Updated documentation and coding standards for BundleControlPoint class in... (799f71a6) · Commits · aflab / astrogeology / ISIS3

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

+13 −13

Original line number	Diff line number	Diff line
		@@ -1211,7 +1211,7 @@ namespace Isis {
		//N12.printClean(std::cout);

		boost::numeric::ublas::bounded_vector<double, 3> &NIC = bundleControlPoint->nicVector();
		SparseBlockRowMatrix &Q = bundleControlPoint->cholmod_QMatrix();
		SparseBlockRowMatrix &Q = bundleControlPoint->cholmodQMatrix();

		NIC.clear();
		Q.zeroBlocks();
		@@ -1253,7 +1253,7 @@ namespace Isis {
		// save upper triangular covariance matrix for error propagation
		// TODO: The following method does not exist yet (08-13-2010)
		// SurfacePoint SurfacePoint = point->GetAdjustedSurfacePoint();
		SurfacePoint SurfacePoint = bundleControlPoint->getAdjustedSurfacePoint();
		SurfacePoint SurfacePoint = bundleControlPoint->adjustedSurfacePoint();
		SurfacePoint.SetSphericalMatrix(N22);
		bundleControlPoint->setAdjustedSurfacePoint(SurfacePoint);

		@@ -2624,23 +2624,23 @@ namespace Isis {
		}

		// REMOVE
		SurfacePoint surfacePoint = point.getAdjustedSurfacePoint();
		SurfacePoint surfacePoint = point.adjustedSurfacePoint();
		// REMOVE

		// Compute the look vector in instrument coordinates based on time of observation and apriori
		// lat/lon/radius
		if (!(pCamera->GroundMap()->GetXY(point.getAdjustedSurfacePoint(), &dComputedx, &dComputedy))) {
		if (!(pCamera->GroundMap()->GetXY(point.adjustedSurfacePoint(), &dComputedx, &dComputedy))) {
		QString msg = "Unable to map apriori surface point for measure ";
		msg += measure.cubeSerialNumber() + " on point " + point.getId() + " into focal plane";
		msg += measure.cubeSerialNumber() + " on point " + point.id() + " into focal plane";
		throw IException(IException::User, msg, _FILEINFO_);
		}

		// partials for fixed point w/r lat, long, radius in Body-Fixed
		d_lookB_WRT_LAT = pCamera->GroundMap()->PointPartial(point.getAdjustedSurfacePoint(),
		d_lookB_WRT_LAT = pCamera->GroundMap()->PointPartial(point.adjustedSurfacePoint(),
		CameraGroundMap::WRT_Latitude);
		d_lookB_WRT_LON = pCamera->GroundMap()->PointPartial(point.getAdjustedSurfacePoint(),
		d_lookB_WRT_LON = pCamera->GroundMap()->PointPartial(point.adjustedSurfacePoint(),
		CameraGroundMap::WRT_Longitude);
		d_lookB_WRT_RAD = pCamera->GroundMap()->PointPartial(point.getAdjustedSurfacePoint(),
		d_lookB_WRT_RAD = pCamera->GroundMap()->PointPartial(point.adjustedSurfacePoint(),
		CameraGroundMap::WRT_Radius);

		// std::cout << "d_lookB_WRT_LAT" << d_lookB_WRT_LAT << std::endl;
		@@ -2932,7 +2932,7 @@ namespace Isis {

		// get NIC, Q, and correction vector for this point
		boost::numeric::ublas::bounded_vector< double, 3 > &NIC = point->nicVector();
		SparseBlockRowMatrix &Q = point->cholmod_QMatrix();
		SparseBlockRowMatrix &Q = point->cholmodQMatrix();
		boost::numeric::ublas::bounded_vector< double, 3 > &corrections = point->corrections();

		// printf("Q\n");
		@@ -2955,7 +2955,7 @@ namespace Isis {
		// printf("Point %s Corrections\n Latitude: %20.10lf\nLongitude: %20.10lf\n Radius: %20.10lf\n",point->GetId().toLatin1().data(),dLatCorr, dLongCorr, dRadCorr);
		// std::cout <<"Point " << point->GetId().toLatin1().data() << " Corrections\n" << "Latitude: " << dLatCorr << std::endl << "Longitude: " << dLongCorr << std::endl << "Radius: " << dRadCorr << std::endl;

