#include <BundleAdjust.h>

Collaboration diagram for Isis::BundleAdjust:

Classes
struct	SpacecraftWeights

Public Types
enum	DecompositionMethod { NoneSelected, SPECIALK, CHOLMOD }
enum	CmatrixSolveType { None, AnglesOnly, AnglesVelocity, AnglesVelocityAcceleration, CKAll }
enum	SpacecraftPositionSolveType { Nothing, PositionOnly, PositionVelocity, PositionVelocityAcceleration, SPKAll }

Public Member Functions
	BundleAdjust (const QString &cnetFile, const QString &cubeList, bool printSummary=true)
	BundleAdjust (const QString &cnetFile, const QString &cubeList, const QString &heldList, bool printSummary=true)
	BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, bool printSummary=true)
	BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, Isis::SerialNumberList &heldsnlist, bool printSummary=true)
double	Solve ()
	compute partials for measure
bool	SolveCholesky ()
	The solve method is a least squares solution for updating the camera pointing, etc.
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	SetUpdateCubes (bool update)
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 number of columns needed for 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 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 image with index i.
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 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 ()
	Set parameter sigmas (uncertainties) after bundle.
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 ()
	This method creates a iteration summary and creates an iteration group for the SpecialK solution summary.
bool	Output ()
	Output bundle results to file.
bool	OutputHeader (std::ofstream &fp_out)
	Output header for bundle results file.
bool	OutputWithErrorPropagation ()
	output bundle results to file with error propagation
bool	OutputNoErrorPropagation ()
	output bundle results to file with 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 ()
	Bundle wrap up.
bool	ComputeBundleStatistics ()
	flags...
void	Initialize ()
	Initializes matrices and parameters for bundle adjustment.
bool	InitializePointWeights ()
	Initialize point coordinaate weights.
void	InitializePoints ()
	Initializing points.
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)
	Forming first set of auxiliary matrices for normal equations matrix via cholmod.
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)
	Forming second set of auxiliary matrices for normal equations matrix via cholmod.
bool	formNormals3_CHOLMOD (boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &nj)
	Apply weighting for spacecraft position, velocity, acceleration and camera angles, angular velocities, angular accelerations if so stipulated (legalese).
bool	solveSystem_CHOLMOD ()
	Solution with CHOLMOD.
void	AmultAdd_CNZRows_CHOLMOD (double alpha, SparseBlockColumnMatrix &A, SparseBlockRowMatrix &B)
	Dedicated matrix multiplication method.
void	transA_NZ_multAdd_CHOLMOD (double alpha, SparseBlockRowMatrix &A, boost::numeric::ublas::vector< double > &B, boost::numeric::ublas::vector< double > &C)
	Dedicated matrix multiplication method.
void	applyParameterCorrections_CHOLMOD ()
	apply parameter corrections for CHOLMOD solution.
bool	errorPropagation_CHOLMOD ()
	error propagation for CHOLMOD solution.
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)
	Forming first set of auxiliary matrices for normal equations matrix via specialk.
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)
	Forming second set of auxiliary matrices for normal equations matrix via specialk.
bool	formNormals3_SPECIALK (boost::numeric::ublas::compressed_vector< double > &n1, boost::numeric::ublas::vector< double > &nj)
	apply weighting for spacecraft position, velocity, acceleration and camera angles, angular velocities, angular accelerations if so stipulated (legalese).
bool	solveSystem_SPECIALK ()
	Solution with specialk (dense).
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)
	Dedicated matrix multiplication method.
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)
	Dedicated matrix multiplication method.
void	applyParameterCorrections_SPECIALK ()
	Apply parameter corrections for specialk solution.
bool	errorPropagation_SPECIALK ()
	error propagation for specialk solution.
bool	CholeskyUT_NOSQR ()
	Upper triangular, square-root free cholesky.
bool	CholeskyUT_NOSQR_Inverse ()
	Compute inverse of normal equations matrix for above square-root free cholesky method.
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)
	Backsubstitution for above square-root free cholesky method.
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)
	compute partials for measure
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)
	Dedicated matrix multiplication method.
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)
	Dedicated matrix multiplication method.
bool	Invert_3x3 (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &m)
	Dedicated quick inverse of 3x3 matrix.
bool	product_ATransB (boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &N22, SparseBlockColumnMatrix &N12, SparseBlockRowMatrix &Q)
	C = A x B(transpose) where A is a boost matrix B is a SparseBlockColumn matrix C is a SparseBlockRowMatrix each block of B and C are boost matrices.
void	product_AV (double alpha, boost::numeric::ublas::bounded_vector< double, 3 > &v2, SparseBlockRowMatrix &Q, boost::numeric::ublas::vector< double > &v1)
	Dedicated matrix multiplication method.
bool	ComputeRejectionLimit ()
	Compute rejection limit.
bool	FlagOutliers ()
	Flag outlier measurements.
bool	initializeCholMod ()
	Initializations for Cholmod sparse matrix package.
bool	freeCholMod ()
	Initializations for Cholmod sparse matrix package.
bool	cholmod_Inverse ()
	Computate inverse of normal equations matrix for CHOLMOD.
bool	loadCholmodTriplet ()
	Load sparse normal equations matrix into CHOLMOD triplet.

