ISIS Application Documentation

jigsaw

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Improves camera pointing and a whole lot more!

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Description

The jigsaw application performs a bundle adjustment on a group of overlapping Isis, level 1, cubes from framing and/or line-scan cameras. The adjustment simultaneously defines the selected image geometry information (camera pointing, spacecraft position) and control point coordinates (x,y,z or lat,lon,radius) to reduce boundary mismatches in mosaics of the images.

This functionality is demonstrated below in a zoomed-in area of a mosaic of a pair of overlapping Messenger images. In the before jigsaw mosaic on the left (uncontrolled), the features on the edges of the images do not match. In the after jigsaw mosaic on the right (controlled), the crater edges meet correctly and the seam between the two images is no longer visible.

The jigsaw application assumes spiceinit has been run on the input cubes so that SPICE is included in the Isis cube labels in the Kernels group. In order to run the program, the user must provide a list of input cubes, an input control net, the name of an output control net, and the adjustment parameters. jigsaw outputs a new control net that includes the initial state of the points in the network and their final state after the adjustment. The initial states of the points are tagged as a priori in the control net, and their final states are tagged as adjusted. The measured sample/line positions associated with the control points in the net are not changed. SPICE in the cube labels is updated at the end of the adjustment only if the bundle converges and the UPDATE parameter is selected.

Optional output files can be selected to provide more information for analyzing the results. BUNDLEOUT_TXT provides an overall summary of the bundle adjustment. It lists the user input parameters selected and tables of statistics for both the images and the points. The image statistics can also be written to a separate CSV file and likewise for the point statistics with the OUTPUT_CSV option selected. RESIDUALS_CSV provides a table of the measured image coordinates and the final sample, line, and overall residuals in both millimeters and pixels.

The functional model for the bundle adjustment is the collinearity condition. It stipulates that the camera perspective center, a ground point, and its associated image point measurement be collinear. The diagram below demonstrates the collinear condition in a bundle adjustment. The vectors formed by connecting each object space point (target surface x,y,z) and its corresponding image space points (sample,line) form a bundle of light rays.

Kraus, Karl., 1993. Photogrammetry Vol. I., Fundamentals and Standard Processes, Der. Dümmler Verlag, Bonn, Germany, ISBN 3-427-78684-6, 397 pages.

Relevant Documentation

For information on what the original jigsaw code was based on checkout Rand Notebook

Known Issues

Running jigsaw with a control net containing JigsawRejected flags may result in bundle failure
When running jigsaw with Outlier Rejection turned on, control points and/or control measures may be flagged as JigsawRejected in the output control net file. If this output net file is then used in a subsequent jigsaw run, these points and measures will be erroneously ignored, potentially causing the bundle adjustment to fail.
--Workarounds

Run jigsaw with Outlier Rejection off.

Do not use the output control net file in subsequent jigsaw runs.

Convert the output control net file from binary to PVL and back using cnetbin2pvl and cnetpvl2bin. This will clear the JigsawRejected flags.

Solving for the target body radii (triaxial or mean) is NOT possible and likely increases error in the solve.
With the current jigsaw implementation, it is NOT possible to individually solve for either the mean or triaxial radii as seperate calculations in the bundle adjustment. More specifically, the target body radii has no effect when solving for individual points and thus cannot be solved for in the bundle. A local radii solve is already part of the sequence of equations that jigsaw uses to compute various partial derivatives to populate the solve matrix. A seperate mean or triaxial radii solve can be applied to the target body and the partials from this separate application are added to the solve matrix. This option adds additional computation time to jigsaw and creates additional uncertainty/error in the bundle adjust. We advise the mean and triaxial radii solve be avoided.

If you are trying to generate a spheroid from a control network there are other programs that can do this for you. An easier but more naive method is ingesting the OUTPUT_CSV from your network, gather local radii information from those points, then generate a sphereiod from those local radii.

Parameter Groups

Files

Name	Description
FROMLIST	List of cubes in the input control network
HELDLIST	List of (non-overlapping) cubes to hold in the adjustment
CNET	Input control network
ONET	Output control network
SCCONFIG	File containing Camera/Spacecraft parameters

Solve Options

Name	Description
OBSERVATIONS	Keep instances of the same observation in different cube files the same
RADIUS	Solve for local radii of points
UPDATE	Update cube label
OUTLIER_REJECTION	Auto-rejection of outliers
REJECTION_MULTIPLIER	Rejection multiplier
ERRORPROPAGATION	Compute variance-covariance matrix

