Updated jigsaw (BundleObservation) so that bundleout.txt and... (641e4934) · Commits · aflab / astrogeology / ISIS3

isis/src/control/apps/jigsaw/jigsaw.xml

+6 −0

Original line number	Diff line number	Diff line
		@@ -230,6 +230,12 @@
		Added the "Generating report files" and Rejected_Measures keyword back to jigsaw's standard
		output. Fixes #4461. Fixed spacing in standard output. Fixes #4462, #4463."
		</change>
		<change name="Ian Humphrey" date="2016-10-26">
		The bundleout.txt output file will record default values for unsolved parameters. The default
		position will be the instrument position's center coordinate, and the default pointing will
		be the pointing's (rotation's) center angles. The bundleout_images.csv file will also have
		these defaults provided. Fixes #4464.
		</change>
		</history>

		<groups>

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

+169 −50

Original line number	Diff line number	Diff line
		@@ -794,6 +794,10 @@ namespace Isis {
		* for backwards compatibility.
		*
		* @return @b QString Returns a formatted QString representing the BundleObservation
		*
		* @internal
		* @history 2016-10-26 Ian Humphrey - Default values are now provided for parameters that are
		* not being solved. Fixes #4464.
		*/
		QString BundleObservation::formatBundleOutputString(bool errorPropagation, bool imageCSV) {

		@@ -804,12 +808,32 @@ namespace Isis {
		std::vector<double> coefDEC;
		std::vector<double> coefTWI;


		int nPositionCoefficients = m_solveSettings->numberCameraPositionCoefficientsSolved();
		int nPointingCoefficients = m_solveSettings->numberCameraAngleCoefficientsSolved();

		int nPositionParameters = numberPositionParameters();
		int nPointingParameters = numberPointingParameters();
		// Indicate if we need to obtain default position or pointing values
		bool useDefaultPosition = false;
		bool useDefaultPointing = false;
		// Indicate if we need to use default values when not solving twist
		bool useDefaultTwist = !(m_solveSettings->solveTwist());

		// If we aren't solving for position, set the number of coefficients to 1 so we can output the
		// instrumentPosition's center coordinate values for X, Y, and Z
		if (nPositionCoefficients == 0) {
		nPositionCoefficients = 1;
		useDefaultPosition = true;
		}
		// If we arent' solving for pointing, set the number of coefficients to 1 so we can output the
		// instrumentPointing's center angles for RA, DEC, and TWI
		if (nPointingCoefficients == 0) {
		nPointingCoefficients = 1;
		useDefaultPointing = true;
		}

		// Force number of position and pointing parameters to each be 3 (X,Y,Z; RA,DEC,TWI)
		// so we can always output a value for them
		int nPositionParameters = 3 * nPositionCoefficients;
		int nPointingParameters = 3 * nPointingCoefficients;
		int nParameters = nPositionParameters + nPointingParameters;

		coefX.resize(nPositionCoefficients);
		@@ -819,13 +843,31 @@ namespace Isis {
		coefDEC.resize(nPointingCoefficients);
		coefTWI.resize(nPointingCoefficients);

		if (nPositionCoefficients > 0 && m_instrumentPosition) {
		if (m_instrumentPosition) {
		if (!useDefaultPosition) {
		m_instrumentPosition->GetPolynomial(coefX, coefY, coefZ);
		}
		// Use the position's center coordinate if not solving for spacecraft position
		else {
		const std::vector<double> centerCoord = m_instrumentPosition->GetCenterCoordinate();
		coefX[0] = centerCoord[0];
		coefY[0] = centerCoord[1];
		coefZ[0] = centerCoord[2];
		}
		}

		if (nPointingCoefficients > 0 && m_instrumentRotation) {
		if (m_instrumentRotation) {
		if (!useDefaultPointing) {
		m_instrumentRotation->GetPolynomial(coefRA, coefDEC, coefTWI);
		}
		// Use the pointing's center angles if not solving for pointing (rotation)
		else {
		const std::vector<double> centerAngles = m_instrumentRotation->GetCenterAngles();
		coefRA[0] = centerAngles[0];
		coefDEC[0] = centerAngles[1];
		coefTWI[0] = centerAngles[2];
		}
		}

		// for convenience, create vectors of parameters names and values in the correct sequence
		std::vector<double> finalParameterValues;
		@@ -909,29 +951,41 @@ namespace Isis {
		}
		}//end else

		// Save the list of parameter names we've accumulated above
		m_parameterNamesList = parameterNamesList;

		QString finalqStr = "";
		QString qStr = "";
		QString sigma = "";

