register

Purpose: Utility program for registering (adding and aligning) new images to existing maplets.

Introduction

(The following section is taken from SPOC v3.02A PDF/LITHOSPHERE/REGISTER.f File Reference.)

Register allows the user to align a new image This allows you to compare two items: a new images and some reference (another image, the shape model or a bigmap)

Requires

• MAPFILES/ - required for comparison with a reference map

• SHAPEFILES/ - required for comparison with a shape model

• IMAGES/ - the image .DAT files

• NOMINALS/ - image .NOM files (starting solution image, S/C and camera information)

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

Optional

Input stdin

• Image name

  • Note: The image name is the name that is stored in IMAGES. Some versions of process_img will make some changes to the filename, so it may not be the "original name.

• Which reference you want
  1. shape - to use the current shape model
  2. image - select an already registered image
  3. map - use a maplet/bigmap
     • Type the reference name (6 characters)
     • Give it the scale that you want to start with. You can change the resolution to "see" more.
• example:

 ~/bin/register 

 input 12-character picture name. q to quit.
N110751047R

REFERENCE MAP = ZS0426

 Input reference
 s. SHAPE
 i. IMAGE
 m. MAP
m
 Input REFNM
TSI003
 enter scale (km/px)
.6118483

 0. Quit
 1. Change scale
 2. Global shift
 3. Shift unknown (LEFT/RED) image
 4. Rotate unknown (LEFT/RED) image
 5. Change reference
 6. Change RANGE of (LEFT/RED) image
 7. Revert to nominal
 8. Change substrate (s)
 9. Change pole
 a. Turn off bkg
 b. Turn off image for Vlm
 c. Change correlation limit =   0.25
 d. Fix scobj
 e. Fix pointing
 t. Tuck picture
 Current picture   = N110751047R 
 Current reference = TSI003      

Menu options

• 1. Change scale - Let's you zoom in and out. Use km/pix
• 2. Global shift - If the program starts with part of the image/reference on the edge, you can shift both of them. This only is changing your point of view, not the image's location.

• 3. Shift unknown. The new image is on the left or in red. Changes you make (delta x, delta y) move that image by that many pixels. Note, this isn't moving the "window" like lithos, but moving the image like you'd expect.

  • It first asks you to autocorrelate. If if finds a good match, it will make the change and go back to the menu. Otherwise, you have to give it a delta x, delta. Y
• 0. Quit. This gives you the chance to save or discard your changes, and then start the next image.

  • Accept shift? (y/n) - this will update the SUMFILE.

  • Update/Create rotation file? (y/n) - I assume that using autocorrelate, if will also detect a rotation. I am unsure if you should accept them.
  • Update nominal file? (y/n) - This would change the "original" values for the image. Typically, you will answer, no

Output

• TEMPFILE.pgm - A side by side view of the new image (left) and the reference (right).
• TEMPFILE.ppm - A red/cyan composite of the two items (new is red, cyan is reference).

• SUMFILES - If you accept the changes, it will update the position of the image.

Notes from PowerPoint

Alternative Description

• Cross-correlates an image with existing data to update the knowledge of the spacecraft position/attitude
• Can register an image to:
  • Shape model
  • Bigmap
  • Another image
• Limited to 2D
• REGISTER aligns new image with current shape model. Initial estimate of s/c state.

• REGISTER aligns new image and bigmaps

Inputs

• SPC IMG

• SUMFILES

• NOMINALS

• SPICE
• BIGMAPS (ZMAPS)

Outputs

• Updated SUMFILES

Example

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