WIKI for Bob Gaskell's StereoPC

General Info

This is a wiki of some of the key programs and support files for Stereophotoclinometry. The wiki contains information derived about SPC during the Dawn mission, the Mercator Project and the OSIRIS-REx mission. There are different versions of the software, so there may be things that are different or not supported in your version, depending on what your version is. If you have suggestions or wish to help improve this document, please contact Eric Palmer to give you access.

Short Cuts

• User Manual Author's Task List

• Training_Notes - Eric's notes for what to introduce and how

• SPC_V_and_V_testing - Directions and guideline for testing

• SPOC v3.02A PDF

• SPOC v3.02A html directory

• Error_evaluation - How to evaluate things for error and consistancy

Versions

• 1.0 -- Initial version of SPC
• 2.0 -- Version of SPC with the Common library created

• 2.1A7 -- This is the baseline version of Gaskell's software. SubComponent testing has been performed on this version

• 3.0A0 -- These have changed required in SPC to finish the SubComponent testing. It changed regress, process_fits and geometry

• 3.0A1 -- Released by Bob in support of Dawn @ Ceres and are not in the SPOC software branch.
• 3.0A1a -- Minor changes

• 3.0A2 -- process_fits that supports NavCam

• 3.1 -- (in progress) Will have all code improvements from Rosetta and include Polar Wobble. Will receive regression testing.

• configure_control

Support Tools

• Support Tools - Useful tools that aid the SPC process developed by the OREx SPC team

• updateDisplay - aid for landmark/maplet visualization

• spc_tools - javascript suite of tools that provide a GUI for SPC

How Tos

These are the "standard" blocks (or procedures) that can be used to do the most typical SPC tasks.

Programs

The following list needs update. A full list of pages are located User Manual Author's Task List.

Lithosphere

• autoregister - adds groups of landmarks to an image

• autoregisterP - adds groups of landmarks to an image using parallel processing

• blemishes - masks regions of an image which contain blemishes due to, for example, downlink errors, bad pixels, or a cosmic ray hit.

• convert

• dynamics - appends inertial position deltas between consecutive images to NOMINALS used to constrain the spacecraft position.

• geometry - solves a surface using spacecraft position, camera pointing, and landmark location.

• lithos - aligns maplets to the current shape model and provides slight changes to the shape (stored in MAPFILES)

• lithosP - a version of lithos intended to be used in batch processing (i.e. run in parallel)

• make_sumfiles - builds the NOMINALS and SUMFILES.

• new_pole - updates landmark center locations and map frames, and the S/C position/pointing and Sun vector, for new (user input) RA, DEC, PM, and OMEGA.

• omega - calculates the angular velocity of a body's rotation using the location of landmarks in consecutive images.

• pole - updates landmark center locations and map frames, and the S/C position/pointing and Sun vector, for new RA, DEC, PM, and OMEGA (found in input file POLE.TXT).

• process_fits - converts FITS image files to .DAT files and generates the make_sumfiles.in file required by make_sumfiles.

• register - aligns a new image with a known object.

• regres - generates a set of ascii interface files containing optical navigation observables, partials, and relevant ancillary information for use in the FDS navigation software suite(s).

• residuals - calculates a number of statistics useful for assessing the performance of the DTM.

• shift - shifts the center-of-figure of a shape model.

Coverage

• map_coverage - shows the coverage that has been processed by resolution.

Imager

• coverage.e - shows the global coverage that has been processed by resolution

• display.e - Appears to generate an image that shows the location of landmarks on it

• image_map_mono.e -

• image_map_rgb.e - Renders a 3D image of a bigmap using red and blue

• image_map_stereo.e -

• Imager_MG - How to make images from maplets

• mosaic - Creates a mosaic of images registered to the shape model

• panaroma.e - Makes a 360 degree panaroma image from a big map

• surface_imager.e - Makes an image using a surface point of view from a big map

• view_shape.e - The generates a point-of-view image of the shape model

Shaper

• bigmap - processes maplets to form a bigmap

• bigmapL - a 'bigmap lite', used in the production of Zmaps.

• densify - increases the resolution of a shape model by interpolating heights between landmarks.

