Unverified Commit 0f2f7ac0 authored by Lauren Adoram-Kershner's avatar Lauren Adoram-Kershner Committed by GitHub
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Adds hooks for Normallized Residual Gross Outlier Detection (#4563) 



* correcting swapped line sample prints in output file

* Updating unit test truth data to check Results Group

* I forgot to add the changed test

* Adding hooks for new norm res gross outlier detection

* changing default prob level from 0.05 to 0.95

* Fixing whitespaces

* updating grossOutlierRejection setter

* fixing whitespace II

Co-authored-by: default avatarLauren Adoram-Kershner <ladoramkershner@prog28.wr.usgs.gov>
parent ea414cc2

isis/src/control/objs/BundleResults/BundleResults.cpp

+32 −2
Original line number Diff line number Diff line
@@ -95,6 +95,7 @@ namespace Isis { 
        m_rmsYResiduals(src.m_rmsYResiduals),

        m_rmsXYResiduals(src.m_rmsXYResiduals),

        m_rejectionLimit(src.m_rejectionLimit),

        m_grossRejectionLimit(src.m_grossRejectionLimit),

        m_numberObservations(src.m_numberObservations),

        m_numberRejectedObservations(src.m_numberRejectedObservations),

        m_numberUnknownParameters(src.m_numberUnknownParameters),
@@ -180,6 +181,7 @@ namespace Isis { 
      m_rmsYResiduals = src.m_rmsYResiduals;

      m_rmsXYResiduals = src.m_rmsXYResiduals;

      m_rejectionLimit = src.m_rejectionLimit;

      m_grossRejectionLimit = src.m_grossRejectionLimit;

      m_numberObservations = src.m_numberObservations;

      m_numberRejectedObservations = src.m_numberRejectedObservations;

      m_numberUnknownParameters = src.m_numberUnknownParameters;
@@ -291,6 +293,9 @@ namespace Isis { 
    // set by compute rejection limit

    m_rejectionLimit = 0.0;



    // set by compute gross rejection limit

    m_grossRejectionLimit = 0.0;



    // set by flag outliers

    m_numberRejectedObservations = 0;
@@ -629,14 +634,25 @@ namespace Isis { 




  /**

   * Sets the rejection limit.

   * Sets the rejection limit for median absolute deviation

   * outlier rejection.

   *

   * @param rejectionLimit The rejection limit.

   * @param rejectionLimit The rejection limit for median absolute deviation.

   */

  void BundleResults::setRejectionLimit(double rejectionLimit) {

    m_rejectionLimit = rejectionLimit;

  }



  /**

   * Sets the rejection limit for gross outlier detection 

   * with normalized residuals.

   * 

   * @param grossRejectionLimit The rejection limit for normalized residuals.

   */

  void BundleResults::setGrossRejectionLimit(double grossRejectionLimit) {

    m_grossRejectionLimit = grossRejectionLimit;

  }





  /**

   * Sets the number of rejected observations.
@@ -1147,6 +1163,16 @@ namespace Isis { 
  }

  



  /**

   * Returns the rejection limit for normalized residuals.

   *

   * @return @b double The rejection limit for normalized residuals

   */

  double BundleResults::grossRejectionLimit() const {

    return m_grossRejectionLimit;

  }





  /**

   * Returns the number of observation that were rejected.

   *
@@ -1489,6 +1515,7 @@ namespace Isis { 
    stream.writeTextElement("numberIgnoredPoints", toString(numberIgnoredPoints()));

    stream.writeTextElement("numberHeldImages", toString(numberHeldImages()));

    stream.writeTextElement("rejectionLimit", toString(rejectionLimit()));

    stream.writeTextElement("grossRejectionLimit", toString(grossRejectionLimit()));

    stream.writeTextElement("numberRejectedObservations", toString(numberRejectedObservations()));

    stream.writeTextElement("numberObservations", toString(numberObservations()));

    stream.writeTextElement("numberImageParameters", toString(numberImageParameters()));
@@ -2174,6 +2201,9 @@ namespace Isis { 
      else if (qName == "rejectionLimit") {

        m_xmlHandlerBundleResults->m_rejectionLimit = toDouble(m_xmlHandlerCharacters);

      }

      else if (qName == "grossRejectionLimit") {

        m_xmlHandlerBundleResults->m_grossRejectionLimit = toDouble(m_xmlHandlerCharacters);

      }

      else if (qName == "numberRejectedObservations") {

        m_xmlHandlerBundleResults->m_numberRejectedObservations = toInt(m_xmlHandlerCharacters);

      }

isis/src/control/objs/BundleResults/BundleResults.h

+4 −1
Original line number Diff line number Diff line
@@ -129,6 +129,7 @@ namespace Isis { 
                                   int numObservations);

