CSM plugin updates (#759)

* Fix memory leak

* Fix test after breaking changes to nitf::DESubheader

* Update CSM plugin to save the state of several more model parameters

* Bump version

* Change to building against csm 1.3.0

* Method to ensure import when statically linked (for testing)

* cmake build of CSM plugin and unit tests

* Fix covariance and ap round-trip

* Fixing handling of unmodeled error standard deviations

* Removing getUnmodeledError() because it is not virtual in the base class and was therefore not being used.  New attempt at getUnmodeledCrossCovariance() using the decorrelation parameters, but there is no documentation for guidance.

* Fixing Windows builds for CSM unit tests

* Stop linking SIX CSM plugin against libCSMAPI.so.  This needed symbols will be found in the program loading the plugin.

* Address code review requests

* Update copyrights

* Link windows CSM plugin against CSMAPI dll but linux not against CSMAPI shared object

Author: Klamptoo

.gitignore

@@ -22,6 +22,7 @@ packages/
 target/
 target.dbg/
 install/
+install_waf/
 install.dbg/
 **/install-*/
 test_package/build/

README.md

@@ -7,7 +7,7 @@ NGA is working to standardize Synthetic Aperture RADAR (SAR) systems in use thro
 ### Origin
 
 The SIX (Sensor Independent XML) library was developed at the National Geospatial-Intelligence Agency (NGA) in collaboration
-with [Maxar](http://maxar.com) (formerly Radiant Solutions and MDA). The government has "unlimited rights" and is releasing
+with [Arka](http://arka.org) (formerly Maxar, Radiant Solutions, and MDA). The government has "unlimited rights" and is releasing
 this software to increase the impact of government investments by providing developers with the opportunity to take things
 in new directions. The software use, modification, and distribution rights are stipulated within the LGPL 3.0 license.
 
@@ -17,7 +17,7 @@ is the official reference implementation library for the
 [SIDD](https://github.com/ngageoint/six-library/wiki/Sensor-Independent-Derived-Data-(SIDD)-Standard) format. The library
 also provides a [sensor model implementation](https://github.com/ngageoint/six-library/wiki) of many equations in the
 SICD and SIDD document.  This sensor model implementation provides the foundations for the SICD and SIDD
-[CSM](https://github.com/sminster/csm) (Community Sensor Model) implementation.
+[CSM](https://github.com/ngageoint/csm) (Community Sensor Model) implementation.
 
 It is available as open-source software under the Lesser GNU Public License (LGPL). This license is commonly used in the
 open-source community, and allows applications that are not open source to make use of the library without penalty. As with
@@ -26,13 +26,14 @@ other open source projects, the library is available as-is, with no warranty.
 See the [manual](https://github.com/ngageoint/six-library/blob/master/docs/six-manual.pdf) for detailed information including
 build instructions and API documentation.
 
-A preliminary CMake build system is available on Linux and Windows. See [coda-oss CMake README.md](externals/coda-oss/cmake/README.md)
+A CMake build system is available on Linux and Windows. See [coda-oss CMake README.md](externals/coda-oss/cmake/README.md)
 and [nitro README.md](externals/nitro/README.md) for information on how to build using CMake. The same configuration options
 may be passed to SIX.
 
 The latest version of the library is available at https://github.com/ngageoint/six-library.git.
 
 ### Releases
+
 The master is considered stable, but official [releases](https://github.com/ngageoint/six-library/releases) also occur as
 major features are added.
 
@@ -44,5 +45,3 @@ Software source code previously released under an open source license and then m
 "joint work" (see 17 USC 101); it is partially copyrighted, partially public domain, and as a whole is protected by the
 copyrights of the non-government authors and must be released according to the terms of the original open source license.
 
