= 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

{{attachment:lesson2_EliminatePicsFromLandmark.jpg||width=600}}

{{attachment:lesson2_EliminatePicsFromLandmark2.jpg||width=600}}

 * 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)

{{attachment:lesson2_GettingHeights.jpg||width=300}}

=== LITHOS: Align Landmarks in Pictures ===
|| Option 1.  Use this when the template you see in LMRK_DISPLAY1.pgm is poor || Option 2 (typical).  Use this as much as you can ||
|| '''1''' - align landmarks || '''1''' - align landmarks ||
||  '''3''' - align with picture || '''0''' - align with template ||
||  '''23''' - picture #2 in LMRK_DISPLAY || '''3''' - enter spacing ||
||  '''1''' - enter spacing || '''n''' - new spacing?  ||
||  '''y''' - new spacing? Yes b/c it only aligned a few images || '''0''' - continue  ||
||  '''2''' - enter spacing || '''y''' - update landmark pixel locations?  ||
||  '''y''' - new spacing? Yes b/c it only aligned a few images || '''1''' - align landmarks ||
||  '''3''' - enter spacing || '''0''' - align with template ||
||  '''y''' - new spacing? Yes b/c 3 caused a couple images to shift>10px ||  '''1''' - enter spacing ||
||  '''2''' - enter spacing ||  '''n''' - new spacing?  ||
||  '''n''' - new spacing? No, lets just use the correlated images first ||   '''0''' - continue  ||
||  '''0''' - continue ||  '''y''' - update landmark pixel locations?  ||
||  '''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