Commit 2663d19b authored by Jeannie Backer's avatar Jeannie Backer
Browse files

Replaced boost vector and matrix references with LinearAlgebra Vector and Matrix. Fixes #4163. 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/ipce@6978 41f8697f-d340-4b68-9986-7bafba869bb8
parent 092edd2c

isis/src/base/objs/SparseBlockMatrix/SparseBlockMatrix.cpp

+50 −44
Original line number Diff line number Diff line 
#include "SparseBlockMatrix.h"



#include <boost/numeric/ublas/matrix_sparse.hpp>

#include <boost/numeric/ublas/matrix_proxy.hpp>

#include <boost/numeric/ublas/io.hpp>



// std lib

#include <iostream>

#include <iomanip>



// qt lib

#include <QDataStream>

#include <QDebug>

#include <QMapIterator>

#include <QListIterator>



// boost lib

#include <boost/numeric/ublas/matrix_sparse.hpp>

#include <boost/numeric/ublas/matrix_proxy.hpp>

#include <boost/numeric/ublas/io.hpp>



// Isis lib

#include "IString.h"

#include "LinearAlgebra.h"



using namespace boost::numeric::ublas;
@@ -56,12 +61,12 @@ namespace Isis { 
    wipe();



    // copy matrix blocks from src

    QMapIterator<int, matrix<double>*> it(src);

    QMapIterator<int, LinearAlgebra::Matrix *> it(src);

    while ( it.hasNext() ) {

      it.next();



      // copy matrix block from src

      matrix<double>* m = new matrix<double>(*(it.value()));

      LinearAlgebra::Matrix *m = new LinearAlgebra::Matrix(*(it.value()));



      // insert matrix into map

      this->insert(it.key(),m);
@@ -86,8 +91,8 @@ namespace Isis { 




  /**

   * Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the map with the block

   *  column number as key. The matrix::clear call initializes the matrix elements to zero. If an

   * Inserts a "newed" LinearAlgebra::Matrix pointer of size (nRows, nCols) into the map with the

   *  block column number as key. The clear call initializes the matrix elements to zero. If an

   *  entry exists at the key nColumnBlock, no insertion is made.

   *

   * @param nColumnBlock block column number of inserted matrix (key into map)
@@ -103,7 +108,7 @@ namespace Isis { 
      return true;



    // allocate matrix block with nRows and nCols

    matrix<double>* m = new matrix<double>(nRows,nCols);

    LinearAlgebra::Matrix *m = new LinearAlgebra::Matrix(nRows,nCols);



    if ( !m )

      return false;
@@ -127,7 +132,7 @@ namespace Isis { 
  int SparseBlockColumnMatrix::numberOfElements() {

    int nElements = 0;



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -150,7 +155,7 @@ namespace Isis { 


    int nColumns = 0;



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -174,7 +179,7 @@ namespace Isis { 
  int SparseBlockColumnMatrix::numberOfRows() {



    // iterate to last block (the diagonal one)

    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -202,7 +207,7 @@ namespace Isis { 
    }



    outstream << "Printing SparseBlockColumnMatrix..." << std::endl;

    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -228,11 +233,11 @@ namespace Isis { 
      return;

    }



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();



      matrix<double>* m = it.value();

      LinearAlgebra::Matrix * m = it.value();



      int rows = m->size1();

      int cols = m->size2();
@@ -256,7 +261,7 @@ namespace Isis { 
   * Sets all elements of all matrix blocks to zero.

   */

  void SparseBlockColumnMatrix::zeroBlocks() {

    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();

      it.value()->clear();
@@ -275,7 +280,7 @@ namespace Isis { 
    int nBlocks = sbcm.size();

    stream << (qint32)nBlocks;



    QMapIterator<int, matrix<double>*> it(sbcm);

    QMapIterator<int, LinearAlgebra::Matrix *> it(sbcm);

    while ( it.hasNext() ) {

      it.next();
@@ -323,7 +328,7 @@ namespace Isis { 
      sbcm.insertMatrixBlock(nBlockNumber, nRows, nCols);



      // get matrix

      matrix<double>* matrix = sbcm[nBlockNumber];

      LinearAlgebra::Matrix *matrix = sbcm[nBlockNumber];



