addressed error propagation speed issues in jigsaw; added screen output during... (7007a394) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/SparseBlockMatrix/SparseBlockMatrix.cpp

+335 −31

Original line number	Diff line number	Diff line
		/**
		* @file
		* Unless noted otherwise, the portions of Isis written by the USGS are public
		* domain. See individual third-party library and package descriptions for
		* intellectual property information,user agreements, and related information.
		*
		* Although Isis has been used by the USGS, no warranty, expressed or implied,
		* is made by the USGS as to the accuracy and functioning of such software
		* and related material nor shall the fact of distribution constitute any such
		* warranty, and no responsibility is assumed by the USGS in connection
		* therewith.
		*
		* For additional information, launch
		* $ISISROOT/doc//documents/Disclaimers/Disclaimers.html in a browser or see
		* the Privacy & Disclaimers page on the Isis website,
		* http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on
		* http://www.usgs.gov/privacy.html.
		*/

		#include "SparseBlockMatrix.h"

		#include <boost/numeric/ublas/matrix_sparse.hpp>
		#include <boost/numeric/ublas/matrix_proxy.hpp>
		#include <boost/numeric/ublas/io.hpp>

		#include <iostream>
		#include <iomanip>
		#include <QDebug>
		#include <QMapIterator>
		#include <QListIterator>

		#include "IString.h"

		#include <boost/numeric/ublas/matrix_sparse.hpp>
		#include <boost/numeric/ublas/matrix_proxy.hpp>
		#include <boost/numeric/ublas/io.hpp>


		using namespace boost::numeric::ublas;

		namespace Isis {
		@@ -42,6 +23,7 @@ namespace Isis {
		wipe();
		}


		/**
		* Deletes all pointer elements and removes them from the map.
		* Effectively, a destructor, and in fact, called by the
		@@ -52,13 +34,15 @@ void SparseBlockColumnMatrix::wipe() {
		clear();
		}


		/**
		* Copy constructor. See copy method below.
		* Copy constructor. Calls copy method immediately below.
		*/
		SparseBlockColumnMatrix::SparseBlockColumnMatrix(const SparseBlockColumnMatrix& src) {
		copy(src);
		}


		/**
		* Copy method.
		*/
		@@ -79,6 +63,7 @@ void SparseBlockColumnMatrix::copy(const SparseBlockColumnMatrix& src) {
		}
		}


		/**
		* "Equals" operator.
		*/
		@@ -92,6 +77,7 @@ SparseBlockColumnMatrix&
		return *this;
		}


		/**
		* Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the
		* map with the block column number as key. The matrix::clear call initializes
		@@ -124,6 +110,7 @@ bool SparseBlockColumnMatrix::InsertMatrixBlock(int nColumnBlock, int nRows,
		return true;
		}


		/**
		* Returns total number of matrix elements in map (NOTE: NOT the number of
		* matrix blocks). The sum of all the elements of all the matrix blocks.
		@@ -144,6 +131,51 @@ int SparseBlockColumnMatrix::numberOfElements() {
		return nElements;
		}


		/**
		* Returns total number of columns in map (NOTE: NOT the number of
		* matrix blocks).
		*/
		int SparseBlockColumnMatrix::numberOfColumns() {

		int nColumns = 0;

		QMapIterator<int, matrix<double>> it(this);
		while (it.hasNext()) {
		it.next();

		if( !it.value() )
		continue;

		nColumns = it.value()->size2();
		break;
		}

		return nColumns;
		}


		/**
		* Returns total number of rows in map (this needs to be clarified and maybe rewritten)
		* its the number of rows in the block on the diagonal (the last one in the column).
		*/
		int SparseBlockColumnMatrix::numberOfRows() {

		// iterate to last block (the diagonal one)
		QMapIterator<int, matrix<double>> it(this);
		while (it.hasNext()) {
		it.next();

		if( !it.value() )
		continue;
		}

		int nRows = it.value()->size1();

		return nRows;
		}


		/**
		* Prints matrix blocks to std output stream out for debugging.
		*/
		@@ -167,6 +199,7 @@ void SparseBlockColumnMatrix::print(std::ostream& outstream) {
		}
		}


		/**
		* Sets all elements of all matrix blocks to zero.
		*/
		@@ -178,6 +211,110 @@ void SparseBlockColumnMatrix::zeroBlocks() {
		}
		}


