HiRISE-to-HiRISE Geometric Control¶

Two HiRISE observation of red filter images will be geometrically controlled by shifting one observation set relative to a master observation. A collection of tiepoints that links all the images is needed to accomplish this task. A few tiepoints will be constrained heavily to tack down the control points when the bundle adjustment is performed. After the camera pointing has been updated the images will be projected, tone matched, and mosaicked together.

Collect Tiepoints¶

Collect tiepoints for each observation

Generate normalized cube files for each observation. See steps under Batch Processing above.
Create a list of all the normalized cube files for both observations
```
ls  *norm.cub > normalized.lis
```

Add footprint polygons to the labels of each normalized cube file (footprintinit)

footprintinit from=\$1 linc=100 sinc=50 increaseprecision=true -batch=normalized.lis

Add camera statistics information to the image labels of each normalized cube file
```
camstats from=\$1 linc=100 sinc=50 attach=true -batch=normalized.lis
```

Create separate lists of the normalized cubes for each observation

ls PSP_004339_1890*norm.cub > set1.lis
ls PSP_00568*norm.cub > set2.lis

Find image overlaps and record the information to an output file for each observation separately

findimageoverlaps froml=set1.lis over=set1_overlaps.txt
findimageoverlaps froml=set2.lis over=set2_overlaps.txt

Automatically seed tiepoints along the overlaps.
Run separately to avoid seeding too many points in the overlap areas between the two sets.

autoseed fromlist=set1.lis deffile=hirise_ccd_sets_seed.def \
overlaplist=set1_overlaps.txt onet=hirise_set_autoseed.net \
errors=hirise_set1_autoseed.err networkid=Hirise_set1 \
pointid=hirise_set1_\?\?\?\? \
description="HiRise set1 images autoseed with hirise_ccd_sets_seed.def"

autoseed fromlist=set2.lis deffile=hirise_ccd_sets_seed.def \
overlaplist=set2_overlaps.txt onet=hirise_set_autoseed.net \
errors=hirise_set2_autoseed.err networkid=Hirise_set2 \
pointid=hirise_set2_\?\?\?\? \
description="HiRise set2 images autoseed with hirise_ccd_sets_seed.def"

Merge the two output networks produced by the autoseed program

cnetmerge inputtype=cnets base=hirise_set1_autoseed.net \
cnet2=hirise_set2_autoseed.net onet=hirise_autoseed_merged_sets.net \
networkid=HiRiseSets description="Hirise merge set1 and set2 networks"

Perform automatic sub-pixel registration between the measures for each control point. A registration template is required that defines what the tolerances should be for the program pointreg. The input list should contain all the images included in the two control networks that were merged in the previous step.
```
pointreg fromlist=all_norm.lis cnet=hirise_autoseed_merged_sets.net \
deffile=hires_p51x151_s151x251.def \
onet=hirise_autoseed_merged_sets_ptreg.net \
flatfile=hirise_autoseed_merged_sets_ptreg.txt points=all
```

Evaluate the results of automatic seeding and registration¶

Displaying Control Points in qmos

Open the result with qmos to see the distribution of control points and their success/failure.

qmos

Under file, select "Open Cube List"
Select the file list, and then press "Open"
Click on the "Control Net" button
Select the control network file (output of pointreg), and press "Open"

Successful and Unsuccessful Tie Points in qmos

Blue tie points are successful, red tie points have failed.

Additional work is required to convert some ignored tiepoints to valid tiepoints with qnet or pointreg.
After fixing critical tiepoints that link the images together with qnet or pointreg. The ignored points and measures were deleted.

Control Measures - Control Net Editing and Checking¶

Add and register control measures between the two observations to link them together

Remove all the ignored points and measures before adding additional measures. The input network should be the output from qnet or pointreg in the previous step.
```
cnetedit cnet=hirise_autoseed_merged_sets_ptreg.net \
onet=hirise_autoseed_merged_sets_ptregedit.net
```

Add new control measures in order to link the two observations together.

cnetadd fromlist=all_norm.lis addlist=all_norm.lis \
cnet=hirise_autoseed_merged_sets_ptregedit.net \
onet=hirise_autoseed_merged_sets_ptregedit_add.net \
log=hirise_autoseed_merged_sets_ptregedit_add.log polygon=yes

Automatically register the new measures to the reference measures which were set in the previous steps. The registration template must be modified to allow for the offset between the two sets. In most cases, the search area needs to be increased and some of the other settings may need to be adjusted also.

IMPORTANT: set "measures=candidates"
```
pointreg fromlist=all_norm.lis points=all measures=candidates \
cnet=hirise_autoseed_merged_sets_ptregedit_add.net \
deffile=hirise_p151x501_s651x1501.def \
onet=hirise_autoseed_merged_sets_ptregedit_addptreg1.net \
flatfile=hirise_autoseed_merged_sets_ptregedit_addptreg1.txt
```

Remove all ignored measures from the control network.

cnetedit cnet=hirise_autoseed_merged_sets_ptregedit_addptreg1.net \
onet=hirise_autoseed_merged_sets_ptregedit_addptreg1edit.net

Check the network for missing links, single measures, no control points, or problems with the latitude and longitude.
```
cnetcheck fromlist=all_norm.lis prefix=cknet1_ \
cnet=hirise_autoseed_merged_sets_ptregedit_addptreg1edit.net
```
Check the output results and fix any problems reported. If the network is good, continue to the next step.

Automatic Registration

Use `qnet` to constrain tiepoints¶

We will be adjusting all the images relative to one image instead of to actual ground coordinates. Use the interactive program qnet to constrain a set of tiepoints to a specified geographic location. The amount of movement allowed will be defined by setting the apriori latitude, longitude, and radius values by some amount. In our example, the apriori sigma values for (lat, lon, radius) will be set to (1.0, 1.0, and 100.0) for the selected tiepoints. Make sure the latitude, longitude values are obtained from the same image.

qnet ISIS App Docs

Open cubes and control networks in qnet

Open qnet
Select "Open control network cube list"
Select "all_norm.lis"
Select "hirise_autoseed_merged_sets_ptregedit_addptreg1edit.net"
In the "Control Network Navigator" window go to the drop-down menu next to "Points", and select "Cubes"
Select both "RED5" cubes, ''hold down "Ctrl" button while selecting the files (PSP_004339_1890_RED5_norm.cub and PSP_005684_1890_RED5_norm.cub)
Click on "View Cubes" button

The two images should be displayed in the qnet window.

qnet Tie Point Colors

Green: Valid Control Point
Magenta: Constrained Point
Yellow: Ignored points

Selecting points to constrain

Select 3 points, one at top, center, and bottom of the same image to constrain the latitude and longitude coordinates.

Do not use yellow (ignored) points to constrain control points!
Make sure the left image in the "Qnet Tool" or editor window has the "RED5" image displayed on the left.

Locating and Opening a DEM

A DEM is required in order to constrain the points; the file must have been run through demprep.

Find the location where the DEM is stored. The dems are normally stored in $ISIS3DATA/base/dems directory.

Go to "File" and select "Open ground source".
Select "$base/dems/molaMarsPlanetaryRadius0005.cub"
Go to "File" and select "Open radius source".
Select "$base/dems/molaMarsPlanetaryRadius0005.cub"

Constraining a Control Point

In the qnet window, select the "Control point editor" button
(the last button with two arrow points)
Click on the uppermost green crosshair in the qnet window for one of the RED5 images. The point will be displayed in the editor window.
Next, Select "Points" in the control network navigator window
In the editor window:
1. Select "Constrained" using the drop-down menu next to "Free"
2. Click "Save Measure" in the editor window
3. Click "Save Point" in the editor window
4. Click "Floppy disk icon" to save the changes to the file
  (Do not skip this step!)
In the control navigator window:
1. Click "Set Apriori/Sigmas"
2. Enter Latitude Sigma=1.0 Longitude Sigma=1.0, and Radius Sigma=100.0
3. Click "Set Apriori"
4. Click "Save network" Point should change color from green to magenta

REPEAT the "Constraining a Control Point" STEPS for center and bottom points.

