Commit 30b72c90 authored by Jeannie Backer's avatar Jeannie Backer
Browse files

Changed name of BundleStatistics to BundleResults. 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/ipce@6059 41f8697f-d340-4b68-9986-7bafba869bb8
parent a8d35d80

isis/src/control/objs/BundleResults/BundleResults.cpp

+1645 −2228

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isis/src/control/objs/BundleResults/BundleResults.h

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@@ -25,9 +25,22 @@ 
 */



#include <QList>

#include <QPair>

#include <QObject>

#include <QString>

#include <QVector>



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



#include <H5Cpp.h>

#include <hdf5_hl.h>

#include <hdf5.h>



#include "BundleSettings.h"

#include "Distance.h"

#include "MaximumLikelihoodWFunctions.h"

#include "PvlObject.h"

#include "Statistics.h" // ???

#include "XmlStackedHandler.h"



class QDataStream;
@@ -35,69 +48,194 @@ class QUuid; 
class QXmlStreamWriter;



namespace Isis {

  class BundleSettings;

  class BundleStatistics;

  class ControlNet;

  class CorrelationMatrix;

  class FileName;

  class ImageList;

  class Project;  // TODO: does xml stuff need project???

  class Project;// ??? does xml stuff need project???

  class PvlObject;

  class SerialNumberList;

  class StatCumProbDistDynCalc;

  class XmlStackedHandlerReader;



  /**

   * @brief Container class for BundleAdjustment results. 

   * This class includes the settings used to run the bundle adjustment, the resulting statistics 

   * values, and the name of the control network used.

   * A container class for statistical results from a BundleAdjust solution. 

   *  

   * @ingroup ControlNetworks

   *

   * @author 2014-07-08 Jeannie Backer

   * @author 2014-07-01 Jeannie Backer

   *

   * @internal

   *   @history 2014-07-08 Jeannie Backer - Original version.

   *   @history 2014-07-23 Jeannie Backer - Added implementation for the QDataStream << and >>

   *                           operators and the read/write methods.

   *  

   *   @history 2014-07-01 Jeannie Backer - Original version

   *   @history 2014-07-14 Kimberly Oyama - Added support for correlation matrix.

   *   @history 2014-07-16 Jeannie Backer - Changed pvlGroup() to pvlObject()

   *   @history 2014-07-23 Jeannie Backer - Added QDataStream operators (<< and >>) and read/write

   *                           methods. Initialize m_cumProRes in the constructor since this

   *                           variable is used regardless of whether maximum likelihood estimation

   *                           is used.

   */

  class BundleResults : public QObject {

    Q_OBJECT

    public:

      BundleResults(BundleSettings inputSettings, FileName controlNetworkFileName, QObject *parent = 0);

      BundleResults(QObject *parent = 0);

      BundleResults(Project *project, XmlStackedHandlerReader *xmlReader, QObject *parent = 0);   // TODO: does xml stuff need project???

      BundleResults(const BundleResults &other);

      BundleResults(const BundleResults &src);

      ~BundleResults();

      BundleResults &operator=(const BundleResults &other);

      BundleResults &operator=(const BundleResults &src);

      void initialize();



      // mutators and computation methods

      void resizeSigmaStatisticsVectors(int numberImages);

      void setRmsImageResidualLists(QList<Statistics> rmsImageLineResiduals,

                                    QList<Statistics> rmsImageSampleResiduals,

                                    QList<Statistics> rmsImageResiduals);

      void setRmsImageResidualLists(QVector<Statistics> rmsImageLineResiduals,

                                    QVector<Statistics> rmsImageSampleResiduals,

                                    QVector<Statistics> rmsImageResiduals);

      void setSigmaLatitudeRange(Distance minLatDist, Distance maxLatDist,

                                 QString minLatPointId, QString maxLatPointId);

      void setSigmaLongitudeRange(Distance minLonDist, Distance maxLonDist,

                                  QString minLonPointId, QString maxLonPointId);

      void setSigmaRadiusRange(Distance minRadDist, Distance maxRadDist,

                               QString minRadPointId, QString maxRadPointId);

      void setRmsFromSigmaStatistics(double rmsFromSigmaLatStats,

                                     double rmsFromSigmaLonStats,

                                     double rmsFromSigmaRadStats);

      void maximumLikelihoodSetUp(

          QList< QPair< MaximumLikelihoodWFunctions::Model, double > > modelsWithQuantiles);

      void printMaximumLikelihoodTierInformation();

      void initializeResidualsProbabilityDistribution(unsigned int nodes = 20);

      void initializeProbabilityDistribution(unsigned int nodes = 20);

      void addResidualsProbabilityDistributionObservation(double obsValue);

      void addProbabilityDistributionObservation(double obsValue);

      void addProbabilityDistributionObservation(double obsValue, bool residuals);

      void incrementMaximumLikelihoodModelIndex();



      void incrementFixedPoints();

      int numberFixedPoints() const;

      void incrementHeldImages();

      int numberHeldImages() const;

      void incrementIgnoredPoints();

      int numberIgnoredPoints() const; // currently unused ???

