Added heldList functionality back to jigsaw. Can hold non-overlapping images... (97f8485a) · Commits · aflab / astrogeology / ISIS3

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

+197 −72

Original line number	Original line	Diff line number	Diff line
	#include "Isis.h"		#include "Isis.h"

	#include <QDir>		#include <QDir>
	#include <QObject>
	#include <QList>		#include <QList>
	#include <QObject>		#include <QObject>
	#include <QSharedPointer>		#include <QSharedPointer>
	#include <QString>		#include <QString>
	#include <QChar>

	#include "BundleAdjust.h"		#include "BundleAdjust.h"
	#include "BundleResults.h"
	#include "BundleObservationSolveSettings.h"		#include "BundleObservationSolveSettings.h"
			#include "BundleResults.h"
	#include "BundleSettings.h"		#include "BundleSettings.h"
	#include "BundleSolutionInfo.h"		#include "BundleSolutionInfo.h"
			#include "ControlMeasure.h"
			#include "ControlNet.h"
			#include "ControlPoint.h"
	#include "CubeAttribute.h"		#include "CubeAttribute.h"
	#include "IException.h"		#include "IException.h"
	#include "iTime.h"		#include "iTime.h"
	#include "MaximumLikelihoodWFunctions.h"		#include "MaximumLikelihoodWFunctions.h"
	#include "Process.h"		#include "Process.h"
			#include "SerialNumber.h"
			#include "SerialNumberList.h"
	#include "Table.h"		#include "Table.h"

	using namespace std;		using namespace std;
	using namespace Isis;		using namespace Isis;

	BundleSettingsQsp bundleSettings(UserInterface &ui);		BundleSettingsQsp bundleSettings(UserInterface &ui);
			void checkImageList(SerialNumberList &heldSerialList, SerialNumberList &cubeSerialList);
	QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui);		QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui);
			ControlNetQsp fixHeldImages(const QString &cnetFile,
			const QString &heldList,
			const QString &imageList);

	void IsisMain() {		void IsisMain() {

	@@ -46,13 +53,15 @@ void IsisMain() {
	QString cubeList = ui.GetFileName("FROMLIST");		QString cubeList = ui.GetFileName("FROMLIST");

	// retrieve settings from jigsaw gui		// retrieve settings from jigsaw gui

	BundleSettingsQsp settings = bundleSettings(ui);		BundleSettingsQsp settings = bundleSettings(ui);
	BundleAdjust *bundleAdjustment = NULL;		BundleAdjust *bundleAdjustment = NULL;
			// Get the held list if entered and prep for bundle adjustment
	// Get the held list if entered and prep for bundle adjustment, to determine which constructor to use
	if (ui.WasEntered("HELDLIST")) {		if (ui.WasEntered("HELDLIST")) {
	QString heldList = ui.GetFileName("HELDLIST");		QString heldList = ui.GetFileName("HELDLIST");
	bundleAdjustment = new BundleAdjust(settings, cnetFile, cubeList, heldList);		// Update the control network so that any control points intersecting a held image are fixed
			ControlNetQsp cnet = fixHeldImages(cnetFile, heldList, cubeList);
			bundleAdjustment = new BundleAdjust(settings, cnet, cubeList);
	}		}
	else {		else {
	bundleAdjustment = new BundleAdjust(settings, cnetFile, cubeList);		bundleAdjustment = new BundleAdjust(settings, cnetFile, cubeList);
	@@ -116,7 +125,6 @@ void IsisMain() {

	// Get Kernel group and add or replace LastModifiedInstrumentPointing		// Get Kernel group and add or replace LastModifiedInstrumentPointing
	// keyword.		// keyword.
	if (bundleAdjustment->isHeld(i)) continue; // Don't update held images at all
	Table cmatrix = bundleAdjustment->cMatrix(i);		Table cmatrix = bundleAdjustment->cMatrix(i);
	QString jigComment = "Jigged = " + Isis::iTime::CurrentLocalTime();		QString jigComment = "Jigged = " + Isis::iTime::CurrentLocalTime();
	cmatrix.Label().addComment(jigComment);		cmatrix.Label().addComment(jigComment);
	@@ -249,30 +257,41 @@ BundleSettingsQsp bundleSettings(UserInterface &ui) {
	}		}


	QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui) {		/**
	//************************************************************************************************		* Checks that all the first serial numbers are in the second serial numbers list (FROMLIST).
	QList<BundleObservationSolveSettings> observationSolveSettingsList;		*
	bool usePvl = ui.GetBoolean("USEPVL");		* Note: This function is used for verifying HELDLIST is in the FROMLIST.
	PvlObject obj;		*
	if (usePvl) {		* @param imageList List of image serial numbers to check to make sure they're in the second list.
	ui.GetFileName("SC_PARAMETERS");		* @param fromList List of input image serial numbers to check against.
	Pvl scParPvl(FileName(ui.GetFileName("SC_PARAMETERS")).expanded());		*
	if (!scParPvl.hasObject("SensorParameters")) {		* @throws IException::User "The following images are not in the FROMLIST:"
	QString msg = "Input SC_PARAMETERS file missing SensorParameters object";		*/
	throw IException(IException::User, msg, _FILEINFO_);		void checkImageList(SerialNumberList &imageList, SerialNumberList &fromList) {
			// Keep track of which held images are not in the FROMLIST
			QString imagesNotFound;

			for (int img = 0; img < imageList.size(); img++) {
			// When the FROMLIST does not have the current image, record the image's filename
			if ( !fromList.hasSerialNumber(imageList.serialNumber(img)) ) {
			imagesNotFound += " [" + imageList.fileName(img) + "]";
			}
	}		}

	// loop over parameter groups, read settings for each sensor into a		// Inform the user which images are not in the second list
	// BundleObservationSolveSettings object, and append to observationSolveSettingsList		if (!imagesNotFound.isEmpty()) {
	obj = scParPvl.findObject("SensorParameters");		QString msg = "The following images are not in the FROMLIST:";
	PvlObject::PvlGroupIterator g;		msg += imagesNotFound + ".";
	BundleObservationSolveSettings solveSettings;		throw IException(IException::User, msg, _FILEINFO_);
	for(g = obj.beginGroup(); g != obj.endGroup(); ++g) {
	solveSettings.setFromPvl(*g);
	observationSolveSettingsList.append(solveSettings);
	}		}
	}		}
	else { // we're not using the pvl, so get what will be solve settings for all images from gui

			QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui) {
			//************************************************************************************************
			QList<BundleObservationSolveSettings> observationSolveSettingsList;

			// We are not using the PVL, so get what will be solve settings for all images from gui
	BundleObservationSolveSettings observationSolveSettings;		BundleObservationSolveSettings observationSolveSettings;

	BundleObservationSolveSettings::InstrumentPointingSolveOption pointingSolveOption =		BundleObservationSolveSettings::InstrumentPointingSolveOption pointingSolveOption =
	@@ -324,8 +343,114 @@ QList<BundleObservationSolveSettings> observationSolveSettings(UserInterface &ui
	positionAprioriSigma,		positionAprioriSigma,
	positionVelocityAprioriSigma,		positionVelocityAprioriSigma,
	positionAccelerationAprioriSigma);		positionAccelerationAprioriSigma);

			// If we are holding any images, then we need a BundleObservationSolveSettings for the held
			// images, and another one for the non-held images
			if (ui.WasEntered("HELDLIST")) {
			// Check that the held images are present in the input image list
			QString heldList = ui.GetFileName("HELDLIST");
			QString fromList = ui.GetFileName("FROMLIST");
			SerialNumberList heldSNs(heldList);
			SerialNumberList cubeSNs(fromList);
			checkImageList(heldSNs, cubeSNs);

