Merging ipce into ipceDocks (904be249) · Commits · aflab / astrogeology / ISIS3

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

+24 −8

Original line number	Diff line number	Diff line
		@@ -359,7 +359,7 @@ namespace Isis {
		* @todo answer comments with questions, TODO, ???, and !!!
		*/
		void BundleAdjust::init(Progress *progress) {

		emit(statusUpdate("Initialization"));
		m_previousNumberImagePartials = 0;

		// initialize
		@@ -710,6 +710,7 @@ namespace Isis {
		* mode. Fixes #4483.
		*/
		bool BundleAdjust::solveCholesky() {
		emit(statusBarUpdate("Solving"));
		try {

		// throw error if a frame camera is included AND
		@@ -766,7 +767,7 @@ namespace Isis {

		for (;;) {

		emit iterationUpdate(m_iteration, m_bundleResults.sigma0());
		emit iterationUpdate(m_iteration);

		// testing
		if (m_abort) {
		@@ -870,7 +871,7 @@ namespace Isis {
		.arg(m_bundleResults.numberUnknownParameters()));
		emit statusUpdate(QString("Degrees of Freedom: %1 \n")
		.arg(m_bundleResults.degreesOfFreedom()));
		emit iterationUpdate(m_iteration, m_bundleResults.sigma0());
		emit iterationUpdate(m_iteration);

		// check for convergence
		if (m_bundleSettings->convergenceCriteria() == BundleSettings::Sigma0) {
		@@ -896,6 +897,7 @@ namespace Isis {
		else { // otherwise iterations are complete
		m_bundleResults.setConverged(true);
		emit statusUpdate("Bundle has converged\n");
		emit statusBarUpdate("Converged");
		break;
		}
		}
		@@ -915,6 +917,7 @@ namespace Isis {
		if ( numConvergedParams == numImgParams ) {
		m_bundleResults.setConverged(true);
		emit statusUpdate("Bundle has converged\n");
		emit statusBarUpdate("Converged");
		break;
		}
		}
		@@ -931,6 +934,7 @@ namespace Isis {

		// check for maximum iterations
		if (m_iteration >= m_bundleSettings->convergenceCriteriaMaximumIterations()) {
		emit(statusBarUpdate("Max Iterations Reached"));
		break;
		}

		@@ -987,6 +991,7 @@ namespace Isis {
		catch (IException &e) {
		m_bundleResults.setConverged(false);
		emit statusUpdate("\n aborting...");
		emit statusBarUpdate("Failed to Converge");
		emit finished();
		QString msg = "Could not solve bundle adjust.";
		throw IException(e, e.errorType(), msg, _FILEINFO_);
		@@ -1027,6 +1032,7 @@ namespace Isis {
		* @see BundleAdjust::formWeightedNormals
		*/
		bool BundleAdjust::formNormalEquations() {
		emit(statusBarUpdate("Forming Normal Equations"));
		bool status = false;

		m_bundleResults.setNumberObservations(0);// ???
		@@ -1072,7 +1078,7 @@ namespace Isis {
		outputBundleStatus("\n\n");

		for (int i = 0; i < num3DPoints; i++) {

		emit(pointUpdate(i+1));
		BundleControlPointQsp point = m_bundleControlPoints.at(i);

		if (point->isRejected()) {
		@@ -2137,7 +2143,7 @@ namespace Isis {
		* apply parameter corrections for solution.
		*/
		void BundleAdjust::applyParameterCorrections() {

		emit(statusBarUpdate("Updating Parameters"));
		int t = 0;

		// TODO - update target body parameters if in solution
		@@ -2272,6 +2278,7 @@ namespace Isis {
		* image sample and line residuals.
		*/
		double BundleAdjust::computeResiduals() {
		emit(statusBarUpdate("Computing Residuals"));
		double vtpv = 0.0;
		double vtpvControl = 0.0;
		double vtpvImage = 0.0;
		@@ -2680,7 +2687,7 @@ namespace Isis {
		* Blocking and Filling point covariance messages. References #4463.
		*/
		bool BundleAdjust::errorPropagation() {

