Commit e7e1c9d1 authored by Kristin Berry's avatar Kristin Berry Committed by Makayla Shepherd
Browse files

Fix how Aposteroir and Apriori Covar matricies are handled in ControlPointV0001

parent 57843f4d

isis/src/control/objs/ControlNetVersioner/ControlPointV0001.cpp

+24 −8
Original line number Diff line number Diff line
@@ -244,8 +244,9 @@ namespace Isis { 
    Distance equatorialRadius(radii["EquatorialRadius"], Distance::Meters);

    Distance polarRadius(radii["PolarRadius"], Distance::Meters);



    if ( pointObject.hasKeyword("ApostCovarianceMatrix") ) {

      PvlKeyword &matrix = pointObject["ApostCovarianceMatrix"];

    // Add the Apriori Covariance Matrix

    if ( pointObject.hasKeyword("AprioriCovarianceMatrix") ) {

      PvlKeyword &matrix = pointObject["AprioriCovarianceMatrix"];



      m_pointData->add_aprioricovar(toDouble(matrix[0]));

      m_pointData->add_aprioricovar(toDouble(matrix[1]));
@@ -306,7 +307,22 @@ namespace Isis { 
      m_pointData->add_aprioricovar( aprioriPoint.GetRectangularMatrix()(2, 2) );

    }



    if ( pointObject.hasKeyword("AdjustedSigmaLatitude")

    // Add the Adjusted (Apost) Covariance Matrix

    if ( pointObject.hasKeyword("ApostCovarianceMatrix") ) {

      PvlKeyword &matrix = pointObject["ApostCovarianceMatrix"];



      m_pointData->add_adjustedcovar(toDouble(matrix[0]));

      m_pointData->add_adjustedcovar(toDouble(matrix[1]));

      m_pointData->add_adjustedcovar(toDouble(matrix[2]));

      m_pointData->add_adjustedcovar(toDouble(matrix[3]));

      m_pointData->add_adjustedcovar(toDouble(matrix[4]));

      m_pointData->add_adjustedcovar(toDouble(matrix[5]));



      m_pointData->set_latitudeconstrained(true);

      m_pointData->set_longitudeconstrained(true);

      m_pointData->set_radiusconstrained(true);

    }

    else if ( pointObject.hasKeyword("AdjustedSigmaLatitude")

          || pointObject.hasKeyword("AdjustedSigmaLongitude")

          || pointObject.hasKeyword("AdjustedSigmaRadius") ) {

      // There may be missing or negative adjusted sigmas so default to 10,000
@@ -340,9 +356,9 @@ namespace Isis { 
      adjustedPoint.SetRectangular( Displacement(m_pointData->adjustedx(), Displacement::Meters),

                                    Displacement(m_pointData->adjustedy(), Displacement::Meters),

                                    Displacement(m_pointData->adjustedz(), Displacement::Meters) );

      adjustedPoint.SetSphericalSigmasDistance( Distance(sigmaLat, Distance::Meters),

                                                Distance(sigmaLon, Distance::Meters),

                                                Distance(sigmaRad, Distance::Meters) );

     // adjustedPoint.SetSphericalSigmasDistance( Distance(sigmaLat, Distance::Meters),

//                                                Distance(sigmaLon, Distance::Meters),

//                                                Distance(sigmaRad, Distance::Meters) );

      m_pointData->add_adjustedcovar( adjustedPoint.GetRectangularMatrix()(0, 0) );

      m_pointData->add_adjustedcovar( adjustedPoint.GetRectangularMatrix()(0, 1) );

      m_pointData->add_adjustedcovar( adjustedPoint.GetRectangularMatrix()(0, 2) );