Combined init() and initialize() methods in BundleAdjust. Fixes #4161. (345e2348) · Commits · aflab / astrogeology / ISIS3

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

+67 −63

Original line number	Diff line number	Diff line
		@@ -117,10 +117,6 @@ namespace Isis {
		QString &cnet,
		SerialNumberList &snlist,
		bool bPrintSummary) {
		// initialize m_dConvergenceThreshold ???
		// ??? deleted keyword ??? m_dConvergenceThreshold = 0.0; // This is needed for deltack???
		// ??? //JWB - this gets overwritten in Init... move to constructor ???????????????????????????????????????????????????????????????????????
		// ???
		// initialize constructor dependent settings...
		// m_bPrintSummary, m_bCleanUp, m_strCnetFileName, m_pCnet, m_pSnList, m_pHeldSnList,
		// m_bundleSettings
		@@ -143,10 +139,6 @@ namespace Isis {
		Control &cnet,
		SerialNumberList &snlist,
		bool bPrintSummary) {
		// initialize m_dConvergenceThreshold ???
		// ??? deleted keyword ??? m_dConvergenceThreshold = 0.0; // This is needed for deltack???
		// ??? //JWB - this gets overwritten in Init... move to constructor ???????????????????????????????????????????????????????????????????????
		// ???
		// initialize constructor dependent settings...
		// m_bPrintSummary, m_bCleanUp, m_strCnetFileName, m_pCnet, m_pSnList, m_pHeldSnList,
		// m_bundleSettings
		@@ -169,10 +161,6 @@ namespace Isis {
		ControlNet &cnet,
		SerialNumberList &snlist,
		bool bPrintSummary) {
		// initialize m_dConvergenceThreshold ???
		// ??? deleted keyword ??? m_dConvergenceThreshold = 0.0; // This is needed for deltack???
		// ??? //JWB - this gets overwritten in Init... move to constructor ???????????????????????????????????????????????????????????????????????
		// ???
		// initialize constructor dependent settings...
		// m_bPrintSummary, m_bCleanUp, m_strCnetFileName, m_pCnet, m_pSnList, m_pHeldSnList,
		// m_bundleSettings
		@@ -226,6 +214,10 @@ namespace Isis {
		}


		/**
		* Destroys BundleAdjust object, deallocates pointers (if we have ownership),
		* and frees variables from cholmod library.
		*/
		BundleAdjust::~BundleAdjust() {
		// If we have ownership
		if (m_bCleanUp) {
		@@ -246,12 +238,28 @@ namespace Isis {


		/**
		* Initialize solution parameters
		* Initialize all solution parameters. This method is called
		* by constructors to
		* <ul>
		* <li> initialize member variables </li>
		* <li> set up the control net </li>
		* <li> get the cameras set up for all images </li>
		* <li> clear JigsawRejected flags </li>
		* <li> create a new BundleImages and add to BundleObservation </li>
		* <li> set up vector of BundleControlPoints </li>
		* <li> set parent observation for each BundleMeasure </li>
		* <li> use BundleSettings to set more parameters </li>
		* <li> set up matrix initializations </li>
		* <li> initialize cholomod library variables </li>
		* </ul>
		*
		* @internal
		* @history 2011-08-14 Debbie A. Cook - Opt out of network validation
		* for deltack network in order to allow
		* a single measure on a point
		*
		* @todo remove printf statements
		* @todo answer comments with questions, TODO, ???, and !!!
		*/
		void BundleAdjust::init(Progress *progress) {
		//printf("BOOST_UBLAS_CHECK_ENABLE = %d\n", BOOST_UBLAS_CHECK_ENABLE);
		@@ -323,7 +331,7 @@ namespace Isis {
		}

		// TESTING
		// code below should go into a separate method?
		// TODO: code below should go into a separate method???
		// set up BundleObservations and assign solve settings for each from BundleSettings class
		for (int i = 0; i < nImages; i++) {

		@@ -402,6 +410,51 @@ namespace Isis {
		// ===========================================================================================//
		// =============== End Bundle Settings =======================================================//
		// ===========================================================================================//

		// ===========================================================================================//
		// ======================== initialize matrices and more parameters ==========================//
		// ===========================================================================================//

