Lro lidar infrastructure (#3172) (692b74af) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/LidarData/LidarData.cpp

+187 −3

Original line number	Diff line number	Diff line
		@@ -7,6 +7,7 @@
		#include <QJsonObject>
		#include <QJsonValue>
		#include <QList>
		#include <QMapIterator>
		#include <QRegExp>
		#include <QSharedPointer>
		#include <QString>
		@@ -15,6 +16,7 @@

		#include "Angle.h"
		#include "CameraFactory.h"
		#include "ControlNet.h"
		#include "Distance.h"
		#include "FileName.h"
		#include "IException.h"
		@@ -34,7 +36,8 @@ namespace Isis {
		* Default constructor.
		*/
		LidarData::LidarData() {

		m_numSimultaneousMeasures = 0;
		m_numAsynchronousMeasures = 0;
		}


		@@ -75,6 +78,104 @@ namespace Isis {
		}


		/**
		* Returns number of Lidar data points.
		*
		* @return int Returns number of Lidar control points.
		*/
		int LidarData::numberLidarPoints() {
		return m_points.size();
		}


		/**
		* Returns number of simultaneous lidar measures.
		*
		* @return int Returns number of simultaneous lidar measures.
		*/
		int LidarData::numberSimultaneousMeasures() {
		return m_numSimultaneousMeasures;
		}

		/**
		* Returns number of non-simultaneous lidar measures.
		*
		* @return int Returns number of non-simultaneous lidar measures.
		*/
		int LidarData::numberAsynchronousMeasures() {
		return m_numAsynchronousMeasures;
		}


		/**
		* Returns total number of lidar measures.
		*
		* @return int Returns total number of lidar measures.
		*/
		int LidarData::numberMeasures() {
		return m_numSimultaneousMeasures + m_numAsynchronousMeasures;
		}


		/**
		* TODO: more detail below...
		*
		* Assigns Isis::Camera pointers to LidarControlPoint measures.
		*
		* @param controlNet Input ControlNet
		* @param progress A pointer to the progress of creating the cameras
		* @throws Isis::iException::User - "Lidar Control point measure does not have a cube with a
		* matching serial number"
		* @internal
		* @history 2019-02-06 Ken Edmundson - initial version.
		*/
		void LidarData::SetImages(ControlNet &controlNet, Progress *progress) {

		// iterate over map between serial number and camera pointers
		QMapIterator< QString, Isis::Camera *> it(p_cameraMap);
		while (it.hasNext()) {
		it.next();
		QString serialNumber = it.key();

		// get corresponding camera pointer from controlNet
		Isis::Camera *cam = controlNet.Camera(serialNumber);
		p_cameraMap[serialNumber] = cam;
		p_cameraValidMeasuresMap[serialNumber] = 0; // not sure if all this is needed
		p_cameraRejectedMeasuresMap[serialNumber] = 0;
		p_cameraList.push_back(cam);
		}

		// Loop through all measures and set the camera
		QHashIterator< QString, QSharedPointer<LidarControlPoint> > p(m_points);
		while (p.hasNext()) {
		p.next();
		LidarControlPointQsp curPoint = p.value();

		QList< QString > serialNums = curPoint->getCubeSerialNumbers();
		for (int m = 0; m < serialNums.size(); m++) {
		ControlMeasure curMeasure = (curPoint)[serialNums[m]];

		QString serialNumber = curMeasure->GetCubeSerialNumber();
		Isis::Camera *cam = p_cameraMap[serialNumber];

		if (cam == NULL) {
		IString msg = "Lidar Control point [" + curPoint->GetId() +
		"], measure [" + curMeasure->GetCubeSerialNumber() +
		"] does not have a cube in the ISIS control net with a matching serial number";
		throw IException(IException::User, msg, _FILEINFO_);
		}

		curMeasure->SetCamera(cam);

