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

Private Member Functions
void	updateAdjustedSurfacePointLatitudinally (const BundleTargetBodyQsp target)
	Apply the parameter corrections to the bundle control point latitudinally.

void	updateAdjustedSurfacePointRectangularly ()
	Apply the parameter corrections to the bundle control point rectangularly.

Private Attributes
LidarControlPointQsp	m_lidarControlPoint

QVector< BundleLidarRangeConstraintQsp >	m_rangeConstraints

boost::numeric::ublas::bounded_vector< double, 3 >	m_corrections
	corrections to point parameters

boost::numeric::ublas::bounded_vector< double, 3 >	m_aprioriSigmas
	apriori sigmas for point parameters

boost::numeric::ublas::bounded_vector< double, 3 >	m_adjustedSigmas
	adjusted sigmas for point parameters

boost::numeric::ublas::bounded_vector< double, 3 >	m_weights
	weights for point parameters

boost::numeric::ublas::bounded_vector< double, 3 >	m_nicVector
	array of NICs (see Brown, 1976)

SparseBlockRowMatrix	m_cholmodQMatrix
	The CholMod matrix associated with this point.

SurfacePoint::CoordinateType	m_coordTypeReports
	BundleControlPoint coordinate type.

SurfacePoint::CoordinateType	m_coordTypeBundle

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

History: 2018-02-08 Ken Edmundson - Original version.

Definition at line 38 of file BundleLidarControlPoint.h.

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?

Definition at line 41 of file BundleLidarControlPoint.cpp.

◆ ~BundleLidarControlPoint()

Isis::BundleLidarControlPoint::~BundleLidarControlPoint ( )

TODO: implement? Copy constructor.

Parameters

src	The BundleLidarControlPoint to be copied. Destructor.

Definition at line 83 of file BundleLidarControlPoint.cpp.

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.

Definition at line 125 of file BundleControlPoint.cpp.

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.

Definition at line 571 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_adjustedSigmas.

◆ adjustedSurfacePoint()

SurfacePoint Isis::BundleControlPoint::adjustedSurfacePoint ( ) const

inherited

Accesses the adjusted SurfacePoint associated with this BundleControlPoint.

Returns: SurfacePoint The adjusted surface point.

Definition at line 484 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_controlPoint.

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

◆ 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.

Definition at line 142 of file BundleLidarControlPoint.cpp.

◆ 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.

Definition at line 115 of file BundleLidarControlPoint.cpp.

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.

Definition at line 557 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_aprioriSigmas.

◆ cholmodQMatrix()

SparseBlockRowMatrix & Isis::BundleControlPoint::cholmodQMatrix ( )

inherited

Accesses the CholMod matrix associated with this BundleControlPoint.

Returns: SparseBlockRowMatrix& The CholMod row matrix.

Definition at line 602 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_cholmodQMatrix.

◆ computeResiduals()

void Isis::BundleLidarControlPoint::computeResiduals ( )

Computes the residuals for this BundleLidarControlPoint.

Definition at line 102 of file BundleLidarControlPoint.cpp.

◆ 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()

Definition at line 533 of file BundleControlPoint.cpp.

◆ 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()

Definition at line 520 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_coordTypeReports.

◆ copy() [1/2]

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

inherited

Copies given BundleControlPoint to this BundleControlPoint.

Parameters

src	The BundleControlPoint to be copied.

Definition at line 94 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_adjustedSigmas, Isis::BundleControlPoint::m_aprioriSigmas, Isis::BundleControlPoint::m_controlPoint, Isis::BundleControlPoint::m_coordTypeReports, Isis::BundleControlPoint::m_corrections, Isis::BundleControlPoint::m_nicVector, and Isis::BundleControlPoint::m_weights.

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.

Definition at line 92 of file BundleLidarControlPoint.cpp.

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.

Definition at line 546 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_corrections.

◆ 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.

Definition at line 1048 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::adjustedSurfacePoint(), Isis::SurfacePoint::GetSigmaDistance(), Isis::IsSpecial(), Isis::BundleControlPoint::m_coordTypeReports, 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.

