Merge branch 'DOI-USGS:dev' into enhancement/cam2camKeywords

CHANGELOG.md

@@ -43,6 +43,8 @@ release.
 ### Fixed
 - Fixed kaguyatc2isis invalid BandBin values [#5629](https://github.com/DOI-USGS/ISIS3/issues/5629)
 - Fixed SpiceClient to handle redirect requests.
+- Fixed jigsaw to default OUTADJUSTMENTH5 option to false and allow this feature to run on read-only images [#5700](https://github.com/DOI-USGS/ISIS3/issues/5700)
+- Fixed Cube::fromIsd to add "LineScanTimes" table from HRSC isds [#5668](https://github.com/DOI-USGS/ISIS3/issues/5668)
 
 ## [9.0.0] - 09-25-2024
 
@@ -64,6 +66,8 @@ release.
 - Changed 'User Parameters' group in camstats to UserParameters for PVL compliance [#5625](https://github.com/DOI-USGS/ISIS3/issues/5625).
 
 ### Fixed
+- Fixed bug in the method BundleSolutionInfo::outputPointsCSV() where, when performing a rectangular (XYZ) bundle adjustment, the Lat/Lon/Radius point corrections written to points.csv are incorrect and do not match those written to bundleout.txt. Also modified the ctest FunctionalTestJigsawBundleXYZ to spot check six lines (points) in points.csv.
+Issue: [5646](https://github.com/DOI-USGS/ISIS3/issues/5646)
 - Fixed noseam bug where a debugging output statement was inadvertently left in noseam.cpp.
 Issue: [5660](https://github.com/DOI-USGS/ISIS3/issues/5660)
 - Fixed jigsaw bugs in which RADIUS is handled incorrectly in the jigsaw gui and in the bundleout.txt

isis/src/base/objs/Cube/Cube.cpp

@@ -98,6 +98,12 @@ namespace Isis {
    */
   void Cube::fromIsd(const FileName &fileName, Pvl &label, nlohmann::json &isd, QString access) {
     fromLabel(fileName, label, access);
+
+    PvlGroup &instGrp = label.findGroup("Instrument", Pvl::Traverse);
+    if (isd.contains("line_scan_rate") && (QString)instGrp["InstrumentId"] == "HRSC") {
+      attachLineScanTableFromIsd(isd);
+    }
+
     attachSpiceFromIsd(isd);
 
     close();
@@ -1532,6 +1538,26 @@ namespace Isis {
     this->camera();
   }
 
+  void Cube::attachLineScanTableFromIsd(nlohmann::json isd) {
+      TableField ephTimeField("EphemerisTime", TableField::Double);
+      TableField expTimeField("ExposureTime", TableField::Double);
+      TableField lineStartField("LineStart", TableField::Integer);
+
+      TableRecord timesRecord;
+      timesRecord += ephTimeField;
+      timesRecord += expTimeField;
+      timesRecord += lineStartField;
+
+      Table timesTable("LineScanTimes", timesRecord);
+      for (size_t i = 0; i < isd["line_scan_rate"].size(); ++i) {
+        timesRecord[0] = isd["line_scan_rate"][i][1].get<double>() + isd["center_ephemeris_time"].get<double>();
+        timesRecord[1] = isd["line_scan_rate"][i][2].get<double>();
+        timesRecord[2] = (int)(isd["line_scan_rate"][i][0].get<double>() + 0.5);
+        timesTable += timesRecord;
+      }
+      this->write(timesTable);
+  }
+
 
   /**
    * If this is an external cube label file, this will give you the cube dn file that this label

isis/src/base/objs/Cube/Cube.h

@@ -245,6 +245,7 @@ namespace Isis {
       bool labelsAttached() const;
 
       void attachSpiceFromIsd(nlohmann::json Isd);
+      void attachLineScanTableFromIsd(nlohmann::json isd);
 
       void close(bool remove = false);
       Cube *copy(FileName newFile, const CubeAttributeOutput &newFileAttributes);

isis/src/control/apps/jigsaw/jigsaw.cpp

@@ -240,7 +240,7 @@ namespace Isis {
         for (int i = 0; i < bundleAdjustment->numberOfImages(); i++) {
           Process p;
           CubeAttributeInput inAtt;
-          Cube *c = p.SetInputCube(bundleAdjustment->fileName(i), inAtt, ReadWrite);
+          Cube *c = p.SetInputCube(bundleAdjustment->fileName(i), inAtt, 0); // 0 for read only
 