		/**
		* Writes matrix to binary disk file pointed to by QDataStream stream
		*/
		QDataStream &operator<<(QDataStream &stream, const SparseBlockColumnMatrix &sbcm) {
		// write number of blocks in this column
		int nBlocks = sbcm.size();
		stream << nBlocks;

		QMapIterator<int, matrix<double>*> it(sbcm);
		while ( it.hasNext() ) {
		it.next();

		if( !it.value() )
		continue;

		int nRows = it.value()->size1();
		int nCols = it.value()->size2();

		// write block number (key); rows (size1); and columns (size2)
		stream << it.key() << nRows << nCols;

		double* data = &it.value()->data()[0];

		// write raw matrix data
		stream.writeRawData((const char)data, nRowsnCols*sizeof(double));
		}

		return stream;
		}


		/**
		* Reads matrix from binary disk file pointed to by QDataStream stream
		*/
		QDataStream &operator>>(QDataStream &stream, SparseBlockColumnMatrix &sbcm) {
		int nBlocks, nBlockNumber, nRows, nCols;
		int i, r, c;

		stream >> nBlocks;

		for ( i = 0; i < nBlocks; i++) {
		// read block number (key); rows (size1); and columns (size2)
		stream >> nBlockNumber >> nRows >> nCols;

		double data[nRows*nCols];

		// read raw matrix data
		stream.readRawData((char)data, nRowsnCols*sizeof(double));

		// insert matrix at correct key
		sbcm.InsertMatrixBlock(nBlockNumber, nRows, nCols);

		// get matrix
		matrix<double>* matrix = sbcm[nBlockNumber];

		// fill with data
		for (r = 0; r < nRows; r++ ) {
		for (c = 0; c < nCols; c++ ) {
		int nLocation = r*nRows + c;
		(*matrix)(r,c) = data[nLocation];
		}
		}
		}

		return stream;
		}

		/**
		* Writes matrix to QDebug stream (dbg)
		*/
		QDebug operator<<(QDebug dbg, const SparseBlockColumnMatrix &sbcm) {
		dbg.space() << "New Block" << endl;

		QMapIterator<int, matrix<double>*> it(sbcm);
		while ( it.hasNext() ) {
		it.next();

		if( !it.value() )
		continue;

		// get matrix
		matrix<double>* matrix = it.value();

		// matrix rows, columns
		int nRows = matrix->size1();
		int nCols = matrix->size2();

		dbg.nospace() << qSetFieldWidth(4);
		dbg.nospace() << qSetRealNumberPrecision(8);

		for (int r = 0; r < nRows; r++ ) {
		for (int c = 0; c < nCols; c++ ) {
		dbg.space() << (*matrix)(r,c);
		}
		dbg.space() << endl;
		}
		dbg.space() << endl;
		}

		return dbg;
		}


		//////////////////////////////////////////////////////////////////////////////
		// SparseBlockRowMatrix methods

		@@ -188,6 +325,7 @@ SparseBlockRowMatrix::~SparseBlockRowMatrix() {
		wipe();
		}


		/**
		* Deletes all pointer elements and removes them from the map.
		* Effectively, a destructor, and in fact, called by the
		@@ -198,13 +336,15 @@ void SparseBlockRowMatrix::wipe() {
		clear();
		}


		/**
		* Copy constructor. See copy method below.
		* Copy constructor. Calls method immediately below.
		*/
		SparseBlockRowMatrix::SparseBlockRowMatrix(const SparseBlockRowMatrix& src) {
		copy(src);
		}


		/**
		* Copy method.
		*/
		@@ -225,6 +365,7 @@ void SparseBlockRowMatrix::copy(const SparseBlockRowMatrix& src) {
		}
		}


		/**
		* "Equals" operator.
		*/
		@@ -238,6 +379,7 @@ SparseBlockRowMatrix&
		return *this;
		}


		/**
		* Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the
		* map with the block row number as key. The matrix::clear call initializes
		@@ -265,6 +407,7 @@ bool SparseBlockRowMatrix::InsertMatrixBlock(int nRowBlock, int nRows,
		return true;
		}


		/**
		* Returns total number of matrix elements in map (NOTE: NOT the number of
		* matrix blocks). The sum of all the elements of all the matrix blocks.
		@@ -285,6 +428,7 @@ int SparseBlockRowMatrix::numberOfElements() {
		return nElements;
		}


