Unverified Commit 23477623 authored by kledmundson's avatar kledmundson Committed by GitHub
Browse files

Added adjusted XYZ point coordinate sigmas to the points.csv jigsaw output file. Modified (#5711) 

ctest FunctionalTestJigsawApollo to validate this output. Addresses #5710.
parent 16f8c50e

CHANGELOG.md

+2 −0
Original line number Diff line number Diff line
@@ -36,6 +36,8 @@ release. 
## [Unreleased]



### Added

- Added adjusted XYZ point coordinate sigmas to the points.csv jigsaw output file. Modified

ctest FunctionalTestJigsawApollo to validate this output. [#5710](https://github.com/DOI-USGS/ISIS3/issues/5710)

- Added OFFBODY and OFFBODYTRIM parameters to cam2cam. Added tests and updated documentation. [#3602] (https://github.com/DOI-USGS/ISIS3/issues/3602)



### Changed

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.cpp

+81 −59
Original line number Diff line number Diff line
@@ -1611,32 +1611,47 @@ namespace Isis { 


    double dLat, dLon, dRadius;

    double dX, dY, dZ;

    double dSigmaLat, dSigmaLong, dSigmaRadius;

    QString strStatus;

    double cor_lat_dd = 0.0;                      // lat correction, decimal degrees

    double cor_lon_dd = 0.0;                      // lon correction, decimal degrees

    double cor_rad_km = 0.0;                      // radius correction, kilometers



    double cor_lat_m = 0.0;                       // lat correction, meters

    double cor_lon_m = 0.0;                       // lon correction, meters

    double cor_rad_m = 0.0;                       // radius correction, meters



    double cor_x_km = 0.0;                        // x correction, kilometers

    double cor_y_km = 0.0;                        // y correction, kilometers

    double cor_z_km = 0.0;                        // z correction, kilometers



    double latInit = Isis::Null;

    double lonInit = Isis::Null;

    double radInit = Isis::Null;



    int numMeasures, numRejectedMeasures;

    double dResidualRms;



    // bundle coordinate type (Lat, Lon, Radius or XYZ)

    bool bundleLatLonRadius = true;

    if ( m_settings->controlPointCoordTypeBundle() == SurfacePoint::Rectangular ) {

      bundleLatLonRadius = false;

    }



    // print column headers

    if (m_settings->errorPropagation()) {

      snprintf(buf, sizeof(buf), ",,,,,3-d,3-d,3-d,Sigma,Sigma,Sigma,Correction,Correction,Correction,Coordinate,"

              "Coordinate,Coordinate\nPoint,Point,Accepted,Rejected,Residual,Latitude,Longitude,"

              "Radius,Latitude,Longitude,Radius,Latitude,Longitude,Radius,X,Y,Z\nLabel,Status,"

              "Measures,Measures,RMS,(dd),(dd),(km),(m),(m),(m),(m),(m),(m),(km),(km),(km)\n");

      snprintf(buf, sizeof(buf), ",,,,,3-d,3-d,3-d,Sigma,Sigma,Sigma,Correction,Correction,Correction,"

              "Coordinate,Coordinate,Coordinate,Sigma,Sigma,Sigma\n"

              "Point,Point,Accepted,Rejected,Residual,Latitude,Longitude,Radius,Latitude,Longitude,"

              "Radius,Latitude,Longitude,Radius,X,Y,Z,X,Y,Z\n"

              "Label,Status,Measures,Measures,RMS,(dd),(dd),(km),(m),(m),(m),(m),(m),(m),(km),(km),(km),"

              "(m),(m),(m)\n");

    }

    else {

      snprintf(buf, sizeof(buf), ",,,,,3-d,3-d,3-d,Correction,Correction,Correction,Coordinate,Coordinate,"

              "Coordinate\nPoint,Point,Accepted,Rejected,Residual,Latitude,Longitude,Radius,"

              "Latitude,Longitude,Radius,X,Y,Z\nLabel,Status,Measures,Measures,RMS,(dd),(dd),(km),"

              "(m),(m),(m),(km),(km),(km)\n");

      snprintf(buf, sizeof(buf), ",,,,,3-d,3-d,3-d,Correction,Correction,Correction,Coordinate,"

              "Coordinate,Coordinate\n"

