Scope

Purpose

This user manual includes overviews, procedures and reference for executables, directories and files associated with the SPC (Stereophotoclinometry) software. This users manual was developed in part to fulfill the requirements defined in NASA Procedure Requirement 7150.2A and specifically Software CDRL SW10 explicitly called out in the OSIRIS-REx Project Software Management Plan 0007.

Tools and Installation

The SPC is FORTRAN toolkit to support optical navigation and scientific study of small bodies. The primary purposes of these executable programs are to:

Ingest OSIRIS-REx camera images and characterize any errors in the camera pointing, spacecraft and asteroid position, asteroid control point location and/or rotational kinematics that may lead to navigation errors. These residuals or errors will be reformatted and written out to a file (REGRES file), which will be used as one of the inputs into the MIRAGE navigation program.

Generate numerous data products that will be used for scientific research and analysis, such as the Bennu shape model and high-resolution terrain maps. These products will be used to aide in the sample site selection.

Building and installation of the software is described in UA-HBK-9.4.4-206_SPOC SPC Toolkit Build Instructions. That document describes the operating system, compiler and libraries needed to install SPC from source code. SPC executables can be used to process data without the install, but it is recommended that the directory structure laid out in the Toolkit Build Instructions be followed.

Applicability

This manual applies to all SPC software versions up through 3.0, including the development versions 2.1A7, 3.0A0 and 3.0A2. The version 3.0A2 release is based on the 2.1A7 module versions with the exception of PROCESS_FITS, GEOMETRY, and REGRES which are at module release level of 3.0A0, 3.0A0, and 3.0A2 respectively. Future builds will bring all modules to a consistent release version to eliminate any confusion.

The SPC Users Manual is intended for trained users who have some supervised training and experience using the programs described here. This manual cannot take the place of experience and time with an instructor who has a deep knowledge of the program and its use. Capable users must develop intuition and insight into the process of building shape models with SPC through practice, and this manual alone cannot provide that insight.

This manual requires that the user have gone through the initial SPC training and have demonstrated Level 1 and Level 2 of the SPC User Skill Levels as described below.

SPC User Skill Levels

Level 1 - Introduction to SPC and the most basic tasks with landmarks.

Create a landmark

Add images

Autoremove images

Build template

Select images

Show which ones

Correlate

Align

Autoalign

Align with image

Align with gradients

Topography

Just using defaults

Level 2 - Basic user - Basic ability to do SPC's most key functions. Can support operations under direct supervision of a fully-trained SPC user. Can run most key SPC functions, but requires help bridging gaps.

Building workspaces

Bigmap

Showmap

Lithos -> find

Batch landmark generation

Map_coverage

Make_tilefile

Make_scriptT

Find_nofitT

Export

Batch Run

Duplicates

Make_LMRKLISTX

Make_scriptP

Find_nofitP

Display

Level 3 - Experienced User - Capable of doing all essential functions of SPC to process data and build shape model. Can run most of a project, but would need support for initial setup and trouble shooting.

Establishing and Verifying Connections

Overlaps

Limbs

Build Shape

Densify

Dumber

CompareOBJ

ICQ format

Analysis

Residuals

Geometry

Sigmas

Ingesting images

Makesumfile.txt -- adding kernels

Autoregister

Register

Make_scriptR

Make_scriptA

Advanced landmark techniques

Setting normal

Options for solving the height

Landmark resize

Replacing topo with map or shape

Troubleshooting problem landmarks

Visualizing

Surface_imager

Imager_grid

Imager_MG

view_image_stereo/rgb

view_maps

view_shape (geometry.in)

shape2map

Level 4 - Expert User - Capable of executing all functions needed to run a SPC project, to include configuration, kernel management and navigation.

Run a full project

Define configuration files and keywords

Setup

Init_lithos

Make_sumfiles.txt

Setup SPICE

Spacecraft uncertanity

Distortion field

Blemishes

Limber/Tyler

Dynamics

Coordinate frames

Pole

Omega

Shift

New_pole

Weighting

LMKWTS

PICWTS

Import

Integration with navigation

Level 5 - Expert Developer. Understands the internal structure of SPC's code and file format in order to make software changes.

Advanced troubleshooting

Modifications to SPC code

Make updates to process_fits/img

Creating SUMFILES/NOMINALS using non-SPICE geometric data

Error propagation

This manual does not provide detailed trouble shooting assistance.

What This Manual Includes

Each procedure or reference entry

provides a general description of the item

lists related files, directories, or programs

explains input, output, or contents

shows samples of input, output, or contents

Some entries include additional references and more detailed information.

How This Manual Is Organized

Part I: Overview

This section provides an overview of SPC and the purpose of the software.

Part II: How Tos

This section organizes the common activities the software is used to achieve into blocks of specific procedures.

Part III: Reference

This part includes reference entries for executables, directories and files. It is arranged alphabetically and subdivided into these sections:

Programs

Directories

Files

Input Files

Output Files

Support Files

How Standard Items Are Identified

Throughout this manual, we have used these systems for marking the items we discuss:

Names of programs, directories, and files - These usually appear as hypertext links because they are entries in this manual. In the interactive version of the manual, you can click on the link to find out more specific information.

Names of programs, directories, and files - These appear in bold in the entry where they are discussed. This is used instead of hyperlinking to avoid circular references.

Names of DIRECTORIES - These are written in ALL CAPS followed by /.

Names of files - These may appear in ALL CAPS, mixed case, or all lower case, depending on how the filename appears in the software.

<XXXX> - This indicates that all or part of a filename or directory is required. The actual characters depend on your input or are automatically filled in by the program.

User keyboard inputs - These are shown in 'single' quotes. You should type what is in the 'single' quotes and then hit the Enter key. 'Enter' means just hit the Enter key as the input.

{X} CRITICAL MESSAGES APPEAR LIKE THIS! You should pay particular attention to these to avoid data loss or other errors.

/!\ Warnings like this tell you actions you must take or information you should consider before you continue.

(!) Information notes like this provide you with details and explanation that can help you understand the topic presented.