      // fill with data

      for ( r = 0; r < nRows; r++ ) {
@@ -347,7 +352,7 @@ namespace Isis { 
  QDebug operator<<(QDebug dbg, const SparseBlockColumnMatrix &sbcm) {

    dbg.space() << "New Block" << endl;



    QMapIterator<int, matrix<double>*> it(sbcm);

    QMapIterator<int, LinearAlgebra::Matrix *> it(sbcm);

    while ( it.hasNext() ) {

      it.next();
@@ -355,7 +360,7 @@ namespace Isis { 
        continue;



      // get matrix

      matrix<double>* matrix = it.value();

      LinearAlgebra::Matrix *matrix = it.value();



      // matrix rows, columns

      int nRows = matrix->size1();
@@ -419,12 +424,12 @@ namespace Isis { 
    wipe();



    // copy matrix blocks from src

    QMapIterator<int, matrix<double>*> it(src);

    QMapIterator<int, LinearAlgebra::Matrix *> it(src);

    while ( it.hasNext() ) {

      it.next();



      // copy matrix block from src

      matrix<double>* m = new matrix<double>(*(it.value()));

      LinearAlgebra::Matrix *m = new LinearAlgebra::Matrix(*(it.value()));



      // insert matrix into map

      this->insert(it.key(),m);
@@ -449,9 +454,9 @@ namespace Isis { 




  /**

   * Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the map with the block row

   * number as key. The matrix::clear call initializes the matrix elements to zero. If an entry

   * exists at the key nRowBlock, no insertion is made.

   * Inserts a "newed" LinearAlgebra::Matrix pointer of size (nRows, nCols) into the map with the 

   * block row number as key. The matrix::clear call initializes the matrix elements to zero. If an 

   * entry exists at the key nRowBlock, no insertion is made. 

   *

   * @param nRowBlock block row number of inserted matrix (key into map)

   * @param nRows number of rows in matrix to be inserted
@@ -467,7 +472,7 @@ namespace Isis { 
    if ( this->contains(nRowBlock) )

      return false;



    matrix<double>* m = new matrix<double>(nRows,nCols);

    LinearAlgebra::Matrix *m = new LinearAlgebra::Matrix(nRows,nCols);



    if ( !m )

      return false;
@@ -489,7 +494,7 @@ namespace Isis { 
  int SparseBlockRowMatrix::numberOfElements() {

    int nElements = 0;



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -515,7 +520,7 @@ namespace Isis { 
    }



    outstream << "Printing SparseBlockRowMatrix..." << std::endl;

    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();
@@ -540,11 +545,11 @@ namespace Isis { 
      return;

    }



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();



      matrix<double>* m = it.value();

      LinearAlgebra::Matrix *m = it.value();



      int rows = m->size1();

      int cols = m->size2();
@@ -568,7 +573,7 @@ namespace Isis { 
   * Sets all elements of all matrix blocks to zero.

   */

  void SparseBlockRowMatrix::zeroBlocks() {

    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();

      it.value()->clear();
@@ -589,12 +594,12 @@ namespace Isis { 
    range rRow = range(0,3);

    range rCol;



    QMapIterator<int, matrix<double>*> it(*this);

    QMapIterator<int, LinearAlgebra::Matrix *> it(*this);

    while ( it.hasNext() ) {

      it.next();



      nrowBlock = it.key();

      matrix<double>* m = it.value();

      LinearAlgebra::Matrix *m = it.value();



      ncols = m->size2();
@@ -657,7 +662,7 @@ namespace Isis { 
    int nBlocks = sbrm.size();

    stream << (qint32)nBlocks;



    QMapIterator<int, matrix<double>*> it(sbrm);

    QMapIterator<int, LinearAlgebra::Matrix *> it(sbrm);

    while ( it.hasNext() ) {

      it.next();
@@ -705,7 +710,7 @@ namespace Isis { 
      sbrm.insertMatrixBlock(nBlockNumber, nRows, nCols);



      // get matrix

      matrix<double>* matrix = sbrm[nBlockNumber];

      LinearAlgebra::Matrix *matrix = sbrm[nBlockNumber];



