Once it is moved though the stare point will no longer be on the principal ray and the letter P will appear on the image next to a indicating the new position of the principal point The camera can be rotated and translated with respect to the site by selecting the stare point object the visible set of coordinate axes that appears when the view is created and using the Move UV Z Move Z Drop Z Move W Drop W and Az El commands all of which keep the stare point at the same position on the pane while moving the mo
5. Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Open Superior to Object Change x y z sizes wa SS Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 204 Rotate Scale XY Scale Radius Length Rotate Scale RCDE User s Manual 205 Table A 9 Bucky Menu Functionality for Class View Hacking Object Bucky Label Documentation Line Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H TT Less Edit Composite Object Hierarchy Pine wo oS EE Delete this Object Drop Obj Stop Modifications to this Object re D aromen maesi tenen wwo e S K Gain S C Brt amp Cont JL S oo S oo fd Create an Identical Copy of Object 206 RCDE Table A 10 Bucky Menu Functionality for Class Superellipse Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from HS Close Object Close Object to Mouse Sensitivity H oe Lee Edit Composite Object Hierarchy C C Create an Identical Copy of Object L Duc Sun Z Adjust Object Height using Sun Model en eterna bea Drop W Place Object at Interse
6. 150 RCDE User s Manual They are declared as C structures so that C and C may access their slots data fields using standard C operators Through the FFI Lisp may also directly access slots of shared structures using only Lisp function calls The FFI provides the capability for shared struc tures to be passed between languages in Tightly Coupled mode while the LCI adds this capability for Loosely Coupled mode They are supported as parameter and return types for functions calls in both directions between languages Unlike handles shared structure representations are completely declared in each lan guage so that both Lisp and C C have detailed knowledge of the structures This allows entire structures to be exchanged between languages rather than only basic types or pointers handles Many shared structures are defined in the RCDE most are for returning multiple values from RCDE functions but there are also shared structures for transferring images transforms and polyhedral vertices between languages In addition to the supplied shared structures the user may add his own shared structures to the LCI In Tightly Coupled mode shared structures are passed by reference between functions Changes made to the data structure by C C are immediately visible from Lisp since only one copy of the data structure exists and both languages have direct access to it In Loosely Coupled mode shared structures are passed by value For an instance
7. Add corresponding pixel intensities in two images Numeric overflows cause saturation at the maximum value of the pixel representa tion If the pixel representations are different the output image will have the more expressive of the two input images pixel representations where floating point repre sentations are considered more expressive than fixed point representations and a fixed point representation is more expressive than other fixed point representations of fewer bits per pixel If the images to be added are of differing sizes the output will be of size min l1 l2 by min w 1 we where l is the length of the ith image in pixels and w is the width of the ith image in pixels The area added will be the area of overlap if the two images were put on top of each other with the bottom left corners coinciding 58 RCDE User s Manual Select the Add function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting sum image is pushed onto the destination pane Subtract Subtract corresponding pixel intensities in two images Numeric underflows cause saturation at 0 If the pixel representations are different the output image will have the more expressive of the two input images pixel repre sentations where floating point representations are considered more expressive than fixed point representations and a fixed point representation is
8. 1 f Similarly the distance of the origin of the camera coordinate system along the principal ray r is represented only as the ratio r f since it must be constant The 4x4 COORDINATE PROJECTION class also has a transform matrix slot for the w g transformation matrix describing the relation between the camera coordinate system and the world coordinate system This matrix transforms points in the camera coordinate system into points in the world coordinate system the inverse matrix is used to transform points in the other direction The translation embedded in the transform matrix is the location of the focal point of the camera the center of the lens with respect to the site coordinate system The camera coordinate system in the RCDE is defined to have its U axis horizontal and pointing to the right as the user looks at the associated image or along increasing column indices in the image The V axis is vertical and pointing up as the user looks at the image or along increasing row indices The w axis is perpendicular to the U V image plane and points out of the image toward the user to maintain a right handed camera coordinate system Thus w camera coordinates of objects visible in the view are always negative By default the origin in the image plane is at the lower left corner of the image By definition the projection of the principal point into the image plane gives the camera origin s location in the u and v dimensions Recall
9. 221 Closed 2D Curve 87 Closed 3 D Curve 88 Code Reuse 145 Color Map Importation 70 Color Map Resetting 70 Color Map Tool 89 Color Mapping Methods 93 Command Apropos Function 70 Command Line 15 Command Line Interface 15 Common Methods 91 Compilation Level Function 163 Compile Function 162 Complement Function 54 Complex Magnitude 55 Composite Methods 96 Composite 2D 87 Composite 3 D 87 Condition Unresponsive 21 Conditions Error 21 Conjugate Point 89 Conjugate Point Methods 94 Conjugate Points 111 Conjugate Points 2D 87 Control Key 15 Control Panel Menu Lisp to C C Interface 162 Converting Image to Fixed Point 55 Converting Image to Floating Point 55 Convolution Gaussian 61 Coordinate System World 9 Coordinate Systems 8 74 Coordinate Sytem Local Vertical 9 Coordinate Transforms 99 Coordinates Geocentric 9 Coordinates Latitude Longitude Elevation 9 Coordinates Universal Transverse Mer cator 9 Coordinates UTM 9 Copy View Function 31 222 Corner Trihedral 90 Correspondences between Images 87 Correspondences Showing 111 Covered Images Viewing 30 31 Create a c handle Function 163 Creating a Binary Image 54 57 Creating a Frame 69 Creation of FASD Files 131 Crosshair 2D 87 Crosshair 3 D 87 Curve Methods 97 Curve Closed 2D 87 Curve Closed 3 D 88 Curve Open 2D 87 Curve Open 3 D 88 Customization of Environment 69 Cycling the Stack 30 31 Cylinder 88
10. Cylinder Methods 95 Data Exchange 131 Data Manipulation Philosophy 6 Data Proxies 145 Data Representations 8 73 Debugging Mode 17 142 Debugging Mode Execution 144 Defocusing Images 61 Del Vert 93 Del Vert Are 93 Delete 90 Delete UV 94 Describe Image Function 28 Descriptions of Views 23 Desel Superiors 96 Desensitize 96 Design Philosophy 6 Development Environment 17 Digital Terrain Map Mesh 88 Directory Edit of Images 66 Dired Image Function 66 Disk Search for Images 66 Document Organization 2 RCDE Document Scope 1 Documentation Online 181 Drop W 91 Drop Z 91 Drop Obj 90 DTM Mesh 88 Edge Detection 62 Edit Hier 90 Emacs 181 Enhancement Image Transforms 59 Enhancement Image 59 Environment Customization 69 Environment Development 17 Error Conditions 21 70 Establish Interface Function 162 Establishing Correspondences 111 Establishing Image Correspondences 87 Eval Cache 12 24 Every Z to Ground 97 Exact Copy Function 77 Exchange Data 131 Executable Field 165 Execution in Debugging Mode 144 Execution in Performance Mode 144 Execution Mode Function 163 Exiting 70 Expunge Top Function 32 Extensibility 17 Extrude Object 97 FASD 131 FASD File Creation 131 FASD Files 131 FASD Files Reading 132 FASD Format 133 FASD Limitations 134 Fast Dump 131 Fast Fourier Transform 54 55 Fast Fourier Transform Display Remap ping 55 User s Manual feature set 74 Featur
11. a file must be given After the name is entered in the File Name option the Add File button may be pressed to append the file name to the current list of files A file may be deleted from the list by clicking on the line in the scrollable window containing the file name then pressing the Delete File button The file name should appear in the File Name slot when the file name is selected These menus are used to set the source files to be compiled linked and loaded during LCI compilation No immediate action is taken by these menu options For C and C files the names of source files should be entered Ifa Lisp file is specified and no extension is used Lisp will first look for a sbin extension with the name of the file otherwise it will look for a lisp extension If the Jean extension is used it may not use the most recent version of the Lisp code because it uses the simple load command for loading Lisp files 17 4 4 Functions Menu 166 RCDE User s Manual This menu has three options Lisp Callable C C Functions for Lisp Callable creation C Callable Lisp Functions for C Callable creation and Lisp Variables for Variable Accessor creation The first two set up the communications necessary for inter language function calls The menus display the forms currently defined and also can be used to create new forms which are automatically evaluated and printed to the Emacs buffer The forms can be pasted into a file for future reloadin
12. it was a research tool designed for the user to develop code while using the system As a result the RCDE supplies a seamlessly coupled set of tools for application development The coupling is based on the fine grained code reuse philosophy of the object oriented paradigm The user interface provides direct access to some of these objects Those objects are in turn supported by more abstract objects in the RCDE environment 2 2 5 1 Extensible Object Hierarchies The RCDE provides a comprehensive hierarchy of object classes for program development It is relatively easy to navigate through that hierarchy and attach new objects to extend the hierarchy for specialized applications Specifically the RCDE includes hierarchies for the following application support areas e Images e 3 D Wire Frame Models Terrain Objects e Coordinate Systems Transforms between Coordinate Systems 2 D Display objects Views Feature Sets Menu objects 2 2 5 2 Lisp C Interface As part of the RCDE Martin Marietta has developed a robust Lisp C C Interface LCI This interface allows the user to compile link load run and debug code written in C C As a result the LCI provides a mechanism that allows previously developed RCDE code to be reuseable by the C C programmer Conversely code written in C C can be reused by the Lisp programmer via this interface 18 RCDE User s Manual Lisp C C User C C Code C C Function Foreign C C
13. the screen on which the object resides or Other a second display if any Default is Mouse e Tandem Enabled Defines the default state of the Tandem command If the Tandem is enabled Tandem mode defaults to Tandem On Default is No 70 RCDE User s Manual e Sensitive Arcs and Faces Enables the mode where individual arcs and faces of polyhedral objects are sensitive to mouse selection Default is No In addition to setting this toggle the vertices of the object must be opened with the Open Verts H M L command e Undo History Length Determines the number of object manipulation operations that can be undone with the Undo operation H C L Default is 5 Import Public Color Map Copy the colors added to the public color map into the RCDE color map Select the Import Public Color Map function from the Misc menu if enough space is available the public color map colors will be transferred to the RCDE color map in an attempt to minimize colormap flashing Reset Color Map Reset the RCDE color map to default values Select the Reset Color Map function from the Mise menu the color map will be reset to its default state which is defined by the variable ic color map grey ramp defaults Clear All Panes Clear all panes in the selected frame Select the Clear All Panes function from the Mise menu then select the desired frame All panes in the selected frame will be cleared Command Apropos Initi
14. they are attached to a given point in a pane independent of image or model projections behind them They are intended to remain fixed in the work space and appear only in the pane where they are created e Color Map Tool A rectangular object used to manipulate the global color map pixel values stationary in the pane e Image Window A rectangular 2 D object used to manipulate rectangular regions of imagery e North Arrow A linear object indicating the direction defined as North within the given view e View Tool A rectangular pane object used to manipulate the grey level values associated with a given view stationary in the pane e Window Text A text object that remains stationary in the pane 12 2 5 Miscellaneous Objects The following objects are mixed in functionality attachment and visibility e Axis A set of orthogonal directed line segments that intersect at a point used to represent coordinate frame orientation and location This object exists in 3 space and is visible in all views e Camera A wire frame object that illustrates the position of another view s camera within the current view This object exists in 3 space but is only visible in the view where it was created e Conj Pt A conjugate point object is used to establish a correspondence between a point in space and a location in one or more images Therefore one end of the object is attached to an image point and the other en
15. value In addition adjoining pixels are re set to the given value Note that values from the mon and ymap arrays must be right shifted by two bits this is necessary because of bit level differences between the C and Lisp representations of integer data It is not necessary however for the character data contained in the image array itself The primary function in this file is called access_and_blur_image The first step is to provide a pathname to the C Callable load_image Note that even though no keywords are used in this call since the function does have keywords it is necessary to add a numeric zero at the end of the argument list The return value is a c_handle pointing to the Lisp image It is then displayed using the C Callable from the source file create_and_change c It is necessary to load this file into Lisp by adding it to the C files list using LCI gt Files gt C Files However if you are continuing from the first example it is already loaded The second step is an image manipulation call to gaussimage using the c_handle pointing to the loaded image The result is then displayed on the chosen pane Note that there are no optionals parameters used by this call though the function accepts them Thus the final argument is a numeric zero just as a keyword list must end with a numeric zero The third step is to access the shared structure using the function get_image_struct which takes only a c_handle and returns a copy of the compl
16. 1 In the figure the arrows indicate the direction of a function call or data communication The terms used in the figure are explained in the following sections Both of the main modes allow the user to program a fine grained interaction between languages or coarse grained interaction between languages The graininess of the interac tion is the programmer s option as it is unrestricted by the mode of coupling between the languages In fine grained interactions a program makes frequent calls across the language interface as one might use to access and modify single pixels of an image one at a time In coarse grained interactions an entire image might be passed across the interface and be processed entirely in one language before it is passed back In either execution mode C and C files may be compiled and linked or loaded to gether K amp R syntax is expected of C files while ANSI C and AT amp T C syntax is expected of C files Function calls and data structures that are managed by the LCI do not require any syntax that is different from the language standards To accommodate the differences among Lisp K amp R C ANSI C and C function calling paradigms a set of conventions have been introduced and are itemized in this chapter and in the RCDE Programmer s Ref erence Manual These conventions remain consistent with the proper programming styles of each of the languages Lisp C C Interface 143 C C User C C Code
17. 113 Resection Improve 94 Resection Menu 94 Reset 94 Reset Color Map Function 70 Reset G amp O 94 Reset Verts 93 Resize Pixel Function 56 Restoring a Killed Image 32 Restoring a Killed Stack 33 Restoring and Saving 65 Reuse of Code 145 Rev Cycle Function 31 Roof Pitch 95 Rotate 92 Rotate Scale 91 97 Round Function 55 Ruler 2D 87 Ruler 3 D 88 Run Executable Function 165 Run Makefile Function 164 Saturation 94 Save Feature Set Function 67 228 Save Image Function 65 Save Site Model Function 67 Saving and Restoring 65 Scale 91 Scenario Object Creation 83 Scenario Stack Usage 21 Scenarios Image Arithmetic 47 Scenarios Lisp to C C Interface 154 Scope of Document 1 Scroll 95 Scroll Bar 90 Scroll Bar Methods 95 Scroll2d 95 Sel Superiors 96 Select Function 30 Sending Images to Printers 66 Sensitivity Object 13 Sensitization of Objects 78 Sensitize 96 Sensor 89 Sensor Model 9 74 Set Emacs Window Function 70 Set Sun Ray 97 Sets Feature 78 Setting Known Camera Location 105 Shared Structures 146 Simple vector type 175 Site 74 Site Model Building 125 Site Model Loading 67 Site Model Manipulation 125 Site Model Saving 67 Site Model Updates 83 Sizes of Output Images Arithmetic E Slots Image 27 28 Sobel Edges Function 62 Software Development 17 Source Illumination 90 Spatially Locating Cameras 104 Split Vertex 93 RCDE Stack 12 Stack Clearing 33 St
18. 2 2 0 200000 02 68 11 Introduction to 3 D Modeling 73 11 1 Representations 0 e 73 11 2 Views e 74 11 3 The Transforms Men 77 11 4 Feature Sets 2 aaa aa 78 11 5 The View Menu 2 2 0 0 20 000 00 79 12 The RCDE Objects 83 12 1 Site Model Update Scenario 2 es 83 12 1 1 Creating a New View 0 200 2 0 00200000008 83 12 1 2 Instantiating Model Object Primitives 0 2 84 12 1 8 Moving Model Objects 2 0 000 00 0 0 0 00 00 000 86 12 1 4 Adjusting the Model View 86 12 2 Object Classification 0 aa e 87 12 2 1 2 D Objects 2 ee 87 12 2 2 3 D Feature Objects e 87 12 2 3 3 D Face Objects e 88 12 2 4 Tool Objects 2 2 0 0 02 20 0 00000 000000 2 89 12 2 5 Miscellaneous Objects e 89 12 3 Methods on Objects e 90 12 3 1 Basic Methods 2 0 00 00 002002000000 90 12 3 2 Common Methode 91 12 3 3 3 D Methods 0 2 0 200 000 0000 000000 91 12 3 4 2 D Methods 00 0 2 000 000 0000 pe ee 92 12 3 5 Vertex Manipulation Methode 92 12 3 6 Color Mapping Methode 93 12 3 7 Conjugate Point Methode 94 12 3 8 View Tool Methods e 94 12 3 9 Super Methode 94 12 3 10 Camera Methode 95 12 3 11 House Methode 95 12 38 12Cylinder Methods e 95 12 3 13 Rectangle Methods 2 0 0 00 0 0000 0000000 95 12 3 14Scroll Bar Methode 95 12 3 15 Window Methods 0 0 0000 020200000000 0000000 96 12 3 16 Feature Set Methods aoaaa aaa 12 3 17 Co
19. 4 TIME OF LAST ACCESS 2934116255 TIME OF CREATION 2934116255 3 IC X DIM 252 4 IC Y DIM 245 5 IC ELEMENT TYPE UNSIGNED BYTE 8 6 IC ELEMENT SIZE 8 7 IC INITIAL VALUE 0 8 IC WRITE ACTION IC WRITE LOCK ERROR 9 IC WRITE LOCK T 10 IC X MAP lt Simple Vector T 252 21BF8CE gt 11 IC Y MAP lt Simple Vector T 245 21BFCCE gt 12 IC BLOCK X DIM 128 13 IC BLOCK Y DIM 62 14 IC PADDED BLOCK X DIM 128 15 IC BLOCK SIZE 7936 16 IC BLOCK RADICES NIL 17 IC BLOCKS WIDE 2 18 IC BLOCKS HI 4 19 IC BITBLTABLE T 20 I1C BITBLT X OFFSET o 21 IC BITBLT Y OFFSET o 22 IC IMAGE STRUCT 5 IC ARRAY IMAGE STRUCT X DIM 252 Y DIM 245 X MAP lt Simple Vector T 252 21BF8CE gt Y MAP lt Simple Vector T 245 21BFCCE gt IREF FN lt Compiled Function IC ARRAY IMAGE UNSIGNED 8BIT IREF 6C304E gt ISET FN lt Compiled Function IC ARRAY IMAGE UNSIGNED 8BIT ISET 6C307E gt SIMPLE ARRAY lt Simple Vector UNSIGNED BYTE 8 63488 21BOOBE gt ARRAY lt Vector UNSIGNED BYTE 8 63488 416BC3E gt EXTRA1 NIL EXTRA2 NIL 23 IC IMAGE_STRUCT lt Foreign Pointer 1F89E04 POINTER IC IMAGE_STRUCT gt 24 IC ELEMENT TYPE CODE 3 25 ARRAY lt Vector UNSIGNED BYTE 8 63488 416BC3E gt gt gt Figure 4 1 An Example of the Lisp Inspector 30 RCDE User s Manual Bucky Menu Invoke the Bucky menu with a right mouse click and select the Describe Image funct
20. 63 House 88 House Methods 95 Hue 93 Hyper Key 15 Hypertext 181 Hypertext Documentation 181 Hypertext Navigation 185 I O Functions 63 I O Menu 65 Illumination Model 73 Illumination Source 90 ImagCalc Frames Function 69 Image 73 Image Addition 57 224 Image Arithmetic Scenarios 47 Image Blending 58 Image Correspondences 87 Image Defocus 61 Image Description 28 Image Directory Edit 66 Image Edge Detection 62 Image Enhancement 59 Image Hardcopy 66 Image Histogram 64 Image Inspecting 27 Image Naming 27 Image Restoration 32 Image Slots 27 28 Image Subtraction 58 Image Thresholding 54 57 Image Transforms Arithmetic 53 Image Window 89 Import Public Color Map Function 70 Info 181 Info Beginning of Node Command 186 Info Command List Command 186 Info Commands 185 Info Follow Xref Command 186 Info for RCDE 183 Info Goto Command 186 Info Indices 181 Info Last Command 186 Info Menu Command 185 Info Next Command 186 Info Node Organization for RCDE 184 Info Previous Command 186 Info Quit Command 186 Info Scroll Down Command 186 Info Scroll Up Command 186 Info Tutorial Command 186 Info Up Command 186 Input Output Functions 63 Input Output Operations 65 Inputting an Image 65 Inputting Feature Sets 67 RCDE Inputting Site Models 67 Inspect Image Function 27 Inspect Stack Function 28 Inspecting Views 23 Integer Converting Image Pixels 55 Intensity 93 Intensity Plot Hor
21. Adjust Operations Site Model Model Objects i Loadnew e s H Image Wi Model an o u ee i d d Ki Specify Texture and nregistere s Viewpoint then Render Image Ki Create Blank View and 7 Ki Adjust Camera with K Copy Site Feature Set s Known Parameters K Q Model and Rendered Unaligned View Model and Aligned View Specify Texture and Viewpoint then Render Am Multiple View Site Model RCDE 025b Figure 2 5 Example RCDE Functional Flow Illustrates how the RCDE is typically used to manipulate images and to construct site models RCDE Overview Tool Feature Sets Coordinates View 2 D Feature Sets 3 D Feature Sets Coordinates H ei H ei Coordinates H ei e ei 11 WINDOW Tool Object Window Coordinates Transform 2 D Transform IMAGES Image Transform 2 D World Coordinates 2 D Object Transform 3 D gt 2 D Projection 3 D Object Coordinates 3 D World Coordinates Transform i RCDE 040a Figure 2 6 RCDE Data Representations 12 RCDE User s Manual translations of the 2 D data within the window such as panning and zooming The view may also contain Tool objects which are designed to remain fixed in the pane even when the underlying data is panned or zoomed All types of objects are therefore mapped to window coordinates in a similar way A WINDOW WO
22. And Logical 54 Apropos 70 Architecture 6 Arithmetic Image Transform Descrip tions 53 Arithmetic Menu Output Image Sizes AT Arithmetic Menu Submenus Boolean 53 Arithmetic Scenarios 47 Arrow North 89 Auto Stretch 94 Axis 89 Az Elev 91 Basic Methods 90 Binary Image Creation 54 57 Blank 90 Blending of Images 58 Blue 93 Blurring Images 61 Boolean Menu 53 Box 88 Brt amp Cont 93 User s Manual Bucky Keys 15 23 Bucky Menu 90 Bucky Menus 15 23 Building a Site Model 125 C Compile Command Field 164 C Compile Options Field 164 C Compile Command Field 164 C Compile Options Field 164 C Proxy Classes 176 C Callable Lisp Functions 166 C Callable Lisp Functions Menu Lisp to C C Interface 167 C handle Type 173 C C Programming 145 169 C C Systems Data Transfer 134 C C to Lisp Interface 17 Callables Foreign 145 Calling C C from Lisp 173 Calling Lisp From C 174 Calling Lisp From C 174 Calling Lisp From C C 174 Camera 89 Camera Location Finding 104 Camera Location Manual Adjustment 106 Camera Location Setting 105 Camera Methods 95 Camera Model 9 74 99 Camera Parameters Finding 104 Camera Refinement 104 Camera Pinhole 5 101 Canny Edges Function 62 Center Zero Function 55 Change Size 95 Changing a Site Model 125 Clear All Panes Function 70 Clearing A Stack 33 Clip Function 57 Clone 90 Close Object 91 Close Verts 92
23. CLOS which is used to some advantage where possible RCDE functions that can take multiple parameter types for the same parameter are also proxied with multiple C functions one for each possible type Again the parameter type of a particular C Callable function is included in its name as a suffix 17 5 6 C Proxy Classes The RCDE provides C proxy classes for many of the RCDE CLOS classes comprising the basic objects in the system While C programmers may call the C Callable library functions directly as C functions most of those functions are included as C member functions in the C proxy classes The RCDE provides a full hierarchy of proxies necessary to utilize the RCDE Classes as a C Class Library The C inheritance and function dispatching mirror that of the class hierarchies in the RCDE Since the C Proxy Classes are full fledged C classes member functions with native C code may be added to the classes Also new classes may be attached to the inheritance hierarchy Each proxy class consists of standard C components but these generally refer to Lisp for their true functionality e Data Slots Each proxy class has at least one data slot of type c_handle that points to a corresponding instance of the Lisp class being proxied Additional data slots may be added as in the case of blocked_array_mapped_image for local copies of data to be accessed directly from C In most cases however all data slots are mainta
24. Class A Class is a description of a group of Objects with similar properties common be havior common relationships and common semantics CME Cartographic Modeling Environment A software package developed at SRI for pro ducing three dimensional models of areas of interest using image data CME is the basis of the RCDE system CLOS Common Lisp Object System An extension to the Common Lisp computer language specification to support programming in an object oriented style DEM Digital Elevation Model A format for digital elevation data supported by the USGS DMA Defense Mapping Agency DTED Digital Terrain Elevation Data A specific DTM product line supported by the DMA DTM Digital Terrain Map 217 218 RCDE FASD FASt Dump Mechanism to produce a Lisp form from an object that produces a copy of the object when evaluated FFI Foreign Function Interface Basic functionality supplied by Lucid Lisp allowing single process interfacing between Lisp and C FFT Fast Fourier Transform FSF Free Software Foundation IPC InterProcess Communication IU Image Understanding The science and engineering endeavor of attempting to imbue machines with sight related cognitive abilities Also an ARPA research program that has image understanding in this sense as one of its goals LCI Lisp C C Interface The language interface module built into RCDE allowing C and C programs to access RCDE functionality and data LVCS Local Vertical Co
25. F SE Code ee Hise Functions C Object 2 Accessor 21 and code Accessor 22 Slots Method 21 Accessor 21 Method 22 Accessor 22 Method 21 Method 22 Lisp Function P4 and Code pe C Function 4 and Code RCDE 037b Figure 17 2 System level view of Performance Tight Coupling Mode 148 RCDE User s Manual Single Lisp Process RCDE and Proxi Coupling Phantoms Interface User Lisp Code roxies Code and Stubs Code Lisp Object 1 Foreign and code Callables Slots Accessor 11 Accessor 12 Lisp Phantom 11 Mamona Lisp Phantom 13 Method 14 Function Dispatcher Lisp Function 2 j and Code P Lisp Phantom 11 Interface d Lisp Function 3 Lisp Object P2 Forel Handler TICE and code oreign Functions Lisp Stub 21 a Lisp Stub 23 Method 24 Lisp Function P5 Accessor 21 Accessor 22 Method 23 RCDE 036b Figure 17 3 System level view of Debugging Mode Loose Coupling in the Lisp Process Lisp C C Interface 149 Single C C Process Interface Phantoms Proxi User Code and Stubs none C C Code C Object P1 and code C Function 5 C Phantom 11 Accessor 11 and Code Accessor 12 C Phantom 13 Method 13 Method 14 C Function P2 C Phantom 2 Interface Handler C Object 3 C Stub 31 and code Slots Function Dispatcher C Stub 33 SE ccessor Method 33 Method 34 C Function 4 and Code RCDE 036c Figure 17 4 System Level View of Debugging Mode Loose Coupling in the C C Process
26. Hierarchy It contains nested include statements defining other applicable classes in the hierarchy This file and any C files using the C Proxy Class Hierarchy must be compiled with the include option IS CMEHOME Ici proxy objects The next area to notice is the extern statement areas All function calls and structures that are not part of the include files must be externed in C These extern functions were automatically generated using a Lisp function called if create extern statement lisp name without package v Lisp C C Interface 161 However these extern statements are available in the file CMEHOME Ici extern statements which contains extern statements for all the RCDE C Callable functions This is a text file it is not intended to be included in source code but rather for textual cutting and pasting of selected statements The next area is the C call pause_and_select_pane modified to work in C The only differences are the argument list and the documentation string delimiters In this example this code is being used to pause between example steps The next area is the main routine create_and_change_house This function shows the steps in accessing the programming elements of the RCDE Once these elements are present any one of several experiments can be performed 1 A pane the top view and from it the ALV world are extracted from the ALV frame after the ALV site data have been loaded 2 The coordi
27. Inverse FFT Perform a two dimensional Inverse Fast Fourier Transform on an image The input image will have a complex floating point data type The width and length of the data set will be rounded upward to the nearest 2 those values that are added as a result of the upward rounding will be padded with zeros prior to the Inverse FFT operation Select the Inverse FFT function from the FFT submenu Following the Documentation Line prompts select the source and destination panes The resulting inverse FFT is pushed onto the destination pane e Magnitude Produce a magnitude image from a complex image Complex pixel values are defined as a bi where a is the real part and b is the imaginary part The magnitude is defined as Va b On a real image this is the identity operation Select the Magnitude function from the FFT submenu Following the Documentation Line prompts select the source and destination panes The resulting magnitude image is pushed onto the destination pane e Magnitude Squared Produce a magnitude squared image from a complex image Complex pixel values are defined as a bi where a is the real part and 6 is the imaginary part The magnitude squared is defined as a 6 Select the Mag nitude Squared function from the FFT submenu Following the Documentation Line prompts select the source and destination panes The resulting magnitude image is pushed onto the destination pane e Center Zero Rotate the image toroida
28. It is the user s responsibility to supply the elevation image in a form that the RCDE understands This can be accomplished in two ways The first involves independently creating an elevation image file in a format that the RCDE can read such as a Sun raster file which is then loaded into the RCDE in the same manner as a normal intensity image The second method which can be applied to input file formats not supported by the RCDE involves writing a C C or Lisp function to read the specific input format creating an internal RCDE image structure of the appropriate size and copying the data into the RCDE image It can then be saved in a standard RCDE format so that the RCDE I O functions can be used to load it in later Since the second method uses internal RCDE structures it must be coupled loosely 118 RCDE User s Manual or tightly to the Lisp process the first method can be an independent program since it outputs a file With either technique before the RCDE can use the elevation data it must be trans formed such that the units of elevation are in the same scale as the indices of the array i e the x y and z axes of the elevation data are all on the same scale Because of the variety of elevation image file formats the RCDE does not provide functional support to accomplish this step for file formats other than USGS To demonstrate the concepts involved though an example of how a standard DMA Digital Terrain Elevation Data D
29. Lisp callable functions C callable functions support three more data types e lisp symbol Lisp lisp_symbol C C A special LCI type that is interpreted as a Lisp symbol The lisp symbol may be given as a parameter or return type in a C callable Equivalent to char variables in C C lisp symbol parameters are decoded into a lisp symbol automatically via one level of Lisp evaluation e lisp form Lisp lisp_form C C A special LCI type that evaluates its value as a complete Lisp form The lisp form is only valid as a parameter type It enables a Lisp C C Interface 175 C C programmer to pass a string argument char containing a Lisp expression It may be used as an argument to Lisp macros or functions which require such forms e simple vector type Lisp char C C This return type allows Lisp simple one dimensional arrays vectors to be returned to C directly The corresponding Lisp array however must be static or immune to garbage collection Otherwise the array might be moved and the pointer would no longer be valid in tight coupling and garbage collection might move the array during the copying phase in loose coupling For the RCDE C callables any returned vectors are statically allocated The length of the result array in bytes is returned in the value of the global C integer variable sv_return_length while the type of the elements of the array is returned in the integer value of su_return_type The
30. Move the selected point on the object in the image UV plane e Rotate Change the object s orientation keeping the selected point fixed in site coordinates 12 3 5 Vertex Manipulation Methods The following additional methods may be used to manipulate object vertices e Open Verts Open the vertices of an object to allow for vertex modification e Close Verts Close vertex modification of opened objects e Add Vert Add a vertex to a curve or network object The RCDE Objects 93 Del Vert Arc Delete a vertex or an arc in a network object Del Vert Delete a vertex in a curve or network object Merge Vert Merge vertices of a basic network Reset Verts Restore the vertices to default positions for basic curves and extruded objects Split Vertex Split the vertex in a basic network Vert UV on DTM Move the vertex of an extruded or 3 D curve object in the image UV plane onto the Digital Terrain Model DTM Vert UVXY Moves a selected vertex of an object in the X Y plane at constant Z Note that a vertex cannot be selected unless the vertices for the object have been opened using the Open Verts command Vert W Move a selected vertex of an object in the direction of the camera W axis Vert Z Moves a selected vertex of an object in the direction of the local vertical Z axis 12 3 6 Color Mapping Methods The following additional methods are available for COLOR MAP
31. RCDE s representation of transforms and projections in detail followed by the default RCDE camera model and techniques to adjust its parameters 13 1 Coordinate Transforms Coordinate transformations are the fundamental representations of geometric relationships between objects in the RCDE Each object in a site has its own coordinate system in which the locations of its components vertices faces etc are defined In turn the site itself has a coordinate system that serves as a reference system for all objects and images related to that site The site coordinate system may be registered to a location on the Earth with a geographic transform The rotation and position of an object coordinate system with respect to the site coordinate system is expressed as the matrix that transforms the world coordinate system into the object coordinate system Homogeneous coordinate transforms for geometric objects in the RCDE are often main tained in the transform matrix slot of the class 4x4 COORDINATE TRANSFORM or any of its subclasses Each 3D object in a site has a slot object to world transform for an in stance of 4X4 COORDINATE TRANSFORM which has its transform matrix slot filled with the appropriate 4 x 4 homogeneous transformation matrix defining the geometric relation between the object and site coordinate systems Projections defining the relationship between an image and the site are represented by the class COORDINATE PROJECTION or any of its
32. The FASD file could then be loaded directly into the RCDE This alternative may be more expedient than the File to internal method However it is clear that this method is not as efficient because of its file to file nature and it requires the production of Lisp Like data files which are foreign to C and C Data Exchange 135 16 2 1 Restoring Objects from C C Files or Programs The RCDE will permit two alternative approaches to loading image files or on line objects produced in C based systems into the RCDE environment One method called file to FASD involves the C developer writing a program which creates a FASD file with the format and content described in Section 16 1 3 The C program may read an existing file and translate it into FASD format or it may be a subroutine attached to an image or modeling system containing the data to be transferred to the RCDE The FASD file so produced can than be loaded into the RCDE environment For IU researchers not working in Lisp the RCDE supports object archival and restoration by calling the fasd form function from C or C An alternative to the file to file transfer strategy is the direct link strategy called file to internal method With this approach the C user would still be expected to supply interface software but would not be required to create a FASD file with its associated Lisp command structure More specifically the user must supply C or C code to copy his internal data stru
33. The third is special support for passing large blocks of data between Lisp and C C at average Ethernet rates when C C code is executed in a separate process To allow execution of C C code in a separate process the LCI provides two main code development modes and a way to switch between the modes without any code changes In either mode the LCI allows a natural programming style for C C as well as for Lisp Both modes support the data types introduced to enhance the FFI The first LCI mode Performance mode executes the user s C C code within the Lisp process This is accomplished by loading C C code compiled into object form directly into the Lisp process Compilation is first performed by standard C and C compilers then all linking is provided by the Lisp system during the loading of object files Since Lisp performs dynamic linking on C C code individual C C files can be compiled reloaded and executed independently The second LCI mode Debugging mode executes the user s code in a user controlled process separate from the Lisp process Compilation and linking of C and C is performed by standard C and C compilers while the Lisp process initiates control of these opera tions through interprocess communication Because C C code is executed in a separate process standard C C debuggers or development environments may be used for code development A system level view of the LCI is illustrated in Figure 17
34. VERTICES Points within a ribbon corresponding to the extreme points at either end of the ribbon and points of inflection within the ribbon CLOSED P Whether or not the given ribbon is closed i e the end points are joined default T FILL P Whether the given ribbon is graphically filled default is nil OPEN FOR VERTEX Whether or not the given ribbon can have its shape changed by mouse MODIFICATION actions on its vertices default T OBJECT TO WORLD The rotation and position of an object coordinate system with respect to TRANSFORM a site world coordinate system expressed in matrix form This matrix is used to transform the given object instances coordinate system to that of its attached world Name of the site model containing the object 140 RCDE User s Manual Chapter 17 Lisp C C Interface A primary goal of the RCDE is to support the two major programming language families used within the IU community Lisp CLOS and C C Code developed in one language must be shared with the other language in a natural way In doing so the system must also supply developers with their accustomed level of debugging support Since the RCDE is an object oriented system cross language support is available for both the object oriented and structured programming paradigms This chapter supplies an overview of the RCDE Lisp C C Interface LCI from a user s and programmer s perspective That is details of the interface s construction
35. a Q Q Q AQA AA QA AQAA 212 a Drop Object Vertically to Surface UV Roll Force Z Up Reset to Canonical Orientation Z axis N EE DC 5 RCDE User s Manual 213 Table A 14 Bucky Menu Functionality for Class Sun Ray Object Bucky Label Documentation Line Mouse Menu of Object Parameters R Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Object at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Close Vertex Modification Reset Verts Restore Vertices to Default Positions for Object Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 214 RCDE aver dp Addanew eee OSCSC idsSCSOSCS d Da Vers Daae vors N Rea Daere Mi Verice ExeptncFi __ awo ll eaz S o ER EEN BEER ER EES ER ER Every Z to Groma PSerSinRay E sated User s Manual 215 Table A 15 Bucky
36. a single image This func tion performs negation on a pixel by pixel basis by binary complementing each bit in the pixel width Select the Complement function from the Boole submenu Following the Doc umentation Line prompts select the source and and destination panes The resulting complemented image will appear in the destination pane Threshold Create a binary image from a numeric image by thresholding Select the Threshold function from the Boole menu item to invoke a submenu Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next adjust the threshold by moving the slider bar labeled Threshold To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process FFT Produce a submenu of Fast Fourier Transform operations e FFT Perform a two dimensional Fast Fourier Transform on an image The resulting image will have a complex floating point data type The width and length of the data set will be rounded upward to the nearest 2 those values that are added as a result of the upward rounding will be padded with zeros prior to the FFT operation Select the FFT function from the FFT submenu Following the Documentation Line prompts select the source and destination panes The resulting FFT is pushed onto the destination pane Arithmetic Image Transforms 55 e
37. are u gz uo v y gt v z where x y z are the world coordinates of a point u v are the projected image coordi nates uo vo are the displacement in the image plane and f is the focal length Orthographic projection on the other hand is defined by the condition f o There fore the general orthographic projection equations state that a point s u v coordinates do not depend on the point s z coordinate Instead x y and u v are related by a simple proportion u u uo v HYT vo where p is a constant often related to the focal length of the sensor Because the perspective projection equations depend on f but f in orthographic projection the perspective equations cannot be used directly to model orthographic pro jection However if the singularity at f oo is removed it is possible to use the same equations for the two projection models The RCDE accomplishes this unification of projection models by defining the camera coordinate system to have its origin at an arbitrary distance r along the principal ray of the camera rather than at the camera s center of projection the center of the lens as the standard projection equations imply see Figure 13 1 The RCDE projection equations then become f use uo z r _ f v y v9 P which can be written as 1 HE 7 T uo FF 1 UHT Dn FF 102 RCDE User s Manual focal point image plane principal
38. are identified within the menu system The Bucky menus support Objects Views and Image functions Please refer to the RCDE Installation Guide for Bucky key mappings These Bucky keys are intended to be a shortcut alternative to menu selections In order to use the Bucky keys ensure that you have correctly modified your environment variables as described in the RCDE Installation Guide These variables change the functionality of the keys listed above Bucky commands provide a very efficient graphical interface to objects To invoke a Bucky menu command the user moves the mouse to select a particular object then invokes the Bucky menu command by depressing some combination of the Bucky keys and then clicking one of the three mouse buttons while the Bucky keys are still depressed Each object has a Bucky menu that specifies the menu of operations appropriate to objects of that object class The current Bucky menu may be invoked for a given object by holding down the Hyper and Control keys and clicking the right mouse button while pointing to the object A shorthand for that action is H C R 2 2 4 2 Lisp Interaction Window The Lisp Interaction window illustrated in Figure 2 8 is an Emacs buffer in a separate window that will accept any Lisp form and pass it to the Lucid interpreter This Lisp form may be viewed as a command or instruction to the RCDE and therefore the window can be used as a command line interface Most operations wheth
39. are stored by a 2D WORLD object The 2 D world coordinates are then mapped into window pane coordinates by another 2 D transformation 2 D Transform in the figure This transformation is necessary for translations of the 2 D data within the window such as panning and zooming The view may also contain Tool objects which are designed to remain fixed in the pane even when the underlying data is panned or zoomed All types of objects are therefore mapped to window coordinates in a similar way A WINDOW WORLD object is responsible for storing the window coordinate data To complete the figure note that the window has a stack associated with it which contains a number of views 11 3 The Transforms Menu The Transforms menu supplies operations to create different types of views either from scratch or from an existing view Exact Copy Create a copy of an existing view with the same camera but without an image This function copies all elements of a view except the image into the specified pane the feature sets the association with terrain and illumination models and the camera model To copy a view entirely including the image use the Stacks Copy View command Select the Exact Copy function from the Transforms menu Following the Documenta tion Line prompt select the source and destination panes The view will be copied from the top of the source stack and pushed onto the destination stack New View Transform on Image Cr
40. been enabled refer to Chapter 10 for details To do this select the Feature Sets command from the View menu The Documentation Line will prompt you to select a view which invokes a new panel Select the Sel fields with the left mouse button until the window appears in the desired pane Chapter 7 Arithmetic Image Transform Scenarios The next scenario illustrates the usefulness of arithmetic functions in image exploitation and processing These functions include boolean operators such as union or intersection and exclusive or Complement and thresholding clipping to a binary value within specified limits 2 D fast fourier transforms pixel data conversions truncate round convert to float change pixel integer bit size linear transform the image in the form ax b add two images subtract two images or linear combine two images The rules for Arithmetic operations are e The dimensions of the smallest image dimensions x and y direction will also be the size of the resultant image view operation in the event that the images are of different sizes e The lower left corner of the image defines the first pixel of each image It is easy to see how logical functions can be used to process images and extract infor mation Several scenarios illustrate the power of arithmetic operations in terms of image operators In order to demonstrate the Boolean capabilities of the RCDE system a refer ence image needs to be generated Includ
