Differences between revisions 9 and 19 (spanning 10 versions)

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.e
- 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

-  ⇤ ← Revision 9 as of 2015-05-26 10:09:11 → 
  Size: 3651
  Editor: KristoferDrozd
  Comment:
+   ← Revision 19 as of 2015-06-02 19:03:20 → ⇥
  Size: 9718
  Editor: KristoferDrozd
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 2:
-Line 36:
+Line 35:
   * 2.  Update old SUMFILES
-Line 45:
+Line 44:
 Line 67:
-Line 69:
+Line 68:
  * Now we will tile LMK000 with 9 overlapping better resolution maplets
-Line 81:
+Line 80:
- * '''LMK001 - landmark name
+ * '''LMK001''' - landmark name
-Line 88:
+Line 87:
- * '''y''' - check for more images?
+ * '''y''' - check for more images? '''
-Line 90:
+Line 89:
- * '''n''' - reject invisibles
 * display LMRK_Display1.pgm

=== Step 2: Eliminate Photos, Get Heights, Find Normal, V ===
+ * '''n''' - reject invisibles 
 * display LMRK_Display1.pgm 

'''=== Step 2: Eliminate Photos, Get Heights, Find Normal, V ===  '''
 Line 110:
-Line 128:
+Line 127:
+=== 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.e'''
  * 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 ===
{{attachment:lesson3_mapinfo.jpg||width=600}}

=== PICINFO.TXT ===
{{attachment:lesson3_PICINFO.jpg||width=750}}

=== RSIDUALS.TXT ===
{{attachment:lesson3_reseduals.jpg||width=600}}