Changed name of BundleStatistics to BundleResults.

#ifndef BundleStatistics_h

#define BundleStatistics_h

/**

 * @file

 * $Revision: 1.20 $

 * $Date: 2009/10/15 01:35:17 $

 *

 *   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 <QList>

#include <QPair>

#include <QObject>

#include <QString>

#include <QVector>

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

#include "BundleSettings.h"

#include "MaximumLikelihoodWFunctions.h"

#include "PvlObject.h"

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

#include "XmlStackedHandler.h"

class QDataStream;

class QUuid;

class QXmlStreamWriter;

namespace Isis {

  class ControlNet;

  class CorrelationMatrix;

  class FileName;

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

  class PvlObject;

  class SerialNumberList;

  class StatCumProbDistDynCalc;

  class XmlStackedHandlerReader;

  /**

   * A utility class containing statistical results from a BundleAdjust solution. 

   *  

   * @author 2014-07-01 Jeannie Backer

   *

   * @internal

   *   @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 BundleStatistics : public QObject {

    Q_OBJECT

    public:

      BundleStatistics(QObject *parent = 0);

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

      BundleStatistics(const BundleStatistics &other);

      ~BundleStatistics();

      BundleStatistics &operator=(const BundleStatistics &other);

      // mutators and computation methods

      bool computeBundleStatistics(SerialNumberList *snList, 

                                   ControlNet *cnet, 

                                   bool errorPropagation,

                                   bool solveRadius);

      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();

      void incrementHeldImages();

      int numberHeldImages();

      void incrementIgnoredPoints();

      int numberIgnoredPoints(); // 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);

      void setRmsRx(double rx);

      void setRmsRy(double ry);

      void setRmsRxy(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...

      QVector< Statistics > rmsImageSampleResiduals() const;

      QVector< Statistics > rmsImageLineResiduals() const;

      QVector< 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 ???

      double  minSigmaLatitude() const;

      double  maxSigmaLatitude() const;

      double  minSigmaLongitude() const;

      double  maxSigmaLongitude() const;

      double  minSigmaRadius() const;

      double  maxSigmaRadius() const;

      QString maxSigmaLatitudePointId() const;

      QString minSigmaLatitudePointId() const;

      QString minSigmaLongitudePointId() const;

      QString maxSigmaLongitudePointId() const;

      QString minSigmaRadiusPointId() const;

      QString maxSigmaRadiusPointId() const;

      double rmsSigmaLat() const;

      double rmsSigmaLon() const;

      double rmsSigmaRad() const;

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

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

      double rmsRxy(); // 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

      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;

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

      bool setNumberHeldImages(SerialNumberList m_pHeldSnList,

                               SerialNumberList *m_pSnList);

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

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

      CorrelationMatrix correlationMatrix();

      void setCorrMatCovFileName(FileName name);

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

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

      QDataStream &write(QDataStream &stream) const;

      QDataStream &read(QDataStream &stream);

    private:

      /**

       *

       * @author 2014-07-28 Jeannie Backer

       *

       * @internal

       */

      class XmlHandler : public XmlStackedHandler {

        public:

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

          ~XmlHandler();

          virtual bool startElement(const QString &namespaceURI, const QString &localName,

                                    const QString &qName, const QXmlAttributes &atts);

          virtual bool characters(const QString &ch);

          virtual bool endElement(const QString &namespaceURI, const QString &localName,

                                    const QString &qName);

        private:

          Q_DISABLE_COPY(XmlHandler);

          BundleStatistics *m_xmlHandlerBundleStatistics;

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

          QString m_xmlHandlerCharacters;

          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;

      };

      /**

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

       *   when saving to disk).

       */

      QUuid *m_id;

      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

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

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

      int m_numberImageParameters;            //!< number of image parameters

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

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

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

      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 computeBundleStatistics()

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

      QVector< Statistics > m_rmsImageSampleResiduals;

      QVector< Statistics > m_rmsImageLineResiduals;

      QVector< 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 ???

      double  m_minSigmaLatitude;

      QString m_minSigmaLatitudePointId;

      double  m_maxSigmaLatitude;

      QString m_maxSigmaLatitudePointId;

      double  m_minSigmaLongitude;

      QString m_minSigmaLongitudePointId;

      double  m_maxSigmaLongitude;

      QString m_maxSigmaLongitudePointId;

      double  m_minSigmaRadius;

      QString m_minSigmaRadiusPointId;

      double  m_maxSigmaRadius;

      QString m_maxSigmaRadiusPointId;

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

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

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

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

      // variables for maximum likelihood estimation

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

      // ??? we can get rid of this variable by allowing m_wFunc/Quan to be a QList/QVector of variable size and checking the size...

      int m_numberMaximumLikelihoodModels;    /**< The number of maximum likelihood estimation 

                                                    models. Up to three different models can be used

                                                    in succession.*/

      MaximumLikelihoodWFunctions *m_wFunc[3]; /**< 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.*/

      double m_maximumLikelihoodQuan[3];       /**< 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 BundleStatistics to/from binary disk file

  QDataStream &operator<<(QDataStream &stream, const BundleStatistics &bundleStatistics);

  QDataStream &operator>>(QDataStream &stream, BundleStatistics &bundleStatistics);

};

#endif // BundleStatistics_h

ifeq ($(ISISROOT), $(BLANK))

.SILENT:

error:

	echo "Please set ISISROOT";

else

	include $(ISISROOT)/make/isismake.objs

endif

 No newline at end of file