Unverified Commit 01c8096b authored by kledmundson's avatar kledmundson Committed by GitHub
Browse files

Merge pull request #200 from kledmundson/LroLidar_Infrastructure 

Lro lidar infrastructure
parents a1a48dfd 2b4bb399

isis/src/control/apps/jigsaw/jigsaw.cpp

+2 −0
Original line number Diff line number Diff line
@@ -123,6 +123,8 @@ void IsisMain() { 
      bundleSolution->outputResiduals();

    }

    

    bundleSolution->outputLidarCSV();



    // write updated control net

    bundleAdjustment->controlNet()->Write(ui.GetFileName("ONET"));

isis/src/control/apps/jigsaw/jigsaw.xml

+1 −0
Original line number Diff line number Diff line
@@ -254,6 +254,7 @@ 
    </change>

    <change name="Ken Edmundson" date="2017-11-01">

      Added interface for piecewise polynomials.

    </change>

    <change name="Ken Edmundson" date="2018-05-23">

      Modifed call to bundleAdjustment->solveCholeskyBR() to return a raw pointer to a

      BundleSolutionInfo object. Am also deleting this pointer because jigsaw.cpp takes

isis/src/control/objs/BundleAdjust/BundleAdjust.cpp

+285 −323

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isis/src/control/objs/BundleAdjust/BundleAdjust.h

+13 −4
Original line number Diff line number Diff line
@@ -35,6 +35,7 @@ 


// Isis lib

#include "BundleControlPoint.h"

#include "BundleControlPointVector.h"

#include "BundleObservationSolveSettings.h"

#include "BundleObservationVector.h"

#include "BundleResults.h"
@@ -388,7 +389,7 @@ namespace Isis { 
      bool computeBundleStatistics();

      void applyParameterCorrections();

      bool errorPropagation();

      double computeResiduals();

      double computeVtpv();

      bool computeRejectionLimit();

      bool flagOutliers();
@@ -422,6 +423,13 @@ namespace Isis { 
      bool formWeightedNormals(LinearAlgebra::VectorCompressed  &n1,

                               LinearAlgebra::Vector            &nj);

      void applyPolynomialContinuityConstraints();

      bool applyLidarRangeConstraint(LinearAlgebra::MatrixUpperTriangular& N22,

                                     SparseBlockColumnMatrix& N12,

                                     LinearAlgebra::VectorCompressed& n1,

                                     LinearAlgebra::Vector& n2,

                                     int numberImagePartials,

                                     BundleMeasureQsp measure,

                                     BundleControlPointQsp point);



      // dedicated matrix functions
@@ -456,11 +464,12 @@ namespace Isis { 
      ControlNetQsp m_controlNet;                            //!< Output control net.

      QString m_cnetFileName;                                //!< The control net filename.



      QVector <BundleControlPointQsp> m_bundleControlPoints;

      QVector <BundleControlPointQsp> m_bundleLidarPoints; /**!< Vectors of control and lidar

                                                                   control points.*/

      BundleControlPointVector m_bundleControlPoints;        //!< Vector of control points.



      QString m_lidarFileName;                               //!< Input lidar point filename.

      LidarData m_lidarDataSet;                              //!< QList of lidar points.

      int m_numLidarConstraints;                             //!< TODO: temp



      BundleObservationVector m_bundleObservations;          /**!< Vector of observations.

                                                                   Each observation contains one or

                                                                   more images.*/

isis/src/control/objs/BundleConstraint/BundleLidarRangeConstraint.cpp

+384 −724

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