-### Contact
-February 2022, Dan <dot> Smith <at> maxar <dot> <see><oh><em>

six/CMakeLists.txt

@@ -1 +1,2 @@
 add_subdirectory(modules)
+add_subdirectory(projects)

six/modules/c++/six.sicd/source/SICDVersionUpdater.cpp

@@ -2,7 +2,7 @@
  * This file is part of six.sicd-c++
  * =========================================================================
  *
- * (C) Copyright 2004 - 2020, MDA Information Systems LLC
+ * (C) Copyright 2004 - 2025, Arka Group, L.P.
  *
  * six.sicd-c++ is free software; you can redistribute it and/or modify
  * it under the terms of the GNU Lesser General Public License as published by
@@ -179,7 +179,7 @@ void SICDVersionUpdater::updateSingleIncrement()
 
         if (mData.scpcoa)
         {
-            const auto *sceneGeometry = Utilities::getSceneGeometry(&mData);
+            std::unique_ptr<scene::SceneGeometry> sceneGeometry(Utilities::getSceneGeometry(&mData));
             mData.scpcoa->azimAngle = sceneGeometry->getAzimuthAngle();
             mData.scpcoa->layoverAngle = sceneGeometry->getETPLayoverAngle();
         }

six/modules/c++/six/source/Utilities.cpp

@@ -2,7 +2,7 @@
  * This file is part of six-c++
  * =========================================================================
  *
- * (C) Copyright 2004 - 2014, MDA Information Systems LLC
+ * (C) Copyright 2004 - 2025, Arka Group, L.P.
  *
  * six-c++ is free software; you can redistribute it and/or modify
  * it under the terms of the GNU Lesser General Public License as published by
@@ -841,11 +841,12 @@ void six::getErrors(const ErrorStatistics* errorStats,
             auto&& Ycol = unmodeled.Ycol;
             auto&& XrowYcol = unmodeled.XrowYcol;
 
-            // From Bill: Here is the mapping from the UnmodeledError to the 2x2 covariance matrix:
-            //    [0][0] = Xrow; [1][1] = Ycol; 
+            // From Bill: Here is the mapping from the UnmodeledError to the 2x2
+            // covariance matrix:
+            //    [0][0] = Xrow*Xrow; [1][1] = Ycol*Ycol;
             //    [1][0] = [0][1] = XrowYcol * Xrow * Ycol
-            unmodeledErrorCovar(0, 0) = Xrow;
-            unmodeledErrorCovar(1, 1) = Ycol;
+            unmodeledErrorCovar(0, 0) = math::square(Xrow);
+            unmodeledErrorCovar(1, 1) = math::square(Ycol);
             unmodeledErrorCovar(0, 1) = unmodeledErrorCovar(1, 0) = XrowYcol * Xrow * Ycol;
         }
     }
@@ -871,7 +872,7 @@ std::filesystem::path six::testing::findRootDir(const std::filesystem::path& dir
     {
         return externals;
     }
-    
+
     const auto parent = dir.parent_path();
     return findRootDir(parent);
 }
@@ -912,7 +913,7 @@ std::filesystem::path six::testing::getNitfPath(const std::filesystem::path& fil
 }
 
 std::vector<std::filesystem::path> six::testing::getSchemaPaths()
-{ 
+{
     static const auto modulePath = std::filesystem::path("six") / "modules" / "c++" / "six.sicd" / "conf" / "schema";
     static const auto filename = getModuleFile(modulePath, "SICD_schema_V1.3.0.xsd");
     static const auto schemaPath = filename.parent_path();
@@ -938,8 +939,10 @@ std::unique_ptr<six::Data> six::DataParser::DataParser::fromXML(::io::InputStrea
     return six_parseData<std::unique_ptr<Data>>(xmlReg, xmlParser, dataType, mpSchemaPaths, mLog);
 }
 
