Added the ability to update CSM model state in jigsaw #4529

jessemapel · 2021-06-15T23:10:21Z

Description

Adds the ability to write updated CSM model states to cubes in jigsaw.

Related Issue

Motivation and Context

This allows us to store the updated model state from jigsaw for use in future applications or for export to other SETs such as Socet GXP.

How Has This Been Tested?

Tested locally on CTX test data set. The updated BLOB is on the cube with the jigged comment. Inspected USGSCSM state string JSON and it contained the updated parameters. Pre and post runs of campt on images also showed updates consistent with the results of the jigsaw solution.

Screenshots (if appropriate):

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Documentation change (update to the documentation; no code change)
Breaking change (fix or feature that would cause existing functionality to change)

Checklist:

I have read and agree to abide by the Code of Conduct
I have read the CONTRIBUTING document.
My change requires a change to the documentation.
I have updated the documentation accordingly.
I have added tests to cover my changes.
All new and existing tests passed.
I have added myself to the .zenodo.json document.
I have added any user impacting changes to the CHANGELOG.md document.

Licensing

This project is mostly composed of free and unencumbered software released into the public domain, and we are unlikely to accept contributions that are not also released into the public domain. Somewhere near the top of each file should have these words:

This work is free and unencumbered software released into the public domain. In jurisdictions that recognize copyright laws, the author or authors of this software dedicate any and all copyright interest in the software to the public domain.

I dedicate any and all copyright interest in this software to the public domain. I make this dedication for the benefit of the public at large and to the detriment of my heirs and successors. I intend this dedication to be an overt act of relinquishment in perpetuity of all present and future rights to this software under copyright law.

jessemapel · 2021-06-15T23:14:17Z

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

+      throw IException(IException::Programmer, msg, _FILEINFO_);
+    }
+
+    CSMCamera *csmCamera = dynamic_cast<CSMCamera*>(imageCam);


I am not happy about having the dynamic_cast in BundleAdjust and not using the Observation, but attempts to use the polymorphism of the observation resulting in strange issues with the indices in the control network not matching the indices in the observations. I also ran into issues with who has the correct camera model and simultaneous open/close of the cube. This approach side-steps all of those issues at the cost of the cast happening here.

kberryUSGS

This all looks good to me!

…smbundle_apply

kberryUSGS · 2021-06-17T19:11:27Z

isis/tests/FunctionalTestsJigsaw.cpp

@@ -1594,7 +1594,7 @@ TEST_F(MiniRFNetwork, FunctionalTestJigsawRadar) {
 }


-TEST_F(CSMNetwork, FunctionalTestCSMNetwork) {
+TEST_F(CSMNetwork, unctionalTestJigsawCSM) {


Could you put the 'F' back in?

kberryUSGS

One character typo! Then I'll go back to approving the PR.

* Added the ability to update CSM model state in jigsaw * Added missing function docs * Updated CSM jigsaw test to check apply * Wrangled up an F

