Modified append,initializeExteriorOrientation, and (5db3e6b5) · Commits · aflab / astrogeology / ISIS3

isis/src/control/objs/BundleUtilities/BundleObservation.cpp

+82 −102

Original line number	Diff line number	Diff line
		@@ -85,6 +85,8 @@ namespace Isis {

		// set the observations spice position and rotation objects from the primary image in the
		// observation (this is, by design at the moment, the first image added to the observation)
		// TODO: comment below is wrong I think, also, I don't like this form of if/then/else in terms of
		// readability
		// if the image, camera, or instrument position/orientation is null, then set to null
		// these will be updated during the bundle adjustment
		m_instrumentPosition = (image->camera() ?
		@@ -173,15 +175,63 @@ namespace Isis {
		* If the pointer is valid, then the BundleImage and its serial number will be inserted into
		* the serial number to BundleImage map.
		*
		* @param value The BundleImage to be appended.
		* @param image The BundleImage to be appended.
		*
		* @see QVector::append()
		*/
		void BundleObservation::append(const BundleImageQsp &value) {
		if (value) {
		m_cubeSerialNumberToBundleImageMap.insert(value->serialNumber(), value);
		void BundleObservation::append(const BundleImageQsp &image) {
		if (!image) {
		return;
		}
		QVector<BundleImageQsp>::append(value);

		// if this is a multi-image observation, we have to apply the observations exterior orientation
		// to this new image
		if (size() > 0) {

		std::vector<double> poly1, poly2, poly3;

		// update spice position of new image to match observations primary image
		SpicePosition *spicePosition = image->camera()->instrumentPosition();

		double positionBaseTime = m_instrumentPosition->GetBaseTime();
		double positiontimeScale = m_instrumentPosition->GetTimeScale();
		m_instrumentPosition->GetPolynomial(poly1, poly2, poly3);

		// set number of position segments in images spice position
		int spkPolynomialSegments = m_instrumentPosition->numPolynomialSegments();
		spicePosition->setPolynomialSegments(spkPolynomialSegments);

		// loop over position segments
		for (int i = 0; i < spkPolynomialSegments; i++) {
		spicePosition->SetPolynomialDegree(m_solveSettings->spkSolveDegree());
		spicePosition->SetOverrideBaseTime(positionBaseTime, positiontimeScale);
		spicePosition->SetPolynomial(poly1, poly2, poly3,
		m_solveSettings->positionInterpolationType(),i);
		}

		// update spice rotation of new image to match observations primary image
		SpiceRotation *spiceRotation = image->camera()->instrumentRotation();

		double rotationBaseTime = m_instrumentRotation->GetBaseTime();
		double rotationtimeScale = m_instrumentRotation->GetTimeScale();
		m_instrumentRotation->GetPolynomial(poly1, poly2, poly3);

		// set number of rotation segments in images spice position
		int ckPolynomialSegments = m_instrumentRotation->numPolynomialSegments();
		spiceRotation->setPolynomialSegments(ckPolynomialSegments);

		// loop over rotation segments
		for (int i = 0; i < ckPolynomialSegments; i++) {
		spiceRotation->SetPolynomialDegree(m_solveSettings->ckSolveDegree());
		spiceRotation->SetOverrideBaseTime(rotationBaseTime, rotationtimeScale);
		spiceRotation->SetPolynomial(poly1, poly2, poly3,
		m_solveSettings->pointingInterpolationType(),i);
		}
		}

		m_cubeSerialNumberToBundleImageMap.insert(image->serialNumber(), image);

		QVector<BundleImageQsp>::append(image);
		}


		@@ -387,126 +437,57 @@ namespace Isis {


		/**
		* Initializes the exterior orientation
		* Initializes the BundleObservation's exterior orientation from the primary image in the
		* observation. Currently this is by default considered to be the first image added to the
		* observation.
		*
		* @return bool Returns true upon successful intialization
		* @return bool Returns true upon successful initialization
		*/
		bool BundleObservation::initializeExteriorOrientation() {
		if (size() == 0) {
		if (size() != 1) {
		return false;
		}

		if (m_solveSettings->instrumentPositionSolveOption() !=
		BundleObservationSolveSettings::NoPositionFactors) {

		double positionBaseTime = 0.0;
		double positiontimeScale = 0.0;
		std::vector<double> posPoly1, posPoly2, posPoly3;

		// number of position polynomial segments we're solving for this observation
		int spkPolynomialSegments = m_solveSettings->numberSpkPolySegments();

		// loop over images in this observation
		for (int i = 0; i < size(); i++) {
		BundleImageQsp image = at(i);
		if ( !image->camera() ) {
		return false;
		}
		SpicePosition *spicePosition = image->camera()->instrumentPosition();

		// set number of position segments in images spice position
		spicePosition->setPolynomialSegments(spkPolynomialSegments);
		m_instrumentPosition->setPolynomialSegments(spkPolynomialSegments);

		// loop over position segments
		for (int j = 0; j < spkPolynomialSegments; j++) {
		// if there are more than one image in the observation (see note below)
		if (i > 0) {
		spicePosition->SetPolynomialDegree(m_solveSettings->spkSolveDegree());
		spicePosition->SetOverrideBaseTime(positionBaseTime, positiontimeScale);
		spicePosition->SetPolynomial(posPoly1, posPoly2, posPoly3,
		m_solveSettings->positionInterpolationType(),
		j);
		}
		// for first image in the observation
		// NOTE: Typically there is one image per observation.
		// When in "Observation Mode" however there may be multiple images in an
		// observation. Current examples where observation mode may be used include Lunar
		// Orbiter, HiRise, and Apollo Pan.
		else {
		// first, set the degree of the spk polynomial to be fit for a priori values
		spicePosition->SetPolynomialDegree(m_solveSettings->spkDegree());
		// first, set degree of the spk polynomial to be fit for a priori values
		m_instrumentPosition->SetPolynomialDegree(m_solveSettings->spkDegree());

