Isis::BundleLidarControlPoint Class Reference

This class holds information about a lidar control point that BundleAdjust requires. More...

#include <BundleLidarControlPoint.h>

Inheritance diagram for Isis::BundleLidarControlPoint:

Collaboration diagram for Isis::BundleLidarControlPoint:

Public Member Functions
	BundleLidarControlPoint (BundleSettingsQsp bundleSettings, LidarControlPointQsp lidarControlPoint)
	Constructs a BundleLidarControlPoint object from a LidarControlPoint.
	~BundleLidarControlPoint ()
	TODO: implement? Copy constructor.
BundleLidarControlPoint &	operator= (const BundleLidarControlPoint &src)
void	copy (const BundleLidarControlPoint &src)
	Copies given BundleLidarControlPoint to this BundleLidarControlPoint.
void	initializeRangeConstraints ()
	Initialize range constraints.
int	applyLidarRangeConstraints (SparseBlockMatrix &normalsMatrix, LinearAlgebra::MatrixUpperTriangular &N22, SparseBlockColumnMatrix &N12, LinearAlgebra::VectorCompressed &n1, LinearAlgebra::Vector &n2)
	Applies range constraint between image and lidar point acquired simultaneously.
void	computeResiduals ()
	Computes the residuals for this BundleLidarControlPoint.
virtual void	applyParameterCorrections (LinearAlgebra::Vector imageSolution, SparseBlockMatrix &sparseNormals, const BundleTargetBodyQsp target)
	Apply the parameter corrections to the lidar range.
BundleLidarRangeConstraintQsp	rangeConstraint (int n)
	Returns range constraint at index n.
double	vtpvRangeContribution ()
	Returns Weighted sum of squares of range residuals for this point.
int	numberRangeConstraints ()
	Returns number of range constraints between this lidar point & images acquired simultaneously.
double	range ()
	Returns range between this point and ???
double	sigmaRange ()
	Returns sigma of observed range.
void	copy (const BundleControlPoint &src)
	Copies given BundleControlPoint to this BundleControlPoint.
BundleMeasureQsp	addMeasure (ControlMeasure *controlMeasure)
	Creates a BundleMeasure from the given ControlMeasure and appends it to this BundleControlPoint's measure list.
void	setAdjustedSurfacePoint (SurfacePoint surfacePoint)
	Sets the adjusted surface point for this BundleControlPoint.
void	setNumberOfRejectedMeasures (int numRejected)
	Sets the number of rejected measures for this BundleControlPoint.
void	setRejected (bool reject)
	Sets this BundleControlPoint to rejected or not rejected.
void	setWeights (const BundleSettingsQsp settings)
	Sets the weights using the given BundleSettings QSharedPointer and a conversion value for meters to radians.
void	setSigmaWeightFromGlobals (double gSigma, int index)
	Sets the member sigmas and weights from a global sigma.
void	setSigmaWeightFromGlobals (double gSigma, int index, double cFactor)
void	zeroNumberOfRejectedMeasures ()
	Resets the number of rejected measures for this BundleControlPoint to zero.
void	productAlphaAV (double alpha, SparseBlockMatrix &sparseNormals, LinearAlgebra::Vector &v1)
	Perform the matrix multiplication v2 = alpha ( Q x v1 ).
double	vtpv ()
	Compute vtpv, the weighted sum of squares of constrained point residuals.
double	vtpvMeasures ()
	Compute vtpv of image measures (weighted sum of squares of measure residuals).
ControlPoint *	rawControlPoint () const
	Accessor for the raw ControlPoint object used for this BundleControlPoint.
bool	isRejected () const
	Method used to determine whether this control point is rejected.
