Class for observations that use CSM camera models in bundle adjustment. More...

#include <CsmBundleObservation.h>

Inheritance diagram for Isis::CsmBundleObservation:

Collaboration diagram for Isis::CsmBundleObservation:

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

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

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

	~CsmBundleObservation ()
	Destructor.

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

void	copy (const CsmBundleObservation &src)

virtual bool	setSolveSettings (BundleObservationSolveSettings solveSettings)
	Set solve parameters.

int	numberParameters ()
	Returns the number of total parameters there are for solving.

const BundleObservationSolveSettingsQsp	solveSettings ()
	Accesses the solve settings.

bool	applyParameterCorrections (LinearAlgebra::Vector corrections)
	Applies the parameter corrections.

void	bundleOutputString (std::ostream &fpOut, bool errorPropagation)
	Takes in an open std::ofstream and writes out information which goes into the bundleout.txt file.

QString	bundleOutputCSV (bool errorPropagation)
	Creates and returns a formatted QString representing the bundle coefficients and parameters in csv format.

virtual QStringList	parameterList ()
	Returns the list of observation parameter names.

bool	computeTargetPartials (LinearAlgebra::Matrix &coeffTarget, BundleMeasure &measure, BundleSettingsQsp &bundleSettings, BundleTargetBodyQsp &bundleTargetBody)
	Cannot compute target body parameters for a CSM observation, so always throws an exception.

bool	computeImagePartials (LinearAlgebra::Matrix &coeffImage, BundleMeasure &measure)
	Calculates the sensor partials with respect to the solve parameters and populates the coeffImage matrix.

bool	computePoint3DPartials (LinearAlgebra::Matrix &coeffPoint3D, BundleMeasure &measure, SurfacePoint::CoordinateType coordType)
	Calculates the ground partials for the line, sample currently set in the sensor model.

bool	computeRHSPartials (LinearAlgebra::Vector &coeffRHS, BundleMeasure &measure)
	Calculates the sample, line residuals between the values measured in the image and the ground-to-image sample, line calculated by the sensor model.

double	computeObservationValue (BundleMeasure &measure, double deltaVal)
	Returns the observed value in (sample, line) coordinates.

void	copy (const BundleObservation &src)

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

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

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

int	index ()
	Accesses the observation's index.

QString	instrumentId ()
	Accesses the instrument id.

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

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

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

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

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

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

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

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

QMap< QString, BundleImageQsp >	m_cubeSerialNumberToBundleImageMap

QStringList	m_serialNumbers
	List of all cube serial numbers in observation.

QStringList	m_imageNames
	List of all cube names.

QString	m_instrumentId
	Spacecraft instrument id.

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

LinearAlgebra::Vector	m_corrections

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

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

Private Member Functions
bool	initParameterWeights ()

Private Attributes
BundleObservationSolveSettingsQsp	m_solveSettings
	Solve settings for this observation.

std::vector< int >	m_paramIndices
	The indices of the parameters the observation is solving for.

Detailed Description

Class for observations that use CSM camera models in bundle adjustment.

Definition at line 28 of file CsmBundleObservation.h.

Constructor & Destructor Documentation

◆ CsmBundleObservation() [1/3]

Isis::CsmBundleObservation::CsmBundleObservation ( )

Constructs a CsmBundleObservation initialized to a default state.

Definition at line 33 of file CsmBundleObservation.cpp.

◆ CsmBundleObservation() [2/3]

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

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

Parameters

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

Definition at line 46 of file CsmBundleObservation.cpp.

References Isis::IException::User.

◆ CsmBundleObservation() [3/3]

Isis::CsmBundleObservation::CsmBundleObservation ( const CsmBundleObservation & src )

Creates a copy of another CsmBundleObservation.

Parameters

src	Reference to the CsmBundleObservation to copy

Definition at line 60 of file CsmBundleObservation.cpp.

References m_paramIndices, and m_solveSettings.

◆ ~CsmBundleObservation()

Isis::CsmBundleObservation::~CsmBundleObservation ( )

Destructor.

Contained BundleImages will remain until all shared pointers are deleted.

Definition at line 71 of file CsmBundleObservation.cpp.

Member Function Documentation

◆ adjustedSigmas()

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

virtualinherited

Accesses the adjusted sigmas.

Returns: LinearAlgebra::Vector Returns the adjusted sigmas

Definition at line 207 of file BundleObservation.cpp.

References Isis::BundleObservation::m_adjustedSigmas.

◆ append()

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

virtualinherited

Appends a BundleImage shared pointer to the BundleObservation.

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

Parameters

value The BundleImage to be appended.