* copylab * Initial work toward a working AbstractBundleObservation class * Fix accidentl add of temporary changes from another project * Trial 2 on fixing my accidental changes * csm bundle building properly (#4409) * Updates for linking and compiling * Starting virtual functions * Add virtuals to AbstractBundleObservation and get compiling again * Remove function from parent * Get jigsaw tests passing on csmbundle branch (#4413) * Add virtuals to AbstractBundleObservation and get compiling again * Remove function from parent * Get existing jigsaw tests passing * Remove unneeded functions from BundleObservation * Clean up a bit more * Clean up BundleObservation and AbstractBundleObservation more * Remove unneeded BodyRotation * Add target body solve back into bundle adjusment calc * Remove debug output * Removed unneeded memeber variables BundleObservation Co-authored-by: Kristin Berry <kberry@gyro.wr.usgs.gov> * Move some functions to pure virtual * Csmobservation (#4419) * Now compiling * Updated CSMCamera tests and docs * Remove duplicated member variables and accesor functions from BundleObservation and add Csm camera type to Camera enum * Remove commented-out code * Added required headers from removed ground map header (#4427) * last missing header (#4428) * Moved CSM settings into BOSS * Generates Serial Numbers using CSM label information (#4437) * Creates Serial Numbers using CSM label information * Updated second SerialNumberList:add function to accommodate CSM label * Add hooks for csm bundle settings to jigsaw (#4438) * In progress * Added tests and Pvl support * Add missing 'y' to docs Co-authored-by: Kristin Berry <kberry@usgs.gov> * Moves partial calculation into CSM and ISIS observation classes. (#4436) * Remove duplicated member variables and accesor functions from BundleObservation and add Csm camera type to Camera enum * Remove commented-out code * Imagecoeff migrated into BundleObservation class working * Get base level working for all coeffs in ISIS * Fix accidental move into if statement to get tests passing again * Updated RHS for CsmBundleObservation to work * Adds point3D support to CSM Camera observations and also adds ground Partials member function to CSMCamera * Draft of sensor partials code * Add docs, some fixes based on review requests * move computation of weights and observation values to bundle observations * Add observationvalue function to CsmBundleObservation and move the weighting that it is possible to to the observation classes * Make CSMSolveSet an optional parameter to get jigsaw tests passing again * cleanup * Move observation weights into MLE if block Co-authored-by: Kristin Berry <kberry@gyro.wr.usgs.gov> * Implemented bundleOutputString for CSM (#4444) * Added test for CSM bundleOutputString * Passing unit test and updates to bundleOutputString * Addressed PR feedback * Csmcsv (#4446) * CSM CSV output * Small test clean-up * typo fix * obs header fix * Remove param list from bo * Added debug output * Now reurning * Fixed unit test * xml save test update * Clean up bundleresults unit test output * Fixed qfile member * Fixed old path * Changed header to use param names * Making separate csvs * Added reverse on obs by instId * Trying to fix multiple sensors * Fixed images header * More debug * removed debug outs * Added terrible imageindex search * Added held config fix * Updated for observation test * Updated jigsaw test makefiles * Updated with new tests * Updates Bundle Observation Vector to support Csm observations. (#4457) * Remove duplicated member variables and accesor functions from BundleObservation and add Csm camera type to Camera enum * Remove commented-out code * Imagecoeff migrated into BundleObservation class working * Get base level working for all coeffs in ISIS * Fix accidental move into if statement to get tests passing again * Updated RHS for CsmBundleObservation to work * Adds point3D support to CSM Camera observations and also adds ground Partials member function to CSMCamera * Draft of sensor partials code * Add docs, some fixes based on review requests * move computation of weights and observation values to bundle observations * Add observationvalue function to CsmBundleObservation and move the weighting that it is possible to to the observation classes * Make CSMSolveSet an optional parameter to get jigsaw tests passing again * cleanup * Move observation weights into MLE if block * Added isis vs. csm support to Bundle Observation Vector class to allow jigsaw to proceed past the setup stage for csm networks * Comment cleanup * Fix failing unit tests * Add docs * Updated based on feedback with potentially temporary fix to get unit tests passing * Update tests a bit * Aligned signature definitions and cleaned up * remove unneeded functions * More comment cleanup Co-authored-by: Kristin Berry <kberry@gyro.wr.usgs.gov> * Jigsaw Test Conversions (sccconfig, scconfigHeld, radar) (#4463) * Converted jigsaw scconfig tests. * Added jigsaw radar test * Updated tests to reflect PR #4446 changes & removed makefile tests * Updates to scconfig tests * Gets csm bundle converging (#4464) * Added cam type checks * checking csm partials * Debug partials * debug corrections * Fixed index * Scaled ground partials * Updated param comparison * Removed debug out * Fixes spacing issue in CSM bundleout.txt (#4465) * Update csm bundlout to have correct spacing for paramter names * Reverted unintential change Co-authored-by: Kristin Berry <kberry@gyro.wr.usgs.gov> * Removed unit-test specific changes I made to the code instead of the unit test * Add latitudinal partials for CSM (#4468) * Add latitudinal partials for CSM * Added test Co-authored-by: Jesse Mapel <jmapel@usgs.gov> * Csm clean up (#4483) * Added cms index list error * Added CSMCameraTests for partials * Observation clean-up * Cleaned up vector * Rename BundleObservation classes (#4518) * rename BundleObservation classes * omit changes to sip wrappers * Adds more capabilities to TestCsmModel (#4527) * Updated to get new isd/state form to test jigsaw parsing * Add functional image-to-ground, ground-to-image, and isd-parsing to TestCsmModel * Remove temporary csminit test changes * Updated variable name for clarity * add csm info to app docs for csminit and jigsaw * Csmbundle - remove SIP wrappers and deprecated formatBundleOutputString (#4526) * remove sip wrappers * remove deprecated formatBundleOutputString * remove more sip code and formatBundleOutputString * Fix functional tests to work with updated TestCsmModel (#4534) * Tests + test data for CSM jigsaw (#4530) * Removed debug couts * Added csmnetwork test fixture * Added a test for CSM test network * Adjusted trig functions + added deg/rad conversions * Initial CSMNetwork data * Uncommented code * Removed network path and control network from CSMNetwork fixture * Removed temporary path from csv comparison * Adjusted spacing + responded to PR feedback Co-authored-by: Austin Sanders <arsanders@ugs.gov> * Added the ability to update CSM model state in jigsaw (#4529) * Added the ability to update CSM model state in jigsaw * Added missing function docs * Updated CSM jigsaw test to check apply * Wrangled up an F * Added changelog entry * General clean-up * Changed Camera local photometric calculations to not use bodyrotation * Changed csm camera to save look on non-intersection * Fixed docs typos Co-authored-by: Kristin Berry <kberry@gyro.wr.usgs.gov> Co-authored-by: Kristin Berry <kberry@usgs.gov> Co-authored-by: Amy Stamile <74275278+amystamile-usgs@users.noreply.github.com> Co-authored-by: Tim Giroux <62255438+tgiroux@users.noreply.github.com> Co-authored-by: Tim Giroux <tgiroux@contractor.usgs.gov> Co-authored-by: AustinSanders <arsanders@usgs.gov> Co-authored-by: Austin Sanders <arsanders@ugs.gov>