int	numberOfMeasures () const
	Accesses number of measures associated with this BundleControlPoint.
int	numberOfRejectedMeasures () const
	Accesses the number of rejected measures for this BundleControlPoint.
double	residualRms () const
	Gets the root-mean-square (rms) of the BundleControlPoint's residuals.
SurfacePoint	adjustedSurfacePoint () const
	Accesses the adjusted SurfacePoint associated with this BundleControlPoint.
QString	id () const
	Accesses the Point ID associated with this BundleControlPoint.
ControlPoint::PointType	type () const
	Accesses BundleControlPoint's type.
SurfacePoint::CoordinateType	coordTypeReports () const
	Accesses BundleControlPoint's coordinate type for reports.
SurfacePoint::CoordinateType	coordTypeBundle () const
	Accesses BundleControlPoint's control point coordinate type for the bundle adjustment.
boost::numeric::ublas::bounded_vector< double, 3 > &	corrections ()
	Accesses the 3 dimensional ordered vector of correction values associated with coord1, coord2, and coord 3 (latitude, longitude, and radius or X, Y, and Z.
boost::numeric::ublas::bounded_vector< double, 3 > &	aprioriSigmas ()
	Accesses the 3 dimensional ordered vector of apriori sigmas (apriori coordinate1, apriori coordinate2, apriori coordinate3).
boost::numeric::ublas::bounded_vector< double, 3 > &	adjustedSigmas ()
	Accesses the 3 dimensional ordered vector of adjusted sigmas (adjusted coordinate1, adjusted coordinate2, adjusted coordinate3).
boost::numeric::ublas::bounded_vector< double, 3 > &	weights ()
	Accesses the 3 dimensional ordered vector of weight values associated with coordinate1, coordinate2, and coordinate3.
boost::numeric::ublas::bounded_vector< double, 3 > &	nicVector ()
	Accesses the 3 dimensional ordered NIC vector.
SparseBlockRowMatrix &	cholmodQMatrix ()
	Accesses the CholMod matrix associated with this BundleControlPoint.
QString	formatBundleOutputSummaryString (bool errorPropagation) const
	Formats an output summary string for this BundleControlPoint.
QString	formatBundleOutputDetailString (bool errorPropagation, bool solveRadius=false) const
	Formats a detailed output string table for this BundleControlPoint.
QString	formatBundleLatitudinalOutputDetailString (bool errorPropagation, bool solveRadius=false) const
	Formats a detailed output string table for this Latitudinal BundleControlPoint.
QString	formatBundleRectangularOutputDetailString (bool errorPropagation) const
	Formats a detailed output string table for this Rectangular BundleControlPoint.
QString	formatValue (double value, int fieldWidth, int precision) const
	Formats the given double precision value using the specified field width and precision.
QString	formatAprioriSigmaString (SurfacePoint::CoordIndex index, int fieldWidth, int precision, bool solveRadius=false) const
	Formats the apriori sigma value indicated by the given type code.
QString	formatCoordAprioriSigmaString (SurfacePoint::CoordIndex index, int fieldWidth, int precision, bool solveRadius=false) const
	Formats the apriori coordinate 1 (latitude or X) sigma value.
QString	formatAdjustedSigmaString (SurfacePoint::CoordIndex, int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted sigma value indicated by the given type code.
QString	formatCoordAdjustedSigmaString (SurfacePoint::CoordIndex, int fieldWidth, int precision, bool errorPropagation) const
	Formats the adjusted coordinate sigma value.