Definition at line 998 of file BundleControlPoint.cpp.

References Isis::IsSpecial(), Isis::BundleControlPoint::m_aprioriSigmas, 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.

History: 2017-08-24 Debbie A. Cook - Revised units of cor_rad to be km instead of meters when outputting latitudinal corrections in degrees. Fixed coordinate type for rectPoint to be Displacement::Kilometers instead of Distance::Kilometers. Corrected conversions of corrections in lat/longitudinal degrees to rectangular meters. Fixed output of radius corrections in km. It was outputting Z corrections.

Definition at line 707 of file BundleControlPoint.cpp.

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.

Definition at line 668 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), Isis::SurfacePoint::Latitudinal, Isis::BundleControlPoint::m_coordTypeReports, 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.

Definition at line 621 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::formatCoordAdjustedSigmaString(), Isis::BundleControlPoint::formatValue(), Isis::SurfacePoint::GetCoord(), Isis::BundleControlPoint::m_controlPoint, Isis::BundleControlPoint::m_coordTypeReports, Isis::BundleControlPoint::numberOfMeasures(), Isis::BundleControlPoint::numberOfRejectedMeasures(), Isis::ControlPoint::PointTypeToString(), Isis::SurfacePoint::Rectangular, Isis::BundleControlPoint::residualRms(), 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.

History: 2017-08-24 Debbie A. Cook - Corrected units reported in comments to correctly report km and also in label line.

Definition at line 850 of file BundleControlPoint.cpp.

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()

Definition at line 1084 of file BundleControlPoint.cpp.

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()

Definition at line 1027 of file BundleControlPoint.cpp.

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.

Definition at line 976 of file BundleControlPoint.cpp.

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.

Definition at line 494 of file BundleControlPoint.cpp.

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

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

◆ initializeRangeConstraints()

void Isis::BundleLidarControlPoint::initializeRangeConstraints ( )

Initialize range constraints.

Definition at line 53 of file BundleLidarControlPoint.cpp.

◆ 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.

Definition at line 440 of file BundleControlPoint.cpp.

References 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.

Definition at line 592 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_nicVector.

◆ numberOfMeasures()

int Isis::BundleControlPoint::numberOfMeasures ( ) const

inherited

Accesses number of measures associated with this BundleControlPoint.

Returns: int The number of measures for this point.

Definition at line 450 of file BundleControlPoint.cpp.

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()

Definition at line 462 of file BundleControlPoint.cpp.

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

Definition at line 182 of file BundleLidarControlPoint.cpp.

◆ 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.

Definition at line 367 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_cholmodQMatrix, and Isis::BundleControlPoint::m_nicVector.

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

◆ range()

double Isis::BundleLidarControlPoint::range ( )

Returns range between this point and ???

Returns: double range.

Definition at line 206 of file BundleLidarControlPoint.cpp.

◆ 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.

Definition at line 195 of file BundleLidarControlPoint.cpp.

◆ 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.

Definition at line 430 of file BundleControlPoint.cpp.

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()

Definition at line 474 of file BundleControlPoint.cpp.

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.

Definition at line 155 of file BundleControlPoint.cpp.

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

Referenced by Isis::BundleControlPoint::updateAdjustedSurfacePointLatitudinally(), and Isis::BundleControlPoint::updateAdjustedSurfacePointRectangularly().

◆ 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)

Definition at line 167 of file BundleControlPoint.cpp.

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)

Definition at line 179 of file BundleControlPoint.cpp.

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

◆ setSigmaWeightFromGlobals()

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()

Definition at line 288 of file BundleControlPoint.cpp.

References Isis::SurfacePoint::Latitudinal, Isis::BundleControlPoint::m_aprioriSigmas, Isis::BundleControlPoint::m_controlPoint, Isis::BundleControlPoint::m_weights, Isis::SurfacePoint::MetersToLatitude(), Isis::SurfacePoint::MetersToLongitude(), Isis::IException::Programmer, Isis::SurfacePoint::Rectangular, and Isis::toString().

