Isis::BundleControlPoint Class Reference

This class holds information about a control point that BundleAdjust needs to run corretly. More...

#include <BundleControlPoint.h>

Inherits QVector< BundleMeasureQsp >.

Public Member Functions
	BundleControlPoint (ControlPoint *point)
	Constructs a BundleControlPoint object from a ControlPoint. More...
	BundleControlPoint (const BundleControlPoint &src)
	Copy constructor. More...
	~BundleControlPoint ()
	Destructor for BundleControlPoint. More...
BundleControlPoint &	operator= (const BundleControlPoint &src)
void	copy (const BundleControlPoint &src)
	Copies given BundleControlPoint to this BundleControlPoint. More...
BundleMeasureQsp	addMeasure (ControlMeasure *controlMeasure)
	Creates a BundleMeasure from the given ControlMeasure and appends it to this BundleControlPoint's measure list. More...
void	computeResiduals ()
	Computes the residuals for this BundleControlPoint. More...
void	setAdjustedSurfacePoint (SurfacePoint surfacePoint)
	Sets the adjusted surface point for this BundleControlPoint. More...
void	setNumberOfRejectedMeasures (int numRejected)
	Sets the number of rejected measures for this BundleControlPoint. More...
void	setRejected (bool reject)
	Sets this BundleControlPoint to rejected or not rejected. More...
void	setWeights (const BundleSettingsQsp settings, double metersToRadians)
	Sets the weights using the given BundleSettings QSharedPointer and a conversion value for meters to radians. More...
void	zeroNumberOfRejectedMeasures ()
	Resets the number of rejected measures for this BundleControlPoint to zero. More...
ControlPoint *	rawControlPoint () const
	Accessor for the raw ControlPoint object used for this BundleControlPoint. More...
bool	isRejected () const
	Method used to determine whether this control point is rejected. More...
int	numberOfMeasures () const
	Accesses number of measures associated with this BundleControlPoint. More...
int	numberOfRejectedMeasures () const
	Accesses the number of rejected measures for this BundleControlPoint. More...
double	residualRms () const
	Gets the root-mean-square (rms) of the BundleControlPoint's residuals. More...
SurfacePoint	adjustedSurfacePoint () const
	Accesses the adjusted SurfacePoint associated with this BundleControlPoint. More...
QString	id () const
	Accesses the Point ID associated with this BundleControlPoint. More...
ControlPoint::PointType	type () const
	Accesses BundleControlPoint's type. More...
boost::numeric::ublas::bounded_vector < double, 3 > &	corrections ()
	Accesses the 3 dimensional ordered vector of correction values associated with latitude, longitude, and radius. More...
boost::numeric::ublas::bounded_vector < double, 3 > &	aprioriSigmas ()
	Accesses the 3 dimenstional ordered vector of apriori sigmas (apriori latitude, apriori longitude, apriori radius). More...
boost::numeric::ublas::bounded_vector < double, 3 > &	adjustedSigmas ()
	Accesses the 3 dimenstional ordered vector of adjusted sigmas (adjusted latitude, adjusted longitude, adjusted radius). More...
boost::numeric::ublas::bounded_vector < double, 3 > &	weights ()
	Accesses the 3 dimensional ordered vector of weight values associated with latitude, longitude, and radius. More...
boost::numeric::ublas::bounded_vector < double, 3 > &	nicVector ()
	Accesses the 3 dimensional ordered NIC vector. More...
SparseBlockRowMatrix &	cholmodQMatrix ()
	Accesses the CholMod matrix associated with this BundleControlPoint. More...
QString	formatBundleOutputSummaryString (bool errorPropagation) const
	Formats an output summary string for this BundleControlPoint. More...
QString	formatBundleOutputDetailString (bool errorPropagation, double RTM, bool solveRadius=false) const
	Formats a detailed output string table for this BundleControlPoint. More...
QString	formatValue (double value, int fieldWidth, int precision) const
	Formats the given double precision value using the specified field width and precision. More...
QString	formatAprioriSigmaString (int type, int fieldWidth, int precision, bool solveRadius=false) const
	Formats the apriori sigma value indicated by the given type code. More...
QString	formatLatitudeAprioriSigmaString (int fieldWidth, int precision) const
	Formats the apriori latitude sigma value. More...
QString	formatLongitudeAprioriSigmaString (int fieldWidth, int precision) const
	Formats the apriori longitude sigma value. More...
QString	formatRadiusAprioriSigmaString (int fieldWidth, int precision, bool solveRadius=false) const
	Formats the apriori radius sigma value. More...
QString	formatAdjustedSigmaString (int type, int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted sigma value indicated by the given type code. More...
QString	formatLatitudeAdjustedSigmaString (int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted latitude sigma value. More...
QString	formatLongitudeAdjustedSigmaString (int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted longitude sigma value. More...
QString	formatRadiusAdjustedSigmaString (int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted radius sigma value. More...

