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Bug fixes to address incorrect handling of RADIUS in the jigsaw GUI a…
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…nd in the bundleout.txt file when performing a rectangular (XYZ) bundle adjustment, originally implemented in UofA OSIRIS-REx code on 2019-07-30. Addresses DOI-USGS#5642. (DOI-USGS#5643)

* The RADIUS checkbox in the GUI is excluded when a RECTANGULAR solution is selected.

* In the bundleout.txt file, for rectangular solutions, 1) RADIUS is set to N/A in the SOLVE OPTIONS section; and 2) the POINTS UNCERTAINTY SECTION was fixed to properly display adjusted point uncertainty statistics with Error Propagation turned on.

* Spacing for point labels was cleaned up in the INPUT: GLOBAL IMAGE PARAMETER UNCERTAINTIES section.

* Finally, a slight modification was added to the FunctionalTestJigsawBundleXYZ ctest to verify that RADIUS is N/A in a RECTANGULAR solution.
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@kledmundson
kledmundson authored Oct 25, 2024
1 parent 7ca57fa commit e9e973a
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -45,6 +45,8 @@ release.
- Updated pixel2map documentation

### Fixed
- Fixed jigsaw bugs in which RADIUS is handled incorrectly in the jigsaw gui and in the bundleout.txt
file. Slightly modified the FunctionalTestJigsawBundleXYZ ctest accordingly. Issue: [5642](https://github.com/DOI-USGS/ISIS3/issues/5642)
- Fixed a bug in isisminer in which bad (e.g. self-intersecting) polygon geometries were not treated properly. Added pertinent unit tests to GisGeometry and Strategy classes. Issue: [5612](https://github.com/DOI-USGS/ISIS3/issues/5612)
- Fixed a bug in kaguyasp2isis that doesn't work for data with a detached label.

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6 changes: 6 additions & 0 deletions isis/src/control/apps/jigsaw/jigsaw.xml
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Expand Up @@ -677,6 +677,11 @@
Fixed measure residual reporting in bundleout.txt file to match the residuals
reported in the residuals CSV file.
</change>
<change name="Ken Edmundson" date="2024-10-21">
Modified xml so that the RADIUS on/off radio button is excluded when the
solution coordinate type is set to Rectangular. Originally added to UofA
code on 2019-07-30.
</change>
</history>

<groups>
Expand Down Expand Up @@ -1601,6 +1606,7 @@
and reported in body-fixed rectangular coordinates (X, Y, and Z).
</description>
<exclusions>
<item>RADIUS</item>
<item>POINT_LATITUDE_SIGMA</item>
<item>POINT_LONGITUDE_SIGMA</item>
<item>POINT_RADIUS_SIGMA</item>
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30 changes: 20 additions & 10 deletions isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
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Expand Up @@ -3264,19 +3264,29 @@ namespace Isis {
Statistics sigmaCoord3Stats;

Distance sigmaCoord1Dist, sigmaCoord2Dist, sigmaCoord3Dist;
SurfacePoint::CoordinateType type = m_bundleSettings->controlPointCoordTypeReports();
SurfacePoint::CoordinateType reportType = m_bundleSettings->controlPointCoordTypeReports();
SurfacePoint::CoordinateType bundleType = m_bundleSettings->controlPointCoordTypeBundle();

// we report statistics on coordinate 3 (Radius or Z) UNLESS
// bundle and report types are BOTH Latitudinal AND Radius is OFF
bool reportCoord3Stats = true;
if (bundleType == SurfacePoint::Latitudinal &&
reportType == SurfacePoint::Latitudinal &&
m_bundleSettings->solveRadius() == false) {
reportCoord3Stats = false;
}

int numPoints = m_bundleControlPoints.size();
// initialize max and min values to those from first valid point
for (int i = 0; i < numPoints; i++) {

const BundleControlPointQsp point = m_bundleControlPoints.at(i);

maxSigmaCoord1Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
maxSigmaCoord1Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::One);
minSigmaCoord1Dist = maxSigmaCoord1Dist;

maxSigmaCoord2Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
maxSigmaCoord2Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::Two);
minSigmaCoord2Dist = maxSigmaCoord2Dist;

Expand All @@ -3286,8 +3296,8 @@ namespace Isis {
minSigmaCoord2PointId = maxSigmaCoord1PointId;