41. by the user While the second method requires more user interaction it is more robust and should yield better results in cases where the approximate camera position is known The initial manual camera positioning process is more of an art than a science there is no standard procedure to follow Since the resectioning routines are based on mathemat ical methods that can fail if the solution is in too distant a configuration from the initial parameter set it is important in some cases for the user to set a model that is roughly accurate When adjusting a camera s position it is important to remember that any modeled objects in the site are fixed relative to the site coordinate system while the camera is being moved about the site The goal of resection manual or automatic is to move the camera into the position from which the image was taken so that the modeled objects correctly overlay their locations in the image To understand the motions of the camera the user must understand the functions of the components of the system camera model shown in Figure 13 2 The camera has its own coordinate system with the u axis in the horizontal direction and the v axis in the vertical direction as the user looks at the pane The w axis of the camera is perpendicular to the image plane and points out of the image toward the user The origin of the camera coordinate system lies on the principal ray at a distance r as explained in the above section on
42. camera models The principal point defines the direction of the optical axis or where the camera is pointing relative to the site more rigorously it is the intersection of the image plane and the principal ray the optical axis Since the principal point can be anywhere on the image plane it does not necessarily have to be visible in the image the user may move the principal point beyond the visible part of the image plane with the Princ Pt menu button on the camera menu The principal ray is always perpendicular to the image plane however so that moving the principal point also moves the camera location because the image plane is kept constant The stare point is by default the location of the intersection of the principal ray with the DTM or the z 0 plane in the site coordinate system if no DTM is registered Graphically it is identical to an axis object which shows the directions of the site coordinate axes The The Camera Model 107 focal point image plane principal ray stare point Figure 13 2 The pinhole camera model when the stare point and the principal point are separated The focal length f is the distance from the image plane to the focal point The origin of the camera coordinate system O lies on the principal ray at a distance r from the focal point The principal point P lies at the intersection of the principal ray and the image plane The axes u and v are drawn on the image plane to show that the u
43. consists of a single function call to a function specialized to work on USGS DEM images If the DEM transform is pointed to by a variable or c_handle named dem transform then the following function call creates an RCDE terrain model setq terrain model cme make usgs terrain model dem image dem transform USGS DEM CS lt Non Linear Mapped Regular Grid Terrain Model X37390DE gt gt The string argument is a textual name given to the DEM coordinate system Step 4 linking the resulting terrain model into a world is accomplished for any terrain model object not just USGS derived ones by setting the terrain model property of the chosen world If the world is named alv 3d world then the following function call adds the terrain model to the world setf get prop alv 3d world terrain model terrain model lt Non Linear Mapped Regular Grid Terrain Model X37390DE gt gt The terrain model should now be completely integrated into the world The elevation of points visible in registered should be available by clicking with the left mouse button buildings may be moved on the DTM and so on 14 2 Preparing a DTM Image With terrain data in a file format unknown to RCDE the user must supply certain informa tion that RCDE automatically extracts from known file formats such as the actual distance between data points the units of distance used and so on Even with this information the elevation data must be read into RCDE
44. create_and_change_image Follow the instructions in the RCDE Documentation Line to finish the example This example will ask you to select an RCDE pane twice If your Menu Bar is covered you will not see the prompts just select a pane twice to see the resulting images Expose the menu bar then repeat the Lisp call 6 To repeat the cycle edit your code in an editor recompile it with the Compile button and run it again from Lisp The editing can be done based upon the suggested changes to the code made above Try other variations of your own invention 17 3 3 Loose Example Once the Tight Example is running smoothly try compiling and executing the same program in Debugging mode 1 Reconfigure the Parameters menu 158 RCDE User s Manual a Set the Execution Mode to Debugging b Set the Load User Object Code button to Yes c Set the Run Executable button to No Compile again using the Compile button on the Control Panel In this case four files are generated c stubs c lisp stubs c c phantoms c and lisp phantoms c These are then compiled and the two lisp c files are loaded into Lisp The two c c files are linked into the executable created from the user s own code plus some other static LCI files In an independent shell run the executable produced by the compilation the default name is debug main as defined on the Parameters menu This can be done under any debugger A message should tell
45. data structures as illustrated in Figure 4 1 Since Lisp is engaged while in the Inspector subsequent attempts to use other RCDE menu selections without exiting the Inspector will queue up menu selections Therefore the user is cautioned to type q followed by a carriage return to exit the Lisp inspector and return control to the Lisp top level Menu Bar Select the Inspect Stack function from the Stacks menu Following the Documentation Line prompt select the pane containing the desired image All views on the stack will be described in the Lisp Interaction window To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Bucky Keys Holding down the Hyper Super and Meta Bucky keys select the pane containing the desired image with the left mouse button H S M C gt R All views on the stack will be described in the Lisp Interaction window To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Stack Manipulation 29 Io CLASS lt Standard Class IC BLOCKED ARRAY MAPPED IMAGE gt Slots 1 PROPERTY LIST 3D WORLD lt Alv 3d World 3D WORLD X416CB66 gt IMAGE TO 2D TRANSFORM lt 4X4 COORDINATE TRANSFORM NIL to NIL X416FDFE gt SUN VECTOR 0 6082805 0 1486257 0 7796828 PATHNAME P home lippy toolset RCDE alpha2 alv alv 2 44 win gO NAME Alv 2 44 win 2 IC INTERNAL PROPERTY LIST XIMAGE 33083248 INFERIORS NIL TIME TAG
46. decoding of the value of sv_return_type is given in the file CMEHOME Ici sv_return h Both variables are automatically linked with user s C C files and should be declared as extern variables Each vector transfer rewrites the value of these variables The type of the returned data is not statically de clared since any function may return vectors with different element types Therefore C must cast the result appropriately for proper indexing using sv_return_type to obtain the array type Simple vector type is only valid as a return type in C callables 17 5 5 1 Conventions Used in Creating Target Headers for RCDE Functions C callable Lisp functions can be created in two different ways with an existing Lisp function and without an existing Lisp function When there is an existing Lisp function it is referred to as the Target function After the menu sequence Functions C Callable Lisp Functions there is a choice to either Create a DFCS without a Lisp Function or Create Target Header DFCS with a Lisp Function Opting to Create a DFCS will produce a empty DFCS form The user is expected to yank the form into a buffer and edit it to contain a desired sequence of Lisp expressions Opting to Create Target Header requires the specification of the name of an existing Lisp function along with its package prefix into the menu The menu that follows reveals a C name for the function being called It also shows a list of all of the arguments
47. default the menu line in which the Emacs cursor resides Partial item names are a handy way to find other menu items in a long list because a lt space gt bar will cause a list of completions to appear in a pop up buffer It will disappear when a specific choice is typed in 186 RCDE User s Manual p previous Select the previous node to a given node In the RCDE the previous node is a node at the same hierarchical level as the current node having the same parent n next Select the next node to a given node In the RCDE the next node is a node at the same hierarchical level as the current node having the same parent u up Select the up node to a given node In the RCDE the up node is always the parent of the node in the sectioning hierarchy f follow Follow a cross reference If a cross reference is present in the document it will show up as a See such and such item within the document It can be selected in the same way as a menu item 1 last Return to the node being visited just prior to the current node A reliable way to retrace your hypertext travel path lt space gt page down Scroll down slightly less than a screenful of text Note lt space gt is context sensitive As an Emacs command in a mini buffer it usually means try to complete this partial string lt delete gt page up Scroll up slightly less than a screenful of text h help Bring up the Info tutorial What Give list of
48. documentation strings and true argument lists The Lisp function apropos is another means of gathering information about the system If you know part of the name of a Lisp symbol apropos will give a list of matching names For instance the call apropos house cme gives a list of all symbols in package cme containing the string house in their names A similar function is available to Lisp users through the lisp complete command lt meta TAB gt which will complete typing a partially typed symbol name 188 RCDE User s Manual Appendix A Bucky Menu Functionality Each RCDE object is manipulated by a number of commands that are accessed from the Bucky keys or Bucky menus Because the requirements of objects vary each kind of object will have a different set of available commands This is a result of the object oriented nature of the RCDE each object inherits characteristics from its ancestors The following tables summarize the Bucky menu commands available on each of the RCDE objects Refer to the Programmer s Reference Manual for details on programming with these functions Note that each table ends with a double horizontal line which helps the reader distinguish where multiple page tables end 189 190 RCDE Table A 1 Bucky Menu Functionality for Class 3d Curve Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from HS Close Object Close Object to Mouse Sensit
49. function Take the image view in the lower left pane and select the intersection of it with the test pattern image in the upper right hand corner pane Place the result in the lower right pane The resultant image should look similar to the original image in the lower left pane except for the 50 x 50 pixel section which will appear as a black square The black square represents an all zero pattern Select the Union function Take the image view in the lower left pane and select the Union of it with the test pattern image in the upper right hand corner pane Place the result in the lower right pane The resultant image should appear as an all white square except for the 50 x 50 pixel section on which will appear as the 50 x 50 pixel intensities of the original image Select the Complement function using the view in the lower left pane as the source image Place the result in the lower right pane The resulting image should look like a photographic negative of the original image The following scenario will demonstrate how to add two images and subtract two images This scenario is useful when processing multiple images e g multispectral imagery 1 Reload the ALV site model as described previously 50 RCDE User s Manual 2 Select the Add function on the Arith menu 3 Add the upper right view to the lower left view and place the result in lower right pane Follow the documentation line prompts if you are not sure of how
50. functions a reader and a writer that are callable from C They both operate on the specified variable These functions are named the same as the corresponding Lisp global variable with the asterisks removed hyphens changed to underscores and a get and set prefix With these functions the C C user can access and change the Lisp globals Lisp globals usually establish the default behavior of the environment These functions are created when the Create C Callable Accessors is selected Lisp C C Interface 169 17 4 5 Project Files Menu The Project Files menu manages the loading storing and deleting of project files Projects are a convenient means of storing LCI parameters such as all the items on the Parameters menu and all lists of source files and libraries The Projects menu contains the following options Load Project loads the project file named by the Project File item at the top of the menu This file must have been created earlier using the Save Project option All LCI parameters are set to their values stored in the project file and any existing Lisp callable and C callable forms are deleted Source files are not loaded into the Lisp process however Save Project creates and saves the current state of the LCI in the project file named by the Project File item at the top of the menu Current values of all LCI parameters and lists of source files and libraries are saved Delete Project removes any
51. have previously selected the source pane when you use the Bucky keys That is Bucky operations often assume a default source and or destination pane Following the prompt left mouse click in the upper right corner then move the cursor to the lower left corner and left mouse click again The view will again be moved to the lower left corner pane You can pop the stack which removes the view from the pane The view is not perma nently removed however and can be recovered with the Unkill Top function 1 Select the Pop Stack function from the Stacks menu then select the view in the lower left pane The view will be removed from the stack You can view the stack via the Fwd Cycle Rev Cycle or Inspect Stack commands to ensure that you have indeed removed the view To get the view back select the Unkill Top function from the Stacks menu then select the pane to restore You can perform more drastic kill operations but please read the next chapter before you Pop Expunge or Kill Stack Chapter 4 Stack Manipulation The Stacks menu provides a list of functions directed toward pane and pane display man agement Each pane contains a storage mechanism called a stack which is a list of views Conventional stack operations such as push pop and copy are can be performed with respect to the views on the stack Name Image Associate a name with the selected image Menu Bar Select the Name Image function from the Stacks me
52. image which is in IU Testbed image format enter the following expression into the Lisp Lisp command line 120 RCDE User s Manual setq alv dtm load image CMEHOME alv alv dtm gO This will create a variable alv dtm which points to the image structure automatically created and filled by load image For easier identification the image can be given the literal name Alv Dtm with the Lisp statement setf image prop alv dtm name Alv Dtm It should be emphasized that once the image is loaded in floating point format the original format of the image file is no longer significant This allows any floating point image to be used as a terrain map regardless of how the data is stored on disk 14 3 The DTM Transform With the terrain data loaded into an RCDE image the user must define the spatial rela tionship between the terrain and the site This transformation from the DTM coordinate system to the site coordinate system can be established using a priori knowledge or may be estimated if no absolute is available In either case the transform may be updated at any later time as the site develops however objects placed according to the DTM s previous position will not be automatically adjusted so that they remain on the DTM Thus it is strongly recommended that the DTM transform be fixed early in the model construction process The spatial relationship between the DTM and the site coordinate system is encapsulated in
53. image coordinates the pixel value selected the pixel location in 2 D u v coordinates and the 3 D coordinates of a point on the terrain if one exists On the bottom of the Menu Bar is a row of pulldown menu buttons which can be selected depending on the window manager being used Selecting a menu item can result in three actions 1 the function will be immediately executed 2 a popup menu will appear that requires the user to supply some auxiliary information or 3 another submenu will appear that requires the user to select an option In Figure 2 7 the Create Object menu has been pinned and the Geom menu is in the process of being pulled down The RCDE menu options will be described later in the context of views transforms and objects 2 2 4 Object Sensitivity Each object instance has its own mouse sensitivity method which defines how that object responds to the presence of the mouse Usually an object sensitivity method computes the 14 RCDE User s Manual RADIUS Common Development Environment RCDE Release 1 0 Jun 13 1993 Patch level 0 gt LCI gt ABORT RCDE User s Manual Alv Dtm Alv 2 44 win 3d Conposite 3d Text 3d Crosshair 43d Point Open 3d Curve 3d Network 3d Ruler 3d Ribbon Box House Extrusion Cylinder Quanset Superellipse Superquadric DTH Mesh Alv 0blique Tower Alv 0blique Q Site Model Figure 2 7 The RCDE User Interface Closed 3d Curve Closed
54. mouse button again 6 You can move two edges of the window at the same time by placing the cursor near a corner so that two of the edges turn green 7 Note that as you touch and resize the object in one pane it turns green and is resized in the other pane indicating that we have two views of the same window Because the window is proportional to the image no matter what resolution you can use this technique to locate expanded portions of a large image 8 You can delete this Window object at any time by placing the cursor on the window edge until it turns green holding the Hyper key and pressing the middle mouse button Note that the Documentation line reveals that this function is Delete You can also use the Windowing Tool to cut out a portion of an image 1 Use the Bucky keys this time to create a new Window Tool hold down the Hyper Bucky key and click with the left mouse button in the lower right pane Click with the left mouse button to place the window then adjust the size of the tool as before 2 Place the cursor on the window box edge until the edge turns green then press the right mouse button The window will crop the image to the dimensions of the outlined in the box Another scenario allows the user to scroll and view several images at different resolution levels First load an image into the upper left pane using the procedures listed below 1 Select the Load Image function from the I O menu A popup menu shoul
55. not allow C C code containing a main function to be loaded When C callables and Lisp callables are created with the menu interface the output Lisp form is printed in the Lisp buffer If the RCDE is being run through Emacs these textual Callable forms may be saved in a file by pasting the text into another Emacs buffer using standard Emacs editing commands The file s of Callable forms should then be specified as Lisp source files and loaded into the RCDE instead of recreating the Callable forms i e Step 3 becomes the loading of a Lisp source file LCl Control Panel Load Lisp Files In any case Callable forms must be defined before compilation by creating them or loading them from file The next step involves specifying the LCI parameters controlling compilation and execu tion With the LCI Parameters menu the user determines the execution mode Debugging or Performance and compilation options These parameters may be set or changed at any time For details see the LCI Parameters section below With the source files specified Callable forms defined and parameter values set the user is prepared for compilation LCI Control Panel Compile In Performance mode only user C C files are compiled and the resulting object files are automatically loaded into Lisp In Debugging mode the LCI optionally generates and compiles four C files from the defined Callable forms compiles user C C code and links them with other static objec
56. of GNU Emacs To enter the on line index use the key sequence C h i control h i The control h is the standard Emacs key for accessing any help facility and the i gets one the Info facility within Emacs To exit the on line type q This will restore your original Emacs Buffer Alternatively enter meta x help for help then enter i to get the Info facility If you have not previously accessed the Info facility in your current editor invocation perform this command to create an Emacs buffer that looks like Figure 18 1 Note Some of the table has been left out to fit on the figure If what you see now does not include the last line of Figure 18 1 type g dir to get the appropriate menu If this does not work see your systems administrator to review the installation of the GNU Emacs Info system and the RCDE installation What you 181 182 RCDE User s Manual File dir Node Top This is the top of the INFO tree This the Directory node gives a menu of major topics Typing d returns here q exits lists all INFO commands h gives a primer for first timers mTexinfo lt Return gt visits Texinfo topic etc Clicking middle on a highlighted word follows that crossreference Clicking right anywhere brings up a menu of commands and references to follow PLEASE ADD DOCUMENTATION TO THIS TREE See INFO topic first Menu The list of major topics begins on the next line Info info Docu
57. of shared structure passed between languages two copies of the data exist one in Lisp and one in C C When the content of the shared structure is changed in the native language no corresponding change takes place in the other language It is necessary to return the updated copy of the content to the original language to maintain consistency It is the user s responsibility to maintain this consistency Loose Communication Layer Phantoms and Stubs When the user switches from Performance mode to Debugging mode direct calls to functions across the language barrier must be redirected through the interprocess communication layer set up by the LCI as illustrated in Figures 17 3 and 17 4 The following sections explain the new terms in the figures in more detail The notation is the same as that of Figure 17 2 where the arrows are function calls and the ovals are the returns of the calls In Debugging Mode any C C function loaded into the Lisp process is no longer executed when its Lisp Callable function is called although its definition is not deleted Instead each C C function call is routed to a stub function that transfers the function call and parameter data through the IPC to the C C process Similarly calls to Lisp functions from C C are routed to phantom functions resident in the C C process to manage data transfer and program control flow to and from the Lisp process Together the phantoms and stubs provide the Loosely Coupled
58. or Table of Contents which is a menu allowing one to directly access any node of the Info hierarchy since it con On line Documentation 185 Legend Menu up m Top Node Next previous Table of Contents Indices Menu Chapter IN ZY A Subsection Nodes RCDE 042c Figure 18 4 Documentation Node Relationships tains all the nodes Figure 18 4 shows these relationships graphically The figure illustrates another set of key nodes indices corresponding to menus allowing direct access to the node containing the selected index entry Other document nodes are arranged into a hierarchy which reflects the sectioning of the Info hierarchy A menu is provided to access the sub ordinates of any node that has subordinates and previous next and up nodes are provided to access the previous and next nodes at the same level and the parent node respectively If the document has Parts the part nodes will be at the level above the chapter level in the hierarchy Experiment using the menus to get to deeper nodes of the Info hierarchy u the Up command to return to higher nodes and p and n to get to the previous and next node respectively at the same level 18 4 Synopsis of Info Commands The RCDE key Info commands are m menu Select the menu item indicated The indication can be chosen by typing in the menu item name or enough to disambiguate it from others or by taking as
59. own object centered coordinate system and a 4X4 TRANSFORM that maps object coordinates into a set of 3 D world coordinates The 3 D world coordi nates are stored by a 3D WORLD object as a local vertical coordinate system LACH whose origin is defined relative to a given site A 3 D world has additional transformations to convert the LVCS to a universally recognized World Coordinate system such as Universal Transverse Mercator UTM Latitude Longitude Elevation or geocentric coordinates The view is associated with a sensor camera model that maps 3 D world coordinates to 2 D world coordinates The camera model is labeled 3 D 2 D Projection in the figure Chapter 13 presents more details of the camera model Views are also composed of images and 2 D feature sets which contain 2 D objects Both have transformations to transform local object or image coordinates to 2 D world coordinates in common with the output of the camera model The 2 D world coordinates are then mapped into window pane coordinates by another 2 D transformation 2 D Transform in the figure This transformation is necessary for 10 RCDE User s Manual Image Image Operations C Only Load View 1 Transform Image Image and Add amp Adjust Operations Objects Model Objects Load and Align DTM Image DTM Registered Add amp Adjust Operations to Image Model Objects Align Camera by Resection Image Fully Registered e Add amp
60. ray Figure 13 1 The pinhole camera model The focal length f is the distance from the image plane to the focal point The origin of the camera coordinate system O lies on the principal ray at a distance r from the focal point the axes u and v are drawn on the image plane to show that the u v plane is parallel to the image plane The w axis is perpendicular to the image plane and the principal point P lies at the intersection of the principal ray and the image plane The Camera Model 103 As f these equations still present a singularity unless the ratio r f is known to be constant If that is assumed then at f oo or the case of orthographic projection the equations are 1 f un g gt 0 F r _ 1 __ f a Yy which is equivalent to the orthographic equations above when u f r and f r is constant Note that 1 r f is the scale factor between coordinate frames this is particularly useful when using orthographic projection to represent a simple transform from one 3 D system to another no actual projection is performed In this case the w coordinate is computed in a symmetric manner f w z r For perspective projection the parameter r also behaves as a scaling parameter but in a different way Since the w coordinates of points visible in a view are defined to be negative positive values of r will decrease the scaling in effect the larger the value of r the smaller the object will be in the p
61. receive floating point values Next the scaling factor for the elevation data is calculated Each elevation value must be multiplied by this factor before it is entered into the elevation image DTED files being delineated by latitude and longitude lines do not actually cover square regions on the Earth s surface as their symmetric structure would indicate However approximating the DTED area as a square does not introduce large error if the latitude is relatively near the equator Assuming this the 3 second spacing between data points on the same latitude corresponds to about 100 meters on the Earth s surface As the latitude approaches the poles this distance decreases to zero The 3 second spacing between points of the same Terrain Data Integration 119 longitude is also approximately 100 meters but this distance remains constant for DTED at any latitude For the DTED file then the z values must be expressed in terms of units of 100 meters the spacing in the x y plane Programmatically this corresponds to dividing each elevation in the DTED file by 100 before it is entered in the RCDE DTM image Though the programming details are not given here in pseudo code the central routine to transfer the points from DTED format into the RCDE image looks something like this For each column e of DTED points For each row r inc value dted c r 100 iset value dtm image c r The function dted r c returns the value of the elev
62. selected stack Menu Bar Select the Copy Stack function from the Stacks menu Following the Documentation Line prompt select the source and destination panes The en tire source pane stack will be cleared of views which will be pushed onto the destination pane stack Kill Stack Remove all views from the selected stack The removed views are stored in an invisible temporary storage stack and can be restored see Unkill Stack Menu Bar Select the Kill Stack function from the Stacks menu Following the Docu mentation Line prompt select the desired pane The entire stack will be cleared of views The killed stack views will be pushed together onto the temporary storage stack so that they can be restored in their entirety using Unkill Stack Unkill Stack Restore the most recently killed stack of views to the selected pane Menu Bar Select the Unkill Stack function from the Stacks menu Following the Documentation Line prompt select the destination pane The most recently killed stack will be restored to the selected pane Multiple Unkill Stack operations will restore previously killed stacks Unkill Stack 34 RCDE User s Manual Chapter 5 Geometric Image Transform Scenario The user may be interested in multiple areas of multiple images which can be accessed by zooming and scrolling The Zoom commands In and Out use an interpolated zoom algo rithm while Fast Zoom uses pixel replication instead of interpolation Re
63. that the camera origin s location on the w axis is determined by the parameter r The RCDE requires that the transformation matrix contained in the transform matrix slot of the class 4X4 COORDINATE PROJECTION has a rotational component consisting of unit vectors If there is a change in scale between two coordinate systems in addition to the change prescribed by the transformation matrix then each coordinate of points being transformed from one coordinate system to the other must also be multiplied by the scale factor If the coordinate transform is defined by an orthographic 4x4 COORDINATE PROJECTION then the scale factor is simply r f If a coordinate transform is not defined by a 4x4 COORDINATE PROJECTION then the scale factor must be included directly in the matrix representation For example the class BASIC 4X4 TRANSFORM does not have a specific slot for a scale parameter it assumes that the scaling is incorporated into the matrix Mathematically this is accomplished by mul tiplying each element of the 3 x 3 rotation matrix embedded in the upper left portion of the transform matrix by the scale factor Points transformed by multiplying them with this matrix will be rotated scaled and translated in one matrix operation saving a significant amount of floating point computation 13 3 Camera Refinement A critical step in constructing the site model is building an accurate camera model for each image of the scene If the position orienta
64. the instructions in the RCDE Installation Guide one of the menu items should read RCDE rede info To get to the menu of The RCDE documentation type m RCDE The m is the command for accessing a menu item and the RCDE accesses the menu item giving the directory of RCDE documentation The same thing could have been accomplished by pointing to the RCDE menu item with the mouse and clicking then typing m lt return gt When you have selected the RCDE menu you should see the menu of Figure 18 2 To get to this text in the RCDE User s Manual point to the User s Manual entry on the RCDE menu with the mouse click left then type m lt return gt This gets you to a menu for the index and table of contents of the RCDE User s Manual Select the table of contents menu item and type m lt return gt String search for GNU Emacs The index will then reveal the page number Search for that page in the xdvi previewer containing this manual Note The Version 1 0 release does not have the complete text of the documents available on line Tables of Contents and Indices are available for the Version 1 0 release We suggest that you use this facility to assist you in finding where to look for information and use a viewer such as xdvi which is distributed with LaTeX To view a document using xdvi type 184 RCDE User s Manual FSF Documentation Installation Programmer RCD
65. the C version of the RCDE function The use of the lisp suffix is recommended Data Exchange 133 in package cme append cme object feature sets list MAKE INSTANCE gt 3D FEATURE SET 3 Feature Set a collection of related Objects There are currently 3 types 33 3D FEATURE SET 33 2D FEATURE SET 33 WINDOW FEATURE SET WORLD GET 3D WORLD NAMED Alv 3d World INFERIORS LIST MAKE INSTANCE HOUSE_OBJECT 3 see related tables MAKE INSTANCE HALF CYLINDER see related tables MAKE INSTANCE SUPERQUADRIC 3 see related tables MAKE INSTANCE RIBBON CURVE 3 see related tables PROPERTY LIST LIST DRAWING COMPLEXITY NIL Figure 16 1 Generic FASD Example load _file filename lisp If a developer has many such files to load it is recommended that a command script be created containing the names of the files This command can then be executed within the Lisp environment to load selected FASD files 16 1 3 FASD File Format The following sections detail the contents of a FASD file and how to re instantiate its contents within the RCDE The file format of each object is a Lisp form that begins with the symbol make instance This is the CLOS command for creation of class instances Figure 16 1 shows the form for making multiple instances the actual object code has been elided for clarity The make instance form creates class instances Tables 16 1 through 16 4 illustr
66. the rotation from some coordinate system A to a second coordinate system B in the context of photogrammetry A is the world coordinate system and B is the camera coordinate system as a sequential set of three rotations Beginning with the B coordinate system aligned with the A coordinate system the B system is first rotated by w about the A x axis then rotated by about the resulting y axis and lastly rotated by about the resulting z axis The final matrix rotates points expressed in B coordinates into points expressed in A coordinates when the matrix is premultiplied to the point Mathematically this matrix HR Ae can be computed as cos coskK coswsink sinwsin coskK sinw sink coswsin cos K cos sink coswcosk sinwsingsink sinwcosK coswsingsink sin d sin w cos d cos w cos There are a number of top level functions available to the user for the creation and adjustment of transformation matrices see the services relating to transformations in the Programmers Reference Manual In particular the function make orientation matrix creates a 4 x 4 matrix with its rotational component set according to the input values of w and K The Camera Model 101 13 2 The Pinhole Camera The RCDE contains a flexible implementation of a pinhole camera model that allows both perspective and orthographic projection to be represented by the same equations With traditional pinhole camera models the equations for perspective projection
67. the selected vertex Az Elev Rotate the object in two dimensions left right mouse motions rotate the object about the site Z axis and up down motions rotate the object about the object s X axis If specialized to STARE POINT objects mouse motions rotate the scene about the STARE POINT keeping that point centered in the view Close Object Desensitize the selected object from mouse sensitivity and open its superior for operations for a simple object enter Feature Set selection Drop W Move the object to the DTM along a ray from the camera s focal point through the selected point The base of the object is placed on the DTM Drop Z Move the object along a ray from the camera s W axis toward or away from the user in the given view This is valid for 3 D objects and cameras Move UV on DTM Move the object in the image UV plane while keeping the object on the Digital Terrain Model DTM Move UV Z Move the selected point on the object in the image UV plane while keeping the object s Z value in site coordinates constant This is valid for 3 D objects and cameras Move W Move the object to the DTM along a ray from the camera s focal point through the selected point The base of the object is placed on the DTM 92 RCDE User s Manual Move Z Move the object in the site coordinate Z direction keeping the selected point fixed in site coordinate X and Y This is valid for 3 D objects and
68. this example without the third keyword pair for duplication of the image Finally notice the second C function in this file pause_and_select_pane Above it is an extern declaration of a shared structure That shared structure is returned by the C Callable RCDE function pick_a_pane_and_x_y That function returns a pointer to a shared structure containing a single handle to the pane chosen by mouse click and two integers at the mouse location at the time of click and a third integer hence the name c_handle_ _int_3 Notice that the handle component of the shared structure is called h and is obtained using conventional C syntax This example should be run with the variations suggested in both Performance and Debugging mode Preparation The following preparatory steps are independent of the interface mode 1 Write the desired C C and Lisp code keeping it in one working directory The RCDE Programmer s Reference Manual defines the functions that interface to the RCDE This chapter uses example code from the directory CMEHOME Ici examples You may substitute your own code in place of the examples 2 To use RCDE defined types such as handles user C and C code must contain the declaration include rcde_types h Any files containing this include statement should be compiled with the following option I CMEHOME 1ci 3 If you are using a Makefile you must add a few lines to it to compile the interface generated code and to li
69. with the generated object files and the LCI object files listed above to produce the executable named by the Executable parameter Makefile A string editor for specifying a Makefile filename If no makefile name is specified make is executed with the default file Makefile when Run Makefile is set C Compile Command A string editor for specifying the command to be used for C com pilation e g cc gcc Note that only ce is currently supported by the interface C Compile Options A string editor for specifying the command line options to be used for C compilation e g Jm ISCMEHOME Ici The options are copied directly onto the compilation command line The lm option is required for linking the LCI object files C Compile Command A string editor for specifying the command to be used for C compilation e g CC Note that only AT amp T C Version 2 1 is currently supported by the interface C Compile Options A string editor for specifying the command line options to be used for C compilation e g lm ISCMEHOME Ici The options are copied directly onto the compilation command line The lm option is required for linking the LCI object files Lisp C C Interface 165 Working Directory A string editor for specifying the default directory where the interface reads the user files and writes the generated interface files and compiled object files All user source files are expected to be in this directo
70. 0 200200 0020020000008 134 16 2 Transferring Objects To and From C C Systems 134 16 2 1 Restoring Objects from C C Files or Programs 135 17 Lisp C C Interface 141 17 1 LCI Overview 2 0 e 141 17 1 1 Executing C and C within Lisp Performance Mode 144 17 1 2 Executing C and C Outside Lisp Debugging Mode 144 17 1 3 Switching Between Mode 145 17 1 4 Programming C and C inthe RCDE 00 145 17 2 Operations Concept 2 2 0 0 151 17 2 1 Projects 2 e 153 17 2 2 Executing without Compiling 000 154 17 3 LCI Scenarios aaa 154 17 3 1 Preparation and Examplel 0 154 17 3 2 Tightly Coupled Kamp 156 17 3 8 Loose Example e 157 17 3 4 Example 2 Image I O Shared Image Array Structures and Image Modification oaa 159 17 3 5 Example 3 Object Creation and Manipulation in C 160 17 4 The Menu Interface 162 17 4 1 Control Panel 162 17 4 2 Parameters Men 163 17 4 3 Files Menn 165 17 4 4 Functions Menu 2 2 e 165 17 4 5 Project Files Men 169 17 5 C C Programming Details 169 17 5 1 Parameter Passing 169 17 5 2 LCI Compilation and Linking o oaa 171 17 5 3 Notational Convention 173 17 5 4 Calling C C from Lisp ooa 173 17 5 5 Calling Lisp from CZ 174 17 5 6 C Proxy Classes e 176 17 5 7 C C Programming Hints and Suggestions 177 18 On line Documentation 181 18 1 RCDE s Online Documentation System 181 18
71. 2 The frame contains four panes that each display a different view of a common site model It also shows that multiple overlapping windows are available Menu Bar and Message Area The RCDE Menu Bar appears by default at the top of the screen Just above the main menu buttons are two critical documentation areas The top line usually referred to as the Documentation Line performs the following functions e Object Name and Mouse Commands If the mouse is within the sensitivity radius of a sensitive object the name of that object and the current choices for the left middle and right mouse buttons are described in the Documentation Line e Image Pane Mouse Button Commands If the mouse is not in an object con text the choices for the left middle and right mouse buttons are described in the Documentation Line e Menu Item Description When the Main Menu or any other pop up menu is on the screen the Documentation Line displays a one line description of the menu choice that is under the mouse e User Prompt Most main menu selections prompt the user for more information such as which image or object to use for the operation and which pane to use for the result The Documentation Line is used to display the prompt messages The second text line in the Menu bar displays important information about an object or pane whenever a selection occurs The information depends on the context but generally includes the the pixel location in
72. 2 The GNU Emacs Info facts 181 18 3 Organization of RCDE Nodes 2 2 2 a 184 18 4 Synopsis of Info Commande 185 18 5 Other Means of Obtaining Online Information 186 A Bucky Menu Functionality 189 B Glossary 217 List of Figures 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 4 1 11 1 11 2 13 1 13 2 13 3 13 4 17 1 17 2 17 3 17 4 18 1 18 2 18 3 An Overview of the RCDE System aoaaa aaa a 6 The CME System Developed at SRI 2 0 0020020020000 7 The RCDE Architecture 2 a 8 The RCDE Subsystems 9 Example RCDE Functional Flow aaa aaa 10 RCDE Data Representations 11 The RCDE User Interface 14 The Lisp Interaction Window 16 A Top Level View of the Lisp C Interface Design 18 An Example of the Lisp Inspector aaa aaa a 29 A Simple 3 D World 2 0 200200 0000000 a 75 RCDE Data Representations 76 A Simple Scene of Model Objects o aaa aaa a 85 The Pinhole Camera Model aaa aaa a 102 The Pinhole Camera with Separated Principal and Stare Points 107 Pinhole Camera Model with Principal Point Move 109 The Steps in Executing Automatic Camera Resection ooo 111 Generic FASD Example aoaaa aaa Fee 133 System Level View of Lisp C C Interface Architecture 143 System level view of Performance Tight Coupling Mode 147 System level view of Debugging Mode Loose Coupling in the Lisp Process 148 System Level View of Debugging Mode Loose Coup
73. 2d Curve 2d Conposite 2d Text 2d Crosshair 2d Point Open 2d Curve 2d Network 2d Ruler 2d Ribbon Inage Window Window Text North Arrow View Tool Color Map Tool Canera Axis Corner Sun Ray Star Conj Pt 2d Conj Pt RCDE Overview 15 distance from the mouse cursor to visible parts of the wire frame depiction of the object in the window When the mouse is positioned within the sensitivity radius of a sensitive object the object is highlighted on the view and the documentation line is updated to indicate the name of the object and the operations accessible via the left middle and right mouse buttons for the current state of the RCDE Control Meta Super and Hyper keys sometimes referred to as the Bucky keys When the mouse is within the sensitivity radius of more than one object the nearest object is chosen When no object is selected the pane Bucky menu is active The sensitivity of entire feature sets of objects may be turned on and off using the View menu Feature Set commands The mouse sensitivity of individual objects cannot be controlled from the user interface directly but can be changed through Lisp 2 2 4 1 Bucky Keys and Menus Certain key functions are supported by a second menu system called the Bucky menus On a pane this Bucky menu can be invoked by depressing the right mouse button A Bucky menu will appear allowing the user to simply left mouse click on the functions that
74. 3 Generation of argument count checking code is enabled safety 1 Optimization of tail calls is enabled speed 3 Pane is selected selecting a visible pane lt Object View Image Pane X2660C26 gt an an An we we we DI we we we Tvs we ve Ae Ae An Bove te ve wv Ae Ae Loading source file home zippy users cmee prehost_10jan92 alv alv fss tst lt Alv 2 44 win BLOCKED MAPPED IMAGE 252 x 245 UNSIGNED BYTE 8 X2676C3E gt Vv FEmacs cmex CILISP run All Figure 2 8 The Lisp Interaction Window RCDE Overview 17 The Lisp Interaction window provides a means of controlling the RCDE via Lisp com mand functions The Lisp interactive window also provides a means of presenting the user with text output as part of the RCDE feedback when the user invokes RCDE operations via the user interface or as part of a Lisp form When the RCDE is invoked a separate Emacs buffer is created that interfaces to the Lucid interpreter Any runtime error that is detected is passed along to the user in the form of an abort alert The user may then choose to inspect the stream of Lisp commands in order to determine the source of the error This interface with the Lucid debugger allows the user to quickly prototype new algorithms and reload code without tedious compilation 2 2 5 Development Environment The RCDE was prototyped as an object oriented system over a period of more than 15 years As a prototype
75. 3 2596374 0 50869196365 0 8608361500 0 01391433934 4820 974567 0 01178817971 0 0231242656 0 99966309682 6072 100011 0 0 0 0 0 0 1 0 1 WORLD GET 3D WORLD NAMED QUOTE Alv 3d World ROOF PITCH Roof angle in radians ALBEDO Ratio of Reflection to Incidence value between 0 and 1 X SIZE Length of side X measured in site units Y SIZE Length of side Y measured in site units Z SIZE Length of side Z measured in site units TAPER RATE Rate of object taper moving along the z axis Default is no taper De taper rate 0 OBJECT TO WORLD The rotation and position of an object coordinate system with respect TRANSFORM to a world coordinate system expressed in matrix form This matrix is used to transform the given object instances coordinate system to that of its attached world Name of the site model containing the object Data Exchange 137 Table 16 2 Half Cylinder FASD Example MAKE INSTANCE QUOTE HALF CYLINDER ORDER QUOTE 3 12 TESSELLATION MODE QUOTE LAT LONG X SIZE 35 212728995926014 Y SIZE 46 29628560002381 Z SIZE 17 606364497963007 TAPER RATE QUOTE NIL ALBEDO QUOTE 1 0 OB JECT TO WORLD TRANSFORM MAKE INSTANCE QUOTE 4X4 COORDINATE TRANSFORM TRANSFORM MATRIX MAKE COORD FRAME MATRIX 223 90225672421684 4729 97 1732020333 6068 8284088525015 Z ROT 0 5333900014026516 WORLD GET 3D WORLD NAMED QUOTE Alv 3d World X SIZE Length of side X measured in site units Y SIZE Leng