See also: QVector::append()

Definition at line 135 of file BundleObservation.cpp.

Referenced by Isis::BundleObservation::BundleObservation().

◆ applyParameterCorrections()

bool Isis::CsmBundleObservation::applyParameterCorrections ( LinearAlgebra::Vector corrections )

virtual

Applies the parameter corrections.

Parameters

corrections Vector of corrections to apply

Exceptions

IException::Unknown	"Instrument position is NULL, but position solve option is [not NoPositionFactors]"
IException::Unknown	"Instrument position is NULL, but pointing solve option is [not NoPointingFactors]"
IException::Unknown	"Unable to apply parameter corrections to CsmBundleObservation."

Returns: bool Returns true upon successful application of corrections

Implements Isis::BundleObservation.

Definition at line 163 of file CsmBundleObservation.cpp.

References Isis::CSMCamera::applyParameterCorrection(), m_paramIndices, and Isis::IException::Programmer.

◆ aprioriSigmas()

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

virtualinherited

Accesses the a priori sigmas.

Returns: LinearAlgebra::Vector Returns the a priori sigmas

Definition at line 197 of file BundleObservation.cpp.

References Isis::BundleObservation::m_aprioriSigmas.

◆ bundleOutputCSV()

QString Isis::CsmBundleObservation::bundleOutputCSV ( bool errorPropagation )

virtual

Creates and returns a formatted QString representing the bundle coefficients and parameters in csv format.

Parameters

errorPropagation Boolean indicating whether or not to attach more information (corrections, sigmas, adjusted sigmas...) to the output QString

Returns: QString Returns a formatted QString representing the CsmBundleObservation in csv format

Implements Isis::BundleObservation.

Definition at line 274 of file CsmBundleObservation.cpp.

References Isis::CSMCamera::getParameterValue(), Isis::BundleObservation::m_adjustedSigmas, Isis::BundleObservation::m_aprioriSigmas, m_paramIndices, and Isis::toString().

◆ bundleOutputString()

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

virtual

Takes in an open std::ofstream and writes out information which goes into the bundleout.txt file.

Parameters

fpOut	The open std::ofstream object which is passed in from BundleSolutionInfo::outputText()
errorPropagation	Boolean indicating whether or not to attach more information (corrections, sigmas, adjusted sigmas...) to the output.

Implements Isis::BundleObservation.

Definition at line 205 of file CsmBundleObservation.cpp.

References Isis::IsSpecial(), Isis::BundleObservation::m_adjustedSigmas, Isis::BundleObservation::m_aprioriSigmas, m_paramIndices, numberParameters(), and Isis::toString().

◆ computeImagePartials()

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

virtual

Calculates the sensor partials with respect to the solve parameters and populates the coeffImage matrix.

Parameters

coeffImage	A matrix that will be populated with the sensor partials with respect to the solve parameters.
measure	The measure that the partials are being computed for.

Returns: bool

Implements Isis::BundleObservation.

Definition at line 350 of file CsmBundleObservation.cpp.

References m_paramIndices.

◆ computeObservationValue()

double Isis::CsmBundleObservation::computeObservationValue	(	BundleMeasure &	measure,
		double	deltaVal )

virtual

Returns the observed value in (sample, line) coordinates.

This requires no modification for Csm.

Parameters

measure	measure The measure that the partials are being computed for.
deltaVal	The difference between the measured and calculate sample, line coordinates

Returns: double The The difference between the measured and calculated (line, sample) coordinate

Implements Isis::BundleObservation.

Definition at line 481 of file CsmBundleObservation.cpp.

◆ computePoint3DPartials()

bool Isis::CsmBundleObservation::computePoint3DPartials	(	LinearAlgebra::Matrix &	coeffPoint3D,
		BundleMeasure &	measure,
		SurfacePoint::CoordinateType	coordType )

virtual

Calculates the ground partials for the line, sample currently set in the sensor model.

Parameters

coeffPoint3D	A matrix that will be populated with the (line, sample) partials with respect to the ground point.
measure	The measure that the partials are being computed for.
coordType	Not used in this class. Coordinates are x,y,z

Returns: bool

Implements Isis::BundleObservation.

Definition at line 381 of file CsmBundleObservation.cpp.

References Isis::SurfacePoint::Latitudinal, Isis::SurfacePoint::LatitudinalDerivative(), Isis::IException::Programmer, Isis::SurfacePoint::Rectangular, and Isis::toString().

◆ computeRHSPartials()

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

virtual

Calculates the sample, line residuals between the values measured in the image and the ground-to-image sample, line calculated by the sensor model.