-std::unique_ptr<six::Data> six::DataParser::DataParser::fromXML(const std::filesystem::path& pathname, 
-    const XMLControlRegistry& xmlReg, DataType dataType) const
+std::unique_ptr<six::Data> six::DataParser::DataParser::fromXML(
+        const std::filesystem::path& pathname,
+        const XMLControlRegistry& xmlReg,
+        DataType dataType) const
 {
     io::FileInputStream inStream(pathname.string());
     return fromXML(inStream, xmlReg, dataType);

six/projects/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(csm)

six/projects/csm/CMakeLists.txt

@@ -0,0 +1,86 @@
+if (MSVC)
+    # We are including headers from an external library (CSMAPI) and we can't change it to fix these problems
+    add_compile_options(/wd4251) # class '...' needs to have dll-interface to be used by clients of class '...'
+    add_compile_options(/wd4275) # non dll-interface class '...' used as base for dll-interface class '...'
+    add_compile_options(/wd4267) # conversion from '...' to '...'
+    add_compile_options(/wd4996) # '...': This function or variable may be unsafe
+    add_compile_options(/wd4244) # 'return': conversion from '...' to '...'
+endif()
+
+add_subdirectory(external)
+
+set(MODULE_NAME csm-plugin)
+
+# construct final plugin filename
+file(READ "source/SICDSensorModel.cpp" version_source)
+string(REGEX MATCH "SICDSensorModel::VERSION\\(([0-9]), ([0-9]), ([0-9])\\)" _ ${version_source})
+set(PLUGIN_VERSION "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}")
+
+if ("${PLUGIN_VERSION}" STREQUAL "")
+    message(FATAL_ERROR "Could not extract CSM plugin version string from source code.")
+endif()
+
+file(READ "source/SIDDSensorModel.cpp" version_source)
+string(REGEX MATCH "SIDDSensorModel::VERSION\\(([0-9]), ([0-9]), ([0-9])\\)" _ ${version_source})
+set(PLUGIN_VERSION2 "${CMAKE_MATCH_1}${CMAKE_MATCH_2}${CMAKE_MATCH_3}")
+
+if (NOT "${PLUGIN_VERSION}" STREQUAL "${PLUGIN_VERSION2}")
+    message(FATAL_ERROR "CSM plugin SICD and SIDD sensor model version numbers should match.")
+endif()
+
+message("Extracted CSM plugin version string ${PLUGIN_VERSION} from source")
+
+if("${CMAKE_SYSTEM_NAME}" MATCHES "Linux")
+    set(PLATFORM_NAME "linux")
+elseif("${CMAKE_SYSTEM_NAME}" MATCHES "Windows")
+    set(PLATFORM_NAME "win")
+else()
+    message(FATAL_ERROR "Platform not recognized.  Unable to determine CSM plugin filename.")
+endif()
+
+set(PLUGIN_FILENAME "SIX_SAR_ARKA_${PLUGIN_VERSION}_${PLATFORM_NAME}_CSM${csmapi_VERSION}")
+
+# Build two libraries:
+#
+# (1) A shared library which is the CSM plugin itself.  This receives a special
+# name which is the delivered file name.
+#
+# (2) A static library, which is to only be used for unit testing.
+file(GLOB SOURCES source/*.cpp)
+
+# Shared library version (the CSM plugin)
+#
+# This cannot use coda_add_module because we need to set the final filename so
+# it is not libcsm-plugin.so.  This means some of these are duplicated from
+# CodaBuild.cmake.
+add_library(${MODULE_NAME} SHARED ${SOURCES})
+target_link_libraries(${MODULE_NAME} scene-c++ six.sicd-c++ six.sidd-c++ CSMAPI)
+target_include_directories(${MODULE_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+set_target_properties(${MODULE_NAME} PROPERTIES PREFIX "" OUTPUT_NAME "${PLUGIN_FILENAME}")
+
+# Manually need to create install target
+set(CODA_EXPORT_SET_NAME "${CMAKE_PROJECT_NAME}Targets")
+install(TARGETS ${MODULE_NAME}
+        EXPORT ${CODA_EXPORT_SET_NAME}
+        LIBRARY DESTINATION "share/CSM/plugins/")
+
+# Static library version
+#
+# The unit test is statically linked against the CSMAPI and the SIX CSM
+# functionality.  This is the only use for the static version of those two
+# libraries.  By statically linking them, the unit test can run without any
+# problems encountered in needing to specify where the two plugins (CSMAPI and
+# SIX_CSM) exist.
+set(TARGET_LANGUAGE c++)
+coda_add_module(
+    ${MODULE_NAME}-static
+    SOURCES ${SOURCES}
+    DEPS scene-c++ six.sicd-c++ six.sidd-c++ CSMAPI-static)
+coda_add_tests(
+    MODULE_NAME ${MODULE_NAME}-static
+    DIRECTORY "tests")
+coda_add_tests(
+    MODULE_NAME ${MODULE_NAME}-static
+    DIRECTORY "unittests"
+    UNITTEST)

