io.cpp

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#include "io.hpp"
 
#include <assert.h>
#include <cairo/cairo.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
 
#include <algorithm>
#include <chrono>
#include <cstring>
#include <fstream>
#include <iostream>
#include <map>
#include <memory>
#include <random>
#include <string>
#include <utility>
#include <vector>
 
#include "attitude-estimators.hpp"
#include "attitude-utils.hpp"
#include "databases.hpp"
#include "decimal.hpp"
#include "star-id.hpp"
#include "star-utils.hpp"
 
namespace lost {

UserSpecifiedOutputStream::UserSpecifiedOutputStream(std::string filePath, bool isBinary) {
    if (isBinary && isatty(fileno(stdout)) && (filePath == "stdout" || filePath == "-")) {
        std::cerr << "WARNING: output contains binary contents. Not printed to terminal." << std::endl;
        filePath = "/dev/null";
    }
 
    if (filePath == "stdout" || filePath == "-") {
        stream = &std::cout;
        isFstream = false;
    } else {
        std::fstream *fs = new std::fstream();
        fs->open(filePath, std::fstream::out);
        stream = fs;
        isFstream = true;
    }
}
 
UserSpecifiedOutputStream::~UserSpecifiedOutputStream() {
    if (isFstream) {
        delete stream;
    }
}

std::vector<CatalogStar> BscParse(std::string tsvPath) {
    std::vector<CatalogStar> result;
    FILE *file;
    decimal raj2000, dej2000;
    int magnitudeHigh, magnitudeLow, name;
    char weird;
 
    file = fopen(tsvPath.c_str(), "r");
 
    if (file == NULL) {
        printf("Error opening file: %s\n", strerror(errno));
        exit(1); // TODO: do we want any other error handling?
        return result;
    }
 
    #ifdef LOST_FLOAT_MODE
        std::string format = "%f|%f|%d|%c|%d.%d";
    #else
        std::string format = "%lf|%lf|%d|%c|%d.%d";
    #endif
 
    while (EOF != fscanf(file, format.c_str(),
                         &raj2000, &dej2000,
                         &name, &weird,
                         &magnitudeHigh, &magnitudeLow)) {
        result.push_back(CatalogStar(DegToRad(raj2000),
                                     DegToRad(dej2000),
                                     magnitudeHigh*100 + (magnitudeHigh < 0 ? -magnitudeLow : magnitudeLow),
                                     name));
    }
 
    fclose(file);
    assert(result.size() > 9000); // basic sanity check
    return result;
}
 
#ifndef DEFAULT_BSC_PATH
#define DEFAULT_BSC_PATH "bright-star-catalog.tsv"
#endif

const Catalog &CatalogRead() {
    static bool readYet = false;
    static std::vector<CatalogStar> catalog;
 
    if (!readYet) {
        readYet = true;
        char *tsvPath = getenv("LOST_BSC_PATH");
        catalog = BscParse(tsvPath ? tsvPath : DEFAULT_BSC_PATH);
        // perform essential narrowing
        // remove all stars with exactly the same position as another, keeping the one with brighter magnitude
        std::sort(catalog.begin(), catalog.end(), [](const CatalogStar &a, const CatalogStar &b) {
            return a.spatial.x < b.spatial.x;
        });
        for (int i = catalog.size()-1; i > 0; i--) {
            if ((catalog[i].spatial - catalog[i-1].spatial).Magnitude() < DECIMAL(5e-5)) { // 70 stars removed at this threshold.
                if (catalog[i].magnitude > catalog[i-1].magnitude) {
                    catalog.erase(catalog.begin() + i);
                } else {
                    catalog.erase(catalog.begin() + i - 1);
                }
            }
        }
    }
    return catalog;
}

unsigned char *SurfaceToGrayscaleImage(cairo_surface_t *cairoSurface) {
    int width, height;
    unsigned char *result;
    uint32_t *cairoImage, pixel;
 
    if (cairo_image_surface_get_format(cairoSurface) != CAIRO_FORMAT_ARGB32 &&
        cairo_image_surface_get_format(cairoSurface) != CAIRO_FORMAT_RGB24) {
        puts("Can't convert weird image formats to grayscale.");
        return NULL;
    }
 
    width  = cairo_image_surface_get_width(cairoSurface);
    height = cairo_image_surface_get_height(cairoSurface);
 
    result = new unsigned char[width*height];
    cairoImage = (uint32_t *)cairo_image_surface_get_data(cairoSurface);
 
    for (int i = 0; i < height * width; i++) {
        pixel = cairoImage[i];
        // use "luminosity" method of grayscaling
        result[i] = round(
            (pixel>>16 &0xFF) *0.21 +
            (pixel>>8  &0xFF) *0.71 +
            (pixel     &0xFF) *0.07);
    }
 
    return result;
}
 
cairo_surface_t *GrayscaleImageToSurface(const unsigned char *image,
                                         const int width, const int height) {
    // cairo's 8-bit type isn't BW, it's an alpha channel only, which would look a bit weird lol
    cairo_surface_t *result = cairo_image_surface_create(CAIRO_FORMAT_RGB24, width, height);
    uint32_t *resultData = (uint32_t *)cairo_image_surface_get_data(result);
    // hopefully unnecessary
    cairo_surface_flush(result);
    for (long i = 0; i < width * height; i++) {
        // equal r, g, and b components
        resultData[i] = (image[i] << 16) + (image[i] << 8) + (image[i]);
    }
    cairo_surface_mark_dirty(result);
    return result;
}

void SurfacePlot(std::string description,
                 cairo_surface_t *cairoSurface,
                 const Stars &stars,
                 const StarIdentifiers *starIds,
                 const Catalog *catalog,
                 const Attitude *attitude,
                 double red,
                 double green,
                 double blue,
                 double alpha,
                 // if true, don't use catalog name
                 bool rawStarIndexes = false) {
    cairo_t *cairoCtx;
    std::string metadata = description + " ";
 
    cairoCtx = cairo_create(cairoSurface);
    cairo_set_source_rgba(cairoCtx, red, green, blue, alpha);
    cairo_set_line_width(cairoCtx, 1.0);
    cairo_set_antialias(cairoCtx, CAIRO_ANTIALIAS_NONE);
    cairo_font_options_t *cairoFontOptions = cairo_font_options_create();
    cairo_font_options_set_antialias(cairoFontOptions, CAIRO_ANTIALIAS_NONE);
    cairo_set_font_options(cairoCtx, cairoFontOptions);
    cairo_text_extents_t cairoTextExtents;
    cairo_text_extents(cairoCtx, "1234567890", &cairoTextExtents);
    decimal textHeight = cairoTextExtents.height;
 
    for (const Star &centroid : stars) {
        // plot the box around the star
        if (centroid.radiusX > DECIMAL(0.0)) {
            decimal radiusX = centroid.radiusX;
            decimal radiusY = centroid.radiusY > DECIMAL(0.0) ?
                centroid.radiusY : radiusX;
 
            // Rectangles should be entirely /outside/ the radius of the star, so the star is
            // fully visible.
            cairo_rectangle(cairoCtx,
                            (double) (centroid.position.x - radiusX),
                            (double) (centroid.position.y - radiusY),
                            (double) (radiusX * 2),
                            (double) (radiusY * 2));
            cairo_stroke(cairoCtx);
        } else {
            cairo_rectangle(cairoCtx,
                            (double) DECIMAL_FLOOR(centroid.position.x),
                            (double) DECIMAL_FLOOR(centroid.position.y),
                            1, 1);
            cairo_fill(cairoCtx);
        }
    }
 
    metadata += std::to_string(stars.size()) + " centroids   ";
 
    if (starIds != NULL) {
        assert(catalog != NULL);
 
        for (const StarIdentifier &starId : *starIds) {
            const Star &centroid = stars[starId.starIndex];
            cairo_move_to(cairoCtx,
 
                          (double) (centroid.radiusX > DECIMAL(0.0)
                                    ? centroid.position.x + centroid.radiusX + 3
                                    : centroid.position.x + 8),
 
                          (double) (centroid.radiusY > DECIMAL(0.0)
                                    ? centroid.position.y - centroid.radiusY + textHeight
                                    : centroid.position.y + 10));
 
            int plotName = rawStarIndexes ? starId.catalogIndex : (*catalog)[starId.catalogIndex].name;
            cairo_show_text(cairoCtx, std::to_string(plotName).c_str());
        }
        metadata += std::to_string(starIds->size()) + " identified   ";
    }
 
    if (attitude != NULL) {
        EulerAngles spherical = attitude->ToSpherical();
        metadata +=
            "RA: " + std::to_string(RadToDeg(spherical.ra)) + "  " +
            "DE: " + std::to_string(RadToDeg(spherical.de)) + "  " +
            "Roll: " + std::to_string(RadToDeg(spherical.roll)) + "   ";
    }
 
    // plot metadata
    cairo_move_to(cairoCtx, 3, (double) (3 + textHeight));
    cairo_show_text(cairoCtx, metadata.c_str());
 
    cairo_font_options_destroy(cairoFontOptions);
    cairo_destroy(cairoCtx);
}
 
// ALGORITHM PROMPTERS
typedef CentroidAlgorithm *(*CentroidAlgorithmFactory)();
typedef StarIdAlgorithm *(*StarIdAlgorithmFactory)();
typedef AttitudeEstimationAlgorithm *(*AttitudeEstimationAlgorithmFactory)();
 
typedef StarIdAlgorithm *(*StarIdAlgorithmFactory)();
 
typedef AttitudeEstimationAlgorithm *(*AttitudeEstimationAlgorithmFactory)();
 
SerializeContext serFromDbValues(const DatabaseOptions &values) {
    return SerializeContext(values.swapIntegerEndianness, values.swapDecimalEndianness);
}
 
MultiDatabaseDescriptor GenerateDatabases(const Catalog &catalog, const DatabaseOptions &values) {
    MultiDatabaseDescriptor dbEntries;
 