		// Set up default values when we are using default position
		QString sigma = "N/A";
		double adjustedSigma = 0.0;
		double correction = 0.0;

		if (!imageCSV) {
		// position parameters
		for (int i = 0; i < nPositionParameters; i++) {
		// If not using the default position, we can correctly access sigmas and corrections
		// members
		if (!useDefaultPosition) {
		correction = m_corrections(i);
		adjustedSigma = m_adjustedSigmas(i);
		sigma = ( IsSpecial(m_aprioriSigmas[i]) ? "N/A" : toString(m_aprioriSigmas[i], 8) );
		}
		if (errorPropagation) {
		qStr = QString("%1%2%3%4%5%6\n").
		arg( parameterNamesList.at(i) ).
		arg(finalParameterValues[i] - m_corrections(i), 17, 'f', 8).
		arg(m_corrections(i), 21, 'f', 8).
		arg(finalParameterValues[i] - correction, 17, 'f', 8).
		arg(correction, 21, 'f', 8).
		arg(finalParameterValues[i], 20, 'f', 8).
		arg(sigma, 18).
		arg(m_adjustedSigmas[i], 18, 'f', 8);
		arg(adjustedSigma, 18, 'f', 8);
		}
		else {
		qStr = QString("%1%2%3%4%5%6\n").
		arg( parameterNamesList.at(i) ).
		arg(finalParameterValues[i] - m_corrections(i), 17, 'f', 8).
		arg(m_corrections(i), 21, 'f', 8).
		arg(finalParameterValues[i] - correction, 17, 'f', 8).
		arg(correction, 21, 'f', 8).
		arg(finalParameterValues[i], 20, 'f', 8).
		arg(sigma, 18).
		arg("N/A", 18);
		@@ -939,23 +993,51 @@ namespace Isis {
		finalqStr += qStr;
		}

		// We need to use an offset of -3 (1 coef; X,Y,Z) if we used the default center coordinate
		// (i.e. we did not solve for position), as m_corrections and m_*sigmas are populated
		// according to which parameters are solved
		int offset = 0;
		if (useDefaultPosition) {
		offset = 3;
		}
		// pointing parameters
		for (int i = nPositionParameters; i < nParameters; i++) {
		sigma = ( IsSpecial(m_aprioriSigmas[i]) ? "N/A" : toString(m_aprioriSigmas[i], 8) );
		if (!useDefaultPointing) {
		// If solving camera and not solving for twist, provide default values for twist to
		// prevent bad indexing into m_corrections and m_*sigmas
		// TWIST is last parameter, which corresponds to nParameters - nPointingCoefficients
		if ( (i >= nParameters - nPointingCoefficients) && useDefaultTwist) {
		correction = 0.0;
		adjustedSigma = 0.0;
		sigma = "N/A";
		}
		else {
		correction = m_corrections(i - offset);
		adjustedSigma = m_adjustedSigmas(i - offset);
		sigma = ( IsSpecial(m_aprioriSigmas[i - offset]) ?
		"N/A" : toString(m_aprioriSigmas[i - offset], 8) );
		}
		}
		// We are using default pointing, so provide default correction and sigma values to output
		else {
		correction = 0.0;
		adjustedSigma = 0.0;
		sigma = "N/A";
		}
		if (errorPropagation) {
		qStr = QString("%1%2%3%4%5%6\n").
		arg( parameterNamesList.at(i) ).
		arg((finalParameterValues[i] - m_corrections(i) * RAD2DEG), 17, 'f', 8).
		arg(m_corrections(i) * RAD2DEG, 21, 'f', 8).
		arg( (finalParameterValues[i] - correction * RAD2DEG), 17, 'f', 8).
		arg(correction * RAD2DEG, 21, 'f', 8).
		arg(finalParameterValues[i], 20, 'f', 8).
		arg(sigma, 18).
		arg(m_adjustedSigmas[i] * RAD2DEG, 18, 'f', 8);
		arg(adjustedSigma * RAD2DEG, 18, 'f', 8);
		}
		else {
		qStr = QString("%1%2%3%4%5%6\n").
		arg( parameterNamesList.at(i) ).
		arg((finalParameterValues[i] - m_corrections(i) * RAD2DEG), 17, 'f', 8).
		arg(m_corrections(i) * RAD2DEG, 21, 'f', 8).
		arg( (finalParameterValues[i] - correction * RAD2DEG), 17, 'f', 8).
		arg(correction * RAD2DEG, 21, 'f', 8).
		arg(finalParameterValues[i], 20, 'f', 8).
		arg(sigma, 18).
		arg("N/A", 18);
		@@ -967,18 +1049,28 @@ namespace Isis {
		else {
		// position parameters
		for (int i = 0; i < nPositionParameters; i++) {
		if (!useDefaultPosition) {
		correction = m_corrections(i);
		adjustedSigma = m_adjustedSigmas[i];
		sigma = ( IsSpecial(m_aprioriSigmas[i]) ? "-1.0" : toString(m_aprioriSigmas[i]));
		}
		// Provide default values for position if not solving position
		else {
		correction = 0.0;
		adjustedSigma = 0.0;
		sigma = "-1.0";
		}
		qStr = "";
		if (errorPropagation) {
		qStr += toString(finalParameterValues[i] - m_corrections(i))+",";
		qStr += toString(m_corrections(i))+",";
		qStr += toString(finalParameterValues[i] - correction) + ",";
		qStr += toString(correction) + ",";
		qStr += toString(finalParameterValues[i]) + ",";
		qStr += sigma + ",";
		qStr += toString(m_adjustedSigmas[i])+",";
		qStr += toString(adjustedSigma) + ",";
		}
		else {
		qStr += toString(finalParameterValues[i] - m_corrections(i))+",";
		qStr += toString(m_corrections(i))+",";
		qStr += toString(finalParameterValues[i] - correction) + ",";
		qStr += toString(correction) + ",";
		qStr += toString(finalParameterValues[i]) + ",";
		qStr += sigma + ",";
		qStr += "N/A,";
		@@ -986,20 +1078,47 @@ namespace Isis {
		finalqStr += qStr;
		}