Private Attributes
bool	m_bSolveTwist
	to solve for "twist" angle
bool	m_bSolveRadii
	to solve for point radii
bool	m_bUpdateCubes
	update cubes (only here for output into bundleout.txt)
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
	< pointers to...
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
	array of NICs (see Brown, 1976)
std::vector < boost::numeric::ublas::bounded_vector < double, 3 > >	m_NICs
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
std::vector < boost::numeric::ublas::vector < double > >	m_Image_AdjustedSigmas
	vector of a posteriori (adjusted image parameter sigmas
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.
double	m_maxLikelihoodMedianR2Residuals
	Median of R^2 residuals.

Detailed Description

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

History:: 2013-11-12 Ken Edmundson Programmers Note. References #813, #1521, #1653 #813 - info echoed to screen when using Maximum Likelihood methods are now printed to print.prt file. #1521 - cout debug statements that appear on screen when updating images removed from SpiceRotation.cpp #1653 - Constraints were being applied for "Free" points that have constrained coordinates. Also found that a priori coordinates for these points were not being computed in ControlPoint::ComputeApriori, this has also been fixed.

History:: 2013-12-18 Tracie Sucharski - The ControlNet::GetNumberOfMeasuresInImage was renamed to ControlNet::GetNumberOfValidMeasuresInImage and only returns the number of valid (Ignore= False) measures.

History:: 2014-02-25 Ken Edmundson - Speed up and memory improvements to error propagation. References #2031.

History:: 2014-11-05 Ken Edmundson - Fixed memory bug. Wasn't releasing cholmod_factor m_L every iteration. Now release every iteration but the last since we need m_L for error propagation. References #2189.

Definition at line 172 of file BundleAdjust.h.

Member Function Documentation

void Isis::BundleAdjust::AddPartials ( int nPointIndex )

private

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

Definition at line 3703 of file BundleAdjust.cpp.

References _FILEINFO_, 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(), Isis::Camera::PixelPitch(), Isis::CameraGroundMap::PointPartial(), and Isis::Camera::SetImage().

void Isis::BundleAdjust::AmultAdd_CNZRows_CHOLMOD	(	double	alpha,
		SparseBlockColumnMatrix &	N12,
		SparseBlockRowMatrix &	Q
	)

private

Dedicated matrix multiplication method.

TODO: Define.

NOTE: A = N12, B = Q

Definition at line 2122 of file BundleAdjust.cpp.

void Isis::BundleAdjust::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
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2163 of file BundleAdjust.cpp.

void Isis::BundleAdjust::AmulttransBNZ	(	boost::numeric::ublas::matrix< double > &	A,
		boost::numeric::ublas::compressed_matrix< double > &	B,
		boost::numeric::ublas::matrix< double > &	C,
		double	alpha = `1.0`
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2280 of file BundleAdjust.cpp.

void Isis::BundleAdjust::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`
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2330 of file BundleAdjust.cpp.

void Isis::BundleAdjust::applyParameterCorrections ( )

private

apply parameter corrections

Definition at line 4549 of file BundleAdjust.cpp.

void Isis::BundleAdjust::applyParameterCorrections_CHOLMOD ( )

private

apply parameter corrections for CHOLMOD solution.

Definition at line 4560 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), Isis::Angle::degrees(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Distance::meters(), Isis::RAD2DEG(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

void Isis::BundleAdjust::applyParameterCorrections_SPECIALK ( )

private

Apply parameter corrections for specialk solution.

Definition at line 4753 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), Isis::Angle::degrees(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Distance::meters(), Isis::RAD2DEG(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

bool Isis::BundleAdjust::ApproximatePoint_ClosestApproach	(	const ControlPoint &	rPoint,
		int	nIndex
	)

private

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

Parameters

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

Returns: bool flags success or failure

Definition at line 4308 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::SpiceRotation::J2000Vector(), Isis::Distance::kilometers(), Isis::Angle::radians(), Isis::SpiceRotation::ReferenceVector(), Isis::Camera::SetImage(), Isis::CameraDistortionMap::UndistortedFocalPlaneX(), Isis::CameraDistortionMap::UndistortedFocalPlaneY(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

int Isis::BundleAdjust::BasisColumns ( )

Determine number of columns needed for least squares.