    SerializeContext catalogSer = serFromDbValues(values);
    // TODO decide why we have this inclMagnitude and inclName and if we should change that
    SerializeCatalog(&catalogSer, catalog, false, true);
    dbEntries.emplace_back(kCatalogMagicValue, catalogSer.buffer);
 
    if (values.kvector) {
        decimal minDistance = DegToRad(values.kvectorMinDistance);
        decimal maxDistance = DegToRad(values.kvectorMaxDistance);
        long numBins = values.kvectorNumDistanceBins;
        SerializeContext ser = serFromDbValues(values);
        SerializePairDistanceKVector(&ser, catalog, minDistance, maxDistance, numBins);
        dbEntries.emplace_back(PairDistanceKVectorDatabase::kMagicValue, ser.buffer);
    }
 
    if (values.tetra) {
        decimal maxFovDeg = values.tetraMaxFov;
 
        std::vector<uint16_t> catalogPatternStarInds =
            TetraPreprocessCatalog(catalog, maxFovDeg, values.tetraPatternStarsPerFov);
        std::cerr << "Number of pattern stars: " << catalogPatternStarInds.size() << std::endl;
 
        SerializeContext ser = serFromDbValues(values);
        SerializeTetraDatabase(
            &ser, catalog, maxFovDeg, catalogPatternStarInds, values.tetraEdgeRatioBins);
        dbEntries.emplace_back(TetraDatabase::kMagicValue, ser.buffer);
    }
 
    if (dbEntries.size() <= 1) {
        std::cerr << "No database builder selected -- no database generated." << std::endl;
        exit(1);
    }
 
    return dbEntries;
}

std::ostream &operator<<(std::ostream &os, const Camera &camera) {
    os << "camera_focal_length " << camera.FocalLength() << std::endl
       << "camera_fov " << camera.Fov() << std::endl
       << "camera_resolution_x " << camera.XResolution() << std::endl
       << "camera_resolution_y " << camera.YResolution() << std::endl;
    // TODO: principal point
    return os;
}
 
// PIPELINE INPUT STUFF

decimal FocalLengthFromOptions(const PipelineOptions &values, int xResolution) {
    if ((values.pixelSize != -1) ^ (values.focalLength != 0)) {
        std::cerr << "ERROR: Exactly one of --pixel-size or --focal-length were set." << std::endl;
        exit(1);
    }
 
    // no surefire way to see if the fov was set on command line, so we just check if it was changed from default.
    if (values.pixelSize != -1 && values.fov != 20) {
        std::cerr << "ERROR: Both focal length and FOV were provided. We only need one of the two methods (pixel size + focal length, or fov) to determine fov, please only provide one." << std::endl;
        exit(1);
    }
 
    if (values.pixelSize == -1) {
        return FovToFocalLength(DegToRad(values.fov), xResolution);
    } else {
        return values.focalLength * 1000 / values.pixelSize;
    }
}

cairo_surface_t *PipelineInput::InputImageSurface() const {
    const Image *inputImage = InputImage();
    return GrayscaleImageToSurface(inputImage->image, inputImage->width, inputImage->height);
}
 
// /**
//  * Pipeline input for an image that's already been identified using Astrometry.net.
//  * @todo Not implemented yet.
//  */
// class AstrometryPipelineInput : public PipelineInput {
// public:
//     explicit AstrometryPipelineInput(const std::string &path);
 
//     const Image *InputImage() const { return &image; };
//     const Attitude *InputAttitude() const { return &attitude; };
// private:
//     Image image;
//     Attitude attitude;
// };

PngPipelineInput::PngPipelineInput(cairo_surface_t *cairoSurface, Camera camera, const Catalog &catalog)
    : camera(camera), catalog(catalog) {
 
    image.image = SurfaceToGrayscaleImage(cairoSurface);
    image.width = cairo_image_surface_get_width(cairoSurface);
    image.height = cairo_image_surface_get_height(cairoSurface);
}
 
PngPipelineInput::~PngPipelineInput() {
    delete[] image.image;
}

PipelineInputList GetPngPipelineInput(const PipelineOptions &values) {
    // I'm not sure why, but i can't get an initializer list to work here. Probably something to do
    // with copying unique ptrs
    PipelineInputList result;
    cairo_surface_t *cairoSurface = NULL;
    std::string pngPath = values.png;
 
    cairoSurface = cairo_image_surface_create_from_png(pngPath.c_str());
    std::cerr << "PNG Read status: " << cairo_status_to_string(cairo_surface_status(cairoSurface)) << std::endl;
    if (cairoSurface == NULL || cairo_surface_status(cairoSurface) != CAIRO_STATUS_SUCCESS) {
        exit(1);
    }
 
    int xResolution = cairo_image_surface_get_width(cairoSurface);
    int yResolution = cairo_image_surface_get_height(cairoSurface);
    decimal focalLengthPixels = FocalLengthFromOptions(values, xResolution);
    Camera cam = Camera(focalLengthPixels, xResolution, yResolution);
 
    result.push_back(std::unique_ptr<PipelineInput>(new PngPipelineInput(cairoSurface, cam, CatalogRead())));
    cairo_surface_destroy(cairoSurface);
    return result;
}
 
// AstrometryPipelineInput::AstrometryPipelineInput(const std::string &path) {
//     // create from path, TODO
// }
 
// PipelineInputList PromptAstrometryPipelineInput() {
//     // TODO: why does it let us do a reference to an ephemeral return value?
//     std::string path = Prompt<std::string>("Astrometry download directory");
//     PipelineInputList result;
//     result.push_back(std::unique_ptr<PipelineInput>(new AstrometryPipelineInput(path)));
//     return result;
// }

class GeneratedStar : public Star {
public:
    GeneratedStar(Star star, decimal peakBrightness, Vec2 motionBlurDelta)
        : Star(star), peakBrightness(peakBrightness), delta(motionBlurDelta) { };

    decimal peakBrightness;

    Vec2 delta;
};
 
// In the equations for pixel brightness both with motion blur enabled and disabled, we don't need
// any constant scaling factor outside the integral because when d0=0, the brightness at the center
// will be zero without any scaling. The scaling factor you usually see on a Normal distribution is
// so that the Normal distribution integrates to one over the real line, making it a probability
// distribution. But we want the /peak/ to be one, not the integral. motion blur enabled

static decimal MotionBlurredPixelBrightness(const Vec2 &pixel, const GeneratedStar &generatedStar,
                                          decimal t, decimal stddev) {
    const Vec2 &p0 = generatedStar.position;
    const Vec2 &delta = generatedStar.delta;
    const Vec2 d0 = p0 - pixel;
    return generatedStar.peakBrightness
        * stddev*DECIMAL_SQRT(DECIMAL_M_PI) / (DECIMAL_SQRT(2)*delta.Magnitude())
        * DECIMAL_EXP(DECIMAL_POW(d0.x*delta.x + d0.y*delta.y, 2) / (2*stddev*stddev*delta.MagnitudeSq())
              - d0.MagnitudeSq() / (2*stddev*stddev))
        * DECIMAL_ERF((t*delta.MagnitudeSq() + d0.x*delta.x + d0.y*delta.y) / (stddev*DECIMAL_SQRT(2)*delta.Magnitude()));
}

static decimal StaticPixelBrightness(const Vec2 &pixel, const GeneratedStar &generatedStar,
                                   decimal t, decimal stddev) {
    const Vec2 d0 = generatedStar.position - pixel;
    return generatedStar.peakBrightness * t * DECIMAL_EXP(-d0.MagnitudeSq() / (2 * stddev * stddev));
}

static decimal CentroidImagingProbability(decimal mag, decimal cutoffMag) {
    decimal brightness = MagToBrightness(mag);
    decimal cutoffBrightness = MagToBrightness(cutoffMag);
    decimal stddev = cutoffBrightness/DECIMAL(5.0);
    // CDF of Normal distribution with given mean and stddev
    return 1 - (DECIMAL(0.5) * (1 + DECIMAL_ERF((cutoffBrightness-brightness)/(stddev*DECIMAL_SQRT(2.0)))));
}
 
const int kMaxBrightness = 255;

GeneratedPipelineInput::GeneratedPipelineInput(const Catalog &catalog,
                                               Attitude attitude,
                                               Camera camera,
                                               std::default_random_engine *rng,
 
                                               bool centroidsOnly,
                                               decimal zeroMagTotalPhotons,
                                               decimal starSpreadStdDev,
                                               decimal saturationPhotons,
                                               decimal darkCurrent,
                                               decimal readNoiseStdDev,
                                               Attitude motionBlurDirection, // applied on top of the attitude
                                               decimal exposureTime,
                                               decimal readoutTime, // zero for no rolling shutter
                                               bool shotNoise,
                                               int oversampling,
                                               int numFalseStars,
                                               int falseStarMinMagnitude,
                                               int falseStarMaxMagnitude,
                                               int cutoffMag,
                                               decimal perturbationStddev)
    : camera(camera), attitude(attitude), catalog(catalog) {
 
    assert(falseStarMaxMagnitude <= falseStarMinMagnitude);
    assert(perturbationStddev >= DECIMAL(0.0));
 
    image.width = camera.XResolution();
    image.height = camera.YResolution();
    // number of true photons each pixel receives.
 
    assert(oversampling >= 1);
    int oversamplingPerAxis = DECIMAL_CEIL(DECIMAL_SQRT(oversampling));
    if (oversamplingPerAxis*oversamplingPerAxis != oversampling) {
        std::cerr << "WARNING: oversampling was not a perfect square. Rounding up to "
                  << oversamplingPerAxis*oversamplingPerAxis << "." << std::endl;
    }
    assert(exposureTime > 0);
    bool motionBlurEnabled = abs(motionBlurDirection.GetQuaternion().Angle()) > DECIMAL(0.001);
    Quaternion motionBlurDirectionQ = motionBlurDirection.GetQuaternion();
    // attitude at the middle of exposure time
    Quaternion currentAttitude = attitude.GetQuaternion();
    // attitude 1 time unit after middle of exposure
    Quaternion futureAttitude = motionBlurDirectionQ*currentAttitude;
    std::vector<GeneratedStar> generatedStars;
 
    // a star with 1 photon has peak density 1/(2pi sigma^2), because 2d gaussian formula. Then just
    // multiply up proportionally!
    decimal zeroMagPeakPhotonDensity = zeroMagTotalPhotons / (2*DECIMAL_M_PI * starSpreadStdDev*starSpreadStdDev);
 