#if 0

      double computeRejectionLimit(ControlNet *p_Cnet,

                                   double outlierRejectionMultiplier,

                                   int numObservations);

#endif

      void setRejectionLimit(double rejectionLimit);

#if 0

      double computeResiduals(ControlNet *m_pCnet,

                              std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > pointWeights,

                              std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > pointCorrections,

                              boost::numeric::ublas::vector< double > image_Corrections,

                              std::vector< double > imageParameterWeights,

                              int numImagePartials,

                              int rank);

#endif

      void setRmsXYResiduals(double rx, double ry, double rxy);

#if 0

      bool flagOutliers(ControlNet *m_pCnet);

#endif

      void setNumberRejectedObservations(int numberObservations);

      void setNumberObservations(int numberObservations);

      void setNumberImageParameters(int numberParameters); // ??? this is the same value an m_nRank

      void resetNumberConstrainedPointParameters();

      void incrementNumberConstrainedPointParameters(int incrementAmount);

      void resetNumberConstrainedImageParameters();

      void incrementNumberConstrainedImageParameters(int incrementAmount);

      void setNumberUnknownParameters(int numberParameters);

      void computeDegreesOfFreedom();

      void computeSigma0(double dvtpv, BundleSettings::ConvergenceCriteria criteria);

      void setDegreesOfFreedom(double degreesOfFreedom);

      void setSigma0(double sigma0);

      void setElapsedTime(double time);

      void setElapsedTimeErrorProp(double time);

      void setConverged(bool converged); // or initialze method

      

      // Accessors...

      QList<Statistics> rmsImageSampleResiduals() const;

      QList<Statistics> rmsImageLineResiduals() const;

      QList<Statistics> rmsImageResiduals() const;

      QVector<Statistics> rmsImageXSigmas() const;       // currently unused ???

      QVector<Statistics> rmsImageYSigmas() const;       // currently unused ???

      QVector<Statistics> rmsImageZSigmas() const;       // currently unused ???

      QVector<Statistics> rmsImageRASigmas() const;      // currently unused ???

      QVector<Statistics> rmsImageDECSigmas() const;     // currently unused ???

      QVector<Statistics> rmsImageTWISTSigmas() const;   // currently unused ???

      Distance minSigmaLatitudeDistance() const;

      Distance maxSigmaLatitudeDistance() const;

      Distance minSigmaLongitudeDistance() const;

      Distance maxSigmaLongitudeDistance() const;

      Distance minSigmaRadiusDistance() const;

      Distance maxSigmaRadiusDistance() const;

      QString maxSigmaLatitudePointId() const;

      QString minSigmaLatitudePointId() const;

      QString minSigmaLongitudePointId() const;

      QString maxSigmaLongitudePointId() const;

      QString minSigmaRadiusPointId() const;

      QString maxSigmaRadiusPointId() const;

      double sigmaLatitudeStatisticsRms() const;

      double sigmaLongitudeStatisticsRms() const;

      double sigmaRadiusStatisticsRms() const;

      double rmsRx() const;  // currently unused ???

      double rmsRy() const;  // currently unused ???

      double rmsRxy() const; // currently unused ???

      double rejectionLimit() const;

      int numberRejectedObservations() const;

      int numberObservations() const;



      int numberImageParameters() const; // ??? this is the same value an m_nRank

      int numberConstrainedPointParameters() const;

      int numberConstrainedImageParameters() const;

      int numberUnknownParameters() const;

      int degreesOfFreedom() const;

      double sigma0() const;

      double elapsedTime() const;

      double elapsedTimeErrorProp() const;

      bool converged() const; // or initialze method

      

      void setOutputStatistics(BundleStatistics statisticsResults);

      void setRunTime(QString runTime);

      int numberMaximumLikelihoodModels() const;

      int maximumLikelihoodModelIndex() const;

      StatCumProbDistDynCalc cumulativeProbabilityDistribution() const;

      StatCumProbDistDynCalc residualsCumulativeProbabilityDistribution() const;

      double maximumLikelihoodMedianR2Residuals() const;

      MaximumLikelihoodWFunctions maximumLikelihoodModelWFunc(int modelIndex) const;

      double maximumLikelihoodModelQuantile(int modelIndex) const;



      QString id() const;

      QString controlNetworkFileName() const;

      BundleSettings *bundleSettings();     // TODO: change return value to const reference or copy... unsafe to return pointers to member data???

