MESSENGER MDIS Data Users’ Workshop 2013 Kris Becker Tammy Becker Trent Hare USGS Astrogeology Science Center 44th LPSC March 17, 2013 ISIS3 Tutorial and MESSENGER MDIS Data Users’ Workshop • Objective: Provide an introduction to ISIS3 and demonstrate its use in processing of MESSENGER MDIS data 1. ISIS3 Fundamentals 2. Standard Processing Concepts and Tools 3. Cartographic Map Projections 4. Creating Monochrome Map Mosaics (EDRs) 5. Creating Color Map Mosaics (EDRs) 6. Working with PDS Map Projected Products (BDRs/MDRs) 7. Export and Application Support for ISIS3 Products 2 ISIS - Integrated Software for Imagers and Spectrometers • Over 300 image processing applications • Strong emphasis on geometric functionality – Photogrammetry / Camera models – Cartography / Map projections – Photometry – Improving instrument position and orientation • Image control networks • Bundle adjustment (jigsaw) – Digital map mosaics • In use for over 30 years (PICS, ISIS2, ISIS3) • Support for over 50 NASA/ESA instruments • Support for MESSENGER MDIS Narrow Angle (NAC) and Wide Angle (WAC) Cameras 3 Mission Instruments Supported by ISIS3 • Lunar Orbiter III, IV, &, V (Medium • Dawn FC (1 & 2), VIR and HiRes) • Mars Global Surveyor MOC (NAC & • Clementine UVVIS, NIR, HIRES, & WAC) LWIR • Mars Odyssey THEMIS (VIS & IR) • Apollo Metric 15/16/17 • Mars Express HRSC • Mars Reconnaissance Orbiter HiRISE, • Apollo Panoramic 15/16/17 CTX, MARCI, CRISM • Lunar Reconnaissance Orbiter NACL, • Viking Orbiter 1 & 2 (A & B) NACR, WAC (VIS & UV), MiniRF • Voyager 1 & 2 (NAC & WAC) • Chandrayaan-1 MiniRF • Galileo SSI • Mariner 10 (A & B) • Cassini ISS (NAC & WAC), VIMS, • MESSENGER MDIS (NAC & WAC) RADAR • Kaguya MI (VIS & NIR) • Ideal Camera (Special ISIS Perfect Virtual Instrument – Distortion-Free!) Fifty-five instruments in all!! 4 Current ISIS Status • ISIS 3.4.2 (Released Dec 2012) • ISIS 3.4.3 (Scheduled Release: End of March 2013) • UNIX-based Supported Platform OSes – Mac OSX 10.6 and higher (32 & 64 bit Intel) – Debian 6.0.2 (64 bit) – Debian 7 (64 bit) – Fedora 16 (64 bit) – Fedora 18 (64 bit) – Redhat Enterprise 6.3 (64 bit) (via SL 6.3) – Scientific Linux (SL) 6.3 (64 bit) – SUSE Enterprise Server 11 (64 bit) – Ubuntu 12.04 LTS (64 bit) • Download via Internet – Full distribution >200GB – Selective download using rsync utility – Java client installer http://isis.astrogeology.usgs.gov/documents/InstallGuide 5 ISIS3 Documentation, Support and User Guides • General Information http://isis.astrogeology.usgs.gov • Installation Guide http://isis.astrogeology.usgs.gov/documents/InstallGuide • Table of ISIS Applications http://isis.astrogeology.usgs.gov/Application • User Support Forums http://isis.astrogeology.usgs.gov/IsisSupport • Online Workshops http://isis.astrogeology.usgs.gov/IsisWorkshop 6 How To Download and Install ISIS 3 • Start at the ISIS Website – http://isis.astrogeology.usgs.gov – See the ‘Install Guide’ for info on installing ISIS for your OS and platform • http://isis.astrogeology.usgs.gov/documents/InstallGuide – Use the Java Client Installer (preferred) • rsync –azv isisdist.wr.usgs.gov::installer . • java –jar install.jar – Or manual installation • Create ISIS3 directory (no spaces!) and then download the software and two directories there • Base data and MESSENGER mission-specific data are both required • Use rsync to download the latest version of ISIS3 applications and data files – Example for MAC OSX 10.6 and higher (applications): » rsync -azv --delete isisdist.wr.usgs.gov::x86_darwin_OSX/isis . » Be sure to include the ‘.’ at the end!!! – Minimum requirements for MESSENGER (data), two directories: » rsync -azv --delete isisdist.wr.usgs.gov::isis3data/data/base data/ » rsync -azv --delete isisdist.wr.usgs.gov::isis3data/data/messenger data/ • Set up environment variable and run startup script (example for C/T shells) – setenv ISISROOT /work1/isis3/isis – source $ISISROOT/scripts/isis3Startup.csh • Frequent updates to ISIS3 and ancillary data is recommended – Maintains ISIS system with software patches – Keeps SPICE kernels up to date for active missions – Just rerun rsync installation commands above 7 ISIS3 Application Documentation ISIS Application Documentation is organized by Functional Categories and Mission Specific Programs 8 Executing ISIS3 Applications Application Documentation Application GUI Interface Or… Applications can be executed at the command line Command line enables key feature – batch execution See http://isis.astrogeology.usgs.gov/documents/CommandLine/CommandLine.html for details on this feature. 