// Get stats for coordinate 3 if used
if (m_bundleSettings->solveRadius() || type == SurfacePoint::Rectangular) {
maxSigmaCoord3Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
if (reportCoord3Stats) {
maxSigmaCoord3Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::Three);
minSigmaCoord3Dist = maxSigmaCoord3Dist;

Expand All @@ -3301,11 +3311,11 @@ namespace Isis {

const BundleControlPointQsp point = m_bundleControlPoints.at(i);

sigmaCoord1Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
sigmaCoord1Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::One);
sigmaCoord2Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
sigmaCoord2Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::Two);
sigmaCoord3Dist = point->adjustedSurfacePoint().GetSigmaDistance(type,
sigmaCoord3Dist = point->adjustedSurfacePoint().GetSigmaDistance(reportType,
SurfacePoint::Three);

sigmaCoord1Stats.AddData(sigmaCoord1Dist.meters());
Expand All @@ -3320,7 +3330,7 @@ namespace Isis {
maxSigmaCoord2Dist = sigmaCoord2Dist;
maxSigmaCoord2PointId = point->id();
}
if (m_bundleSettings->solveRadius() || type == SurfacePoint::Rectangular) {
if (reportCoord3Stats) {
if (sigmaCoord3Dist > maxSigmaCoord3Dist) {
maxSigmaCoord3Dist = sigmaCoord3Dist;
maxSigmaCoord3PointId = point->id();
Expand All @@ -3334,7 +3344,7 @@ namespace Isis {
minSigmaCoord2Dist = sigmaCoord2Dist;
minSigmaCoord2PointId = point->id();
}
if (m_bundleSettings->solveRadius() || type == SurfacePoint::Rectangular) {
if (reportCoord3Stats) {
if (sigmaCoord3Dist < minSigmaCoord3Dist) {
minSigmaCoord3Dist = sigmaCoord3Dist;
minSigmaCoord3PointId = point->id();
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6 changes: 5 additions & 1 deletion isis/src/control/objs/BundleAdjust/BundleAdjust.h
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Expand Up @@ -319,12 +319,16 @@ namespace Isis {
* @history 2018-11-29 Ken Edmundson - Modifed init, initializeNormalEquationsMatrix, and
* computePartials methods.
* @history 2019-04-29 Ken Edmundson - Modifications for bundle with lidar.
* @history 2019-05-15 Debbie A. Cook - The call to CameraGroundMap::GetXY in method
* @history 2019-05-15 Debbie A. Cook - The call to CameraGroundMap::GetXY in method
* ComputePartials was modified to not check for points on the back side
* of the planet when computing instrument coordinates during the bundle
* adjustment. In the future a control net diagnostic program might be
* useful to detect any points not visible on an image based on the exterior
* orientation of the image. References #2591.
* @history 2024-10-21 Ken Edmundson - Simplified the computation of statistics for coordinate 3
* (Radius or Z), to ensure correct output in the bundleout.txt file. We
* report statistics on coordinate 3 UNLESS bundle and report types are
* BOTH Latitudinal AND Radius is OFF.
*/
class BundleAdjust : public QObject {
Q_OBJECT
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83 changes: 45 additions & 38 deletions isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.cpp
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Expand Up @@ -662,9 +662,14 @@ namespace Isis {
snprintf(buf, sizeof(buf), "\n OBSERVATIONS: OFF");
fpOut << buf;

m_settings->solveRadius() ?
snprintf(buf, sizeof(buf), "\n RADIUS: ON"):
snprintf(buf, sizeof(buf), "\n RADIUS: OFF");
if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Latitudinal) {
m_settings->solveRadius() ?
snprintf(buf, sizeof(buf), "\n RADIUS: ON"):
snprintf(buf, sizeof(buf), "\n RADIUS: OFF");
}
else { // Rectangular (XYZ) solution
snprintf(buf, sizeof(buf), "\n RADIUS: N/A");
}
fpOut << buf;

