Merge pull request #112 from dcookastro/LroLidar_Infrastructure (11346f15) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/LidarData/LidarData.cpp

+125 −8

Original line number	Diff line number	Diff line
		@@ -26,6 +26,7 @@
		#include "SerialNumberList.h"
		#include "SurfacePoint.h"

		using namespace boost::numeric::ublas;

		namespace Isis {

		@@ -210,9 +211,72 @@ namespace Isis {
		lcp->setTime(iTime(time));
		lcp->setRange(range);
		lcp->setSigmaRange(sigmaRange);

		if (pointObject.contains("aprioriMatrix") &&
		pointObject["aprioriMatrix"].isArray()) {
		QJsonArray aprioriMatrixArray = pointObject["aprioriMatrix"].toArray();
		boost::numeric::ublas::symmetric_matrix<double, upper> aprioriMatrix(3);
		aprioriMatrix.clear();
		aprioriMatrix(0, 0) = aprioriMatrixArray[0].toDouble();
		aprioriMatrix(0, 1) = aprioriMatrix(1, 0) = aprioriMatrixArray[1].toDouble();
		aprioriMatrix(0, 2) = aprioriMatrix(2, 0) = aprioriMatrixArray[2].toDouble();
		aprioriMatrix(1, 1) = aprioriMatrixArray[3].toDouble();
		aprioriMatrix(1, 2) = aprioriMatrix(2, 1) = aprioriMatrixArray[4].toDouble();
		aprioriMatrix(2, 2) = aprioriMatrixArray[5].toDouble();

		lcp->SetAprioriSurfacePoint(SurfacePoint(Latitude(latitude, Angle::Units::Degrees),
		Longitude(longitude, Angle::Units::Degrees),
		Distance(radius, Distance::Units::Kilometers),
		aprioriMatrix));
		lcp->SetType(ControlPoint::Constrained);
		}
		else {
		lcp->SetAprioriSurfacePoint(SurfacePoint(Latitude(latitude, Angle::Units::Degrees),
		Longitude(longitude, Angle::Units::Degrees),
		Distance(radius, Distance::Units::Kilometers)));
		}

		// Set the adjusted surface point if it exists
		if (pointObject.contains("adjustedLatitude") &&
		pointObject["adjustedLatitude"].isDouble() &&
		pointObject.contains("adjustedLongitude") &&
		pointObject["adjustedLongitude"].isDouble() &&
		pointObject.contains("adjustedRadius") &&
		pointObject["adjustedRadius"].isDouble()) {

		double adjustedLatitude = 0.0;
		adjustedLatitude = pointObject["adjustedLatitude"].toDouble();

		double adjustedLongitude = 0.0;
		adjustedLongitude = pointObject["adjustedLongitude"].toDouble();

		double adjustedRadius = 0.0;
		adjustedRadius = pointObject["radius"].toDouble();

		if (pointObject.contains("adjustedMatrix") &&
		pointObject["adjustedMatrix"].isArray()) {
		QJsonArray adjustedMatrixArray = pointObject["adjustedMatrix"].toArray();
		boost::numeric::ublas::symmetric_matrix<double, upper> adjustedMatrix(3);
		adjustedMatrix.clear();
		adjustedMatrix(0, 0) = adjustedMatrixArray[0].toDouble();
		adjustedMatrix(0, 1) = adjustedMatrix(1, 0) = adjustedMatrixArray[1].toDouble();
		adjustedMatrix(0, 2) = adjustedMatrix(2, 0) = adjustedMatrixArray[2].toDouble();
		adjustedMatrix(1, 1) = adjustedMatrixArray[3].toDouble();
		adjustedMatrix(1, 2) = adjustedMatrix(2, 1) = adjustedMatrixArray[4].toDouble();
		adjustedMatrix(2, 2) = adjustedMatrixArray[5].toDouble();

		lcp->SetAdjustedSurfacePoint(SurfacePoint(Latitude(adjustedLatitude, Angle::Units::Degrees),
		Longitude(adjustedLongitude, Angle::Units::Degrees),
		Distance(adjustedRadius, Distance::Units::Kilometers),
		adjustedMatrix));
		lcp->SetType(ControlPoint::Constrained);
		}
		else {
		lcp->SetAdjustedSurfacePoint(SurfacePoint(Latitude(adjustedLatitude, Angle::Units::Degrees),
		Longitude(adjustedLongitude, Angle::Units::Degrees),
		Distance(adjustedRadius, Distance::Units::Kilometers)));
		}
		}

		if (pointObject.contains("simultaneousImages") &&
		pointObject["simultaneousImages"].isArray()) {
		@@ -305,12 +369,65 @@ namespace Isis {
		pointObject["range"] = lcp->range();
		pointObject["sigmaRange"] = lcp->sigmaRange();
		pointObject["time"] = lcp->time().Et();
		// Serialize the lat/lon/radius (AprioriSurfacePoint)

