Unverified Commit 8066e7c6 authored by kledmundson's avatar kledmundson Committed by GitHub
Browse files

Merge pull request #59 from kledmundson/BundleLidar 

Bundle lidar
parents 08d12055 23409b01

.gitignore

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@@ -27,6 +27,7 @@ object_script.*.Debug 
*_plugin_import.cpp

*.moc

ui_*.h

*.html



# ignore all files created by squish coco

*csmes

isis/src/base/apps/camtrim/camtrim.cpp

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@@ -11,7 +11,7 @@ using namespace Isis; 
// Global variables

Cube *icube;

Camera *cam;

TProjection *proj;

TProjection *projection;

double minlat;

double maxlat;

double minlon;
@@ -53,14 +53,14 @@ void IsisMain() { 
  if(ui.WasEntered("MAP")) {

    Pvl lab;

    lab.read(ui.GetFileName("MAP"));

    proj = (TProjection *) ProjectionFactory::Create(lab);

    projection = (TProjection *) ProjectionFactory::Create(lab);



    // add mapping to print.prt

    PvlGroup mapping = proj->Mapping();

    PvlGroup mapping = projection->Mapping();

    Application::Log(mapping);

  }

  else {

    proj = NULL;

    projection = NULL;

  }



  // Start the processing
@@ -86,10 +86,10 @@ void camtrim(Buffer &in, Buffer &out) { 
    if(cam->HasSurfaceIntersection()) {

      lat = cam->UniversalLatitude();

      lon = cam->UniversalLongitude();

      if(proj != NULL) {

        proj->SetUniversalGround(lat, lon);

        lat = proj->Latitude();

        lon = proj->Longitude();

      if(projection != NULL) {

        projection->SetUniversalGround(lat, lon);

        lat = projection->Latitude();

        lon = projection->Longitude();

      }

      // Pixel is outside range

      if((lat < minlat) || (lat > maxlat) ||

isis/src/base/apps/checkfit/Makefile

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

.SILENT:

error:

	echo "Please set ISISROOT";

else

	include $(ISISROOT)/make/isismake.apps

endif
 
 No newline at end of file

isis/src/base/apps/checkfit/checkfit.cpp

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#include "Isis.h"



#include <cmath>

#include <iostream>



#include <QFile>

#include <QMap>

#include <QPair>

#include <QString>

#include <QTextStream>

#include <QVector>



#include "Camera.h"

#include "Cube.h"

#include "FileList.h"

#include "FileName.h"

#include "Histogram.h"

#include "IException.h"

#include "PiecewisePolynomial.h"

#include "Progress.h"

#include "SpicePosition.h"

#include "SpiceRotation.h"

#include "UserInterface.h"



using namespace std;

using namespace Isis;



QVector< QPair<double, double> > testFit(FileName inCubeFile,

                                         int positionDegree, int positionSegments,

                                         int pointingDegree, int pointingSegments);



void IsisMain() {

  UserInterface &ui = Application::GetUserInterface();



  // Read in the list of cubes to check

  FileList cubeList;

  cubeList.read( ui.GetFileName("FROMLIST") );



  // Get the fit parameters

  int positionDegree = ui.GetInteger("SPKDEGREE");

  int positionSegments = ui.GetInteger("SPKSEGMENTS");

  int pointingDegree = ui.GetInteger("CKDEGREE");

  int pointingSegments = ui.GetInteger("CKSEGMENTS");



  // Setup the map for storing fit quality

  QMap<QString, QVector< QPair<double, double> > > qualityMap;



  // Setup the progress tracker

  Progress cubeProgress;

  cubeProgress.SetMaximumSteps(cubeList.size());

  cubeProgress.CheckStatus();



  // Compute a test fit for each cube

  for (int cubeIndex = 0; cubeIndex < cubeList.size(); cubeIndex++) {

    FileName cubeFileName = cubeList[cubeIndex];

    QVector< QPair<double, double> > fitQuality;

    try {

      cubeProgress.CheckStatus();

      fitQuality = testFit(cubeFileName,

                           positionDegree, positionSegments,

                           pointingDegree, pointingSegments);

    }

    catch(IException &e) {

      QString warning = "**WARNING** Failed checking cube [" + cubeFileName.expanded() + "].";

      std::cerr << warning << std::endl << e.toString() << std::endl;

      continue;

    }

    qualityMap.insert(cubeFileName.expanded(), fitQuality);

  }



  // Open the TO file for writing

  FileName outFileName = ui.GetFileName("TO");

  QFile outFile(outFileName.expanded());

  if (outFile.open(QFile::WriteOnly |QFile::Truncate)) {

    QTextStream outWriter(&outFile);

    // Output the header

    outWriter << "Cube,"

