Commit e5316d0a authored by Ian Humphrey's avatar Ian Humphrey
Browse files

Replaced ControlPoints and ControlMeasures in BundleAdjust with... 

Replaced ControlPoints and ControlMeasures in BundleAdjust with BundleControlPoints and BundleMeasures, respectively. Updated BundleControlPoint, BundleMeasure, and BundleUtilities unit test accordingly. Fixes #4173, #4201.

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/ipce@7002 41f8697f-d340-4b68-9986-7bafba869bb8
parent 6f212aca

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

+121 −163
Original line number Diff line number Diff line
@@ -607,26 +607,26 @@ namespace Isis { 
      if (m_bundleTargetBody && m_bundleTargetBody->solveMeanRadius()) {

        int nControlPoints = m_bundleControlPoints.size();

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

          ControlPoint *point = m_bundleControlPoints.at(i)->rawControlPoint();

          SurfacePoint surfacepoint = point->GetAdjustedSurfacePoint();

          BundleControlPointQsp point = m_bundleControlPoints.at(i);

          SurfacePoint surfacepoint = point->adjustedSurfacePoint();



          surfacepoint.ResetLocalRadius(m_bundleTargetBody->meanRadius());



          point->SetAdjustedSurfacePoint(surfacepoint);

          point->setAdjustedSurfacePoint(surfacepoint);

        }

      }



      if (m_bundleTargetBody && m_bundleTargetBody->solveTriaxialRadii()) {

        int nControlPoints = m_bundleControlPoints.size();

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

          ControlPoint *point = m_bundleControlPoints.at(i)->rawControlPoint();

          SurfacePoint surfacepoint = point->GetAdjustedSurfacePoint();

          BundleControlPointQsp point = m_bundleControlPoints.at(i);

          SurfacePoint surfacepoint = point->adjustedSurfacePoint();



          Distance localRadius = m_bundleTargetBody->localRadius(surfacepoint.GetLatitude(),

                                                                 surfacepoint.GetLongitude());

          surfacepoint.ResetLocalRadius(localRadius);



          point->SetAdjustedSurfacePoint(surfacepoint);

          point->setAdjustedSurfacePoint(surfacepoint);

        }

      }
@@ -3249,27 +3249,23 @@ namespace Isis { 


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



      BundleControlPointQsp bundleControlPoint = m_bundleControlPoints.at(i);

      ControlPoint* point = bundleControlPoint->rawControlPoint();

      BundleControlPointQsp point = m_bundleControlPoints.at(i);



      point->ComputeResiduals();

      point->computeResiduals();



      int nMeasures = point->GetNumMeasures();

      int nMeasures = point->numberMeasures();

      for (int j = 0; j < nMeasures; j++) {

        const ControlMeasure *measure = point->GetMeasure(j);

        if (measure->IsIgnored()) {

          continue;

        }

        const BundleMeasure *measure = point->at(j);



        dWeight = 1.4 * (measure->Camera())->PixelPitch();

        dWeight = 1.4 * (measure->camera())->PixelPitch();

        dWeight = 1.0 / dWeight;

        dWeight *= dWeight;



        vx = measure->GetFocalPlaneMeasuredX() - measure->GetFocalPlaneComputedX();

        vy = measure->GetFocalPlaneMeasuredY() - measure->GetFocalPlaneComputedY();

        vx = measure->focalPlaneMeasuredX() - measure->focalPlaneComputedX();

        vy = measure->focalPlaneMeasuredY() - measure->focalPlaneComputedY();



        // if rejected, don't include in statistics

        if (measure->IsRejected()) {

        if (measure->isRejected()) {

          continue;

        }
@@ -3359,15 +3355,11 @@ namespace Isis { 
    // compute residuals in pixels



    // vtpv for image coordinates

    int nObjectPoints = m_pCnet->GetNumPoints();

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

      ControlPoint *point = m_pCnet->GetPoint(i);

      if (point->IsIgnored()) {

        continue;

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

      BundleControlPointQsp point = m_bundleControlPoints.at(i);

      point->computeResiduals();

    }



      point->ComputeResiduals();

    }

    computeBundleStatistics();

//     m_bundleResults.computeBundleStatistics(m_pSnList, m_pCnet, m_bundleSettings->errorPropagation(), m_bundleSettings->solveRadius());
@@ -3395,32 +3387,26 @@ namespace Isis { 


