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>

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

@@ -436,16 +436,6 @@ 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();
-      }
-
       // set up vector of BundleControlPoints
       int numControlPoints = m_controlNet->GetNumPoints();
       for (int i = 0; i < numControlPoints; i++) {

isis/src/control/objs/BundleUtilities/AbstractBundleObservation.h

@@ -45,8 +45,10 @@ namespace Isis {
       virtual AbstractBundleObservation &operator=(const AbstractBundleObservation &src);
 
       // copy method
-      // not implementedn in BundleObservation either???
-//      virtual void copy(const AbstractBundleObservation &src);
+
+      void copy(const AbstractBundleObservation &src);
+
+      virtual bool setSolveSettings(BundleObservationSolveSettings solveSettings) = 0;
 
       virtual void append(const BundleImageQsp &value);
 
@@ -93,7 +95,7 @@ namespace Isis {
       QMap<QString, BundleImageQsp> m_cubeSerialNumberToBundleImageMap;
       QStringList m_serialNumbers;      //!< List of all cube serial numbers in observation.
       QStringList m_imageNames;         //!< List of all cube names.
-      QString m_instrumentId;      //!< Spacecraft instrument id.
+      QString m_instrumentId;           //!< Spacecraft instrument id.
 
       // TODO??? change these to LinearAlgebra vectors...
       LinearAlgebra::Vector m_weights;     //!< Parameter weights.

isis/src/control/objs/BundleUtilities/BundleObservation.h

@@ -107,7 +107,7 @@ namespace Isis {
       // copy method
       void copy(const BundleObservation &src);
 
-      bool setSolveSettings(BundleObservationSolveSettings solveSettings);
+      virtual bool setSolveSettings(BundleObservationSolveSettings solveSettings);
 
       int numberPositionParameters();
       int numberPointingParameters();

isis/src/control/objs/BundleUtilities/BundleObservationVector.cpp

@@ -14,6 +14,8 @@ find files of those names at the top level of this repository. **/
 
 #include "AbstractBundleObservation.h"
 #include "BundleObservation.h"
+#include "Camera.h"
+#include "CsmBundleObservation.h"
 #include "IException.h"
 
 namespace Isis {
@@ -101,7 +103,6 @@ namespace Isis {
     AbstractBundleObservationQsp bundleObservation;
     bool addToExisting = false;
 
-    // TODO it looks like this can just become 1 if statement
     if (bundleSettings->solveObservationMode() &&
         m_observationNumberToObservationMap.contains(observationNumber)) {
       bundleObservation = m_observationNumberToObservationMap.value(observationNumber);
@@ -117,20 +118,37 @@ namespace Isis {
       bundleImage->setParentObservation(bundleObservation);
 
       // updateo observation number to observation ptr map
-      m_observationNumberToObservationMap.insertMulti(observationNumber,bundleObservation);
+      m_observationNumberToObservationMap.insertMulti(observationNumber, bundleObservation);
 
       // update image serial number to observation ptr map
       m_imageSerialToObservationMap.insertMulti(bundleImage->serialNumber(), bundleObservation);
     }
     else {
       // create new BundleObservation and append to this vector
-      BundleObservation *isisObservation = new BundleObservation(bundleImage,
-                                                                 observationNumber,
-                                                                 instrumentId,
-                                                                 bundleSettings->bundleTargetBody());
 
+      bool isIsisObservation = true;
+
+      // This NULL check is needed solely for the unit test
+      if (bundleImage->camera() != NULL) {
+        isIsisObservation = bundleImage->camera()->GetCameraType() != Camera::Csm;
+      }
+
+      AbstractBundleObservation *observation = NULL;
+
+      if (isIsisObservation) {
+        observation = new BundleObservation(bundleImage,
+                                            observationNumber,
+                                            instrumentId,
+                                            bundleSettings->bundleTargetBody());
+      }
+      else {
+        observation = new CsmBundleObservation(bundleImage,
+                                               observationNumber,
+                                               instrumentId,
+                                               bundleSettings->bundleTargetBody());
+      }
 
-      if (!isisObservation) {
+      if (!observation) {
         QString message = "Unable to allocate new BundleObservation ";
         message += "for " + bundleImage->fileName();
         throw IException(IException::Programmer, message, _FILEINFO_);
@@ -148,16 +166,26 @@ namespace Isis {
         solveSettings = bundleSettings->observationSolveSettings(observationNumber);
       }
 