Protected Attributes
ControlPoint *	m_controlPoint
	< pointer to the control point object this represents

Detailed Description

This class holds information about a lidar control point that BundleAdjust requires.

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

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

Author

2018-02-08 Ken Edmundson

Constructor & Destructor Documentation

BundleLidarControlPoint()

Isis::BundleLidarControlPoint::BundleLidarControlPoint	(	BundleSettingsQsp	bundleSettings,
		LidarControlPointQsp	lidarControlPoint )

Constructs a BundleLidarControlPoint object from a LidarControlPoint.

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

Parameters

bundleSettings	BundleSettings.
controlPoint	Pointer to a ControlPoint that will be used to construct this BundleLidarControlPoint.

TODO: is the typecast expensive?

~BundleLidarControlPoint()

Isis::BundleLidarControlPoint::~BundleLidarControlPoint

(

)

TODO: implement? Copy constructor.

Parameters

src	The BundleLidarControlPoint to be copied. Destructor.

Member Function Documentation

addMeasure()

BundleMeasureQsp Isis::BundleControlPoint::addMeasure ( ControlMeasure * controlMeasure )

inherited

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 Isis::BundleControlPoint::BundleControlPoint().

adjustedSigmas()

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

inherited

Accesses the 3 dimensional ordered vector of adjusted sigmas (adjusted coordinate1, adjusted coordinate2, adjusted coordinate3).

Returns

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

adjustedSurfacePoint()

SurfacePoint Isis::BundleControlPoint::adjustedSurfacePoint ( ) const

inherited

Accesses the adjusted SurfacePoint associated with this BundleControlPoint.

Returns

SurfacePoint The adjusted surface point.

References Isis::ControlPoint::GetAdjustedSurfacePoint(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::IsisBundleObservation::computePoint3DPartials(), Isis::IsisBundleObservation::computeRHSPartials(), Isis::CsmBundleObservation::computeRHSPartials(), Isis::IsisBundleObservation::computeTargetPartials(), and Isis::BundleControlPoint::formatAdjustedSigmaString().

applyLidarRangeConstraints()

int Isis::BundleLidarControlPoint::applyLidarRangeConstraints	(	SparseBlockMatrix &	normalsMatrix,
		LinearAlgebra::MatrixUpperTriangular &	N22,
		SparseBlockColumnMatrix &	N12,
		LinearAlgebra::VectorCompressed &	n1,
		LinearAlgebra::Vector &	n2 )

Applies range constraint between image and lidar point acquired simultaneously.

Parameters

normalsMatrix	Bundle Adjustment normal equations matrix.
N22	Normal equation matrix for the point.
N12	Normal equations block between image and point.
n1	Right hand side vector for the images and target body.
n2	Right hand side vector for the point.

Returns

int Number of constraints successfully applied.

applyParameterCorrections()

void Isis::BundleLidarControlPoint::applyParameterCorrections ( LinearAlgebra::Vector imageSolution, SparseBlockMatrix & sparseNormals, const BundleTargetBodyQsp target )

virtual

Apply the parameter corrections to the lidar range.

Reimplemented from Isis::BundleControlPoint.

References Isis::BundleControlPoint::applyParameterCorrections().

aprioriSigmas()

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

inherited

Accesses the 3 dimensional ordered vector of apriori sigmas (apriori coordinate1, apriori coordinate2, apriori coordinate3).

Returns

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

cholmodQMatrix()

SparseBlockRowMatrix & Isis::BundleControlPoint::cholmodQMatrix ( )

inherited

Accesses the CholMod matrix associated with this BundleControlPoint.

Returns

SparseBlockRowMatrix& The CholMod row matrix.

computeResiduals()

void Isis::BundleLidarControlPoint::computeResiduals

(

)

Computes the residuals for this BundleLidarControlPoint.

coordTypeBundle()

SurfacePoint::CoordinateType Isis::BundleControlPoint::coordTypeBundle ( ) const

inherited

Accesses BundleControlPoint's control point coordinate type for the bundle adjustment.

Returns

ControlPoint::CoordinateType The BundleControlPoint's coordinate type. See SurfacePoint for the options.

See also

ControlPoint::getCoordTypeBundle()

coordTypeReports()

SurfacePoint::CoordinateType Isis::BundleControlPoint::coordTypeReports ( ) const

inherited

Accesses BundleControlPoint's coordinate type for reports.

Returns

ControlPoint::CoordinateType The BundleControlPoint's coordinate type. See SurfacePoint for the options.

See also

ControlPoint::getCoordType()

copy() [1/2]

void Isis::BundleControlPoint::copy ( const BundleControlPoint & src )

inherited

Copies given BundleControlPoint to this BundleControlPoint.

Parameters

src	The BundleControlPoint to be copied.

References Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::BundleControlPoint::BundleControlPoint(), and copy().

copy() [2/2]

void Isis::BundleLidarControlPoint::copy

(

const BundleLidarControlPoint &

src

)

Copies given BundleLidarControlPoint to this BundleLidarControlPoint.

Parameters

src	The BundleLidarControlPoint to be copied.