• densifyA - increases the resolution of a shape model using albedo between landmarks.

• shape_info - generates DTM information

• spheremapsB - transforms maplet data from DTM to common formats and map projections for export.

spheremapB.e - This reads the Zmap files and makes the resulting map line by line.

• update_infiles.e - generates a list of landmarks and headers for showing coverage

Script Makers

• Script Makers Overview - User guide for the script-maker program suite

• find_nofit - searches batch processing output files to identify landmarks or images which may need further work.

• find_nofitP - searches make_scriptP output files to identify landmarks or images which may need further work.

• find_nofitT - searches make_scriptT output files to identify landmarks or images which may need further work.

• make_scriptA - generates the script that batch auto registers images using autoregister.

• make_scriptAP - generates the script for batch autoregistering images using parallel processing using autoregisterP .

• make_scriptF - generic script maker for user-generated batch processing jobs using lithos.

• make_scriptP - generates the script for iterating landmarks using lithosP.

• make_scriptR - generates the script that batch registers images using register.

• make_scriptT - generates the script that tiles (makes new maplets) using lithos.

• MAKE_TILES - generates the in file required to make Zmaps using bigmapL.

• MAKE_TILESP - generates the in files required to make Zmaps using bigmapL in parallel.

Utilities

• duplicates - Generates the make_script.in file to accompany script makers such as make_scriptP, comprising an ordered list of unique landmark names.

• Export and Import - builds scripts to package up the new maplets/landmarks into a tar ball and to unpack maplets/landmarks and integrate into a master directory export.e - builds scripts to package up the new maplets/landmarks into a tar ball importL.e - builds script to unpack maplets/landmarks and integrate into a master directory

• make_list - looks for image names matches between LIMBLIST1.TXT and LMRKLIST.TXT.

• make_lmrklistX - generates LMRKLISTX

• make_pictlistX - Builds the file PICTLISTX.TXT which makes things run faster

• make_sumfiles - Computes the SUMFILE and NOMINALS

• make_tilefile - Generates the pixel/line maplet-center locations required to complete the tiling of a bigmap.

• pr_template - (copy the codes for when making a new prog page)

• process_img - takes a list of files and creates make_sumfiles.in. Creates IMAGEFILE for each images

• rem_done - used to stop a parallel lithosP process and find which landmarks have yet to be worked on.

• refresh_sumfiles.e - updates the sumfiles to match the maplets

• showmap.e - generates an image (.pgm) for a specific bigmap

Gravity

Notes_on_Gravity

• Mgrav.e - Makes MGRAV.TXT and generates gravity images based on a map or bigmap.

• Sgrav.e - Makes a file called SGRAV.TXT that is like SHAPE.TXT but with extra columns for surface acceleration, potential and laplacian (just as a check). Based on a shape model. This is for a non-rotating body with GM=1.

• Sacc.e - Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface acceleration.

• Selv.e - Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface elevation (same as geoid).

• Slap - Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface laplacian.

• Spot.e - Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface potential.

• Sslpa.e - ?

Directories

• BIGFILES - Directory for BIGMAP LMK files

• DATA - A place for the SPICE kernels

• IMAGEFILES - Directory that holds the image files, .DAT

• LMKFILES - Stores the actual landmarkts, .LMK

• MAPFILES - Stores the maplets, .MAP

• NEW_IMAGES - Directory that holds the new, and unprocessed image files (in pgm format)

• NOMINALS - Directory that holds the sum files, .NOM

• SHAPEFILES - Holds the different types of shapefiles

• SUMFILES - Directory that holds the sum files, .SUM

• TESTFILES - Directory to store display files generated during batch processing jobs.

• TESTFILES1 - Directory to store display files generated during batch processing jobs.

• UTILITIES - Programs that are specific for this project

Key Input Files

• BIGLIST.TXT - List of mapfiles (bigmaps) used to make a new bigmap. Generated from bigmap.e

• INIT_LITHOS.TXT

• LMRKLIST.TXT - The full list of landmarks

• make_sumfiles.in - List of new images to process

• make_sumfiles.txt - SPICE references

• PICTLIST.TXT - List of the images that are in the system

Support Files

• Usually these files are used to run batch jobs or scripts.