			// The settings for the held images will have no pointing or position factors considered
			BundleObservationSolveSettings heldSettings;
			BundleObservationSolveSettings::InstrumentPointingSolveOption noPointing =
			BundleObservationSolveSettings::stringToInstrumentPointingSolveOption(
			"NoPointingFactors");
			heldSettings.setInstrumentPointingSettings(noPointing,
			ui.GetBoolean("TWIST"),
			ui.GetInteger("CKDEGREE"),
			ui.GetInteger("CKSOLVEDEGREE"),
			ui.GetBoolean("OVEREXISTING"),
			positionAprioriSigma,
			angularVelocityAprioriSigma,
			angularAccelerationAprioriSigma);
			BundleObservationSolveSettings::InstrumentPositionSolveOption noPosition =
			BundleObservationSolveSettings::stringToInstrumentPositionSolveOption(
			"NoPositionFactors");
			heldSettings.setInstrumentPositionSettings(noPosition,
			ui.GetInteger("SPKDEGREE"),
			ui.GetInteger("SPKSOLVEDEGREE"),
			ui.GetBoolean("OVERHERMITE"),
			positionAprioriSigma,
			positionVelocityAprioriSigma,
			positionAccelerationAprioriSigma);

			// Add the held images' observationNumbers to the held observation solve settings
			for (int sn = 0; sn < cubeSNs.size(); sn++) {
			if ( heldSNs.hasSerialNumber(cubeSNs.serialNumber(sn)) ) {
			// For held images, we want to set pointing and position settings to NONE, effectively
			// ensuring that the number of pointing and position parameters for the holds are 0
			heldSettings.addObservationNumber(cubeSNs.observationNumber(sn));
			}
			else {
			observationSolveSettings.addObservationNumber(cubeSNs.observationNumber(sn));
			}
			}
			// Add both the non-held and held observation solve settings to the list of solve settings
			// for the BundleAdjust
			observationSolveSettingsList.append(observationSolveSettings);
			observationSolveSettingsList.append(heldSettings);
			}
			// If not using a held list, we just append the GUI acquired solve parameters
			else {
	observationSolveSettingsList.append(observationSolveSettings);		observationSolveSettingsList.append(observationSolveSettings);
	}		}
	//************************************************************************************************		//************************************************************************************************
	return observationSolveSettingsList;		return observationSolveSettingsList;
	}		}


			/**
			* Control points that intersect the held images are set to fixed. The points' a priori values
			* are each set to the corresponding surface points of the associated held image's measures.
			*
			* Note that this returns a ControlNetQsp to the modified input control network.
			*
			* @param cnetFile QString name of the control network file.
			* @param heldList QString name of the held list file.
			* @param imageLise QString name of the input image list file.
			*
			* @throws IException::User "Cannot compute surface point for control point [], measure [].
			*
			* @return @b ControlNetQsp Returns a shared pointer to the modified control network.
			*
			* @internal
			* @todo Currently only works for NON-overlapping held images. Any control points that intersect
			* the held images are set to FIXED and have their apriori surface points set to
			* corresponding surface points for the held image's measures.
			*/
			ControlNetQsp fixHeldImages(const QString &cnetFile,
			const QString &heldList,
			const QString &snList) {
			ControlNetQsp cnet(new ControlNet(cnetFile));
			// Set up the cameras for all the input images in the control net
			cnet->SetImages(snList);

			// For all held images' measures, set their parent control points' a priori values,
			// and set their types to Fixed
			SerialNumberList heldSNs(heldList);
			for (int sn = 0; sn < heldSNs.size(); sn++) {
			// Get the measures in the held image
			QList<ControlMeasure *> measures = cnet->GetMeasuresInCube(heldSNs.serialNumber(sn));

			foreach (ControlMeasure *cm, measures) {
			Camera *cam = cm->Camera();
			ControlPoint *pt = cm->Parent();
			pt->SetType(ControlPoint::Fixed);
			// If possible, set the apriori surface point for the current measure's control point
			if ( cam->SetImage(cm->GetSample(), cm->GetLine()) ) {
			pt->SetAprioriSurfacePoint(cam->GetSurfacePoint());
			}
			else {
			QString msg = "Cannot compute surface point for control point [" + pt->GetId() +
			"], measure [" + cm->GetCubeSerialNumber() + "].";
			throw IException(IException::User, msg, _FILEINFO_);
			}
			}