m_settings->solveTargetBody() ?
Expand Down Expand Up @@ -833,16 +838,16 @@ namespace Isis {
QString coord1Str;
QString coord2Str;
QString coord3Str;
switch (m_settings->controlPointCoordTypeReports()) {
switch (m_settings->controlPointCoordTypeBundle()) {
case SurfacePoint::Latitudinal:
coord1Str = "LATITUDE";
coord2Str = "LONGITUDE";
coord3Str = "RADIUS";
coord1Str = " POINT LATITUDE";
coord2Str = " POINT LONGITUDE";
coord3Str = " POINT RADIUS";
break;
case SurfacePoint::Rectangular:
coord1Str = " X";
coord2Str = " Y";
coord3Str = " Z";
coord1Str = " POINT X";
coord2Str = " POINT Y";
coord3Str = " POINT Z";
break;
default:
IString msg ="Unknown surface point coordinate type enum ["
Expand All @@ -854,20 +859,20 @@ namespace Isis {
// Coordinate 1 (latitude or point X)
fpOut << buf;
(m_settings->globalPointCoord1AprioriSigma() == Isis::Null) ?
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: N/A", coord1Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: %lf (meters)", coord1Str.toLatin1().data(),
snprintf(buf, sizeof(buf),"\n%s SIGMA: N/A", coord1Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n%s SIGMA: %lf (meters)", coord1Str.toLatin1().data(),
m_settings->globalPointCoord1AprioriSigma());
// Coordinate 2 (longitude or point Y)
fpOut << buf;
(m_settings->globalPointCoord2AprioriSigma() == Isis::Null) ?
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: N/A", coord2Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: %lf (meters)", coord2Str.toLatin1().data(),
m_settings->globalPointCoord2AprioriSigma());
snprintf(buf, sizeof(buf),"\n%s SIGMA: N/A", coord2Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n%s SIGMA: %lf (meters)", coord2Str.toLatin1().data(),
m_settings->globalPointCoord2AprioriSigma());
// Coordinate 3 (radius or point Z)
fpOut << buf;
(m_settings->globalPointCoord3AprioriSigma() == Isis::Null) ?
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: N/A", coord3Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n POINT %s SIGMA: %lf (meters)", coord3Str.toLatin1().data(),
snprintf(buf, sizeof(buf),"\n%s SIGMA: N/A", coord3Str.toLatin1().data()):
snprintf(buf, sizeof(buf),"\n%s SIGMA: %lf (meters)", coord3Str.toLatin1().data(),
m_settings->globalPointCoord3AprioriSigma());
fpOut << buf;
(positionSolveDegree < 1 || positionSigmas[0] == Isis::Null) ?
Expand Down Expand Up @@ -1461,9 +1466,8 @@ namespace Isis {
fpOut << buf;

// Coordinate 1 (latitude or point x) summary
QString
coordName = surfacePointCoordName(m_settings->controlPointCoordTypeReports(),
SurfacePoint::One);
QString coordName = surfacePointCoordName(m_settings->controlPointCoordTypeReports(),
SurfacePoint::One);
snprintf(buf, sizeof(buf), "RMS Sigma %s(m)%20.8lf\n", coordName.toLatin1().data(),
m_statisticsResults->sigmaCoord1StatisticsRms());
fpOut << buf;
Expand Down Expand Up @@ -1494,26 +1498,29 @@ namespace Isis {
// Coordinate 3 (radius or point z) summary
coordName = surfacePointCoordName(m_settings->controlPointCoordTypeReports(),
SurfacePoint::Three);
if ( m_settings->solveRadius() ) {
snprintf(buf, sizeof(buf), "RMS Sigma %s(m)%20.8lf\n", coordName.toLatin1().data(),
m_statisticsResults->sigmaCoord3StatisticsRms());
fpOut << buf;
snprintf(buf, sizeof(buf), "MIN Sigma %s(m)%20.8lf at %s\n", coordName.toLatin1().data(),
m_statisticsResults->minSigmaCoord3Distance().meters(),
m_statisticsResults->minSigmaCoord3PointId().toLatin1().data());
fpOut << buf;
snprintf(buf, sizeof(buf), "MAX Sigma %s(m)%20.8lf at %s\n", coordName.toLatin1().data(),
m_statisticsResults->maxSigmaCoord3Distance().meters(),
m_statisticsResults->maxSigmaCoord3PointId().toLatin1().data());
fpOut << buf;