-      isisObservation->setSolveSettings(solveSettings);
-
-      bundleObservation.reset(isisObservation);
+      observation->setSolveSettings(solveSettings);
+      bundleObservation.reset(observation);
 
       bundleObservation->setIndex(size());
 
       bundleImage->setParentObservation(bundleObservation);
 
       append(bundleObservation);
 
+      if (isIsisObservation) {
+        QSharedPointer<BundleObservation> isisObs = qSharedPointerDynamicCast<BundleObservation>(bundleObservation);
+        // This check is needed for the current unit test
+        if (bundleImage->camera() != NULL) {
+          isisObs->initializeExteriorOrientation();
+          if (bundleSettings->solveTargetBody()) {
+            isisObs->initializeBodyRotation();
+          }
+        }
+      }
+
       // update observation number to observation ptr map
       m_observationNumberToObservationMap.insertMulti(observationNumber, bundleObservation);
 
@@ -233,41 +261,4 @@ namespace Isis {
     std::reverse(std::begin(list), std::end(list));
     return list;
   }
-
-
-  /**
-   * Initializes the exterior orientations for the contained ISIS
-   * BundleObservations.
-   *
-   * @return @b bool Returns true upon successful initialization
-   */
-  bool BundleObservationVector::initializeExteriorOrientation() {
-    // get isis observations
-    // get csm observations
-    int nObservations = size();
-    // just do it for ISIS observations
-    for (int i = 0; i < nObservations; i++) {
-      // TODO: how to only do this if ISIS observations
-      QSharedPointer<BundleObservation> observation = qSharedPointerDynamicCast<BundleObservation>( at(i) );
-      observation->initializeExteriorOrientation();
-    }
-    return true;
-  }
-
-
-  /**
-   * Initializes the body rotations for the contained BundleObservations.
-   *
-   * @return @b bool Returns true upon successful initialization
-   */
-  bool BundleObservationVector::initializeBodyRotation() {
-    int nObservations = size();
-    //TODO: just do it for ISIS observations
-    for (int i = 0; i < nObservations; i++) {
-    QSharedPointer<BundleObservation> observation = qSharedPointerDynamicCast<BundleObservation>( at(i) );
-      observation->initializeBodyRotation();
-    }
-
-    return true;
-  }
 }

isis/src/control/objs/BundleUtilities/BundleObservationVector.h

@@ -19,6 +19,7 @@ find files of those names at the top level of this repository. **/
 #include "BundleImage.h"
 #include "AbstractBundleObservation.h"
 #include "BundleObservation.h"
+#include "CsmBundleObservation.h"
 #include "BundleSettings.h"
 
 namespace Isis {
@@ -71,14 +72,6 @@ namespace Isis {
       QList<QString> instrumentIds() const;
       QList<AbstractBundleObservationQsp> observationsByInstId(QString instrumentId) const;
 
-      bool initializeExteriorOrientation();
-      bool initializeBodyRotation();
-
-      // To add:
-      // getCsmObservations()
-      // getIsisObservations()
-      // addNewIsis()?
-
   private:
       //! Map between observation number and pointer to observation.
       QMap<QString, AbstractBundleObservationQsp> m_observationNumberToObservationMap;

isis/src/control/objs/BundleUtilities/BundleUtilities.truth

@@ -538,7 +538,6 @@ XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
 Testing BundleObservationVector...
 
 number of parameters:  "0"
-init exterior orientiation successful?   "Yes"
 XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
 
 XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

isis/src/control/objs/BundleUtilities/unitTest.cpp

@@ -626,7 +626,7 @@ int main(int argc, char *argv[]) {
     qDebug() << obs1b.formatBundleOutputString(true);
 #endif
     // Following segfaults (see #4157)
-    qDebug() << "init exterior orientiation successful?  " << toString(bov.initializeExteriorOrientation());
+//    qDebug() << "init exterior orientiation successful?  " << toString(bov.initializeExteriorOrientation());
     qDebug() << "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX";
     qDebug() << "";
     qDebug() << "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX";

isis/src/control/objs/CsmBundleObservation/CsmBundleObservation.cpp

@@ -97,8 +97,9 @@ namespace Isis {
    *
    * @return @b bool Returns true if settings were successfully set
    */
-  bool CsmBundleObservation::setSolveSettings(BundleObservationSolveSettingsQsp solveSettings) {
-    m_solveSettings = solveSettings;
+  bool CsmBundleObservation::setSolveSettings(BundleObservationSolveSettings solveSettings) {
+    m_solveSettings = BundleObservationSolveSettingsQsp(
+                        new BundleObservationSolveSettings(solveSettings));
 
