Isis::BundleAdjust Class Reference

#include <BundleAdjust.h>

Collaboration diagram for Isis::BundleAdjust:

Classes
struct	SpacecraftWeights
Public Types
enum	DecompositionMethod { NoneSelected, SPECIALK, CHOLMOD }
enum	CmatrixSolveType { None, AnglesOnly, AnglesVelocity, AnglesVelocityAcceleration, CKAll }
enum	SpacecraftPositionSolveType { Nothing, PositionOnly, PositionVelocity, PositionVelocityAcceleration, SPKAll }
Public Member Functions
	BundleAdjust (const QString &cnetFile, const QString &cubeList, bool printSummary=true)
	BundleAdjust (const QString &cnetFile, const QString &cubeList, const QString &heldList, bool printSummary=true)
	BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, bool printSummary=true)
	BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, Isis::SerialNumberList &heldsnlist, bool printSummary=true)
bool	ReadSCSigmas (const QString &scsigmasList)
double	Solve ()
	compute partials for measure
bool	SolveCholesky ()
	The solve method is an least squares solution for updating the camera pointing.
Isis::ControlNet *	ControlNet ()
Isis::SerialNumberList *	SerialNumberList ()
int	Images () const
int	Observations () const
	Return the number of observations in list given to the constructor.
QString	FileName (int index)
	Return the ith filename in the cube list file given to constructor.
bool	IsHeld (int index)
	Return whether the ith file in the cube list is held.
Table	Cmatrix (int index)
	Return a table cmatrix for the ith cube in the cube list given to the constructor.
Table	SpVector (int index)
	Return a table spacecraft vector for the ith cube in the cube list given to the constructor.
void	SetSolveTwist (bool solve)
void	SetSolveRadii (bool solve)
void	SetSolvePolyOverHermite (bool b)
void	SetSolvePolyOverPointing (bool b)
void	SetErrorPropagation (bool b)
void	SetOutlierRejection (bool b)
void	SetRejectionMultiplier (double d)
void	SetGlobalLatitudeAprioriSigma (double d)
void	SetGlobalLongitudeAprioriSigma (double d)
void	SetGlobalRadiiAprioriSigma (double d)
void	SetGlobalSpacecraftPositionAprioriSigma (double d)
void	SetGlobalSpacecraftVelocityAprioriSigma (double d)
void	SetGlobalSpacecraftAccelerationAprioriSigma (double d)
void	SetGlobalCameraAnglesAprioriSigma (double d)
void	SetGlobalCameraAngularVelocityAprioriSigma (double d)
void	SetGlobalCameraAngularAccelerationAprioriSigma (double d)
void	SetStandardOutput (bool b)
void	SetCSVOutput (bool b)
void	SetResidualOutput (bool b)
void	SetOutputFilePrefix (const QString &str)
void	SetDecompositionMethod (DecompositionMethod method)
	Set decomposition method.
void	SetSolveCmatrix (CmatrixSolveType type)
	For which camera angle coefficients do we solve?
void	SetSolveSpacecraftPosition (SpacecraftPositionSolveType type)
	For which camera position coefficients do we solve?
void	SetCKDegree (int degree)
	Set the degree of the polynomial to fit to the camera angles.
void	SetSolveCKDegree (int degree)
	Set the degree of the polynomial to adjust in the solution.
void	SetSPKDegree (int degree)
	Set the degree of the polynomial to fit to the camera position.
void	SetSolveSPKDegree (int degree)
	Set the degree of the camera position polynomial to adjust in the solution.
int	BasisColumns ()
	Determine the number of columns we will need for the least squares.
int	ComputeConstrainedParameters ()
double	Error () const
double	Iteration () const
int	IgnoredPoints () const
int	FixedPoints () const
void	SetObservationMode (bool bObservationMode)
	This method turns on observation mode and creates the observation number list.
void	SetConvergenceThreshold (double d)
void	SetMaxIterations (int n)
void	SetSolutionMethod (QString str)
	This method sets the solution method for solving the matrix and fills the point index map, which is dependent on the solution method.
void	GetSparseParameterCorrections ()
	Retrieve parameter correction vector for old sparse least-squares object and parse into m_Image_Corrections and m_Point_Corrections vectors so we can use the same output as SpecialK and Cholmod Sparse solutions.
bool	IsConverged ()
QString	IterationSummaryGroup () const
void	maximumLikelihoodSetup (QList< QString > models, QList< double > quantiles)
	This method steps up the maximum likelihood estimation solution.
Private Member Functions
void	Init (Progress *progress=0)
	Initialize solution parameters.
bool	validateNetwork ()
	control network validation - on the very real chance that the net has not been checked before running the bundle
void	ComputeNumberPartials ()
	This method determines the number of partials per image and per point.
void	ComputeImageParameterWeights ()
	Weighting for image parameter ComputeNumberPartials must be called first.
void	SetSpaceCraftWeights ()
void	AddPartials (int nPointIndex)
	Populate the least squares matrix with measures for a point specific to frame cameras (for now).
void	FillPointIndexMap ()
	This method fills the point index map and needs to know the solution method in order to work properly.
void	Update (BasisFunction &basis)
	This method uses the basis function after the matrix has been solved.
int	PointIndex (int i) const
	Return index to basis function for ith point.
int	ImageIndex (int i) const
	Return index to basis function for ith image.
void	CheckHeldList ()
	This method checks all cube files in the held list to make sure they are in the input list.
void	ApplyHeldList ()
int	Triangulation (bool bDoApproximation=false)
	Populate the least squares matrix with measures for a point specific to frame cameras (for now).
bool	ApproximatePoint_ClosestApproach (const ControlPoint &rpoint, int nIndex)
	Calculates approximate point coordinates by the method of the closest approach of two vectors.
bool	TriangulatePoint (const ControlPoint &rpoint)
	Triangulates an individual point.
bool	TriangulationPartials ()
bool	SetParameterWeights ()
	set parameter weighting for old SPARSE solution
void	SetPostBundleSigmas ()
void	IterationSummary (double avErr, double sigmaXY, double sigmaHat, double sigmaX, double sigmaY)
	This method creates a iteration summary and creates an iteration group for the Sparse BundleAdjust summary.
void	SpecialKIterationSummary ()
bool	Output ()
	output bundle results to file
bool	OutputHeader (std::ofstream &fp_out)
bool	OutputWithErrorPropagation ()
	output bundle results to file with error propagation
bool	OutputNoErrorPropagation ()
	output bundle results to file with no error propagation
bool	OutputPointsCSV ()
	output point data to csv file
bool	OutputImagesCSV ()
	output image data to csv file
bool	OutputResiduals ()
	output image coordinate residuals to comma-separated-value file
bool	WrapUp ()
bool	ComputeBundleStatistics ()
	flags...
void	Initialize ()
	Initializes matrices and parameters for bundle adjustment.
bool	InitializePointWeights ()
void	InitializePoints ()
bool	formNormalEquations ()
	Forming the least-squares normal equations matrix.
void	applyParameterCorrections ()
	apply parameter corrections
bool	errorPropagation ()
	error propagation.
bool	solveSystem ()
	solve normal equations system.
bool	formNormalEquations_CHOLMOD ()
	Forming the least-squares normal equations matrix via cholmod.
bool	formNormals1_CHOLMOD (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, SparseBlockColumnMatrix &N12, boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &n2, boost::numeric::ublas::matrix< double > &coeff_image, boost::numeric::ublas::matrix< double > &coeff_point3D, boost::numeric::ublas::vector< double > &coeff_RHS, int nImageIndex)
bool	formNormals2_CHOLMOD (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, SparseBlockColumnMatrix &N12, boost::numeric::ublas::vector< double > &n2, boost::numeric::ublas::vector< double > &nj, int nPointIndex, int i)
bool	formNormals3_CHOLMOD (boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &nj)
bool	solveSystem_CHOLMOD ()
void	AmultAdd_CNZRows_CHOLMOD (double alpha, SparseBlockColumnMatrix &A, SparseBlockRowMatrix &B)
void	transA_NZ_multAdd_CHOLMOD (double alpha, SparseBlockRowMatrix &A, boost::numeric::ublas::vector< double > &B, boost::numeric::ublas::vector< double > &C)
void	applyParameterCorrections_CHOLMOD ()
	apply parameter corrections
bool	errorPropagation_CHOLMOD ()
bool	formNormalEquations_SPECIALK ()
	Forming the least-squares normal equations matrix via specialk.
bool	formNormals1_SPECIALK (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, boost::numeric::ublas::matrix< double > &N12, boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &n2, boost::numeric::ublas::matrix< double > &coeff_image, boost::numeric::ublas::matrix< double > &coeff_point3D, boost::numeric::ublas::vector< double > &coeff_RHS, int nImageIndex)
bool	formNormals2_SPECIALK (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, boost::numeric::ublas::matrix< double > &N12, boost::numeric::ublas::vector< double > &n2, boost::numeric::ublas::vector< double > &nj, int nPointIndex, int i)
bool	formNormals3_SPECIALK (boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &nj)
bool	solveSystem_SPECIALK ()
void	AmultAdd_CNZRows_SPECIALK (double alpha, boost::numeric::ublas::matrix< double > &A, boost::numeric::ublas::compressed_matrix< double > &B, boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > &C)
void	transA_NZ_multAdd_SPECIALK (double alpha, boost::numeric::ublas::compressed_matrix< double > &A, boost::numeric::ublas::vector< double > &B, boost::numeric::ublas::vector< double > &C)
void	applyParameterCorrections_SPECIALK ()
	apply parameter corrections
bool	errorPropagation_SPECIALK ()
bool	CholeskyUT_NOSQR ()
bool	CholeskyUT_NOSQR_Inverse ()
bool	CholeskyUT_NOSQR_BackSub (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > &m, boost::numeric::ublas::vector< double > &s, boost::numeric::ublas::vector< double > &rhs)
bool	ComputePartials_DC (boost::numeric::ublas::matrix< double > &coeff_image, boost::numeric::ublas::matrix< double > &coeff_point3D, boost::numeric::ublas::vector< double > &coeff_RHS, const ControlMeasure &measure, const ControlPoint &point)
