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drizzle v3.4 -- Linear Image Reconstruction by "drizzling"
drizzle data outdata
- data = "" [file name]
- The name of the input image file which is to be "drizzled".
- outdata = "" [file name]
- The name for the output data image onto which the data will be "drizzled". If this image already exists the data will be drizzled on top of it, otherwise it will be created.
- (outweig = "") [file name]
- Output weighting image. If this is null then no output weighting image will be created. If outdata is a file which exists and is to be updated then outweig must also exist and be specified.
- (outcont = "") [file name]
- Output context image. If this is null then no output context image will be created. Context images are new in V2.6 of Drizzle and are described in more detail below.
- (in_mask = "") [file name]
- The optional weight image for the input data. This image will be multiplied by the wt_scl parameter before use. Weights should be positive real numbers and are used in the optimal linear combination with other images. Bad data points may be flagged here using zeroes and hence given zero weight when combined with other images. If this array is not present all values in in_mask are set equal to 1.0. The normal mode of use is to set all values in this array to either 1. or 0. and then scale the final weight using the wt_scl parameter.
- (wt_scl = "exptime") [real]
- Weighting factor for input image. If wt_scl=exptime then the scaling value will be set equal to the exposure time found in the image header. This is the default behavior and is recommended. It is also possible to give wt_scl=expsq for weighting by the square of exposure time. The latter is optimal for read-noise dominated images.
- (outnx = 800) [integer]
- The size in X of the output pixel grid if there is no old data array, i.e., if one is drizzling onto an empty array. If there is an old data array this number is ignored.
- (outny = 800) [integer]
- The size in Y of the output pixel grid if there is no old data array, ie, if one is drizzling onto an empty array. If there is an old data array this number is ignored.
- (kernel = "square") [string]
- The form of the kernel function used to distribute flux onto the output image. The options are currently square|point|gaussian|turbo|tophat|lanczos2|lanczos3. Square is the default and corresponds to the behavior of earlier versions of the code. More information about the different kernels is given below.
- (pixfrac = "1.0") [real]
- A real number between 0 and 1 giving the size of the footprint, or "dropsize", of a pixel in units of the input pixel size. If pixfrac is set to less than 0.01 the kernel is changed to "point" for processing. In the case of kernels which are not "square" this parameter is used to define the FWHM of the kernel function in units of the input pixels. For the "point" kernel this value is meaningless and is ignored.
- (scale = 1.0) [real]
- The size of the output pixels relative to the input pixels. Thus, setting scale=0.5 puts the output image on a grid with pixels half the (linear) size of the input pixels.
- (coeffs = "") [file name]
- The name of a text file containing the coefficients for the geometrical
transformation to be applied.
The transformations derived by John Trauger for removal of geometric distortion from the WFPC2 camera on HST as well as suitable files for HST/NICMOS and STIS are supplied in the standard distribution and will be installed in the directory drizzle$coeffs/ by default. The files are named pc1-trauger, wf2-trauger etc for WFPC2, nic-1, nic-2 and nic-3 for NICMOS and stis-ccd, stis-nuv-mama and stis-fuv-mama for STIS.
It should be noted that the nic-3 file has been derived from data covering the same time periods as the nic-1 and nic-2 files, ie times during which the NIC3 camera was mostly out of focus. Users who have NIC3 data from one of the NICMOS refocus campaigns can access a distortion file appropriate for in-focus NICMOS3 data, by specifying it explicitly as: coeffs=drizzle$coeffs/nic-3-infocus
These geometric transformations are always applied before the shifts, rotations and scale changes specified by other parameters.
If coeffs=header is specified the header of the image will be searched for the keywords "INSTRUME", "DETECTOR" and possibly "PHOTPLAM". The first will be used to find out which instrument is in use, at present this is either WFPC2, NICMOS or STIS. The detector keyword is used to establish the chip of WFPC (1=PC,2-4 are WFC) or which of the NICMOS or STIS cameras is in use. For the WFPC2 case the PHOTPLAM keyword is used to find the pivotal wavelength. These will then be used to select the appropriate file in the drizzle$coeffs directory and the appropriate wavelength. Note that this only works for the three instruments mentioned. The value of wavelength found this way (for WFPC2) overrides that set in the "lambda" parameter.
- (lambda = 555.0) [real]
- The wavelength (in nm) associated with the image. This is used for the
"Trauger" style coefficients for which the distortion is a weak function of
wavelength. It is only relevant for WFPC2 and is otherwise ignored.