		/**
		* Prints matrix blocks to std output stream out for debugging.
		*/
		@@ -308,6 +452,7 @@ void SparseBlockRowMatrix::print(std::ostream& outstream) {
		}
		}


		/**
		* Sets all elements of all matrix blocks to zero.
		*/
		@@ -319,6 +464,7 @@ void SparseBlockRowMatrix::zeroBlocks() {
		}
		}


		/**
		* Copies a SparseBlockRowMatrix to a Boost compressed_matrix
		* This may be a temporary implementation
		@@ -350,6 +496,109 @@ void SparseBlockRowMatrix::copyToBoost(compressed_matrix<double>& B) {
		}
		}

		/**
		* Writes matrix to binary disk file pointed to by QDataStream stream
		*/
		QDataStream &operator<<(QDataStream &stream, const SparseBlockRowMatrix &sbrm) {
		// write number of blocks in this column
		int nBlocks = sbrm.size();
		stream << nBlocks;

		QMapIterator<int, matrix<double>*> it(sbrm);
		while ( it.hasNext() ) {
		it.next();

		if( !it.value() )
		continue;

		int nRows = it.value()->size1();
		int nCols = it.value()->size2();

		// write block number (key); rows (size1); and columns (size2)
		stream << it.key() << nRows << nCols;

		double* data = &it.value()->data()[0];

		// write raw matrix data
		stream.writeRawData((const char)data, nRowsnCols*sizeof(double));
		}

		return stream;
		}


		/**
		* Reads matrix from binary disk file pointed to by QDataStream stream
		*/
		QDataStream &operator>>(QDataStream &stream, SparseBlockRowMatrix &sbrm) {
		int nBlocks, nBlockNumber, nRows, nCols;
		int i, r, c;

		stream >> nBlocks;

		for ( i = 0; i < nBlocks; i++) {
		// read block number (key); rows (size1); and columns (size2)
		stream >> nBlockNumber >> nRows >> nCols;

		double data[nRows*nCols];

		// read raw matrix data
		stream.readRawData((char)data, nRowsnCols*sizeof(double));

		// insert matrix at correct key
		sbrm.InsertMatrixBlock(nBlockNumber, nRows, nCols);

		// get matrix
		matrix<double>* matrix = sbrm[nBlockNumber];

		// fill with data
		for (r = 0; r < nRows; r++ ) {
		for (c = 0; c < nCols; c++ ) {
		int nLocation = r*nRows + c;
		(*matrix)(r,c) = data[nLocation];
		}
		}
		}

		return stream;
		}

		/**
		* Writes matrix to QDebug stream (dbg)
		*/
		QDebug operator<<(QDebug dbg, const SparseBlockRowMatrix &sbrm) {
		dbg.space() << "New Block" << endl;

		QMapIterator<int, matrix<double>*> it(sbrm);
		while ( it.hasNext() ) {
		it.next();

		if( !it.value() )
		continue;

		// get matrix
		matrix<double>* matrix = it.value();

		// matrix rows, columns
		int nRows = matrix->size1();
		int nCols = matrix->size2();

		dbg.nospace() << qSetFieldWidth(4);
		dbg.nospace() << qSetRealNumberPrecision(8);

		for (int r = 0; r < nRows; r++ ) {
		for (int c = 0; c < nCols; c++ ) {
		dbg.space() << (*matrix)(r,c);
		}
		dbg.space() << endl;
		}
		dbg.space() << endl;
		}

		return dbg;
		}


		//////////////////////////////////////////////////////////////////////////////
		// SparseBlockMatrix methods

		@@ -360,6 +609,7 @@ SparseBlockMatrix::~SparseBlockMatrix() {
		wipe();
		}


		/**
		* Deletes all pointer elements and removes them from the list.
		* Effectively, a destructor, and in fact, called by the
		@@ -370,8 +620,9 @@ void SparseBlockMatrix::wipe() {
		clear();
		}


		/**
		* Copy constructor. See copy method below.
		* Copy constructor. Calls copy method immediately below.
		*/
		SparseBlockMatrix::SparseBlockMatrix(const SparseBlockMatrix& src) {
		copy(src);
		@@ -390,6 +641,7 @@ void SparseBlockMatrix::copy(const SparseBlockMatrix& src) {
		}
		}