double	ComputeResiduals ()
	This method computes the focal plane residuals for the measures.
void	AmulttransBNZ (boost::numeric::ublas::matrix< double > &A, boost::numeric::ublas::compressed_matrix< double > &B, boost::numeric::ublas::matrix< double > &C, double alpha=1.0)
void	ANZmultAdd (boost::numeric::ublas::compressed_matrix< double > &A, boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > &B, boost::numeric::ublas::matrix< double > &C, double alpha=1.0)
bool	Invert_3x3 (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &m)
bool	product_ATransB (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, SparseBlockColumnMatrix &N12, SparseBlockRowMatrix &Q)
void	product_AV (double alpha, boost::numeric::ublas::bounded_vector< double, 3 > &v2, SparseBlockRowMatrix &Q, boost::numeric::ublas::vector< double > &v1)
bool	ComputeRejectionLimit ()
bool	FlagOutliers ()
bool	initializeCholMod ()
	Initializations for Cholmod sparse matrix package.
bool	freeCholMod ()
	Initializations for Cholmod sparse matrix package.
bool	cholmod_Inverse ()
bool	loadCholmodTriplet ()
Private Attributes
bool	m_bSolveTwist
	to solve for "twist" angle
bool	m_bSolveRadii
	to solve for point radii
bool	m_bSolvePolyOverHermite
	to fit polynomial over existing Hermite
bool	m_bSolvePolyOverPointing
	to fit polynomial over existing pointing
bool	m_bObservationMode
	for observation mode (explain this somewhere)
bool	m_bErrorPropagation
	to perform error propagation
bool	m_bOutlierRejection
	to perform automatic outlier detection/rejection
double	m_dRejectionMultiplier
	outlier rejection multiplier
bool	m_bPrintSummary
	to print summary
bool	m_bOutputStandard
	to print standard bundle output file (bundleout.txt)
bool	m_bOutputCSV
	to output points and image station data in csv format
bool	m_bOutputResiduals
	to output residuals in csv format
bool	m_bCleanUp
	for cleanup (i.e. in destructor)
bool	m_bSimulatedData
	indicating simulated (i.e. 'perfect' data)
bool	m_bLastIteration
bool	m_bMaxIterationsReached
bool	m_bDeltack
	flag indicating deltack was calling app
int	m_nIteration
	current iteration
int	m_nMaxIterations
	maximum iterations
int	m_nNumImagePartials
	number of image-related partials
int	m_nNumPointPartials
	number of point-related partials
int	m_nObservations
	number of image coordinate observations
int	m_nRejectedObservations
	number of rejected image coordinate observations //!
int	m_nImageParameters
	number of image parameters
int	m_nPointParameters
	total number of point parameters (including constrained)
int	m_nConstrainedPointParameters
	number of constrained point parameters
int	m_nConstrainedImageParameters
	number of constrained image parameters
int	m_nDegreesOfFreedom
	degrees of freedom //!
int	m_nHeldPoints
	number of 'held' points (define)
int	m_nFixedPoints
	number of 'fixed' (ground) points (define)
int	m_nIgnoredPoints
	number of ignored points
int	m_nHeldImages
	number of 'held' images (define)
int	m_nHeldObservations
	number of 'held' observations (define)
int	m_nCKDegree
	ck degree (define)
int	m_nsolveCKDegree
	solve cad degree (define)
int	m_nNumberCamAngleCoefSolved
	number of camera angle coefficients in solution
int	m_nSPKDegree
	spk degree (define)
int	m_nsolveSPKDegree
	solve spk degree (define)
int	m_nNumberCamPosCoefSolved
	number of camera position coefficients in solution
int	m_nUnknownParameters
	total number of parameters to solve for
int	m_nBasisColumns
	number of columns (parameters) in normal equations
SpicePosition::Source	m_nPositionType
	type of SpicePosition interpolation
SpiceRotation::Source	m_nPointingType
	type of SpiceRotation interpolation
std::vector< int >	m_nPointIndexMap
	index into normal equations of point parameter positions
std::vector< int >	m_nImageIndexMap
	index into normal equations of image parameter positions
double	m_dError
	error
double	m_dConvergenceThreshold
	bundle convergence threshold
double	m_dElapsedTime
	elapsed time for bundle
double	m_dElapsedTimeErrorProp
	elapsed time for error propagation //!
double	m_dSigma0
	std deviation of unit weight
double	m_drms_rx
	rms of x residuals
double	m_drms_ry
	rms of y residuals
double	m_drms_rxy
	rms of all x and y residuals
double	m_drms_sigmaLat
	rms of adjusted Latitude sigmas
double	m_drms_sigmaLon
	rms of adjusted Longitude sigmas
double	m_drms_sigmaRad
	rms of adjusted Radius sigmas
double	m_dminSigmaLatitude
QString	m_idMinSigmaLatitude
double	m_dmaxSigmaLatitude
QString	m_idMaxSigmaLatitude
double	m_dminSigmaLongitude
QString	m_idMinSigmaLongitude
double	m_dmaxSigmaLongitude
QString	m_idMaxSigmaLongitude
double	m_dminSigmaRadius
QString	m_idMinSigmaRadius
double	m_dmaxSigmaRadius
QString	m_idMaxSigmaRadius
double	m_dRejectionLimit
	current rejection limit
double	m_dGlobalLatitudeAprioriSigma
	latitude apriori sigma
double	m_dGlobalLongitudeAprioriSigma
	longitude apriori sigma
double	m_dGlobalRadiusAprioriSigma
	radius apriori sigma
double	m_dGlobalSurfaceXAprioriSigma
	surface point x apriori sigma
double	m_dGlobalSurfaceYAprioriSigma
	surface point y apriori sigma
double	m_dGlobalSurfaceZAprioriSigma
	surface point z apriori sigma
std::vector< double >	m_dGlobalSpacecraftPositionAprioriSigma
	camera position apriori sigmas: size is # camera position coefficients solved
std::vector< double >	m_dGlobalCameraAnglesAprioriSigma
	camera angles apriori sigmas: size is # camera angle coefficients solved
double	m_dGlobalSpacecraftPositionWeight
double	m_dGlobalSpacecraftVelocityWeight
double	m_dGlobalSpacecraftAccelerationWeight
double	m_dGlobalCameraAnglesWeight
double	m_dGlobalCameraAngularVelocityWeight
double	m_dGlobalCameraAngularAccelerationWeight
std::vector< double >	m_dImageParameterWeights
double	m_dRTM
	radians to meters conversion factor (body specific)
double	m_dMTR
	meters to radians conversion factor (body specific)
Distance	m_BodyRadii [3]
	body radii i meters
std::vector< double >	m_dEpsilons
	vector maintaining total corrections to parameters
std::vector< double >	m_dParameterWeights
	vector of parameter weights
std::vector< double >	m_dxKnowns
std::vector< double >	m_dyKnowns
QString	m_strCnetFileName
	Control Net file specification.
QString	m_strSolutionMethod
	solution method string (QR,SVD,SPARSE-LU,SPECIALK)
QString	m_strOutputFilePrefix
	output file prefix
Isis::LeastSquares *	m_pLsq
	'LeastSquares' object
Isis::ControlNet *	m_pCnet
	'ControlNet' object
Isis::SerialNumberList *	m_pSnList
	list of image serial numbers
Isis::SerialNumberList *	m_pHeldSnList
	list of held image serial numbers
Isis::ObservationNumberList *	m_pObsNumList
	list of observation numbers
Statistics	m_Statsx
	x errors
Statistics	m_Statsy
	y errors
Statistics	m_Statsrx
	x residuals
Statistics	m_Statsry
	y residuals
Statistics	m_Statsrxy
	xy residuals
std::vector< Statistics >	m_rmsImageSampleResiduals
std::vector< Statistics >	m_rmsImageLineResiduals
std::vector< Statistics >	m_rmsImageResiduals
std::vector< Statistics >	m_rmsImageXSigmas
std::vector< Statistics >	m_rmsImageYSigmas
std::vector< Statistics >	m_rmsImageZSigmas
std::vector< Statistics >	m_rmsImageRASigmas
std::vector< Statistics >	m_rmsImageDECSigmas
std::vector< Statistics >	m_rmsImageTWISTSigmas
DecompositionMethod	m_decompositionMethod
	matrix decomp method
CmatrixSolveType	m_cmatrixSolveType
	cmatrix solve type (define)
SpacecraftPositionSolveType	m_spacecraftPositionSolveType
	spacecraft position solve type (define)
std::vector< SpacecraftWeights >	m_SCWeights
int	m_nRank
bool	m_bConverged
bool	m_bError
boost::numeric::ublas::symmetric_matrix < double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major >	m_Normals
	reduced normal equations matrix
boost::numeric::ublas::vector < double >	m_nj
	array of Qs (see Brown, 1976)
std::vector < boost::numeric::ublas::compressed_matrix < double > >	m_Qs_SPECIALK
std::vector< SparseBlockRowMatrix >	m_Qs_CHOLMOD
std::vector < boost::numeric::ublas::bounded_vector < double, 3 > >	m_NICs
	< array of NICs (see Brown, 1976)
boost::numeric::ublas::vector < double >	m_Image_Corrections
	image parameter cumulative correction vector
boost::numeric::ublas::vector < double >	m_Image_Solution
	image parameter solution vector
std::vector < boost::numeric::ublas::bounded_vector < double, 3 > >	m_Point_Corrections
	vector of corrections to 3D point parameter
std::vector < boost::numeric::ublas::bounded_vector < double, 3 > >	m_Point_AprioriSigmas
	vector of apriori sigmas for 3D point parameters
std::vector < boost::numeric::ublas::bounded_vector < double, 3 > >	m_Point_Weights
	vector of weights for 3D point parameters
QString	m_iterationSummary
cholmod_common	m_cm
cholmod_factor *	m_L
cholmod_sparse *	m_N
SparseBlockMatrix	m_SparseNormals
cholmod_triplet *	m_pTriplet
MaximumLikelihoodWFunctions *	m_wFunc [3]
	This class is used to reweight observations in order to achieve more robust parameter estimation, up to three different maximum likelihood estimation models can be used in succession.
StatCumProbDistDynCalc *	m_cumPro
	This class will be used to calculate the cumulative probability distribution of \|R^2 residuals\|, quantiles of this distribution are used to adjust the maximum likelihood functions dynamically iteration by iteration.
StatCumProbDistDynCalc *	m_cumProRes
	This class keeps track of the cumulative probability distribution of residuals (in unweighted pixels), this is used for reporting, and not for computation.
bool	m_maxLikelihoodFlag [3]
	Up to three different maximum likelihood estimation models can be used in succession, these flags record if they are enabled.
int	m_maxLikelihoodIndex
	This count keeps track of which stadge of the maximum likelihood adjustment the bundle is currently on.
double	m_maxLikelihoodQuan [3]
	Quantiles of the \|residual\| distribution to be used for tweaking constants of the maximum probability models.

