Lesson 2

Objectives

• First we will generate a maplet with the following parameters:
  • center at 45, 270 (lat,wlon)
  • scale = .00075 km/px
  • size = 99 x 99 px or 99 x 99 km
  • name = ‘TEST01’
• Then we will tile TEST01 with 9 overlapping better resolution maplets (LMK001-LMK009)

LITHOS: Create New Landmark

• lithos

• c - create new landmark name

• TEST01 - landmark name

• l - define landmark control point by specifying a latitude and longitude on the body

• 45 270 - lat, lon

• .00075,49 - enter scale (km/px), qsz

• i - input landmark

• TEST01 - landmark name (as previously named)

• y - check for images?

• 0.5 - fractional width

• n - reject invisibles

• In a second terminal:

  cd Bennu
  ls -lt | head
  display LMRK_Display1.pgm

You can also use the SPC_Tools: landmarks

LITHOS: Eliminate Pictures from Landmark

• e - eliminate pictures from landmark

• n - auto-eliminate new images only (a for auto-eleiminate)

• 0,50,.2,.2,0,4 - Input INVLIM,SLIM,CLIM,ILIM,RSMN,RSMX

• INVLIM = 1000 * MAX INVISIBLE FRACTION (0-1000)
• SLIM = MAX EMISSION ANGLE (0-90)
• CLIM = MIN FRACTION OF VISIBLE (0-1)
• ILIM = MIN FRACTION IN SHADOW (0-1)
• RSMN = MIN IMGSCALE/MAPSCALE (0-inf)

• RSMX = MAX IMGSCALE/MAPSCALE (0-inf) =>set according to printout and LMRK_DISPLAY

• Most permissible: 1000,90,0,0,0,inf => does not throw any image away

• Least permissible: 0,0,1,1,inf,0 => throws all away

• display LMRK_DISPLAY1.pgm

LITHOS: Get Heights from Shape and Find Normal, V

• m - get heights from shape model

• n - find normal

• 2 - normal from heights

• m - get heights from shape model

• u - update landmark file (save)

• 1 - save map

• In 2nd terminal:

  cd Bennu
  ls -lt | head
  display LMRK_Display1.pgm
  more LMRKLIST.TXT
  more LMKFILES/TEST01.LMK
  more MAPFILES/TEST01.MAP
  showmap 
      TEST01

Then display the TEST01.pgm (xv, imageMagick, convert, GraphicConverter)

LITHOS: Align Landmarks in Pictures

• 1 - align landmarks

• 3 - align with picture

• 23 - picture #2 in LMRK_DISPLAY

• 1 - enter spacing

• y - new spacing? Yes b/c it only aligned a few images

• 2 - enter spacing

• y - new spacing? Yes b/c it only aligned a few images

• 3 - enter spacing

• y - new spacing? Yes b/c 3 caused a couple images to shift>10px

• 2 - enter spacing

• n - new spacing? No, lets just use the correlated images first

• 0 - continue

• y - update landmark pixel locations?

• 1 - align landmarks

• 3 - align with picture

• 1 - picture #2 from last iteration became picture #1

• 1 - enter spacing

• n - new spacing?

• 0 - continue

• y - update landmark pixel locations?

• display LMRK_Display1.pgm

LITHOS: Find Template

• u - update landmark file (save)

• 1 - Save map

• 0 - find template

• c - use correlated

• .7 - enter correlation limit

• 0 - find template

• 0 - continue

• 40 - number of iterations

• display LMRK_Display.pgm

LITHOS: Align Landmarks and Find Template

• 1 - align landmarks

• 0 - auto align

• 1 - enter spacing

• y - new spacing?

• 2 - enter spacing

• n - new spacing?

• 0 - continue

• y - update landmark pixel locations?

• 1 - align landmarks

• 0 - auto align

• 1 - enter spacing

• n - new spacing?

• 0 - continue

• y - update landmark pixel locations?

• display LMRK_Display1.pgm

• 0 - find template

• c - use correlated

• .7 - enter correlation limit

• 0 - find template

• 0 - continue

• 40 - number of iterations

• display LMRK_DISPLAY1.pgm
• REPEAT ONCE

LITHOS: Solve for Heights

• 2 - find heights

• 8 - fill with shape

• 2 - include existing heights

• .01 - input fraction of points

• 1 - auto include neighboring maps

• 4 - include limb vectors

• 1,2.5,3 - input expansion, res/scale limit, d_hgt limit

• 6 - include differential stereo

• y - use gradients?

• y - autoheights?

• 0 - begin iteration

• .025 - input weight

• 30 - enter number of iterations

• 0 - end iterations

• display LMRK_DISPLAY1.pgm
• display slope.pgm

LITHOS: Final Alignment and Save

• 1 - align landmarks

• 0 - auto align

• 1 - enter spacing

• n - new spacing?

• 0 - continue

• y - update landmark pixel locations?

• # We are skipping V-4 for now. You add this when the model is stable

• # v - find V,Z,PTG

• # 4 - PTG/SCOBJ from Z and V (current images)

• u - update landmark file (save)

• 1 - save map