References Isis::BundleControlPoint::copy().

corrections()

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

inherited

Accesses the 3 dimensional ordered vector of correction values associated with coord1, coord2, and coord 3 (latitude, longitude, and radius or X, Y, and Z.

A bounded vector is recommended because the size will always be 3.

Returns

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

formatAdjustedSigmaString()

QString Isis::BundleControlPoint::formatAdjustedSigmaString ( SurfacePoint::CoordIndex index, int fieldWidth, int precision, bool errorPropagation ) const

inherited

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

index	CoordIndex Coordinate index One: Latitude or X, Two: Longitude or Y, or Three: Radius or Z
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::BundleControlPoint::adjustedSurfacePoint(), Isis::SurfacePoint::GetSigmaDistance(), Isis::IsSpecial(), Isis::Distance::meters(), and Isis::Null.

Referenced by Isis::BundleControlPoint::formatCoordAdjustedSigmaString().

formatAprioriSigmaString()

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

inherited

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

index	CoordIndex Coordinate index One: Latitude or X, Two: Longitude or Y, or Three: Radius or Z
fieldWidth	The return string's field width.
precision	The precision of the double to be saved off.
solveRadius	A flag indicating to solve for each points individual radius. When solveRadius is false, the point radius is heavily weighted

Returns

QString The formatted value, as a string.

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

Referenced by Isis::BundleControlPoint::formatCoordAprioriSigmaString().

formatBundleLatitudinalOutputDetailString()

QString Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString ( bool errorPropagation, bool solveRadius = false ) const

inherited

Formats a detailed output string table for this Latitudinal 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.
solveRadius	A flag indicating to solve for each points individual radius. When solveRadius is false, the point radius is heavily weighted

Returns

QString The formatted output detailed string.

References _FILEINFO_, Isis::DEG2RAD, Isis::Angle::degrees(), Isis::BundleControlPoint::formatCoordAdjustedSigmaString(), Isis::BundleControlPoint::formatCoordAprioriSigmaString(), Isis::BundleControlPoint::formatValue(), Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::IsSpecial(), Isis::Displacement::Kilometers, Isis::Displacement::kilometers(), Isis::Distance::kilometers(), Isis::SurfacePoint::LatitudeToMeters(), Isis::SurfacePoint::Latitudinal, Isis::SurfacePoint::LongitudeToMeters(), Isis::BundleControlPoint::m_controlPoint, Isis::Null, Isis::BundleControlPoint::numberOfMeasures(), Isis::BundleControlPoint::numberOfRejectedMeasures(), Isis::SurfacePoint::One, Isis::ControlPoint::PointTypeToString(), Isis::IException::Programmer, Isis::RAD2DEG, Isis::SurfacePoint::Rectangular, Isis::SurfacePoint::Three, Isis::toString(), Isis::SurfacePoint::Two, and Isis::BundleControlPoint::type().

Referenced by Isis::BundleControlPoint::formatBundleOutputDetailString().

formatBundleOutputDetailString()

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

inherited

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.
solveRadius	A flag indicating to solve for each points individual radius. When solveRadius is false, the point radius is heavily weighted

Returns

QString The formatted output detailed string.

References _FILEINFO_, Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), Isis::SurfacePoint::Latitudinal, Isis::IException::Programmer, Isis::SurfacePoint::Rectangular, and Isis::toString().

formatBundleOutputSummaryString()

QString Isis::BundleControlPoint::formatBundleOutputSummaryString ( bool errorPropagation ) const

inherited

Formats an output summary string for this BundleControlPoint.

This string includes ID, point type, number of rays from non-rejected measures, residual RMS, adjusted coordinate1, adjusted coordinate 2, and adjusted coordinate 3 followed by the adjusted sigmas. In the case of Latitudinal coordinates, the coordinates will be adjusted latitude and longitude (in degrees), the adjusted radius (in km), and the adjusted sigmas for latitude, longitude and radius all in meters. In the case of Rectangular coordinates, the coordinates will be X, Y, Z (in km), and the adjusted sigmas for X, Y, and Z all in meters.

Parameters

errorPropagation

Indicates whether error propagation was selected.

Returns

QString The formatted output summary string.

