Describe Block 17 - NFT Features here.

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• Block 17 - NFT Features-V2.0

== Intro ==

We are expecting the following levels of tiling.

• Image Number	GSD of last image	Pre-tile Now	Post-Recon A	Post-Recon B	Area
  1-11	8cm	14cm	NA	NA	Global'ish
  11-17	5cm	5cm	NA	NA	Several 100m
  18-23	3.4cm	5cm	NA	NA	100x100m TAG
  Check Point
  23-26	2.3cm	5cm	2cm	NA	50x50m TAG
  Match Point
  27-29	0.6cm	5cm	2cm	1cm	25x25m TAG

General

Each week, we will receive a NFT feature description of less than 20 features. We must take these definitions and fold them into a CSV file that includes the following

Our goal will be to generate a set of maplets over the NFT site plus 1/2 maplet boarder at a GSD that is 1/2 of the requested NavCam pixel size. Obviously, images 27-30 will not work.

We will create one CSV file for each week. Then this file will be exported and run through a program (TBD) that will create the input files for bigmap and make_scriptT. The general format will be string-ID-GSD.sufix.

• NFT-10021-8.IN with the bigmap called <idGSD.MAP> (e.g. MAPFILES/100218.MAP and MAPFILES/100216.MAP)

• tileSeed-10021-8.seed where the 1st line uses the GSD from the CSV file

When we run the program (TBD), it will generate the bigmap input and seed files for all records in the file (which should be about 18). Then we can use these as the inputs for the base tiling, intermediate tiling, and final tiling. We assume that 14cm can jump to 5cm and that 14cm exists everywhere.

Assuming the standard for NFT features of width of 100, we will use a Q=50 (width of 101). We will tile at a Q=150, which would give 1/2 a maplet over all the edges. The core NFT region would be covered by a 3x3 and with the "margin" it will become 5x5, which means there is a full four maplets over the exact NFT unit.

Steps of resolution -- Note, we will use the exact decimal value for the final tiling

Setup

Extra item names

• A 15cm DEM for evaluation
• B... and following
• Z is a single maplet over the region (22cm/Q=49)
• Y is the tiling bigmap (22cm/Q=116)
• X is the matching maplet that provides extra "umph" to the 35cm images (22cm/Q=81 - just a touch bigger)
• W is the working maplet. We use this for all of our processing. A is a published version and not the starting thing.
• V is a small bitmap that just covers the ROI

Tiling using XXXXXY, <idY>. Iterate over XXXXX, <idA>

Make a Map

ID=RDL09

bigmap < mapConfig/nft-${ID}W.in
cd MAPFILES
relink.sh $ID.MAP XXXXXX.MAP
cd ..
echo y | cp USED_MAPS.TXT lsupport/nftMapList-${ID}W
relink.sh lsupport/nftMapList-${ID}W make_script.in

Tiling

When the 35cm (and above) are cleaned up, then tile at higher GSD. Suggest 22cm or 14cm. 22cm seem to be too small to use the 5cm well; however, that is the size needed by the final NFT feature.

Tiling

What Size Maplets

ID=RDL09

mkdir -p log/$ID/
bigmap < mapConfig/tile-${ID}W.in
cd MAPFILES
relink.sh ${ID}Y.MAP XXXXXX.MAP
cd ..
echo XXXXXX | showmap


convert XXXXXX.pgm log/$ID/low-$ID.jpg

map_coverage
XXXXXX
0 .00005
convert coverage_m.pgm log/$ID/pre-$ID.jpg

Build the tile file and run

echo N | make_tilefile > tmpOut
echo XXXXXX > lsupport/bigmap_tile.in
echo scripts/XXX014.seed >> lsupport/bigmap_tile.in
sed 1d tmpOut >> lsupport/bigmap_tile.in
relink.sh lsupport/bigmap_tile.in make_scriptT.in

make_scriptT
nohup sh run_script.b
finished tiling-done

Check

map_coverage
XXXXXX
0 .00005
convert coverage_m.pgm log/$ID/post-$ID.jpg

bigmap < mapConfig/tile-${ID}W.in
echo XXXXXX | showmap
convert XXXXXX.pgm log/$ID/high-$ID.jpg
score=`tail -2 SIGMAS.TXT | head -1 | cut -c 23-30`
mScore=`echo "scale=2; $score * 1000" | bc | cut -c -4`
convert SIGMAS.pgm   -fill white -gravity North -pointsize 15 -annotate +0+10 Max:${mScore}m   log/$ID/sig-$ID.jpg

blockFinish nft.$ID

Use basic tiling steps. For the tiling bigmap, use ${ID}Y to ensure it doesn't get confused with anything else.