Maximum Likelihood Estimation

Name	Description
MODEL1	A maximum likelihood estimation model selection
MAX_MODEL1_C_QUANTILE	Quantile of the \|residual\| distribution used to set the tweaking constant of the maximum likelihood estimation model
MODEL2	A maximum likelihood estimation model selection
MAX_MODEL2_C_QUANTILE	Quantile of the \|residual\| distribution used to set the tweaking constant of the maximum likelihood estimation model
MODEL3	A maximum likelihood estimation model selection
MAX_MODEL3_C_QUANTILE	Quantile of the \|residual\| distribution used to set the tweaking constant of the maximum likelihood estimation model

Convergence Criteria

Name	Description
SIGMA0	Standard deviation of unit weight
MAXITS	Maximum number of iterations

Camera Pointing Options

Name	Description
CKDEGREE	Degree of polynomial fit to original camera angles
CKSOLVEDEGREE	The degree of the polynomial being fit to in the bundle adjustment
CAMSOLVE	Camera pointing parameters to include in the bundle adjustment
TWIST	Solve for twist
OVEREXISTING	Fit polynomial over the existing pointing

Spacecraft Options

Name	Description
SPKDEGREE	Degree of polynomial fit to original camera position
SPKSOLVEDEGREE	The degree of the camera position polynomial being fit to in the bundle adjustment.
SPSOLVE	Spacecraft position parameters to include in the adjustment
OVERHERMITE	Fit polynomial over the existing Hermite spline

Community Sensor Model Options

Name	Description
CSMSOLVESET	Specify a set of a CSM parameters to solve for.
CSMSOLVETYPE	Specify a type of a CSM parameters to solve for.
CSMSOLVELIST	Specify an explicit list of CSM parameters to solve for.

Target Body

Name	Description
SOLVETARGETBODY	Solve for target body parameters. The parameters, their a priori values, and uncertainties are input using a PVL file specified by TBPARAMETERS below.
TBPARAMETERS	File containing target body parameters to solve for, their a priori values and uncertainties.

Control Point Parameters

Name	Description
CONTROL_POINT_COORDINATE_TYPE_BUNDLE	Coordinate type to use for bundling and outputting control points
CONTROL_POINT_COORDINATE_TYPE_REPORTS	Coordinate type to use for bundling and outputting control points

Parameter Uncertainties

Name	Description
POINT_LATITUDE_SIGMA	Global latitude uncertainty for all points (meters)
POINT_LONGITUDE_SIGMA	Global longitude uncertainty for all points (meters)
POINT_RADIUS_SIGMA	Global radius uncertainty for all points (meters)
POINT_X_SIGMA	Global body-fixed X uncertainty for all points (meters)
POINT_Y_SIGMA	Global body-fixed X uncertainty for all points (meters)
POINT_Z_SIGMA	Global body-fixed X uncertainty for all points (meters)
SPACECRAFT_POSITION_SIGMA	Global uncertainty for spacecraft coordinates (meters)
SPACECRAFT_VELOCITY_SIGMA	Global uncertainty for spacecraft velocity (meters/second)
SPACECRAFT_ACCELERATION_SIGMA	Global uncertainty for spacecraft acceleration (meters/second/second)
CAMERA_ANGLES_SIGMA	global uncertainty for camera angles (decimal degrees)
CAMERA_ANGULAR_VELOCITY_SIGMA	Global uncertainty for camera angular velocity (decimal degrees/second)
CAMERA_ANGULAR_ACCELERATION_SIGMA	Global uncertainty for camera angular acceleration (decimal degrees/second/second)

Output Options

Name	Description
FILE_PREFIX	Output file prefix
BUNDLEOUT_TXT	Standard bundle output file - bundleout.txt
IMAGESCSV	Outputs image data (body-fixed) to csv file - bundleout_images.csv
OUTPUT_CSV	Outputs point and image data (body-fixed) to csv file - bundleout_points.csv
RESIDUALS_CSV	Outputs image coordinate residuals to csv file - residuals.csv

Files: FROMLIST

Description

This file contains a list of all cubes in the control network

Type	filename
File Mode	input
Filter	.txt .lis

Files: HELDLIST

Description

This file contains a list of all cubes whose orientation and position will be held in the adjustment. These images will still be included in the solution, but their camera orientation and spacecraft position will be constrained to keep the values from changing. This is an optional parameter and the default is to not hold any of the images. Note that held images must not overlap each other to work properly.

Type	filename
File Mode	input
Internal Default	none
Filter	.txt .lis

Files: CNET

Description

This file is a control network generated from programs such as autoseed or qnet. It contains the control points and associated measures.

Type	filename
File Mode	input
Filter	*.net

Files: ONET

Description

This output file contains the updated control network with the final coordinates of the control points and residuals for each measurement.