References Isis::SurfacePoint::Degrees, Isis::BundleControlPoint::formatCoordAdjustedSigmaString(), Isis::BundleControlPoint::formatValue(), Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetCoord(), Isis::SurfacePoint::Kilometers, Isis::BundleControlPoint::m_controlPoint, Isis::BundleControlPoint::numberOfMeasures(), Isis::BundleControlPoint::numberOfRejectedMeasures(), Isis::SurfacePoint::One, Isis::ControlPoint::PointTypeToString(), Isis::SurfacePoint::Rectangular, Isis::BundleControlPoint::residualRms(), Isis::SurfacePoint::Three, Isis::SurfacePoint::Two, and Isis::BundleControlPoint::type().

formatBundleRectangularOutputDetailString()

QString Isis::BundleControlPoint::formatBundleRectangularOutputDetailString ( bool errorPropagation ) const

inherited

Formats a detailed output string table for this Rectangular BundleControlPoint.

Parameters

errorPropagation

Indicates whether error propagation was selected.

Returns

QString The formatted output detailed string.

References _FILEINFO_, Isis::Angle::Degrees, Isis::Angle::degrees(), Isis::BundleControlPoint::formatCoordAdjustedSigmaString(), Isis::BundleControlPoint::formatCoordAprioriSigmaString(), Isis::BundleControlPoint::formatValue(), Isis::ControlPoint::GetAdjustedSurfacePoint(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::IsSpecial(), Isis::Displacement::kilometers(), Isis::Distance::Kilometers, Isis::Distance::kilometers(), Isis::SurfacePoint::Latitudinal, Isis::BundleControlPoint::m_controlPoint, Isis::Null, Isis::BundleControlPoint::numberOfMeasures(), Isis::BundleControlPoint::numberOfRejectedMeasures(), Isis::SurfacePoint::One, Isis::ControlPoint::PointTypeToString(), Isis::IException::Programmer, Isis::RAD2DEG, Isis::SurfacePoint::Rectangular, Isis::SurfacePoint::Three, Isis::toString(), Isis::SurfacePoint::Two, and Isis::BundleControlPoint::type().

Referenced by Isis::BundleControlPoint::formatBundleOutputDetailString().

formatCoordAdjustedSigmaString()

QString Isis::BundleControlPoint::formatCoordAdjustedSigmaString ( SurfacePoint::CoordIndex index, int fieldWidth, int precision, bool errorPropagation ) const

inherited

Formats the adjusted coordinate sigma value.

Parameters

index	The coordinate index of the sigma to return.
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 coordinate sigma value, as a string.

See also

formatAdjustedSigmaString()

References Isis::BundleControlPoint::formatAdjustedSigmaString().

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

formatCoordAprioriSigmaString()

QString Isis::BundleControlPoint::formatCoordAprioriSigmaString ( SurfacePoint::CoordIndex index, int fieldWidth, int precision, bool solveRadius = false ) const

inherited

Formats the apriori coordinate 1 (latitude or X) 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 coordinate 1 sigma value, as a string.

See also

formatAprioriSigmaString()

References Isis::BundleControlPoint::formatAprioriSigmaString().

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

formatValue()

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

inherited

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 Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

id()

QString Isis::BundleControlPoint::id ( ) const

inherited

Accesses the Point ID associated with this BundleControlPoint.

Returns

QString The ID for this point.

References Isis::ControlPoint::GetId(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::IsisBundleObservation::computeRHSPartials(), and Isis::CsmBundleObservation::computeRHSPartials().

initializeRangeConstraints()

void Isis::BundleLidarControlPoint::initializeRangeConstraints

(

)

Initialize range constraints.

isRejected()

bool Isis::BundleControlPoint::isRejected ( ) const

inherited

Method used to determine whether this control point is rejected.

Returns

bool Indicates whether this control point is rejected.

References Isis::ControlPoint::IsRejected(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::BundleControlPoint::applyParameterCorrections().

nicVector()

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

inherited

Accesses the 3 dimensional ordered NIC vector.

