Commit 810b9d4c authored by Ken Edmundson's avatar Ken Edmundson
Browse files

added member variables for lidar data file and BundleAdjust constructor with... 

added member variables for lidar data file and BundleAdjust constructor with lidar data file as argument
parent ce65e482

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

+85 −0
Original line number Diff line number Diff line
@@ -40,6 +40,7 @@ 
#include "ImageList.h"

#include "iTime.h"

#include "Latitude.h"

#include "LidarControlPoint.h"

#include "Longitude.h"

#include "MaximumLikelihoodWFunctions.h"

#include "SpecialPixel.h"
@@ -121,6 +122,53 @@ namespace Isis { 
  }





  /**

   * Construct a BundleAdjust object from the given settings, control network file,

   * cube list, and lidar point data.

   *

   * @param bundleSettings A shared pointer to the BundleSettings to be used.

   * @param cnetFile The filename of the control network to be used.

   * @param cubeList The list of filenames of the cubes to be adjusted.

   * @param printSummary If summaries should be printed each iteration.

   */

  BundleAdjust::BundleAdjust(BundleSettingsQsp bundleSettings,

                             const QString &cnetFile,

                             const QString &cubeList,

                             const QString &lidarDataFile,

                             bool printSummary) {

    m_abort = false;

    Progress progress;

    // initialize constructor dependent settings...

    // m_printSummary, m_cleanUp, m_cnetFileName, m_controlNet,

    // m_serialNumberList, m_bundleSettings

    m_printSummary = printSummary;

    m_cleanUp = true;

    m_cnetFileName = cnetFile;

    m_lidarFileName = lidarDataFile;

    try {

      m_controlNet = ControlNetQsp( new ControlNet(cnetFile, &progress) );

    }

    catch (IException &e) {

      throw;

    }



    // read lidar point data file

    try {

      m_lidarDataSet.read(lidarDataFile);

    }

    catch (IException &e) {

      throw;

    }



    m_bundleResults.setOutputControlNet(m_controlNet);

    m_serialNumberList = new SerialNumberList(cubeList);

    m_bundleSettings = bundleSettings;

    m_bundleTargetBody = bundleSettings->bundleTargetBody();



    init(&progress);

  }





  /**

   * Construct a BundleAdjust object with held cubes.

   *
@@ -499,6 +547,43 @@ namespace Isis { 
        }

      }



      // create BundleLidarControlPoint for each LidarControlPoint and add to BundleControlPoints

      QList< QSharedPointer<LidarControlPoint> > lidarPoints = m_lidarDataSet.points();

      int numLidarPoints = lidarPoints.size();



      for (int i = 0; i < numLidarPoints; i++) {

        QSharedPointer<LidarControlPoint> lidarPointQsp = lidarPoints.at(i);



        // TODO: modify output of lidar point ingestion to not add points with no measures

        if (lidarPointQsp->GetNumMeasures() <= 0) {

          continue;

        }

        int a=1;

//        if (point->IsIgnored()) {

//          continue;

//        }



//        BundleControlPointQsp bundleControlPoint(new BundleControlPoint(point));

//        m_bundleControlPoints.append(bundleControlPoint);



//        bundleControlPoint->setWeights(m_bundleSettings, m_metersToRadians);



//        // set parent observation for each BundleMeasure



//        int numMeasures = bundleControlPoint->size();

//        for (int j = 0; j < numMeasures; j++) {

//          BundleMeasureQsp measure = bundleControlPoint->at(j);

//          QString cubeSerialNumber = measure->cubeSerialNumber();



//          BundleObservationQsp observation =

//              m_bundleObservations.observationByCubeSerialNumber(cubeSerialNumber);

//          BundleImageQsp image = observation->imageByCubeSerialNumber(cubeSerialNumber);



//          measure->setParentObservation(observation);

//          measure->setParentImage(image);

//        }

      }



    //===========================================================================================//

    //==== Use the bundle settings to initialize more member variables and set up solutions =====//

    //===========================================================================================//

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

+8 −0
Original line number Diff line number Diff line
@@ -45,6 +45,7 @@ 
#include "CameraGroundMap.h"

#include "ControlMeasure.h"

#include "ControlNet.h"

#include "LidarData.h"

#include "LinearAlgebra.h"

#include "MaximumLikelihoodWFunctions.h" // why not just forward declare???

#include "ObservationNumberList.h"
@@ -311,6 +312,11 @@ namespace Isis { 
                   const QString &cnetFile,

                   const QString &cubeList,

                   bool printSummary = true);

      BundleAdjust(BundleSettingsQsp bundleSettings,

                   const QString &cnetFile,

                   const QString &cubeList,

                   const QString &lidarDataFile,

                   bool printSummary = true);

      BundleAdjust(BundleSettingsQsp bundleSettings,

                   QString &cnet,

                   SerialNumberList &snlist,
@@ -443,6 +449,8 @@ namespace Isis { 
                                                                   Contains only non-ignored

                                                                   control points from the control

                                                                   net.*/

      QString m_lidarFileName;                               //!< Input lidar point filename.

      LidarData m_lidarDataSet;                              //!< QList of lidar points.

      BundleObservationVector m_bundleObservations;          /**!< Vector of observations.

                                                                   Each observation contains one or

                                                                   more images.*/