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Here are two samples that show '''geometry''' inputs: Here are two annotated samples that show '''geometry''' inputs:
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== PowerPoint Notes == == Additional Reference ==




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.

(./) added descriptions below copied from other entries. Check for accuracy here.

Required Files

  • LMKFILES/ - A directory containing the full suite of landmarks.

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

  • PICTLIST.TXT - A list of picture names generated by make_sumfiles.

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

  • LMRKLIST1.TXT - A file containing default values to be read in by SPC toolkit.

  • MAPFILES/ - A directory containing the full suite of maplets.


  • SHAPE.TXT - The shape model stored in directory SHAPEFILES/.

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

Output Files

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

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


Optional Files

  • (./) I added the following two lines and warnings based on Tanner's email. Please check for accuracy.

  • PICTLISTS.TXT - User-generated list of picture names.

    /!\ geometry will only use this file instead of PICTLIST.TXT if you specify it in INIT_LITHOS.TXT with GEOPIC='PICTLISTS.TXT'.

  • LMRKLISTR.TXT - User-generated restricted list of landmark names.

    /!\ geometry will only use this file instead of LMRKLIST.TXT if you specify it in INIT_LITHOS.TXT with GEOMAP='LRMKLISTR.TXT'.

User Warning

  • /!\ Always back up your work before using geometry.

Using geometry

The inputs for geometry are:

  • input operation list - Use these values:

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

    enter number of iterations - Input desired number.

    use limbs for pointing? (y/n) - Choose whether to use limbs in determining camera pointing.

    continue? (y/n) - Choose whether to do it all over again.

Here are two annotated samples that show geometry inputs:

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

 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




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

Additional Reference

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.

geometry_imagedataoffset.jpg geometry_errosfromincorrectdataoffset.jpg

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)