Returns

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

numberOfMeasures()

int Isis::BundleControlPoint::numberOfMeasures ( ) const

inherited

Accesses number of measures associated with this BundleControlPoint.

Returns

int The number of measures for this point.

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

numberOfRejectedMeasures()

int Isis::BundleControlPoint::numberOfRejectedMeasures ( ) const

inherited

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(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

numberRangeConstraints()

int Isis::BundleLidarControlPoint::numberRangeConstraints

(

)

Returns number of range constraints between this lidar point & images acquired simultaneously.

Returns

int Number of range constraints

operator=()

BundleLidarControlPoint & Isis::BundleLidarControlPoint::operator=

(

const BundleLidarControlPoint &

src

)

productAlphaAV()

void Isis::BundleControlPoint::productAlphaAV ( double alpha, SparseBlockMatrix & sparseNormals, LinearAlgebra::Vector & v1 )

inherited

Perform the matrix multiplication v2 = alpha ( Q x v1 ).

Parameters

alpha	A constant multiplier.
sparseNormals	The sparse block normal equations matrix.
v2	The output vector.
Q	A sparse block matrix.
v1	A vector.

Referenced by Isis::BundleControlPoint::applyParameterCorrections().

range()

double Isis::BundleLidarControlPoint::range

(

)

Returns range between this point and ???

Returns

double range.

rangeConstraint()

BundleLidarRangeConstraintQsp Isis::BundleLidarControlPoint::rangeConstraint

(

int

n

)

Returns range constraint at index n.

Parameters

int	Index of range constraint to return.

Returns

BundleLidarRangeConstraintQsp QSharedPointer to range constraint at index n.

rawControlPoint()

ControlPoint * Isis::BundleControlPoint::rawControlPoint ( ) const

inherited

Accessor for the raw ControlPoint object used for this BundleControlPoint.

Returns

ControlPoint* A pointer to the raw ControlPoint.

References Isis::BundleControlPoint::m_controlPoint.

residualRms()

double Isis::BundleControlPoint::residualRms ( ) const

inherited

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(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::BundleControlPoint::formatBundleOutputSummaryString().

setAdjustedSurfacePoint()

void Isis::BundleControlPoint::setAdjustedSurfacePoint ( SurfacePoint surfacePoint )

inherited

Sets the adjusted surface point for this BundleControlPoint.

Parameters

surfacePoint

The surface point to be set.

References Isis::BundleControlPoint::m_controlPoint, and Isis::ControlPoint::SetAdjustedSurfacePoint().

setNumberOfRejectedMeasures()

void Isis::BundleControlPoint::setNumberOfRejectedMeasures ( int numRejected )

inherited

Sets the number of rejected measures for this BundleControlPoint.

Parameters

numRejected

Number of rejected measures.

See also

ControlPoint::SetNumberOfRejectedMeasures(int numRejected)

References Isis::BundleControlPoint::m_controlPoint, and Isis::ControlPoint::SetNumberOfRejectedMeasures().

setRejected()

void Isis::BundleControlPoint::setRejected ( bool reject )

inherited

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::BundleControlPoint::m_controlPoint, and Isis::ControlPoint::SetRejected().

setSigmaWeightFromGlobals() [1/2]

void Isis::BundleControlPoint::setSigmaWeightFromGlobals ( double gSigma, int index )

inherited

Sets the member sigmas and weights from a global sigma.

TODO *** Should index be SurfacePoint::CoordIndex?

Parameters

gSigma	The global sigma to assign.
index	The index of the point coordinate being set (0, 1, or 2).
cFactor	The conversion factor applied to gSigma to match bundle variable units.

See also

formatAprioriSigmaString()

References _FILEINFO_, Isis::ControlPoint::GetAprioriSurfacePoint(), Isis::SurfacePoint::Latitudinal, Isis::BundleControlPoint::m_controlPoint, Isis::SurfacePoint::MetersToLatitude(), Isis::SurfacePoint::MetersToLongitude(), Isis::IException::Programmer, Isis::SurfacePoint::Rectangular, and Isis::toString().