Detailed Description

This class holds information about a control point that BundleAdjust needs to run corretly.

This class was created to extract functionality from BundleAdjust and wrap a ControlPoint with the extra necessary information to correctly perform a bundle adjustment.

Note that only non-ignored control points should be used to construct a BundleControlPoint. Similarly, a BundleControlPoint should only contain non-ignored control measures.

Author

2014-05-22 Ken Edmundson

Constructor & Destructor Documentation

Isis::BundleControlPoint::BundleControlPoint

(

ControlPoint *

controlPoint

)

Constructs a BundleControlPoint object from a ControlPoint.

Only the non-ignored measures are added to the BundleControlPoint.

Parameters

controlPoint

Pointer to a ControlPoint that will be used to construct this BundleControlPoint.

References addMeasure(), Isis::ControlPoint::GetMeasure(), Isis::ControlPoint::GetNumMeasures(), Isis::ControlMeasure::IsIgnored(), and Isis::Null.

Isis::BundleControlPoint::BundleControlPoint

(

const BundleControlPoint &

src

)

Copy constructor.

Constructs a BundleControlPoint object from an existing BundleControlPoint.

Parameters

src	The BundleControlPoint to be copied.

References copy().

Isis::BundleControlPoint::~BundleControlPoint

(

)

Destructor for BundleControlPoint.

Member Function Documentation

BundleMeasureQsp Isis::BundleControlPoint::addMeasure

(

ControlMeasure *

controlMeasure

)

Creates a BundleMeasure from the given ControlMeasure and appends it to this BundleControlPoint's measure list.

Parameters

controlMeasure

The ControlMeasure to be converted.

Returns

BundleMeasure* A pointer to the new BundleMeasure.

Referenced by BundleControlPoint().

boost::numeric::ublas::bounded_vector< double, 3 > & Isis::BundleControlPoint::adjustedSigmas

(

)

Accesses the 3 dimenstional ordered vector of adjusted sigmas (adjusted latitude, adjusted longitude, adjusted radius).

Returns

boost::numeric::ublas::bounded_vector<double,3>& The vector of adjusted sigmas.

SurfacePoint Isis::BundleControlPoint::adjustedSurfacePoint

(

)

const

Accesses the adjusted SurfacePoint associated with this BundleControlPoint.

Returns

SurfacePoint The adjusted surface point.

References Isis::ControlPoint::GetAdjustedSurfacePoint().

boost::numeric::ublas::bounded_vector< double, 3 > & Isis::BundleControlPoint::aprioriSigmas

(

)

Accesses the 3 dimenstional ordered vector of apriori sigmas (apriori latitude, apriori longitude, apriori radius).

Returns

boost::numeric::ublas::bounded_vector<double,3>& The vector of apriori sigmas.

SparseBlockRowMatrix & Isis::BundleControlPoint::cholmodQMatrix

(

)

Accesses the CholMod matrix associated with this BundleControlPoint.

Returns

SparseBlockRowMatrix& The CholMod row matrix.

void Isis::BundleControlPoint::computeResiduals

(

)

Computes the residuals for this BundleControlPoint.