			}
			return cnet;
			}

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

+19 −4

Original line number	Original line	Diff line number	Diff line
	@@ -201,7 +201,7 @@
	<change name="Ian Humphrey" date="2016-08-22">		<change name="Ian Humphrey" date="2016-08-22">
	Reviewed documentation and updated small spelling and grammar errors. References #4226.		Reviewed documentation and updated small spelling and grammar errors. References #4226.
	</change>		</change>
	<change name="Adam Paquette" data="2016-08-31">		<change name="Adam Paquette" date="2016-08-31">
	Updated how jigsaw handles its prefix parameter along with a small documentation change. Fixes #4309.		Updated how jigsaw handles its prefix parameter along with a small documentation change. Fixes #4309.
	</change>		</change>
	<change name="Ian Humphrey" date="2016-09-22">		<change name="Ian Humphrey" date="2016-09-22">
	@@ -217,6 +217,11 @@
	so that the user can now request the bundleout_images.csv file		so that the user can now request the bundleout_images.csv file
	in addition to the other output files such as bundleout.txt. Fixes #4314.		in addition to the other output files such as bundleout.txt. Fixes #4314.
	</change>		</change>
			<change name="Ian Humphrey" date="2016-10-13">
			Implemented HELDLIST functionality for non-overlapping held images. Any control points that
			intersect the held images are fixed, and a priori surface points for these control points are
			set to the held images' measures' surface points. Disabled USEPVL/SC_PARAMETERS. Fixes #4293.
			</change>
	</history>		</history>

	<groups>		<groups>
	@@ -241,7 +246,7 @@
	<internalDefault>none</internalDefault>		<internalDefault>none</internalDefault>
	<fileMode>input</fileMode>		<fileMode>input</fileMode>
	<brief>		<brief>
	List of cubes to hold in the adjustment		List of (non-overlapping) cubes to hold in the adjustment
	</brief>		</brief>
	<description>		<description>
	This file contains a list of all <def>cube</def>s whose orientation and position		This file contains a list of all <def>cube</def>s whose orientation and position
	@@ -249,6 +254,7 @@
	in the solution, but their camera orientation and spacecraft position		in the solution, but their camera orientation and spacecraft position
	will be constrained to keep the values from changing. This is an		will be constrained to keep the values from changing. This is an
	optional parameter and the default is to not hold any of the images.		optional parameter and the default is to not hold any of the images.
			<i>Note that held images must not overlap each other to work properly.</i>
	</description>		</description>
	<filter>		<filter>
	.txt .lis		.txt .lis
	@@ -286,6 +292,14 @@
	</filter>		</filter>
	</parameter>		</parameter>

