WIKI for Bob Gaskell's StereoPC

General Info

Stereophotoclinometry is a suite of tools developed by Dr. Robert Gaskell that takes spacecraft images and allows the construction of pixel-for-pixel level shape models (Digital Terrain Models, DEM). This software is the intellectual property of the Planetary Science Institute (PSI). SPC is available for scientific research under a non-distribution licensing agreement to US citizens. Please contact Eric Palmer (epalmer@psi.edu) for information of access, training and the fee schedule.

Development

This is a wiki of some of the key programs and support files for Stereophotoclinometry. The wiki contains information derived about SPC during the Dawn mission, the Mercator Project and the OSIRIS-REx mission. There are different versions of the software, so there may be things that are different or not supported in your version, depending on what your version is. If you have suggestions or wish to help improve this document, please contact Eric Palmer to give you access.


Short Cuts

Documentation


Versions


Support Tools


Blocks

These are the "standard" blocks (or procedures) that can be used to do the most typical SPC tasks.


Programs

Lithosphere

Program

Category

Version

Description

autoregister

Cat B

v3.0

Adds groups of landmarks to an image.

autoregisterP

Cat B

v3.0

Adds groups of landmarks to an image using parallel processing.

blemishes

Cat B

v3.0

Masks regions of an image which contain blemishes due to, for example, downlink errors, bad pixels, or a cosmic ray hit.

dynamics

Cat B

v3.0

Appends inertial position deltas between consecutive images to NOMINALS used to constrain the spacecraft position.

geometry

Cat B

v3.0

Solves a surface using spacecraft position, camera pointing, and landmark location.

lithos

Cat B

v3.0

Aligns maplets to the current shape model and provides slight changes to the shape (stored in MAPFILES).

lithosP

Cat B

v3.0

A version of lithos intended to be used in batch processing (i.e. run in parallel).

make_sumfiles

Cat B

v3.0

Builds the NOMINALS and SUMFILES.

new_pole

v3.0

Updates landmark center locations and map frames, and the S/C position/pointing and Sun vector, for new (user input) RA, DEC, PM, and OMEGA.

omega

v3.0

Calculates the angular velocity of a body's rotation using the location of landmarks in consecutive images.

pole

Cat B

v3.0

Updates landmark center locations and map frames, and the S/C position/pointing and Sun vector, for new RA, DEC, PM, and OMEGA (found in input file POLE.TXT).

process_fits

v3.0

Converts FITS image files to .DAT files and generates the make_sumfiles.in file required by make_sumfiles.

register

Cat B

v3.0

Aligns a new image with a known object.

regres

Cat B

v3.0

Generates a set of ascii interface files containing optical navigation observables, partials, and relevant ancillary information for use in the FDS navigation software suite(s).

residuals

Cat B

v3.0

Calculates a number of statistics useful for assessing the performance of the DTM.

shift

Cat B

v3.0

Shifts the center-of-figure of a shape model.

limber

N/A

v3.0

Builds an initial shape model from a rotation movie.

Coverage

Program

Category

Version

Description

coverage

Cat D

v3.0

Shows the global coverage that has been processed by resolution.

map_coverage

Cat B

v3.0

Shows the coverage that has been processed by resolution.

coverage_p

N/A

v3.0

Shows the coverage of images over the whole surface.

Imager

Program

Category

Version

Description

display

Cat D

v3.0

Generates an image that shows the location of landmarks on it.

image_map_mono

image_map_rgb

Cat D

v3.0

Renders a 3D image of a bigmap using red and blue.

image_map_stereo

Cat D

v3.0

Creates an image from a bigmap that shows the surface, using low-tech stereo.

Imager_MG

Cat D

v3.0

How to make images from maplets.

Imager_Grid

Cat D

v3.0

How to make images from shapemodel.

mosaic

Creates a mosaic of images registered to the shape model.

panaroma

Makes a 360 degree panaroma image from a big map.

showmap

Cat D

v3.0

Generates an image (.pgm) for a specific bigmap.

surface_imager

Makes an image using a surface point of view from a big map.

view_shape

Cat D

v3.0

Generates a point-of-view image of the shape model.

view_map_rgb

None

Shows a bigmap rendered with albedo, sun angle.

Shaper

Program

Category

Version

Description

bigmap

Cat B

v3.0

Processes maplets to form a bigmap.

bigmapL

Cat B

v3.0

A 'bigmap lite', used in the production of Zmaps.

densify

Cat B

v3.0

Increases the resolution of a shape model by interpolating heights between landmarks.

densifyA

Cat B

v3.0

Increases the resolution of a shape model using albedo between landmarks.

shape_info

Cat B

v3.0

Generates DTM information.

spheremapsB

Cat B

v3.0

Transforms maplet data from DTM to common formats and map projections for export.

