Abstract base class for an observation in bundle adjustment. More...

#include <BundleObservation.h>

Inheritance diagram for Isis::BundleObservation:

Collaboration diagram for Isis::BundleObservation:

Public Member Functions
	BundleObservation ()
	Constructs a BundleObservation initialized to a default state.

	BundleObservation (BundleImageQsp image, QString observationNumber, QString instrumentId, BundleTargetBodyQsp bundleTargetBody)
	Constructs a BundleObservation from an BundleImage, an instrument id, an observation number to assign to this BundleObservation, and a target body.

	BundleObservation (const BundleObservation &src)
	Creates a copy of another BundleObservation.

virtual	~BundleObservation ()
	Destructor.

virtual BundleObservation &	operator= (const BundleObservation &src)
	Assignment operator.

void	copy (const BundleObservation &src)

virtual bool	setSolveSettings (BundleObservationSolveSettings solveSettings)=0

virtual void	append (const BundleImageQsp &value)
	Appends a BundleImage shared pointer to the BundleObservation.

BundleImageQsp	imageByCubeSerialNumber (QString cubeSerialNumber)
	Returns the BundleImage shared pointer associated with the given serial number.

void	setIndex (int n)
	Sets the index for the observation.

int	index ()
	Accesses the observation's index.

QString	instrumentId ()
	Accesses the instrument id.

double	vtpv ()
	Compute vtpv, the weighted sum of squares of constrained image parameter residuals.

virtual LinearAlgebra::Vector &	parameterWeights ()
	Accesses the solve parameter weights.

virtual LinearAlgebra::Vector &	parameterCorrections ()
	Accesses the parameter corrections.

virtual LinearAlgebra::Vector &	aprioriSigmas ()
	Accesses the a priori sigmas.

virtual LinearAlgebra::Vector &	adjustedSigmas ()
	Accesses the adjusted sigmas.

virtual const BundleObservationSolveSettingsQsp	solveSettings ()=0

virtual int	numberParameters ()=0

virtual bool	applyParameterCorrections (LinearAlgebra::Vector corrections)=0

virtual void	bundleOutputString (std::ostream &fpOut, bool errorPropagation)=0

virtual QString	bundleOutputCSV (bool errorPropagation)=0

virtual QStringList	parameterList ()=0

virtual QStringList	imageNames ()
	Access to image names for CorrelationMatrix to use.

virtual bool	computeTargetPartials (LinearAlgebra::Matrix &coeffTarget, BundleMeasure &measure, BundleSettingsQsp &bundleSettings, BundleTargetBodyQsp &bundleTargetBody)=0

virtual bool	computeImagePartials (LinearAlgebra::Matrix &coeffImage, BundleMeasure &measure)=0

virtual bool	computePoint3DPartials (LinearAlgebra::Matrix &coeffPoint3D, BundleMeasure &measure, SurfacePoint::CoordinateType coordType=SurfacePoint::Rectangular)=0

virtual bool	computeRHSPartials (LinearAlgebra::Vector &coeffRHS, BundleMeasure &measure)=0

virtual double	computeObservationValue (BundleMeasure &measure, double deltaVal)=0

Protected Attributes
QString	m_observationNumber
	The shared portion of the serial numbers of all images in the observation.

int	m_index
	Index of this observation in the set of observations. Map between cube serial number and BundleImage pointers.

QMap< QString, BundleImageQsp >	m_cubeSerialNumberToBundleImageMap

QStringList	m_serialNumbers
	List of all cube serial numbers in observation.

QStringList	m_imageNames
	List of all cube names.

QString	m_instrumentId
	Spacecraft instrument id.

LinearAlgebra::Vector	m_weights
	Parameter weights. Cumulative parameter correction vector.

LinearAlgebra::Vector	m_corrections

LinearAlgebra::Vector	m_aprioriSigmas
	A posteriori (adjusted) parameter sigmas.

LinearAlgebra::Vector	m_adjustedSigmas
	A posteriori (adjusted) parameter sigmas.

Detailed Description

Abstract base class for an observation in bundle adjustment.

This class is the abstract base class that represents an observation in bundle adjustment. It handles operations related to the images in the observation, parameter corrections, and parameter uncertainties. It defines the interface for choosing observation parameters via BundleObservationSolveSettings. The partial computation apis required by the bundle adjustment are also defined but must be implemented by sub-classes.

