Running NASA Ames Stereo Pipeline with TGO CASSIS.

Repository to store code for stereo processing of TGO CASSIS..

/isis_scripts

Collection of Python script that use USGS ISIS and NASA ASP for processing CaSSIS data.

/isis_apps

Custom USGS ISIS applications.

Standalone package

Standalone package is avaliable for Linux (tested on Ubuntu 14.04). It was build for research purposes using CDE virtualization tool and contains all python, USGS ISIS, NASA ASP dependencies.

Set up the package

Please download the package from here. After downoading and extracting the package please add following line to cde.options file in root folder of the package

ignore_prefix=/CaSSIS/

where /CaSSIS is a folder on a local PC were cassis data is stored. Finally, update SPICE kernels in cde-root/HDD1/Programs/isis_beta/data. To update all but ck kernels, use USGS ISIS server. Simply move to cde-root/HDD1/Programs/isis_beta/data and run the following command

rsync -azv --delete --partial isisdist.astrogeology.usgs.gov::isis3data/data/tgo ./

The ck kernel you can download from halimede server.

Explore observations

To explore observations avaliable in the input level1c/ folder please run

tgocassis_findSeq.py.cde -from "/CaSSIS/M07/181027_stp028_boot6/level1c"

Note, that level1c files should have special naming, such as CAS-M07-2018-11-02T23.40.28.577-NIR-01019-C1.dat. The script creates summary.csv file in level1c/ folder with summary of all observation in the folder.

Process observations

To process several or all observations in the level1c/ folder, please run

tgocassis_process.py.cde \
        "/CaSSIS/M07/181027_stp028_boot6/level1c"
        "/CaSSIS/M07/181027_stp028_boot6/processed"
        --no_ba
        --no_dtm
        --match_tone
        --debug
        --observation MY34_004204_186
        --observation MY34_004204_235

For each observation in level1c/ the script creates individual folder in processed/ folder. For "mono" observations the scripts creates map-projected bundle-adjusted color mosaic, and for "stereo" observations it creates two map-projected bundle-adjusted color mosaics, disparity image and DTM.

--no_ba flag turns off the bundle adjustment, --no_dtm flag disables DTM computation, --match_tone flag enables tone matching of framelets, --debug flag forces script to preserve debug information and --observation option allows to specify observation for processing.

Evaluate color mosaic reconstruction quality

To compute color bands misalignment in reconstructed mosaics in processed/ folder, please run

tgocassis_misregistration.py \
        "/CaSSIS/M07/181027_stp028_boot6/processed"
        --source_band RED
        --target_band NIR
        --visualize 

The script computes average cross-track, along-track and Euclidian color bands misalignment for mosaics in the input folder, which contain requested source and target bands. When --visualize flag is set the script also saves pixel-wise visualization of the misalignment in the input folder as a pdf image.

Run triangulation

To run only triangulation please execute

tgocassis_triangulate.py.cde \
DISPARITY="/CaSSIS/181027_stp028_boot6/processed/M07/MY34_004204_186_stereo/MY34_004204_186_disparity.tif"\
MOSAIC_0="/CaSSIS/181027_stp028_boot6/processed/M07/MY34_004204_186_stereo/MY34_004204_186_first_stereo_PAN_MOS.cub"\
MOSAIC_1="/CaSSIS/181027_stp028_boot6/processed/M07/MY34_004204_186_stereo/MY34_004204_186_second_stereo_PAN_MOS.cub"\
FRAMELETS_0="/CaSSIS/M07/181027_stp028_boot6/processed/MY34_004204_186_stereo/MY34_004204_186_first_stereo_PAN_MAP"\
FRAMELETS_1="/CaSSIS/M07/181027_stp028_boot6/processed/MY34_004204_186_stereo/MY34_004204_186_second_stereo_PAN_MAP"\
DTM="/CaSSIS/M07/181027_stp028_boot6/processed/MY34_004204_186_stereo/MY34_004204_186_dtm.cub"\
ERROR="/CaSSIS/M07/181027_stp028_boot6/processed/MY34_004204_186_stereo/MY34_004204_186_error.cub"

If you using this code please cite our paper

@article{tulyakov-et-al-2018,
  title = {Geometric calibration of Colour and Stereo Surface Imaging System of {ESA}'s {T}race {G}as {O}rbiter},
  author = {Tulyakov, S. and Ivanov, A. and Thomas, N. and Roloff, V. and Pommerol, A. and Cremonese, G. and Weigel, T. and Fleuret, F.},
  journal = {Advances in Space Research},
  volume = {61},
  number = {1},
  pages = {487-496},
  year = {2018},
  url = {http://fleuret.org/papers/tulyakov-et-al-jasr2018.pdf}
}