Script Makers

Program

Category

Version

Description

find_nofit

Cat B

v3.0

Searches batch processing output files to identify landmarks or images which may need further work.

find_nofitP

Cat B

v3.0

Searches make_scriptP output files to identify landmarks or images which may need further work.

find_nofitT

Cat B

v3.0

Searches make_scriptT output files to identify landmarks or images which may need further work.

make_scriptA

Cat B

v3.0

Generates the script that batch auto registers images using autoregister.

make_scriptAP

Cat B

v3.0

Generates the script for batch autoregistering images using parallel processing using autoregisterP.

make_scriptF

Cat B

v3.0

Generic script maker for user-generated batch processing jobs using lithos.

make_scriptP

Cat B

v3.0

Generates the script for iterating landmarks using lithosP.

make_scriptR

Cat B

v3.0

Generates the script that batch registers images using register.

make_scriptT

Cat B

v3.0

Generates the script that tiles (makes new maplets) using lithos.

MAKE_TILES

Cat B

v3.0

Generates the in file required to make Zmaps using bigmapL.

MAKE_TILESP

Cat B

v3.0

Generates the in files required to make Zmaps using bigmapL in parallel.

Recovery

Program

Category

Version

Description

refresh_sumfiles

Cat D

v3.0

Updates the sumfiles to match the maplets.

Utilities

Program

Category

Version

Description

duplicates

Cat B

v3.0

Generates the make_script.in file to accompany script makers such as make_scriptP, comprising an ordered list of unique landmark names.

Export_Import

Cat B

v3.0

Builds scripts to package up the new maplets/landmarks into a tar ball and to unpack maplets/landmarks and integrate into a master directory.

make_list

Cat B

v3.0

Looks for image names matches between LIMBLIST1.TXT and LMRKLIST.TXT.

make_lmrklistX

Cat B

v3.0

Generates LMRKLISTX.

make_pictlistX

v3.0

Builds the file PICTLISTX.TXT which makes things run faster.

make_tilefile

Cat B

v3.0

Generates the pixel/line maplet-center locations required to complete the tiling of a bigmap.

rem_done

Cat B

v3.0

Used to stop a parallel lithosP process and find which landmarks have yet to be worked on.

update_infiles

Generates a list of landmarks and headers for showing coverage.

Gravity

Notes_on_Gravity

Program

Category

Version

Description

Mgrav

Makes MGRAV.TXT and generates gravity images based on a map or bigmap.

Sgrav

Makes a file called SGRAV.TXT that is like SHAPE.TXT but with extra columns for surface acceleration, potential and laplacian (just as a check). Based on a shape model. This is for a non-rotating body with GM=1.

Sacc

Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface acceleration.

Selv

Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface elevation (same as geoid).

Slap

Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface laplacian.

Spot

Provided the correct GM and Omega, it will use SGRAV.TXT file to create the surface potential.

Sslpa

?


Directories

Directory

Description

BIGFILES

Directory for BIGMAP LMK files.

DATA

A place for the SPICE kernels.

IMAGEFILES

Directory that holds the image files, .DAT.

LMKFILES

Stores the actual landmarks, .LMK.

MAPFILES

Stores the maplets, .MAP.

NEW_IMAGES

Directory that holds the new, and unprocessed image files (in pgm format).

NEW_FILES

Directory that includes new maplets and landmarks files when using Export_Import

NOMINALS

Directory that holds the nominal files, .NOM.

SHAPEFILES

Holds the different types of shapefiles.

SUMFILES

Directory that holds the sumfiles, .SUM.

TESTFILES

Directory to store display files generated during batch processing jobs.

TESTFILES1

Directory to store display files generated during batch processing jobs.

UTILITIES

Programs that are specific for this project.


Key Input Files

File

Category

Version

Description

BIGLIST.TXT

List of all bigmaps contained the the BIGFILES directory created by bigmap.

INIT_LITHOS.TXT

Cat B

v3.0

Initialization file for lithos.

LMRKLIST.TXT

The full list of landmarks.

make_sumfiles.in

Image information generated by process_fits and required by make_sumfiles to generate NOMINALS and SUMFILES.

make_sumfiles.txt

User-generated SPICE configuration data required by make_sumfiles to generate NOMINALS and SUMFILES.

PICTLIST.TXT

List of the images that are in the model, required by lithos.

Support Files

File

Description

make_script.in

List of landmarks or pictures to process used by various script-makers for batch jobs.

make_scriptA.seed

Seed file for make_scriptA, the script-maker for batch autoregistering new images.

make_scriptF.seed

Seed file for make_scriptF, the script-maker for batch processing using lithos.

make_scriptP.seed

Seed file for make_scriptP, the script-maker for iterating landmarks using lithosP.

make_scriptR.seed

Seed file for make_scriptR, the script-maker for batch registering new images.

make_scriptT.in

Used by make_scriptT to build run_script.b.

MAPTRANS

Diagnostic tools to visualize maplet translations.

Other Input Files

File

Description

BIGMAP.IN

Optional file containing a list of landmarks for use with bigmap.

DYNAMICS.TXT

Contains different uncertainty values and coordinates frames for different mission phases.

GEOID.TXT

Gives the geoid in X, Y, Z position. A 3 column file.

IFRAME.TXT

Contains J2000 nominal spacecraft to object center vector and camera orientation, created by make_sumfiles.