      // load magnitude (squared) of residual vector

      int nObservation = 0;

      int nObjectPoints = m_pCnet->GetNumPoints();

      int nObjectPoints = m_bundleControlPoints.size();

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



          const ControlPoint *point = m_pCnet->GetPoint(i);

          if ( point->IsIgnored() ) {

            continue;

          }

          const BundleControlPointQsp point = m_bundleControlPoints.at(i);



          if ( point->IsRejected() ) {

          if ( point->isRejected() ) {

            continue;

          }



          int nMeasures = point->GetNumMeasures();

          int nMeasures = point->numberMeasures();

          for (int j = 0; j < nMeasures; j++) {



              const ControlMeasure *measure = point->GetMeasure(j);

              if ( measure->IsIgnored() ) {

                  continue;

              }

              const BundleMeasure *measure = point->at(j);



              if ( measure->IsRejected() ) {

              if ( measure->isRejected() ) {

                  continue;

              }



              vx = measure->GetSampleResidual();

              vy = measure->GetLineResidual();

              vx = measure->sampleResidual();

              vy = measure->lineResidual();



              resvectors[nObservation] = sqrt(vx*vx + vy*vy);
@@ -3510,29 +3496,23 @@ namespace Isis { 


    int nComingBack = 0;



    int nObjectPoints = m_pCnet->GetNumPoints();

    int nObjectPoints = m_bundleControlPoints.size();

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

      ControlPoint *point = m_pCnet->GetPoint(i);

      if ( point->IsIgnored() ) {

        continue;

      }

      BundleControlPointQsp point = m_bundleControlPoints.at(i);



      point->ZeroNumberOfRejectedMeasures();

      point->zeroNumberOfRejectedMeasures();



      nRejected = 0;

      nIndexMaxResidual = -1;

      dMaxResidual = -1.0;



      int nMeasures = point->GetNumMeasures();

      int nMeasures = point->numberMeasures();

      for (int j = 0; j < nMeasures; j++) {



          ControlMeasure *measure = point->GetMeasure(j);

          if ( measure->IsIgnored() ) {

              continue;

          }

          BundleMeasure *measure = point->at(j);



          vx = measure->GetSampleResidual();

          vy = measure->GetLineResidual();

          vx = measure->sampleResidual();

          vy = measure->lineResidual();



          dSumSquares = sqrt(vx*vx + vy*vy);
@@ -3540,18 +3520,18 @@ namespace Isis { 
          if ( dSumSquares <= dUsedRejectionLimit ) {



            // was it previously rejected?

            if ( measure->IsRejected() ) {

                  printf("Coming back in: %s\r",point->GetId().toLatin1().data());

            if ( measure->isRejected() ) {

                  printf("Coming back in: %s\r",point->id().toLatin1().data());

                  nComingBack++;

                  m_pCnet->DecrementNumberOfRejectedMeasuresInImage(measure->GetCubeSerialNumber());

                  m_pCnet->DecrementNumberOfRejectedMeasuresInImage(measure->cubeSerialNumber());

              }



              measure->SetRejected(false);

              measure->setRejected(false);

              continue;

          }



          // if it's still rejected, skip it

          if ( measure->IsRejected() ) {

          if ( measure->isRejected() ) {

              nRejected++;

              ntotalrejected++;

              continue;
@@ -3565,14 +3545,14 @@ namespace Isis { 


      // no observations above the current rejection limit for this 3D point

      if ( dMaxResidual == -1.0 || dMaxResidual <= dUsedRejectionLimit ) {

          point->SetNumberOfRejectedMeasures(nRejected);

          point->setNumberOfRejectedMeasures(nRejected);

          continue;

      }



      // this is another kluge - if we only have two observations

      // we won't reject (for now)

      if ((nMeasures - (nRejected + 1)) < 2) {

          point->SetNumberOfRejectedMeasures(nRejected);

          point->setNumberOfRejectedMeasures(nRejected);

          continue;

      }
@@ -3580,20 +3560,20 @@ namespace Isis { 
      // for this point whose residual is above the

      // current rejection limit - we'll flag the

      // worst of these as rejected

      ControlMeasure *rejected = point->GetMeasure(nIndexMaxResidual);

      rejected->SetRejected(true);