If the coeffs=header option is in use and the instrument is WFPC2 this value for the wavelength is ignored and the one found in the header used instead.
- (xsh = 0.0) [real]
- A shift in X to be applied to the input image after the geometric transform. This shift may be defined either in the input or output frame, according to the value of the "shft_fr" parameter. Shifts are always along the axes of the image. Positive values shift the image to the right. Units are determined by the "shft_un" parameter. See notes below for a definition of the center of rotation.
- (ysh = 0.0) [real]
- A shift in Y to be applied to the input image after the geometric transform. This shift may be defined either in the input or output frame, according to the value of the "shft_fr" parameter. Shifts are always along the axes of the image. Positive values shift the image upwards. Units are determined by the "shft_un" parameter. See notes below for a definition of the center of rotation.
- (rot = 0.0) [real]
- The rotation in degrees anti-clockwise to be applied to the input image after the non-linear part of the transform has been performed. Whether or not the rotation is applied after or before the shifts is determined by the value of the "shft_fr" parameter. See notes below for a definition of the center of rotation.
- (sh_units = "input") [string]
- Whether the shifts are specified in units of "input" or "output" pixels.
- (shft_fr = "input") [string]
- The frame in which the shifts are applied, or to put it another way, whether to apply the rotation before the shifts. If "output" the input image center is mapped to the center of the output grid, rotated about that center and then shifted along the grid of the output image. If "input" then the input image center is mapped to the center of the output image, shifted along the grid of the output image and then rotated about the center of the output image. See notes below for a definition of the center of rotation.
- (xgeoim = "") [file name]
- The name of an additional distortion correction image, in the X-direction. This is a real array, the same size as the input image, which represents an additional shift in the X direction which is applied after the polynomial distortion coefficients but before the linear transformation.
- (ygeoim = "") [file name]
- The name of an additional distortion correction image, in the Y-direction. This is a real array, the same size as the input image, which represents an additional shift in the Y direction which is applied after the polynomial distortion coefficients but before the linear transformation.
- (align = "center") [string]
- Whether the reference point used in transforming the input image coordinates to the output ones is aligned on the corner or center of a pixel. If the task is being used to mimic shift-and-add this should be set to "corner" otherwise, and particularly when performing interlacing, it should be set to "center". More details of the definition of the image centers are given below.
- (dr2gpar = "") [pset]
- This is a new feature in V2.6. A pset with this name is used to define optional, additional "secondary" geometrical parameters within Drizzle. More details about this feature are given below.
- (expkey = "exptime") [string]
- The keyword in the header which specifies the exposure time (in seconds) of the image. The default is suitable for HST images. The value of the exposure time will be used for the image weighting if wt_scl=exptime.
- (in_un = "counts|cps") [string]
- Whether the units of the input image are counts or counts-per-second. The choice of this parameter should match the units of the input data file. In the case of HST, WFPC2 and STIS images are in counts, while NICMOS images are in cps. Note that in the case of mosaicing it is most efficient to work in units of cps for input and output.
- (out_un = "counts|cps") [string]
- Whether the units of the output image are counts or counts-per-second. The user may set this according to preference, without regard to the nature of the input image. Note that in the case of mosaicing it is most efficient to work in units of cps for input and output.
- (fillval = "INDEF") [string]
- This value is assigned to points in the output image which either have a weight of zero or which have remained "dry" during the drizzling process. If fillval="INDEF", and the weight in both the input and output images at a given point are zero, that point will be set to the value it would have had had the input had a non-zero weight.
This task is an implementation of the image combination method known formally as variable-pixel linear reconstruction and informally as "drizzling". Users are referred to one of the references given below for a detailed description of the method and its properties.
Drizzling takes the input pixel grid and associates with each pixel a kernel, typically a square whose size can vary between that of the original input pixel (pixfrac = 1.) down to a point (pixfrac=0). The form of the kernel is determined by the "kernel" parameter. The default behavior is to use a square. With uniform, equal weight images pixfrac=1 is equivalent to "shift-and-add". If input images are shifted so that, with a very small pixfrac, only one input pixel is drizzled onto an output pixel, the method is equivalent to interlacing. This can also be very efficiently done using "kernel=point".
