Unverified Commit 28885f61 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Multisensor (#3792) 



* added SCCONFIG parameter to jigsaw

* fixed problem with how I was assigning observation numbers, added history comments

* fixed problem with how I was removing observation numbers

* cleaned up BOSS constructor

* more fixes to BOSS constructor

* added BOSS gtest

* Added jigsaw scconfig app test

* Added scconfig with heldlist app test

* more updates to xml save test

* finished xml save test

* Updated with Themis VO data

* Updating jigsaw errors

Co-authored-by: default avatarPeter Aaron Giroux <pgiroux@contractor.usgs.gov>
parent 47316b7b

isis/src/control/apps/jigsaw/jigsaw.xml

+131 −155
Original line number Diff line number Diff line
@@ -277,6 +277,12 @@ 
      Cleaned up the bundleout.txt file and added new information in the header.

      Fixes #3267.

    </change>

    <change name="Aaron Giroux" date="2019-12-19">

      Added SCCONFIG parameter which allows users to pass in a pvl file with different

      settings for different instrumentIDs. Added logic into the observationSolveSettings

      function to construct BundleObservationSolveSettings objects based off of the settings

      in the pvl file.

    </change>

  </history>



  <groups>
@@ -347,54 +353,24 @@ 
        </filter>

      </parameter>



 <!-- Turning off USEPVL and SC_PARAMETERS for now. Since we are now using observation numbers

      to obtain the BundleObservationSolveSettings for a BundleObservation (instead of inst. id),

      this would require using a PVL that contains names of lists of images to group by.

      E.g. Group = "listA." would create a BundleObservationSolveSettings object that is associated

      with the images' observation numbers. Group = "listB.lis" would create another BOSS object

      that is associated with listB's images' observation numbers. Use of these lists could

      introduce unintended behaviors if not properly verified (e.g. would need to make sure the

      lists are sublists of the FROMLIST, that these sublists are all mutually exclusive ...).

      <parameter name="USEPVL">

        <type>boolean</type>

        <default><item>false</item></default>

        <brief>

          Enter Camera/Spacecraft parameters using a PVL file

        </brief>

        <description>

          This option indicates that the Camera and Spacecraft parameters are to be

          obtained from the PVL file specified by SC_PARAMETERS. All of the following

          parameters must be entered through the PVL file if this option is chosen:

          HELDLIST, CKDEGREE, CKSOLVEDEGREE, CAMSOLVE, TWIST, OVEREXISTING, SPKDEGREE,

          SPKSOLVEDEGREE, SPSOLVE, OVERHERMITE, SPACECRAFT_POSITION_SIGMA,

          SPACECRAFT_VELOCITY_SIGMA, SPACECRAFT_ACCELERATION_SIGMA, CAMERA_ANGLES_SIGMA,

          CAMERA_ANGULAR_VELOCITY_SIGMA, CAMERA_ANGULAR_ACCELERATION_SIGMA. An example

          template is located at $base/templates/jigsaw/SC_Parameters.pvl.