    Catalog catalogWithFalse = catalog;
 
    std::uniform_real_distribution<decimal> uniformDistribution(DECIMAL(0.0), DECIMAL(1.0));
    std::uniform_int_distribution<int> magnitudeDistribution(falseStarMaxMagnitude, falseStarMinMagnitude);
    for (int i = 0; i < numFalseStars; i++) {
        decimal ra = uniformDistribution(*rng) * 2*DECIMAL_M_PI;
        // to be uniform around sphere. Borel-Kolmogorov paradox is calling
        decimal de = DECIMAL_ASIN(uniformDistribution(*rng)*2 - 1);
        decimal magnitude = magnitudeDistribution(*rng);
 
        catalogWithFalse.push_back(CatalogStar(ra, de, magnitude, -1));
    }
 
    for (int i = 0; i < (int)catalogWithFalse.size(); i++) {
        bool isTrueStar = i < (int)catalog.size();
 
        const CatalogStar &catalogStar = catalogWithFalse[i];
        Vec3 rotated = attitude.Rotate(catalogWithFalse[i].spatial);
        if (rotated.x <= 0) {
            continue;
        }
        Vec2 camCoords = camera.SpatialToCamera(rotated);
 
        if (camera.InSensor(camCoords)) {
            Vec3 futureSpatial = futureAttitude.Rotate(catalogWithFalse[i].spatial);
            Vec2 delta = camera.SpatialToCamera(futureSpatial) - camCoords;
            if (!motionBlurEnabled) {
                delta = {0, 0}; // avoid decimaling point funny business
            }
            // radiant intensity, in photons per time unit per pixel, at the center of the star.
            decimal peakBrightnessPerTime = zeroMagPeakPhotonDensity * MagToBrightness(catalogStar.magnitude);
            decimal interestingThreshold = DECIMAL(0.05); // we don't need to check pixels that are expected to
                                               // receive this many photons or fewer.
            // inverse of the function defining the Gaussian distribution: Find out how far from the
            // mean we'll have to go until the number of photons is less than interestingThreshold
            decimal radius = DECIMAL_CEIL(DECIMAL_SQRT(-DECIMAL_LOG(interestingThreshold/peakBrightnessPerTime/exposureTime)*2*DECIMAL_M_PI*starSpreadStdDev*starSpreadStdDev));
            Star star = Star(camCoords.x, camCoords.y,
                             radius, radius,
                             // important to invert magnitude here, so that centroid magnitude becomes larger for brighter stars.
                             // It's possible to make it so that the magnitude is always positive too, but allowing weirder magnitudes helps keep star-id algos honest about their assumptions on magnitude.
                             // we don't use its magnitude anywhere else in generation; peakBrightness was already calculated.
                             -catalogStar.magnitude);
            generatedStars.push_back(GeneratedStar(star, peakBrightnessPerTime, delta));
 
            // Now add the star to the input and expected lists.
            // We do actually want to add false stars as well, because:
            // a) A centroider isn't any worse because it picks up a false star that looks exactly like a normal star, so why should we exclude them from compare-centroids?
            // b) We want to feed false stars into star-ids to evaluate their false-star resilience without running centroiding.
 
            // Add all stars to expected, cause that's how we roll
            expectedStars.push_back(star);
            // and provide expected identifications for all of them
            if (isTrueStar) {
                expectedStarIds.push_back(StarIdentifier(expectedStars.size()-1, i));
            }
 
            // for input, though, add perturbation and stuff.
            Star inputStar = star;
            if (perturbationStddev > DECIMAL(0.0)) {
                std::normal_distribution<decimal> perturbation1DDistribution(DECIMAL(0.0), perturbationStddev);
                // clamp to within 2 standard deviations for some reason:
                inputStar.position.x += std::max(std::min(perturbation1DDistribution(*rng), 2*perturbationStddev), -2*perturbationStddev);
                inputStar.position.y += std::max(std::min(perturbation1DDistribution(*rng), 2*perturbationStddev), -2*perturbationStddev);
            }
            // If it got perturbed outside of the sensor, don't add it.
            if (camera.InSensor(inputStar.position)
                // and also don't add it if it's too dim.
                && (cutoffMag >= 10000 // but always add the star if the cutoff is very high
                    || !isTrueStar // and always add the false stars
                    || std::bernoulli_distribution((double) CentroidImagingProbability(catalogStar.magnitude, cutoffMag))(*rng))) {
                inputStars.push_back(inputStar);
                if (isTrueStar) {
                    inputStarIds.push_back(StarIdentifier(inputStars.size()-1, i));
                }
            }
        }
    }
 
    if (centroidsOnly) {
        // we're outta here
        return;
    }
 
    std::vector<decimal> photonsBuffer(image.width*image.height, 0);
 
    for (const GeneratedStar &star : generatedStars) {
        // delta will be exactly (0,0) when motion blur disabled
        Vec2 earliestPosition = star.position - star.delta*(exposureTime/DECIMAL(2.0) + readoutTime/DECIMAL(2.0));
        Vec2 latestPosition = star.position + star.delta*(exposureTime/DECIMAL(2.0) + readoutTime/DECIMAL(2.0));
        int xMin = std::max(0, (int)std::min(earliestPosition.x - star.radiusX, latestPosition.x - star.radiusX));
        int xMax = std::min(image.width-1, (int)std::max(earliestPosition.x + star.radiusX, latestPosition.x + star.radiusX));
        int yMin = std::max(0, (int)std::min(earliestPosition.y - star.radiusX, latestPosition.y - star.radiusX));
        int yMax = std::min(image.height-1, (int)std::max(earliestPosition.y + star.radiusX, latestPosition.y + star.radiusX));
 
        // peak brightness is measured in photons per time unit per pixel, so if oversampling, we
        // need to convert units to photons per time unit per sample
        decimal oversamplingBrightnessFactor = oversamplingPerAxis*oversamplingPerAxis;
 
        // the star.x and star.y refer to the pixel whose top left corner the star should appear at
        // (and fractional amounts are relative to the corner). When we color a pixel, we ideally
        // would integrate the intensity of the star over that pixel, but we can make do by sampling
        // the intensity of the star at the /center/ of the pixel, ie, star.x+.5 and star.y+.5
        for (int xPixel = xMin; xPixel <= xMax; xPixel++) {
            for (int yPixel = yMin; yPixel <= yMax; yPixel++) {
                // offset of beginning & end of readout compared to beginning & end of readout for
                // center row
                decimal readoutOffset = readoutTime * (yPixel - image.height/DECIMAL(2.0)) / image.height;
                decimal tStart = -exposureTime/DECIMAL(2.0) + readoutOffset;
                decimal tEnd = exposureTime/DECIMAL(2.0) + readoutOffset;
 
                // loop through all samples in the current pixel
                for (int xSample = 0; xSample < oversamplingPerAxis; xSample++) {
                    for (int ySample = 0; ySample < oversamplingPerAxis; ySample++) {
                        decimal x = xPixel + (xSample+DECIMAL(0.5))/oversamplingPerAxis;
                        decimal y = yPixel + (ySample+DECIMAL(0.5))/oversamplingPerAxis;
 
                        decimal curPhotons;
                        if (motionBlurEnabled) {
                            curPhotons =
                                (MotionBlurredPixelBrightness({x, y}, star, tEnd, starSpreadStdDev)
                                 - MotionBlurredPixelBrightness({x, y}, star, tStart, starSpreadStdDev))
                                / oversamplingBrightnessFactor;
                        } else {
                            curPhotons = StaticPixelBrightness({x, y}, star, exposureTime, starSpreadStdDev)
                                / oversamplingBrightnessFactor;
                        }
 
                        assert(DECIMAL(0.0) <= curPhotons);
 
                        photonsBuffer[xPixel + yPixel*image.width] += curPhotons;
                    }
                }
            }
        }
    }
 
    std::normal_distribution<decimal> standardNormalDist(DECIMAL(0.0), DECIMAL(1.0));
 
    // convert from photon counts to observed pixel brightnesses, applying noise and such.
    imageData = std::vector<unsigned char>(image.width*image.height);
    image.image = imageData.data();
    for (int i = 0; i < image.width * image.height; i++) {
        decimal curBrightness = 0;
 
        // dark current (Constant)
        curBrightness += darkCurrent;
 
        // read noise (Gaussian)
        curBrightness += readNoiseStdDev * standardNormalDist(*rng);
 
        // shot noise (Poisson), and quantize
        long quantizedPhotons;
        if (shotNoise) {
            // with GNU libstdc++, it keeps sampling from the distribution until it's within the min-max
            // range. This is problematic if the mean is far above the max long value, because then it
            // might have to sample many many times (and furthermore, the results won't be useful
            // anyway)
            decimal photons = photonsBuffer[i];
            if (photons > DECIMAL(LONG_MAX) - DECIMAL(3.0) * DECIMAL_SQRT(LONG_MAX)) {
                std::cout << "ERROR: One of the pixels had too many photons. Generated image would not be physically accurate, exiting." << std::endl;
                exit(1);
            }
            // std::poisson_distribution requires mean > 0
            if (photons > DECIMAL(0.0)) {
                std::poisson_distribution<long> shotNoiseDist((double) photons);
                quantizedPhotons = shotNoiseDist(*rng);
            } else {
                quantizedPhotons = 0;
            }
        } else {
            quantizedPhotons = round(photonsBuffer[i]);
        }
        curBrightness += quantizedPhotons / saturationPhotons;
 
        // std::clamp not introduced until C++17, so we avoid it.
        decimal clampedBrightness = std::max(std::min(curBrightness, DECIMAL(1.0)), DECIMAL(0.0));
        imageData[i] = floor(clampedBrightness * kMaxBrightness); // TODO: off-by-one, 256?
    }
}

static Attitude RandomAttitude(std::default_random_engine* pReng) {
    std::uniform_real_distribution<decimal> randomAngleDistribution(0, 1);
 
