check.txt
Description
This text file lists landmarks and overlaps/limbs output by residuals for landmarks whose linear residual is greater than the user-specified limit.
check.txt is output by residuals for any landmark whose linear residual is greater than PLIM 2, the second residuals argument. check.txt contains every overlapping landmark and limb listed in the suspect landmark's LMKFILE.
The accompanying veto.txt file contains the lithos seed file for detaching the suspect landmark from all overlapping landmarks and limbs. You can use this to "veto" its influence on overlapping landmarks.
Here is a sample check.txt file:
EE0001 <- landmark with residual standard deviation greater than user-specified limit EE0005 <- overlapping landmark EE0001 <- landmark with residual standard deviation greater than user-specified limit EE0006 <- overlapping landmark EE0001 <- landmark with residual standard deviation greater than user-specified limit EE0009 <- overlapping landmark END
(Compiled by DL)
EMPTY.TXT
Description
This text file is a lithos seed file output by residuals used for batch deletion of landmarks.
EMPTY.TXT contains the lithos commands required to batch delete landmarks listed in LMRKLIST.TXT that are not contained in any pictures or limbs.
Here is a sample EMPTY.TXT file:
d <- delete or disconnect landmark EE0001 <- landmark name 1 <- delete y <- delete entirely d <- as above EE0002 1 y q <- quit lithos
(Compiled by DL)
FLATLIST.TXT
Description
This text file lists "flat maps", which are maps that do not have topography (have no attached MAPFILE or images).
FLATLIST.TXT is output by residuals based on the following landmark HFLAG status:
HFLAG = T - The landmark has topography--it has an associated MAPFILE and images
HFLAG = F - The landmark is a flat map--it has neither an associated MAPFILE nor attached images
residuals inspects the .LMK files for each landmark stored in LMRKLIST.TXT and collects the landmark name and scale (km) for every landmark whose HFLAG is NOT set to 'T'. It stores these landmark details in FLATLIST.TXT.
Here is a sample FLATLIST.TXT file:
LANDMARK name resolution [km] EE0001 0.00010 EE0002 0.00010 EE0003 0.00010 END
(Compiled by DL)
INSIDE.TXT
Description
This text file, an output from bigmap, lists all of the maplets that were used by bigmap the last time it was run. This list includes only the maplets that fall completely inside the borders of the bigmap that was created.
![/!\](/wiki/classic/img/alert.png "/!\")
INSIDE.TXT is different from USED_MAPS.TXT, which lists all of the maplets that are contained in the bigmap that was created, some of which may only partially fall in the bigmap.
Here is a sample INSIDE.TXT file:
T00144 T00145 T00146 T00160 T00161 T00162 T00163 END
(Compiled by TC)
LIMINFO.TXT
Description
This text file lists limb information output by residuals.
residuals searches the LIMBFILES/ directory for a .LIM file for each picture listed in PICTLISTS.TXT. If PICTLISTS.TXT does not exist, it uses PICTLIST.TXT. If a .LIM file exists, various data are computed for inclusion in LIMINFO.TXT.
LIMINFO.TXT is no longer generated by the v3.0 software and will not be generated during OSIRIS REx.
(Compiled by DL)
LMKVECS.TXT
Description
This text file lists landmark vectors output by residuals for every landmark contained in LMRKLIST.TXT.
For each landmark listed in LMRKLIST.TXT that is contained in at least one picture or limb residuals lists this information:
Columns 1 to 3: VLM - Landmark center to body center vector.
Column 4: Landmark name
Column 5: HFLAG - 'F' indicates that the landmark is a flat map. 'T' indicates that the landmark has topography--an associated MAPFILE and image set.
Here is a sample LMKVECS.TXT file:
-0.2713710561D-01 0.2626967758D+00 -0.3116810853D-01 EE0001 T -0.3094370945D-01 0.2625129653D+00 -0.3121141969D-01 EE0002 T -0.3474824700D-01 0.2622791972D+00 -0.3118245307D-01 EE0003 T END
(Compiled by DL)
MAPCHK.TXT
Description
This text file lists maplets that meet either of these conditions:
- The difference between their predicted and observed pixel/line locations in attached images is greater than a user-specified limit.
- They have two or fewer overlaps attached to them.
MAPCHK.TXT is output by residuals based on this process:
The first parameter input to residuals is the user-specified pixel shift limit.
If a landmarks shows a difference between its predicted and observed pixel/line locations in attached images that is greater than this pixel shift limit, it is added to MAPCHK.TXT.