      BundleMeasure *rejected = point->at(nIndexMaxResidual);

      rejected->setRejected(true);

      nRejected++;

      point->SetNumberOfRejectedMeasures(nRejected);

      m_pCnet->IncrementNumberOfRejectedMeasuresInImage(rejected->GetCubeSerialNumber());

      point->setNumberOfRejectedMeasures(nRejected);

      m_pCnet->IncrementNumberOfRejectedMeasuresInImage(rejected->cubeSerialNumber());

      ntotalrejected++;



      // do we still have sufficient remaining observations for this 3D point?

      if ( ( nMeasures-nRejected ) < 2 ) {

          point->SetRejected(true);

          printf("Rejecting Entire Point: %s\r",point->GetId().toLatin1().data());

          point->setRejected(true);

          printf("Rejecting Entire Point: %s\r",point->id().toLatin1().data());

      }

      else

          point->SetRejected(false);

          point->setRejected(false);



//      int ndummy = point->GetNumberOfRejectedMeasures();

//      printf("Rejected for point %s = %d\n", point->GetId().toLatin1().data(), ndummy);
@@ -3644,13 +3624,11 @@ namespace Isis { 
    double dSigma02 = m_bundleResults.sigma0() * m_bundleResults.sigma0();



    int nPointIndex = 0;

    int nObjectPoints = m_pCnet->GetNumPoints();

    int nObjectPoints = m_bundleControlPoints.size();

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

      ControlPoint *point = m_pCnet->GetPoint(i);

        if ( point->IsIgnored() )

            continue;

      BundleControlPointQsp point = m_bundleControlPoints.at(i);



        if ( point->IsRejected() )

        if ( point->isRejected() )

            continue;



        printf("\rProcessing point %d of %d",i+1,nObjectPoints);
@@ -3669,7 +3647,7 @@ namespace Isis { 


        // Ask Ken what is happening here...Setting just the sigmas is not very accurate

        // Shouldn't we be updating and setting the matrix???  TODO

        SurfacePoint SurfacePoint = point->GetAdjustedSurfacePoint();

        SurfacePoint SurfacePoint = point->adjustedSurfacePoint();



        dSigmaLat = SurfacePoint.GetLatSigma().radians();

        dSigmaLong = SurfacePoint.GetLonSigma().radians();
@@ -3687,7 +3665,7 @@ namespace Isis { 
        t = dSigmaLong*dSigmaLong + T(1, 1);

        t = sqrt(dSigma02 * t) * m_dRTM;

        Distance tLonSig(

            t * cos(point->GetAdjustedSurfacePoint().GetLatitude().radians()),

            t * cos(point->adjustedSurfacePoint().GetLatitude().radians()),

            Distance::Meters);



        t = dSigmaRadius*dSigmaRadius + T(2, 2);
@@ -3696,7 +3674,7 @@ namespace Isis { 
        SurfacePoint.SetSphericalSigmasDistance(tLatSig, tLonSig,

            Distance(t, Distance::Meters));



        point->SetAdjustedSurfacePoint(SurfacePoint);

        point->setAdjustedSurfacePoint(SurfacePoint);



       nPointIndex++;

    }
@@ -4840,41 +4818,39 @@ namespace Isis { 
    fp_out << buf;



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

      BundleControlPointQsp bundlecontrolpoint = m_bundleControlPoints.at(i);



      const ControlPoint *point = bundlecontrolpoint->rawControlPoint();

      BundleControlPointQsp point = m_bundleControlPoints.at(i);



      if (!point) {

        continue;

      }



      if (point->IsRejected()) {

      if (point->isRejected()) {

        continue;

      }



      dLat = point->GetAdjustedSurfacePoint().GetLatitude().degrees();

      dLon = point->GetAdjustedSurfacePoint().GetLongitude().degrees();

      dRadius = point->GetAdjustedSurfacePoint().GetLocalRadius().kilometers();

      dX = point->GetAdjustedSurfacePoint().GetX().kilometers();

      dY = point->GetAdjustedSurfacePoint().GetY().kilometers();

      dZ = point->GetAdjustedSurfacePoint().GetZ().kilometers();

      nMeasures = point->GetNumMeasures();

      nRejectedMeasures = point->GetNumberOfRejectedMeasures();

      dResidualRms = point->GetResidualRms();

      dLat = point->adjustedSurfacePoint().GetLatitude().degrees();

      dLon = point->adjustedSurfacePoint().GetLongitude().degrees();

      dRadius = point->adjustedSurfacePoint().GetLocalRadius().kilometers();

      dX = point->adjustedSurfacePoint().GetX().kilometers();

      dY = point->adjustedSurfacePoint().GetY().kilometers();

      dZ = point->adjustedSurfacePoint().GetZ().kilometers();

      nMeasures = point->numberMeasures();

      nRejectedMeasures = point->numberOfRejectedMeasures();

      dResidualRms = point->residualRms();