		// Serialize the AprioriSurfacePoint
		SurfacePoint aprioriSurfacePoint = lcp->GetAprioriSurfacePoint();
		if (aprioriSurfacePoint.Valid()) {
		pointObject["latitude"] = aprioriSurfacePoint.GetLatitude().planetocentric(Angle::Units::Degrees);
		pointObject["longitude"] = aprioriSurfacePoint.GetLongitude().positiveEast(Angle::Units::Degrees);
		pointObject["radius"] = aprioriSurfacePoint.GetLocalRadius().kilometers();

		// Serialize the apriori matrix
		symmetric_matrix<double, upper> aprioriMatrix = aprioriSurfacePoint.GetSphericalMatrix();
		QJsonArray aprioriMatrixArray;
		aprioriMatrixArray += aprioriMatrix(0, 0);
		aprioriMatrixArray += aprioriMatrix(0, 1);
		aprioriMatrixArray += aprioriMatrix(0, 2);
		aprioriMatrixArray += aprioriMatrix(1, 1);
		aprioriMatrixArray += aprioriMatrix(1, 2);
		aprioriMatrixArray += aprioriMatrix(2, 2);

		// If the covariance matrix has a value, add it to the PVL point.
		if ( aprioriMatrix(0, 0) != 0.0
		\|\| aprioriMatrix(0, 1) != 0.0
		\|\| aprioriMatrix(0, 2) != 0.0
		\|\| aprioriMatrix(1, 1) != 0.0
		\|\| aprioriMatrix(1, 2) != 0.0
		\|\| aprioriMatrix(2, 2) != 0.0 ) {
		pointObject["aprioriMatrix"] = aprioriMatrixArray;
		}
		}

		// Serialize the AdjustedSurfacePoint
		SurfacePoint adjustedSurfacePoint = lcp->GetAdjustedSurfacePoint();
		if (adjustedSurfacePoint.Valid()) {
		pointObject["adjustedLatitude"] =
		adjustedSurfacePoint.GetLatitude().planetocentric(Angle::Units::Degrees);
		pointObject["adjustedLongitude"] =
		adjustedSurfacePoint.GetLongitude().positiveEast(Angle::Units::Degrees);
		pointObject["adjustedRadius"] = adjustedSurfacePoint.GetLocalRadius().kilometers();

		// Serialize the adjusted matrix
		symmetric_matrix<double, upper> adjustedMatrix = adjustedSurfacePoint.GetSphericalMatrix();
		QJsonArray adjustedMatrixArray;
		adjustedMatrixArray += adjustedMatrix(0, 0);
		adjustedMatrixArray += adjustedMatrix(0, 1);
		adjustedMatrixArray += adjustedMatrix(0, 2);
		adjustedMatrixArray += adjustedMatrix(1, 1);
		adjustedMatrixArray += adjustedMatrix(1, 2);
		adjustedMatrixArray += adjustedMatrix(2, 2);

		// If the covariance matrix has a value, add it to the PVL point.
		if ( adjustedMatrix(0, 0) != 0.0
		\|\| adjustedMatrix(0, 1) != 0.0
		\|\| adjustedMatrix(0, 2) != 0.0
		\|\| adjustedMatrix(1, 1) != 0.0
		\|\| adjustedMatrix(1, 2) != 0.0
		\|\| adjustedMatrix(2, 2) != 0.0 ) {
		pointObject["adjustedMatrix"] = adjustedMatrixArray;
		}
		}

		// Serialize the list of simultaneous images
		QJsonArray simultaneousArray;
		foreach (QString sn, lcp->snSimultaneous()) {

isis/src/base/objs/LidarData/LidarData.h

+8 −0

Original line number	Diff line number	Diff line
		@@ -8,6 +8,9 @@
		#include <QString>
		#include <QVector>

		#include "boost/numeric/ublas/symmetric.hpp"
		#include "boost/numeric/ublas/io.hpp"

		class QJsonObject;

		namespace Isis {
		@@ -31,6 +34,11 @@ namespace Isis {
		* @history 2018-02-03 Ian Humphrey - Renamed read to readCsv. read() and write()
		* methods support JSON or binary serialization. Added
		* documentation to new Format enumeration.
		* @history 2018-03-19 Debbie A. Cook - Added simultaneousImages,
		* apriori variance/covariance matrix, adjusted point coordinates,
		* and adjusted variance/covariance matrix to the read and
		* write methods. Ref #5343.
		*
		*/
		class LidarData {

isis/src/base/objs/LidarData/LidarData.truth

+442 −0

Original line number	Diff line number	Diff line
		Testing default constructor...
		number of points: 0