If the number of overlaps attached to a landmark is two or fewer, the landmark is listed in MAPCHK.TXT with an 'o' beside it.
The following sample MAPCHK.TXT file shows landmarks listed for each of these reasons:
EE0009 <- diff observed, predicted location greater than user-specified limit EE0017 o <- landmark has two or fewer overlaps EE0019 o EE0022 EE0023 EE0024 o EE0027 o EE0082 o EE0084 EE0085 EE0086 o EE0087 EE0088 EE0089 o END
(Compiled by DL)
MAPINFO.TXT
Description
This text file provides details about each map you have in the SPC system. You can use MAPINFO.TXT to identify problems, similar to the ways you use RESIDUALS.TXT.
MAPINFO.TXT is created by residuals.
The symbols that may show up in the Flag column are based on the parameters passed into residuals.
Here is a sample MAPINFO.TXT file. Elements of the data in each of the three sections are explained below.
IA2_05 0.0200 49.1713 113.4101 11.7471 9 0 0 34.64 >> 10.36
IA3_01 0.0200 56.7760 84.8686 13.0224 3 0 0 34.64 ** 11.00
IA3_05 0.0200 13.1041 95.9594 12.1615 4 0 0 34.64 >> 9.95
IA3_3G 0.0200 35.8062 91.8462 11.6549 7 0 0 34.64 >> 8.45
.........
RMS POSITION UNCERTAINTY = 48.694768136505374
NUMBER OF LANDMARKS = 4295
A B C D E F G H I J K L M N O P Q R
A 1 1 2 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1
B 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
C 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
D 2 2 2 1 1 1 1 2 1 1 1 1 1 1 1 1 2 2
E 66 1 2 1 1 1 1 1 1 1 1 2 1 1 2 28 1 2
F 30 5 1 1 1 1 1 1 1 1 1 2 1 1 1 2 2 2
G 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
H 1 2 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
I 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Section 1
The columns in the first set of output contain this information:
Column 1 - landmark name
Column 2 - landmark resolution
Columns 3-5 - lat, lon, radius
Column 6 - number of images contributing to landmark
Column 7 - number of maplets the landmark overlaps
Column 8 - number of images with landmark on limb
Column 9 - magnitude of formal uncertainty in meters
Column 10 - Flag, which may be:
>> - Flag showing landmarks that are below the pixel threshold
You might want to look at these further. - ** - Flag indicating fewer than 3 images were included
Column 11 - RMS pixel/line vector residual of the nominals and position
Section 2
The two lines in this section present
- the RMS of all the maplet's position uncertainty
- the number of landmarks in use The landmark residual is in kilometers unless you include the line UNIT='METER' in INIT_LITHOS.TXT.
Section 3
This matrix plots the number of landmarks in each region of the surface. It uses 10-degree bins with vertical from 90 to -90 (A-I) and horizontal from 0-360 (A-R). The maplet name is defined by this gridded region.
(Compiled by KD)
MAPRES.TXT
Description
This text file lists maplet resolution information for maplets contained in at least one picture or limb.
MAPRES.TXT is output by the program residuals. For each landmark listed in LRMKLIST.TXT, which is contained in at least one picture or contains at least one limb appearance, residuals outputs information to MAPRES.TXT.
Here is a sample MAPRES.TXT file:
LMKNM NPIX SCALE RESAV/SCL RESSD/SCL RESMN/SCL RESMX/SCL EE0001 24 0.00010 0.246 0.010 0.233 0.261 EE0002 24 0.00010 0.246 0.009 0.234 0.259 EE0003 24 0.00010 0.246 0.007 0.236 0.256
The columns contain these data:
LMKNM - landmark name
NPIX - number of pictures containing the landmark, plus the number of limb appearances for the landmark
SCALE - scale in km/pixel
RESAV/SCL - average image resolution per unit scale
RESSD/SCL - standard deviation image resolution per unit scale
RESMN/SCL - minimum image resolution per unit scale
RESMX/SCL - maximum image resolution per unit scale
RES/SCL = the number of pixels or lines moved in image-space for a change in location of a point on a maplet as the point moves in the maplet frame.
(Compiled by DL)
New_Limbs.in
Description
This lithos seed file is output by residuals and used to attach maps to limbs for every landmark contained in LMRKLIST.TXT.
New_Limbs.in contains the lithos commands to process each landmark listed in LMRKLIST.TXT where the landmark has an associated MAPFILE and an image set.
