Lidar points (#4709) (53a08bda) · Commits · aflab / astrogeology / ISIS3

isis/src/control/objs/ControlPoint/ControlPoint.cpp

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		@@ -959,7 +959,7 @@ namespace Isis {

		// if point is Fixed or Constrained in any number of coordinates, initialize adjusted surface
		// point to a priori coordinates (set in e.g. qnet or cneteditor) and exit
		if( IsFixed() \|\| IsConstrained()) {
		if( IsFixed() \|\| IsConstrained() \|\| id.contains("Lidar")) {
		adjustedSurfacePoint = aprioriSurfacePoint;
		return Success;
		}
		@@ -2053,8 +2053,7 @@ namespace Isis {


		/**
		* What the heck is the point of this?
		*
		* Signal to indicate the point has been modified. Resets the last modified dateTime to null.
		*/
		void ControlPoint::PointModified() {
		dateTime = "";

isis/src/control/objs/ControlPoint/ControlPoint.h

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		@@ -348,6 +348,8 @@ namespace Isis {
		* #2591). Added check to IsConstrained() method to see if point type is
		* Free, in which case we ignore stored a priori sigmas on the
		* coordinates.
		* @history 2019-04-28 Ken Edmundson Moved PointModified signal and Measures member variable to
		* protected and made destructor virtual for subclass LidarControlPoint.
		* @history 2019-05-16 Debbie A. Cook See history entry for ComputeResiduals. Modified call to
		* CameraGroundMap to not do back-of-planet test. References #2591.
		*/
		@@ -461,7 +463,7 @@ namespace Isis {
		ControlPoint();
		ControlPoint(const ControlPoint &);
		ControlPoint(const QString &id);
		~ControlPoint();
		virtual ~ControlPoint();

		ControlNet *Parent() { return parentNetwork; }

		@@ -591,19 +593,19 @@ namespace Isis {
		double GetResidualRms() const;
		void ClearJigsawRejected();

		protected:
		void PointModified();
		//!< List of Control Measures
		QHash< QString, ControlMeasure * > * measures;

		private:
		void SetExplicitReference(ControlMeasure *measure);
		void ValidateMeasure(QString serialNumber) const;
		void AddMeasure(ControlMeasure *measure);
		void PointModified();


		private:
		ControlNet *parentNetwork;

		//!< List of Control Measures
		QHash< QString, ControlMeasure * > * measures;

		QStringList *cubeSerials;

		ControlMeasure *referenceMeasure;

isis/src/control/objs/LidarControlPoint/LidarControlPoint.cpp

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		#include "LidarControlPoint.h"

		#include <QString>
		#include <QVector>

		#include "Camera.h"
		#include "CameraDistortionMap.h"
		#include "CameraFocalPlaneMap.h"
		#include "CameraGroundMap.h"
		#include "ControlMeasure.h"
		#include "ControlPoint.h"
		#include "Cube.h"
		#include "IException.h"
		#include "iTime.h"

		using namespace std;

		namespace Isis {


		/**
		* Constructs a LidarControlPoint with the given time, range, and sigma range.
		*
		*/
		LidarControlPoint::LidarControlPoint() {
		m_time = iTime();
		m_range = -1.0;
		m_sigmaRange = -1.0;
		m_snSimultaneous = NULL;

		m_snSimultaneous = new QStringList;
		}


		/**
		* Destructor
		*/
		LidarControlPoint::~LidarControlPoint() {
		if (m_snSimultaneous) {
		delete m_snSimultaneous;
		m_snSimultaneous = NULL;
		}

		}


		/**
		* Set the time of the LidarControlPoint
		*
		* @param time The time to set
		*/
		ControlPoint::Status LidarControlPoint::setTime(iTime time) {
		if (IsEditLocked()) {
		return ControlPoint::Status::PointLocked;
		}
		m_time = time;
		return ControlPoint::Status::Success;
		}


