<td> A user defined single word identifier assigned to the control network file. </td>
<!--Most programs should copy this from the input cnet with an option to change it if it is entered by the user. If more than one input cnet use the first cnet entered (i.e., cnetmerge) -->
</tr>
<tr><td> TargetName</td>
<td> String</td>
<td> No Default </td>
<td> Yes </td>
<td> The planetary body to which the control network file applies. This Target Name should appear in all cubes used in the control network. Possible values are Moon, or Mars.</td>
<!--Use Cases:
*cnetmerge should use this to verify the control networks share the same target.
*cnetadd should use this to verify the control network and images share the same target.
-->
</tr>
<tr><td> UserName</td>
<td> String</td>
<td> No Default </td>
<td> No </td>
<td> Name of the user that created the control network file. </td>
</tr>
<tr><td> Created</td>
<td> String</td>
<td> No Default </td>
<td> No </td>
<td> Initial creation date and time of control net file. Once this is set it should not be modified. </td>
<!--
''''''Note:'''''' For cnetmerge retain the earliest of the input cnets.
''''''Note:'''''' Report all input creation dates to the log file. -->
</tr>
<tr><td> LastModified</td>
<td> String</td>
<td> ? </td>
<td> ? </td>
<td> Date and time on which the control net file was last modified. All programs which modify the contents of this network must set this keyword.</td>
</tr>
<!--(Default: CurrentLocalTime()) QUESTION: Is there truly a default? -->
<tr><td> Description</td>
<td> String</td>
<td> None </td>
<td> No </td>
<td>Brief description of the control network file. This is free-form text normally supplied by the person running the application.</td>
</tr>
</table>
<h2>Control Point</h2>
<p>A logical grouping of all information concerning a control point.</p>
This type of control point is measured image to image. Each measurement associated with this point has a line and sample coordinate indicating the location of this point on that image.
The coordinates of this type of control point are assumed to have a known accuracy. The bundle adjustment will constrain"Ground" points accordingly.
-->
</tr>
<tr><td> PointId</td>
<td> String</td>
<td> No </td>
<td> No Default </td>
<td> String to identify an individual Control Point. This is a required keyword for all points and must be unique within a single Control Network. This keyword is often generated automatically by applications which create Control Points.</td>
</tr>
<tr><td> ChooserName</td>
<td> String</td>
<td> No Default</td>
<td> No</td>
<td> The name of the user who manually created a point or the name of the application which automatically created a point.</td>
<!--Use cases:
*When qnet is used to create a new point, qnet should set this to the user name.
*When autoseed creates points it should set this to "autoseed".-->
</tr>
<tr><td> DateTime</td>
<td> String</td>
<td> No </td>
<td> No Default </td>
<td> Indicates the date/time a ground Control Point's coordinate was last changed</td>
</tr>
<tr><td> EditLock</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> Indicator to applications that edit the contents of Control Points that all information about this point (e.g. Latitude, Longitude, Radius) should not be modified. This does not include adding or removing measurements or the contents of existing measurements, as long as those measures are not locked.
</td>
</tr><!--EditLock=True is 'trump'...this includes the Ignore flag...if an application needs to set the Ignore=True, it cannot and will need to report the problem to the user.
Question: Should Reference measures have EditLock set to True by default when the ControlPoint it is associated with is locked? YES....or if Point-EditLock=TRUE then implicitly the Reference Measure-editlock=TRUE.
('''IMPORTANT NOTE:''' Implicit EditLock of Reference measure if Point EditLock=True will not work. ControlMeasure cannot get to ControlPoint EditLock. The Reference measure EditLock must be set to True if the ControlPoint EditLock=True.)
For applications such as 'cnetadd', when the control Point-EditLock=TRUE, new measures can be still added to the network..BUT, if the AprioriXYZSource=AverageOfMeasures; the a priori xyz values will remain UNchanged because the Point-EditLock=TRUE (most likely not the responsibilty to a measure app like cnetadd anyway). There might need to be a new app that updates 'ControlPoint' Level information allowing the user to "unlock" points and update a priori xyz values based on current state of measures. -->
<tr><td> Ignore</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> Flag (True/False) to indicate whether this Control Point should be Ignored. When a point is ignored, no data within the point should be used by a program unless the program is explicitly working with ignored points.
</td>
</tr>
<tr><td> AprioriXYZSource</td>
<td> String</td>
<td> No </td>
<td> None </td>
<td>
Set to one of the values below:
*User - The a priori coordinates for this point were entered by the user.