Here is a sample New_Limbs.in file annotated with explanations of the commands:
o <- attach map to maps or limbs EE0001 <- load landmark n a <- don't reset all 3 <- attach map to limbs n b <- don't clear 1,3,5 <- expansion (1), res/scale limit (3), d_hgt limit (5) o <- as above EE0002 n a 3 n b 1,3,5 q <- quit lithos
(Compiled by DL)
NEW_LIST.TXT
Description
This text file lists new landmarks created during batch make_scriptT tiling. NEW_LIST.TXT is output by find_nofitT.
Here is a sample NEW_LIST.TXT file:
EP0001 EP0002 EP0003 EP0004 EQ0001 EQ0002 EQ0003 EQ0004 END
(Compiled by DL)
no_update.txt
Description
This text file lists landmarks output by residuals whose associated pictures are not listed by increasing mission time in the .LMK file.
residuals checks the .LMK file for each landmark listed in LMRKLIST.TXT for pictures that are not listed in ascending order. Since the image name is based on ephemeris time, ascending order is a proxy for increasing time. Therefore, deviations from ascending name order show images that are not listed based on increasing mission time. These landmarks are then listed in no_update.txt.
Here is a sample of a .LMK file for which the landmark would be listed in no_update.txt:
AA0001 T
49 0.0007500 SIZE, SCALE(KM)
-1 -1 -1 -1 HORIZON
0.3750000000D-03 0.1214487940D+01 SIGKM, RMSLMK
0.7845141366D-01 -0.6632264386D-03 0.2427257052D+00 VLM
0.9282163978D+00 -0.8567629848D-03 -0.3720397949D+00 UX
0.2888872521D-02 0.9999837875D+00 0.4904716741D-02 UY
0.3720295727D+00 -0.5627413746D-02 0.9282038212D+00 UZ
0.5042866483D-03 0.6426026485D-03 0.7961719021D-03 SIGMA_LMK
PICTURES
M595949305F0 353.33 622.34
M595950583F0 696.83 359.79
P595903597F2 515.00 48.11 <- pic i
P595902930F2 469.34 648.70 <- pic j, where pic i > pic j
P595904281F2 592.68 701.12
P595905631F2 843.77 699.42
P595917125F2 373.73 74.35
MAP OVERLAPS
AA0002 35.828 61.211 -13.055
AB0001 -31.293 -53.362 -12.772
AQ0001 -40.032 54.114 -7.907
BR0001 -68.967 0.419 -8.536
AA0003 -29.647 -40.296 -2.588
AB0003 -42.646 -86.024 -15.244
AA0005 79.965 -14.195 -20.941
AB0004 -41.996 -97.707 -27.672
AA0004 43.500 -45.868 -11.332
AQ0003 -32.438 111.053 -22.030
BA0011 -21.858 11.659 0.651
AR0001 40.218 -0.211 -1.871
BA0008 -86.245 11.935 0.408
AR0002 18.762 67.900 -6.085
BA0010 -86.779 -35.178 -1.890
BR0007 -94.579 41.748 -6.321
BR0009 -52.030 31.489 -4.354
LIMB FITS
P595033964F2 537.92 388.59 0.05
P595034390F2 537.07 389.95 0.05
P595034816F2 537.03 391.94 0.05
P595035242F2 546.43 389.48 0.05
END FILEThe resulting no_update.txt file looks like this:
AA0001
- no_update.txt is no longer generated by v3.0 software and will not be used during OSIRIS REx.
(Compiled by DL)
OVERLAPS.TXT
Description
This file is a debugging file that is not used in normal operations. OVERLAPS.TXT is generated by the OVERLAPS subroutine and is specific to a particular landmark. It is read by LITHOS.f and DISCONNECT_LMFILE.f.
Additional Reference
[From OVERLAPS.f]
This subroutine creates a file OVERLAPS.TXT that LITHOS uses to search for maplets that overlap a given one (LMKNM). It searches a list of maplets in an input list (INFILE). If a maplet has a resolution times lower than LMKNM it is excluded. If the maplet center differs in position by more than twice the sum of its half width and that of LMKNM, it is excluded as well. The remaining maplets are those over which the overlap searches will be made. The input file is generally LMRKLIST.TXT, but this can be very large. In some circumstances, such as when we are dealing with maplets that are completely inside a BIGMAP, a file USED_MAPS.TXT generated by the BIGMAP program that has all maplets used to construct the BIGMAP can be copied into LMRKLISTO.TXT. This will be read as the input file for this subroutine, and it is guaranteed that only maplets in that file should be in OVERLAPS.TXT.
