diff --git a/examples/bundle_adjust.ipynb b/examples/bundle_adjust.ipynb
index e6b465b70e3fcf36ebc48d3a98235aa3177e09cb..fd53e123bee751181edbcb5a63d1e0da9d25bc8a 100644
--- a/examples/bundle_adjust.ipynb
+++ b/examples/bundle_adjust.ipynb
@@ -31,19 +31,22 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Load Network and Generate Sensors"
+ "## Load Network and Generate Sensors\n",
+ "- Generate a set of USGSCSM sensor models from a list of ISIS cube files\n",
+ "- Generate a plio dataframe from an ISIS control network\n",
+ "- Compute a priori ground points for all of the free points in a control network."
]
},
{
"cell_type": "code",
- "execution_count": 2,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
- "cubes = 'data/cubes.lis'\n",
- "sensors = generate_sensors(cubes)\n",
+ "cubes = 'data/bundle-adjust/cubelist.lis'\n",
+ "sensors = generate_sensors(cubes, only_isis_spice=True, verbose=True)\n",
"\n",
- "network = 'data/hand_dense.net'\n",
+ "network = 'data/bundle-adjust/controlnet.net'\n",
"cnet = io_controlnetwork.from_isis(network)\n",
"cnet = compute_apriori_ground_points(cnet, sensors) # autoseed did not generate ground points, calculate and repopulate the data frame"
]
@@ -52,7 +55,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Determine Which Sensor Parameters to Solve For"
+ "## Determine Which Sensor Parameters to Solve For\n",
+ "Get a set of the CSM parameters for each CSM sensor in the sensors set"
]
},
{
@@ -64,7 +68,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "Image: MRO/CTX/1085197697:073\n",
+ "Image: MRO/CTX/1016816309:030\n",
" IT Pos. Bias | 0 | 0.0\n",
" CT Pos. Bias | 1 | 0.0\n",
" Rad Pos. Bias | 2 | 0.0\n",
@@ -81,7 +85,7 @@
" Phi Accl | 13 | 0.0\n",
" Kappa Accl | 14 | 0.0\n",
" Focal Bias | 15 | 0.0\n",
- "Image: MRO/CTX/1096561308:045\n",
+ "Image: MRO/CTX/0884541979:200\n",
" IT Pos. Bias | 0 | 0.0\n",
" CT Pos. Bias | 1 | 0.0\n",
" Rad Pos. Bias | 2 | 0.0\n",
@@ -98,24 +102,7 @@
" Phi Accl | 13 | 0.0\n",
" Kappa Accl | 14 | 0.0\n",
" Focal Bias | 15 | 0.0\n",
- "Image: MRO/CTX/1136952576:186\n",
- " IT Pos. Bias | 0 | 0.0\n",
- " CT Pos. Bias | 1 | 0.0\n",
- " Rad Pos. Bias | 2 | 0.0\n",
- " IT Vel. Bias | 3 | 0.0\n",
- " CT Vel. Bias | 4 | 0.0\n",
- " Rad Vel. Bias | 5 | 0.0\n",
- " Omega Bias | 6 | 0.0\n",
- " Phi Bias | 7 | 0.0\n",
- " Kappa Bias | 8 | 0.0\n",
- " Omega Rate | 9 | 0.0\n",
- " Phi Rate | 10 | 0.0\n",
- " Kappa Rate | 11 | 0.0\n",
- " Omega Accl | 12 | 0.0\n",
- " Phi Accl | 13 | 0.0\n",
- " Kappa Accl | 14 | 0.0\n",
- " Focal Bias | 15 | 0.0\n",
- "Image: MRO/CTX/1157902986:250\n",
+ "Image: MRO/CTX/0891288961:044\n",
" IT Pos. Bias | 0 | 0.0\n",
" CT Pos. Bias | 1 | 0.0\n",
" Rad Pos. Bias | 2 | 0.0\n",
@@ -157,7 +144,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Compute the Column Indices for Parameters"
+ "## Compute the Column Indices for Parameters\n",
+ "Obtain dictionary that maps serial numbers and point IDs to the column range their parameters are in the Jacobian matrix."
]
},
{
@@ -173,12 +161,15 @@
{
"cell_type": "markdown",
"metadata": {
- "collapsed": true
+ "collapsed": true,
+ "jupyter": {
+ "outputs_hidden": true
+ }
},
"source": [
"## Compute the Weight Matrix\n",
- "#### According to the weighted Normal equation (J.TWJ), W needs to be a square matrix the size of (# of measures)x2. So it is the weight of the observations. In ISIS, the weight of the observations are an inverted function of the size of the pixels on the focal plane (resolution). However, in csm we do not have access to that information. \n",
- "#### For the time being, since we are working exclusively with CTX images we are going to set the weight matrix equal to the identity matrix -> all observations have the same weight."
