Moved write methods from BundleAdjust to BundleSolutionInfo. Fixes #4159. (e91fb9d3) · Commits · aflab / astrogeology / ISIS3

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

+34 −1438

File changed.

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

+7 −10

Original line number	Diff line number	Diff line
		@@ -200,13 +200,16 @@ namespace Isis {
		* @history 2016-07-11 Jesse Mapel - Changed m_bundleControlPoints to be a vector of
		* QSharedPointers to BundleControlPoints instead of a
		* BundleControlPointVector. Fixes #4099.
		* @history 2016-07-11 Jeannie Backer - Removed initialize(). Implementation was moved the the
		* bottom of init() method. Fixes #4161.
		* @history 2016-08-03 Jesse Mapel - Changed BundleObservationVector to a vector of
		* QSharedPointers. Fixes #4150.
		* @history 2016-08-10 Jeannie Backer - Replaced boost vectors and matrices with
		* Isis::LinearAlgebra::Vector and Isis::LinearAlgebra::Matrix,
		* 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 Jesse Mapel - Moved write methods to BundleSolutionInfo. Changed
		* constructors to always construct a new control network.
		* Fixes #4159.
		* @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
		@@ -257,7 +260,7 @@ namespace Isis {
		void abortBundle();
		///////////////////////////////////////////////////////////////////////////////////////////////////
		// accessors
		ControlNet *controlNet() { return m_pCnet; } // TODO: change from pointer to const ref???
		ControlNetQsp controlNet() { return m_pCnet; } // TODO: change from pointer to const ref???
		SerialNumberList *serialNumberList() { return m_pSnList; } // TODO: move implementation to cpp per ISIS standards
		int images() const { return m_pSnList->size(); }// TODO: move implementation to cpp per ISIS standards
		// int observations() const;
		@@ -305,12 +308,6 @@ namespace Isis {

		// output methods
		void iterationSummary();
		bool output();
		bool outputHeader(std::ofstream &fp_out);
		bool outputText();
		bool outputPointsCSV();
		bool outputImagesCSV();
		bool outputResiduals();
		bool wrapUp();
		BundleSolutionInfo bundleSolveInformation();
		bool computeBundleStatistics();
		@@ -482,7 +479,7 @@ namespace Isis {
		QString m_strCnetFileName; //!< Control Net file specification

		//!< pointers to...
		ControlNet *m_pCnet; //!< 'ControlNet' object
		ControlNetQsp m_pCnet; //!< 'ControlNet' object
		SerialNumberList *m_pSnList; //!< list of image serial numbers
		SerialNumberList *m_pHeldSnList; //!< list of held image serial numbers

isis/src/control/objs/BundleResults/BundleResults.cpp

+127 −3

Original line number	Diff line number	Diff line
		@@ -18,7 +18,6 @@

		#include "Camera.h"
		#include "ControlMeasure.h"
		#include "ControlNet.h"
		#include "ControlPoint.h"
		#include "CorrelationMatrix.h"
		#include "Distance.h"
		@@ -118,7 +117,12 @@ namespace Isis {
		m_sigma0(src.m_sigma0),
		m_elapsedTime(src.m_elapsedTime),
		m_elapsedTimeErrorProp(src.m_elapsedTimeErrorProp),
		m_radiansToMeters(src.m_radiansToMeters),
		m_converged(src.m_converged),
		m_bundleControlPoints(src.m_bundleControlPoints),
		m_outNet(src.m_outNet),
		m_iterations(src.m_iterations),
		m_observations(src.m_observations),
		m_rmsImageSampleResiduals(src.m_rmsImageSampleResiduals),
		m_rmsImageLineResiduals(src.m_rmsImageLineResiduals),
		m_rmsImageResiduals(src.m_rmsImageResiduals),
		@@ -207,7 +211,12 @@ namespace Isis {
		m_sigma0 = src.m_sigma0;
		m_elapsedTime = src.m_elapsedTime;
		m_elapsedTimeErrorProp = src.m_elapsedTimeErrorProp;
		m_radiansToMeters = src.m_radiansToMeters;
		m_converged = src.m_converged;
		m_bundleControlPoints = src.m_bundleControlPoints;
		m_outNet = src.m_outNet;
		m_iterations = src.m_iterations;
		m_observations = src.m_observations;
		m_rmsImageSampleResiduals = src.m_rmsImageSampleResiduals;
		m_rmsImageLineResiduals = src.m_rmsImageLineResiduals;
		m_rmsImageResiduals = src.m_rmsImageResiduals;
		@@ -323,6 +332,7 @@ namespace Isis {