Another important input file which should be read instead of LMRKLIST.TXT is LMRKLISTX.TXT. In the limit of a very large number of landmarks > 20 K, reading the LMRKLISTX.TXT file when you load a landmark into lithos will result in substantial time savings compared to reading the LMRKLIST.TXT file .
(Compiled by JRW)
PICINFO.TXT
Description
This text file is a report generated by residuals that provides information about how well SPC performed for pictures included in PICTLISTS.TXT, if it exists, or PICTLIST.TXT.
PICINFO.TXT provides details about each map you have in the system and is used to identify problems.
Here is a sample PININFO.TXT file. Elements of the data in each of the three sections are explained below.
B2_01 2012 NOV 29 18:26:07.573 0.0015 11 0 >c 673.642 0.000 km 0.000 km 0.000 km 0.000 km -0.000 mr 0.000 mr -0.000 mr
B2_03 2012 NOV 29 18:27:21.732 0.0013 20 0 >c 426.441 0.001 km 0.000 km 0.001 km 0.000 km -0.000 mr 0.000 mr -0.000 mr
B2_04 2012 NOV 29 18:28:00.100 0.0013 21 0 >c 370.338 0.001 km -0.000 km 0.000 km 0.000 km -0.000 mr -0.000 mr 0.000 mr
B2_05 2012 NOV 29 18:28:37.172 0.0014 15 0 >c 304.426 0.000 km 0.000 km -0.000 km -0.000 km 0.000 mr 0.000 mr -0.000 mr
B3_01 2012 NOV 29 18:19:17.944 0.0014 5 0 >c 303.385 0.000 km 0.000 km -0.000 km -0.000 km 0.000 mr 0.000 mr 0.000 mr
B3_03 2012 NOV 29 18:20:15.713 0.0013 14 0 >c 293.049 0.000 km 0.000 km -0.000 km 0.000 km 0.000 mr 0.000 mr 0.000 mr
B3_05 2012 NOV 29 18:21:13.451 0.0013 9 0 >c 262.659 0.000 km -0.000 km -0.000 km 0.000 km 0.000 mr -0.000 mr -0.000 mr
C3_05
C3_06
C3_07
.........
SIGcx(mr) SIGcy(mr) SIGcz(mr) DLTpt(mr) DLTcz(mr) SIGV0(km) DLTV0(km)
0.1000E+03 0.1000E+03 0.1000E+03 0.6685E-04 0.2529E-04 0.1732E-03 0.4265E-03
0 1 2 3 4 5 6 7 8 9 10 x 0.10 m
20 20 20 20 20 20 20 20 20 20 20
0 0 0 0 0 0 0 0 0 0
Section 1
The columns in the first set of output contain this information:
Column 1 - image name
Column 2 - date image was taken, UTC(derived from GPS)
A more recent version (Feb 2014) does not put the date in col 2 of the file. Column 3 - resolution
Column 4 - number of landmarks in image
Column 5 - number of landmarks on image lit limb
Column 6 - code:
c indicates body fixed SCOBJ sigmas
b indicates trajectory relative SCOBJ sigmas
* indicates 3 or fewer landmarks for the image
> indicates pixel residual greater than limit
# indicates image for topography solution only
Column 7 - RMS pixel residual (RMS in pixels)
Column 8 - the magnitude displacement of the SUMFILE solution from the NOMINALS
Column 9, 10, 11 - The specific dx, dy, dz offset between the SUMFILE solution and the NOMINALS (SCOBJ)
The units of measure for numbers in these columns are based on INIT_LITHOS.TXT and the parameters passed into residuals.
Column 12, 13, 14 - The angular error in pointing between the SUMFILES and the NOMINALS
Section 2
These lines report the standard deviations of the positions in the coordinate system listed.
Section 3
These lines give a histogram of the number of images in each resolution bin. This is defined by the units listed: you multiple the bin number by the bin size.
(Compiled by KD)
PRUNE.TXT
Description
PRUNE.TXT is output by residuals. residuals checks the number of pictures containing each landmark listed in LMRKLIST.TXT. If the number of pictures exceeds the limit PRNLM (default PRNLM=500), the landmark is listed to alert the user. You may set the variable PRNLM in INIT_LITHOS.TXT so that you are alerted at a different limit.