      // point corrections and initial sigmas

      boost::numeric::ublas::bounded_vector< double, 3 > corrections = bundlecontrolpoint->corrections();

      boost::numeric::ublas::bounded_vector< double, 3 > corrections = point->corrections();

      cor_lat_m = corrections[0]*m_dRTM;

      cor_lon_m = corrections[1]*m_dRTM*cos(dLat*Isis::DEG2RAD);

      cor_rad_m  = corrections[2]*1000.0;



      if (point->GetType() == ControlPoint::Fixed) {

      if (point->type() == ControlPoint::Fixed) {

        strStatus = "FIXED";

      }

      else if (point->GetType() == ControlPoint::Constrained) {

      else if (point->type() == ControlPoint::Constrained) {

        strStatus = "CONSTRAINED";

      }

      else if (point->GetType() == ControlPoint::Free) {

      else if (point->type() == ControlPoint::Free) {

        strStatus = "FREE";

      }

      else {
@@ -4882,20 +4858,20 @@ namespace Isis { 
      }



      if (m_bundleSettings->errorPropagation()) {

        dSigmaLat = point->GetAdjustedSurfacePoint().GetLatSigmaDistance().meters();

        dSigmaLong = point->GetAdjustedSurfacePoint().GetLonSigmaDistance().meters();

        dSigmaRadius = point->GetAdjustedSurfacePoint().GetLocalRadiusSigma().meters();

        dSigmaLat = point->adjustedSurfacePoint().GetLatSigmaDistance().meters();

        dSigmaLong = point->adjustedSurfacePoint().GetLonSigmaDistance().meters();

        dSigmaRadius = point->adjustedSurfacePoint().GetLocalRadiusSigma().meters();



        sprintf(buf, "%s,%s,%d,%d,%6.2lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,"

                     "%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf\n",

                point->GetId().toLatin1().data(), strStatus.toLatin1().data(), nMeasures,

                point->id().toLatin1().data(), strStatus.toLatin1().data(), nMeasures,

                nRejectedMeasures, dResidualRms, dLat, dLon, dRadius, dSigmaLat, dSigmaLong,

                dSigmaRadius, cor_lat_m, cor_lon_m, cor_rad_m, dX, dY, dZ);

      }

      else

        sprintf(buf, "%s,%s,%d,%d,%6.2lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,"

                     "%16.8lf,%16.8lf\n",

                point->GetId().toLatin1().data(), strStatus.toLatin1().data(), nMeasures,

                point->id().toLatin1().data(), strStatus.toLatin1().data(), nMeasures,

                nRejectedMeasures, dResidualRms, dLat, dLon, dRadius, cor_lat_m, cor_lon_m,

                cor_rad_m, dX, dY, dZ);
@@ -4937,53 +4913,47 @@ namespace Isis { 


    // printf("output residuals!!!\n");



    int nObjectPoints = m_pCnet->GetNumPoints();

    int nObjectPoints = m_bundleControlPoints.size();

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

      const ControlPoint *point = m_pCnet->GetPoint(i);

      if (point->IsIgnored()) {

        continue;

      }

      const BundleControlPointQsp point = m_bundleControlPoints.at(i);



      int nObservations = point->GetNumMeasures();

      int nObservations = point->numberMeasures();

      for (int j = 0; j < nObservations; j++) {

        const ControlMeasure *measure = point->GetMeasure(j);

        if (measure->IsIgnored()) {

          continue;

        }

        const BundleMeasure *measure = point->at(j);



        Camera *pCamera = measure->Camera();

        Camera *pCamera = measure->camera();

        if (!pCamera) {

          continue;

