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

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merged 5 commits into from
Jun 17, 2021
Merged

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

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28e0ac8
Added the ability to update CSM model state in jigsaw
jessemapel Jun 15, 2021
183b8ec
Added missing function docs
jessemapel Jun 15, 2021
c4c6290
Merge branch 'csmbundle' of github.com:USGS-Astrogeology/ISIS3 into c…
jessemapel Jun 17, 2021
a4463bf
Updated CSM jigsaw test to check apply
jessemapel Jun 17, 2021
cc89137
Wrangled up an F
jessemapel Jun 17, 2021
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10 changes: 10 additions & 0 deletions isis/src/base/objs/CSMCamera/CSMCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -957,6 +957,16 @@ namespace Isis {
}


/**
* Get the CSM Model state string to re-create the CSM Model.
*
* @returns @b QString The CSM Model state string
*/
QString CSMCamera::getModelState() const {
return QString::fromStdString(m_model->getModelState());
}


/**
* Set the time and update the sensor position and orientation.
*
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2 changes: 2 additions & 0 deletions isis/src/base/objs/CSMCamera/CSMCamera.h
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Expand Up @@ -130,6 +130,8 @@ namespace Isis {
virtual std::vector<double> GroundPartials(SurfacePoint groundPoint);
virtual std::vector<double> GroundPartials();

QString getModelState() const;

protected:
void setTarget(Pvl label);

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28 changes: 20 additions & 8 deletions isis/src/control/apps/jigsaw/jigsaw.cpp
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Expand Up @@ -14,6 +14,7 @@ find files of those names at the top level of this repository. **/
#include <QSharedPointer>
#include <QString>

#include "Blob.h"
#include "BundleAdjust.h"
#include "BundleObservationSolveSettings.h"
#include "BundleResults.h"
Expand Down Expand Up @@ -148,15 +149,26 @@ namespace Isis {
break;
}

// Get Kernel group and add or replace LastModifiedInstrumentPointing
// keyword.
Table cmatrix = bundleAdjustment->cMatrix(i);
// Update the image parameters
QString jigComment = "Jigged = " + Isis::iTime::CurrentLocalTime();
cmatrix.Label().addComment(jigComment);
Table spvector = bundleAdjustment->spVector(i);
spvector.Label().addComment(jigComment);
c->write(cmatrix);
c->write(spvector);
if (c->hasBlob("CSMState", "String")) {
Blob csmStateBlob("CSMState", "String");
// Read the BLOB from the cube to prepropagate things like the model
// and plugin name
c->read(csmStateBlob);
std::string modelState = bundleAdjustment->modelState(i).toStdString();
csmStateBlob.setData(modelState.c_str(), modelState.size());
csmStateBlob.Label().addComment(jigComment);
c->write(csmStateBlob);
}
else {
Table cmatrix = bundleAdjustment->cMatrix(i);
cmatrix.Label().addComment(jigComment);
Table spvector = bundleAdjustment->spVector(i);
spvector.Label().addComment(jigComment);
c->write(cmatrix);
c->write(spvector);
}
p.WriteHistory(*c);
}
gp += PvlKeyword("Status", "Camera pointing updated");
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23 changes: 23 additions & 0 deletions isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
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Expand Up @@ -39,6 +39,7 @@ find files of those names at the top level of this repository. **/
#include "CameraDistortionMap.h"
#include "CameraFocalPlaneMap.h"
#include "CameraGroundMap.h"
#include "CSMCamera.h"
#include "Control.h"
#include "ControlPoint.h"
#include "CorrelationMatrix.h"
Expand Down Expand Up @@ -2829,6 +2830,7 @@ namespace Isis {
return m_controlNet->Camera(i)->instrumentRotation()->Cache("InstrumentPointing");
}


/**
* Return a table spacecraft vector for the ith cube in the cube list given to the
* constructor.
Expand All @@ -2842,6 +2844,27 @@ namespace Isis {
}


