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Isis 3.0 Developer's Reference (API) |
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#include <BundleAdjust.h>
Classes | |
| struct | SpacecraftWeights |
Public Types | |
| enum | DecompositionMethod { NoneSelected, SPECIALK, CHOLMOD } |
| enum | CmatrixSolveType { None, AnglesOnly, AnglesVelocity, AnglesVelocityAcceleration, CKAll } |
| enum | SpacecraftPositionSolveType { Nothing, PositionOnly, PositionVelocity, PositionVelocityAcceleration, SPKAll } |
Public Member Functions | |
| BundleAdjust (const QString &cnetFile, const QString &cubeList, bool printSummary=true) | |
| BundleAdjust (const QString &cnetFile, const QString &cubeList, const QString &heldList, bool printSummary=true) | |
| BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, bool printSummary=true) | |
| BundleAdjust (Isis::ControlNet &cnet, Isis::SerialNumberList &snlist, Isis::SerialNumberList &heldsnlist, bool printSummary=true) | |
| ~BundleAdjust () | |
| 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. | |
| Isis::BundleAdjust::BundleAdjust | ( | const QString & | cnetFile, | |
| const QString & | cubeList, | |||
| bool | printSummary = true | |||
| ) |
References ControlNet(), SerialNumberList(), and Isis::StatCumProbDistDynCalc::setQuantiles().
| Isis::BundleAdjust::BundleAdjust | ( | const QString & | cnetFile, | |
| const QString & | cubeList, | |||
| const QString & | heldList, | |||
| bool | printSummary = true | |||
| ) |
References ControlNet(), SerialNumberList(), and Isis::StatCumProbDistDynCalc::setQuantiles().
| Isis::BundleAdjust::BundleAdjust | ( | Isis::ControlNet & | cnet, | |
| Isis::SerialNumberList & | snlist, | |||
| bool | printSummary = true | |||
| ) |
References Isis::StatCumProbDistDynCalc::setQuantiles().
| Isis::BundleAdjust::BundleAdjust | ( | Isis::ControlNet & | cnet, | |
| Isis::SerialNumberList & | snlist, | |||
| Isis::SerialNumberList & | heldsnlist, | |||
| bool | printSummary = true | |||
| ) |
References Isis::StatCumProbDistDynCalc::setQuantiles().
| Isis::BundleAdjust::~BundleAdjust | ( | ) |
| 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.
References Isis::ControlNet::GetNumValidPoints(), and Observations().
Referenced by Solve().
| Table Isis::BundleAdjust::Cmatrix | ( | int | index | ) |
Return a table cmatrix for the ith cube in the cube list given to the constructor.
References Isis::SpiceRotation::Cache(), Isis::ControlNet::Camera(), and Isis::Spice::instrumentRotation().
| int Isis::BundleAdjust::ComputeConstrainedParameters | ( | ) |
| Isis::ControlNet* Isis::BundleAdjust::ControlNet | ( | ) | [inline] |
Referenced by BundleAdjust().
| double Isis::BundleAdjust::Error | ( | ) | const [inline] |
| QString Isis::BundleAdjust::FileName | ( | int | index | ) |
Return the ith filename in the cube list file given to constructor.
References Isis::SerialNumberList::fileName().
| int Isis::BundleAdjust::FixedPoints | ( | ) | const [inline] |
| 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.
References Isis::LeastSquares::GetEpsilons(), Isis::ControlNet::GetNumPoints(), Isis::ControlNet::GetNumValidPoints(), Isis::ControlNet::GetPoint(), and Isis::ControlPoint::IsIgnored().
Referenced by Solve().
| int Isis::BundleAdjust::IgnoredPoints | ( | ) | const [inline] |
| int Isis::BundleAdjust::Images | ( | ) | const [inline] |
References Isis::SerialNumberList::size().
Referenced by Solve(), and SolveCholesky().
| bool Isis::BundleAdjust::IsConverged | ( | ) | [inline] |
| bool Isis::BundleAdjust::IsHeld | ( | int | index | ) |
Return whether the ith file in the cube list is held.
