Commit 28fb5798 authored by Kristin Berry's avatar Kristin Berry Committed by Jesse Mapel
Browse files

Updates Bundle Observation Vector to support Csm observations. (#4457) 



* Remove duplicated member variables and accesor functions from BundleObservation and add Csm camera type to Camera enum

* Remove commented-out code

* Imagecoeff migrated into BundleObservation class working

* Get base level working for all coeffs in ISIS

* Fix accidental move into if statement to get tests passing again

* Updated RHS for CsmBundleObservation to work

* Adds point3D support to CSM Camera observations and also adds ground Partials member function to CSMCamera

* Draft of sensor partials code

* Add docs, some fixes based on review requests

* move computation of weights and observation values to bundle observations

* Add observationvalue function to CsmBundleObservation and move the weighting that it is possible to to the observation classes

* Make CSMSolveSet an optional parameter to get jigsaw tests passing again

* cleanup

* Move observation weights into MLE if block

* Added isis vs. csm support to Bundle Observation Vector class to allow jigsaw to proceed past the setup stage for csm networks

* Comment cleanup

* Fix failing unit tests

* Add docs

* Updated based on feedback with potentially temporary fix to get unit tests passing

* Update tests a bit

* Aligned signature definitions and cleaned up

* remove unneeded functions

* More comment cleanup

Co-authored-by: default avatarKristin Berry <kberry@gyro.wr.usgs.gov>
parent 8709485b

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

+0 −10
Original line number Diff line number Diff line
@@ -436,16 +436,6 @@ namespace Isis { 
        }

      }



      // 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();



      // TODO

      if (m_bundleSettings->solveTargetBody()) {

        m_bundleObservations.initializeBodyRotation();

      }



      // set up vector of BundleControlPoints

      int numControlPoints = m_controlNet->GetNumPoints();

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

isis/src/control/objs/BundleUtilities/AbstractBundleObservation.h

+5 −3
Original line number Diff line number Diff line
@@ -45,8 +45,10 @@ namespace Isis { 
      virtual AbstractBundleObservation &operator=(const AbstractBundleObservation &src);



      // copy method

      // not implementedn in BundleObservation either???

//      virtual void copy(const AbstractBundleObservation &src);



      void copy(const AbstractBundleObservation &src);



      virtual bool setSolveSettings(BundleObservationSolveSettings solveSettings) = 0;



      virtual void append(const BundleImageQsp &value);

isis/src/control/objs/BundleUtilities/BundleObservation.h

+1 −1
Original line number Diff line number Diff line
@@ -107,7 +107,7 @@ namespace Isis { 
      // copy method

      void copy(const BundleObservation &src);



      bool setSolveSettings(BundleObservationSolveSettings solveSettings);

      virtual bool setSolveSettings(BundleObservationSolveSettings solveSettings);



      int numberPositionParameters();

      int numberPointingParameters();

isis/src/control/objs/BundleUtilities/BundleObservationVector.cpp

+38 −47
Original line number Diff line number Diff line
@@ -14,6 +14,8 @@ find files of those names at the top level of this repository. **/ 


#include "AbstractBundleObservation.h"

#include "BundleObservation.h"

#include "Camera.h"

#include "CsmBundleObservation.h"

#include "IException.h"



namespace Isis {
@@ -101,7 +103,6 @@ namespace Isis { 
    AbstractBundleObservationQsp bundleObservation;

    bool addToExisting = false;



    // TODO it looks like this can just become 1 if statement

    if (bundleSettings->solveObservationMode() &&

        m_observationNumberToObservationMap.contains(observationNumber)) {

      bundleObservation = m_observationNumberToObservationMap.value(observationNumber);
@@ -124,13 +125,30 @@ namespace Isis { 
    }

    else {

      // create new BundleObservation and append to this vector

      BundleObservation *isisObservation = new BundleObservation(bundleImage,



      bool isIsisObservation = true;