		// solve and solve cholesky
		m_degreesOfFreedom = -1;
		m_iterations = 0;
		m_sigma0 = 0.0;
		m_elapsedTime = 0.0;
		m_elapsedTimeErrorProp = 0.0;
		@@ -334,6 +344,10 @@ namespace Isis {
		m_maximumLikelihoodFunctions.clear();
		m_cumProRes = NULL;

		m_radiansToMeters = 0;
		m_observations.clear();
		m_outNet.clear();

		}


		@@ -822,6 +836,16 @@ namespace Isis {
		}


		/**
		* Sets the radians to meters conversion constant for the target body.
		*
		* @param rtm The (double) conversion factor.
		*/
		void BundleResults::setRadiansToMeters(double rtm) {
		m_radiansToMeters = rtm;
		}


		/**
		* Sets if the bundle adjustment converged.
		*
		@@ -832,6 +856,46 @@ namespace Isis {
		}


		/**
		* Sets the bundle control point vector.
		*
		* @param controlPoints The vector of BundleControlPointQsps.
		*/
		void BundleResults::setBundleControlPoints(QVector<BundleControlPointQsp> controlPoints) {
		m_bundleControlPoints = controlPoints;
		}


		/**
		* Sets the output ControlNet.
		*
		* @param outNet A QSharedPointer to the output ControlNet.
		*/
		void BundleResults::setOutputControlNet(ControlNetQsp outNet) {
		m_outNet = outNet;
		}


		/**
		* Sets the number of iterations taken by the BundleAdjust.
		*
		* @param iterations The number of iterations.
		*/
		void BundleResults::setIterations(int iterations) {
		m_iterations = iterations;
		}


		/**
		* Sets the vector of BundleObservations.
		*
		* @param observations The vector of BundleObservations.
		*/
		void BundleResults::setObservations(BundleObservationVector observations) {
		m_observations = observations;
		}



		//*********************** Accessors ********************************************************//

		@@ -1115,6 +1179,16 @@ namespace Isis {
		}


		/**
		* Returns the radians to meters conversion factor for the target body.
		*
		* @return @b double The conversion factor.
		*/
		double BundleResults::radiansToMeters() const {
		return m_radiansToMeters;
		}


		/**
		* Returns the number of observation that were rejected.
		*
		@@ -1235,6 +1309,53 @@ namespace Isis {
		}


		/**
		* Returns a reference to the BundleControlPoint vector.
		*
		* @return @b QVector<BundleControlPointQsp>& The BundleControlPoint vector.
		*/
		QVector<BundleControlPointQsp> &BundleResults::bundleControlPoints() {
		return m_bundleControlPoints;
		}


		/**
		* Returns a shared pointer to the output control network.
		*
		* @return @b ControlNetQsp A shared pointer to the output control network.
		*
		* @throws IException::Programmer "Output Control Network has not been set."
		*/
		ControlNetQsp BundleResults::outputControlNet() const {
		if (!m_outNet) {
		throw IException(IException::Programmer,
		"Output Control Network has not been set.",
		_FILEINFO_);
		}
		return m_outNet;
		}


		/**
		* Returns the number of iterations taken by the BundleAdjust.
		*
		* @return @b int The number of iterations.
		*/
		int BundleResults::iterations() const {
		return m_iterations;
		}


		/**
		* Returns a reference to the observations used by the BundleAdjust.
		*
		* @return @b BundleObservationVector& A reference to the observation vector.
		*/
		const BundleObservationVector &BundleResults::observations() const {
		return m_observations;
		}