		emit(statusBarUpdate("Error Propagation"));
		// free unneeded memory
		cholmod_free_triplet(&m_cholmodTriplet, &m_cholmodCommon);
		cholmod_free_sparse(&m_cholmodNormal, &m_cholmodCommon);
		@@ -2830,7 +2837,7 @@ namespace Isis {
		// now loop over all object points to sum contributions into 3x3 point covariance matrix
		int pointIndex = 0;
		for (j = 0; j < numObjectPoints; j++) {

		emit(pointUpdate(j+1));
		BundleControlPointQsp point = m_bundleControlPoints.at(pointIndex);
		if ( point->isRejected() ) {
		continue;
		@@ -2847,7 +2854,6 @@ namespace Isis {
		status.append(" of ");
		status.append(QString::number(numObjectPoints));
		outputBundleStatus(status);
		emit iterationUpdate(i+1, j+1);
		}

		// get corresponding Q matrix
		@@ -3144,6 +3150,16 @@ namespace Isis {
		}


		/**
		* Returns if the BundleAdjust has been aborted.
		*
		* @return @b bool If the BundleAdjust was aborted.
		*/
		bool BundleAdjust::isAborted() {
		return m_abort;
		}


		/**
		* Returns the iteration summary string.
		*

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

+6 −1

Original line number	Diff line number	Diff line
		@@ -292,6 +292,8 @@ namespace Isis {
		* constructor in the BundleSolutionInfo class because it is derived
		* from QObject. Note that we ultimately want to return a QSharedPointer
		* instead of a raw pointer.
		* @history 2018-06-14 Christopher Combs - Added getter method to tell if a bundle adjust was
		* aborted. Added emits for status updates to the run widget.
		* @history 2018-06-18 Makayla Shepherd - Stopped command line output for ipce BundleAdjust.
		* Fixes #4171.
		*/
		@@ -326,6 +328,7 @@ namespace Isis {
		BundleSolutionInfo* solveCholeskyBR();

		QList<ImageList *> imageLists();
		bool isAborted();

		public slots:
		bool solveCholesky();
		@@ -347,7 +350,9 @@ namespace Isis {
		signals:
		void statusUpdate(QString);
		void error(QString);
		void iterationUpdate(int, double);
		void iterationUpdate(int);
		void pointUpdate(int);
		void statusBarUpdate(QString);
		void resultsReady(BundleSolutionInfo *bundleSolveInformation);
		void finished();

isis/src/control/objs/BundleSettings/BundleSettings.cpp

+20 −6

Original line number	Diff line number	Diff line
		@@ -51,7 +51,7 @@ namespace Isis {
		m_createInverseMatrix = false;

		m_outlierRejection = false;
		m_outlierRejectionMultiplier = 1.0;
		m_outlierRejectionMultiplier = 3.0;

		// Parameter Uncertainties (Weighting)
		m_globalLatitudeAprioriSigma = Isis::Null;
		@@ -271,7 +271,7 @@ namespace Isis {
		m_outlierRejectionMultiplier = multiplier;
		}
		else {
		m_outlierRejectionMultiplier = 1.0;
		m_outlierRejectionMultiplier = 3.0;
		}
		}

		@@ -450,14 +450,17 @@ namespace Isis {
		BundleObservationSolveSettings
		BundleSettings::observationSolveSettings(QString observationNumber) const {

		BundleObservationSolveSettings defaultSolveSettings;

		for (int i = 0; i < numberSolveSettings(); i++) {
		if (m_observationSolveSettings[i].observationNumbers().contains(observationNumber)) {
		return m_observationSolveSettings[i];
		}
		}
		QString msg = "Unable to find BundleObservationSolveSettings for observation number ["
		+ observationNumber + "].";
		throw IException(IException::Unknown, msg, _FILEINFO_);
		return defaultSolveSettings;
		//QString msg = "Unable to find BundleObservationSolveSettings for observation number ["
		// + observationNumber + "].";
		// throw IException(IException::Unknown, msg, _FILEINFO_);
		}


		@@ -484,6 +487,17 @@ namespace Isis {
		}


		/**
		* Retrieves solve settings for the observation corresponding to the given index.
		*
		* @return QList<BundleObservationSolveSettings> The QList of BundleObservationSolveSettings
		* objects
		*/
		QList<BundleObservationSolveSettings> BundleSettings::observationSolveSettings() const {
		return m_observationSolveSettings;
		}


