Remove high_confidence from SlideRule retrieval (#72)

This commit removes all traces of "high_confidence" points from the codebase. For a discussion of this, see: SlideRuleEarth/sliderule#448. The main point is that "high_confidence" points are not necessarily a given surface type. Instead, we want to focus on just getting the ground, canopy, and top of canopy, which we already do. In addition, this commit speeds up the altimetry tests by skipping the actual external retrieval call. This means the `request_atl06sr_multi_processing` function is not tested, but that is mostly a wrapper for sliderule anyway. Also, I fixed CI tests here, by dropping use of mamba in favor of conda, which seems to have fixed things.
uw-cryo · Jan 16, 2025 · db6bd46 · db6bd46
1 parent bfbbf7f
commit db6bd46
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Showing 22 changed files with 864 additions and 164 deletions.
diff --git a/.github/workflows/run-tests.yml b/.github/workflows/run-tests.yml
@@ -29,8 +29,7 @@ jobs:
         echo $CONDA/bin >> $GITHUB_PATH
     - name: Install dependencies
       run: |
-        conda install mamba -c conda-forge
-        mamba env update --file environment.yml --name asp_plot
+        conda env create -f environment.yml
         source $CONDA/etc/profile.d/conda.sh
         conda activate asp_plot
         pip install .

diff --git a/asp_plot/altimetry.py b/asp_plot/altimetry.py
@@ -81,7 +81,7 @@ def __init__(
 
     def request_atl06sr_multi_processing(
         self,
-        processing_levels=["high_confidence", "ground", "canopy", "top_of_canopy"],
+        processing_levels=["ground", "canopy", "top_of_canopy"],
         res=20,
         len=40,
         ats=20,
@@ -95,11 +95,10 @@ def request_atl06sr_multi_processing(
         if not region:
             region = Raster(self.dem_fn).get_bounds(latlon=True)
 
+        # See parameter discussion on: https://github.com/SlideRuleEarth/sliderule/issues/448
+        # "srt": -1 tells the server side code to look at the ATL03 confidence array for each photon
+        # and choose the confidence level that is highest across all five surface type entries.
         parms_dict = {
-            "high_confidence": {
-                "cnf": 4,
-                "srt": -1,
-            },
             "ground": {
                 "cnf": 0,
                 "srt": -1,
@@ -286,10 +285,8 @@ def generic_temporal_filter_atl06sr(
 
             self.atl06sr_processing_levels_filtered[key] = atl06_filtered
 
-    def to_csv_for_pc_align(
-        self, key="high_confidence", filename_prefix="atl06sr_for_pc_align"
-    ):
-        atl06sr = self.atl06sr_processing_levels_filtered[key]
+    def to_csv_for_pc_align(self, key="ground", filename_prefix="atl06sr_for_pc_align"):
+        atl06sr = self.atl06sr_processing_levels_filtered[key].to_crs("EPSG:4326")
         csv_fn = f"{filename_prefix}_{key}.csv"
         df = atl06sr[["geometry", "h_mean"]].copy()
         df["lon"] = df["geometry"].x
@@ -301,12 +298,12 @@ def to_csv_for_pc_align(
 
     def alignment_report(
         self,
-        processing_level="high_confidence",
+        processing_level="ground",
         minimum_points=500,
         agreement_threshold=0.25,
         write_out_aligned_dem=False,
         min_translation_threshold=0.1,
-        key_for_aligned_dem="high_confidence",
+        key_for_aligned_dem="ground",
     ):
         filtered_keys = [
             key
@@ -324,10 +321,8 @@ def alignment_report(
                 )
                 continue
 
-            if not os.path.exists(
-                glob_file(
-                    os.path.join(self.directory, "pc_align"), f"*{key}*transform.txt"
-                )
+            if not glob_file(
+                os.path.join(self.directory, "pc_align"), f"*{key}*transform.txt"
             ):
                 csv_fn = self.to_csv_for_pc_align(key=key)
 