Iterate

Batch Run

Check the following

• Daemon is running
• Terminate is unset (if you want more than one)

• localLoop.sh is set (map=<id>)

• interationCount is a useful number. Whatever number is set in "iterationCount" when monitor is start will be increment and used as the $id variable in localLoop.sh. Thus, it is useful to set it to something new if you are doing a different suite of iterations.

For the first 2 full iterations (i.e. over ALL maplets), make sure there are no images with a correlation <0.1 before starting a full iteration. If there are images that are getting a correlation <0.1 even after several iterations, delete if emission angle is >50, illumination coverage (after x-0.025) < 0.5, or phase less than 8 or 9. They are weak images and will not contribute much anyway.

After you have done 2 full iterations, clean according to the criteria for a correlation <0.1, but apply it to correlations <0.3. Again, if after many iterations they still are <0.3, they are not strong anyway.

The final check for an MLN is to use bigEval.sh <Feature Name>A

• If the resulting bigmap has SigmaScore >2, you are done. Make sure you've run at least 2 full iterations (all maplets) to make sure everything has stabilized.

• More iterations may help (stop if the avg sigmaScore is going down) or you may need more images, a fill, or some other technique.

Note: Consider changing USRMX to something other than 12. If there are < 24 landmarks, then using N as user max will be faster. While each process takes longer to run, it is faster than doing two maplets in succession.

ID=RDL09

Note: You can change config/iterationCount to be ID*100

echo map=$ID > config/nftID
echo "Getting read for iteration $ID" >> notes
date >> notes
echo $ID | tee -a notes
echo ${ID}W > tmpRun
cat mapConfig/nft-${ID}W.in >> tmpRun
cat tmpRun >> notes
bigMapRef < tmpRun
tail -2 SIGMAS.TXT | head -1 | tee -a notes
echo y | cp -v USED_MAPS.TXT LIST.TXT
duplicates

relink.sh scripts/Piterate1St.seed make_scriptP.seed | tee -a notes
ls -l make_scriptP.seed >> notes
MAKE_LMRKLISTX 


make_scriptP | tee run.sh
echo "Running iteration at " `date` >> notes
sh run.sh
monitor

bigMapRef < tmpRun
echo "Post run Sigma" >> notes
tail -2 SIGMAS.TXT | head -1 | tee -a notes

Checking

Create a maplet at the bigmap's center to see how it is performing. Use all "decent" imagery (FB2 and FB7 without NavCam or FB0). Note, don't keep this maplet around when you build the final bigmap because it will only have resampled the bigmap and will have no iterations (because it is only for test).

lithos
c
<ID>Z
m
<ID>W
79
0.00022 49
i
y
.5
n
e
n
0 50 .5 .5 .5 2
1
0
3
n
0
y
1
0
1
n
0
y
u
1
q

landmarkEval.sh ${ID}Z

lithos
d
<id>Z
1
y

ROI Tile 5cm

ID=RDL09

mkdir -p log/$ID/
bigmap < mapConfig/tile05-${ID}Y.in
cd MAPFILES
relink.sh ${ID}Y.MAP XXXXXX.MAP
cd ..
echo XXXXXX | showmap


convert XXXXXX.pgm log/$ID/low05-$ID.jpg

map_coverage
XXXXXX
0 .00005
convert coverage_m.pgm log/$ID/pre05-$ID.jpg

Build the tile file and run

echo N | make_tilefile > tmpOut
echo XXXXXX > lsupport/bigmap_tile.in
echo scripts/XXX005.seed >> lsupport/bigmap_tile.in
sed 1d tmpOut >> lsupport/bigmap_tile.in
relink.sh lsupport/bigmap_tile.in make_scriptT.in

