Implements range constraint between image position and lidar point acquired simultaneously with the image. More...

#include <BundleLidarRangeConstraint.h>

Collaboration diagram for Isis::BundleLidarRangeConstraint:

Public Member Functions
	BundleLidarRangeConstraint (LidarControlPointQsp lidarControlPoint, BundleMeasureQsp measure)
	constructor

	BundleLidarRangeConstraint (const BundleLidarRangeConstraint &src)
	Copy constructor.

	~BundleLidarRangeConstraint ()
	Destructor.

BundleLidarRangeConstraint &	operator= (const BundleLidarRangeConstraint &src)
	Assignment operator.

bool	applyConstraint (SparseBlockMatrix &normalsMatrix, LinearAlgebra::MatrixUpperTriangular &N22, SparseBlockColumnMatrix &N12, LinearAlgebra::VectorCompressed &n1, LinearAlgebra::Vector &n2)
	Computes partial derivatives of range condition equation and adds contribution into the bundle adjustment normal equation matrices.

double	vtpv ()
	Return current value of weighted sum-of-squares of residual.

void	errorPropagation ()
	TODO: to be completed.

void	computeRange ()
	Compute range between spacecraft & lidar point on surface given the current values of the spacecraft position & lidar point coordinates in the bundle adjustment.

double	rangeObserved ()
	Return observed lidar range.

double	rangeComputed ()
	Return computed lidar range.

double	rangeObservedSigma ()
	Return sigma of range observation.

double	rangeAdjustedSigma ()
	Return adjusted sigma of range observation.

QString	formatBundleOutputString (bool errorProp=false)
	Creates & returns formatted QString for lidar range constraint to output to bundleout_lidar.csv file.

Private Attributes
LidarControlPointQsp	m_lidarControlPoint
	Parent lidar control point.

BundleObservationQsp	m_bundleObservation
	BundleObservation associated with measure.

BundleMeasureQsp	m_simultaneousMeasure

double	m_dX
	! 2D image point corresponding to 3D lidar point on surface.

double	m_dY

double	m_dZ

double	m_rangeObserved
	! deltas between spacecraft & lidar point in body-fixed coordinates

double	m_rangeComputed
	Computed range from distance condition.

double	m_rangeObservedSigma
	Uncertainty of observed range.

double	m_rangeObservedWeightSqrt
	Square-root of observed range weight.

double	m_adjustedSigma
	Adjusted uncertainty of range.

double	m_vtpv
	Weighted sum-of-squares of residual.

Detailed Description

Implements range constraint between image position and lidar point acquired simultaneously with the image.

Author: 2018-04-13 Ken Edmundson

History

2018-04-13 Ken Edmundson - Original version.

2018-06-27 Ken Edmundson - Code clean up.

2018-06-28 Ken Edmundson - Removed partial derivative matrices as member variables and now declare them as static in the applyConstraint method. Now coeff_range_image matrix is resized if number of image parameters changes. This is consistent with BundleAdjust::computePartials. Added IExceptions to verify m_rangeObserved and m_rangeComputed are positive.

2021-12-20 Jesse Mapel - Removed parent BundleConstraint class.

Definition at line 40 of file BundleLidarRangeConstraint.h.

Constructor & Destructor Documentation

◆ BundleLidarRangeConstraint() [1/2]

Isis::BundleLidarRangeConstraint::BundleLidarRangeConstraint	(	LidarControlPointQsp	lidarControlPoint,
		BundleMeasureQsp	measure )

constructor

Parameters

lidarControlPoint	input lidar control point
measure	associated BundleMeasureQsp.

Definition at line 26 of file BundleLidarRangeConstraint.cpp.

References computeRange(), Isis::Camera::Csm, m_adjustedSigma, m_bundleObservation, m_dX, m_lidarControlPoint, m_rangeObserved, m_rangeObservedSigma, m_rangeObservedWeightSqrt, and Isis::IException::Programmer.

◆ BundleLidarRangeConstraint() [2/2]

Isis::BundleLidarRangeConstraint::BundleLidarRangeConstraint ( const BundleLidarRangeConstraint & src )

Copy constructor.

Constructs a BundleLidarRangeConstraint from another.

Parameters

src	Source BundleLidarRangeConstraint to copy.

Definition at line 81 of file BundleLidarRangeConstraint.cpp.

References m_adjustedSigma, m_dX, m_rangeComputed, m_rangeObserved, m_rangeObservedSigma, m_rangeObservedWeightSqrt, and m_vtpv.

◆ ~BundleLidarRangeConstraint()

Isis::BundleLidarRangeConstraint::~BundleLidarRangeConstraint ( )

Destructor.

Definition at line 70 of file BundleLidarRangeConstraint.cpp.

Member Function Documentation

◆ applyConstraint()

bool Isis::BundleLidarRangeConstraint::applyConstraint	(	SparseBlockMatrix &	normalsMatrix,
		LinearAlgebra::MatrixUpperTriangular &	N22,
		SparseBlockColumnMatrix &	N12,
		LinearAlgebra::VectorCompressed &	n1,
		LinearAlgebra::Vector &	n2 )

Computes partial derivatives of range condition equation and adds contribution into the bundle adjustment normal equation matrices.

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: bool success.