See Also

ControlPoint::ComputeResiduals()

References Isis::ControlPoint::ComputeResiduals().

void Isis::BundleControlPoint::copy

(

const BundleControlPoint &

src

)

Copies given BundleControlPoint to this BundleControlPoint.

Parameters

src	The BundleControlPoint to be copied.

Referenced by BundleControlPoint().

boost::numeric::ublas::bounded_vector< double, 3 > & Isis::BundleControlPoint::corrections

(

)

Accesses the 3 dimensional ordered vector of correction values associated with latitude, longitude, and radius.

Returns

boost::numeric::ublas::bounded_vector<double,3>& The vector of correction values.

QString Isis::BundleControlPoint::formatAdjustedSigmaString	(	int	type,
		int	fieldWidth,
		int	precision,
		bool	errorPropagation
	)		const

Formats the adjusted sigma value indicated by the given type code.

If error propagation is false or the selected sigma type was set to Null, then only "N/A" will be returned.

Parameters

type	Integer code that indicates which apriori sigma value will be formatted. Latitude=0, Longitude=1, Radius=2.
fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.
errorPropagation	Indicates whether error propagation was selected.

Returns

QString The formatted value, as a string.

References Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLocalRadiusSigma(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::IsSpecial(), Isis::Distance::meters(), and Isis::Null.

Referenced by formatLatitudeAdjustedSigmaString(), formatLongitudeAdjustedSigmaString(), and formatRadiusAdjustedSigmaString().

QString Isis::BundleControlPoint::formatAprioriSigmaString	(	int	version,
		int	fieldWidth,
		int	precision,
		bool	solveRadius = false
	)		const

Formats the apriori sigma value indicated by the given type code.

If no sigma was set, then the string "N/A" will be returned.

Parameters

type	Integer code that indicates which apriori sigma value will be formatted. Latitude=0, Longitude=1, Radius=2.
fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.

Returns

QString The formatted value, as a string.

References Isis::IsSpecial(), Isis::ControlPoint::PointTypeToString(), and type().

Referenced by formatLatitudeAprioriSigmaString(), formatLongitudeAprioriSigmaString(), and formatRadiusAprioriSigmaString().

QString Isis::BundleControlPoint::formatBundleOutputDetailString	(	bool	errorPropagation,
		double	RTM,
		bool	solveRadius = false
	)		const

Formats a detailed output string table for this BundleControlPoint.

Parameters

errorPropagation	Indicates whether error propagation was selected.
RTM	Conversion factor from radians to meters. Used to convert the latitude and longitude corrections to meters.

Returns

QString The formatted output detailed string.

References Isis::DEG2RAD(), Isis::Angle::degrees(), formatLatitudeAdjustedSigmaString(), formatLatitudeAprioriSigmaString(), formatLongitudeAdjustedSigmaString(), formatLongitudeAprioriSigmaString(), formatRadiusAdjustedSigmaString(), formatRadiusAprioriSigmaString(), formatValue(), Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::IsSpecial(), Isis::Distance::kilometers(), Isis::Null, numberOfMeasures(), numberOfRejectedMeasures(), Isis::ControlPoint::PointTypeToString(), Isis::RAD2DEG(), and type().

QString Isis::BundleControlPoint::formatBundleOutputSummaryString

(

bool

errorPropagation

)

const

Formats an output summary string for this BundleControlPoint.

This string includes ID, point type, number of rays from non-rejected measures, residual RMS, adjusted latitude and longitude (in degrees), adjusted radius (in km), and the adjusted sigmas (for latitude, longitude and radius).

Parameters

errorPropagation

Indicates whether error propagation was selected.

Returns

QString The formatted output summary string.

References Isis::Angle::degrees(), formatLatitudeAdjustedSigmaString(), formatLongitudeAdjustedSigmaString(), formatRadiusAdjustedSigmaString(), formatValue(), Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::Distance::kilometers(), numberOfMeasures(), numberOfRejectedMeasures(), Isis::ControlPoint::PointTypeToString(), residualRms(), and type().