76. E Documentation RCDE 041a Figure 18 3 Top Level Nodes of RCDE Documentation xdvi lt filename gt substituting the filename of the document for lt filename gt The spacebar and del keys can be used to page through the document Once you are viewing a numbered page you can set the pagenumber by typing the number then P the set page number command Once this is done you can jump to any desired page by typing in the page number then g the goto page command This could be a page number obtained from one of our Info indices or tables of contents or it could be one of your choosing The Emacs list matching lines command executed by typing M x list matching lines is useful for getting a subset of an index or table of contents containing a search target 18 3 Organization of RCDE Nodes Figure 18 3 shows the GNU Info document hierarchy graphically and within the figure the first level of the RCDE document hierarchy is illustrated Each menu and index is referred to as a node in the hierarchy The directory node supplied by the FSF has been modified during the RCDE installation procedure to add a menu item pointing to the RCDE documentation This menu item selects the next lower level node a node which gives a menu of the RCDE indices in an Info menu Selection of one of these menu items will provide access to a particular RCDE index table of contents or menu Within an Info hierarchy the node at the top will be a menu
77. Function Function return C C Function Foreign C C Callable Function return RCDE 030a Figure 2 9 A Top Level View of the Lisp C Interface Design RCDE Overview 19 The RCDE system provides a library of interface modules and a means of generating the Lisp code to couple the C C module with Lisp The LCl menu option provides a menu interface to the development and debugging interface and is fully described in Chapter 17 This functionality is provided using the Lucid Foreign Function Interface which provides for the conversion of C C argument parameters into equivalent Lisp arguments and vice versa The LCI provides two modes of communication The first mode is a performance mode in which user application code is loaded into the same process as the RCDE process The code is linked to the RCDE and can be run in that process The second mode is a debugging mode in which the application code is loaded into a separate process from the RCDE process In this mode the user may run the application code in any chosen debugger Figure 2 9 illustrates the overall design of the LCI The figure illustrates both modes of operation which do not occur at the same time In Performance mode the shaded func tions are loaded into the Lisp address space and execute through the Lisp foreign function facilities In Debugging mode the user code executes in a separate process on the far right and an interprocess communications m
78. Functionality for Class Cylinder Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Object at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Open Superior to Object Change x y z sizes wa SS Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 202 Rotate Scale XY Scale RCDE User s Manual 203 Table A 8 Bucky Menu Functionality for Class Half Cylinder Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Object at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z
79. HACKING objects Overlays Remove overlays for an object Blue Change blue range of colormap Brt amp Cont Change brightness and contrast of view or pane Gain Change attenuation contrast of view or pane Gamma Change gamma of colormap Green Change green range of colormap Hue Change hue of colormap Intensity Change intensity of colormap Move Me Move a tool object around in the pane Offset Change offset brightness of view or pane Red Change red range of colormap 94 RCDE User s Manual e Reset Reset object to initial setting For colormap tools reset the colormap values For curve objects reset to one vertex e Saturation Change saturation of view or pane 12 3 7 Conjugate Point Methods e Move Conj UV Move the conjugate point UV position X The following addi tional methods are available for CONJUGATE POINT objects e Image UV Set the conjugate point UV position in the given view e Delete UV Delete the 2 D conjugate point constraint e Resection Improve Improve the resection conjugate point e Resection Menu Display the resection conjugate point menu 12 3 8 View Tool Methods The following additional methods are available for VIEW HACKING objects e Auto Stretch Perform automatic contrast stretch for the given view e Neg Contrast Perform automatic contrast stretch for the given view using a negative ramp e Reset G amp O
80. IPC communication layer Stub functions manage calls from Lisp to C C and phantom functions manage calls from C C to Lisp The communication layer needs to be generated and loaded before the user executes C C code in Debugging mode As long as the Callable function names and argument lists are not changed or Callable functions are not added or deleted the communication Lisp C C Interface 151 layer phantoms and stubs does not have be regenerated recompiled or reloaded But if the user changes the function names being used or the parameter lists of the functions or adds calls to new functions between the languages then the compilation process must also recreate the phantoms and stubs The phantoms and stubs are generated automatically and stored in the user s directory as C and object files The Loose Communication Layer communicates with the C C process through a socket created by an RCDE supplied main function in the file debug main c This socket port must be established by executing the C C process before Lisp tries to make a communication link with the C C process Once Lisp triggers the communication flow The main function acts as a server awaiting C C calls from Lisp client requests and executing them as they are received Calls to Lisp from C C code or callbacks are managed as they are encountered The LCI can handle any level of nesting of calls between Lisp and C C 17 2 Operations Concept T
81. Info commands g goto Go directly to the named node b beginning Go to the beginning of the current node q quit Exit from Info restoring previously viewed buffer in window currently used by Info Next entry into Info will be to the same current node 18 5 Other Means of Obtaining Online Information The Common Lisp environment has its own means of providing information about the system and user code One such means is through the association of document strings with the key components of the system These document strings can be viewed by calling the Lisp function documentation For instance to get the documentation string for the function image difference type documentation ic image difference function at the Lisp prompt Documentation types that are available are 1 Function On line Documentation 187 2 Macro 3 Variable and 4 Class If you are using GNU Emacs with Lisp to run your RCDE process the same thing can be done by typing ic gauss convolve image followed by lt control d gt either at the Lisp prompt or in a Lisp mode editing buffer Simi larly argument lists can be obtained using the arglist Lisp function or the Emacs command lisp arglist which is bound to lt control c a gt in the Lisp and Ilisp modes Much of the Programmers Reference Manual is automatically generated by functions which use calls to documentation and arglist to ensure that the printed manuals are consistent with the
82. Invoke the Bucky menu with a right mouse click on the image then select the X Slice function from the Bucky menu options After the Documen tation Line prompts to select a horizontal line to graph select any pixel in the desired image line When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the horizontal direction is then displayed in the destination pane Y Slice Plot pixel intensity as a function of position for a given vertical line in the image The Y Slice and Y Slice functions are also called line amplitude profiles Only the portion of the image visible in the pane will be graphed Menu Bar Select the Y Slice function from the Graph menu After the Documenta tion Line prompts to select a vertical line to graph select any pixel in the desired image line When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the vertical direction is then displayed in the destination pane Bucky Keys Depress the Super Bucky key and select any pixel in the desired image line within the desired image using the middle mouse button When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the vertical direction is then displayed in the destination pane Bucky Menu Invoke the Bucky menu with a right mous
83. Menu Functionality for Class Conjugate Point Object Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H TT Less Edit Composite Object Hierarchy Pine wo oS Create an Identical Copy of Object Drop Obj Stop Modifications to this Object re DOH i Oe ne on L SEBES Sun Z Adjust Object Height using Sun Model er Sterna Bear Drop W Place Object at Intersection of Ray e cet Az Elev Mouse X Rotates about World Z S MEN Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View EE E Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Image UV D S SS S e e a oi ol aaa a Qa Q AQA AA QA AQAA 216 Resection Improve Delete UV RCDE Appendix B Glossary ARPA Advanced Research Projects Agency One of the sponsors of the RADIUS program and other basic IU research that will be the primary source of technology for RADIUS Bucky Keys A set of four keys Hyper Super Meta and Control on the RCDE keyboard that serve to modify system key codes Bucky Menus A feature of the RCDE that employs the Bucky keys to alter the command menu structure allowing access to a wide range of functions with few keystrokes or mouse actions CASE Computer Aided Software Engineering
84. ORM MATRIX make and fill 2d array 0 9999981 0 0013416967 0 0014063651 7890 5878999999995 0 0013461612 0 9999933 0 0016050119 176 01 0 0011754258 0 0037573292 0 9992737 4 999999999883585 0 0 0 0 0 0 1 0 PROPERTY LIST nil 122 RCDE User s Manual creates an instance of the class 4x4 COORDINATE PROJECTION containing the ALV DTM transform 14 4 Creating a DTM Object With the DTM image created and the DTM transform defined the next step in the DTM registration process is to create the RCDE terrain model object that associates the transform and DTM image Step 3 Because the RCDE contains functionality specific to the DTM the system must be explicitly told which image contains the elevation data and which transform defines the registration of that image An instance of the class REGULAR GRID TERRAIN MODEL or one of its subclasses is created to provide a framework for these DTM system components The function make terrain model takes an elevation image dtm image and a trans form dtm frame or matrix which is a matrix two dimensional array or an instance of the class 4x4 COORDINATE TRANSFORM It creates a REGULAR GRID TERRAIN MODEL con taining the parameters The elevation image becomes the DTM data set while the input transform describes the relationship between the DTM image and the site The DTM input matrix must have scaling incorporated into the rotation component this also provides a more efficient DTM tra
85. RADIUS Common Development Environment User s Manual Version 1 0 Sponsored by the Office of Research and Development Under Contract 91 F 133700 000 Developed by SRI International and Martin Marietta Acknowledgements The primary architect of the RCDE is Lynn Quam of SRI International who developed the Car tographic Modeling Environment over the last decade The other members of the team shaped the final product which includes documentation and the Lisp C C interface Bill Bremner Martin Marietta Aaron Heller SRI International Bill Deriscavage Martin Marietta Tom Strat SRI International Doug Hackett Martin Marietta Anthony Hoogs Martin Marietta Joseph Mundy General Electric Mark Horwedel Martin Marietta Phil Rossomando Martin Marietta Richard Welty Infologic Janis Tomko Martin Marietta Our thanks to the Office of Research and Development and ARPA for funding this effort AREA Ord REZ S S Version 1 0 Edition July 1993 Copyright 1993 Martin Marietta and SRI International Reproduction of this document is permitted for internal use only in conjunction with the RCDE Lisp C C Interface and LCI are trademarks of Martin Marietta 3DIUS ImagCale and CME are trademarks of SRI International Lucid and Lucid Common Lisp are trademarks of Lucid Inc Motif is a trademark of the Open Software Foundation Sun Sun Microsystems Sun Workstation SPARCstation SunOS SBus NFS and Open Windows are tr
86. RCDE C library Notice that the programming style does not reveal any calls to Lisp and adheres to conventional C syntax The include file rcde_types h contains definitions for all RCDE C types The first type declarations are c_handles for two images and two panes The next dec larations are a keyword argument pair for the C Callable function make_image which will set all the initial pixel values for the image being created Notice that the initializer sets all pixel values to the gray level 128 When make_image runs it returns a c_handle to the image in the RCDE After it runs a function to choose where to display the image is called This is a C function which in turn calls an RCDE function that prompts the user to select an RCDE window Upon selecting a pane to display the image the RCDE call push_ image puts the 2Substitute the path at your site for CMEHOME Lisp C C Interface 155 image on the pane stack and displays the image Note the second keyword refresh is used to make the pane refresh itself Its boolean value was set to true in the declarations Next the C Callable function image scale_rotate is called with keywords one and two This function produces more than just scaling and rotation when called with these argu ments Try calling it without the final y_scale keyword pair In the last two calls to push_image notice that the duplicate keyword is used to make sure that a copy of the image is pushed onto the stack Try running
87. RCDE layer includes facilities and libraries accessible to Lisp C and C programmers 2 1 2 Architecture The RCDE architecture illustrated in Figure 2 3 is similar to CME but contains two additional elements The System Utilities are used by the RCDE to execute on the Sun platform and windowing system The Programming Interface allows both Common Lisp Object System CLOS and C programmers to access RCDE objects when developing their own algorithms The RCDE System is divided into subsystems which are defined as groups of objects that share similar functionality Figure 2 4 lists the subsystems of the RCDE grouping them functionally as defined in Figure 2 3 2 2 Design Philosophy and Overview This discussion should provide insight into the usage of the RCDE It discusses the main design areas associated with the RCDE data usage representations user interaction and the programming environment 2 2 1 Data Manipulation The RCDE is designed to combine information from a variety of sources to support the construction of site models imagery terrain data wire frame models and collateral con RCDE Overview 7 TerrainCalc Object ImagCalc CME RCDE 001c Figure 2 2 The CME System Developed at SRI straints In doing so the system incorporates a mix of manual and automatic construction methods Figure 2 5 illustrates a typical approach for building a site model using the RCDE Many paths through t
88. RLD object is responsible for storing the window coordinate data note that the window has a stack associated with it which contains a number of views 2 2 3 User Interface Overview The RCDE was designed as a development environment as such the user is able to access visual elements of a scene and then perform new operations on them using his own code For example each display pane contains a stack of views which are mouse sensitive in a variety of ways When the mouse points at a particular object it becomes highlighted The object can then be manipulated directly or programmatically because an actual pointer to the object is made available in the Lisp Listener The RCDE user interface was originally developed as a standard pulldown menu driven interface A command key shortcut interface was then added to use keyboard and mouse button interactions the Bucky keys The object oriented nature of the user interface implies that each object instance contains its own particular set of functions The Bucky key system therefore evolved from the need to create multiple identical objects which may react differently to the same system stimulus e g camera motion Hence a function selection capability was given to each object instance When an object is highlighted a set of functions are available that are specialized to that object This context sensitive environment is enhanced by the persistent nature of the Lucid Lisp environment The
89. TED Level 1 file would be prepared is presented here 14 2 1 Loading a DTED File as a RCDE Image DTED files have a header containing information on the latitude and longitude of the position of the lower left corner of the elevation data image and all Level 1 files cover an area of one degree by one degree on the Earth s surface In this context it is assumed that the DTED file contains data at the maximum Level 1 resolution or one data point every 3 arc seconds in both latitude and longitude Since the elevation is given in meters while the z and y coordinates are in the geographic coordinate system the x and y coordinates will be converted into meters with the local origin at the lower left corner of the elevation image Then the elevation values will be scaled to be expressed in units equal to the size of x y pixels First an RCDE floating point image is created to store the terrain data In this example the image is 1201 by 1201 pixels because there are 1200 3 second intervals in one degree and DTED files have an extra row and column on two of the image borders Floating point data values are used for greater accuracy during interpolation between known data points The image can be created with all pixels initialized to zero and stored in the variable dtm image with the command setq dtm image ic make image 1201 1201 element type single float The symbol dtm image now points to an allocated image structure prepared to
90. TM image If DTM data is acquired after the site coordinate frame has been established then axis alignment in the z y plane can be achieved by rotating the DTM image using the RCDE Rotate operator before the DTM image is registered as the elevation image for the site Given that the geometric relation between the DTM and the site is known the user can encode this relationship in a transform matrix created by using RCDE matrix functionality see the Programmer s Reference Manual For the ALV data set the DTM transform matrix may be defined with the Lisp statement make and fill 2d array 0 9999981 0 0013416967 0 0014063651 7890 5878999999995 0 0013461612 0 9999933 0 0016050119 176 01 0 0011754258 0 0037573292 0 9992737 4 999999999883585 0 0 0 0 0 0 1 0 This matrix implies that the lower left corner of the DTM is located at the world point 7890 5879 176 01 5 0 in world units The rotational component indicates that the axes are closely aligned with the world coordinate system since the unit vectors embedded in the transform are approximately 1 0 0 0 1 0 and 0 0 1 This matrix should then be used to construct an instance of 4X4 COORDINATE TRANSFORM or 4X4 COORDINATE PROJECTION which will be the DTM transform object For example the Lisp form MAKE INSTANCE 4X4 COORDINATE PROJECTION R F 0 0 1 F 0 0 PRINCIPAL POINT U 0 0 PRINCIPAL POINT V 0 0 POSITIVE W CLIP PLANE 0 0 TRANSF
91. The view will be copied from the top of the source stack and pushed onto the destination stack Copy View Copy a view from one pane stack to the top of another Menu Bar Select the Copy View function from the Stacks menu Following the Documentation Line prompt select the source and destination panes The view will be copied from the top of the source stack and pushed onto the destination stack 32 RCDE User s Manual Bucky Keys Holding down the Meta Bucky key select the destination pane with the middle mouse button M M The source pane will default to the previously selected pane the highlighted pane which will be copied onto the destination stack Bucky Menu Invoke the Bucky menu with a right mouse click and select the Copy To Here function from the Bucky menu Following the Documentation Line prompt select the source and destination panes The view will be copied from the top of the source stack and pushed onto the destination stack Pop Stack Remove the top view from the selected stack The removed view is stored in an invisible temporary storage stack and can be restored see Unkill Top Menu Bar Select the Pop Stack function from the Stacks menu Following the Doc umentation Line prompt select the desired pane The top view will be removed from the chosen stack Bucky Keys Holding down the Meta and Control Bucky keys select the desired pane with the middle mouse button M M The top view wi
92. a conversion utilities to convert between c_handle and value representations as well as routines to create and access simple Lisp arrays and lists These functions are described in the Interface Utilities section of the Programmer s Reference Manual 17 5 2 LCI Compilation and Linking The LCI supplies a few files for C C compilation and linking and a library of include files defining the C proxy hierarchy Most of the RCDE types available to C and C programs are defined in the file S CMEHOME Ici rcde_types h This file contains definitions for most of the RCDE shared structures and includes the files e CMEHOME ic c image h containing the shared structure definition for images array_image_struct e MEHOME cme c transform h containing the shared structure definition for transforms transform_4x4_struct and e SCMEHOME cme c poly h containing the shared structure definition for poly hedral vertices vertex_struct When a file including rcde_types h is compiled the include option ISCMEHOME Ici should be used 172 RCDE User s Manual The file CMEHOME Ici define statements contains define statements for key word identifier arguments of the RCDE C callable library this file may be included in user source code but is not included in C MEHOME Ici rcde_types h to avoid name con flicts Since many RCDE keyword parameters have the same name but different keyword identifier values the function name is prepend
93. a menu of all existing 3d worlds will appear At the base of the menu there is an option to Make 3d World Select this button another menu should appear with a string editor to enter the name of the new 3d world object Type in the name Outland or whatever is appropriate and press Do It When the menu disappears refresh the selected pane by clicking the middle mouse button while the mouse is on the pane The camera icon and a coordinate system axis will then appear in the pane containing the image This process explicitly creates a new 3d world but it also creates a new camera model for the image and anew 2d world object to associate the new camera model with the image The site coordinate system and model to image transform camera model are default values at this point The user must specify that information later either by typing in known camera parameters or by solving for a camera model using the resectioning functionality described in Chapter 13 15 2 Registering Images The details of operating the resectioning functionality within the RCDE are described in Chapter 13 Rather than repeating them here this section focuses on how the first image of a site may be resected so that it can be used as the reference camera model for resecting additional images later It is assumed in this example that terrain data or other absolute information is not available Thus the camera models produced will be relative to one another but wil
94. a view of that world Terrain Data Integration 123 For example the Lisp call to link the ALV terrain image into the ALV world alv 3d world is setup image worlds alv dtm 3d to 2d projection alv dtm projection 3d world alv 3d world 2d world nil These variables and this function call are defined in the ALV file C MEHOME alv alv camera models lisp The terrain model registration for the ALV data set should now be complete From any view of the site it should be possible to move objects on the DTM and to find the elevation at any visible point in a view with DTM coverage The terrain image can also be viewed in a pane by using the push image function this must be performed after the call to setup image worlds 124 RCDE User s Manual Chapter 15 Building a Site Model This chapter contains a comprehensive overview of the complete process of building a site model in the RCDE While other chapters have detailed each part of the RCDE covered in this chapter an end to end scenario illustrating the precise steps necessary to build site models may be helpful to those unfamiliar with the RCDE and Lisp programming For those who prefer to examine Lisp code directly the files containing site model def initions are helpful For the ALV site the file SCMEHOME alv alv camera models lisp contains definitions and function calls to build the ALV site from a few files of Lisp code There are six major stages of s
95. ace Lisp Variables 168 Menu Lisp to C C Interface Lisp Callable C C Functions 166 Menu Lisp to C C Interface Pa rameters 163 Menu Lisp to C C Interface Project Files 169 Menus Bucky 23 Merge Vert 93 Mesh DTM 88 Message Area 13 Meta Key 15 Model Camera 9 99 Model Sensor 9 Modifying a Site Model 125 Mouse 2 12 Move 95 Move Cam W 95 Move Conj UV 94 Move Edge 95 Move Me 93 Move Object Function 31 Move UV 92 Move UV on DTM 91 Move UV Z 91 Move W 91 Move Z 92 Interface Con Interface Files Interface Func Name Image Function 27 Neg Contrast 94 Negate Function 56 Negative Photographic 54 56 Network 2D 87 Network 3 D 88 New Frames 69 RCDE New View Transform on Image Func tion 77 North Arrow 89 Not Logical 54 56 Notational Conventions for LCI 173 Object 73 Object Creation Scenario 83 Object Grouping 78 Object Hiding 78 Object Hierarchies 17 Object Orientation 17 Object Sensitivity 13 Object Sensitization 78 Object UVXY 97 Objects 83 Objects 2 D 87 Objects 3 D 87 Offset 93 On line Documentation 181 On line Indices 181 Online Information About Menu Func tions 70 Open 2D Curve 87 Open 3 D Curve 88 Open Inferiors 96 Open Verts 92 Ops Concept Lisp to C C Inter face 151 Or Logical 53 Organization of Document 2 Organization of RCDE Info Nodes 184 Output Functions 63 Output Operations 65 Outputt
96. ack Cycling 30 31 Stack Inspection 28 Stack Manipulations 23 Stack Restoration 33 Stack to Stack View Copy 31 Stack to Stack View Movement 31 Stack Usage Scenario 21 Stacks 23 Star 88 Stare Pt UV 96 Storing an Image 65 Storing Feature Sets 67 Storing Site Models 67 Stubs 150 Subtract Function 58 Subtraction of Images 58 Sun Ray 90 Sun Ray Methods 97 Sun View Function 78 Sun Z 92 Super Key 15 Super Methods 94 Superellipse 89 Superquadric 89 Switching Between Language Modes 145 Symbols 145 Synchronizing Views 68 Tandem Operations 68 Taper Rate 92 Terrain 5 Terrain Model 7 74 Text 2D 87 Text 3 D 88 Text Window 89 Three Dimensional Closed Curve 88 Three Dimensional Composite 87 Three Dimensional Crosshair 87 Three Dimensional Open Curve 88 User s Manual Three Dimensional Point 88 Three Dimensional Ruler 88 Three Dimensional Text 88 Three Dimensional World 73 Threshold 94 Threshold Function 54 57 Tight Coupling Mode 142 Tight coupling Mode Execution 144 Tool Objects 89 Tool Color Map 89 Tool View 89 Transfer Between RCDE Sites 131 Transferring Data to from C C Sys tems 134 Transform Matrices 100 Transforms Coordinate 99 TScroll 96 Two Dimensional Composite 87 Two Dimensional Conjugate Points 87 Two Dimensional Crosshair 87 Two Dimensional Objects 87 Two Dimensional Point 87 Two Dimensional Ruler 87 Two Dimensional Text 87 ndo 90 nion Funct
97. actic link between the pointer variable and a length variable giving the number of elements in the array This syntax is defined such that a pointer will be treated as an array if the next parameter in the parameter list has the same name as the pointer but with the suffix length appended For example the foreign pointer foreign array will be passed as an array if the next parameter is named foreign arraytlength This length parameter gives the number of array elements to pass on a given function call After the Lisp callable has been created the user may execute the function by using the LCl Functions Lisp callable C C Functions menu as described in the Menu Interface section above 17 5 5 Calling Lisp from C C To call from C or C to Lisp a C Callable function must be created using the menu sequence indicated above De LCl Functions gt C Callable Lisp Functions Create gt Create Entry Panel Create C callable Header The result will be the creation of a communication layer function called a DFCS Def Foreign Callable Switch or C callable In this sequence of menus you must specify the name of the Lisp function only used in the Lisp symbol table the name of the corresponding C or mangled C function the return type and the number and types of the arguments C callable forms have been created for most of the RCDE functions in the public interface see the Programmers Reference Manual In addition to the data types supported by
98. ademarks of Sun Microsystems Inc SPARC is a trademark of SPARC International Inc ObjectCenter is a trademark of CenterLine Software Inc PostScript is a trademark of Adobe Systems Incorporated UNIX is a trademark of Novell Inc X Window System is a product of the Massachusetts Institute of Technology All other products or services mentioned in this document are identified by their trademarks or service marks of their respective companies or organizations Contents 1 Introduction 1 1 Purpose 2 a 1 2 Scope of the Document 1 3 Applicable Documents 2 0 00200 0 000000000000 000004 1 4 Document Organization 2 RCDE Overview 2 1 Introduction 0 2 1 1 Historical Overview 2 1 2 Architecture 2 2 Design Philosophy and Overview 2 2 1 Data Manipulation a a a a 2 2 2 Data Representations aoaaa 00 eee 2 2 3 User Interface Overview 2 2 4 Object Sensitivity oa aaa 2 2 5 Development Environment e 3 Stack Usage Scenario 3 1 Taking Charge e 3 2 Scenario Initialization 3 3 Stack Scenario 2 a 4 Stack Manipulation 5 Geometric Image Transform Scenario 6 Geometric View Transforms 7 Arithmetic Image Transform Scenarios 8 Arithmetic Image Transforms iii 21 21 22 22 27 35 41 47 53 9 Enhancement Image Transforms 59 10 Graph I O and Miscellaneous Operations 63 10 1 The Graph Men 63 10 2 The I O Menu 2 ee 65 10 3 The Misc Menu
99. also described Save Image Select an image and save it to a file Select the Save Image function from the I O menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next specify the UNIX path and filename for storing the image in the Pathname field Finally press the Save Image button to perform the operation The Status field displays relevant information throughout the process Load Image Specify an image file and load it into a pane Select the Load Image function from the I O menu which causes a popup window to appear Two fields are available for entering file names the Directory field and the Pathname field Enter the directory path where the desired file resides in the Directory field then enter the file name in the Pathname field Although it is not required entering a carriage return after entering the filename will cause the RCDE to search 66 RCDE User s Manual the directory for the file read the image header and determine what type of image is to be read Press the Load Image button to perform the operation following the Documentation Line prompt select the desired destination pane If the image format is unrecognized the other fields in the panel may be used to specify the appropriate image parameters The Format field allows the image file format to be specified directly and the Element Type sets the pixel ty
100. ane The Status field displays relevant information and prompts throughout the process Gauss Blur Convolve with a Gaussian to get a low pass filtered version of the image Select the Gauss blur function from the Enhance menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next select one of nine levels in the field marked Level which determine the size of the Gaussian kernel used a larger number implies a larger standard deviation To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process Zero Cross Overlay Overlay the image with zero crossings of the image The crossing level parameter is the pixel intensity to be taken as zero Select the Zero Cross Overlay function from the Enhance menu which causes a popup window to appear Designate the desired view by pushing the button labeled View then selecting the desired pane Note that the pane must contain a view not just an image because the zero crossings are marked as an overlay Next enter the pixel intensity to be used as zero by typing a value into the Crossing Level field This threshold value will determine the boundary state for pixel intensity e g equal to or above threshold a binary one below the threshold a binary zero To perform the operation pus
101. ane using Exact Copy on the Transforms menu again and perform the rest of the scenario using the right pane 12 1 2 Instantiating Model Object Primitives The next step is to place model objects in the scene The available objects can be found in the Create Object menu and placed in the scene by selecting the object and choosing its position in the pane Each object serves as a separate context and as such has a set of functions associated with that context These functions are available only through the Bucky keys in combination with the mouse Chapter 12 details the functions available for each object Although each object has functions unique to it many functions are common to all objects For example the House object has resizing options that are common to all 3 D objects such as X Y Scale but also allows the user to adjust the angle of the roof using Roof Pitch S C R 1 Select Superquadric from the Create Object menu and choose a point near the botton of the pane to place the object Note how the Documentation Line changes the object name appears at the far left followed by the Bucky key documentation After the object appears in the scene it remains selected for manipulation the default Bucky function is Move UV Z allowing you to move the object around while keeping its Z position constant To drop the object either left click again or choose Drop Obj from the Bucky menus H R 2 Experiment with changing
102. ange x y z sizes wa SS Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 198 eck IL MT S EE ER EES BESSERES SS YT __ moara 50 RCDE User s Manual 199 Table A 6 Bucky Menu Functionality for Class Extruded Object Bucky Label Documentation Line Mouse Menu of Object Parameters R Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Object at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Close Vertex Modification Reset Verts Restore Vertices to Default Positions for Object Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 200 RCDE w OCS SE EES BEE awo SS S User s Manual 201 Table A 7 Bucky Menu
103. are provided only where necessary for an understanding of executing and programming the environment More programming details may be found in the Lisp C 4 Interface chapter of the Programmer s Reference Manual and in the Lucid Lisp Advanced User s Guide 17 1 LCI Overview The LCI is based on the Lucid Common Lisp Foreign Function Interface FFI which provides a means for interacting with other programming languages The FFI gives Lisp the capability to load and execute C C functions within the Lisp process to dynamically link C C modules and libraries and to directly declare and access C data structures in Lisp Using the FFI C C functions may be called from Lisp and Lisp functions may be called from C C The main limitations of the FFI are that it does not directly support C classes although it will execute C code and it does not provide support for debugging C or C code executing within the Lisp process The LCI provides three major enhancements to the FFI The first is the ability to execute C C code in a separate process allowing the use of standard C C debuggers The user may seamlessly switch between execution in a separate debugging process and execution 1 The FFI is detailed in the Lucid Common Lisp Advanced User s Guide 141 142 RCDE User s Manual within the Lisp process The second is the introduction of several special data types to support the natural programming style in both language families
104. are set according to the mangled name Otherwise default argument types are assigned Although the names of Callable function parameters are not important their types must be correctly identified The parameter types may be set using the same pull right menu as for the return type The Create Lisp Callable button will create a Lisp callable function evaluate it and print it in the Lisp buffer The textual form may be pasted into another Emacs buffer creating a Lisp source file of Callable functions This file may be loaded rather than regenerating each Callable function for each RCDE session Edit allows an existing Lisp callable to be edited The selected Lisp callable is used to create a menu identical to the Function Header Entry Panel for changing the name return type parameter names and parameter types The changes will not take effect however until the Create Lisp Callable button is pressed Delete removes the Lisp callable function definition from the LCI enabling recompilation in Debugging mode without the deleted function This is useful for removing invalid functions when switching to a new set of C C files i e a new project Execute provides a means to execute an existing C C Function through its Lisp callable Selection of this option brings up a menu containing one string edit line for each parameter of the function to be called The user may type in parameter values and may execute the function by press
105. at a Unix shell prompt in the directory CMEHOME Ici The RCDE must be restarted for the compiled changes to take effect One system parameter that may need to be adjusted on site is the size of the XDR buffers XDR_ BUFFER_LENGTH declared in CMEHOME Ici debug h This parameter defines the upper limit in bytes of the total size of all the arguments that may be passed between Lisp and C C in Debugging mode Two buffers of this size are allocated in each process when they are started By default XDR BUFFER LENGTH is set to 2 MB If large images are being passed between languages or if memory allowances must be reduced this value may be inadequate To change this setting edit the file SCMEHOME Ici debug h and remake the LCI source files as described just above Lisp C C Interface 173 17 5 3 Notational Conventions The conversion of Lisp symbol names into C C syntax requires that the result be in legal C C syntax The LCI defines the following naming conventions e Leading Integers in Lisp function names Leading digits in Lisp names are converted to use the textual name of the integer in C C For example 2d object becomes two_d_object e Structure Component Names Typical RCDE provided structure types shared structures are given names which contain the types of the components followed by the number of such types e g chandle_2_int_2_double_2 The handle components would be called h1 h2 etc Likewise the integer compon
106. ate the FASD representations of several basic 3 D objects along with a description of the object slots Note that the Lisp forms should be inserted into Figurel6 1 for completeness Each word preceded with a colon corresponds to a slot within that class The values shown are instance dependent and will change between applications The order of the slots within a class is also arbitrary The make instance Lisp form is followed by the symbol quote 3For a deeper insight into CLOS it is suggested that the text Understanding CLOS The Common Lisp Object System by J A Lawless and Molly M Miller and published by Digital Press be examined 134 RCDE User s Manual then the Lisp class name in parentheses This is the textual representation of the Lisp quote function and is used to prevent the Lisp interpreter from attempting to evaluate what follows as a function a variable or a constant expression 16 1 4 FASD Limitations The FASD facility does not handle data structures with circular references in a general way In the version of Common Lisp described in the 2nd Edition of Steele s Common Lisp the Language there is a function make load form that addresses the whole issue with a more complete perspective Additionally Lisp data representations not native to the RCDE will not be loadable through this mechanism It will be necessary for Lisp users to implement the definitions and FASD Generators of non native RCDE representations in the RCDE env
107. ate a key word search on Documentation Line parameter or sub menu command Select the Command Apropos function from the Misc menu The Lisp Interaction Win dow will enter a new mode enter a text string and the RCDE menu documentation strings will be searched for a command that contains that string A list of commands associated with the keyword will be displayed in the Lisp interaction window Enter q at the prompt to quit Set Emacs Window Instruct the RCDE to direct keystrokes to a given Emacs window RCDE frames or Menu Bar When keystrokes are typed while the mouse cursor is on an RCDE frame the RCDE can direct them to the Lisp Interaction Window This command enables that mode Select the Set Emacs Window function from the Misc menu Move the cursor to the Lisp prompt then type T and a carriage return Keystrokes should then be directed to that window whenever the mouse cursor is positioned over an RCDE frame Note that this function is disabled as are all RCDE functions whenever Lisp enters the debugger Quit CME Exit the RCDE Graph I O and Miscellaneous Operations 71 Select the Quit CME function from the Misc menu which causes a popup menu to appear Select Yes to exit the RCDE or No to abort the exit 72 RCDE User s Manual Chapter 11 Introduction to 3 D Modeling In the preceding chapters the reader was introduced to the RCDE user interface in the context of manipulating images The true power o
108. ation at the appropriate point in the DTED file The RCDE function iset which sets the value of a pixel in an image is given in exact Lisp syntax The corresponding C C iset function call would be iset_float value dtmimage c r where dim_image is a c_handle that points to the RCDE image Reading the DTED file by column then row from the beginning of the DTED input ensures that the image will have the correct orientation in the RCDE The origin of the image coordinate system is at the lower left corner of the image with the u axis pointing to the right and the v axis pointing up Since columns of DTED data are ordered from west to east and rows are ordered from south to north reading the DTED file as shown above will create an image with its v axis pointing north and its u axis pointing east It is not necessary to align the DTM along geographic lines but doing so simplifies the transformation from the DTM to the site if the site is also aligned along geographic lines The DTM transform can have a significant impact on performance since it is often used in calculations for real time graphics 14 2 2 Loading a RCDE Compatible DTM Image Elevation data stored in an image file format that RCDE supports can be read into the system using the load image command No special syntax is required to accommodate elevation images but the file header information indicates that the data is in floating point format e To load the ALV terrain data
109. between the limiting values maps all of the pixels above the top limiting value to the top limiting value and maps all of the pixels below the bottom limiting value to the bottom limiting value Menu options specify the two limiting values Default values are taken from the last invocation of this function On the first invocation default values are 0 and 255 making this the identity operator for 8 bit images Select the Clip function from the Arith menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Adjust the Lower Clip value and Upper Clip Value fields by moving the slider bars To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process Threshold Create a binary image by setting each pixel below a threshold to the pixel value zero and those pixel values above the threshold to 1 Select the Threshold function from the Arith menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next adjust the threshold by moving the slider bar la beled Threshold To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process
110. bimage from the given view This function creates an Image Window tool which is really a 2 D object placed in the view for performing a specialized set of window operations Refer to Chapter 12 for more details of using this object The Image Window tool can be created three ways Menu Bar Select the Window function from the Geom menu Following the Docu mentation Line prompt select the view to place the Image Window tool which will be created at the selected point Bucky Keys Holding down the Hyper Bucky key select the point to place the Image Window tool with the left mouse button H L 46 RCDE User s Manual Bucky Menu Invoke the Bucky menu with a right mouse click and select the Window function from the Bucky menu Following the Documentation Line prompt select the view to place the Image Window tool which will be created at the selected point When the tool is created a green window outline should appear on the pane Move the mouse cursor and you will notice that the newly created window follows the movement of the cursor Click the left mouse button to place the window The window outline should turn yellow You can resize the window by placing the cursor on the a horizontal or vertical yellow line until it turns green Note the status bar there are three choices Left Move Middle Move Edges Right Make Window Hold down the middle mouse button and move the edge to resize the window Release the mouse
111. bugger and its printed output will be dumped to the cme buffer The Lucid FFI occasionally has trouble with C s standard output Often a print statement in C code does not display any text but in fact it is buffered by Lisp and never displayed To see what has been collected this way type if flush em in Lisp This dumps what is left of the C stdout buffer Lisp C C Interface 159 17 3 4 Example 2 Image I O Shared Image Array Structures and Image Modification The second example demonstrates how Lisp images are managed from C in both coupling modes Copy the file CMEHOME Ici examples load_and_blur c into your working directory and load the copy into an Emacs buffer The header on the file should identify it as Example 2 The include file rcde_types h contains definitions for all RCDE C types including the shared image structure array_image _struct Notice the extern statement for get_image_struct containing the array_image_struct pointer This is the data structure used by the RCDE for array images that is images small enough to reside entirely in RAM In this example the C Callable function get_image_struct is used to access a shared image structure The first function definition in the file get_image_pirel is not a C Callable function It is a pure C function to set the pixel values of the image array A copy of the image structure is passed by reference to this function and the pixel values at x y are set to the