    // normally the ranges of the Ra and Dec are:
    // Dec: [-90 deg, 90 deg] --> [-pi/2 rad, pi/2 rad], where negative means south
    // of the celestial equator and positive means north
    // Ra: [0 deg, 360 deg] --> [0 rad, 2pi rad ]
    // Roll: [0 rad, 2 pi rad]
 
    decimal randomRa = 2 *  DECIMAL_M_PI * randomAngleDistribution(*pReng);
    decimal randomDec = (DECIMAL_M_PI / 2) - acos(1 - 2 * randomAngleDistribution(*pReng)); //acos returns a decimal in range [0, pi]
    decimal randomRoll = 2 *  DECIMAL_M_PI * randomAngleDistribution(*pReng);
 
    Attitude randAttitude = Attitude(SphericalToQuaternion(randomRa, randomDec, randomRoll));
 
    return randAttitude;
}

PipelineInputList GetGeneratedPipelineInput(const PipelineOptions &values) {
    // TODO: prompt for attitude, imagewidth, etc and then construct a GeneratedPipelineInput
 
    int seed;
 
    // time based seed if option specified
    if (values.timeSeed) {
        seed = time(0);
    } else {
        seed = values.generateSeed;
    }
 
    std::default_random_engine attitudeRng(seed);
    std::default_random_engine noiseRng(seed);
 
    // TODO: allow random angle generation?
    Attitude attitude = Attitude(SphericalToQuaternion(DegToRad(values.generateRa),
                                                       DegToRad(values.generateDe),
                                                       DegToRad(values.generateRoll)));
 
    Attitude motionBlurDirection = Attitude(SphericalToQuaternion(DegToRad(values.generateBlurRa),
                                                                  DegToRad(values.generateBlurDe),
                                                                  DegToRad(values.generateBlurRoll)));
    PipelineInputList result;
 
    decimal focalLength = FocalLengthFromOptions(values, values.generateXRes);
 
 
    for (int i = 0; i < values.generate; i++) {
 
 
        Attitude inputAttitude;
        if (values.generateRandomAttitudes) {
            inputAttitude = RandomAttitude(&attitudeRng);
        } else {
            inputAttitude = attitude;
        }
 
        GeneratedPipelineInput *curr = new GeneratedPipelineInput(
                CatalogRead(),
                inputAttitude,
                Camera(focalLength, values.generateXRes, values.generateYRes),
                &noiseRng,
 
                values.generateCentroidsOnly,
                values.generateZeroMagPhotons,
                values.generateSpreadStdDev,
                values.generateSaturationPhotons,
                values.generateDarkCurrent,
                values.generateReadNoiseStdDev,
                motionBlurDirection,
                values.generateExposure,
                values.generateReadoutTime,
                values.generateShotNoise,
                values.generateOversampling,
                values.generateNumFalseStars,
                (values.generateFalseMinMag * 100),
                (values.generateFalseMaxMag * 100),
                (values.generateCutoffMag * 100),
                values.generatePerturbationStddev);
 
            result.push_back(std::unique_ptr<PipelineInput>(curr));
 
 
    }
 
 
 
    return result;
}
 
typedef PipelineInputList (*PipelineInputFactory)();

PipelineInputList GetPipelineInput(const PipelineOptions &values) {
 
    if (values.png != "") {
        return GetPngPipelineInput(values);
    } else {
        return GetGeneratedPipelineInput(values);
    }
}

Pipeline::Pipeline(CentroidAlgorithm *centroidAlgorithm,
                   StarIdAlgorithm *starIdAlgorithm,
                   AttitudeEstimationAlgorithm *attitudeEstimationAlgorithm,
                   unsigned char *database)
    : Pipeline() {
    if (centroidAlgorithm) {
        this->centroidAlgorithm = std::unique_ptr<CentroidAlgorithm>(centroidAlgorithm);
    }
    if (starIdAlgorithm) {
        this->starIdAlgorithm = std::unique_ptr<StarIdAlgorithm>(starIdAlgorithm);
    }
    if (attitudeEstimationAlgorithm) {
        this->attitudeEstimationAlgorithm = std::unique_ptr<AttitudeEstimationAlgorithm>(attitudeEstimationAlgorithm);
    }
    if (database) {
        this->database = std::unique_ptr<unsigned char[]>(database);
    }
}
 

Pipeline SetPipeline(const PipelineOptions &values) {
    Pipeline result;
 
    // TODO: more flexible or sth
    // TODO: don't allow setting star-id until database is set, and perhaps limit the star-id
    // choices to those compatible with the database?
    //
 
    // centroid algorithm stage
    if (values.centroidAlgo == "dummy") {
        result.centroidAlgorithm = std::unique_ptr<CentroidAlgorithm>(new DummyCentroidAlgorithm(values.centroidDummyNumStars));
    } else if (values.centroidAlgo == "cog") {
        result.centroidAlgorithm = std::unique_ptr<CentroidAlgorithm>(new CenterOfGravityAlgorithm());
    } else if (values.centroidAlgo == "iwcog") {
        result.centroidAlgorithm = std::unique_ptr<CentroidAlgorithm>(new IterativeWeightedCenterOfGravityAlgorithm());
    } else if (values.centroidAlgo != "") {
        std::cout << "Illegal centroid algorithm." << std::endl;
        exit(1);
    }
 
    // centroid magnitude filter stage
    if (values.centroidMagFilter > 0) result.centroidMinMagnitude = values.centroidMagFilter;
    if (values.centroidFilterBrightest > 0) result.centroidMinStars = values.centroidFilterBrightest;
 
    // database stage
    if (values.databasePath != "") {
        std::fstream fs;
        fs.open(values.databasePath, std::fstream::in | std::fstream::binary);
        fs.seekg(0, fs.end);
        long length = fs.tellg();
        fs.seekg(0, fs.beg);
        if (fs.fail()) {
            std::cerr << "Error reading database! " << strerror(errno) << std::endl;
            exit(1);
        }
        std::cerr << "Reading " << length << " bytes of database" << std::endl;
        result.database = std::unique_ptr<unsigned char[]>(new unsigned char[length]);
        fs.read((char *)result.database.get(), length);
        std::cerr << "Done" << std::endl;
    }
 
    if (values.idAlgo == "dummy") {
        result.starIdAlgorithm = std::unique_ptr<StarIdAlgorithm>(new DummyStarIdAlgorithm());
    } else if (values.idAlgo == "gv") {
        result.starIdAlgorithm = std::unique_ptr<StarIdAlgorithm>(new GeometricVotingStarIdAlgorithm(DegToRad(values.angularTolerance)));
    } else if (values.idAlgo == "py") {
        result.starIdAlgorithm = std::unique_ptr<StarIdAlgorithm>(new PyramidStarIdAlgorithm(
            DegToRad(values.angularTolerance), values.estimatedNumFalseStars,
            values.maxMismatchProb, 1000));
    } else if (values.idAlgo == "tetra") {
        TetraStarIdAlgorithm::PairingMode pairingMode;
        if (values.tetraPairingMode == "triad") {
            pairingMode = TetraStarIdAlgorithm::TRIAD_PERMUTATION;
        } else if (values.tetraPairingMode == "centroid-radius") {
            pairingMode = TetraStarIdAlgorithm::CENTROID_RADIUS;
        } else {
            std::cerr << "Illegal tetra pairing mode: " << values.tetraPairingMode << std::endl;
            exit(1);
        }
        result.starIdAlgorithm = std::unique_ptr<StarIdAlgorithm>(
            new TetraStarIdAlgorithm(pairingMode, values.tetraPatternSearchRange, values.tetraPatternMatchTolerance));
    } else if (values.idAlgo != "") {
        std::cout << "Illegal id algorithm." << std::endl;
        exit(1);
    }
 
    if (values.attitudeAlgo == "dqm") {
        result.attitudeEstimationAlgorithm = std::unique_ptr<AttitudeEstimationAlgorithm>(new DavenportQAlgorithm());
    } else if (values.attitudeAlgo == "triad") {
        result.attitudeEstimationAlgorithm = std::unique_ptr<AttitudeEstimationAlgorithm>(new TriadAlgorithm());
    } else if (values.attitudeAlgo == "quest") {
        result.attitudeEstimationAlgorithm = std::unique_ptr<AttitudeEstimationAlgorithm>(new QuestAlgorithm());
    } else if (values.attitudeAlgo != "") {
        std::cout << "Illegal attitude algorithm." << std::endl;
        exit(1);
    }
 
    return result;
}

PipelineOutput Pipeline::Go(const PipelineInput &input) {
    // Start executing the pipeline at the first stage that has both input and an algorithm. From
    // there, execute each successive stage of the pipeline using the output of the last stage
    // (human centipede) until there are no more stages set.
    PipelineOutput result;
 
    const Image *inputImage = input.InputImage();
    const Stars *inputStars = input.InputStars();
    const StarIdentifiers *inputStarIds = input.InputStarIds();
 
    // if database is provided, that's where we get catalog from.
    if (database) {
        MultiDatabase multiDatabase(database.get());
        const unsigned char *catalogBuffer = multiDatabase.SubDatabasePointer(kCatalogMagicValue);
        if (catalogBuffer != NULL) {
            DeserializeContext des(catalogBuffer);
            result.catalog = DeserializeCatalog(&des, NULL, NULL);
        } else {
            std::cerr << "WARNING: That database does not include a catalog. Proceeding with the full catalog." << std::endl;
            result.catalog = input.GetCatalog();
        }
    } else {
        result.catalog = input.GetCatalog();
    }
 
    if (centroidAlgorithm && inputImage) {
 
        // run centroiding, keeping track of the time it takes
        std::chrono::time_point<std::chrono::steady_clock> start = std::chrono::steady_clock::now();
 
        // TODO: we should probably modify Go to just take an image argument
        Stars unfilteredStars = centroidAlgorithm->Go(inputImage->image, inputImage->width, inputImage->height);
 
        std::chrono::time_point<std::chrono::steady_clock> end = std::chrono::steady_clock::now();
        result.centroidingTimeNs = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count();
 
        // MAGNITUDE FILTERING
        int minMagnitude = centroidMinMagnitude;
        if (centroidMinStars > 0
            // don't need to filter if we don't even have that many stars
            && centroidMinStars < (int)unfilteredStars.size()) {
 
