autoregisterP

Description

This program registers existing maplets with imaging data from a single image using parallel processing (sequential image processing on a number of core processors).

Like autoregister, autoregisterP

• adds landmarks to a single image, adding the image name to all relevant LMKFILEs
• provides basic tools for aligning the landmarks, cross-correlating new images to existing maplets, eliminating landmarks and setting image flags
• updates the S/C position and pointing in the SUMFILE

autoregisterP provides a sub-set of the procedures in autoregister and is similar to register, but can handle 3 degrees of freedom, orientation, and twist.

autoregisterP is almost always run in a parallel batch mode, following a script set up by make_scriptAP. It uses lockout files to prevent two processes from reading or writing to a landmark file at the same time. Some of the menu options below are never used in the batch mode, although they are fully functional if you want to run autoregisterP in interactive mode.

autoregisterP aligns existing maplets with imaging data from a single image and uses subroutine IPL2SCOBJPTG to update the camera pointing and spacecraft-object vector in the corresponding SUMFILE.

• autoregisterP uses the file LMRKLISTX.TXT to prescreen the maplets. If you have added or deleted maplets recently, you should run make_lmrklistX.

Required Files

• IMAGEFILES/ - a directory containing the image .DAT files

• SUMFILES/ - a directory containing the image .SUM files (updated solution image, S/C and camera information, lmrks and limbs)

• MAPFILES/ - a directory containing the full suite of maplets

• LMKFILES/ - a directory containing the full suite of landmarks

• LMRKLIST.TXT - a list of the landmarks contained in the solution

• LMRKLISTX.TXT - landmark information (size, scale, position vector, number of images containing the lmrk)

Optional Files

• make_scriptA.seed - for batch processing using make_scriptAP

Output Files

• SUMFILES/ - Landmarks are added to the image's SUMFILE. Spacecraft/camera position/attitude are updated once you accept the alignment shifts.

• LMKFILES/ - LMKFILES are updated to contain the image you are working with.

• LMRK_DISPLAY1.pgm - - 100x100 pixel display of images (odd rows) and maplets (even rows). Unlike lithos, each pair is a separate landmark consisting of a completely different location on the surface and image.

• TEMPFILE.pgm - A pgm image of the image that you are working with.

User Warnings

• When maplets are added in autoregisterP, they immediately populate the SUMFILE. The remaining processing must be carried out to eliminate unwanted ones. This is different from lithos] where added images do not stay added until the landmark file is updated.

  autoregisterP uses the file LMRKLISTX.TXT to prescreen the maplets. If you have added or deleted maplets recently, you should run make_lmrklistX.

  Some Main Menu options are only available in interactive mode and are therefore not used when running autoregisterP.

Using autoregisterP

Initial Inputs

The following shows the initial inputs necessary to get to the Main Menu:

 input 12-character picture name. q to quit.

P3T11S2H0409
    1     EE0001 *
    2     EE0002 *
    3     EE0003 *
    4     EE0004 *
    5     EE0005 *
    6     EE0006 *

 gc TEMPFILE.pgm
 kb =            1      kk =            1

 Add landmarks? (y/n)
y

 enter fractional width (0=center)
.5
 Reject invisibles? (y/n)
n

    7   EE0007    0.00
    8   EE0008    0.00
    9   EE0009    0.00
   10   EE0010    0.00
   11   EE0011    0.00
   12   EE0012    0.00
   13   EE0013    0.00
   14   EE0014    0.00
   15   EE0015    0.00
   16   EE0016    0.00

1. Enter a 2-character USR name to distinguish between processes.

   Does this need an example? It doesn't show up as an input in sample above.

2. Enter the 12-character picture name.

The program produces a list of existing landmarks, if any, creates the TEMPFILE.pgm and displays the kb, and kk values.

3. If you wish to add more landmarks, respond y. An initial filter for added images is set in INIT_LITHOS.TXT:

   • RESLM is the maximum ratio of the image resolution to the maplet scale;

   • SIZLM is the maximum ratio of the linear maplet size to the image size;

   • NUMLM sets the minimum number of maplets found in the image before the other two filters come into play.

4. Input the value for Fractional width. Normally this is 0.5. This value allows images that overlap any part of a window that is half the size of the maplet window.

5. If you enter 0.0, the image must contain the landmark center.

6. Typically, enter 'n' for Reject invisibles? unless the object is bizarre, such as Eros.

7. If you respond y, the program uses the current shape to determine whether there is topography blocking the camera's view of the landmark center.

   When maplets are added in autoregisterP, they immediately populate the SUMFILE. The remaining processing must be carried out to eliminate unwanted ones. This is different from lithos] where added images do not stay added until the landmark file is updated.

After you respond to these initial inputs, the Main Menu will open.

autoregisterP Main Menu

 ...     MAIN MENU     ...

 0. Exit

 REMOVE MAPLETS
 a. Auto remove
 n. Auto remove new only
 m. Manual remove                   <- only in interactive mode
 p. Check peripheral visibility
 o. Remove low-correlation lmks

 IMAGE/MAPLET ALIGNMENT
 1. Auto align
 2. Manual align                    <- only in interactive mode

 LANDMARK ADJUSTMENTS
 3. Repredict px/ln
 4. Change flags
 l. Change repredict limit          <- only in interactive mode

autoregisterP is otherwise identical to autoregister. Refer to autoregister for detailed information and samples.

• Some Main Menu options are only available in interactive mode and are therefore not used when running autoregisterP.

(Compiled by DL)

Based on SPOC v3.02A PDF/LITHOSPHERE/AUTOREGISTERP.f File Reference

CategoryPrograms