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Beginner level projection
adamg
post Nov 6 2019, 11:50 PM
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Hi,

I'm trying to do the mapping just using SPICE for the Junocam images rather than going through ISIS. It might seem like I'm making life difficult for myself but I just wanted to make sure I'm doing the bare minimum amount of processing so it looks as close to a non-spinny-push-frame image as I can. I'm making all the beginner mistakes but I can't seem to figure out what they are so I was hoping someone might give me a hint?

First I want to figure out how far Jupiter is because I want to have anything that didn't hit Jupiter get mapped to a sphere that hits Jupiter. This means any lens effects can get mapped in space near where they originated from which should hopefully make the edges of the planet seem less processed:

[jupiterPos, jupiterLt] = spice.spkpos('JUPITER', et0, 'JUNO_SPACECRAFT', 'NONE', 'JUNO')
jupiterDistance = np.linalg.norm(jupiterPos)

Then I go through all the undistorted Junocam pixel vectors and figure Jupiter intercept points in the IAU_JUPITER frame so now I have a point cloud of all the planet mapped pixels:

[point, trgepc, srfvec, found ] = spice.sincpt(
'Ellipsoid', 'JUPITER', et,
'IAU_JUPITER', 'LT+S', 'JUNO_SPACECRAFT',
'JUNO_JUNOCAM', v)

If it didn't find an intersection then I figure out where that invisible sphere is going to be by extending out the pixel vector by the separation and move that to the IAU_JUPITER frame:

direction = np.array(v)
pos = direction*jupiterDistance/np.linalg.norm(direction)
rotationMatrix = spice.pxform('JUNO_JUNOCAM','IAU_JUPITER',et-jupiterLt)
pos = spice.mxv(rotationMatrix, pos)

It works terribly! I seem to have a timing error in the frame offsets that seems suspiciously close to the light time between Jupiter and Juno and the sphere that catches all the sincpt misses is completely miles off. I've been staring at the code for a while and not figuring my mistake, I was hoping someone might point out where I've gone wrong.

Many thanks


Adam
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Bill Dudney
post Aug 3 2020, 02:01 PM
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Hello All,

I wasn't sure if I should post here or make a new topic. I'm happy to do that if it fits better with this forum.

I see a discrepancy in what fovtrg_c tells me vs what I get from sincpt_c. I'm sure I'm doing something wrong but I've been hacking around for a week or so (nights and weekends project smile.gif and I've not made much progress. So, I figured I'd ask the experts.

My goal here is to understand the data, eventually I want to turn my code into an image processing pipeline. When I powered through and got to a 3d image it looks OK, but is very blurry. The color does not align well etc. So I decided to step back to the beginning and try to ensure everything is doing what I expect. That's when I ran across this image that has Io in it. Using that as a test vehicle has brought into sharp focus the miss that's happening in my code. So I figured it would make a great subject to get my code straightened out before moving back to my 3d image creation.

I've listed my code below with some of the results in the comments. Any pointers to what I'm doing wrong would be most welcome.

Thanks!

I load and parse these files.
JNCE_2019307_23C00028_V01.LBL
JNCE_2019307_23C00028_V01.IMG

furnsh_c("JNO_SCLKSCET.00102.tsc")
furnsh_c("juno_junocam_v03.ti")
furnsh_c("juno_struct_v04.bsp")
furnsh_c("juno_v12.tf")
furnsh_c("naif0012.tls")
furnsh_c("pck00010.tpc")
furnsh_c("trimmed_jup310.bsp")
furnsh_c("juno_sc_rec_191102_191104_v01.bc")
furnsh_c("spk_rec_191010_191201_191210.bsp")

// startTime (from LBL) - 2019-11-03T22:26:16.510
// frame 29
// from the juno_junocam_v03.ti kernel
// INS-61500_START_TIME_BIAS = 0.06188
// INS-61500_INTERFRAME_DELTA = 0.001
// from the LBL file
// INTERFRAME_DELAY = 0.371 <s>
// 2019-11-03T22:26:16.510 + INS-61500_START_TIME_BIAS + (0.371 + 0.001) * frameNumber
// so frame time is:
// 2019-11-03T22:26:27.35988

str2et_c("2019 Nov 03 22:26:27.360", &frameTime)
str2et_c returned 6.26092e+08
fovtrg_c("JUNO_JUNOCAM_RED", "IO", "ELLIPSOID", "IAU_IO", "LT+S", "JUNO", 6.26092e+08)
fovtrg_c returned true

// Examaning the image from the red part of frame 29 I see Io is present on
// pixel 154, 124
// and several others, but that one is kind of in the 'center' of the visible Io
// I'm happy to upload the image I'm referring to. My code takes the IMG data from the PSD file (mentioned above) and turns that into a PNG file.