#endif

      void setRejectionLimit(double rejectionLimit);

      void setGrossRejectionLimit(double grossRejectionLimit);

#if 0

      double computeResiduals(

               ControlNet *pCnet,
@@ -199,6 +200,7 @@ namespace Isis { 
      double rmsRy() const;  // currently unused ???

      double rmsRxy() const; // currently unused ???

      double rejectionLimit() const;

      double grossRejectionLimit() const;

      int numberRejectedObservations() const;

      int numberObservations() const;
@@ -296,7 +298,8 @@ namespace Isis { 
      double m_rmsYResiduals;                 //!< rms of y residuals

      double m_rmsXYResiduals;                //!< rms of all x and y residuals



      double m_rejectionLimit;                //!< current rejection limit

      double m_rejectionLimit;                //!< current rejection limit (for median absolute deviation)

      double m_grossRejectionLimit;           //!< currnet gross rejection limit (for normalized residuals)

      // TODO:??? reorder read/write data stream, init, copy constructor, operator=

      int m_numberObservations;                //!< number of image coordinate observations

      int m_numberRejectedObservations;        //!< number of rejected image coordinate observations

isis/src/control/objs/BundleSettings/BundleSettings.cpp

+81 −10
Original line number Diff line number Diff line
@@ -57,7 +57,9 @@ namespace Isis { 
    m_createInverseMatrix   = false;

    m_cubeList              =    "";

    m_outlierRejection      = false;

    m_grossOutlierRejection = false;

    m_outlierRejectionMultiplier = 3.0;

    m_grossOutlierProbabilityLevel = 0.95;



    // Parameter Uncertainties (Weighting)

    // The units are meters for either coordinate type
@@ -131,6 +133,8 @@ namespace Isis { 
        m_createInverseMatrix(other.m_createInverseMatrix),

        m_outlierRejection(other.m_outlierRejection),

        m_outlierRejectionMultiplier(other.m_outlierRejectionMultiplier),

        m_grossOutlierRejection(other.m_grossOutlierRejection),

        m_grossOutlierProbabilityLevel(other.m_grossOutlierProbabilityLevel),

        m_globalPointCoord1AprioriSigma(other.m_globalPointCoord1AprioriSigma),

        m_globalPointCoord2AprioriSigma(other.m_globalPointCoord2AprioriSigma),

        m_globalPointCoord3AprioriSigma(other.m_globalPointCoord3AprioriSigma),
@@ -177,6 +181,8 @@ namespace Isis { 
      m_createInverseMatrix = other.m_createInverseMatrix;

      m_outlierRejection = other.m_outlierRejection;

      m_outlierRejectionMultiplier = other.m_outlierRejectionMultiplier;

      m_grossOutlierRejection = other.m_grossOutlierRejection;

      m_grossOutlierProbabilityLevel = other.m_grossOutlierProbabilityLevel;

      m_globalPointCoord1AprioriSigma = other.m_globalPointCoord1AprioriSigma;

      m_globalPointCoord2AprioriSigma = other.m_globalPointCoord2AprioriSigma;

      m_globalPointCoord3AprioriSigma = other.m_globalPointCoord3AprioriSigma;
@@ -320,10 +326,11 @@ namespace Isis { 




  /**

   * Set the outlier rejection options for the bundle adjustment.

   * Set the median absolute deviation outlier rejection options for the bundle adjustment.

   *

   * @param outlierRejection Indicates whether to perform automatic outlier

   *                         rejection during the bundle adjustment.

   *                         rejection based on median absolute deviation

   *                         during the bundle adjustment.

   * @param mutliplier The outlier rejection multiplier.

   */

  void BundleSettings::setOutlierRejection(bool outlierRejection, double multiplier) {
@@ -336,6 +343,22 @@ namespace Isis { 
    }

  }



  /**

   * Set the normalized residual outlier rejection options for the bundle adjustment.

   *

   * @param grossOutlierRejection Indicates whether to perform automatic outlier

   *                              rejection based on the normalized residuals

   *                              during the bunlde adjustment.

   *

   * @param probabilityLevel The probability level the normalized residual 

   *                         must fit within to be considered an inlier.

   */

  void BundleSettings::setGrossOutlierRejection(bool grossOutlierRejection, 

                                                double probabilityLevel) {

    m_grossOutlierRejection = grossOutlierRejection;

    m_grossOutlierProbabilityLevel = probabilityLevel;

  }





  /**

   * Add the list of solve options for each observation.
@@ -395,7 +418,7 @@ namespace Isis { 


  /**

   * This method is used to determine whether outlier rejection will be

   * performed on this bundle adjustment.

   * performed on median absolute deviation during the  bundle adjustment.