              "Point,Point,Accepted,Rejected,Residual,Latitude,Longitude,Radius,Latitude,Longitude,"

              "Radius,X,Y,Z\n"

              "Label,Status,Measures,Measures,RMS,(dd),(dd),(km),(m),(m),(m),(km),(km),(km)\n");

    }

    fpOut << buf;
@@ -1665,39 +1680,39 @@ namespace Isis { 
      // target body equatorial radius (DAC 09/17/2018; from BundleControlPoint.cpp)

      double rtm = dRadius * 1000.;



      // point corrections and initial sigmas

      // point corrections

      //   Latitude, Longitude corrections are decimal degrees;

      //   Radius correction is kilometers

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

                                                                            corrections();



      if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Rectangular) {

        double xCor = corrections(0);  // km

        double yCor = corrections(1);  // km

        double zCor = corrections(2);  // km

      // solution is rectangular (point coordinates are X,Y,Z)

      // must compute latitudinal initial coordinates and corrections

      if (bundleLatLonRadius == false) {

        cor_x_km = corrections(0);

        cor_y_km = corrections(1);

        cor_z_km = corrections(2);



        if (!IsSpecial(dX) && !IsSpecial(dY) && !IsSpecial(dZ)) {

          SurfacePoint rectPoint(Displacement(dX - xCor, Displacement::Kilometers),

                                Displacement(dY - yCor, Displacement::Kilometers),

                                Displacement(dZ - zCor, Displacement::Kilometers));

          SurfacePoint rectInitPoint(Displacement(dX - cor_x_km, Displacement::Kilometers),

                                     Displacement(dY - cor_y_km, Displacement::Kilometers),

                                     Displacement(dZ - cor_z_km, Displacement::Kilometers));

          

          latInit = rectPoint.GetLatitude().degrees();

          lonInit = rectPoint.GetLongitude().degrees();

          radInit = rectPoint.GetLocalRadius().kilometers();

          latInit = rectInitPoint.GetLatitude().degrees();

          lonInit = rectInitPoint.GetLongitude().degrees();

          radInit = rectInitPoint.GetLocalRadius().kilometers();

          

          if (!IsSpecial(dLat)) {

          cor_lat_dd = (dLat - latInit); // degrees

            cor_lat_m  =  cor_lat_dd * DEG2RAD * rtm;

          }

          if (!IsSpecial(dLon)) {

          cor_lon_dd = (dLon - lonInit); // degrees

            cor_lon_m  =  cor_lon_dd * DEG2RAD * rtm * cos(dLat*DEG2RAD);  // lon corrections meters

          }

          if (!IsSpecial(dRadius)) {

          cor_rad_km  =  dRadius - radInit;



          cor_lat_m  =  cor_lat_dd * DEG2RAD * rtm;

          cor_lon_m  =  cor_lon_dd * DEG2RAD * rtm * cos(dLat*DEG2RAD);  // lon corrections meters

          cor_rad_m  =  cor_rad_km * 1000.;

        }

      }

      }

      else if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Latitudinal) {

      // solution is latitudinal (point coordinates are Latitude, Longitude, Radius)

      else if (bundleLatLonRadius == true) {

        cor_lat_dd = corrections(0) * RAD2DEG;   // lat correction, decimal degs

        cor_lon_dd = corrections(1) * RAD2DEG;   // lon correction, decimal degs

        cor_rad_m  = corrections(2) * 1000.0;    // radius correction, meters
@@ -1706,16 +1721,14 @@ namespace Isis { 
        cor_lon_m = bundlecontrolpoint->adjustedSurfacePoint().LongitudeToMeters(corrections(1));

        cor_rad_km = corrections(2);



        if (!IsSpecial(dLat)) {

          latInit = dLat - cor_lat_dd;

        }

        if (!IsSpecial(dLat) && !IsSpecial(dLon) && !IsSpecial(dRadius)) {

          SurfacePoint latInitPoint(Latitude(dLat - cor_lat_dd, Angle::Degrees),

                                    Longitude(dLon - cor_lon_dd, Angle::Degrees),

                                    Distance(dRadius - corrections(2), Distance::Kilometers));



        if (!IsSpecial(dLon)) {

          lonInit = dLon - cor_lon_dd;