112. button when you have finished You must resize the horizontal and vertical edges separately To move the box about the window simply place the cursor on the box outline until the box turns green Left mouse click to pick the box the box should turn green and should follow the mouse movement To deselect the box outline left mouse click again If a parent view is duplicated manipulated and moved to another pane a window outline should be seen in all other views of that scene since the Window is a 2 D object in that view For example this allows one to view zoomed views with respect to the original view To crop an image to the size of the window select the window by placing the cursor on the box outline When the box turns green depress the right mouse button An image the size of the box outline will be produced in the pane Note that the view objects outside the window still appear after the windowing operation If the Tandem function Chapter 10 is set up properly the Tandem Scroll TScroll is enabled from the Bucky keys for the Image Window Holding down the Control Bucky key and pressing the left mouse button while the window is selected will scroll the tandem views Note that the view is scrolled behind the window which remains fixed in the pane Note If you have created a window in a view and the window does not appear in other panes of the same scene it is probably because that feature set of the newly created view has not
113. cameras Re Orient Reset to Canonical orientation in which the object coordinate system is aligned with the site coordinate system The selected point is kept in site coordinates Sun Z Adjust the object s height using its shadow which is a ray drawn from the selected point to the DTM in the direction specified by the illumination model The illumination model must be defined for the specified view see Set Sun Ray Taper Rate Change the object s shape to be tapered around an axis that is parallel to the object s Z axis and intersects the object s center Neither the Z dimension nor the site position of the object are affected and the object s cross sectional shape is unchanged UV Roll Rotate the object about the U and V axes keeping the selected point fixed in site coordinates Up down motions roll the object around the U Horizontal axis while left right mouse motions roll around the V axis vertical W Rot Rotate object about a ray from the camera s focal point through the selected point keeping that point fixed in site coordinates Z Rotate Rotate the object about the world Z Z Size Scale the Z dimension of the object with respect to the selected point keeping that point fixed in site coordinates Z Rotate Rotate the world about the object Z Set the selected point at vertex 12 3 4 2 D Methods The following additional methods may be performed for 2 D objects e Move UV
114. ch function are fully discussed This approach is intended to serve those users who like a tutorial approach and those users who prefer to use the manual only as a reference e Chapter 1 Introduction This chapter describes the intended purpose and scope of the RCDE User s Manual Introduction 3 e Chapter 2 RCDE Overview This chapter describes the RCDE architecture and user interface at a systems level e Chapter 3 Stack Usage Scenario This chapter describes a short scenario that introduces the user to the RCDE screen layout It will also introduce the concept of data stacks and how to remove copy inspect delete and undelete the underlying data that is manipulated and viewed from the RCDE windows e Chapter 4 Stack Manipulation This chapter describes each stack manipulation option what it does and how to invoke it e Chapter 5 Geometric View Transform Scenario This chapter describes a short scenario that demonstrates zooming repositioning and other window opera tions e Chapter 6 Geometric View Transforms This chapter describes the geometric operations that can be performed on images and site models e Chapter 7 Arithmetic Image Transform Scenarios This chapter describes a short step by step example of Boolean image operations such as xor intersection and negation The scenario demonstrates the arithmetic effects in visual manner that are recognizable to the user e Chapter 8 A
115. coordinates is known then any of the points on the DTM can serve as conjugate points provided that they can be identified in another data source When camera models are resected using points on the DTM the cameras will then be in positions at which geographic coordinates can be computed In many cases however accurate absolute data is not available While this situation does not prevent resection it does limit the camera models to be solved only with respect to one another they may not be properly scaled in absolute units such as meters 13 4 1 1 Creating Conjugate Points Once the camera to be resected is in approximately the correct position the conjugate points must be set in the image associated with that camera For this example the alignment and resection will be between two images one of which is assumed to be correctly registered 112 RCDE User s Manual to the ALV world As mentioned above accurate registration of one image is important because it provides precise 3 D locations in the site coordinate system for the conjugate points If no images were registered the 3 D coordinates could be obtained from the DTM or a map The purpose of conjugate points is to quantize the error in a camera model referred to as the unregistered camera relative to a known camera model so that this error can be minimized by adjusting the position of the unknown camera The user creates conjugate points in the image associated to the fixed came
116. ct at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Open Superior to Object Change x y z sizes wa SS Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 LO Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA 210 Rotate Scale RCDE User s Manual 211 Table A 13 Bucky Menu Functionality for Class Camera Model Object Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H TT Less Edit Composite Object Hierarchy Pine wo oS Create an Identical Copy of Object Drop Obj Stop Modifications to this Object re DOH i Oe ne on L SEBES Sun Z Adjust Object Height using Sun Model er Sterna Bear Drop W Place Object at Intersection of Ray e cet Az Elev Mouse X Rotates about World Z S MEN Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View wes E Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z D S SS S e e a oi ol aaa
117. ct to the first image New images are added to the site by using the same functionality described above the image is loaded a new view transform is created on the image and the created site is selected as the world containing the new view If site objects are not immediately visible in the new view then the menu View gt Feature Sets may be used to make the site feature sets visible in the new view by selecting the new view and pressing the Pres option for each 3 D feature set The camera model for the first image may also be improved as additional images are introduced to the site 15 3 Registering a Terrain Model This step in site model construction is covered in detail in Chapter 14 The main difficulty in associating terrain to an existing site is finding the proper transform relating the position of the terrain grid to the site coordinate system including the proper scaling factor However 128 RCDE User s Manual there is no systematic means of doing this within RCDE some a priori knowledge must be used such as the latitude and longitude coordinates of the terrain grid in coordination with a geographically referenced site coordinate system 15 4 Constructing 3 D Models The world data structure is composed of collections of objects placed on the image pane These collections are contained in the world as a slot called a Feature Set Feature sets can be created using the menu interface View Feature Sets prompts for a view an
118. ction of Ray e eer Az Elev Mouse X Rotates about World Z S e Lernen Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View wo S Open Superior to Object Change x y z sizes wa oo Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA User s Manual Rotate Scale XY exponent 207 208 RCDE Table A 11 Bucky Menu Functionality for Class Color Map Hacking Object Bucky Label Documentation Line Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H TT Lee v C RE Sayma S Drop Obj Stop Modifications to this Object re en en ne ote Hu SM SR mess Sd me E EE EE RRE ER E Gemma E Se ier Dicht JL C C C SM PT pC pC User s Manual 209 Table A 12 Bucky Menu Functionality for Class Superquadric Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Obje
119. ctures into the RCDE s internal data structures This is a standard data transfer between different representations but since the C code is loaded into Lisp it takes place within the Lisp process without file overhead Once this is done normal C calls to routines within the RCDE environment will be sufficient to load all existing C based files and or system resident data into the RCDE for display and analysis To assist in the implementation of this strategy the RCDE provides both hard and on line documentation of each interface routine and its associated calling sequence Using this strategy the Lisp nature of the RCDE environment will be made totally transparent to the C developer The advantages to this scheme include performance and code reuse While the data intensive nature of image processing can cause file to file transfer to be unacceptably slow the inter process connection created by the LCI Loosely Coupled mode allows approximately average Ethernet speeds 2 MBits sec for image transfer between Lisp and C 136 RCDE User s Manual Table 16 1 House FASD Example FASD EXAMPLE MAKE INSTANCE QUOTE HOUSE OBJECT ROOF PITCH QUOTE 0 5 ALBEDO QUOTE 1 0 X SIZE 19 837037984153995 Y SIZE 19 52734631894257 Z SIZE 15 064418246990208 TAPER RATE QUOTE NIL OBJECT TO WORLD TRANSFORM MAKE INSTANCE QUOTE 4X4 COORDINATE TRANSFORM TRANSFORM MATRIX MAKE AND FILL 4X4 MATRIX 0 86086789054 0 5083565589 0 02191081935 12
120. cursor to highlight the stare point object and invoke the Az Elev command SM gt L Move the cursor slowly to see the view change After repositioning your right pane may look something like the right pane of Figure 12 1 The RCDE Objects 87 12 2 Object Classification The RCDE has several categories of objects which are loosely grouped here for convenience 12 2 1 2 D Objects The following objects exist only in the image plane associated with a given point in the image They appear only in the pane where they are created and as such are not part of the site model per se 2d Composite An object that serves to group other 2 D objects allowing them to be manipulated together Note that this object does not have a wire frame representation per se 2d Conj Pt A 2 D conjugate point object is used to establish a correspondence between 2 D points in images where there is no 3 D world e g stereo correspon dences 2d Crosshair A cross shaped object used to mark locations in the image plane 2d Network A collection of line segments and vertices that can be manipulated as a group in the image plane 2d Point A zero dimensional object used to mark locations in the image plane 2d Ribbon A pair of parallel connected line segments in the image plane 2d Ruler An open 2 D curve used for performing mensuration in the image plane 2d Text A text object typically used as a label in the image plane Cl
121. d appear 2 Left click in the field labeled Directory and type CMEHOME alv followed by a carriage return The trailing slash is optional 3 Next left click in the Pathname field and type alv 3 42 g0 followed by a carriage return The Format field should read IU TEST BED IMAGE FILE If you do not see this message in the format field rekey in the directory and pathname entry ensuring that there are no errors and that entries have been accepted by the system If the path name is incorrect the field should say something like File not found 38 4 RCDE User s Manual Then push the Load Image button at the bottom of the menu Following the Docu mentation Line prompt select the destination pane for the image being loaded choose the view in the upper left pane The image should appear in the pane Now copy the views between adjacent panes by the following procedures 1 Place the cursor in the upper left pane and depress the left mouse button Notice that this pane now has a highlighted border indicating it has been selected Next move the cursor to the pane where you want the image to be copied choose the lower left pane While pressing the Meta key hit the middle mouse button The image will be copied into that pane Release the Meta key and left mouse click to select the pane Hold down the Control key and click the middle mouse button the image should be zoomed Release the mouse key and Meta key then se
122. d circles indicate a multiplicity for a given relation The association notation is commonly used for describing object and database systems while the arrow notation has been added to imply object interaction From the left side of the figure we can see that a view class OBJECT VIEW is associated with a number of 3 D feature sets 2 D feature sets tool feature sets images and view stacks Each type of feature set 3 D 2 D tool is associated with a number of objects Each object has its own internal coordinate system object coordinates and a transform matrix that maps object coordinates to some other coordinate system For example follow the figure from the bottom moving toward the right Three D mod els e g houses have their own object centered coordinate system and a 4x4 TRANSFORM that maps object coordinates into a set of 3 D world coordinates The 3 D world coordinates are stored by a 3D WORLD object as a local vertical coordinate system LVCS whose origin is defined relative to a given site A 3 D world has additional transformations to convert the LVCS to a universally recognized World Coordinate system Introduction to 3 D Modeling focal point x Ma image plane principal ray x stare point 75 Figure 11 1 A simple 3 D world The world is viewed through a camera aimed through the principal point P which lies at the intersection of the image plane and the principal ray The stare point is th
123. d is attached to a 3 D point Only the 3 D attachment point is displayed in other views 90 RCDE User s Manual Corner A wire frame object to indicate the location and direction of a trihedral corner in 3 space Scroll Bar A scroll bar object is automatically created in a pane whenever the image in a pane is larger than or scrolled outside of the pane This object cannot be instantiated from the Create Object menu but has a number of Bucky commands available to it Sun Ray A pair of 3 D line segments sharing a common end point used to specify the direction of illumination This object exists in 3 space and is visible in all views 12 3 Methods on Objects Because the RCDE is an object oriented system each object has a number of operations that are inherited from its predecessors This section describes the current list of operations culled from the system that can be performed using the Bucky keys on the objects Please also refer to Appendix A for a mapping of these functions to the objects Some attempt has been made to organize the following methods from general to specific 12 3 1 Basic Methods The following methods can be performed on all objects Blank Temporarily remove the object from all views until the pane is refreshed Note that the object still exists and is still sensitive to selection Bucky Menu Invoke the Bucky menu for the selected object to be used only as a mnemonic for objects Cl
124. d then provides a menu of feature sets associated with the world containing the view with options to create new feature sets Create a new 3d feature set or select an existing 3d feature set that does not contain the conjugate points created for resection The new view is now prepared to allow the creation of 3d objects using the menu inter face By default objects created through the menus are automatically placed in the selected feature set Only one 3d feature set may be selected per site Select the Create Object menu and choose the House option to create a default house object Look for a cue on the documentation line to Pick a Pane and Position for New Object Move the mouse to the pane and click left at the position where you wish to place the object wait for the object to appear on the pane Click left to drop the object There may be a warning that the feature set is not visible on the view but this may be ignored Then select View Feature Sets to toggle the visibility of the feature sets Note that the house was placed in the feature set named 3d home which is the selected feature set Repeat this creation process for other object types as desired A feature set of the site may be completely populated in this fashion New feature sets may be created using the View Feature Sets menu and any new feature sets may be selected to group additional objects separately 15 5 Saving a Site Model To save the site that has been c
125. d_by_pr is called to rotate by the specified angle and axis Note that the C function to accomplish this same activity is called rotate_relative_to_world_by and takes one more argument first That argument is the Lisp symbol as in the call to add_object which is a C call Initialize Interface and Execute Add the c_proxy_house C file to the interface list of C files Compile the file in Performance mode Create a Lisp callable form for the C function create and_change_house_Fv Note that Fv is added as the mangled name of the 162 RCDE User s Manual interface function To execute the compiled C function select the Lisp Callable C C Functions button to see the list of functions in operation Push the button by the function name after the name appears on the line select Execute and invoke another menu Or run the C code by typing create_and_change_house_Fv into the Lisp Listener Wait for and respond to the prompts for mouse selection of image panes in the RCDE documentation window The first prompt is just to select a pane and nothing happens The instructions may be missed in which case you may try to click a RCDE pane and look for a response At this point you can proceed with the Loose Coupling preparation as you did with Example 1 Recall that you must interrupt the Lisp process and the Debugger process rerun the debug main and re establish the interface 17 4 The Menu Interface This section summarizes the Lisp C C Inter
126. deled objects on the screen Contrary to appearances though it is actually the camera position that is being adjusted with respect to the site coordinate system Moving the principal point with the Princ Pt option causes a more complex interaction with the model that is not immediately obvious As the principal point is moved the camera location is also adjusted according to two constraints The first requires that the stare point remains in the same u v position in the view The second constraint forces the principal ray to remain perpendicular to the image plane in effect the focal point of the camera is moved to be directly above the principal point while the image plane is held constant The orientation of the camera remains unchanged see Figure 13 3 Geometrically these two conditions cause the view to rotate about the model and the perspective distortion to increase as the principal point is moved further away from the image center because the optical axis is being moved away from the visible portion of the image plane This is useful when modeling a camera that has a high perspective distortion or when the image has been windowed from a region near the border of a larger image and hence has significant perspective distortion The following steps describe the beginning of a scenario to perform camera resection To obtain an initial camera model the ALV site is used A view from the site is copied then slightly adjusted so that it is ou
127. dering an existing site model 1 Create a new XGL frame using Misc CME Frames Make Frame 2 Copy an existing view into the new frame 3 Create a SUN RAY object in the scene using the Create Object menu 4 Define the illumination model by using the Set Sun Ray command M gt L on the Sun Ray Introduction to 3 D Modeling KN 5 Invoke the rendering panel View Render choose a view then choose the HSR Shaded Surface mode 6 If the view is not rendered automatically refresh the pane M The view should be displayed in rendered form To adjust the illumination of a shaded rendering move the vertices of the Sun Ray object Set Sun Ray again then refresh the pane 82 RCDE User s Manual Chapter 12 The RCDE Objects The RCDE contains a set of object primitives that are useful for building site models and annotating imagery This chapter first presents a simple object manipulation scenario then details the specific properties of each object and its functionality 12 1 Site Model Update Scenario A camera s image plane contains a picture that is a 2 D representation of a given scene The purpose of the RCDE is to use imagery to support building site models That is the user must reconstruct the 3 D model given one or more 2 D views of a scene plus some additional information such as the camera parameters or ground truth with image correspondences The following scenario illustrates the process of ad
128. ding model objects to an existing scene and modifying the scene 12 1 1 Creating a New View To get a feel for the 3 D modeling system the user can copy an existing view into a pane which does not contain an image This is not normally done when creating a site model but is instructive 1 Select the CME Frames option from the Mise menu which invokes a small popup menu 2 Select Make Frame which invokes another panel 3 Select two horizontal panes and one vertical pane and other options if you wish be sure that one button is pressed in each row then select DOIT to make a new frame After the frame is created you can reduce its size using standard window manager functions 83 84 RCDE User s Manual 4 Invoke a new version of the ALV frame from the Load Site Model command on the I O menu 5 Select Exact Copy on the Transforms menu then left click on the bottom left ALV pane as the source pane and the left pane of your new frame as the destination pane You have created a new view of the ALV site in your frame but the view does not have an image 6 If you wish you can use the Reposition or Recenter commands to center the buildings in the pane so that your left pane looks like the left pane in Figure 12 1 without the ball shaped object Note how the box with the word Camera returns to a fixed point in the pane it is a tool for manipulating the camera parameters 7 Now create a second view in the right hand p
129. ditional methods are available for PERSPECTIVE TRANSFORM and STARE POINT objects e Range Focal Length Set the range focal length of the camera e Stare Pt UV Move the stare point in the UV plane of the camera e UV Aspect Change the UV aspect ratio of the image plane e UV Skew Skew the image plane The RCDE Objects 97 12 3 19 Curve Methods The following additional methods are available for open and closed 2 D and 3 D curve objects e Every Z to Ground Move every vertex in Z down to the terrain e Extrude Object Extrude a curve into a 3 D object See also the EXTRUDE object e Object UVXY Move the entire object in the image plane 12 3 20 Half Cylinder The following additional methods are available for HALF CYLINDER objects e Radius Length Change the radius and length of a half cylinder object simulta neously e Rotate Scale Change the orientation and size of a half cylinder object simulta neously 12 3 21 Sun Ray Methods The following additional methods are available for SUN RAY objects e Set Sun Ray Set the illumination model to use the current configuration of the sun ray so that rendering and Sun Z operations work properly 98 RCDE User s Manual Chapter 13 The Camera Model A critical step in constructing a site model is the determination of accurate or approximate camera models for the imagery to be used in the model construction process This chapter describes
130. e lower left pane and depress the left mouse button H SM gt L The same message as before should appear in the Lisp Interaction window Move the cursor to the Lisp Interaction window and type q followed by a carriage return when you have reviewed the stack contents 26 RCDE User s Manual Now explore some of the differences between menus and Bucky keys We will move the view in the lower left corner to the pane in the upper right 1 Select the lower left corner pane by moving the cursor to this pane and left mouse clicking in it Note that the selected pane is highlighted Next position the cursor in the upper right corner pane Hold down the Meta button and click the right mouse button M R The view in the lower left corner should move to the upper right Cycle through the stack on the upper right corner pane by holding down the Meta and Control keys and clicking the left mouse button M C gt L Make sure the cursor is within the pane you wish to cycle Now move the cursor to the lower left pane hold down Meta and Control simultane ously and left mouse click several times to cycle through this stack You will notice that the view has moved panes Now move the view back to the lower left corner using a function from the Menu Bar 1 Select the Move Object menu item Notice that you are able to select a source and destination pane when using the command from a menu but you must
131. e Lisp buffer should contain a message similar to the following in response to the load command 333 Loading source file home zippy RCDE users wsb outland site 130 RCDE User s Manual 15 6 3 Display the Site Model Each image of the site may be displayed with site object overlays by pushing the 2d world containing the image onto a pane Initially however the images must be directly loaded into the RCDE To load the images associated with a site use the function load site images as follows gt load site images get 3d world named Outland NIL This function loads all the images contained in the site Outland It does not make them visible in any pane however To display an image and its associated view of the site it is necessary to return the image from a function call This may be accomplished with the function base image gt base image first 2d worlds get 3d world named Outland lt BLOCKED ARRAY MAPPED IMAGE 362 x 253 UNSIGNED BYTE 8 X35531EE gt The image will be displayed in the selected pane with its name at the top of the pane The image is fully integrated with the Outland site If any other 2d worlds exist in the site this procedure may be repeated for each of them replacing first in the Lisp statement with second third etc They may be displayed in separate panes by selecting different panes between calls to base image To see the site objects in the loaded view
132. e Set 8 73 Feature Set Loading 67 Feature Set Methods 96 Feature Set Storage 67 Feature Sets 15 78 Feature Sets Function 79 Feature Sets 3 D 79 Feature Sets General 79 FFT Display Remapping 55 FFT Function 54 FFT Submenu 54 Files Menu Lisp to C C Interface 165 Finding Camera Parameters 104 Finding Images on Disk 66 Fix Function 55 Fixed Point Converting Image Pix els 55 Float Function 55 Floating Point Converting Image Pix els 55 Focal Length 95 Force Z Up 95 Foreign Callables 145 Foreign Functions 145 Forms 145 Fourier Transform 54 55 Fourier Transform Display Remapping 55 Frame 13 Frame Creation 69 Frequency Domain 54 55 Frequency Domain Display Remap ping 55 Functions Menu Lisp to C C In terface 165 Functions Foreign 145 Fwd Cycle Function 30 Gain 93 Gamma 93 223 Gauss Blur Function 61 Geocentric Coordinates 9 Geographic Transforms 99 Getting Image to Interactor 30 Getting Information About Menu Func tions 70 Getting Out of Trouble 70 Global Control Panel Function 69 GNU Emacs 181 Graphing Functions 63 Green 93 Grouping 3 D Objects 87 Grouping Image Features 87 Grouping Objects 78 87 Grouping Spatial Features 88 Hacking View 59 Half Cylinder 97 Handles 145 146 Hard Limiting 57 Hardcopy Image Function 66 Hidden Images Viewing 30 31 Hide 96 Hiding Objects 78 Hierarchies Object 17 Histogram Function 64 Horizontal Intensity Plot
133. e a new feature set press the button for the desired type at the bottom of the panel A new feature set will be created and added to the list 3D Feature Sets Configure or create 3 D feature sets for a given view Select the 3D Feature Sets function from the View menu which causes a popup panel to appear Designate the desired view by pushing the button labeled View then selecting the pane containing the view A list of the 3 D feature sets that currently exist in the world will be displayed in the panel and the name of that world appears in the 3D World field If a view transform has not yet been created for that view no world nor feature sets will be listed Each feature set is associated with three buttons Pres Toggles whether the objects in a given feature set are displayed present in the view Sens Toggles whether the objects in a given feature set can be modified sensitive in the view 80 RCDE User s Manual Sel Selects the feature set into which newly created objects will be placed Only one 3 D feature set can be selected at one time The Other Views toggle controls the scope of the feature set buttons None Changes made to the feature set buttons affect the selected view only 3d World Changes made to the feature set buttons affect all views in the selected world Frame Changes made to the feature set buttons affect all views in the same frame having the selected world To c
134. e and destination panes The resulting edge image is pushed onto the destination pane Canny Edges Perform edge detection on a given image using the a Canny edge operator This edge operator is useful for feature extraction and site modeling as it produces a binary image whose line curves are of a uniform width Select the Canny Edges function from the Enhance menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then se lecting the pane containing the image Three sliders control the algorithm parameters As implemented the Canny algorithm uses the following steps 1 Smoothing is the first step of the algorithm and is accomplished with a Gaus sian blur The kernel of the Gaussian is determined by the Filt Size slider on the popup panel 2 The Gradient operator is then applied to the smoothed image Since V is a vector operator the result can be expressed as magnitude and direction images The Mag button displays the magnitude image as an intermediate result 3 The third stage is NMS which performs Non Maximum Suppression Its results are fed into a Threshold operation to determine which pixels of the strength image are selected as edges Both the Lo Thresh and Hi Thresh sliders are used to specify the high and low thresholds The resulting edge image can be viewed using the Edges button Selecting the Strengths button produces an image that displays values of the magnitude ima
135. e button Make sure the edge turns green before you move the cursor while holding down the middle mouse button Releasing the middle mouse button will set the width of the window Notice how the vertical edges and horizontal edges can be positioned to resize the shape of the window You have now created a window object Each object has a feature set Move the cursor to the View horizontal menu bar and select View by left mouse clicking on the View menu item A second submenu will appear Move the cursor to the menu item named Feature Sets and left mouse click You will be prompted to select an image Select the image in the upper right hand corner 40 17 18 19 20 21 22 23 24 RCDE User s Manual Another pop up menu will appear There are three horizontal fields labeled PRES SENS and SEL PRES indicates that the feature set is present in the view SENS indicates that the feature set is mouse sensitive in the view SEL indicates that the feature set is selected for object creation in the current world Since you have created a 2 D feature move the mouse cursor to the PRES field and left mouse click on it A yellow box will appear Move the cursor to the box edge You will notice that it turned green indicating you have selected it Now move the mouse cursor back to the menu and mouse click on the SENS field Move the cursor back to the box You have desensitized the window to mouse selection When you place th
136. e click on the image then select the Y Slice function from the Bucky menu options After the Documenta tion Line prompts to select a vertical line to graph select any pixel in the desired image line When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the vertical direction is then displayed in the destination pane Histogram Plot a histogram of the pixel intensities of the selected image The menu version of the command allows extra control of the histogram display The histogram is calculated for the entire image not just the part visible in the pane Note that the image representation in the pane is used for the histogram image operations such as zooming may affect the statistics of the resulting histogram Menu Bar Select the Histogram function from the Graph menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image To display the histogram push the button labeled Window then select the desired pane for the result The amount of the histogram to be displayed can be controlled by moving the slider bars labeled Left start value Right end value and Tail factor The left Graph I O and Miscellaneous Operations 65 mouse button is typically used to manipulate the sliders If the Tail factor is zero a histogram will be displayed between the grey level
137. e cursor on the PRES or SEL you hide or turn on the box for view In a similar manner go to the pane that that does not have a window outline visible and make its feature set visible and mouse selectable as previously illustrated Close the view menu and feature set menu choices Now select the window in the smallest image window view by placing the cursor on the window outline and left mouse click Notice that you can move the window around the screen as you move the cursor The window goes out of view sometimes in the larger images A way to remedy this situation is via the Bucky key command TScroll which copies regions of the larger image and displays those portions within the pane as the window moves Thus you always capture the position of the window in the larger images that occupy more space than a pane To invoke TScroll place the mouse cursor on the window edge until it turns green Then depress the Control key and left mouse click As you move the cursor the window will follow repainting the screen with the proper image region in the panes where the imagery exceeds the pane size To drop the object simply left mouse click twice or depress Hyper and right mouse click once In summary this chapter has presented a simple scenario to load imagery then manip ulate it geometrically using zooming scrolling and windowing operations Chapter 6 Geometric View Transforms While most of the operations in the previous cha
138. e discrep ancies between the apparent image locations and known world locations of a set of conjugate points Service A group of related functions or operations that work together to provide a func tional capability Subsystem A major component of a system organized around some coherent theme System An organized collection of components that interact Specifically the RCDE itself USGS Unites States Geologic Survey UTM Universal Transverse Mercator A standard set of map projections onto cylinders that are tangent to longitude circles meridians XDR eXternal Data Representation A machine independent byte level representation defined by Sun Microsystems for basic data types Intended to be duplicated by other vendors to facilitate data passing between differing architectures Index Overlays 93 Image UV 94 Vertex 91 2 D Methods 92 2 D Objects 87 2D Closed Curve 87 2D Composite 87 2D Conjugate Points 87 2D Crosshair 87 2D Network 87 2D Open Curve 87 2D Point 87 2d Ribbon 87 2D Ruler 87 2D Text 87 3 D Closed Curve 88 3 D Composite 87 3 D Crosshair 87 3 D Face Objects 88 3 D Methods 91 3 D Network 88 3 D Objects 87 3 D Open Curve 88 3 D Point 88 3 D Ribbon 88 3 D Ruler 88 3 D Text 88 3 D World 73 3D Feature Sets Function 79 220 3D World 8 Absolute Value 55 Active Pane 30 Add Function 57 Add Vert 92 Adding to a Site Model 125 Addition of Images 57 Amplitude Profiles 63 64
139. e intersection of the principal ray with the terrain model or the z 0 plane if the site does not have a terrain model Objects in the world are projected onto the image plane through the camera which maps world coordinates z y z to image coordinates u v 76 View VIEW STACK Tool Object Tool Coordinates Feature Sets Transform dei ei IMAGES Image Coordinates H ei Transform 2 D Object 2 D Coordinates Feature Sets e ei Transform 3 D Object 3 D Coordinates Feature Sets p ei i Transform Figure 11 2 RCDE Data Representations RCDE User s Manual WINDOW Window Coordinates 2 D Transform 2 D World Coordinates 3 D gt 2 D Projection 3 D World Coordinates RCDE 040a Introduction to 3 D Modeling 77 such as Universal Transverse Mercator UTM Latitude Longitude Elevation or geocentric coordinates The view is also associated with a sensor camera model that maps 3 D world coordi nates to 2 D world coordinates The camera model is labeled 3 D 2 D Projection in the figure Chapter 13 presents more details of the camera model Views are also composed of images and 2 D feature sets which contain 2 D objects Both have transformations to transform local object or image coordinates to 2 D world coordinates in common with the output of the camera model The 2 D world coordinate values
140. e scrolling along with the cursor 2 To place the image in the desired position release the mouse button The Window command supplies an interactive interface for cutting one image out of another or viewing a zoomed in image with respect to the original image We will first use the window function to view the same image in two resolutions 1 Create an Image Windowing Tool by selecting the Window function from the Geom menu 2 Then position the cursor in the lower left corner pane The top pane should contain the original image and the bottom pane directly underneath it should contain the zoomed image 3 Left mouse click in the zoomed image A yellow box the Window Tool should appear in the both panes Notice that as you move the cursor the window object moves in both the zoomed pane and the original image pane Drop the window by clicking the left mouse button in the pane Geometric Image Transform Scenario 37 4 Place the cursor on the upper horizontal window edge The window edge should turn green Then resize the box by holding down the middle mouse button and moving the horizontal edge upward or downward to change the size of the window Let go of the mouse button to drop the window edge 5 Note that you can use one of two move modes 1 move an edge by pressing and holding the mouse button and letting go when you are done or 2 clicking pressing and letting go immediately moving the edge as needed then clicking the same
141. e should contain calls to the RCDE functionality which can be viewed as a large library of functions classes and type declarations The RCDE functions and classes available to C C are given in the RCDE Programmer s Reference Manual The user may also supply Lisp source code to be integrated with the RCDE and or the user s C C code Details of C C and Lisp programming with the LCI are specified in Section 17 5 below The names of all source files are provided by the user through the LCI Files menu either relative to the working directory or with a complete pathname The working directory may be specified on the LCl Parameters menu When using Performance mode all C C libraries except libe and libm must be specified for loading into the Lisp process Before user code is compiled through the LCI Callable forms C callables and Lisp callables must be generated for any C C functions to be called from Lisp and any user supplied Lisp functions to be called from C C The C callable forms for the RCDE functions listed in the RCDE Programmer s Reference Manual are distributed with the RCDE and do not need to be regenerated by the user Both types of Callable forms may be created using the LCl Functions menu Generally C C users create Lisp callable forms which allow Lisp to call their C C functions Each C C program integrated with the RCDE must have at least one Lisp callable so that C C execution can be initiated Lisp does
142. e transform describing the mapping between the terrain data location and the site coordinate system For example purposes a DEM file CMEHOME alv usgs dem is provided with the ALV data set This file is loaded and registered in this scenario Although programming commands in this section are given in Lisp syntax it should be noted that all functions called here may be called from C C Step 1 above loading the terrain image is accomplished by a pair of function calls The first loads the header of a DEM file and saves the result in a temporary variable usgs header setq dem header cme read usgs dem header CMEHOME alv usgs dem lt Usgs Utm Dem Header X2F6A3CE gt gt The second loads the corresponding DEM image data into an RCDE image setq dem image cme make dem image dem header lt BLOCKED ARRAY MAPPED IMAGE 402 x 466 SINGLE FLOAT X30BF306 gt gt The terrain image should appear as an image of type SINGLE FLOAT in the selected pane Step 2 requires the user to provide information regarding the mapping of the terrain image to the site coordinate system Since this information is dependent on the user s Terrain Data Integration 117 choice of the position and orientation of the site coordinate system it cannot be provided by the RCDE The information must be encoded in a transform object of the class 4x4 coordinate transform or one of its subclasses See Section14 3 below for more details Step 3
143. eate a new view using the specified image Select the New View Transform on Image function from the Transforms menu Following the Documentation Line prompt select the desired pane A popup menu will appear for selecting the 3d world into which the view will be inserted If you wish to use an existing 3d world select the desired world from the list If no world exists or you wish to make a new one select the Make 3d World button which invokes another popup panel Enter a string to label the new world then press Do It to create the new world and new view transform The new camera has a default set of parameters and 78 RCDE User s Manual places the stare point so that it appears in the bottom left corner of the image The transform is adjustable Make Transform Adjustable Allow the selected view s camera to be adjusted Some camera models such as in the ALV model have purposely been created so that the camera model cannot be adjusted This command allows the user to make the transform adjustable so that the camera parameters can be changed Select the Make Transform Adjustable function from the Transforms menu Following the Documentation Line prompt select the desired pane The existing view transform will be made adjustable and a camera icon and a stare point object will be created in the frame Note that you may have to refresh the pane if the objects do not appear in the pane Sun View Create a new view with an orthogra
144. ed on the distribution tape is a C program that writes a Sun rasterfile image to a file the image is a pattern consisting of a small black square 50 x 50 pixels of intensity zero within a larger block of white pixels 252 x 245 pixels of intensity 255 The generated test pattern is then loaded into a pane and several operations are boolean demonstrated 1 To generate the test pattern first compile and execute the C file CMEHOME 1ci examples square c AT 48 RCDE User s Manual This program generates a Sun rasterfile called image_pattern pix with an image pattern to be used as an example Next load the ALV site model by positioning the cursor on the the I O menu choice and left mouse clicking A second submenu should appear Position the cursor on the Load Site Model menu option and left mouse click Another Submenu will appear Position the cursor over the ALV choice and left mouse click After a few moments the ALV site model should have been loaded on the screen Bring the I O menu option to the RCDE foreground by left mouse clicking in the I O vertical pulldown menu near the I O lettering Choose the Load Image menu option Another text entry menu will appear You will need to fill in the directory and the Name of the file to be loaded a If the there is text in the directory field you may need to delete it To delete the text place the cursor to the right of the text click on the arrow entry until
145. ed to the keyword name when this occurs Using these defined constants instead of integer arguments should yield code that is easier to understand Any C Callable function must be declared in an eztern statement in the file using the C Callable Any C Callable function that is not part of an include file must be externed in C standard C practice The file S CMEHOME Ici extern statements contains extern statements for all of the functions in the RCDE C callable library Since extern statements for C callables taking keyword and optional arguments are not straightforward as explained above this file serves as a reference for all defined C callables It may be included in user C C files or used as a text source for individual extern statements in user source code The C proxy classes defining the C proxy class hierarchy are stored in three directories CMEHOME Ici proxy images contains proxies for the image pane view and frame hierarchies CMEHOME Ici proxy objects contains proxies for all geometric and graphical ob jects and CMEHOME Ici proxy transforms contains proxies for coordinate transforms and co ordinate systems See Section 17 5 6 for details on the class hierarchy The user may also recompile the LCI source files coded in C This may be desirable if the value of certain static system parameters needs to be changed To recompile the C source files execute the following line make f make debug source files
146. em Figure 2 1 illustrates the basic RCDE concept 2 1 1 Historical Overview The Cartographic Modeling Environment developed at SRI serves as the basis for the RCDE System Figure 2 2 supplies a historical perspective of CME s development Imag Calc was initially developed as a stand alone system providing facilities for image display electronic light table functionality image processing and a robust user interface On top of ImagCalc the Object system was designed to generate three dimensional models wire frame models incorporating the pinhole camera model and geographic coordinate systems A third component TerrainCalc was incorporated to render and display terrain features including tiling of DTM data and texture mapping of digital imagery onto the terrain grid When combined with Terrain Calc the Object system allows the 3 D model to be melded with the terrain model built with TerrainCalc and then rendered including simulated fly through sequences over arbitrary flight paths 5 6 RCDE User s Manual ent Lene User Layer Lisp 2 Sun SPARCstation RCDE 024b RCDE Layer System Layer Figure 2 1 An Overview of the RCDE System In the user layer the C C applications may be coupled to each other via Inter Process Communication IPC while the applications are coupled to the RCDE via the Lisp C C Interface LCI Lisp applications may be loaded directly into the Lisp CLOS process The
147. ents would be called 1 12 and the double components d1 d2 e C versus C Arguments Each C Callable Lisp Function has a typed argument list as listed in the Programmer s Reference Manual The corresponding C member function within a C proxy class has the same argument list with the first entry removed This entry is the pointer to the object itself and is inherently supplied by the proxy class e Proxy Names in C Any C Callable Lisp function name has a _pr appended when called as a member function in C C proxy class names are the same as their RCDE counterparts except that the suffix pr is appended and any hyphens in the Lisp names are converted to underscores 17 5 4 Calling C C from Lisp To call from Lisp to a C or C function a Lisp Callable function must be created using the menu sequence indicated above i e LCI Functions Lisp Callable C C Functions gt Create gt Create Entry Panel gt Create Lisp Callable The result will be the creation of a communication layer Lisp function called a DFFS Def Foreign Function Switch or Lisp callable function In this sequence of menus you must specify the name of the Lisp function the name of the corresponding C or mangled C name and number and types of the ar guments and the return type The supported types include the following e int unsigned int char char void void string float double boolean All of these basic types are fami