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

Definition at line 738 of file BundleAdjust.cpp.

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 474 of file BundleAdjust.cpp.

References _FILEINFO_.

bool Isis::BundleAdjust::CholeskyUT_NOSQR ( )

private

Upper triangular, square-root free cholesky.

Definition at line 2602 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::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
	)

private

Backsubstitution for above square-root free cholesky method.

Definition at line 2689 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::CholeskyUT_NOSQR_Inverse ( )

private

Compute inverse of normal equations matrix for above square-root free cholesky method.

Definition at line 2727 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::cholmod_Inverse ( )

private

Computate inverse of normal equations matrix for CHOLMOD.

Definition at line 2786 of file BundleAdjust.cpp.

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 6085 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::ComputeBundleStatistics ( )

private

flags...

Compute Bundle statistics.

Definition at line 5092 of file BundleAdjust.cpp.

References Isis::Statistics::AddData(), Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::ControlPoint::GetMeasure(), Isis::Distance::meters(), and Isis::Statistics::Rms().

void Isis::BundleAdjust::ComputeImageParameterWeights ( )

private

Weighting for image parameter ComputeNumberPartials must be called first.

Definition at line 542 of file BundleAdjust.cpp.

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 490 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::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
	)

private

compute partials for measure

Definition at line 2861 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::Camera::GetCameraType(), Isis::ControlMeasure::GetCubeSerialNumber(), Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), Isis::ControlPoint::GetId(), Isis::CameraGroundMap::GetXY(), Isis::Camera::GroundMap(), Isis::Camera::PixelPitch(), Isis::CameraGroundMap::PointPartial(), and Isis::Camera::SetImage().

bool Isis::BundleAdjust::ComputeRejectionLimit ( )

private

Compute rejection limit.

Definition at line 5229 of file BundleAdjust.cpp.

References Isis::ControlPoint::GetMeasure().

double Isis::BundleAdjust::ComputeResiduals ( )

private

This method computes the focal plane residuals for the measures.

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

Definition at line 4951 of file BundleAdjust.cpp.

References Isis::ControlPoint::ComputeResiduals(), and Isis::ControlPoint::GetMeasure().

bool Isis::BundleAdjust::errorPropagation ( )

private

error propagation.

Definition at line 5452 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::errorPropagation_CHOLMOD ( )

private

error propagation for CHOLMOD solution.

Definition at line 5650 of file BundleAdjust.cpp.

References Isis::iTime::CurrentLocalTime(), Isis::SurfacePoint::GetLatitude(), Isis::Distance::meters(), Isis::SparseBlockColumnMatrix::numberOfColumns(), Isis::SparseBlockColumnMatrix::numberOfRows(), Isis::Angle::radians(), Isis::ControlPoint::SetAdjustedSurfacePoint(), and Isis::SurfacePoint::SetSphericalSigmasDistance().

bool Isis::BundleAdjust::errorPropagation_SPECIALK ( )

private

error propagation for specialk solution.

Definition at line 5465 of file BundleAdjust.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::Distance::meters(), Isis::Angle::radians(), Isis::ControlPoint::SetAdjustedSurfacePoint(), and Isis::SurfacePoint::SetSphericalSigmasDistance().

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

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

Definition at line 6062 of file BundleAdjust.cpp.

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 432 of file BundleAdjust.cpp.

References Isis::ControlPoint::GetType().

bool Isis::BundleAdjust::FlagOutliers ( )

private

Flag outlier measurements.

Definition at line 5334 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetId(), Isis::ControlPoint::GetMeasure(), Isis::ControlPoint::SetNumberOfRejectedMeasures(), Isis::ControlMeasure::SetRejected(), Isis::ControlPoint::SetRejected(), and Isis::ControlPoint::ZeroNumberOfRejectedMeasures().

bool Isis::BundleAdjust::formNormalEquations ( )

private

Forming the least-squares normal equations matrix.

Definition at line 1199 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::formNormalEquations_CHOLMOD ( )

private

Forming the least-squares normal equations matrix via cholmod.

Definition at line 1225 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetMeasure(), and Isis::SparseBlockColumnMatrix::wipe().

bool Isis::BundleAdjust::formNormalEquations_SPECIALK ( )

private

Forming the least-squares normal equations matrix via specialk.

Definition at line 1589 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), and Isis::ControlPoint::GetMeasure().

bool Isis::BundleAdjust::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
	)

private

Forming first set of auxiliary matrices for normal equations matrix via cholmod.

Definition at line 1372 of file BundleAdjust.cpp.

References Isis::SparseBlockColumnMatrix::insertMatrixBlock().

bool Isis::BundleAdjust::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
	)

private

Forming first set of auxiliary matrices for normal equations matrix via specialk.