		// If not solving position, we need to offset access to correction and sigma members by -3
		// (X,Y,Z) since m_corrections and m_*sigmas are populated according to which parameters are
		// solved
		int offset = 0;
		if (useDefaultPosition) {
		offset = 3;
		}
		// pointing parameters
		for (int i = nPositionParameters; i < nParameters; i++) {
		sigma = ( IsSpecial(m_aprioriSigmas[i]) ? "-1.0" : toString(m_aprioriSigmas[i]) );
		if (!useDefaultPointing) {
		// Use default values if solving camera but not solving for TWIST to prevent bad indexing
		// into m_corrections and m_*sigmas
		if ( (i >= nParameters - nPointingCoefficients) && useDefaultTwist) {
		correction = 0.0;
		adjustedSigma = 0.0;
		sigma = "-1.0";
		}
		else {
		correction = m_corrections(i - offset);
		adjustedSigma = m_adjustedSigmas[i - offset];
		sigma = ( IsSpecial(m_aprioriSigmas[i - offset]) ?
		"-1.0" : toString(m_aprioriSigmas[i - offset]) );
		}
		}
		// Provide default values for pointing if not solving pointing
		else {
		correction = 0.0;
		adjustedSigma = 0.0;
		sigma = "-1.0";
		}
		qStr = "";
		if (errorPropagation) {
		qStr+=toString(finalParameterValues[i] - m_corrections(i) * RAD2DEG)+",";
		qStr+=toString(m_corrections(i) * RAD2DEG)+",";
		qStr += toString(finalParameterValues[i] - correction * RAD2DEG) + ",";
		qStr += toString(correction * RAD2DEG) + ",";
		qStr += toString(finalParameterValues[i]) + ",";
		qStr += sigma + ",";
		qStr+=toString(m_adjustedSigmas[i] * RAD2DEG)+",";
		qStr += toString(adjustedSigma * RAD2DEG) + ",";
		}
		else {
		qStr+=toString(finalParameterValues[i] - m_corrections(i) * RAD2DEG)+",";
		qStr+=toString(m_corrections(i) * RAD2DEG)+",";
		qStr += toString(finalParameterValues[i] - correction * RAD2DEG) + ",";
		qStr += toString(correction * RAD2DEG) + ",";
		qStr += toString(finalParameterValues[i]) + ",";
		qStr += sigma + ",";
		qStr += "N/A,";

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

+3 −0

Original line number	Diff line number	Diff line
		@@ -66,6 +66,9 @@ namespace Isis {
		* @history 2016-10-06 Tyler Wilson - Modified the function formatBundleOutputString so
		* that it can be used by BundleSolutionInfo::outputCSVImages()
		* function. Fixes #4314.
		* @history 2016-10-26 Ian Humphrey - Modified formatBundleOutputString() to provided default
		* values for all solve parameters, whether they are being solved for
		* or not. Fixes #4464.
		*/
		class BundleObservation : public QVector<BundleImageQsp> {