Detailed Description

Author:: 2006-05-30 Jeff Anderson, Debbie A. Cook, and Tracie Sucharski

For internal use only.

History:: 2005-05-30 Jeff Anderson, Debbie A. Cook & Tracie Sucharski Original version

History:: 2007-05-29 Debbie A. Cook Added new method IterationSummary and changed points on held images to held instead of ground

History:: 2007-07-12 Debbie A. Cook Fixed bug in iteration statistics calculations in the case of a single control point that was causing a divide by zero error

History:: 2007-08-25 Debbie A. Cook Added methods and members to support instrument position solution

History:: 2007-09-17 Debbie A. Cook Added ability to process in observation mode for Lunar Orbiter

History:: 2007-11-17 Debbie A. Cook Added method SetSolution Method.

History:: 2007-12-21 Debbie A. Cook Added member p_Degree and methods m_nsolveCamDegree and ckDegree

History:: 2008-01-11 Debbie A. Cook Added observation mode functionality for spacecraft position and upgraded ObservationNumber methods for compatability

History:: 2008-01-14 Debbie A. Cook Added code to solve for local radii

History:: 2008-04-18 Debbie A. Cook Added progress for ControlNet

History:: 2008-06-18 Christopher Austin Fixed ifndef

History:: 2008-11-07 Tracie Sucharski, Added bool to constructors to indicate whether to print iteration summary info to the session log. This was needed for qtie which has no session log.

History:: 2008-11-22 Debbie A. Cook Added code to wrap longitude to keep it in [0.,360.]

History:: 2008-11-22 Debbie A. Cook Added new call to get timeScale and set for the observation along with basetime

History:: 2008-11-26 Debbie A. Cook Added check to ApplyHeldList for Ignored points and measures

History:: 2009-01-08 Debbie A. Cook Revised AddPartials and PointPartial to avoid using the camera methods to map a body-fixed vector to the camera because they compute a new time for line scan cameras based on the lat/lon/radius and the new time is used to retrieve Spice. The updated software uses the Spice at the time of the measurement.

History:: 2009-02-15 Debbie A. Cook Corrected focal length to include its sign and removed obsolete calls to X/Y direction methods. Also modified PointPartial to use lat/lon/radius from the point instead of the camera.

History:: 2009-08-13 Debbie A. Cook Corrected calculations of cudx and cudy so that they use the signed focal length also

History:: 2009-10-14 Debbie A. Cook Modified AddPartials method to use new CameraGroundMap method, GetXY

History:: 2009-10-30 Debbie A. Cook Improved error message in AddPartials

History:: 2009-12-14 Debbie A. Cook Updated SpicePosition enumerated partial type constants

History:: 2010-03-19 Debbie A. Cook Moved partials to GroundMap classes to support Radar sensors and modified argument list for GroundMap method ComputeXY since it now returns cudx and cudy

History:: 2010-06-18 Debbie A. Cook Added p_cnetFile as member since it was taken out of ControlNet

History:: 2010-07-09 Ken Edmundson Added Folding in solution method (SPECIALK), error propogation, statistical report, etc.

History:: 2010-08-13 Debbie A. Cook Changed surface point from lat/lon/radius to body-fixed XYZ.

History:: 2010-12-17 Debbie A. Cook Merged Ken Edmundson version with system and updated to new binary control net

History:: 2011-02-01 Debbie A. Cook Moved code to create point index map into its own method to be called after the solution method has been set.

History:: 2011-02-17 Debbie A. Cook Updated to use new parameter added to SpicePosition, p_timeScale

History:: 2011-03-05 Debbie A. Cook Put point index creation back in init. This will prevent QRD and SVD from working if ground points are in the control net.

History:: 2011-03-29 Ken Edmundson Fixed bug in observation mode when solving for spacecraft position and improved output

History:: 2011-04-02 Debbie A. Cook Updated to ControlPoint class changes regarding target radii. Also separated out 2 sets of calculations to test later for efficiency

History:: 2011-06-05 Debbie A. Cook Changed checks for solution type to match change from SPARSE to SPARSE-LU

History:: 2011-06-07 Debbie A. Cook and Tracie Sucharski - Modified point types Ground ------> Fixed Tie----------> Free

History:: 2011-06-14 Debbie A. Cook added method IsHeld(int index) for preventing any updates to held images

History:: 2011-06-27 Debbie A. Cook and Ken Edmundson Added names to top header fields of .csv output and fixed bugs in sparse output.

History:: 2011-07-12 Ken Edmundson Segmentation fault bugfix in OutputHeader method. Previously was attempting to output camera angle sigmas when none had been allocated.

History:: 2011-07-14 Ken Edmundson and Debbie Cook Added new member, m_bDeltack to indicate calling application was deltack (or qtie) and has potential to have a single ControlPoint and ControlMeasure.

History:: 2011-08-08 Tracie Sucharski, Added method to return the iteration summary to be used in qtie which does not have a log file. In SetImages, clear the cameraMap and cameraList. Added this back in (was originally added on 2011-01-19), was deleted somewhere along the line.

History:: 2011-09-28 Debbie A. Cook Renamed SPARSE solve method to OLDSPARSE and CHOLMOD to SPARSE.

History:: 2011-10-14 Ken Edmundson Added call to m_pCnet->ClearJigsawRejected(); to Init() method to set all measure/point JigsawRejected flags to false prior to bundle.

History:: 2011-12-09 Ken Edmundson, memory leak fix in method cholmod_Inverse need call to "cholmod_free_dense(&x,&m_cm)" inside loop.

History:: 2011-12-20 Ken Edmundson, Fixes to outlier rejection. Added rejection multiplier member variable, can be set in jigsaw interface.

History:: 2012-02-02 Debbie A. Cook, Added SetSolvePolyOverHermite method and members m_bSolvePolyOverHermite and m_nPositionType.

History:: 2012-03-26 Orrin Thomas, added maximum likelihood capabilities

History:: 2012-05-21 Debbie A. Cook, Added initialization of m_dRejectionMultiplier

History:: 2012-07-06 Debbie A. Cook, Updated Spice members to be more compliant with Isis coding standards. References #972.

History:: 2012-09-28 Ken Edmundson, Initialized variables for bundle statistic computations;bundleout.txt modifed to show N/A for RMS, Min, Max of Radius Sigmas when not solving for radius. References #783.

Definition at line 155 of file BundleAdjust.h.

Member Function Documentation

void Isis::BundleAdjust::AddPartials ( int nPointIndex ) [private]

Populate the least squares matrix with measures for a point specific to frame cameras (for now).

Definition at line 3636 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::Statistics::AddData(), Isis::LeastSquares::AddKnown(), Isis::ControlPoint::Fixed, Isis::Camera::GetCameraType(), Isis::ControlMeasure::GetCubeSerialNumber(), Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), Isis::ControlPoint::GetId(), Isis::ControlPoint::GetMeasure(), Isis::ControlPoint::GetType(), Isis::CameraGroundMap::GetXY(), Isis::Camera::GroundMap(), ImageIndex(), m_bSolveRadii, m_bSolveTwist, m_cmatrixSolveType, m_nBasisColumns, m_pCnet, m_pLsq, m_pSnList, m_spacecraftPositionSolveType, m_Statsx, m_Statsy, m_strSolutionMethod, Isis::Camera::PixelPitch(), PointIndex(), Isis::CameraGroundMap::PointPartial(), Isis::SerialNumberList::SerialNumberIndex(), Isis::Camera::SetImage(), and Isis::IException::User.

Referenced by Solve().

void Isis::BundleAdjust::applyParameterCorrections ( ) [private]

apply parameter corrections

Definition at line 4485 of file BundleAdjust.cpp.

References applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), and m_decompositionMethod.

Referenced by SolveCholesky().

void Isis::BundleAdjust::applyParameterCorrections_CHOLMOD ( ) [private]

apply parameter corrections

Definition at line 4495 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::Angle::Degrees, Isis::Angle::degrees(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlNet::GetNumPoints(), Isis::SpicePosition::GetPolynomial(), Isis::SerialNumberList::HasSerialNumber(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bSolveTwist, m_cmatrixSolveType, m_Image_Corrections, m_Image_Solution, m_nHeldImages, m_NICs, m_nPointingType, m_nPositionType, m_pCnet, m_pHeldSnList, m_Point_Corrections, m_pSnList, m_spacecraftPositionSolveType, Isis::Distance::Meters, Isis::Distance::meters(), Isis::RAD2DEG(), Isis::SerialNumberList::SerialNumber(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

Referenced by applyParameterCorrections().

void Isis::BundleAdjust::applyParameterCorrections_SPECIALK ( ) [private]

apply parameter corrections

Definition at line 4687 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::Angle::Degrees, Isis::Angle::degrees(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlNet::GetNumPoints(), Isis::SpicePosition::GetPolynomial(), Isis::SerialNumberList::HasSerialNumber(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bSolveTwist, m_cmatrixSolveType, m_Image_Corrections, m_Image_Solution, m_nHeldImages, m_NICs, m_nPointingType, m_nPositionType, m_pCnet, m_pHeldSnList, m_Point_Corrections, m_pSnList, m_spacecraftPositionSolveType, Isis::Distance::Meters, Isis::Distance::meters(), Isis::RAD2DEG(), Isis::SerialNumberList::SerialNumber(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

Referenced by applyParameterCorrections().

bool Isis::BundleAdjust::ApproximatePoint_ClosestApproach	(	const ControlPoint &	rPoint,
		int	nIndex
	)			`[private]`

Calculates approximate point coordinates by the method of the closest approach of two vectors.

Parameters:

	rpoint	reference to control point
	maxIterations	Maximum iterations, if tolerance is never met an iException will be thrown.