		// increment number of measures for this image (camera)
		if (!curMeasure->IsIgnored()) {
		p_cameraValidMeasuresMap[serialNumber]++;
		}
		}
		}
		}


		/**
		* Creates the ControlNet's image camera's based on the list of Serial Numbers
		*
		@@ -178,6 +279,8 @@ namespace Isis {
		loadDoc = QJsonDocument::fromBinaryData(saveData);
		}

		int totalMeasures = 0;

		// Unserialize LidarData
		QJsonObject lidarDataObject = loadDoc.object();
		if (lidarDataObject.contains("points") && lidarDataObject["points"].isArray()) {
		@@ -305,6 +408,7 @@ namespace Isis {
		// Unserialize each simultaneous image serial number
		newSerial = simultaneousArray[simIndex].toString();
		lcp->addSimultaneous(newSerial);
		m_numSimultaneousMeasures++;
		}
		}

		@@ -330,6 +434,10 @@ namespace Isis {
		serialNumber = measureObject["serialNumber"].toString();
		}

		if (!p_cameraMap.contains(serialNumber)) {
		p_cameraMap.insert(serialNumber, NULL);
		}

		// QString type;
		// if (measureObject.contains("type") && measureObject["type"].isString()) {
		// type = measureObject["type"].toString();
		@@ -340,12 +448,14 @@ namespace Isis {
		measure->SetCubeSerialNumber(serialNumber);
		// measure->SetType(measure->StringToMeasureType(type));
		lcp->Add(measure);
		totalMeasures++;
		}
		}

		insert(lcp);
		}
		}
		m_numAsynchronousMeasures = totalMeasures - m_numSimultaneousMeasures;
		}


		@@ -490,4 +600,78 @@ namespace Isis {
		saveFile.write(lidarDataDoc.toBinaryData());
		}
		}

		/**
		* Does a check to ensure that the given serial number is contained within
		* the network.
		*
		* @param serialNumber the cube serial number to validate
		*
		* @return @b bool If the serial number is contained in the network.
		*/
		bool LidarData::ValidateSerialNumber(QString serialNumber) const {
		return p_cameraMap.contains(serialNumber);
		}


		/**
		* Return the number of measures in image specified by serialNumber
		*
		* @return Number of valid measures in image
		*
		* @history 2013-12-18 Tracie Sucharski - Renamed from GetNumberOfMeasuresInImage, it is
		* returning a count of only valid measures (Ignore=False).
		*/
		int LidarData::GetNumberOfValidMeasuresInImage(const QString &serialNumber) {
		// If SetImage was called, use the map that has been populated with valid measures
		if (p_cameraList.size() > 0) {
		return p_cameraValidMeasuresMap[serialNumber];
		}
		return GetValidMeasuresInCube(serialNumber).size();
		}


		/**
		* Return the number of jigsaw rejected measures in image specified by serialNumber
		*
		* @return Number of jigsaw rejected measures in image
		*/
		int LidarData::GetNumberOfJigsawRejectedMeasuresInImage(const QString &serialNumber) {
		return p_cameraRejectedMeasuresMap[serialNumber];
		}

		/**
		* Get all the valid measures pertaining to a given cube serial number
		*
		* @returns A list of all valid measures which are in a given cube
		*/
		QList< ControlMeasure * > LidarData::GetValidMeasuresInCube(QString serialNumber) {
		QList< ControlMeasure * > validMeasures;

		// Get measures in cube will validate this for us, so we don't need to re-check
		// QList< ControlMeasure * > measureList = GetMeasuresInCube(serialNumber);
		QList< ControlMeasure * > measureList;

		foreach(ControlMeasure * measure, measureList) {
		if (!measure->IsIgnored())
		validMeasures.append(measure);
		}

		return validMeasures;
		}

		/**
		* Get all the measures pertaining to a given cube serial number
		*
		* @returns A list of all measures which are in a given cube
		*/
		// QList< ControlMeasure * > LidarData::GetMeasuresInCube(QString serialNumber) {
		// if( !ValidateSerialNumber(serialNumber) ) {
		// IString msg = "Cube Serial Number [" + serialNumber + "] not found in "
		// "the network";
		// throw IException(IException::Programmer, msg, _FILEINFO_);