Type	filename
File Mode	output
Filter	*.net

Files: SCCONFIG

Description

This file contains the Camera/Spacecraft parameters to use when processing images from different sensors. This file should be in PVL format. It should contain an object called SensorParameters with one group per spacecraft/instrument combination. The SpacecraftName and InstrumentId keywords in the Instrument group of an image file are used to create the name of each group in the PVL file. The group pertaining to each spacecraft/instrument should contain the keyword/value pairs needed to process images taken with that sensor: CKDEGREE, CKSOLVEDEGREE, CAMSOLVE, TWIST, OVEREXISTING, SPKDEGREE, SPKSOLVEDEGREE, SPSOLVE, OVERHERMITE, SPACECRAFT_POSITION_SIGMA, SPACECRAFT_VELOCITY_SIGMA, SPACECRAFT_ACCELERATION_SIGMA, CAMERA_ANGLES_SIGMA, CAMERA_ANGULAR_VELOCITY_SIGMA, CAMERA_ANGULAR_ACCELERATION_SIGMA. If any of these keywords are missing, then their defaults will be used. There is an example template at $ISISROOT/appdata/templates/jigsaw/SensorParameters.pvl that can be used as a guide.

Type	filename
File Mode	input
Exclusions	CKDEGREE CKSOLVEDEGREE CAMSOLVE OVEREXISTING SPKDEGREE SPKSOLVEDEGREE SPSOLVE OVERHERMITE CAMERA_ANGLES_SIGMA CAMERA_ANGULAR_VELOCITY_SIGMA CAMERA_ANGULAR_ACCELERATION_SIGMA SPACECRAFT_POSITION_SIGMA SPACECRAFT_VELOCITY_SIGMA SPACECRAFT_ACCELERATION_SIGMA
Filter	*.pvl

Solve Options: OBSERVATIONS

Description

This option will solve for SPICE on all cubes with a matching observation number as though they were a single observation. For most missions, the default observation number is equivalent to the serial number of the cube, and a single cube is an observation. However, for the Lunar Orbiter mission, an image has a defined observation number that is a substring of its serial number. This feature allows the three subframes of a Lunar Orbiter High Resolution frame to be treated as a single observation when this option is used; otherwise, each subframe is adjusted independently.

Type	boolean
Default	No

Solve Options: RADIUS

Description

Select this option to solve for the local radius of each control point. If this button is not turned on, the radii of the points will not change from the cube's shape model.

Type	boolean
Default	No
Inclusions	POINT_RADIUS_SIGMA

Solve Options: UPDATE

Description

When this option is selected, the application will update the labels of the individual cubes in the FROMLIST with the final values from the solution if the adjustment converges. The results are written to the SPICE blobs attached to the cube, overwriting the previous values. If this option is not selected, the cube files are not changed. All other output files are still created.

Type	boolean
Default	No

Solve Options: OUTLIER_REJECTION

Description

Select this option to perform automatic outlier detection and rejection.

Type	boolean
Default	No
Exclusions	MODEL1 MODEL2 MODEL3 MAX_MODEL1_C_QUANTILE MAX_MODEL2_C_QUANTILE MAX_MODEL3_C_QUANTILE
Inclusions	REJECTION_MULTIPLIER

Solve Options: REJECTION_MULTIPLIER

Description

Rejection multiplier

Type	double
Default	3.0
Inclusions	OUTLIER_REJECTION

Solve Options: ERRORPROPAGATION

Description

Select this option to compute the variance-covariance matrix of the parameters. The parameter uncertainties can be computed from this matrix.

Type	boolean
Default	No

Maximum Likelihood Estimation: MODEL1

Description

A maximum likelihood estimation model selection.

Type

string

Default

NONE

Option List:

Option

Brief

Description

NONE

None: no tier one maximum likelihood estimation

Exclusions

MODEL2
MODEL3
MAX_MODEL1_C_QUANTILE
MAX_MODEL2_C_QUANTILE
MAX_MODEL3_C_QUANTILE

HUBER

Huber: approximates the L2 norm near 0, and the L1 norm thereafter. Has one continuous derivative.

A highly recommended model that works well in many situations.

Exclusions

REJECTION_MULTIPLIER
OUTLIER_REJECTION
ERRORPROPAGATION

HUBER_MODIFIED

Huber Modified: approximates the L2 norm near 0 and the L1 norm thereafter. Has two continuous derivatives.

An adaptation of the highly recommended Huber model that has two continuous derivatives.

Exclusions

REJECTION_MULTIPLIER
OUTLIER_REJECTION
ERRORPROPAGATION

Maximum Likelihood Estimation: MAX_MODEL1_C_QUANTILE

Description

The tweaking constant has different meanings depending on the model being used: Huber models: The point at which the transformation motion from L2 to L1 norms takes place. Recommended quantile: 0.5 Welsch model: Residuals whose absolute value is twice the tweaking constant are approaching negligible significance. Recommended quantile: 0.7 Chen model: Residuals whose absolute value is greater than the tweaking constant are totally ignored. Recommended quantile: > 0.9

Type	double
Default	0.5
Minimum	0 (exclusive)
Maximum	1 (exclusive)

Maximum Likelihood Estimation: MODEL2

Description

A maximum likelihood estimation model selection.