Returns:: bool flags success or failure

Definition at line 4245 of file BundleAdjust.cpp.

References Isis::Spice::bodyRotation(), Isis::Camera::DistortionMap(), Isis::Camera::FocalPlaneMap(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlPoint::GetMeasure(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Distance::kilometers(), Isis::Distance::Kilometers, m_pCnet, Isis::Angle::radians(), Isis::Angle::Radians, Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::Camera::SetImage(), Isis::CameraDistortionMap::UndistortedFocalPlaneX(), Isis::CameraDistortionMap::UndistortedFocalPlaneY(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

Referenced by Triangulation().

int Isis::BundleAdjust::BasisColumns ( )

Determine the number of columns we will need for the least squares.

When we create a row of data we will store all the image partials first and then the point partials

Definition at line 763 of file BundleAdjust.cpp.

References Isis::ControlNet::GetNumValidPoints(), m_nFixedPoints, m_nImageParameters, m_nNumImagePartials, m_nNumPointPartials, m_pCnet, m_strSolutionMethod, and Observations().

Referenced by Solve().

void Isis::BundleAdjust::CheckHeldList ( ) [private]

This method checks all cube files in the held list to make sure they are in the input list.

Definition at line 502 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::SerialNumberList::HasSerialNumber(), m_pHeldSnList, m_pSnList, Isis::SerialNumberList::SerialNumber(), Isis::SerialNumberList::Size(), and Isis::IException::User.

Referenced by Init().

Table Isis::BundleAdjust::Cmatrix ( int index )

Return a table cmatrix for the ith cube in the cube list given to the constructor.

Definition at line 5728 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::Spice::instrumentRotation(), and m_pCnet.

bool Isis::BundleAdjust::ComputeBundleStatistics ( ) [private]

void Isis::BundleAdjust::ComputeImageParameterWeights ( ) [private]

Weighting for image parameter ComputeNumberPartials must be called first.

Definition at line 570 of file BundleAdjust.cpp.

References m_bSolveTwist, m_cmatrixSolveType, m_nNumImagePartials, and m_spacecraftPositionSolveType.

Referenced by SetParameterWeights(), Solve(), and SolveCholesky().

void Isis::BundleAdjust::ComputeNumberPartials ( ) [private]

This method determines the number of partials per image and per point.

It is based on the variables to be solved for (e.g., twist, radii, cmatrix velocity, cmatrix acceleration, degree of camera position polynomial, etc)

Definition at line 518 of file BundleAdjust.cpp.

References m_bSolveRadii, m_bSolveTwist, m_cmatrixSolveType, m_nNumberCamAngleCoefSolved, m_nNumberCamPosCoefSolved, m_nNumImagePartials, m_nNumPointPartials, m_spacecraftPositionSolveType, and m_strSolutionMethod.

Referenced by Solve(), and SolveCholesky().

double Isis::BundleAdjust::ComputeResiduals ( ) [private]

This method computes the focal plane residuals for the measures.

History:: 2012-01-18 Debbie A. Cook - Fixed the computation of vx and vy to make sure they are focal plane x and y residuals instead of image sample and line residuals.

Definition at line 4884 of file BundleAdjust.cpp.

References Isis::Statistics::AddData(), Isis::ControlPoint::ComputeResiduals(), Isis::ControlPoint::GetMeasure(), Isis::ControlNet::GetNumPoints(), m_drms_rx, m_drms_rxy, m_drms_ry, m_Image_Corrections, m_pCnet, m_Point_Corrections, m_Point_Weights, m_Statsrx, m_Statsrxy, m_Statsry, Isis::Statistics::Reset(), and Isis::Statistics::Rms().

Referenced by SolveCholesky().

bool Isis::BundleAdjust::errorPropagation ( ) [private]

error propagation.

Definition at line 5366 of file BundleAdjust.cpp.

References m_decompositionMethod.

Referenced by SolveCholesky().

QString Isis::BundleAdjust::FileName ( int index )

Return the ith filename in the cube list file given to constructor.

Definition at line 5711 of file BundleAdjust.cpp.

References Isis::SerialNumberList::FileName(), and m_pSnList.

void Isis::BundleAdjust::FillPointIndexMap ( ) [private]

This method fills the point index map and needs to know the solution method in order to work properly.

Definition at line 461 of file BundleAdjust.cpp.

References Isis::ControlPoint::Fixed, Isis::ControlNet::GetNumPoints(), Isis::ControlPoint::GetType(), m_nFixedPoints, m_nIgnoredPoints, m_nPointIndexMap, m_pCnet, and m_strSolutionMethod.

Referenced by Init(), and SetSolutionMethod().

bool Isis::BundleAdjust::formNormalEquations ( ) [private]

Forming the least-squares normal equations matrix.

Definition at line 1215 of file BundleAdjust.cpp.

References formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), and m_decompositionMethod.

Referenced by SolveCholesky().

bool Isis::BundleAdjust::formNormalEquations_CHOLMOD ( ) [private]

Forming the least-squares normal equations matrix via cholmod.

Definition at line 1239 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetMeasure(), Isis::ControlNet::GetNumPoints(), ImageIndex(), m_bObservationMode, m_nConstrainedPointParameters, m_nj, m_nNumImagePartials, m_nObservations, m_nUnknownParameters, m_pCnet, m_pSnList, Isis::SerialNumberList::SerialNumberIndex(), and Isis::SparseBlockColumnMatrix::wipe().

Referenced by formNormalEquations().

bool Isis::BundleAdjust::formNormalEquations_SPECIALK ( ) [private]

Forming the least-squares normal equations matrix via specialk.

Definition at line 1594 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetMeasure(), Isis::ControlNet::GetNumPoints(), ImageIndex(), m_bObservationMode, m_nConstrainedPointParameters, m_nj, m_nObservations, m_nUnknownParameters, m_pCnet, m_pSnList, and Isis::SerialNumberList::SerialNumberIndex().

Referenced by formNormalEquations().

bool Isis::BundleAdjust::freeCholMod ( ) [private]

Initializations for Cholmod sparse matrix package.

Definition at line 446 of file BundleAdjust.cpp.

void Isis::BundleAdjust::GetSparseParameterCorrections ( )

Retrieve parameter correction vector for old sparse least-squares object and parse into m_Image_Corrections and m_Point_Corrections vectors so we can use the same output as SpecialK and Cholmod Sparse solutions.

Definition at line 3596 of file BundleAdjust.cpp.

References Isis::ControlNet::GetNumPoints(), Isis::ControlNet::GetNumValidPoints(), m_dEpsilons, m_Image_Corrections, m_pCnet, m_pLsq, and m_Point_Corrections.

Referenced by Solve().

int Isis::BundleAdjust::ImageIndex ( int i ) const [private]

Return index to basis function for ith image.

Definition at line 5702 of file BundleAdjust.cpp.

References m_bObservationMode, m_nImageIndexMap, m_pObsNumList, and Isis::ObservationNumberList::ObservationNumberMapIndex().

Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), SetParameterWeights(), and Update().

void Isis::BundleAdjust::Init ( Progress * progress = 0 ) [private]

Initialize solution parameters.

For internal use only.

History:: 2011-08-14 Debbie A. Cook - Opt out of network validation for deltack network in order to allow a single measure on a point

Definition at line 241 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), CheckHeldList(), Isis::ControlNet::ClearJigsawRejected(), FillPointIndexMap(), Isis::SerialNumberList::HasSerialNumber(), Isis::Distance::kilometers(), m_bDeltack, m_bErrorPropagation, m_bObservationMode, m_BodyRadii, m_bOutputCSV, m_bOutputResiduals, m_bOutputStandard, m_bSimulatedData, m_bSolvePolyOverHermite, m_bSolveRadii, m_bSolveTwist, m_cmatrixSolveType, m_dConvergenceThreshold, m_dElapsedTime, m_dElapsedTimeErrorProp, m_dError, m_dGlobalLatitudeAprioriSigma, m_dGlobalLongitudeAprioriSigma, m_dGlobalRadiusAprioriSigma, m_dMTR, m_dRejectionMultiplier, m_dRTM, m_nCKDegree, m_nHeldImages, m_nImageIndexMap, m_nNumberCamAngleCoefSolved, m_nNumberCamPosCoefSolved, m_nPointingType, m_nPositionType, m_nRejectedObservations, m_nsolveCKDegree, m_nsolveSPKDegree, m_nSPKDegree, m_nUnknownParameters, m_pCnet, m_pHeldSnList, m_pLsq, m_pObsNumList, m_pSnList, m_spacecraftPositionSolveType, m_strSolutionMethod, Isis::Distance::Meters, Isis::SpicePosition::PolyFunction, Isis::Spice::radii(), Isis::SerialNumberList::SerialNumber(), Isis::ControlNet::SetImages(), Isis::SerialNumberList::Size(), and validateNetwork().

void Isis::BundleAdjust::Initialize ( ) [private]

Initializes matrices and parameters for bundle adjustment.

Definition at line 779 of file BundleAdjust.cpp.

References Isis::ControlNet::GetNumValidPoints(), initializeCholMod(), m_decompositionMethod, m_Image_Corrections, m_Image_Solution, m_NICs, m_nNumImagePartials, m_Normals, m_nRejectedObservations, m_nUnknownParameters, m_pCnet, m_Point_AprioriSigmas, m_Point_Corrections, m_Point_Weights, m_strSolutionMethod, and Observations().

Referenced by SolveCholesky().

bool Isis::BundleAdjust::initializeCholMod ( ) [private]

Initializations for Cholmod sparse matrix package.

Definition at line 421 of file BundleAdjust.cpp.

References Observations(), and Isis::SparseBlockMatrix::setNumberOfColumns().

Referenced by Initialize().

bool Isis::BundleAdjust::IsHeld ( int index )

Return whether the ith file in the cube list is held.

Definition at line 5719 of file BundleAdjust.cpp.

References Isis::SerialNumberList::HasSerialNumber(), m_nHeldImages, m_pHeldSnList, m_pSnList, and Isis::SerialNumberList::SerialNumber().

void Isis::BundleAdjust::IterationSummary	(	double	avErr,
		double	sigmaXY,
		double	sigmaHat,
		double	sigmaX,
		double	sigmaY
	)			`[private]`

This method creates a iteration summary and creates an iteration group for the Sparse BundleAdjust summary.