// I tried two approaches to finding the pointing vector,
// bilinear interpolate over the pointing vectors in the kernel
// INS-61503_FOV_BOUNDARY_CORNERS = (
// -0.47949606, 0.09218676, 0.87268845
// -0.47518685, 0.16768048, 0.86375964
// 0.48724863, 0.16654879, 0.85723408
// 0.49166330, 0.09156385, 0.86595800
// )
// u 0.081468 ((154 - 23) / 1608)
// v 0.96875 (124 / 128)
bilinearInterpolate(0.081468, 0.96875, [
{-0.479496, 0.0921868, 0.872688}
{-0.475187, 0.16768, 0.86376}
{0.487249, 0.166549, 0.857234}
{0.491663, 0.0915639, 0.865958}
]

pointing = {-0.396892, 0.16523, 0.863507}

sincpt_c("Ellipsoid", "IO", 6.26092e+08, "IAU_IO", "CN+S", "JUNO", "JUNO_JUNOCAM", {-0.39689193, 0.1652304, 0.86350652})
sincpt_c returned false

// I also implemented the distord/undistort camera model
// pixel = {154, 124}
// pointing = {-0.398252, 0.166199, 0.902094}
sincpt_c("Ellipsoid", "IO", 6.26092e+08, "IAU_IO", "CN+S", "JUNO", "JUNO_JUNOCAM", {-0.39825207, 0.16619926, 0.90209373})
sincpt_c returned false

// I also spent some time adding an arbitrary time offset (up to 0.1 seconds, by a 0.025 increment)
// and I do end up with intersections but they are several pixels to the left of the captured image.
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mcaplinger
post Aug 3 2020, 03:24 PM
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QUOTE (Bill Dudney @ Aug 3 2020, 06:01 AM) *
// I tried two approaches to finding the pointing vector,
// bilinear interpolate over the pointing vectors in the kernel


This is certainly not the right thing to be doing. I know you tried it both ways and the second way is the correct approach.

Post the code by which you actually go from pixel x,y to Junocam frame pointing vector unless it's identical to the code given in the kernel. You want to be going in the correct direction (distorted to undistorted).

It would also be diagnostic if you computed the Io-to-Juno vector and looked at the angle between the pointing vector and that vector (in the same frame) to see how close they are. It's easy for sincpt to miss with the smallest of errors, and Io is obviously very small.


--------------------
Disclaimer: This post is based on public information only. Any opinions are my own.
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Bill Dudney
post Aug 3 2020, 06:42 PM
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QUOTE (mcaplinger @ Aug 3 2020, 03:24 PM) *
This is certainly not the right thing to be doing. I know you tried it both ways and the second way is the correct approach.

Post the code by which you actually go from pixel x,y to Junocam frame pointing vector unless it's identical to the code given in the kernel. You want to be going in the correct direction (distorted to undistorted).

It would also be diagnostic if you computed the Io-to-Juno vector and looked at the angle between the pointing vector and that vector (in the same frame) to see how close they are. It's easy for sincpt to miss with the smallest of errors, and Io is obviously very small.


Thanks Mike,

Sorry to ask you to translate from Swift.

Here is my code:

CODE
let pointing = normalize(pointingVectorFor(pixelCoord: SIMD2<Double>(x: Double(154.0), y: Double(124.0))))


CODE
// distortionModel is my struct keeping track of all the camera model parameters.
//         INS-61503_DISTORTION_K1         =   -5.9624209455667325e-08
//         INS-61503_DISTORTION_K2         =    2.7381910042256151e-14
//         INS-61503_DISTORTION_X           =  814.21
//         INS-61503_DISTORTION_Y           = -151.52
    public func pointingVectorFor(pixelCoord: SIMD2<Double>) -> SIMD3<Double> {
        /*
         and the following takes an XY coordinate in Junocam framelet
         coordinates and produces a vector in the JUNO_JUNOCAM reference
         frame (of arbitrary length).

            cam[0] = x-cx
            cam[1] = y-cy
            cam = undistort(cam)
            v = [cam[0], cam[1], fl]

         */
        let undistorted = undistort(pixelCoord: pixelCoord - distortionModel.offset)
        
        return SIMD3<Double>(x: undistorted.x, y: undistorted.y, z: distortionModel.fl)
    }


CODE
    func distort(pixelCoord: SIMD2<Double>) -> SIMD2<Double> {
        /*
         def distort(c):
           xd, yd = c[0], c[1]
           r2 = (xd**2+yd**2)
           dr = 1+k1*r2+k2*r2*r2
           xd *= dr
           yd *= dr
           return [xd, yd]
         */
        let r2 = length_squared(pixelCoord - distortionModel.offset)
        let dr = 1.0 + distortionModel.k1 * r2 + distortionModel.k2 * r2 * r2
        return pixelCoord * dr
    }
    
    func undistort(pixelCoord: SIMD2<Double>) -> SIMD2<Double> {
        /*
         def undistort(c):
           xd, yd = c[0], c[1]
           for i in range(5): # fixed number of iterations for simplicity
             r2 = (xd**2+yd**2)
             dr = 1+k1*r2+k2*r2*r2
             xd = c[0]/dr
             yd = c[1]/dr
           return [xd, yd]
         */
        var current: SIMD2<Double> = pixelCoord
        for _ in 0..<5 {
            let r2 = length_squared(current - distortionModel.offset)
            let dr = 1.0 + distortionModel.k1 * r2 + distortionModel.k2 * r2 * r2
            current = pixelCoord / dr
        }
        return current
    }


On the pointing vs position...

CODE
spkezr_c("JUNO", 6.26092e+08, "IAU_IO", "LT+S", "IO")

//spkezr_c returned state vector = {383394, -72976.8, 2221.98, -21.9864, -1.4944, -53.9273}, light time 1.30185
// position normalized:
// (0.98234650459544559, -0.18698377487311099, 0.0056932278465209587)


CODE
let pointing = normalize(pointingVectorFor(pixelCoord: SIMD2<Double>(x: Double(154), y: Double(124))))
// -0.39825207416281955, 0.1661992570141925, 0.90209372705553315
dot(positionNormalized, pointing)
// -0.41716227233230763
// not correct...