Parameters

coeffRHS	A vector that will contain the sample, line residuals.
measure	The measure that the partials are being computed for.

Returns: bool

Implements Isis::BundleObservation.

Definition at line 441 of file CsmBundleObservation.cpp.

References Isis::BundleControlPoint::adjustedSurfacePoint(), Isis::BundleControlPoint::id(), and Isis::IException::User.

◆ computeTargetPartials()

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

virtual

Cannot compute target body parameters for a CSM observation, so always throws an exception.

Parameters

coeffTarget	Matrix for target body partial derivatives
measure	The measure that the partials are being computed for.
bundleSettings	The settings for the bundle adjustment
bundleTargetBody	QSharedPointer to the target body of the observation

Returns: bool Always false

Implements Isis::BundleObservation.

Definition at line 329 of file CsmBundleObservation.cpp.

References Isis::IException::User.

◆ imageByCubeSerialNumber()

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

inherited

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

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

Parameters

cubeSerialNumber The serial number of the cube to be returned.

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

Definition at line 151 of file BundleObservation.cpp.

◆ imageNames()

QStringList Isis::BundleObservation::imageNames ( )

virtualinherited

Access to image names for CorrelationMatrix to use.

Returns: QStringList Returns a QStringList of the image names

Definition at line 237 of file BundleObservation.cpp.

References Isis::BundleObservation::m_imageNames.

◆ index()

int Isis::BundleObservation::index ( )

inherited

Accesses the observation's index.

Returns: int Returns the observation's index

Definition at line 227 of file BundleObservation.cpp.

References Isis::BundleObservation::m_index.

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

◆ instrumentId()

QString Isis::BundleObservation::instrumentId ( )

inherited

Accesses the instrument id.

Returns: QString Returns the instrument id of the observation

Definition at line 167 of file BundleObservation.cpp.

References Isis::BundleObservation::m_instrumentId.

Referenced by Isis::BundleObservation::BundleObservation().

◆ numberParameters()

int Isis::CsmBundleObservation::numberParameters ( )

virtual

Returns the number of total parameters there are for solving.

The total number of parameters is equal to the number of position parameters and number of pointing parameters

Returns: int Returns the number of parameters there are

Implements Isis::BundleObservation.

Definition at line 191 of file CsmBundleObservation.cpp.

References m_paramIndices.

Referenced by bundleOutputString().

◆ operator=()

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

Assignment operator.

Assigns the state of the source CsmBundleObservation to this CsmBundleObservation

Parameters

CsmBundleObservation Reference to the source CsmBundleObservation to assign from

Returns: CsmBundleObservation& Reference to this CsmBundleObservation

Definition at line 84 of file CsmBundleObservation.cpp.

References m_paramIndices, and m_solveSettings.

◆ parameterCorrections()

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

virtualinherited

Accesses the parameter corrections.

Returns: LinearAlgebra::Vector Returns the parameter corrections

Definition at line 187 of file BundleObservation.cpp.

◆ parameterList()

QStringList Isis::CsmBundleObservation::parameterList ( )

virtual

Returns the list of observation parameter names.

This will always return at least one set of positions and pointings because we always output at least the center values even when not solving for them.

Returns: QStringList List of observation parameter names

Implements Isis::BundleObservation.

Definition at line 305 of file CsmBundleObservation.cpp.

References m_paramIndices.

◆ parameterWeights()

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

virtualinherited

Accesses the solve parameter weights.

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

Definition at line 177 of file BundleObservation.cpp.

References Isis::BundleObservation::m_weights.

◆ setIndex()

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

inherited

Sets the index for the observation.

Parameters

n	Value to set the index of the observation to

Definition at line 217 of file BundleObservation.cpp.

References Isis::BundleObservation::m_index.

◆ setSolveSettings()

bool Isis::CsmBundleObservation::setSolveSettings ( BundleObservationSolveSettings solveSettings )

virtual

Set solve parameters.

Parameters

solveSettings The solve settings to use

Returns: bool Returns true if settings were successfully set

Implements Isis::BundleObservation.

Definition at line 100 of file CsmBundleObservation.cpp.

References Isis::BundleObservationSolveSettings::List, Isis::BundleObservation::m_adjustedSigmas, Isis::BundleObservation::m_aprioriSigmas, m_paramIndices, m_solveSettings, Isis::BundleObservation::m_weights, Isis::BundleObservationSolveSettings::Set, solveSettings(), and Isis::BundleObservationSolveSettings::Type.

◆ solveSettings()

const BundleObservationSolveSettingsQsp Isis::CsmBundleObservation::solveSettings ( )

virtual

Accesses the solve settings.