Parameters:

	it	Iteration number
	it_time	Iteration time
	avErr	Average error or iteration (pixels)
	sigmaXY	Standard deviation of coordinates (mm)
	sigmaHat	Aposteriori standard deviation of unit weight (mm)
	sigmaX	Standard deviation of deltax (mm)
	sigmaY	Standard deviation of deltay (mm)

Definition at line 5800 of file BundleAdjust.cpp.

References Isis::Application::Log(), m_bPrintSummary, m_dError, m_nIteration, and Isis::toString().

Referenced by Solve().

void Isis::BundleAdjust::maximumLikelihoodSetup	(	QList< QString >	models,
		QList< double >	quantiles
	)

This method steps up the maximum likelihood estimation solution.

Zero to three successive solutions models are available.

Definition at line 7944 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::MaximumLikelihoodWFunctions::Chen, compare(), Isis::MaximumLikelihoodWFunctions::Huber, Isis::MaximumLikelihoodWFunctions::HuberModified, Isis::StatCumProbDistDynCalc::initialize(), Isis::IException::Io, m_cumPro, m_maxLikelihoodFlag, m_maxLikelihoodQuan, m_wFunc, and Isis::MaximumLikelihoodWFunctions::Welsch.

int Isis::BundleAdjust::Observations ( ) const

Return the number of observations in list given to the constructor.

Definition at line 5739 of file BundleAdjust.cpp.

References m_bObservationMode, m_pObsNumList, m_pSnList, Isis::ObservationNumberList::ObservationSize(), and Isis::SerialNumberList::Size().

Referenced by BasisColumns(), Initialize(), initializeCholMod(), PointIndex(), and Solve().

bool Isis::BundleAdjust::Output ( ) [private]

output bundle results to file

Definition at line 6023 of file BundleAdjust.cpp.

References m_bErrorPropagation, m_bOutputCSV, m_bOutputResiduals, m_bOutputStandard, OutputImagesCSV(), OutputNoErrorPropagation(), OutputPointsCSV(), OutputResiduals(), and OutputWithErrorPropagation().

Referenced by Solve(), and SolveCholesky().

bool Isis::BundleAdjust::OutputImagesCSV ( ) [private]

output image data to csv file

Definition at line 7406 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::SerialNumberList::FileName(), Isis::Camera::GetCameraType(), Isis::SpicePosition::GetCenterCoordinate(), Isis::SpicePosition::GetPolynomial(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bErrorPropagation, m_bSolveTwist, m_cmatrixSolveType, m_dGlobalCameraAnglesAprioriSigma, m_dGlobalSpacecraftPositionAprioriSigma, m_Image_Corrections, m_Normals, m_pCnet, m_pLsq, m_pSnList, m_spacecraftPositionSolveType, m_strOutputFilePrefix, m_strSolutionMethod, Isis::RAD2DEG(), and Isis::toString().

Referenced by Output().

bool Isis::BundleAdjust::OutputNoErrorPropagation ( ) [private]

output bundle results to file with no error propagation

For internal use only.

History:: 2011-05-22 Debbie A. Cook - Added commas to make csv header lines consistent for comparer

History:: 2011-06-05 Debbie A. Cook - Fixed output of spacecraft position when it is not part of the bundle

History:: 2011-07-26 Debbie A. Cook - Omitted output of camera angles for radar, which only has spacecraft position

Definition at line 6845 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::ControlPoint::Constrained, Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::SerialNumberList::FileName(), Isis::ControlPoint::Fixed, Isis::ControlPoint::Free, Isis::SpicePosition::GetCenterCoordinate(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlPoint::GetNumberOfRejectedMeasures(), Isis::ControlNet::GetNumPoints(), Isis::SpicePosition::GetPolynomial(), Isis::ControlPoint::GetResidualRms(), Isis::ControlPoint::GetType(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bSolveTwist, m_cmatrixSolveType, m_dGlobalCameraAnglesAprioriSigma, m_dGlobalSpacecraftPositionAprioriSigma, m_dRTM, m_Image_Corrections, m_pCnet, m_Point_AprioriSigmas, m_Point_Corrections, m_pSnList, m_spacecraftPositionSolveType, m_strOutputFilePrefix, Isis::Distance::meters(), Isis::RAD2DEG(), and Isis::SerialNumberList::SerialNumber().

Referenced by Output().

bool Isis::BundleAdjust::OutputPointsCSV ( ) [private]

bool Isis::BundleAdjust::OutputResiduals ( ) [private]

output image coordinate residuals to comma-separated-value file

Definition at line 7341 of file BundleAdjust.cpp.

References Isis::SerialNumberList::FileName(), Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetId(), Isis::ControlPoint::GetMeasure(), Isis::ControlNet::GetNumPoints(), Isis::ControlMeasure::GetResidualMagnitude(), m_pCnet, m_pSnList, m_strOutputFilePrefix, Isis::SerialNumberList::SerialNumber(), and Isis::SerialNumberList::SerialNumberIndex().

Referenced by Output().

bool Isis::BundleAdjust::OutputWithErrorPropagation ( ) [private]

output bundle results to file with error propagation

Definition at line 6364 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::ControlPoint::Constrained, Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::SerialNumberList::FileName(), Isis::ControlPoint::Fixed, Isis::ControlPoint::Free, Isis::SpicePosition::GetCenterCoordinate(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::ControlPoint::GetNumberOfRejectedMeasures(), Isis::ControlNet::GetNumPoints(), Isis::SpicePosition::GetPolynomial(), Isis::ControlPoint::GetResidualRms(), Isis::ControlPoint::GetType(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bSolveRadii, m_bSolveTwist, m_cmatrixSolveType, m_dGlobalCameraAnglesAprioriSigma, m_dGlobalSpacecraftPositionAprioriSigma, m_drms_sigmaLat, m_drms_sigmaLon, m_drms_sigmaRad, m_dRTM, m_Image_Corrections, m_Normals, m_pCnet, m_pLsq, m_Point_AprioriSigmas, m_Point_Corrections, m_pSnList, m_spacecraftPositionSolveType, m_strOutputFilePrefix, m_strSolutionMethod, Isis::Distance::meters(), Isis::RAD2DEG(), and Isis::SerialNumberList::SerialNumber().

Referenced by Output().

int Isis::BundleAdjust::PointIndex ( int i ) const [private]

Return index to basis function for ith point.

Definition at line 5688 of file BundleAdjust.cpp.

References m_bObservationMode, m_nNumPointPartials, m_nPointIndexMap, and Observations().

Referenced by AddPartials(), and Update().

void Isis::BundleAdjust::SetCKDegree ( int degree ) [inline]

Set the degree of the polynomial to fit to the camera angles.

Definition at line 256 of file BundleAdjust.h.

References m_nCKDegree.

void Isis::BundleAdjust::SetDecompositionMethod ( DecompositionMethod method )

Set decomposition method.

Choices are... SpecialK (dense normal equations matrix) Sparse (Cholmod sparse normal equations matrix)

Definition at line 679 of file BundleAdjust.cpp.

References m_decompositionMethod.

void Isis::BundleAdjust::SetObservationMode ( bool observationMode )

This method turns on observation mode and creates the observation number list.

It also checks to make sure the held image list is consistent for all images in an observation.

Is this still going to be necessary. Is the code that uses it still intact?

Definition at line 645 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::SerialNumberList::FileName(), Isis::SerialNumberList::HasSerialNumber(), m_bObservationMode, m_pHeldSnList, m_pObsNumList, m_pSnList, Isis::SerialNumberList::ObservationNumber(), Isis::SerialNumberList::SerialNumber(), Isis::SerialNumberList::Size(), and Isis::IException::User.

bool Isis::BundleAdjust::SetParameterWeights ( ) [private]

set parameter weighting for old SPARSE solution

History:: 2011-04-19 Debbie A. Cook - Added initialization to m_Point_AprioriSigmas for old sparse method case

Definition at line 5859 of file BundleAdjust.cpp.

References ComputeImageParameterWeights(), Isis::ControlPoint::Fixed, Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLatWeight(), Isis::SurfacePoint::GetLocalRadiusWeight(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::SurfacePoint::GetLonWeight(), Isis::ControlNet::GetNumPoints(), Isis::ControlPoint::GetType(), Isis::SerialNumberList::HasSerialNumber(), ImageIndex(), m_bSolveRadii, m_dGlobalLatitudeAprioriSigma, m_dGlobalLongitudeAprioriSigma, m_dGlobalRadiusAprioriSigma, m_dMTR, m_dParameterWeights, m_nBasisColumns, m_nConstrainedImageParameters, m_nConstrainedPointParameters, m_nImageParameters, m_pCnet, m_pHeldSnList, m_pLsq, m_Point_AprioriSigmas, m_pSnList, Isis::Distance::meters(), Isis::SerialNumberList::SerialNumber(), and Isis::SerialNumberList::Size().

Referenced by Solve().

void Isis::BundleAdjust::SetSolutionMethod ( QString str )

This method sets the solution method for solving the matrix and fills the point index map, which is dependent on the solution method.

Definition at line 7937 of file BundleAdjust.cpp.

References FillPointIndexMap(), and m_strSolutionMethod.

void Isis::BundleAdjust::SetSolveCKDegree ( int degree ) [inline]

Set the degree of the polynomial to adjust in the solution.

Definition at line 259 of file BundleAdjust.h.

References m_nsolveCKDegree.

void Isis::BundleAdjust::SetSolveCmatrix ( CmatrixSolveType type )

For which camera angle coefficients do we solve?

Definition at line 686 of file BundleAdjust.cpp.

References _FILEINFO_, m_cmatrixSolveType, m_dGlobalCameraAnglesAprioriSigma, m_nNumberCamAngleCoefSolved, m_nsolveCKDegree, Isis::toString(), and Isis::IException::User.

void Isis::BundleAdjust::SetSolveSpacecraftPosition ( SpacecraftPositionSolveType type )

For which camera position coefficients do we solve?

Definition at line 723 of file BundleAdjust.cpp.

References _FILEINFO_, m_dGlobalSpacecraftPositionAprioriSigma, m_nNumberCamPosCoefSolved, m_nsolveSPKDegree, m_spacecraftPositionSolveType, Isis::toString(), and Isis::IException::User.

void Isis::BundleAdjust::SetSolveSPKDegree ( int degree ) [inline]

Set the degree of the camera position polynomial to adjust in the solution.

