Lesson 3

Objectives (Already Shown)

Add new images

Run CONVERT, make_sumfiles, and DYNAMICS

Manually tile LMK001 with 9,

0.4 km/px maplets

Run coverage to plot maplets

Run GEOMETRY and RESIDUALS

Check for poor residuals

Process New Images (Not sure how else to show this... seems sketchy)

cd ../DAWN/NEW_IMAGES_2011_212

ls -1 > $myvesta/newpix.txt

cd ../NEW_IMAGES_2011_212

ls -1 >> $myvesta/newpix.txt

repeat for all folders 218 through 241

cd $myvesta

../DAWN/UTILITIES/PROCESS_IMG.e

NEW_IMAGES_2011_212

NEW_IMAGES_2011_218

NEW_IMAGES_2011_223

NEW_IMAGES_2011_226

NEW_IMAGES_2011_230

NEW_IMAGES_2011_232

NEW_IMAGES_2011_235

NEW_IMAGES_2011_238

NEW_IMAGES_2011_241

Make Sumfiles

../DAWN/UTILITIES/make_sumfiles.e

y - Use B-Frame? (y/n)

0. Create SUMFILES & NOMINALS and ..

1.

Update old NOMINALS and ..

2.

Update old SUMFILES

1

Dynamics

emacs DYNAMICS.TXT

emacs PICTLIST.TXT

copy

FC21A0003298 thru FC21A0003910 from PICTLIST.TXT into ‘APPROACH’ in DYNAMICS.TXT

copy FC21A0003931 thru FC21A0006732 from PICTLIST.TXT into ‘SURVEY’ in DYNAMICS.TXT

DYAMICS.e

ETLM= 1800, 1.D-6 APPROACHVSIG= 0.200, 0.200, 0.200PSIG= 0.0001, 0.0001, 0.0001 FC21A0002099 FC21A0002101…FC21A0003895 FC21A0003910ETLM= 1800, 1.D-6 SURVEYVSIG= 0.100, 0.100, 0.040PSIG= 0.0001, 0.0001, 0.0001 FC21A0003931 FC21A0003932 …FC21A0006731 FC21A0006732ETLM= 1800, 1.D-6 SURVEY TO HAMOVSIG= 0.200, 0.200, 0.200PSIG= 0.0001, 0.0001, 0.0001END

Tile LMK000

Now we will tile LMK000 with 9 overlapping better resolution maplets

Our new maplets will have the following properties:

centers at pix,line in LMK000

(25,25)

(25,50)

(25,75)

(50,25)

(50,50)

(50,75)

(75,25)

(75,50)

(75,75)

scale = 0.4 km/px

size = 99 x 99 px or ~ 40 x 40 km

name = LMK001-LMK009

Step 1: Create Landmark

c - Create new landmark

LMK001 - landmark name

m

LMK000

25,25 - lat,lon

.4,49 - enter scale (km/px),qsz

i - input landmark

LMK001 - landmark named (as previously named)

y - check for more images?

.5 - fractional width

n - reject invisibles

display LMRK_Display1.pgm

=== Step 2: Eliminate Photos, Get Heights, Find Normal, V ===

e - eliminate pictures from landmark

a - auto eliminate

0,40,.2,.2,0,2 - Input INVLIM, SLIM, CLIM, ILIM, RSMN, RSMX

display LMRK_Display1.pgm

b - get heights from surrounding map

y - List possibilities?

LMK000 - input a 6-character landmark name

display LMRK_DISPLAY1.pgm

n - find normal

2 - normal from heights

u - update landmark file (save)

1 - save map

v - find V,Z, or PTG

2 - Find Z from V and pointing

Step 3: Align Landmarks

1 - align landmarks

0 - auto align

1 - enter spacing

y - new spacing?

2 - enter spacing

y - new spacing?

3 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations?

1 - align landmarks

0 - auto align

1 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations?

display LMRK_Display1.pgm

Step 4: Find Template, Align Landmarks

0 - find template

c - use correlated

.7 - enter correlation limit

0 - find template

0 - continue

40 - number of iterations

display LMRK_DISPLAY1.pgm

1 - align landmarks

0 - auto align

4 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations?

display LMRK_DISPLAY1.pgm

1 - align landmarks

0 - auto align

1 - enter spcaing

n - new spacing?