		SurfacePoint surfacepoint = point->getAdjustedSurfacePoint();
		SurfacePoint surfacepoint = point->adjustedSurfacePoint();

		double dLat = surfacepoint.GetLatitude().degrees();
		double dLon = surfacepoint.GetLongitude().degrees();
		@@ -3857,7 +3857,7 @@ namespace Isis {
		}

		// get corresponding Q matrix
		SparseBlockRowMatrix Q = point->cholmod_QMatrix();
		SparseBlockRowMatrix Q = point->cholmodQMatrix();

		T.clear();

		@@ -3942,7 +3942,7 @@ namespace Isis {

		// Ask Ken what is happening here...Setting just the sigmas is not very accurate
		// Shouldn't we be updating and setting the matrix??? TODO
		SurfacePoint SurfacePoint = point->getAdjustedSurfacePoint();
		SurfacePoint SurfacePoint = point->adjustedSurfacePoint();

		dSigmaLat = SurfacePoint.GetLatSigma().radians();
		dSigmaLong = SurfacePoint.GetLonSigma().radians();
		@@ -3954,7 +3954,7 @@ namespace Isis {
		t = dSigmaLong*dSigmaLong + cv(1, 1);
		t = sqrt(dSigma02 * t) * m_dRTM;
		Distance tLonSig(
		t * cos(point->getAdjustedSurfacePoint().GetLatitude().radians()),
		t * cos(point->adjustedSurfacePoint().GetLatitude().radians()),
		Distance::Meters);

		t = dSigmaRadius*dSigmaRadius + cv(2, 2);

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

+16 −23

Original line number	Diff line number	Diff line
		@@ -246,7 +246,7 @@ namespace Isis {
		*
		* @return @b SurfacePoint The adjusted surface point.
		*/
		SurfacePoint BundleControlPoint::getAdjustedSurfacePoint() const {
		SurfacePoint BundleControlPoint::adjustedSurfacePoint() const {
		return m_controlPoint->GetAdjustedSurfacePoint();
		}

		@@ -256,7 +256,7 @@ namespace Isis {
		*
		* @return @b QString The ID for this point.
		*/
		QString BundleControlPoint::getId() const {
		QString BundleControlPoint::id() const {
		return m_controlPoint->GetId();
		}

		@@ -266,8 +266,7 @@ namespace Isis {
		* Accesses the 3 dimensional ordered vector of correction values associated
		* with latitude, longitude, and radius.
		*
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of
		* correction values.
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of correction values.
		*/
		boost::numeric::ublas::bounded_vector< double, 3 > &BundleControlPoint::corrections() {
		return m_corrections;
		@@ -278,8 +277,7 @@ namespace Isis {
		* Accesses the 3 dimenstional ordered vector of apriori sigmas (apriori
		* latitude, apriori longitude, apriori radius).
		*
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of
		* apriori sigmas.
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of apriori sigmas.
		*/
		boost::numeric::ublas::bounded_vector< double, 3 > &BundleControlPoint::aprioriSigmas() {
		return m_aprioriSigmas;
		@@ -291,8 +289,7 @@ namespace Isis {
		* Accesses the 3 dimenstional ordered vector of adjusted sigmas (adjusted
		* latitude, adjusted longitude, adjusted radius).
		*
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of
		* adjusted sigmas.
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of adjusted sigmas.
		*/
		boost::numeric::ublas::bounded_vector< double, 3 > &BundleControlPoint::adjustedSigmas() {
		return m_adjustedSigmas;
		@@ -303,8 +300,7 @@ namespace Isis {
		* Accesses the 3 dimensional ordered vector of weight values associated
		* with latitude, longitude, and radius.
		*
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of
		* weight values.
		* @return @b boost::numeric::ublas::bounded_vector<double,3>& The vector of weight values.
		*/
		boost::numeric::ublas::bounded_vector< double, 3 > &BundleControlPoint::weights() {
		return m_weights;
		@@ -326,8 +322,8 @@ namespace Isis {
		*
		* @return @b SparseBlockRowMatrix& The CholMod row matrix.
		*/
		SparseBlockRowMatrix &BundleControlPoint::cholmod_QMatrix() {
		return m_cholmod_QMatrix;
		SparseBlockRowMatrix &BundleControlPoint::cholmodQMatrix() {
		return m_cholmodQMatrix;
		}


		@@ -353,7 +349,7 @@ namespace Isis {
		QString pointType = m_controlPoint->GetPointTypeString().toUpper();

