Jigsaw camsolveall

isis/src/base/objs/Spice/Spice.cpp

@@ -208,6 +208,7 @@ namespace Isis {
         m_usingAle = true;
       }
       catch(...) {
+
         // Backup to stadnard ISIS implementation
         if (noTables) {
           load(kernels["TargetPosition"], noTables);

isis/src/control/apps/jigsaw/jigsaw.cpp

@@ -148,6 +148,14 @@ namespace Isis {
         gp += PvlKeyword("Status", "Camera pointing NOT updated");
       }
       if (log) {
+        Pvl summary;
+        std::istringstream iss (bundleAdjustment->iterationSummaryGroup().toStdString());
+        iss >> summary; 
+
+        for (auto grpIt = summary.beginGroup(); grpIt!= summary.endGroup(); grpIt++) {
+          log->addGroup(*grpIt);
+        }
+
         log->addGroup(gp);
       }
       delete bundleSolution;

isis/src/control/objs/BundleAdjust/BundleAdjust.cpp

@@ -3062,9 +3062,13 @@ namespace Isis {
     std::ostringstream ostr;
     ostr << summaryGroup << std::endl;
     m_iterationSummary += QString::fromStdString( ostr.str() );
-    if (m_printSummary) {
+
+    if (m_printSummary && iApp != NULL) {
       Application::Log(summaryGroup);
     }
+    else {
+      std::cout << summaryGroup << std::endl;
+    }
   }
 
 
@@ -3110,7 +3114,10 @@ namespace Isis {
    *                           -Wformat-security warning during the build.
    */
   void BundleAdjust::outputBundleStatus(QString status) {
-    if (QCoreApplication::applicationName() != "ipce") {
+    if (iApp == NULL) { // in a function call
+      printf("%s", status.toStdString().c_str());
+    }
+    else if (QCoreApplication::applicationName() != "ipce") {
       printf("%s", status.toStdString().c_str());
     }
   }

isis/tests/Fixtures.cpp

@@ -255,6 +255,53 @@ namespace Isis {
   }
 
 
+  void ObservationPair::SetUp() {
+      FileName labelPathL = FileName("data/observationPair/observationImageL.pvl");
+      FileName labelPathR = FileName("data/observationPair/observationImageR.pvl");
+
+      isdPathL = new FileName("data/observationPair/observationImageL.isd");
+      isdPathR = new FileName("data/observationPair/observationImageR.isd");
+
+      cubeL = new Cube();
+      cubeR = new Cube();
+
+      cubeLPath = tempDir.path() + "/observationPairL.cub";
+      cubeRPath = tempDir.path() + "/observationPairR.cub";
+
+      cubeL->fromIsd(cubeLPath, labelPathL, *isdPathL, "rw");    
+      cubeR->fromIsd(cubeRPath, labelPathR, *isdPathR, "rw");    
+
+      cubeList = new FileList();
+      cubeList->append(cubeL->fileName());
+      cubeList->append(cubeR->fileName());
+
+      cubeListFile = tempDir.path() + "/cubes.lis";
+      cubeList->write(cubeListFile);
+
+      cnetPath = "data/observationPair/observationPair.net";
+      network = new ControlNet();
+      network->ReadControl(cnetPath);
+  }
+
+
+  void ObservationPair::TearDown() {
+    delete cubeList;
+    delete network;
+
+    if (cubeL) {
+      delete cubeL;
+    }
+
+    if (cubeR) {
+      delete cubeR;
+    }
+
+    delete isdPathL;
+    delete isdPathR;
+
+  }
+
+
   void MroCube::setInstrument(QString ikid, QString instrumentId, QString spacecraftName) {
     PvlGroup &kernels = testCube->label()->findObject("IsisCube").findGroup("Kernels");
     kernels.findKeyword("NaifFrameCode").setValue(ikid);    
@@ -407,6 +454,4 @@ namespace Isis {
     }
   }
 
-
-
 }

isis/tests/Fixtures.h

@@ -121,6 +121,29 @@ namespace Isis {
       void TearDown() override;
   };
 