      BundleStatistics *bundleStatistics(); // TODO: change return value to const reference or copy... unsafe to return pointers to member data???

      // ??? const BundleSettings *bundleSettings() const;

      // ??? const BundleStatistics *bundleStatistics() const;

      QString runTime() const;

      QList< QPair< MaximumLikelihoodWFunctions, double > > maximumLikelihoodModels() const;



      PvlObject pvlObject(QString resultsName = "BundleResults",

                          QString settingsName = "InputSettings",

                          QString statisticsName = "StatisticsResults");

      bool setNumberHeldImages(SerialNumberList m_pHeldSnList,

                               SerialNumberList *m_pSnList);



      PvlObject pvlObject(QString name = "BundleResults") const;



      // Correlation Matrix accessors for cnetsuite and mutators for bundle adjust.

      CorrelationMatrix correlationMatrix() const;

      void setCorrMatCovFileName(FileName name);

      void setCorrMatImgsAndParams(QMap<QString, QStringList> imgsAndParams);



      void save(QXmlStreamWriter &stream, const Project *project, FileName newProjectRoot) const;  // TODO: does xml stuff need project and newRoot???

      void save(QXmlStreamWriter &stream, const Project *project) const;   // TODO: does xml stuff need project???

      

      QDataStream &write(QDataStream &stream) const;

      QDataStream &read(QDataStream &stream);



      void savehdf5(hid_t fileId, H5::Group settingsGroup) const;



    private:

      // Used for hdf5 method...

      // Struct that is used to pack the sigma table

      typedef struct sigma {

          char    type[64];

          char    pid[64];

          float   value;

      } m_sigmaTable;



      /**

       *

       * @author 2014-07-21 Ken Edmundson

       * @author 2014-07-28 Jeannie Backer

       *

       * @internal

       */

      class XmlHandler : public XmlStackedHandler {

        public:

          XmlHandler(BundleResults *bundleResults, Project *project);  // TODO: does xml stuff need project???

          XmlHandler(BundleResults *statistics, Project *project);   // TODO: does xml stuff need project???

          ~XmlHandler();

   

          virtual bool startElement(const QString &namespaceURI, const QString &localName,
@@ -112,26 +250,125 @@ namespace Isis { 
          BundleResults *m_xmlHandlerBundleResults;

          Project *m_xmlHandlerProject;   // TODO: does xml stuff need project???

          QString m_xmlHandlerCharacters;

          QList<ImageList *> *m_xmlHandlerImages;

          BundleSettings *m_xmlHandlerBundleSettings;

          BundleStatistics *m_xmlHandlerBundleStatistics;

      };

          int m_xmlHandlerResidualsListSize;

          int m_xmlHandlerSampleResidualsListSize;

          int m_xmlHandlerLineResidualsListSize;

          int m_xmlHandlerXSigmasListSize;

          int m_xmlHandlerYSigmasListSize;

          int m_xmlHandlerZSigmasListSize;

          int m_xmlHandlerRASigmasListSize;

          int m_xmlHandlerDECSigmasListSize;

          int m_xmlHandlerTWISTSigmasListSize;

          QList<Statistics *> m_xmlHandlerStatisticsList;

          StatCumProbDistDynCalc *m_xmlHandlerCumProCalc;



    private:

      BundleResults();

          QString m_xmlHandlerCorrelationImageId;

          QStringList m_xmlHandlerCorrelationParameterList;

          QMap< QString, QStringList> m_xmlHandlerCorrelationMap;

      };



      /**

       * A unique ID for this BundleResults object (useful for others to reference this object

       * A unique ID for this object (useful for others to reference this object

       *   when saving to disk).

       */

      QUuid *m_id;

      QString             m_runTime;

      FileName           *m_controlNetworkFileName;

      BundleSettings     *m_settings;

      BundleStatistics   *m_statisticsResults;

      QList<ImageList *> *m_images;

//???      QString m_instrumentId;               //!< The spacecraft instrument id for this observation.