< Partials w/r to image position

< Partials w/r to lidar point

< Right hand side of normals

Definition at line 181 of file BundleLidarRangeConstraint.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::Distance::kilometers(), m_bundleObservation, m_dX, m_lidarControlPoint, m_rangeComputed, m_rangeObserved, m_rangeObservedWeightSqrt, Isis::IException::Programmer, and Isis::Angle::radians().

◆ computeRange()

void Isis::BundleLidarRangeConstraint::computeRange ( )

Compute range between spacecraft & lidar point on surface given the current values of the spacecraft position & lidar point coordinates in the bundle adjustment.

Steps are as follows...

1) set image to establish camera model for simultaneous measure 2) get spacecraft & lidar point coordinates in body-fixed reference system 3) compute & save dX, dY, dZ between spacecraft & lidar point 4) compute range with dX, dY, dZ

Definition at line 134 of file BundleLidarRangeConstraint.cpp.

References Isis::Displacement::kilometers(), m_dX, m_lidarControlPoint, m_rangeComputed, and Isis::IException::Programmer.

Referenced by BundleLidarRangeConstraint(), and vtpv().

◆ errorPropagation()

void Isis::BundleLidarRangeConstraint::errorPropagation ( )

TODO: to be completed.

Error propagation for adjusted range sigma using distance equation.

Todo: need more documentation on technical aspects of approach.

Definition at line 405 of file BundleLidarRangeConstraint.cpp.

◆ formatBundleOutputString()

QString Isis::BundleLidarRangeConstraint::formatBundleOutputString ( bool errorProp = false )

Creates & returns formatted QString for lidar range constraint to output to bundleout_lidar.csv file.

Parameters

errorProp Bool indicating if error propagation is ON in the bundle adjustment.

Returns: QString Formatted QString summarizing lidar range constraint to output to bundleout_lidar.csv.

Definition at line 419 of file BundleLidarRangeConstraint.cpp.

References m_adjustedSigma, m_lidarControlPoint, m_rangeComputed, m_rangeObserved, and m_rangeObservedSigma.

◆ operator=()

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

Assignment operator.

Assigns state of this BundleLidarRangeConstraint from another.

Parameters

src	Source BundleLidarRangeConstraint to assign state from.

Returns: BundleLidarRangeConstraint& Returns reference to this BundleLidarRangeConstraint.

Definition at line 104 of file BundleLidarRangeConstraint.cpp.

References m_adjustedSigma, m_dX, m_rangeComputed, m_rangeObserved, m_rangeObservedSigma, m_rangeObservedWeightSqrt, and m_vtpv.

◆ rangeAdjustedSigma()

double Isis::BundleLidarRangeConstraint::rangeAdjustedSigma ( )

Return adjusted sigma of range observation.

Returns: double Adjusted sigma of range observation.

Definition at line 369 of file BundleLidarRangeConstraint.cpp.

References m_adjustedSigma.

◆ rangeComputed()

double Isis::BundleLidarRangeConstraint::rangeComputed ( )

Return computed lidar range.

Returns: double Computed lidar range.

Definition at line 347 of file BundleLidarRangeConstraint.cpp.

References m_rangeComputed.

◆ rangeObserved()

double Isis::BundleLidarRangeConstraint::rangeObserved ( )

Return observed lidar range.

Returns: double Observed lidar range.

Definition at line 336 of file BundleLidarRangeConstraint.cpp.

References m_rangeObserved.

◆ rangeObservedSigma()

double Isis::BundleLidarRangeConstraint::rangeObservedSigma ( )

Return sigma of range observation.

Returns: double Sigma of range observation.

Definition at line 358 of file BundleLidarRangeConstraint.cpp.

References m_rangeObservedSigma.

◆ vtpv()

double Isis::BundleLidarRangeConstraint::vtpv ( )

Return current value of weighted sum-of-squares of residual.

Returns: double Current value of weighted sum-of-squares of residual.

Definition at line 380 of file BundleLidarRangeConstraint.cpp.

References computeRange(), m_rangeComputed, m_rangeObserved, m_rangeObservedWeightSqrt, and m_vtpv.

Member Data Documentation

◆ m_adjustedSigma

double Isis::BundleLidarRangeConstraint::m_adjustedSigma

private

Adjusted uncertainty of range.

Definition at line 93 of file BundleLidarRangeConstraint.h.

Referenced by BundleLidarRangeConstraint(), BundleLidarRangeConstraint(), formatBundleOutputString(), operator=(), and rangeAdjustedSigma().

◆ m_bundleObservation

BundleObservationQsp Isis::BundleLidarRangeConstraint::m_bundleObservation

private

BundleObservation associated with measure.

Definition at line 73 of file BundleLidarRangeConstraint.h.

Referenced by applyConstraint(), and BundleLidarRangeConstraint().

◆ m_dX

double Isis::BundleLidarRangeConstraint::m_dX

private

! 2D image point corresponding to 3D lidar point on surface.

The image has been acquired simultaneously with the lidar observation. NOTE this point is a fictitious "measurement". A priori coordinates are obtained by back projection of the lidar point into the image using the current exterior orientation (EO-SPICE). This "measure" is corrected in each iteration of the bundle adjustment by it's residuals.

Definition at line 87 of file BundleLidarRangeConstraint.h.

Referenced by applyConstraint(), BundleLidarRangeConstraint(), BundleLidarRangeConstraint(), computeRange(), and operator=().