        }



        // Determine the image index

        nImageIndex = m_pSnList->serialNumberIndex(measure->GetCubeSerialNumber());

        nImageIndex = m_pSnList->serialNumberIndex(measure->cubeSerialNumber());



        if (measure->IsRejected()) {

        if (measure->isRejected()) {

          sprintf(buf, "%s,%s,%s,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,*\n",

                  point->GetId().toLatin1().data(),

                  point->id().toLatin1().data(),

                  m_pSnList->fileName(nImageIndex).toLatin1().data(),

                  m_pSnList->serialNumber(nImageIndex).toLatin1().data(),

                  measure->GetFocalPlaneMeasuredX(),

                  measure->GetFocalPlaneMeasuredY(),

                  measure->GetSample(),

                  measure->GetLine(),

                  measure->GetSampleResidual(),

                  measure->GetLineResidual(),

                  measure->GetResidualMagnitude());

                  measure->focalPlaneMeasuredX(),

                  measure->focalPlaneMeasuredY(),

                  measure->sample(),

                  measure->line(),

                  measure->sampleResidual(),

                  measure->lineResidual(),

                  measure->residualMagnitude());

        }

        else {

          sprintf(buf, "%s,%s,%s,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf,%16.8lf\n",

                  point->GetId().toLatin1().data(),

                  point->id().toLatin1().data(),

                  m_pSnList->fileName(nImageIndex).toLatin1().data(),

                  m_pSnList->serialNumber(nImageIndex).toLatin1().data(),

                  measure->GetFocalPlaneMeasuredX(),

                  measure->GetFocalPlaneMeasuredY(),

                  measure->GetSample(),

                  measure->GetLine(),

                  measure->GetSampleResidual(),

                  measure->GetLineResidual(),

                  measure->GetResidualMagnitude());

                  measure->focalPlaneMeasuredX(),

                  measure->focalPlaneMeasuredY(),

                  measure->sample(),

                  measure->line(),

                  measure->sampleResidual(),

                  measure->lineResidual(),

                  measure->residualMagnitude());

        }

        fp_out << buf;

      }
@@ -5668,35 +5638,29 @@ namespace Isis { 
    QVector<Statistics> rmsImageLineResiduals(numberImages);

    QVector<Statistics> rmsImageResiduals(numberImages);



    int numObjectPoints = m_pCnet->GetNumPoints();

    int numObjectPoints = m_bundleControlPoints.size();

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



      const ControlPoint *point = m_pCnet->GetPoint(i);

      if (point->IsIgnored()) {

        continue;

      }

      const BundleControlPointQsp point = m_bundleControlPoints.at(i);



      if (point->IsRejected()) {

      if (point->isRejected()) {

        continue;

      }



      int numMeasures = point->GetNumMeasures();

      int numMeasures = point->numberMeasures();

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



        const ControlMeasure *measure = point->GetMeasure(j);

        if (measure->IsIgnored()) {

          continue;

        }

        const BundleMeasure *measure = point->at(j);



        if (measure->IsRejected()) {

        if (measure->isRejected()) {

          continue;

        }



        double sampleResidual = fabs(measure->GetSampleResidual());

        double lineResidual = fabs(measure->GetLineResidual());

        double sampleResidual = fabs(measure->sampleResidual());

        double lineResidual = fabs(measure->lineResidual());



        // Determine the index for this measure's serial number

        int imageIndex = m_pSnList->serialNumberIndex(measure->GetCubeSerialNumber());

        int imageIndex = m_pSnList->serialNumberIndex(measure->cubeSerialNumber());



        // add residual data to the statistics object at the appropriate serial number index

        rmsImageSampleResiduals[imageIndex].AddData(sampleResidual);
@@ -5735,28 +5699,25 @@ namespace Isis { 


      Distance sigmaLatDist, sigmaLonDist, sigmaRadDist;



      int nPoints = m_pCnet->GetNumPoints();

      int nPoints = m_bundleControlPoints.size();

      // initialize max and min values to those from first valid point

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



        const ControlPoint *point = m_pCnet->GetPoint(i);

        if (point->IsIgnored()) {

          continue;

