Differences between revisions 1 and 23 (spanning 22 versions)

geometry

(Compiled by TC)

BACK UP YOUR WORK BEFORE RUNNING GEOMETRY

Description

Makes a surface by solving for the spacecraft position, spacecraft pointing, and landmark locations. This procedure iterates the solutions for camera pointing and landmark vectors sequentially. The inputs are a list of operations where 1=landmark vectors, 2=camera pointing, 0=END, the number of iterations desired, a choice of whether to use limbs in determining camera pointing (y/n), and a option to do it all over again (y/n). For example,

 GEOMETRY
 120<- do 1 followed by 2
 30 <- do them 30 times
 y  <- use limbs for pointing
 n  <- stop when done

 GEOMETRY
 20 <- do 2 only
 10 <- do it 10 times
 n  <- don't use limbs for pointing
 n  <- stop when done

The default is to do these operations for all landmarks in LMRKLIST.TXT and all images in PICTLIST.TXT. If INIT_LITHOS.TXT contains a record

GEOPI='filename1'

or

GEOMAP='filename2'

then the files used are reduced - filename1 instead of PICTLIST.TXT and filename2 instead of LMRKLIST.TXT.

Requires

LMKFILES/
IMAGEFILES/
PICTLIST.TXT
LMRKLIST.TXT
LMRKLIST1.TXT
MAPFILES/
INIT_LITHOS.TXT
SHAPE.TXT - This is the shape model that is stored in directory SHAPEFILES/.
SUMFILES/

Input stdin

1: landmark vectors.
2: camera pointing, scobj
0: end.

input operation list

enter number of iterations

use limbs for pointing? (y/n)

continue? (y/n)

Output

PowerPoint Notes

Geometry Estimation Terms

Spacecraft State - Position and orientation of spacecraft affects size and location of the body in an image. Errors are reflected by offsets of extracted image data from maplets for all maplets in the image.
Control Point Location - An error in the body-fixed control point location is reflected by offsets of extracted image data for all images containing the maplets.
Rotation - An error in the transformation from inertial to body fixed frames is reflected in time-dependent offsets in extracted image data for all maplets in all images.
Differential Stereo - Errors in the maplet heights relative to the center are reflected by differential shifts of features within the extracted image data in addition to displacements from the maplets themselves.

-  ⇤ ← Revision 1 as of 2013-01-18 11:54:00 → 
  Size: 164
  Editor: EricPalmer
  Comment:
+   ← Revision 23 as of 2016-01-27 10:14:02 → ⇥
  Size: 3203
  Editor: tcampb
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 1:
-= geometry.e =
+= geometry =
===== (Compiled by TC) =====
-Line 3:
+Line 4:
-Makes a surface
+<<BR>>
= BACK UP YOUR WORK BEFORE RUNNING GEOMETRY =
<<BR>>
-Line 5:
+Line 8:
-=== Input - files ===
 * B
+== Description ==
Makes a surface by solving for the spacecraft position, spacecraft pointing, and landmark locations. This procedure iterates the solutions for camera pointing
and landmark vectors sequentially.  The inputs are a list of
operations where 1=landmark vectors, 2=camera pointing, 0=END, the number of
iterations desired, a choice of whether to use limbs in determining
camera pointing (y/n), and a option to do it all over again (y/n).
For example,
-Line 8:
+Line 16:
-=== Input - stdin ===
+{{{
 GEOMETRY
 120<- do 1 followed by 2
 30 <- do them 30 times
 y  <- use limbs for pointing
 n  <- stop when done
-Line 10:
+Line 23:
- *  
{{{
+ GEOMETRY
 20 <- do 2 only
 10 <- do it 10 times
 n  <- don't use limbs for pointing
 n  <- stop when done
-Line 15:
+Line 30:
+The default is to do these operations for all landmarks in
[[LMRKLIST.TXT]] and all images in [[PICTLIST.TXT]].  If [[INIT_LITHOS.TXT]]
contains a record
-Line 16:
+Line 34:
+{{{
GEOPI='filename1'
-Line 17:
+Line 37:
-=== Output ===
 *
----
+or
-Line 21:
+Line 39:
-CategoryPrograms
+GEOMAP='filename2'
}}}

then the files used are reduced - filename1 instead of [[PICTLIST.TXT]] and
filename2 instead of [[LMRKLIST.TXT]].

== Requires ==
 * [[LMKFILES]]/
 * [[IMAGEFILES]]/
 * [[PICTLIST.TXT]]
 * [[LMRKLIST.TXT]]
 * [[LMRKLIST1.TXT]]
 * [[MAPFILES]]/
 * [[INIT_LITHOS.TXT]]    
 * [[SHAPE.TXT]] - This is the shape model that is stored in directory [[SHAPEFILES]]/.
 * [[SUMFILES]]/

== Input stdin ==

  . 1: landmark vectors. 
  . 2: camera pointing, scobj  
  . 0: end.  

 input operation list
{{{ 
   120
}}}

 enter number of iterations
{{{ 
   3
}}}

 use limbs for pointing? (y/n)
{{{ 
   y
}}}

 continue? (y/n)
{{{ 
   n
}}}

== Output ==

 * [[SUMFILES]]/
 * [[LMKFILES]]/
 * [[MAPFILES]]/

== PowerPoint Notes ==

=== Geometry Estimation Terms ===

 * Spacecraft State -  Position and orientation of spacecraft affects size and location of the body in an image. Errors are reflected by offsets of extracted image data from maplets for all maplets in the image.
 * Control Point Location -  An error in the body-fixed control point location is reflected by offsets of extracted image data for all images containing the maplets.
 * Rotation - An error in the transformation from inertial to body fixed frames is reflected in time-dependent offsets in extracted image data for all maplets in all images.
 * Differential Stereo - Errors in the maplet heights relative to the center are reflected by differential shifts of features within the extracted image data in addition to displacements from the maplets themselves.
{{attachment:geometry_imagedataoffset.jpg||width=400}}
{{attachment:geometry_errosfromincorrectdataoffset.jpg||width=450}}

=== More in Depth Description of Geometry ===

 * Global solution for camera pointing and body-fixed maplet location.
 * Iterative process:
  * Weighted least-squares solution of landmarks (control points) based on:
   * Nominal camera pointing and position
   * Relative landmark-to-landmark location
  * Weighted least-squares solution of camera position and pointing based on landmark location

{{attachment:geometry_outline.jpg||width=500}}