Save the control network file.

Bundle adjustment¶

After constraining at least 3 tiepoints, run the bundle adjustment program jigsaw.

Do not check "update" and "error propagation" until an acceptable solution is reached.

After each run, check the output file showing the residuals to determine if there are bad measures in the control network.

jigsaw GUI with parameter names

JIGSAW GUI

Our settings are very basic since our primary purpose is to shift one observation to match another, and we are not actually including accurate ground points. For advanced users, the steps and parameters used may be adjusted to fit your particular needs.

Bundle Adjustment with jigsaw

jigsaw fromlist=all_norm.lis onet=jigtest1.net \
cnet=hirise_autoseed_merged_sets_ptregedit_addptreg1edit.net \
radius=yes sigma0=1.0e-6 maxits=10 point_radius_sigma=1000 \
camera_angles_sigma=3 file_prefix=jig1

Check the output files:

sort -k8,8nr jig1_residuals.csv|more

The residuals should be less than 5 pixels, check large residuals using qnet, or create a list of pointid's and delete with cnetedit

egrep -a cub jig1_bundleout.txt |more

The last 3 columns next to the filenames should be small

Final run:

jigsaw fromlist=all_norm.lis onet=jigtest1.net update=yes \
cnet=hirise_autoseed_merged_sets_ptregedit_addptreg1edit.net \
radius=yes sigma0=1.0e-6 maxits=10 point_radius_sigma=1000 \
camera_angles_sigma=3 file_prefix=jig1 errorpro=yes

Map projection and mosaic¶

The final step is to project the images, tone match the set, and mosaic the files together. A map template is needed in order to project the images. Our map template contains the following parameter settings:

mars_equi.map

Group = Mapping
   TargetName         = Mars
   ProjectionName     = Equirectangular
   CenterLongitude    = 0.0
   CenterLatitude     = 0.0
   #EquatorialRadius   = 3396190.0 <meters>
   #PolarRadius        = 3376200.0 <meters>
   LatitudeType       = Planetocentric
   LongitudeDirection = PositiveEast
   LongitudeDomain    = 180
   PixelResolution    = .5 <meters/pixel>
End_Group

Map Project Images with cam2map (Level1 → Level2)

ls *norm.cub > lev1.lis
cam2map from=\$1 to=lev2_\$1 map=mars_equi.map -batch=lev1.lis

Tone match images with equalizer

ls lev2_*norm.cub > lev2.lis
ls lev2_PSP_004339_1890_RED5_norm.cub > hold.lis
equalizer fromlist=lev2.lis holdlist=hold.lis outstats=stats.txt

Mosaic images with automos

ls lev2*equ.cub > lev2equ.lis
automos froml=lev2equi.lis mosaic=hirise_set_mosaic.cub

Final mosaic of two observations:

HiRISE mosaic of two observations

ISIS Apps Used in HiRISE to HiRISE Geometric Control¶

footprintinit : Add footprint polygons to image labels
camstats : Add camera statistics to image labels
findimageoverlaps : Find overlaps between a set of images
autoseed : Automatically create a network file by seeding tiepoints
cnetmerge : Merge different control network files
pointreg : Sub-pixel register control measures for a control point
qmos : Display image footprints and control point networks
qnet : Interactive program to collect and modify control measures and ground points
cnetedit : Delete control points and measures from a control network
cnetadd : Add control measures to an existing control network
cnetcheck : Check control network file before running jigsaw
jigsaw : Bundle adjustment program to update camera pointing information
cam2map : Map project level 1 images
equalizer : Tone match a set of images
automos : Create a mosaic