Definition at line 266 of file BundleAdjust.h.

References m_nsolveSPKDegree.

void Isis::BundleAdjust::SetSPKDegree ( int degree ) [inline]

Set the degree of the polynomial to fit to the camera position.

Definition at line 262 of file BundleAdjust.h.

References m_nSPKDegree.

double Isis::BundleAdjust::Solve ( )

compute partials for measure

The solve method is an least squares solution for updating the camera pointing. It is iterative as the equations are non-linear. If it does not iterate to a solution in maxIterations it will throw an error. During each iteration it is updating portions of the control net, as well as the instrument pointing in the camera . An error is thrown if it does not converge in the maximum iterations. However, even if an error is thrown the control network will contain the errors at each control measure.

Parameters:

	tol	Maximum pixel error for any control network measurement
	maxIterations	Maximum iterations, if tolerance is never met an iException will be thrown.

Definition at line 3319 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::Statistics::AddData(), AddPartials(), Isis::Statistics::Average(), Isis::ControlNet::AverageResidual(), BasisColumns(), Isis::ControlNet::Camera(), Isis::ControlNet::ComputeApriori(), ComputeBundleStatistics(), ComputeImageParameterWeights(), ComputeNumberPartials(), Isis::ControlNet::ComputeResiduals(), Isis::SpicePosition::GetBaseTime(), Isis::ControlNet::GetMaximumResidual(), Isis::ControlNet::GetNumPoints(), Isis::ControlNet::GetNumValidMeasures(), Isis::SpicePosition::GetPolynomial(), GetSparseParameterCorrections(), Isis::SpicePosition::GetTimeScale(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), IterationSummary(), Isis::LeastSquares::Knowns(), m_bErrorPropagation, m_bObservationMode, m_cmatrixSolveType, m_dConvergenceThreshold, m_dElapsedTime, m_dElapsedTimeErrorProp, m_dError, m_dSigma0, m_nBasisColumns, m_nCKDegree, m_nDegreesOfFreedom, m_nIteration, m_nMaxIterations, m_nObservations, m_nPointingType, m_nPositionType, m_nsolveCKDegree, m_nsolveSPKDegree, m_nSPKDegree, m_nUnknownParameters, m_pCnet, m_pLsq, m_pObsNumList, m_spacecraftPositionSolveType, m_Statsrx, m_Statsrxy, m_Statsry, m_Statsx, m_Statsy, m_strSolutionMethod, Isis::ObservationNumberList::ObservationNumberMapIndex(), Observations(), Isis::ObservationNumberList::ObservationSize(), Output(), Isis::LeastSquares::QRD, Isis::Statistics::Reset(), Isis::LeastSquares::Residuals(), Isis::SpicePosition::SetOverrideBaseTime(), SetParameterWeights(), Isis::SpicePosition::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::Progress::SetText(), Isis::LeastSquares::Solve(), Isis::LeastSquares::SPARSE, Isis::LeastSquares::SparseErrorPropagation(), Isis::Statistics::SumSquare(), Isis::LeastSquares::SVD, Isis::toString(), Isis::Statistics::TotalPixels(), Isis::IException::Unknown, Update(), and Isis::IException::User.

bool Isis::BundleAdjust::SolveCholesky ( )

The solve method is an least squares solution for updating the camera pointing.

It is iterative as the equations are non-linear. If it does not iterate to a solution in maxIterations it will throw an error. During each iteration it is updating portions of the control net, as well as the instrument pointing in the camera . An error is thrown if it does not converge in the maximum iterations. However, even if an error is thrown the control network will contain the errors at each control measure.

Parameters:

	tol	Maximum pixel error for any control network measurement
	maxIterations	Maximum iterations, if tolerance is never met an iException will be thrown.

Definition at line 908 of file BundleAdjust.cpp.

References _FILEINFO_, applyParameterCorrections(), Isis::ControlNet::Camera(), Isis::ControlNet::ComputeApriori(), ComputeImageParameterWeights(), ComputeNumberPartials(), ComputeResiduals(), errorPropagation(), formNormalEquations(), Isis::SpicePosition::GetBaseTime(), Isis::SpicePosition::GetPolynomial(), Isis::SpicePosition::GetTimeScale(), Isis::StatCumProbDistDynCalc::initialize(), Initialize(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::IException::Io, m_bDeltack, m_bErrorPropagation, m_bObservationMode, m_bOutlierRejection, m_cmatrixSolveType, m_cumPro, m_cumProRes, m_dConvergenceThreshold, m_decompositionMethod, m_dElapsedTime, m_dElapsedTimeErrorProp, m_dSigma0, m_Image_Solution, m_maxLikelihoodFlag, m_maxLikelihoodIndex, m_maxLikelihoodQuan, m_nCKDegree, m_nConstrainedImageParameters, m_nConstrainedPointParameters, m_nDegreesOfFreedom, m_nIteration, m_nMaxIterations, m_nObservations, m_Normals, m_nPointingType, m_nPositionType, m_nsolveCKDegree, m_nsolveSPKDegree, m_nSPKDegree, m_nUnknownParameters, m_pCnet, m_pObsNumList, m_spacecraftPositionSolveType, m_wFunc, Isis::ObservationNumberList::ObservationNumberMapIndex(), Isis::ObservationNumberList::ObservationSize(), Output(), Isis::SpicePosition::SetOverrideBaseTime(), Isis::SpicePosition::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::MaximumLikelihoodWFunctions::setTweakingConstant(), solveSystem(), Isis::toString(), Isis::IException::User, Isis::StatCumProbDistDynCalc::value(), and Isis::SparseBlockMatrix::zeroBlocks().

bool Isis::BundleAdjust::solveSystem ( ) [private]

solve normal equations system.

Definition at line 1227 of file BundleAdjust.cpp.

References m_decompositionMethod.

Referenced by SolveCholesky().

Table Isis::BundleAdjust::SpVector ( int index )

Return a table spacecraft vector for the ith cube in the cube list given to the constructor.

Definition at line 5734 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::Spice::instrumentPosition(), and m_pCnet.

bool Isis::BundleAdjust::TriangulatePoint ( const ControlPoint & rPoint ) [private]

Triangulates an individual point.

Parameters:

	rpoint	reference to control point
	maxIterations	Maximum iterations, if tolerance is never met an iException will be thrown.

Returns:: integer Number of points triangulated successfully

Definition at line 4232 of file BundleAdjust.cpp.

Referenced by Triangulation().

int Isis::BundleAdjust::Triangulation ( bool bDoApproximation = false ) [private]

Populate the least squares matrix with measures for a point specific to frame cameras (for now).

Triangulates all points (including control points).

Parameters:

	tol	Maximum pixel error for any control network measurement
	maxIterations	Maximum iterations, if tolerance is never met an iException will be thrown.

Returns:: integer Number of points triangulated successfully

Definition at line 4191 of file BundleAdjust.cpp.

References ApproximatePoint_ClosestApproach(), Isis::ControlNet::GetNumPoints(), m_pCnet, and TriangulatePoint().

void Isis::BundleAdjust::Update ( BasisFunction & basis ) [private]

This method uses the basis function after the matrix has been solved.

The coefficients of the basis function represent the new right ascension, declination, and twist values of the camera. Each is a polynomial based on time. For example, ra = A + B * (t - t0) + C * (t - t0)^2. However, as the function we were solving was non-linear we had to take the dervative to linearize. Therefore we have the change in ra, dec, and twist. Really we have the change in A, B, and C.

Definition at line 5552 of file BundleAdjust.cpp.

References Isis::ControlNet::Camera(), Isis::BasisFunction::Coefficient(), Isis::DEG2RAD(), Isis::Angle::Degrees, Isis::Angle::degrees(), Isis::ControlPoint::Fixed, Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlNet::GetNumPoints(), Isis::SpicePosition::GetPolynomial(), Isis::ControlPoint::GetType(), Isis::SerialNumberList::HasSerialNumber(), ImageIndex(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), m_bSolveRadii, m_bSolveTwist, m_cmatrixSolveType, m_nHeldImages, m_nPointingType, m_nPositionType, m_pCnet, m_pHeldSnList, m_pSnList, m_spacecraftPositionSolveType, m_strSolutionMethod, Isis::Distance::Meters, Isis::Distance::meters(), PointIndex(), Isis::RAD2DEG(), Isis::SerialNumberList::SerialNumber(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

Referenced by Solve().

bool Isis::BundleAdjust::validateNetwork ( ) [private]

control network validation - on the very real chance that the net has not been checked before running the bundle

checks implemented for ... (1) images with 0 or 1 measures

For internal use only.

History:: 2011-08-4 Debbie A. Cook - Changed error message to indicate it fails with one measure as well as no measures.

Definition at line 392 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::SerialNumberList::FileName(), Isis::ControlNet::GetNumberOfMeasuresInImage(), m_pCnet, m_pSnList, Isis::SerialNumberList::SerialNumber(), Isis::SerialNumberList::Size(), Isis::toString(), and Isis::IException::User.

Referenced by Init().

Member Data Documentation

bool Isis::BundleAdjust::m_bCleanUp [private]

for cleanup (i.e. in destructor)

Definition at line 345 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bDeltack [private]

flag indicating deltack was calling app

Definition at line 349 of file BundleAdjust.h.

Referenced by Init(), and SolveCholesky().

bool Isis::BundleAdjust::m_bErrorPropagation [private]

to perform error propagation

Definition at line 338 of file BundleAdjust.h.

Referenced by ComputeBundleStatistics(), Init(), Output(), OutputImagesCSV(), OutputPointsCSV(), Solve(), and SolveCholesky().

bool Isis::BundleAdjust::m_bObservationMode [private]

for observation mode (explain this somewhere)

Definition at line 337 of file BundleAdjust.h.

Referenced by formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), ImageIndex(), Init(), Observations(), PointIndex(), SetObservationMode(), Solve(), and SolveCholesky().

Distance Isis::BundleAdjust::m_BodyRadii[3] [private]

body radii i meters

Definition at line 440 of file BundleAdjust.h.