/**
* Return the updated model state for the ith cube in the cube list given to the
* constructor. This is only valid for CSM cubes.
*
* @param i The index of the cube to get the model state for
*
* @return @b QString The updated CSM model state string
*/
QString BundleAdjust::modelState(int i) {
Camera *imageCam = m_controlNet->Camera(i);
if (imageCam->GetCameraType() != Camera::Csm) {
QString msg = "Cannot get model state for image [" + toString(i) +
"] because it is not a CSM camera model.";
throw IException(IException::Programmer, msg, _FILEINFO_);
}

CSMCamera *csmCamera = dynamic_cast<CSMCamera*>(imageCam);
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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.

return csmCamera->getModelState();
}


/**
* Creates an iteration summary and an iteration group for the solution summary
*
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1 change: 1 addition & 0 deletions isis/src/control/objs/BundleAdjust/BundleAdjust.h
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Expand Up @@ -362,6 +362,7 @@ namespace Isis {
bool isConverged();
Table cMatrix(int index);
Table spVector(int index);
QString modelState(int index);
int numberOfImages() const;
double iteration() const;

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2 changes: 1 addition & 1 deletion isis/src/control/objs/BundleUtilities/BundleObservation.h
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Expand Up @@ -78,7 +78,7 @@ namespace Isis {
virtual bool computeTargetPartials(LinearAlgebra::Matrix &coeffTarget, BundleMeasure &measure,
BundleSettingsQsp &bundleSettings, BundleTargetBodyQsp &bundleTargetBody) = 0;
virtual bool computeImagePartials(LinearAlgebra::Matrix &coeffImage, BundleMeasure &measure) = 0;
virtual bool computePoint3DPartials(LinearAlgebra::Matrix &coeffPoint3D, BundleMeasure &measure, SurfacePoint::CoordinateType coordType = SurfacePoint::Rectangular) = 0;
virtual bool computePoint3DPartials(LinearAlgebra::Matrix &coeffPoint3D, BundleMeasure &measure, SurfacePoint::CoordinateType coordType = SurfacePoint::Rectangular) = 0;
virtual bool computeRHSPartials(LinearAlgebra::Vector &coeffRHS, BundleMeasure &measure) = 0;
virtual double computeObservationValue(BundleMeasure &measure, double deltaVal) = 0;

Expand Down
36 changes: 23 additions & 13 deletions isis/tests/CSMCameraTests.cpp
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Expand Up @@ -441,6 +441,29 @@ TEST_F(CSMCameraFixture, getParameterUnits) {
}


TEST_F(CSMCameraSetFixture, SerialNumber) {
QString sn = SerialNumber::Compose(*testCube);
SerialNumberList snl;

snl.add(testCube->fileName());
QString instId = snl.spacecraftInstrumentId(sn);

EXPECT_PRED_FORMAT2(AssertQStringsEqual, sn, "TestPlatform/TestInstrument/2000-01-01T11:58:55.816");
EXPECT_TRUE(snl.hasSerialNumber(sn));
EXPECT_PRED_FORMAT2(AssertQStringsEqual, instId, "TESTPLATFORM/TESTINSTRUMENT");
}


TEST_F(CSMCameraFixture, CameraState) {
std::string testString = "MockSensorModel\nTestModelState";
EXPECT_CALL(mockModel, getModelState())
.Times(1)
.WillOnce(::testing::Return(testString));

EXPECT_EQ(dynamic_cast<CSMCamera*>(testCam)->getModelState().toStdString(), testString);
}


TEST_F(CSMCameraFixture, SetTime) {
try
{
Expand Down Expand Up @@ -654,16 +677,3 @@ TEST_F(CSMCameraFixture, Declination) {
" Declination is not supported for CSM camera models\"";
}
}


TEST_F(CSMCameraSetFixture, SerialNumber) {
QString sn = SerialNumber::Compose(*testCube);
SerialNumberList snl;

snl.add(testCube->fileName());
QString instId = snl.spacecraftInstrumentId(sn);

EXPECT_PRED_FORMAT2(AssertQStringsEqual, sn, "TestPlatform/TestInstrument/2000-01-01T11:58:55.816");
EXPECT_TRUE(snl.hasSerialNumber(sn));
EXPECT_PRED_FORMAT2(AssertQStringsEqual, instId, "TESTPLATFORM/TESTINSTRUMENT");
}
34 changes: 32 additions & 2 deletions isis/tests/FunctionalTestsJigsaw.cpp
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Expand Up @@ -1594,7 +1594,7 @@ TEST_F(MiniRFNetwork, FunctionalTestJigsawRadar) {
}


TEST_F(CSMNetwork, FunctionalTestCSMNetwork) {
TEST_F(CSMNetwork, unctionalTestJigsawCSM) {
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Could you put the 'F' back in?