            Stars magSortedStars = unfilteredStars;
            // sort descending
            std::sort(magSortedStars.begin(), magSortedStars.end(), [](const Star &a, const Star &b) { return a.magnitude > b.magnitude; });
            minMagnitude = std::max(minMagnitude, magSortedStars[centroidMinStars - 1].magnitude);
        }
        // determine the minimum magnitude according to sorted stars
        Stars *filteredStars = new std::vector<Star>();
        for (const Star &star : unfilteredStars) {
            assert(star.magnitude >= 0); // catalog stars can have negative magnitude, but by our
                                         // conventions, centroids shouldn't.
            if (star.magnitude >= minMagnitude) {
                filteredStars->push_back(star);
            }
        }
        result.stars = std::unique_ptr<Stars>(filteredStars);
        inputStars = filteredStars;
 
        // any starid set up to this point needs to be discarded, because it's based on input
        // centroids instead of our new centroids.
        inputStarIds = NULL;
        result.starIds = NULL;
    } else if (centroidAlgorithm) {
        std::cerr << "ERROR: Centroid algorithm specified, but no input image to run it on." << std::endl;
        exit(1);
    }
 
    if (starIdAlgorithm && database && inputStars && input.InputCamera()) {
        // TODO: don't copy the vector!
        std::chrono::time_point<std::chrono::steady_clock> start = std::chrono::steady_clock::now();
 
        result.starIds = std::unique_ptr<StarIdentifiers>(new std::vector<StarIdentifier>(
            starIdAlgorithm->Go(database.get(), *inputStars, result.catalog, *input.InputCamera())));
 
        std::chrono::time_point<std::chrono::steady_clock> end = std::chrono::steady_clock::now();
        result.starIdTimeNs = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count();
 
        inputStarIds = result.starIds.get();
    } else if (starIdAlgorithm) {
        std::cerr << "ERROR: Star ID algorithm specified but cannot run because database, centroids, or camera are missing." << std::endl;
        exit(1);
    }
 
    if (attitudeEstimationAlgorithm && inputStarIds && input.InputCamera()) {
        assert(inputStars); // ensure that starIds doesn't exist without stars
        std::chrono::time_point<std::chrono::steady_clock> start = std::chrono::steady_clock::now();
 
        result.attitude = std::unique_ptr<Attitude>(
            new Attitude(attitudeEstimationAlgorithm->Go(*input.InputCamera(), *inputStars, result.catalog, *inputStarIds)));
 
        std::chrono::time_point<std::chrono::steady_clock> end = std::chrono::steady_clock::now();
        result.attitudeEstimationTimeNs = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count();
    } else if (attitudeEstimationAlgorithm) {
        std::cerr << "ERROR: Attitude estimation algorithm set, but either star IDs or camera are missing. One reason this can happen: Setting a centroid algorithm and attitude algorithm, but no star-id algorithm -- that can't work because the input star-ids won't properly correspond to the output centroids!" << std::endl;
        exit(1);
    }
 
    return result;
}

std::vector<PipelineOutput> Pipeline::Go(const PipelineInputList &inputs) {
    std::vector<PipelineOutput> result;
 
 
    for (const std::unique_ptr<PipelineInput> &input : inputs) {
        result.push_back(Go(*input));
    }
 
    return result;
}

// COMPARISON //

class CentroidComparison {
public:
    CentroidComparison() : meanError(0.0), numCorrectCentroids(0), numExtraCentroids(0) { }
    decimal meanError;

    decimal numCorrectCentroids;

    decimal numExtraCentroids;
 
    // We no longer have a num missing because often generated stars have too low of a signal-to-noise ratio and the centroid algo won't pick them up.
};

static std::multimap<int, int> FindClosestCentroids(decimal threshold,
                                                    const Stars &one,
                                                    const Stars &two) {
    std::multimap<int, int> result;
 
    for (int i = 0; i < (int)one.size(); i++) {
        std::vector<std::pair<decimal, int>> closest;
        for (int k = 0; k < (int)two.size(); k++) {
            decimal currDistance = (one[i].position - two[k].position).Magnitude();
            if (currDistance <= threshold) {
                closest.emplace_back(currDistance, k);
            }
        }
        std::sort(closest.begin(), closest.end());
        for (const std::pair<decimal, int> &pair : closest) {
            result.emplace(i, pair.second);
        }
    }
 
    return result;
}

CentroidComparison CentroidsCompare(decimal threshold,
                                    const Stars &expected,
                                    const Stars &actual) {
 
    // TODO: Somehow penalize when multiple centroids correspond to the same expected star (i.e.,
    // one star turned into multiple centroids). That should probably be considered an extra
    // centroid, but rn it isn't.
 
    CentroidComparison result;
    // maps from indexes in each list to the closest centroid from other list
    std::multimap<int, int> actualToExpected = FindClosestCentroids(threshold, actual, expected);
 
    for (int i = 0; i < (int)actualToExpected.size(); i++) {
        auto closest = actualToExpected.find(i);
        if (closest == actualToExpected.end()) {
            result.numExtraCentroids++;
        } else {
            result.meanError += (actual[i].position - expected[closest->second].position).Magnitude();
            result.numCorrectCentroids++;
        }
    }
    result.meanError /= result.numCorrectCentroids;
 
    return result;
}
 
CentroidComparison CentroidComparisonsCombine(std::vector<CentroidComparison> comparisons) {
    assert(comparisons.size() > 0);
 
    CentroidComparison result;
 
    for (const CentroidComparison &comparison : comparisons) {
        result.meanError += comparison.meanError;
        result.numCorrectCentroids += comparison.numCorrectCentroids;
        result.numExtraCentroids += comparison.numExtraCentroids;
    }
 
    result.meanError /= comparisons.size();
    result.numExtraCentroids /= comparisons.size();
    result.numCorrectCentroids /= comparisons.size();
 
    return result;
}
 
// (documentation in hpp)
StarIdComparison StarIdsCompare(const StarIdentifiers &expected, const StarIdentifiers &actual,
                                // use these to map indices to names for the respective lists of StarIdentifiers
                                const Catalog &expectedCatalog, const Catalog &actualCatalog,
                                decimal centroidThreshold,
                                const Stars &expectedStars, const Stars &inputStars) {
 
    StarIdComparison result = {
        0, // correct
        0, // incorrect
        0, // total
    };
 
    // EXPECTED STAR IDS
 
    // map from expected star indices to expected catalog indices (basically flattening the expected star-ids)
    std::vector<int> expectedCatalogIndices(expectedStars.size(), -1);
    for (const StarIdentifier &starId : expected) {
        assert(0 <= starId.starIndex && starId.starIndex <= (int)expectedStars.size());
        assert(0 <= starId.catalogIndex && starId.catalogIndex <= (int)expectedCatalog.size());
        expectedCatalogIndices[starId.starIndex] = starId.catalogIndex;
    }
 
    // FIND NEAREST CENTROIDS
 
    std::multimap<int, int> inputToExpectedCentroids = FindClosestCentroids(centroidThreshold, inputStars, expectedStars);
    // std::multimap<int, int> expectedToInputCentroids = FindClosestCentroids(centroidThreshold, expectedStars, inputStars);
 
    // COMPUTE TOTAL
    // Count the number of expected stars with at least one input star near them
    for (int i = 0; i < (int)inputStars.size(); i++) {
        // make sure there's at least one expected star near this input star which has an identification
        auto closestRange = inputToExpectedCentroids.equal_range(i);
        bool found = false;
        for (auto it = closestRange.first; it != closestRange.second; it++) {
            if (expectedCatalogIndices[it->second] != -1) {
                found = true;
                break;
            }
        }
        if (found) {
            result.numTotal++;
        }
    }
 
    // COMPUTE CORRECT AND INCORRECT
 
    std::vector<bool> identifiedInputCentroids(inputStars.size(), false);
    for (const StarIdentifier &starId : actual) {
        // as later, there shouldn't be duplicate starIndex. This indicates a bug in the star-id algorithm, not comparison code.
        assert(!identifiedInputCentroids[starId.starIndex]);
        identifiedInputCentroids[starId.starIndex] = true;
        assert(0 <= starId.starIndex && starId.starIndex <= (int)inputStars.size());
        assert(0 <= starId.catalogIndex && starId.catalogIndex <= (int)actualCatalog.size());
 
        // Check that there's at least one expected centroid in range which agrees with your identification.
        auto expectedCentroidsInRange = inputToExpectedCentroids.equal_range(starId.starIndex);
        bool found = false;
        for (auto it = expectedCentroidsInRange.first; it != expectedCentroidsInRange.second; it++) {
            int expectedCatalogIndex = expectedCatalogIndices[it->second];
            if (expectedCatalogIndex != -1
                && expectedCatalog[expectedCatalogIndex].name == actualCatalog[starId.catalogIndex].name) {
 
                result.numCorrect++;
                found = true;
                break;
            }
        }
 
        // Either there's no expected centroid in range, or none of them agree with the identification.
        if (!found) {
            result.numIncorrect++;
        }
    }
 
    return result;
}

// PIPELINE OUTPUT //
 
typedef void (*PipelineComparator)(std::ostream &os,
                                   const PipelineInputList &,
                                   const std::vector<PipelineOutput> &,
                                   const PipelineOptions &);

static cairo_status_t OstreamPlotter(void *closure, const unsigned char *data, unsigned int length) {
    std::ostream *os = (std::ostream *)closure;
    os->write((const char *)data, length);
    return CAIRO_STATUS_SUCCESS;
}

static void PipelineComparatorPlotRawInput(std::ostream &os,
                                    const PipelineInputList &expected,
                                    const std::vector<PipelineOutput> &,
                                    const PipelineOptions &) {
 
    cairo_surface_t *cairoSurface = expected[0]->InputImageSurface();
    cairo_surface_write_to_png_stream(cairoSurface, OstreamPlotter, &os);
    cairo_surface_destroy(cairoSurface);
}