Type

string

Default

NONE

Option List:

Option	Brief	Description
NONE	None: no tier two maximum likelihood estimation	None: no tier two maximum likelihood estimation Exclusions MODEL3 MAX_MODEL2_C_QUANTILE MAX_MODEL3_C_QUANTILE
HUBER	Huber: approximates the L2 norm near 0, and the L1 norm thereafter. Has one continuous derivative.	A highly recommended model that works well in many situations.
HUBER_MODIFIED	Huber Modified: approximates the L2 norm near 0 and the L1 norm thereafter. Has two continuous derivatives.	An adaptation of the highly recommended Huber model that has two continuous derivatives.
WELSCH	Welsch: approximates the L2 norm near 0, but then decays exponentially to zero.	This model reduces the significance of large residuals more aggressively than Huber. Large residuals will have less influence than small residuals, and they approach negligibility as they approach infinity. Measures can be effectively 'removed' by this method, which may cause singularities and/or islands.
CHEN	Chen: a highly aggressive method that intentionally removes the largest few percent of residuals.	This method dramatically increases the influence of smaller residuals (beyond the L2 norm) while simultaneously totally ignoring the largest few percent of the residuals.

Maximum Likelihood Estimation: MAX_MODEL2_C_QUANTILE

Description

Type	double
Default	0.5
Minimum	0 (exclusive)
Maximum	1 (exclusive)

Maximum Likelihood Estimation: MODEL3

Description

A maximum likelihood estimation model selection.

Type

string

Default

NONE

Option List:

Option	Brief	Description
NONE	None: no tier three maximum likelihood estimation	None: no tier three maximum likelihood estimation Exclusions MAX_MODEL3_C_QUANTILE
HUBER	Huber: approximates the L2 norm near 0, and the L1 norm thereafter. Has one continuous derivative.	A highly recommended model that works well in many situations.
HUBER_MODIFIED	Huber Modified: approximates the L2 norm near 0 and the L1 norm thereafter. Has two continuous derivatives.	An adaptation of the highly recommended Huber model that has two continuous derivatives.
WELSCH	Welsch: approximates the L2 norm near 0, but then decays exponentially to zero.	This model reduces the significance of large residuals more aggressively than Huber. Large residuals will have less influence than small residuals, and they approach negligibility as they approach infinity. Measures can be effectively 'removed' by this method, which may cause singularities and/or islands.
CHEN	Chen: a highly aggressive method that intentionally removes the largest few percent of residuals.	This method dramatically increases the influence of smaller residuals (beyond the L2 norm) while simultaneously totally ignoring the largest residuals.

Maximum Likelihood Estimation: MAX_MODEL3_C_QUANTILE

Description

Type	double
Default	0.5
Minimum	0 (exclusive)
Maximum	1 (exclusive)

Convergence Criteria: SIGMA0

Description

Converges on stabilization of Sigma0. Convergence occurs when the change in sigma0 between iterations is less than or equal to Sigma0.

Type	double
Default	1.0e-10
Minimum	0 (exclusive)

Convergence Criteria: MAXITS

Description

Maximum number of times to iterate. The application stops iterating at MAXIT, or when convergence is reached.

Type	integer
Default	50
Minimum	1 (inclusive)

Camera Pointing Options: CKDEGREE

Description

The degree of the polynomial fit to the original camera angles and used to generate a priori camera angles for the first iteration.

Type	integer
Default	2
Minimum	0 (inclusive)

Camera Pointing Options: CKSOLVEDEGREE

Description

The degree of the polynomial being fit to in the bundle adjust solution. This polynomial can be different from the one used to generate the a priori camera angles used in the first iteration. In the case of an instrument with a jitter problem, a higher degree polynomial fit to each of the camera angles might provide a better solution (smaller errors). For framing cameras, the application automatically sets degree to 0.

Type	integer
Default	2
Minimum	0 (inclusive)

Camera Pointing Options: CAMSOLVE

Description

This parameter is used to specify which, if any, camera pointing parameters to include in the adjustment.