Definition at line 35 of file BundleObservation.h.

Constructor & Destructor Documentation

◆ BundleObservation() [1/3]

Isis::BundleObservation::BundleObservation ( )

Constructs a BundleObservation initialized to a default state.

Definition at line 31 of file BundleObservation.cpp.

References m_adjustedSigmas, m_aprioriSigmas, m_imageNames, m_index, m_instrumentId, m_observationNumber, m_serialNumbers, and m_weights.

◆ BundleObservation() [2/3]

Isis::BundleObservation::BundleObservation	(	BundleImageQsp	image,
		QString	observationNumber,
		QString	instrumentId,
		BundleTargetBodyQsp	bundleTargetBody )

Constructs a BundleObservation from an BundleImage, an instrument id, an observation number to assign to this BundleObservation, and a target body.

Parameters

image	QSharedPointer to the primary image in the observation
observationNumber	Observation number of the observation
instrumentId	Id of the instrument for the observation
bundleTargetBody	QSharedPointer to the target body of the observation

Definition at line 53 of file BundleObservation.cpp.

References append(), instrumentId(), m_adjustedSigmas, m_aprioriSigmas, m_imageNames, m_index, m_instrumentId, m_observationNumber, m_serialNumbers, and m_weights.

◆ BundleObservation() [3/3]

Isis::BundleObservation::BundleObservation ( const BundleObservation & src )

Creates a copy of another BundleObservation.

Parameters

src	Reference to the BundleObservation to copy

Definition at line 82 of file BundleObservation.cpp.

References m_index, m_instrumentId, m_observationNumber, and m_serialNumbers.

◆ ~BundleObservation()

Isis::BundleObservation::~BundleObservation ( )

virtual

Destructor.

Contained BundleImages will remain until all shared pointers are deleted.

Definition at line 98 of file BundleObservation.cpp.

Member Function Documentation

◆ adjustedSigmas()

LinearAlgebra::Vector & Isis::BundleObservation::adjustedSigmas ( )

virtual

Accesses the adjusted sigmas.

Returns: LinearAlgebra::Vector Returns the adjusted sigmas

Definition at line 207 of file BundleObservation.cpp.

References m_adjustedSigmas.

◆ append()

void Isis::BundleObservation::append ( const BundleImageQsp & value )

virtual

Appends a BundleImage shared pointer to the BundleObservation.

If the pointer is valid, then the BundleImage and its serial number will be inserted into the serial number to BundleImage map.

Parameters

value The BundleImage to be appended.

See also: QVector::append()

Definition at line 135 of file BundleObservation.cpp.

Referenced by BundleObservation().

◆ applyParameterCorrections()

virtual bool Isis::BundleObservation::applyParameterCorrections ( LinearAlgebra::Vector corrections )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ aprioriSigmas()

LinearAlgebra::Vector & Isis::BundleObservation::aprioriSigmas ( )

virtual

Accesses the a priori sigmas.

Returns: LinearAlgebra::Vector Returns the a priori sigmas

Definition at line 197 of file BundleObservation.cpp.

References m_aprioriSigmas.

◆ bundleOutputCSV()

virtual QString Isis::BundleObservation::bundleOutputCSV ( bool errorPropagation )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ bundleOutputString()

virtual void Isis::BundleObservation::bundleOutputString	(	std::ostream &	fpOut,
		bool	errorPropagation )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ computeImagePartials()

virtual bool Isis::BundleObservation::computeImagePartials	(	LinearAlgebra::Matrix &	coeffImage,
		BundleMeasure &	measure )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ computeObservationValue()

virtual double Isis::BundleObservation::computeObservationValue	(	BundleMeasure &	measure,
		double	deltaVal )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ computePoint3DPartials()

virtual bool Isis::BundleObservation::computePoint3DPartials	(	LinearAlgebra::Matrix &	coeffPoint3D,
		BundleMeasure &	measure,
		SurfacePoint::CoordinateType	coordType = SurfacePoint::Rectangular )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ computeRHSPartials()

virtual bool Isis::BundleObservation::computeRHSPartials	(	LinearAlgebra::Vector &	coeffRHS,
		BundleMeasure &	measure )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ computeTargetPartials()

virtual bool Isis::BundleObservation::computeTargetPartials	(	LinearAlgebra::Matrix &	coeffTarget,
		BundleMeasure &	measure,
		BundleSettingsQsp &	bundleSettings,
		BundleTargetBodyQsp &	bundleTargetBody )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ imageByCubeSerialNumber()

BundleImageQsp Isis::BundleObservation::imageByCubeSerialNumber ( QString cubeSerialNumber )

Returns the BundleImage shared pointer associated with the given serial number.