// TODO: should probably use Expected methods, not Input methods, because future PipelineInputs could add noise to the result of the Input methods.
static void PipelineComparatorPlotInput(std::ostream &os,
                                 const PipelineInputList &expected,
                                 const std::vector<PipelineOutput> &,
                                 const PipelineOptions &) {
    cairo_surface_t *cairoSurface = expected[0]->InputImageSurface();
    assert(expected[0]->InputStars() != NULL);
    SurfacePlot("pipeline input",
                cairoSurface,
                *expected[0]->InputStars(),
                expected[0]->InputStarIds(),
                &expected[0]->GetCatalog(),
                expected[0]->InputAttitude(),
                // green
                0.0, 1.0, 0.0, 0.6);
    cairo_surface_write_to_png_stream(cairoSurface, OstreamPlotter, &os);
    cairo_surface_destroy(cairoSurface);
}
 
static void PipelineComparatorPlotExpected(std::ostream &os,
                                    const PipelineInputList &expected,
                                    const std::vector<PipelineOutput> &,
                                    const PipelineOptions &) {
    cairo_surface_t *cairoSurface = expected[0]->InputImageSurface();
    assert(expected[0]->ExpectedStars() != NULL);
    SurfacePlot("expected output",
                cairoSurface,
                *expected[0]->ExpectedStars(),
                expected[0]->ExpectedStarIds(),
                &expected[0]->GetCatalog(),
                expected[0]->ExpectedAttitude(),
                // blu
                0.2, 0.5, 1.0, 0.7);
    cairo_surface_write_to_png_stream(cairoSurface, OstreamPlotter, &os);
    cairo_surface_destroy(cairoSurface);
}

static void PipelineComparatorCentroids(std::ostream &os,
                                 const PipelineInputList &expected,
                                 const std::vector<PipelineOutput> &actual,
                                 const PipelineOptions &values) {
    int size = (int)expected.size();
 
    decimal threshold = values.centroidCompareThreshold;
 
    std::vector<CentroidComparison> comparisons;
    for (int i = 0; i < size; i++) {
        comparisons.push_back(CentroidsCompare(threshold,
                                               *(expected[i]->ExpectedStars()),
                                               *(actual[i].stars)));
    }
 
    CentroidComparison result = CentroidComparisonsCombine(comparisons);
    os << "centroids_num_correct " << result.numCorrectCentroids << std::endl
       << "centroids_num_extra " << result.numExtraCentroids << std::endl
       << "centroids_mean_error " << result.meanError << std::endl;
}
 
static void PrintCentroids(const std::string &prefix,
                           std::ostream &os,
                           const Catalog &catalog,
                           const std::vector<Stars> &starses,
                           // May be NULL. Should be the only the first starId, because we don't have any reasonable aggregative action to perform.
                           const StarIdentifiers *starIds) {
    assert(starses.size() > 0);
    decimal avgNumStars = 0;
    for (const Stars &stars : starses) {
        avgNumStars += stars.size();
    }
    avgNumStars /= starses.size();
 
    os << "num_" << prefix << "_centroids " << avgNumStars << std::endl;
    if (starses.size() == 1) {
        const Stars &stars = starses[0];
        for (int i = 0; i < (int)stars.size(); i++) {
            os << prefix << "_centroid_" << i << "_x " << stars[i].position.x << std::endl;
            os << prefix << "_centroid_" << i << "_y " << stars[i].position.y << std::endl;
            if (starIds) {
                for (const StarIdentifier &starId : *starIds) {
                    if (starId.starIndex == i) {
                        os << prefix << "_centroid_" << i << "_id " << catalog[starId.catalogIndex].name << std::endl;
                    }
                }
            }
        }
    }
}

static void PipelineComparatorPrintExpectedCentroids(std::ostream &os,
                                                     const PipelineInputList &expected,
                                                     const std::vector<PipelineOutput> &, // actual
                                                     const PipelineOptions &) {
    assert(expected.size() > 0);
    assert(expected[0]->ExpectedStars());
 
    std::vector<Stars> expectedStarses;
    for (const auto &input : expected) {
        expectedStarses.push_back(*input->ExpectedStars());
    }
    PrintCentroids("expected",
                   os,
                   expected[0]->GetCatalog(),
                   expectedStarses,
                   expected[0]->ExpectedStarIds());
}
 
static void PipelineComparatorPrintInputCentroids(std::ostream &os,
                                                  const PipelineInputList &expected,
                                                  const std::vector<PipelineOutput> &, // actual
                                                  const PipelineOptions &) {
    assert(expected.size() > 0);
    assert(expected[0]->InputStars());
 
    std::vector<Stars> inputStarses;
    for (const auto &input : expected) {
        inputStarses.push_back(*input->InputStars());
    }
    PrintCentroids("input",
                   os,
                   expected[0]->GetCatalog(),
                   inputStarses,
                   expected[0]->InputStarIds());
}
 
static void PipelineComparatorPrintActualCentroids(std::ostream &os,
                                                   const PipelineInputList &expected, // expected
                                                   const std::vector<PipelineOutput> &actual,
                                                   const PipelineOptions &values) {
    assert(actual.size() > 0);
    assert(actual[0].stars);
 
    std::vector<Stars> actualStarses;
    for (const auto &output : actual) {
        actualStarses.push_back(*output.stars);
    }
    PrintCentroids("actual",
                   os,
                   actual[0].catalog,
                   actualStarses,
                   actual[0].starIds.get());
 
    if (expected.size() == 1 && expected[0]->ExpectedStars() && expected[0]->ExpectedStarIds()) {
        // also print expected ID of each one
        const Stars &actualStars = *actual[0].stars;
        const Stars &expectedStars = *expected[0]->ExpectedStars();
        std::multimap<int, int> actualToExpectedCentroids = FindClosestCentroids(values.centroidCompareThreshold, actualStars, expectedStars);
        for (int i = 0; i < (int)actualStars.size(); i++) {
            auto range = actualToExpectedCentroids.equal_range(i);
            auto it = range.first;
            auto end = range.second;
            for (int j = 0;
                 it != end;
                 j++, it++) {
 
                int expectedCentroidIndex = it->second;
                bool foundIt = false; // just to be sure
                for (const StarIdentifier &starId : *expected[0]->ExpectedStarIds()) {
                    if (starId.starIndex == expectedCentroidIndex) {
                        assert(!foundIt);
                        int expectedName = expected[0]->GetCatalog()[starId.catalogIndex].name;
                        std::cout << "actual_centroid_" << i << "_expected_id_" << j << " " << expectedName << std::endl;
                        foundIt = true;
                    }
                }
            }
        }
    }
}

void PipelineComparatorPlotCentroidIndices(std::ostream &os,
                                           const PipelineInputList &expected,
                                           const std::vector<PipelineOutput> &actual,
                                           const PipelineOptions &) {
    const Stars &stars = actual[0].stars ? *actual[0].stars : *expected[0]->InputStars();
    StarIdentifiers identifiers;
    for (int i = 0; i < (int)stars.size(); i++) {
        identifiers.push_back(StarIdentifier(i, i));
    }
    cairo_surface_t *cairoSurface = expected[0]->InputImageSurface();
    SurfacePlot("centroid indices (input)",
                cairoSurface,
                stars,
                &identifiers,
                &actual[0].catalog,
                NULL,
                // orange
                1.0, 0.5, 0.0, 0.5,
                // don't resolve names
                true);
    cairo_surface_write_to_png_stream(cairoSurface, OstreamPlotter, &os);
    cairo_surface_destroy(cairoSurface);
}

static void PipelineComparatorPlotOutput(std::ostream &os,
                                         const PipelineInputList &expected,
                                         const std::vector<PipelineOutput> &actual,
                                         const PipelineOptions &) {
    // don't need to worry about mutating the surface; InputImageSurface returns a fresh one
    cairo_surface_t *cairoSurface = expected[0]->InputImageSurface();
    SurfacePlot("pipeline output",
                cairoSurface,
                actual[0].stars ? *actual[0].stars : *expected[0]->InputStars(),
                actual[0].starIds.get(),
                &actual[0].catalog,
                actual[0].attitude.get(),
                // red
                1.0, 0.0, 0.0, 0.5);
    cairo_surface_write_to_png_stream(cairoSurface, OstreamPlotter, &os);
    cairo_surface_destroy(cairoSurface);
}

static void PipelineComparatorStarIds(std::ostream &os,
                                      const PipelineInputList &expected,
                                      const std::vector<PipelineOutput> &actual,
                                      const PipelineOptions &values) {
    int numImagesCorrect = 0;
    int numImagesIncorrect = 0;
    int numImagesTotal = expected.size();
    for (int i = 0; i < numImagesTotal; i++) {
        // since the actual star IDs exist, it must have gotten input from somewhere!
        // TODO: overhaul: It seems that in these comparators there should be a more fundamental way to figure out the input that was actually sent to a stage.
        // I.e., instead of having expected and actual arguments, have some sort of PipelineRunSummary object, where the InputStars method looks at actual, then input.
        assert(actual[i].stars.get() || expected[i]->InputStars());
 
        const Stars &inputStars = actual[i].stars.get()
            ? *actual[i].stars.get()
            : *expected[i]->InputStars();
        StarIdComparison comparison =
            StarIdsCompare(*expected[i]->ExpectedStarIds(), *actual[i].starIds,
                           expected[i]->GetCatalog(), actual[i].catalog,
                           values.centroidCompareThreshold, *expected[i]->ExpectedStars(), inputStars);
 
        if (numImagesTotal == 1) {
            os << "starid_num_correct " << comparison.numCorrect << std::endl;
            os << "starid_num_incorrect " << comparison.numIncorrect << std::endl;
            os << "starid_num_total " << comparison.numTotal << std::endl;
        }
 
        if (comparison.numCorrect > 0 && comparison.numIncorrect == 0) {
            numImagesCorrect++;
        }
        if (comparison.numIncorrect > 0) {
            numImagesIncorrect++;
        }
    }
 
    // A "correct" image is one where at least two stars are correctly id'd and none are incorrectly id'd
    os << "starid_num_images_correct " << numImagesCorrect << std::endl;
    os << "starid_num_images_incorrect " << numImagesIncorrect << std::endl;
}
 
static void PrintAttitude(std::ostream &os, const std::string &prefix, const Attitude &attitude) {
    if (attitude.IsKnown()) {
        os << prefix << "attitude_known 1" << std::endl;
 