+
+  class ObservationPair : public TempTestingFiles {
+    protected: 
+
+      Cube *cubeL; 
+      Cube *cubeR;
+
+      QString cubeLPath; 
+      QString cubeRPath; 
+
+      FileName *isdPathL;
+      FileName *isdPathR; 
+
+      FileList *cubeList; 
+      QString cubeListFile;
+
+      ControlNet *network; 
+      QString cnetPath; 
+
+      void SetUp() override;
+      void TearDown() override;
+  };
+
   class MroCube : public DefaultCube {
     protected:
       QString ckPath = "data/mroKernels/mroCK.bc";

isis/tests/FunctionalTestsJigsaw.cpp

@@ -0,0 +1,146 @@
+#include "Fixtures.h"
+#include "Pvl.h"
+#include "PvlGroup.h"
+#include "TestUtilities.h"
+#include "ControlNet.h"
+#include "Statistics.h"
+
+#include "jigsaw.h"
+
+#include "gtest/gtest.h"
+
+using namespace Isis;
+
+static QString APP_XML = FileName("$ISISROOT/bin/xml/jigsaw.xml").expanded();
+
+TEST_F(ObservationPair, FunctionalTestJigsawCamSolveAll) {
+  // delete to remove old camera for when cam is updated
+  delete cubeL;
+  delete cubeR;      
+
+  QTemporaryDir prefix;
+  QString outCnetFileName = prefix.path() + "/outTemp.net";
+  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+cnetPath, "onet="+outCnetFileName, 
+                           "observations=yes", "update=yes", "Cksolvedegree=3", 
+                           "Camsolve=all", "twist=no", "Spsolve=none", "Radius=no", "imagescsv=on", "file_prefix="+prefix.path()+"/"};
+
+  UserInterface options(APP_XML, args);
+
+  Pvl log; 
+  try {
+    jigsaw(options, &log);
+  }
+  catch (IException &e) {
+    FAIL() << "Unable to bundle: " << e.what() << std::endl;
+  }
+
+  // images were updated 
+  cubeL = new Cube(cubeLPath, "r");
+  cubeR = new Cube(cubeRPath, "r");
+
+  ControlNet oNet;
+  oNet.ReadControl(outCnetFileName);
+
+  EXPECT_NEAR(oNet.AverageResidual(), 0.123132, 0.00001); 
+  EXPECT_NEAR(oNet.GetMaximumResidual(), 0.379967, 0.00001);
+  ASSERT_EQ(oNet.GetNumIgnoredMeasures(), 0);
+  ASSERT_EQ(oNet.GetNumValidPoints(), 46);
+
+  QList<ControlPoint*> points = oNet.GetPoints(); 
+
+  Statistics xstats;
+  Statistics ystats;
+  Statistics zstats;
+
+  for (int i = 0; i < points.size(); i++) { 
+      xstats.AddData(points.at(i)->GetAdjustedSurfacePoint().GetX().kilometers());
+      ystats.AddData(points.at(i)->GetAdjustedSurfacePoint().GetY().kilometers());
+      zstats.AddData(points.at(i)->GetAdjustedSurfacePoint().GetZ().kilometers());
+  }
+
+  EXPECT_NEAR(xstats.Average(),           1556.64806314499741, 0.00001);
+  EXPECT_NEAR(xstats.StandardDeviation(), 10.663072757957551,  0.00001);
+  EXPECT_NEAR(xstats.Minimum(),           1540.43360835455860, 0.00001);
+  EXPECT_NEAR(xstats.Maximum(),           1574.6528854394717,  0.00001);
+
+  EXPECT_NEAR(ystats.Average(),           98.326253648503553, 0.00001);
+  EXPECT_NEAR(ystats.StandardDeviation(), 1.3218686492693708, 0.00001);