      // fill with data

      for ( r = 0; r < nRows; r++ ) {
@@ -729,7 +734,7 @@ namespace Isis { 
  QDebug operator<<(QDebug dbg, const SparseBlockRowMatrix &sbrm) {

    dbg.space() << "New Block" << endl;



    QMapIterator<int, matrix<double>*> it(sbrm);

    QMapIterator<int, LinearAlgebra::Matrix *> it(sbrm);

    while ( it.hasNext() ) {

      it.next();
@@ -737,7 +742,7 @@ namespace Isis { 
        continue;



      // get matrix

      matrix<double>* matrix = it.value();

      LinearAlgebra::Matrix *matrix = it.value();



      // matrix rows, columns

      int nRows = matrix->size1();
@@ -839,9 +844,9 @@ namespace Isis { 




  /**

   * Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the

   * matrix at nColumnBlock, nRowBlock. The inserted matrix elements are

   * initialized to zero.

   * Inserts a "newed" boost LinearAlgebra::Matrix pointer of size (nRows, 

   * nCols) into the matrix at nColumnBlock, nRowBlock. The inserted matrix 

   * elements are initialized to zero. 

   * If an entry exists at nColumnBlock, RowBlock, no insertion is made.

   *

   * @param nColumnBlock block column number of inserted matrix (QList index)
@@ -889,7 +894,7 @@ namespace Isis { 
      if ( !column )

        continue;



      QMapIterator<int, matrix<double>*> it(*column);

      QMapIterator<int, LinearAlgebra::Matrix *> it(*column);

      while ( it.hasNext() ) {

        it.next();
@@ -939,9 +944,10 @@ namespace Isis { 
   * @param column block column number

   * @param row block row number

   *

   * @return matrix<double>* Pointer to Boost matrix at position (column, row)

   * @return LinearAlgebra::Matrix  Pointer to Boost matrix at position (column,

   *         row)

   */

  matrix<double>* SparseBlockMatrix::getBlock(int column, int row) {

  LinearAlgebra::Matrix *SparseBlockMatrix::getBlock(int column, int row) {

    return (*(*this)[column])[row];

  }
@@ -1057,7 +1063,7 @@ namespace Isis { 
      if ( !column )

        continue;



      QMapIterator<int, matrix<double>*> it(*column);

      QMapIterator<int, LinearAlgebra::Matrix *> it(*column);

      // iterate to last element in column

      while ( it.hasNext() ) {

        it.next();

isis/src/base/objs/SparseBlockMatrix/SparseBlockMatrix.h

+17 −9
Original line number Diff line number Diff line
@@ -20,14 +20,20 @@ 
 *   http://www.usgs.gov/privacy.html.

 */





// std library

#include <iostream>



// Qt library

#include <QMap>

#include <QList>



// boost library

#include <boost/numeric/ublas/fwd.hpp>



// Isis library

#include "LinearAlgebra.h"



// Qt library

class QDebug;



namespace Isis {
@@ -38,7 +44,7 @@ namespace Isis { 
   * The SparseBlockMatrix class is a QList of SparseBlockColumnMatrix objects. Each

   * SparseBlockColumnMatrix is a QMap of square matrix blocks and represents a column of square

   * matrix blocks in the reduced normal equations matrix. The key into each column map is the

   *  block’s row index. The value at each key is a square dense matrix (Boost matrix) with a

   * block's row index. The value at each key is a square dense matrix (Boost matrix) with a

   * dimension equivalent to the number of exterior orientation parameters used for the image.

   * Zero blocks are not stored.

   *
@@ -54,9 +60,11 @@ namespace Isis { 
   *                           as recommended by Qt documentation.

   *   @history 2015-12-18 Ken Edmundson - 1) added more detailed documentation; 2) brought up to

   *                           ISIS coding standards.

   *   @history 2016-08-10 Jeannie Backer - Replaced boost matrix with Isis::LinearAlgebra::Matrix.

   *                           References #4163.

   */

  class SparseBlockColumnMatrix :

      public QMap< int, boost::numeric::ublas::matrix<double>* > {

      public QMap< int, LinearAlgebra::Matrix * > {



  public:

    SparseBlockColumnMatrix(){} // default constructor
@@ -115,7 +123,7 @@ namespace Isis { 
   *                           to ISIS coding standards.

