F3E-Limbs Prepping High & Low Stereo Directories
Before each subtest regarding the various limb images can be performed a high stereo and low stereo directory must be made. The high and low stereo directories will contain approach, PS, and four DS polycam images. For the high stereo directory the DS polycam images will have a stereo angle and vice versa for the low stereo angle directory. Both of these directories are supposed to have a 52 by 52 meter area centered on the tag site tiled down to 5 cm. Once the tag site is tiled down to 5 cm Geometry will be run to update the spacecraft position when the images were taken. Then a 20 by 20 m area of the tag site will be evaluated by recording the RMS value (comparison between truth and effort). The updated spacecraft position will be recorded as well.
Procedures
These for the most part are very similar to Eric Palmer's F3A Baseline procedures. Some notes have been added that discuss resolved issues during this part of the F3E test. Also, making the high and low stereo directories follow the same preocdures with the exception of different DS polycam images being used.
Setting up the test directory
Basically the orig directory is being copied over to the test directory with the test directory being emptied first. Following the 1B procedural block for test F3-G made by Diane Lambert does this exactly.
Test F3G Procedures Block-1B - TEST DIRECTORY SET-UP - TEST
Symbolically Linking the Correct List of Images to PICTLIST.TXT
While in the test directory for high stereo:
rm PICTLIST.TXT ln -s ../lsupport/PICTLISTF3Ehigh.txt PICTLIST.TXT
While in the test directory for low stereo:
rm PICTLIST.TXT ln -s ../lsupport/PICTLISTF3Elow.txt PICTLIST.TXT
Register High Stereo or Low Stereo Images
For the high stereo directory (test directory):
imgListName=highRegistering.txt
Execute Block 3 - Register
For the low stereo directory (test directory):
imgListName=highRegistering.txt
Execute Block 3 - Register
Tile at 20 cm
bigmapName=TILE20 GSD=0.00020
Execute Block 6B - Bigmap Tiling
Iterate and Look for correlation errors
Execute Block 5 - Iterate -- Use the Recently Tiled scenario
find_nofitP support/logEval.sh
Tile at 10 cm
bigmapName=TILE10 GSD=0.00010
Execute Block 6B - Bigmap Tiling
Iterate and Look for correlation errors
Execute Block 5 - Iterate -- Use the Recently Tiled scenario
find_nofitP support/logEval.sh
Check basic stability and run Geometry
Geometry is run here to update the spacecraft position so that the calculations with residuals is more accurate. Running Geometry here will also decrease the chance of issues when tiling down to 5 cm.
Execute Block 8 - Geometry/Residuals
While executing this procedural block, there were many images that contained 3 landmarks or less. All of the images were afflicted by this issue were not the DS images added however. Nonetheless, all images with less than three images but had some of the landmarks on an image lit limb were fixed with autoregister (adding more landmarks to image). This was done to improve the accuracy of the updated SC position after running Geometry.
This is accomplished by performing the following inputs after RESIDUALS is run:
# makes a list of images to auto register
awk '/\*/ {print $1, $8, $9}' PICINFO.TXT | grep -v " 0" | cut -c -12 > ImagesToAutoAlign.txt
# puts the list in the correct format
vi ImagesToAutoAlign.txt
:%s/P/ P/g
ZZ
echo END >> ImagesToAutoAlign.txt
# sets up auto register
cp ImagesToAutoAlign.txt make_script.in
cp scripts/make_scriptA.seed .
make_scriptAP
nohup sh run.sh &
Tile at 5cm
bigmapName=TILE05 GSD=0.00005
Execute Block 6B - Bigmap Tiling
Iterate using [[Block 5 - Iterate]] and Look for correlation errors
Execute Block 5 - Iterate
find_nofitP support/logEval.sh