        EulerAngles spherical = attitude.ToSpherical();
        os << prefix << "attitude_ra " << RadToDeg(spherical.ra) << std::endl;
        os << prefix << "attitude_de " << RadToDeg(spherical.de) << std::endl;
        os << prefix << "attitude_roll " << RadToDeg(spherical.roll) << std::endl;
 
        Quaternion q = attitude.GetQuaternion();
        os << prefix << "attitude_i " << q.i << std::endl;
        os << prefix << "attitude_j " << q.j << std::endl;
        os << prefix << "attitude_k " << q.k << std::endl;
        os << prefix << "attitude_real " << q.real << std::endl;
 
    } else {
        os << prefix << "attitude_known 0" << std::endl;
    }
}

static void PipelineComparatorPrintAttitude(std::ostream &os,
                                            const PipelineInputList &,
                                            const std::vector<PipelineOutput> &actual,
                                            const PipelineOptions &) {
    assert(actual.size() == 1);
    assert(actual[0].attitude);
    PrintAttitude(os, "", *actual[0].attitude);
}
 
static void PipelineComparatorPrintExpectedAttitude(std::ostream &os,
                                                   const PipelineInputList &expected,
                                                   const std::vector<PipelineOutput> &,
                                                   const PipelineOptions &) {
    assert(expected.size() == 1);
    assert(expected[0]->ExpectedAttitude());
    PrintAttitude(os, "expected_", *expected[0]->ExpectedAttitude());
}

static void PipelineComparatorAttitude(std::ostream &os,
                                       const PipelineInputList &expected,
                                       const std::vector<PipelineOutput> &actual,
                                       const PipelineOptions &values) {
 
    // TODO: use Wahba loss function (maybe average per star) instead of just angle. Also break
    // apart roll error from boresight error. This is just quick and dirty for testing
 
    decimal angleThreshold = DegToRad(values.attitudeCompareThreshold);
 
    decimal attitudeErrorSum = 0.0f;
    int numCorrect = 0;
    int numIncorrect = 0;
 
    for (int i = 0; i < (int)expected.size(); i++) {
        if (actual[i].attitude->IsKnown()) {
            Quaternion expectedQuaternion = expected[i]->ExpectedAttitude()->GetQuaternion();
            Quaternion actualQuaternion = actual[i].attitude->GetQuaternion();
            decimal attitudeError = (expectedQuaternion * actualQuaternion.Conjugate()).SmallestAngle();
            assert(attitudeError >= 0);
 
            if (attitudeError <= angleThreshold) {
                attitudeErrorSum += attitudeError;
                numCorrect++;
            } else {
                numIncorrect++;
            }
        }
    }
 
    decimal attitudeErrorMean = DECIMAL(attitudeErrorSum) / numCorrect;
    decimal fractionCorrect = DECIMAL(numCorrect) / expected.size();
    decimal fractionIncorrect = DECIMAL(numIncorrect) / expected.size();
 
    os << "attitude_error_mean " << attitudeErrorMean << std::endl;
    os << "attitude_availability " << fractionCorrect << std::endl;
    os << "attitude_error_rate " << fractionIncorrect << std::endl;
}
 
static void PrintTimeStats(std::ostream &os, const std::string &prefix, const std::vector<long long> &times) {
    assert(times.size() > 0);
 
    // print average, min, max, and 95% max
    long long sum = 0;
    long long min = LONG_MAX;
    long long max = 0;
    for (int i = 0; i < (int)times.size(); i++) {
        assert(times[i] > 0);
        sum += times[i];
        min = std::min(min, times[i]);
        max = std::max(max, times[i]);
    }
    long average = sum / times.size();
    std::vector<long long> sortedTimes = times;
    std::sort(sortedTimes.begin(), sortedTimes.end());
    // what really is the 95th percentile? Being conservative, we want to pick a value that at least
    // 95% of the times are less than. This means: (1) finding the number of times, (2) Finding
    // Math.ceil(0.95 * numTimes), and (3) subtracting 1 to get the index.
    int ninetyFiveIndex = (int)std::ceil(0.95 * times.size()) - 1;
    assert(ninetyFiveIndex >= 0);
    long long ninetyFifthPercentile = sortedTimes[ninetyFiveIndex];
 
    os << prefix << "_average_ns " << average << std::endl;
    os << prefix << "_min_ns " << min << std::endl;
    os << prefix << "_max_ns " << max << std::endl;
    os << prefix << "_95%_ns " << ninetyFifthPercentile << std::endl;
}

static void PipelineComparatorPrintSpeed(std::ostream &os,
                                    const PipelineInputList &,
                                    const std::vector<PipelineOutput> &actual,
                                    const PipelineOptions &) {
    std::vector<long long> centroidingTimes;
    std::vector<long long> starIdTimes;
    std::vector<long long> attitudeTimes;
    std::vector<long long> totalTimes;
    for (int i = 0; i < (int)actual.size(); i++) {
        long long totalTime = 0;
        if (actual[i].centroidingTimeNs > 0) {
            centroidingTimes.push_back(actual[i].centroidingTimeNs);
            totalTime += actual[i].centroidingTimeNs;
        }
        if (actual[i].starIdTimeNs > 0) {
            starIdTimes.push_back(actual[i].starIdTimeNs);
            totalTime += actual[i].starIdTimeNs;
        }
        if (actual[i].attitudeEstimationTimeNs > 0) {
            attitudeTimes.push_back(actual[i].attitudeEstimationTimeNs);
            totalTime += actual[i].attitudeEstimationTimeNs;
        }
        totalTimes.push_back(totalTime);
    }
    if (centroidingTimes.size() > 0) {
        PrintTimeStats(os, "centroiding", centroidingTimes);
    }
    if (starIdTimes.size() > 0) {
        PrintTimeStats(os, "starid", starIdTimes);
    }
    if (attitudeTimes.size() > 0) {
        PrintTimeStats(os, "attitude", attitudeTimes);
    }
    if (centroidingTimes.size() > 0 || starIdTimes.size() > 0 || attitudeTimes.size() > 0) {
        PrintTimeStats(os, "total", totalTimes);
    }
}
 
// TODO: add these debug comparators back in!
// void PipelineComparatorPrintPairDistance(std::ostream &os,
//                                          const PipelineInputList &expected,
//                                          const std::vector<PipelineOutput> &actual) {
//     int index1 = Prompt<int>("Index of first star");
//     int index2 = Prompt<int>("Index of second star");
 
//     const Camera &camera = *expected[0]->InputCamera();
//     const Stars &stars = *actual[0].stars;
 
//     assert(index1 >= 0 && index2 >= 0 && index1 < (int)stars.size() && index2 < (int)stars.size());
//     os << "pair_distance " << Angle(camera.CameraToSpatial(stars[index1].position),
//                                     camera.CameraToSpatial(stars[index2].position))
//        << std::endl;
// }
 
// void PipelineComparatorPrintPyramidDistances(std::ostream &os,
//                                              const PipelineInputList &expected,
//                                              const std::vector<PipelineOutput> &actual) {
//     int index1 = Prompt<int>("Catalog name/index of first star");
//     int index2 = Prompt<int>("Catalog name/index of second star");
//     int index3 = Prompt<int>("Catalog name/index of third star");
//     int index4 = Prompt<int>("Catalog name/index of four star");
 
//     const Camera &camera = *expected[0]->InputCamera();
//     const Stars &stars = *actual[0].stars;
 
//     Vec3 spatial1 = camera.CameraToSpatial(stars[index1].position);
//     Vec3 spatial2 = camera.CameraToSpatial(stars[index2].position);
//     Vec3 spatial3 = camera.CameraToSpatial(stars[index3].position);
//     Vec3 spatial4 = camera.CameraToSpatial(stars[index4].position);
 
//     std::cout << "pair_distance_12 " << Angle(spatial1, spatial2) << std::endl;
//     std::cout << "pair_distance_13 " << Angle(spatial1, spatial3) << std::endl;
//     std::cout << "pair_distance_14 " << Angle(spatial1, spatial4) << std::endl;
//     std::cout << "pair_distance_23 " << Angle(spatial2, spatial3) << std::endl;
//     std::cout << "pair_distance_24 " << Angle(spatial2, spatial4) << std::endl;
//     std::cout << "pair_distance_34 " << Angle(spatial3, spatial4) << std::endl;
// }
 
// void PipelineComparatorPrintTripleAngle(std::ostream &os,
//                                         const PipelineInputList &expected,
//                                         const std::vector<PipelineOutput> &actual) {
//     int index1 = Prompt<int>("Index of first star");
//     int index2 = Prompt<int>("Index of second star");
//     int index3 = Prompt<int>("Index of third star");
 
//     const Camera &camera = *expected[0]->InputCamera();
//     const Stars &stars = *actual[0].stars;
 
//     assert(index1 >= 0 && index1 < (int)stars.size());
//     assert(index2 >= 0 && index2 < (int)stars.size());
//     assert(index3 >= 0 && index3 < (int)stars.size());
 
//     // TODO, when merging with nondimensional branch
// }

void PipelineComparison(const PipelineInputList &expected,
                        const std::vector<PipelineOutput> &actual,
                        const PipelineOptions &values) {
    if (actual.size() == 0) {
        std::cerr << "ERROR: No output! Did you specify any input images? Try --png or --generate." << std::endl;
        exit(1);
    }
 
    assert(expected.size() == actual.size() && expected.size() > 0);
 
    // TODO: Remove the asserts and print out more reasonable error messages.
 
