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
Training_Notes - Eric's notes for what to introduce and how
SPC_V_and_V_testing - Directions and guideline for testing
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.
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.
Working How Tos
User guides for 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.
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.
process_img - takes a list of files and creates make_sumfiles.in. Creates IMAGEFILE for each images
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
coverage - shows the global coverage that has been processed by resolution
map_coverage - shows the coverage that has been processed by resolution.
Imager
display - Generate an image that shows the location of landmarks on it
image_map_rgb - Renders a 3D image of a bigmap using red and blue
image_map_stereo - Creates an image from a bigmap that shows the surface, using low-tech stereo.
Imager_MG - How to make images from maplets
mosaic - Creates a mosaic of images registered to the shape model
panaroma - Makes a 360 degree panaroma image from a big map
showmap - generates an image (.pgm) for a specific bigmap
surface_imager - Makes an image using a surface point of view from a big map
view_shape - 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.
spheremapsB - transforms maplet data from DTM to common formats and map projections for export.
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
convert - Converts the OCAMS image file into the raw image file format used by the SPC software.
duplicates - Generates the make_script.in file to accompany script makers such as make_scriptP, comprising an ordered list of unique landmark names.
Export_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_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)
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
shape_info - generates DTM information
update_infiles.e - generates a list of landmarks and headers for showing coverage
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 landmarks, .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 nominal files, .NOM
SHAPEFILES - Holds the different types of shapefiles
SUMFILES - Directory that holds the sumfiles, .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 all bigmaps contained the the BIGFILES directory created by bigmap
INIT_LITHOS.TXT - initialization file for lithos
LMRKLIST.TXT - The full list of landmarks.
make_sumfiles.in - image information generated by process_fits and required by make_sumfiles to generate NOMINALS and SUMFILES.
make_sumfiles.txt - user-generated SPICE configuration data required by make_sumfiles to generate NOMINALS and SUMFILES.
PICTLIST.TXT - list of the images that are in the model, required by lithos.
Support Files
- Usually these files are used to run batch jobs or scripts.
make_script.in - list of landmarks or pictures to process 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.seed - Seed file for make_scriptF, the script-maker for batch processing using lithos.
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
BIGMAP.IN - optional file containing a list of landmarks for use with bigmap
DYNAMICS.TXT - contains different uncertainty values and coordinates frames for different mission phases
GEOID.TXT - gives the geoid in X, Y, Z position. A 3 column file.
IFRAME.TXT - contains J2000 nominal spacecraft to object center vector and camera orientation, created by make_sumfiles
LIMBLIST1.TXT - list of images required by make_list.
LMRKLIST1.TXT - list of newly created landmarks.
LMRKLISTO.TXT - list of landmarks that overlap a bigmap.
LMRKLISTR.TXT - user-generated restricted list of landmarks used by lithos
LMRKLISTX.TXT - summary of landmark information generated by make_lmrklistX and used by lithos and lithosP to find overlaps.
MAPLIST.TXT - user-generated list of maplets required by Imager_MG, MAKE_TILES and spheremapsB.
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
PICTLISTR.TXT - user-generated restricted list of pictures used by lithos or regres.
PICTLISTRX.TXT - user-generated restricted set of data contained in PICTLISTX.TXT.
PICTLISTS.TXT - User-generated alternative list of images used by residuals and geometry
PICTLISTX.TXT - List of the images that are in the model with precomputed metadata, generated by make_pictlistX.
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 - list of only the maps that are inside of the most recent bigmap created
LIMINFO.TXT - Limb information output by residuals.
MAPINFO.TXT - maplet information output by residuals.
PICINFO.TXT - picture information output by residuals.
RESIDUALS.TXT - maplet and image error information output by residuals.
SIGMAS.TXT - sigma values for bigmaps, output by bigmap.
SIGMA.TXT - ICQ format shape model with sigma values.
USED_MAPS.TXT - maps used when making a bigmap, output by bigmap.
USED_PICS.TXT - images used when making a bigmap, output by 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.
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.
OVERLAPS.TXT - temporary file generated by lithos.
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.
Help
Contact me with questions. Email: <epalmer AT SPAMFREE psi DOT edu>
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