      CorrelationMatrix *m_correlationMatrix;



// ???       Statistics m_statsx;                       //!<  x errors

// ???       Statistics m_statsy;                       //!<  y errors

// ???       Statistics m_statsrx;                      //!<  x residuals

// ???       Statistics m_statsry;                      //!<  y residuals

// ???       Statistics m_statsrxy;                     //!< xy residuals



      int m_numberFixedPoints;                //!< number of 'fixed' (ground) points (define)

      int m_numberIgnoredPoints;              //!< number of ignored points                  // currently set but unused ???

      int m_numberHeldImages;                 //!< number of 'held' images (define)          

      

      

      

            

      double m_rms_rx;  // set but unused ???                   //!< rms of x residuals

      double m_rms_ry;  // set but unused ???                   //!< rms of y residuals

      double m_rms_rxy; // set but unused ???                   //!< rms of all x and y residuals

      double m_rejectionLimit;                //!< current rejection limit

      // TODO:??? reorder read/write data stream, init, copy constructor, operator= 

      int m_numberObservations;               //!< number of image coordinate observations

      int m_numberRejectedObservations;       //!< number of rejected image coordinate observations

      int m_numberUnknownParameters;          //!< total number of parameters to solve for

      int m_numberImageParameters;            //!< number of image parameters

      int m_numberConstrainedImageParameters; //!< number of constrained image parameters

      int m_numberConstrainedPointParameters; //!< number of constrained point parameters

      int m_degreesOfFreedom;           //!< degrees of freedom

      double m_sigma0;                     //!< std deviation of unit weight

      double m_elapsedTime;                //!< elapsed time for bundle

      double m_elapsedTimeErrorProp;       //!< elapsed time for error propagation

      bool m_converged;





      //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      // variables set in computeBundleResults()

      //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      QList<Statistics> m_rmsImageSampleResiduals;// QList??? jigsaw apptest gives - ASSERT failure in QList<T>::operator[]: "index out of range",

      QList<Statistics> m_rmsImageLineResiduals;

      QList<Statistics> m_rmsImageResiduals;

      QVector<Statistics> m_rmsImageXSigmas;     // unset and unused ???

      QVector<Statistics> m_rmsImageYSigmas;     // unset and unused ???

      QVector<Statistics> m_rmsImageZSigmas;     // unset and unused ???

      QVector<Statistics> m_rmsImageRASigmas;    // unset and unused ???

      QVector<Statistics> m_rmsImageDECSigmas;   // unset and unused ???

      QVector<Statistics> m_rmsImageTWISTSigmas; // unset and unused ???



      Distance m_minSigmaLatitudeDistance;

      Distance m_maxSigmaLatitudeDistance;

      Distance m_minSigmaLongitudeDistance;

      Distance m_maxSigmaLongitudeDistance;

      Distance m_minSigmaRadiusDistance;

      Distance m_maxSigmaRadiusDistance;



      QString m_minSigmaLatitudePointId;

      QString m_maxSigmaLatitudePointId;

      QString m_minSigmaLongitudePointId;

      QString m_maxSigmaLongitudePointId;

      QString m_minSigmaRadiusPointId;

      QString m_maxSigmaRadiusPointId;



      double m_sigmaLatStatsRms;               //!< rms of adjusted Latitude sigmas

      double m_sigmaLonStatsRms;               //!< rms of adjusted Longitude sigmas

      double m_sigmaRadStatsRms;               //!< rms of adjusted Radius sigmas



      //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      // variables for maximum likelihood estimation

      //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      QList< QPair< MaximumLikelihoodWFunctions, double > > m_maximumLikelihoodFunctions;



      /**< The number of maximum likelihood estimation 

      models. Up to three different models can be used

      in succession.*/

      /**< This class is used to reweight observations in 

           order to achieve more robust parameter 

           estimation, up to three different maximum 

           likelihood estimation models can be used in

           succession.*/

      /**< Quantiles of the |residual| distribution to be

           used for tweaking constants of the maximum 

           probability models.*/

      int m_maximumLikelihoodIndex;            /**< This count keeps track of which stadge of the

                                                    maximum likelihood adjustment the bundle is

                                                    currently on.*/

      StatCumProbDistDynCalc *m_cumPro;        /**< This class will be used to calculate the

                                                    cumulative probability distribution of

                                                    |R^2 residuals|, quantiles of this distribution

                                                    are used to adjust the maximum likelihood

                                                    functions dynamically iteration by iteration.*/

      StatCumProbDistDynCalc *m_cumProRes;     /**< This class keeps track of the cumulative 