148. enu select Lisp Callable C C Functions since we want to access user C code Lisp C C Interface 157 c The resulting menu should have a place for function names on it Since we do not have any yet the entry is blank d On the menu type the function name create_and_change_image Then select the Create option to get creation menu e Enter the function name and specify whether you have given a mangled name No and the number of parameters zero or you can leave it blank f Push the button labeled Create Entry Panel g On the resulting menu specify the types of each function argument and return type In this case there are no arguments and the return type is int h Create the interface function by selecting the button marked Create Lisp Callable i Note that a Lisp form was generated in the cme Emacs buffer and loaded into Lisp You may yank the Lisp callable into another Emacs buffer and save it to a Lisp file containing all Callable functions for later reference but it is not necessary 5 The foreign function has the same name as you specified in the Functions menu above To execute the compiled C function select the Lisp Callable C C Functions to see the list of functions in operation Push the button by the function name after the name appears on the line select Execute to invoke another menu Select it and watch for the prompts Or you may run the function from the Lisp prompt using a Lisp form
149. enus or by using the Vertex bucky option for the conjugate point For each conjugate point identify the image location of the correct position of the point using Conjugate Point Move Conj Pt The X for each conjugate point should be placed on the image location of the building corner corresponding to its model corner Conjugate points should only be created for visible building corners since conjugate points without adjusted 2D image locations will be assumed to be in their correct image location Resection may now be applied to the camera model through the menu option Conjugate Point Resection Menu The feature set containing the conjugate points may not contain any other objects or an error will result Initially the Random search mode should be used since no effort was made to manually position the camera at the correct orientation Once a reasonable solution has been found the Improve mode should be used to avoid throwing away the approximate solution More buildings may be added to the scene and more conjugate points may be added on them to improve the camera model Since ground truth is not known in this scenario the distance between buildings must be judged relative to the size of the buildings as estimated from the imagery The chosen buildings and their conjugate points should span the image so that a more accurate camera solution can be derived When additional images are introduced they may be resected with respe
150. er initiated through the command line interface or by other means return pointers and printed representations to the Lisp Interaction Window These pointers are useful as a means of referencing specific intermediate results 16 RCDE User s Manual o emacs lippy Sun Common Lisp Develophlent Environment 4 0 1 6 July 1990 Sun 4 Version for SunOS 4 0 x and sunO0S 4 1 ee D an Ae ae an Copyright c 1985 1986 1987 1988 1989 1990 by Sun Microsystems Inc All Rights Reserved Copyright c 1985 1986 1987 1988 1989 1990 by Lucid Inc All Rights Reserved This software product contains confidential and trade secret information belonging to Sun Microsystems Inc It may not be copied for any reason other than for archival and backup purposes vee yee Ae Ae Ae Ne A Ar Ar Ae Ae Ae Ae Ae A A Ar As we Ae Ae Ae Ar Ae Ae Ae Ae Sun Sun 4 and Sun Common Lisp are trademarks of Sun Microsystems Inc Loading source file lisp init lisp Warning File lisp init lisp does not begin with IN PACKAGE Loading into package USER Loading binary file home zippy users cmee prehost_10 jan92 alv alv camera models sbin puting min max dtm You are using the compiler in production mode compilation speed 0 If you want shorter compile time at the expense of reduced optimization you should use the development mode of the compiler which can be obtained by evaluating proclaim optimize compilation speed
151. er than the pane you can move to the top left corner of the image by selecting the top left corner of the pane If this function is accessed through the Bucky keys dragging the mouse with the button pressed causes the pane to scroll interactively Menu Bar Select the Reposition function from the Geom menu Following the Documentation Line prompt select a point in the pane to reposition the view based on percentage Bucky Keys Holding down the Control Bucky key select a point in the pane to reposition the view with the left mouse button C L Dragging the mouse with the button pressed causes the view to scroll interactively Bucky Menu Invoke the Bucky menu with a right mouse click and select the Reposition function from the Bucky menu Following the Documentation Line prompt select a point in the pane to reposition the view based on percentage Zoom In Enlarge the view by a factor of two using pixel interpolation Menu Bar Select the Zoom In function from the Geom menu Following the Docu mentation Line prompt select a point on the source pane to be the zoom focus then select the destination pane The view will be enlarged by a factor of two Bucky Keys Holding down the Control Bucky key select a point in the view to be the zoom focus with the middle mouse button C M The view will be enlarged by a factor of two Bucky Menu Invoke the Bucky menu with a right mouse click and select the Zoom In functio
152. er with very limited C information Standard C debuggers such as xdbx cannot be used directly since tightly coupled C C code is embedded within the Lisp address space One potential solution is to debug the entire Lisp process with a standard C C debugger This strategy is currently infeasible because existing C C debuggers cannot decipher how Lisp maintains C data in its foreign symbol table In addition a huge amount of debugging overhead would created sorting through all of the Lisp process information to find the actual foreign C code and symbol table information would require detailed coding within the core Lisp implementation 17 1 2 Executing C and C Outside Lisp Debugging Mode A more viable solution for debugging is to execute Lisp and C C code in separate address spaces with some invisible means of communication between address spaces This type of execution is provided by the LCI in the RCDE and is usually called the Loosely Coupled mode C C code that will be tightly coupled in its final form is temporarily executed outside of the Lisp process at the programmer s request Control of the normal execution flow is maintained by Lisp through interprocess communication IPC but when the C C process is executing it can be interrupted by the user for debugging purposes The Lisp process waits undisturbed by the interruption in program sequence when execution is resumed the program control flow continues normally T
153. ess the Load Feature Sets button to perform the operation following the Documentation Line prompt select the desired destination view The Status field displays relevant information throughout the process Save Site Model Save a site model to a file Select the Save Site Model function from the I O menu which causes a popup window to appear Designate the desired model by pushing the button labeled Push Me then selecting the pane containing the model The Count field will display the number of objects found in the selected model Next specify the UNIX path and filename for storing the site in the Pathname field Finally press the Save Site button to perform the operation The Status field displays relevant information throughout the process Load Site Model Load a site model from a file Select the Load Site Model function from the I O menu which causes a small popup panel to appear The popup presents a list of site models that can be loaded directly 2 The list is stored in the variable cme site model list which the user can augment 68 RCDE User s Manual by selecting the button plus the entries None and Other The None entry dismisses the panel and aborts the Load Site Model operation while the Other command invokes a second popup menu for loading site models from a file Two fields are available for entering file names the Directory field and the Pathname field Enter the directory path where the desired file res
154. ete image data structure The next few lines of the example examine some of the components of the structure Then a for loop is used to set the diagonal pixels of the image to 255 Note that the C function to set pixel values utilizes the xmap and ymap of the RCDE to quickly access the correct elements of the image array Next the original image is displayed by pushing it onto the stack In Tight Coupling the white diagonal stripe will be visible in this image since the original image data is modified In Loose Coupling however this image will not have the stripe since the pixel data in the local copy in the C process is modified but not the original data in the Lisp process 160 RCDE User s Manual The two final steps copy the image data from the local image structure into a single dimensional character array then pass this array to Lisp to be converted into a Lisp image In both coupling modes this creates a copy of the modified image with the diagonal stripe In Loose Coupling though the data is passed between processes as a means of returning the modified image data to Lisp Note that the nested for loops indicate how indexing must be done on the image array to produce a linear array in row mayjor order Initialize Interface and Execute Add the file load_and_blur c to the list of C files Add the file create and_change c also if it is not already there Create a Lisp callable form for the function access_and_blur_image using the same p
155. f the RCDE is in its ability to use imagery to create and manipulate 3 D site models The next several chapters are dedicated to describing the RCDE s three dimensional capabilities The RCDE data structures are sufficiently complex however that this document will only summarize some important details For more information use the RCDE Programmer s Reference Manual together with the Lisp Listener to explore the RCDE representations directly 11 1 Representations As introduced in Chapter 2 the RCDE 3 D world is composed of the following components e Images a set of data derived from some sensing event e Views fundamental RCDE data structures that allow the user to observe the 3 D world on the display e Feature Sets a collection of objects logically grouped for some purpose e g common manipulation e Illumination Model a representation of site illumination used for shading the faces of rendered polyhedral objects and for computing values based on the sun position e g building height from shadows e Objects 2 D 3 D or Tool visual representations that populate or help build a site model 73 74 RCDE User s Manual e Camera Model a view component that specifies a transformation from 3 D world coordinates to 2 D view coordinates e Terrain Model terrain data associated with a given 3 D world Objects are often manipulated relative to the ground level e Site a collection of feature se
156. face menus for quick reference Note all of the string editor options on the menus require careful attention First the user must select the string editor line Then the user may type and edit the string into the menu buffer Finally to enter the string the user must use a carriage return Menu panels are invoked by selecting the main interface menu LCI as detailed in the following sections 17 4 1 Control Panel This menu contains buttons that perform loading and execution functions Although the Establish Interface button is only applicable in Debugging Mode all other buttons function in both execution modes Establish Interface Establishes socket communications between Lisp and an external C or C process for Loosely Coupled mode If Parameters Run Executable is set to No then this button should be pressed only after the external process is started manually possibly within a debugger If Parameters Run Executable is set to Yes then the C C process will be started by Lisp automatically directing standard output to the Lisp buffer In this case the value of Parameters Executable should give the name of the C C executable in a pathname that is complete or relative to the current working directory given in Parameters Working Directory In either coupling mode this button must be pressed before any C C code is executed from Lisp Compile Compiles a predefined set of user files using the compiler and comp
157. ffer The name of the c handle may then be entered as an argument to a Lisp Callable taking a c handle parameter either on a function execution menu or at the Lisp command line 17 4 2 Parameters Menu This menu allows the user to control the interface modes and specify the parameters for compilation and execution The Run Executable and Executable parameters affect the Estab lish Interface button on the Control Panel the Execution Mode parameter affects the Load C C Files control button and all other parameters except Run Executable affect code compilation The parameters Compilation Level Load User Object Code Run Executable and Executable only apply in Debugging Mode Execution Mode A button for specifying the coupling mode of the interface Debugging for Loosely Coupled mode Performance for Tightly Coupled mode Compilation Level A button for specifying the level of compilation The Regenerate In terface option causes the files containing phantom and stub functions to be automat ically generated and compiled The User Code Only option indicates that only user code should be compiled omitting the code generation stage Once the interface functions have been generated they do not need to be regenerated again unless new Callable functions are added or existing Callable function parameter or return types 164 RCDE User s Manual are changed Although it is the user s responsibility to monitor these changes
158. fies the RCDE data structures for viewing on the display The world contains objects that are viewed through a simple camera which transforms the world coordinates to image coordinates Objects in the scene are mapped to the image plane film plane of the camera The major components of a view are related as illustrated in Figure 2 6 The white boxes represent data objects which include model elements e g house image groupings of objects e g feature sets and transformations The shaded boxes denote coordinate systems which are numerical values stored in a separate container object From the left side of the figure we can see that a view is associated with a number of 3 D feature sets 2 D feature sets tool feature sets images and view stacks Each type of RCDE Overview 9 Lisp Environment Extension Window System Support Model User Interface Lisp C C Interface Image Utilities Model Utilities Image Display Model Transforms Image Operators Image User Interface Model Representation Image Representation Model Declaration RCDE 009b Figure 2 4 The RCDE Subsystems feature set 3 D 2 D tool is associated with a number of objects Each object has its own internal coordinate system object coordinates and a transform matrix that maps object coordinates to some other coordinate system For example follow the figure from the bottom moving toward the right Three D mod els e g houses have their
159. function from the Stack menu Note that the Documentation Line describes the menu functions when the cursor is moved over the menu items 24 RCDE User s Manual 2 Next select the lower left pane titled Alv Oblique Tower with the left mouse button This description appears in the Lisp Interaction window as follows gt LOAD IMAGE CMEHOME alv alv oblique tower pic gt This indicates that the pane contains an image that has been loaded with the load image function If you try this command later after a number of other functions have been performed on a pane you will see that the consecutive Lisp function calls are saved by the Eval Cache mechanism The panes of a frame are stacks that keep the results of many operations The lower panes of the ALV site contain other views below the visible ones which can be retrieved with stack operations 1 Select the Fwd Cycle command from the Stacks menu then select the lower left pane with the left mouse button The lower left pane should change to reflect a new view labeled Alv 3 42 There may be multiple ways to select the same function Place the cursor on a pane and click the right mouse button Another menu will appear which is called the Bucky menu Functions on images or panes can be performed by selecting the entries of the menu Notice that many of the functions in the menu also appear in the Stacks submenu 1 Select Cycle Stack from the Bucky menu then select t
160. g Lisp Callable C C Functions Manages Lisp callable forms through a menu entry panel sequence The button creates the Lisp Callable C C Functions menu with the op tions to Create Edit Delete Execute C Callable Lisp Functions Manages C callable forms through a menu sequence The button creates the C C Callable Lisp Functions menu with the options to Create Create Target Header Edit Delete Lisp Variables Creates an entry panel to specify the name and type for a reader get and a writer set C callable to manage the Lisp global variables used by the RCDE 17 4 4 1 Lisp Callable C C Functions Menu The first menu item is a list of Lisp callables currently defined within the Lisp environment Each Lisp callable shown here must have a corresponding C C function definition or an error will result when compiling in Debugging mode When a new Lisp callable is created or loaded this menu must be reinvoked to display the new entry The next item is a string edit line to enter the name of a new Lisp callable If a Lisp callable is selected from the list that Lisp callable name will appear on string edit line A Lisp callable must be selected for the Edit Delete and Execute operations Create brings up an entry panel Create New Function Header to structure the Lisp callable function creation panel which follows in this menu sequence The first line is the Function Name string edit line The name of the Li
161. g symbols in C C code as it is loaded undefined foreign symbols often mean that modules are missing or function names are incorrect In particular if the C C name given to a Lisp callable or C callable is not accurate i e it does not correspond to the function name in the C C code then compilation will fail and the misnamed symbol will be added to the undefined foreign symbols list In some situations symbols may be added to the undefined foreign symbols list during a successful compilation When a Lisp callable form is evaluated in Lisp two foreign symbols are created one for Performance mode execution and one for Debugging mode execution If the user executes in Debugging mode without loading his C C code into the Lisp process which is not necessary and probably not desirable then the symbols created for Performance mode execution are not resolved In this case the C C name given in the Lisp callable will appear on the undefined foreign symbols list If the user never compiles in Debugging mode then each Lisp callable will produce one unresolved symbol the C C name given in the Lisp callable with the suffix stub appended These symbols are expected to be unresolved and will not cause errors c_function_table Compiler Error When compiling in Debugging mode the LCI expects to find at least one defined Lisp callable If one does not exist a linking error will appear reporting that c_function_table is an unreso
162. gate points in the same Feature Set as the selected conjugate point will be used for resection Two resection search modes are available depending on the desired initial state of the camera model Random mode searches for a resection solution beginning from a number of viewpoints distributed over the viewing hemisphere This number is entered in the menu item Number of Random Starting Estimates Improve mode begins with the existing camera model as its only starting estimate The menu entries for focal length and principal point coordinates allow the user to enter initial estimates for these values The convergence threshold menu item allows the user to specify a desired accuracy in pixels to be achieved by the iterative resection algorithm e Execute resection by setting the Search Mode to Random and clicking on the DOIT button When the resection has completed the view should be updated auto 114 RCDE User s Manual matically with the new camera model The crosshairs of the actual conjugate point locations should be noticeably closer to their correct positions Change the Search Mode to Improve and click on DOIT again This time the final camera position should be more accurate than with random starting positions Chapter 14 Terrain Data Integration At any time during the model building process the user may choose to integrate digital terrain data with the current site model A digital terrain g
163. ge button to perform the operation The Status field displays relevant information throughout the process Save Feature Sets Selectively save feature sets from a view Select the Save Feature Sets function from the I O menu Following the Documentation Line prompt select a view containing the desired feature sets A popup panel will be invoked The top of the panel will contain a row of buttons one for each feature set in the selected view Press any number of buttons to select the feature sets to be saved As the buttons are pressed the Count field will display the sum of the objects within the selected feature sets Likewise the Status field will display how many feature sets have been selected Specify the UNIX path and filename for storing the image in the Pathname field then press the Save Feature Sets button to save the selected feature sets Load Feature Sets Load a feature set into a pane from a file Select the Load Feature Sets function from the I O menu which causes a popup window to appear Two fields are available for entering file names the Directory field and the Pathname field Enter the directory path where the desired file resides in the Directory field then enter the file name in the Pathname field Although it is not required entering a carriage return after entering the filename will initiate a search for the file displaying information about the file in the Date Author and File Length fields of the panel Pr
164. ge for every edge pixel identified in the final edge image setting all other pixels to zero Chapter 10 Graph I O and Miscellaneous Operations This chapter summarizes the Graph I O and Miscellaneous menus which provide assorted graphing capabilities input output operations and system level services 10 1 The Graph Menu The functions performed by this menu selection display image intensity information in a graphical form X Slice Plot pixel intensity as a function of position for a given horizontal line in the image The X Slice and Y Slice functions are also called line amplitude profiles Only the portion of the image visible in the pane will be graphed Menu Bar Select the X Slice function from the Graph menu After the Documen tation Line prompts to select a horizontal line to graph select any pixel in the desired image line When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the horizontal direction is then displayed in the destination pane Bucky Keys Depress the Super Bucky key and select any pixel in the desired image line within the desired image using the left mouse button When the Documentation Line prompts for a destination pane select the desired pane The plot of pixel intensity versus pixel position in the horizontal direction is then displayed in the destination pane 63 64 RCDE User s Manual Bucky Menu
165. h the button DOIT and the results of the operation will be displayed in the selected view The Status field displays relevant information and prompts throughout the process Zero Cross Image Compute zero crossings of an image returning a Boolean image showing where the zero crossings occur The crossing level parameter is the pixel intensity to be taken as zero Select the Zero Cross Image function from the Enhance menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next enter the pixel intensity to be used as zero by typing a value into the Crossing Level field This threshold value will determine the boundary state for pixel intensity e g equal to or above threshold a binary one below the threshold a binary zero To perform the operation push 62 RCDE User s Manual the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process Sobel Edges Perform edge detection on a given image using the Sobel operator The Sobel Edge Operator approximates the two directional derivatives at each point in the image The pixelwise output of the Sobel operator is the gradient magnitude ar ar Ox Oy where is the image intensity at a point Select the Sobel Edges function from the Enhance menu Following the Documentation Line prompts select the sourc
166. he lower right pane titled Alv Oblique Quanset The pane should reveal the Alv 3 41 view In this case the Bucky menu item Cycle Stack and the menu function Fwd Cycle perform the same functions In other cases the menu is intended as a short cut and some default function arguments are supplied Now explore how the Bucky keys work Notice the column named Bucky keys on the left side of the Bucky menu This designates the key combinations Hyper Super Meta and Control The top of the Bucky menu contains the words Left Middle and Right which refer to the mouse buttons When the keys are pressed in conjunction with a mouse click the function is executed The Bucky keys implement a short cut to selecting functions on the main menu and more functions are available there Depress and hold the Meta and Control keys simultaneously and click the left mouse button with the cursor in the lower right pane A shorthand for this sequence which specifies the Bucky key mouse combination is M C L The letters on the left 1Substitute the appropriate path for CMEHOME at your site Refer to the RCDE Installation Guide for details of the Bucky key locations Stack Usage Scenario 25 side of the arrow represent the Bucky keys and the letters on the right represent the mouse buttons Dashes represent the keys not selected With each mouse click you should see the view change indicating the stack is cycling You can copy the
167. he main advantage of this approach is that C C code can be linked and debugged using standard UNIX tools providing a familiar environment to the non Lisp programmer In addition errors in the C C process do not crash the Lisp process and performance may benefit from multithreaded architectures The Loosely Coupled mode provides a trade off between debugging functionality and reduced execution speed However the Loosely Coupled mode may provide satisfactory performance for most development activities It is assumed that the typical user will switch to the Tightly Coupled mode for final execution and demonstration purposes Lisp C C Interface 145 17 1 3 Switching Between Modes A key feature of the Lisp C interface is that the user can switch easily and invisibly between Tightly Coupled and Loosely Coupled modes without modification of the user s code The LCI either provides or automatically generates the interface functions necessary for communicating between the Lisp and C C processes Although there is significant overhead in communicating between the processes the Loosely Coupled mode is designed primarily for debugging After the user finishes debugging the C C modules are then tightly coupled for performance The switch actually takes place by selecting a menu option to change between Performance mode and Debugging mode That switch simply changes a global Lisp variable causing the interface to change its mode of communication
168. he system are possible depending on which site parameters are known the diagram illustrates a few alternate paths The user starts by loading an image of interest into a blank pane Multiple image operations e g contrast stretch enhance can be performed on the image to suit the viewer When the user is ready to begin building a model he creates a view transform which creates a 3 D World which includes a coordinate system and camera model This transform data structure can be blank or oaded from another source such as a file The user then creates model objects overlaying their wire frames on the image From this state the user can perform image operations and model operations in each subsequent state the notations are deleted from later states for convenience After the view transform is created the user must load and align the Digital Terrain Model DTM with the image to ensure that the terrain data and the image occurs at the correct coordinates e g Latitude Longitude of the image The final step in creating a fully aligned model is to correct the default camera model by resectioning the camera with the image and DTM Manual Adjustment of the objects in the scene produces a fully registered site model whose objects are in the correct 3 D location The image then represents a snapshot of the model objects and DTM as taken from the given camera Multiple images of a site can be aligned to a single site model to generate multiple views f
169. his section is a description of how the user sets up the LCI and its parameter values as a development environment for C C code The LCI provides a menu interface to manage C C code compilation loading and execution All LCI parameters such as execution mode lists of user source files name of user s makefile etc may be set using the menus All LCI operations such as C C code compilation and C C function execution may be performed by pressing LCI menu buttons The details of the menu interface and LCI programming are described in later sections this section is concerned with the conceptual process of integrating C C into the RCDE The general steps for code development and execution using the LCI are 1 Write C C code that calls C callable Lisp functions e g any RCDE function or uses the C proxy hierarchy described below 2 Specify the C C and possibly Lisp files containing user source code including compiled library files 3 Create Lisp callable functions for any C C functions to be called from Lisp or specify a Lisp file containing previously created Lisp callable definitions 4 Set the LCI parameters as desired for compilation mode working directory makefile etc 5 Compile code compiled files are automatically loaded according to compilation mode 6 Execute code by calling specific C C functions 7 Edit code as desired 152 RCDE User s Manual 8 Repeat to 5 The user s C C cod
170. ides in the Directory field then enter the file name in the Pathname field Although it is not required entering a carriage return after entering the filename will initiate a search for the file displaying information about the file in the Date Author and File Length fields of the panel Press the Load Site Model button to perform the operation following the Documentation Line prompt select the desired destination pane The Status field displays relevant information throughout the process 10 3 The Misc Menu This section contains a collection of miscellaneous functions for controlling the user interface Tandem Synchronize multiple views for performing simultaneous operations The Tandem functions allows the user to slave two or more views to a master view so that operations performed in the master view are simultaneously executed in each of the slave views Select the Tandem function from the Misc menu which causes a pullright menu to appear The menu which can be pinned presents a list of functions for implementing the Tandem mode e Tandem On Enable the tandem function e Tandem Off Disable the tandem function e Set Tandem View Establish a master slave relationship between two views The default position used for the slave operation is the 3 D point selected in the master view e Clear Tandem View Clear the master slave relationship e Show Tandem View Indicate via a flashing square which views are a
171. ile options specified on the Parameters menu then loads those files into Lisp according to execu tion mode Additionally a set of interface files are generated compiled and loaded Lisp C C Interface 163 when Loosely Coupled mode is in effect Note that compilation depends heavily on the parameters specified in the Parameters menu Load C C Files Loads the set of user C and C files specified on the Files menu The files must be compiled into object code before loading If Parameters Execution Mode is set to Performance then all C and C files and libraries are loaded Otherwise only the generated files lisp phantoms o and lisp stubs o are loaded from the current working directory if they exist This option allows execution of previously generated projects without regenerating or recompiling source code Load Lisp Files Loads the set of user Lisp files specified on the Files menu into the Lisp environment These files may include the files of Callable functions created by the user The pathnames must be complete or specified relative to the current working directory Create a chandle Creates a c handle object pointing to a Lisp object to be used as a parameter or argument in a C call The Lisp object is the last value returned by a function call or the last object dropped into the Lisp buffer The name of the c handle object and the printed representation of the object pointed to are printed in the Lisp bu
172. iler worked The basic idea behind FASD is that every object should be able to create a textual expression S expression that when evaluated produces a deep copy i e no common sub components of the original object 16 1 1 Creating FASD Files A FASD file may be programmatically created using a command script illustrated below but the RCDE environment also provides a menu interface to load and save particular FASD 1FASD FORM is the Lisp command which is used to invoke the FASD functionality 131 132 RCDE User s Manual files Specifically the menu functions Save Load Feature Sets and Save Load Site Model provide the user interface to the RCDE s FASD facility The RCDE currently implements the FASD facility When a user executes fasd form thing the FASD command outputs Lisp forms which when executed restore the object De thing within the RCDE To create an ASCII file containing these Lisp forms for subsequent object restoration the user must explicitly save the FASD output to file using the RCDE menus editor commands Lisp commands or C function calls If the RCDE is being run under Emacs then the user may simply employ editor commands to manually cut the text of a FASD form from the RCDE Emacs buffer and paste it into another buffer Lisp programmers may use Lisp syntax to redirect FASD output to a file since FASD produces a Lisp expression For C C programmers the fasd form command can be called from C directly
173. in rcde_types h 17 5 7 C C Programming Hints and Suggestions While considerable effort has been made to facilitate C C 4 code development using the LCI some aspects of compiling linking and executing C C code through Lisp can be problematic C code in particular may cause difficulty when executed within the Lisp process because of its memory management techniques Debugging mode can introduce extra complications because parameter typing errors in user code may lead to apparent errors in the automatically generated C code which is unfamiliar to the programmer Some common errors and idiosyncracies of executing C C though Lisp can be an ticipated Here is a list of problems or potential problems the C C programmer might encounter 178 RCDE User s Manual Undefined Foreign Symbols When the RCDE is started the LCI is loaded last A warning may be printed stating that there are linking symbols that have not been resolved 333 Warning The following foreign symbols are undefined _dlsym _lisp_function_table _dlclose _dlopen The three dl_ symbols are derived from the loading of C libraries and can be ignored The lisp_function_table symbol is created by the LCI but it should be resolved when the user compiles anything in Debugging mode Initially though it is supposed to be undefined The undefined foreign symbols list is the primary feedback from the Lisp linker Since Lisp attempts to resolve all linkin
174. in the pane An X11 pane is used for normal RCDE site models XGL frames are required to render model scenes using the XGL library e Screen Specifies on which screen the new frame will appear if the worksta tion has multiple screens and or screen types These buttons are determined by the system configuration for example a two monitor system having one 8 bit color screen and one one bit monochrome screen might have the options Gin 0 1 L bit 0 0 e Frame Name Labels the frame on its window decoration with the specified string The default label describes the window type and tiling arrangement If no defaults appear a value must be chosen for all parameters except Frame Name Press the DOIT button to perform the operation Globals Control panel Set a number of user interface display options Select the Globals Control Panel function from the Misc menu which causes a popup panel to appear The popup present a list of parameters affecting the RCDE user interface e Enable Multi Colors Enables the display of wire frame objects in colors other than the default yellow Object colors are set in the object parameters menu Default is No e Continuous Object Menu Update Enables continuous updating of values on the object parameters menu such as the position of the selected point or the object dimensions Default is Yes e Screen for Menu Popup Designates the screen on which the Bucky menus are drawn Options are Mouse
175. ined in Lisp while data accessors are provided as member functions in C This is consistent with data hiding techniques with the addition that the data is kept in another language e Member Functions Proxy classes contain member functions that correspond to direct methods on the equivalent RCDE classes If an RCDE generic function in the public interface has a method on a particular RCDE class then the proxy class for that RCDE class will have a corresponding member function which calls the method The member functions have a consistent functionality since they simply call through the LCI to execute the corresponding Lisp class method Each has an argument list that is the same as the C Callable s argument list except that the first argument which is the class object is removed The body of the function is a call to the C Callable function with the proxy s local c_handle slot inserted as the first argument Lisp C C Interface 177 There are a few exceptions to this format since Lisp does not require the first argument to be the class object The syntax given in the header files should be noted before member functions are used Where possible member function overloading has been used to accommodate RCDE generic functions that accept multiple parameter types In these cases C dispatch ing is used to select the proper C Callable function rather than forcing the program mer to explicitly determine which C Callable must be u
176. ing an Image 65 Outputting Feature Sets 67 Outputting Site Models 67 Pane 12 Pane Redraw 30 Pane Refresh 30 Pane Reinitialization 70 User s Manual Pane Fixed Objects 89 Panes 23 Parameters Menu Lisp to C C Interface 163 Performance Mode 142 Performance Mode Execution 144 Perspective Transform Methods 96 Phantoms 150 Philosophy of Data Manipulation 6 Philosophy of Design 6 Photographic Negative 54 56 Photometric Remapping Linear 56 Pinhole Camera 5 101 Pixel Representation Conversion 55 56 Point 2D 87 Point 3 D 88 Point Conjugate 89 Points Conjugate 111 Polygon 87 Polyhedra 88 Polyline 87 Pop Stack Function 32 Princ Pt 95 Printing an Image 66 Programming in C C 145 169 Project Files Menu Lisp to C C Interface 169 Proxies for Data 145 Proxy Classes for C 176 Quit CME 70 Radius Length 97 Range Focal Length 96 Ray Sun 90 RCDE Info 183 RCDE Info Node Organization 184 RCDE Objects 83 Re Orient 92 Read Eval Print Loop 21 Reading an Image 65 227 Reading FASD Files 132 Reading Feature Sets 67 Reading Site Models 67 Recalling Feature Sets 67 Rectangle Methods 95 Rectangular Parallelepiped 88 Red 93 Redo 90 Redrawing a Pane 30 Refresh Pane Function 30 Remapping Display for FFT 55 Remapping Linear Photometric 56 Removing Top Stack View 32 Render Function 80 Rendering 8 97 REPL 21 Representations 73 Representations of Data 8 Resection 104 110
177. ing the Execute button Parameters whose names begin with a colon are keyword parameters If the function does not exist or is not identified correctly the entry panel is not created 17 4 4 2 C Callable Lisp Functions Menu The first menu item is a list of C callables currently defined within the Lisp environment Each C callable shown here is a Lisp function that may be called from C C When a new C callable is created or loaded this menu must be reinvoked to display the new entry The next item is a string edit line to enter the name of a C callable If a C callable is selected from the list that C callable name will appear on string edit line A C callable must 168 RCDE User s Manual be selected for the Edit and Delete operations and a Lisp function name not a C callable name must be entered for the Create Target Header option Create invokes the Create New Function Header panel which is described in the above section on the Lisp Callable Functions Menu The same sequence of operations is followed to create a C callable form except that the final step is to press the Create C Callable button instead of Create Lisp Callable However a C callable produced through the Create menu will not have a body since there is no specification of what the function should do C callables are complete Lisp functions and so cannot be easily defined through a menu interface The resulting form is only intended to be enhanced with functional
178. ion push the Read Header button It is not necessary to read the header information to load an image Note that the image header fields in this panel are read only and do not affect the header values themselves All of the text fields in this panel can be scrolled using the arrow keys on the keypad Alternately double click on one of the file entries to completely select the image for input which includes reading the image header displaying the image header values in the fields below e g Block X Dimension and displaying the full path name of the selection in the Selection field Hardcopy Image Select an image and send it to a hardcopy device such as a Kodak or PostScript printer This command writes a PostScript file to the temporary file directory which can saved for later printing Note that the PRINTER environment variable is used to specify the print device Defined by host default mapped file allocation directory Graph I O and Miscellaneous Operations 67 Select the Hardcopy Image function from the I O menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image The image label and its pixel type should be displayed in the Title and Status fields respectively The Width and Height fields specify the size of the image on the page and the Orient field specifies the orientation of the output Finally press the Hardcopy Ima
179. ion upper right with the left mouse button The Documentation Line will ask you to pick a slave view Move the cursor to the pane that contains the original image upper left and select it with a left mouse click Select the Set Tandem View function from the pinned Tandem menu The documen tation window will prompt you to select a master view Select the image with the lowest resolution with the left mouse button The docu mentation window will ask you to pick a slave view Move the cursor to the pane that contains the zoomed image lower left and select it via a left mouse click Now go to the Tandem menu and select Tandem On Create a window to view the tandem images Place the cursor on Geom and select it by left mouse click Create an Image Windowing Tool by selecting the Window command from the Geom submenu Select Window via left mouse click then position the cursor in the lower left corner pane A yellow box should appear in the pane Notice that as you move the cursor the window object moves in the image pane You can resize the window by placing the cursor on the upper horizontal window edge The window edge should turn green Now you can resize the box by holding down the middle mouse button and moving the horizontal edge upward or downward thus changing the length of the window You can resize the width of the window by placing the cursor on the left or right vertical edge and depressing and holding the middle mous
180. ion 53 niversal Transverse Mercator 9 nkill Stack Function 33 nkill Top Function 32 nresponsive Condition 21 pdating a Site Model 125 ser interface 85 ser Interface 12 14 TM Coordinate 9 V Aspect 96 V Skew 96 V Roll 92 CC CH CHE CC CH Vert UV on DIM 93 Vert UVXY 93 229 Vert W 93 Vert Z 93 Vertex Manipulation Methods 92 Vertical Intensity Plot 64 Vertical View Function 78 View 8 12 73 74 View Descriptions 23 View Hacking Object 59 View Inspecting 23 View Menu 15 View Tool 89 View Tool Methods 94 View Adjusting 78 View Copying 31 77 View Creating 77 View Feature Sets 79 View Moving 31 View Nadir 78 View Orthographic 78 View Popping 32 View Removing 32 View Rendering 80 View Sun 78 View Vertical 78 Viewing Covered Images 30 31 Views 23 W Rot 92 Window Methods 96 Window Text 89 Window Image 89 Window Lisp Interaction 15 Working Directory Field 165 World Coordinate System 9 World 3 D 73 World 3D 8 X Exponent 94 X Slice Function 63 Xor Function 54 XY Exponent 94 XY Scale 95 230 XY Sizes 91 Y Exponent 94 Y Slice Function 64 Z Exponent 94 Z Rotate 92 Z Size 92 Z Rotate 92 Zero Cross Image Function 61 Zero Cross Overlay Function 61 RCDE
181. ion from the Bucky menu Following the Documentation Line prompt select the pane containing the desired image All views on the stack will be described in the Lisp Interaction window To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Refresh Pane Refresh the display of the selected pane and return a Lisp pointer to the pane in the Lisp Interaction window Menu Bar Select the Refresh Pane function from the Stacks menu Following the Documentation Line prompt select the desired pane The pane will be refreshed and a pointer to the pane will appear in the Lisp Interaction window Bucky Keys Select the desired pane with the middle mouse button M The pane will be refreshed and a pointer to the pane will appear in the Lisp Interaction window Bucky Menu Invoke the Bucky menu with a right mouse click and select the Describe Image function from the Bucky menu Following the Documentation Line prompt select the desired pane The pane will be refreshed and a pointer to the pane will appear in the Lisp Interaction window Select Select a pane for future operations dropping a pointer to the pane s image or graph into the Lisp Interaction window Menu Bar Select the Select function from the Stacks menu Following the Docu mentation Line prompt select the desired pane The pane will be refreshed and a pointer to its contents will appear in the Lisp Interaction window Bucky Key
182. ion of terrain data within the RCDE site model Chapter 15 Building A Site Model This chapter integrates the previous four chapters by presenting a comprehensive view of the site modeling process Chapter 16 Data Exchange This chapter discusses the file formats and data requirements necessary to transfer site models between systems Chapter 17 Lisp C C Interface This chapter discusses the architecture supporting the programmer s interface between Lisp and C C A scenario describ ing the interface is presented as well as an overview of its operation and sufficient detail to allow the user to integrate C C code with the RCDE Chapter 18 On line Documentation This chapter presents the RCDE s hy pertext documentation reference system Chapter 2 RCDE Overview 2 1 Introduction The RCDE is based on the Cartographic Modeling Environment CME software developed by SRI International which allows a user to interactively derive 3 D models of the world using imagery and geometric constraints The RCDE incorporates a Lisp C C LCI programming interface developed at Martin Marietta that permits IU researchers to de velop new algorithms in C or C and integrate them into the baseline RCDE architecture A robust language bridge allows data interchange and parameter passing between C C Lisp CLOS and the RCDE baseline The RCDE is currently hosted on the Sun SPARC station platform under the UNIX operating syst