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

◆ 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.

Definition at line 191 of file BundleControlPoint.cpp.

References Isis::ControlPoint::Constrained, Isis::ControlPoint::Fixed, Isis::ControlPoint::Free, 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_aprioriSigmas, Isis::BundleControlPoint::m_controlPoint, Isis::BundleControlPoint::m_coordTypeReports, Isis::BundleControlPoint::m_weights, Isis::Distance::meters(), and Isis::BundleControlPoint::setSigmaWeightFromGlobals().

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

◆ sigmaRange()

double Isis::BundleLidarControlPoint::sigmaRange ( )

Returns sigma of observed range.

Returns: double Sigma of observed range.

Definition at line 217 of file BundleLidarControlPoint.cpp.

◆ 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()

Definition at line 507 of file BundleControlPoint.cpp.

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

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

◆ updateAdjustedSurfacePointLatitudinally()

void Isis::BundleControlPoint::updateAdjustedSurfacePointLatitudinally ( const BundleTargetBodyQsp target )

privateinherited

Apply the parameter corrections to the bundle control point latitudinally.

Parameters

factor	The unit conversion factor to use on lat & lon. Radius is in km & converted to m
target	The BundleTargetBody.

Definition at line 1097 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::adjustedSurfacePoint(), Isis::Angle::Degrees, Isis::BundleControlPoint::m_nicVector, Isis::Distance::Meters, Isis::RAD2DEG, and Isis::BundleControlPoint::setAdjustedSurfacePoint().

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

◆ updateAdjustedSurfacePointRectangularly()

void Isis::BundleControlPoint::updateAdjustedSurfacePointRectangularly ( )

privateinherited

Apply the parameter corrections to the bundle control point rectangularly.

Parameters

factor The unit conversion factor to use on the coordinates.

Definition at line 1164 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::adjustedSurfacePoint(), Isis::BundleControlPoint::m_nicVector, Isis::Displacement::Meters, and Isis::BundleControlPoint::setAdjustedSurfacePoint().

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

◆ 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.

Definition at line 1221 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_corrections, Isis::BundleControlPoint::m_weights, and 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).

Definition at line 1193 of file BundleControlPoint.cpp.

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.

Definition at line 166 of file BundleLidarControlPoint.cpp.

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.

Definition at line 582 of file BundleControlPoint.cpp.

References Isis::BundleControlPoint::m_weights.

◆ zeroNumberOfRejectedMeasures()

void Isis::BundleControlPoint::zeroNumberOfRejectedMeasures ( )

inherited

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

See also: ControlPoint::ZeroNumberOfRejectedMeasures()

Definition at line 353 of file BundleControlPoint.cpp.

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

Member Data Documentation

◆ m_adjustedSigmas

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

privateinherited

adjusted sigmas for point parameters

Definition at line 178 of file BundleControlPoint.h.

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

◆ m_aprioriSigmas

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

privateinherited

apriori sigmas for point parameters

Definition at line 176 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::aprioriSigmas(), Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::formatAprioriSigmaString(), Isis::BundleControlPoint::setSigmaWeightFromGlobals(), and Isis::BundleControlPoint::setWeights().

◆ m_cholmodQMatrix

SparseBlockRowMatrix Isis::BundleControlPoint::m_cholmodQMatrix

privateinherited

The CholMod matrix associated with this point.

Definition at line 184 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::cholmodQMatrix(), and Isis::BundleControlPoint::productAlphaAV().

◆ m_controlPoint

ControlPoint* Isis::BundleControlPoint::m_controlPoint

protectedinherited

< pointer to the control point object this represents

Definition at line 166 of file BundleControlPoint.h.

◆ m_coordTypeBundle

SurfacePoint::CoordinateType Isis::BundleControlPoint::m_coordTypeBundle

privateinherited

Definition at line 187 of file BundleControlPoint.h.