Drizzle has a rather daunting number of parameters to allow it to handle many different cases. However, the majority of applications can be handled by using the default values and it is recommended that the parameters "outcont", "kernel", "dr2gpar", "wt_scl", "shft_un", "shft_fr", "align","in_un" and "out_un" should only be changed from the defaults after carefully reading the notes about then in this help file and considering the consequences.
For many applications it is more convenient to drizzle images using higher level scripts, such as PyDrizzle and MultiDrizzle rather than using drizzle itself.
The input image may be shifted and rotated with respect to the output image, and a geometric transform can be applied to the input images before combination. In this version, the geometric transforms appropriate for removing the geometric distortion of the HST WFPC2, NICMOS and STIS (imaging modes) cameras are implemented. The "coeffs=header" option allows a convenient way of selecting the correct geometric transformation for these instruments based on header keywords. In the case of ACS a suitable coefficients file is normally created by PyDrizzle and supplied directly to drizzle.
It is important to understand and define the "center" of the image. This is controlled by the value of the parameter "align". If "align" is "center" then the center is defined as the point (real(nx/2)+1.0, real(ny/2)+1.0) - ie, (401.0,401.0) for a normal WFPC2 frame when the standard IRAF convention is used (center of bottom left-hand pixel at 1.0,1.0). If "align" is "corner" then the center is defined as the point (real(nx/2)+0.5, real(ny/2)+0.5) - ie, (400.5,400.5) for a normal WFPC2 frame. The center of the input image defined in this way is mapped onto the center of the output. Note that the division operations (nx/2 etc) are done in integer arithmetic.
Each input image can have associated with it a weight image. An output weight image is also created but is saved only at the request of the user. Multiple images are combined successively, with each image after the first drizzled onto the output of the previous run of drizzle. If multiple images are to be drizzled (which is the usual case), the output weights of the intermediate drizzle operations must be saved.
The input weight images (in_mask) should contain only non-negative real numbers. The input weight image is multiplied by the parameter wt_scl before being used. This allows the user to set the input weight image to a pixel mask (good=1; bad=0) and then determining the final weight by supplying a scale factor. Note that this weight image is NOT the same as a data quality image in which zero normally means good and non-zero values indicate various kinds of nasty failures of a given pixel. A data quality file may be converted into a mask suitable for drizzle using a command such as:
imcalc dq-image mask-image "if im1 .ne. 0.0 then 0.0 else 1.0"More complex expressions can be used to isolate specific data quality flags.
If the image header contains an exposure time keyword, the user may set wt_scl=exptime (the user must then also supply drizzle with the appropriate keyword). This weighting is optimal when errors are Poisson (shot noise) and is recommended. Alternatively it is possible to set wt_scl=expsq so that the weighting is set to the square of the exposure time. This is appropriate for read-noise limited data.
When performing photometry on the final output image from drizzling one should, in theory, weight the image pixels by the values in the weight image. However, few photometry packages make such weighting a simple matter. One can largely avoid the need for such weighting, by choosing drizzle parameters (in particular pixfrac and scale) such that the standard deviation of the weight image is not a large fraction of the final output weight. A rule of thumb is that one should produce an output weight image whose standard deviation is less than thirty percent of the average weight value. If this rule is followed, then use of the weight image in photometry adds little to the final signal-to-noise.
The drizzling method only works on images which have been scaled to counts per unit time. The scaling is done internally if the input is not in units of counts-per-second (specified by the "in_un" parameter) making use of the exposure time in the image header. The output image can be either supplied in units of counts or counts-per-second according to the value of the "out_un" parameter. In the former case the output is the weighted sum of the inputs and in the latter it is the weighted average. The output image header exposure time keyword is updated to the sum of the input exposure times. After allowing for re-scaling between counts and cps, Drizzling preserves total counts, not counts per pixel. Therefore, if scale != 1, then the counts per pixel will be reduced by the ratio of the areas of the pixels.
All the parameters used in the processing are appended to the output image header each time a drizzling operation is performed. The world coordinate system is also modified to reflect the shifts, scale changes and rotations applied. This is done when the output file is created, subsequent drizzle runs "on top" of the same file will not modify the WCS items in the header further.
If the output image exists the parameters used for the previous drizzle are read and compared to the current ones. The user is alerted to possibly incompatible combinations. A total of 999 images may be drizzled onto the same output image without causing confusion of header information.
If the input image is defined as an image section the WCS information in the outputs may be wrong as well as the geometrical correction incorrectly applied.