*AverageOfMeasures - The a priori coordinates for this point were calculated by averaging the coordinates for all measures (e.g., Average lat/lon or x/y/z for all measures)
*Reference - The a priori coordinates for this point were obtained from the camera associated with the Control Measure marked as "REFERENCE".
*Basemap - The a priori coordinates for this point were obtained from either a controlled mosaic or a single projected image used for a priori coordinates.
*BundleSolution - The a priori coordinates for this point were obtained from a previous run of jigsaw.
</td>
</tr>
<tr><td> AprioriXYZSourceFile</td>
<td> String</td>
<td> No </td>
<td> "" </td>
<td> A string containing the file name of the AprioriLatitude and AprioriLongitude source. This keyword will only be used if AprioriLatLonSource == Basemap.
</td>
<!--If the AprioriLatLonSource is set to "Reference" set this to the serial number of the reference measurement.
'''Note:''' If the AprioriCoordinateSourceFile is set to the serial number of the reference measurement and the reference measurement is modified then all a priori information should be updated.-->
</tr>
<tr><td> AprioriRadiusSource</td>
<td> String</td>
<td> No </td>
<td> Doesn't exist in net </td>
<td> Set to one of the values below:
*User - The a priori radius was hand entered by the user.
*AverageOfMeasures - The a priori radius was calculated as the average radius for all measures.
*Ellipsoid - The a priori radius was calculated using the Naif PCK body radii. The number of radii used depends on the IAU definition of the target body.
*DEM - Digital Elevation Model used for a priori radius
*BundleSolution - Radius output from a previous run of jigsaw
</td>
</tr>
<tr><td> AprioriRadiusSourceFile</td>
<td> String</td>
<td> No </td>
<td> NONE </td>
<td> A string containing the file name of the AprioriRadius source.
: If AprioriiRadiusSource = Ellipsoid, this keyword will be set to the Naif PCK file.
: If AprioriRadiusSource = DEM, this keyword will be set to the file name of the DEM.
The default value is the empty string ("").
</td>
</tr>
<tr><td> AprioriX</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> Internal storage of the '''initial''' position of the point on the target. Always stored in body fixed x,y,z coordinates.
</td>
</tr>
<tr><td> AprioriY</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> Internal storage of the '''initial''' position of the point on the target. Always stored in body fixed x,y,z coordinates.
</td>
</tr>
<tr><td> AprioriZ</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> Internal storage of the '''initial''' position of the point on the target. Always stored in body fixed x,y,z coordinates.
</td>
<!--When this information is presented to the person running an application, it should be displayed in appropriate units.
If any a priori coordinate is present without a corresponding a priori sigma, it will be ignored by bundle adjustment applications, and the a priori information for that coordinate will be recomputed during the bundle adjustment. Any a priori coordinate with a valid value and a valid corresponding sigma, will be used as the a priori coordinate value in the bundle adjustment as is and not recomputed. For example, a tie point can have a valid AprioriiZ value entered and a valid AprioriSigmaZ without either the X or Y coordinates set. The bundle adjustment will compute AprioriX and AprioriY values, and their corresponding sigmas, but use the AprioriZ and AprioriSigmaZ from the control net. Additionally the use of the a priori values in a bundle adjustment is determined by the presence of the constraint flags (LatitudeConstrained, LongitudeConstrained, RadiusConstrained, XConstrained, YConstrained, and ZConstrained). If the constraint flag is true for a particular a priori values the constraint will be applied during a bundle adjustment, however if the constraint flag is false, the constraint will not be used in the bundle adjustment. This allows individual a priori sigma values to be turned off and on without loosing the values.
-->
</tr>
<tr><td> AprioriSigmaX</td>
<td> String</td>
<td> No </td>
<td> None </td>
<td> Pre-adjustment standard deviation of XXXXXXX. An indicator of accuracy that may be used in the weighting of the XXXXXX point coordinate in the bundle adjustment. May originate from a variety of sources; for example a base-map, a previous bundle adjustment, or from the assumed or estimated quality of a sensor measurement such as GPS (in the case of terrestrial mapping) or lidar. Or for other planets accuracy of the MOLA solution. Units are meters.
</td>
</tr>
<tr><td> AprioriSigmaY</td>
<td> String</td>
<td> No </td>
<td> None </td>
<td> Pre-adjustment standard deviation of XXXXXXX. An indicator of accuracy that may be used in the weighting of the XXXXXX point coordinate in the bundle adjustment. May originate from a variety of sources; for example a base-map, a previous bundle adjustment, or from the assumed or estimated quality of a sensor measurement such as GPS (in the case of terrestrial mapping) or lidar. Or for other planets accuracy of the MOLA solution. Units are meters.