		Testing insert(QSharedPointer<LidarControlPoint>)...
		number of points: 1
		name of point: testLidarControlPoint
		time of point: 2018-01-31T14:05:00.1233999

		Testing write(FileName)...
		json

		json
		dat
		./test.dat
		Testing read(FileName) from binary data...
		LidarData:
		LidarControlPoint:
		id: testLidarControlPoint3
		latitude: 53
		longitude: 103
		radius: 1000
		range: 85
		sigmaRange:0.1
		time: 2018-01-31T14:08:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 3
		SN: SN_3-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 3
		SN: SN_3-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint4
		latitude: 54
		longitude: 104
		radius: 1000
		range: 95
		sigmaRange:0.1
		time: 2018-01-31T14:09:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 4
		SN: SN_4-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 4
		SN: SN_4-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint5
		latitude: 55
		longitude: 105
		radius: 1000
		range: 105
		sigmaRange:0.1
		time: 2018-01-31T14:10:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 5
		SN: SN_5-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 5
		SN: SN_5-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint1
		latitude: 51
		longitude: 101
		radius: 1000
		range: 65
		sigmaRange:0.1
		time: 2018-01-31T14:06:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 1
		SN: SN_1-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 1
		SN: SN_1-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint7
		latitude: 57
		longitude: 107
		radius: 1000
		range: 125
		sigmaRange:0.1
		time: 2018-01-31T14:12:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 7
		SN: SN_7-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 7
		SN: SN_7-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint9
		latitude: 59
		longitude: 109
		radius: 1000
		range: 145
		sigmaRange:0.1
		time: 2018-01-31T14:14:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 9
		SN: SN_9-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 9
		SN: SN_9-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint8
		latitude: 58
		longitude: 108
		radius: 1000
		range: 135
		sigmaRange:0.1
		time: 2018-01-31T14:13:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 8
		SN: SN_8-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 8
		SN: SN_8-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint10
		latitude: 60
		longitude: 110
		radius: 1000
		range: 155
		sigmaRange:0.1
		time: 2018-01-31T14:15:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 10
		SN: SN_10-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 10
		SN: SN_10-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint2
		latitude: 52
		longitude: 102
		radius: 1000
		range: 75
		sigmaRange:0.1
		time: 2018-01-31T14:07:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 2
		SN: SN_2-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 2
		SN: SN_2-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint6
		latitude: 56
		longitude: 106
		radius: 1000
		range: 115
		sigmaRange:0.1
		time: 2018-01-31T14:11:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 6
		SN: SN_6-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 6
		SN: SN_6-1
		#END_ControlMeasure.
		#END_LidarControlPoint.



		Testing read(FileName) from JSON data...
		LidarData:
		LidarControlPoint:
		id: testLidarControlPoint3
		latitude: 53
		longitude: 103
		radius: 1000
		range: 85
		sigmaRange:0.1
		time: 2018-01-31T14:08:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 3
		SN: SN_3-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 3
		SN: SN_3-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint4
		latitude: 54
		longitude: 104
		radius: 1000
		range: 95
		sigmaRange:0.1
		time: 2018-01-31T14:09:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 4
		SN: SN_4-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 4
		SN: SN_4-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint5
		latitude: 55
		longitude: 105
		radius: 1000
		range: 105
		sigmaRange:0.1
		time: 2018-01-31T14:10:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 5
		SN: SN_5-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 5
		SN: SN_5-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint1
		latitude: 51
		longitude: 101
		radius: 1000
		range: 65
		sigmaRange:0.1
		time: 2018-01-31T14:06:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 1
		SN: SN_1-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 1
		SN: SN_1-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint7
		latitude: 57
		longitude: 107
		radius: 1000
		range: 125
		sigmaRange:0.1
		time: 2018-01-31T14:12:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 7
		SN: SN_7-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 7
		SN: SN_7-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint9
		latitude: 59
		longitude: 109
		radius: 1000
		range: 145
		sigmaRange:0.1
		time: 2018-01-31T14:14:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 9
		SN: SN_9-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 9
		SN: SN_9-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint8
		latitude: 58
		longitude: 108
		radius: 1000
		range: 135
		sigmaRange:0.1
		time: 2018-01-31T14:13:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 8
		SN: SN_8-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 8
		SN: SN_8-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint10
		latitude: 60
		longitude: 110
		radius: 1000
		range: 155
		sigmaRange:0.1
		time: 2018-01-31T14:15:00.1233998
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 10
		SN: SN_10-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 10
		SN: SN_10-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint2
		latitude: 52
		longitude: 102
		radius: 1000
		range: 75
		sigmaRange:0.1
		time: 2018-01-31T14:07:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 2
		SN: SN_2-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 2
		SN: SN_2-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