Definition at line 1727 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::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
	)

private

Forming second set of auxiliary matrices for normal equations matrix via cholmod.

Definition at line 1452 of file BundleAdjust.cpp.

References Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SurfacePoint::SetSphericalMatrix(), and Isis::SparseBlockRowMatrix::zeroBlocks().

bool Isis::BundleAdjust::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
	)

private

Forming second set of auxiliary matrices for normal equations matrix via specialk.

Definition at line 1800 of file BundleAdjust.cpp.

References Isis::ControlPoint::SetAdjustedSurfacePoint(), and Isis::SurfacePoint::SetSphericalMatrix().

bool Isis::BundleAdjust::formNormals3_CHOLMOD	(	boost::numeric::ublas::compressed_vector< double > &	n1,
		boost::numeric::ublas::vector< double > &	nj
	)

private

Apply weighting for spacecraft position, velocity, acceleration and camera angles, angular velocities, angular accelerations if so stipulated (legalese).

Definition at line 1554 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::formNormals3_SPECIALK	(	boost::numeric::ublas::compressed_vector< double > &	n1,
		boost::numeric::ublas::vector< double > &	nj
	)

private

apply weighting for spacecraft position, velocity, acceleration and camera angles, angular velocities, angular accelerations if so stipulated (legalese).

Definition at line 1899 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::freeCholMod ( )

private

Initializations for Cholmod sparse matrix package.

Definition at line 416 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 3663 of file BundleAdjust.cpp.

int Isis::BundleAdjust::ImageIndex ( int i ) const

private

Return index to basis function for image with index i.

Definition at line 6050 of file BundleAdjust.cpp.

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

private

Initialize solution parameters.

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

Definition at line 208 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), and Isis::Spice::radii().

void Isis::BundleAdjust::Initialize ( )

private

Initializes matrices and parameters for bundle adjustment.

Definition at line 755 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::initializeCholMod ( )

private

Initializations for Cholmod sparse matrix package.

Definition at line 390 of file BundleAdjust.cpp.

void Isis::BundleAdjust::InitializePoints ( )

private

Initializing points.

This method will definitely need to be revisited.

Definition at line 2050 of file BundleAdjust.cpp.

References Isis::ControlPoint::SetAdjustedSurfacePoint().

bool Isis::BundleAdjust::InitializePointWeights ( )

private

Initialize point coordinaate weights.

Definition at line 1931 of file BundleAdjust.cpp.

References Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLatWeight(), Isis::SurfacePoint::GetLocalRadiusWeight(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::SurfacePoint::GetLonWeight(), Isis::ControlPoint::GetType(), and Isis::Distance::meters().

bool Isis::BundleAdjust::Invert_3x3 ( boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > & m )

private

Dedicated quick inverse of 3x3 matrix.

TODO: belongs in matrix class or wrapper.

Definition at line 2831 of file BundleAdjust.cpp.

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

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

Definition at line 6073 of file BundleAdjust.cpp.

void Isis::BundleAdjust::IterationSummary	(	double	avErr,
		double	sigmaXY,
		double	sigmaHat,
		double	sigmaX,
		double	sigmaY
	)

private

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

Parameters

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

Definition at line 6158 of file BundleAdjust.cpp.

References Isis::toString().

bool Isis::BundleAdjust::loadCholmodTriplet ( )

private

Load sparse normal equations matrix into CHOLMOD triplet.

Definition at line 2466 of file BundleAdjust.cpp.

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 8845 of file BundleAdjust.cpp.

References _FILEINFO_.

int Isis::BundleAdjust::Observations ( ) const

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

Definition at line 6100 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::Output ( )

private

Output bundle results to file.

Definition at line 6400 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::OutputHeader ( std::ofstream & fp_out )

private

Output header for bundle results file.

Definition at line 6424 of file BundleAdjust.cpp.

References _FILEINFO_, and Isis::iTime::CurrentLocalTime().

bool Isis::BundleAdjust::OutputImagesCSV ( )

private

output image data to csv file

Definition at line 8285 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), Isis::Camera::GetCameraType(), Isis::SpiceRotation::GetCenterAngles(), Isis::SpicePosition::GetCenterCoordinate(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::RAD2DEG(), and Isis::toString().

bool Isis::BundleAdjust::OutputNoErrorPropagation ( )

private

output bundle results to file with error propagation

output bundle results to file with no error propagation

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

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

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

Definition at line 7722 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::SpiceRotation::GetCenterAngles(), Isis::SpicePosition::GetCenterCoordinate(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::ControlPoint::GetNumberOfRejectedMeasures(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::ControlPoint::GetResidualRms(), Isis::ControlPoint::GetType(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Distance::meters(), and Isis::RAD2DEG().

bool Isis::BundleAdjust::OutputPointsCSV ( )

private

output point data to csv file

Definition at line 8115 of file BundleAdjust.cpp.

References Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::ControlPoint::GetId(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::ControlPoint::GetNumberOfRejectedMeasures(), Isis::ControlPoint::GetResidualRms(), Isis::ControlPoint::GetType(), Isis::Displacement::kilometers(), Isis::Distance::kilometers(), and Isis::Distance::meters().

bool Isis::BundleAdjust::OutputResiduals ( )

private

output image coordinate residuals to comma-separated-value file

Definition at line 8220 of file BundleAdjust.cpp.

References Isis::ControlMeasure::GetCubeSerialNumber(), Isis::ControlPoint::GetId(), Isis::ControlPoint::GetMeasure(), and Isis::ControlMeasure::GetResidualMagnitude().

bool Isis::BundleAdjust::OutputWithErrorPropagation ( )

private

int Isis::BundleAdjust::PointIndex ( int i ) const

private

Return index to basis function for ith point.

Definition at line 6032 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::product_ATransB	(	boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	N22,
		SparseBlockColumnMatrix &	N12,
		SparseBlockRowMatrix &	Q
	)

private

C = A x B(transpose) where A is a boost matrix B is a SparseBlockColumn matrix C is a SparseBlockRowMatrix each block of B and C are boost matrices.

Definition at line 2095 of file BundleAdjust.cpp.

References Isis::SparseBlockRowMatrix::insertMatrixBlock().

void Isis::BundleAdjust::product_AV	(	double	alpha,
		boost::numeric::ublas::bounded_vector< double, 3 > &	v2,
		SparseBlockRowMatrix &	Q,
		boost::numeric::ublas::vector< double > &	v1
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2071 of file BundleAdjust.cpp.

void Isis::BundleAdjust::SetCKDegree ( int degree )

inline

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

Definition at line 273 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 652 of file BundleAdjust.cpp.

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 617 of file BundleAdjust.cpp.

References _FILEINFO_.

bool Isis::BundleAdjust::SetParameterWeights ( )

private

set parameter weighting for old SPARSE solution

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

Definition at line 6230 of file BundleAdjust.cpp.

References Isis::SurfacePoint::GetLatSigmaDistance(), Isis::SurfacePoint::GetLatWeight(), Isis::SurfacePoint::GetLocalRadiusWeight(), Isis::SurfacePoint::GetLonSigmaDistance(), Isis::SurfacePoint::GetLonWeight(), Isis::ControlPoint::GetType(), and Isis::Distance::meters().

void Isis::BundleAdjust::SetPostBundleSigmas ( )

private

Set parameter sigmas (uncertainties) after bundle.

Definition at line 6357 of file BundleAdjust.cpp.

References Isis::SurfacePoint::GetLatitude(), Isis::Angle::radians(), Isis::ControlPoint::SetAdjustedSurfacePoint(), and Isis::SurfacePoint::SetSphericalSigmasDistance().

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 8836 of file BundleAdjust.cpp.

void Isis::BundleAdjust::SetSolveCKDegree ( int degree )

inline

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

Definition at line 276 of file BundleAdjust.h.

References m_nsolveCKDegree.

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

For which camera angle coefficients do we solve?

Definition at line 660 of file BundleAdjust.cpp.

References _FILEINFO_, and Isis::toString().

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

For which camera position coefficients do we solve?

Definition at line 698 of file BundleAdjust.cpp.

References _FILEINFO_, and Isis::toString().

void Isis::BundleAdjust::SetSolveSPKDegree ( int degree )

inline

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

Definition at line 283 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 279 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, etc. It is iterative as the equations are non-linear. During each iteration it is updating portions of the control net, as well as the instrument pointing/position in the camera. If it doesn't converge to a solution in maxIterations it will throw an error. However, even if an error is thrown the control network will contain the errors (residuals) at each control measure.

Parameters

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

Definition at line 3385 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::Camera::Camera(), Isis::SpicePosition::GetBaseTime(), Isis::SpiceRotation::GetBaseTime(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::SpicePosition::GetTimeScale(), Isis::SpiceRotation::GetTimeScale(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::LeastSquares::QRD, Isis::SpicePosition::SetOverrideBaseTime(), Isis::SpiceRotation::SetOverrideBaseTime(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::SpiceRotation::SetPolynomialDegree(), Isis::Progress::SetText(), Isis::LeastSquares::SPARSE, Isis::LeastSquares::SVD, and Isis::toString().

bool Isis::BundleAdjust::SolveCholesky ( )

The solve method is a least squares solution for updating the camera pointing, etc.

It is iterative as the equations are non-linear. If it doesn't 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 within the maximum iterations. However, even if an error is thrown the control network will contain the errors (residuals) for each control measure.