   */

  class SparseBlockRowMatrix :

      public QMap< int, boost::numeric::ublas::matrix<double>* > {

      public QMap< int, LinearAlgebra::Matrix  * > {



  public:

    SparseBlockRowMatrix(){} // default constructor
@@ -193,7 +201,7 @@ namespace Isis { 
    bool setNumberOfColumns( int n );

    void zeroBlocks();

    bool insertMatrixBlock(int nColumnBlock, int nRowBlock, int nRows, int nCols);

    boost::numeric::ublas::matrix<double>* getBlock(int column, int row);

    LinearAlgebra::Matrix *getBlock(int column, int row);

    int numberOfBlocks();

    int numberOfDiagonalBlocks();

    int numberOfOffDiagonalBlocks();

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

+6 −4
Original line number Diff line number Diff line 
#include "SparseBlockMatrix.h"



// std lib

#include <iostream>



// boost lib

#include <boost/numeric/ublas/matrix.hpp>



// Isis lib

#include "IException.h"

#include "Preference.h"

#include <boost/numeric/ublas/matrix.hpp>

#include "SparseBlockMatrix.h"



using namespace std;

using namespace Isis;

using boost::numeric::ublas::matrix;



int main(int argc, char *argv[]) {

  Preference::Preferences(true);

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

+38 −38
Original line number Diff line number Diff line
@@ -906,13 +906,13 @@ namespace Isis { 
    m_bundleResults.setNumberObservations(0);// ???

    m_bundleResults.resetNumberConstrainedPointParameters();//???



    static boost::numeric::ublas::matrix<double> coeff_target;

    static boost::numeric::ublas::matrix<double> coeff_image;

    static boost::numeric::ublas::matrix<double> coeff_point3D(2, 3);

    static boost::numeric::ublas::vector<double> coeff_RHS(2);

    static LinearAlgebra::Matrix coeff_target;

    static LinearAlgebra::Matrix coeff_image;

    static LinearAlgebra::Matrix coeff_point3D(2, 3);

    static LinearAlgebra::Vector coeff_RHS(2);

    static boost::numeric::ublas::symmetric_matrix<double, upper> N22(3);                // 3x3 upper triangular

    SparseBlockColumnMatrix N12;

    static boost::numeric::ublas::vector<double> n2(3);                                  // 3x1 vector

    static LinearAlgebra::Vector n2(3);                                  // 3x1 vector

    boost::numeric::ublas::compressed_vector<double> n1(m_nRank);                        // image parameters x 1



    m_nj.resize(m_nRank);
@@ -1116,7 +1116,7 @@ namespace Isis { 


    int nImagePartials = coeff_image.size2();



    static boost::numeric::ublas::vector<double> n1_image(nImagePartials);

    static LinearAlgebra::Vector n1_image(nImagePartials);

    n1_image.resize(nImagePartials);

    n1_image.clear();
@@ -1313,7 +1313,7 @@ namespace Isis { 
    int n = 0;



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

      boost::numeric::ublas::matrix<double> *diagonalBlock = m_SparseNormals.getBlock(i, i);

      LinearAlgebra::Matrix *diagonalBlock = m_SparseNormals.getBlock(i, i);

      if ( !diagonalBlock )

        continue;
@@ -1343,8 +1343,8 @@ namespace Isis { 
        else

          observation = m_bundleObservations.at(i);



        boost::numeric::ublas::vector< double > weights = observation->parameterWeights();

        boost::numeric::ublas::vector< double > corrections = observation->parameterCorrections();

        LinearAlgebra::Vector weights = observation->parameterWeights();

        LinearAlgebra::Vector corrections = observation->parameterCorrections();



        int blockSize = diagonalBlock->size1();

        for (int j = 0; j < blockSize; j++) {
@@ -1387,12 +1387,12 @@ namespace Isis { 
    m_bundleResults.setNumberObservations(0); // ??? necessary???

