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Update camera pointing (SPICE) on a single cube



This program will update the camera pointing (CK) in the labels of a Level1 cube using a map projected, Level2 "Base" cube to determine the latitude/longitude of control points. Angles 1 and 2 of the camera pointing stored in the cube labels will be adjusted to align the coordinate of each sample/line from the "Match" level 1 cube with the latitude/longitude from the "Base" map projected cube. To solve for all three camera angles select the TWIST radio button in the Qtie Tool window. At least two control points will need to be selected for the TWIST option.

The application will adjust the camera angles to align all control points with the latitude/longitude values from the "Base" cube with minimal errors using an iterative least-squares bundle adjustment. The number of iterations and tolerance (sigma0) for convergence can be selected from the Qtie Tool window. Solving for two angles only is similar to a translation of the image. Solving for twist will result in both a translation and a rotation of the image.

This is the interactive version of the program "deltack". Like "jigsaw" and "deltack", it works on both framing cameras and line scanners. Note that only the camera pointing is solved for with qtie and deltack (solving for radius and spacecraft position are not options with these applications, refer to jigsaw for more options).

To run qtie, you will enter a base map cube (map projected) and a match cube (unprojected) which will be the cube which will have the camera pointing updated. The unprojected match cube must have been initialized with the "spiceinit" program using ATTACH="YES". Optionally, an existing control network containing control points between the "Match" cube and a basemap, may be entered.

There are 2 core windows used in this application.

Qtie window

The main qtie window is similar to the qview application. You will see many of the same tools, such as "Band Selection", "Zoom", "Pan", "Stretch" and "Find" along the right border. The "Tie" tool is the last button along the right toolbar. It will be the default tool selected when qtie is launched.

In this window, select the "Open images" button or the Open action (from File menu). You will be prompted to enter the base map cube first followed by the level 1 (unprojected) cube to be tied to the base map. You then have the option of opening an existing control network which has control points between the "Match" cube and a basemap. Click the "Cancel" button to create a new control points.

When the "Tie" tool is activated, the mouse buttons have the following function in the cube viewports of the main qtie window:
(Note: Mouse events will only work on the "Match" cube)
  • Left Button: Modify the closest control point
  • Middle Button: Delete the closest control point
  • Right Button: Create new control point

Qtie Tool window

This is the point editor window of qtie for modifying or creating a point. The window will display the cube that is the base map on the left and the level 1 cube on the right. Both measures ("Base" and "Match") may be moved.

Changing Measure Locations

The measure location can be adjusted by:

Other point editor functions

In the File menu:

In the Options menu:

Along the top of the window:

Along the right border of the window:

Below the left view:

Below the right view:

Along the bottom:



Tracie Sucharski2008-12-03 Original version
Tracie Sucharski2008-12-30 Add option to save ground points to a ControlNet.
Tracie Sucharski2008-01-20 Correct user documentation in qtie.xml.
Tracie Sucharski2009-06-10 Added error checking when opening files and allow new files to be opened.
Eric Hyer2010-03-22 Discontinued forcing of gui style to windows
Tracie Sucharski2011-09-15 Updated for binary control networks.
Tracie Sucharski2011-10-05 Updated documentation with input from Tammy Becker.
Tracie Sucharski2011-10-12 Added links to definitions and made corrections to documentation based on suggestions from Trent Hare.
Tracie Sucharski2012-05-15 Fixed bug when opening new sets of files (base,match,cnet). Moved error checking from QtieTool to QtieFileTool.
Tracie Sucharski2013-05-16 Fixed bugs when attempting to delete a point in an empty network, deleting all measures in a point. Fixed repetitive warnings when the current edit point does not fall on the ground source. References #1493.
Ian Humphrey2015-10-07 Updated icons. Fixes #1041.
Ian Humphrey2015-11-19 Added shortcuts to Qtie Tool window for selecting right measures, registration, saving measures, and find. Fixes #2324.
Marjorie Hahn2016-08-02 Prevented qtie from crashing when user attempts to select a registration template. Fixes #2375.
Jeannie Backer2016-08-18 Modified to use the CholMod sparse decomposition matrix solve method instead of the "SpecialK" solve method (deprecated). Results are expected to be identical. References #4162.
Tyler Wilson2016-10-19 Cleaned up heap allocated objects after the program returns in the main function of qtie.cpp. This was not being done before like it is in other qisis apps such as qnet and qview, and was causing a segfault due to the new Qt5 libraries IPCE uses. Fixes #4471.