if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Latitudinal &&
m_settings->controlPointCoordTypeReports() == SurfacePoint::Latitudinal &&
m_settings->solveRadius() == false ) {
snprintf(buf, sizeof(buf), " RMS Sigma Radius(m) N/A\n");
fpOut << buf;
snprintf(buf, sizeof(buf), " MIN Sigma Radius(m) N/A\n");
fpOut << buf;
snprintf(buf, sizeof(buf), " MAX Sigma Radius(m) N/A\n");
fpOut << buf;
}
else {
snprintf(buf, sizeof(buf), " RMS Sigma Radius(m) N/A\n");
fpOut << buf;
snprintf(buf, sizeof(buf), " MIN Sigma Radius(m) N/A\n");
fpOut << buf;
snprintf(buf, sizeof(buf), " MAX Sigma Radius(m) N/A\n");
fpOut << buf;
snprintf(buf, sizeof(buf), "RMS Sigma %s(m)%20.8lf\n", coordName.toLatin1().data(),
m_statisticsResults->sigmaCoord3StatisticsRms());
fpOut << buf;
snprintf(buf, sizeof(buf), "MIN Sigma %s(m)%20.8lf at %s\n", coordName.toLatin1().data(),
m_statisticsResults->minSigmaCoord3Distance().meters(),
m_statisticsResults->minSigmaCoord3PointId().toLatin1().data());
fpOut << buf;
snprintf(buf, sizeof(buf), "MAX Sigma %s(m)%20.8lf at %s\n", coordName.toLatin1().data(),
m_statisticsResults->maxSigmaCoord3Distance().meters(),
m_statisticsResults->maxSigmaCoord3PointId().toLatin1().data());
fpOut << buf;
}
}

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9 changes: 9 additions & 0 deletions isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.h
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Expand Up @@ -155,6 +155,15 @@ namespace Isis {
* from ISIS3 because it had become unmaintainable.
* @history 2019-06-03 Adam Paquette - Updated the header for the bundleout.txt file for
* more human readable formatting in the bundleout.txt file.
* @history 2024-10-21 Ken Edmundson - 1) Fixed bug in the outputText method when error
* propagation is on in a rectangular (XYZ) solution. In the "POINTS
* UNCERTAINTY SUMMARY" section, instead of writing the RMS of
* Z-coordinate sigmas, the RMS, MIN, and MAX of radius coordinates
* was reported as "N/A"; 2) Modified outputHeader method
* to output RADIUS: N/A under "INPUT: SOLVE OPTIONS" in a rectangular
* solution. 3) Cleaned up spacing of Point Coordinate output in the
* "INPUT: GLOBAL IMAGE PARAMETER UNCERTAINTIES" section. Originally
* added to UofA code on 2019-07-30.
*
*/
class BundleSolutionInfo : public QObject {
Expand Down
10 changes: 5 additions & 5 deletions isis/tests/FunctionalTestsJigsaw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -273,8 +273,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {


// Rectangular Bundle, Latitudinal output
QVector<QString> args3 = {"radius=yes",
"errorpropagation=yes",
QVector<QString> args3 = {"errorpropagation=yes",
"spsolve=position",
"spacecraft_position_sigma=1000.0",
"camsolve=angles",
Expand All @@ -292,7 +291,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {
UserInterface ui3(APP_XML, args3);
jigsaw(ui3);

// Compare newtwork and images.csv against the latitude, latitude bundle
// Compare network and images.csv against the latitude, latitude bundle

// Compare network against the latitude/latitude network
ControlNet latLatNet(tempDir.path()+"/latlat_out.net");
Expand Down Expand Up @@ -358,6 +357,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {
bundleFile2.close();
lines = bundleOut2.split("\n");

EXPECT_THAT(lines[20].toStdString(), HasSubstr("N/A")); // radius is N/A in XYZ solution
EXPECT_THAT(lines[24].toStdString(), HasSubstr("RECTANGULAR"));
EXPECT_THAT(lines[58].toStdString(), HasSubstr("X"));
EXPECT_THAT(lines[59].toStdString(), HasSubstr("Y"));
Expand All @@ -372,7 +372,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {
EXPECT_THAT(lines[670].toStdString(), HasSubstr("BODY-FIXED-Z"));


// Compare newtwork and images.csv against the rectangular, latitude bundle
// Compare network and images.csv against the rectangular, latitude bundle

// Compare network against the rect/lat network
ControlNet rectRectNet(tempDir.path()+"/rectlat_out.net");
Expand Down Expand Up @@ -451,7 +451,7 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {

bundleFile4.close();

// Compare newtwork and images.csv against the latitude, latitude bundle
// Compare network and images.csv against the latitude, latitude bundle

// Compare network against the lat/lat network
ControlNet latRectNet(tempDir.path()+"/rectlat_out.net");
Expand Down

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