                                                    probability distribution of residuals

                                                    (in unweighted pixels), this is used for 

                                                    reporting, and not for computation.*/

      double m_maximumLikelihoodMedianR2Residuals; /**< Median of R^2 residuals.*/ 

       

  };

  // operators to read/write BundleResults to/from binary data

  // operators to read/write BundleResults to/from binary disk file

  QDataStream &operator<<(QDataStream &stream, const BundleResults &bundleResults);

  QDataStream &operator>>(QDataStream &stream, BundleResults &bundleResults);

};

isis/src/control/objs/BundleResults/BundleResults.truth

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isis/src/control/objs/BundleResults/unitTest.cpp

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isis/src/control/objs/BundleResults/unitTest_NoElementValues.xml

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<?xml version="1.0" encoding="UTF-8"?>

<bundleStatistics>

    <id></id>

    <instrumentId></instrumentId>

    <correlationMatrix>

        <imagesAndParameters>

            <image>

                <parameter></parameter>

            </image>

        </imagesAndParameters>

    </correlationMatrix>

    <generalStatisticsValues>

        <numberFixedPoints></numberFixedPoints>

        <numberIgnoredPoints></numberIgnoredPoints>

        <numberHeldImages></numberHeldImages>

        <rejectionLimit></rejectionLimit>

        <numberRejectedObservations></numberRejectedObservations>

        <numberObservations></numberObservations>

        <numberImageParameters></numberImageParameters>

        <numberConstrainedPointParameters></numberConstrainedPointParameters>

        <numberConstrainedImageParameters></numberConstrainedImageParameters>

        <numberUnknownParameters></numberUnknownParameters>

        <degreesOfFreedom></degreesOfFreedom>

        <sigma0></sigma0>

        <converged></converged>

    </generalStatisticsValues>

    <rms>

        <residuals/>

        <sigmas/>

        <imageResidualsLists>

            <residualsList>

              <statisticsItem></statisticsItem>

            </residualsList>

            <sampleList>

              <statisticsItem></statisticsItem>

            </sampleList>

            <lineList>

              <statisticsItem></statisticsItem>

            </lineList>

        </imageResidualsLists>

        <imageSigmasLists>

            <xSigmas>

              <statisticsItem></statisticsItem>

            </xSigmas>

            <ySigmas>

              <statisticsItem></statisticsItem>

            </ySigmas>

            <zSigmas>

              <statisticsItem></statisticsItem>

            </zSigmas>

            <raSigmas>

              <statisticsItem></statisticsItem>

            </raSigmas>

            <decSigmas>

              <statisticsItem></statisticsItem>

            </decSigmas>

            <twistSigmas>

              <statisticsItem></statisticsItem>

            </twistSigmas>

        </imageSigmasLists>

    </rms>

    <elapsedTime/>

    <minMaxSigmas>

        <minLat/>

        <maxLat/>

        <minLon/>

        <maxLon/>

        <minRad/>

        <maxRad/>

    </minMaxSigmas>

    <maximumLikelihoodEstimation>

        <cumulativeProbabilityCalculator>

            <statCumProbDistDynCalc>

                <id></id>

                <numberCells></numberCells>

                <numberObservations></numberObservations>

                <quantiles>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                </quantiles>

                <idealNumObsBelowEachQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                </idealNumObsBelowEachQuantile>

                <numObsBelowEachQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                </numObsBelowEachQuantile>

                <quantileValues>

                    <value></value>

                    <value></value>

                    <value></value>

                    <value></value>

                    <value></value>

                </quantileValues>

            </statCumProbDistDynCalc>

        </cumulativeProbabilityCalculator>

        <residualsCumulativeProbabilityCalculator>

            <statCumProbDistDynCalc>

                <id></id>

                <numberCells></numberCells>

                <numberObservations></numberObservations>

                <quantiles>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                    <quantile></quantile>

                </quantiles>

                <idealNumObsBelowEachQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                    <idealNumObsBelowQuantile></idealNumObsBelowQuantile>

                </idealNumObsBelowEachQuantile>

                <numObsBelowEachQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                    <numObsBelowQuantile></numObsBelowQuantile>

                </numObsBelowEachQuantile>

                <quantileValues>

                    <value></value>

                    <value></value>

                    <value></value>

                    <value></value>

                    <value></value>

                </quantileValues>

            </statCumProbDistDynCalc>

        </residualsCumulativeProbabilityCalculator>

        <model/>

        <model/>

        <model/>

    </maximumLikelihoodEstimation>

</bundleStatistics>