QString Isis::BundleControlPoint::formatLatitudeAdjustedSigmaString	(	int	fieldWidth,
		int	precision,
		bool	errorPropagation
	)		const

Formats the adjusted latitude sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.
errorPropagation	Indicates whether error propagation was selected.

Returns

QString The formatted adjusted latitude sigma value, as a string.

See Also

formatAdjustedSigmaString()

References formatAdjustedSigmaString().

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

QString Isis::BundleControlPoint::formatLatitudeAprioriSigmaString	(	int	fieldWidth,
		int	precision
	)		const

Formats the apriori latitude sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.

Returns

QString The formatted apriori latitude sigma value, as a string.

See Also

formatAprioriSigmaString()

References formatAprioriSigmaString().

Referenced by formatBundleOutputDetailString().

QString Isis::BundleControlPoint::formatLongitudeAdjustedSigmaString	(	int	fieldWidth,
		int	precision,
		bool	errorPropagation
	)		const

Formats the adjusted longitude sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.
errorPropagation	Indicates whether error propagation was selected.

Returns

QString The formatted adjusted longitude sigma value, as a string.

See Also

formatAdjustedSigmaString()

References formatAdjustedSigmaString().

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

QString Isis::BundleControlPoint::formatLongitudeAprioriSigmaString	(	int	fieldWidth,
		int	precision
	)		const

Formats the apriori longitude sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.

Returns

QString The formatted apriori longitude sigma value, as a string.

See Also

formatAprioriSigmaString()

References formatAprioriSigmaString().

Referenced by formatBundleOutputDetailString().

QString Isis::BundleControlPoint::formatRadiusAdjustedSigmaString	(	int	fieldWidth,
		int	precision,
		bool	errorPropagation
	)		const

Formats the adjusted radius sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.
errorPropagation	Indicates whether error propagation was selected.

Returns

QString The formatted adjusted radius sigma value, as a string.

See Also

formatAdjustedSigmaString()

References formatAdjustedSigmaString().

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

QString Isis::BundleControlPoint::formatRadiusAprioriSigmaString	(	int	fieldWidth,
		int	precision,
		bool	solveRadius = false
	)		const

Formats the apriori radius sigma value.

Parameters

fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.

Returns

QString The formatted apriori radius sigma value, as a string.

See Also

formatAprioriSigmaString()

References formatAprioriSigmaString().

Referenced by formatBundleOutputDetailString().

QString Isis::BundleControlPoint::formatValue	(	double	value,
		int	fieldWidth,
		int	precision
	)		const

Formats the given double precision value using the specified field width and precision.

If the given value is special, then "Null" is returned.

Parameters

value	The double value to be formattted.
fieldWidth	The return string's field width.
precision	The precision of the given double value to be saved off.

Returns

QString The formatted value, as a string.

References Isis::IsSpecial().

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

QString Isis::BundleControlPoint::id

(

)

const

Accesses the Point ID associated with this BundleControlPoint.

Returns

QString The ID for this point.

References Isis::ControlPoint::GetId().

bool Isis::BundleControlPoint::isRejected

(

)

const

Method used to determine whether this control point is rejected.

Returns

bool Indicates whether this control point is rejected.

References Isis::ControlPoint::IsRejected().

boost::numeric::ublas::bounded_vector< double, 3 > & Isis::BundleControlPoint::nicVector

(

)

Accesses the 3 dimensional ordered NIC vector.

Returns

boost::numeric::ublas::bounded_vector<double,3>& The NIC vector.

int Isis::BundleControlPoint::numberOfMeasures

(

)

const

Accesses number of measures associated with this BundleControlPoint.

Returns

int The number of measures for this point.

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

int Isis::BundleControlPoint::numberOfRejectedMeasures

(

)

const

Accesses the number of rejected measures for this BundleControlPoint.

Returns

int Returns the number of rejected measures.