0 - continue

y - update landmark pixel locations?

display LMRK_DISPLAY1.pgm

Step 5: Repeat Alignment and Template

0 - find template

c - use correlated

.7 - enter correlation limit

0 - find template

0 - continue

40 - number iterations

display LMRK-DISPLAY1.pgm

u - update landmark file (save)

1 - save map

Step 6: Find Heights

2 - find heights

8 - fill with shape

2 - include existing heights

.01 - input fraction of points

1 - auto include neighboring maps

4 - include limb vectors

1,2.5,3 - input expansion, res/scale limit, d_hgt limit

6 - include differential stereo

y - use gradients?

y - autoheights?

0 - begin iteration

.025 - input weight

30 - enter number of iterations

0 - end iterations

display LMRK_DISPLAY1.pgm

display slope.pgm

Step 7: Final Alignment, Save, and Attach to Surrounding Maps

1 - align landmarks

0 - auto align

1 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations?

u - update landmark file (save)

1 - save map

o - attach map to maps or limbs

RECENT - input 60character landmark name (RECENT inputs last imrk)

n - reset all?

1 - automatic

Repeat for Each Tile

c - create new lanmark

LMK002 - landmark name

m - define landmark by map pixel/line

LMK000 - input 6 character map name

25,50 - lat,lon

.4,49 - enter scale (km/px), qsz

i - input landmark

LMK002 - landmark name (as previously names)

y - check for more images?

.5 - fractional width

n - reject invisibles

e - eliminate pictures from landmark

a - auto-eliminate

0,40,.2,.2,0,2 - input INVLIM, SLIM, CLIM, ILIM, RSMN, RSMX

b - get heights from surrounding map

y - list possibilities?

LMK000 - input 60character landmark name

n - find normal

2 - normal from heights

u - update landmark file (save)

1 - save map

v - find V, Z or PTG

2 - find Z from V and pointing

1 - align landmarks

0 - auto align

4 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations

1 - align landmarks

0 - auto align

1 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations

0 - find template

c - use correlated

.7 - enter correlation limit

0 - find template

0 - continue

40 - number of iterations

1 - align landmarks

0 - auto align

1 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations

0 - find template

c - use correlated

.7 - enter correlation limit

0 - find template

0 - continue

40 - number of iterations

u - update landmark file (save)

1 - save map

2 - find heights

8 - fill with shape

2 - include existing heights

.01 - input of fraction points

1 - auto include neighboring maps

4 - include limb vectors

1,2.5,3 - input expansion, res/scale limit, d_hgt limit

6 - include differential stereo

y - use gradients?

y - autoheights?

0 - begin iteration

.025 - input weight

30 - enter number iterations

0 - end iterations

1 - align landmarks

0 - auto align

1 - enter spacing

n - new spacing?

0 - continue

y - update landmark pixel locations

u - update landmark file (save)

1 - save map

o - attach map to maps or limbs

RECENT - input 6-character landmark name RECENT

n - repeat all?

1 - automatic

coverage.e

update_infiles.e

ls –lrt

more view_maps.in

coverage.e

0

(All maps)

0,10 (Input scale min/max (km))

display coverage_g.pgm

Geometry

Once we have finished tiling LMK000, we can solve for an updated geometry

geometry

1: landmark vectors

2: camera pointing, scobi

3: RA/DEC/TWIST

0: end

120 - input operation list

3 - enter number of iterations

n - change position and pointing aprioris? (y/n)

n - use limbs for pointing? (y/n)

n - continue? (y/n)

Residuals

After running GEOMETRY, we can solve for the residuals

Check for landmarks with poor residuals

possible misregistration => manually adjust

RESIDUALS.e

2,4,10 - enter plim (px,km,km)

Then look at MAPINFO.TXT, PINCINFO.TXT, RESIDUALS.TXT and fix any outliers in LITHOS

MAPINFO.TXT

PICINFO.TXT

RSIDUALS.TXT