Commit 1386f6e5 authored by Ken Edmundson's avatar Ken Edmundson
Browse files

Modifed init, initializeNormalEquationsMatrix, and 

   *                           computePartials methods; added history entry to header file
parent f4f2925e

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

+6 −43
Original line number Diff line number Diff line
@@ -455,22 +455,17 @@ namespace Isis { 
    m_cholmodNormal = NULL;

    m_cholmodTriplet = NULL;



    // should we initialize objects m_xResiduals, m_yResiduals, m_xyResiduals

    // should we initialize objects m_xResiduals, m_yResiduals, m_xyResiduals?



    // TESTING

    // TODO: code below should go into a separate method???

    // set up BundleObservations and assign solve settings for each from BundleSettings class

    int normalsMatrixStartBlock = 0;

    for (int i = 0; i < numImages; i++) {



      Camera *camera = m_controlNet->Camera(i);

      QString observationNumber = m_serialNumberList->observationNumber(i);

      QString instrumentId = m_serialNumberList->spacecraftInstrumentId(i);

      QString serialNumber = m_serialNumberList->serialNumber(i);

      QString fileName = m_serialNumberList->fileName(i);



      // create a new BundleImage and add to new (or existing if observation mode is on)

      // BundleObservation

      // create a new BundleImage and add to new (or existing if observation mode) BundleObservation

      BundleImageQsp image = BundleImageQsp(new BundleImage(camera, serialNumber, fileName));



      if (!image) {
@@ -486,34 +481,6 @@ namespace Isis { 
                      + observationNumber + "is null." + "\n";

        throw IException(IException::Programmer, msg, _FILEINFO_);

      }



      // the observation stores the index to its associated SparseBlockColumnMatrix in

      // m_sparseNormals

      // TODO: I (Ken E.) think the individual segments should somehow be storing the index to

      // their associated SparseBlockColumnMatrix

      observation->setNormalsMatrixStartBlock(normalsMatrixStartBlock);

      normalsMatrixStartBlock += observation->numberPolynomialSegments();



      // initialize piecewise polynomial continuity constraints for time-dependent sensors if

      // necessary

      // TODO: can we let BundleObservation handle this?

      if (observation->numberPolynomialPositionSegments() > 1

          || observation->numberPolynomialPointingSegments() > 1) {



        BundlePolynomialContinuityConstraintQsp polyConstraint =

            BundlePolynomialContinuityConstraintQsp(

              new BundlePolynomialContinuityConstraint(observation));

        observation->setContinuityConstraints(polyConstraint);

      }

    }



    // initialize exterior orientation (spice) for all BundleImages in all BundleObservations

    // TODO!!! - should these initializations just be done when we add the new observation above?

    m_bundleObservations.initializeExteriorOrientation();





    if (m_bundleSettings->solveTargetBody()) {

      m_bundleObservations.setBodyRotation();

    }



    // set up vector of BundleControlPoints
@@ -550,8 +517,7 @@ namespace Isis { 
    if (m_lidarDataSet) {

      numLidarPoints = m_lidarDataSet->points().size();

    }

    for (int i =

         0; i < numLidarPoints; i++) {

    for (int i = 0; i < numLidarPoints; i++) {

      LidarControlPointQsp lidarPoint = m_lidarDataSet->points().at(i);

      if (lidarPoint->IsIgnored()) {

        continue;
@@ -770,6 +736,8 @@ namespace Isis { 
    }



    for (int i = 0; i < m_bundleObservations.size(); i++) {

      m_bundleObservations.at(i)->setNormalsMatrixStartBlock(blockColumn);



      int positionParameters =

          m_bundleObservations.at(i)->numberPositionParametersPerSegment();
@@ -2433,13 +2401,8 @@ namespace Isis { 
    // time dependent sensors.

    if (m_iteration == 1) {

      measure.setPolySegmentIndices();

      if (m_bundleSettings->solveTargetBody()) {

        measure.setNormalsBlockIndices(1);

      }

      else {

      measure.setNormalsBlockIndices();

    }

    }



    // Compute the look vector in instrument coordinates based on time of observation and apriori

    // lat/lon/radius

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

+2 −0
Original line number Diff line number Diff line
@@ -349,6 +349,8 @@ namespace Isis { 
   *                            which have been replaced with the local radius of a control

   *                            point for converting point sigmas to/from radians from/to meters.

   *                            References #4649 and #501.

   *   @history 2018-11-29 Ken Edmundson - Modifed init, initializeNormalEquationsMatrix, and

   *                           computePartials methods.

   */

  class BundleAdjust : public QObject {

      Q_OBJECT