		QString output = QString("%1%2%3 of %4%5%6%7%8%9%10%11\n")
		.arg(getId(), 16)
		.arg(id(), 16)
		.arg(pointType, 15)
		.arg(numGoodRays, 5)
		.arg(numRays)
		@@ -370,10 +366,10 @@ namespace Isis {


		/**
		* Formats an detailed output string table for this BundleControlPoint.
		* Formats a detailed output string table for this BundleControlPoint.
		*
		* @param errorPropagation Indicates whether error propagation was selected.
		* @param RTM Conversion factor from meters to radians. Used to convert the
		* @param RTM Conversion factor from radians to meters. Used to convert the
		* latitude and longitude corrections to meters.
		*
		* @return @b QString The formatted output detailed string.
		@@ -418,7 +414,7 @@ namespace Isis {
		QString output;

		output = QString(" Label: %1\nStatus: %2\n Rays: %3 of %4\n")
		.arg(getId())
		.arg(id())
		.arg(pointType)
		.arg(numGoodRays)
		.arg(numRays);
		@@ -562,7 +558,6 @@ namespace Isis {
		* @param errorPropagation Indicates whether error propagation was selected.
		*
		* @return @b QString The formatted value, as a string.
		*
		*/
		QString BundleControlPoint::formatAdjustedSigmaString(int type, int fieldWidth, int precision,
		bool errorPropagation) const {
		@@ -601,8 +596,7 @@ namespace Isis {
		* @param precision The precision of the double to be saved off.
		* @param errorPropagation Indicates whether error propagation was selected.
		*
		* @return @b QString The formatted adjusted latitude sigma value, as a
		* string.
		* @return @b QString The formatted adjusted latitude sigma value, as a string.
		*
		* @see formatAdjustedSigmaString()
		*/
		@@ -619,8 +613,7 @@ namespace Isis {
		* @param precision The precision of the double to be saved off.
		* @param errorPropagation Indicates whether error propagation was selected.
		*
		* @return @b QString The formatted adjusted longitude sigma value, as a
		* string.
		* @return @b QString The formatted adjusted longitude sigma value, as a string.
		*
		* @see formatAdjustedSigmaString()
		*/

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

+22 −10

Original line number	Diff line number	Diff line
		@@ -24,6 +24,7 @@
		*/

		#include <QVector>

		#include <QSharedPointer>

		#include "BundleMeasure.h"
		@@ -37,12 +38,16 @@ namespace Isis {
		class ControlPoint;

		/**
		* This class holds information about a control point that BundleAdjust needs to run correctly.
		*
		* @author 2014-05-22 Ken Edmundson
		*
		* @internal
		* @history 2014-05-22 Ken Edmundson - Original version.
		* @history 2015-02-20 Jeannie Backer - Added unitTest. Reformatted output
		* strings. Brought closer to ISIS coding standards.
		* @history 2016-06-27 Jesse Mapel - Updated documentation and ISIS coding standards in
		* preparation for merging IPCE into ISIS. Fixes #4075.
		*/
		class BundleControlPoint : public QVector<BundleMeasure*> {

		@@ -64,14 +69,14 @@ namespace Isis {
		ControlPoint *rawControlPoint() const;
		bool isRejected() const;
		int numberMeasures() const;
		SurfacePoint getAdjustedSurfacePoint() const; // TODO: Rename this method without "get" to meet coding standards
		QString getId() const; // TODO: Rename this method without "get" to meet coding standards
		SurfacePoint adjustedSurfacePoint() const;
		QString id() const;
		boost::numeric::ublas::bounded_vector< double, 3 > &corrections();
		boost::numeric::ublas::bounded_vector< double, 3 > &aprioriSigmas();
		boost::numeric::ublas::bounded_vector< double, 3 > &adjustedSigmas();
		boost::numeric::ublas::bounded_vector< double, 3 > &weights();
		boost::numeric::ublas::bounded_vector<double, 3> &nicVector(); //!< array of NICs (see Brown, 1976)
		SparseBlockRowMatrix &cholmod_QMatrix();
		boost::numeric::ublas::bounded_vector<double, 3> &nicVector();
		SparseBlockRowMatrix &cholmodQMatrix();