      // This NULL check is needed solely for the unit test

      if (bundleImage->camera() != NULL) {

        isIsisObservation = bundleImage->camera()->GetCameraType() != Camera::Csm;

      }



      AbstractBundleObservation *observation = NULL;



      if (isIsisObservation) {

        observation = new BundleObservation(bundleImage,

                                            observationNumber,

                                            instrumentId,

                                            bundleSettings->bundleTargetBody());

      }

      else {

        observation = new CsmBundleObservation(bundleImage,

                                               observationNumber,

                                               instrumentId,

                                               bundleSettings->bundleTargetBody());

      }





      if (!isisObservation) {

      if (!observation) {

        QString message = "Unable to allocate new BundleObservation ";

        message += "for " + bundleImage->fileName();

        throw IException(IException::Programmer, message, _FILEINFO_);
@@ -148,9 +166,8 @@ namespace Isis { 
        solveSettings = bundleSettings->observationSolveSettings(observationNumber);

      }



      isisObservation->setSolveSettings(solveSettings);



      bundleObservation.reset(isisObservation);

      observation->setSolveSettings(solveSettings);

      bundleObservation.reset(observation);



      bundleObservation->setIndex(size());
@@ -158,6 +175,17 @@ namespace Isis { 


      append(bundleObservation);



      if (isIsisObservation) {

        QSharedPointer<BundleObservation> isisObs = qSharedPointerDynamicCast<BundleObservation>(bundleObservation);

        // This check is needed for the current unit test

        if (bundleImage->camera() != NULL) {

          isisObs->initializeExteriorOrientation();

          if (bundleSettings->solveTargetBody()) {

            isisObs->initializeBodyRotation();

          }

        }

      }



      // update observation number to observation ptr map

      m_observationNumberToObservationMap.insertMulti(observationNumber, bundleObservation);
@@ -233,41 +261,4 @@ namespace Isis { 
    std::reverse(std::begin(list), std::end(list));

    return list;

  }





  /**

   * Initializes the exterior orientations for the contained ISIS

   * BundleObservations.

   *

   * @return @b bool Returns true upon successful initialization

   */

  bool BundleObservationVector::initializeExteriorOrientation() {

    // get isis observations

    // get csm observations

    int nObservations = size();

    // just do it for ISIS observations

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

      // TODO: how to only do this if ISIS observations

      QSharedPointer<BundleObservation> observation = qSharedPointerDynamicCast<BundleObservation>( at(i) );

      observation->initializeExteriorOrientation();

    }

    return true;

  }





  /**

   * Initializes the body rotations for the contained BundleObservations.

   *

   * @return @b bool Returns true upon successful initialization

   */

  bool BundleObservationVector::initializeBodyRotation() {

    int nObservations = size();

    //TODO: just do it for ISIS observations

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

    QSharedPointer<BundleObservation> observation = qSharedPointerDynamicCast<BundleObservation>( at(i) );

      observation->initializeBodyRotation();

    }



    return true;

  }

}

isis/src/control/objs/BundleUtilities/BundleObservationVector.h

+1 −8
Original line number Diff line number Diff line
@@ -19,6 +19,7 @@ find files of those names at the top level of this repository. **/ 
#include "BundleImage.h"

#include "AbstractBundleObservation.h"

#include "BundleObservation.h"

#include "CsmBundleObservation.h"

#include "BundleSettings.h"



namespace Isis {
@@ -71,14 +72,6 @@ namespace Isis { 
      QList<QString> instrumentIds() const;

      QList<AbstractBundleObservationQsp> observationsByInstId(QString instrumentId) const;



      bool initializeExteriorOrientation();

      bool initializeBodyRotation();



      // To add:

      // getCsmObservations()

      // getIsisObservations()

      // addNewIsis()?



  private:

      //! Map between observation number and pointer to observation.

      QMap<QString, AbstractBundleObservationQsp> m_observationNumberToObservationMap;