		/**
		* "Equals" operator.
		*/
		@@ -402,6 +654,7 @@ SparseBlockMatrix& SparseBlockMatrix::operator=(const SparseBlockMatrix& src) {
		return *this;
		}


		/**
		* Initializes number of columns (SparseBlockColumnMatrix).
		*
		@@ -415,6 +668,7 @@ bool SparseBlockMatrix::setNumberOfColumns( int n ) {
		return true;
		}


		/**
		* Inserts a "newed" boost matrix<double>* of size (nRows, nCols) into the
		* matrix at nColumnBlock, nRowBlock. The inserted matrix elements are
		@@ -431,6 +685,7 @@ bool SparseBlockMatrix::InsertMatrixBlock(int nColumnBlock, int nRowBlock,
		return (*this)[nColumnBlock]->InsertMatrixBlock(nRowBlock, nRows, nCols);
		}


		/**
		* Returns total number of blocks in matrix.
		*/
		@@ -447,6 +702,7 @@ int SparseBlockMatrix::numberOfBlocks() {
		return nBlocks;
		}


		/**
		* Returns number of diagonal matrix blocks (equivalent to size - there is one
		* per column).
		@@ -474,6 +730,7 @@ int SparseBlockMatrix::numberOfDiagonalBlocks() {
		return ndiagBlocks;
		}


		/**
		* Returns number of off-diagonal matrix blocks.
		*/
		@@ -481,6 +738,7 @@ int SparseBlockMatrix::numberOfOffDiagonalBlocks() {
		return (numberOfBlocks() - numberOfDiagonalBlocks());
		}


		/**
		* Returns number of matrix elements in matrix.
		*/
		@@ -497,6 +755,7 @@ int SparseBlockMatrix::numberOfElements() {
		return nElements;
		}


		/**
		* Returns pointer to boost matrix at (column, row).
		*
		@@ -507,6 +766,16 @@ matrix<double>* SparseBlockMatrix::getBlock(int column, int row) {
		return ((this)[column])[row];
		}


		/**
		* Sets all elements of all matrix blocks to zero.
		*/
		void SparseBlockMatrix::zeroBlocks() {
		for ( int i = 0; i < size(); i++ )
		(*this)[i]->zeroBlocks();
		}


		/**
		* Prints matrix blocks to std output stream out for debugging.
		*/
		@@ -528,12 +797,47 @@ void SparseBlockMatrix::print(std::ostream& outstream) {
		}
		}


		/**
		* Sets all elements of all matrix blocks to zero.
		* Writes matrix to binary disk file pointed to by QDataStream stream
		*/
		void SparseBlockMatrix::zeroBlocks() {
		for ( int i = 0; i < size(); i++ )
		(*this)[i]->zeroBlocks();
		QDataStream &operator<<(QDataStream &stream, const SparseBlockMatrix &sparseBlockMatrix) {
		int nBlockColumns = sparseBlockMatrix.size();

		stream << nBlockColumns;

		for (int i =0; i < nBlockColumns; i++)
		stream << *sparseBlockMatrix.at(i);

		return stream;
		}


		/**
		* Reads matrix from binary disk file pointed to by QDataStream stream
		*/
		QDataStream &operator>>(QDataStream &stream, SparseBlockMatrix &sparseBlockMatrix) {
		int nBlockColumns;

		// read and set number of block columns
		stream >> nBlockColumns;
		sparseBlockMatrix.setNumberOfColumns(nBlockColumns);

		for (int i =0; i < nBlockColumns; i++)
		stream >> *sparseBlockMatrix.at(i);

		return stream;
		}

		/**
		* Writes matrix to QDebug stream (dbg)
		*/
		QDebug operator<<(QDebug dbg, const SparseBlockMatrix &m) {
		int nBlockColumns = m.size();

		for (int i =0; i < nBlockColumns; i++)
		dbg << *m.at(i);

		return dbg;
		}
		}

isis/src/base/objs/SparseBlockMatrix/SparseBlockMatrix.h

+34 −1

Original line number	Diff line number	Diff line
		@@ -23,11 +23,12 @@

		#include <QMap>
		#include <QList>

		#include <iostream>

		#include <boost/numeric/ublas/fwd.hpp>

		class QDebug;

