Heldimage + MEstimation tests for jigsaw

isis/tests/Fixtures.cpp

@@ -307,9 +307,9 @@ namespace Isis {
     cubeListFile = tempDir.path() + "/cubes.lis";
     cubeList->write(cubeListFile);
 
-    ControlNet inputNet("data/apolloNetwork/apolloNet.pvl");
+    network = new ControlNet("data/apolloNetwork/apolloNet.pvl");
     controlNetPath = tempDir.path() + "/apolloNet.net";
-    inputNet.Write(controlNetPath);
+    network->Write(controlNetPath);
   }
 
   void ApolloNetwork::TearDown() {

isis/tests/Fixtures.h

@@ -120,21 +120,7 @@ namespace Isis {
       void SetUp() override;
       void TearDown() override;
   };
-
-  class ApolloNetwork: public TempTestingFiles {
-    protected:
-      Cube *cube1, *cube2, *cube3, *cube4, *cube5, *cube6, *cube7; 
-      FileName *isdFile1, *isdFile2, *isdFile3, *isdFile4, *isdFile5, *isdFile6, *isdFile7,
-               *cubeLabel, *label1, *label2, *label3, *label4, *label5, *label6, *label7;
-
-      FileList *cubeList;
-      QString cubeListFile;
-      QString controlNetPath;
-
-      void SetUp() override;
-      void TearDown() override;
-  };
-
+
   class ObservationPair : public TempTestingFiles {
     protected: 
 
@@ -152,6 +138,22 @@ namespace Isis {
 
       ControlNet *network; 
       QString cnetPath; 
+
+      void SetUp() override;
+      void TearDown() override;
+  };
+
+  class ApolloNetwork: public TempTestingFiles {
+    protected:
+      Cube *cube1, *cube2, *cube3, *cube4, *cube5, *cube6, *cube7; 
+      FileName *isdFile1, *isdFile2, *isdFile3, *isdFile4, *isdFile5, *isdFile6, *isdFile7, 
+           *cubeLabel, *label1, *label2, *label3, *label4, *label5, *label6, *label7;
+
+      FileList *cubeList;
+      QString cubeListFile;
+
+      ControlNet *network; 
+      QString controlNetPath;
 
       void SetUp() override;
       void TearDown() override;

isis/tests/FunctionalTestsJigsaw.cpp

@@ -1,28 +1,14 @@
-#include <iostream>
+#include <QtMath>
 
 #include <QFile>
-#include <QHash>
-#include <QSet>
-#include <QString>
-#include <QStringList>
-#include <QTextStream>
 
-#include "jigsaw.h"
-#include "Angle.h"
-#include "ControlNet.h"
-#include "ControlPoint.h"
-#include "ControlMeasure.h"
-#include "Distance.h"
-#include "FileName.h"
-#include "Latitude.h"
-#include "Longitude.h"
-#include "SurfacePoint.h"
-#include "gmock/gmock.h"
-#include "UserInterface.h"
-#include "CSVReader.h"
 #include "Pvl.h"
 #include "PvlGroup.h"
 #include "Statistics.h"
+#include "CSVReader.h"
+#include "Latitude.h"
+#include "Longitude.h"
+#include "ControlPoint.h"
 
 #include "jigsaw.h"
 
@@ -211,7 +197,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawApollo) {
 
   for (int i=0; i < inputPoints.length(); i++) {
     ControlPoint* inputPoint = inputPoints[i];
-    ControlPoint* outputPoint;
+    ControlPoint* outputPoint = nullptr;
     EXPECT_NO_THROW({
         outputPoint = outputNet.GetPoint(inputPoint->GetId());
     }
@@ -354,16 +340,151 @@ TEST_F(ObservationPair, FunctionalTestJigsawCamSolveAll) {
   EXPECT_NEAR(elems.at(56).toDouble(), 0.365717165,          0.00001); 
 }
 