              << "Position Segments,Position Fit Degree,Minimum Position Error,"

              << "Median Position Error,Maximum Position Error,RMS Position Error,"

              << "Mean Position Error,Standard Deviation of Position Error,"

              << "Chebyshev Minimum Position Error,Chebyshev Maximum Position Error,"

              << "Pointing Segments,Pointing Fit Degree,Minimum Pointing Error,"

              << "Median Pointing Error,Maximum Pointing Error,RMS Pointing Error,"

              << "Mean Pointing Error,Standard Deviation of Pointing Error,"

              << "Chebyshev Minimum Pointing Error,Chebyshev Maximum Pointing Error"

              << "\n";

    QList<QString> cubeNames = qualityMap.keys();

    for (int i = 0; i < cubeNames.size(); i++) {

      QString cubeName = cubeNames[i];

      QVector< QPair<double, double> > fitQuality = qualityMap.value(cubeName);

      outWriter << cubeName;

      // Output Position Error Stats

      for (int j = 0; j < fitQuality.size(); j++) {

        outWriter  << "," << toString(fitQuality[j].first);

      }

      // Output Pointing Error Stats

      for (int j = 0; j < fitQuality.size(); j++) {

        outWriter  << "," << toString(fitQuality[j].second);

      }

      outWriter << "\n";

    }

  }

  else {

    QString msg = "Failed opening output file [" + outFileName.expanded() + "].";

    throw IException(IException::Io, msg, _FILEINFO_);

  }

}



/**

 * <p>

 * Computes the position and pointing fit error, then outputs statistics on

 * them. The statistics are output as a vector of pairs. Each element of the

 * vector contains a pair of values for a specific statistic. The first value

 * is the value of the statistic for position error in km. The second value is

 * the value of the statistic for pointing error in radians.

 * </p>

 * <p>

 * The output statistics are:

 * </p>

 * <ol>

 *   <li>Number of Segments</li>

 *   <li>Min Error</li>

 *   <li>Median Error</li>

 *   <li>Maximum Error</li>

 *   <li>RMS Error</li>

 *   <li>Mean Error</li>

 *   <li>Standard Deviation of the Error</li>

 *   <li>Chebyshev Minimum Error</li>

 *   <li>Chebyshev Maximum Error</li>

 * </ol>

 * 

 * @param inCubeFile The cube file to test

 * @param positionDegree The degree of the position fit

 * @param positionSegments The number of segments used in the position fit.

 * @param pointingDegree The degree of the pointing fit

 * @param pointingSegments The number of segments used in the pointing fit.

 * 

 * @return @b QVector<QPair<double,double>> A vector containing pairs of

 *                                          statistic values for the position

 *                                          and pointing error in km and

 *                                          radians respectively.

 */

QVector< QPair<double, double> > testFit(FileName inCubeFile,

                                         int positionDegree, int positionSegments,

                                         int pointingDegree, int pointingSegments) {

  // TODO validate these pointers

  Cube inCube(inCubeFile);

  Camera *inCam = inCube.camera();

  SpicePosition *instPosition = inCam->instrumentPosition();

  SpiceRotation *instRotation = inCam->instrumentRotation();



  // Fit the position

  PiecewisePolynomial positionPoly;

  try {

    positionPoly = instPosition->fitPolynomial(positionDegree, positionSegments);

  }

  catch (IException &e) {

    QString msg = "Failed Fitting Instrument Position.";

    throw IException(e, IException::Unknown, msg, _FILEINFO_);

  }



  // Fit the rotation

  PiecewisePolynomial rotationPoly;

  try {

    rotationPoly = instRotation->fitPolynomial(pointingDegree, pointingSegments);

  }

  catch (IException &e) {

    QString msg = "Failed Fitting Instrument Pointing.";

    throw IException(e, IException::Unknown, msg, _FILEINFO_);

  }



  // Calculate and store the error statistics

  QVector< QPair<double, double> > fitStats;

  Histogram positionHist = instPosition->computeError(positionPoly);

  Histogram rotationHist = instRotation->computeError(rotationPoly);



  // Number of Segments

  fitStats.push_back( QPair<double, double>( positionPoly.segments(), rotationPoly.segments() ) );



  // Fit Degree

  fitStats.push_back( QPair<double, double>( positionPoly.degree(), rotationPoly.degree() ) );



  // Min Error

  fitStats.push_back( QPair<double, double>( positionHist.Minimum(), rotationHist.Minimum() ) );



  // Median Error

  fitStats.push_back( QPair<double, double>( positionHist.Median(), rotationHist.Median() ) );



  // Maximum Error

  fitStats.push_back( QPair<double, double>( positionHist.Maximum(), rotationHist.Maximum() ) );