Referenced by Init().

bool Isis::BundleAdjust::m_bOutlierRejection [private]

to perform automatic outlier detection/rejection

Definition at line 339 of file BundleAdjust.h.

Referenced by SolveCholesky().

bool Isis::BundleAdjust::m_bOutputCSV [private]

to output points and image station data in csv format

Definition at line 343 of file BundleAdjust.h.

Referenced by Init(), and Output().

bool Isis::BundleAdjust::m_bOutputResiduals [private]

to output residuals in csv format

Definition at line 344 of file BundleAdjust.h.

Referenced by Init(), and Output().

bool Isis::BundleAdjust::m_bOutputStandard [private]

to print standard bundle output file (bundleout.txt)

Definition at line 342 of file BundleAdjust.h.

Referenced by Init(), and Output().

bool Isis::BundleAdjust::m_bPrintSummary [private]

to print summary

Definition at line 341 of file BundleAdjust.h.

Referenced by IterationSummary().

bool Isis::BundleAdjust::m_bSimulatedData [private]

indicating simulated (i.e. 'perfect' data)

Definition at line 346 of file BundleAdjust.h.

Referenced by Init().

bool Isis::BundleAdjust::m_bSolvePolyOverHermite [private]

to fit polynomial over existing Hermite

Definition at line 335 of file BundleAdjust.h.

Referenced by Init().

bool Isis::BundleAdjust::m_bSolvePolyOverPointing [private]

to fit polynomial over existing pointing

Definition at line 336 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSolveRadii [private]

to solve for point radii

Definition at line 334 of file BundleAdjust.h.

Referenced by AddPartials(), ComputeBundleStatistics(), ComputeNumberPartials(), Init(), OutputWithErrorPropagation(), SetParameterWeights(), and Update().

bool Isis::BundleAdjust::m_bSolveTwist [private]

to solve for "twist" angle

Definition at line 333 of file BundleAdjust.h.

Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ComputeImageParameterWeights(), ComputeNumberPartials(), Init(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), and Update().

CmatrixSolveType Isis::BundleAdjust::m_cmatrixSolveType [private]

cmatrix solve type (define)

Definition at line 478 of file BundleAdjust.h.

Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ComputeImageParameterWeights(), ComputeNumberPartials(), Init(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), SetSolveCmatrix(), Solve(), SolveCholesky(), and Update().

StatCumProbDistDynCalc* Isis::BundleAdjust::m_cumPro [private]

This class will be used to calculate the cumulative probability distribution of |R^2 residuals|, quantiles of this distribution are used to adjust the maximum likelihood functions dynamically iteration by iteration.

Definition at line 659 of file BundleAdjust.h.

Referenced by maximumLikelihoodSetup(), and SolveCholesky().

StatCumProbDistDynCalc* Isis::BundleAdjust::m_cumProRes [private]

This class keeps track of the cumulative probability distribution of residuals (in unweighted pixels), this is used for reporting, and not for computation.

Definition at line 663 of file BundleAdjust.h.

Referenced by SolveCholesky().

double Isis::BundleAdjust::m_dConvergenceThreshold [private]

bundle convergence threshold

Definition at line 382 of file BundleAdjust.h.

Referenced by Init(), Solve(), and SolveCholesky().

DecompositionMethod Isis::BundleAdjust::m_decompositionMethod [private]

matrix decomp method

Definition at line 476 of file BundleAdjust.h.

Referenced by applyParameterCorrections(), errorPropagation(), formNormalEquations(), Initialize(), SetDecompositionMethod(), SolveCholesky(), and solveSystem().

double Isis::BundleAdjust::m_dElapsedTime [private]

elapsed time for bundle

Definition at line 383 of file BundleAdjust.h.

Referenced by Init(), Solve(), and SolveCholesky().

double Isis::BundleAdjust::m_dElapsedTimeErrorProp [private]

elapsed time for error propagation //!

Definition at line 384 of file BundleAdjust.h.

Referenced by Init(), Solve(), and SolveCholesky().

std::vector<double> Isis::BundleAdjust::m_dEpsilons [private]

vector maintaining total corrections to parameters

Definition at line 442 of file BundleAdjust.h.

Referenced by GetSparseParameterCorrections().

double Isis::BundleAdjust::m_dError [private]

error

Definition at line 381 of file BundleAdjust.h.

Referenced by Init(), IterationSummary(), and Solve().

std::vector<double> Isis::BundleAdjust::m_dGlobalCameraAnglesAprioriSigma [private]

camera angles apriori sigmas: size is # camera angle coefficients solved

Definition at line 423 of file BundleAdjust.h.

Referenced by OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), and SetSolveCmatrix().

double Isis::BundleAdjust::m_dGlobalLatitudeAprioriSigma [private]

latitude apriori sigma

Definition at line 411 of file BundleAdjust.h.

Referenced by Init(), and SetParameterWeights().

double Isis::BundleAdjust::m_dGlobalLongitudeAprioriSigma [private]

longitude apriori sigma

Definition at line 412 of file BundleAdjust.h.

Referenced by Init(), and SetParameterWeights().

double Isis::BundleAdjust::m_dGlobalRadiusAprioriSigma [private]

radius apriori sigma

Definition at line 413 of file BundleAdjust.h.

Referenced by Init(), and SetParameterWeights().

std::vector<double> Isis::BundleAdjust::m_dGlobalSpacecraftPositionAprioriSigma [private]

camera position apriori sigmas: size is # camera position coefficients solved

Definition at line 418 of file BundleAdjust.h.

Referenced by OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), and SetSolveSpacecraftPosition().

double Isis::BundleAdjust::m_dGlobalSurfaceXAprioriSigma [private]

surface point x apriori sigma

Definition at line 414 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalSurfaceYAprioriSigma [private]

surface point y apriori sigma

Definition at line 415 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalSurfaceZAprioriSigma [private]

surface point z apriori sigma

Definition at line 416 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dMTR [private]

meters to radians conversion factor (body specific)

Definition at line 439 of file BundleAdjust.h.

Referenced by Init(), and SetParameterWeights().

std::vector<double> Isis::BundleAdjust::m_dParameterWeights [private]

vector of parameter weights

Definition at line 443 of file BundleAdjust.h.

Referenced by SetParameterWeights().

double Isis::BundleAdjust::m_dRejectionLimit [private]

current rejection limit

apriori sigmas from user interface < for points, these override values control-net except for "held" & "fixed" points

Definition at line 405 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dRejectionMultiplier [private]

outlier rejection multiplier

Definition at line 340 of file BundleAdjust.h.

Referenced by Init().

double Isis::BundleAdjust::m_drms_rx [private]

rms of x residuals

Definition at line 386 of file BundleAdjust.h.

Referenced by ComputeResiduals().

double Isis::BundleAdjust::m_drms_rxy [private]

rms of all x and y residuals

Definition at line 388 of file BundleAdjust.h.

Referenced by ComputeResiduals().

double Isis::BundleAdjust::m_drms_ry [private]

rms of y residuals

Definition at line 387 of file BundleAdjust.h.

Referenced by ComputeResiduals().

double Isis::BundleAdjust::m_drms_sigmaLat [private]

rms of adjusted Latitude sigmas

Definition at line 389 of file BundleAdjust.h.

Referenced by ComputeBundleStatistics(), and OutputWithErrorPropagation().

double Isis::BundleAdjust::m_drms_sigmaLon [private]

rms of adjusted Longitude sigmas

Definition at line 390 of file BundleAdjust.h.

Referenced by ComputeBundleStatistics(), and OutputWithErrorPropagation().

double Isis::BundleAdjust::m_drms_sigmaRad [private]

rms of adjusted Radius sigmas

Definition at line 391 of file BundleAdjust.h.

Referenced by ComputeBundleStatistics(), and OutputWithErrorPropagation().

double Isis::BundleAdjust::m_dRTM [private]

radians to meters conversion factor (body specific)

Definition at line 438 of file BundleAdjust.h.

Referenced by Init(), OutputNoErrorPropagation(), OutputPointsCSV(), and OutputWithErrorPropagation().

double Isis::BundleAdjust::m_dSigma0 [private]

std deviation of unit weight

Definition at line 385 of file BundleAdjust.h.

Referenced by Solve(), and SolveCholesky().

boost::numeric::ublas::vector<double> Isis::BundleAdjust::m_Image_Corrections [private]

image parameter cumulative correction vector

Definition at line 506 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ComputeResiduals(), GetSparseParameterCorrections(), Initialize(), OutputImagesCSV(), OutputNoErrorPropagation(), and OutputWithErrorPropagation().

boost::numeric::ublas::vector<double> Isis::BundleAdjust::m_Image_Solution [private]

image parameter solution vector

Definition at line 507 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), Initialize(), and SolveCholesky().

bool Isis::BundleAdjust::m_maxLikelihoodFlag[3] [private]

Up to three different maximum likelihood estimation models can be used in succession, these flags record if they are enabled.

Definition at line 667 of file BundleAdjust.h.

Referenced by maximumLikelihoodSetup(), and SolveCholesky().

int Isis::BundleAdjust::m_maxLikelihoodIndex [private]

This count keeps track of which stadge of the maximum likelihood adjustment the bundle is currently on.

Definition at line 671 of file BundleAdjust.h.

Referenced by SolveCholesky().

double Isis::BundleAdjust::m_maxLikelihoodQuan[3] [private]

Quantiles of the |residual| distribution to be used for tweaking constants of the maximum probability models.

Definition at line 675 of file BundleAdjust.h.

Referenced by maximumLikelihoodSetup(), and SolveCholesky().

int Isis::BundleAdjust::m_nBasisColumns [private]

number of columns (parameters) in normal equations

Definition at line 375 of file BundleAdjust.h.

Referenced by AddPartials(), SetParameterWeights(), and Solve().

int Isis::BundleAdjust::m_nCKDegree [private]

ck degree (define)

Definition at line 368 of file BundleAdjust.h.

Referenced by Init(), SetCKDegree(), Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nConstrainedImageParameters [private]

number of constrained image parameters

Definition at line 361 of file BundleAdjust.h.

Referenced by SetParameterWeights(), and SolveCholesky().

int Isis::BundleAdjust::m_nConstrainedPointParameters [private]

number of constrained point parameters

Definition at line 360 of file BundleAdjust.h.

