Multisensor (#3792) (28885f61) · Commits · aflab / astrogeology / ISIS3

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

+131 −155

Original line number	Original line	Diff line number	Diff line
	@@ -277,6 +277,12 @@
	Cleaned up the bundleout.txt file and added new information in the header.		Cleaned up the bundleout.txt file and added new information in the header.
	Fixes #3267.		Fixes #3267.
	</change>		</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>		</history>

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

	<!-- Turning off USEPVL and SC_PARAMETERS for now. Since we are now using observation numbers		<parameter name="SCCONFIG">
	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>
	<exclusions>		<exclusions>
	<item>HELDLIST</item>
	<item>CKDEGREE</item>		<item>CKDEGREE</item>
	<item>CKSOLVEDEGREE</item>		<item>CKSOLVEDEGREE</item>
	<item>CAMSOLVE</item>		<item>CAMSOLVE</item>
	<item>TWIST</item>
	<item>OVEREXISTING</item>		<item>OVEREXISTING</item>
	<item>SPKDEGREE</item>		<item>SPKDEGREE</item>
	<item>SPKSOLVEDEGREE</item>		<item>SPKSOLVEDEGREE</item>
	<item>SPSOLVE</item>		<item>SPSOLVE</item>
			<!-- <item>TWIST</item> -->
	<item>OVERHERMITE</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_ANGLES_SIGMA</item>
	<item>CAMERA_ANGULAR_VELOCITY_SIGMA</item>		<item>CAMERA_ANGULAR_VELOCITY_SIGMA</item>
	<item>CAMERA_ANGULAR_ACCELERATION_SIGMA</item>		<item>CAMERA_ANGULAR_ACCELERATION_SIGMA</item>
			<item>SPACECRAFT_POSITION_SIGMA</item>
			<item>SPACECRAFT_VELOCITY_SIGMA</item>
			<item>SPACECRAFT_ACCELERATION_SIGMA</item>
	</exclusions>		</exclusions>
	<inclusions>
	<item>SC_PARAMETERS</item>
	</inclusions>
	</parameter>

	<parameter name="SC_PARAMETERS">
	<type>filename</type>		<type>filename</type>
	<fileMode>input</fileMode>		<fileMode>input</fileMode>
	<brief>		<brief>
	@@ -418,7 +394,7 @@
	<filter>		<filter>
	*.pvl		*.pvl
	</filter>		</filter>
	</parameter>-->		</parameter>
	</group>		</group>

	<group name="Solve Options">		<group name="Solve Options">

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

+138 −83

Original line number	Original line	Diff line number	Diff line
	@@ -323,7 +323,47 @@ BundleSettingsQsp bundleSettings(UserInterface &ui) {
	QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui) {		QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui) {
	//************************************************************************************************		//************************************************************************************************
	QList<BundleObservationSolveSettings> observationSolveSettingsList;		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		// We are not using the PVL, so get what will be solve settings for all images from gui
	BundleObservationSolveSettings observationSolveSettings;		BundleObservationSolveSettings observationSolveSettings;

	@@ -377,16 +417,31 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui
	positionVelocityAprioriSigma,		positionVelocityAprioriSigma,
	positionAccelerationAprioriSigma);		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		// If we are holding any images, then we need a BundleObservationSolveSettings for the held
	// images, and another one for the non-held images		// images, and another one for the non-held images
	if (ui.WasEntered("HELDLIST")) {		if (ui.WasEntered("HELDLIST")) {
	// Check that the held images are present in the input image list		// Check that the held images are present in the input image list
	QString heldList = ui.GetFileName("HELDLIST");		QString heldList = ui.GetFileName("HELDLIST");
	QString fromList = ui.GetFileName("FROMLIST");
	SerialNumberList heldSNs(heldList);		SerialNumberList heldSNs(heldList);
	SerialNumberList cubeSNs(fromList);
	checkImageList(heldSNs, cubeSNs);		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		// The settings for the held images will have no pointing or position factors considered
	BundleObservationSolveSettings heldSettings;		BundleObservationSolveSettings heldSettings;
	BundleObservationSolveSettings::InstrumentPointingSolveOption noPointing =		BundleObservationSolveSettings::InstrumentPointingSolveOption noPointing =
	@@ -397,7 +452,7 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui
	ui.GetInteger("CKDEGREE"),		ui.GetInteger("CKDEGREE"),
	ui.GetInteger("CKSOLVEDEGREE"),		ui.GetInteger("CKSOLVEDEGREE"),
	ui.GetBoolean("OVEREXISTING"),		ui.GetBoolean("OVEREXISTING"),
	positionAprioriSigma,		anglesAprioriSigma,
	angularVelocityAprioriSigma,		angularVelocityAprioriSigma,
	angularAccelerationAprioriSigma);		angularAccelerationAprioriSigma);
	BundleObservationSolveSettings::InstrumentPositionSolveOption noPosition =		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		// 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		// ensuring that the number of pointing and position parameters for the holds are 0
	heldSettings.addObservationNumber(cubeSNs.observationNumber(sn));		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		// for the BundleAdjust
	observationSolveSettingsList.append(observationSolveSettings);
	observationSolveSettingsList.append(heldSettings);		observationSolveSettingsList.append(heldSettings);
	}		}
	// If not using a held list, we just append the GUI acquired solve parameters
	else {
	observationSolveSettingsList.append(observationSolveSettings);
	}
	//************************************************************************************************		//************************************************************************************************
	return observationSolveSettingsList;		return observationSolveSettingsList;
	}		}

