Fixed bug where Lat/Lon/Radius point corrections are wrong in points.csv when running a rectangular (XYZ) bundle adjustment

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

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/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