Type

string

Default

ANGLES

Option List:

Option	Brief	Description
NONE	Don't solve for any camera pointing factors	If this option is selected, no camera pointing parameters will be adjusted. Exclusions CKDEGREE CKSOLVEDEGREE TWIST OVEREXISTING
ANGLES	Solve for camera angles: right ascension, declination and optionally twist	Camera angles in each cube will be adjusted in the solution, but not angular velocities or accelerations. Solving for the first two camera angles translates images in sample and line. Adding the third angle to the solution (TWIST option) allows for rotation corrections. Adjustments are not applied unless the solution converges and UPDATE is selected. Solving for angles only is equivalent to using CKSOLVEDEGREE=0. Exclusions CKDEGREE CKSOLVEDEGREE
VELOCITIES	Solve for camera angles AND their angular velocities	Camera angles and their angular velocities will be adjusted in the solution. Solving for angles and velocities is equivalent to using CKSOLVEDEGREE=1. Exclusions CKDEGREE CKSOLVEDEGREE
ACCELERATIONS	Solve for camera angles, their angular velocities and accelerations	Camera angles, their angular velocities, and accelerations will be adjusted in the solution. Solving for angles, angular velocities, and accelerations is equivalent to using CKSOLVEDEGREE=2. Exclusions CKDEGREE CKSOLVEDEGREE
ALL	Solve for all coefficients in the polynomials fit to the camera angles.	If this option is selected, all coefficients of the solve equation will be adjusted in the solution (CKSOLVEDEGREE+1 coefficients)

Camera Pointing Options: TWIST

Description

If this option is selected, the twist angle will be adjusted in the bundle adjustment solution.

Type	boolean
Default	Yes

Camera Pointing Options: OVEREXISTING

Description

This option will fit a polynomial over the existing pointing data. This data is held constant in the adjustment, and the initial value for the each of the coefficients in the polynomials is 0. When this option is used, the current pointing is used as a priori in the adjustment.

Type	boolean
Default	No

Spacecraft Options: SPKDEGREE

Description

The degree of the polynomial fit to the original camera position and used to generate a priori camera positions for the first iteration.

Type	integer
Default	2
Minimum	0 (inclusive)

Spacecraft Options: SPKSOLVEDEGREE

Description

The degree of the polynomial being fit to in the bundle adjust solution. This polynomial can be different from the one used to generate the a priori camera positions used in the first iteration. In the case of an instrument with a jitter problem, a higher degree polynomial fit for the camera position might provide a better solution (smaller errors). For framing cameras, the application automatically sets degree to 0.

Type	integer
Default	2
Minimum	0 (inclusive)

Spacecraft Options: SPSOLVE

Description

This parameter is used to specify which, if any, spacecraft position parameters to include in the adjustment.

Type

string

Default

NONE

Option List:

Option	Brief	Description
NONE	Don't solve for any spacecraft position parameters	No spacecraft position parameters will be adjusted. Exclusions SPKDEGREE SPKSOLVEDEGREE OVERHERMITE
POSITIONS	Solve for the spacecraft positions	Spacecraft positions will be adjusted in the solution, but not the velocity or the acceleration. Exclusions SPKDEGREE SPKSOLVEDEGREE
VELOCITIES	Solve for the spacecraft positions and velocities	Spacecraft positions will be adjusted in the solution, as well as the velocities of the spacecraft at each instance. Exclusions SPKDEGREE SPKSOLVEDEGREE
ACCELERATIONS	Solve for the spacecraft positions, velocities, and accelerations	Spacecraft positions will be adjusted in the solution, as well as the velocities and accelerations of the spacecraft at each instance. Exclusions SPKDEGREE SPKSOLVEDEGREE
ALL	Solve for all coefficients in the polynomials fit to the camera position.	If this option is selected, all coefficients of the solve equation will be adjusted in the solution (SPKSOLVEDEGREE+1 coefficients)

Spacecraft Options: OVERHERMITE

Description

This option will fit a polynomial over the existing Hermite cubic spline used to interpolate the coordinates of the spacecraft position. The spline is held constant in the adjustment, and the initial value for the each of the coefficients in the polynomials is 0. When this option is used, the current positions are used as a priori in the adjustment.

Type	boolean
Default	No

Community Sensor Model Options: CSMSOLVESET

Description

Specify one of the parameter sets from the CSM GeometricModel API to solve for. All parameters belonging to the specified set will be solved for.

Type

string

Internal Default

none

Option List:

Option	Brief	Description
VALID	Solves for CSM parameters that are not NONE.
ADJUSTABLE	Solves for real or fictitous CSM parameters.
NONADJUSTABLE	Solves for fixed CSM parameters.	Solve for fixed CSM parameters. These parameters are generally not adjusted but do have uncertainty which can help constrain the solutions and improve a posteriori uncertainties for other parameters.

Exclusions

CSMSOLVETYPE
CSMSOLVELIST

Community Sensor Model Options: CSMSOLVETYPE

Description

Specify a parameter type from the CSM GeometricModel API to solve for. All parameters of the specified type will be solved for.

