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      APPROACH
VSIG= 0.200, 0.200, 0.200
PSIG= 0.0001, 0.0001, 0.0001
 FC21A0002099
 FC21A0002101
…
FC21A0003895
 FC21A0003910
ETLM=  1800, 1.D-6      SURVEY
VSIG= 0.100, 0.100, 0.040
PSIG= 0.0001, 0.0001, 0.0001
 FC21A0003931
 FC21A0003932
 …
FC21A0006731
 FC21A0006732
ETLM=  1800, 1.D-6      SURVEY TO HAMO
VSIG= 0.200, 0.200, 0.200
PSIG= 0.0001, 0.0001, 0.0001
END

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