Returns: const BundleObservationSolveSettingsQsp Returns a pointer to the solve settings for this CsmBundleObservation

Implements Isis::BundleObservation.

Definition at line 145 of file CsmBundleObservation.cpp.

Referenced by setSolveSettings().

◆ vtpv()

double Isis::BundleObservation::vtpv ( )

inherited

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

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

Definition at line 247 of file BundleObservation.cpp.

References Isis::BundleObservation::m_weights, and Isis::BundleObservation::vtpv().

Referenced by Isis::BundleObservation::vtpv().

Member Data Documentation

◆ m_adjustedSigmas

LinearAlgebra::Vector Isis::BundleObservation::m_adjustedSigmas

protectedinherited

A posteriori (adjusted) parameter sigmas.

Definition at line 110 of file BundleObservation.h.

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

◆ m_aprioriSigmas

LinearAlgebra::Vector Isis::BundleObservation::m_aprioriSigmas

protectedinherited

A posteriori (adjusted) parameter sigmas.

Definition at line 108 of file BundleObservation.h.

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

◆ m_corrections

LinearAlgebra::Vector Isis::BundleObservation::m_corrections

protectedinherited

Definition at line 106 of file BundleObservation.h.

◆ m_cubeSerialNumberToBundleImageMap

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

protectedinherited

Definition at line 99 of file BundleObservation.h.

◆ m_imageNames

QStringList Isis::BundleObservation::m_imageNames

protectedinherited

List of all cube names.

Definition at line 101 of file BundleObservation.h.

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

◆ m_index

int Isis::BundleObservation::m_index

protectedinherited

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

Definition at line 97 of file BundleObservation.h.

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

◆ m_instrumentId

QString Isis::BundleObservation::m_instrumentId

protectedinherited

Spacecraft instrument id.

Definition at line 102 of file BundleObservation.h.

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

◆ m_observationNumber

QString Isis::BundleObservation::m_observationNumber

protectedinherited

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

Definition at line 95 of file BundleObservation.h.

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

◆ m_paramIndices

std::vector<int> Isis::CsmBundleObservation::m_paramIndices

private

The indices of the parameters the observation is solving for.

Definition at line 74 of file CsmBundleObservation.h.

Referenced by applyParameterCorrections(), bundleOutputCSV(), bundleOutputString(), computeImagePartials(), CsmBundleObservation(), numberParameters(), operator=(), parameterList(), and setSolveSettings().

◆ m_serialNumbers

QStringList Isis::BundleObservation::m_serialNumbers

protectedinherited

List of all cube serial numbers in observation.

Definition at line 100 of file BundleObservation.h.

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

◆ m_solveSettings

BundleObservationSolveSettingsQsp Isis::CsmBundleObservation::m_solveSettings

private

Solve settings for this observation.

Definition at line 73 of file CsmBundleObservation.h.

Referenced by CsmBundleObservation(), operator=(), and setSolveSettings().

◆ m_weights

LinearAlgebra::Vector Isis::BundleObservation::m_weights

protectedinherited

Parameter weights. Cumulative parameter correction vector.

Definition at line 104 of file BundleObservation.h.

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

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

src/control/objs/CsmBundleObservation/CsmBundleObservation.h
src/control/objs/CsmBundleObservation/CsmBundleObservation.cpp

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CsmBundleObservation() [1/3]

◆ CsmBundleObservation() [2/3]

◆ CsmBundleObservation() [3/3]

◆ ~CsmBundleObservation()

Member Function Documentation

◆ adjustedSigmas()

◆ append()

◆ applyParameterCorrections()

◆ aprioriSigmas()

◆ bundleOutputCSV()

◆ bundleOutputString()

◆ computeImagePartials()

◆ computeObservationValue()

◆ computePoint3DPartials()

◆ computeRHSPartials()

◆ computeTargetPartials()

◆ imageByCubeSerialNumber()

◆ imageNames()

◆ index()

◆ instrumentId()

◆ numberParameters()

◆ operator=()

◆ parameterCorrections()

◆ parameterList()

◆ parameterWeights()

◆ setIndex()

◆ setSolveSettings()

◆ solveSettings()

◆ vtpv()

Member Data Documentation

◆ m_adjustedSigmas

◆ m_aprioriSigmas

◆ m_corrections

◆ m_cubeSerialNumberToBundleImageMap

◆ m_imageNames

◆ m_index

◆ m_instrumentId

◆ m_observationNumber

◆ m_paramIndices

◆ m_serialNumbers

◆ m_solveSettings

◆ m_weights