		// size of reduced normals matrix

		// TODO
		// this should be determined from BundleSettings
		// m_nRank will be the sum of observation, target, and self-cal parameters
		// TODO
		m_nRank = m_bundleObservations.numberParameters();

		if (m_bundleSettings->solveTargetBody())
		m_nRank += m_bundleSettings->numberTargetBodyParameters();
		// m_nRank = m_bundleSettings->sizeReducedNormalEquationsMatrix();

		int n3DPoints = m_bundleControlPoints.size();

		if ( m_bundleSettings->solveMethod() == BundleSettings::SpecialK ) {
		m_Normals.resize(m_nRank); // set size of reduced normals matrix
		m_Normals.clear(); // zero all elements
		m_Qs_SPECIALK.resize(n3DPoints);
		}

		m_bundleResults.setNumberUnknownParameters(m_nRank + 3 * n3DPoints);

		m_imageSolution.resize(m_nRank);


		// initialize NICS, Qs, and point correction vectors to zero
		for (int i = 0; i < n3DPoints; i++) {

		// TODO_CHOLMOD: is this needed with new cholmod implementation?
		if (m_bundleSettings->solveMethod() == BundleSettings::SpecialK) {
		m_Qs_SPECIALK[i].clear();
		}
		}

		//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
		// initializations for cholmod
		if (m_bundleSettings->solveMethod() == BundleSettings::Sparse) {
		initializeCHOLMODLibraryVariables();
		}

		}


		@@ -505,53 +558,6 @@ namespace Isis {
		}
		}


		/**
		* Initializes matrices and parameters for bundle adjustment.
		*/
		void BundleAdjust::initialize() { // ??? rename this method, maybe call it in the init() method if Sparse

		// size of reduced normals matrix

		// TODO
		// this should be determined from BundleSettings
		// m_nRank will be the sum of observation, target, and self-cal parameters
		// TODO
		m_nRank = m_bundleObservations.numberParameters();

		if (m_bundleSettings->solveTargetBody())
		m_nRank += m_bundleSettings->numberTargetBodyParameters();
		// m_nRank = m_bundleSettings->sizeReducedNormalEquationsMatrix();

		int n3DPoints = m_bundleControlPoints.size();

		if ( m_bundleSettings->solveMethod() == BundleSettings::SpecialK ) {
		m_Normals.resize(m_nRank); // set size of reduced normals matrix
		m_Normals.clear(); // zero all elements
		m_Qs_SPECIALK.resize(n3DPoints);
		}

		m_bundleResults.setNumberUnknownParameters(m_nRank + 3 * n3DPoints);

		m_imageSolution.resize(m_nRank);


		// initialize NICS, Qs, and point correction vectors to zero
		for (int i = 0; i < n3DPoints; i++) {

		// TODO_CHOLMOD: is this needed with new cholmod implementation?
		if (m_bundleSettings->solveMethod() == BundleSettings::SpecialK) {
		m_Qs_SPECIALK[i].clear();
		}
		}

		//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
		// initializations for cholmod
		if (m_bundleSettings->solveMethod() == BundleSettings::Sparse) {
		initializeCHOLMODLibraryVariables();
		}
		}

		/**
		* Least squares bundle adjustment solution using Cholesky decomposition.
		*/
		@@ -589,8 +595,6 @@ namespace Isis {
		// }
		// }

		initialize();

		// Compute the apriori lat/lons for each nonheld point
		m_pCnet->ComputeApriori(); // original location

isis/src/control/objs/BundleAdjust/BundleAdjust.h

+7 −5

Original line number	Diff line number	Diff line
		@@ -23,14 +23,17 @@
		* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
		* http://www.usgs.gov/privacy.html.
		*/

		// Qt lib
		#include <QObject> // parent class

		// std lib
		#include <vector>
		#include <fstream>

		// cholmod lib
		#include <cholmod.h>

		// Isis lib
		#include "BundleControlPoint.h"
		#include "BundleObservationSolveSettings.h"
		#include "BundleObservationVector.h"
		@@ -53,8 +56,6 @@
		template< typename T > class QList;
		template< typename A, typename B > class QMap;

		using namespace boost::numeric::ublas;

		namespace Isis {
		class Control;
		class ImageList;
		@@ -204,6 +205,8 @@ namespace Isis {
		* @history 2016-08-10 Jeannie Backer - Replaced boost vectors and matrices with
		* Isis::LinearAlgebra::Vector and Isis::LinearAlgebra::Matrix,
		* respectively. References #4163.
		* @history 2016-07-11 Jeannie Backer - Removed initialize(). Implementation was moved the the
		* bottom of init() method. Fixes #4161.
		*/
		class BundleAdjust : public QObject {
		Q_OBJECT
		@@ -281,8 +284,7 @@ namespace Isis {

		private:

		void init(Progress *progress = 0); // combine all initializations?
		void initialize();
		void init(Progress *progress = 0);

		void checkHeldList(); // unnecessary?