◆ m_coordTypeReports

SurfacePoint::CoordinateType Isis::BundleControlPoint::m_coordTypeReports

privateinherited

BundleControlPoint coordinate type.

Definition at line 186 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::coordTypeReports(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::formatAdjustedSigmaString(), Isis::BundleControlPoint::formatBundleOutputDetailString(), Isis::BundleControlPoint::formatBundleOutputSummaryString(), and Isis::BundleControlPoint::setWeights().

◆ m_corrections

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

privateinherited

corrections to point parameters

Definition at line 174 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::applyParameterCorrections(), Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::corrections(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), and Isis::BundleControlPoint::vtpv().

◆ m_lidarControlPoint

LidarControlPointQsp Isis::BundleLidarControlPoint::m_lidarControlPoint

private

Definition at line 68 of file BundleLidarControlPoint.h.

◆ m_nicVector

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

privateinherited

array of NICs (see Brown, 1976)

Definition at line 182 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::applyParameterCorrections(), Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::nicVector(), Isis::BundleControlPoint::productAlphaAV(), Isis::BundleControlPoint::updateAdjustedSurfacePointLatitudinally(), and Isis::BundleControlPoint::updateAdjustedSurfacePointRectangularly().

◆ m_rangeConstraints

QVector<BundleLidarRangeConstraintQsp> Isis::BundleLidarControlPoint::m_rangeConstraints

private

Definition at line 69 of file BundleLidarControlPoint.h.

◆ m_weights

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

privateinherited

weights for point parameters

Definition at line 180 of file BundleControlPoint.h.

Referenced by Isis::BundleControlPoint::BundleControlPoint(), Isis::BundleControlPoint::copy(), Isis::BundleControlPoint::setSigmaWeightFromGlobals(), Isis::BundleControlPoint::setWeights(), Isis::BundleControlPoint::vtpv(), and Isis::BundleControlPoint::weights().

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

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BundleLidarControlPoint()

◆ ~BundleLidarControlPoint()

Member Function Documentation

◆ addMeasure()

◆ adjustedSigmas()

◆ adjustedSurfacePoint()

◆ applyLidarRangeConstraints()

◆ applyParameterCorrections()

◆ aprioriSigmas()

◆ cholmodQMatrix()

◆ computeResiduals()

◆ coordTypeBundle()

◆ coordTypeReports()

◆ copy() [1/2]

◆ copy() [2/2]

◆ corrections()

◆ formatAdjustedSigmaString()

◆ formatAprioriSigmaString()

◆ formatBundleLatitudinalOutputDetailString()

◆ formatBundleOutputDetailString()

◆ formatBundleOutputSummaryString()

◆ formatBundleRectangularOutputDetailString()

◆ formatCoordAdjustedSigmaString()

◆ formatCoordAprioriSigmaString()

◆ formatValue()

◆ id()

◆ initializeRangeConstraints()

◆ isRejected()

◆ nicVector()

◆ numberOfMeasures()

◆ numberOfRejectedMeasures()

◆ numberRangeConstraints()

◆ productAlphaAV()

◆ range()

◆ rangeConstraint()

◆ rawControlPoint()

◆ residualRms()

◆ setAdjustedSurfacePoint()

◆ setNumberOfRejectedMeasures()

◆ setRejected()

◆ setSigmaWeightFromGlobals()

◆ setWeights()

◆ sigmaRange()

◆ type()

◆ updateAdjustedSurfacePointLatitudinally()

◆ updateAdjustedSurfacePointRectangularly()

◆ vtpv()

◆ vtpvMeasures()

◆ vtpvRangeContribution()

◆ weights()

◆ zeroNumberOfRejectedMeasures()

Member Data Documentation

◆ m_adjustedSigmas

◆ m_aprioriSigmas

◆ m_cholmodQMatrix

◆ m_controlPoint

◆ m_coordTypeBundle

◆ m_coordTypeReports

◆ m_corrections

◆ m_lidarControlPoint

◆ m_nicVector

◆ m_rangeConstraints

◆ m_weights