##master-page:HomepageTemplate #format wiki = 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 * [[http://sbib.psi.edu/wiki_ext/refman.pdf|SPOC v3.02A PDF]] * [[http://sbib.psi.edu/wiki_ext/html/|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 * [[http://ormacsrv1.lpl.arizona.edu|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. ||[[Block 1 - Setup Directory]]|| ||[[Block 2 - Ingest]] || ||[[Block 3 - Register]] || ||[[Block 4 - Autoregister]] || ||[[Block 5 - Iterate]] || ||[[Block 6A - Lat/Lon Tiling]]|| ||[[Block 6B - Bigmap Tiling]]|| ||[[Block 7A - Clean Global]] || ||[[Block 7B - Clean Bigmap]] || ||[[Block 8 - Geometry/Residuals]] || === Working How Tos === User guides for SPC tasks. ||[[Basic Tiling - Achieving the Desired Maplet Overlap]]|| -------------------------------------------------------------------------------------------------------------------------------------------------- == 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_mono]] - * [[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 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_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 === [[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 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 * [[NEWFILES.TXT]] * [[OVERLAPS.TXT]] * [[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]]. * [[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]] - 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. * [[SHAPE.TXT]] - ICQ format shape model output by [[densify]]. * [[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]]. -------------------------------------------------------------------------------------------------------------------------------------------------- [[Old_landing_page]] == Help == Contact me with questions. Email: <> Links to wiki formatting and help https://moinmo.in/HelpOnMoinWikiSyntax ---- CategoryHomepage