			<!-- Turning off USEPVL and SC_PARAMETERS for now. Since we are now using observation numbers
			to obtain the BundleObservationSolveSettings for a BundleObservation (instead of inst. id),
			this would require using a PVL that contains names of lists of images to group by.
			E.g. Group = "listA." would create a BundleObservationSolveSettings object that is associated
			with the images' observation numbers. Group = "listB.lis" would create another BOSS object
			that is associated with listB's images' observation numbers. Use of these lists could
			introduce unintended behaviors if not properly verified (e.g. would need to make sure the
			lists are sublists of the FROMLIST, that these sublists are all mutually exclusive ...).
	<parameter name="USEPVL">		<parameter name="USEPVL">
	<type>boolean</type>		<type>boolean</type>
	<default><item>false</item></default>		<default><item>false</item></default>
	@@ -296,13 +310,14 @@
	This option indicates that the Camera and Spacecraft parameters are to be		This option indicates that the Camera and Spacecraft parameters are to be
	obtained from the PVL file specified by SC_PARAMETERS. All of the following		obtained from the PVL file specified by SC_PARAMETERS. All of the following
	parameters must be entered through the PVL file if this option is chosen:		parameters must be entered through the PVL file if this option is chosen:
	CKDEGREE, CKSOLVEDEGREE, CAMSOLVE, TWIST, OVEREXISTING, SPKDEGREE,		HELDLIST, CKDEGREE, CKSOLVEDEGREE, CAMSOLVE, TWIST, OVEREXISTING, SPKDEGREE,
	SPKSOLVEDEGREE, SPSOLVE, OVERHERMITE, SPACECRAFT_POSITION_SIGMA,		SPKSOLVEDEGREE, SPSOLVE, OVERHERMITE, SPACECRAFT_POSITION_SIGMA,
	SPACECRAFT_VELOCITY_SIGMA, SPACECRAFT_ACCELERATION_SIGMA, CAMERA_ANGLES_SIGMA,		SPACECRAFT_VELOCITY_SIGMA, SPACECRAFT_ACCELERATION_SIGMA, CAMERA_ANGLES_SIGMA,
	CAMERA_ANGULAR_VELOCITY_SIGMA, CAMERA_ANGULAR_ACCELERATION_SIGMA. An example		CAMERA_ANGULAR_VELOCITY_SIGMA, CAMERA_ANGULAR_ACCELERATION_SIGMA. An example
	template is located at $base/templates/jigsaw/SC_Parameters.pvl.		template is located at $base/templates/jigsaw/SC_Parameters.pvl.
	</description>		</description>
	<exclusions>		<exclusions>
			<item>HELDLIST</item>
	<item>CKDEGREE</item>		<item>CKDEGREE</item>
	<item>CKSOLVEDEGREE</item>		<item>CKSOLVEDEGREE</item>
	<item>CAMSOLVE</item>		<item>CAMSOLVE</item>
	@@ -348,7 +363,7 @@
	<filter>		<filter>
	*.pvl		*.pvl
	</filter>		</filter>
	</parameter>		</parameter>-->
	</group>		</group>

	<group name="Solve Options">		<group name="Solve Options">

isis/src/control/apps/jigsaw/tsts/case2/Makefile

deleted100644 → 0

+0 −47

Original line number	Original line	Diff line number	Diff line
	APPNAME = jigsaw
	# This test exercises the bundle adjustment of one image each from the MOC-WA camera
	# and Viking Orbiter-1 B Camera with held image option, solving for position.
	#
	# The "cat t_bundleout.txt" command in these tests uses sed to do the following (in order):
	# 1. remove cube filename paths
	# 2. remove net filename paths
	# 3. remove digits beyond the fifth decimal place of decimal numbers
	# 4. remove date and time
	#
	# 2014-07-23 Jeannie Backer - Changed method from oldsparse to default (sparse).
	# Commented out references to bundleout_images.csv.
	# Removed default parameters.
	# 2016-08-11 Jeannie Backer - Updated documentation

	include $(ISISROOT)/make/isismake.tsts

	commands:
	$(CP) $(INPUT)/*.cub $(OUTPUT) > /dev/null;
	$(LS) -1 $(OUTPUT)/*.cub > $(OUTPUT)/cub.lis;
	$(LS) -1 $(OUTPUT)/e0400710.lev1.cub > $(OUTPUT)/held.lis;
	$(APPNAME) fromlist=$(OUTPUT)/cub.lis \
	heldlist=$(OUTPUT)/held.lis \
	cnet=$(INPUT)/mocVik.net \
	onet=$(OUTPUT)/case2OutNet.net \
	update=yes \
	sigma0=1.e-5 \
	maxits=10 \
	spsolve=position > /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][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)/bundleout.txt
	$(CAT) residuals.csv \
	\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
	> $(OUTPUT)/residuals.csv
	# $(CAT) bundleout_images.csv \
	# \| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
	# > $(OUTPUT)/bundleout_images.csv
	# $(RM) bundleout_images.csv > /dev/null;
	$(RM) residuals.csv > /dev/null;
	$(MV) bundleout_points.csv $(OUTPUT)/bundleout_points.csv > /dev/null;
	$(RM) $(OUTPUT)/cub.lis $(OUTPUT)/held.lis $(OUTPUT)/case2OutNet.bin print.prt > /dev/null;
	$(RM) bundleout.txt print.prt > /dev/null
	cathist from=$(OUTPUT)/vik.cub > $(OUTPUT)/vik.pvl;
	cathist from=$(OUTPUT)/e0400710.lev1.cub > $(OUTPUT)/e0400710.lev1.cub.pvl;