183. ion point then select the destination pane The view will be rotated 90 in the clockwise direction about the selected point Bucky Keys Holding down the Hyper and Super Bucky keys select a point in the view to be mirror axis with the left mouse button HS R The view will be rotated 90 in the clockwise direction about the selected point Bucky Menu Invoke the Bucky menu with a right mouse click and select the Rotate function from the Bucky menu Following the Documentation Line prompts select a point on the source pane to determine the rotation point then select the destination pane The view will be rotated 90 in the clockwise direction about the selected point Rotate CCW Rotate the view 90 in the counter clockwise direction about the selected point Menu Bar Select the Rotate CCW function from the Geom menu Following the Documentation Line prompts select a point on the source pane to determine the rotation point then select the destination pane The view will be rotated 90 in the counter clockwise direction about the selected point Geometric View Transforms 45 Scale Rotate Scale the X and Y dimensions of an view by independent scale factors then rotate by a specified number of degrees Menu Bar Select the Scale Rotate function from the Geom menu which invokes a pop up menu for specifying the view x scale y scale degrees of rotation clock wise and pixel intensity value of the background Defau
184. ironment or Lisp users will have to implement code translators to native RCDE representations 16 2 Transferring Objects To and From C C Sys tems There are two methods to transfer data from C C systems into the RCDE file to internal and file to FASD Transfer efficiency and code reuse are deciding factors for which method to use File to internal Typically the user s C C system already contains routines to read and write a specific non FASD file format In this case the existing user routine to read the user s file format may be loaded directly into the RCDE with the appropriate files including the user s internal data structures h files The user then adds code to copy the internal data representations into native RCDE data structures this process will have to happen regardless of the transfer mechanism if the data are going to be used by the RCDE The reverse process to copy from the RCDE to internal user representations may also be implemented to allow the exporting of data The coding efficiency and reuse are maximized with this technique if the internal data transfer is easier to implement than a direct routine to produce FASD output from C data files In general the representational transformation is being performed between internal representations rather than through the FASD file format mechanism File to FASD The user could write specialized data translators to transform user data files directly into a FASD file
185. it returns a character string containing the FASD form which can then be routed to file using C C syntax This again saves objects in the Lisp environment For instance a simple Lisp statement that saves the FASD form of thing to the file filename lisp is with open file stream filename lisp write setq restored thing fasd form thing stream stream C C FASD Formatting FASD files may also be produced using an independent program written in any language such as C or C The file format must be written so that Lisp can effectively execute the data as code but the Lisp loader allows some flexibility in that whitespace is ignored and the order of slots within a FASD class instance is not specified 16 1 2 Loading a FASD File Into The RCDE An ASCII file containing FASD forms may be loaded during a subsequent interactive RCDE session to reproduce the environment in virtually the same state as it was saved This ability can significantly reduce development time and improve research productivity The RCDE does not require any special naming conventions for these files so the developer is free to choose a name which best describes its content Since a FASD file is an ASCII file of Lisp executable commands it can be loaded directly into the Lisp environment as Lisp code This is done by executing the the following command sequence on the Lisp command line load filename lisp Alternatively a C C programmer could call
186. ite model construction covered in the following sections 1 Creating a new site object 2 Registering images to the site 3 Registering a terrain model to the site 4 Constructing 3 D models of site objects and 5 Saving the site model and 6 Reloading the site model Figure 2 5 provides a graphical overview of the site model construction process 15 1 Creating a New Site Object The site object or 3d world provides a means for grouping objects within a session of the RCDE into distinct sites All objects within a site have a pointer to the site object containing them 125 126 RCDE User s Manual Initializing the Frame View and Image For a site to be visible to the user it must have at least one view of the site loaded into a pane Make a frame using the menu option Misc CHE Frames Make Frame This frame will contain the views of the new site although they could also be placed in any existing frame Frames are purely I O devices and are not associated to worlds directly Load an image containing a non nadir view of a building using O Load Image placing it in a pane in the new frame Initializing the Site and Camera Model The next step involves creating a new 3d world object and a default camera model for the loaded image Select Transforms New View Transform on Image Look for a cue on the documentation line to Pick Image For New Transform Select the pane containing the recently loaded image and
187. ity Extensibility Large and small scale system integration support Standard Operations and Representations Functionality that is widely used by the IU community Reusable Concepts Encouraged through object oriented methodologies and a consis tent data exchange format Seamless and Consistent Integration Intuitively usable basic operations for all enti ties e g Images Objects and Graphs in the user interface Integrated Support for Imagery and 3 D Models The ability to create a site model from imagery The system provides interactive three dimensional features capable of being associated with imagery Camera models are used to establish the relation between the imagery and the site model on a mathematical basis 1 3 Applicable Documents The following documents provide supplementary information e RCDE Programmer s Reference Manual e RCDE Installation Guide Tutorial on image understanding environments presented by D T Lawton at 1990 DARPA IU Workshop e Sun Microsystem Open Windows 3 0 Manual Sun Systems User Guide Desktop SPARCstation 1 4 Document Organization This document is organized into chapters that are summarized below In the earlier part of the document chapters are presented in pairs the first contains a step by step scenario of how to use the RCDE and the second lists and describes the menu items individually The user is first exposed to application specific examples before the details of ea
188. ity by direct editing rather than being executed immediately This option should only be used by programmers familiar with Lisp and LCI programming Create Target Header opens an entry panel for creating a C callable function that calls an existing Lisp function such as an RCDE function The first line of the panel is the Function Name C C string edit line The second menu item is a pull right menu specifying the C callable return type A list of possible types appears for user selection when the return type button is pressed The remaining entries are parameter types that may be specified by using the same pull right menu as for the return type The names and number of the parameters are extracted from the target Lisp function The body of the C callable consists of a call to the target Lisp function and should not be edited Edit allows an existing C callable to be edited The selected C callable is used to create a menu identical to the Create Target Header menu for changing the name return type and parameter types of the C callable The changes will not take effect however until the Create Header button is pressed Delete removes the C callable function definition from the LCI enabling recompilation in Debugging mode without the deleted function This is useful for removing invalid functions when switching to a new set of C C files i e a new project 17 4 4 3 Lisp Variables The variables menu creates two accessor
189. ivity H oe Lee Edit Composite Object Hierarchy C C Create an Identical Copy of Object L Duc Sun Z Adjust Object Height using Sun Model en eterna bea Drop W Place Object at Intersection of Ray e eer Az Elev Mouse X Rotates about World Z S e Lernen Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View w S Close Vertex Modification Reset Verts Restore Vertices to Default Positions for Object Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA User s Manual 191 ave id Adan ELSE noe Uc LI Reset Delete All Verice Except the Fist A e a ES SEENEN ew ER EEN ouer IL CIR ver to Groma c 192 RCDE Table A 2 Bucky Menu Functionality for Class 3d Closed Curve Bucky Label Documentation Line Mouse Menu of Object Parameters R Blank Temporarily Remove Object from HS L Close Object Close Object to Mouse Sensitivity H oe Lee Edit Composite Object Hierarchy C C Create an Identical Copy of Object L Duc Sun Z Adjust Object Height using Sun Model en eterna bea Drop W Place Object at Intersection of Ray e eer Az Elev Mouse X Rotates about World Z S e Lernen Z Rot Rotate abo
190. izontal 63 Intensity Plot Vertical 64 Interaction Window 15 Interface Command Line 15 Interface Language 17 141 Interface Lisp to C C 141 Interface User 12 Intersect Function 54 Inverse FFT Function 55 Jumping to an Info Menu Entry 185 Key Control 15 Key Hyper 15 Key Meta 15 Key Super 15 Keys Bucky 15 23 Kill Stack Function 33 Labeling an Image 87 88 Language Interface 17 141 Language Interface C Callable Lisp Func tions Menu 167 Language Interface Files Menu 165 Language Interface Functions Menu 165 Language Interface Lisp Variables Menu 168 Language Interface Lisp Callable C C Functions Menu 166 Language Interface Parameters Menu 163 Language Interface Project Files Menu 169 Language Mode Switching 145 User s Manual Latitude Longitude Elevation Coordi nates 9 LCI C Callable Lisp Functions Menu 167 LCI Control Panel Menu 162 LCI Files Menu 165 LCI Functions Menu 165 LCI Lisp Variables Menu 168 LCI Lisp Callable C C Functions Menu 166 LCI Menu Interface 162 LCI Notation Conventions 173 LCI Parameters Menu 163 LCI Project Files Menu 169 LCI Scenarios 154 Limitations of FASD 134 Limiting Hard 57 Linear Combine Function 58 Linear Xform Function 56 Linking Views 68 Lisp Interaction Window 15 Lisp Symbol Type 174 Lisp to C C Interface 17 141 Lisp to C C Interface Control Panel Menu 162 Lisp to C C Interface Menu In terface 162 Lisp to C C In
191. l not be specified in world units such as meters In the view containing the loaded image choose a prominent cultural feature such as a large rectangular building that has easily identifiable corners Using Create Object Box create a building in the site near the stare point Select the box by placing the mouse on one of its lower vertices Using the box s object menu set the a y z location of the box to be 0 0 0 This operation will place a ground level corner of the building at the site origin providing a convenient landmark for the site coordinate system Building and Manipulating a Site Model 127 For convenience the building s local coordinate system may be aligned with the site coordinate system This is the default configuration and does not need to be changed Using the same selected vertex of the box resize it so that it is approximately shaped like the chosen building in the image The image may now be resected by using the proportions of the building dimensions as a reference First create a new 3D feature set using View Feature Sets gt New3DFS Select this fea ture set so that newly created objects will be grouped into it automatically Next for each corner of the building visible in the image create a conjugate point directly on the corre sponding corner of the building model Note that the 3 D positions of the conjugate points must be specified this can be done precisely by using the conjugate point object m
192. lated commands include Reposition which enables the user to move anywhere in a given image and Re center which moves the selected point to the center of the pane As previously stated the viewing area is divided up into panes Each pane contains a stack of views The top of the stack view is what the user sees in each pane A view can contain wire frame models as well as imagery so be sure to position the cursor on a section of imagery free of the models otherwise the wrong function will be executed The desired context is the image not an object The scenarios listed below illustrate how to load a site model and or imagery into a pane The imagery is zoomed in zoomed out repositioned scrolled about the screen and partitioned into an image chip via the window function 1 First load the ALV site model by selecting the Load Site Model from the I O menu A second submenu should appear 2 Select the ALV field from the menu After a few moments the ALV site model should appear on the screen and the site model menu should disappear 3 Select the Zoom In function from the Geom menu Following the Documentation Line prompt select the pane containing the desired image to zoom 4 Select the view in the upper left pane labeled Alv 2 44 win 5 Following the Documentation Line prompt select the destination pane for the zoomed image choose the view in the lower left pane labeled Alv Oblique Tower Note that 35 36 RCDE User s Man
193. le on the object Diff of Gauss Difference of Gaussians Subtract two smoothed versions of the same image This operator functions as an edge detector which approximates the Laplacian of a Gaussian VG operator for an appropriate selection of parameters The menu pa rameters specify the pyramid levels for the images to be differenced This convolution uses the technique of hierarchical convolution developed by Peter Burt of SRI Each level in the hierarchy approximately doubles the standard deviation of the kernel The coefficients of the kernel are approximately exp 5 27 4 coeff y 2707 0y 1P Burt Fast Filter Transforms for Image Processing Computer Graphics and Image Processing No 16 pp 20 51 1981 Enhancement Image Transforms 61 Default values are taken from the last invocation of this function Initial invocation defaults are level 0 and level 1 Select the Diff of Gauss function from the Enhance menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Next select one of nine levels in each of the fields marked Level 1 and Level 2 which determine the size of the Gaussian kernels used a larger number implies a larger standard deviation Keeping Level 2 larger than Level 1 avoids reversing the image To perform the operation push the button DOIT then select the desired destination p
194. lect the upper left pane again Move the cursor to the pane where you want the next image to be copied choose the upper right pane Depress the Meta key and hit the middle mouse button The image will be copied into that pane Select another pane Hold down the Control key and depress the right mouse key twice The image should have gotten smaller indicating that you zoomed out Now reposition the zoomed out image so that it is in the middle of the screen To do this position the cursor on the zoomed out image and depress the Control key and hold it down Now move the mouse cursor you will find that the image moves with the cursor When you are satisfied with the position of the image within the pane release the Control key Now that we have copies of the same image in three different panes at different resolu tions we will tandem the images Tandem implies that one image view is a master while the other is slave Thus when a window is moved in a master it is also position in the slave We will make the zoomed out image the master and the other two images the slave 1 Select the Tandem function from the Misc menu and pin the resulting menu to the screen Select the Set Tandem View function from the Tandem menu The Documentation Line will prompt you to select a master view Geometric Image Transform Scenario 39 10 11 12 13 14 15 16 Select the image with the smallest resolut
195. levation Map DEM files which have a standardized format Functionality exists to read DEM file headers and terrain image data into an RCDE structure and an RCDE image respectively See the Programmer s Reference Manual Section USGS DEM for details Whichever format of terrain image is used the DTM registration process can be divided into the following steps 1 Load the terrain image as a standard RCDE floating point image 2 Define the DTM coordinate transform mapping the terrain image to the site coordinate 115 116 RCDE User s Manual system including appropriate scaling 3 Create an RCDE terrain model object with the DTM transform and the DTM image 4 Link the created terrain model to a world The next section of this chapter contains an explicit description of the complete process required to integrate USGS DEM files This is included as a brief scenario to illustrate some of the concepts and functionality used to register terrain data to a site The remaining sections detail how a user might integrate a terrain file format that cannot be directly read by the RCDE 14 1 Registering USGS DEM Files Because it can read the header format the RCDE can extract image data and other in formation such as scaling and latitude longitude position from USGS DEM Files This collateral information provides most of the data needed to integrate a DEM file into a site the only remaining piece that must be supplied by the user is th
196. liar C or C data types Arrays of the non pointer types are also supported e c_handle C C c handle Lisp A special LCI type that is an index or pointer to a Lisp construct It is used to manipulate Lisp objects without moving the object through the interface 174 RCDE User s Manual e lisp handle A special LCI Lisp type that is effectively a pointer to a C construct It is used to provide Lisp with a pointer to a C structure or C class If the handle classes are used properly there is no need for the programmer to understand the underlying representation or implementation The general principle in using handles is to allow the LCI to manage all encoding and decoding while the programmer simply passes handles between languages as if they were objects If a Lisp function returns a c handle then the C program only needs to know to expect a return type of c_handle The returned value can then be used as a parameter to other C callable Lisp functions that use a c handle parameter without the C program ever examining or otherwise using the c_handle directly A facility to pass C C arrays between Lisp and C C is also provided C arrays are often represented as pointers with no direct reference to the number of elements in the array Similarly Lisp can accept foreign pointers that point to the first of an unspecified number of array elements For automatic transfer of these data types between processes the RCDE defines a synt
197. ling in the C C Process149 The GNU Emacs Top Level Director 182 The Menu of RCDE Documents 183 Top Level Nodes of RCDE Documentation 184 ix 18 4 Documentation Node Relationships List of Tables 16 1 House FASD Example e 136 16 2 Half Cylinder FASD Kampen 137 16 3 Superquadric FASD Example e 138 16 4 Ribbon Curve FASD Example e 139 Al Class 3d Curve 2 2 190 A 2 Class 3d Closed Curve 2 0 192 A 3 Class 3d Ruler Object 2 0 194 A 4 Class Image Windowing Tool 2 0 0 0 0 0 0 00000 000 196 Ah Class House Object 2 0 2 197 Ap Class Extruded Object 199 A T Class Cylinder 2 0 201 A 8 Class Half Cylinder 2 0 200200 002002000 000000000000 203 A 9 Class View Hacking Object 2 0 0000 000000000000 0000 205 A 10 Class Superellipse 2 2 aaa e 206 A 11 Class Color Map Hacking Object 208 A 12 Class Superquadric 2 aaa e 209 A 13 Class Camera Model Object 2 aaa e 211 A 14 Class Sun Ray Object 2 0 e 213 A 15 Class Conjugate Point Object 215 xi Chapter 1 Introduction 1 1 Purpose This document is intended as a user s manual for the RADIUS Common Development Environment RCDE which is an interactive workstation environment and standard toolset for manipulating imagery and constructing 3 D site models The User s Manual will provide a description and several examples of the various stages of constructing site models In addition this docume
198. ll be removed from the chosen stack Bucky Menu Invoke the Bucky menu with a right mouse click and select the Pop Stack function from the Bucky menu Following the Documentation Line prompt select the desired pane The top view will be removed from the chosen stack Unkill Top Restore the most recently popped view to the selected pane Menu Bar Select the Unkill Top function from the Stacks menu Following the Documentation Line prompt select the destination pane The most recently popped view is retrieved from the invisible temporary storage stack and pushed onto the selected pane Pop Expunge Permanently remove the view from the top of the selected stack The expunged object is permanently destroyed and can not be recovered Menu Bar Select the Pop Expunge function from the Stacks menu Following the Documentation Line prompt select the desired pane The top view will be permanently removed from the chosen stack Bucky Keys Holding down the Meta and Control Bucky keys select the desired pane with the right mouse button M R The top view will be permanently removed from the chosen stack Bucky Menu Invoke the Bucky menu with a right mouse click and select the Expunge Top function from the Bucky menu Following the Documentation Line prompt select the desired pane The top view will be removed from the chosen stack Stack Manipulation 33 Copy Stack Copy all views from one pane stack to the top of another
199. llowing the Documentation Line prompt select the desired pane The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Bucky Keys Holding down the Super Meta and Control Bucky keys select the pane containing the desired image with the left mouse button SMC gt L The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Bucky Menu Invoke the Bucky menu with a right mouse click and select the Rev Cycle function from the Bucky menu Following the Documentation Line prompt select the desired pane The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Move View Move the view from the top of one pane stack to another pane Menu Bar Select the Move View function from the Stacks menu Following the Documentation Line prompt select the source and destination panes The view will be popped from the top of the source stack and pushed onto the destination stack Bucky Keys Holding down the Meta Bucky key select the destination pane with the right mouse button M gt R The source pane will default to the previously selected pane the highlighted pane which will be copied onto the destination stack Bucky Menu Invoke the Bucky menu with a right mouse click and select the Move To Here function from the Bucky menu Following the Documentation Line prompt select the source and destination panes
200. lly divide the image into quarters and swap the blocks diagonally to center the outermost pixels in the image Usually this function is performed on data that has undergone an FFT transformation to move the DC component to the center of the image Select the Magnitude Squared function from the FFT submenu Following the Documentation Line prompts select the source and destination panes The resulting image is pushed onto the destination pane Float Create a new image whose pixel values are converted to floating point numbers Select the Float function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting floating point image is pushed onto the destination pane Fix Create a new image whose pixel values are converted to integers by truncating values below the decimal point Select the Fix function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting fixed representation image is pushed onto the destination pane Round Coerce floating point pixel values to integers by adding 1 to the integer part if the decimal part is greater than or equal to 0 5 otherwise truncate the decimal part 56 RCDE User s Manual Select the Round function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting fixed representation image is pushed onto the desti
201. logical TRUE and a 0 is an indication of set exclusion logical FALSE Rules for handling images of differing sizes are the same as for binary arithmetic operations Missing bit positions are zero extended Select the Union function from the Boole submenu Following the Documentation Line prompts select the two source panes and the destination pane The resulting image will appear in the destination pane e Intersect Perform the pixelwise intersection logical AND of two images where al is an indication of set membership logical TRUE and a 0 is an indication 53 54 RCDE User s Manual of set exclusion logical FALSE Rules for handling images of differing sizes are the same as for binary arithmetic operations Select the Intersect function from the Boole submenu Following the Documen tation Line prompts select the two source panes and the destination pane The resulting image will appear in the destination pane Xor Perform the pixelwise exclusive OR operation of two images where 1 is logical TRUE and 0 is logical FALSE Rules for handling images of differing sizes are the same as for binary arithmetic operations The truth table for XOR is Select the Xor function from the Boole submenu Following the Documentation Line prompts select the two source panes and the destination pane The resulting image will appear in the destination pane Complement Pixelwise complement logical NOT of
202. lt values are taken from the last time Scale Rotate was invoked On the first invocation default values are x scale 1 y scale 1 and rotation 0 making it an identity oper ation Scales with magnitude less than one shrink the view while those with magnitude greater than one magnify the view Negative scale values cause axis reversal For eight bit images the background the area vacated after the view has been rotated pixel intensity can be set to an integer between 0 black and 255 white The following items appear on the Scale Rotate popup menu Status This field displays information and prompts that are relevant to the operation Image To set a view for the operation select the button to the right of the IMAGE label then select the desired pane The image ID should be displayed on the button X scale Enter the scale factor for the X dimension Y scale Enter the scale factor for the Y dimension CW Rotate Enter the amount of rotation in degrees Background When a view with a rectangular image is rotated it is bounded by a larger rectangle The four empty triangular areas that result from this bounding rectangle can be set to a gray scale level between 0 and 2 1 where n is the number of bits per pixel The default is zero black DOIT Push this button to perform the operation Following the Documen tation Line prompt select a destination pane for the scaled rotated view Window Cut out a su
203. lved symbol This is easily fixed by creating or loading a Lisp callable function for the C C function called to initiate C C execution C Libraries The RCDE loads the standard C libraries libc a and bam oa when it is initialized The standard C libraries are not loaded however To execute C code in Performance mode any referenced C libraries must be loaded directly into the Lisp process including rb o and lbOstream a This can be accomplished by adding the complete pathnames of the archive files to the C C libraries list and loading C C files while in Performance mode Lisp C C Interface 179 C Initializations When C is compiled it is generally translated into either symbolically or textually During this process some default initializations are added to the main function in the user s code However since the main function cannot be in user code compiled under the LCI these initializations are never encoded by the C compiler and hence are never executed This can lead to seemingly inexplicable bugs and crashes when executing C programs in both execution modes One essential initialization is for the default C output stream cout Without an initialization statement a program may hang or simply crash at the first attempt to direct output to cout To avoid this the user should place the C statement Iostream_init init in a function that is called before cout is used The variable initis not it
204. mate a complex 3 D object The greater the value of order the more accurate the representation A mapping of rectangular graph coordinates into the coordinate points of a surface Possible Values LAT LONG GEODESIC default LAT LONG Magnitude of the X coefficient of the superquadric equation measured in site units Magnitude of the Y coefficient of the superquadric equation measured in site units Magnitude of the Z coefficient of the superquadric equation measured in site units Ratio of light Reflection to Incidence value between 0 and 1 The rotation and position of an object coordinate system with respect to a site world coordinate system expressed in matrix form This matrix is used to transform the given object instances coordinate system to that of its attached world Name of the site model containing the object Data Exchange 139 Table 16 4 Ribbon Curve FASD Example MAKE INSTANCE QUOTE RIBBON CURVE VERTICES MAKE RIBBON VERTEX ARRAY FROM LIST QUOTE 0 0 0 0 0 0 24 0 87 07990264892578 32 76338577270508 15 647439956665039 24 0 CLOSED P QUOTE NIL FILL P QUOTE NIL OPEN FOR VERTEX MODIFICATION QUOTE T OBJECT TO WORLD TRANSFORM MAKE INSTANCE QUOTE 4X4 COORDINATE TRANSFORM TRANSFORM MATRIX MAKE COORD FRAME MATRIX 294 8896620587175 4556 413122432717 6074 948873798788 WORLD GET 3D WORLD NAMED QUOTE Alv 3d World PROPERTY LIST LIST QUOTE RENDER MODE QUOTE FILL
205. mentation browsing system Emacs emacs The extensible self documenting text editor This manual is for Lucid GNU Emacs 19 3 CVS pcl cvs The front end to CVS RCDE rcde info RCDE Documentation Figure 18 1 The GNU Emacs Top Level Directory On line Documentation 183 File rcde info Node Top Menu prm idd info The Programmer s Reference Manual ig ig info The Installation Guide 8 8 ugd ugd info The User s Manual Figure 18 2 The Menu of RCDE Documents are looking at is the top level directory into the GNU Emacs Info facility At the top is a section giving a brief synopsis of commands which are available in Info mode Note that this section says that by typing h one can take the Info mode tutorial The tutorial introduces most of the commands which are available to navigate through on line documentation and gives one enough practice in using them to enable one to use the facility with some level of confidence The rest of the Info top level directory is a menu of Info topics Most of these topics correspond to documents for software products put out by the Free Software Foundation FSF which developed GNU Emacs One of the manuals on the list is for the Info system This is convenient should you forget one of the commands you learned in taking the tutorial or you want more detail on one of the commands The RCDE Info File If your system has had the RCDE installed according to
206. ments in 3 space Ribbon pairs of near parallel lines used for modeling roads rivers and other ribbon like objects each vertex may take a separate 3 D position Star A set of 3 D line segments sharing a common end point This object exists in 3 space and is visible in all views 12 2 3 3 D Face Objects The following objects are fully three dimensional and are associated with a given point in 3 space They appear in all views of a given scene and are capable of being shaded or having texture mapped to their faces Box A rectangular prism like 3 D object having three degrees of freedom X Y and Z Cylinder A cylindrical 3 D object having two degrees of freedom height and radius Extrusion A 3 D object whose base is a closed 3 D curve used for extruding buildings with complex geometry House A box with two sloping roof surfaces in place of the upper face whose roof angle can be specified separately Quanset a half cylindrical 3 D object having two degrees of freedom height and radius its canonical direction is flat side down The RCDE Objects 89 e Superellipse A closed 3 D object having two degrees of freedom that is described by the equation GOO a b c e Superquadric A closed 3 D object having three degrees of freedom that is de scribed by the equation gi Hau Z n G IE a b c 12 2 4 Tool Objects The following objects exist only in the two dimensional window space That is
207. more expressive than other fixed point representations of fewer bits per pixel If the images to be subtracted are of differing sizes the output will be of size min l l2 by min w1 w2 where l is the length of the ith image in pixels and w is the width of the ith image in pixels The area subtracted will be the area of overlap if the two images were put on top of each other with the bottom left corners coinciding Select the Subtract function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting difference image is pushed onto the destination pane Linear Combine Weighted addition of two images with user specifiable weights The initial defaults for this algorithm are 1 and 1 making this the subtraction oper ation The rules for sizing and handling overflows and underflows are the same as for other binary arithmetic operations Select the Linear Combine function from the Arith menu which causes a popup window to appear Designate one of the source views by pushing the button labeled Image A then selecting the pane containing the image Repeat for Image B Adjust the Factor A and Factor B fields by moving the labeled slider bars Enter the Offset value by typing the desired value in the field To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process Cha
208. most striking example of this is the Eval Cache facility which is a mechanism to control the execution of display operations It avoids replicating identical computations by storing a list of previously executed operational sequences and reusing the result if available The Eval Cache greatly increases system performance especially for image operations Both keyboard and mouse input are used to drive the interface components which are detailed in the following sections and figures 2 2 3 1 Windows The RCDE screen provides visual feedback to the user and provides a means of human interaction and control at various phases of the site modeling process Through interac tion with the RCDE the user is able to control manipulate and view site model objects houses terrain models buildings images within the 2 D and 3 D worlds associated with appropriate coordinate systems The RCDE screen layout provides an efficient tool to study the site modeling process By default the RCDE dedicates most of the screen to a regular array of display areas called panes each of which contains a stack of displayable objects called views The top view RCDE Overview 13 on each stack is displayed on the pane This array of panes is grouped in a display window called a frame The panes are used to display all of the RCDE displayable objects including images graphs geometric objects and textual messages Figure 2 7 illustrates an example frame labeled CME 2x
209. mouse button H S L The view will be rotated about a vertical axis 44 RCDE User s Manual Bucky Menu Invoke the Bucky menu with a right mouse click and select the Flip X function from the Bucky menu Following the Documentation Line prompts select a point on the source pane to determine the mirror axis then select the destination pane The view will be rotated about a vertical axis Mirror Y Reverse the view top to bottom about the selected axis Menu Bar Select the Mirror Y function from the Geom menu Following the Doc umentation Line prompts select a point on the source pane to determine the mirror axis then select the destination pane The view will be rotated about a horizontal axis Bucky Keys Holding down the Hyper and Super Bucky keys select a point in the view to be mirror axis with the left mouse button H S L The view will be rotated about a horizontal axis Bucky Menu Invoke the Bucky menu with a right mouse click and select the Flip Y function from the Bucky menu Following the Documentation Line prompts select a point on the source pane to determine the mirror axis then select the destination pane The view will be rotated about a horizontal axis Rotate CW Rotate the view 90 in the clockwise direction about the selected point Menu Bar Select the Rotate CW function from the Geom menu Following the Documentation Line prompts select a point on the source pane to determine the rotat
210. mposite Methode 12 3 18 Perspective Transform Methode 12 3 19Curve Methode 12 3 20 Half Cylinder e 12 3 21Sun Ray Methode 13 The Camera Model 13 1 Coordinate Transforms 2 e 13 1 1 The Transform Mainz 13 2 The Pinhole Camera 2 2 e 13 3 Camera Refinement e 13 3 1 Entering a Known Camera 13 3 2 Manually Adjusting Camera Positions 13 4 Applying Camera Resection 2 e 13 4 1 Conjugate Points 0 13 4 2 Executing Camera Resection ooa 14 Terrain Data Integration 14 1 Registering USGS DEM Files auaa a 14 2 Preparing a DTM Image aaa aaa e 14 2 1 Loading a DTED File as a RCDE Image oaoa 14 2 2 Loading a RCDE Compatible DTM Image 14 3 The DTM Transform 2 0 2 a 14 4 Creating a DTM Ober 14 5 Linking the DTM to the Ste 15 Building a Site Model 15 1 Creating a New Site Object 2 2 a 15 2 Registering Images 2 a 15 3 Registering a Terrain Model 15 4 Constructing 3 D Models 0 000 000 0000 000000000000 15 5 Saving a Site Model 2 ee 15 6 Loading a Site Model 15 6 1 Initialize The Frame 15 6 2 Initialize The Site Model 15 6 3 Display the Site Model 16 Data Exchange 16 1 Transfer Between RCDE Sites FASD Files 0 0 000 000000 16 1 1 Creating FASD Files 2 aaae 16 1 2 Loading a FASD File Into The RCDE e 16 1 3 FASD File Format 0 0 0000000 000 0000 0000000 133 16 1 4 FASD Limitations 2 2 2 2
211. n an upper corner of an imaged building in the registered image may be projected onto the center of the roof of the same building in the unregistered image Some points will have greater apparent error than others because of the nonlinear nature of the projective model With the conjugate points visible in the unregistered image the user can see where the points are relative to world coordinates and also where they should be according to the image Using the Move Conj Pt option on the Conjugate Point menu the correct location in the image plane for each conjugate point is specified with the mouse by moving the mouse from the crosshair to the proper location Once the mouse moves away from the crosshair a small x should appear and move interactively Clicking the left mouse button will secure the x in place All conjugate points that are created and are in the same feature set must also be corrected or else they will be taken to be properly positioned in both images i e the error in the uncorrected points will be taken as zero The Camera Model 113 e Conjugate points are created interactively using the Create Object menu option Con jugate Point By observing the point locations in the registered views create and position a number of conjugate points on prominent site features that are also visible in the unregistered image The DTM must be registered to the site and both the registered view and the unregistered view must be view
212. n conj pts in second image Conjugate Pt Move Conj Pt Call the resection function Conjugate Pt Resect Figure 13 4 The Steps in Executing Automatic Camera Resection 13 4 1 Conjugate Points In the simplest terms conjugate points are 3 D locations that can be identified and correlated between multiple views of the same site For example the corners of a building that are visible in two images could be used as conjugate points between the two images More generally conjugate points are points whose locations can be identified in multiple sources of information about the same site such as images terrain data and maps For example if a map of a site shows the location of a building and this same building is visible in an image of the site then the visible corners of the building may serve as conjugate points between the map and the image Conjugate points are assumed to be known and fixed relative to the site coordinate system and one data source This implies that the transform between the data source and the site is fixed and assumed to be correct The resection process uses conjugate points between the known data source and a second data source to adjust the transform parameters defining the location of the second data source relative to the first In the best case the positions of conjugate points are known relative to some absolute coordinate system such as the geographic coordinate system If the position of the DTM in geographic
213. n from the Bucky menu Following the Documentation Line prompt select a point on the source pane to be the zoom focus then select the destination pane The view will be enlarged by a factor of two Zoom Out Reduce the view by a factor of two using Gaussian blur as anti aliasing filter prior to subsampling Menu Bar Select the Zoom Out function from the Geom menu Following the Documentation Line prompt select a point on the source pane to be the zoom focus then select the destination pane The view will be reduced by a factor of two Bucky Keys Holding down the Control Bucky key select a point in the view to be the zoom focus with the right mouse button C R The view will be enlarged by a factor of two Geometric View Transforms 43 Bucky Menu Invoke the Bucky menu with a right mouse click and select the Zoom Out function from the Bucky menu Following the Documentation Line prompt select a point on the source pane to be the zoom focus then select the destination pane The view will be enlarged by a factor of two Fast Zoom In In place zoom in by pixel replication without interpolation Menu Bar Select the Fast Zoom In function from the Geom menu Following the Documentation Line prompt select a point on the view to be the zoom focus The view will be enlarged by a factor of two Bucky Keys Holding down the Super and Meta Bucky keys select a point in the view to be the zoom focus with the middle mouse butt
214. nate system and a feature set 3d FS 1 is extracted from the world 3 A coordinate transform is constructed which transforms from a object centered coor dinate system for the house to the world coordinate system placing the origin of the house at 35 4567 6050 4 Next a C house object is created associated with the world and the coordinate transform The dimensions of the house and the roof pitch are supplied as keywords The constructor is named the same as its class HOUSELOBJECT_PR Note that the object has pr appended to signify that it is a proxy object and constructor At this point the object will not appear on the display because it is not part of a feature set 5 So the next step is to put the object into a feature set using the RCDE function call add_object Note that the first argument is a Lisp symbol accessor for the house object It gets the Lisp pointer to the Lisp house object The moment this function is executed the object created appears on the screen The pause and select option is placed before this call to allow you to look at this display at the time that is happens 6 To rotate the object a rotation matrix is created using a call to make_orientation_matriz The only argument is the eleventh keyword which allows us to specify the rotation angle about the z axis in degrees In this case a rotation of 90 degrees is specified 7 Finally the C house Class indirect method house1 rotate_relative_to_worl
215. nation pane Resize Pixel Create a new image having the same numerical values at all pixels where possible but having different pixel data types Select the Resize Pixel function from the Arith menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Select the desired new pixel size from the row of buttons choices for number of bits pixel are 1 2 4 8 16 and 32 The default value is the number used on the last invocation of this function When decreasing the number of bits per pixel intensities above the range of the new representation are set to the maximum value of the new representation To perform the operation push the button DOIT then select the desired destination pane Negate Perform a photographic negative operation On floating point images this corresponds to a numerical negation of each pixel On fixed point images this corresponds to subtracting each pixel value from the maximum representable pixel value Select the Negate function from the Arith menu Following the Documentation Line prompts select the source and destination panes The resulting fixed representation image is pushed onto the destination pane Menu Bar Select the Negate function from the Ath menu Following the Docu mentation Line prompts select the source and destination panes The resulting negated image is pushed onto the destination
216. nk the object modules Details of this process can be found in the file CMEHOME examples make c debug 156 RCDE User s Manual Set the Run Makefile switch accordingly 4 Select LCI on the Menu Panel which invokes the main interface panel 17 3 2 Tightly Coupled Example Now load and run code in the Tightly Coupled mode to demonstrate the basics of the interface 1 Set compilation and execution parameters be sure to hit enter on all menu string entries e Select Parameters on the main interface panel to invoke the Parameters menu which is described in Section 17 4 2 e On the Parameters menu set the working directory to reflect where your code is located e Set the Execution Mode to Performance Tightly Coupled mode e Set the Run Makefile button to No 2 Specify the user files to be compiled a Choose Files on the main interface panel to invoke the Files menu which is described in Section 17 4 1 b Choose C Files on the IF Files menu c Type the file name create_and_change c d Select Add File to register the file name The file name should appear in the large window on the menu 3 Compile and load code a Invoke the Control Panel from the main interface menu b Compile the code by selecting Compile on the Control Panel The resulting object code is automatically loaded into Lisp 4 Create Lisp Callable functions a Select Functions from the main interface menu b On the resulting m
217. nsform The translation component is unchanged as it is originally specified in site units This scaled transform matrix is used in most computations relating to the DTM such as those required when moving objects about on the DTM surface or interpolating elevation values for selected pixels 14 5 Linking the DTM to the Site The final step in the terrain registration process is associating the DTM image and its transform to a world Step 4 A 3D woRLD object may contain a terrain model as an element on its property list Adding the terrain model to the world s property list establishes the terrain model as ground truth for that site This is accomplished with standard property list syntax in Lisp and with the function put_prop in C C For example in Lisp syntax the following form establishes alv windowed terrain model as the terrain model for alv 3d world setf get prop alv 3d world terrain model alv windowed terrain model In addition the terrain image may be registered to the world as an image itself so that it may be displayed as a normal image in the world i e any modeled objects in the site will appear on the DTM image The function setup image worlds creates the proper entries in the various slots of the image and the world objects so that the view containing the image is included as part of the given world This function can be used to associate any image transform pair with an existing world thereby creating
218. nsities You will have to scale them 7 Select the Linear Xform menu option and use the lower right pane as the source and destination pane 8 A submenu will appear Mouse click left in image button 9 Enter the number 10000 in the scale factor field 10 Next select the Round menu option and again select the lower right pane as the des tination Arithmetic Image Transform Scenarios 51 11 Select the center zero option from the menu choices 12 Choose the lower right pane for the results 13 The view you see should be the familiar 2 D FFT plot The above steps were necessary for you to view the FFT data in a meaningful way To calculate an FFT you just need to invoke the FFT function with an image as its argument The resultant complex image is placed on the stack 52 RCDE User s Manual Chapter 8 Arithmetic Image Transforms These functions perform arithmetic operations on image intensities The menu choices are Boole Linear Transform FFT Clip Float Threshold Fix Add Round Subtract Resize Pixel Linear Combine Negate Boole Produce a submenu of boolean image operations These operations perform logical Boolean operations on one bit images or multi bit images Each bit position within a pixel is treated on a bitwise basis with respect to Boolean operations The Boolean operations include e Union Perform the pixelwise union logical OR of two images where a 17 is an indication of set membership