		// }
		// return m_controlGraph[m_vertexMap[serialNumber]].measures.values();
		// }
		}

isis/src/base/objs/LidarData/LidarData.h

+27 −10

Original line number	Diff line number	Diff line
		@@ -17,6 +17,8 @@ class QJsonObject;

		namespace Isis {
		class Camera;
		class ControlMeasure;
		class ControlNet;
		class FileName;
		class Progress;
		class SerialNumberList;
		@@ -61,20 +63,35 @@ namespace Isis {
		QList< QSharedPointer<LidarControlPoint> > points(bool sort = false) const;

		void SetImages(SerialNumberList &list, Progress *progress = 0);
		void SetImages(ControlNet &controlNet, Progress *progress = 0);

		// Serialization methods for LidarData
		void read(FileName);
		void write(FileName, Format);

		int numberLidarPoints();
		int numberSimultaneousMeasures();
		int numberAsynchronousMeasures();
		int numberMeasures();

		bool ValidateSerialNumber(QString serialNumber) const;
		QList< ControlMeasure * > GetMeasuresInCube(QString serialNumber);
		QList< ControlMeasure * > GetValidMeasuresInCube(QString serialNumber);
		int GetNumberOfValidMeasuresInImage(const QString &serialNumber);
		int GetNumberOfJigsawRejectedMeasuresInImage(const QString &serialNumber);

		private:
		/** Hash of the LidarControlPoints this class contains. */
		QHash<QString, QSharedPointer <LidarControlPoint> > m_points;

		QMap<QString, Isis::Camera *> p_cameraMap; //!< A map from serialnumber to camera
		QMap<QString, int> p_cameraValidMeasuresMap; //!< A map from serialnumber to #measures
		QMap<QString, int> p_cameraRejectedMeasuresMap; //!< A map from serialnumber to
		//! #rejected measures
		QVector<Isis::Camera *> p_cameraList; //!< Vector of image number to camera
		QHash<QString, QSharedPointer <LidarControlPoint> > m_points; //!< hash of LidarControlPoints

		//!< maps between serial# and...
		QMap<QString, Isis::Camera *> p_cameraMap; //!< camera
		QMap<QString, int> p_cameraValidMeasuresMap; //!< #measures
		QMap<QString, int> p_cameraRejectedMeasuresMap; //!< #rejected measures

		QVector<Isis::Camera *> p_cameraList; //!< vector of image# to camera

		int m_numSimultaneousMeasures;
		int m_numAsynchronousMeasures;
		};

		// typedefs

isis/src/base/objs/SpiceRotation/SpiceRotation.cpp

+2 −5

Original line number	Diff line number	Diff line
		@@ -2066,7 +2066,8 @@ namespace Isis {
		double derivative;
		double time = (p_et - p_baseTime) / p_timeScale;

		if (coeffIndex > 0 && coeffIndex <= m_polynomial.degree()) {
		// if (coeffIndex > 0 && coeffIndex <= m_polynomial.degree()) {
		if (coeffIndex > 0 && coeffIndex <= p_degree) {
		derivative = pow(time, coeffIndex);
		}
		else if (coeffIndex == 0) {
		@@ -2279,8 +2280,6 @@ namespace Isis {
		// If polynomials have not been applied yet then simply set the degree and return
		if (!p_degreeApplied) {
		p_degree = degree;
		// TODO: verify
		m_polynomial.setDegree(degree);
		}

		// Otherwise adjust the degree.
		@@ -2304,8 +2303,6 @@ namespace Isis {

		// Change the polynomial degree
		m_polynomial.setDegree(degree);
		// TODO: verify next line
		p_degree = degree;

		// Reset the coefficients
		for (int i = 0; i < m_segments; i++) {

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

+852 −293

File changed.