Added the ability to update CSM model state in jigsaw

28e0ac8

jessemapel requested review from AustinSanders and kberryUSGS June 15, 2021 23:10

Added missing function docs

183b8ec

jessemapel commented Jun 15, 2021

View reviewed changes

kberryUSGS approved these changes Jun 16, 2021

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jessemapel added 2 commits June 17, 2021 11:16

Merge branch 'csmbundle' of github.com:USGS-Astrogeology/ISIS3 into c…

c4c6290

…smbundle_apply

Updated CSM jigsaw test to check apply

a4463bf

jessemapel requested a review from kberryUSGS June 17, 2021 19:10

kberryUSGS reviewed Jun 17, 2021

View reviewed changes

kberryUSGS suggested changes Jun 17, 2021

View reviewed changes

Wrangled up an F

cc89137

kberryUSGS approved these changes Jun 17, 2021

View reviewed changes

kberryUSGS merged commit d00b11b into DOI-USGS:csmbundle Jun 17, 2021

jessemapel added a commit that referenced this pull request Jun 17, 2021

Added the ability to update CSM model state in jigsaw (#4529)

d6d1b9f

* Added the ability to update CSM model state in jigsaw * Added missing function docs * Updated CSM jigsaw test to check apply * Wrangled up an F

jessemapel mentioned this pull request Jul 13, 2021

Integrate CSM into ISIS USGS-Astrogeology/softwaremanagement#60

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Added the ability to update CSM model state in jigsaw #4529

Added the ability to update CSM model state in jigsaw #4529

jessemapel commented Jun 15, 2021

jessemapel Jun 15, 2021

kberryUSGS left a comment

kberryUSGS Jun 17, 2021

kberryUSGS left a comment

Added the ability to update CSM model state in jigsaw #4529

Added the ability to update CSM model state in jigsaw #4529

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jessemapel commented Jun 15, 2021

Description

Related Issue

Motivation and Context

How Has This Been Tested?

Screenshots (if appropriate):

Types of changes

Checklist:

Licensing

jessemapel Jun 15, 2021

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kberryUSGS Jun 17, 2021

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