219. nt describes an interface between CLOS and C that permits a Lisp or C programmer to extend the functionality of the RCDE This User s Manual is addressed principally to researchers within the Image Understand ing IU community and is sponsored by the Office of Research and Development ORD and the Advanced Research Projects Agency ARPA The environment will be made available to all industry and university contractors who perform IU research for the U S Government and is to be used for developing and comparing image understanding algorithms 1 2 Scope of the Document This manual is intended to aid IU researchers in understanding the RCDE user interface data representations and programming requirements The beginning chapters of this doc ument will assume that the user wishes to manipulate objects from the interactive window display and is not familiar with a Lisp or C programming environment In order to extend the capabilities of the RCDE the user must understand how to use the programmer s inter face which will be described in sufficient detail so that the interested reader programmer can add additional functionality to the RCDE A description of the RCDE at the functional level is supplied in the RCDE Programmer s Reference Manual The RCDE when utilized to its full potential will provide the user with the following capabilities 2 RCDE User s Manual Interactivity Commands and menus with mouse and context sensitiv
220. nu Following the Documentation Line prompt select the pane containing the desired image A popup menu will appear enter the reference name followed by a carriage return The named image can now be referenced by the specified name Inspect Image Display the instance variables slots associated with the selected image using the Lisp Inspector The Lisp Inspector is a tool for examining Lisp data structures as illustrated in Figure 4 1 Since Lisp is engaged while in the Inspector subsequent attempts to use other RCDE menu selections without exiting the Inspector will queue up menu selections Therefore the user is cautioned to type q followed by a carriage return to exit the Lisp inspector and return control to the Lisp top level Menu Bar Select the Inspect Image function from the Stacks menu Following the Documentation Line prompt select the pane containing the desired image The Lisp Interaction window should appear similar to the one listed in Figure 4 1 To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Bucky Keys Holding down the Hyper Super and Meta Bucky keys click the left mouse button in the pane of choice HS M L window will enter the Lisp 27 28 RCDE User s Manual Inspector To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Bucky Menu Invoke the Bucky menu with a right mouse click and select the function Ins
221. ods are available for RECTANGLE objects e Change Size Change the size of a rectangle object e Move Edge Move the edge of a rectangle object If a corner of the object is selected two edges can be moved simultaneously e Move Move a rectangle object in the pane 12 3 14 Scroll Bar Methods The following additional methods are available for SCROLL BAR objects e Scroll Scroll the indicated view e Scroll2d Scroll the view in 2 D 96 RCDE User s Manual 12 3 15 Window Methods The following additional methods are available for WINDOW and IMAGE WINDOWING objects e Make Window Make a new view whose image is the subimage inside the selected window e TScroll Scrolls the view in Tandem mode 12 3 16 Feature Set Methods The following additional methods are available for FEATURE SET objects e Desensitize Desensitize the feature set making all objects in the set insensitive to the mouse e Hide Hide the feature set making the feature set not present in that view e Sensitize Sensitize the feature set making all objects in the set sensitive to the mouse 12 3 17 Composite Methods The following additional methods are available for composite objects e Desel Superiors Deselect the superiors of an object e Open Inferiors Open the inferior objects of an object e Sel Superiors Select the superiors of an object 12 3 18 Perspective Transform Methods The following ad
222. odule transfers data between the two processes 20 RCDE User s Manual Chapter 3 Stack Usage Scenario The RCDE Installation Guide contains a confidence test scenario that should be executed by every user If you have successfully executed the confidence test scenario you will notice that you can move a graphic object house model by simply left clicking on the object selecting it and moving the cursor The house object will track move with the cursor movement within the pane Having experienced some degree of success with the RCDE user interface you are now ready to move on to the next phase which guides you through some practical scenarios that explore the RCDE in greater detail 3 1 Taking Charge To check the response of Lisp move the cursor to the Lisp Interaction window and select the cme buffer Find the Lisp prompt a greater than sign which is at the end of the buffer You can go to the end of the buffer using M gt Type O followed by a carriage return The Lisp Interaction window should return NIL If the Lisp debugger window responds but the menu items appear to be unresponsive type the following command in the Lisp Interaction window followed by a carriage return gt ic repl Note If you are sure that the system is configured properly and if you select a menu item and the system does not respond you probably need to respond to a Lisp function via the Lisp Interaction window Look to either
223. omplished by typing load foreign files my_xdr_routines o nil at the Lisp prompt after normal Debugging mode compilation has completed Once these steps are accomplished then the structure may be passed between the languages as a single parameter or return value e Optional Arguments C Callable functions may have optional parameters Each such C Callable function has a parameter named optionals_used which follows the list of required arguments The optionals_used parameter contains a value giving the number of optional parameters to be used on a given function call If no optional parameters are used then optionals used must be zero i e the optionals_used pa rameter itself is required C Callable Lisp functions may not have both optional and keyword parameters e Keyword Arguments C Callable functions may have keyword parameters which are arguments specified by an identifier value pair in the argument list Although standard Lisp allows keywords C and C do not explicitly support any equivalent function calling syntax Any keyword in a keyword list is specified by two arguments The first the keyword identifier is an integer specifying the ordinal position in the keyword list e g the first keyword position is numeric one given in the Programmer s Reference Manual or in the Lisp definition of the C Callable function The second is a pointer to the actual value to be passed according to the type in the keyword list Li
224. on C M The view will be enlarged by a factor of two Bucky Menu Invoke the Bucky menu with a right mouse click and select the Fast Zoom In function from the Bucky menu Following the Documentation Line prompt select a point on the pane to be the zoom focus The view will be enlarged by a factor of two Fast Zoom Out In place zoom out without antialiasing filter Menu Bar Select the Fast Zoom Out function from the Geom menu Following the Documentation Line prompt select a point on the view to be the zoom focus The view will be enlarged by a factor of two Bucky Keys Holding down the Super and Meta Bucky keys select a point in the view to be the zoom focus with the right mouse button C R The view will be enlarged by a factor of two Bucky Menu Invoke the Bucky menu with a right mouse click and select the Fast Zoom In function from the Bucky menu Following the Documentation Line prompt select a point on the pane to be the zoom focus The view will be enlarged by a factor of two Mirror X Reverse the view left to right about the selected axis Menu Bar Select the Mirror X function from the Geom menu Following the Doc umentation Line prompts select a point on the source pane to determine the mirror axis then select the destination pane The view will be rotated about a vertical axis Bucky Keys Holding down the Hyper and Super Bucky keys select a point in the view to be mirror axis with the left
225. on resection of an unknown camera is performed with respect to data from a known or simply fixed source such as another camera or the DTM The resection process has four major steps which are detailed in this chapter see Fig ure 13 4 First the camera to be resected must be manually placed in a position close to its actual location this step may not be necessary if adequate results can be obtained from the resection algorithm using random starting locations Second conjugate points are created and placed at their known locations in the site using the DTM and a correctly registered image Since the camera to be adjusted has a view of the site the conjugate points should be visible in its view but they are probably not in the correct positions Next the points are manually moved to their proper locations using a special menu option that moves the points only in the view of the camera to be resected This difference in locations is the critical input for the resection routine Finally the resection algorithm is called to find the best set of camera parameters that aligns the projected locations of the conjugate points with the specified correct locations The Camera Model 111 Load an unregistered image O Load Image Create a view on the image Transforms New View Transform On Image Adjust the new camera into approximate Camera UV Roll etc position Create conj pts in reference image Create Object gt Conjugate Pt Positio
226. one Create an identical copy of an object Delete Delete the object Drop Obj Stop modifications to the selected object and return a pointer to the object instance in the Lisp Interaction Window Edit Hier Edit the composite object hierarchy of the selected object Menu Bring up a panel to adjust object parameters menu for the selected object Redo Redo the last action Note that the Undo History Length can be changed using the Globals Control Panel Undo Undo the last action Note that the Undo History Length can be changed using the Globals Control Panel The RCDE Objects 91 12 3 2 Common Methods The following methods are common to many objects Rotate Scale Change the object s size and orientation keeping the selected point fixed in site coordinates Left right mouse motions perform one action up down mo tions perform the other action Scale Scale the object with respect to the selected point keeping that point fixed in site coordinates XY Sizes Change the object s size with respect to site coordinate X and Y di rection keeping the selected point fixed in site coordinates Left right mouse motions perform one action up down motions perform the other action 12 3 3 3 D Methods The following additional methods may be performed in a 3 D world Vertex Move the indicated vertex to the selected point For conjugate point objects move the 3 D part of the conjugate point to
227. ordinate System In standard photogrammetric usage refers to the local interpretation of altitude with respect to a reference height 0 datum In the RCDE LVCS refers to a local 3 D coordinate frame attached to the site being modeled Mixin A class defined for the purpose of contributing properties via inheritance which is not instantiated directly For example a class named SHADED HOUSE might inherit from SHADED FACE MIXIN which gives the house the ability to shade its faces Module A generic term for a software component e g Class Service or Subsystem Object A concept abstraction or thing with crisp boundaries and meanings for the prob lem at hand an instance of a Class OMT Object Modeling Tool A CASE tool developed at GE to support the discipline of object oriented analysis and design particularly of software ORD Office of Research and Development The primary sponsor of the RADIUS and RCDE programs RADIUS Research and Development for Image Understanding Systems A program ad ministered by ORD and ARPA for investigating Model Supported Exploitation MSE RAM Random Access Memory RCDE RADIUS Common Development Environment An interactive workstation envi ronment and standard toolset for supporting Image Understanding research It is the development environment upon which the RADIUS Phase 2 testbed will be built User s Manual 219 Resection The process of simultaneously adjusting camera parameters to resolv
228. osed 2d Curve A set of connected line segments forming a closed region in the image plane commonly used to delineate region boundaries Open 2d Curve A set of connected line segments in the image plane 12 2 2 SD Feature Objects The following objects although not necessarily three dimensional themselves are associated with a given point in 3 space They appear in all views of a given scene 3d Composite An object that serves to group other 3 D objects allowing them to be manipulated together Note that this object does not have a wire frame representation per se 3d Crosshair A cross shaped object used to mark locations in 3 space 88 RCDE User s Manual 3d Network A collection of line segments and vertices that can be manipulated as a group in 3 space and whose vertices can be moved individually in 3 space 3d Point A zero dimensional object used to mark locations in 3 space 3d Ribbon A pair of parallel open curves for representing lines of communication such as roads and rivers in a scene 3d Ruler An open 3 D curve used for performing mensuration in 3 space 3d Text A text object typically used as a label in 3 space Closed 3d Curve A set of connected 3 D line segments that form a closed region commonly used to delineate 3 D boundaries DTM Mesh A rectangular grid of lines used to reveal the DTM data underlying a given site Open 3d Curve A set of connected line seg
229. ow to restore Lisp to its normal operation In debugging mode the error may occur in the Lisp process or the C C process In the former case the RCDE again traps into the Lisp debugger In the latter case the C C process will halt possibly with a core dump returning to Unix or to an enclosing debugger The user may edit source code and recompile completing the development subcycle The LCI makes no restrictions on the user s choice of editor although Emacs is recommended because of its ability to run the RCDE as an inferior process The execution mode may be switched at any time but this may require recompilation before executing functions in the new mode if Callable functions have changed 17 2 1 Projects An LCI project is a set of source files and LCI parameters defining the integration of a C C program with the RCDE It is intended as a convenient means to package lists of source files and other information so that the user does not have to explicitly enter this data each time a new RCDE session is begun Projects also provide a quick way to switch between C C programs integrated with the RCDE without starting a new RCDE process Project files may be created by manually setting all source files and LCI parameters then saving a project file using LCI gt Projects Save Project With a project file steps 2 and 4 above are replaced by loading the project file LCl Projects Load Project Note that loading the project does no
230. pane Bucky Keys Holding down the Hyper and Meta Bucky keys select the destination pane with the right mouse button H M R The resulting negated image is pushed onto the destination pane Bucky Menu Invoke the Bucky menu with a right mouse click and select the Negate function from the Bucky menu Following the Documentation Line prompts select the source and destination panes The resulting negated image is pushed onto the destination pane Linear Xform Replace each pixel value by ag b where a and b are user specifiable scale and offset values respectively Default values are taken from the last invocation of this function On the first invo cation default values are a 1 and b 0 making this the identity operation Select the Linear Xform function from the Arith menu which causes a popup window to appear Designate the desired image by pushing the button labeled Image then selecting the pane containing the image Enter a numeric value in the Scale Factor Arithmetic Image Transforms 57 and Offset fields representing a and 6 in the equation ag b X is the pixel value a is scale factor and b is the offset To perform the operation push the button DOIT then select the desired destination pane The Status field displays relevant information and prompts throughout the process Clip Perform a hard limit function at each pixel location This function performs an identity mapping on pixels which fall
231. pe Each is a multiple choice popup menu that is selected with the left mouse button The remaining fields allow numeric image parameters to be specified which is useful for images without file headers The fields are X Dimension Y Dimension Block X Dimension Block Y Dimension and Header Length Finally the Status field displays relevant information throughout the image loading process Dired Image Search a directory for image files select an image from the directory list and load it into a pane Select the Dired Image DIRectory EDit function from the I O menu which causes a popup menu to appear Type a directory path name into the Filter field which is used to search the directory for files Enter a carriage return or push the Filter button to initiate the file search The search will terminate with the last slash so end the path with a slash to go into the deepest directory The directories and files matching the search string will appear in the Directories and Files scrolling lists The Directory list may be used to move around the directory structure by double clicking with the left mouse button on one of the entries Single click on one of the file entries to select an image for input and display its full path name in the Selection field Press the Load Image button to load the image following the Documentation Line prompt select the desired destination pane To display the image header fields e g Block X Dimens
232. pect Image from the Bucky menu Following the Documentation Line prompt select the pane containing the desired image The Lisp Interaction window should appear similar to the one listed in Figure 4 1 To exit the Lisp Inspector type q followed by a carriage return at the gt gt prompt Describe Image Display a description of the form stored for the given image in the Lisp In teraction window A Lisp form will be displayed that describes the series of operations performed on that stack item such as LOAD IMAGE CMEHOME alv alv oblique tower pic Menu Bar Select the Describe Image function from the Stacks menu Following the Documentation Line prompt select the pane containing the desired image A Lisp form similar to the above will appear in the Lisp Interaction window Bucky Keys Holding down the Hyper Super and Meta Bucky keys select the pane containing the desired image with the middle mouse button HSMC gt M A Lisp form similar to the above will appear in the Lisp Interaction window Bucky Menu Invoke the Bucky menu with a right mouse click and select the Describe Image function from the Bucky menu Following the Documentation Line prompt select the pane containing the desired image A Lisp form similar to the above will appear in the Lisp Interaction window Inspect Stack Display a description of each view on the stack in the Lisp Inspector The Lisp Inspector is a tool for examining Lisp
233. phic camera model at the sun position To create a new view from the sun position a SUN RAY object must be present and set in the view to define the illumination model The new view will not have an associated image Select the Sun View function from the Transforms menu Following the Documentation Line prompt select the center point of the new transform where the stare point will be located then select the destination pane The new view will be created in the selected pane Vertical View Create a new nadir vertical view The new view will use a perspective camera with the same focal length and camera elevation as the specified view The new view will not have an associated image Select the Vertical View function from the Transforms menu Following the Documen tation Line prompt select the center point of the new transform where the stare point will be located then select the destination pane The new view will be created in the selected pane 11 4 Feature Sets Feature sets are a mechanism to group modeling objects within the RCDE Objects in a common feature set can be made visible or invisible as a group in a single view They can also be sensitized or desensitized as a whole sensitized objects can be selected by the mouse whereas desensitized objects ignore mouse events When an object is created it is automatically placed into the selected feature set Though the user may not have explicitly created or selected a fea
234. pter 9 Enhancement Image Transforms This chapter describes a set of operations that enhance the visual display of an image by emphasizing either the contrast or the edges of the image The functions include Contrast Stretch Zero Cross Image Diff of Gauss Sobel Edges Gauss Blur Canny Edges Zero Cross Overlay Contrast Stretch Perform a pixelwise linear remap of existing intensity values to the full range of the pixel representation Pixel values outside the maximum range are mapped to the closest range extreme This function is similar to the Linear Transform function discussed in Chapter 8 but is an interactive function The gain and offset of each pixel is defined by the relation gain x pixelvalue of fset This operation is similar to the Image Window operation since it performs the oper ations using a special tool the view hacking object Since more general capabilities of the RCDE objects will be presented further in Chapter 12 this discussion will concentrate on simple contrast manipulation Select the Contrast Stretch function from the Geom menu Following the Documen tation Line prompt select the view to place the Image Window tool The tool will be created at the selected point appearing as a small box with the text designation 59 60 RCDE User s Manual View This icon is an object having a set of associated methods and is called a view hacking object A number of operations can be pe
235. pters manipulate image data the functions in this chapter apply to the view as a whole They perform geometric operations on the view including Recenter Reposition Zoom in Zoom out Fast Zoom in Fast Zoom out Mirror X Mirror Y Rotate CW Rotate CCW Scale Rotate Window Recenter Move the view to put the selected point at the center of the pane If this function is accessed through the Bucky keys dragging the mouse with the button pressed causes the view to scroll interactively Menu Bar Select the Recenter function from the Geom menu Following the Docu mentation Line prompt select the desired center point the view will be reposi tioned to center this point in the pane Bucky Keys Holding down the Meta Bucky key select the desired center point with the left mouse button M L the view will be repositioned to center this point in the pane Dragging the mouse with the button pressed causes the view to scroll interactively Bucky Menu Invoke the Bucky menu with a right mouse click and select the Recenter function from the Bucky menu Following the Documentation Line prompt select the desired center point the view will be repositioned to center this point in the pane 41 42 RCDE User s Manual Reposition Recenter the view based on the percentage of the cursor s position in the pane This function is useful for panning around a large image without having to zoom For example if the image is much larg
236. ra model with the Conjugate Point option on the Create Object menu This will place a new conjugate point at the position pointed to by the mouse when the left button is pressed However for this point to be correct in three dimensions a DTM must be registered to the same site as the registered image It is essential that conjugate points are given correct coordinates in three dimensions If no DTM is registered to the site the default z coordinate will be set to zero This will lead to a set of coplanar conjugate points which will most likely cause the resection algorithm to fail Without a registered DTM the z coordinate can be manually set for each point by entering the appropriate value in the Conjugate Pt gt Menu The conjugate points must be at locations that are visible in both images such as corners of buildings or roads that are clearly displayed from both viewpoints For reasonable resection performance at least six conjugate points should be defined for an image pair The points should not lie in the same plane and they should span the registered image so that a reasonable perspective model can be approximated The conjugate points relating the two images must also be included in the same Feature Set 13 4 1 2 Aligning Conjugate Points Unless the unregistered camera is already in perfect position the conjugate points will not appear to be in exactly the correct locations in the unregistered image For example a conjugate point o
237. reate a new 3 D feature set press the New3DFS button at the bottom of the panel A new feature set will be created and added to the list Render Control the rendering parameters for a view Select the Render function from the View menu which causes a popup panel to appear Designate the desired view by pushing the button labeled Pick View then selecting the pane containing the view Specify which type of rendering is desired using the Mode menu Wire Frame Draw the site objects as wire frame objects performing hidden line removal within each object but not between objects This mode the default is available in all types of frames HLR Wire Frame Draw the site objects as wire frame objects performing hidden line removal within each object and between objects This mode is enabled only in an XGL frame HSR Shaded Surface Draw the site objects using shaded surfaces performing hidden surface removal within each object and between objects This mode is enabled only in an XGL frame Select which mode of refresh is desired using the When button Choosing Done implies that wire frames are used to indicate the objects positions when they are being moved and the scene is re rendered whenever the object is dropped Continuous allows the rendering process to be performed continuously as objects are modified The Status field displays relevant information throughout the process The following steps summarize the process of ren
238. reated use the menu option I O Save Site Model option The Save Site menu that pops up allows a mouse selection of the chosen site to save by pushing the site slot Look for a cue on the documentation pane to select the site by mouse or keyboard Specify the site by mouse clicking left in the image where the site has been connected Note the number of objects created it should match with with total number of objects in the union of all the feature sets for the site Specify the full pathname of the site with the file name ending with extension site if you wish then click on the SAVE SITE button A message will indicate when the save operation is complete The Lisp Listener will provide a message similar to the following Saving lt Outland 3D WORLD X3228056 gt Building and Manipulating a Site Model 129 to File home zippy RCDE users wsb outland site Finished writing home zippy RCDE users wsb outland site gt The file containing the site is in FASD format which is ASCII Lisp code that will reconstruct the site objects when evaluated by loading it back into Lisp For more information on FASD files see Chapter 16 15 6 Loading a Site Model Currently menu support for loading site models is incomplete While the FASD files output by the RCDE contain sufficient information for recreating the site and objects in the site no information about the display of the site is explicitly stored For example the site files do not contain da
239. rformed on the selected view using this object For example the Brt amp Cont function allows interactive adjustment of the brightness and contrast of the view s appearance Enter this mode by by moving the cursor into the object the icon must turn green and clicking the middle mouse button The brightness gain and contrast offset will change as a linear function of mouse movement using the following convention e Mouse vertically up increase gain e Mouse vertically down decrease gain e Mouse horizontally to the right increase offset e Mouse horizontally to the left decrease offset e Mouse movement in both directions increase decrease both parameters The Documentation Line will display brightness and contrast parameters interactively as the operation is performed Note that the entire screen appears to be affected while the operation is in progress but only the desired pane is changed when the operation is finished This is because the colormap is directly manipulated for fast interactive feedback but a new image is calculated and the colormap restored when the operation is completed To see the other operations available from the view hacking object press the Hyper and Control Bucky keys while the cursor is on the object it must be highlighted then click the right mouse button This invokes the object Bucky menu which can not be used to execute operations but serves as documentation for the Bucky key commands availab
240. rid is a set of known elevations spaced at regular intervals over a specified region usually square Once the digital terrain model DTM is registered to the site the user may take advantage of the knowledge of ground truth when placing objects in the site Move UV on DTM Drop Z creating additional camera models by resection and rendering complete scenes The DTM points are not usually shown in a view but by creating a DTM Mesh object the user can see a movable grid overlaid on a portion of the DTM It is suggested that the terrain model integration should be completed as soon as possible in the site modeling process so that subsequent additions to the model can take advantage of the DTM features Currently there is no menu support for registering terrain data to the local coordinate system In general the user must supply terrain data in a known image format and must register the terrain image to the model by applying the RCDE functions that rely on a priort knowledge of the relationship of the site to the terrain data Because of the possible complexity of this process and the variety of forms of input terrain data it is recommended that the user must make use of the Lisp command line or a file of Lisp or C C code to load the data into the system s DTM object Once created however this object is essentially just an image containing elevation data instead of intensity values Direct support is provided for US Geological Survey Digital E
241. rithmetic Image Transforms This chapter describes each Arith metic Image Photometric Transform menu option what it does and how to invoke it e Chapter 9 Enhancement Image Transforms This chapter describes pixel intensity manipulation and image window function menu options what they do and how to invoke them No scenarios are required By following each procedure the user can execute the function The user is introduced to the notion of an object with menu options e g the view object hacking tool e Chapter 10 Graph I O and Miscellaneous Operations This chapter de scribes other operations such as how to create histograms plot a horizontal or vertical line of pixel intensities line amplitude profile save site models load and save images and adjust color maps e Chapter 11 Introduction to 3 D Modeling This chapter introduces the RCDE s 3 D site modeling capabilities and presents a simple scenario for creating and manipulating model objects e Chapter 12 The RCDE Objects This chapter presents how objects are created grouped and viewed within a pane It introduces the concept of 2 D and 3 D worlds 3 D objects and camera objects via a site model scenario RCDE User s Manual Chapter 13 The Camera Model This chapter describes the RCDE camera model in detail including its creation and adjustment Chapter 14 Terrain Data Integration This chapter describes the integration and manipulat
242. rmally in the function When a handle is specified as a return value from a Callable function a unique identifier handle instance for the returned object is created and returned to the calling language Handles are defined in both C C and Lisp to point to objects in the two languages When a C Callable has an argument or return value that is a handle its type is identified in C C as a c_handle The Lisp type lisp handle declares a pointer to a C structure Such a handle is used to pass C structures to Lisp Callables or as a return value for a Lisp Callable function A handle points to a single copy of a data structure object or symbol The data content is changed by providing a function or writer method to call the other language with new values to replace the old values Since a single copy of the data exists no question of consistency between copies arises Shared Structures are explicitly declared types provided by the LCI to allow large or complex data structures to be passed between languages easily in a single function call Lisp C C Interface 147 Single Lisp Process RCDE and Proxi Coupling Proxi User User Lisp Code roxies Code roxies C C Code Lisp Object 1 Foreign C Object P1 and code Callables and code Slots C Function 5 Accessor 11 Accessor 11 and Code Accessor 12 Accessor 12 Method 11 Method 11 Method 12 Method 12 Lisp Function 2 C Function P2 and Code i and Code 3 Lisp Object P3 Lisp Function 3
243. rocess as in the previous example Compile the files in Performance mode To execute the compiled C function select the Lisp Callable C C Functions button to see the list of functions in operation Push the button by the function name after the name appears on the line select Execute to invoke the execution menu for that function Then press the Execute button The C function may also be executed from Lisp by typing access_and_blur_image into the Lisp Listener Wait for and respond to the prompts for mouse selection of image panes in the RCDE documentation window The instructions may be missed in which case you may try to click a RCDE pane and look for a response Once the function executes in Tight Coupling switch to Loose Coupling as you did with Example 1 then recompile and execute Note that you must start the C process in a separate shell unless Parameters Run Executable is set to Yes 17 3 5 Example 3 Object Creation and Manipulation in C Example Overview To continue with the scenario copy the file CMEHOME 1ci examples c_proxy_house C into your working directory and load the copy into an Emacs buffer The header on the file should identify it as Example 3 The ALV Site must be loaded before proceeding further with this example The sample code contains calls to RCDE using both C and C syntaz Now notice the two include files The second house_object_proxy h is necessary to include part of the C Proxy Class
244. rojection Setting r to negative values is not advisable because that moves the origin of the camera coordinate system toward objects in the scene As the values of r and the w coordinates of objects approach equality the projection equations degenerate toward infinity This mathematical representation thus allows a continuous transition from a perspective projection model to an orthographic projection model as the focal length increases without an undefined condition as the focal length approaches infinity Orthographic projection is modeled by setting 1 f 0 and r f to some nonzero value Perspective projection is modeled by using the focal length of the camera for f and setting r to a nonnegative value based on the desired scaling of the projection In a more general sense the equations governing many forms of camera projection can be formulated as a matrix multiplication La E e eg l ex S R where the matrix T contains the transformation to camera coordinates the modeled pro jection effects and scaling In its default camera model the RCDE maintains homogeneous transformation matrices without projection or scaling These two effects are applied after a point has been transformed to the camera coordinate system In implementing the RCDE camera model the 4x4 COORDINATE PROJECTION class does not have a slot for the focal length rather it contains a slot for the multiplicative inverse of 104 RCDE User s Manual the focal length
245. rom multiple cameras If the camera parameters are already known a new view transform camera can be created and specified explicitly as illustrated in the right fork of Figure 2 5 This produces a second view of the scene that is already aligned by copying selected collections of model objects feature sets into the new view a fully aligned multiple 8 RCDE User s Manual Programming Interface System Utilities 2 D Support 3 D Support RCDE 010a Figure 2 3 The RCDE Architecture The programming interface enables C C and Lisp applications to access the RCDE Capabilities view site model is produced If the camera parameters are not known a new blank view is created and the model feature sets are copied into it The camera is then aligned either by manipulating it manually through the user interface or by using a resection technique as illustrated in the left fork of Figure 2 5 More views of the scene can be generated by repeating the above procedure Finally simple model rendering is available as a verification aid The texture of each model face can assume a default shading to produce a realistic effect The user then specifies an arbitrary number of rendering viewpoints through the user interface and the model is rendered Viewing the model from multiple locations allows the user to review his model for consistency 2 2 2 Data Representations The VIEW is a fundamental component of the 3D WoRLD which uni
246. rsection and Xor functions select the function by placing the cursor on this menu option and left mouse click Then pick a first image by placing the cursor in the pane of choice followed by a left mouse click Do the same for the Arithmetic Image Transform Scenarios 49 second image of choice Then select a destination pane for the result by left mouse clicking in the destination pane The procedure for Complement is similar except that only one image is involved e Union Or the pixel values of two images e Intersection and the pixel intensity values of two images e Xor Exclusive or pixel intensity values of two images e Complement Complement pixel intensity values an image e Threshold Creates a binary image having value 0 for all pixel intensities below the specified threshold and 1 for all other pixels This function invokes a separate popup menu Select the button marked IMAGE then select an image with the left mouse button Use the left mouse button to move the slider to the desired image threshold push the DOIT button and select a result pane with the left mouse button Take the image view in the lower left pane and exclusive or it with the test pattern image in the upper right hand corner pane Place the result in the lower right pane You should see a photographic negative of the image except for the 50 x 50 pixel area which has remained the same intensity as the original image Select the intersection
247. ry specified by a pathname relative to this directory or specified by a complete pathname Run Executable A button for specifying if the executable specified by the Executable pa rameter is run automatically by the LCI when in Debugging Mode this parameter has no effect in Performance Mode If the option is No the user must run the C C executable as a separate UNIX process possibly under a debugger before pressing Control Panel Establish Interface If the option is Yes then the LCI executes the executable and connects it with the Lisp process when Control Panel Establish Inter face is pressed In this case printed output from the C C process will appear in the Lisp buffer This mode is useful when executing code in Debugging Mode without using a debugger because the user does not need to initiate the C C process by hand Executable A string editor for specifying the executable file name This file is produced by compiling user and LCI files it performs socket communications and implements the main function The default value for the file name is debug main 17 4 3 Files Menu Each entry in the Files Menu is a button that invokes a panel for specifying source file names The source file pathnames must be defined relative to the current working directory this also applies to loading operations or as complete pathnames For the C C Libraries option the complete or relative pathname of the archive
248. s Select the desired pane with the left mouse button L The pane will be refreshed and a pointer to its contents will appear in the Lisp Interaction window Bucky Menu Invoke the Bucky menu with a right mouse click and select the Select function from the Bucky menu Following the Documentation Line prompt select the desired pane The pane will be refreshed and a pointer to its contents will appear in the Lisp Interaction window Fwd Cycle Cycle the selected stack in the forward direction top of stack to bottom Menu Bar Select the Fwd Cycle function from the Stacks menu Following the Documentation Line prompt select the desired pane The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Bucky Keys Holding down the Meta and Control Bucky keys select the pane containing the desired image with the left mouse button MC L The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Stack Manipulation 31 Bucky Menu Invoke the Bucky menu with a right mouse click and select the Cycle Stack function from the Bucky menu Following the Documentation Line prompt select the desired pane The pane will be cycled and a pointer to its contents will appear in the Lisp Interaction window Rev Cycle Cycle the selected stack in the reverse direction bottom of stack to top Menu Bar Select the Rev Cycle function from the Stacks menu Fo
249. s of the site With the Conjugate Pt Move Conj Pt option mark the correct location of each con jugate point in the unregistered image The corrected locations marked by an x will only be visible in the unregistered view 13 4 2 Executing Camera Resection When all the conjugate points are prepared the resection algorithm is executed by selecting the Resection Menu option on the Conjugate Pt menu of any of the created conjugate points All of the conjugate points in the same feature set as that point will be applied in the resec tion while existing conjugate points in other feature sets will be ignored This constraint imposed by the resection routine allows multiple sets of conjugate points perhaps pertaining to different images to coexist simultaneously if they are grouped into independent feature sets The execution may take a few seconds but the camera model and the positioning of objects in its view will be updated automatically when the new camera parameters have been computed Resection can be run multiple times to achieve more accurate refinements of the same camera model as more conjugate points are created When new images are added to the site previous camera models may be updated because of improved views of common features in the new image e Create the resection menu by clicking on Conjugate Pt gt Resection Menu for a conjugate point in the view to be resected or its equivalent in the registered image Only conju
250. sed e g the iref function The equivalent technique cannot be applied to return types however since C does not allow overloading based solely on return types Constructors Each proxy class has at least two constructors a default constructor which is empty and a constructor that accepts a c_handle argument The latter may be used when a C class is instantiated to proxy a Lisp object already in existence The local c_handle slot of the proxy is set to the given c_handle so that calls to member functions will operate on the given Lisp object Many C proxy classes have a third constructor that calls the equivalent Lisp con structor for that class In most cases the argument list given to the constructor is exactly the same as the argument list of the corresponding C Callable for the con structor Occasionally however the Lisp constructor has no required parameters but only keyword arguments In this situation the Lisp calling constructor cannot be distinguished from the default constructor since keyword parameters are imple mented as optional parameters in C To resolve this ambiguity each Lisp calling constructor with only keyword parameters has one added required argument of type LCLCONSTRUCTOR_TYPE to distinguish it from the default C constructor The Lisp calling constructor may be called by giving the value LCLCONSTRUCTOR as the first argument The two variables LCL_CONSTRUCTOR_TYPE and LCLCONSTRUCTOR are de fined
251. select the menu option View Feature Sets and click on the pane containing the view Click on the Pres button for the 3d feature sets in the site to see all of the 3d objects created for this site Each 3 D feature set created in the original site should have an entry on the menu Chapter 16 Data Exchange This chapter describes methods for capturing objects within a file for the purpose of sub sequent restoration or insertion into the RCDE The methods described are extensible and may be used on objects native to the RCDE Lisp environment or on data structures defined in a C or C process not native to the RCDE Methods for handling such non native objects are described in Section 16 2 The following sections examine three approaches to RCDE data exchange The first is a direct transfer mechanism of native RCDE data The second uses the RCDE s Lisp C C interface to allow the direct programmatic transfer of such objects within the RCDE while the third approach uses file to file transfer external to the RCDE 16 1 Transfer Between RCDE Sites FASD Files Currently the fundamental means of permanently storing native RCDE objects is FASt Dump FASD Given a set of RCDE object instances this Lisp facility creates Lisp forms that are saved to a file The Lisp forms can then be loaded back into the system at a later date The term FASD is a holdover from the Symbolics environment where the concept of a FASD was integral to how the Lisp comp
252. self important but serves to open the necessary streams Other initialization errors may be encountered depending on the behavior of the C compiler being used The user may identify them by running the C compiler and directing its output to a C file rather than an object file The main function in this C file may be inspected for initialization statements placed there by the compiler not the user 180 RCDE User s Manual Chapter 18 On line Documentation 18 1 RCDE s Online Documentation System Indices to all of the RCDE documentation of interest to users of the system are available on line and accessible by using the Info facility of GNU Emacs These Info indices are organized in a hierarchy that reflects the available documents The top node of the Info index is a menu selection when the Info facility is invoked Each Info index contains the same information as the corresponding index in the printed version This Info facility allows one to jump directly to any page number in an xdvi text previewer containing the corresponding document by doing anyone of several string searches in the on line Info index and then invoking the corresponding page search in the xdvi viewer This facility when coupled with the xdvi viewer is extremely useful in quickly accessing the available information about a given function concept class or variable 18 2 The GNU Emacs Info facility The on line index system makes use of the Info facility
