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Isis 3.0 Object Programmers' Reference |
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#include <BundleAdjust.h>

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. | |
For internal use only.
Definition at line 155 of file BundleAdjust.h.
| 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.
| rpoint | reference to control point | |
| maxIterations | Maximum iterations, if tolerance is never met an iException will be thrown. |
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] |
flags...
Definition at line 5015 of file BundleAdjust.cpp.
References Isis::Statistics::AddData(), Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::ControlPoint::GetMeasure(), Isis::ControlNet::GetNumPoints(), m_bErrorPropagation, m_bSolveRadii, m_drms_sigmaLat, m_drms_sigmaLon, m_drms_sigmaRad, m_pCnet, m_pSnList, Isis::Distance::meters(), Isis::Statistics::Rms(), and Isis::SerialNumberList::SerialNumberIndex().
Referenced by Solve().
| 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.
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.
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.
| 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.
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] |
output point data to csv file
Definition at line 7237 of file BundleAdjust.cpp.
References Isis::ControlPoint::Constrained, Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::ControlPoint::Fixed, Isis::ControlPoint::Free, 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::ControlPoint::GetResidualRms(), Isis::ControlPoint::GetType(), Isis::Displacement::kilometers(), Isis::Distance::kilometers(), m_bErrorPropagation, m_dRTM, m_pCnet, m_Point_Corrections, m_strOutputFilePrefix, and Isis::Distance::meters().
Referenced by Output().
| 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
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.
| 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.
| 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.
| rpoint | reference to control point | |
| maxIterations | Maximum iterations, if tolerance is never met an iException will be thrown. |
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).
| 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 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.
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().
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] |
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.
bool Isis::BundleAdjust::m_bOutputResiduals [private] |
to output residuals in csv format
Definition at line 344 of file BundleAdjust.h.
bool Isis::BundleAdjust::m_bOutputStandard [private] |
to print standard bundle output file (bundleout.txt)
Definition at line 342 of file BundleAdjust.h.
bool Isis::BundleAdjust::m_bPrintSummary [private] |
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().
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().
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] |
double Isis::BundleAdjust::m_drms_rx [private] |
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] |
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.
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::ControlNet* Isis::BundleAdjust::m_pCnet [private] |
'ControlNet' object
Definition at line 454 of file BundleAdjust.h.
Referenced by AddPartials(), applyParameterCorrections_CHOLMOD(), applyParameterCorrections_SPECIALK(), ApproximatePoint_ClosestApproach(), BasisColumns(), Cmatrix(), ComputeBundleStatistics(), ComputeResiduals(), FillPointIndexMap(), formNormalEquations_CHOLMOD(), formNormalEquations_SPECIALK(), GetSparseParameterCorrections(), Init(), Initialize(), OutputImagesCSV(), OutputNoErrorPropagation(), OutputPointsCSV(), OutputResiduals(), OutputWithErrorPropagation(), SetParameterWeights(), Solve(), SolveCholesky(), SpVector(), Triangulation(), Update(), and validateNetwork().
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().
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().
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] |
Statistics Isis::BundleAdjust::m_Statsy [private] |
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().