Thanks again!
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Posts in this topic
- adamg   Beginner level projection   Nov 6 2019, 11:50 PM
- - Gerald   Hi Adam, I'm not even using the SPICE library....   Nov 7 2019, 03:21 AM
- - Bjorn Jonsson   In addition to what Gerald mentioned, I'd star...   Nov 7 2019, 06:41 PM
- - mcaplinger   QUOTE (adamg @ Nov 6 2019, 03:50 PM) It w...   Nov 7 2019, 10:53 PM
|- - adamg   QUOTE (mcaplinger @ Nov 7 2019, 11:53 PM)...   Nov 7 2019, 11:27 PM
|- - Gerald   QUOTE (adamg @ Nov 8 2019, 12:27 AM) ... ...   Nov 8 2019, 04:39 PM
|- - Brian Swift   QUOTE (Gerald @ Nov 8 2019, 08:39 AM) Be ...   Nov 8 2019, 05:56 PM
- - adamg   Thanks for the replys. I actually did start off us...   Nov 7 2019, 11:16 PM
|- - mcaplinger   QUOTE (adamg @ Nov 7 2019, 03:16 PM) ...   Nov 7 2019, 11:24 PM
|- - adamg   QUOTE (mcaplinger @ Nov 8 2019, 12:24 AM)...   Nov 7 2019, 11:30 PM
||- - mcaplinger   QUOTE (adamg @ Nov 7 2019, 03:30 PM) Than...   Nov 7 2019, 11:51 PM
||- - Brian Swift   QUOTE (mcaplinger @ Nov 7 2019, 03:51 PM)...   Nov 10 2019, 07:40 AM
|- - Brian Swift   QUOTE (mcaplinger @ Nov 7 2019, 03:24 PM)...   Nov 10 2019, 08:41 AM
- - Brian Swift   
Hi Adam, Welcome to/from the JunoCam raw pr...   Nov 8 2019, 07:17 AM
|- - mcaplinger   QUOTE (Brian Swift @ Nov 7 2019, 11:17 PM...   Nov 8 2019, 03:27 PM
- - adamg   We're totally on the same page Brian. The hel...   Nov 9 2019, 12:15 AM
- - Brian Swift   Having a non-cartographic technique that renders r...   Nov 10 2019, 08:19 AM
|- - mcaplinger   QUOTE (Brian Swift @ Nov 10 2019, 12:19 A...   Nov 10 2019, 03:15 PM
|- - scalbers   Good to see - I would guess this also makes it eas...   Nov 22 2019, 08:07 PM
- - adamg   Absolutely Brian, that's exactly the behaviour...   Nov 10 2019, 05:15 PM
- - mcaplinger   QUOTE (adamg @ Nov 6 2019, 03:50 PM) rota...   Nov 10 2019, 07:52 PM
- - adamg   Thanks mcaplinger, I've changed it to the foll...   Nov 12 2019, 05:59 PM
|- - Brian Swift   QUOTE (adamg @ Nov 12 2019, 09:59 AM) Bri...   Nov 12 2019, 11:44 PM
- - adamg   I tried the limbpt function (below), not that I re...   Nov 12 2019, 10:52 PM
|- - mcaplinger   QUOTE (adamg @ Nov 12 2019, 02:52 PM) I...   Nov 12 2019, 11:09 PM
- - adamg   Update: I think my issue is that the transform doe...   Nov 14 2019, 11:34 PM
- - adamg   Took a while. It wasn't light travel time beca...   Nov 22 2019, 12:57 AM
- - adamg   Tried doing color, seems to work. The KD tree was ...   Nov 24 2019, 01:34 AM
- - adamg   Anyone have any good advice on scaling the RGB to ...   Nov 25 2019, 09:43 PM
|- - Brian Swift   QUOTE (adamg @ Nov 25 2019, 01:43 PM) Any...   Nov 26 2019, 10:33 AM
- - Bjorn Jonsson   I usually multiply by [1, 1.12, 2.3] after decompa...   Nov 25 2019, 11:01 PM
|- - Brian Swift   QUOTE (Bjorn Jonsson @ Nov 25 2019, 03:01...   Nov 26 2019, 10:54 AM
|- - fredk   QUOTE (Brian Swift @ Nov 26 2019, 11:54 A...   Nov 26 2019, 02:48 PM
- - adamg   Sounds like I'm miles off for some reason. I u...   Nov 26 2019, 12:26 PM
- - adamg   The RDR data set says "For planetary targets,...   Nov 26 2019, 06:14 PM
|- - mcaplinger   QUOTE (adamg @ Nov 26 2019, 10:14 AM) The...   Nov 26 2019, 09:44 PM
|- - Brian Swift   QUOTE (adamg @ Nov 26 2019, 10:14 AM) Reg...   Nov 27 2019, 04:47 AM
- - adamg   Interesting, [1,1.23,2.66] I actually dropped my 0...   Nov 27 2019, 11:30 AM
|- - Brian Swift   QUOTE (adamg @ Nov 27 2019, 03:30 AM) ......   Nov 27 2019, 06:59 PM
- - adamg   How are peoples' inter frame delays looking? ...   Dec 9 2019, 02:25 AM
|- - mcaplinger   QUOTE (adamg @ Dec 8 2019, 06:25 PM) How ...   Dec 9 2019, 05:50 PM
|- - Brian Swift   QUOTE (adamg @ Dec 8 2019, 06:25 PM) How ...   Dec 9 2019, 06:15 PM
- - Bjorn Jonsson   The value you add to the interframe delay should a...   Dec 9 2019, 06:29 PM
- - adamg   Thanks guys, apparently I'm a goose. I hard co...   Dec 10 2019, 11:20 PM
- - Bill Dudney   Hello All, I wasn't sure if I should post her...   Aug 3 2020, 02:01 PM
|- - mcaplinger   QUOTE (Bill Dudney @ Aug 3 2020, 06:01 AM...   Aug 3 2020, 03:24 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 3 2020, 03:24 PM)...   Aug 3 2020, 06:42 PM
|- - mcaplinger   QUOTE (Bill Dudney @ Aug 3 2020, 10:42 AM...   Aug 3 2020, 08:26 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 3 2020, 08:26 PM)...   Aug 3 2020, 10:09 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 3 2020, 08:26 PM)...   Aug 4 2020, 02:29 PM
|- - mcaplinger   QUOTE (Bill Dudney @ Aug 4 2020, 06:29 AM...   Aug 4 2020, 03:01 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 4 2020, 03:01 PM)...   Aug 4 2020, 06:25 PM
|- - mcaplinger   QUOTE (Bill Dudney @ Aug 4 2020, 10:25 AM...   Aug 4 2020, 07:17 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 4 2020, 07:17 PM)...   Aug 5 2020, 02:16 AM
|- - mcaplinger   QUOTE (Bill Dudney @ Aug 4 2020, 06:16 PM...   Aug 5 2020, 05:55 PM
|- - Bill Dudney   QUOTE (mcaplinger @ Aug 5 2020, 06:55 PM)...   Aug 6 2020, 01:59 AM
|- - Bill Dudney   Hi All, Finally got to the point that I have some...   Nov 5 2020, 12:36 PM
|- - Brian Swift   QUOTE (Bill Dudney @ Nov 5 2020, 04:36 AM...   Nov 9 2020, 06:00 AM
||- - Bill Dudney   QUOTE (Brian Swift @ Nov 9 2020, 06:00 AM...   Nov 9 2020, 01:46 PM
|- - Bill Dudney   QUOTE (Bill Dudney @ Nov 5 2020, 12:36 PM...   Jan 25 2021, 10:01 PM
- - Bjorn Jonsson   I haven't looked at the code in any detail so ...   Aug 3 2020, 09:31 PM
|- - Bill Dudney   QUOTE (Bjorn Jonsson @ Aug 3 2020, 09:31 ...   Aug 3 2020, 10:02 PM
- - Sean   This is very cool. Beautiful work!   Nov 5 2020, 06:24 PM
- - Bill Dudney   QUOTE (Sean @ Nov 5 2020, 06:24 PM) This ...   Nov 6 2020, 11:49 PM


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