The point of this test was to evaluate how well SPC could create a bigmap of a tag site (1) using optimal imaging data from Orbit B. Optimal imaging data implies images taken of the tag site occur when the spacecraft and sun are at perfect azimuth and zenith angles so, that all parts of the tag site ( e.g. sides of craters & sides of boulders) could be captured out of shadow. RMS measurements from CompareOBJ that compare the SPC model with the truth model were used to judge the created Bigmap, along with traces and a heat map. Furthermore, the bigmap of the tag site was not the only bigmap evaluated. Five smaller bigmaps fore five Lockheed features respectfully were also evaluated.
To replicate a terminator orbit trajectory (e.g. Orbit B), sun and spacecraft zenith angles during image capture were selected so that their sum equals 90 degrees. Also, many of the sun azimuth angles chosen are impossible, which was ignored during this test due to the assumption that the imaging data is perfect (We played God) for SPC with the only constraint being that the spacecraft has to be in a terminator orbit. A readme.txt file showing the image angle parameters for each image are shown below, along with the polars.
September 25, 2015 Kristofer Drozd These Sumfiles and and Nominals were created for the first optimal orbit b test. The optimal otbit b test is done to see what SPC can do with the best orbit b images. Image Landmarks: EE0011 (center of tag1 (3)) - -0.3295712733D-01 0.2614730241D+00 -0.3702992051D-01 EE0034 (3m north 3m west (1)) - -0.3097255801D-01 0.2617313664D+00 -0.3508827492D-01 EE0035 (3m north 3m east (2)) - -0.3798937978D-01 0.2617730236D+00 -0.3504279920D-01 EE0040 (3m south 3m west (4)) - -0.3106771623D-01 0.2593010950D+00 -0.4175064864D-01 EE0041 (3m douth 3m east (5)) - -0.3807991845D-01 0.2594780195D+00 -0.4172744156D-01 Code Inputs: SC az (deg) - 0:45:315 SC z (deg) - 45 Sun az (deg) - 90:180:270 Sun z (deg) - 45 distance (km) - .8 SC az (deg) - 0:90:270 SC z (deg) - 60 Sun az (deg) - 90:180:270 Sun z (deg) - 30 distance (km) - .8 SC az (deg) - 0:180:180 SC z (deg) - 30 Sun az (deg) - 90:180:270 Sun z (deg) - 60 distance (km) - .8 SC az (deg) - 0:180:180 SC z (deg) - 20 Sun az (deg) - 90:180:270 Sun z (deg) - 70 distance (km) - .8
Sun Polar (EE0011): Azimuth vs. Zenith
SC Polar (EE0011): Azimuth vs. Zenith
Tagsite 1 Tiling/iterating Procedure
- A 9 cm bigmap of tag site 1 was initialy loaded into the working directory for beginning topography. This was done to replicate a beginning model, similar to what we would achieve in flight from preliminary survey.
- Next a 5 cm ground sampled bigmap was tiled over the tag site and an evaluation bigmap was made. Stats of the newly created model were measured.
- Iterations at the current ground sampled model were then performed until the RMS from CompareOBJ started to increase. Stats at each iteration were then measured.
- Steps 2 and three were then repeated for bigmaps ground sampled to 2.5 cm and 1.25 cm.
