Isis::BundleAdjust Class Reference

An image bundle adjustment object. More...

#include <BundleAdjust.h>

Inheritance diagram for Isis::BundleAdjust:

Collaboration diagram for Isis::BundleAdjust:

Public Slots
bool	solveCholesky ()
	Compute the least squares bundle adjustment solution using Cholesky decomposition.
void	abortBundle ()
	Flag to abort when bundle is threaded.
void	outputBundleStatus (QString status)
	Slot for deltack and jigsaw to output the bundle status.
ControlNetQsp	controlNet ()
	Returns a pointer to the output control network.
LidarDataQsp	lidarData ()
	Returns a pointer to the output lidar data file.
SerialNumberList *	serialNumberList ()
	Returns a pointer to the serial number list.
QString	fileName (int index)
	Return the ith filename in the cube list file given to constructor.
QString	iterationSummaryGroup () const
	Returns the iteration summary string.
bool	isConverged ()
	Returns if the BundleAdjust converged.
Table	cMatrix (int index)
	Return the updated instrument pointing table for the ith cube in the cube list given to the constructor.
Table	spVector (int index)
	Return the updated instrument position table for the ith cube in the cube list given to the constructor.
QString	modelState (int index)
	Return the updated model state for the ith cube in the cube list given to the constructor.
int	numberOfImages () const
	Returns the number of images.
double	iteration () const
	Returns what iteration the BundleAdjust is currently on.

Signals
void	statusUpdate (QString)
void	error (QString)
void	iterationUpdate (int)
void	pointUpdate (int)
void	statusBarUpdate (QString)
void	resultsReady (BundleSolutionInfo *bundleSolveInformation)
void	finished ()

Public Member Functions
	BundleAdjust (BundleSettingsQsp bundleSettings, const QString &cnetFile, const QString &cubeList, bool printSummary=true)
	Construct a BundleAdjust object from the given settings, control network file, and cube list.
	BundleAdjust (BundleSettingsQsp bundleSettings, const QString &cnetFile, const QString &cubeList, const QString &lidarDataFile, bool printSummary=true)
	Construct a BundleAdjust object from the given settings, control network file, cube list, and lidar point data.
	BundleAdjust (BundleSettingsQsp bundleSettings, QString &cnet, SerialNumberList &snlist, bool printSummary=true)
	Construct a BundleAdjust object with held cubes.
	BundleAdjust (BundleSettingsQsp bundleSettings, Control &cnet, SerialNumberList &snlist, bool bPrintSummary)
	Constructs a BundleAdjust object using a Control object.
	BundleAdjust (BundleSettingsQsp bundleSettings, ControlNet &cnet, SerialNumberList &snlist, bool printSummary=true)
	Constructs a BundleAdjust object using a ControlNet object.
	BundleAdjust (BundleSettingsQsp bundleSettings, ControlNetQsp cnet, const QString &cubeList, bool printSummary=true)
	Constructs a BundleAdjust from an already created ControlNet within a shared pointer.
	BundleAdjust (BundleSettingsQsp bundleSettings, Control &control, QList< ImageList * > imgList, bool printSummary)
	Thread safe constructor.
	~BundleAdjust ()
	Destroys BundleAdjust object, deallocates pointers (if we have ownership), and frees variables from cholmod library.
BundleSolutionInfo *	solveCholeskyBR ()
	Compute the least squares bundle adjustment solution using Cholesky decomposition.
QList< ImageList * >	imageLists ()
	This method returns the image list used in the bundle adjust.
bool	isAborted ()
	Returns if the BundleAdjust has been aborted.

Detailed Description

An image bundle adjustment object.

BundleAdjust is used to perform a bundle adjustment on overlapping ISIS cubes. Using the collineariy condition, BundleAdjust can construct a system of normal equations and then using the CHOLMOD library, solve that system.

Author

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

Constructor & Destructor Documentation

BundleAdjust() [1/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		const QString &	cnetFile,
		const QString &	cubeList,
		bool	printSummary = true )

Construct a BundleAdjust object from the given settings, control network file, and cube list.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
cnetFile	The filename of the control network to be used.
cubeList	The list of filenames of the cubes to be adjusted.
printSummary	If summaries should be printed each iteration.

References Isis::BundleResults::setOutputControlNet().

BundleAdjust() [2/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		const QString &	cnetFile,
		const QString &	cubeList,
		const QString &	lidarDataFile,
		bool	printSummary = true )

Construct a BundleAdjust object from the given settings, control network file, cube list, and lidar point data.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
cnetFile	The filename of the control network to be used.
cubeList	The list of filenames of the cubes to be adjusted.
lidarDataFile	Lidar point dataset filename.
printSummary	If summaries should be printed each iteration.