		LidarControlPoint:
		id: testLidarControlPoint6
		latitude: 56
		longitude: 106
		radius: 1000
		range: 115
		sigmaRange:0.1
		time: 2018-01-31T14:11:00.1233999
		matrix: [3,3]((0.028657,0,0),(0,0.0311981,0),(0,0,38.4549))
		ControlMeasure:
		line: 0
		sample: 6
		SN: SN_6-0
		#END_ControlMeasure.
		ControlMeasure:
		line: 1
		sample: 6
		SN: SN_6-1
		#END_ControlMeasure.
		#END_LidarControlPoint.

isis/src/base/objs/LidarData/unitTest.cpp

+37 −11

Original line number	Diff line number	Diff line
		@@ -14,8 +14,11 @@
		#include "Preference.h"
		#include "SurfacePoint.h"

		#include "boost/numeric/ublas/symmetric.hpp"

		using namespace std;
		using namespace Isis;
		using namespace boost::numeric::ublas;

		void print(const LidarData &lidarData);

		@@ -30,9 +33,9 @@ int main(int argc, char *argv[]) {
		// Set up our unit test preferences
		Preference::Preferences(true);

		LidarData data;
		FileName csvFile("RDR_98E100E_60N62NPointPerRow_csv_table-original.csv");
		data.readCsv(csvFile);
		// LidarData data;
		// FileName csvFile("RDR_98E100E_60N62NPointPerRow_csv_table-original.csv");
		// data.readCsv(csvFile);

		// Test LidarData()
		cout << "Testing default constructor... " << endl;
		@@ -40,9 +43,9 @@ int main(int argc, char *argv[]) {
		cout << "\tnumber of points: " << defaultData.points().size() << endl;
		cout << endl;

		// Test LidarData(FileName)
		cout << "Testing LidarData(FileName)... " << endl;
		cout << endl;
		// // Test LidarData(FileName)
		// cout << "Testing LidarData(FileName)... " << endl;
		// cout << endl;

		// Test insert(QSharedPointer<LidarControlPoint>)
		cout << "Testing insert(QSharedPointer<LidarControlPoint>)... " << endl;
		@@ -50,30 +53,50 @@ int main(int argc, char *argv[]) {
		double range = 55.0;
		double sigmaRange = 0.1;
		QSharedPointer<LidarControlPoint> lcp =
		QSharedPointer<LidarControlPoint>(new LidarControlPoint(time, range, sigmaRange));
		QSharedPointer<LidarControlPoint>(new LidarControlPoint());
		lcp->setTime(time);
		iTime check = lcp->time();
		lcp->setRange(range);
		lcp->setSigmaRange(sigmaRange);
		lcp->SetId("testLidarControlPoint");
		defaultData.insert(lcp);
		cout << "\tnumber of points: " << defaultData.points().size() << endl;
		cout << "\tname of point: " << defaultData.points().first()->GetId() << endl;
		cout << "\ttime of point: " << defaultData.points().first()->time().UTC() << endl;
		cout << endl;

		// Test write() JSON format
		cout << "Testing write(FileName)... " << endl;
		LidarData mockData;
		double lat, lon, rad;
		lat = 100.0;
		lon = 50.0;
		lat = 50.0;
		lon = 100.0;
		rad = 1000.0;
		boost::numeric::ublas::symmetric_matrix<double, upper> aprioriMatrix(3);
		aprioriMatrix.clear();
		aprioriMatrix(0, 0) = 0.028656965032217;
		aprioriMatrix(1, 1) = 0.031198128120272;
		aprioriMatrix(2, 2) = 38.454887335682053718134171237789;
		// Angle(1.64192315,Angle::Degrees),
		// Angle(1.78752107, Angle::Degrees),
		// Distance(38.454887335682053718134171237789, Distance::Meters));