     CSMCamera *csmCamera = dynamic_cast<CSMCamera*>(front()->camera());
 
@@ -107,14 +108,14 @@ namespace Isis {
     m_corrections.clear();
     m_adjustedSigmas.clear();
 
-    if (solveSettings->csmSolveOption() == BundleObservationSolveSettings::Set) {
-      m_paramIndices = csmCamera->getParameterIndices(solveSettings->csmParameterSet());
+    if (m_solveSettings->csmSolveOption() == BundleObservationSolveSettings::Set) {
+      m_paramIndices = csmCamera->getParameterIndices(m_solveSettings->csmParameterSet());
     }
-    else if (solveSettings->csmSolveOption() == BundleObservationSolveSettings::Type) {
-      m_paramIndices = csmCamera->getParameterIndices(solveSettings->csmParameterType());
+    else if (m_solveSettings->csmSolveOption() == BundleObservationSolveSettings::Type) {
+      m_paramIndices = csmCamera->getParameterIndices(m_solveSettings->csmParameterType());
     }
-    else if (solveSettings->csmSolveOption() == BundleObservationSolveSettings::List) {
-      m_paramIndices = csmCamera->getParameterIndices(solveSettings->csmParameterList());
+    else if (m_solveSettings->csmSolveOption() == BundleObservationSolveSettings::List) {
+      m_paramIndices = csmCamera->getParameterIndices(m_solveSettings->csmParameterList());
     }
     else {
       return false;
@@ -696,19 +697,19 @@ QString CsmBundleObservation::formatBundleOutputString(bool errorPropagation, bo
 
 
   /**
-   * Calculates the sensor partials with respect to the solve
-   * parameters and populates the coeffImage matrix.
-   *
-   * @param coeffImage A matrix that will be populated with the
+   * Calculates the sensor partials with respect to the solve 
+   * parameters and populates the coeffImage matrix. 
+   * 
+   * @param coeffImage A matrix that will be populated with the 
    *                   sensor partials with respect to the solve
    *                   parameters.
-   * @param measure The measure that the partials are being
+   * @param measure The measure that the partials are being 
    *                computed for.
-   *
-   * @return bool
+   * 
+   * @return bool 
    */
   bool CsmBundleObservation::computeImagePartials(LinearAlgebra::Matrix &coeffImage, BundleMeasure &measure) {
-    coeffImage.clear();
+    coeffImage.clear(); 
 
     CSMCamera *csmCamera = dynamic_cast<CSMCamera*>(measure.camera());
     SurfacePoint groundPoint = measure.parentControlPoint()->adjustedSurfacePoint();
@@ -743,8 +744,8 @@ QString CsmBundleObservation::formatBundleOutputString(bool errorPropagation, bo
 
     CSMCamera *measureCamera = dynamic_cast<CSMCamera*>(measure.camera());
 
-    // do ground partials
-    vector<double> groundPartials = measureCamera->GroundPartials();
+    // do ground partials 
+    vector<double> groundPartials = measureCamera->GroundPartials();    
 
     // groundPartials is:
     //  line WRT x
@@ -805,15 +806,15 @@ QString CsmBundleObservation::formatBundleOutputString(bool errorPropagation, bo
 
 
   /**
-   * Returns the observed value in (sample, line) coordinates.
-   * This requires no modification for Csm.
-   *
-   * @param measure measure The measure that the partials are
+   * Returns the observed value in (sample, line) coordinates. 
+   * This requires no modification for Csm.  
+   * 
+   * @param measure measure The measure that the partials are 
    *                being computed for.
-   * @param deltaVal The difference between the measured and
+   * @param deltaVal The difference between the measured and 
    *                 calculate sample, line coordinates
-   *
-   * @return double The The difference between the measured and
+   * 
+   * @return double The The difference between the measured and 
    *                calculated (line, sample) coordinate
    */
   double CsmBundleObservation::computeObservationValue(BundleMeasure &measure, double deltaVal) {

isis/src/control/objs/CsmBundleObservation/CsmBundleObservation.h

@@ -53,7 +53,7 @@ namespace Isis {
       // copy method
       void copy(const CsmBundleObservation &src);
 
-      bool setSolveSettings(BundleObservationSolveSettingsQsp solveSettings);
+      virtual bool setSolveSettings(BundleObservationSolveSettings solveSettings);
 
       int numberParameters();