References Isis::SerialNumberList::hasSerialNumber(), and Isis::SerialNumberList::serialNumber().
| double Isis::BundleAdjust::Iteration | ( | ) | const [inline] |
| QString Isis::BundleAdjust::IterationSummaryGroup | ( | ) | const [inline] |
| 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.
References _FILEINFO_, Isis::MaximumLikelihoodWFunctions::Chen, Isis::MaximumLikelihoodWFunctions::Huber, Isis::MaximumLikelihoodWFunctions::HuberModified, Isis::IException::Io, Isis::StatCumProbDistDynCalc::setQuantiles(), and Isis::MaximumLikelihoodWFunctions::Welsch.
| int Isis::BundleAdjust::Observations | ( | ) | const |
Return the number of observations in list given to the constructor.
References Isis::ObservationNumberList::observationSize(), and Isis::SerialNumberList::size().
Referenced by BasisColumns(), and Solve().
| Isis::SerialNumberList* Isis::BundleAdjust::SerialNumberList | ( | ) | [inline] |
Referenced by BundleAdjust().
| void Isis::BundleAdjust::SetCKDegree | ( | int | degree | ) | [inline] |
Set the degree of the polynomial to fit to the camera angles.
| void Isis::BundleAdjust::SetConvergenceThreshold | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetCSVOutput | ( | bool | b | ) | [inline] |
| void Isis::BundleAdjust::SetDecompositionMethod | ( | DecompositionMethod | method | ) |
Set decomposition method.
Choices are... SpecialK (dense normal equations matrix) Sparse (Cholmod sparse normal equations matrix)
| void Isis::BundleAdjust::SetErrorPropagation | ( | bool | b | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalCameraAnglesAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalCameraAngularAccelerationAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalCameraAngularVelocityAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalLatitudeAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalLongitudeAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalRadiiAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalSpacecraftAccelerationAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalSpacecraftPositionAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetGlobalSpacecraftVelocityAprioriSigma | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetMaxIterations | ( | int | n | ) | [inline] |
| 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?
References _FILEINFO_, Isis::SerialNumberList::fileName(), Isis::SerialNumberList::hasSerialNumber(), Isis::SerialNumberList::observationNumber(), Isis::SerialNumberList::serialNumber(), Isis::SerialNumberList::size(), and Isis::IException::User.
| void Isis::BundleAdjust::SetOutlierRejection | ( | bool | b | ) | [inline] |
| void Isis::BundleAdjust::SetOutputFilePrefix | ( | const QString & | str | ) | [inline] |
| void Isis::BundleAdjust::SetRejectionMultiplier | ( | double | d | ) | [inline] |
| void Isis::BundleAdjust::SetResidualOutput | ( | bool | b | ) | [inline] |
| 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.
| void Isis::BundleAdjust::SetSolveCKDegree | ( | int | degree | ) | [inline] |
Set the degree of the polynomial to adjust in the solution.
| void Isis::BundleAdjust::SetSolveCmatrix | ( | CmatrixSolveType | type | ) |
For which camera angle coefficients do we solve?
References _FILEINFO_, AnglesOnly, AnglesVelocity, AnglesVelocityAcceleration, CKAll, Isis::toString(), and Isis::IException::User.
| void Isis::BundleAdjust::SetSolvePolyOverHermite | ( | bool | b | ) | [inline] |
| void Isis::BundleAdjust::SetSolvePolyOverPointing | ( | bool | b | ) | [inline] |
References Isis::SpiceRotation::PolyFunctionOverSpice.
| void Isis::BundleAdjust::SetSolveRadii | ( | bool | solve | ) | [inline] |
| void Isis::BundleAdjust::SetSolveSpacecraftPosition | ( | SpacecraftPositionSolveType | type | ) |
For which camera position coefficients do we solve?
