Merge pull request #622 from kledmundson/LroLidar_Infrastructure (89acdef5) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/LeastSquares/LeastSquares.cpp

+0 −1

Original line number	Diff line number	Diff line
		@@ -444,7 +444,6 @@ namespace Isis {
		int LeastSquares::SolveSparse() {

		// form "normal equations" matrix by multiplying ATA
		std::cout << p_sparseA.n_rows << ", " << p_sparseA.n_cols << std::endl;
		p_normals = p_sparseA.t()*p_sparseA;

		// Create the right-hand-side column vector 'b'

isis/src/base/objs/LeastSquares/LeastSquares.h

+2 −1

Original line number	Diff line number	Diff line
		@@ -108,8 +108,9 @@ namespace Isis {
		* to reset all solution methods
		* @history 2010-11-22 Debbie A. Cook - Merged with Ken Edmundson version
		* @history 2013-12-29 Jeannie Backer - Improved error messages. Fixes #962.
		* @history 2019-09-05 Makayla Shepherd & Jesse Mapel - Changed sparse solution to use
		* @history 2018-09-05 Makayla Shepherd & Jesse Mapel - Changed sparse solution to use
		* Armadillo library's SuperLU interface instead of GMM.
		* @history 2018-11-29 Ken Edmundson - Removed output line in SolveSparse method.
		*
		*/
		class LeastSquares {

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

+6 −43

Original line number	Diff line number	Diff line
		@@ -455,22 +455,17 @@ namespace Isis {
		m_cholmodNormal = NULL;
		m_cholmodTriplet = NULL;

		// should we initialize objects m_xResiduals, m_yResiduals, m_xyResiduals
		// should we initialize objects m_xResiduals, m_yResiduals, m_xyResiduals?

		// TESTING
		// TODO: code below should go into a separate method???
		// set up BundleObservations and assign solve settings for each from BundleSettings class
		int normalsMatrixStartBlock = 0;
		for (int i = 0; i < numImages; i++) {

		Camera *camera = m_controlNet->Camera(i);
		QString observationNumber = m_serialNumberList->observationNumber(i);
		QString instrumentId = m_serialNumberList->spacecraftInstrumentId(i);
		QString serialNumber = m_serialNumberList->serialNumber(i);
		QString fileName = m_serialNumberList->fileName(i);

		// create a new BundleImage and add to new (or existing if observation mode is on)
		// BundleObservation
		// create a new BundleImage and add to new (or existing if observation mode) BundleObservation
		BundleImageQsp image = BundleImageQsp(new BundleImage(camera, serialNumber, fileName));

		if (!image) {
		@@ -486,34 +481,6 @@ namespace Isis {
		+ observationNumber + "is null." + "\n";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// the observation stores the index to its associated SparseBlockColumnMatrix in
		// m_sparseNormals
		// TODO: I (Ken E.) think the individual segments should somehow be storing the index to
		// their associated SparseBlockColumnMatrix
		observation->setNormalsMatrixStartBlock(normalsMatrixStartBlock);
		normalsMatrixStartBlock += observation->numberPolynomialSegments();

		// initialize piecewise polynomial continuity constraints for time-dependent sensors if
		// necessary
		// TODO: can we let BundleObservation handle this?
		if (observation->numberPolynomialPositionSegments() > 1
		\|\| observation->numberPolynomialPointingSegments() > 1) {

		BundlePolynomialContinuityConstraintQsp polyConstraint =
		BundlePolynomialContinuityConstraintQsp(
		new BundlePolynomialContinuityConstraint(observation));
		observation->setContinuityConstraints(polyConstraint);
		}
		}

		// initialize exterior orientation (spice) for all BundleImages in all BundleObservations
		// TODO!!! - should these initializations just be done when we add the new observation above?
		m_bundleObservations.initializeExteriorOrientation();


		if (m_bundleSettings->solveTargetBody()) {
		m_bundleObservations.setBodyRotation();
		}

		// set up vector of BundleControlPoints
		@@ -550,8 +517,7 @@ namespace Isis {
		if (m_lidarDataSet) {
		numLidarPoints = m_lidarDataSet->points().size();
		}
		for (int i =
		0; i < numLidarPoints; i++) {
		for (int i = 0; i < numLidarPoints; i++) {
		LidarControlPointQsp lidarPoint = m_lidarDataSet->points().at(i);
		if (lidarPoint->IsIgnored()) {
		continue;
		@@ -770,6 +736,8 @@ namespace Isis {
		}

		for (int i = 0; i < m_bundleObservations.size(); i++) {
		m_bundleObservations.at(i)->setNormalsMatrixStartBlock(blockColumn);

		int positionParameters =
		m_bundleObservations.at(i)->numberPositionParametersPerSegment();

		@@ -2433,13 +2401,8 @@ namespace Isis {
		// time dependent sensors.
		if (m_iteration == 1) {
		measure.setPolySegmentIndices();
		if (m_bundleSettings->solveTargetBody()) {
		measure.setNormalsBlockIndices(1);
		}
		else {
		measure.setNormalsBlockIndices();
		}
		}

		// Compute the look vector in instrument coordinates based on time of observation and apriori
		// lat/lon/radius

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

+2 −0

Original line number	Diff line number	Diff line
		@@ -349,6 +349,8 @@ namespace Isis {
		* which have been replaced with the local radius of a control
		* point for converting point sigmas to/from radians from/to meters.
		* References #4649 and #501.
		* @history 2018-11-29 Ken Edmundson - Modifed init, initializeNormalEquationsMatrix, and
		* computePartials methods.
		*/
		class BundleAdjust : public QObject {
		Q_OBJECT

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

+8 −8

Original line number	Diff line number	Diff line
		@@ -153,7 +153,7 @@ namespace Isis {
		* @throws IException::Programmer "In BundleMeasure::setNormalsBlockIndices:
		* parent observation has not been set."
		*/
		void BundleMeasure::setNormalsBlockIndices(int solveTargetBody) {
		void BundleMeasure::setNormalsBlockIndices() {
		if (!m_parentObservation) {
		QString msg = "In BundleMeasure::setNormalsBlockIndices: "
		"parent observation has not been set.\n";
		@@ -171,18 +171,18 @@ namespace Isis {
		BundleObservationSolveSettings::AnglesOnly) ? true : false;

		if (solveForPosition) {
		setNormalsPositionBlockIndex(normalsStartBlock + m_polyPositionSegmentIndex +
		solveTargetBody);
		int normalsPositionBlockIndex = normalsStartBlock + m_polyPositionSegmentIndex;
		setNormalsPositionBlockIndex(normalsPositionBlockIndex);

		if (solveForPointing) {
		setNormalsPointingBlockIndex(normalsStartBlock +
		int normalsPointingBlockIndex = normalsStartBlock +
		m_parentObservation->numberPolynomialPositionSegments() +
		m_polyPointingSegmentIndex + solveTargetBody);
		m_polyPointingSegmentIndex;
		setNormalsPointingBlockIndex(normalsPointingBlockIndex);
		}
		}
		else if (solveForPointing) {
		setNormalsPointingBlockIndex(normalsStartBlock + m_polyPointingSegmentIndex +
		solveTargetBody);
		setNormalsPointingBlockIndex(normalsStartBlock + m_polyPointingSegmentIndex);
		}
		}