void IsisMain() {
// Create a serial number list
UserInterface &ui = Application::GetUserInterface();
QString filename = ui.GetFileName("FROM");
SerialNumberList serialNumberList;
serialNumberList.Add(filename);
// Get the coordinate for updating the camera pointing
// We will want to make the camera pointing match the lat/lon at this
// line sample
double samp1 = ui.GetDouble("SAMP1");
double line1 = ui.GetDouble("LINE1");
Latitude lat1(ui.GetDouble("LAT1"), Angle::Degrees);
Longitude lon1(ui.GetDouble("LON1"), Angle::Degrees);
Distance rad1;
if(ui.WasEntered("RAD1")) {
rad1 = Distance(ui.GetDouble("RAD1"), Distance::Meters);
}
else {
rad1 = GetRadius(ui.GetFileName("FROM"), lat1, lon1);
}
// In order to use the bundle adjustment class we will need a control
// network
ControlMeasure * m = new ControlMeasure;
m->SetCubeSerialNumber(serialNumberList.SerialNumber(0));
m->SetCoordinate(samp1, line1);
// m->SetType(ControlMeasure::Manual);
m->SetType(ControlMeasure::RegisteredPixel);
ControlPoint * p = new ControlPoint;
p->SetAprioriSurfacePoint(SurfacePoint(lat1, lon1, rad1));
p->SetId("Point1");
p->SetType(ControlPoint::Fixed);
p->Add(m);
ControlNet cnet;
// cnet.SetType(ControlNet::ImageToGround);
cnet.AddPoint(p);
// We need the target body
Cube c;
c.open(filename, "rw");
//check for target name
if(c.label()->hasKeyword("TargetName", PvlObject::Traverse)) {
// c.Label()->findKeyword("TargetName");
PvlGroup inst = c.label()->findGroup("Instrument", PvlObject::Traverse);
QString targetName = inst["TargetName"];
cnet.SetTarget(targetName);
}
c.close();
// See if they wanted to solve for twist
if(ui.GetBoolean("TWIST")) {
double samp2 = ui.GetDouble("SAMP2");
double line2 = ui.GetDouble("LINE2");
Latitude lat2(ui.GetDouble("LAT2"), Angle::Degrees);
Longitude lon2(ui.GetDouble("LON2"), Angle::Degrees);
Distance rad2;
if(ui.WasEntered("RAD2")) {
rad2 = Distance(ui.GetDouble("RAD2"), Distance::Meters);
}
else {
rad2 = GetRadius(ui.GetFileName("FROM"), lat2, lon2);
}
ControlMeasure * m = new ControlMeasure;
m->SetCubeSerialNumber(serialNumberList.SerialNumber(0));
m->SetCoordinate(samp2, line2);
m->SetType(ControlMeasure::Manual);
ControlPoint * p = new ControlPoint;
p->SetAprioriSurfacePoint(SurfacePoint(lat2, lon2, rad2));
p->SetId("Point2");
p->SetType(ControlPoint::Fixed);
p->Add(m);
cnet.AddPoint(p);
}
// Bundle adjust to solve for new pointing
try {
BundleAdjust b(cnet, serialNumberList);
b.SetSolveTwist(ui.GetBoolean("TWIST"));
// double tol = ui.GetDouble("TOL");
//int maxIterations = ui.GetInteger("MAXITS");
//b.Solve(tol, maxIterations);
b.SetSolveCmatrix(BundleAdjust::AnglesOnly);
b.SetSolveSpacecraftPosition(BundleAdjust::Nothing);
b.SetErrorPropagation(false);
b.SetOutlierRejection(false);
b.SetSolutionMethod("SPECIALK");
b.SetStandardOutput(true);
b.SetCSVOutput(false);
b.SetResidualOutput(true);
b.SetConvergenceThreshold(ui.GetDouble("SIGMA0"));
b.SetMaxIterations(ui.GetInteger("MAXITS"));
b.SetDecompositionMethod(BundleAdjust::SPECIALK);
b.SolveCholesky();
Cube c;
c.open(filename, "rw");
//check for existing polygon, if exists delete it
if(c.label()->hasObject("Polygon")) {
c.label()->deleteObject("Polygon");
}
Table cmatrix = b.Cmatrix(0);
// Write out a description in the spice table
QString deltackComment = "deltackAdjusted = " + Isis::iTime::CurrentLocalTime();
cmatrix.Label().addComment(deltackComment);
//PvlKeyword description("Description");
//description = "Camera pointing updated via deltack application";
//cmatrix.Label().findObject("Table",Pvl::Traverse).addKeyword(description);
// Update the cube history
c.write(cmatrix);
History h("IsisCube");
c.read(h);
h.AddEntry();
c.write(h);
c.close();
PvlGroup gp("DeltackResults");
gp += PvlKeyword("Status", "Camera pointing updated");
Application::Log(gp);
}
catch(IException &e) {
QString msg = "Unable to update camera pointing for [" + filename + "]";
throw IException(e, IException::Unknown, msg, _FILEINFO_);
}
}
/**
* Slot to set apriori on selected Points from Navigator list box
*
* @author 2011-03-24 Tracie Sucharski
*
* @internal
* @todo This method should be temporary until the control point editor
* comes online. If this stick around, needs to be re-disigned-
* put in a separate class??