   *

   * @return @b bool Indicates whether to perform automatic outlier

   *                 rejection during the bundle adjustment.
@@ -404,6 +427,17 @@ namespace Isis { 
    return m_outlierRejection;

  }



  /**

   * This method is used to determine whether outlier rejection will be

   * performed on normalized residuals during the bundle adjustment.

   *

   * @return @b bool Indicates whether to perform automatic outlier

   *                 rejection during the bundle adjustment.

   */

  bool BundleSettings::grossOutlierRejection() const {

    return m_grossOutlierRejection;

  }





  /**

   * This method is used to determine whether this bundle adjustment will solve
@@ -478,6 +512,16 @@ namespace Isis { 
  }





  /**

   * Retrieves the gross outlier rejection probability level for the 

   * bundle adjustment.

   *

   * @return @b double The outlier rejection probability level.

   */

  double BundleSettings::grossOutlierProbabilityLevel() const {

    return m_grossOutlierProbabilityLevel;

  }



  /**

   * Retrieves global a priori sigma for 1st coordinate of points for this bundle

   *
@@ -1095,6 +1139,16 @@ namespace Isis { 
    }

    stream.writeEndElement();



    stream.writeStartElement("grossOutlierRejectionOptions");

    stream.writeAttribute("rejection", toString(grossOutlierRejection()));

    if (grossOutlierRejection()) {

      stream.writeAttribute("probabilityLevel", toString(grossOutlierProbabilityLevel()));

    }

    else {

      stream.writeAttribute("probabilityLevel", "N/A");

    }

    stream.writeEndElement();



    stream.writeStartElement("convergenceCriteriaOptions");

    stream.writeAttribute("convergenceCriteria",

                          convergenceCriteriaToString(convergenceCriteria()));
@@ -1273,6 +1327,23 @@ namespace Isis { 
          }

        }

      }

      else if (localName == "grossOutlierRejectionOptions") {

        QString grossOutlierRejectionStr = attributes.value("grossRejection");

        if (!grossOutlierRejectionStr.isEmpty()) {

          m_xmlHandlerBundleSettings->m_grossOutlierRejection = toBool(grossOutlierRejectionStr);

        }



        QString grossOutlierProbabilityLevelStr = attributes.value("probabilityLevel");

        if (!grossOutlierProbabilityLevelStr.isEmpty()) {

          if (grossOutlierProbabilityLevelStr!= "N/A") {

            m_xmlHandlerBundleSettings->m_grossOutlierProbabilityLevel

                = toDouble(grossOutlierProbabilityLevelStr);

          }

          else {

            m_xmlHandlerBundleSettings->m_grossOutlierProbabilityLevel= 0.95;

          }

        }

      }

      else if (localName == "convergenceCriteriaOptions") {



        QString convergenceCriteriaStr = attributes.value("convergenceCriteria");

isis/src/control/objs/BundleSettings/BundleSettings.h

+10 −1
Original line number Diff line number Diff line
@@ -163,6 +163,8 @@ namespace Isis { 
                           double globalPointCoord3AprioriSigma = Isis::Null);

      void setOutlierRejection(bool outlierRejection,

                               double multiplier = 1.0);

      void setGrossOutlierRejection(bool grossOutlierRejection,

                                    double probabilityLevel = 0.95);

      void setObservationSolveOptions(QList<BundleObservationSolveSettings> obsSolveSettingsList);

      void setCreateInverseMatrix(bool createMatrix);
@@ -175,7 +177,9 @@ namespace Isis { 
      bool updateCubeLabel() const;

      bool errorPropagation() const;

      bool outlierRejection() const;

      bool grossOutlierRejection() const;

      double outlierRejectionMultiplier() const;

      double grossOutlierProbabilityLevel() const;

// These sigmas are either for planetocentric lat/lon/radius or body-fixed x/y/z

      double globalPointCoord1AprioriSigma() const;

      double globalPointCoord2AprioriSigma() const;
@@ -351,9 +355,14 @@ namespace Isis { 
      bool m_errorPropagation; //!< Indicates whether to perform error propagation.

      bool m_createInverseMatrix; //!< Indicates whether to create the inverse matrix file.

      bool m_outlierRejection; /**< Indicates whether to perform automatic

                                    outlier detection/rejection.*/

                                    outlier detection/rejection based on median absolute deviation.*/

      double m_outlierRejectionMultiplier; /**< The multiplier value for outlier rejection.

                                                Defaults to 1, so no change if rejection = false.*/

      bool m_grossOutlierRejection; /** < Indicates whether to perform automatic

					  outlier detection/rejection based on normalized residuals.*/

      double m_grossOutlierProbabilityLevel; /**< The probability level for calculating the

						  critical value for gross outlier detection.

      						  Defaults to 0.95, so no change if grossRejection = false.*/



      // Parameter Uncertainties (Weighting)

      double m_globalPointCoord1AprioriSigma;   //!< The global a priori sigma for latitude or X.