		// string format methods
		QString formatBundleOutputSummaryString(bool errorPropagation) const;
		@@ -91,18 +96,25 @@ namespace Isis {
		bool errorPropagation) const;

		private:
		//!< pointer to the control point object this represents
		ControlPoint *m_controlPoint;

		boost::numeric::ublas::bounded_vector< double, 3 > m_corrections; //!< corrections to point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_aprioriSigmas; //!< apriori sigmas for point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_adjustedSigmas; //!< adjusted sigmas for point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_weights; //!< weights for point parameters

		//! corrections to point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_corrections;
		//! apriori sigmas for point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_aprioriSigmas;
		//! adjusted sigmas for point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_adjustedSigmas;
		//! weights for point parameters
		boost::numeric::ublas::bounded_vector< double, 3 > m_weights;
		//! array of NICs (see Brown, 1976)
		boost::numeric::ublas::bounded_vector<double, 3> m_nicVector;
		SparseBlockRowMatrix m_cholmod_QMatrix;
		//! The CholMod matrix associated with this point
		SparseBlockRowMatrix m_cholmodQMatrix;
		};

		// typedefs
		//! Definition for BundleControlPointQSP, a shared pointer to a BundleControlPoint.
		typedef QSharedPointer<BundleControlPoint> BundleControlPointQsp;
		}

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

+70 −46

Original line number	Diff line number	Diff line
		@@ -41,6 +41,8 @@ using namespace Isis;
		void printBundleMeasure(BundleMeasure &);

		/**
		* This class is used to test loading objects from xml files.
		*
		* @author 2014 Jeannie Backer
		*
		* @internal
		@@ -602,11 +604,15 @@ int main(int argc, char *argv[]) {
		BundleControlPoint bcp1(freePoint);
		bool errorProp = false;
		double radiansToMeters = 10.0;
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp); // ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters); // ??? these print outs are not pretty... fix???
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp);
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);
		errorProp = true;
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp); // ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters); // ??? these print outs are not pretty... fix???
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp);
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);
		qDebug() << "";

		qDebug() << "Modify FreePoint - setAdjustedSurfacePoint(0,0,10) and addMeasure()";
		@@ -614,30 +620,40 @@ int main(int argc, char *argv[]) {
		Longitude(0.0, Angle::Degrees),
		Distance(10.0, Distance::Meters));
		bcp1.setAdjustedSurfacePoint(sp1);
		BundleMeasure bcm = *(bcp1.addMeasure(cm1)); // ???? this appears to do nothing! measure is added to the internal QVector of measures, not the member control point...
		// probably need to fix the format string methods to use "this" instead of member control point???
		// ??? this appears to do nothing! measure is added to the internal QVector of measures,
		// not the member control point...
		// probably need to fix the format string methods to use "this" instead of member control point
		// and accessor methods???
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp); // ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters); // ??? these print outs are not pretty... fix???
		BundleMeasure bcm = *(bcp1.addMeasure(cm1));
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp);
		// ??? these print outs are not pretty... fix???
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);