If no BundleImage with that serial number is contained a NULL pointer is returned.

Parameters

cubeSerialNumber The serial number of the cube to be returned.

Returns: BundleImageQsp A shared pointer to the BundleImage (NULL if not found).

Definition at line 151 of file BundleObservation.cpp.

◆ imageNames()

QStringList Isis::BundleObservation::imageNames ( )

virtual

Access to image names for CorrelationMatrix to use.

Returns: QStringList Returns a QStringList of the image names

Definition at line 237 of file BundleObservation.cpp.

References m_imageNames.

◆ index()

int Isis::BundleObservation::index ( )

Accesses the observation's index.

Returns: int Returns the observation's index

Definition at line 227 of file BundleObservation.cpp.

References m_index.

Referenced by Isis::IsisBundleObservation::applyParameterCorrections(), Isis::IsisBundleObservation::computeImagePartials(), and Isis::IsisBundleObservation::computeTargetPartials().

◆ instrumentId()

QString Isis::BundleObservation::instrumentId ( )

Accesses the instrument id.

Returns: QString Returns the instrument id of the observation

Definition at line 167 of file BundleObservation.cpp.

References m_instrumentId.

Referenced by BundleObservation().

◆ numberParameters()

virtual int Isis::BundleObservation::numberParameters ( )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ operator=()

BundleObservation & Isis::BundleObservation::operator= ( const BundleObservation & src )

virtual

Assignment operator.

Assigns the state of the source BundleObservation to this BundleObservation

Parameters

BundleObservation Reference to the source BundleObservation to assign from

Returns: BundleObservation& Reference to this BundleObservation

Definition at line 112 of file BundleObservation.cpp.

References m_instrumentId, m_observationNumber, and m_serialNumbers.

Referenced by Isis::IsisBundleObservation::operator=().

◆ parameterCorrections()

LinearAlgebra::Vector & Isis::BundleObservation::parameterCorrections ( )

virtual

Accesses the parameter corrections.

Returns: LinearAlgebra::Vector Returns the parameter corrections

Definition at line 187 of file BundleObservation.cpp.

◆ parameterList()

virtual QStringList Isis::BundleObservation::parameterList ( )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ parameterWeights()

LinearAlgebra::Vector & Isis::BundleObservation::parameterWeights ( )

virtual

Accesses the solve parameter weights.

Returns: LinearAlgebra::Vector Returns the parameter weights for solving

Definition at line 177 of file BundleObservation.cpp.

References m_weights.

◆ setIndex()

void Isis::BundleObservation::setIndex ( int n )

Sets the index for the observation.

Parameters

n	Value to set the index of the observation to

Definition at line 217 of file BundleObservation.cpp.

References m_index.

◆ setSolveSettings()

virtual bool Isis::BundleObservation::setSolveSettings ( BundleObservationSolveSettings solveSettings )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ solveSettings()

virtual const BundleObservationSolveSettingsQsp Isis::BundleObservation::solveSettings ( )

pure virtual

Implemented in Isis::IsisBundleObservation, and Isis::CsmBundleObservation.

◆ vtpv()

double Isis::BundleObservation::vtpv ( )

Compute vtpv, the weighted sum of squares of constrained image parameter residuals.

Returns: double Weighted sum of squares of constrained image parameter residuals.

Definition at line 247 of file BundleObservation.cpp.

References m_weights, and vtpv().

Referenced by vtpv().

Member Data Documentation

◆ m_adjustedSigmas

LinearAlgebra::Vector Isis::BundleObservation::m_adjustedSigmas

protected

A posteriori (adjusted) parameter sigmas.

Definition at line 110 of file BundleObservation.h.