References Isis::BundleResults::setOutputControlNet(), and Isis::BundleResults::setOutputLidarData().

BundleAdjust() [3/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		QString &	cnetFile,
		SerialNumberList &	snlist,
		bool	printSummary = true )

Construct a BundleAdjust object with held cubes.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
cnetFile	The filename of the control network to be used.
cubeList	The list of filenames of the cubes to be adjusted.
heldList	The list of filenames of the held cubes. Held cubes must be in both heldList and cubeList.
printSummary	If summaries should be printed each iteration.

References Isis::BundleResults::setOutputControlNet().

BundleAdjust() [4/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		Control &	cnet,
		SerialNumberList &	snlist,
		bool	printSummary )

Constructs a BundleAdjust object using a Control object.

A new control network object will be created as a copy of the Control's control network.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
cnet	The Control object whose control network will be copied. The Control will not be modified by the BundleAdjust.
snlist	A serial number list containing the cubes to be adjusted.
printSummary	If summaries should be printed each iteration.

References Isis::BundleResults::setOutputControlNet().

BundleAdjust() [5/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		ControlNet &	cnet,
		SerialNumberList &	snlist,
		bool	printSummary = true )

Constructs a BundleAdjust object using a ControlNet object.

A copy of the ControlNet will be used.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
cnet	The ControlNet that will be copied. The original ControlNet will not be modified.
snlist	A serial number list containing the cubes to be adjusted.
printSummary	If summaries should be printed each iteration.

References Isis::BundleResults::setOutputControlNet().

BundleAdjust() [6/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		ControlNetQsp	cnet,
		const QString &	cubeList,
		bool	printSummary = true )

Constructs a BundleAdjust from an already created ControlNet within a shared pointer.

Parameters

bundleSettings	QSharedPointer to the bundle settings to use.
cnet	QSharedPointer to the control net to adjust.
cubeList	QString name of list of cubes to create serial numbers for.
printSummary	Boolean indicating whether to print application output summary.

References Isis::BundleResults::setOutputControlNet().

BundleAdjust() [7/7]

Isis::BundleAdjust::BundleAdjust	(	BundleSettingsQsp	bundleSettings,
		Control &	control,
		QList< ImageList * >	imgLists,
		bool	printSummary )

Thread safe constructor.

Parameters

bundleSettings	A shared pointer to the BundleSettings to be used.
control	The Control object whose control network will be copied. The Control will not be modified by the BundleAdjust.
snlist	A serial number list containing the cubes to be adjusted.
printSummary	If summaries should be printed each iteration.

References Isis::SerialNumberList::add(), Isis::Control::fileName(), Isis::Image::fileName(), and Isis::BundleResults::setOutputControlNet().

~BundleAdjust()

Isis::BundleAdjust::~BundleAdjust

(

)

Destroys BundleAdjust object, deallocates pointers (if we have ownership), and frees variables from cholmod library.

Member Function Documentation

abortBundle

void Isis::BundleAdjust::abortBundle ( )

slot

Flag to abort when bundle is threaded.

Flag is set outside the bundle thread, typically by the gui thread.

Referenced by Isis::JigsawRunWidget::closeEvent().

cMatrix

Table Isis::BundleAdjust::cMatrix ( int i )

slot

Return the updated instrument pointing table for the ith cube in the cube list given to the constructor.

This is only valid for ISIS camera model cubes

Parameters

i	The index of the cube

Returns

Table The InstrumentPointing table for the cube.

controlNet

ControlNetQsp Isis::BundleAdjust::controlNet ( )

slot

Returns a pointer to the output control network.

Returns

ControlNetQsp A shared pointer to the output control network.

error

void Isis::BundleAdjust::error ( QString )

signal

fileName

QString Isis::BundleAdjust::fileName ( int i )

slot

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

Parameters

i	The index of the cube.

Returns

QString The filename of the cube.

References Isis::SerialNumberList::fileName().

finished

void Isis::BundleAdjust::finished ( )

signal

Referenced by solveCholesky().

imageLists()

QList< ImageList * > Isis::BundleAdjust::imageLists

(

)

This method returns the image list used in the bundle adjust.

If a QList<ImageList *> was passed into the constructor then it uses that list, otherwise it constructs the QList using the m_serialNumberList

Returns

QList<ImageList *> The ImageLists used for the bundle adjust

References _FILEINFO_, Isis::Image::closeCube(), Isis::SerialNumberList::fileName(), Isis::IException::Programmer, and Isis::SerialNumberList::size().

isAborted()

bool Isis::BundleAdjust::isAborted

(

)

Returns if the BundleAdjust has been aborted.

Returns

bool If the BundleAdjust was aborted.

Referenced by Isis::JigsawRunWidget::notifyThreadFinished().

isConverged

bool Isis::BundleAdjust::isConverged ( )

slot

Returns if the BundleAdjust converged.