        </description>

      <parameter name="SCCONFIG">

        <exclusions>

          <item>HELDLIST</item>

          <item>CKDEGREE</item>

          <item>CKSOLVEDEGREE</item>

          <item>CAMSOLVE</item>

          <item>TWIST</item>

          <item>OVEREXISTING</item>

          <item>SPKDEGREE</item>

          <item>SPKSOLVEDEGREE</item>

          <item>SPSOLVE</item>

          <!-- <item>TWIST</item> -->

          <item>OVERHERMITE</item>

          <item>SPACECRAFT_POSITION_SIGMA</item>

          <item>SPACECRAFT_VELOCITY_SIGMA</item>

          <item>SPACECRAFT_ACCELERATION_SIGMA</item>

          <item>CAMERA_ANGLES_SIGMA</item>

          <item>CAMERA_ANGULAR_VELOCITY_SIGMA</item>

          <item>CAMERA_ANGULAR_ACCELERATION_SIGMA</item>

          <item>SPACECRAFT_POSITION_SIGMA</item>

          <item>SPACECRAFT_VELOCITY_SIGMA</item>

          <item>SPACECRAFT_ACCELERATION_SIGMA</item>

        </exclusions>

        <inclusions>

          <item>SC_PARAMETERS</item>

        </inclusions>

      </parameter>



      <parameter name="SC_PARAMETERS">

        <type>filename</type>

        <fileMode>input</fileMode>

        <brief>
@@ -418,7 +394,7 @@ 
        <filter>

          *.pvl

        </filter>

      </parameter>-->

      </parameter>

    </group>



    <group name="Solve Options">

isis/src/control/apps/jigsaw/main.cpp

+138 −83
Original line number Diff line number Diff line
@@ -323,7 +323,47 @@ BundleSettingsQsp bundleSettings(UserInterface &ui) { 
QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui) {

  //************************************************************************************************

  QList<BundleObservationSolveSettings> observationSolveSettingsList;

  QString fromList = ui.GetFileName("FROMLIST");

  SerialNumberList cubeSNs(fromList);

  // QVector<BundleObservationSolveSettings*> cubeSolveSettings(cubeSNs.size(), nullptr);



  if (ui.WasEntered("SCCONFIG")) {

    PvlObject obj;

    Pvl scConfig(FileName(ui.GetFileName("SCCONFIG")).expanded());

    // QMap<QString, BundleObservationSolveSettings*> instIDtoBOSS;

    if (!scConfig.hasObject("SensorParameters")) {

      QString msg = "Input SCCONFIG file missing SensorParameters object";

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

    }



    // loop over parameter groups, read settings for each sensor into a

    // BundleObservationSolveSettings object, and append to observationSolveSettingsList

    obj = scConfig.findObject("SensorParameters");

    PvlObject::PvlGroupIterator g;

    for(g = obj.beginGroup(); g != obj.endGroup(); ++g) {

      BundleObservationSolveSettings solveSettings(*g);

      observationSolveSettingsList.append(solveSettings);

    }



    // loop through serial number list, check if current instrumentID matches

    // any of the BOSS's instrumentID. If so, add observationNumber to BOSS.

    for (int snIndex = 0; snIndex < cubeSNs.size(); snIndex++) {

      QString snInstId = cubeSNs.spacecraftInstrumentId(snIndex);

      bool found = false;

      for (auto bossIt = observationSolveSettingsList.begin(); bossIt != observationSolveSettingsList.end(); bossIt++) {

        if (bossIt->instrumentId() == snInstId) {

          bossIt->addObservationNumber(cubeSNs.observationNumber(snIndex));

          found = true;

        }

      }

      if (!found){

        QString msg = "No BundleObservationSolveSettings found for " + snInstId;

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

      }

    }

  }



  else {

    // We are not using the PVL, so get what will be solve settings for all images from gui

    BundleObservationSolveSettings observationSolveSettings;
@@ -377,16 +417,31 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui 
                                                            positionVelocityAprioriSigma,

                                                            positionAccelerationAprioriSigma);



    // add all image observation numbers to this BOSS.

    for (int sn = 0; sn < cubeSNs.size(); sn++) {

      observationSolveSettings.addObservationNumber(cubeSNs.observationNumber(sn));

    }



    // append the GUI acquired solve parameters to BOSS list.

    observationSolveSettingsList.append(observationSolveSettings);

  }





  // If we are holding any images, then we need a BundleObservationSolveSettings for the held

  // images, and another one for the non-held images

  if (ui.WasEntered("HELDLIST")) {

    // Check that the held images are present in the input image list

    QString heldList = ui.GetFileName("HELDLIST");

    QString fromList = ui.GetFileName("FROMLIST");

    SerialNumberList heldSNs(heldList);