Parameters

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

Definition at line 883 of file BundleAdjust.cpp.

References _FILEINFO_, Isis::Camera::Camera(), Isis::SpicePosition::GetBaseTime(), Isis::SpiceRotation::GetBaseTime(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::SpicePosition::GetTimeScale(), Isis::SpiceRotation::GetTimeScale(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::SpicePosition::SetOverrideBaseTime(), Isis::SpiceRotation::SetOverrideBaseTime(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::SpiceRotation::SetPolynomialDegree(), and Isis::toString().

bool Isis::BundleAdjust::solveSystem ( )

private

Solve normal equations system.

Definition at line 1212 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::solveSystem_CHOLMOD ( )

private

Solution with CHOLMOD.

Definition at line 2378 of file BundleAdjust.cpp.

References _FILEINFO_.

bool Isis::BundleAdjust::solveSystem_SPECIALK ( )

private

Solution with specialk (dense).

Definition at line 2569 of file BundleAdjust.cpp.

void Isis::BundleAdjust::SpecialKIterationSummary ( )

private

This method creates a iteration summary and creates an iteration group for the SpecialK solution summary.

Definition at line 6188 of file BundleAdjust.cpp.

References Isis::toString().

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 6091 of file BundleAdjust.cpp.

void Isis::BundleAdjust::transA_NZ_multAdd_CHOLMOD	(	double	alpha,
		SparseBlockRowMatrix &	A,
		boost::numeric::ublas::vector< double > &	B,
		boost::numeric::ublas::vector< double > &	C
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2209 of file BundleAdjust.cpp.

void Isis::BundleAdjust::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
	)

private

Dedicated matrix multiplication method.

TODO: Define.

Definition at line 2238 of file BundleAdjust.cpp.

bool Isis::BundleAdjust::TriangulatePoint ( const ControlPoint & rPoint )

private

Triangulates an individual point.

Parameters

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

Returns: integer Number of points triangulated successfully

Definition at line 4295 of file BundleAdjust.cpp.

int Isis::BundleAdjust::Triangulation ( bool bDoApproximation = false )

private

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

Triangulates all points (including control points).

Parameters

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

Returns: integer Number of points triangulated successfully

Definition at line 4253 of file BundleAdjust.cpp.

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 derivative 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 5892 of file BundleAdjust.cpp.

References Isis::Camera::Camera(), Isis::BasisFunction::Coefficient(), Isis::DEG2RAD(), Isis::Angle::degrees(), Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::ControlPoint::GetType(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::Distance::meters(), Isis::RAD2DEG(), Isis::ControlPoint::SetAdjustedSurfacePoint(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), and Isis::SurfacePoint::SetSphericalCoordinates().

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

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

Definition at line 362 of file BundleAdjust.cpp.

References _FILEINFO_, and Isis::toString().

bool Isis::BundleAdjust::WrapUp ( )

private

Bundle wrap up.

Definition at line 5069 of file BundleAdjust.cpp.

References Isis::ControlPoint::ComputeResiduals().

Member Data Documentation

bool Isis::BundleAdjust::m_bCleanUp

private

for cleanup (i.e. in destructor)

Definition at line 362 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bDeltack

private

flag indicating deltack was calling app

Definition at line 366 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bErrorPropagation

private

to perform error propagation

Definition at line 355 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bObservationMode

private

for observation mode (explain this somewhere)

Definition at line 354 of file BundleAdjust.h.

Distance Isis::BundleAdjust::m_BodyRadii[3]

private

body radii i meters

Definition at line 456 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bOutlierRejection

private

to perform automatic outlier detection/rejection

Definition at line 356 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bOutputCSV

private

to output points and image station data in csv format

Definition at line 360 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bOutputResiduals

private

to output residuals in csv format

Definition at line 361 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bOutputStandard

private

to print standard bundle output file (bundleout.txt)

Definition at line 359 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bPrintSummary

private

to print summary

Definition at line 358 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSimulatedData

private

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

Definition at line 363 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSolvePolyOverHermite

private

to fit polynomial over existing Hermite

Definition at line 352 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSolvePolyOverPointing

private

to fit polynomial over existing pointing

Definition at line 353 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSolveRadii

private

to solve for point radii

Definition at line 350 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bSolveTwist

private

to solve for "twist" angle

Definition at line 349 of file BundleAdjust.h.

bool Isis::BundleAdjust::m_bUpdateCubes

private

update cubes (only here for output into bundleout.txt)

Definition at line 351 of file BundleAdjust.h.

CmatrixSolveType Isis::BundleAdjust::m_cmatrixSolveType

private

cmatrix solve type (define)

Definition at line 495 of file BundleAdjust.h.