9 Selecting a ‘bolded/underlined’ term will display the Glossary 10 ISIS3 Terminology • Level 0 • Level 3 – Decompressed spacecraft data – Photometric normalization (optional) – Import PDS EDR into ISIS3 • Level 4 • SPICE (required) – Mosaicking (optional) – Spacecraft & Planetary ephemerides, – Instrument C-matrix and Event kernels • Glossary – ISIS3 uses the NAIF ToolKit for SPICE – The user documentation for many ISIS3 applications link to a Glossary of definitions • Level 1 – Radiometric calibration – Noise Removal (optional) • Level2 – Project image to map coordinates – Camera distortion correction applied 11 ISIS Support for MESSENGER • MESSENGER Development and Support Activities – Camera Models for Narrow Angle (NAC) and Wide Angle (WAC) cameras – Distribution of SPICE kernels – Radiometric calibration – Camera distortion correction – Photometric correction • Parameter setting are not released with ISIS, but will be supplied by command line in this tutorial for NAC and WAC filters – Generating global monochrome and color maps – Processing of PDS MDIS EDR, CDR, BDR and MDR data – Participate in development of special products (uncontrolled/controlled maps, updated kernels, stereo products and DEMs) • NASA, MESSENGER Project, Johns Hopkins University Applied Physics Laboratory and Arizona State University have provided funding and/or support to the USGS for the development of ISIS3 software and MDIS data products 12 Standard MESSENGER Processing Flow within ISIS3 Level 0 Import / Camera Distortion SPICE Model PDS EDR (mdis2isis,spiceinit) Correction Images Geometric/ 2D Map Shape: Photogrammetric (sphere or ellipsoid only) Information + Digital Elevation Model (camstats,caminfo, (if available) campt,phocube, footprintinit) Target Shape (IAU): [Level1 with SPICE (sphere or ellipsoid, triaxial) can be input also] + Digital Elevation Model (if available) Level 2 Level 1 Map Radiometric Projection No photometry (cam2map) Calibration Path: [Level1,2,4] If the imported PDS image has (mdiscal) been radiometrically calibrated (CDR) , spiceinit needs to be *Uncontrolled applied Mosaic Alternative path: [level1,3,2,4] photomet can be applied to a Level 4 *Uncontrolled Mosaic = The alignment of the Level1 image (instead of a Photometrically Mosaic Level2) before map projecting Normalized (automos images mapped to the surface and & mosaicking mosaicked together are based on: Level 3 Path: [Level1,2,3,4] mapmos) Photometry -The quality/accuracy of the SPICE kernels (photomet) -How well the image data/SPICE aligns with the DEM (if available and used). -Accuracy of the camera model (and ISIS) 13 *The same map resolution and Level 1 Level 2 center longitude was defined for all images as required Calibrated Equirectangular to mosaic with SPICE Map Projection* M2 Depart Color 3x3 WAC-G Filter 14 Level 4 MOSAICS Different Map Projections Equirectangular Orthographic Sinusoidal M2 Depart Color 3x3 WAC-G Filter 15 qmos Interactive Footprint Display Displays Level1 or Level2 image footprints in any ISIS map projected format Requirements: -SPICE (spiceinit) -Polygon (footprintinit) -Geometry/Photometric Info (camstats) 16 qmos Interactive Footprint Display qmos can display imagery! Use with caution! The rendering of images slows the response time significantly! 17 GEOMETRIC and PHOTOMETRIC TOOLS qview – Interactively reports information at every pixel 18 GEOMETRIC and PHOTOMETRIC TOOLS phocube – Application generates data for every pixel and creates an output cube Nadir (ema=0 deg) Mosaic of Limb Mosaic of Terminator Mosaic of Mosaic of Mosaic of Projected Images (ema=90 deg) (inc=90 deg) Ground Crosses the Emission Incidence Pixel longitude Longitude (Equirectangular) Resolution Angle Angle Range Resolution 0/360 (2.2 km - 3.2 boundary km) There are currently 20 data options available in phocube Additional applications that report observation, geometric and photometric information campt, camstats, caminfo, camrange 19 Output of campt Group = GroundPoint Sample = 512.0 # Illumination and Other Line = 512.0 Phase = 65.955039121282 PixelValue = 0.00260657 Incidence = 85.578537079895 RightAscension = 19.722259374476 Emission = 20.534413411423 Declination = -59.58327428227 NorthAzimuth = 111.81291300246 PlanetocentricLatitude = 48.354237551489 PlanetographicLatitude = 48.689922325464 PositiveEast360Longitude = 277.86849622301 # Time PositiveEast180Longitude = -82.131503776986 EphemerisTime = 288188598.81919 <seconds> PositiveWest360Longitude = 82.131503776986 UTC = 2009-02-18T00:22:12.634 PositiveWest180Longitude = 82.131503776986 LocalSolarTime = 16.51576718386 <hour> SolarLongitude = 211.92252854089 # Sun Information EndGroup SunPosition = (-177533702.4284, -103045154.79627, -47419881.109118)<km> SubSolarAzimuth = 359.48348806842 SolarDistance = 1.4082928265777 <AU> SubSolarLatitude = -13.007723818623 SubSolarLongitude = 210.13198846511 SubSolarGroundAzimuth = 218.08431231392 20 Azimuths: North, Sun, and Spacecraft Image Azimuth