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. Addresses DOI-USGS#5646.
UA-LPL · Dec 3, 2024 · 332ec10 · 332ec10
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -53,6 +53,8 @@ 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

diff --git a/isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.cpp b/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 +1661,66 @@ 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 x      = bundlecontrolpoint->adjustedSurfacePoint().GetX().kilometers();
+        double xCor = corrections(0);  // km
+        double y      = bundlecontrolpoint->adjustedSurfacePoint().GetY().kilometers();
+        double yCor = corrections(1);  // km
+        double z      = bundlecontrolpoint->adjustedSurfacePoint().GetZ().kilometers();
+        double zCor = corrections(2);  // km
+
+        if (!IsSpecial(x) && !IsSpecial(y) && !IsSpecial(z)) {
+          SurfacePoint rectPoint(Displacement(x - xCor, Displacement::Kilometers),
+                                Displacement(y - yCor, Displacement::Kilometers),
+                                Displacement(z - 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";

diff --git a/isis/src/control/objs/BundleSolutionInfo/BundleSolutionInfo.h b/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

diff --git a/isis/tests/FunctionalTestsJigsaw.cpp b/isis/tests/FunctionalTestsJigsaw.cpp
@@ -291,6 +291,22 @@ TEST_F(ApolloNetwork, FunctionalTestJigsawBundleXYZ) {
   UserInterface ui3(APP_XML, args3);
   jigsaw(ui3);
 
+  // spot check several points in rectlat_bundleout=_points.csv file for hard-coded values
+  QString pointsOutput = tempDir.path() + "/rectlat_bundleout_points.csv";
+
+  CSVReader::CSVAxis csvLine;
+  CSVReader line = CSVReader(pointsOutput, false, 0, ',', false, true);
+
+  // A few "Free" points:
+  compareCsvLine(line.getRow(30), "AS15_000031957,FREE,3,0,0.33,24.24953243,6.15316218,1736.04358729,293.41498797,289.79559800,472.66868036,842.07328770,-1763.20169592,-574.06347857,1573.74545615,169.66190348,713.01291344");
+  compareCsvLine(line.getRow(185), "AS15_000055107,FREE,2,0,2.22,24.26546675,6.76093993,1735.38959424,326.33192236,324.29734631,531.76648698,860.53696982,-1800.17000826,-593.89727230,1571.06817968,186.25235838,713.18432228");
+  compareCsvLine(line.getRow(396), "AS15_Tie14,FREE,4,0,0.76,23.33873588,4.52915858,1737.24818101,272.63659718,266.05983706,414.39324142,981.58162483,-1855.42653496,-276.42906027,1590.12330171,125.95969814,688.23926236");
+
+  // A few "Constrained" points:
+  compareCsvLine(line.getRow(352), "AS15_SocetPAN_01,CONSTRAINED,3,0,0.27,27.61551409,2.18873444,1735.73157411,189.25634559,169.77950505,259.83985021,122.85201072,202.20461434,253.94911381,1536.87168268,58.73802953,804.57403154", 2);
+  compareCsvLine(line.getRow(360), "AS15_SocetPAN_10,CONSTRAINED,4,0,1.14,25.96576384,3.54303398,1735.73354221,138.47609050,115.15295944,171.82752027,-57.33146538,185.48616378,16.79221293,1557.53867571,96.43742025,759.96317490", 2);
+  compareCsvLine(line.getRow(380), "AS15_SocetPAN_40,CONSTRAINED,2,0,0.42,25.77444416, 1.88039771,1735.54642874,157.27333414,137.46544829,212.01849634,7.32724742,68.12099922,156.67875462,1562.04017978,51.28321523,754.66675754", 2);
+
   // Compare network and images.csv against the latitude, latitude bundle
 
   // Compare network against the latitude/latitude network