The drizzle task is a collaborative effort between Andy Fruchter and Richard Hook. The task was written by Richard Hook (ST-ECF, firstname.lastname@example.org). Andy Fruchter (STScI, email@example.com) thought up most of the ideas used. For more information see:
http://www.stsci.edu/~fruchter/dither/drizzle.html or one of the following references, the last of these should be given when citing the method in a publication which makes use of it: Fruchter, A.S. & Hook, R.N., 1997, "A novel image reconstruction method applied to deep Hubble Space Telescope Images", Invited paper, in Applications of Digital Image Processing XX, ed. A. Tescher, Proc. S.P.I.E. vol. 3164, 120 Hook, R.N., Fruchter, A.S., 1997 "Variable Pixel Linear Reconstruction", in Proceedings of the 6th annual conference on Astronomical Software and Systems (ADASS 96), Charlottesville, VA., 147 Fruchter, A.S., Hook, R.N., Busko, I.C. & Mutchler, M., 1998, "A Package for the Reduction of Dithered Undersampled Images", in Proceedings of 1997 HST Calibration Workshop, STScI, S. Casertano, et al, eds., 518 A.S. Fruchter & R. N. Hook, 2002, "Drizzle: A Method for the Linear Reconstruction of Undersampled Images", PASP, 114, 144
Drizzle includes facilities for preparing mosaics where the output image is much larger than the input. The task allocates memory, and accesses the image on disk, for the appropriate subset of the output, not the whole image. As a result it is possible to use Drizzle to create large output mosaic images on a typical workstation. It should be noted that it is important that the output images should be in units of "cps" in these cases to avoid the need for rescaling the entire image to the new output exposure time. The exposure time in the header of the output will be the sum of the exposure times of the input images, as before, although this will of course not be the effective exposure time of a pixel in the output in the case of a mosaic.
Drizzle also includes the capability to produce so-called "context" images as an optional data product. Context images encode information about which input image contributes to a specific output pixel. This is done using a simple bitmask where "bit set" means that that image, in the order they were combined, contributed with non- zero weight to that output pixel. The context image starts as a 32bit integer but is extended as a cube with additional 32 bit deep planes as required. The values for each pixel rely on signed 32-bit integers defined by Fortran. This results in the pixel value for the first 31 input images being set to 2**(n-1), yet due to the signed nature of the Fortran integer, the 32'nd image will be given a value of -2**31.
Context images are intended to allow the reconstruction of information about the input images which contributed to a particular output pixel. For many purposes they will not be needed.
Drizzle includes has a parameter "kernel" which determines the form of the kernel function which distributes weight in the output. The original classical drizzling corresponds to "kernel=square". Currently available additional options for the value of "kernel" are:
"point" the kernel is a point so each input pixel can only contribute to the single pixel which is closest to the output position. It is equivalent to the limit pixfrac -> 0. It is very fast. "gaussian" the kernel is a circular gaussian with FWHM equal to the value of pixfrac, measured in input pixels. "turbo" this is similar to kernel="square" but the box is always the same shape and size on the output grid and always aligned with the X and Y axes. This results in a significant speed increase in some cases. "tophat" the kernel is a circular "top hat" shape of width pixfrac. In effect only output pixels within pixfrac/2 of the output position are affected. "lanczos2" a Lanczos style kernel extending 2 pixels from the center. The Lanczos kernel is a damped, bounded form of the "sinc" interpolator and is very effective for resampling single images when scale=pixfrac=1. It leads to less resolution loss than the other kernels, and also less correlated noise in outputs. It is however much slower. It should never be used for pixfrac != 1.0 and is not recommended for scale != 1.0. "lanczos3" a Lanczos style kernel extending 3 pixels from the center. This is the recommended form of the Lanczos. It should be noted that none of these new kernels have been extensively tested and they should be used with care. If in doubt stick with the default.
When combining dithered images one normally begins by measuring the offsets between all the images in a set so that one can combine them. However, quite often one then needs to apply a transformation to the result - for example a small "tweak" in X,Y or a large rotation to put north at the top. It is very tricky to combine these two operations by directly modifying the drizzle input parameters, particularly if rotations are present. To ease these operations the secondary geometric parameter pset has been introduced in Drizzle V2.6. It is called "dr2gpar" (DRizzle 2ndary Geometrical PARameters) and may be set either using "epar dr2gpar" or via the ":e" command from the dr2gpar line whilst in "epar drizzle".