        }

        const BundleControlPointQsp point = m_bundleControlPoints.at(i);



        maxSigmaLatDist = point->GetAdjustedSurfacePoint().GetLatSigmaDistance();;

        maxSigmaLatDist = point->adjustedSurfacePoint().GetLatSigmaDistance();;

        minSigmaLatDist = maxSigmaLatDist;



        maxSigmaLonDist = point->GetAdjustedSurfacePoint().GetLonSigmaDistance();;

        maxSigmaLonDist = point->adjustedSurfacePoint().GetLonSigmaDistance();;

        minSigmaLonDist = maxSigmaLonDist;



        maxSigmaLatPointId = point->GetId();

        maxSigmaLatPointId = point->id();

        maxSigmaLonPointId = maxSigmaLatPointId;

        minSigmaLatPointId = maxSigmaLatPointId;

        minSigmaLonPointId = maxSigmaLatPointId;



        if (m_bundleSettings->solveRadius()) {

          maxSigmaRadDist = point->GetAdjustedSurfacePoint().GetLocalRadiusSigma();

          maxSigmaRadDist = point->adjustedSurfacePoint().GetLocalRadiusSigma();

          minSigmaRadDist = maxSigmaRadDist;



          maxSigmaRadPointId = maxSigmaLatPointId;
@@ -5767,14 +5728,11 @@ namespace Isis { 


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



        const ControlPoint *point = m_pCnet->GetPoint(i);

        if (point->IsIgnored()) {

          continue;

        }

        const BundleControlPointQsp point = m_bundleControlPoints.at(i);



        sigmaLatDist = point->GetAdjustedSurfacePoint().GetLatSigmaDistance();

        sigmaLonDist = point->GetAdjustedSurfacePoint().GetLonSigmaDistance();

        sigmaRadDist = point->GetAdjustedSurfacePoint().GetLocalRadiusSigma();

        sigmaLatDist = point->adjustedSurfacePoint().GetLatSigmaDistance();

        sigmaLonDist = point->adjustedSurfacePoint().GetLonSigmaDistance();

        sigmaRadDist = point->adjustedSurfacePoint().GetLocalRadiusSigma();



        sigmaLatStats.AddData(sigmaLatDist.meters());

        sigmaLonStats.AddData(sigmaLonDist.meters());
@@ -5782,30 +5740,30 @@ namespace Isis { 


        if (sigmaLatDist > maxSigmaLatDist) {

          maxSigmaLatDist = sigmaLatDist;

          maxSigmaLatPointId = point->GetId();

          maxSigmaLatPointId = point->id();

        }

        if (sigmaLonDist > maxSigmaLonDist) {

          maxSigmaLonDist = sigmaLonDist;

          maxSigmaLonPointId = point->GetId();

          maxSigmaLonPointId = point->id();

        }

        if (m_bundleSettings->solveRadius()) {

          if (sigmaRadDist > maxSigmaRadDist) {

            maxSigmaRadDist = sigmaRadDist;

            maxSigmaRadPointId = point->GetId();

            maxSigmaRadPointId = point->id();

          }

        }

        if (sigmaLatDist < minSigmaLatDist) {

          minSigmaLatDist = sigmaLatDist;

          minSigmaLatPointId = point->GetId();

          minSigmaLatPointId = point->id();

        }

        if (sigmaLonDist < minSigmaLonDist) {

          minSigmaLonDist = sigmaLonDist;

          minSigmaLonPointId = point->GetId();

          minSigmaLonPointId = point->id();

        }

        if (m_bundleSettings->solveRadius()) {

          if (sigmaRadDist < minSigmaRadDist) {

            minSigmaRadDist = sigmaRadDist;

            minSigmaRadPointId = point->GetId();

            minSigmaRadPointId = point->id();

          }

        }

      }

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

+6 −0
Original line number Diff line number Diff line
@@ -207,6 +207,12 @@ namespace Isis { 
   *                           respectively. References #4163.

   *   @history 2016-07-11 Jeannie Backer - Removed initialize(). Implementation was moved the the

   *                           bottom of init() method. Fixes #4161.

   *   @history 2016-08-15 Ian Humphrey - Replaced ISIS ControlPoint and ControlMeasure uses with

   *                           BundleControlPoint and BundleMeasure. No longer need to check if the

   *                           BundleControlPoint or BundleMeasure is ignored before use, since we

   *                           only add non-ignored ControlPoints to the BundleControlPoint, and

   *                           we only add non-ignored ControlMeasures to the BundleControlPoint.

   *                           Fixes #4173, #4201.

   */

  class BundleAdjust : public QObject {

      Q_OBJECT

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

+79 −1

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isis/src/control/objs/BundleUtilities/BundleControlPoint.h

+23 −3

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

+74 −2

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