		namespace Isis {

		/**
		@@ -41,6 +42,8 @@ namespace Isis {
		*
		* @internal
		* @history 2011-07-29 Ken Edmundson Created
		* @history 2014-02-25 Ken Edmundson - operators to read/write matrices to binary disk file and
		* to write matrices to QDebug stream.
		*/
		class SparseBlockColumnMatrix :
		public QMap< int, boost::numeric::ublas::matrix<double>* > {
		@@ -60,9 +63,19 @@ namespace Isis {
		void zeroBlocks();
		bool InsertMatrixBlock(int nColumnBlock, int nRows, int nCols);
		int numberOfElements();
		int numberOfRows();
		int numberOfColumns();
		void print(std::ostream& outstream);
		};

		// operators to read/write SparseBlockColumnMatrix to/from binary disk file
		QDataStream &operator<<(QDataStream &, const SparseBlockColumnMatrix &);
		QDataStream &operator>>(QDataStream &, SparseBlockColumnMatrix &);

		// operator to write SparseBlockColumnMatrix to QDebug stream
		QDebug operator<<(QDebug dbg, const SparseBlockColumnMatrix &sbcm);


		/**
		* @brief SparseBlockRowMatrix
		*
		@@ -74,6 +87,8 @@ namespace Isis {
		*
		* @internal
		* @history 2011-07-29 Ken Edmundson Created
		* @history 2014-02-25 Ken Edmundson - operators to read/write matrices to binary disk file and
		* to write matrices to QDebug stream.
		*/
		class SparseBlockRowMatrix :
		public QMap< int, boost::numeric::ublas::matrix<double>* > {
		@@ -87,6 +102,7 @@ namespace Isis {

		SparseBlockRowMatrix& operator=(const SparseBlockRowMatrix& src);


		void wipe();
		void copy(const SparseBlockRowMatrix& src);

		@@ -97,6 +113,13 @@ namespace Isis {
		void print(std::ostream& outstream);
		};

		// operators to read/write SparseBlockRowMatrix to/from binary disk file
		QDataStream &operator<<(QDataStream &, const SparseBlockRowMatrix &);
		QDataStream &operator>>(QDataStream &, SparseBlockRowMatrix &);

		// operator to write SparseBlockRowMatrix to QDebug stream
		QDebug operator<<(QDebug dbg, const SparseBlockRowMatrix &sbcm);

		/**
		* @brief SparseBlockMatrix
		*
		@@ -108,6 +131,8 @@ namespace Isis {
		*
		* @internal
		* @history 2011-07-29 Ken Edmundson Created
		* @history 2014-02-25 Ken Edmundson - operators to read/write matrices to binary disk file and
		* to write matrices to QDebug stream.
		*/
		class SparseBlockMatrix : public QList< SparseBlockColumnMatrix* > {

		@@ -132,7 +157,15 @@ namespace Isis {
		int numberOfOffDiagonalBlocks();
		int numberOfElements();
		void print(std::ostream& outstream);
		bool write(std::ofstream &fp_out, bool binary=true);
		};

		// operators to read/write SparseBlockMatrix to/from binary disk file
		QDataStream &operator<<(QDataStream &, const SparseBlockMatrix &);
		QDataStream &operator>>(QDataStream &, SparseBlockMatrix &);

		// operator to write SparseBlockMatrix to QDebug stream
		QDebug operator<<(QDebug dbg, const SparseBlockMatrix &m);
		}

		#endif

isis/src/control/apps/jigsaw/jigsaw.cpp

+17 −5

Original line number	Diff line number	Diff line
		@@ -6,7 +6,7 @@
		#include "CubeAttribute.h"
		#include "iTime.h"
		#include <vector>

		#include <QDir>

		using namespace std;
		using namespace Isis;
		@@ -18,7 +18,6 @@ void IsisMain() {
		QString cnetFile = ui.GetFileName("CNET");
		QString cubeList = ui.GetFileName("FROMLIST");


		BundleAdjust *b = NULL;