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

+3 −15

Original line number	Original line	Diff line number	Diff line
	@@ -4,9 +4,11 @@
	# TEST B: "Unable to bundle adjust network"		# TEST B: "Unable to bundle adjust network"
	# TEST C: "Input Target parameters file missing main Target object."		# TEST C: "Input Target parameters file missing main Target object."
	# TEST D: "Must solve for at least one target body option."		# TEST D: "Must solve for at least one target body option."
	# TEST E: "Input SC_PARAMETERS file missing SensorParameters object."
	#		#
	# 2016-08-22 Ian Humphrey - Original version. Fixes #4269.		# 2016-08-22 Ian Humphrey - Original version. Fixes #4269.
			# 2016-10-13 Ian Humphrey - Removed TEST E: "Input SC_PARAMETERS file missing SensorParameters
			# object," as USEPVL and SC_PARAMETERS have been turned off. References #4292,
			# #4293."
	APPNAME = jigsaw		APPNAME = jigsaw

	include $(ISISROOT)/make/isismake.tsts		include $(ISISROOT)/make/isismake.tsts
	@@ -53,17 +55,3 @@ commands:
	then \		then \
	true; \		true; \
	fi;		fi;
	# TEST E: USEPVL=yes and SC_PARAMETERS is missing SensorParameters object
	echo -e "Error Test E:" >> $(OUTPUT)/error.txt;
	if [[ `$(APPNAME) \
	fromlist=$(INPUT)/empty.lis \
	cnet=$(INPUT)/empty.net \
	onet=$(OUTPUT)/out.net \
	usepvl=yes \
	sc_parameters=$(INPUT)/invalidSensorParameters.pvl \
	2>> $(OUTPUT)/error.txt \
	> /dev/null` ]]; \
	then \
	true; \
	fi;
	$(RM) $(OUTPUT)/cubes.lis > /dev/null;

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

0 → 100644

+32 −0

Original line number	Original line	Diff line number	Diff line
			# This tests the HELDLIST paramater with a single image. We hold a green-filter image,
			# N1597182807_2.filtered.cub, effectively setting any control points that intersect
			# this image to FIXED, and setting these control points' a priori surface points to the
			# corresponding measures' surface points in the held image. See the history of
			# N1597182807_2.filtered.cub, as qtie was used before running the jigsaw.
			#
			# @history 2016-10-13 Ian Humphrey - Original version, adapted from test data provided by
			# Tammy Becker. References #4293.
			APPNAME = jigsaw

			include $(ISISROOT)/make/isismake.tsts

			commands:
			$(LS) $(INPUT)/*cub > $(OUTPUT)/cubes.lis;
			$(LS) $(INPUT)/N1597182807_2.filtered.cub > $(OUTPUT)/hold-green.lis;
			$(APPNAME) fromlist=$(OUTPUT)/cubes.lis \
			heldlist=$(OUTPUT)/hold-green.lis \
			cnet=$(INPUT)/color-tlb.net \
			onet=$(OUTPUT)/color-tlb-out.net \
			camera_angles_sigma=10 \
			> /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)/hold_bundleout.txt;
			$(CAT) residuals.csv \
			\| perl -pe 's/(^\|,\|: )([^,:]+\/)([^,\/:]*\.)(net\|cub)/\1\3\4/g' 2>/dev/null \
			> $(OUTPUT)/hold_residuals.csv;
			$(MV) bundleout_points.csv $(OUTPUT)/hold_bundleout_points.csv;
			$(MV) bundleout_images.csv $(OUTPUT)/hold_bundleout_images.csv;
			$(RM) bundleout.txt residuals.csv $(OUTPUT)/cubes.lis $(OUTPUT)/hold-green.lis;