-TEST_F(ObservationPair, FunctionalTestJigsawErrorNoSolve) {
+
+TEST_F(ApolloNetwork, FunctionalTestJigsawHeldList) {
   QTemporaryDir prefix;
+
+  QString heldlistpath = prefix.path() + "/heldlist.lis"; 
+  FileList heldList; 
+  heldList.append(cube6->fileName());
+  heldList.write(heldlistpath); 
+
   QString outCnetFileName = prefix.path() + "/outTemp.net";
-  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+cnetPath, "onet="+outCnetFileName, 
-                           "camsolve=None", "spsolve=None"};
+  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+controlNetPath, "onet="+outCnetFileName, "heldlist="+heldlistpath,  
+                           "radius=yes", "errorpropagation=yes", "spsolve=position", "Spacecraft_position_sigma=1000", 
+                           "Residuals_csv=off", "Camsolve=angles", "Twist=yes", "Camera_angles_sigma=2", 
+                           "Output_csv=off", "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;
+  }
+
+  CSVReader::CSVAxis csvLine;
+  CSVReader header = CSVReader(prefix.path()+"/bundleout_images.csv",
+                               false, 0, ',', false, true);
+
+  csvLine = header.getRow(7);
+
+  // assert corrections are very small 
+  // X Correction
+  EXPECT_LE(std::abs(csvLine[5].toDouble()), 1e-10); 
+  // Y Correction
+  EXPECT_LE(std::abs(csvLine[10].toDouble()), 1e-10); 
+  // Z Correction
+  EXPECT_LE(std::abs(csvLine[15].toDouble()), 1e-10); 
+  // RA Correction
+  EXPECT_LE(std::abs(csvLine[20].toDouble()), 1e-10); 
+  // DEC Correction
+  EXPECT_LE(std::abs(csvLine[25].toDouble()), 1e-10); 
+  // TWIST Correction
+  EXPECT_LE(std::abs(csvLine[30].toDouble()), 1e-10); 
+}
+
+
+TEST_F(ApolloNetwork, FunctionalTestJigsawMEstimator) {
+  QTemporaryDir prefix;
+  QString newNetworkPath = prefix.path()+"/badMeasures.net";
+
+  QVector<QString> pid = {"AS15_000031985", 
+                          "AS15_000033079", 
+                          "AS15_SocetPAN_03", 
+                          "AS15_Tie03"};
+
+  QVector<QString> mid = {"APOLLO15/METRIC/1971-07-31T14:01:40.346", 
+                          "APOLLO15/METRIC/1971-07-31T14:02:27.179", 
+                          "APOLLO15/METRIC/1971-07-31T14:02:03.751", 
+                          "APOLLO15/METRIC/1971-07-31T14:00:53.547"};
+
+  for (int i = 0; i < pid.size(); i++) {
+    // grab random points and add error to a single measure 
+    ControlPoint *point = network->GetPoint(pid[i]);
+    ControlMeasure *measure = point->GetMeasure(mid[i]);
+    measure->SetCoordinate(measure->GetLine()+50, measure->GetLine()+50); 
+  }
+
+  network->Write(newNetworkPath); 
+
+  QString outCnetFileName = prefix.path() + "/outTemp.net";
+  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+newNetworkPath, "onet="+outCnetFileName,
+                           "Radius=yes", "Errorpropagation=yes", "Spsolve=position","Spacecraft_position_sigma=1000.0",
+                           "Camsolve=angles", "twist=yes", "Camera_angles_sigma=2", 
+                           "Model1=huber", "Max_model1_c_quantile=0.6", "Model2=chen", "Max_model2_c_quantile=0.98", "Sigma0=1e-3", 
+                           "bundleout_txt=yes", "Output_csv=on", "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;
+  }
+
+  CSVReader::CSVAxis csvLine;
+  CSVReader header = CSVReader(prefix.path()+"/bundleout_images.csv",
+                               false, 0, ',', false, true);
+
+  ControlNet onet; 
+  onet.ReadControl(outCnetFileName);
+
+  QVector<double> presiduals = {};
+  QVector<QVector<double>> mresiduals = {{1.27975, 1.54281, 1.8778, 1.30159}, 
+                                         {2.25115, 2.33559, 0.547574, 3.16777}, 
+                                         {1.15396, 0.69243, 1.03005, 0.848934}, 
+                                         {2.24641, 4.39168, 0.560941, 2.844}}; 
+
+  for (int i = 0; i < pid.size(); i++) {
+    ControlPoint *point = network->GetPoint(pid[i]);
+    QList<ControlMeasure*> measures = point->getMeasures();
+    for (int j = 0; j < measures.size(); j++ ) {
+      EXPECT_NEAR(measures.at(j)->GetResidualMagnitude(), mresiduals[i][j], 0.0001); 
+    }
+  }
+
+  QFile bo(prefix.path()+"/bundleout.txt");
+  QString contents; 
+  if (bo.open(QIODevice::ReadOnly)) {
+    contents = bo.read(bo.size()); 
+  }
+  else { 
+    FAIL() << "Failed to open bundleout.txt" << std::endl;
+  }
+
+  QStringList lines = contents.split("\n");
+
+  EXPECT_THAT(lines[31].toStdString(), HasSubstr("Tier 0 Enabled: TRUE"));
+  EXPECT_THAT(lines[32].toStdString(), HasSubstr("Maximum Likelihood Model: Huber"));
+  EXPECT_THAT(lines[33].toStdString(), HasSubstr("Quantile used for tweaking constant: 0.6"));
+  EXPECT_THAT(lines[34].toStdString(), HasSubstr("Quantile weighted R^2 Residual value: 0.207"));
+  EXPECT_THAT(lines[35].toStdString(), HasSubstr("Approx. weighted Residual cutoff: N/A"));
+
+  EXPECT_THAT(lines[37].toStdString(), HasSubstr("Tier 1 Enabled: TRUE"));
+  EXPECT_THAT(lines[38].toStdString(), HasSubstr("Maximum Likelihood Model: Chen"));
+  EXPECT_THAT(lines[39].toStdString(), HasSubstr("Quantile used for tweaking constant: 0.98"));
+  EXPECT_THAT(lines[40].toStdString(), HasSubstr("Quantile weighted R^2 Residual value: 1.0"));
+  EXPECT_THAT(lines[41].toStdString(), HasSubstr("Approx. weighted Residual cutoff: 1.0"));
+
+  EXPECT_THAT(lines[43].toStdString(), HasSubstr(" Tier 2 Enabled: FALSE"));
+}
+
+
+ TEST_F(ObservationPair, FunctionalTestJigsawErrorNoSolve) {
+  QTemporaryDir prefix;
+  QString outCnetFileName = prefix.path() + "/outTemp.net";
+  QVector<QString> args = {"fromlist="+cubeListFile, "cnet="+cnetPath, "onet="+outCnetFileName, 
+                           "camsolve=None", "spsolve=None"}; 
+
+  UserInterface options(APP_XML, args); 
+  Pvl log; 
+
   try {
     jigsaw(options, &log);
     FAIL() << "Should throw" << std::endl;