- The default limit of 500
The user-specified limit, PRNLM, as set in INIT_LITHOS.TXT
For example, the following line in INIT_LITHOS.TXT sets the limit at 100:
PRNLM=100 <- parameter in INIT_LITHOS.TXT
Here is a sample PRUNE.TXT file:
EE0001 EE0002 EE0003 END
(Compiled by DL)
RANGES_SOLVED.TXT
Description
This text file includes date and range information output by residuals for each picture listed in PICTLISTS.TXT or PICTLIST.TXT.
residuals checks each picture listed in PICTLISTS.TXT, if it exists, or PICTLIST.TXT. If the picture name does not include a prefix of # or !, it lists date and range information in RANGES_SOLVED.TXT.
Here is a sample RANGES_SOLVED.TXT file:
-202607939.82 0.1747612145D+01 P3T11S2H0409
-202607939.82 0.1747612144D+01 P3T11S2H0410
-202607939.82 0.1747612144D+01 P3T11S2H0411
-202607939.82 0.1747612144D+01 P3T11S2H0412The output contains this information:
Column 1 - Date picture was taken in Ephemeris Time, expressed as ephemeris seconds past J2000
Column 2 - Distance of spacecraft to center of body in km
Column 3 - Picture name
(Compiled by DL)
redo.txt
Description
This text file lists landmarks that met one of these criteria following lithos or lithosP batch processing:
- Terminated in error
- Did not correlate with at least one image
- Correlated weakly with at least one image
redo.txt is output by both find_nofit and find_nofitP, which are discussed separately below.
find_nofit
The batch processes initiated by make_scriptF produce output files LMKNM.OOT. These outputs are basically listings of the lithos standard output for each input landmark. find_nofit searches these output files for each landmark listed in the make_script.in file to identify landmarks that may need further work. The following instances cause the landmark to be listed in redo.txt:
! cat LMKNM.OOT - process still running or terminated in error. * cat LMKNM.OOT - maplets not correlating with at least one image. + cat LMKNM.OOT - maplets correlating weakly with at least one image.
Here is a sample redo.txt file output by find_nofit:
* EE0017 <- maplets not correlating with at least one image + EE0034 <- maplets correlating weakly with at least one image * EE0042 * EE0044 + EE0045 EE0051 <- process still running or terminated in error EE0053 + EE0054 EE0063 END
find_nofitP
The batch processes initiated by make_scriptP produce output files <LMKNM>.OOT. These outputs are basically listings of the lithosP standard output, for each input landmark. find_nofitP searches these output files for each landmark listed in the make_script.in file to identify landmarks that may need further work. The following instances cause the landmark to be listed in redo.txt:
! cat LMKNM.OOT - process still running or terminated in error. * cat LMKNM.OOT - maplets not correlating with at least one image.
Here is a sample redo.txt file output by find_nofit:
* EE0017 <- maplets not correlating with at least one image * EE0042 * EE0044 EE0051 <- process still running or terminated in error EE0053 EE0063 END
(Compiled by DL)
REMOVED.TXT
Description
This text file lists landmarks that were eliminated from at least one picture for one of these reasons following register, autoregister, or autoregisterP batch processing:
- low correlation
- no correlation
The batch processes initiated by make_scriptR, make_scriptA, and make_scriptAP produce output files PICNM.OOT. These outputs are basically listings of the register, autoregister, or autoregisterP standard output for each input picture. find_nofit searches these output files for each picture listed in the make_script.in file to identify pictures that may need further work. The following instances cause the picture to be listed in REMOVED.TXT:
cat PICNM.OOT - image not correlating with at least one maplet.
Here is a sample REMOVED.TXT file:
AA0001 <- maplet eliminated from an image for low or no correlation AF0023
(Compiled by DL)
RESIDUALS.TXT
Description
This text file is created by residuals to report on landmarks that have residual values above the criteria set when the program was run.
RESIDUALS.TXT captures and reports three types of information:
- The post-fit residuals between predicted and actual control point positions in all images.
- The post-fit residuals between predicted and actual control point difference between adjacent, overlapping maplets.
- Outliers in both quantities are flagged automatically based on input threshold criteria.
Here is a sample RESIDUALS.TXT file. Elements of the data in each of the four sections are explained below.
..................................................
IA1_01 T 0.0200 56.5481 140.8124 13.6146 <- Section 1
..................................................