    SerialNumberList cubeSNs(fromList);

    checkImageList(heldSNs, cubeSNs);



    double anglesAprioriSigma, angularVelocityAprioriSigma, angularAccelerationAprioriSigma;

    anglesAprioriSigma = angularVelocityAprioriSigma = angularAccelerationAprioriSigma = Isis::Null;



    double positionAprioriSigma, positionVelocityAprioriSigma, positionAccelerationAprioriSigma;

    positionAprioriSigma = positionVelocityAprioriSigma = positionAccelerationAprioriSigma

                          = Isis::Null;



    // The settings for the held images will have no pointing or position factors considered

    BundleObservationSolveSettings heldSettings;

    BundleObservationSolveSettings::InstrumentPointingSolveOption noPointing =
@@ -397,7 +452,7 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui 
                                                ui.GetInteger("CKDEGREE"),

                                                ui.GetInteger("CKSOLVEDEGREE"),

                                                ui.GetBoolean("OVEREXISTING"),

                                                positionAprioriSigma,

                                                anglesAprioriSigma,

                                                angularVelocityAprioriSigma,

                                                angularAccelerationAprioriSigma);

    BundleObservationSolveSettings::InstrumentPositionSolveOption noPosition =
@@ -417,20 +472,20 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui 
        // For held images, we want to set pointing and position settings to NONE, effectively

        // ensuring that the number of pointing and position parameters for the holds are 0

        heldSettings.addObservationNumber(cubeSNs.observationNumber(sn));

        QString snInstId = cubeSNs.spacecraftInstrumentId(sn);

        //for each held serial number, locate corresponding BOSS in BOSSlist, remove.

        for (auto bossIt = observationSolveSettingsList.begin(); bossIt != observationSolveSettingsList.end(); bossIt++) {

          if (bossIt->instrumentId() == snInstId) {

            bossIt->removeObservationNumber(cubeSNs.observationNumber(sn));

          }

        }

      else {

        observationSolveSettings.addObservationNumber(cubeSNs.observationNumber(sn));

      }

    }

    // Add both the non-held and held observation solve settings to the list of solve settings

    // Add the held observation solve settings to the list of solve settings

    // for the BundleAdjust

    observationSolveSettingsList.append(observationSolveSettings);

    observationSolveSettingsList.append(heldSettings);

  }

  // If not using a held list, we just append the GUI acquired solve parameters

  else {

    observationSolveSettingsList.append(observationSolveSettings);

  }



  //************************************************************************************************

  return observationSolveSettingsList;

}

isis/src/control/apps/jigsaw/tsts/errors/Makefile

+5 −3
Original line number Diff line number Diff line
@@ -14,6 +14,7 @@ APPNAME = jigsaw 
include $(ISISROOT)/make/isismake.tsts



commands:

	$(LS) -1 $(INPUT)/*cub > $(OUTPUT)/cubes.lis;

# TEST A: CAMSOLVE=None and SPSOLVE=None

	echo -e "Error Test A:" > $(OUTPUT)/error_temp.txt;

	if [[ `$(APPNAME) \
@@ -32,7 +33,7 @@ commands: 
# TEST C: SOLVETARGETBODY=yes and TBPARAMETERS file missing Target object

	echo -e "Error Test C:" >> $(OUTPUT)/error_temp.txt;

	if [[ `$(APPNAME) \

	  fromlist=$(INPUT)/empty.lis \

	  fromlist=$(OUTPUT)/cubes.lis \

	  cnet=$(INPUT)/empty.net \

	  onet=$(OUTPUT)/out.net \

	  solvetargetbody=yes \
@@ -45,7 +46,7 @@ commands: 
# TEST D: SOLVETARGETBODY=yes and # of parameters to solve is 0

	echo -e "Error Test D:" >> $(OUTPUT)/error_temp.txt;