+ "- According to the weighted Normal equation (J.TWJ), W needs to be a square matrix the size of (# of measures)x2. So it is the weight of the observations. In ISIS, the weight of the observations are an inverted function of the size of the pixels on the focal plane (resolution). However, in csm we do not have access to that information. \n",
+ "- For the time being, since we are working exclusively with CTX images we are going to set the weight matrix equal to the identity matrix -> all observations have the same weight."
]
},
{
@@ -196,7 +187,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Calculate Initial Sigma0"
+ "## Calculate Initial Sigma0\n",
+ "Compute the resulting standard deviation of the residuals for the current state of the bundle network."
]
},
{
@@ -208,7 +200,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "4.204919720360203\n"
+ "2.5961263976217976\n"
]
}
],
@@ -224,7 +216,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Populate Jacobian"
+ "## Populate Jacobian\n",
+ "Compute the Jacobian matrix with controlnet, set of sensors, solve parameters, and coefficient columns"
]
},
{
@@ -289,7 +282,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "(129,)\n"
+ "(1365,)\n"
]
}
],
@@ -314,7 +307,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "1.3539087789122572\n"
+ "0.676667701883667\n"
]
}
],
@@ -340,20 +333,20 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "Minimum redundancy: 0.7265904546263113\n",
- "Maximum redundancy: 0.9653252487512078\n"
+ "Minimum redundancy: 0.9236070227160993\n",
+ "Maximum redundancy: 0.9887066971286086\n"
]
},
{
"data": {
"text/plain": [
- "{'whiskers': [<matplotlib.lines.Line2D at 0x1377eeb10>,\n",
- " <matplotlib.lines.Line2D at 0x1377fa090>],\n",
- " 'caps': [<matplotlib.lines.Line2D at 0x1377fa5d0>,\n",
- " <matplotlib.lines.Line2D at 0x1377fab10>],\n",
- " 'boxes': [<matplotlib.lines.Line2D at 0x1377ee510>],\n",
- " 'medians': [<matplotlib.lines.Line2D at 0x1378000d0>],\n",
- " 'fliers': [<matplotlib.lines.Line2D at 0x137800610>],\n",
+ "{'whiskers': [<matplotlib.lines.Line2D at 0x1b839c400>,\n",
+ " <matplotlib.lines.Line2D at 0x1b839c6a0>],\n",
+ " 'caps': [<matplotlib.lines.Line2D at 0x1b839c940>,\n",
+ " <matplotlib.lines.Line2D at 0x1b839cbe0>],\n",
+ " 'boxes': [<matplotlib.lines.Line2D at 0x1b837cfd0>],\n",
+ " 'medians': [<matplotlib.lines.Line2D at 0x1b839ce80>],\n",
+ " 'fliers': [<matplotlib.lines.Line2D at 0x1b83ab160>],\n",
" 'means': []}"
]
},
@@ -363,14 +356,12 @@
},
{
"data": {
- "image/png": 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9EbHhXAuVJJ2bKjdjY4G2003sfwX4n3nTNp/PzMMR8QnglxHxema+/JEXmfufwAaAT33qUxXKkiRVUeWKfhK4seF4FXD4NGPvY960TWYern9/B9jB3FTQR2TmE5nZm5m93d3dFcqSJFVRJej3ADdHxE0R0clcmO+aPygiVgB3AP/d0LY8Iq7+4L+BLwF+ZlySLqGmUzeZeSIiHgReZG555bbMfC0iNtb7H68P/SrwUmYebzj9BmBHRHzwWtsz84UL+QYkSWfmXjeSVAD3upGky5hBL0mFM+glqXAGvSQVzqCXpMIZ9JJUOINekgpn0EtS4Qx6SSqcQS9JhTPopQpGR0ep1Wq0tbVRq9UYHfXZOlo6DHqpidHRUTZt2sTx43P79R0/fpxNmzYZ9loyDHqpiYceeoj29na2bdvG1NQU27Zto729nYceeqjVpUmVGPRSE5OTkzz11FP09fXR0dFBX18fTz31FJOTk60uTarEoJekwhn0UhOrVq3i/vvvZ2xsjJmZGcbGxrj//vtZtWpVq0uTKjHopSYeffRRZmdnWbduHcuWLWPdunXMzs7y6KOPtro0qRKDXmqiv7+fzZs3s3z5ciKC5cuXs3nzZvr7+1tdmlSJjxKUpAL4KEFJuowZ9JJUOINekgpn0EtS4Qx6SSrcolx1ExFHgN+3ug5pAdcDR1tdhLSAT2dm90IdizLopcUqIiZOt4RNWqycupGkwhn0klQ4g146O0+0ugDpbDlHL0mF84pekgpn0EtS4Qx6qYKI2BYR70TE/lbXIp0tg16q5ifAna0uQjoXBr1UQWa+DBxrdR3SuTDoJalwBr0kFc6gl6TCGfSSVDiDXqogIkaB/wU+ExGTETHQ6pqkqtwCQZIK5xW9JBXOoJekwhn0klQ4g16SCmfQS1LhDHpJKpxBL0mF+38bERI6Gva0oQAAAABJRU5ErkJggg==",