		/**
		* Returns how many maximum likelihood models were used in the bundle adjustment.
		*
		@@ -1334,6 +1455,7 @@ namespace Isis {
		pvl += PvlKeyword("RMSResidualY", toString(rmsRy()));
		pvl += PvlKeyword("RMSResidualXY", toString(rmsRxy()));
		pvl += PvlKeyword("RejectionLimit", toString(rejectionLimit()));
		pvl += PvlKeyword("RadiansToMeters", toString(radiansToMeters()));
		pvl += PvlKeyword("NumberRejectedObservations", toString(numberRejectedObservations()));
		pvl += PvlKeyword("NumberObservations", toString(numberObservations()));
		pvl += PvlKeyword("NumberImageParameters", toString(numberImageParameters()));
		@@ -1348,6 +1470,7 @@ namespace Isis {
		pvl += PvlKeyword("Sigma0", toString(sigma0()));
		pvl += PvlKeyword("ElapsedTime", toString(elapsedTime()));
		pvl += PvlKeyword("ElapsedTimeErrorProp", toString(elapsedTimeErrorProp()));
		pvl += PvlKeyword("Iterations", toString(iterations()));
		pvl += PvlKeyword("Converged", toString(converged()));
		#if 0
		// loop through these ??? what value to store???
		@@ -2454,6 +2577,7 @@ namespace Isis {
		spc);
		att.write(H5::PredType::NATIVE_INT, &m_numberObservations);


		att = resultsGroup.createAttribute("numberRejectedObservations",
		H5::PredType::NATIVE_INT,
		spc);

isis/src/control/objs/BundleResults/BundleResults.h

+59 −23

Original line number	Diff line number	Diff line
		@@ -36,7 +36,10 @@
		#include <hdf5.h>

		// Isis Library
		#include "BundleControlPoint.h"
		#include "BundleObservationVector.h"
		#include "BundleSettings.h"
		#include "ControlNet.h"
		#include "Distance.h"
		#include "MaximumLikelihoodWFunctions.h"
		#include "PvlObject.h"
		@@ -80,6 +83,9 @@ namespace Isis {
		* merging from IPCE into ISIS. Fixes #3975.
		* @history 2016-08-10 Jeannie Backer - Replaced boost vector with Isis::LinearAlgebra::Vector.
		* References #4163.
		* @history 2016-08-15 Jesse Mapel - Added iteration count, radians to meters conversion,
		* observation vector, bundle control point vector, and output control
		* network for write methods in BundleSolutionInfo. Fixes #4159.
		*/
		class BundleResults : public QObject {
		Q_OBJECT
		@@ -161,7 +167,12 @@ namespace Isis {
		void setSigma0(double sigma0);
		void setElapsedTime(double time);
		void setElapsedTimeErrorProp(double time);
		void setRadiansToMeters(double rtm);
		void setConverged(bool converged); // or initialze method
		void setBundleControlPoints(QVector<BundleControlPointQsp> controlPoints);
		void setOutputControlNet(ControlNetQsp outNet);
		void setIterations(int iterations);
		void setObservations(BundleObservationVector observations);

		// Accessors...
		QList<Statistics> rmsImageSampleResiduals() const;
		@@ -192,6 +203,7 @@ namespace Isis {
		double rmsRy() const; // currently unused ???
		double rmsRxy() const; // currently unused ???
		double rejectionLimit() const;
		double radiansToMeters() const;
		int numberRejectedObservations() const;
		int numberObservations() const;

		@@ -205,6 +217,10 @@ namespace Isis {
		double elapsedTime() const;
		double elapsedTimeErrorProp() const;
		bool converged() const; // or initialze method
		QVector<BundleControlPointQsp> &bundleControlPoints();
		ControlNetQsp outputControlNet() const;
		int iterations() const;
		const BundleObservationVector &observations() const;

		int numberMaximumLikelihoodModels() const;
		int maximumLikelihoodModelIndex() const;
		@@ -299,12 +315,14 @@ namespace Isis {
		// ??? Statistics m_statsrxy; //!< xy residuals

		int m_numberFixedPoints; //!< number of 'fixed' (ground) points (define)
		int m_numberIgnoredPoints; //!< number of ignored points // currently set but unused ???
		// Currently set but unused
		int m_numberIgnoredPoints; //!< number of ignored points
		int m_numberHeldImages; //!< number of 'held' images (define)

		double m_rmsXResiduals; // set but unused ??? //!< rms of x residuals
		double m_rmsYResiduals; // set but unused ??? //!< rms of y residuals
		double m_rmsXYResiduals; // set but unused ??? //!< rms of all x and y residuals
		// The following three members are set but unused.
		double m_rmsXResiduals; //!< rms of x residuals
		double m_rmsYResiduals; //!< rms of y residuals
		double m_rmsXYResiduals; //!< rms of all x and y residuals

		double m_rejectionLimit; //!< current rejection limit
		// TODO:??? reorder read/write data stream, init, copy constructor, operator=
		@@ -319,8 +337,26 @@ namespace Isis {
		double m_sigma0; //!< std deviation of unit weight
		double m_elapsedTime; //!< elapsed time for bundle
		double m_elapsedTimeErrorProp; //!< elapsed time for error propagation
		double m_radiansToMeters; //!< radian to meters conversion factor for the body
		bool m_converged;

		// Variables for output methods in BundleSolutionInfo

		QVector<BundleControlPointQsp> m_bundleControlPoints; /**< The vector of BundleControlPoints
		from BundleAdjust. Equivalent to
		the output control net minus
		ignored points and measures.
		The contained points and members
		hold pointers to the points
		and measures in the output
		control net.*/
		ControlNetQsp m_outNet; /**< The output control net from
		BundleAdjust.*/
		int m_iterations; /**< The number of iterations taken
		by BundleAdjust.*/
		BundleObservationVector m_observations; /**< The vector of BundleObservations
		from BundleAdjust.*/


		//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
		// variables set in computeBundleResults()

isis/src/control/objs/BundleResults/BundleResults.truth

+30 −0

Original line number	Diff line number	Diff line
		@@ -8,6 +8,7 @@ Object = DefaultResultsObject
		RMSResidualY = 0.0
		RMSResidualXY = 0.0
		RejectionLimit = 0.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 0
		NumberObservations = 0
		NumberImageParameters = 0
		@@ -19,6 +20,7 @@ Object = DefaultResultsObject
		Sigma0 = 0.0
		ElapsedTime = 0.0
		ElapsedTimeErrorProp = 0.0
		Iterations = 0
		Converged = No
		MinSigmaLatitude = 1000000000000.0
		MinSigmaLatitudePointId = Null
		@@ -55,6 +57,7 @@ Object = CopyResultsObject
		RMSResidualY = 0.0
		RMSResidualXY = 0.0
		RejectionLimit = 0.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 0
		NumberObservations = 0
		NumberImageParameters = 0
		@@ -66,6 +69,7 @@ Object = CopyResultsObject
		Sigma0 = 0.0
		ElapsedTime = 0.0
		ElapsedTimeErrorProp = 0.0
		Iterations = 0
		Converged = No
		MinSigmaLatitude = 1000000000000.0
		MinSigmaLatitudePointId = Null
		@@ -112,6 +116,7 @@ Object = SelfAssignedResultsObject
		RMSResidualY = 0.0
		RMSResidualXY = 0.0
		RejectionLimit = 0.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 0
		NumberObservations = 0
		NumberImageParameters = 0
		@@ -123,6 +128,7 @@ Object = SelfAssignedResultsObject
		Sigma0 = 0.0
		ElapsedTime = 0.0
		ElapsedTimeErrorProp = 0.0
		Iterations = 0
		Converged = No
		MinSigmaLatitude = 1000000000000.0
		MinSigmaLatitudePointId = Null
		@@ -161,6 +167,7 @@ Object = AssignedNewResultsObject
		RMSResidualY = 0.0
		RMSResidualXY = 0.0
		RejectionLimit = 0.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 0
		NumberObservations = 0
		NumberImageParameters = 0
		@@ -172,6 +179,7 @@ Object = AssignedNewResultsObject
		Sigma0 = 0.0
		ElapsedTime = 0.0
		ElapsedTimeErrorProp = 0.0
		Iterations = 0
		Converged = No
		MinSigmaLatitude = 1000000000000.0
		MinSigmaLatitudePointId = Null
		@@ -211,6 +219,7 @@ Object = MutatedResultsObject
		RMSResidualY = 5.0
		RMSResidualXY = 6.0
		RejectionLimit = 7.0
		RadiansToMeters = 23.68
		NumberRejectedObservations = 8
		NumberObservations = 9
		NumberImageParameters = 10
		@@ -222,6 +231,7 @@ Object = MutatedResultsObject
		Sigma0 = 15.0
		ElapsedTime = 16.0
		ElapsedTimeErrorProp = 17.0
		Iterations = 6
		Converged = Yes
		MinSigmaLatitude = 0.5
		MinSigmaLatitudePointId = MinLatId
		@@ -257,12 +267,25 @@ Testing more computation methods...
		sigma0 = "1.2139539573338"
		sigma0 = "0.0"

		Testing storage for output methods...

		Testing accessor methods...
		maximum likelihood index = "4"
		maximum likelihood median r2 residuals = "0.49504950495049"
		maximum likelihood index,model,quantile = [ "0" , "Huber" , "0.1" ]
		maximum likelihood index,model,quantile = [ "1" , "Welsch" , "0.2" ]
		maximum likelihood index,model,quantile = [ "2" , "Chen" , "0.3" ]
		bundle control points...
		FreePoint FREE 1 of 1 3.54 Null Null Null N/A N/A N/A

		FixedPoint FIXED 0 of 0 0.00 90.00000000 180.00000000 0.01000000 N/A N/A N/A

		output control network
		2
		2
		bundle observations
		"InstrumentId1"
		("TestImageFileName")

		Testing serialization...
		Object = BundleResults
		@@ -273,6 +296,7 @@ Object = BundleResults
		RMSResidualY = 5.0
		RMSResidualXY = 6.0
		RejectionLimit = 7.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 8
		NumberObservations = 9
		NumberImageParameters = 10
		@@ -284,6 +308,7 @@ Object = BundleResults
		Sigma0 = 0.0
		ElapsedTime = 16.0
		ElapsedTimeErrorProp = 17.0
		Iterations = 0
		Converged = Yes
		MinSigmaLatitude = 0.5
		MinSigmaLatitudePointId = MinLatId
		@@ -325,6 +350,7 @@ Object = BundleResultsFromXml
		RMSResidualY = 5.0
		RMSResidualXY = 6.0
		RejectionLimit = 7.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 8
		NumberObservations = 9
		NumberImageParameters = 10
		@@ -336,6 +362,7 @@ Object = BundleResultsFromXml
		Sigma0 = 0.0
		ElapsedTime = 16.0
		ElapsedTimeErrorProp = 17.0
		Iterations = 0
		Converged = Yes
		MinSigmaLatitude = 0.5
		MinSigmaLatitudePointId = MinLatId
		@@ -376,6 +403,7 @@ Object = BundleResultsFromEmptyXml
		RMSResidualY = 0.0
		RMSResidualXY = 0.0
		RejectionLimit = 0.0
		RadiansToMeters = 0.0
		NumberRejectedObservations = 0
		NumberObservations = 0
		NumberImageParameters = 0
		@@ -387,6 +415,7 @@ Object = BundleResultsFromEmptyXml
		Sigma0 = 0.0
		ElapsedTime = 0.0
		ElapsedTimeErrorProp = 0.0
		Iterations = 0
		Converged = No
		MinSigmaLatitude = 1000000000000.0
		MinSigmaLatitudePointId = Null
		@@ -417,3 +446,4 @@ End_Object
		Testing error throws...
		I/O ERROR Computed degrees of freedom [-1] is invalid.
		I/O ERROR Computed degrees of freedom [0] is invalid.
		PROGRAMMER ERROR Output Control Network has not been set.