        }



        if (!IsSpecial(dRadius)) {

          radInit = dRadius - corrections(2); // km

          latInit = latInitPoint.GetLatitude().degrees();

          lonInit = latInitPoint.GetLongitude().degrees();

          radInit = latInitPoint.GetLocalRadius().kilometers();

        }

      }
@@ -1733,19 +1746,28 @@ namespace Isis { 
      }



      if (m_settings->errorPropagation()) {

        double dSigmaLat, dSigmaLong, dSigmaRadius;

        double dSigmaX, dSigmaY, dSigmaZ;

        

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

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

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



        snprintf(buf, sizeof(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",

        dSigmaX = bundlecontrolpoint->adjustedSurfacePoint().GetXSigma().meters();

        dSigmaY = bundlecontrolpoint->adjustedSurfacePoint().GetYSigma().meters();

        dSigmaZ = bundlecontrolpoint->adjustedSurfacePoint().GetZSigma().meters();



        snprintf(buf, sizeof(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,%16.8lf,%16.8lf,"

                                   "%16.8lf\n",

                 bundlecontrolpoint->id().toLatin1().data(), strStatus.toLatin1().data(),

                 numMeasures, numRejectedMeasures, dResidualRms, dLat, dLon, dRadius, dSigmaLat,

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

                 dSigmaLong, dSigmaRadius, cor_lat_m, cor_lon_m, cor_rad_m, dX, dY, dZ,

                 dSigmaX,dSigmaY,dSigmaZ);

      }

      else

        snprintf(buf, sizeof(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",

        snprintf(buf, sizeof(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",

                 bundlecontrolpoint->id().toLatin1().data(), strStatus.toLatin1().data(),

                 numMeasures, numRejectedMeasures, dResidualRms, dLat, dLon, dRadius, cor_lat_m,

                 cor_lon_m, cor_rad_m, dX, dY, dZ);

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.h

+2 −0
Original line number Diff line number Diff line
@@ -168,6 +168,8 @@ namespace Isis { 
   *                          bundle adjustment, the Lat/Lon/Radius point corrections written

   *                          to the points.csv file are incorrect and do not match those written

   *                          to the bundleout.txt file.

   *   @history 2025-01-19 Ken Edmundson - Added three columns to the end of each line in the

   *                          points.csv file for the adjusted XYZ point sigmas.

   */

  class BundleSolutionInfo : public QObject {

    Q_OBJECT

isis/tests/FunctionalTestsJigsaw.cpp

+10 −10
Original line number Diff line number Diff line
@@ -69,18 +69,18 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawApollo) { 
  int numColumns = line.columns();

  int numRows = line.rows();



  ASSERT_EQ(numColumns, 12);

  ASSERT_EQ(numColumns, 15);

  ASSERT_EQ(numRows, 398);



  // Validate the line information is correct

  csvLine = line.getRow(0);

  compareCsvLine(csvLine, "3-d,3-d,3-d,Sigma,Sigma,Sigma,Correction,Correction,Correction,Coordinate,Coordinate,Coordinate");

  compareCsvLine(csvLine, "3-d,3-d,3-d,Sigma,Sigma,Sigma,Correction,Correction,Correction,Coordinate,Coordinate,Coordinate,Sigma,Sigma,Sigma");



  csvLine = line.getRow(1);

  compareCsvLine(csvLine, "Point,Point,Accepted,Rejected,Residual,Latitude,Longitude,Radius,Latitude,Longitude,Radius,Latitude,Longitude,Radius,X,Y,Z");

  compareCsvLine(csvLine, "Point,Point,Accepted,Rejected,Residual,Latitude,Longitude,Radius,Latitude,Longitude,Radius,Latitude,Longitude,Radius,X,Y,Z,X,Y,Z");



  csvLine = line.getRow(2);

  compareCsvLine(csvLine, "Label,Status,Measures,Measures,RMS,(dd),(dd),(km),(m),(m),(m),(m),(m),(m),(km),(km),(km)");

  compareCsvLine(csvLine, "Label,Status,Measures,Measures,RMS,(dd),(dd),(km),(m),(m),(m),(m),(m),(m),(km),(km),(km),(m),(m),(m)");



  // Compare all of the values from the network against the values in the CSV

  QList<ControlPoint*> points = outputNet.GetPoints();
@@ -115,14 +115,14 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawApollo) { 


