Commit 2b4bb399 authored by Ken Edmundson's avatar Ken Edmundson
Browse files

additional mods for merging dev into lidar branch

parent 8e9bdb3f

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

+1 −1
Original line number Diff line number Diff line
@@ -123,7 +123,7 @@ void IsisMain() { 
      bundleSolution->outputResiduals();

    }

    

    bundleSolution.outputLidarCSV();

    bundleSolution->outputLidarCSV();



    // write updated control net

    bundleAdjustment->controlNet()->Write(ui.GetFileName("ONET"));

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

+1 −0
Original line number Diff line number Diff line
@@ -254,6 +254,7 @@ 
    </change>

    <change name="Ken Edmundson" date="2017-11-01">

      Added interface for piecewise polynomials.

    </change>

    <change name="Ken Edmundson" date="2018-05-23">

      Modifed call to bundleAdjustment->solveCholeskyBR() to return a raw pointer to a

      BundleSolutionInfo object. Am also deleting this pointer because jigsaw.cpp takes

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.cpp

+75 −1
Original line number Diff line number Diff line
@@ -9,6 +9,7 @@ 
#include <QUuid>

#include <QXmlStreamWriter>



#include "BundleLidarRangeConstraint.h"

#include "BundleResults.h"

#include "ControlList.h"

#include "ControlMeasure.h"
@@ -112,7 +113,6 @@ namespace Isis { 
  /**

   * Returns bundleout text filename.

   *

   * @return BundleSolutionInfo Reference to the current BundleSolutionInfo

   * @return QString Bundleout text filename.

   */

  QString BundleSolutionInfo::savedBundleOutputFilename() {
@@ -909,6 +909,13 @@ namespace Isis { 
      fpOut << buf;

    }



    if (m_statisticsResults->numberLidarRangeConstraintEquations() > 0) {

      sprintf(buf, "\n        Lidar Range Constraints: %6d",

              m_statisticsResults->numberLidarRangeConstraintEquations());

      fpOut << buf;

    }





    sprintf(buf, "\n                       Unknowns: %6d",

                  m_statisticsResults->numberUnknownParameters());

    fpOut << buf;
@@ -1490,6 +1497,73 @@ namespace Isis { 
  }





  /**

   * Outputs lidar data to a csv file.

   *

   * @return bool If the point data was successfully output.

   */

  bool BundleSolutionInfo::outputLidarCSV() {

    char buf[1056];



    QString ofname = "bundleout_lidar.csv";

    ofname = m_settings->outputFilePrefix() + ofname;

    m_csvSavedPointsFilename = ofname;



    std::ofstream fpOut(ofname.toLatin1().data(), std::ios::out);

    if (!fpOut) {

      return false;

    }



    int numPoints = m_statisticsResults->bundleControlPoints().size();



    //                     measured   apriori   adjusted               adjusted

    //                      range      sigma     range      residual     sigma

    // point id  image       (km)       (km)      (km)        (km)       (km)



    // print column headers

    if (m_settings->errorPropagation()) {

      sprintf(buf, ",,measured,a priori,adjusted,,adjusted/n"

              "point,image,range,sigma,range,residual,sigma\n"

              "id,name,(km),(km),(km),(km)\n");

    }

    else {

      sprintf(buf, ",,measured,a priori,adjusted\n"

                   "point,image,range,sigma,range,residual\n"

                   "id,name,(km),(km),(km),(km)\n");

    }

    fpOut << buf;



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



      BundleControlPointQsp point = m_statisticsResults->bundleControlPoints().at(i);

      if (!point || point->isRejected()) {

        continue;

      }



      // NOTE (Edmundson): dynamicCast is likely to be costly, might be ok here since we're just

      // writing out results after the bundle, but generally I suspect we want avoid this. Probably

      // indicative of a not so good software design.

      BundleLidarControlPointQsp lidarPoint = point.dynamicCast<BundleLidarControlPoint>();



      if (!lidarPoint) {

        continue;

      }



      int nRangeConstraints = lidarPoint->numberRangeConstraints();

      for (int j = 0; j < nRangeConstraints; j++) {

        BundleLidarRangeConstraintQsp rangeConstraint = lidarPoint->rangeConstraint(j);



        QString str = rangeConstraint->formatBundleOutputString();

        fpOut << str;

      }

    }



    fpOut.close();



    return true;

  }





  /**

   * Outputs image coordinate residuals to a csv file.

   *

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.h

+1 −0
Original line number Diff line number Diff line
@@ -186,6 +186,7 @@ namespace Isis { 
      bool outputText();

      bool outputImagesCSV();

      bool outputPointsCSV();

      bool outputLidarCSV();

      bool outputResiduals();



      void save(QXmlStreamWriter &stream, const Project *project, FileName newProjectRoot) const;