StatCumProbDistDynCalc* Isis::BundleAdjust::m_cumPro

private

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

Definition at line 677 of file BundleAdjust.h.

StatCumProbDistDynCalc* Isis::BundleAdjust::m_cumProRes

private

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

Definition at line 682 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dConvergenceThreshold

private

bundle convergence threshold

Definition at line 399 of file BundleAdjust.h.

DecompositionMethod Isis::BundleAdjust::m_decompositionMethod

private

matrix decomp method

Definition at line 493 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dElapsedTime

private

elapsed time for bundle

Definition at line 400 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dElapsedTimeErrorProp

private

elapsed time for error propagation //!

Definition at line 401 of file BundleAdjust.h.

std::vector<double> Isis::BundleAdjust::m_dEpsilons

private

vector maintaining total corrections to parameters

Definition at line 458 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dError

private

error

Definition at line 398 of file BundleAdjust.h.

std::vector<double> Isis::BundleAdjust::m_dGlobalCameraAnglesAprioriSigma

private

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

Definition at line 440 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalLatitudeAprioriSigma

private

latitude apriori sigma

Definition at line 428 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalLongitudeAprioriSigma

private

longitude apriori sigma

Definition at line 429 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalRadiusAprioriSigma

private

radius apriori sigma

Definition at line 430 of file BundleAdjust.h.

std::vector<double> Isis::BundleAdjust::m_dGlobalSpacecraftPositionAprioriSigma

private

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

Definition at line 435 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalSurfaceXAprioriSigma

private

surface point x apriori sigma

Definition at line 431 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalSurfaceYAprioriSigma

private

surface point y apriori sigma

Definition at line 432 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dGlobalSurfaceZAprioriSigma

private

surface point z apriori sigma

Definition at line 433 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dMTR

private

meters to radians conversion factor (body specific)

Definition at line 455 of file BundleAdjust.h.

std::vector<double> Isis::BundleAdjust::m_dParameterWeights

private

vector of parameter weights

Definition at line 459 of file BundleAdjust.h.

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 422 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dRejectionMultiplier

private

outlier rejection multiplier

Definition at line 357 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_rx

private

rms of x residuals

Definition at line 403 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_rxy

private

rms of all x and y residuals

Definition at line 405 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_ry

private

rms of y residuals

Definition at line 404 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_sigmaLat

private

rms of adjusted Latitude sigmas

Definition at line 406 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_sigmaLon

private

rms of adjusted Longitude sigmas

Definition at line 407 of file BundleAdjust.h.

double Isis::BundleAdjust::m_drms_sigmaRad

private

rms of adjusted Radius sigmas

Definition at line 408 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dRTM

private

radians to meters conversion factor (body specific)

Definition at line 454 of file BundleAdjust.h.

double Isis::BundleAdjust::m_dSigma0

private

std deviation of unit weight

Definition at line 402 of file BundleAdjust.h.

std::vector< boost::numeric::ublas::vector< double > > Isis::BundleAdjust::m_Image_AdjustedSigmas

private

vector of a posteriori (adjusted image parameter sigmas

Definition at line 529 of file BundleAdjust.h.

boost::numeric::ublas::vector<double> Isis::BundleAdjust::m_Image_Corrections

private

image parameter cumulative correction vector

Definition at line 522 of file BundleAdjust.h.

boost::numeric::ublas::vector<double> Isis::BundleAdjust::m_Image_Solution

private

image parameter solution vector

Definition at line 523 of file BundleAdjust.h.

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 687 of file BundleAdjust.h.

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 692 of file BundleAdjust.h.

double Isis::BundleAdjust::m_maxLikelihoodMedianR2Residuals

private

Median of R^2 residuals.

Definition at line 701 of file BundleAdjust.h.

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 697 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nBasisColumns

private

number of columns (parameters) in normal equations

Definition at line 392 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nCKDegree

private

ck degree (define)

Definition at line 385 of file BundleAdjust.h.

Referenced by SetCKDegree().

int Isis::BundleAdjust::m_nConstrainedImageParameters

private

number of constrained image parameters

Definition at line 378 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nConstrainedPointParameters

private

number of constrained point parameters

Definition at line 377 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nDegreesOfFreedom

private

degrees of freedom //!