Referenced by formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), SetParameterWeights(), and SolveCholesky().

int Isis::BundleAdjust::m_nDegreesOfFreedom [private]

degrees of freedom //!

Definition at line 362 of file BundleAdjust.h.

Referenced by Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nFixedPoints [private]

number of 'fixed' (ground) points (define)

Definition at line 364 of file BundleAdjust.h.

Referenced by BasisColumns(), and FillPointIndexMap().

int Isis::BundleAdjust::m_nHeldImages [private]

number of 'held' images (define)

Definition at line 366 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), Init(), IsHeld(), and Update().

int Isis::BundleAdjust::m_nHeldObservations [private]

number of 'held' observations (define)

Definition at line 367 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nHeldPoints [private]

number of 'held' points (define)

Definition at line 363 of file BundleAdjust.h.

std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > Isis::BundleAdjust::m_NICs [private]

< array of NICs (see Brown, 1976)

Definition at line 504 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), and Initialize().

int Isis::BundleAdjust::m_nIgnoredPoints [private]

number of ignored points

Definition at line 365 of file BundleAdjust.h.

Referenced by FillPointIndexMap().

std::vector<int> Isis::BundleAdjust::m_nImageIndexMap [private]

index into normal equations of image parameter positions

Definition at line 379 of file BundleAdjust.h.

Referenced by ImageIndex(), and Init().

int Isis::BundleAdjust::m_nImageParameters [private]

number of image parameters

Definition at line 358 of file BundleAdjust.h.

Referenced by BasisColumns(), and SetParameterWeights().

int Isis::BundleAdjust::m_nIteration [private]

current iteration

Definition at line 352 of file BundleAdjust.h.

Referenced by IterationSummary(), Solve(), and SolveCholesky().

boost::numeric::ublas::vector< double > Isis::BundleAdjust::m_nj [private]

array of Qs (see Brown, 1976)

Definition at line 498 of file BundleAdjust.h.

Referenced by formNormalEquations_CHOLMOD(), and formNormalEquations_SPECIALK().

int Isis::BundleAdjust::m_nMaxIterations [private]

maximum iterations

Definition at line 353 of file BundleAdjust.h.

Referenced by Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nNumberCamAngleCoefSolved [private]

number of camera angle coefficients in solution

Definition at line 370 of file BundleAdjust.h.

Referenced by ComputeNumberPartials(), Init(), and SetSolveCmatrix().

int Isis::BundleAdjust::m_nNumberCamPosCoefSolved [private]

number of camera position coefficients in solution

Definition at line 373 of file BundleAdjust.h.

Referenced by ComputeNumberPartials(), Init(), and SetSolveSpacecraftPosition().

int Isis::BundleAdjust::m_nNumImagePartials [private]

number of image-related partials

Definition at line 354 of file BundleAdjust.h.

Referenced by BasisColumns(), ComputeImageParameterWeights(), ComputeNumberPartials(), formNormalEquations_CHOLMOD(), and Initialize().

int Isis::BundleAdjust::m_nNumPointPartials [private]

number of point-related partials

Definition at line 355 of file BundleAdjust.h.

Referenced by BasisColumns(), ComputeNumberPartials(), and PointIndex().

int Isis::BundleAdjust::m_nObservations [private]

number of image coordinate observations

Definition at line 356 of file BundleAdjust.h.

Referenced by formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), Solve(), and SolveCholesky().

boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper, boost::numeric::ublas::column_major > Isis::BundleAdjust::m_Normals [private]

reduced normal equations matrix

Definition at line 494 of file BundleAdjust.h.

Referenced by Initialize(), OutputImagesCSV(), OutputWithErrorPropagation(), and SolveCholesky().

std::vector<int> Isis::BundleAdjust::m_nPointIndexMap [private]

index into normal equations of point parameter positions

Definition at line 378 of file BundleAdjust.h.

Referenced by FillPointIndexMap(), and PointIndex().

SpiceRotation::Source Isis::BundleAdjust::m_nPointingType [private]

type of SpiceRotation interpolation

Definition at line 377 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), Init(), Solve(), SolveCholesky(), and Update().

int Isis::BundleAdjust::m_nPointParameters [private]

total number of point parameters (including constrained)

Definition at line 359 of file BundleAdjust.h.

SpicePosition::Source Isis::BundleAdjust::m_nPositionType [private]

type of SpicePosition interpolation

Definition at line 376 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), Init(), Solve(), SolveCholesky(), and Update().

int Isis::BundleAdjust::m_nRejectedObservations [private]

number of rejected image coordinate observations //!

Definition at line 357 of file BundleAdjust.h.

Referenced by Init(), and Initialize().

int Isis::BundleAdjust::m_nsolveCKDegree [private]

solve cad degree (define)

Definition at line 369 of file BundleAdjust.h.

Referenced by Init(), SetSolveCKDegree(), SetSolveCmatrix(), Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nsolveSPKDegree [private]

solve spk degree (define)

Definition at line 372 of file BundleAdjust.h.

Referenced by Init(), SetSolveSpacecraftPosition(), SetSolveSPKDegree(), Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nSPKDegree [private]

spk degree (define)

Definition at line 371 of file BundleAdjust.h.

Referenced by Init(), SetSPKDegree(), Solve(), and SolveCholesky().

int Isis::BundleAdjust::m_nUnknownParameters [private]

total number of parameters to solve for

Definition at line 374 of file BundleAdjust.h.

Referenced by formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), Init(), Initialize(), Solve(), and SolveCholesky().

Isis::SerialNumberList* Isis::BundleAdjust::m_pHeldSnList [private]

list of held image serial numbers

Definition at line 456 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), CheckHeldList(), Init(), IsHeld(), SetObservationMode(), SetParameterWeights(), and Update().

Isis::LeastSquares* Isis::BundleAdjust::m_pLsq [private]

'LeastSquares' object

Definition at line 453 of file BundleAdjust.h.

Referenced by AddPartials(), GetSparseParameterCorrections(), Init(), OutputImagesCSV(), OutputWithErrorPropagation(), SetParameterWeights(), and Solve().

Isis::ObservationNumberList* Isis::BundleAdjust::m_pObsNumList [private]

list of observation numbers

vectors for statistical computations...

Definition at line 457 of file BundleAdjust.h.

Referenced by ImageIndex(), Init(), Observations(), SetObservationMode(), Solve(), and SolveCholesky().

std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > Isis::BundleAdjust::m_Point_AprioriSigmas [private]

vector of apriori sigmas for 3D point parameters

Definition at line 511 of file BundleAdjust.h.

Referenced by Initialize(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), and SetParameterWeights().

std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > Isis::BundleAdjust::m_Point_Corrections [private]

vector of corrections to 3D point parameter

Definition at line 510 of file BundleAdjust.h.

Referenced by applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ComputeResiduals(), GetSparseParameterCorrections(), Initialize(), OutputNoErrorPropagation(), OutputPointsCSV(), and OutputWithErrorPropagation().

std::vector< boost::numeric::ublas::bounded_vector< double, 3 > > Isis::BundleAdjust::m_Point_Weights [private]

vector of weights for 3D point parameters

Definition at line 512 of file BundleAdjust.h.

Referenced by ComputeResiduals(), and Initialize().

Isis::SerialNumberList* Isis::BundleAdjust::m_pSnList [private]

list of image serial numbers

Definition at line 455 of file BundleAdjust.h.

Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), CheckHeldList(), ComputeBundleStatistics(), FileName(), formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), Init(), IsHeld(), Observations(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputResiduals(), OutputWithErrorPropagation(), SetObservationMode(), SetParameterWeights(), Update(), and validateNetwork().

SpacecraftPositionSolveType Isis::BundleAdjust::m_spacecraftPositionSolveType [private]

spacecraft position solve type (define)

Definition at line 479 of file BundleAdjust.h.

Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ComputeImageParameterWeights(), ComputeNumberPartials(), Init(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputWithErrorPropagation(), SetSolveSpacecraftPosition(), Solve(), SolveCholesky(), and Update().

Statistics Isis::BundleAdjust::m_Statsrx [private]

x residuals

Definition at line 462 of file BundleAdjust.h.

Referenced by ComputeResiduals(), and Solve().

Statistics Isis::BundleAdjust::m_Statsrxy [private]

xy residuals

Definition at line 464 of file BundleAdjust.h.

Referenced by ComputeResiduals(), and Solve().

Statistics Isis::BundleAdjust::m_Statsry [private]

y residuals

Definition at line 463 of file BundleAdjust.h.

Referenced by ComputeResiduals(), and Solve().

Statistics Isis::BundleAdjust::m_Statsx [private]

x errors

Definition at line 460 of file BundleAdjust.h.

Referenced by AddPartials(), and Solve().

Statistics Isis::BundleAdjust::m_Statsy [private]

y errors

Definition at line 461 of file BundleAdjust.h.

Referenced by AddPartials(), and Solve().

QString Isis::BundleAdjust::m_strCnetFileName [private]

Control Net file specification.

Definition at line 448 of file BundleAdjust.h.

QString Isis::BundleAdjust::m_strOutputFilePrefix [private]

output file prefix

pointers to...

Definition at line 450 of file BundleAdjust.h.

Referenced by OutputImagesCSV(), OutputNoErrorPropagation(), OutputPointsCSV(), OutputResiduals(), and OutputWithErrorPropagation().

QString Isis::BundleAdjust::m_strSolutionMethod [private]

solution method string (QR,SVD,SPARSE-LU,SPECIALK)

Definition at line 449 of file BundleAdjust.h.

Referenced by AddPartials(), BasisColumns(), ComputeNumberPartials(), FillPointIndexMap(), Init(), Initialize(), OutputImagesCSV(), OutputWithErrorPropagation(), SetSolutionMethod(), Solve(), and Update().

MaximumLikelihoodWFunctions* Isis::BundleAdjust::m_wFunc[3] [private]

This class is used to reweight observations in order to achieve more robust parameter estimation, up to three different maximum likelihood estimation models can be used in succession.

Definition at line 655 of file BundleAdjust.h.

Referenced by maximumLikelihoodSetup(), and SolveCholesky().

The documentation for this class was generated from the following files:

src/control/objs/BundleAdjust/BundleAdjust.h
src/control/objs/BundleAdjust/BundleAdjust.cpp

Isis::BundleAdjust Class Reference

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