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

+5 −3

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

	commands:		commands:
			$(LS) -1 $(INPUT)/*cub > $(OUTPUT)/cubes.lis;
	# TEST A: CAMSOLVE=None and SPSOLVE=None		# TEST A: CAMSOLVE=None and SPSOLVE=None
	echo -e "Error Test A:" > $(OUTPUT)/error_temp.txt;		echo -e "Error Test A:" > $(OUTPUT)/error_temp.txt;
	if [[ `$(APPNAME) \		if [[ `$(APPNAME) \
	@@ -32,7 +33,7 @@ commands:
	# TEST C: SOLVETARGETBODY=yes and TBPARAMETERS file missing Target object		# TEST C: SOLVETARGETBODY=yes and TBPARAMETERS file missing Target object
	echo -e "Error Test C:" >> $(OUTPUT)/error_temp.txt;		echo -e "Error Test C:" >> $(OUTPUT)/error_temp.txt;
	if [[ `$(APPNAME) \		if [[ `$(APPNAME) \
	fromlist=$(INPUT)/empty.lis \		fromlist=$(OUTPUT)/cubes.lis \
	cnet=$(INPUT)/empty.net \		cnet=$(INPUT)/empty.net \
	onet=$(OUTPUT)/out.net \		onet=$(OUTPUT)/out.net \
	solvetargetbody=yes \		solvetargetbody=yes \
	@@ -45,7 +46,7 @@ commands:
	# TEST D: SOLVETARGETBODY=yes and # of parameters to solve is 0		# TEST D: SOLVETARGETBODY=yes and # of parameters to solve is 0
	echo -e "Error Test D:" >> $(OUTPUT)/error_temp.txt;		echo -e "Error Test D:" >> $(OUTPUT)/error_temp.txt;
	if [[ `$(APPNAME) \		if [[ `$(APPNAME) \
	fromlist=$(INPUT)/empty.lis \		fromlist=$(OUTPUT)/cubes.lis \
	cnet=$(INPUT)/empty.net \		cnet=$(INPUT)/empty.net \
	onet=$(OUTPUT)/out.net \		onet=$(OUTPUT)/out.net \
	solvetargetbody=yes \		solvetargetbody=yes \
	@@ -58,7 +59,7 @@ commands:
	# TEST F: CNET=[invalid control net file]		# TEST F: CNET=[invalid control net file]
	echo -e "Error Test F:" >> $(OUTPUT)/error_temp.txt;		echo -e "Error Test F:" >> $(OUTPUT)/error_temp.txt;
	if [[ `$(APPNAME) \		if [[ `$(APPNAME) \
	fromlist=$(INPUT)/empty.lis \		fromlist=$(OUTPUT)/cubes.lis \
	cnet=$(INPUT)/notacnet.net \		cnet=$(INPUT)/notacnet.net \
	onet=$(OUTPUT)/out.net \		onet=$(OUTPUT)/out.net \
	radius=yes \		radius=yes \
	@@ -74,3 +75,4 @@ commands:
	# Remove paths from errors file		# Remove paths from errors file
	$(SED) 's/$\[$\/.*$input$/\1\2/g' $(OUTPUT)/error_temp.txt > $(OUTPUT)/error.txt;		$(SED) 's/$\[$\/.*$input$/\1\2/g' $(OUTPUT)/error_temp.txt > $(OUTPUT)/error.txt;
	$(RM) $(OUTPUT)/error_temp.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	Original line	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	Original line	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;