           // Only for ISIS adjustment values
           if (!c->hasBlob("CSMState", "String")) {

isis/src/control/apps/jigsaw/jigsaw.xml

@@ -921,9 +921,6 @@
         <default>
           <item>No</item>
         </default>
-        <exclusions>
-          <item>ADJUSTMENT_INPUT</item>
-        </exclusions>
       </parameter>
 
       <parameter name="OUTLIER_REJECTION">
@@ -1880,7 +1877,7 @@
           </description>
           <type>boolean</type>
           <default>
-            <item>yes</item>
+            <item>no</item>
           </default>
         </parameter>
 
@@ -1898,6 +1895,11 @@
           <filter>
             *.h5
           </filter>
+          <inclusions>
+            <item>
+              UPDATE
+            </item>
+          </inclusions>
           <exclusions>
             <item>ONET</item>
             <item>CNET</item>
@@ -1907,7 +1909,6 @@
             <item>SCCONFIG</item>
             <item>OBSERVATIONS</item>
             <item>RADIUS</item>
-            <item>UPDATE</item>
             <item>OUTLIER_REJECTION</item>
             <item>REJECTION_MULTIPLIER</item>
             <item>ERRORPROPAGATION</item>

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.cpp

@@ -1613,9 +1613,15 @@ namespace Isis {
     double dX, dY, dZ;
     double dSigmaLat, dSigmaLong, dSigmaRadius;
     QString strStatus;
-    double cor_lat_m;
-    double cor_lon_m;
-    double cor_rad_m;
+    double cor_lat_dd = 0.0;                      // lat correction, decimal degrees
+    double cor_lon_dd = 0.0;                      // lon correction, decimal degrees
+    double cor_rad_km = 0.0;                      // radius correction, kilometers
+    double cor_lat_m = 0.0;                       // lat correction, meters
+    double cor_lon_m = 0.0;                       // lon correction, meters
+    double cor_rad_m = 0.0;                       // radius correction, meters
+    double latInit = Isis::Null;
+    double lonInit = Isis::Null;
+    double radInit = Isis::Null;
     int numMeasures, numRejectedMeasures;
     double dResidualRms;
 
@@ -1655,13 +1661,63 @@ namespace Isis {
       numRejectedMeasures = bundlecontrolpoint->numberOfRejectedMeasures();
       dResidualRms      = bundlecontrolpoint->residualRms();
 
+      // Use the local radius in meters, rad*1000., to convert radians to meters now instead of the
+      // target body equatorial radius (DAC 09/17/2018; from BundleControlPoint.cpp)
+      double rtm = dRadius * 1000.;
+
       // point corrections and initial sigmas
       boost::numeric::ublas::bounded_vector< double, 3 > corrections = bundlecontrolpoint->
-                                                                           corrections();
-      // Now use the local radius to convert radians to meters instead of the target body equatorial radius
-      cor_lat_m = bundlecontrolpoint->adjustedSurfacePoint().LatitudeToMeters(corrections[0]);
-      cor_lon_m = bundlecontrolpoint->adjustedSurfacePoint().LongitudeToMeters(corrections[1]);
-      cor_rad_m  = corrections[2]*1000.0;
+                                                                            corrections();
+
+      if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Rectangular) {
+        double xCor = corrections(0);  // km
+        double yCor = corrections(1);  // km
+        double zCor = corrections(2);  // km
+
+        if (!IsSpecial(dX) && !IsSpecial(dY) && !IsSpecial(dZ)) {
+          SurfacePoint rectPoint(Displacement(dX - xCor, Displacement::Kilometers),
+                                Displacement(dY - yCor, Displacement::Kilometers),
+                                Displacement(dZ - zCor, Displacement::Kilometers));
+
+          latInit = rectPoint.GetLatitude().degrees();
+          lonInit = rectPoint.GetLongitude().degrees();
+          radInit = rectPoint.GetLocalRadius().kilometers();
+
+          if (!IsSpecial(dLat)) {
+            cor_lat_dd = (dLat - latInit); // degrees
+            cor_lat_m  =  cor_lat_dd * DEG2RAD * rtm;
+          }
+          if (!IsSpecial(dLon)) {
+            cor_lon_dd = (dLon - lonInit); // degrees
+            cor_lon_m  =  cor_lon_dd * DEG2RAD * rtm * cos(dLat*DEG2RAD);  // lon corrections meters
+          }
+          if (!IsSpecial(dRadius)) {
+            cor_rad_km  =  dRadius - radInit;
+            cor_rad_m  =  cor_rad_km * 1000.;
+          }
+        }
+      }
+      else if (m_settings->controlPointCoordTypeBundle() == SurfacePoint::Latitudinal) {
+        cor_lat_dd = corrections(0) * RAD2DEG;   // lat correction, decimal degs
+        cor_lon_dd = corrections(1) * RAD2DEG;   // lon correction, decimal degs
+        cor_rad_m  = corrections(2) * 1000.0;    // radius correction, meters
+
+        cor_lat_m = bundlecontrolpoint->adjustedSurfacePoint().LatitudeToMeters(corrections(0));
+        cor_lon_m = bundlecontrolpoint->adjustedSurfacePoint().LongitudeToMeters(corrections(1));
+        cor_rad_km = corrections(2);
+
+        if (!IsSpecial(dLat)) {
+          latInit = dLat - cor_lat_dd;
+        }
+
+        if (!IsSpecial(dLon)) {
+          lonInit = dLon - cor_lon_dd;
+        }
+
+        if (!IsSpecial(dRadius)) {
+          radInit = dRadius - corrections(2); // km
+        }
+      }
 