+  EXPECT_NEAR(ystats.Minimum(),           96.795117686735381, 0.00001);
+  EXPECT_NEAR(ystats.Maximum(),           100.04990583087032, 0.00001);
+
+  EXPECT_NEAR(zstats.Average(),           763.0309515939565,  0.00001);
+  EXPECT_NEAR(zstats.StandardDeviation(), 19.783664466904419, 0.00001);
+  EXPECT_NEAR(zstats.Minimum(),           728.82827218510067, 0.00001);
+  EXPECT_NEAR(zstats.Maximum(),           793.9672179283682,  0.00001); 
+
+  Camera *cam = cubeL->camera(); 
+  SpiceRotation *rot = cam->instrumentRotation();
+  std::vector<double> a1; 
+  std::vector<double> a2; 
+  std::vector<double> a3;
+
+  rot->GetPolynomial(a1, a2, a3); 
+
+  EXPECT_NEAR(a1.at(0), 2.16338,    0.0001);
+  EXPECT_NEAR(a1.at(1), -0.0264475, 0.0001);
+  EXPECT_NEAR(a1.at(2), 0.00469675, 0.0001);
+  EXPECT_NEAR(a1.at(3), 0.0210955,  0.0001);
+
+  EXPECT_NEAR(a2.at(0), 1.83011,     0.0001);
+  EXPECT_NEAR(a2.at(1), -0.0244244,  0.0001);
+  EXPECT_NEAR(a2.at(2), -0.00456569, 0.0001);
+  EXPECT_NEAR(a2.at(3), 0.00637157,  0.0001);
+
+  QFile file(prefix.path() + "/bundleout_images.csv");
+  if (!file.open(QIODevice::ReadOnly)) {
+    FAIL() << file.errorString().toStdString();
+  }
+
+  // skip the first two lines, we don't want to compare the header. 
+  file.readLine();
+  file.readLine(); 
+
+  QString line = file.readLine();
+  QStringList elems = line.split(","); 
+
+  // RA(t0) final
+  EXPECT_NEAR(elems.at(21).toDouble(), 123.9524918, 0.00001); 
+  // RA(t1) final
+  EXPECT_NEAR(elems.at(26).toDouble(), -1.51532975, 0.00001); 
+  // RA(t2) final
+  EXPECT_NEAR(elems.at(31).toDouble(), 0.2691039,   0.00001); 
+  // RA(t3) final
+  EXPECT_NEAR(elems.at(36).toDouble(), 1.208684781, 0.00001); 
+
+  // DEC(t0) final
+  EXPECT_NEAR(elems.at(41).toDouble(), 104.8575294,       0.00001); 
+  // DEC(t1) final
+  EXPECT_NEAR(elems.at(46).toDouble(), -1.399416621,      0.00001); 
+  // DEC(t2) final
+  EXPECT_NEAR(elems.at(51).toDouble(), -0.26159502200533, 0.00001); 
+  // DEC(t3) final
+  EXPECT_NEAR(elems.at(56).toDouble(), 0.365064224,       0.00001); 
+
+
+  line = file.readLine();
+  elems = line.split(","); 
+
+  // RA(t0) final
+  EXPECT_NEAR(elems.at(21).toDouble(), 121.4164029, 0.00001); 
+  // RA(t1) final
+  EXPECT_NEAR(elems.at(26).toDouble(), -1.510464718, 0.00001); 
+  // RA(t2) final
+  EXPECT_NEAR(elems.at(31).toDouble(), 0.253046705,   0.00001); 
+  // RA(t3) final
+  EXPECT_NEAR(elems.at(36).toDouble(), 1.203832854, 0.00001); 
+
+  // DEC(t0) final
+  EXPECT_NEAR(elems.at(41).toDouble(), 106.11241033284,      0.00001); 
+  // DEC(t1) final
+  EXPECT_NEAR(elems.at(46).toDouble(), -1.4160602752902001,  0.00001); 
+  // DEC(t2) final
+  EXPECT_NEAR(elems.at(51).toDouble(), -0.26704142,          0.00001); 
+  // DEC(t3) final
+  EXPECT_NEAR(elems.at(56).toDouble(), 0.365717165,          0.00001); 
+
+}