autoregisterP

(Compiled by DL)

Purpose: Program for registering 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. It provides basic tools for aligning the landmarks, cross-correlating new images to existing maplets, eliminating landmarks and setting image flags. autoregisterP 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 writine 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 it is desired to run autoregisterP in interactive mode.

Requires

• 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

• make_scriptA.seed - for batch processing using make_scriptAP.

Output

• SUMFILES/ - Landmarks are added to the image's SUMFILE. Spacecraft/camera position/attitude are updated upon user acceptance of alignment shifts.

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

Using autoregisterP

(The following section is taken from SPOC v3.02A PDF/LITHOSPHERE/AUTOREGISTERP.f File Reference, rearranged for convenience.)

This procedure 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. The program uses the file LMRKLISTX.TXT to pre- screen the maplets, so if maplets have been added or deleted recently, the procedure make_lmrklistX should be run.

 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

The program autoregisterP first asks for a two character USR name to distinguish between processes.

It then asks for a picture name.

The program produces a list of existing landmarks if any, creates the TEMPFILE.pgm and displays the kb, and kk values. (kb and kk are de-bugging flags relating to the generation of TEMPFILE.pgm and will therefore not be discussed herein.) The program asks if more landmarks should be added.

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.

The user is asked for two more inputs:

Fractional width: Normally=0.5. Allows images that overlap any part of a window that is half the size of the maplet window. If 0.0 is chosen, the image must contain the landmark center.

Reject invisibles; If reject invisibles is chosen, the program uses the current shape to determine whether there is topography blocking the camera's view of the landmark center. Unless the object is bizarre such as Eros, choose 'n'.

INIT_LITHOS.TXT Settings: 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, while 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.

IMPORTANT: When maplets are added in AUTOREGISTERP they immediately populate the SUMFILE. The remaining processing must be carried out to eliminate unwanted ones, unlike LITHOS where added images do not stay added until the landmark file is updated.

The remaining processing steps are shown in the main menu below:

 ...     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, please refer to the relevant guide for further details.

User Warnings

When maplets are added in AUTOREGISTER they immediately populate the SUMFILE. The remaining processing must be carried out to eliminate unwanted ones, unlike LITHOS where added images do not stay added until the landmark file is updated.

Alignment changes are immediately accepted (i.e. there is no save/revert option).