		// Get the held list if entered and prep for bundle adjustment, to determine which constructor to use
		@@ -54,9 +53,23 @@ void IsisMain() {
		b->SetObservationMode(ui.GetBoolean("OBSERVATIONS"));
		b->SetSolutionMethod(ui.GetString("METHOD"));
		b->SetSolveRadii(ui.GetBoolean("RADIUS"));
		b->SetErrorPropagation(ui.GetBoolean("ERRORPROPAGATION"));
		b->SetOutlierRejection(ui.GetBoolean("OUTLIER_REJECTION"));
		b->SetUpdateCubes(ui.GetBoolean("UPDATE"));
		b->SetRejectionMultiplier(ui.GetDouble("REJECTION_MULTIPLIER"));
		b->SetOutlierRejection(ui.GetBoolean("OUTLIER_REJECTION"));

		b->SetErrorPropagation(ui.GetBoolean("ERRORPROPAGATION"));
		// if (ui.WasEntered("BINARYFILEPATH")) {
		// QString binaryfilepath = ui.GetString("BINARYFILEPATH");
		// QDir dir(binaryfilepath);

		// // verify path exists
		// if (!dir.exists()) {
		// QString msg = QString("BINARYFILEPATH [%1] does not exist").arg(binaryfilepath);
		// throw IException(IException::User, msg, _FILEINFO_);
		// }
		// else
		// b->SetErrorPropagationBinaryFilePath(binaryfilepath);
		// }

		b->SetCKDegree(ui.GetInteger("CKDEGREE"));
		b->SetSolveCKDegree(ui.GetInteger("CKSOLVEDEGREE"));
		@@ -242,5 +255,4 @@ void IsisMain() {
		}

		delete b;

		}

isis/src/control/apps/jigsaw/jigsaw.xml

+18 −41

Original line number	Diff line number	Diff line
		@@ -169,9 +169,13 @@
		Added REJECTION_MULTIPLIER to interface, part of Mantis issue #637.
		</change>
		<change name="Ken Edmundson" date="2012-01-19">
		Added SPKDEGEE and SPKSOLVEDEGREE; changed name of SOLVEDEGREE to
		Added SPKDEGREE and SPKSOLVEDEGREE; changed name of SOLVEDEGREE to
		CKSOLVEDEGREE.
		</change>
		<change name="Ken Edmundson" date="2014-02-13">
		Added separate group for Error Propagation with option to write inverse matrix to binary
		file. For extremely large networks where memory/time for error propagation is limited.
		</change>
		</history>

		<groups>
		@@ -225,29 +229,6 @@
		*.net
		</filter>
		</parameter>

		<!-- Removed until fully functional 2011-09-26
		<parameter name="SC_SIGMAS">
		<type>filename</type>
		<internalDefault>none</internalDefault>
		<fileMode>input</fileMode>
		<brief>
		Input spacecraft parameter uncertainties
		</brief>
		<description>
		This file contains a list of parameter uncertainties for position and
		angle parameters (including those of velocity and acceleration). Format
		is one instrument per line; entries separated by commas; as follows...
		SPACECRAFTNAME/INSTRUMENTID, sPos, sPos(v), sPos(a), sAngles,
		sAngles(v), sAngles(a). Any entries without values should be filled
		with a -1.0 as a placeholder
		</description>
		<filter>
		.csv .txt
		</filter>
		</parameter>
		-->

		<parameter name="ONET">
		<type>filename</type>
		<fileMode>output</fileMode>
		@@ -373,19 +354,6 @@
		</list>
		</parameter>

		<parameter name="ERRORPROPAGATION">
		<brief> Compute variance-covariance matrix</brief>
		<description>
		Select this option to compute the variance-covariance matrix of the
		parameters. The parameter uncertainties can be computed from this
		matrix.
		</description>
		<type>boolean</type>
		<default>
		<item>No</item>
		</default>
		</parameter>

		<parameter name="OUTLIER_REJECTION">
		<brief> Auto-rejection of outliers</brief>
		<description>
		@@ -405,10 +373,22 @@
		<item>3.0</item>
		</default>
		</parameter>

		<parameter name="ERRORPROPAGATION">
		<brief> Compute variance-covariance matrix</brief>
		<description>
		Select this option to compute the variance-covariance matrix of the
		parameters. The parameter uncertainties can be computed from this
		matrix.
		</description>
		<type>boolean</type>
		<default>
		<item>No</item>
		</default>
		</parameter>
		</group>