See Also

ControlPoint::GetNumberOfRejectedMeasures()

References Isis::ControlPoint::GetNumberOfRejectedMeasures().

Referenced by formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

BundleControlPoint& Isis::BundleControlPoint::operator=

(

const BundleControlPoint &

src

)

ControlPoint * Isis::BundleControlPoint::rawControlPoint

(

)

const

Accessor for the raw ControlPoint object used for this BundleControlPoint.

Returns

ControlPoint* A pointer to the raw ControlPoint.

double Isis::BundleControlPoint::residualRms

(

)

const

Gets the root-mean-square (rms) of the BundleControlPoint's residuals.

Returns

double Returns the rms of the residuals.

See Also

ControlPoint::GetResidualRms()

References Isis::ControlPoint::GetResidualRms().

Referenced by formatBundleOutputSummaryString().

void Isis::BundleControlPoint::setAdjustedSurfacePoint

(

SurfacePoint

surfacePoint

)

Sets the adjusted surface point for this BundleControlPoint.

Parameters

surfacePoint

The surface point to be set.

References Isis::ControlPoint::SetAdjustedSurfacePoint().

void Isis::BundleControlPoint::setNumberOfRejectedMeasures

(

int

numRejected

)

Sets the number of rejected measures for this BundleControlPoint.

Parameters

numRejected

Number of rejected measures.

See Also

ControlPoint::SetNumberOfRejectedMeasures(int numRejected)

References Isis::ControlPoint::SetNumberOfRejectedMeasures().

void Isis::BundleControlPoint::setRejected

(

bool

reject

)

Sets this BundleControlPoint to rejected or not rejected.

Parameters

reject

True will set the BundleControlPoint to rejected.

See Also

ControlPoint::SetRejected(bool reject)

References Isis::ControlPoint::SetRejected().

void Isis::BundleControlPoint::setWeights	(	const BundleSettingsQsp	settings,
		double	metersToRadians
	)

Sets the weights using the given BundleSettings QSharedPointer and a conversion value for meters to radians.

Parameters

settings	A QSharedPointer to BundleSettings object.
metersToRadians	A double precision conversion factor.

References Isis::ControlPoint::Constrained, Isis::ControlPoint::Fixed, Isis::ControlPoint::Free, Isis::ControlPoint::GetAprioriSurfacePoint(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLatWeight(), Isis::SurfacePoint::GetLocalRadiusSigma(), Isis::SurfacePoint::GetLocalRadiusWeight(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::SurfacePoint::GetLonWeight(), Isis::ControlPoint::GetType(), Isis::ControlPoint::IsLatitudeConstrained(), Isis::ControlPoint::IsLongitudeConstrained(), Isis::ControlPoint::IsRadiusConstrained(), Isis::IsSpecial(), and Isis::Distance::meters().

ControlPoint::PointType Isis::BundleControlPoint::type

(

)

const

Accesses BundleControlPoint's type.

Returns

ControlPoint::PointType The BundleControlPoint's type. Options are: Fixed = 0, Constrained = 1, Free = 2.

See Also

ControlPoint::GetType()

References Isis::ControlPoint::GetType().

Referenced by formatAprioriSigmaString(), formatBundleOutputDetailString(), and formatBundleOutputSummaryString().

boost::numeric::ublas::bounded_vector< double, 3 > & Isis::BundleControlPoint::weights

(

)

Accesses the 3 dimensional ordered vector of weight values associated with latitude, longitude, and radius.

Returns

boost::numeric::ublas::bounded_vector<double,3>& The vector of weight values.

void Isis::BundleControlPoint::zeroNumberOfRejectedMeasures

(

)

Resets the number of rejected measures for this BundleControlPoint to zero.

See Also

ControlPoint::ZeroNumberOfRejectedMeasures()

References Isis::ControlPoint::ZeroNumberOfRejectedMeasures().

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

• src/control/objs/BundleUtilities/BundleControlPoint.h
• src/control/objs/BundleUtilities/BundleControlPoint.cpp