Adjusted the WritePoint() to write the matrix values into the respected 'repeated' proto fields. (e0d00188) · Commits · aflab / astrogeology / ISIS3

isis/src/control/objs/ControlNetVersioner/ControlNetVersioner.cpp

+47 −67

Original line number	Diff line number	Diff line
		@@ -1507,41 +1507,31 @@ namespace Isis {


		// FIXME: None of Covariance matrix information is available directly from ControlPoint in the API
		// FIGURE OUT HOW TO HANDLE THE MULTIVALUE OUTPUT TO PROTOPOINT
		if (controlPoint.AprioriCovarSize()) { // DNE
		PvlKeyword matrix("AprioriCovarianceMatrix");
		matrix += toString(controlPoint.aprioricovar(0)); // DNE
		matrix += toString(controlPoint.aprioricovar(1)); // DNE
		matrix += toString(controlPoint.aprioricovar(2)); // DNE
		matrix += toString(controlPoint.aprioricovar(3)); // DNE
		matrix += toString(controlPoint.aprioricovar(4)); // DNE
		matrix += toString(controlPoint.aprioricovar(5)); // DNE
		protoPoint.set_aprioricovar
		pvlPoint += matrix;

		if (pvlRadii.hasKeyword("EquatorialRadius")) {
		apriori.SetRadii(
		Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		Distance(pvlRadii["PolarRadius"],Distance::Meters));
		symmetric_matrix<double, upper> covar;
		covar.resize(3);
		covar.clear();
		covar(0, 0) = controlPoint.aprioricovar(0); // DNE
		covar(0, 1) = controlPoint.aprioricovar(1); // DNE
		covar(0, 2) = controlPoint.aprioricovar(2); // DNE
		covar(1, 1) = controlPoint.aprioricovar(3); // DNE
		covar(1, 2) = controlPoint.aprioricovar(4); // ""
		covar(2, 2) = controlPoint.aprioricovar(5); // ""
		apriori.SetRectangularMatrix(covar);
		QString sigmas = "AprioriLatitudeSigma = " +
		toString(apriori.GetLatSigmaDistance().meters()) +
		" <meters> AprioriLongitudeSigma = " +
		toString(apriori.GetLonSigmaDistance().meters()) +
		" <meters> AprioriRadiusSigma = " +
		toString(apriori.GetLocalRadiusSigma().meters()) +
		" <meters>";
		pvlPoint.findKeyword("AprioriCovarianceMatrix").addComment(sigmas);
		// Ensure this is the right way to add these values
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(0)); // DNE
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(1)); // DNE
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(2)); // DNE
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(3)); // DNE
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(4)); // DNE
		protoPoint.add_aprioricovar(controlPoint.aprioricovar(5)); // DNE

		// Does this get added to the ProtoPoint?
		// if (pvlRadii.hasKeyword("EquatorialRadius")) {
		// apriori.SetRadii(
		// Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		// Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		// Distance(pvlRadii["PolarRadius"],Distance::Meters));
		// symmetric_matrix<double, upper> covar;
		// covar.resize(3);
		// covar.clear();
		// covar(0, 0) = controlPoint.aprioricovar(0); // DNE
		// covar(0, 1) = controlPoint.aprioricovar(1); // DNE
		// covar(0, 2) = controlPoint.aprioricovar(2); // DNE
		// covar(1, 1) = controlPoint.aprioricovar(3); // DNE
		// covar(1, 2) = controlPoint.aprioricovar(4); // ""
		// covar(2, 2) = controlPoint.aprioricovar(5); // ""
		// apriori.SetRectangularMatrix(covar);
		}
		}
		}
		@@ -1558,43 +1548,33 @@ namespace Isis {

		// FIGURE OUT HOW TO DO THIS MATRIX STUFF
		if (controlPoint.AdjustedCovarSize()) { // DNE
		PvlKeyword matrix("AdjustedCovarianceMatrix");
		matrix += toString(controlPoint.AdjustedCovar(0));
		matrix += toString(controlPoint.AdjustedCovar(1));
		matrix += toString(controlPoint.AdjustedCovar(2));
		matrix += toString(controlPoint.AdjustedCovar(3));
		matrix += toString(controlPoint.AdjustedCovar(4));
		matrix += toString(controlPoint.AdjustedCovar(5));
		pvlPoint += matrix;

		if (pvlRadii.hasKeyword("EquatorialRadius")) {
		adjusted.SetRadii(
		Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		Distance(pvlRadii["PolarRadius"],Distance::Meters));
		symmetric_matrix<double, upper> covar;
		covar.resize(3);
		covar.clear();
		covar(0, 0) = controlPoint.AdjustedCovar(0);
		covar(0, 1) = controlPoint.AdjustedCovar(1);
		covar(0, 2) = controlPoint.AdjustedCovar(2);
		covar(1, 1) = controlPoint.AdjustedCovar(3);
		covar(1, 2) = controlPoint.AdjustedCovar(4);
		covar(2, 2) = controlPoint.AdjustedCovar(5);
		adjusted.SetRectangularMatrix(covar);
		QString sigmas = "AdjustedLatitudeSigma = " +
		toString(adjusted.GetLatSigmaDistance().meters()) +
		" <meters> AdjustedLongitudeSigma = " +
		toString(adjusted.GetLonSigmaDistance().meters()) +
		" <meters> AdjustedRadiusSigma = " +
		toString(adjusted.GetLocalRadiusSigma().meters()) +
		" <meters>";
		pvlPoint.findKeyword("AdjustedCovarianceMatrix").addComment(sigmas);
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(0));
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(1));
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(2));
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(3));
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(4));
		protoPoint.add_adjustedcovar(controlPoint.AdjustedCovar(5));

		// Does this get added to the ProtoPoint object?
		// if (pvlRadii.hasKeyword("EquatorialRadius")) {
		// adjusted.SetRadii(
		// Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		// Distance(pvlRadii["EquatorialRadius"],Distance::Meters),
		// Distance(pvlRadii["PolarRadius"],Distance::Meters));
		// symmetric_matrix<double, upper> covar;
		// covar.resize(3);
		// covar.clear();
		// covar(0, 0) = controlPoint.AdjustedCovar(0);
		// covar(0, 1) = controlPoint.AdjustedCovar(1);
		// covar(0, 2) = controlPoint.AdjustedCovar(2);
		// covar(1, 1) = controlPoint.AdjustedCovar(3);
		// covar(1, 2) = controlPoint.AdjustedCovar(4);
		// covar(2, 2) = controlPoint.AdjustedCovar(5);
		// adjusted.SetRectangularMatrix(covar);
		}
		}
		}


		for (int j = 0; j < controlPoint.GetNumMeasures(); j++) {

		const ControlMeasure &