Preview size limit exceeded, changes collapsed.

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

+17 −10

Original line number	Diff line number	Diff line
		@@ -36,6 +36,7 @@
		// Isis lib
		#include "BundleControlPoint.h"
		#include "BundleControlPointVector.h"
		#include "BundleLidarPointVector.h"
		#include "BundleObservationSolveSettings.h"
		#include "BundleObservationVector.h"
		#include "BundleResults.h"
		@@ -429,6 +430,7 @@ namespace Isis {
		bool computeBundleStatistics();
		void applyParameterCorrections();
		bool errorPropagation();
		void computeResiduals();
		double computeVtpv();
		bool computeRejectionLimit();
		bool flagOutliers();
		@@ -436,16 +438,15 @@ namespace Isis {
		// normal equation matrices methods

		bool formNormalEquations();
		bool formPhotoNormals();
		bool formLidarNormals();
		int formPhotoNormalEquations();
		int formLidarNormalEquations();

		bool computePartials(LinearAlgebra::Matrix &coeffTarget, //!< multi-segment version
		LinearAlgebra::Matrix &coeffImagePosition,
		LinearAlgebra::Matrix &coeffImagePointing,
		LinearAlgebra::Matrix &coeffPoint3D,
		LinearAlgebra::Vector &coeffRHS,
		BundleMeasure &measure,
		BundleControlPoint &point);
		BundleMeasure &measure);
		bool formMeasureNormals(LinearAlgebra::MatrixUpperTriangular &N22, //!< multi-segment version
		SparseBlockColumnMatrix &N12,
		LinearAlgebra::VectorCompressed &n1,
		@@ -456,11 +457,16 @@ namespace Isis {
		LinearAlgebra::Matrix &coeffPoint3D,
		LinearAlgebra::Vector &coeffRHS,
		BundleMeasureQsp measure);
		bool formPointNormals(LinearAlgebra::MatrixUpperTriangular &N22,
		int formPointNormals(LinearAlgebra::MatrixUpperTriangular &N22,
		SparseBlockColumnMatrix &N12,
		LinearAlgebra::Vector &n2,
		LinearAlgebra::Vector &nj,
		BundleControlPointQsp &point);
		int formLidarPointNormals(LinearAlgebra::MatrixUpperTriangular &N22,
		SparseBlockColumnMatrix &N12,
		LinearAlgebra::Vector &n2,
		LinearAlgebra::Vector &nj,
		BundleLidarControlPointQsp &point);
		bool formWeightedNormals(LinearAlgebra::VectorCompressed &n1,
		LinearAlgebra::Vector &nj);
		void applyPolynomialContinuityConstraints();
		@@ -490,7 +496,6 @@ namespace Isis {
		bool initializeCHOLMODLibraryVariables();
		bool freeCHOLMODLibraryVariables();
		bool loadCholmodTriplet();
		bool wrapUp();

		// member variables

		@@ -501,6 +506,7 @@ namespace Isis {
		QString m_cnetFileName; //!< The control net filename.

		BundleControlPointVector m_bundleControlPoints; //!< Vector of control points.
		BundleLidarPointVector m_bundleLidarControlPoints; //!< Vector of lidar points.

		QString m_lidarFileName; //!< Input lidar point filename.
		LidarDataQsp m_lidarDataSet; //!< Output lidar data.
		@@ -523,6 +529,7 @@ namespace Isis {
		the destructor.*/
		int m_rank; //!< The rank of the system.
		int m_iteration; //!< The current iteration.
		double m_iterationTime; //!< Time for last iteration
		int m_numberOfImagePartials; //!< number of image-related partials.
		QList<ImageList > m_imageLists; /*!< The lists of images used in the
		bundle.*/