References _FILEINFO_, PositionOnly, PositionVelocity, PositionVelocityAcceleration, SPKAll, Isis::toString(), and Isis::IException::User.
| void Isis::BundleAdjust::SetSolveSPKDegree | ( | int | degree | ) | [inline] |
Set the degree of the camera position polynomial to adjust in the solution.
| void Isis::BundleAdjust::SetSolveTwist | ( | bool | solve | ) | [inline] |
| void Isis::BundleAdjust::SetSPKDegree | ( | int | degree | ) | [inline] |
Set the degree of the polynomial to fit to the camera position.
| void Isis::BundleAdjust::SetStandardOutput | ( | bool | b | ) | [inline] |
| void Isis::BundleAdjust::SetUpdateCubes | ( | bool | update | ) | [inline] |
| 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.
| tol | Maximum pixel error for any control network measurement | |
| maxIterations | Maximum iterations, if tolerance is never met an iException will be thrown. |
References _FILEINFO_, Isis::Statistics::AddData(), Isis::Statistics::Average(), Isis::ControlNet::AverageResidual(), BasisColumns(), Isis::ControlNet::Camera(), Isis::ControlNet::ComputeApriori(), Isis::ControlNet::ComputeResiduals(), Isis::SpicePosition::GetBaseTime(), Isis::SpiceRotation::GetBaseTime(), Isis::LeastSquares::GetDegreesOfFreedom(), Isis::ControlNet::GetMaximumResidual(), Isis::ControlNet::GetNumPoints(), Isis::ControlNet::GetNumValidMeasures(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::LeastSquares::GetSigma0(), GetSparseParameterCorrections(), Isis::SpicePosition::GetTimeScale(), Isis::SpiceRotation::GetTimeScale(), Images(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::LeastSquares::Knowns(), None, Nothing, Isis::ObservationNumberList::observationNumberMapIndex(), Observations(), Isis::ObservationNumberList::observationSize(), Isis::LeastSquares::QRD, Isis::LeastSquares::Reset(), Isis::Statistics::Reset(), Isis::LeastSquares::Residuals(), Isis::SpicePosition::SetOverrideBaseTime(), Isis::SpiceRotation::SetOverrideBaseTime(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::SpiceRotation::SetPolynomialDegree(), Isis::Progress::SetText(), Isis::LeastSquares::Solve(), Isis::LeastSquares::SPARSE, Isis::LeastSquares::SparseErrorPropagation(), Isis::Statistics::SumSquare(), Isis::LeastSquares::SVD, Isis::toString(), Isis::Statistics::TotalPixels(), Isis::IException::Unknown, and Isis::IException::User.
| 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.
| tol | Maximum pixel error for any control network measurement | |
| maxIterations | Maximum iterations, if tolerance is never met an iException will be thrown. |
References _FILEINFO_, Isis::ControlNet::Camera(), CHOLMOD, Isis::ControlNet::ComputeApriori(), Isis::SpicePosition::GetBaseTime(), Isis::SpiceRotation::GetBaseTime(), Isis::SpicePosition::GetPolynomial(), Isis::SpiceRotation::GetPolynomial(), Isis::SpicePosition::GetTimeScale(), Isis::SpiceRotation::GetTimeScale(), Images(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::IException::Io, None, Nothing, Isis::ObservationNumberList::observationNumberMapIndex(), Isis::ObservationNumberList::observationSize(), Isis::SpicePosition::SetOverrideBaseTime(), Isis::SpiceRotation::SetOverrideBaseTime(), Isis::SpicePosition::SetPolynomial(), Isis::SpiceRotation::SetPolynomial(), Isis::SpicePosition::SetPolynomialDegree(), Isis::SpiceRotation::SetPolynomialDegree(), Isis::StatCumProbDistDynCalc::setQuantiles(), Isis::MaximumLikelihoodWFunctions::setTweakingConstant(), SPECIALK, Isis::toString(), Isis::IException::User, Isis::StatCumProbDistDynCalc::value(), and Isis::SparseBlockMatrix::zeroBlocks().
| Table Isis::BundleAdjust::SpVector | ( | int | index | ) |
Return a table spacecraft vector for the ith cube in the cube list given to the constructor.
References Isis::ControlNet::Camera(), and Isis::Spice::instrumentPosition().