  // Spot check a few points for hard-coded values

// A few "Free" points:

  compareCsvLine(line.getRow(30), "AS15_000031957,FREE,3,0,0.33,24.25013429,6.15097050,1735.93990543,270.68671676,265.71819251,500.96944842,860.25781493,-1823.63228489,-677.74533463,1573.65050943,169.59077243,712.98695596");

  compareCsvLine(line.getRow(185), "AS15_000055107,FREE,2,0,2.22,24.26598395,6.75841991,1735.27498710,303.08885516,295.63588060,562.91712019,876.14367347,-1869.62276530,-708.50440630,1570.96622187,186.17020493,713.15150243");

  compareCsvLine(line.getRow(396), "AS15_Tie14,FREE,4,0,0.76,23.34007344,4.52764905,1737.15233677,245.96412227,251.30260955,443.11518635,1022.08062058,-1897.32816475,-372.27330000,1590.02287614,125.90958874,688.23852695");

  compareCsvLine(line.getRow(30), "AS15_000031957,FREE,3,0,0.33,24.25013429,6.15097050,1735.93990543,270.68671676,265.71819251,500.96944842,860.25781493,-1823.63228489,-677.74533463,1573.65050943,169.59077243,712.98695596, 465.66755434, 267.66330908, 326.12562996");

  compareCsvLine(line.getRow(185), "AS15_000055107,FREE,2,0,2.22,24.26598395,6.75841991,1735.27498710,303.08885516,295.63588060,562.91712019,876.14367347,-1869.62276530,-708.50440630,1570.96622187,186.17020493,713.15150243, 522.79515846, 298.42172842, 365.74418181");

  compareCsvLine(line.getRow(396), "AS15_Tie14,FREE,4,0,0.76,23.34007344,4.52764905,1737.15233677,245.96412227,251.30260955,443.11518635,1022.08062058,-1897.32816475,-372.27330000,1590.02287614,125.90958874,688.23852695, 414.98905206, 251.82613853, 290.46531976");



  // A few "Constrained" points:

  compareCsvLine(line.getRow(352), "AS15_SocetPAN_01,CONSTRAINED,3,0,0.27,27.61487917,2.18951566,1735.78407271,160.95596643,162.33483092,285.90375398,103.62041173,223.18286146,306.44770820,1536.92627520,58.76110229,804.58132250", 2);

  compareCsvLine(line.getRow(360), "AS15_SocetPAN_10,CONSTRAINED,4,0,1.14,25.96587004,3.54262524,1735.72172102,113.85794037,113.34020561,189.03901900,-54.11385318,174.35206231,4.97102217,1557.52735013,96.42556502,759.96089165", 2);

  compareCsvLine(line.getRow(380), "AS15_SocetPAN_40,CONSTRAINED,2,0,0.42,25.77498986,1.88090884,1735.56132012,133.81392881,132.83513465,230.53187100,23.85721304,82.06385794,171.57011514,1562.04594097,51.29735448,754.68811810", 2);

  compareCsvLine(line.getRow(352), "AS15_SocetPAN_01,CONSTRAINED,3,0,0.27,27.61487917,2.18951566,1735.78407271,160.95596643,162.33483092,285.90375398,103.62041173,223.18286146,306.44770820,1536.92627520,58.76110229,804.58132250, 265.9686138, 162.53199952, 191.94901028", 2);

  compareCsvLine(line.getRow(360), "AS15_SocetPAN_10,CONSTRAINED,4,0,1.14,25.96587004,3.54262524,1735.72172102,113.85794037,113.34020561,189.03901900,-54.11385318,174.35206231,4.97102217,1557.52735013,96.42556502,759.96089165, 176.89344204, 113.71419, 131.61753927", 2);

  compareCsvLine(line.getRow(380), "AS15_SocetPAN_40,CONSTRAINED,2,0,0.42,25.77498986,1.88090884,1735.56132012,133.81392881,132.83513465,230.53187100,23.85721304,82.06385794,171.57011514,1562.04594097,51.29735448,754.68811810, 214.5688998, 133.00415652, 158.00748601", 2);



  // Check for the correct line output format and csv file structure for the images.csv file

  line = CSVReader(imagesOutput,