		qDebug() << "Modify FreePoint - setWeights() - solveRadius=false";
		BundleSettingsQsp settings = BundleSettingsQsp(new BundleSettings); // default solveRadius=false
		// default solveRadius=false
		BundleSettingsQsp settings = BundleSettingsQsp(new BundleSettings);
		double metersToRadians = 1.0 / radiansToMeters;
		bcp1.setWeights(settings, metersToRadians);
		qDebug().noquote() << bcp1.formatBundleOutputSummaryString(errorProp);
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);
		boost::numeric::ublas::bounded_vector< double, 3 > aprioriSigmas = bcp1.aprioriSigmas();
		boost::numeric::ublas::bounded_vector< double, 3 > weights = bcp1.weights();
		boost::numeric::ublas::bounded_vector< double, 3 > corrections = bcp1.corrections(); //??? never set 000??? init to 1.0e+50???
		boost::numeric::ublas::bounded_vector< double, 3 > adjustedSigmas = bcp1.adjustedSigmas(); //??? never set 000??? 1.0e+50???
		boost::numeric::ublas::bounded_vector<double, 3> nicVector = bcp1.nicVector(); //??? never set 000c??? 1.0e+50???
		SparseBlockRowMatrix qMatrix = bcp1.cholmod_QMatrix(); //??? empty matrix...
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		//??? never set 000??? init to 1.0e+50???
		boost::numeric::ublas::bounded_vector< double, 3 > corrections = bcp1.corrections();
		//??? never set 000??? 1.0e+50???
		boost::numeric::ublas::bounded_vector< double, 3 > adjustedSigmas = bcp1.adjustedSigmas();
		//??? never set 000c??? 1.0e+50???
		boost::numeric::ublas::bounded_vector< double, 3 > nicVector = bcp1.nicVector();
		SparseBlockRowMatrix qMatrix = bcp1.cholmodQMatrix(); //??? empty matrix...
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "N/A" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "N/A" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		qDebug() << "corrections: " << corrections[0] << corrections[1] << corrections[2];
		qDebug() << "adjustedSigmas: " << (Isis::IsSpecial(adjustedSigmas[0]) ? "N/A" : Isis::toString(adjustedSigmas[0]))
		qDebug() << "adjustedSigmas: "
		<< (Isis::IsSpecial(adjustedSigmas[0]) ? "N/A" : Isis::toString(adjustedSigmas[0]))
		<< (Isis::IsSpecial(adjustedSigmas[1]) ? "N/A" : Isis::toString(adjustedSigmas[1]))
		<< (Isis::IsSpecial(adjustedSigmas[2]) ? "N/A" : Isis::toString(adjustedSigmas[2]));
		qDebug() << "nicVector: " << nicVector[0] << nicVector[1] << nicVector[2];
		@@ -652,7 +668,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp1.aprioriSigmas();
		weights = bcp1.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "N/A" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "N/A" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -665,7 +682,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp1.formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp1.aprioriSigmas();
		weights = bcp1.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "N/A" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "N/A" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "N/A" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -674,8 +692,9 @@ int main(int argc, char *argv[]) {
		ControlPoint *cp = bcp1.rawControlPoint();
		qDebug() << "Raw control point equal to original? " << toString(cp == freePoint);
		qDebug() << "Raw control point is rejected? " << toString(bcp1.isRejected());
		SurfacePoint sp = bcp1.getAdjustedSurfacePoint();
		qDebug() << "Adjusted SurfacePoint (Lat, Lon, Rad) = " << toString(sp.GetLatitude().degrees())
		SurfacePoint sp = bcp1.adjustedSurfacePoint();
		qDebug() << "Adjusted SurfacePoint (Lat, Lon, Rad) = "
		<< toString(sp.GetLatitude().degrees())
		<< toString(sp.GetLongitude().degrees())
		<< toString(sp.GetLocalRadius().meters());
		qDebug() << "";
		@@ -697,7 +716,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp3->formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp3->aprioriSigmas();
		weights = bcp3->weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "NULL" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "NULL" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -718,7 +738,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp4.formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp4.aprioriSigmas();
		weights = bcp4.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "NULL" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "NULL" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -732,7 +753,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp4.formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp4.aprioriSigmas();
		weights = bcp4.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "NULL" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "NULL" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -746,7 +768,8 @@ int main(int argc, char *argv[]) {
		qDebug().noquote() << bcp4.formatBundleOutputDetailString(errorProp, radiansToMeters);
		aprioriSigmas = bcp4.aprioriSigmas();
		weights = bcp4.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "NULL" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "NULL" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -790,7 +813,8 @@ int main(int argc, char *argv[]) {
		aprioriSigmas = bcp5.aprioriSigmas(); // these values were verified by comparing against
		// SurfacePoint truth data
		weights = bcp5.weights();
		qDebug() << "aprioriSigmas: " << (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		qDebug() << "aprioriSigmas: "
		<< (Isis::IsSpecial(aprioriSigmas[0]) ? "NULL" : Isis::toString(aprioriSigmas[0]))
		<< (Isis::IsSpecial(aprioriSigmas[1]) ? "NULL" : Isis::toString(aprioriSigmas[1]))
		<< (Isis::IsSpecial(aprioriSigmas[2]) ? "NULL" : Isis::toString(aprioriSigmas[2]));
		qDebug() << "weights: " << weights[0] << weights[1] << weights[2];
		@@ -829,7 +853,7 @@ int main(int argc, char *argv[]) {
		// BundleObservation *parentObs =
		bundleMeasure.parentBundleObservation();
		BundleControlPoint *parentBCP = bundleMeasure.parentControlPoint();
		qDebug() << "parent control point id" << parentBCP->getId();
		qDebug() << "parent control point id" << parentBCP->id();
		// BundleImage *parentImage =
		bundleMeasure.parentBundleImage(); //TODO m_parentBundleImage always NULL ???