The correlation matrix now comes from the bundle run. I also initialized some...

            m_bLastIteration = true;

            m_bundleStatistics.setConverged(true);

            emit statusUpdate("\n Bundle has converged");

            emit bundleConvergence(true);

            break;

          }

        }

          m_bundleStatistics.setConverged(true);

          m_bLastIteration = true;

          emit statusUpdate("Bundle has converged");

          emit bundleConvergence(true);

          break;

        }

      }

    SparseBlockColumnMatrix sbcMatrix;

      //////////////////////////////////////////////////////////////////// This is where I add stuff

    // Create unique file name

    FileName matrixFile;

    matrixFile = FileName::createTempFile("inverseMatrix.dat");

    // Open file to write to

    matrixOutput.open(QIODevice::WriteOnly);

    QDataStream outStream(&matrixOutput);

      //////////////////////////////////////////////////////////////////// This is where I add stuff

    int i, j, k;

    int nCurrentColumn = 0;

        adjustedSigmas[z] = sqrt((*imageCovMatrix)(z,z))*m_bundleStatistics.sigma0();

      }

      //////////////////////////////////////////////////////////////////// This is where I add stuff

      // Output inverse matrix to the open file.

      outStream << sbcMatrix;

      //////////////////////////////////////////////////////////////////// This is where I add stuff

      // now loop over all object points to sum contributions into 3x3 point covariance matrix

      int nPointIndex = 0;

        nPointIndex++;

      }

    }

    ////////////////////////////////////////////////////////////////////// This is where I add stuff

    // After the for loop, close the file.

    // Close the file.

    matrixOutput.close();

    // Save the location of the "covariance" matrix

    m_bundleStatistics.setCorrMatCovFileName(matrixFile);

    ////////////////////////////////////////////////////////////////////// This is where I add stuff

    // can free sparse normals now

    m_SparseNormals.wipe();

    sprintf(buf, "\nIMAGE EXTERIOR ORIENTATION\n==========================\n");

    fp_out << buf;

    QMap<QString, QStringList> imagesAndParameters;

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

      //if ( m_bundleStatistics.numberHeldImages() > 0 && m_pHeldSnList->HasSerialNumber(m_pSnList->SerialNumber(i)) )

      QString observationString =

          observation->formatBundleOutputString(berrorProp);

      fp_out << (const char*)observationString.toAscii().data();

      // Build list of images and parameters for correlation matrix.

      foreach ( QString image, observation->imageNames() ) {

        imagesAndParameters.insert( image, observation->parameterList() );

      }

    }

    // Save list of images and their associated parameters for CorrelationMatrix to use in ice.

    m_bundleStatistics.setCorrMatImgsAndParams(imagesAndParameters);

    // output point uncertainty statistics if error propagation is on

    if (berrorProp) {

namespace Isis {

  BundleResults::BundleResults(BundleSettings inputSettings, FileName controlNetworkFileName, QObject *parent) : QObject(parent) {

  BundleResults::BundleResults(BundleSettings inputSettings,

                               FileName controlNetworkFileName,

                               QObject *parent) : QObject(parent) {

    m_id = NULL;

    m_id = new QUuid(QUuid::createUuid());

    m_settings = new BundleSettings(inputSettings);

    m_statisticsResults = NULL;

    m_statisticsResults = new BundleStatistics;

    m_images = NULL;

    m_images = new QList<ImageList *>;

  }

<?xml version="1.0" encoding="UTF-8"?>

<bundleSettings>

    <globalSettings>

        <id>{5de1e0bc-fa14-4d5f-aada-1cc44d4a3ea0}</id>

        <id>{2c061cb7-4d6c-4cc4-a2de-fd1c1fb0b6c5}</id>

        <validateNetwork>Yes</validateNetwork>

        <solveOptions solveMethod="Sparse" solveObservationMode="Yes" solveRadius="No" updateCubeLabel="Yes" errorPropagation="Yes"/>

        <aprioriSigmas latitude="-1.0" longitude="-1.0" radius="N/A"/>

    </globalSettings>

    <observationSolveSettingsList>

        <bundleObservationSolveSettings>

            <id>{69568a42-fa20-4c4d-a2ba-e91a21199de8}</id>

            <id>{d032748a-7f65-475b-b11b-099eed78f2fb}</id>

            <instrumentId>Instrument1</instrumentId>

            <instrumentPointingOptions solveOption="None" solveTwist="Yes" degree="11" solveDegree="-1" numberCoefSolved="0" solveOverExisting="Yes" interpolationType="4">

                <aprioriPointingSigmas angles="N/A" angularVelocity="N/A" angularAcceleration="N/A"/>

            </instrumentPositionOptions>

        </bundleObservationSolveSettings>

        <bundleObservationSolveSettings>

            <id>{69568a42-fa20-4c4d-a2ba-e91a21199de8}</id>

            <id>{d032748a-7f65-475b-b11b-099eed78f2fb}</id>

            <instrumentId>Instrument2</instrumentId>

            <instrumentPointingOptions solveOption="AllPolynomialCoefficients" solveTwist="Yes" degree="21" solveDegree="1" numberCoefSolved="2" solveOverExisting="Yes" interpolationType="4">

                <aprioriPointingSigmas angles="22.0" angularVelocity="23.0" angularAcceleration="N/A"/>

    // m_wFunc, m_cumPro, m_maxLikelihoodIndex, m_maxLikelihoodQuan,

    // m_maxLikelihoodMedianR2Residuals

    m_cumPro = NULL;

    m_cumPro = new StatCumProbDistDynCalc;

    m_numberMaximumLikelihoodModels = 0;

    m_maximumLikelihoodIndex = 0;

    m_maximumLikelihoodMedianR2Residuals = 0.0;

    m_wFunc[0] = m_wFunc[1] = m_wFunc[2] = NULL;

    m_wFunc[0] = m_wFunc[1] = m_wFunc[2] = new MaximumLikelihoodWFunctions;

    m_maximumLikelihoodQuan[0] = m_maximumLikelihoodQuan[1] = m_maximumLikelihoodQuan[2] = 0.5; // better init value ???

  /**

   * Set the images and their associated parameters.

   * Set the images and their associated parameters of the correlation matrix.

   *

   * @param imgsAndParams The qmap with all the images and parameters used for this bundle.

   */

      PvlObject pvlObject(QString name = "BundleStatistics") const;

      // Correlation Matrix accessors for cnetsuite and mutators for bundle adjust.

      CorrelationMatrix correlationMatrix();

      void setCorrMatCovFileName(FileName name);

      void setCorrMatImgsAndParams(QMap<QString, QStringList> imgsAndParams);