	if [[ `$(APPNAME) \

	  fromlist=$(INPUT)/empty.lis \

	  fromlist=$(OUTPUT)/cubes.lis \

	  cnet=$(INPUT)/empty.net \

	  onet=$(OUTPUT)/out.net \

	  solvetargetbody=yes \
@@ -58,7 +59,7 @@ commands: 
# TEST F: CNET=[invalid control net file]

	echo -e "Error Test F:" >> $(OUTPUT)/error_temp.txt;

	if [[ `$(APPNAME) \

	  fromlist=$(INPUT)/empty.lis \

	  fromlist=$(OUTPUT)/cubes.lis \

	  cnet=$(INPUT)/notacnet.net \

	  onet=$(OUTPUT)/out.net \

	  radius=yes \
@@ -74,3 +75,4 @@ commands: 
# Remove paths from errors file

	$(SED) 's/\(\[\)\/.*\(input\)/\1\2/g' $(OUTPUT)/error_temp.txt > $(OUTPUT)/error.txt;

	$(RM) $(OUTPUT)/error_temp.txt;

	$(RM) $(OUTPUT)/cubes.lis > /dev/null;

isis/src/control/apps/jigsaw/tsts/scconfig/Makefile

0 → 100644
+21 −0
Original line number Diff line number Diff line 
APPNAME = jigsaw



include $(ISISROOT)/make/isismake.tsts



commands:

	$(LS) -1 $(INPUT)/*cub > $(OUTPUT)/cubes.lis;

	$(APPNAME) fromlist=$(OUTPUT)/cubes.lis \

	  cnet=$(INPUT)/themis_dayir_VO_arcadia_extract_hand.net \

	  onet=$(OUTPUT)/themis_dayir_VO_arcadia_extract_hand_jig.net \

	  scconfig=$(INPUT)/themis_vo.pvl \

	  radius=true \

	  point_radius_sigma=50\

	  bundleout_txt=no \

	  output_csv=no \

	  residuals_csv=no > /dev/null;

	$(CAT) bundleout_images.csv \

	  | perl -pe 's/(^|,|: )([^,:]+\/)([^,\/:]*\.)(net|cub)/\1\3\4/g' 2> /dev/null \

	  > $(OUTPUT)/bundleout_scconfig_images.csv;

	$(RM) $(OUTPUT)/cubes.lis > /dev/null;

	$(RM) $(OUTPUT)/*.net > /dev/null;

	$(RM) *.csv > /dev/null;

isis/src/control/apps/jigsaw/tsts/scconfigHeld/Makefile

0 → 100644
+22 −0
Original line number Diff line number Diff line 
APPNAME = jigsaw



include $(ISISROOT)/make/isismake.tsts



commands:

	$(LS) -1 $(INPUT)/*cub > $(OUTPUT)/cubes.lis;

	$(LS) $(INPUT)/I28234014RDR.cub > $(OUTPUT)/hold.lis;

	$(APPNAME) fromlist=$(OUTPUT)/cubes.lis \

	  heldlist=$(OUTPUT)/hold.lis \

	  cnet=$(INPUT)/themis_dayir_VO_arcadia_extract_hand.net \

	  onet=$(OUTPUT)/themis_dayir_VO_arcadia_extract_hand_jig.net \

	  scconfig=$(INPUT)/themis_vo.pvl \

	  bundleout_txt=no \

	  output_csv=no \

	  residuals_csv=no > /dev/null;

	$(CAT) bundleout_images.csv \

	  | perl -pe 's/(^|,|: )([^,:]+\/)([^,\/:]*\.)(net|cub)/\1\3\4/g' 2> /dev/null \

	  > $(OUTPUT)/bundleout_scconfig_images.csv;

	$(RM) $(OUTPUT)/cubes.lis > /dev/null;

	$(RM) $(OUTPUT)/hold.lis > /dev/null;

	$(RM) $(OUTPUT)/*.net > /dev/null;

	$(RM) *.csv > /dev/null;