*
* @history 2011-04-04 Tracie Sucharski - Grey out userEntered if more than
* a single point is selected. Grey out lat,lon,radius
* edits if UserEntered is not selected.
* @history 2011-04-13 Tracie Sucharski - If single point selected, fill in
* LineEdit's with current controlPoint values.
* @history 2011-04-19 Tracie Sucharski - Redesign using modeless dialog.
* @history 2011-04-26 Tracie Sucharski - Move from QnetNavTool to
* QnetSetAprioriDialog.
*/
void QnetSetAprioriDialog::setApriori() {
double latSigma = Null;
double lat = Null;
double lonSigma = Null;
double lon = Null;
double radiusSigma = Null;
double radius = Null;
if (latitudeConstraintsGroupBox->isChecked()) {
if (userEnteredRadioButton->isChecked() && aprioriLatEdit->text() != "") {
lat = aprioriLatEdit->text().toDouble();
}
if (latSigmaEdit->text() != "") {
latSigma = latSigmaEdit->text().toDouble();
}
}
if (longitudeConstraintsGroupBox->isChecked()) {
if (userEnteredRadioButton->isChecked() && aprioriLonEdit->text() != "") {
lon = aprioriLonEdit->text().toDouble();
}
if (lonSigmaEdit->text() != "") {
lonSigma = lonSigmaEdit->text().toDouble();
}
}
if (radiusConstraintsGroupBox->isChecked()) {
if (userEnteredRadioButton->isChecked() && aprioriRadiusEdit->text() != "") {
radius = aprioriRadiusEdit->text().toDouble();
}
if (radiusSigmaEdit->text() != "") {
radiusSigma = radiusSigmaEdit->text().toDouble();
}
}
// If the SetAprioriPoint group box selected, set aprioriSurfacePoint for
// those points not editLocked.
for (int i = 0; i < m_points.size(); i++) {
QString id = m_points.at(i)->text();
ControlPoint *pt = m_qnetTool->controlNet()->GetPoint(id);
if (pt->IsEditLocked()) continue;
if (!pt->HasAprioriCoordinates()) {
QString msg = "Point [" + id + "] does not have an Apriori coordinate. "
"Make sure to save the ground source measurement then the Point before "
"setting the sigmas. The sigmas for this point will not be set.";
QMessageBox::warning((QWidget *)parent(), "Warning", msg);
continue;
}
if (pointSourceGroupBox->isChecked()) {
if (referenceMeasureRadioButton->isChecked()) {
ControlMeasure *m = pt->GetRefMeasure();
// Find camera from network camera list
int camIndex = m_qnetTool->serialNumberList()->SerialNumberIndex(
m->GetCubeSerialNumber());
Camera *cam = m_qnetTool->controlNet()->Camera(camIndex);
cam->SetImage(m->GetSample(),m->GetLine());
pt->SetAprioriSurfacePoint(cam->GetSurfacePoint());
pt->SetAprioriSurfacePointSource(ControlPoint::SurfacePointSource::Reference);
}
else if (averageMeasuresRadioButton->isChecked()) {
pt->ComputeApriori();
// Do not need to set AprioriSurfacePointSource or AprioriRadiusSource,
// ComputeApriori does this for us.
}
else if (userEnteredRadioButton->isChecked()) {
pt->SetAprioriSurfacePoint(SurfacePoint(
Latitude(lat, Angle::Degrees),
Longitude(lon, Angle::Degrees),
Distance(radius,Distance::Meters)));
pt->SetAprioriSurfacePointSource(ControlPoint::SurfacePointSource::User);
pt->SetAprioriRadiusSource(ControlPoint::RadiusSource::User);
}
}
try {
// Read Surface point from the control point and set the sigmas,
// first set the target radii
SurfacePoint spt = pt->GetAprioriSurfacePoint();
vector<Distance> targetRadii = m_qnetTool->controlNet()->GetTargetRadii();
spt.SetRadii(Distance(targetRadii[0]),
Distance(targetRadii[1]),
Distance(targetRadii[2]));
spt.SetSphericalSigmasDistance(Distance(latSigma,Distance::Meters),
Distance(lonSigma,Distance::Meters),
Distance(radiusSigma,Distance::Meters));
// Write the surface point back out to the controlPoint
pt->SetAprioriSurfacePoint(spt);
// TODO: Is the following line necessary, should error be thrown
// for free or fixed pts?
//pt->SetType(ControlPoint::Constrained);
emit pointChanged(id);
emit netChanged();
}
catch (IException &e) {
QString message = "Error setting sigmas. \n";
message += e.toString();
QMessageBox::critical((QWidget *)parent(),"Error",message);
QApplication::restoreOverrideCursor();
// Sigmas failed, but surface pt coordinate was set
emit pointChanged(id);
emit netChanged();
return;
}
}
}
