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| ## page was renamed from regress | |
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| ||Category B ||Version 3.0.1 || | |
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| Compiled by KD | |
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| This program generates a set of ascii interface files, one for each image, containing optical navigation observables, partials, and relevant ancillary information for use in the FDS navigation software suite(s). Both MIRAGE (KinetX) and GEODYN (GSFC) are currently ingesting these files. A file is created for each image in the restricted picture list, [[PICTLISTR.TXT]], and only landmarks from a restricted landmark list, [[LMRKLISTR.TXT]], are used. If the [[PICTLISTR.TXT]] file does not exist, the software defaults to [[PICTLIST.TXT]]. | |
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| The program regres takes position and SPICE file information from SPC and puts it in files for export to other users. Specifically, that other user has mainly been KinetX so they can use SPC info in their navigation software. | Each interface file contains the following information: |
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| For regrets to run a directory called "REGRES_FILES" needs to be made in the working directory. When regres is then run, export files for each picture are made (<PICTURE NAME>.TXT) and placed in the REGRES_FILES directory. | * SPICE IDs, image epoch, camera parameters * TITV matrix (inertial to camera frame transformation) * TPMI matrix (body-fixed to inertial transformation) * SPC solution for: * Spacecraft-to-object vector * Camera pointing (RA, Dec, Twist) * Spacecraft position sigma * Camera pointing and twist sigmas * Nominal (a priori): * Spacecraft-to-object vector * Camera pointing (RA, Dec, Twist) * Solar unit vector * For each landmark identified in the image from SPC process: * Landmark name * Body-fixed control point vector * Body-fixed control point sigma * Observed landmark center in (pixel, line) image coordinates * Predicted landmark center in (pixel, line) image coordinates based on nominal S/C position and SPC solution for camera pointing * Partial derivatives for (pixel, line) w.r.t. spacecraft-body position vector (SCOBJ) * Partial derivatives for (pixel, line) w.r.t. camera pointing (RA, Dec, Twist) * List of all SPICE kernels used |
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| All pictures in [[PICLIST.TXT]] will be used to make the exported regres files along with landmarks in [[LMKLIST.TXT]]. However, if a [[PICLISTR.TXT]] and [[LMKRLIST.TXT]] have been made, regres will only use the pictures and landmarks from those files when making the exported regres files. | '''regres''' requires the directory "REGRES_FILES" in the working directory. '''regres''' exports files for each picture (<PICTURE NAME>.TXT) to the "REGRES_FILES" directory. |
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| == Exported File Information == | '''regres''' uses all pictures in [[PICTLIST.TXT]] and landmarks in [[LMRKLISTR.TXT]] to make the exported regres files. However, if you have created a [[PICTLISTR.TXT]], '''regres''' will only use the pictures from that file. '''regres''' uses data from NOMINAL === Input Files === * [[PICTLIST.TXT]] or [[PICTLISTR.TXT]] * [[LMRKLISTR.TXT]] * [[NOMINALS]]/ * [[SUMFILES]]/ * [[INIT_LITHOS.TXT]] * [[make_sumfiles.txt]] === Output Files === * <path to working directory>/REGRES_FILES/<picture name>.TXT == Using regres == If all required inputs are available in the working directory, simply execute '''regres''' to produce the output files. Here is a sample output file from '''regres''': |
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| REGRES FILE. CREATED [time of creation] | REGRES FILE. CREATED Tue Oct 3 14:47:34 2017 |
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| CAMERA ID SPACECRAFT ID TARGET ID ABCORR |