    m_bundleResults.resetNumberConstrainedPointParameters();



    static boost::numeric::ublas::matrix<double> coeff_image;

    static boost::numeric::ublas::matrix<double> coeff_point3D(2, 3);

    static boost::numeric::ublas::vector<double> coeff_RHS(2);

    static LinearAlgebra::Matrix coeff_image;

    static LinearAlgebra::Matrix coeff_point3D(2, 3);

    static LinearAlgebra::Vector coeff_RHS(2);

    static boost::numeric::ublas::symmetric_matrix<double, upper> N22(3);     // 3x3 upper triangular

    static boost::numeric::ublas::matrix< double> N12(m_nRank, 3);            // image parameters x 3 (should this be compressed? We only make one, so probably not)

    static boost::numeric::ublas::vector<double> n2(3);                       // 3x1 vector

    static LinearAlgebra::Matrix N12(m_nRank, 3);            // image parameters x 3 (should this be compressed? We only make one, so probably not)

    static LinearAlgebra::Vector n2(3);                       // 3x1 vector

    boost::numeric::ublas::compressed_vector<double> n1(m_nRank);             // image parameters x 1



    m_nj.resize(m_nRank);
@@ -1726,7 +1726,7 @@ namespace Isis { 
                                SparseBlockRowMatrix &Q,

                                vector<double> &v1) {



    QMapIterator< int, boost::numeric::ublas::matrix<double> * > iQ(Q);

    QMapIterator< int, LinearAlgebra::Matrix * > iQ(Q);



    // subrange start, end

    int srStart, srEnd;
@@ -1755,7 +1755,7 @@ namespace Isis { 
                                     SparseBlockColumnMatrix &N12,

                                     SparseBlockRowMatrix &Q) {



    QMapIterator< int, boost::numeric::ublas::matrix<double> * > iN12(N12);

    QMapIterator< int, LinearAlgebra::Matrix * > iN12(N12);



    while ( iN12.hasNext() ) {

      iN12.next();
@@ -1788,15 +1788,15 @@ namespace Isis { 
    }



    // iterators for N12 and Q

    QMapIterator<int, boost::numeric::ublas::matrix<double>*> iN12(N12);

    QMapIterator<int, boost::numeric::ublas::matrix<double>*> iQ(Q);

    QMapIterator<int, LinearAlgebra::Matrix*> iN12(N12);

    QMapIterator<int, LinearAlgebra::Matrix*> iQ(Q);



    // now multiply blocks and subtract from m_SparseNormals

    while ( iN12.hasNext() ) {

      iN12.next();



      int nrow = iN12.key();

      boost::numeric::ublas::matrix<double> *in12 = iN12.value();

      LinearAlgebra::Matrix *in12 = iN12.value();



      while ( iQ.hasNext() ) {

        iQ.next();
@@ -1806,7 +1806,7 @@ namespace Isis { 
        if ( nrow > ncol )

          continue;



        boost::numeric::ublas::matrix<double> *iq = iQ.value();

        LinearAlgebra::Matrix *iq = iQ.value();



        // insert submatrix at column, row

        m_SparseNormals.insertMatrixBlock(ncol, nrow,
@@ -1886,15 +1886,15 @@ namespace Isis { 


    int nTargetParameters = m_bundleSettings->numberTargetBodyParameters();



    QMapIterator<int, boost::numeric::ublas::matrix<double>*> iQ(Q);

    QMapIterator<int, LinearAlgebra::Matrix*> iQ(Q);



    while ( iQ.hasNext() ) {

      iQ.next();



      int nrow = iQ.key();

      boost::numeric::ublas::matrix<double> *m = iQ.value();

      LinearAlgebra::Matrix *m = iQ.value();



      boost::numeric::ublas::vector<double> v = prod(trans(*m),n2);

      LinearAlgebra::Vector v = prod(trans(*m),n2);



      //testing - should ask m_bundleObservations for this???

//      int n = Q.getLeadingColumnsForBlock(nrow);
@@ -2208,7 +2208,7 @@ namespace Isis { 


      int nLeadingColumns = m_SparseNormals.getLeadingColumnsForBlock(ncol);



      QMapIterator< int, boost::numeric::ublas::matrix<double> * > it(*sbc);

      QMapIterator< int, LinearAlgebra::Matrix * > it(*sbc);



      while ( it.hasNext() ) {

        it.next();
@@ -2217,7 +2217,7 @@ namespace Isis { 


        int nLeadingRows = m_SparseNormals.getLeadingRowsForBlock(nrow);



        boost::numeric::ublas::matrix<double> *m = it.value();