Script parameters from a readme.txt file
Scripts for OBoptimal trial 2 test Bigmap .in files: TILE03 - for maples of 5 cm resolution -> res = 0.038m; Q = 200 TILE04 - for maples of 2.5 cm resolution -> res = 0.02m; Q = 375 TILE05 - for maples of 1.25 cm resolution -> res = 0.01m; Q = 750 EVALmp - for evaluation bigmap -> res = 0.5cm, Q = 1000 .seed files: XXX005.seed - 5 cm tile XX0025.seed - 2.5 cm tile XX0125.seed - 1.25 cm tile
An Example of a seed and bigmap script:
Bigmap script (TILE03.in):
l -8.027 262.768 0.00003800 200 1.23400 1000 TILE03 1 .005 .025 1 0 0 1 1 1 1 1 1 0 0
Seed Script (XXX005.seed):
0.00005,49 g i a y .5 n x .025 0 a b n TAG109 n 2 u 1 v 2 e a 0,50,.5,.5,0.25,3 1 0 3 n 0 y 1 0 1 n 0 y 0 c .5 0 0 40 1 0 3 n 0 y 1 0 1 n 0 y e o .5 0 a u 1 0 0 40 2 8 2 .01 1 4 1, 2.5, 3 6 y y 0 .025 30 0 u 1 v 1 1 0 1 n 0 y u 1 0 0 40 1 0 2 n 0 y 1 0 1 n 0 y e o .5 u 1 0 0 40 2 8 2 .01 1 4 1, 2.5, 3 6 y y 0 .025 30 0 u 1 v 1 1 0 1 n 0 y u 1 o RECENT y 1 o RECENT n 3 y 1, 3, 5 w i RECENT n n v 1 u 1 #v #4 o RECENT n 1 q END
echo 1 .001 .001 | residuals & /usr/local/localBin/bigMapRef < RTAG1C-center.in /usr/local/localBin/bigMapRef < RTAGSC-single.in /usr/local/localBin/bigMapRef < maps/MMAPL1.in /usr/local/localBin/bigMapRef < maps/MMAPL2.in /usr/local/localBin/bigMapRef < maps/MMAPL3.in /usr/local/localBin/bigMapRef < maps/MMAPL4.in /usr/local/localBin/bigMapRef < maps/MMAPL5.in echo MMAPL1 | /usr/local/localBin/flatMapVec echo MMAPL2 | /usr/local/localBin/flatMapVec echo MMAPL3 | /usr/local/localBin/flatMapVec echo MMAPL4 | /usr/local/localBin/flatMapVec echo MMAPL5 | /usr/local/localBin/flatMapVec # Save files cp MMAPL*.TXT MAPFILES/MTAG[1S]C.MAP MAPFILES/MMAPL*.MAP step## cd MAPFILES # Build and Evaluate main maplets ~/eval/bin/Maplet2FITS MTAG1C.MAP f; ~/eval/bin/FITS2OBJ f mtag-1c.obj ~/eval/bin/Maplet2FITS MTAGSC.MAP f; ~/eval/bin/FITS2OBJ f mtag-sc.obj ~/eval/bin/CompareOBJ mtag-1c.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ mtag-sc.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ --compute-optimal-translation mtag-1c.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ --compute-optimal-translation mtag-sc.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ --compute-optimal-translation-and-rotation mtag-sc.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ --compute-optimal-translation-and-rotation mtag-1c.obj ~/eval/bin/TTAG1L-25m2.5cm.obj # Convert Lockheed features obj ~/eval/bin/Maplet2FITS MMAPL1.MAP f ; ~/eval/bin/FITS2OBJ --local f lockheed1.obj ~/eval/bin/Maplet2FITS MMAPL2.MAP f ; ~/eval/bin/FITS2OBJ --local f lockheed2.obj ~/eval/bin/Maplet2FITS MMAPL3.MAP f ; ~/eval/bin/FITS2OBJ --local f lockheed3.obj ~/eval/bin/Maplet2FITS MMAPL4.MAP f ; ~/eval/bin/FITS2OBJ --local f lockheed4.obj ~/eval/bin/Maplet2FITS MMAPL5.MAP f ; ~/eval/bin/FITS2OBJ --local f lockheed5.obj # Evaluate Lockheed features ~/eval/bin/CompareOBJ lockheed1.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ lockheed2.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ lockheed3.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ lockheed4.obj ~/eval/bin/TTAG1L-25m2.5cm.obj ~/eval/bin/CompareOBJ lockheed5.obj ~/eval/bin/TTAG1L-25m2.5cm.obj