Type

string

Option List:

Option	Brief	Description
NONE	Solve for unitialized CSM parameters
FICTITIOUS	Solve for CSM parameters calculted by resection
REAL	Solve for measured CSM parameters
FIXED	Solve for fixed CSM parameters

Exclusions

CSMSOLVESET
CSMSOLVELIST

Community Sensor Model Options: CSMSOLVELIST

Description

All CSM parameters in this list will be solved for. Trailing and leading whitespace will be stripped off. Use standard ISIS parameter array notation to specify multiple parameters.

Type	string
Exclusions	CSMSOLVESET CSMSOLVETYPE

Target Body: SOLVETARGETBODY

Description

Solve for target body parameters. The parameters, their a priori values, and uncertainties are input using a PVL file specified by TBPARAMETERS below. An example template PVL file is located at $ISISROOT/appdata/templates/jigsaw/TargetBodyParameters.pvl.

Type	boolean
Default	false
Inclusions	TBPARAMETERS

Target Body: TBPARAMETERS

Description

This file contains target body parameters to solve for in the bundle adjustment, their a priori values, and uncertainties. The file must be in PVL format. An example template PVL file is located at $ISISROOT/appdata/templates/jigsaw/TargetBodyParameters.pvl. Instructions for the PVL structure are given in the template.

Type	filename
File Mode	input
Filter	*.pvl

Control Point Parameters: CONTROL_POINT_COORDINATE_TYPE_BUNDLE

Description

This parameter indicates which coordinate type will be used to present the control points in the bundle adjustment and bundle output.

Type

string

Default

LATITUDINAL

Option List:

Option

Brief

Description

LATITUDINAL

Coordinates will be planetocentric latitudinal

If this option is selected all control points will be adjusted, corrected, and reported in planetocentric latitudinal coordinates (latitude, longitude, and radius).

Exclusions

POINT_X_SIGMA
POINT_Y_SIGMA
POINT_Z_SIGMA

RECTANGULAR

Coordinates will be body-fixed rectangular

If this option is selected all control points will be adjusted, corrected, and reported in body-fixed rectangular coordinates (X, Y, and Z).

Exclusions

POINT_LATITUDE_SIGMA
POINT_LONGITUDE_SIGMA
POINT_RADIUS_SIGMA

Control Point Parameters: CONTROL_POINT_COORDINATE_TYPE_REPORTS

Description

This parameter indicates which coordinate type will be used to present the control points in the bundle adjustment and bundle output.

Type

string

Default

LATITUDINAL

Option List:

Option	Brief	Description
LATITUDINAL	Coordinates will be planetocentric latitudinal	If this option is selected all control points will be adjusted, corrected, and reported in planetocentric latitudinal coordinates (latitude, longitude, and radius).
RECTANGULAR	Coordinates will be body-fixed rectangular	If this option is selected all control points will be adjusted, corrected, and reported in body-fixed rectangular coordinates (X, Y, and Z).

Parameter Uncertainties: POINT_LATITUDE_SIGMA

Description

This optional value will be used as the global latitude uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: POINT_LONGITUDE_SIGMA

Description

This optional value will be used as the global longitude uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: POINT_RADIUS_SIGMA

Description

This value will be used as the global radius uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)
Inclusions	RADIUS

Parameter Uncertainties: POINT_X_SIGMA

Description

This optional value will be used as the global uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: POINT_Y_SIGMA

Description

This optional value will be used as the global uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: POINT_Z_SIGMA

Description

This optional value will be used as the global uncertainty for all points. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: SPACECRAFT_POSITION_SIGMA

Description

This value will be used as the global uncertainty for spacecraft coordinates. Units are meters.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: SPACECRAFT_VELOCITY_SIGMA

Description

This value will be used as the global uncertainty for spacecraft velocity. Units are meters/second.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: SPACECRAFT_ACCELERATION_SIGMA

Description

This value will be used as the global uncertainty for spacecraft acceleration. Units are meters/second/second.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: CAMERA_ANGLES_SIGMA

Description

This value will be used as the global uncertainty for camera angles. Units are decimal degrees.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: CAMERA_ANGULAR_VELOCITY_SIGMA

Description

This value will be used as the global uncertainty for camera angular velocity. Units are decimal degrees/second.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Parameter Uncertainties: CAMERA_ANGULAR_ACCELERATION_SIGMA

Description

This value will be used as the global uncertainty for camera angular acceleration. Units are decimal degrees/second/second.

Type	double
Internal Default	none
Minimum	0 (inclusive)

Output Options: FILE_PREFIX

Description

File prefix to prepend for the generated output files. Any prefix that is not a file path will have an underscore placed between the prefix and file name.

Type	string
Internal Default	none

Output Options: BUNDLEOUT_TXT

Description

Selection of this parameter flags generation of the standard bundle output file

Type	boolean
Default	yes

Output Options: IMAGESCSV

Description

Selection of this parameter flags output of image data (in body-fixed coordinates) to a csv file.