		for (int i = 1; i < 11; i++) {
		time += 60.0;
		range += 10.0;
		lcp = QSharedPointer<LidarControlPoint>(new LidarControlPoint(time, range, sigmaRange));
		lcp = QSharedPointer<LidarControlPoint>(new LidarControlPoint());
		lcp->setTime(time);
		lcp->setRange(range);
		lcp->setSigmaRange(sigmaRange);
		lcp->SetId("testLidarControlPoint" + QString::number(i));
		lat += 1.0;
		lon += 1.0;
		SurfacePoint sp(Latitude(lat, Angle::Units::Degrees),
		Longitude(lon, Angle::Units::Degrees),
		Distance(rad, Distance::Units::Kilometers));
		sp.SetRadii(Distance(1000.0, Distance::Meters), Distance(1000.0, Distance::Meters),
		Distance(1000.0, Distance::Meters));
		sp.SetSphericalMatrix(aprioriMatrix);
		lcp->SetAprioriSurfacePoint(sp);
		for (int j = 0; j < 2; j++) {
		ControlMeasure *measure = new ControlMeasure();
		@@ -128,12 +151,15 @@ void print(const LidarData &lidarData) {
		lat = sp.GetLatitude().planetocentric(Angle::Units::Degrees);
		lon = sp.GetLongitude().positiveEast(Angle::Units::Degrees);
		rad = sp.GetLocalRadius().kilometers();
		symmetric_matrix<double, upper> aprioriMatrix = sp.GetSphericalMatrix();
		std::cout << "\t\tlatitude: " << lat << std::endl;
		std::cout << "\t\tlongitude: " << lon << std::endl;
		std::cout << "\t\tradius: " << rad << std::endl;
		std::cout << "\t\trange: " << point->range() << std::endl;
		std::cout << "\t\tsigmaRange:" << point->sigmaRange() << std::endl;
		std::cout << "\t\ttime: " << point->time().Et() << std::endl;
		// std::cout << "\t\ttime: " << point->time().Et() << std::endl;
		std::cout << "\t\ttime: " << point->time().UTC() << std::endl;
		std::cout << "\t\tmatrix: " << aprioriMatrix << std::endl;
		QList<ControlMeasure *> measures = point->getMeasures();
		foreach (ControlMeasure *measure, measures) {
		std::cout << "\t\tControlMeasure: " << std::endl;

isis/src/base/objs/Target/Target.cpp

+31 −7

Original line number	Diff line number	Diff line
		@@ -65,6 +65,21 @@ namespace Isis {

		PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
		m_name = new QString;

		// * TODO *
		// Is TargetName a required keyword in the Isis labels? If so then if this call fails, the class
		// should throw an error. If not then what are the alternatives? Each alternative should be
		// attempted and an error thrown in the case all options fail. Basically this value should be
		// loaded when the objected is created, or the object should not be created. How can we
		// tell if the request for the TargetName keyword fails to return anything? Should the
		// NaifSpkCode, if it exists, override the code associated with the target name in all cases
		// and not just he Sky case? The trykey settings below will not work for getting m_bodyCode.
		// The frame code is totally different from the body code usually. SpkCode may work, because
		// the spk will contail information describing the bode and not its frame.
		//
		// Basically, this constructor should load the specified values, including body code and radii,
		// or throw an error.

		*m_name = inst["TargetName"][0];
		QString trykey = "NaifIkCode";

		@@ -197,14 +212,23 @@ namespace Isis {
		catch (IException &e) {
		try {
		if (m_spice) {
		code = m_spice->getInteger("BODY_FRAME_CODE", 0);
		code = m_spice->getInteger("NAIF_BODY_CODE", 0); // Changed from BODY_FRAME_CODE
		// which is wrong. It is a totally different code and not used to label the radii.
		// Stuart says some missions use the frame code to label radii. Do we need
		// to code for both? Discuss this with Stuart when he returns. 03-19-2018 DAC
		return code;
		}
		else if (lab.hasObject("NaifKeywords")
		&& lab.findObject("NaifKeywords").hasKeyword("BODY_FRAME_CODE") ) {
		code = int(lab.findObject("NaifKeywords").findKeyword("BODY_FRAME_CODE"));
		return code;
		}
		// Add this check for NAIF_SPK_CODE if NAIF_BODY_CODE fails. Why not just call NaifBodyCode()
		// or NaifSpkCode()?
		}
		// else if (lab.hasObject("NaifKeywords")
		// && lab.findObject("NaifKeywords").hasKeyword("NAIF_BODY_CODE") ) {
		// // * TODO *
		// // Change from BODY_FRAME_CODE which is not the same as body code. DAC 3-7-18
		// // I don't think this keyword is used in naifkeywords. Maybe this should search the kernels group.
		// // For now comment this section out, because it isn't doing anything.
		// code = int(lab.findObject("NaifKeywords").findKeyword("NAIF_BODY_CODE"));
		// return code;
		// }
		else {
		throw IException(e,
		IException::Unknown,