        LinearAlgebra::Matrix *m = it.value();

        if ( !m ) {

          printf("matrix block retrieval failure at column %d, row %d", ncol,nrow);

          printf("Total # of block columns: %d", nblockcolumns);
@@ -2450,10 +2450,10 @@ namespace Isis { 
//    symmetric_matrix<double,lower> tmp = m_Normals;



    // solution vector

    boost::numeric::ublas::vector<double> s(m_nRank);

    LinearAlgebra::Vector s(m_nRank);



    // initialize column vector

    boost::numeric::ublas::vector<double> column(m_nRank);

    LinearAlgebra::Vector column(m_nRank);

    column.clear();

    column(0) = 1.0;
@@ -3312,8 +3312,8 @@ namespace Isis { 
      BundleObservationQsp observation = m_bundleObservations.at(i);



      // get weight and correction vector for this observation

      const boost::numeric::ublas::vector<double> &weights = observation->parameterWeights();

      const boost::numeric::ublas::vector<double> &corrections = observation->parameterCorrections();

      const LinearAlgebra::Vector &weights = observation->parameterWeights();

      const LinearAlgebra::Vector &corrections = observation->parameterCorrections();



      for (int j = 0; j < (int)corrections.size(); j++) {

        if (weights[j] > 0.0) {
@@ -3628,8 +3628,8 @@ namespace Isis { 
    if ( !CholeskyUT_NOSQR_Inverse() )

        return false;



    boost::numeric::ublas::matrix<double> T(3, 3);

    boost::numeric::ublas::matrix<double> QS(3, m_nRank);

    LinearAlgebra::Matrix T(3, 3);

    LinearAlgebra::Matrix QS(3, m_nRank);

    double dSigmaLat, dSigmaLong, dSigmaRadius;

    double t;
@@ -3706,7 +3706,7 @@ namespace Isis { 
    cholmod_free_triplet(&m_pTriplet, &m_cm);

    cholmod_free_sparse(&m_N, &m_cm);



    boost::numeric::ublas::matrix<double> T(3, 3);

    LinearAlgebra::Matrix T(3, 3);

    double dSigmaLat, dSigmaLong, dSigmaRadius;

    double t;
@@ -3796,7 +3796,7 @@ namespace Isis { 


        // store solution in corresponding column of inverse

        for (k = 0; k < sbcMatrix.size(); k++) {

          boost::numeric::ublas::matrix<double> *matrix = sbcMatrix.value(k);

          LinearAlgebra::Matrix *matrix = sbcMatrix.value(k);



          int sz1 = matrix->size1();
@@ -3865,7 +3865,7 @@ namespace Isis { 
        boost::numeric::ublas::symmetric_matrix<double> &cv = point_covs[nPointIndex];



        // get qT - index i is the key into Q for qT

        boost::numeric::ublas::matrix<double> *qT = Q.value(i);

        LinearAlgebra::Matrix *qT = Q.value(i);

        if (!qT) {

          nPointIndex++;

          continue;
@@ -3873,7 +3873,7 @@ namespace Isis { 


        // iterate over Q

        // q is current map value

        QMapIterator< int, boost::numeric::ublas::matrix<double> * > it(Q);

        QMapIterator< int, LinearAlgebra::Matrix * > it(Q);

        while ( it.hasNext() ) {

          it.next();
@@ -3883,13 +3883,13 @@ namespace Isis { 
            break;

          }



          boost::numeric::ublas::matrix<double> *q = it.value();

          LinearAlgebra::Matrix *q = it.value();



          if ( !q ) {// should never be NULL

            continue;

          }



          boost::numeric::ublas::matrix<double> *nI = sbcMatrix.value(it.key());

          LinearAlgebra::Matrix *nI = sbcMatrix.value(it.key());



          if ( !nI ) {// should never be NULL

            continue;
@@ -5229,7 +5229,7 @@ namespace Isis { 
    output_columns.clear();



    // data structure to contain adjusted image parameter sigmas for CHOLMOD error propagation only

    boost::numeric::ublas::vector<double> vImageAdjustedSigmas;

    LinearAlgebra::Vector vImageAdjustedSigmas;



    std::vector<double> BFP(3);

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

+62 −61

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