Referenced by Isis::BundleControlPoint::setWeights().

setSigmaWeightFromGlobals() [2/2]

void Isis::BundleControlPoint::setSigmaWeightFromGlobals ( double gSigma, int index, double cFactor )

inherited

setWeights()

void Isis::BundleControlPoint::setWeights ( const BundleSettingsQsp settings )

inherited

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::GetSigmaDistance(), Isis::ControlPoint::GetType(), Isis::SurfacePoint::GetWeight(), Isis::ControlPoint::IsCoord1Constrained(), Isis::ControlPoint::IsCoord2Constrained(), Isis::ControlPoint::IsCoord3Constrained(), Isis::IsSpecial(), Isis::SurfacePoint::Latitudinal, Isis::BundleControlPoint::m_controlPoint, Isis::Distance::meters(), Isis::SurfacePoint::One, Isis::BundleControlPoint::setSigmaWeightFromGlobals(), Isis::SurfacePoint::Three, and Isis::SurfacePoint::Two.

Referenced by Isis::BundleControlPoint::BundleControlPoint().

sigmaRange()

double Isis::BundleLidarControlPoint::sigmaRange

(

)

Returns sigma of observed range.

Returns

double Sigma of observed range.

type()

ControlPoint::PointType Isis::BundleControlPoint::type ( ) const

inherited

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(), and Isis::BundleControlPoint::m_controlPoint.

Referenced by Isis::BundleControlPoint::formatAprioriSigmaString(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::formatBundleRectangularOutputDetailString().

vtpv()

double Isis::BundleControlPoint::vtpv ( )

inherited

Compute vtpv, the weighted sum of squares of constrained point residuals.

Returns

double Weighted sum of squares of constrained point residuals.

References Isis::BundleControlPoint::vtpv().

Referenced by Isis::BundleControlPoint::vtpv(), Isis::BundleControlPoint::vtpvMeasures(), and vtpvRangeContribution().

vtpvMeasures()

double Isis::BundleControlPoint::vtpvMeasures ( )

inherited

Compute vtpv of image measures (weighted sum of squares of measure residuals).

Returns

double weighted sum of squares of measure residuals (vtpv).

References Isis::BundleControlPoint::vtpv().

vtpvRangeContribution()

double Isis::BundleLidarControlPoint::vtpvRangeContribution

(

)

Returns Weighted sum of squares of range residuals for this point.

Returns

double Weighted sum of squares of range residuals for this point.

References Isis::BundleControlPoint::vtpv().

weights()

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

inherited

Accesses the 3 dimensional ordered vector of weight values associated with coordinate1, coordinate2, and coordinate3.

Returns

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

zeroNumberOfRejectedMeasures()

void Isis::BundleControlPoint::zeroNumberOfRejectedMeasures ( )

inherited

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

See also

ControlPoint::ZeroNumberOfRejectedMeasures()

References Isis::BundleControlPoint::m_controlPoint, and Isis::ControlPoint::ZeroNumberOfRejectedMeasures().

Member Data Documentation

m_controlPoint

ControlPoint* Isis::BundleControlPoint::m_controlPoint

protectedinherited

< pointer to the control point object this represents

Referenced by Isis::BundleControlPoint::adjustedSurfacePoint(), Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::computeResiduals(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), Isis::BundleControlPoint::id(), Isis::BundleControlPoint::isRejected(), Isis::BundleControlPoint::numberOfRejectedMeasures(), Isis::BundleControlPoint::rawControlPoint(), Isis::BundleControlPoint::residualRms(), Isis::BundleControlPoint::setAdjustedSurfacePoint(), Isis::BundleControlPoint::setNumberOfRejectedMeasures(), Isis::BundleControlPoint::setRejected(), Isis::BundleControlPoint::setSigmaWeightFromGlobals(), Isis::BundleControlPoint::setWeights(), Isis::BundleControlPoint::type(), and Isis::BundleControlPoint::zeroNumberOfRejectedMeasures().

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

• /Users/astamile/ISIS3/isis/src/control/objs/BundleUtilities/BundleLidarControlPoint.h
• /Users/astamile/ISIS3/isis/src/control/objs/BundleUtilities/BundleLidarControlPoint.cpp