• make_script.in - Used by various script-makers for batch jobs.

• make_scriptA.seed - Seed file for make_scriptA, the script-maker for batch autoregistering new images.

• make_scriptF.in? seed? -

• make_scriptP.seed - Seed file for make_scriptP, the script-maker for iterating landmarks using lithosP.

• make_scriptR.seed - Seed file for make_scriptR, the script-maker for batch registering new images.

• make_scriptT.in - Used by make_scriptT to build run_script.b

• MAPTRANS - Diagnostic tools to visualize maplet translations.

Other Input Files

• GEOID.TXT - gives the geoid in X, Y, Z position. A 3 column file.

• IFRAME.TXT - Converts to J2000

• LMRKLIST1.TXT

• LMRKLISTO.TXT

• LMRKLISTR.TXT

• LMRKLISTX.TXT

• MGRAV.TXT - produced by Mgrav.e. It contains vector position, potential, acceleration, slope and delta elevation.

• MOSAIC.TXT - A list of images that mosaic uses to build a moasic

• NEWFILES.TXT

• OVERLAPS.TXT

• PICTLISTS.TXT - User-generated alternative list of images used by residuals and geometry

• PICTLISTX.TXT - List of the images that are in the system with precomputed metadata.

• SEEDS

• SEEDS (by mission)

• SGRAV.TXT - produced from Sgrav.e. Similar to SHAPE.TXT with extra columns for surface acceleration, potential and laplacian (just as a check).

• SHAPE.TXT - The shape model of the object. Done is 3 column format of vertex using x, y, z coordinates

• SHAPEC.TXT - gives the height above the surface. A 4 column file.

Key Diagnostic Files

• INSIDE.TXT - Only the maps that are inside of the most recent bigmap created

• PICINFO.TXT - List all the images and parameters about them

• RESIDUALS.TXT - Errors within the map and images

• USED_MAPS.TXT - All maps used when making a bigmap

• USED_PICS.TXT - All images used when making a bigmap

Other Output Files

• check.txt - List of landmarks and overlaps output by residuals for landmarks whose linear residual is greater than the user-specified limit.

• EMPTY.TXT - lithos seed file output by residuals for batch deletion of landmarks which are not contained in any pictures or limbs.

• FLATLIST.TXT - List of flat maps (landmarks containing no topography) output by residuals.

• LIMINFO.TXT - Limb information output by residuals.

• LMKVECS.TXT - Landmark vectors output by residuals for every landmark contained in LMRKLIST.TXT.

• MAPCHK.TXT - List of maplets whose difference between predicted and observed pixel/line locations in attached images is greater than a user-specified limit, or who have two or fewer overlaps attached to them, output by residuals.

• MAPRES.TXT - Maplet resolution information for maplets contained in at least one picture or limb, output by residuals.

• New_Limbs.in - lithos seed file output by residuals to attach map to limbs for every landmark contained in LMRKLIST.TXT.

• NEW_LIST.TXT - List output by find_nofitT of new landmarks created during batch make_scriptT tiling.

• no_update.txt - List of landmarks output by residuals whose associated pictures are not listed by increasing mission time in the .LMK file.

• PRUNE.TXT - List of landmarks for which the number of pictures in which they are contained exceeds the default limit of 500, or the user-specified limit, PRNLM, set within INIT_LITHOS.TXT. File output by residuals.

• RANGES_SOLVED.TXT - Date and range information output by residuals for each picture listed in PICTLISTS.TXT or PICTLIST.TXT.

• redo.txt - List of landmarks output by find_nofit or find-nofitP which after batch lithos or lithosP processing either terminated in error, did not correlate with at least one image, or correlated weakly with at least one image.

• REMOVED.TXT - List of landmarks output by find_nofit which after batch register, autoregister, or autoregisterP processing were eliminated from at least one picture due to low or no correlation.

• veto.txt - lithos seed file output by residuals to detach from landmarks and limbs a map with a linear residual greater than the user-specified limit.

Deprecated

• view_maps.in - A list of all the maplets to be used in view_maps.e. The first line isn't read. The file should be terminated with "END"

• view_maps.e - This will do "paper mache" of all the maplets listed in view_maps.in.

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Help

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