Input mosaic. Must be in cylindrical projection, and have appropriate (MER-style) labels describing the projection.
Output image filename, which will contain the frame that is unmosaicked.
Input <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#example">example file. This is used to extract the camera and pointing models, and coordinate systems.
The BSQ input file <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#band">band number. Defaults to 1.
The local mars <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface normal vector in the coordinate system specified by <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surf_coord">SURF_COORD (defaults to surface fixed coordinates). For most pan/tilt cameras, if the lander is not tilted this vector would be: <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#normal">normal=(0,0,-1). ie: x_component=0, y_component=0, z_component=-1. This need not be a unit vector. This vector is used to define the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface plane to which image points are projected in order to minimize parallax. For SPHERE1/2 <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface models, NORMAL's first parameter is used to denote the sphere's radius. Thus to describe sphere of radius R, the user would specify <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#normal">NORMAL=(R, 0, 0).
Any point on the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface, in the coordinate system specified by SURF_COORD (defaults to <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface fixed coordinates). This defines where the tilted plane is in space. Although any point may be used, ideally the point just "under" the origin is selected. Defaults: Mars Pathfinder: (0.0, 0.0, 0.0) (lander zero point is on the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#ground">ground) Mars 98 Lander: (0.0, 0.0, 1.64) (lander zero point is on top of deck) MER : (0.0, 0.0, 0.294) For MER images taken on top of the lander, the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#ground">ground is roughly at (0.0, 0.0, 0.7) For SPHERE1/2 <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface models, the GROUND parameter is used to denote the sphere's center.
The type of mars <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface to use. The surface is used to intercept view rays emanating from the cameras in order to model <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#out">out parallax between the stereo cameras. The options are <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface=INFINITY which means no surface is used, <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface=PLANE (the default case). If surface = PLANE then the plane is defined by the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#normal">NORMAL and GROUND parameters. For the cases when PLANE doesn't match local topography sufficiently well, here are two sphere <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface models: <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface=SPHERE1 and surface=SPHERE2. SPHERE1 is useful to model convex surfaces like hills, it returns closest(first) ray-<A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface intersection point. SPHERE2 is useful to model concave surfaces, like crater when the camera point is outside looking in, it returns farthest(second) ray-<A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface intersection point. For the case when camera is inside the sphere <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface, like rover sitting in the crater, there is only a single intersection point and SPHERE1 and SPHERE2 behave exactly the same.
The coordinate system that <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface parameters like GROUND and NORMAL are defined in. For valid values refer to the COORD parameter description. Defaults to the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surface">surface fixed coordinate system. Note that no validation is done for input strings because COORD is using the same values. So the user needs to be extra careful in specifying <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surf_coord">SURF_COORD values. For example, COORD=local would be correctly interpreted to mean LOCAL_LEVEL because of the validation process. On the other hand, specifying <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surf_coord">SURF_COORD=local is not valid and would revert to the default. So the values for <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#surf_coord">SURF_COORD should be spelled exactly as found in the list of valid values for COORD.
Specifies the type of camera model. CAHV, CAHVOR, and CAHVORE are supported. The default, FILE, means that the camera model is obtained from the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#example">EXAMPLE file rather than from the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#c">C, A, etc. vectors. Specifying a MODEL_TYPE other than FILE means that all appropriate parameters must also be filled in.
The <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#c">C vector for CAHV, CAHVOR, and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The A vector for CAHV, CAHVOR, and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The H vector for CAHV, CAHVOR, and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The V vector for CAHV, CAHVOR, and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The O vector for CAHVOR and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The R vector for CAHVOR and CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The E vector for CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The MTYPE parameter for CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The MPARM parameter for CAHVORE camera models. Used only if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE is not FILE.
The number of lines in the output. Required if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE=FILE is not specified.
The number of samples in the output. Required if <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#model_type">MODEL_TYPE=FILE is not specified.
X offset value for the camera model. Overrides default value.
X offset value for the camera model. Overrides default value.
Pointing parameters for the output camera model. These match the pointing parameters used by the PIG library for the given mission. Note that angular measurements are typically in degrees.
Azimuth for pointing az/el cameras, in degrees. The azimuth is expressed in the coordinate frame defined by COORD, and is internally converted to the instrument pointing coordinate system. It is then stuffed into PPARAM(1), so a value specified here overrides the first element of PPARAM. Nonsensical results will occur if the pointing model does not have Azimuth as its first pointing parameter. If AZIMUTH is specified, ELEVATION must be as well.