N599562509F0 IMAGE ID 2018-12-31T21:07:21.000_NCAM_L0b_V005.fits ORIGINAL NAME ORX_NAVCAM1 CAMERA ID -64 SPACECRAFT ID 2101955 TARGET ID LT+S ABCORR |
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| UTC [Image time] ET SEC PAST J2000 |
2018 DEC 31 21:07:21.000 UTC 0.5995625102D+09 ET SEC PAST J2000 |
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| NPX, NLN [Image size ib pixels and lines] MMFL, CTR [Camera focal length and image center] K-MATRIX |
2592 1944 1000 65535 NPX, NLN, THRSH 0.7680000000D+01 0.1296500000D+04 0.9725000000D+03 MMFL, CTR 454.5455 0.0000 0.0000 0.0000 -454.5455 0.0000 K-MATRIX |
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| TITV [Inertial to camera frame rotation] TPMI [Body-fixed to inertial rotation] |
Camera temperature (deg C) = N/A CAMERA TEMP Distortion type = OPENCV DISTORT BEGIN Parameters: DISTORT CONTINUE P( 0) = 0.0000000D+00 DISTORT CONTINUE P( 1) = -0.5357300D+00 DISTORT CONTINUE P( 2) = 0.3611700D+00 DISTORT CONTINUE P( 3) = -0.1534700D-06 DISTORT CONTINUE P( 4) = 0.0000000D+00 DISTORT CONTINUE P( 5) = 0.0000000D+00 DISTORT CONTINUE P( 6) = 0.0000000D+00 DISTORT CONTINUE P( 7) = 0.0000000D+00 DISTORT CONTINUE P( 8) = 0.0000000D+00 DISTORT END 0.5815432282D+00 -0.6754376338D+00 -0.4534219630D+00 ROW 1 TITV MATRIX -0.8014742143D+00 -0.5712327735D+00 -0.1770090457D+00 ROW 2 TITV MATRIX -0.1394509146D+00 0.4663444234D+00 -0.8735423980D+00 ROW 3 TITV MATRIX 0.8583303375D+00 -0.5130525373D+00 0.6791585157D-02 ROW 1 TPMI MATRIX -0.4619122250D+00 -0.7668748603D+00 0.4455783264D+00 ROW 2 TPMI MATRIX -0.2233967950D+00 -0.3855905115D+00 -0.8952171968D+00 ROW 3 TPMI MATRIX |
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| SC - OBJ VECTOR CAMERA RA, DC, TW S/C POSITION SIG PNT SIGMA (DEG) TWIST SIGMA (DEG) |
-0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR 0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW 0.1732050808D-01 S/C POSITION SIG 0.8102846845D-08 PNT SIGMA (DEG) 0.5729577951D-08 TWIST SIGMA (DEG) |
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| NOMINAL SOLUTION: | NOMINAL STATE: |
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| SC - OBJ VECTOR CAMERA RA, DC, TW SOLAR UNIT VECTOR |
-0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR 0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW -0.5629404130D+00 -0.7205839705D+00 -0.4047923329D+00 SOLAR UNIT VECTOR |
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| LANDMARKS: [One for each landmark] | LANDMARKS: |
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| BODY-FIXED VLM B-F VLM SIGMA [Formal uncertainty in LM position] PX, LN OBSERVED [Landmark location in image] PX, LN PREDICTED [Uses nominal scobj, solved pointing] dpx/dW1, dln/dW1 dpx/dW2, dln/dW2 [Partials wrt scobj] dpx/dW3, dln/dW3 dpx/dRA, dln/dRA dpx/dDC, dln/dDC [Partials wrt pointing Euler angles] dpx/dTW, dln/dTW C C END LANDMARKS C C KERNEL LIST C C [list of all spice kernels used] C C END FILE |
END LANDMARKS KERNEL LIST att_nte2_m3a-m4a_truth.bc ORX_SCLKSCET.00000.example.tsc naif0012.tls orx_ocams_v05.ti orx_181215_190112_190108_od012_v1.bsp orx_v06rwg.tf de424.bsp bennu_nte2_truth.tpc pck00010.tpc END FILE |
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| ---------- ''(Compiled by KD)'' [[regres-3.0A2]] ---- CategoryThreeOhOne |
regres
Category B |
Version 3.0.1 |
Description
This program generates a set of ascii interface files, one for each image, containing optical navigation observables, partials, and relevant ancillary information for use in the FDS navigation software suite(s). Both MIRAGE (KinetX) and GEODYN (GSFC) are currently ingesting these files. A file is created for each image in the restricted picture list, PICTLISTR.TXT, and only landmarks from a restricted landmark list, LMRKLISTR.TXT, are used. If the PICTLISTR.TXT file does not exist, the software defaults to PICTLIST.TXT.
Each interface file contains the following information:
- SPICE IDs, image epoch, camera parameters
- TITV matrix (inertial to camera frame transformation)
- TPMI matrix (body-fixed to inertial transformation)
- SPC solution for:
- Spacecraft-to-object vector
- Camera pointing (RA, Dec, Twist)
- Spacecraft position sigma
- Camera pointing and twist sigmas
- Nominal (a priori):
- Spacecraft-to-object vector
- Camera pointing (RA, Dec, Twist)
- Solar unit vector
- For each landmark identified in the image from SPC process:
- Landmark name
- Body-fixed control point vector
- Body-fixed control point sigma
- Observed landmark center in (pixel, line) image coordinates
- Predicted landmark center in (pixel, line) image coordinates based on nominal S/C position and SPC solution for camera pointing
- Partial derivatives for (pixel, line) w.r.t. spacecraft-body position vector (SCOBJ)
- Partial derivatives for (pixel, line) w.r.t. camera pointing (RA, Dec, Twist)
- List of all SPICE kernels used
regres requires the directory "REGRES_FILES" in the working directory. regres exports files for each picture (<PICTURE NAME>.TXT) to the "REGRES_FILES" directory.
regres uses all pictures in PICTLIST.TXT and landmarks in LMRKLISTR.TXT to make the exported regres files. However, if you have created a PICTLISTR.TXT, regres will only use the pictures from that file.
regres uses data from NOMINAL
Input Files
Output Files
<path to working directory>/REGRES_FILES/<picture name>.TXT
Using regres
If all required inputs are available in the working directory, simply execute regres to produce the output files.
Here is a sample output file from regres:
REGRES FILE. CREATED Tue Oct 3 14:47:34 2017
PARTIALS UNITS: PX/KM, PX/DEG
N599562509F0 IMAGE ID
2018-12-31T21:07:21.000_NCAM_L0b_V005.fits ORIGINAL NAME
ORX_NAVCAM1 CAMERA ID
-64 SPACECRAFT ID
2101955 TARGET ID
LT+S ABCORR
2018 DEC 31 21:07:21.000 UTC
0.5995625102D+09 ET SEC PAST J2000
2592 1944 1000 65535 NPX, NLN, THRSH
0.7680000000D+01 0.1296500000D+04 0.9725000000D+03 MMFL, CTR
454.5455 0.0000 0.0000 0.0000 -454.5455 0.0000 K-MATRIX
Camera temperature (deg C) = N/A CAMERA TEMP
Distortion type = OPENCV DISTORT BEGIN
Parameters: DISTORT CONTINUE
P( 0) = 0.0000000D+00 DISTORT CONTINUE
P( 1) = -0.5357300D+00 DISTORT CONTINUE
P( 2) = 0.3611700D+00 DISTORT CONTINUE
P( 3) = -0.1534700D-06 DISTORT CONTINUE
P( 4) = 0.0000000D+00 DISTORT CONTINUE
P( 5) = 0.0000000D+00 DISTORT CONTINUE
P( 6) = 0.0000000D+00 DISTORT CONTINUE
P( 7) = 0.0000000D+00 DISTORT CONTINUE
P( 8) = 0.0000000D+00 DISTORT END
0.5815432282D+00 -0.6754376338D+00 -0.4534219630D+00 ROW 1 TITV MATRIX
-0.8014742143D+00 -0.5712327735D+00 -0.1770090457D+00 ROW 2 TITV MATRIX
-0.1394509146D+00 0.4663444234D+00 -0.8735423980D+00 ROW 3 TITV MATRIX
0.8583303375D+00 -0.5130525373D+00 0.6791585157D-02 ROW 1 TPMI MATRIX
-0.4619122250D+00 -0.7668748603D+00 0.4455783264D+00 ROW 2 TPMI MATRIX
-0.2233967950D+00 -0.3855905115D+00 -0.8952171968D+00 ROW 3 TPMI MATRIX
LITHOS SOLUTION:
-0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR
0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW
0.1732050808D-01 S/C POSITION SIG
0.8102846845D-08 PNT SIGMA (DEG)
0.5729577951D-08 TWIST SIGMA (DEG)
NOMINAL STATE:
-0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR
0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW
-0.5629404130D+00 -0.7205839705D+00 -0.4047923329D+00 SOLAR UNIT VECTOR
LANDMARKS:
END LANDMARKS
KERNEL LIST
att_nte2_m3a-m4a_truth.bc
ORX_SCLKSCET.00000.example.tsc
naif0012.tls
orx_ocams_v05.ti
orx_181215_190112_190108_od012_v1.bsp
orx_v06rwg.tf
de424.bsp
bennu_nte2_truth.tpc
pck00010.tpc
END FILE(Compiled by KD)