Referenced by adjustedSigmas(), BundleObservation(), BundleObservation(), Isis::IsisBundleObservation::bundleOutputCSV(), Isis::CsmBundleObservation::bundleOutputCSV(), Isis::IsisBundleObservation::bundleOutputString(), Isis::CsmBundleObservation::bundleOutputString(), Isis::IsisBundleObservation::setSolveSettings(), and Isis::CsmBundleObservation::setSolveSettings().

◆ m_aprioriSigmas

LinearAlgebra::Vector Isis::BundleObservation::m_aprioriSigmas

protected

A posteriori (adjusted) parameter sigmas.

Definition at line 108 of file BundleObservation.h.

Referenced by aprioriSigmas(), BundleObservation(), BundleObservation(), Isis::IsisBundleObservation::bundleOutputCSV(), Isis::CsmBundleObservation::bundleOutputCSV(), Isis::IsisBundleObservation::bundleOutputString(), Isis::CsmBundleObservation::bundleOutputString(), Isis::IsisBundleObservation::initParameterWeights(), Isis::IsisBundleObservation::setSolveSettings(), and Isis::CsmBundleObservation::setSolveSettings().

◆ m_corrections

LinearAlgebra::Vector Isis::BundleObservation::m_corrections

protected

Definition at line 106 of file BundleObservation.h.

◆ m_cubeSerialNumberToBundleImageMap

QMap<QString, BundleImageQsp> Isis::BundleObservation::m_cubeSerialNumberToBundleImageMap

protected

Definition at line 99 of file BundleObservation.h.

◆ m_imageNames

QStringList Isis::BundleObservation::m_imageNames

protected

List of all cube names.

Definition at line 101 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), and imageNames().

◆ m_index

int Isis::BundleObservation::m_index

protected

Index of this observation in the set of observations. Map between cube serial number and BundleImage pointers.

Definition at line 97 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), BundleObservation(), index(), and setIndex().

◆ m_instrumentId

QString Isis::BundleObservation::m_instrumentId

protected

Spacecraft instrument id.

Definition at line 102 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), BundleObservation(), instrumentId(), and operator=().

◆ m_observationNumber

QString Isis::BundleObservation::m_observationNumber

protected

The shared portion of the serial numbers of all images in the observation.

Definition at line 95 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), BundleObservation(), and operator=().

◆ m_serialNumbers

QStringList Isis::BundleObservation::m_serialNumbers

protected

List of all cube serial numbers in observation.

Definition at line 100 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), BundleObservation(), and operator=().

◆ m_weights

LinearAlgebra::Vector Isis::BundleObservation::m_weights

protected

Parameter weights. Cumulative parameter correction vector.

Definition at line 104 of file BundleObservation.h.

Referenced by BundleObservation(), BundleObservation(), Isis::IsisBundleObservation::initParameterWeights(), parameterWeights(), Isis::IsisBundleObservation::setSolveSettings(), Isis::CsmBundleObservation::setSolveSettings(), and vtpv().

The documentation for this class was generated from the following files:

src/control/objs/BundleUtilities/BundleObservation.h
src/control/objs/BundleUtilities/BundleObservation.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BundleObservation() [1/3]

◆ BundleObservation() [2/3]

◆ BundleObservation() [3/3]

◆ ~BundleObservation()

Member Function Documentation

◆ adjustedSigmas()

◆ append()

◆ applyParameterCorrections()

◆ aprioriSigmas()

◆ bundleOutputCSV()

◆ bundleOutputString()

◆ computeImagePartials()

◆ computeObservationValue()

◆ computePoint3DPartials()

◆ computeRHSPartials()

◆ computeTargetPartials()

◆ imageByCubeSerialNumber()

◆ imageNames()

◆ index()

◆ instrumentId()

◆ numberParameters()

◆ operator=()

◆ parameterCorrections()

◆ parameterList()

◆ parameterWeights()

◆ setIndex()

◆ setSolveSettings()

◆ solveSettings()

◆ vtpv()

Member Data Documentation

◆ m_adjustedSigmas

◆ m_aprioriSigmas

◆ m_corrections

◆ m_cubeSerialNumberToBundleImageMap

◆ m_imageNames

◆ m_index

◆ m_instrumentId

◆ m_observationNumber

◆ m_serialNumbers

◆ m_weights