		/**
		* Set the range of the LidarControlPoint
		*
		* @param range The range to set
		*/
		ControlPoint::Status LidarControlPoint::setRange(double range) {
		if (IsEditLocked()) {
		return ControlPoint::Status::PointLocked;
		}
		m_range = range;
		return ControlPoint::Status::Success;
		}


		/**
		* Sets the sigma range
		*
		* @param sigmaRange The sigma range to set
		*/
		ControlPoint::Status LidarControlPoint::setSigmaRange(double sigmaRange) {
		if (IsEditLocked()) {
		return ControlPoint::Status::PointLocked;
		}
		m_sigmaRange = sigmaRange;
		return ControlPoint::Status::Success;
		}


		/**
		* Add a measure to the list of simultaneous images of a LidarControlPoint
		*
		* @param time The serial number of the simultaneous image to add
		*/
		ControlPoint::Status LidarControlPoint::addSimultaneous(QString newSerial) {
		m_snSimultaneous->append(newSerial);
		return ControlPoint::Status::Success;
		}


		/**
		* Returns the range of the point
		*
		* @return double The range
		*/
		double LidarControlPoint::range() {
		return m_range;
		}


		/**
		* Returns the time of the point
		*
		* @return double The time
		*/
		iTime LidarControlPoint::time() {
		return m_time;
		}


		/**
		* Returns the sigma range of the point
		*
		* @return double The sigma range
		*/
		double LidarControlPoint::sigmaRange() {
		return m_sigmaRange;
		}


		/**
		* Returns the list of serial numbers of simultaneous images of the Lidar point
		*
		* @return QStringList The list of serial numbers
		*/
		QStringList LidarControlPoint::snSimultaneous() const{
		return *m_snSimultaneous;
		}


		/**
		* Determines if input serial number is in list of simultaneous measure serial numbers.
		*
		* @param serialNumber Serial number to check.
		*
		* @return bool true if serialNumber is contained in m_snSimultaneous.
		*/
		bool LidarControlPoint::isSimultaneous(QString serialNumber) {

		if (m_snSimultaneous->contains(serialNumber)) {
		return true;
		}

		return false;
		}


		/**
		* TODO: clean up code and document why this is different from the ComputeResiduals method for a
		* normal photogrammetric control point.
		* TODO: compute residuals is a misnomer, we are really moving the measure to it's new back-
		* projected location in the image
		* TODO: should code be special for radar?
		*
		* *** Warning: Only BundleAdjust and its applications should be
		* using this method.
		*
		* @history 2019-02-26 Ken Edmundson, initial version.
		*/
		ControlPoint::Status LidarControlPoint::ComputeResiduals() {
		if (IsIgnored()) {
		return Failure;
		}

		ControlPoint::PointModified();

		double newSampleDistorted = 0.0;
		double newLineDistorted = 0.0;

		// Loop for each measure to compute the error
		QList<QString> keys = measures->keys();

		for (int j = 0; j < keys.size(); j++) {
		ControlMeasure measure = (measures)[keys[j]];
		if (measure->IsIgnored()) {
		continue;
		}

		// back project the adjusted surface point with SPICE updated from current bundle iteration
		Camera* camera = measure->Camera();
		if (camera->SetGround(GetAdjustedSurfacePoint())) {
		newSampleDistorted = camera->Sample();
		newLineDistorted = camera->Line();
		measure->SetRejected(false);
		}
		// what happens if SetGround fails (e.g. if back-projection is off the image?
		else {
		measure->SetRejected(true);
		measure->SetResidual(0.0, 0.0);
		continue;
		}

		// set measures sample, line to the back-projected location
		measure->SetCoordinate(newSampleDistorted, newLineDistorted);

		double measuredUndistortedFPx = camera->DistortionMap()->UndistortedFocalPlaneX();
		double measuredUndistortedFPy = camera->DistortionMap()->UndistortedFocalPlaneY();
		measure->SetFocalPlaneMeasured(measuredUndistortedFPx,measuredUndistortedFPy);
		measure->SetFocalPlaneComputed(measuredUndistortedFPx, measuredUndistortedFPy);

		measure->SetResidual(0.0, 0.0);
		}

		return Success;
		}
		}

isis/src/control/objs/LidarControlPoint/LidarControlPoint.h

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		#ifndef LidarControlPoint_h
		#define LidarControlPoint_h

