1. plate_renderer (optional) N. Hirata 1

2. plate_renderer Tool for simulating Hayabusa's observations developed by N. Hirata – Implementing a light scattering model of asteroids – Byproducts: geometric information at a given epoch or a given condition  Compute backplane-like data Can be used to compute data not included in the PDS backplane data – e.g. Polygon ID for each pixel 2

3. Outputs of plate_renderer 3 i: incidence anglee: emission angleg: phase angle hapke: rendering lat: latitudelon: longitude real images: strike azimuthrange: range [km]

4. Example: Hayabusa’s point of view movie Before failure of the 2nd RW After failure of the 2nd RW 4

5. 4-sided view of Itokawa: with a free viewpoint mode 5

6. DSK subsystem/toolkit Additional library on SPICE toolkit – Provide APIs to handle polygon models of irregular-shaped bodies and DTMs of planetary surfaces – Alpha version is released polygon model handling is almost completed Available FORTRAN, C, IDL versions at http://naif.jpl.nasa.gov/pub/naif/misc/alph a_dsk/ 6

7. DSK: digital shape kernel Kernel to store a shape model data in DSK subsystem – Polygon model of an irregular-shaped body – Ellipsoid can handle by pck Binary format – Extension:.bds – Create mkdsk command in DSK subsystem – Cannot load with furnsh_c; special procedure is provided 7

8. Major APIs in DSK subsystem Obtaining information on an irregular- shaped body – Sub-observer point – Surface intercept – Occultation and transit – Limb profile and day/night terminator profile – Solar illumination conditions 8

9. CFITSIO Library for input/output of FITS format files – Available for C and FORTRAN Distributed at – http://heasarc.gsfc.nasa.gov/fitsio/ 9

10. How to compile plate_renderer Install DSK subsystem – http://naif.jpl.nasa.gov/pub/naif/misc/alpha_ds k/ Prepare DSK data – Additionally distributed from me – http://naif.jpl.nasa.gov/pub/naif/misc/alpha_ds k/data/itokawa/ Install CFITSIO – Download a source package and compile it Compile plate_renderer – Modify the attached Makefile to fit your local environment and run make command 10

11. How to use $./plate_rendere DSK_kernel kernels... – 1 st argument is DSK_kernel file High res.: hay_a_amica_5_itokawashape_v1_0_512q.bds Low res.: hay_a_amica_5_itokawashape_v1_0_64q.bds – Other kernels are listed after it Option to be chosen at compile – Selection of output files – Draw the lat/lon grid – Change the viewpoint Simulate an actual situation of S/C (reading kernels): S/C VP mode View from an arbitrary location: Free VP mode 11

12. Options in plate_renderer.h Select options by defining macros – Select with SPICETRUE – Deselect with SPICEFALSE 12

13. How to work Loading kernels Selecting view mode – S/C VP mode: Reading geometries from kernels at the given epoch – Free VP mode: Computing geometries from the given conditions For all pixels – Check a footprint of the line-of-sight vector of a certain pixel on the shape model – Compute a lighting condition, If a footprint exists check whether the footprint is shaded or not – Estimate a brightness at the footprint with Hapke’s light scattering model – Output results as FITS format files 13

14. User defined functions int ONC_getlos_c( ) – Compute a line-of-sight vector of a given pixel double hapke( ) – Compute brightness with Hapke’s light scattering model void get_plbore ( ) – Check a footprint of the line-of-sight vector of a certain pixel on the shape model int get_cam_info ( ) – Read camera info. from ik 14

15. Used functions (CSPICE) prompt_c ( "Instrument ID: ", STRLEN, instr ); – Prompt user input with a message (printf + scanf) vminus_c (SC_pos_bd,SC_pos_bd); – Negate a 3-dimensional vector by multiplying with -1 pxform_c (frame,"ITOKAWA_FIXED", et, rotate); – Obtain a rotation matrix eul2m_c (rotate_z, rotate_y, rotate_x, 3, 2, 1, rotate ); – Get a rotation matrix from Euler angles mxv_c (rotate, bsight, bsight); – Multiply a 3x3 matrix with a 3-dimensional vector 15

16. Used functions (dsk subsystem) dasopr_c ( argv[1], &handle ); dlabfs_c ( handle, &dladsc, &found ); – Open a DSK file and prepare to use in user’s program – handle and dladsc are identifier to access shape model information in DSK dskx02_c (handle, &dladsc, SC_pos_bd, bsight_bd, &PLDEX, surface_point, &found1); – Compute a ray-surface intercept dskn02_c (handle, &dladsc, PLDEX, plnorm); – Compute a normal vector for a given polygon 16

17. Used functions (CSPICE, cont.) erract_c(), failed_c(), reset_c() – Error handling functions (see previous material) – In plate_renderer, output of error message to stdout is not suppressed 17

18. Used functions (CFITSIO) fits_create_img(phase_fptr, DOUBLE_IMG, dim, naxis, &status); – Create a new FITS data fits_create_file(&phase_fptr, phase_fname, &status); – Create a new FITS file (like fopen) fits_write_2d_dbl(phase_fptr, 0, naxis[0], naxis[0], naxis[1], phase_img, &status); – Write FITS data to a file fits_close_file(phase_fptr, &status); – Close a FITS file (like fclose) 18

19. Used functions hapke(double i, double e, double g); – Compute brightness of object under a given illumination condition by Hapke’s light scattering model – Hapke’s model is an empirically developed to describe light scattering on the planetary surfaces 19