  // RMS Error

  fitStats.push_back( QPair<double, double>( positionHist.Rms(), rotationHist.Rms() ) );



  // Mean Error

  fitStats.push_back( QPair<double, double>( positionHist.Average(), rotationHist.Average() ) );



  // Standard Deviation of the Error

  fitStats.push_back( QPair<double, double>( positionHist.StandardDeviation(), rotationHist.StandardDeviation() ) );



  // Chebyshev Minimum Error

  fitStats.push_back( QPair<double, double>( positionHist.ChebyshevMinimum(), rotationHist.ChebyshevMinimum() ) );



  // Chebyshev Maximum Error

  fitStats.push_back( QPair<double, double>( positionHist.ChebyshevMaximum(), rotationHist.ChebyshevMaximum() ) );



  return fitStats;

}

isis/src/base/apps/checkfit/checkfit.xml

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<?xml version="1.0" encoding="UTF-8"?>



<application name="checkfit" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://isis.astrogeology.usgs.gov/Schemas/Application/application.xsd">

  <brief>

    Test the quality of polynomial fits to cube exterior orientation

  </brief>



  <description>

    This program takes a list of cubes and tests the quality of the polynomial

    fit over instrument position and pointing values. This emulates how the

    jigsaw app converts exterior orientation into polynomials prior to

    adjustment. This app can be used to help determine jigsaw parameters that

    will work well with a data set.

  </description>



  <category>

    <categoryItem>Utility</categoryItem>

  </category>



  <seeAlso>

    <applications>

      <item>jigsaw</item>

    </applications>

  </seeAlso>



  <history>

    <change name="Jesse Mapel" date="2017-07-17">

      Original version

    </change>

  </history>



  <groups>

    <group name="Files">

      <parameter name="FROMLIST">

        <type>filename</type>

        <fileMode>input</fileMode>

        <brief>

          List of input cubes to check

        </brief>

        <description>

          The list of input cubes that test polynomial fits will be done for.

          Each cube will have polnomials fit over its instrument position and

          instrument pointing.

        </description>

        <filter>

          *.lis

        </filter>

      </parameter>



      <parameter name="TO">

        <type>filename</type>

        <fileMode>output</fileMode>

        <brief>

          Output file that contains information about the quality of fits.

        </brief>

        <description>

          This text file will contain the quality of fit for each input cube.

          Each row contains information and statistics about the instrument

          position and pointing fit. If there is an existing file with the same

          name, then it will be overwritten.

        </description>

        <filter>

          *.txt, *.csv

        </filter>

      </parameter>

    </group>



    <group name="Fit options">

      <parameter name="SPKDEGREE">

        <type>integer</type>

        <brief>

          The degree of the instrument position polynomial fits.

        </brief>

        <description>

          The degree of the instrument position polynomial fits. This

          corresponds to the SPKSOLVEDEGREE parameter in the jigsaw

          application. It is recommended that a fit no higher than 2nd degree

          is used. High degree polynomial fits often result in overfitting with

          minimal gain. Increasing the number of segments with lower degree

          polynomial fits is suggested when working with highly volatile data.

        </description>

        <minimum inclusive="yes">0</minimum>

        <default>

          <item>2</item>

        </default>

      </parameter>



      <parameter name="SPKSEGMENTS">

        <type>integer</type>

        <brief>

          The number of polynomial segments used in the instrument position

          fits.

        </brief>

        <description>

          The number of polynomial segments used in the instrument position

          fits. Increasing the number of segments with lower degree polynomial

          fits is suggested when working with highly volatile data.

        </description>

        <minimum inclusive="yes">1</minimum>

        <default>

          <item>1</item>

        </default>

      </parameter>



      <parameter name="CKDEGREE">

        <type>integer</type>

        <brief>

          The degree of the instrument pointing polynomial fit.

        </brief>

        <description>

          The degree of the instrument pointing polynomial fit. This

          corresponds to the CKSOLVEDEGREE parameter in the jigsaw

          application. It is recommended that a fit no higher than 2nd degree

          is used. High degree polynomial fits often result in overfitting with

          minimal gain. Increasing the number of segments with lower degree

          polynomial fits is suggested when working with highly volatile data.

        </description>

        <minimum inclusive="yes">0</minimum>

        <default>

          <item>2</item>

        </default>

      </parameter>



      <parameter name="CKSEGMENTS">

        <type>integer</type>

        <brief>

          The number of polynomial segments used in the instrument pointing

          fit.

        </brief>

        <description>

          The number of polynomial segments used in the instrument pointing

          fit. Increasing the number of segments with lower degree polynomial

          fits is suggested when working with highly volatile data.

        </description>

        <minimum inclusive="yes">1</minimum>

        <default>

          <item>1</item>

        </default>

      </parameter>

    </group>

  </groups>

</application>