A1_01 8.139 -6.853 10.640 0.01091 <- Section 2
A2_05 -28.427 49.215 56.835 0.04250
B1_01 -3.517 52.347 52.465 0.04857
B1_03 -18.475 -57.091 60.006 0.05509
IA1_01 42.78 <- Section 3
..................................................
IA1_03 T 0.0200 36.4771 136.8269 11.4593
..................................................
A1_03 -29.498 -12.161 31.906 0.04002
A2_03 -71.840 23.961 75.731 0.07142
A2_04 -3.885 -4.689 6.089 0.00643
A2_05 -34.754 95.249 101.392 0.10527
B1_01 64.895 -21.470 68.354 0.07337
B1_03 11.000 59.329 60.340 0.06832
B2_04 97.637 29.005 101.855 0.11002
B2_05 42.109 41.562 59.165 0.07455
IA1_03 75.45
.........
Observation # = 360180 <- Section 4
RMS Residual (m) = 0.78928860594347106
Section 1
Row between the dot rows includes:
Column 1 - The name of a landmark
Column 2 - T = landmark has a map with it; F = flat landmark, no image
Column 3 - Resolution
Column 4 - Lat of landmark
Column 5 - Wlon of landmark
Column 6 - Radius
Section 2
Rows below the second dot row with the landmark name above include:
- For each image:
Column 1 - picture name
Column 2 - PX residual (# of pixels in image resolution)
Column 3 - LN residual (# of pixels in image resolution)
Column 4 - magnitude of PX and LN residuals (# of pixels in image resolution)
Column 5 - the estimate linear residual (km)
- For each overlap:
Column 1 - overlap name
Column 2 - X residual (km)
Column 3 - Y residual (km)
Column 4 - Z residual (km)
Column 5 - estimate linear residual (km)
- For each limb apperation:
Column 1 - picture name
Column 2 - PX residual (# of pixels in image resolution)
Column 3 - LN residual (# of pixels in image resolution)
Column 4 - magnitude of PX and LN residuals (# of pixels in image resolution)
Column 5 - the estimate linear residual (km)
Section 3
Row below the images, overlaps, and limbs list for a landmark includes:
Column 1 - landmark name
Column 2 - RMS linear residual for landmark (m)
Section 4
Rows below the single dot row at the very bottom for each image includes:
- Observations - how many IMAGEFILES, overlaps, and limbs for all landmarks
- RMS RESIDUAL - overall RMS linear residual in meters.
Residuals are the difference between observed landmark positions and those predicted by the solution (SPC).
Observed landmark positions are positions of a landmark calculated by the code when it inputs pictures from the spacecraft of the object.
Predicted landmark positions are those calculated by SPC. When it inputs, it generates a solution (map) from all the pictures collected.
During iteration and refinement of the SPC solution, the position and attitude of the spacecraft are slightly changed over and over until the maps match the images until an optimum solution has been converged upon. At the end of each iteration, SUMFILES are then updated for the new attitude and position.
When the RMS between landmark residuals is as low as possible, ..., it indicates no futher processing will improve the solution. This means that the updated SUMFILE is the new estimate for spacecraft position and attitude.
(Compiled by KD)
SHAPE.TXT
Description
This text file is the shape model that SPC uses. SHAPE.TXT is output by densify.
The shape is in the ICQ format, which is basically a 6-sided cube. Q size (resolution) values are between 8 and 512 in increments of factors of 2: 8, 16, 32, 64, 128, 256, 512.
densify generates this file, usually by taking an existing shape model, increasing the scale of the vertices by a factor of two and calculating the height of the average maplet the passes through that vector. The program dumber will downscale the shape model to a lower resolution.
ICQ Format Description
The global topography models (GTM) are presented here in an implicitly connected quadrilateral (ICQ) format. The vertices are labeled as though they were grid points on the faces of a cube
0 --------- I --------- Q
0 . . . . . . . . .
| . . . . . . . . .
| . . . . . . . . .
| . . . . . . . . .
J . . . . F. . . . .
| . . . . . . . . .
| . . . . . . . . .
| . . . . . . . . .
Q . . . . . . . . .
so that each of the six faces (F) contains (Q+1)^2 vertices v(I,J,F) (I=0,Q; J=0,Q) and Q^2 facets f(I,J,F) (I=0,Q-1; J=0,Q-1).
The facet f(I,J,F) implicitly has the vertices v(I,J,F), v(I,J+1,F), v(I+1,J+1,F), v(I+1,J,F).