		/**
		* @file
		* $Revision: 1.14 $
		* $Date: 2009/09/08 17:38:17 $
		*
		* Unless noted otherwise, the portions of Isis written by the USGS are
		* public domain. See individual third-party library and package descriptions
		* for intellectual property information, user agreements, and related
		* information.
		*
		* Although Isis has been used by the USGS, no warranty, expressed or
		* implied, is made by the USGS as to the accuracy and functioning of such
		* software and related material nor shall the fact of distribution
		* constitute any such warranty, and no responsibility is assumed by the
		* USGS in connection therewith.
		*
		* For additional information, launch
		* $ISISROOT/doc//documents/Disclaimers/Disclaimers.html
		* in a browser or see the Privacy & Disclaimers page on the Isis website,
		* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
		* http://www.usgs.gov/privacy.html.
		*/

		#include <algorithm>
		#include <functional>

		#include <QPointer>
		#include <QSharedPointer>

		#include "ControlMeasure.h"
		#include "ControlPoint.h"
		#include "Cube.h"
		#include "iTime.h"

		namespace Isis {
		/**
		* @brief A lidar control ControlPoint
		*
		* A lidar control point that extends from ControlPoint. Currently only works for LOLA data
		*
		* @author 2018-01-29 Makayla Shepherd
		*
		* @see ControlPoint
		*
		* @internal
		* @history 2018-01-29 Makayla Shepherd Original version
		* @history 2018-02-09 Ken Edmundson Added typedef forLidarControlPointQsp
		* @history 2018-03-18 Debbie A. Cook Added Simultaneous measures
		* @history 2019-02-23 Debbie A. Cook Added Functor Predicate struct to sort
		* based on Id. This is needed for getting consistent
		* output for comparing test data. References #5343.
		* @history 2019-04-28 Ken Edmundson Modified ComputeResiduals method to correct lidar measure
		* by it's residuals, i.e. by simply moving the measure to
		* it's current, back-projected location in the image.
		*/

		class LidarControlPoint : public ControlPoint {

		public:

		LidarControlPoint();

		~LidarControlPoint();

		ControlPoint::Status setRange(double range);
		ControlPoint::Status setSigmaRange(double sigmaRange);
		ControlPoint::Status setTime(iTime time);
		ControlPoint::Status addSimultaneous(QString newSerial);

		ControlPoint::Status ComputeResiduals();

		// Functor predicate for sorting LidarControlPoints
		struct LidarControlPointLessThanFunctor :
		public std::binary_function<QSharedPointer<LidarControlPoint>,
		QSharedPointer<LidarControlPoint>,
		bool> {
		bool operator() ( QSharedPointer<LidarControlPoint> lcp1,
		QSharedPointer<LidarControlPoint> lcp2)
		{
		return (lcp1->GetId() < lcp2->GetId());
		}
		};

		double range();
		double sigmaRange();
		iTime time();
		QStringList snSimultaneous() const;
		bool isSimultaneous(QString serialNumber);

		private:
		double m_range; //!< range
		double m_sigmaRange; //!< range sigma
		iTime m_time; //!< time lidar point was acquired
		QStringList *m_snSimultaneous; //!< serial number(s) of simultaneous image(s)

		};

		// typedefs
		//! Definition for a shared pointer to a LidarControlPoint.
		typedef QSharedPointer<LidarControlPoint> LidarControlPointQsp;
		}

		#endif

isis/src/control/objs/LidarControlPoint/Makefile

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		ifeq ($(ISISROOT), $(BLANK))
		.SILENT:
		error:
		echo "Please set ISISROOT";
		else
		include $(ISISROOT)/make/isismake.objs
		endif
		No newline at end of file