+ "image/png": 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",
"text/plain": [
- "<Figure size 432x288 with 1 Axes>"
+ "<Figure size 640x480 with 1 Axes>"
]
},
- "metadata": {
- "needs_background": "light"
- },
+ "metadata": {},
"output_type": "display_data"
}
],
@@ -407,21 +398,38 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "iteration 0: sigma0 = 4.024624232958855\n",
+ "iteration 0: sigma0 = 2.5728422824613784\n",
+ "\n",
+ "corrections: mean = 0.653346079031689 min = -15.919884218441833 max = 10.327444239483894\n",
+ "iteration 1: sigma0 = 0.9391071877144452\n",
+ "\n",
+ "corrections: mean = 0.007578983174291483 min = -0.6175605679370911 max = 2.362208151398094\n",
+ "iteration 2: sigma0 = 0.9219212955967535\n",
+ "\n",
+ "corrections: mean = 0.00047562127535878755 min = -6.720164033293535e-05 max = 0.34999571717706907\n",
+ "iteration 3: sigma0 = 0.9219206529217796\n",
+ "\n",
+ "corrections: mean = -0.00043949558479830525 min = -0.35037971701721626 max = 0.0013604163271051927\n",
+ "iteration 4: sigma0 = 0.9219208109877487\n",
+ "\n",
+ "corrections: mean = 0.00044131364530114236 min = -5.7892344840921925e-06 max = 0.35036852412427094\n",
+ "iteration 5: sigma0 = 0.9219206528104202\n",
"\n",
- "corrections: mean = 0.06068557941271087 min = -15.8172545055952 max = 43.17434302462997\n",
- "iteration 1: sigma0 = 1.3972010678374138\n",
+ "corrections: mean = -0.00044126496471851365 min = -0.35037040745737597 max = 1.4554057900294883e-05\n",
+ "iteration 6: sigma0 = 0.9219208110024477\n",
"\n",
- "corrections: mean = -9.858798532284902e-06 min = -0.0017681524505382047 max = 0.000797618490775309\n",
- "iteration 2: sigma0 = 1.1672101436874192\n",
+ "corrections: mean = 0.00044126488421801513 min = -5.783747480588058e-06 max = 0.3503829032363816\n",
+ "iteration 7: sigma0 = 0.921920652818743\n",
"\n",
- "corrections: mean = -4.883462007992103e-10 min = -3.027119455330832e-08 max = 3.8395021081293515e-08\n",
- "iteration 3: sigma0 = 1.1672101426405515\n",
+ "corrections: mean = -0.0004411037049932667 min = -0.3503829421081344 max = 1.2348549615825461e-05\n",
+ "iteration 8: sigma0 = 0.9219208109707007\n",
"\n",
- "corrections: mean = 1.9553807444358013e-11 min = -3.876795152995449e-09 max = 5.949235692857101e-09\n",
- "iteration 4: sigma0 = 1.1672101426342938\n",
+ "corrections: mean = 0.0004409523138932092 min = -0.00011674460187552498 max = 0.35038181894977977\n",
+ "iteration 9: sigma0 = 0.9219206528067627\n",
"\n",
- "change in sigma0 of 6.257661055997232e-12 converged!\n"
+ "corrections: mean = -0.0004411144651418224 min = -0.3503813294832801 max = 6.1212020049696e-06\n",
+ "iteration 10: sigma0 = 0.9219208109789235\n",
+ "\n"
]
}
],
@@ -484,7 +492,7 @@
],
"metadata": {
"kernelspec": {
- "display_name": "Python 3",
+ "display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
@@ -498,9 +506,9 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.7.6"
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diff --git a/examples/data/bundle-adjust/G21_026491_2001_XN_20N286W.lev1.json b/examples/data/bundle-adjust/G21_026491_2001_XN_20N286W.lev1.json
new file mode 100644
index 0000000000000000000000000000000000000000..069360071b8585493617cde852ba10fd28ba80aa
--- /dev/null
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diff --git a/examples/data/bundle-adjust/P15_006844_2009_XN_20N286W.lev1.json b/examples/data/bundle-adjust/P15_006844_2009_XN_20N286W.lev1.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e39f67c92ce5f7a5f8484bad09b6e9089c119fa
