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Isis 3 Application Documentation

deltack

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Update camera pointing for a single image

Description
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History

Description

deltack can be used to correct isolated instances of problems with camera attitude. It adjusts camera orientation in the labels of a single Isis 3 cube (resection). Like jigsaw, it works on both framing cameras and line scanners. The user must supply a latitude/longitude for at least one sample/line coordinate in the image. Angles 1 and 2 of the camera orientation stored in the cube labels will be adjusted to align the coordinate with the entered latitude/longitude. To solve for all three camera angles, select the TWIST option. A second coordinate point and desired latitude/longitude must be entered if the TWIST option is used. deltack will adjust the camera orientation to align both points with their corresponding latitudes/longitudes with minimal residuals in sample and line. In order for deltack to work properly, the input cube must have been initialized with spiceinit using ATTACH="YES".

The camera pointing is updated using an iterative least-squares bundle adjustment. The number of iterations (MAXIT)and tolerance (SIGMA0) for convergence are input parameters to deltack. Solving for two angles only is similar to a translation of the image in sample and line. Solving for the twist as well will result in both a translation and a rotation.

deltack creates a set of two output files for analyzing the results. BUNDLEOUT.TXT provides an overall summary of the resection. It lists the user input parameters selected and tables of statistics for both the image and the point(s). RESIDUALS.CSV provides a table of the measured image coordinates and the final sample, line, and overall residuals in both millimeters and pixels.

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Related Objects and Documents

Applications

Parameter Groups

Files

Name Description
FROM Input camera cube

Bundle Adjustment Options

Name Description
SIGMA0Standard deviation of unit weight
MAXITSIterations
TWISTSolve for camera twist

Fixed Points

Name Description
SAMP1Sample coordinate, point #1
LINE1Line coordinate, point #1
LAT1Latitude, point #1
LON1Longitude, point #1
RAD1Radius, point #1
SAMP2Sample coordinate, point #2
LINE2Line coordinate, point #2
LAT2Latitude, point #2
LON2Longitude, point #2
RAD2Radius, point #2

Files: FROM

Description

The file specification for the input cube. The cube will have its camera pointing updated.

Type cube
File Mode input
Filter *.cub

Bundle Adjustment Options: SIGMA0

Description

Convergence is reached when the solution parameters change by less than Sigma0. Units: unitless.

Type double
Default 1.0e-10

Bundle Adjustment Options: MAXITS

Description

Maximum number of iterations

Type integer
Default 10

Bundle Adjustment Options: TWIST

Description

In addition to angle1 and angle2, if this parameter is set the program will solve for the camera twist. This requires input of a second fixed coordinate (SAMP2,LINE2) and (LAT2,LON2)

Type boolean
Default False
Inclusions
  • LINE2
  • SAMP2
  • LAT2
  • LON2
  • RAD2

Fixed Points: SAMP1

Description

The sample coordinate for fixed point #1 (LAT1,LON1). Units:: pixels

Type double

Fixed Points: LINE1

Description

The line coordinate for fixed point #1 (LAT1,LON1). Units:: pixels

Type double

Fixed Points: LAT1

Description

Desired planetocentric latitude at the image coordinate (SAMP1,LINE1). Units: degrees.

Type double
Minimum -90.0 (inclusive)
Maximum 90.0 (inclusive)

Fixed Points: LON1

Description

Desired east longitude at the image coordinate (SAMP1,LINE1). Units: degrees

Type double
Minimum 0.0 (inclusive)
Maximum 360.0 (inclusive)

Fixed Points: RAD1

Description

Desired radius at the image coordinate (SAMP1,LINE1). It will be automatically computed using the shape model that was entered in the "spiceinit" application. Units: meters.

Type double
Internal Default Computed
Minimum 0.0 (exclusive)

Fixed Points: SAMP2

Description

The sample coordinate for fixed point #2 (LAT2,LON2). Units: pixels.

Type double
Inclusions
  • TWIST

Fixed Points: LINE2

Description

The line coordinate for fixed point #2 (LAT2,LON2). Units: pixels.

Type double
Inclusions
  • TWIST

Fixed Points: LAT2

Description

Planetocentric latitude at the image coordinate (SAMP2,LINE2). Units: degrees.

Type double
Minimum -90.0 (inclusive)
Maximum 90.0 (inclusive)
Inclusions
  • TWIST

Fixed Points: LON2

Description

Desired east longitude at the image coordinate (SAMP2,LINE2). Units: degrees.

Type double
Minimum 0.0 (inclusive)
Maximum 360.0 (inclusive)
Inclusions
  • TWIST

Fixed Points: RAD2

Description

Radius at the image coordinate (SAMP2,LINE2). It will be automatically computed using the shape model that was initialized in the "spiceinit" application. Units: meters.

Type double
Internal Default Computed
Minimum 0.0 (exclusive)
Inclusions
  • TWIST

History

Jeff Anderson2006-09-06 Original version
Tracie Sucharski2007-05-02 Added inclusion of TWIST to SAMP2,LINE2,LAT2,LON2,RAD2. Without this inclusion, the AML was requiring these parameters even if TWIST was false.
Debbie A. Cook2007-07-12 Added pvl status report for a successful update.
Steven Koechle2007-10-05 Added check to see if cube has existing polygon, if so delete it.
Debbie A. Cook2011-06-06 Updated to current version of BundleAdjust class.
Debbie A. Cook2011-06-07 Changed point type "Ground" to "Fixed".
Debbie A. Cook2011-09-28 Updated documentation in response to Mantis issue #187.
Brent A. Archinal2011-09-30 Updated documentation, mostly to indicate units.
Debbie A. Cook2011-10-04 Added documentation for output files and removed creation of output csv tables because the tables are not useful for only one or two points. The information is already listed in bundleout.txt.