Definition at line 379 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nFixedPoints

private

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

Definition at line 381 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nHeldImages

private

number of 'held' images (define)

Definition at line 383 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nHeldObservations

private

number of 'held' observations (define)

Definition at line 384 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nHeldPoints

private

number of 'held' points (define)

Definition at line 380 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nIgnoredPoints

private

number of ignored points

Definition at line 382 of file BundleAdjust.h.

std::vector<int> Isis::BundleAdjust::m_nImageIndexMap

private

index into normal equations of image parameter positions

Definition at line 396 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nImageParameters

private

number of image parameters

Definition at line 375 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nIteration

private

current iteration

Definition at line 369 of file BundleAdjust.h.

boost::numeric::ublas::vector< double > Isis::BundleAdjust::m_nj

private

array of Qs (see Brown, 1976)

Definition at line 515 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nMaxIterations

private

maximum iterations

Definition at line 370 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nNumberCamAngleCoefSolved

private

number of camera angle coefficients in solution

Definition at line 387 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nNumberCamPosCoefSolved

private

number of camera position coefficients in solution

Definition at line 390 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nNumImagePartials

private

number of image-related partials

Definition at line 371 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nNumPointPartials

private

number of point-related partials

Definition at line 372 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nObservations

private

number of image coordinate observations

Definition at line 373 of file BundleAdjust.h.

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 512 of file BundleAdjust.h.

std::vector<int> Isis::BundleAdjust::m_nPointIndexMap

private

index into normal equations of point parameter positions

Definition at line 395 of file BundleAdjust.h.

SpiceRotation::Source Isis::BundleAdjust::m_nPointingType

private

type of SpiceRotation interpolation

Definition at line 394 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nPointParameters

private

total number of point parameters (including constrained)

Definition at line 376 of file BundleAdjust.h.

SpicePosition::Source Isis::BundleAdjust::m_nPositionType

private

type of SpicePosition interpolation

Definition at line 393 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nRejectedObservations

private

number of rejected image coordinate observations //!

Definition at line 374 of file BundleAdjust.h.

int Isis::BundleAdjust::m_nsolveCKDegree

private

solve cad degree (define)

Definition at line 386 of file BundleAdjust.h.

Referenced by SetSolveCKDegree().

int Isis::BundleAdjust::m_nsolveSPKDegree

private

solve spk degree (define)

Definition at line 389 of file BundleAdjust.h.

Referenced by SetSolveSPKDegree().

int Isis::BundleAdjust::m_nSPKDegree

private

spk degree (define)

Definition at line 388 of file BundleAdjust.h.

Referenced by SetSPKDegree().

int Isis::BundleAdjust::m_nUnknownParameters

private

total number of parameters to solve for

Definition at line 391 of file BundleAdjust.h.

Isis::ControlNet* Isis::BundleAdjust::m_pCnet

private

'ControlNet' object

Definition at line 471 of file BundleAdjust.h.

Isis::SerialNumberList* Isis::BundleAdjust::m_pHeldSnList

private

list of held image serial numbers

Definition at line 473 of file BundleAdjust.h.

Isis::LeastSquares* Isis::BundleAdjust::m_pLsq

private

< pointers to...

'LeastSquares' object

Definition at line 470 of file BundleAdjust.h.

Isis::ObservationNumberList* Isis::BundleAdjust::m_pObsNumList

private

list of observation numbers

vectors for statistical computations...

Definition at line 474 of file BundleAdjust.h.

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 526 of file BundleAdjust.h.

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 525 of file BundleAdjust.h.

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 527 of file BundleAdjust.h.

Isis::SerialNumberList* Isis::BundleAdjust::m_pSnList

private

list of image serial numbers

Definition at line 472 of file BundleAdjust.h.

std::vector< SparseBlockRowMatrix > Isis::BundleAdjust::m_Qs_CHOLMOD

private

array of NICs (see Brown, 1976)

Definition at line 519 of file BundleAdjust.h.

SpacecraftPositionSolveType Isis::BundleAdjust::m_spacecraftPositionSolveType

private

spacecraft position solve type (define)

Definition at line 496 of file BundleAdjust.h.

Statistics Isis::BundleAdjust::m_Statsrx

private

x residuals

Definition at line 479 of file BundleAdjust.h.

Statistics Isis::BundleAdjust::m_Statsrxy

private

xy residuals

Definition at line 481 of file BundleAdjust.h.

Statistics Isis::BundleAdjust::m_Statsry

private

y residuals

Definition at line 480 of file BundleAdjust.h.

Statistics Isis::BundleAdjust::m_Statsx

private

x errors

Definition at line 477 of file BundleAdjust.h.

Statistics Isis::BundleAdjust::m_Statsy

private

y errors

Definition at line 478 of file BundleAdjust.h.

QString Isis::BundleAdjust::m_strCnetFileName

private

Control Net file specification.

Definition at line 464 of file BundleAdjust.h.

QString Isis::BundleAdjust::m_strOutputFilePrefix

private

output file prefix

Definition at line 466 of file BundleAdjust.h.

QString Isis::BundleAdjust::m_strSolutionMethod

private

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

Definition at line 465 of file BundleAdjust.h.

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 671 of file BundleAdjust.h.

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

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

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