Type	boolean
Default	yes

Output Options: OUTPUT_CSV

Description

Selection of this parameter flags output of point and image data (in body-fixed coordinates) to csv file.

Type	boolean
Default	yes

Output Options: RESIDUALS_CSV

Description

Selection of this parameter flags output of image coordinate residuals to a csv file

Type	boolean
Default	yes

History

Jeff Anderson	2007-04-27	Original version
Steven Lambright	2007-07-23	Changed category to Control Networks and corrected XML bugs
Debbie A. Cook	2007-10-05	Revised iteration report to list the errors and sigmas from the same iteration. Previous version reported errors from previous iteration and sigmas from current iteration.
Christopher Austin	2008-07-03	Cleaned the Bundle Adjust memory leak and fixed the app tests.
Tracie Sucharski	2009-04-08	Added date to the Jigged comment in the spice tables.
Tracie Sucharski	2009-04-22	If updating pointing, delete the CameraStatistics table from labels.
Mackenzie Boyd	2009-07-23	Modified program to write history to input cubes.
Debbie A. Cook	2010-08-12	Commented out Heldlist until mechanism in place to enter individual image parameter constraints.
Debbie A. Cook	2010-08-12	Merged Ken Edmundson version with system and binary control net.
Debbie A. Cook	2011-06-14	Modified code to prevent updates to cube files in held list.
Debbie A. Cook	2011-09-28	Removed SC_SIGMAS from user parameter list because it is not fully implemented; changed method name SPARSE to OLDSPARSE and CHOLMOD to SPARSE; and improved the documentation for the Isis3.3.0 release.
Debbie A. Cook, Ken Edmundson, and Orrin Thomas	2011-10-03	Added images showing before and after to demonstrate the program. Added Krause's collinearity diagram and a brief explanation on the output options. Also added a lien for example(s) to be added later.
Debbie A. Cook	2011-10-06	Corrected previous history entry and added references to glossary. Also changed application names to bold type.
Debbie A. Cook and Ken Edmundson	2011-10-07	Removed glossary references from briefs. Also changed the definition of angles to state right ascension and declination to be consistent with the output.
Ken Edmundson	2011-10-14	Added internal default and minimum inclusive tags to global apriori uncertainties.
Ken Edmundson	2011-10-18	Added Known Issues section and JigsawRejected flag issue.
Debbie A. Cook	2011-11-04	Added minimums to parameters, corrected SOLVEDEGREE description, and added to the camsolve option descriptions in response to Mantis issue #514.
Ken Edmundson	2011-12-20	Added REJECTION_MULTIPLIER to interface, part of Mantis issue #637.
Ken Edmundson	2012-01-19	Added SPKDEGREE and SPKSOLVEDEGREE; changed name of SOLVEDEGREE to CKSOLVEDEGREE.
Ken Edmundson	2014-02-13	Added separate group for Error Propagation with option to write inverse matrix to binary file. For extremely large networks where memory/time for error propagation is limited.
Ken Edmundson	2014-07-09	Added USEPVL and SC_PARAMETERS parameters.
Jeannie Backer	2014-07-14	Modified appTests to use SPARSE method only. Commented out bundleout_images.csv references. Created observationSolveSettings() method to create an observation settings object from the user entered values.
Ken Edmundson	2015-09-05	Added preliminary target body functionality. Added SOLVETARGETBODY and TB_PARAMETERS.
Jesse Mapel	2016-08-16	Added a connection to allow jigsaw to surface exceptions from BundleAdjust. Fixes #2302
Jeannie Backer	2016-08-18	Removed the user parameter called METHOD (i.e. the method used for solving the bundle matrix). This solve method is no longer user-selected. The program will now use what was called the SPARSE option for the METHOD parameter (i.e. solve with CholMod sparse decomposition). This method should give the same results as the other options and should run faster. So the other options were no longer needed. References #4162.
Ian Humphrey	2016-08-22	Reviewed documentation and updated small spelling and grammar errors. References #4226.
Adam Paquette	2016-08-31	Updated how jigsaw handles its prefix parameter along with a small documentation change. Fixes #4309.
Jesse Mapel	2016-09-02	Updated how input parameters are output when using multiple sensor solve settings. Fixes #4316.
Ian Humphrey	2016-09-22	Output from jigsaw will again provide "Validating network" and "Validation complete" messages to inform user that their control network has been validated. Fixes #4313.
Ian Humphrey	2016-10-05	When running jigsaw with error propagation turned on, the correlation matrix file, inverseMatrix.dat, is no longer generated. Fixes #4315.
Tyler Wilson	2016-10-06	Added the IMAGES_CSV parameter to the "Output Options" group so that the user can now request the bundleout_images.csv file in addition to the other output files such as bundleout.txt. Fixes #4314.
Ian Humphrey	2016-10-13	Implemented HELDLIST functionality for non-overlapping held images. Any control points that intersect the held images are fixed, and a priori surface points for these control points are set to the held images' measures' surface points. Disabled USEPVL/SC_PARAMETERS. Fixes #4293.
Ian Humphrey	2016-10-25	Added the "Generating report files" and Rejected_Measures keyword back to jigsaw's standard output. Fixes #4461. Fixed spacing in standard output. Fixes #4462, #4463."
Ian Humphrey	2016-10-26	The bundleout.txt output file will record default values for unsolved parameters. The default position will be the instrument position's center coordinate, and the default pointing will be the pointing's (rotation's) center angles. The bundleout_images.csv file will also have these defaults provided. Fixes #4464.
Makayla Shepherd	2016-10-26	Removed the underscores from the new parameters IMAGESCSV and TBPARAMETERS.
Ian Humphrey	2016-11-16	Exceptions that occur during the solving of the bundle adjustment will now pop up as message boxes when running jigsaw in GUI mode. Fixes #4483.
Ken Edmundson	2016-11-17	Output control net will be now be written regardless of whether bundle converges. Fixes #4533.
Ken Edmundson	2017-01-17	Updated description and brief for SOLVETARGETBODY and TBPARAMETERS.
Summer Stapleton	2017-08-09	Fixed bug where an invalid control net was not throwing exception. Fixes #5068.
Ken Edmundson	2018-05-23	Modifed call to bundleAdjustment->solveCholeskyBR() to return a raw pointer to a BundleSolutionInfo object. Am also deleting this pointer because jigsaw.cpp takes ownership from BundleAdjust.
Debbie A. Cook	2018-06-04	(BundleXYZ modified on 2017-09-11) Added options for outputting and/or solving for body-fixed x/y/z instead of lat/lon/radius. References #501.
Debbie A. Cook	2018-06-04	(BundleXYZ modified on 2017-09-17) Fixed a problem in the xml that was causing the input parameters to be omitted from the history. References #501.
Debbie A. Cook	2018-06-04	(BundleXYZ modified on 2018-03-18) Fixed a problem in the xml that excluded entry of values for latitudinal point sigmas when the coordinate type for reports was set to Rectangular and vice versa. References #501.
Tyler Wilson	2019-05-17	Cleaned up the bundleout.txt file and added new information in the header. Fixes #3267.
Aaron Giroux	2019-12-19	Added SCCONFIG parameter which allows users to pass in a pvl file with different settings for different instrumentIDs. Added logic into the observationSolveSettings function to construct BundleObservationSolveSettings objects based off of the settings in the pvl file.
Adam Paquette	2020-12-23	Added a warning when solving for target body radii/radius that is output to the application log. Updated the documentation to include the original rand notebook that jigsaw was based on. Also added a section in the documentation describing the target body radii solve issue.