The parameters and their default values are: dr2gpar.xscale = 1. dr2gpar.yscale = 1. dr2gpar.xsh = 0. dr2gpar.ysh = 0. dr2gpar.rot = 0. dr2gpar.shft_fr = "output"The parameters are in two groups: xscale/yscale and the rest. The scaling parameters are applied on the original pixel grid, before distortion correction or the primary linear geometrical transformations. This is really a "tweak" for rare occasions and should not normally be used.
The four remaining parameters define a shift and rotation which is applied after all other geometrical transformations. They are defined in the same was as the primary geometrical parameters of the same name.
If these parameters are set to anything other than the defaults Drizzle will write out a warning message to prevent them being forgotten about.
First example: A typical sequence of drizzles for combining a set of dithered WFPC images would start as: 1. Drizzle the first input image using the standard "Trauger" transformation for a WF2 image. Were the image from one of the other cameras, wf1, wf3 or pc1 would be substituted for wf2 below. cl> drizzle image wf2-corr outweig="wf2-corrw" coeffs="dither$wf2-trauger" in_mask="mask" lambda=606 pixfrac=0.65 scale=0.5 outnx=1800 outny=1800 The image "image" will be weighted using the image "mask". There is no extant data or weighting image. The result will be put into the image "wf2-corr" and the corresponding output weighting image will be written to "wf2-corrw". The wf2-trauger coefficient set will be used and is assumed to be in the "dither" directory, for a wavelength of 606nm. The image will be drizzled onto an image with a pixel grid twice as fine as the input image. The output image has been made slightly larger than twice the input image to allow shifted images to be placed on the output without truncation. A pixfrac=0.65 gives nearly all the resolution gain of a pixfrac of 0 yet fills in the image nicely, especially when one has only a handful of images. 2. Drizzle another, shifted image onto the result of the first: cl> drizzle image2 wf2-corr outweig="wf2-corrw" coeffs="dither$wf2-trauger" in_mask="mask2" lambda=606 xsh=17.3 ysh=-10.3 pixfrac=0.65 scale=0.5 In this case the second image will be drizzled onto the result of the first after being shifted by 17.3 and -10.3 pixels in X and Y respectively. Both of the above examples could have been simplified by specifying coeffs="header" which automatically selects the correct wavelength and coefficients file name for standard WFPC data. Second example: In another case a user has observed using a two-point dither along a diagonal line. The points were offset by 2.5 pixels in x and y. The user wishes to interlace the data on a new grid with pixel size root two of the original pixel size and rotated by 45 degrees. In the new coordinate system the shift is aligned with the y axis and has a size of 5 pixels. The offset is small enough that geometric distortion is not a concern. drizzle image1 wf2-dr outweig=wf2-drc in_mask=im1_mask rot=45 scale=0.7071 drizzle image2 wf2-dr outweig=wf2-drc in_mask=im2_mask rot=45 shft_fr=input scale=0.7071 pixfrac=0.6 xsh=2.5 ysh=2.5 shft_un=input Note that the shft_fr=input has been selected so that the shifts are applied in the more natural input coordinate system before the images are rotated by 45 degrees. A pixfrac of 0.6 has been chosen so that a drizzled pixel slightly affects the value in neighboring pixels (remember that the input pixels are now rotated by 45 degrees w.r.t. the output pixels). As a result, a pixel whose primary input has been masked out will be given a value equal to the average of the adjacent good pixels.
We request that authors using Drizzle cite it in resulting publications. The following citation is strongly recommended:
Fruchter A.S. & Hook R.N. 2002, PASP, 114, 144
A single 4096x2048 ACS chip can be drizzled onto a 4500x4500 output, using the scale=pixfrac=1.0 with the "square" kernel and geometric distortion correction in about 90s on a SUN Blade 1000, 750MHz, machine. The "lanczos3" kernel is significantly slower and the "turbo" and "point" kernels much faster, although the latter is not appropriate in most cases. About 90Mbytes of memory is used for this test.
1. WCS implementation is not comprehensive and will not work correctly on image sections. 2. The method of storing the coefficients is not compatible with other IRAF tasks such as geomap/geotran. 3. The geometrical distortion correction may be incorrectly applied if the input image is an image section. 4. Grouped data must be handled image by image.
PyDrizzle and MultiDrizzle provide convenient higher-level interfaces to Drizzle and are strongly recommended.