@@ -396,7 +391,7 @@ def alignment_report(
 
     def plot_atl06sr_time_stamps(
         self,
-        key="high_confidence",
+        key="ground",
         title="ICESat-2 ATL06-SR Time Stamps",
         cmap="inferno",
         map_crs="4326",
@@ -482,7 +477,7 @@ def plot_atl06sr_time_stamps(
 
     def plot_atl06sr(
         self,
-        key="high_confidence",
+        key="ground",
         plot_beams=False,
         plot_dem=False,
         column_name="h_mean",
@@ -599,7 +594,7 @@ def atl06sr_to_dem_dh(self):
 
     def mapview_plot_atl06sr_to_dem(
         self,
-        key="high_confidence",
+        key="ground",
         clim=None,
         plot_aligned=False,
         save_dir=None,
@@ -645,7 +640,7 @@ def mapview_plot_atl06sr_to_dem(
 
     def histogram(
         self,
-        key="high_confidence",
+        key="ground",
         title="Histogram",
         plot_aligned=False,
         save_dir=None,

diff --git a/notebooks/icesat2_plots.ipynb b/notebooks/icesat2_plots.ipynb
diff --git a/tests/test_altimetry.py b/tests/test_altimetry.py
@@ -1,3 +1,4 @@
+import geopandas as gpd
 import matplotlib
 import pytest
 
@@ -13,9 +14,18 @@ def icesat(self):
             directory="tests/test_data",
             dem_fn="tests/test_data/stereo/date_time_left_right_1m-DEM.tif",
         )
-        icesat.request_atl06sr_multi_processing(
-            filename="tests/test_data/icesat_data/atl06sr_",
-        )
+
+        # The actual request is fairly time consuming, thus better to be skipped for testing.
+        # icesat.request_atl06sr_multi_processing(
+        #     filename="tests/test_data/icesat_data/atl06sr_",
+        # )
+        for key in ["ground", "canopy", "top_of_canopy"]:
+            icesat.atl06sr_processing_levels[key] = gpd.read_parquet(
+                f"tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_{key}.parquet"
+            )
+            icesat.atl06sr_processing_levels_filtered[key] = gpd.read_parquet(
+                f"tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_{key}_filtered.parquet"
+            )
         return icesat
 
     def test_filter_esa_worldcover(self, icesat):
@@ -74,7 +84,7 @@ def test_mapview_plot_atl06sr_to_dem(self, icesat):
 
     def test_histogram(self, icesat):
         try:
-            icesat.histogram(key="high_confidence_45_day_pad")
+            icesat.histogram(key="ground_45_day_pad")
         except Exception as e:
             pytest.fail(f"histogram() method raised an exception: {str(e)}")
 

diff --git a/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_canopy.parquet b/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_canopy.parquet
diff --git a/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_canopy_filtered.parquet b/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_canopy_filtered.parquet
diff --git a/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_ground.parquet b/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_ground.parquet
diff --git a/...cnt10_ats20_maxi5_high_confidence.parquet → ...cnt10_ats20_maxi5_ground_filtered.parquet b/...cnt10_ats20_maxi5_high_confidence.parquet → ...cnt10_ats20_maxi5_ground_filtered.parquet
diff --git a/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_top_of_canopy.parquet b/tests/test_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_top_of_canopy.parquet
diff --git a/...est_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_top_of_canopy_filtered.parquet b/...est_data/icesat_data/atl06sr_res20_len40_cnt10_ats20_maxi5_top_of_canopy_filtered.parquet
diff --git a/...ign_high_confidence-inverse-transform.txt → ...ign/pc_align_ground-inverse-transform.txt b/...ign_high_confidence-inverse-transform.txt → ...ign/pc_align_ground-inverse-transform.txt
diff --git a/...pc_align_high_confidence-log-pc_align.txt → ...pc_align/pc_align_ground-log-pc_align.txt b/...pc_align_high_confidence-log-pc_align.txt → ...pc_align/pc_align_ground-log-pc_align.txt
@@ -2,7 +2,7 @@ ASP 3.5.0-alpha
 Build ID: 3585be8
 Build date: 2024-08-21
 
-/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_high_confidence.csv 
+/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_ground.csv 
 