QTemporaryDir prefix;
QString outCnetFileName = prefix.path() + "/outTemp.net";

Expand All @@ -1605,6 +1605,7 @@ TEST_F(CSMNetwork, FunctionalTestCSMNetwork) {
"maxits=10",
"errorprop=yes",
"bundleout_txt=yes",
"update=yes",
"csmsolveset=adjustable",
"POINT_LATITUDE_SIGMA=1125",
"POINT_LONGITUDE_SIGMA=1125",
Expand Down Expand Up @@ -1647,7 +1648,6 @@ TEST_F(CSMNetwork, FunctionalTestCSMNetwork) {
"Test_B.cub, 6.65E-12, 1.41E-13, 4.70E-12, 2.875, 0.125, 3, 0.004162598, 0,"
" -0.0078125, 0.0078125, 6.29E-15, 0.004162598, 0, 258, -2, 256, 68.2, 0",
1);

compareCsvLine(line.getRow(5),
"Test_D.cub, 3.96E-12, 1.31E-13, 2.80E-12, -0.125, 0.125, 2.23E-17,"
" 0.004162598, 0, -2.875, -0.125, -3, 0.004162598, 0, 254,"
Expand All @@ -1663,4 +1663,34 @@ TEST_F(CSMNetwork, FunctionalTestCSMNetwork) {
compareCsvLine(line.getRow(11),
"Test_J.cub, 2.76E-12, 9.95E-14, 1.96E-12, -0.0625, 0.0625,"
"-2.63E-17, 0.016650391, 0, -0.03125, 0.03125, 6.23E-15, 0.016650391", 1);

Cube testB(tempDir.path() + "/Test_B.cub");
CSMCamera *camB = dynamic_cast<CSMCamera*>(testB.camera());
EXPECT_NEAR(camB->getParameterValue(0), 3.0, 0.00000001);
EXPECT_NEAR(camB->getParameterValue(1), 0.0, 0.00000001);
EXPECT_NEAR(camB->getParameterValue(2), 256.0, 0.00000001);

Cube testD(tempDir.path() + "/Test_D.cub");
CSMCamera *camD = dynamic_cast<CSMCamera*>(testD.camera());
EXPECT_NEAR(camD->getParameterValue(0), 0.0, 0.00000001);
EXPECT_NEAR(camD->getParameterValue(1), -3.0, 0.00000001);
EXPECT_NEAR(camD->getParameterValue(2), 256.0, 0.00000001);

Cube testF(tempDir.path() + "/Test_F.cub");
CSMCamera *camF = dynamic_cast<CSMCamera*>(testF.camera());
EXPECT_NEAR(camF->getParameterValue(0), 0.0, 0.00000001);
EXPECT_NEAR(camF->getParameterValue(1), 3.0, 0.00000001);
EXPECT_NEAR(camF->getParameterValue(2), 256.0, 0.00000001);

Cube testH(tempDir.path() + "/Test_H.cub");
CSMCamera *camH = dynamic_cast<CSMCamera*>(testH.camera());
EXPECT_NEAR(camH->getParameterValue(0), -3.0, 0.00000001);
EXPECT_NEAR(camH->getParameterValue(1), 0.0, 0.00000001);
EXPECT_NEAR(camH->getParameterValue(2), 256.0, 0.00000001);

Cube testJ(tempDir.path() + "/Test_J.cub");
CSMCamera *camJ = dynamic_cast<CSMCamera*>(testJ.camera());
EXPECT_NEAR(camJ->getParameterValue(0), 0.0, 0.00000001);
EXPECT_NEAR(camJ->getParameterValue(1), 0.0, 0.00000001);
EXPECT_NEAR(camJ->getParameterValue(2), 128.0, 0.00000001);
}