#define LOST_PIPELINE_COMPARE(precondition, errmsg, comparator, path, isBinary) do { \
        if (precondition) {                                             \
            UserSpecifiedOutputStream pos(path, isBinary);              \
            comparator(pos.Stream(), expected, actual, values);         \
        } else {                                                        \
            std::cerr << "ERROR: Comparator not applicable: " << errmsg << std::endl; \
            exit(1);                                                    \
        }                                                               \
    } while (0)
 
    if (values.plotRawInput != "") {
        LOST_PIPELINE_COMPARE(expected[0]->InputImage() && expected.size() == 1,
                              "--plot-raw-input requires exactly 1 input image, but " + std::to_string(expected.size()) + " many were provided.",
                              PipelineComparatorPlotRawInput, values.plotRawInput, true);
    }
 
    if (values.plotInput != "") {
        LOST_PIPELINE_COMPARE(expected[0]->InputImage() && expected.size() == 1 && expected[0]->InputStars(),
                              "--plot-input requires exactly 1 input image, and for centroids to be available on that input image. " + std::to_string(expected.size()) + " many input images were provided.",
                              PipelineComparatorPlotInput, values.plotInput, true);
    }
    if (values.plotExpected != "") {
        LOST_PIPELINE_COMPARE(expected[0]->InputImage() && expected.size() == 1 && expected[0]->ExpectedStars(),
                              "--plot-expected-input requires exactly 1 input image, and for expected centroids to be available on that input image. " + std::to_string(expected.size()) + " many input images were provided.",
                              PipelineComparatorPlotExpected, values.plotExpected, true);
    }
    if (values.plotOutput != "") {
        LOST_PIPELINE_COMPARE(actual.size() == 1 && (actual[0].stars || actual[0].starIds),
                              "--plot-output requires exactly 1 output image, and for either centroids or star IDs to be available on that output image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorPlotOutput, values.plotOutput, true);
    }
    if (values.printExpectedCentroids != "") {
        LOST_PIPELINE_COMPARE(expected[0]->ExpectedStars(),
                              "--print-expected-centroids requires at least 1 input with expected centroids. " + std::to_string(expected.size()) + " many input images were provided.",
                              PipelineComparatorPrintExpectedCentroids, values.printExpectedCentroids, false);
    }
    if (values.printInputCentroids != "") {
        LOST_PIPELINE_COMPARE(expected[0]->InputStars(),
                              "--print-input-centroids requires at least 1 input with centroids. " + std::to_string(expected.size()) + " many input images were provided.",
                              PipelineComparatorPrintInputCentroids, values.printInputCentroids, false);
    }
    if (values.printActualCentroids != "") {
        LOST_PIPELINE_COMPARE(actual[0].stars,
                              "--print-actual-centroids requires at least 1 output image, and for centroids to be available on the output images. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorPrintActualCentroids, values.printActualCentroids, false);
    }
    if (values.plotCentroidIndices != "") {
        LOST_PIPELINE_COMPARE(expected.size() == 1 && expected[0]->InputImage(),
                              "--plot-centroid-indices requires exactly 1 input with image. " + std::to_string(expected.size()) + " many inputs were provided.",
                              PipelineComparatorPlotCentroidIndices, values.plotCentroidIndices, true);
    }
    if (values.compareCentroids != "") {
        LOST_PIPELINE_COMPARE(actual[0].stars && expected[0]->ExpectedStars() && values.centroidCompareThreshold,
                              "--compare-centroids requires at least 1 output image, and for expected centroids to be available on the input image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorCentroids, values.compareCentroids, false);
    }
    if (values.compareStarIds != "") {
        LOST_PIPELINE_COMPARE(expected[0]->ExpectedStarIds() && actual[0].starIds && expected[0]->ExpectedStars(),
                              "--compare-star-ids requires at least 1 output image, and for expected star IDs and centroids to be available on the input image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorStarIds, values.compareStarIds, false);
    }
    if (values.printAttitude != "") {
        LOST_PIPELINE_COMPARE(actual[0].attitude && actual.size() == 1,
                              "--print-attitude requires exactly 1 output image, and for attitude to be available on that output image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorPrintAttitude, values.printAttitude, false);
    }
    if (values.printExpectedAttitude != "") {
        LOST_PIPELINE_COMPARE(expected[0]->ExpectedAttitude() && expected.size() == 1,
                              "--print-expected-attitude requires exactly 1 input image, and for expected attitude to be available on that input image. " + std::to_string(expected.size()) + " many input images were provided.",
                              PipelineComparatorPrintExpectedAttitude, values.printExpectedAttitude, false);
    }
    if (values.compareAttitudes != "") {
        LOST_PIPELINE_COMPARE(actual[0].attitude && expected[0]->ExpectedAttitude() && values.attitudeCompareThreshold,
                              "--compare-attitudes requires at least 1 output image, and for expected attitude to be available on the input image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorAttitude, values.compareAttitudes, false);
    }
    if (values.printSpeed != "") {
        LOST_PIPELINE_COMPARE(actual.size() > 0,
                              // I don't think this should ever actually happen??
                              "--print-speed requires at least 1 output image. " + std::to_string(actual.size()) + " many output images were provided.",
                              PipelineComparatorPrintSpeed, values.printSpeed, false);
    }
 
#undef LOST_PIPELINE_COMPARE
}
 
// TODO: Add CLI options for all the inspectors!
 
// typedef void (*CatalogInspector)(const Catalog &);
 
// static std::vector<const CatalogStar *> PromptCatalogStars(const Catalog &catalog, int howMany) {
//     std::vector<const CatalogStar *> result;
//     for (int i = 0; i < howMany; i++) {
//         int name = Prompt<int>("Catalog name of " + std::to_string(i) + "-th star");
//         const CatalogStar *star = findNamedStar(catalog, name);
//         if (star == NULL) {
//             std::cerr << "Star not found!" << std::endl;
//             exit(1);
//         }
//         result.push_back(star);
//     }
//     return result;
// }
 
// void InspectPairDistance(const Catalog &catalog) {
//     auto stars = PromptCatalogStars(catalog, 2);
 
//     // TODO: not cout, prompt for an ostream in inspect and pass argument
//     std::cout << Angle(stars[0]->spatial, stars[1]->spatial) << std::endl;
// }
 
// void InspectPyramidDistances(const Catalog &catalog) {
//     auto stars = PromptCatalogStars(catalog, 4);
 
//     std::cout << "pair_distance_01 " << Angle(stars[0]->spatial, stars[1]->spatial) << std::endl;
//     std::cout << "pair_distance_02 " << Angle(stars[0]->spatial, stars[2]->spatial) << std::endl;
//     std::cout << "pair_distance_03 " << Angle(stars[0]->spatial, stars[3]->spatial) << std::endl;
//     std::cout << "pair_distance_12 " << Angle(stars[1]->spatial, stars[2]->spatial) << std::endl;
//     std::cout << "pair_distance_13 " << Angle(stars[1]->spatial, stars[3]->spatial) << std::endl;
//     std::cout << "pair_distance_23 " << Angle(stars[2]->spatial, stars[3]->spatial) << std::endl;
// }
 
// void InspectTripleAngle(const Catalog &catalog) {
//     auto stars = PromptCatalogStars(catalog, 3);
 
//     // TODO
// }
 
// void InspectFindStar(const Catalog &catalog) {
//     std::string raStr = PromptLine("Right Ascension");
 
//     decimal raRadians;
 
//     int raHours, raMinutes;
//     decimal raSeconds;
//     int raFormatTime = sscanf(raStr.c_str(), "%dh %dm %fs", &raHours, &raMinutes, &raSeconds);
 
//     decimal raDeg;
//     int raFormatDeg = sscanf(raStr.c_str(), "%f", &raDeg);
 
//     if (raFormatTime == 3) {
//         raRadians = (raHours * 2*DECIMAL_M_PI/24) + (raMinutes * 2*DECIMAL_M_PI/24/60) + (raSeconds * 2*DECIMAL_M_PI/24/60/60);
//     } else if (raFormatDeg == 1) {
//         raRadians = DegToRad(raFormatDeg);
//     } else {
//         std::cerr << "Invalid right ascension format. Do \"09h 38m 29.8754s\" or a number of degrees." << std::endl;
//         exit(1);
//     }
 
//     std::string deStr = PromptLine("Declination");
 
//     decimal deRadians;
 
//     int deDegPart, deMinPart;
//     decimal deSecPart;
//     char dummy[8];
//     int deFormatParts = sscanf(deStr.c_str(), "%d%s %d%s %f%s", &deDegPart, dummy, &deMinPart, dummy, &deSecPart, dummy);
 
//     decimal deDeg;
//     int deFormatDeg = sscanf(deStr.c_str(), "%f", &deDeg);
 
//     if (deFormatParts == 6) {
//         deRadians = DegToRad(deDegPart + (decimal)deMinPart/60 + (decimal)deSecPart/60/60);
//     } else if (deFormatDeg == 1) {
//         deRadians = DegToRad(deFormatDeg);
//     } else {
//         std::cerr << "Invalid declination format." << std::endl;
//         exit(1);
//     }
 
//     // find the star
 
//     decimal tolerance = 0.001;
//     Vec3 userSpatial = SphericalToSpatial(raRadians, deRadians);
//     int i = 0;
//     for (const CatalogStar &curStar : catalog) {
//         if ((curStar.spatial - userSpatial).Magnitude() < tolerance) {
//             std::cout << "found_star_" << i << " "  << curStar.name << std::endl;
//             std::cout << "fonud_star_magnitude_" << i << " " << curStar.magnitude << std::endl;
//             i++;
//         }
//     }
//     if (i == 0) {
//         std::cerr << "No stars found" << std::endl;
//     }
// }
 
// void InspectPrintStar(const Catalog &catalog) {
//     auto stars = PromptCatalogStars(catalog, 1);
//     decimal ra, de;
//     SpatialToSpherical(stars[0]->spatial, &ra, &de);
 
//     std::cout << "star_ra " << RadToDeg(ra) << std::endl;
//     std::cout << "star_de " << RadToDeg(de) << std::endl;
// }
 
// void InspectCatalog() {
//     InteractiveChoice<CatalogInspector> inspectorChoice;
//     inspectorChoice.Register("pair_distance", "pair distance angle", InspectPairDistance);
//     inspectorChoice.Register("pyramid_distances", "all pair distances in pyramid", InspectPyramidDistances);
//     inspectorChoice.Register("triple_angle", "inner angle of a triangle", InspectTripleAngle);
//     inspectorChoice.Register("find_star", "find a star name based on ra/de", InspectFindStar);
//     inspectorChoice.Register("print_star", "print coordinates of a star", InspectPrintStar);
//     (*inspectorChoice.Prompt("Inspect the catalog"))(CatalogRead());
// }
 
} // namespace lost