six/projects/csm/external/.gitignore

@@ -0,0 +1 @@
+csm-3.1.0/

six/projects/csm/external/CMakeLists.txt

@@ -0,0 +1,52 @@
+if (MSVC)
+    # This is not our code, so we are not going to change it to eliminate these problems
+    add_compile_options(/wd4251) # class '...' needs to have dll-interface to be used by clients of class '...'
+    add_compile_options(/wd4275) # non dll-interface class '...' used as base for dll-interface class '...'
+    add_compile_options(/wd4267) # conversion from '...' to '...'
+    add_compile_options(/wd4996) # '...': This function or variable may be unsafe
+    add_compile_options(/wd4244) # 'return': conversion from '...' to '...'
+    add_compile_options(/wd4005) # '...': macro redefinition
+endif()
+
+set(TARGET_NAME CSMAPI)
+string(TOLOWER ${TARGET_NAME} target_name_lc)
+
+coda_fetch_driver(
+        NAME ${TARGET_NAME}
+        ARCHIVE "csm_v3.1.0.zip"
+        HASH "SHA256=7c2359f4ec911cedc3bbf6221f8dbe0914479c9af8184f0d79ecc60f6c1d5ad3"
+    )
+
+set("${target_name_lc}_VERSION" "310" CACHE INTERNAL "version string for ${target_name_lc}")
+set(SOURCE_DIR "${${CMAKE_PROJECT_NAME}_${target_name_lc}_SOURCE_DIR}")
+
+file(GLOB SOURCES "${SOURCE_DIR}/*.cpp")
+set(CODA_EXPORT_SET_NAME "${CMAKE_PROJECT_NAME}Targets")
+
+if (MSVC)
+    add_library(${TARGET_NAME} SHARED ${SOURCES})
+else()
+    add_library(${TARGET_NAME} INTERFACE)
+endif()
+target_include_directories(${TARGET_NAME} INTERFACE
+    $<BUILD_INTERFACE:${SOURCE_DIR}>
+    $<INSTALL_INTERFACE:>)
+install(TARGETS ${TARGET_NAME})
+install(TARGETS ${TARGET_NAME} EXPORT ${CODA_EXPORT_SET_NAME})
+
+# The static version of CSMAPI exists only to support unit tests on the plugin.
+# See the comments in the CMakeLists.txt file in the parent directory.  Using
+# this version for any other purpose will almost surely break the plugin
+# functionality.
+add_library(${TARGET_NAME}-static ${SOURCES})
+target_include_directories(${TARGET_NAME}-static INTERFACE
+    $<BUILD_INTERFACE:${SOURCE_DIR}>
+    $<INSTALL_INTERFACE:>)
+if (MSVC)
+    # Define CSM_LIBRARY so the symbols are not marked as being imported from a
+    # shared library/dll.  Fixes Windows link problems where they are expected
+    # to be defined externally.
+    target_compile_options(${TARGET_NAME}-static PUBLIC /DCSM_LIBRARY)
+endif()
+install(TARGETS ${TARGET_NAME}-static EXPORT ${CODA_EXPORT_SET_NAME})
+