If the cube is unfolded, the six faces are arranged as
-----------
| |
| 1 |
| |
-----------------------------------------
| | | | |
| 5 | 4 | 3 | 2 |
| | | | |
-----------------------------------------
| |
| 6 |
| |
-----------
At each of the 12 edges of the cube, faces share common vertices so that, for example, the last row of face 1 has the same vertices as the first row of face 2. The common edge vertices are, with I=(0,Q),
v(I,Q,6)=v(Q-I,Q,4)
v(I,0,6)=v(I,Q,2)
v(I,0,5)=v(Q,Q-I,1)
v(I,0,4)=v(Q-i,0,1)
v(I,0,3)=v(0,I,1)
v(I,0,2)=v(I,Q,1)
v(q,I,6)=v(I,Q,5)
v(q,I,5)=v(0,I,4)
v(q,I,4)=v(0,I,3)
v(q,I,3)=v(0,I,2)
v(0,I,6)=v(Q-I,Q,3)
v(0,I,5)=v(Q,I,2)
and the eight corners share vertices from three faces:
v(0,0,1) = v(0,0,3) = v(Q,0,4)
v(0,Q,1) = v(0,0,2) = v(Q,0,3)
v(Q,0,1) = v(0,0,4) = v(Q,0,5)
v(Q,Q,1) = v(0,0,5) = v(Q,0,2)
v(0,0,6) = v(0,Q,2) = v(Q,Q,3)
v(0,Q,6) = v(0,Q,3) = v(Q,Q,4)
v(Q,0,6) = v(0,Q,5) = v(Q,Q,2)
v(Q,Q,6) = v(0,Q,4) = v(Q,Q,5)
Thus of the 6(Q+1)2 labeled vertices, only 6Q2+2 are independent.
File Structure
The file structure is quite simple. The first line contains the value of Q, and is followed by 6(Q+1)^2 lines containing the vertices. A piece of Fortran code for reading the file would look like:
READ(10,*) Q
DO F=1,6
DO J=0,Q
DO I=0,Q
READ(10,*) (V(K,I,J,F), K=1,3)
ENDDO
ENDDO
ENDDO Here the vertices are represented by three-vectors. In some cases extra components are added representing albedo, color, surface gravity, or other surface characteristics. Since the labeling scheme implicitly contains the connectivity, no facet table is necessary.
The quadrilateral facets in the model are not necessarily flat, since there is no guarantee that the four vertices are coplanar. The facet normals are defined by the cross product of their diagonals. This approximation presents no real difficulty because the spacings of the vertices are very small compared to the size of the body. The standard form (Q=512) has 1.57 million vertices.
Although it is not necessary, it is convenient to take Q to be a power of 2. Because of this choice, it is easy to 'dumb down' a model by increasing the spacing by factors of 2. Vertices of the form v(2I,2J,F) are retained and the others discarded. Because of the quadrilateral facet structure, the models can also be 'densified' through bilinear interpolation.
Example
Here is a sample SHAPE.TXT file:
128 -218.72182 -8.78589 136.89489 -217.94953 -6.10207 138.09736 -217.59664 -3.46244 139.74751 -216.83911 -0.75086 140.98874 -216.04842 1.95086 142.19411 -215.34667 4.53459 143.49143 -214.06968 7.13078 144.16124 -212.35048 9.69145 144.34511 -210.62577 12.23122 144.54863 -209.47201 14.69014 145.33889 -208.85169 17.21845 146.67393 -208.58685 19.86090 148.37467 .....
Q Value
Q |
Vertices |
4 |
151 |
8 |
487 |
16 |
1735 |
32 |
6534 |
64 |
25351 |
128 |
99846 |
256 |
396294 |
512 |
1579014 |
The output values are:
Line 1 - Q (resolution). This gives the number of nodes for i and j. Multiple Q by 6 coordinate vector spaces to fill out the entire region.
- Q*Q*6 is the total number of nodes, and line entries in this file.
- A Q of 512 is the largest that we represent. It contains 1.5 million vertices and is 56 MB uncompressed.
Lines 2 and following - The location of a vertex in i, j, k space (Cartesian coordinates).
(Compiled by KD)
References
Gaskell, R.W., O. Barnouin-Jha, and D. Scheeres, Modeling Eros with Stereophotoclinometry, Abstract #1333, 38th LPSC, Houston, TX, 2007. [GASKELLETAL2007]
Gaskell R.W., Landmark navigation and target characterization in a simulated Itokawa encounter, AAS paper 05-289, AAS/AIAA Astrodynamics Specialists Conf., Lake Tahoe, CA, 2005. [GASKELL2005]
SIGMAS.TXT
Description
This text file contains the sigma values for each bigmap. SIGMAS.TXT is created and updated by bigmap. Every time a bigmap is made, the name and current sigma values are appended to SIGMAS.TXT.