		<group name="Maximum Likelihood Estimation">

		<parameter name="MODEL1">
		<type>string</type>
		<brief>A maximum likelihood estimation model selection.</brief>
		@@ -592,11 +572,8 @@
		<minimum inclusive="no">0</minimum>
		<maximum inclusive="no">1</maximum>
		</parameter>

		</group>



		<group name="Convergence Criteria">
		<parameter name="SIGMA0">
		<brief> standard deviation of unit weight

isis/src/control/apps/jigsaw/tsts/apollo/Makefile

+2 −12

Original line number	Diff line number	Diff line
		@@ -43,16 +43,12 @@ commands:
		camsolve=angles \
		spsolve=position \
		spacecraft_position_sigma=1000.0 \
		camera_angles_sigma=2.0 \| grep -v "100% Processed" \| \
		grep -v "jigsaw" > apollo_specialk_outLog.txt; \
		camera_angles_sigma=2.0 > /dev/null;
		cat bundleout.txt \| grep -v "Run Time:" \| grep -v "Elapsed Time:" \
		\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
		\| sed 's/$[0-9][0-9]\.[0-9][0-9][0-9][0-9]$$[0-9][0-9]$/\1/g' \
		\| sed s/`date +%Y-%m-%dT`\[0-2\]\[0-9\]:\[0-5\]\[0-9\]:\[0-5\]\[0-9\]/date/ \
		> $(OUTPUT)/apollo_specialK_bundleout.txt;
		cat apollo_specialk_outLog.txt \| grep -v "Elapsed Time:" \| grep -v "TotalElapsedTime" \| grep -v "ErrorPropagationElapsedTime" \
		\| sed 's/$[0-9][0-9]\.[0-9][0-9][0-9]$$[0-9][0-9]$/\1/g' \
		> $(OUTPUT)/apollo_specialk_outLog.txt;
		cat residuals.csv \
		\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
		> $(OUTPUT)/apollo_specialK_residuals.csv;
		@@ -62,7 +58,6 @@ commands:
		$(RM) bundleout_images.csv > /dev/null;
		$(MV) bundleout_points.csv $(OUTPUT)/apollo_specialK_bundleout_points.csv > /dev/null;
		$(RM) bundleout.txt print.prt > /dev/null;
		$(RM) apollo_specialk_outLog.txt > /dev/null;
		$(RM) residuals.csv > /dev/null;
		$(APPNAME) fromlist=$(OUTPUT)/cube.lis \
		cnet=$(INPUT)/Ames_7-ImageLSTest_USGS_combined.net \
		@@ -82,16 +77,12 @@ commands:
		camsolve=angles \
		spsolve=position \
		spacecraft_position_sigma=1000.0 \
		camera_angles_sigma=2.0 \| grep -v "100% Processed" \| \
		grep -v "jigsaw" > apollo_cholmod_outLog.txt;
		camera_angles_sigma=2.0 > /dev/null;
		cat bundleout.txt \| grep -v "Run Time:" \| grep -v "Elapsed Time:" \
		\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
		\| sed 's/$[0-9][0-9]\.[0-9][0-9][0-9][0-9]$$[0-9][0-9]$/\1/g' \
		\| sed s/`date +%Y-%m-%dT`\[0-2\]\[0-9\]:\[0-5\]\[0-9\]:\[0-5\]\[0-9\]/date/ \
		> $(OUTPUT)/apollo_cholmod_bundleout.txt;
		cat apollo_cholmod_outLog.txt \| grep -v "Elapsed Time:" \| grep -v "TotalElapsedTime" \| grep -v "ErrorPropagationElapsedTime" \
		\| sed 's/$[0-9][0-9]\.[0-9][0-9][0-9]$$[0-9][0-9]$/\1/g' \
		> $(OUTPUT)/apollo_cholmod_outLog.txt;
		cat residuals.csv \
		\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
		> $(OUTPUT)/apollo_cholmod_residuals.csv;
		@@ -101,6 +92,5 @@ commands:
		$(RM) bundleout_images.csv > /dev/null;
		$(MV) bundleout_points.csv $(OUTPUT)/apollo_cholmod_bundleout_points.csv > /dev/null;
		$(RM) bundleout.txt print.prt > /dev/null;
		$(RM) apollo_cholmod_outLog.txt > /dev/null;
		$(RM) residuals.csv > /dev/null;
		$(RM) $(OUTPUT)/cube.lis print.prt > /dev/null;