</td>
</tr>
<tr><td> AprioriSigmaZ</td>
<td> String</td>
<td> No </td>
<td> None </td>
<td> Pre-adjustment standard deviation of XXXXXXX. An indicator of accuracy that may be used in the weighting of the XXXXXX point coordinate in the bundle adjustment. May originate from a variety of sources; for example a base-map, a previous bundle adjustment, or from the assumed or estimated quality of a sensor measurement such as GPS (in the case of terrestrial mapping) or lidar. Or for other planets accuracy of the MOLA solution. Units are meters.
</td>
<!-- The Sigmas are stored in the binary control net as an 6 element upper triangular covariance matrix for accuracy. The keyword is AprioriCovarianceMatrix. See the description under AprioriX, AprioriY, and AprioriZ. -->
</tr>
<tr><td> LatitudeConstrained</td>
<td> String</td>
<td> No </td>
<td> False </td>
<td> If the Latitude is constrained.
</td>
<!-- For control nets with AprioriX, AprioriY, and AprioriZ, the default is false. Even it a point has both the coordinates and covariance matrix, the a priori information will not be applied for any of the coordinates unless the appropriate constraint flags are present. For old and transitional nets, the default will depend on the presence a valid value for the coordinate and its corresponding sigma.-->
</tr>
</table>
<!--
===LongitudeConstrained===
===RadiusConstrained===
===XConstrained===
===YConstrained===
===ZConstrained===
(Default: FALSE)
For control nets with AprioriX, AprioriY, and AprioriZ, the default is false. Even it a point has both the coordinates and covariance matrix, the a priori information will not be applied for any of the coordinates unless the appropriate constraint flags are present. For old and transitional nets, the default will depend on the presence a valid value for the coordinate and its corresponding sigma.
===X===
(Default: NONE)
Adjusted X coordinate of the Control Point location. Units are decimal meters.
'''Note:''' The adjusted coordinates stored in the binary control network will always be (X,Y,Z) <meters>. When this information is presented on a terminal window, graphical display, or log file, these will be converted to a user chosen coordinate system. That system may be controlled by the application, user's preference or something else.
===Y===
(Default: NONE)
Adjusted Y coordinate of the Control Point location. Units are decimal meters.
===Z===
(Default: NONE)
Adjusted Z coordinate of the Control Point location. Units are decimal meters.
===AdjustedSigmaX===
===AdjustedSigmaY===
===AdjustedSigmaZ===
Note: CORRECTION
The Sigmas are stored in the binary control net as an 6 element upper triangular covariance matrix for accuracy. The keyword is ApostCovarianceMatrix.
Estimated standard deviation of the X,Y, or Z point coordinate computed upon convergence of the bundle adjustment (i.e. Jigsaw). An indicator of precision. Computed by Jigsaw as the square-root of the pertinent diagonal element of the variance-covariance matrix. Units are meters.
If an input control net has a point with latitude, longitude, and radius (such as an old pvl net) or X, Y, and Z (such as a transitional net) and no sigmas or covariance matrix, the point coordinates will be ignored in the bundle adjustment applications and a priori coodinates will be recomputed. If a priori sigmas are present along with the coordinate (X,Y, and Z or latitude, longitude, and radius), the coordinates will be used to set the a priori (initial) coordinates in bundle adjustment applications. Also if an old net has both the a priori point coordinates (latitude, longitude, and radius) and the sigmas, bundle adjustment applications will use these values as the a priori (initial) coordinates and sigmas and not recompute them. The constraint flags will be set as well.
==Control Measure==
A logical grouping of all information concerning a control measurement.
===SerialNumber===
(No Default)
A serial number is a unique identifier for a cube. This value is usually comprised of a spacecraft name, instrument name, start time, and if needed, other identifying label values from the cube. Serial numbers are used within control networks in conjunction with a cube list to associate cubes and control measures.
===MeasureType===
(Default: Candidate)
*Reference - This Control Measurement is the reference for the Control Point it is contained in
*Candidate - This Control Measurement is considered a candidate (i.e., the location is preliminary or not well know). Application such as Autoseed, cnetref should use this setting
*Manual - This Control Measurement was hand measured (eg. qnet).
*RegisteredPixel - Automatically registered to whole pixel (eg. pointreg).
