Get jigsaw tests passing on csmbundle branch (DOI-USGS#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>
tgiroux · Jun 9, 2021 · 918fabb · 918fabb
1 parent 3b0d3d7
commit 918fabb
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Showing 7 changed files with 135 additions and 334 deletions.
diff --git a/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp b/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
@@ -425,6 +425,7 @@ namespace Isis {
           throw IException(IException::Programmer, msg, _FILEINFO_);
         }
 
+        // TODO ISIS vs. CSM (addNewIsisObservation?)
         AbstractBundleObservationQsp observation =
             m_bundleObservations.addNew(image, observationNumber, instrumentId, m_bundleSettings);
 
@@ -436,9 +437,11 @@ namespace Isis {
       }
 
       // initialize exterior orientation (spice) for all BundleImages in all BundleObservations
+      // 
       // TODO!!! - should these initializations just be done when we add the new observation above?
       m_bundleObservations.initializeExteriorOrientation();
 
+      // TODO
       if (m_bundleSettings->solveTargetBody()) {
         m_bundleObservations.initializeBodyRotation();
       }
@@ -2164,8 +2167,10 @@ namespace Isis {
       observation->applyParameterCorrections(subrange(m_imageSolution,t,t+numParameters));
 
       if (m_bundleSettings->solveTargetBody()) {
-        // TODO: needs to be updated for ISIS vs. CSM CSM has no updateBodyRotation
-//        observation->updateBodyRotation();
+        // TODO: needs to be updated for ISIS vs. CSM CSM has no updateBodyRotation]
+        // TODO: this is no good. 
+        QSharedPointer<BundleObservation> isisObservation = qSharedPointerDynamicCast<BundleObservation>(observation);  
+        isisObservation->updateBodyRotation();
       }
 
       t += numParameters;

diff --git a/isis/src/control/objs/BundleUtilities/AbstractBundleObservation.cpp b/isis/src/control/objs/BundleUtilities/AbstractBundleObservation.cpp
@@ -220,6 +220,7 @@ namespace Isis {
    *                                                    settings for this AbstractBundleObservation
    */
   const BundleObservationSolveSettingsQsp AbstractBundleObservation::solveSettings() {
+    // NEEDED for BundleMeasure
     return m_solveSettings;
   }
 

diff --git a/isis/src/control/objs/BundleUtilities/AbstractBundleObservation.h b/isis/src/control/objs/BundleUtilities/AbstractBundleObservation.h
@@ -55,15 +55,16 @@ namespace Isis {
 
       QString instrumentId();
 
-      LinearAlgebra::Vector &parameterWeights();
-      LinearAlgebra::Vector &parameterCorrections();
-      LinearAlgebra::Vector &aprioriSigmas();
-      LinearAlgebra::Vector &adjustedSigmas();
+      virtual LinearAlgebra::Vector &parameterWeights();
+      virtual LinearAlgebra::Vector &parameterCorrections();
+      virtual LinearAlgebra::Vector &aprioriSigmas();
+      virtual LinearAlgebra::Vector &adjustedSigmas();
 
-      virtual const BundleObservationSolveSettingsQsp solveSettings();
-      int numberParameters();
-      virtual bool applyParameterCorrections(LinearAlgebra::Vector corrections);
 
+      // TODO: remove later
+      virtual const BundleObservationSolveSettingsQsp solveSettings();              
+      virtual int numberParameters();
+      virtual bool applyParameterCorrections(LinearAlgebra::Vector corrections);
 
       virtual void bundleOutputString(std::ostream &fpOut,bool errorPropagation);
       virtual QString bundleOutputCSV(bool errorPropagation);
@@ -87,17 +88,15 @@ namespace Isis {
       QStringList m_imageNames;         //!< List of all cube names.
       QString m_instrumentId;      //!< Spacecraft instrument id.
 
-      BundleObservationSolveSettingsQsp m_solveSettings; //!< Solve settings for this observation.
-
       // TODO??? change these to LinearAlgebra vectors...
       LinearAlgebra::Vector m_weights;     //!< Parameter weights.
       //! Cumulative parameter correction vector.
       LinearAlgebra::Vector m_corrections;
-      //LinearAlgebra::Vector m_solution;  //!< parameter solution vector.
       //! A posteriori (adjusted) parameter sigmas.
       LinearAlgebra::Vector m_aprioriSigmas;
       //! A posteriori (adjusted) parameter sigmas.
       LinearAlgebra::Vector m_adjustedSigmas;
+      BundleObservationSolveSettingsQsp m_solveSettings; //!< Solve settings for this observation.
   };
 
   //! Typdef for AbstractBundleObservation QSharedPointer.