LIMBLIST1.TXT

List of images required by make_list.

LMRKLIST1.TXT

List of newly created landmarks.

LMRKLISTO.TXT

List of landmarks that overlap a bigmap.

LMRKLISTR.TXT

User-generated restricted list of landmarks used by lithos.

LMRKLISTX.TXT

Summary of landmark information generated by make_lmrklistX and used by lithos and lithosP to find overlaps.

MAPLIST.TXT

User-generated list of maplets required by Imager_MG, MAKE_TILES and spheremapsB.

MGRAV.TXT

Produced by Mgrav.e. It contains vector position, potential, acceleration, slope and delta elevation.

MOSAIC.TXT

A list of images that mosaic uses to build a moasic.

OVERLAPS.TXT

PICTLISTR.TXT

User-generated restricted list of pictures used by lithos or regres.

PICTLISTRX.TXT

User-generated restricted set of data contained in PICTLISTX.TXT.

PICTLISTS.TXT

User-generated alternative list of images used by residuals and geometry.

PICTLISTX.TXT

List of the images that are in the model with precomputed metadata, generated by make_pictlistX.

SEEDS

SEEDS (by mission)

SGRAV.TXT

Produced from Sgrav.e. Similar to SHAPE.TXT with extra columns for surface acceleration, potential and laplacian (just as a check).

SHAPE.TXT

The shape model of the object. Done is 3 column format of vertex using x, y, z coordinates.

SHAPEC.TXT

Gives the height above the surface. A 4 column file.

OSIRIS-REx Specific Input Files

File

Description

DN2TEMP.TXT

Parameters to DN to physical temperature for process_fits

SCOBJ_SHIFT.TXT

Apply a spacecraft center-of-mass adjustment to focal plane for make_sumfiles

TMP2FOCLEN.TXT

Parameters to adjust the focal length based upon temperature for make_sumfiles

BIAS.TXT

Adjustment to the spacecraft in inertial space for make_sumfiles

FLATFILES.TXT

A list of the flatfiles for the calibration of Level 0 data


Key Diagnostic Files

File

Description

LMRK_DISPLAY1.pgm

Shows the paring between images and the illuminated shape model

INSIDE.TXT

List of only the maps that are inside of the most recent bigmap created.

LIMINFO.TXT

Limb information output by residuals.

MAPINFO.TXT

Maplet information output by residuals.

PICINFO.TXT

Picture information output by residuals.

RESIDUALS.TXT

Maplet and image error information output by residuals.

SIGMAS.TXT

Sigma values for bigmaps, output by bigmap.

SIGMA.TXT

ICQ format shape model with sigma values.

USED_MAPS.TXT

Maps used when making a bigmap, output by bigmap.

USED_PICS.TXT

Images used when making a bigmap, output by bigmap.

Other Output Files

File

Description

check.txt

List of landmarks and overlaps output by residuals for landmarks whose linear residual is greater than the user-specified limit.

EMPTY.TXT

lithos seed file output by residuals for batch deletion of landmarks which are not contained in any pictures or limbs.

FLATLIST.TXT

List of flat maps (landmarks containing no topography) output by residuals.

LMKVECS.TXT

Landmark vectors output by residuals for every landmark contained in LMRKLIST.TXT.

MAPCHK.TXT

List of maplets whose difference between predicted and observed pixel/line locations in attached images is greater than a user-specified limit, or who have two or fewer overlaps attached to them, output by residuals.

MAPRES.TXT

Maplet resolution information for maplets contained in at least one picture or limb, output by residuals.

New_Limbs.in

lithos seed file output by residuals to attach map to limbs for every landmark contained in LMRKLIST.TXT.

NEW_LIST.TXT

List output by find_nofitT of new landmarks created during batch make_scriptT tiling.

no_update.txt

List of landmarks output by residuals whose associated pictures are not listed by increasing mission time in the .LMK file.

OVERLAPS.TXT

Temporary file generated by lithos.

PRUNE.TXT

List of landmarks for which the number of pictures in which they are contained exceeds the default limit of 500, or the user-specified limit, PRNLM, set within INIT_LITHOS.TXT. File output by residuals.

RANGES_SOLVED.TXT

Date and range information output by residuals for each picture listed in PICTLISTS.TXT or PICTLIST.TXT.

redo.txt

List of landmarks output by find_nofit or find-nofitP which after batch lithos or lithosP processing either terminated in error, did not correlate with at least one image, or correlated weakly with at least one image.

REMOVED.TXT

List of landmarks output by find_nofit which after batch register, autoregister, or autoregisterP processing were eliminated from at least one picture due to low or no correlation.

SHAPE.TXT

ICQ format shape model output by densify.

veto.txt

lithos seed file output by residuals to detach from landmarks and limbs a map with a linear residual greater than the user-specified limit.


Deprecated


Help

Contact me with questions. Email: <epalmer AT SPAMFREE psi DOT edu>

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HomePage (last edited 2019-08-07 08:00:39 by JohnWeirich)