253. setting the User Code Only option can significantly decrease compile time Load User Object Code A button for specifying whether user object code is loaded imme diately after compilation In Tightly Coupled mode code is automatically loaded into Lisp after compilation In Loosely Coupled mode loading can be disabled by setting this button to No This option may be useful when switching between modes for performance testing Run Makefile A button for specifying whether the user has supplied a Makefile If set then the compile routine looks for the file specified by the Makefile parameter and executes the UNIX make command using the given makefile name In Performance Mode the makefile must provide instructions for compiling each user source file however all linking and compilation of generated files is done by the LCI In Debugging Mode the makefile must produce a complete executable named by the Executable parameter The makefile must compile all user source files into object or library files then link user files with the generated files c stubs o and c phantoms o and the LCI files socket lib o debug main o rcde c phantoms o and rcde_types_rdr o from the directory CMEHOME Ici See the example makefile C MEHOME Ici make c debug for further details If Run Makefile is not set then each user C C source file is compiled using the specified C or C compiler commands and options The resulting user object files are linked
254. settings within the LCI that may overlap different projects In particular all Lisp callable C callable and source file list entries are deleted 17 5 C C Programming Details Most of the LCI concepts presented in this chapter apply to both C and C many of the differences have been demonstrated in the examples The menu options are clearly marked where C and C are handled differently Programming enhancements and conventions for C and C added to the Lucid FFI by the LCI are listed in this section Additional details may be found in the LCI sections of the Programmer s Reference Manual 17 5 1 Parameter Passing Because of differences in function calling syntax and paradigms between Lisp and C C it is necessary to establish special conventions to define equivalent parameter passing options The LCI establishes the following requirements and capabilities e Use of C handles C handles are defined as the type c_handle in C C for declaring parameter and return types or C C variables Although a c_handle is simply an integer in C a c_handle instance may uniquely point to a Lisp construct or object through the LCI Some Lisp constructs have fixed addresses static allocation and some constructs are relocated by the Lisp garbage collection process The c_handle system manages these differences without the need for user intervention e Shared Structures Any C Callable function with shared structures as parameters or return val
255. site coordinate system relative to the camera in its view It serves as a reference between the images showing a common point as seen from both views e If the Axis is not visible in the unregistered image zoom out until it can be seen Be careful not to confuse the axis object with the camera s stare point although they appear identical on the screen only the axis should be highlighted in green in both images when selected e Place the mouse on the camera object or the stare point in the unregistered image and move the camera about using Stare Point gt Az El azimuth elevation or Camera gt UV Roll When the axis object is approximately in the same position in both images click the left mouse button twice to deselect the camera object The axis should now be on the same image feature in both images but its orientation in the two images will not be the same The new camera is now ready for automatic adjustment with the resection routine 13 4 Applying Camera Resection Resection is usually applied to camera models rather than terrain data or maps In most cases the terrain data transform is known and data taken from maps can be accurately placed in the site coordinate system In some cases the camera parameters are known for an image the image is said to be registered additional camera models for more images of the site can be resected using conjugate points visible in the registered image and the unregistered images In either situati
256. sp C C Interface 171 The utility of the keyword syntax is that it allows any order among the keyword arguments as long as the identifier pair order is maintained for each keyword pair and any number of them including zero may be used on a given function call To achieve this polymorphism though all keywords must be passed as pointers However string parameters may be passed by using char types not char types Unless all keyword parameters are used the argument list must be terminated by an additional numeric zero argument whether any keyword arguments are used or not Within the body of the C Callable function keywords are automatically bundled into a property list See the Programmer s Reference Manual entry on def foreign callable switch for more details Because of the unusual syntax for keyword arguments the C C calling convention differs from what may be assumed given the function listings in the Programmer s Reference Manual Each keyword pair must be listed as an integer parameter followed by a void parameter Thus each keyword given in the C Callable documentation becomes two parameters in the C C function declaration For examples examine the C proxy class header files which contain extern statements for each C Callable used in the classes When programming the RCDE a situation may arise where the C C programmer receives a c_handle return value when he desires a vector of data The LCI provides a set of dat
257. sp callable function appears on this line and can be edited The second line is a boolean switch to specify if the name on the function line is a mangled name If yes the entry panel created will generate the argument list as specified in the mangled name However the Sun demangling utility dem must be on your Unix path before the RCDE is started to use this option If no the entry panel created will generate the argument list from the Number of Parameters item that follows the mangled name entry Selecting the Create Entry Panel button at the bottom of this menu will generate a customized entry panel for the Lisp callable Function Header Entry Panel opens a panel for entering information defining a Lisp callable form The first line of the panel is the Function Name C C Lisp C C Interface 167 string edit line The specified name must be in proper C C syntax and should exactly match the name visible to the C C linker If the function is a C function then the mangled name must be used it may be found by running the Sun utility nm or nm on the compiled object file containing the function definition The second menu item is a pull right menu specifying the Lisp callable return type A list of possible types appears for user selection when the item button is pressed The remaining entries are pairs of parameter name and parameter type If a mangled function name is used the number of parameters and their types
258. ssociated e Set Tandem Pane Establish a master slave relationship between two panes e Clear Tandem Pane Clear the master slave relationship e Show Tandem Pane Indicate via a flashing square which panes are associated For the Tandem On and Tandem Off functions select the appropriate menu item For the Set Tandem View Clear Tandem View Set Tandem Pane and Clear Tandem Pane commands select the appropriate menu item select the master pane then select the slave pane For the Show Tandem View and Show Tandem Pane commands select the appropriate menu item then select the master pane Graph I O and Miscellaneous Operations 69 CME Frames Select existing RCDE frame or create delete a frame Select the Pick CME Frame function from the Misc menu which causes a small popup panel to appear The popup presents a list of active CME frames and the buttons Make Frame and Kill Frame Selecting one of the active frame entries causes the frame to be opened if necessary and brought to the foreground The Make Frame and Kill Frame buttons allow the user to kill existing frames and create new ones respectively The Make Frame command causes a popup panel to appear which presents a list of parameters for specifying how the new frame will appear e N panes horiz vert These two buttons together determine the tiling of panes within the frame e Window Type Determines the type of graphics operations that can be performed with
259. subclasses or 4X4 COORDINATE PROJECTION These classes are described in the section on the RCDE pinhole camera 99 100 RCDE User s Manual 13 1 1 The Transform Matrix Coordinate transforms have two main components a rotation and a translation In three dimensions the translation can be represented by a simple three dimensional vector The rotational component can be represented by a 3 x 3 matrix in which the three columns contain the components of the unit vectors of the new coordinate system with respect to the reference coordinate system in the x y and z directions respectively The two components are usually combined into a single 4x4 homogeneous transformation matriz that can be applied in a single matrix multiplication The structure of the matrix is defined as Ur Ur Wr te Uy Vy Wy ty Uz Uz Wz tz 0 0 0 1 where the transformed coordinate system has axes defined by the unit vectors u v and w with respect to the reference coordinate system and t ty t is the origin of the transformed coordinate system with respect to the reference coordinate system This transform matrix converts points in the transformed coordinate system into their equivalent coordinates in the reference coordinate system when the matrix is premultiplied to the point The RCDE represents the rotational component of coordinate transforms according to the photogrammetry standard the omega phi kappa w K matrix Conceptually the matrix describes
260. t files into the external C C executable Compilation feedback output to stdout and stderr are displayed in the Lisp buffer The compilation process will abort if a failure is encountered at any stage such as a syntax or linking error When compiling in Performance mode and C C libraries have been specified the Lisp C C Interface 153 libraries should be explicitly loaded after compilation has completed with the menu option LCl Control Panel Load C C Files This need only be done once in any RCDE session unless the libraries are recompiled Once compilation has successfully completed the LCI is prepared to execute C C code If executing in Debugging mode two extra steps must be performed before any C C functions are called the C C process must be started by running the generated executable either in a debugger or from a Unix shell and the link between the RCDE and the C C process must be created by pressing LCl Control Panel Establish Interface These two steps must be repeated each time the LCI compiles in Debugging mode Each C callable function may be called from the menus using LCl gt Functions gt Lisp Callable C C Functions Execute C callables may be called in any order with arguments entered by the user When an error occurs in user C C code the LCI response depends on the execution mode In Performance mode a C C error will cause the RCDE to trap into the Lisp debugger with printed instructions on h
261. t load the source files into Lisp however this must be done during compilation or by using LCl Control Panel gt Load C C Files and LCl Control Panel Load Lisp Files 154 RCDE User s Manual 17 2 2 Executing without Compiling Once user C C code has reached a certain level of maturity it may be desirable to execute it without recompiling in a new RCDE session This requires a slightly different sequence of operations than those listed above Assuming that a project file is defined and that Callable forms have been stored in a Lisp source file the following steps may be used to execute C C code 1 Specify and load the project file LCI Projects 2 Load all source files C C and Lisp 3 Execute code by calling specific C C functions 17 3 LCI Scenarios This section contains a set of examples of how to use the LCI with emphasis on menu interactions A running example is intended to guide the user through the menu structure The menu structure is detailed in Section 17 4 17 3 1 Preparation and Example 1 Example 1 Image handles Image creation Image modification Simple Shared Structures Example Overview To get started by using an example copy the file CMEHOME Ici examples create_and_change c into your working directory and then load it into an Emacs buffer The header on the file should identify it as Example 1 The sample code contains programming examples that demonstrate usage of the LCI and the
262. t of alignment Resection is employed to adjust the camera parameters of the copy using the original view as a reference On completion the copied view should once again have the same camera parameters as the original e Load the ALV site with 1 O Load Site Model e Copy the view containing the image CMEHOME alv alv 3 42 g0 to a new pane using Stacks Copy View Make the copied view adjustable using Transforms Make Transform Adjustable This should automatically set the copied camera model to be adjustable Visually the camera object or a box containing the text string Camera The Camera Model 109 focal point Image Plane principal ray stare point Figure 13 3 The pinhole camera model when the stare point is visible in the view but the principal point has been moved beyond the visible portion of the image plane the rectangular region inside the larger region labeled Image Plane The principal ray is perpendicular to the image plane so that the perspective distortion in the view will increase as the principal point is moved farther away from the visible portion of the image plane 110 RCDE User s Manual should appear in the upper left corner of the new view The new view will be a view of the same site and hence will have a registered terrain model e Create an Axis object on the registered image i e the original view from which the copy was made This set of axes shows the orientation of the
263. ta giving the frame dimensions which views are present in which panes etc The available menu options allow the loading of a site FASD file but do not provide for display of the site For purposes of this scenario it is assumed that this is a different session of the RCDE so that the created world and its objects are not present in the system If this is not so there is no reason to load the site because the associated data structures will be cached in the RCDE even if they are explicitly deleted If a copy of the stored world is to be loaded into the same session of the RCDE in which the world was created or previously loaded a new world may be created by editing the site file just change the string names of the world objects i e by appending new onto all string names Outland becomes Outland new 15 6 1 Initialize The Frame Create a new frame to hold the image and world that is stored using the Misc gt New CME Frame option Configure the window with the desired number of panes and push the DOIT button Select a pane where the site model image will appear 15 6 2 Initialize The Site Model Select the menu option I O Load Site Model Use the choice of Other to get a file load menu called Load Site Model Specify the directory and pathname of the site model file Push the LOAD SITE MODEL button This will load the site into the environment but not display it because it has not been associated with a view Th
264. terface Parameters Menu 163 165 166 167 168 169 Lisp to C C Interface Scenarios 154 Lisp to C C Ops Concept 151 Lisp Variables 166 Lisp Variables Menu Lisp to C C Interface 168 Lisp Callable C C Functions 166 Lisp Callable C C Functions Menu Lisp to C C Interface 166 Lisp form Type 174 Lisp handle Type 174 Load C C Files Function 163 225 Load Feature Sets Function 67 Load Image Function 65 Load Lisp Files Function 163 Load Site Model Function 67 Load User Object Code Function 164 Loading FASD Files 132 Local Vertical Coordinate System 9 Locating Cameras Spatially 104 Logical And 54 Logical Not 54 56 Logical Or 53 Logical Xor 54 Loose Coupling Mode 142 Loose coupled Mode Execution 144 LVCS 9 Magnitude Function 55 Magnitude Squared Function 55 Make Transform Adjustable Function 78 Make Window 96 Makefile Field 164 Making a Frame 69 Making Correspondences 111 Manipulating a Site Model 125 Manipulations Stack 23 Manual Camera Location Adjustment 106 Marking Image Locations 87 Marking Spatial Locations 87 Master Slave Views 68 Matrices Transform 100 Mensuration 87 88 Menu 2 90 Menu Bar 18 21 Menu Entries in Info Jumping Tl 185 Menu Interface Lisp to C C In terface 162 Menu Lisp to C C Interface C Callable Lisp Functions 167 226 N Menu Lisp to C C trol Panel 162 Menu Lisp to C C 165 Menu Lisp to C C tions 165 Menu Lisp to C C Interf
265. th of side Y measured in site units Z SIZE Length of side Z measured in site units TAPER RATE Rate of object taper moving along the z axis Default is no taper De taper rate 0 ALBEDO Ratio of light reflection to incidence value between 0 and 1 OBJECT TO WORLD The rotation and position of an object coordinate system with respect TRANSFORM to a world coordinate system expressed in matrix form This matrix is used to transform the given object instances coordinate system to that of its attached world Name of the site model containing the object 138 RCDE User s Manual Table 16 3 Superquadric FASD Example MAKE INSTANCE QUOTE SUPERQUADRIC X EXPT QUOTE 1 0 Y EXPT QUOTE 1 0 Z EXPT QUOTE 1 0 ORDER QUOTE 6 TESSELATION MODE QUOTE LAT LONG X SIZE 20 0 Y SIZE 20 0 Z SIZE 20 0 TAPER RATE QUOTE NIL ALBEDO QUOTE 1 0 OBJECT TO WORLD TRANSFORM MAKE INSTANCE QUOTE 4X4 COORDINATE TRANSFORM TRANSFORM MATRIX MAKE COORD FRAME MATRIX 127 43829409356406 4711 981430409669 6051 898915464119 WORLD GET 3D WORLD NAMED QUOTE Alv 3d World X EXPT Y EXPT Z EXPT ORDER TESSELATION MODE X SIZE Y SIZE Z SIZE ALBEDO OBJECT TO WORLD TRANSFORM Exponent of X component of superquadric equation default 1 0 Exponent of Y component of superquadric equation default 1 0 Exponent of Z component of superquadric equation default 1 0 The number of faces used to approxi
266. the last letter of the directory is found and left mouse click Continue to press the Delete key on the keyboard until the text has disappeared b Enter the directory where the image_pattern pix file resides you generated this with the executable code from the C source above Be sure to end the directory path with a slash character c Similarly enter the filename in the Pathname entry field You do not need to end the file name with a slash character d Place the mouse cursor on the Load image button and left mouse click Choose the upper right hand pane as the destination of the test pattern As an example of a boolean operation let us exclusive or an image with the test pattern you loaded Recall that a binary one xor ed with an unknown binary value will invert the unknown binary value Now imagine a pixel as a vector n tuple of binary values of length n If we exclusive or an 8 bit per pixel image of equal height and width with the test pattern image the white shaded area length 8 all ones when xored an image should invert the corresponding pixels while the dark shaded pixels length 8 all zeros should preserve the original value of the pixels 1 Place the cursor on the Arith option and left mouse click A Second submenu should appear Place the cursor on the Boole option and left mouse click A third menu choice should appear with the following choices To perform the Union Inte
267. the Documentation Line or the Lisp Interaction window for prompts that can assist you in resolving this condition Further error recovery measures are documented in the RCDE Installation Guide 21 22 RCDE User s Manual 3 2 Scenario Initialization Begin the scenario by loading the ALV site model which will be used throughout the document 1 Select the Load Site Model function from the I O menu A popup menu of available site models will appear 2 Select the ALV entry from the menu The popup menu will disappear and a frame with four panes will appear The frame contains four views of Martin Marietta s Autonomous Land Vehicle site in Denver The upper right pane is an image repre sentation of the site s terrain During the course of any scenario you may make a mistake which alters the appearance of a display pane beyond that of the scenario description You can always get back to the initial starting position and restart by clearing the frame and reloading the stored site model To do so follow the procedures detailed below 3 Select the Misc menu option from the Menu Bar by positioning the cursor on the menu option and clicking with the left mouse button A menu should appear 4 From the pulldown menu choices place the cursor on the menu choice labeled Clear all Panes and left mouse click 5 Select the frame by placing the cursor in one of the panels and left mouse click Four blank panes should appear in the Alv 2
268. the image UV plane while keeping the object s Z value in site coordinates constant e Move W Move the object along a ray from camera s W axis toward or away from the user in the given view e UV Roll Rotate the object about the U and V axes keeping the selected point fixed in site coordinates Up down motions roll the object around the U horizontal axis while left right mouse motions roll around the V axis vertical More details regarding the RCDE camera model can be found in Chapter 13 12 1 4 Adjusting the Model View The camera parameters can be adjusted to view the model objects from another angle The camera itself may be manipulated either from its icon the small box with the word Camera or via the STARE POINT object a particular type of y z axis representation 1 Move the cursor to the camera icon and invoke the Bucky menu panel H C gt R 2 Similarly invoke the Bucky menu for the stare point 3 Note the differences in the two menus The camera icon allows you to adjust the camera parameters from camera centered coordinates while the stare point supplies a point in the view around which the camera can be rotated The camera icon is a tool and remains fixed in the pane while the stare point can be positioned in 3 D In particular the Az Elev command allows the user to adjust both the azimuth and the elevation of the camera simultaneously with respect to the stare point 4 Move the
269. the size of the object using e Z Size M R Scale the Z dimension of the object with respect to the selected point keeping that point fixed in site coordinates 1By default objects are placed onto the terrain Therefore select the point to place the object so that a ray from the viewpoint intersects the terrain otherwise an error will be generated The RCDE Objects 85 User s Manual Example Figure 12 1 A simple scene of model objects The left pane shows the objects as created while the right pane shows the same scene from another camera 86 RCDE User s Manual e Rotate Scale M M Change the object s size and orientation keeping the selected point fixed in site coordinates Left right mouse motions perform one action up down motions perform the other action e Move Z M Move the object in the site coordinate Z direction keeping the selected point fixed in site coordinate X and Y 12 1 3 Moving Model Objects To understand how objects are moved in the scene it is necessary to understand the camera model viewing the scene Figure 11 1 shows that the U and V axes lie in the image plane and describe coordinates in 2 D The W axis not shown in the figure is perpendicular to the image plane orthogonal to u and v Many of the operations for moving model objects are performed with respect to these axes Some examples include e Move UV Z Move the selected point on the object in
270. the transform matrix slot of a 4Xx4 COORDINATE TRANSFORM object associated with the DTM Both the translation and the rotation of the DTM are encoded in the matrix The translation component describes the position of the lower left corner of the DTM image relative to the site or world coordinate system Referring to the notation used in Chapter 13 for transformation matrices the matrix translation elements t and t are dron Yatm and Zam respectively where the point dtm Ydtm Zdtm is the location in world coordinates of the lower left corner of the DTM image The rotational component of the DTM transform matrix describes the orientation in 3D of the DTM image relative to the site coordinate frame Although the a y planes of the DTM and site are usually set to be parallel it is not required by the RCDE the transform matrix may contain rotations about all three axes In general it is advisable to align the DTM and site coordinate systems as much as possible since there is heavy computational dependence on the DTM matrix The DTM to site axis alignment can be accomplished in two ways depending on whether the DTM is available before the site modeling process is begun In that case the site coordinate frame can simply be defined to be in alignment with the DTM coordinate frame Terrain Data Integration 121 i e the two frames would have the same axes and the origin of the site coordinate frame would be at the lower left corner of the D
271. tion and focal length of the camera used to photograph a particular image are known the RCDE provides a simple menu interface the camera object menu for specifying camera parameters directly The Camera Model 105 For many images however the focal length of the camera used to photograph a partic ular image is known but the position and orientation of the camera when the image was taken are only approximated at best For cameras with unknown rotation and orientation parameters the RCDE provides resectioning techniques to automatically recover the po sition and orientation of the camera relative to a special set of 3 D points referred to as conjugate points 13 3 1 Entering a Known Camera The camera position and orientation can be described by the six parameters three angles and three scalars used to calculate the transform matrix These parameters can be entered by the user directly on the screen once the associated image is loaded and a camera object has been initialized e Load the ALV image CMEHOME alv alv 3 42 g0 with O Load Image e Create an unregistered camera for the loaded image with Transforms New View Trans form on Image Since a view must be contained within a site a pop up menu giving a choice of existing world objects appears Select the ALV world to indicate that the view belongs in this particular site the world object must have been created already by loading the ALV site A box containing the te
272. tionality in the other language When Callable forms are created they are evaluated by Lisp Their textual textual forms may be extracted from the Lisp buffer when running the RCDE through Emacs and placed in a file for later loading as part of the interface layer A System Level view of the LCI Performance mode is illustrated in Figure 17 2 The diagram graphically illustrates the major concepts discussed in this section In the figure the arrows indicate the direction of a function call while the oval tails indicate where the return value is deposited The return value may be a symbolic handle or actual data that is shared depending upon the return type defined for that function call Returned Data Handles or Shared Structures In Figures 17 2 17 3 and 17 4 the oval tails on the arrows indicate where returned values are deposited from a function call The LCI provides the user with the ability to manage returned data in two ways using handles and shared structures A handle is a symbolic reference to a data structure or an object instance that resides in the other language The language maintaining the handle does not have an explicit representation for the data structure in the other language Instead the handle provides a way to uniquely identify a data object in the other language When this identifier is passed as a parameter to a function in the other language the object specified by the handle is automatically retrieved and may be used no
273. tions that communicate through the interface proxies derive their functionality from a real function in the other language Proxy classes have only one direct slot a pointer to the corresponding object in the other language and access data slots through accessor functions that communicate through the interface Callables and Foreign Functions Callable functions are functions that have an interface function defined specially for communication between languages they provide direct access from one language to a function written in the other As described above callable functions are one kind of proxy proxy functions Lisp Callable functions allow the user to make a 146 RCDE User s Manual Lisp function call to a C C function Each C C system integrated into Lisp must have at least one Lisp callable defined to initiate C C execution from Lisp C Callable functions allow the user to make a C or C function call to a Lisp function The RCDE Programmers Reference Manual describes the RCDE C Callables and conven tions for calling them These C Callables are described as manual page entries and may be viewed as a library of C functions providing the basis of C C access to RCDE More generally any Lisp function even non RCDE may be called if a C Callable form is created for it The RCDE provides a menu interface to extend by automatic code generation the language interface by adding any new Callables the user needs to access func
274. to select source images and destination pane Notice that the resultant image is about the same size as the upper right image view in terms of width and height but looks like the lower left view 4 Select the Subtract function from the Arith function 5 Choose the lower right view first then the lower left putting the result in the upper left pane 6 Notice that the composite image before the subtraction did not even remotely resemble the image in the upper right hand corner but yet we were successfully able to recover the upper right image Note for the above addition subtraction scenario to operate properly it is imperative that at least one image view is in floating point format Note that that the result of the addition and or subtraction is a floating point image you can tell this by selecting a pixel in the image and noting that its pixel value in the Documentation Line is a floating point number Integer images can be converted to floating point by utilizing the Float menu option Another scenario 1 Select the FFT function from the Arith submenu 2 Select the image in the upper left hand corner pane to be the source of the FFT data 3 Select the lower right hand corner pane for the destination 4 Select the Magnitude Squared and the current pane as the destination lower right pane 5 Place the cursor within the pane left mouse click and observe the documentation line 6 Notice the magnitude of the pixel inte
275. to the Lisp function including keywords and optionals It is the user s responsibility to specify the C types for each including the return type for the function The created form has a Lisp body consisting of a call to the target function and possibly some optional or keyword parameter decoding Special naming is useful for struct type specifiers Typical RCDE provided structure types are given names which contain the types of the components followed by the number of such types e g c_handle_2_int_2_double_2 While Lisp functions may return multiple values C C functions do not have the ability to collect these values after a call to Lisp Instead multiple return values are bundled into C structures defined for this purpose and returned as shared structures The C C function must then extract the individual values from the C structure 176 RCDE User s Manual Lisp functions have no restriction on the data types of their return values allowing a Lisp function to return a value of any type on a given call Since C C is more strongly typed RCDE functions returning multiple return types are proxied with multiple C Callable functions one for each type The return type of a particular C Callable function is included in its name as a suffix The C C program must specifically select one of the C Callable versions based on the desired return type Similarly Lisp functions have no restrictions on the types of their arguments except in
276. ts in a common geographic area All feature sets for a given site share a common local coordinate system referenced to the site Image operations have already been addressed in earlier chapters This chapter will present views feature sets and the illumination model Subsequent chapters describe the RCDE cameras terrain and site models 11 2 Views The VIEW is a fundamental component of the 3D woRLD which unifies the RCDE data structures for viewing on the display The world contains objects that are viewed through a simple camera as illustrated in Figure 11 1 The camera transforms the world coordinates x y z to image coordinates u v Objects in the scene are mapped to the image plane film plane of the camera as shown in the drawing The major components of a view are related as illustrated in Figure 11 2 The white boxes represent data objects which include model elements e g house image groupings of objects e g feature sets and transformations The shaded boxes denote coordinate systems which are numerical values stored in a separate container object The solid lines in the figure represent association a has a relation between object classes while dotted lines indicate a logical connection between the objects and related coordinate representations The arrows on the solid lines indicate some interaction between the objects in the direction of the arrows but do not imply a specific implementation The small fille
277. ture set both actions are automat ically executed when a view is created Introduction to 3 D Modeling 79 In addition to resection and displaying selected groups of objects feature sets are useful for other purposes such as saving groups of objects to file and reading them back into the RCDE 11 5 The View Menu This menu allows access to a view s feature sets and controls its rendering parameters Feature Sets Configure or create feature sets for a given view Select the Feature Sets function from the View menu which causes a popup panel to appear Designate the desired view by pushing the button labeled View then selecting the pane containing the view A list of the feature sets that currently exist in the world will be displayed in the panel If no image nor a view exists in a pane then no feature sets will appear Once an image is loaded the pane will contain at least one tool and one 2 D feature set After a view transform is created the pane will contain at least one 3 D feature set Each feature set is associated with three buttons Pres Toggles whether the objects in a given feature set are displayed present in the view Sens Toggles whether the objects in a given feature set can be modified sensitive in the view Sel Selects the feature set into which newly created objects will be placed Only one each of 3 D 2 D and tool window feature sets can be selected at one time To creat
278. ual the selection point will become the zoom focus An image twice the size of the original will appear in lower left corner of the pane 6 Now visually inspect the stack of the lower left corner pane by simultaneously holding down the Meta and Control keys while left clicking the mouse key You will observe that this pane contains three images as the a new zoomed image view was copied on the lower left pane 7 Now let us use the Bucky keys to perform the same function Move the cursor to the upper left corner pane and hold down the Control key and depress the middle mouse button You will notice that the original has been replaced by the zoomed image if you inspect the upper left corner pane stack We will now re zoom the upper left image to its original resolution Move the cursor to the upper left corner pane and hold down the Control key and depress the right mouse button You will notice that the zoomed out image has been replaced by the original image if you inspect the upper left pane stack Notice that if the function is selected by menu you have the option to select a source and destination pane When using the Bucky commands the selected highlighted pane is used as the default source pane For optimal use of the Reposition function it is best to use the cursor in conjunction with the Bucky keys 1 Hold down the Control key press and hold the left mouse button and move the cursor about in the pane You will observe the imag
279. ues must pass pointers to the structures rather than instances of the structures In Performance mode these pointers refer to the same object in memory 170 RCDE User s Manual In Debugging mode though only an exact copy of the structure is passed between languages The user may add shared structures to the system but this requires three steps 1 The structure must have a Lisp foreign structure definition created using the Lucid FFI macro def foreign struct in addition to its C C definition This Lisp structure definition must match the C C structure definition exactly 2 The structure must have an associated XDR routine that formats the structure in binary form for transfer between the processes This function may be auto matically generated from the C struct definition using the Sun utility rpcgen 3 The structure must be registered in the LCI This is accomplished with a call to the LCI function register shared type See the file CMEHOME Ici shared types lisp for examples During LCI Debugging mode compilation and loading the user C C source file s containing his XDR routines must be specified as a C source file and must be loaded into the Lisp process Unlike other source files those containing XDR routines used to pass data between Lisp and C C must be linked into both processes when compiling in Debugging mode For a compiled object file named my_rdr_routines o containing XDR routines this may be explicitly acc
280. ut Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View w S Close Vertex Modification Reset Verts Restore Vertices to Default Positions for Object Move UV Z Move Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA User s Manual 193 ave id Adan ELSE noe Uc LI Reset Delete All Verice Except the Fist A e a ES SEENEN ew ER EEN ouer IL Cver Zo Groma Luc eszen SS BEER EREECHEN 194 RCDE Table A 3 Bucky Menu Functionality for Class 3d Ruler Object Bucky Label Documentation Line Mouse Menu of Object Parameters R Blank Temporarily Remove Object from HS L Close Object Close Object to Mouse Sensitivity H oe Lee Edit Composite Object Hierarchy C C Create an Identical Copy of Object L Duc Sun Z Adjust Object Height using Sun Model en eterna bea Drop W Place Object at Intersection of Ray e eer Az Elev Mouse X Rotates about World Z S e Lernen Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View w S Close Vertex Modification Reset Verts Restore Vertices to Default Positions for Object Move UV Z Mo
281. values specified by Left start value and Right end value The Tail factor is a number between 0 and 5 It represents the fraction of data points that will be eliminated from each end of the histogram display Note that adjusting the Tail factor affects the start and end values but not vice versa The resolution of the histogram can be controlled by the Number of Buckets field which specifies the number of bins for the histogram calculation After adjusting the histogram display parameters the histogram can be redisplayed by pushing the Window button and selecting a result pane The Status field displays relevant information throughout the process Bucky Keys Depress the Super Bucky key and select the desired image using the right mouse button Be sure not to select another object inadvertently When the Documentation Line prompts for a destination pane select the desired pane The histogram will be plotted without benefit of the tail control features Bucky Menu Invoke the Bucky menu with a right mouse click on the image then select the Histogram function from the Bucky menu options Following the Documentation Line prompts select the image source and destination panes The histogram will be plotted without benefit of the tail control features 10 2 The I O Menu This section describes the RCDE system utilities for loading saving feature sets images and site models to from the RCDE environment Hardcopy and directory capabilities are
282. ve Object by Projecting UV Mouse Motion to World XY Constant Z Drop Obj Stop Modifications to this Object re turn Object Instance to Listener 3 Saba D S S S S e Ee Ka tA tal WA WR Q Q Q AAAA AAA User s Manual 195 EE E a ES SEENEN ew ER EEN ouer IL CIR ver Zo Groma Eu Sesma ES 196 RCDE Table A 4 Bucky Menu Functionality for Class Image Windowing Tool Bucky Label Documentation Line Blank Temporarily Remove Object from HS Close Object Close Object to Mouse Sensitivity H OO asee r n C RE Sayma S Drop Obj Stop Modifications to this Object re Pen en ncn ote C C MC MC MC SM SM Zoo ou C SS Tt CR E Change Sees SSCS Moere E Make Window JI ES E User s Manual 197 Table A 5 Bucky Menu Functionality for Class House Object Bucky Label Documentation Line Mouse Menu of Object Parameters Blank Temporarily Remove Object from Close Object Close Object to Mouse Sensitivity H ee Less Edit Composite Object Hierarchy wo SSS wo Create an Identical Copy of Object L E Sun Z Adjust Object Height using Sun Model Re Drop W Place Object at Intersection of Ray leese Az Elev Mouse X Rotates about World Z S ee i Vesa oe Z Rot Rotate about Object Z UV Roll Rotate Object as rolling ball Re Orient Reset to Canonical Orientation Z axis up W Rot Rotate Object about the Ray from View was S Open Superior to Object Ch
283. views from stack to stack 1 Select the Copy View function from the Stacks menu item The Documentation Line will prompt you to pick a source view Select the pane titled Alv 2 44 win The Documentation Line will prompt you to pick a destination view Select the lower left pane which contains the view Alv 3 42 The view in the upper left pane should now appear in the lower left pane Both left panes should contain the Alv 2 44 win image You have copied a view from one pane to another Note the Bucky menu option Copy to Here This Bucky menu function is identical to the Stacks menu option Copy View except that the currently active highlighted pane is assumed to be the source pane Suppose at this time we wish to inspect the stack in the lower left pane without cycling through it 1 2 3 Invoke the Inspect Stack function from the Stacks submenu then select the desired stack A message similar to the following will appear within the Lisp interaction window gt lt List 3CAE899 gt 0 LOAD IMAGE CMEHOME alv alv 2 44 win g0 1 LOAD IMAGE CMEHOME alv alv oblique tower pic 2 LOAD IMAGE CMEHOME alv alv 3 42 g0 gt gt After you have reviewed the stack contents move the cursor to the Lisp Interaction window and type q followed by a carriage return Try invoking the same function from the Bucky keys 1 Simultaneously hold down the Hyper Super and Meta keys move the cursor to th
284. views in a stack can be copied moved or deleted from stacks The views in a stack can be described using the Lisp environment The views can be moved between stacks added or deleted Some heavily used functions may be invoked by Bucky menus Bucky keys or the Stacks menu The Bucky key functions serve as command accelerators often assuming default parameters The Bucky menu can be used as cue card for identifying Bucky key combinations as Bucky keys are the preferred way to initiate actions Begin the scenario as follows Since a site model is already loaded model you can get text descriptions of the views within the panes 1 Select the upper left pane titled Alv 2 44 win with the left mouse button This performs the Select function on the image in that view Notice that the border of the pane is outlined to indicate that it is selected Also the Lisp Interaction window will print out something similar to this gt lt Alv 2 44 win BLOCKED ARRAY MAPPED IMAGE 252 x 245 UNSIGNED BYTE 8 X3D7725E gt gt This function describes the image and retuns a Lisp pointer to it The Documentation Line will also display information about the selected pixel in the image its location in image coordinates the intensity value the pixel location in 2 D u v coordinates and the 3 D coordinates of a point on the terrain if one exists You can also get Lisp descriptions of pane items 1 Select the Describe Image
285. x2 frame and the Misc menu should disappear 6 Select the I O menu option from the horizontal menu bar by positioning the cursor on the menu and clicking with the left mouse button A pull down menu should appear 7 From the pulldown menu choices place the cursor on the menu choice labeled Load Site Model and left mouse click A menu should appear 8 From the pulldown menu choices place the cursor on the menu choice labeled ALV and left mouse click The 1 O submenu should disappear and the ALV site model should appear in the four frames 3 3 Stack Scenario This introductory scenario illustrates how objects and viewable data are managed by the RCDE environment Each of the four panes in the CME 2x2 frame is a stack of views that may contain 3 D objects 2 D objects tool objects and imagery Operations for ma nipulating these stacks are found in the Stacks menu As the mouse moves over the menu items context sensitive documentation appears in the Documentation Line In addition to Stack Usage Scenario 23 moving views from pane to pane the user can get information on the stack contents as well as refresh the panes if necessary This scenario is not exhaustive but it does give the user a feel for the kind of functionality the Stack operations provide The next chapter discusses all of the stack operations in detail and is intended to be used as reference In summary this chapter conveys that Each pane has a stack of views The
286. xt string Camera should appear in the upper left corner of the pane this is the camera object associated with the camera model in that view e Move the mouse onto the camera object and click the right mouse button The camera object menu should appear on the screen e Enter the six camera pose parameters and the camera focal length f by clicking the mouse on each and typing in the appropriate numbers For this camera the parameters have been calculated to be w 0 00286348 o 0 0015922 k 1 563783 eam 5194 016 Ycam 4149 6226 Zeam 11993 8133 1 f 0 00054202342 e Exit the menu The camera model and the view are automatically updated possibly changing the apparent orientation of any visible features 106 RCDE User s Manual If the camera parameters were not derived by the RCDE then the rotation angles may not follow the same convention for transforming coordinate systems However if the com plete transform matrix is available the RCDE contains functions to recover the three angles w and by matrix decomposition See the Programmers Reference Manual for details and related functionality 13 3 2 Manually Adjusting Camera Positions The RCDE provides two resectioning algorithms The first assumes that the initial camera position is unknown and attempts to converge from a selected set of initial viewpoints The second assumes that the existing camera model has been placed in approximately the correct location
287. you that a socket was created by giving you the port number you do not need this information however You can even run the function without a debugger Just type debug main at a prompt in a UNIX shell Click on Establish Interface Some handshaking messages should be printed in the cme buffer and in the shell telling you that the connection was safely established This gives you evidence that everything is still operating as it should To execute the compiled C function select the Lisp Callable C C Functions button to see the list of functions in operation Push the button by the function name after the name appears on the line select Execute to invoke another menu Select it and watch for the prompts Or type create_and_change_image on the Lisp command line to run the same function as earlier Once the IPC connection is made the execution is the same at the top level as it is in tight mode After running this smoothly in Debugging mode simply select Performance mode and run it again and back to Debugging mode and repeat Do this sequence to verify that you can switch back and forth with no other changes and get the same functionality You may then try the suggested edits to change the code Each time you recompile you must re run debug main and push the Establish Interface button again You can avoid the killing restarting cycle by setting the Run Executable option but then the C C process will not be run inside a de

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