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diff --git a/examples/data/bundle-adjust/P17_007846_2007_XN_20N286W.lev1.json b/examples/data/bundle-adjust/P17_007846_2007_XN_20N286W.lev1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21cd0a44c38d7e04dc28f590fdf8b2cc5e74df3
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+}
\ No newline at end of file
diff --git a/examples/data/bundle-adjust/controlnet.net b/examples/data/bundle-adjust/controlnet.net
new file mode 100644
index 0000000000000000000000000000000000000000..928fc6f72640048a12346ad6e82be02f16e9428f
Binary files /dev/null and b/examples/data/bundle-adjust/controlnet.net differ
diff --git a/examples/data/bundle-adjust/cubelist.lis b/examples/data/bundle-adjust/cubelist.lis
new file mode 100644
index 0000000000000000000000000000000000000000..8192bb7df68157dc6102dc381ffbf76c29c0b347
--- /dev/null
+++ b/examples/data/bundle-adjust/cubelist.lis
@@ -0,0 +1,3 @@
+data/bundle-adjust/G21_026491_2001_XN_20N286W.lev1.cub
+data/bundle-adjust/P15_006844_2009_XN_20N286W.lev1.cub
+data/bundle-adjust/P17_007846_2007_XN_20N286W.lev1.cub
\ No newline at end of file
diff --git a/knoten/bundle.py b/knoten/bundle.py
index 9888acce551a2d52b50af8ec263bc327cde40ae6..ff82ae68d77a23f002dc1907c8c5d16772fb44aa 100644
--- a/knoten/bundle.py
+++ b/knoten/bundle.py
@@ -11,7 +11,7 @@ from ale.drivers import loads
from collections import OrderedDict
from knoten.csm import create_csm
-def generate_sensors(cubes, directory=None, clean=False):
+def generate_sensors(cubes, directory=None, clean=False, **kwargs):
"""
Generate a set of USGSCSM sensor models from a list of ISIS cube files
@@ -40,7 +40,7 @@ def generate_sensors(cubes, directory=None, clean=False):
isd = os.path.join(directory, basename+'.json')
isd_files.append(isd)
with open(isd, 'w+') as f:
- f.write(loads(line.strip(), formatter='usgscsm'))
+ f.write(loads(line.strip(), **kwargs))
sn = generate_serial_number(line.strip())
sensors[sn] = create_csm(isd)
@@ -184,7 +184,7 @@ def compute_sensor_partials(sensor, parameters, ground_pt):
derivatives are in the same order as the parameter list passed in.
"""
partials = np.zeros((2, len(parameters)))
- csm_ground = csmapi.EcefCoord(ground_pt[0], ground_pt[1], ground_pt[2])
+ csm_ground = csmapi.EcefCoord(ground_pt.iloc[0], ground_pt.iloc[1], ground_pt.iloc[2])
for i in range(len(parameters)):
partials[:, i] = sensor.computeSensorPartials(parameters[i].index, csm_ground)
return partials
@@ -208,7 +208,7 @@ def compute_ground_partials(sensor, ground_pt):
partials and the second array is the sample partials. The partial
derivatives are in (x, y, z) order.
"""
- csm_ground = csmapi.EcefCoord(ground_pt[0], ground_pt[1], ground_pt[2])
+ csm_ground = csmapi.EcefCoord(ground_pt.iloc[0], ground_pt.iloc[1], ground_pt.iloc[2])
partials = np.array(sensor.computeGroundPartials(csm_ground))
return np.reshape(partials, (2, 3))
@@ -399,7 +399,7 @@ def compute_residuals(network, sensors):
row = network.iloc[i]
serial = row["serialnumber"]
ground_pt = row[["adjustedX", "adjustedY", "adjustedZ"]].values
- ground_pt = csmapi.EcefCoord(ground_pt[0], ground_pt[1], ground_pt[2])
+ ground_pt = csmapi.EcefCoord(ground_pt.iloc[0], ground_pt.iloc[1], ground_pt.iloc[2])
sensor = sensors[serial]
img_coord = sensor.groundToImage(ground_pt)
V[i,:] = [row['line'] - img_coord.line, row['sample'] - img_coord.samp]