		// =============================================================================================//
		// ======================== Convergence Criteria ===============================================//
		// =============================================================================================//
		@@ -1154,7 +1168,7 @@ namespace Isis {
		= toDouble(outlierRejectionMultiplierStr);
		}
		else {
		m_xmlHandlerBundleSettings->m_outlierRejectionMultiplier = 1.0;
		m_xmlHandlerBundleSettings->m_outlierRejectionMultiplier = 3.0;
		}
		}
		}

isis/src/control/objs/BundleSettings/BundleSettings.h

+3 −0

Original line number	Diff line number	Diff line
		@@ -106,6 +106,8 @@ namespace Isis {
		* is for creating and displaying the correlation matrix, which is
		* currently not working.
		* 2) commented out hdf5 header includes in cpp
		* @history 2018-06-28 Christopher Combs - Added observationSolveSettings() method to retrieve
		* m_observationSolveSettings. Fixes #497.
		*
		* @todo Determine which XmlStackedHandlerReader constructor is preferred
		* @todo Determine which XmlStackedHandler needs a Project pointer (see constructors)
		@@ -175,6 +177,7 @@ namespace Isis {
		int numberSolveSettings() const;
		BundleObservationSolveSettings observationSolveSettings(QString instrumentId) const;
		BundleObservationSolveSettings observationSolveSettings(int n) const;
		QList<BundleObservationSolveSettings> observationSolveSettings() const;


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

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

+33 −4

Original line number	Diff line number	Diff line
		@@ -259,6 +259,19 @@ namespace Isis {
		}


		/**
		* Removes an observation number from this solve settings. The observation is no longer
		* associated with this solve settings.
		*
		* @param QString observationNumber The observation number to remove from this solve settings.
		* @return bool Returns true if the observation number passed was actually removed; otherwise
		* returns false.
		*/
		bool BundleObservationSolveSettings::removeObservationNumber(QString observationNumber) {
		return m_observationNumbers.remove(observationNumber);
		}


		/**
		* Returns a list of observation numbers associated with these solve settings.
		*
		@@ -368,7 +381,7 @@ namespace Isis {
		bool solvePolynomialOverExisting,
		double anglesAprioriSigma,
		double angularVelocityAprioriSigma,
		double angularAccelerationAprioriSigma) {
		double angularAccelerationAprioriSigma,QList<double> * additionalPointingSigmas) {

		// automatically set the solve option and ck degree to the user entered values
		m_instrumentPointingSolveOption = option;
		@@ -421,6 +434,16 @@ namespace Isis {
		}
		}

		if (additionalPointingSigmas) {
		for (int i=0;i < additionalPointingSigmas->count();i++) {
		m_anglesAprioriSigma.append(additionalPointingSigmas->value(i));
		}
		}





		m_solveTwist = solveTwist; // dependent on solve option???

		// Set the SpiceRotation interpolation type enum appropriately
		@@ -609,14 +632,14 @@ namespace Isis {
		* @param velocityAprioriSigma A priori velocity sigma
		* @param accelerationAprioriSigma A priori acceleration sigma
		*/
		void BundleObservationSolveSettings::setInstrumentPositionSettings(
		InstrumentPositionSolveOption option,
		void BundleObservationSolveSettings::setInstrumentPositionSettings(InstrumentPositionSolveOption option,
		int spkDegree,
		int spkSolveDegree,
		bool positionOverHermite,
		double positionAprioriSigma,
		double velocityAprioriSigma,
		double accelerationAprioriSigma) {
		double accelerationAprioriSigma,
		QList<double> *additionalPositionSigmas) {
		// automatically set the solve option and spk degree to the user entered values
		m_instrumentPositionSolveOption = option;

		@@ -667,6 +690,12 @@ namespace Isis {
		}
		}

		if (additionalPositionSigmas) {
		for (int i=0;i < additionalPositionSigmas->count();i++) {
		m_positionAprioriSigma.append(additionalPositionSigmas->value(i));
		}
		}

		// Set the SpicePosition interpolation type enum appropriately
		m_solvePositionOverHermiteSpline = positionOverHermite;
		if (m_solvePositionOverHermiteSpline) {