ISIS

ISIS 2

jigsaw

Description

Relevant Documentation

Known Issues

Categories

Related Objects and Documents

Applications

Parameter Groups

Files

Solve Options

Maximum Likelihood Estimation

Convergence Criteria

Camera Pointing Options

Spacecraft Options

Community Sensor Model Options

Target Body

Control Point Parameters

Parameter Uncertainties

Output Options

Files: FROMLIST

Description

Files: HELDLIST

Description

Files: CNET

Description

Files: ONET

Description

Files: SCCONFIG

Description

Solve Options: OBSERVATIONS

Description

Solve Options: RADIUS

Description

Solve Options: UPDATE

Description

Solve Options: OUTLIER_REJECTION

Description

Solve Options: REJECTION_MULTIPLIER

Description

Solve Options: ERRORPROPAGATION

Description

Maximum Likelihood Estimation: MODEL1

Description

Exclusions

Exclusions

Exclusions

Maximum Likelihood Estimation: MAX_MODEL1_C_QUANTILE

Description

Maximum Likelihood Estimation: MODEL2

Description

Exclusions

Maximum Likelihood Estimation: MAX_MODEL2_C_QUANTILE

Description

Maximum Likelihood Estimation: MODEL3

Description

Exclusions

Maximum Likelihood Estimation: MAX_MODEL3_C_QUANTILE

Description

Convergence Criteria: SIGMA0

Description

Convergence Criteria: MAXITS

Description

Camera Pointing Options: CKDEGREE

Description

Camera Pointing Options: CKSOLVEDEGREE

Description

Camera Pointing Options: CAMSOLVE

Description

Exclusions

Exclusions

Exclusions

Exclusions

Camera Pointing Options: TWIST

Description

Camera Pointing Options: OVEREXISTING

Description

Spacecraft Options: SPKDEGREE

Description