*RegisteredSubPixel - Automatically registered to sub-pixel (eg. pointreg, qnet).
===EditLock===
This measure is not to be edited. This includes the Ignore and Reference flag for any measure.
If the reference measure EditLock=False and the Point-EditLock=TRUE, then the reference measure is implicitly Editlock=TRUE.
If any non-reference measure is EditLock=True and the Reference measure EditLock=False, this is an ERROR and the application needs to report to the user. There can be more than one measure with EditLock=True (reference + any other measures).
===Ignore===
(Default: False)
Flag (True/False) to indicate whether this Control Measure should be Ignored. When a measurement is ignored it should not be used by a program unless the program is explicitly working with ignored measurements.
===ChooserName===
(Default: "")
Indicates the chooser name of an application that last changed this Control Measure's coordinate.
''''''Note:'''''' For qnet use the user name instead of "qnet"
===DateTime===
(Default: "")
Indicates the date/time the Control Measure's line/sample coordinate was last changed
'''AI''' Add updating this automatically to control measure class if possible
===Sample===
Sample coordinate of the Control Measure within the cube. The value of the keyword is a floating point number.
===Line===
Line coordinate of the Control Measure within the cube. The value of the keyword is a floating point number.
===SampleResidual===
The difference between the ''estimated'' sample measurement (as determined at the end of each iteration of the bundle adjustment) and the original sample measurement. Used in the determination of outliers throughout the bundle. Measurement residuals are used upon convergence to compute the reference variance (σ<SUB>0</SUB><SUP>2</SUP>) which in turn is used to scale the inverse of the normal equations matrix for error propagation. Units are pixels.
''''''Note:'''''' Make sure warp, translate, coreg type apps output a cnet and set these
===LineResidual===
The difference between the ''estimated'' line measurement (as determined at the end of each iteration of the bundle adjustment) and the original sample measurement. Used in the determination of outliers throughout the bundle. Measurement residuals are used upon convergence to compute the reference variance (σ<SUB>0</SUB><SUP>2</SUP>) which in turn is used to scale the inverse of the normal equations matrix for error propagation. Units are pixels.
''''''Note:'''''' See Sample Residual
===Diameter===
(Default: 0.0)
The diameter of the crater in meters
'''AI''' Check qnet to see if this is being set and used as need by users.
===AprioriSample===
The first identified location of the measure by any application. In this initial state the a priori keyword values are the same as line/sample keyword values.
autoseed, cnetadd, qnet (for manual movement), cnetref (with interest),mat2cnet - set this to the new value.
pointreg, qnet (with sub-pixel), hijitreg, ALL autoreg apps - leave this alone. They will use it to calculate the pixelshift in the log file
===AprioriLine===
See AprioriSample keyword
===SampleSigma===
Standard deviation of sample measurement. An indicator of precision used in the weighting of measurements in the bundle adjustment (i.e. Jigsaw). May be determined from experience (e.g., manual point measurement) or perhaps estimated within an automated point measurement technique (e.g., ellipse fitting of crater edges, or through the use of an interest operator). Units are pixels.
* Note that the computation of this value by ISIS automated point measurement methods is yet to be determined.
'''''NOTE:''''' See LINESIGMA
===LineSigma===
Standard deviation of line measurement. An indicator of precision used in the weighting of measurements in the bundle adjustment (i.e. Jigsaw). May be determined from experience (e.g., manual point measurement) or perhaps estimated within an automated point measurement technique (e.g., ellipse fitting of crater edges, or through the use of an interest operator). Units are pixels.
''''''Note:'''''' The computation of this value by ISIS automated point measurement methods is yet to be determined. Eventually this should be defined before jigsaw runs such as pointreg setting it based on how well the measurement coregistered.
'''AI''' Can Ken E. look at autoreg output stats to determine an accurate sigma from those stats.
'''''Note:''''' Consider adding this as input to warp/coreg/translate-->
</body>
<type>HTML</type>
<source>
<filename>index.html</filename>
</source>
</file>
</files>
<category>
<categoryItem>technicaldoc</categoryItem>
</category>
<audience>
<target>administrator</target>
</audience>
<history>
<changename="Kristin Berry"date="2018-01-26">Original Version. Migrated information from internal wiki, ControlNetVersioner.h, and the pvl template file, so actual original authors include most of the team.</change>
</history>
<bibliography>
<title>Control Networks</title>
<brief>Control Network format and keyword definitions in ISIS 3</brief>
<description>
This document describes the format of and defines the keywords that are part of
