Differences between revisions 23 and 25 (spanning 2 versions)
 ⇤ ← Revision 23 as of 2016-01-27 10:14:02 → Size: 3203 Editor: tcampb Comment: ← Revision 25 as of 2016-02-07 13:33:48 → ⇥ Size: 3491 Editor: BMittan Comment: Deletions are marked like this. Additions are marked like this. Line 2: Line 2: ===== (Compiled by TC) ===== Line 4: Line 3: <
>= BACK UP YOUR WORK BEFORE RUNNING GEOMETRY =<
> {X} '''''BACK UP YOUR WORK BEFORE RUNNING GEOMETRY!''''' Line 9: Line 6: Makes a surface by solving for the spacecraft position, spacecraft pointing, and landmark locations. This procedure iterates the solutions for camera pointingand landmark vectors sequentially. The inputs are a list ofoperations where 1=landmark vectors, 2=camera pointing, 0=END, the number ofiterations desired, a choice of whether to use limbs in determiningcamera pointing (y/n), and a option to do it all over again (y/n).For example, This program 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. == Required Files == * [[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]]/== Output Files == * [[SUMFILES]]/ * [[LMKFILES]]/ * [[MAPFILES]]/== User Warning == ''''' /!\ Always back up your work before using geometry.'''''== Using geometry ==The inputs for '''geometry''' 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) * an option to do it all over again (y/n)Here are two samples that show '''geometry''' inputs: Line 31: Line 55: [[LMRKLIST.TXT]] and all images in [[PICTLIST.TXT]]. If [[INIT_LITHOS.TXT]] [[LMRKLIST.TXT]] and all images in [[PICTLIST.TXT]]. If [[INIT_LITHOS.TXT]] Line 42: Line 68: then the files used are reduced - filename1 instead of [[PICTLIST.TXT]] andfilename2 instead of [[LMRKLIST.TXT]]. then the files used are reduced. "filename1" is used instead of [[PICTLIST.TXT]] and "filename2" is used instead of [[LMRKLIST.TXT]]. Line 45: Line 70: == 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]]/ Line 82: Line 97: == Output == * [[SUMFILES]]/ * [[LMKFILES]]/ * [[MAPFILES]]/ Line 92: Line 102: * 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. * '''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. Line 99: Line 110: === More in Depth Description of Geometry === === More Detailed Description of Geometry === Line 109: Line 120: ----------''(Compiled by TC)''CategoryPrograms

# geometry

• BACK UP YOUR WORK BEFORE RUNNING GEOMETRY!

## Description

This program 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.

## User Warning

• Always back up your work before using geometry.

## Using geometry

The inputs for geometry 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)
• an option to do it all over again (y/n)

Here are two samples that show geometry inputs:

``` 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" is used instead of PICTLIST.TXT and "filename2" is used instead of LMRKLIST.TXT.

## 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`

## 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.

### More Detailed 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

(Compiled by TC)

geometry (last edited 2020-02-19 11:13:45 by JohnWeirich)