 uname -a
 Darwin Bens-MacBook-Air-2.local 23.6.0 Darwin Kernel Version 23.6.0: Mon Jul 29 21:16:46 PDT 2024; root:xnu-10063.141.2~1/RELEASE_ARM64_T8112 x86_64
@@ -45,7 +45,7 @@ Vision Workbench log started at 2024-11-25 15:52:26.
 2024-11-25 15:52:39 {0} [ console ] : Reading: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif
 2024-11-25 15:53:26 {0} [ console ] : Loaded points: 82687133
 2024-11-25 15:53:26 {0} [ console ] : Loading the reference point cloud took 47.7141 s
-2024-11-25 15:53:26 {0} [ console ] : Reading: atl06sr_for_pc_align_high_confidence.csv
+2024-11-25 15:53:26 {0} [ console ] : Reading: atl06sr_for_pc_align_ground.csv
 2024-11-25 15:53:26 {0} [ console ] : Loaded points: 32711
 2024-11-25 15:53:26 {0} [ console ] : Loading the source point cloud took 0.102127 s
 2024-11-25 15:53:28 {0} [ console ] : Data shifted internally by subtracting: Vector3(-1.88009e+06,-813400,6.01997e+06)
@@ -83,9 +83,9 @@ Vision Workbench log started at 2024-11-25 15:52:26.
 2024-11-25 15:54:23 {0} [ console ] : Euler angles (degrees): Vector3(0,-0,0)
 2024-11-25 15:54:23 {0} [ console ] : Euler angles (North-East-Down, degrees): Vector3(7.9513867e-16,-0,1.4001392e-15)
 2024-11-25 15:54:23 {0} [ console ] : Axis of rotation and angle (degrees): Vector3(nan,nan,nan) 0
-2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence-transform.txt
-2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence-inverse-transform.txt
-2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence-beg_errors.csv
-2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence-end_errors.csv
-2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence-iterationInfo.csv
+2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground-transform.txt
+2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground-inverse-transform.txt
+2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground-beg_errors.csv
+2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground-end_errors.csv
+2024-11-25 15:54:23 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground-iterationInfo.csv
 2024-11-25 15:54:23 {0} [ console ] : Saving to disk took 0.279139 s
diff --git a/...gn/pc_align_high_confidence-transform.txt → ...ta/pc_align/pc_align_ground-transform.txt b/...gn/pc_align_high_confidence-transform.txt → ...ta/pc_align/pc_align_ground-transform.txt
diff --git a/...nfidence_15_day_pad-inverse-transform.txt → ...n_ground_15_day_pad-inverse-transform.txt b/...nfidence_15_day_pad-inverse-transform.txt → ...n_ground_15_day_pad-inverse-transform.txt
diff --git a/...gh_confidence_15_day_pad-log-pc_align.txt → ..._align_ground_15_day_pad-log-pc_align.txt b/...gh_confidence_15_day_pad-log-pc_align.txt → ..._align_ground_15_day_pad-log-pc_align.txt
@@ -2,7 +2,7 @@ ASP 3.5.0-alpha
 Build ID: 3585be8
 Build date: 2024-08-21
 
-/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_high_confidence_15_day_pad.csv 
+/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_ground_15_day_pad.csv 
 
 uname -a
 Darwin Bens-MacBook-Air-2.local 23.6.0 Darwin Kernel Version 23.6.0: Mon Jul 29 21:16:46 PDT 2024; root:xnu-10063.141.2~1/RELEASE_ARM64_T8112 x86_64
@@ -45,7 +45,7 @@ Vision Workbench log started at 2024-11-25 15:54:25.
 2024-11-25 15:54:36 {0} [ console ] : Reading: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif
 2024-11-25 15:55:10 {0} [ console ] : Loaded points: 68331153
 2024-11-25 15:55:10 {0} [ console ] : Loading the reference point cloud took 33.5239 s
-2024-11-25 15:55:10 {0} [ console ] : Reading: atl06sr_for_pc_align_high_confidence_15_day_pad.csv
+2024-11-25 15:55:10 {0} [ console ] : Reading: atl06sr_for_pc_align_ground_15_day_pad.csv
 2024-11-25 15:55:10 {0} [ console ] : Loaded points: 750
 2024-11-25 15:55:10 {0} [ console ] : Loading the source point cloud took 0.002246 s
 2024-11-25 15:55:10 {0} [ console ] : Data shifted internally by subtracting: Vector3(-1.88264e+06,-811445,6.01944e+06)
@@ -83,9 +83,9 @@ Vision Workbench log started at 2024-11-25 15:54:25.
 2024-11-25 15:55:45 {0} [ console ] : Euler angles (degrees): Vector3(0,-0,0)
 2024-11-25 15:55:45 {0} [ console ] : Euler angles (North-East-Down, degrees): Vector3(0,-0,-6.6413833e-16)
 2024-11-25 15:55:45 {0} [ console ] : Axis of rotation and angle (degrees): Vector3(nan,nan,nan) 0
-2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad-transform.txt
-2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad-inverse-transform.txt
-2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad-beg_errors.csv
-2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad-end_errors.csv
-2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_15_day_pad-iterationInfo.csv
+2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad-transform.txt
+2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad-inverse-transform.txt
+2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad-beg_errors.csv
+2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad-end_errors.csv
+2024-11-25 15:55:45 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_15_day_pad-iterationInfo.csv
 2024-11-25 15:55:45 {0} [ console ] : Saving to disk took 0.005852 s
diff --git a/..._high_confidence_15_day_pad-transform.txt → .../pc_align_ground_15_day_pad-transform.txt b/..._high_confidence_15_day_pad-transform.txt → .../pc_align_ground_15_day_pad-transform.txt
diff --git a/...nfidence_45_day_pad-inverse-transform.txt → ...n_ground_45_day_pad-inverse-transform.txt b/...nfidence_45_day_pad-inverse-transform.txt → ...n_ground_45_day_pad-inverse-transform.txt
diff --git a/...gh_confidence_45_day_pad-log-pc_align.txt → ..._align_ground_45_day_pad-log-pc_align.txt b/...gh_confidence_45_day_pad-log-pc_align.txt → ..._align_ground_45_day_pad-log-pc_align.txt
@@ -2,7 +2,7 @@ ASP 3.5.0-alpha
 Build ID: 3585be8
 Build date: 2024-08-21
 
-/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_high_confidence_45_day_pad.csv 
+/Users/ben/asp/dev/libexec/pc_align --max-displacement 20 --max-num-source-points 10000000 --alignment-method point-to-point --csv-format "1:lon 2:lat 3:height_above_datum" --compute-translation-only --output-prefix /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif atl06sr_for_pc_align_ground_45_day_pad.csv 
 
 uname -a
 Darwin Bens-MacBook-Air-2.local 23.6.0 Darwin Kernel Version 23.6.0: Mon Jul 29 21:16:46 PDT 2024; root:xnu-10063.141.2~1/RELEASE_ARM64_T8112 x86_64
@@ -45,7 +45,7 @@ Vision Workbench log started at 2024-11-25 15:55:47.
 2024-11-25 15:55:58 {0} [ console ] : Reading: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/stereo/20220417_2252_1040010074793300_1040010075633C00-DEM_1m.tif
 2024-11-25 15:56:33 {0} [ console ] : Loaded points: 73202534
 2024-11-25 15:56:33 {0} [ console ] : Loading the reference point cloud took 35.1191 s
-2024-11-25 15:56:33 {0} [ console ] : Reading: atl06sr_for_pc_align_high_confidence_45_day_pad.csv
+2024-11-25 15:56:33 {0} [ console ] : Reading: atl06sr_for_pc_align_ground_45_day_pad.csv
 2024-11-25 15:56:33 {0} [ console ] : Loaded points: 1261
 2024-11-25 15:56:33 {0} [ console ] : Loading the source point cloud took 0.003867 s
 2024-11-25 15:56:34 {0} [ console ] : Data shifted internally by subtracting: Vector3(-1.88283e+06,-811207,6.01941e+06)
@@ -83,9 +83,9 @@ Vision Workbench log started at 2024-11-25 15:55:47.
 2024-11-25 15:57:11 {0} [ console ] : Euler angles (degrees): Vector3(0,-0,0)
 2024-11-25 15:57:11 {0} [ console ] : Euler angles (North-East-Down, degrees): Vector3(0,3.1805547e-15,-1.677861e-15)
 2024-11-25 15:57:11 {0} [ console ] : Axis of rotation and angle (degrees): Vector3(nan,nan,nan) 0
-2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad-transform.txt
-2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad-inverse-transform.txt
-2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad-beg_errors.csv
-2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad-end_errors.csv
-2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_high_confidence_45_day_pad-iterationInfo.csv
+2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad-transform.txt
+2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad-inverse-transform.txt
+2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad-beg_errors.csv
+2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad-end_errors.csv
+2024-11-25 15:57:11 {0} [ console ] : Writing: /Users/ben/Dropbox/UW_Shean/WV/2022/WV03_20220417_1040010074793300_1040010075633C00/pc_align/pc_align_ground_45_day_pad-iterationInfo.csv
 2024-11-25 15:57:11 {0} [ console ] : Saving to disk took 0.01264 s
diff --git a/..._high_confidence_45_day_pad-transform.txt → .../pc_align_ground_45_day_pad-transform.txt b/..._high_confidence_45_day_pad-transform.txt → .../pc_align_ground_45_day_pad-transform.txt
diff --git a/...confidence_seasonal-inverse-transform.txt → ...ign_ground_seasonal-inverse-transform.txt b/...confidence_seasonal-inverse-transform.txt → ...ign_ground_seasonal-inverse-transform.txt