make_scriptT
nohup sh run_script.b
finished tiling-done

Check

map_coverage
XXXXXX
0 .00005
convert coverage_m.pgm log/$ID/post05-$ID.jpg

echo ${ID}Y > tmpRun
cat mapConfig/tile05-${ID}Y.in >> tmpRun
bigMapRef < tmpRun


echo XXXXXX | showmap
convert XXXXXX.pgm log/$ID/high05-$ID.jpg
score=`tail -2 SIGMAS.TXT | head -1 | cut -c 23-30`
mScore=`echo "scale=2; $score * 1000" | bc | cut -c -4`
convert SIGMAS.pgm   -fill white -gravity North -pointsize 15 -annotate +0+10 Max:${mScore}m   log/$ID/sig-$ID.jpg

Use basic tiling steps. For the tiling bigmap, use ${ID}Y to ensure it doesn't get confused with anything else.

ROI Iterate

bigmap < mapConfig/ROI-${ID}W.in

Be sure you have made the bigmap before pasting below

echo map=$ID > config/nftID
echo "Getting read for iteration $ID" >> notes
date >> notes
echo $ID | tee -a notes
echo ${ID}W > tmpRun
cat mapConfig/ROI-${ID}W.in >> tmpRun
cat tmpRun >> notes
bigMapRef < tmpRun
tail -2 SIGMAS.TXT | head -1 | tee -a notes
echo y | cp -v USED_MAPS.TXT LIST.TXT
duplicates

relink.sh scripts/Piterate1St.seed make_scriptP.seed | tee -a notes
ls -l make_scriptP.seed >> notes
MAKE_LMRKLISTX 


make_scriptP | tee run.sh
echo "Running iteration at " `date` >> notes
sh run.sh
monitor

bigMapRef < tmpRun
echo "Post run Sigma" >> notes
tail -2 SIGMAS.TXT | head -1 | tee -a notes

Evaluation

• corrEval.sh -- This reads the *.OOT files generated from an iteration. It calculates the low, average, stdev and sigma-score for every landmark that was run. This can be run in any directory that has OOT files. Note, it would like to read MAPINFO.TXT to get the lat/lon and GSD of the landmark. If it is not there, it will have 0 0 0. You can "cheat" by running ln -s ../MAPINFO.TXT . (or whatever the path is to the original). It runs awk on landmarkOOT.awk.

You can give it a GSD so that it will only compute that GSD. Thus, 35cm landmarks would be 0.3500 (it uses string matches from MAPINFO.TXT)

• corrEval.sh (0.1400)

  name

  resolution

  lat

  lon

  minimum

  average

  sigma score

  percent of images that passed 0.6

---

• landmarkEval.sh -- This uses lithos to load and evaluate the correlation score for a landmark. It will load the given landmark and run a 1 0 1 to get the scores. It doesn't change anything, but it is better to run in "wk" to avoid collision with gray.pgm.

  • This copies the LMRK_DISPLAY1.pgm over to ~/send/ so you can see what it looks like

  landmarkEval.sh <lmkname>

  name

  minimum

  maximum

  average

  stdev

  sigma score

---

• bigEval.sh - This does a bunch of things to get the state of the MNL

  • Builds a bigmap using bigMapRef. Because it is using a reference bigmap, you need to run normal bigmap first

  • It links the new bigmap to XXXXXX.MAP so it can be loaded in lithos. Map files that start with 0 do not get loaded. When NFT features have leading numbers other than 0, then we won't need this step
  • Creates the Z maplet. This maplet is a simple 22cm with Q=49 that matches the size of the Orbit B MLNs. We create the maplet, load the just-created bigmap, eliminate out of range images, correct alignment and get the correlation values.
  • Calculates the cardinal values for this landmark (which is close to representing the landmark (Q is 49 rather than 79)
  • Displays the SIGMA.TXT value for the bigmap
  • Copies CSPLOT.pgm to ~/send/cs-name.jpg

  • Calculates the correlation score using landmarkEval.sh

  • Deletes the Z maplet so it doesn't mess anything up.