       if (bundlecontrolpoint->type() == ControlPoint::Fixed) {
         strStatus = "FIXED";

isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.h

@@ -164,7 +164,10 @@ namespace Isis {
    *                          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.
-   *
+   *   @history 2024-12-03 Ken Edmundson - Fixed bug where, when performing a rectangular (XYZ)
+   *                          bundle adjustment, the Lat/Lon/Radius point corrections written
+   *                          to the points.csv file are incorrect and do not match those written
+   *                          to the bundleout.txt file.
    */
   class BundleSolutionInfo : public QObject {
     Q_OBJECT

isis/src/mex/objs/HrscCamera/HrscCamera.cpp

@@ -42,12 +42,12 @@ namespace Isis {
     SetPixelPitch(0.007);
     instrumentRotation()->SetFrame(-41210);
 
+    ReadLineRates(cube);
+
     // Get required keywords from instrument group
     Pvl &lab = *cube.label();
     PvlGroup &inst = lab.findGroup("Instrument", Pvl::Traverse);
 
-    ReadLineRates(lab.fileName());
-
     // Setup detector map for transform of image pixels to detector position
     new VariableLineScanCameraDetectorMap(this, p_lineRates);
     DetectorMap()->SetDetectorSampleSumming(inst["Summing"]);
@@ -119,14 +119,14 @@ namespace Isis {
 
 
   /**
-   * @param filename
+   * @param cube
    */
-  void HrscCamera::ReadLineRates(QString filename) {
-    Table timesTable("LineScanTimes", filename);
+  void HrscCamera::ReadLineRates(Cube &cube) {
+    Table timesTable = cube.readTable("LineScanTimes");
 
     if(timesTable.Records() <= 0) {
       QString msg = "Table [LineScanTimes] in [";
-      msg += filename + "] must not be empty";
+      msg += cube.fileName() + "] must not be empty";
       throw IException(IException::Unknown, msg, _FILEINFO_);
     }
 
@@ -138,7 +138,7 @@ namespace Isis {
 
     if(p_lineRates.size() <= 0) {
       QString msg = "There is a problem with the data within the Table ";
-      msg += "[LineScanTimes] in [" + filename + "]";
+      msg += "[LineScanTimes] in [" + cube.fileName() + "]";
       throw IException(IException::Unknown, msg, _FILEINFO_);
     }
   }

isis/src/mex/objs/HrscCamera/HrscCamera.h

@@ -68,7 +68,7 @@ namespace Isis {
       virtual int SpkReferenceId() const;
 
     private:
-      void ReadLineRates(QString filename);
+      void ReadLineRates(Cube &cube);
 
       std::vector<LineRateChange> p_lineRates; /**< Vector of the variable line rates for this
                                                     camera model.*/