		// now, set what kind of interpolation to use (SPICE, memcache, hermitecache, polynomial
		// function, or polynomial function over constant hermite spline)
		// TODO: verify - I think this actually performs the a priori fit
		spicePosition->SetPolynomial(m_solveSettings->positionInterpolationType());
		// TODO: verify - think this actually performs the a priori fit
		m_instrumentPosition->SetPolynomial(m_solveSettings->positionInterpolationType());

		// finally, set the degree of the spk polynomial actually used in the bundle adjustment
		spicePosition->SetPolynomialDegree(m_solveSettings->spkSolveDegree());

		if (m_instrumentPosition) { // ??? TODO: why is this different from rotation code below???
		positionBaseTime = m_instrumentPosition->GetBaseTime();
		positiontimeScale = m_instrumentPosition->GetTimeScale();
		m_instrumentPosition->GetPolynomial(posPoly1, posPoly2, posPoly3);
		}
		}
		}
		}
		m_instrumentPosition->SetPolynomialDegree(m_solveSettings->spkSolveDegree());
		}

		if (m_solveSettings->instrumentPointingSolveOption() !=
		BundleObservationSolveSettings::NoPointingFactors) {

		double rotationBaseTime = 0.0;
		double rotationtimeScale = 0.0;
		std::vector<double> anglePoly1, anglePoly2, anglePoly3;

		// number of pointing polynomial segments we're solving for this observation
		int ckPolynomialSegments = m_solveSettings->numberCkPolySegments();

		// loop over images in this observation
		for (int i = 0; i < size(); i++) {
		BundleImageQsp image = at(i);
		if ( !image->camera() ) {
		return false;
		}
		SpiceRotation *spiceRotation = image->camera()->instrumentRotation();

		// set number of rotation segments in images spice position
		spiceRotation->setPolynomialSegments(ckPolynomialSegments);
		m_instrumentRotation->setPolynomialSegments(ckPolynomialSegments);

		// loop over rotation segments
		for (int j = 0; j < ckPolynomialSegments; j++) {
		// if there are more than one image in the observation (see note below)
		if (i > 0) {
		spiceRotation->SetPolynomialDegree(m_solveSettings->ckSolveDegree());
		spiceRotation->SetOverrideBaseTime(rotationBaseTime, rotationtimeScale);
		spiceRotation->SetPolynomial(anglePoly1, anglePoly2, anglePoly3,
		m_solveSettings->pointingInterpolationType(),j);
		}
		// for first image in the observation
		// NOTE: Typically there is one image per observation.
		// When in "Observation Mode" however there may be multiple images in an
		// observation. Current examples where observation mode may be used include Lunar
		// Orbiter, HiRise, and Apollo Pan.
		else {
		// first, set the degree of the ck polynomial to be fit for a priori values
		spiceRotation->SetPolynomialDegree(m_solveSettings->ckDegree());
		m_instrumentRotation->SetPolynomialDegree(m_solveSettings->ckDegree());

		// now, set what kind of interpolation to use (SPICE, memcache, hermitecache, polynomial
		// function, or polynomial function over constant hermite spline)
		// TODO: verify - I think this actually performs the a priori fit
		spiceRotation->SetPolynomial(m_solveSettings->pointingInterpolationType());
		m_instrumentRotation->SetPolynomial(m_solveSettings->pointingInterpolationType());

		// finally, set the degree of the ck polynomial actually used in the bundle adjustment
		spiceRotation->SetPolynomialDegree(m_solveSettings->ckSolveDegree());

		rotationBaseTime = spiceRotation->GetBaseTime();
		rotationtimeScale = spiceRotation->GetTimeScale();
		spiceRotation->GetPolynomial(anglePoly1, anglePoly2, anglePoly3);
		}
		}
		}
		m_instrumentRotation->SetPolynomialDegree(m_solveSettings->ckSolveDegree());
		}

		return true;
		@@ -524,8 +505,7 @@ namespace Isis {
		std::vector<Angle> pmCoefs = m_bundleTargetBody->pmCoefs();

		for (int i = 0; i < size(); i++) {
		BundleImageQsp image = at(i);
		image->camera()->bodyRotation()->setPckPolynomial(raCoefs, decCoefs, pmCoefs);
		at(i)->camera()->bodyRotation()->setPckPolynomial(raCoefs, decCoefs, pmCoefs);
		}
		}

		@@ -533,7 +513,7 @@ namespace Isis {
		/**
		* Initializes the parameter weights for solving
		*
		* @return bool Returns true upon successful intialization
		* @return bool Returns true upon successful initialization
		*
		* @internal
		* @todo Don't like this, don't like this, don't like this, don't like this, don't like this.

isis/src/control/objs/BundleUtilities/BundleObservation.h

+2 −0

Original line number	Diff line number	Diff line
		@@ -109,6 +109,8 @@ namespace Isis {
		* @history 2018-02-12 Ken Edmundson - Removed method updateBodyRotation and renamed method
		* initializeBodyRotation to setBodyRotation. Modified method
		* applyParameterCorrections to take bool arg to updateBodyRotation.
		* @history 2018-11-29 Ken Edmundson - Modified append,initializeExteriorOrientation, and
		* setBodyRotation methods.
		*/
		class BundleObservation : public QVector<QSharedPointer<BundleImage> > {