Here is a sample SIGMAS.TXT file:
MTAG15 0.001 0.000 MTAG15 0.001 0.000 MTAG15 0.001 0.000 MTAG25 0.001 0.000 MTAG35 0.001 0.000 MTAG15 0.001 0.000 MTAG25 0.001 0.000 MTAG35 0.001 0.000 MREG01 0.000 0.000 MREG03 0.000 0.000
The output values are:
Column 1 - landmark name
Column 2 - maximum standard deviation of weighted heights (in km) at each pixel/line location
Column 3 - average standard deviation of weighted heights (in km) at each pixel/line location
(Compiled by TC)
SIGMA.TXT
Description
This text file is essentially a copy of the most recently made ICQ shape file SHAPE.TXT that includes an additional column of sigma values.
SIGMA.TXT is made by densify and is located in the SHAPEFILES/ directory.
Here is a sample SIGMA.TXT file:
512
0.00810 0.19764 0.13333 0.29844E-01
0.00871 0.19742 0.13360 0.28206E-01
0.00932 0.19721 0.13386 0.27425E-01
0.00994 0.19700 0.13414 0.27743E-01
0.01055 0.19677 0.13441 0.28415E-01
0.01116 0.19655 0.13466 0.31917E-01
0.01177 0.19633 0.13493 0.31631E-01
0.01239 0.19615 0.13521 0.28469E-01
0.01300 0.19594 0.13549 0.28856E-01The output values are:
Line 1 - Q (resolution). This gives the number of nodes for i and j. Multiple Q by 6 coordinate vector spaces to fill out the entire region.
- Q*Q*6 is the total number of nodes, and line entries in this file. A Q of 512 is the largest that we represent. It contains 1.5 million vertices and is 56 MB uncompressed.
Lines 2 and following - The location of a vertex in i, j, k space (Cartesian coordinates).
Column 1 - Position in x
Column 2 - Position in y
Column 3 - Position in z
Column 4 - Sigma values - JRW edit: densify.f doesn't read INIT_LITHOS.TXT, and multiplies a value by 1000 right before writing out SIGMA.TXT, so I'm fairly confident that the units are always meters.
(Compiled by TC) (Updated by JRW) CategoryFiles CategoryOutputFiles
USED_MAPS.TXT
Description
This text file, an output from bigmap, lists all of the maplets that were used by bigmap the last time it was run. This list includes maplets contained completely by the bigmap as well as those that fall on the border.
- USED_MAPS.TXT is different from INSIDE.TXT, which only lists maplets contained entirely inside the bigmap that was created.
Here is a sample USED_MAPS.TXT file:
T00144 T00145 T00146 T00160 T00161 T00162 T00163 END
(Compiled by TC)
USED_PICS.TXT
Description
This text file output by bigmap contains a list of all the images that were used in creating the most recently made bigmap.
Note: This file contains limb images in addition to images used for stereo and photoclinometry
Here is a sample USED_PICS.TXT file:
P595733646F2 P595733662F2 P595467488F2 P595467677F2 P595467866F2 P595468055F2 P595652545F2 P595652849F2 P595653154F2 END
(Compiled by TC) (Edited by JRW)
veto.txt
Description
This lithos seed file is output by residuals and used to detach from landmarks and limbs any map with a linear residual greater than the user-specified limit.
veto.txt is created for any landmark whose linear residual is greater than PLIM 2, the second residuals argument. The seed file contains the lithos commands to process each landmark listed in LMKFILE that meets the criteria. veto.txt is ready for execution as a batch process.
The accompanying check.txt file lists suspect landmarks and affected overlapping landmarks and limbs. This file allows you to individually inspect each instance.
Here is a sample veto.txt file annotated with explanations of the commands:
o a <- attach map to maps or limbs EE0001 <- landmark name n <- don't reset all 4 <- detach from limb or landmark EE0005 <- landmark name (overlap) 0 <- 0 to end o a <- as above EE0001 n 4 EE0006 0 o a <- attach map to maps or limbs EE0001 <- landmark name n 4 P00045000450 <- picture name (limb) 0 q <- quit lithos
(Compiled by DL)