Returns

bool If the BundleAdjust converged.

References Isis::BundleResults::converged().

iteration

double Isis::BundleAdjust::iteration ( ) const

slot

Returns what iteration the BundleAdjust is currently on.

Returns

double The current iteration number.

iterationSummaryGroup

QString Isis::BundleAdjust::iterationSummaryGroup ( ) const

slot

Returns the iteration summary string.

Returns

QString the iteration summary string.

See also

iterationSummary()

iterationUpdate

void Isis::BundleAdjust::iterationUpdate ( int )

signal

Referenced by solveCholesky().

lidarData

LidarDataQsp Isis::BundleAdjust::lidarData ( )

slot

Returns a pointer to the output lidar data file.

Returns

LidarDataQsp A shared pointer to the output lidar data file.

modelState

QString Isis::BundleAdjust::modelState ( int i )

slot

Return the updated model state for the ith cube in the cube list given to the constructor.

This is only valid for CSM cubes.

Parameters

i	The index of the cube to get the model state for

Returns

QString The updated CSM model state string

References _FILEINFO_, Isis::Camera::Csm, Isis::CSMCamera::getModelState(), Isis::IException::Programmer, and Isis::toString().

numberOfImages

int Isis::BundleAdjust::numberOfImages ( ) const

slot

Returns the number of images.

Returns

int The number of images.

References Isis::SerialNumberList::size().

outputBundleStatus

void Isis::BundleAdjust::outputBundleStatus ( QString status )

slot

Slot for deltack and jigsaw to output the bundle status.

Parameters

status

The bundle status string to output.

References Isis::iApp.

Referenced by solveCholesky().

pointUpdate

void Isis::BundleAdjust::pointUpdate ( int )

signal

resultsReady

void Isis::BundleAdjust::resultsReady ( BundleSolutionInfo * bundleSolveInformation )

signal

Referenced by solveCholesky().

serialNumberList

SerialNumberList * Isis::BundleAdjust::serialNumberList ( )

slot

Returns a pointer to the serial number list.

Returns

SerialNumberList* A pointer to the serial number list.

solveCholesky

bool Isis::BundleAdjust::solveCholesky ( )

slot

Compute the least squares bundle adjustment solution using Cholesky decomposition.

Returns

bool If the solution was successfully computed.

References _FILEINFO_, Isis::BundleResults::computeSigma0(), Isis::BundleResults::converged(), Isis::BundleResults::degreesOfFreedom(), finished(), Isis::BundleResults::incrementMaximumLikelihoodModelIndex(), Isis::BundleResults::initializeResidualsProbabilityDistribution(), iterationUpdate(), Isis::SurfacePoint::Latitudinal, Isis::BundleResults::maximumLikelihoodModelIndex(), Isis::BundleResults::numberConstrainedPointParameters(), Isis::BundleResults::numberMaximumLikelihoodModels(), Isis::BundleResults::numberObservations(), Isis::BundleResults::numberUnknownParameters(), outputBundleStatus(), Isis::BundleResults::printMaximumLikelihoodTierInformation(), resultsReady(), Isis::BundleResults::setBundleControlPoints(), Isis::BundleResults::setBundleLidarPoints(), Isis::BundleResults::setConverged(), Isis::BundleResults::setElapsedTime(), Isis::BundleResults::setElapsedTimeErrorProp(), Isis::BundleResults::setIterations(), Isis::BundleResults::setObservations(), Isis::BundleResults::sigma0(), Isis::BundleSettings::Sigma0, statusBarUpdate(), statusUpdate(), and Isis::SparseBlockMatrix::zeroBlocks().

Referenced by solveCholeskyBR().

solveCholeskyBR()

BundleSolutionInfo * Isis::BundleAdjust::solveCholeskyBR

(

)

Compute the least squares bundle adjustment solution using Cholesky decomposition.

Returns

BundleSolutionInfo A container with settings and results from the adjustment.

See also

BundleAdjust::solveCholesky

References solveCholesky().

spVector

Table Isis::BundleAdjust::spVector ( int i )

slot

Return the updated instrument position table for the ith cube in the cube list given to the constructor.

This is only valid for ISIS camera model cubes

Parameters

i	The index of the cube

Returns

Table The InstrumentPosition table for the cube.

statusBarUpdate

void Isis::BundleAdjust::statusBarUpdate ( QString )

signal

Referenced by solveCholesky().

statusUpdate

void Isis::BundleAdjust::statusUpdate ( QString )

signal

Referenced by solveCholesky().

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

• /Users/astamile/ISIS3/isis/src/control/objs/BundleAdjust/BundleAdjust.h
• /Users/astamile/ISIS3/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp