Moves partial calculation into CSM and ISIS observation classes. (DOI…

…-USGS#4436)

* 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

Co-authored-by: Kristin Berry <[email protected]>

isis/src/base/objs/CSMCamera/CSMCamera.cpp

@@ -86,7 +86,7 @@ namespace Isis {
       throw IException(IException::User, msg, _FILEINFO_);
     }
     if (!plugin->canModelBeConstructedFromState(modelName.toStdString(), stateString.toStdString())) {
-      QString msg = "CSM state string attached to image [" + cube.fileName() + "]. cannot "
+      QString msg = "CSM state string attached to image [" + cube.fileName() + "] cannot "
                     "be converted to a [" + modelName + "] using [" + pluginName + "].";
       throw IException(IException::Programmer, msg, _FILEINFO_);
     }
@@ -599,6 +599,52 @@ namespace Isis {
   }
 
 
+  /**
+  * Compute the partial derivatives of the sample, line with
+  * respect to the x, y, z coordinates of the ground point.
+  *
+  * The resultant partials are
+  * line WRT x
+  * line WRT y
+  * line WRT z
+  * sample WRT x
+  * sample WRT y
+  * sample WRT z
+  *
+  * @return @b std::vector<double> The partial derivatives of the 
+  *                                sample, line with respect to
+  *                                the ground coordinate.
+  */
+  vector<double> CSMCamera::GroundPartials() {
+    return GroundPartials(GetSurfacePoint());
+  }
+
+
+  /**
+  * Compute the partial derivatives of the sample, line with
+  * respect to the x, y, z coordinates of the ground point.
+  *
+  * The resultant partials are
+  * line WRT x
+  * line WRT y
+  * line WRT z
+  * sample WRT x
+  * sample WRT y
+  * sample WRT z
+  *
+  * @param groundPoint The ground point to compute the partials at
+  *
+  * @return @b std::vector<double> The partial derivatives of the 
+  *                                sample, line with respect to
+  *                                the ground coordinate.
+  */
+  vector<double> CSMCamera::GroundPartials(SurfacePoint groundPoint) {
+    csm::EcefCoord groundCoord = isisToCsmGround(groundPoint);
+    vector<double> groundPartials = m_model->computeGroundPartials(groundCoord);
+    return groundPartials;
+  }
+
+
   /**
    * Set the Target object for the camera model.
    *
@@ -848,6 +894,16 @@ namespace Isis {
     return m_model->getParameterCovariance(index1, index2);
   }
 
+
+  vector<double> CSMCamera::getSensorPartials(int index, SurfacePoint groundPoint) {
+    // csm::SensorPartials holds (line, sample) in order for each parameter
+   csm::EcefCoord groundCoord = isisToCsmGround(groundPoint);
+   std::pair<double, double> partials = m_model->computeSensorPartials(index, groundCoord);
+   vector<double> partialsVector = {partials.first, partials.second};
+
+   return partialsVector; 
+  }
+
 
   /**
    * Set the time and update the sensor position and orientation.

isis/src/base/objs/CSMCamera/CSMCamera.h

@@ -122,6 +122,10 @@ namespace Isis {
       std::vector<int> getParameterIndices(QStringList paramList) const;
       void applyParameterCorrection(int index, double correction);
       double getParameterCovariance(int index1, int index2);
+      std::vector<double> getSensorPartials(int index, SurfacePoint groundPoint);
+
+      virtual std::vector<double> GroundPartials(SurfacePoint groundPoint);
+      virtual std::vector<double> GroundPartials();
 
     protected:
       void setTarget(Pvl label);
@@ -144,7 +148,6 @@ namespace Isis {
 
       virtual std::vector<double> ImagePartials(SurfacePoint groundPoint);
       virtual std::vector<double> ImagePartials();
-
   };
 };
 #endif

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

@@ -1022,6 +1022,7 @@
 
     <group name="Community Sensor Model Options">
       <parameter name="CSMSOLVESET">
+        <internalDefault>none</internalDefault>
         <type>string</type>
         <brief>Specify a set of a CSM parameters to solve for.</brief>
         <description>