Elevation for pointing az/el cameras, in degrees. The elevation is expressed in the coordinate frame defined by COORD, and is internally converted to the instrument pointing coordinate system. It is then stuffed into PPARAM(2), so a value specified here overrides the second element of PPARAM. Nonsensical results will occur if the pointing model does not have Elevation as its second pointing parameter. If ELEVATION is specified, AZIMUTH must be as well.
Absolute override of the camera position (normally the <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#c">C vector for CAHV- style models) after all pointing is done. Not recommended for use with PIG pointing, although it works.
A colon-separated list of directories in which to look for configuration and calibration files. Environment variables are allowed in the list (and may themselves contain colon-separated lists). The directories are searched in order for each config/cal file when it is loaded. This allows multiple projectes to be supported simultaneously, and allows the user to override any given config/cal file. Note that the directory structure below the directories specified in this path must match what the project expects. For <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#example">example, Mars 98 expects flat fields to be in a subdirectory named "flat_fields" while Mars Pathfinder expects them to be directly in the directory specified by the path (i.e. no intermediate subdirectories).
Specifies a mission-specific pointing method to use. Normally this parameter is not used, in which case the "default" pointing methods are used. Some missions may have special, or alternate, pointing methods available, which are indicated by this string (for <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#example">example, backlash models, using arm joint angles instead of x/y/z/az/el, etc). A substring search is used, so multiple methods (where that makes sense) can be specified by separating the keywords with commas. Note that nav files created using one pointing method will most likely not be compatible with a mosaic created using a different pointing method. The methods available vary per mission, but some methods available at the time of this writing are: BACKLASH : Mars 98 SSI only. Selects a backlash pointing model, which adjusts the telemetered azimuth and elevation values based on knowledge of the camera's mechanical backlash and the direction the motor was travelling when the image was taken.
Disables all label-derived parameters to the Site mechanism which underlies coordinate systems. This forces all sites to be identical, with all rotations and offsets set the same. In the case of MPF or Mars 98, this disables the lander quaternion and offset (sets them to identity and 0, respectively). This option should not be used with images taken from different vantage points (e.g. the spacecraft moved, or mixing a lander and a rover) or invalid results will be obtained. The use of this option invalidates the Fixed coordinate frame; any values reported in the Fixed frame will not correctly reflect the orientation of the lander/rover. Obviously, this option should be rarely used; it is intended for when the image labels defining the site are invalid or inconsistent.
Keyword parameter that turns on or off interpolation of the output images pixel values. INTERP (the default) enables the interpolation, while NOINTERP disables it.
The DATA_SET_NAME typically identifies the instrument that acquired the data, the target of that instrument, and the processing level of the data. This value is copied to the output label, property IDENTIFICATION, keyword DATA_SET_NAME.
The DATA_SET_ID value for a given data set or product is constructed according to flight project naming conventions. In most cases the DATA_SET_ID is an abbreviation of the DATA_SET_NAME. This value is copied to the output label, property IDENTIFICATION, keyword DATA_SET_ID.
When a data set is released incrementally, such as every three months during a mission, the RELEASE_ID is updated each time part of the data set is released. For each mission(or host id if multiple spacecrafts), the first release of a data set should have a value of "0001". This value is copied to the output label, property IDENTIFICATION, keyword RELEASE_ID.
Specifies a permanent, unique identifier assigned to a data product by its producer. Most commonly, it is the filename minus the extension. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCT_ID.
Specifies the unique identifier of an entity associated with the production of a data set. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCER_ID.
Specifies the identity of a university, research center, NASA center or other institution associated with the production of a data set. This value is copied to the output label, property IDENTIFICATION, keyword PRODUCER_INSTITUTION_NAME.
Specifies a target. The target may be a planet, satelite, ring, region, feature, asteroid or comet. This value is copied to the output label, property IDENTIFICATION, keyword TARGET_NAME.
Specifies the type of a named target. This value is copied to the output label, property IDENTIFICATION, keyword TARGET_NAME.
Rover State File. This is a list of filenames to load containing Rover State information. These files contain position and orientation information for a rover (or other mobile spacecraft) at various sites. They are in XML format. See the "Rover Motion Counter (RMC) Master File SIS" for details on these files. Rover State Files have a priority order. The files listed first have the highest priority. Environment variables may be used in the list. For MER, if a directory is specified, then that directory is searched for RMC Master files and any found are loaded. The directory structure and filename convention is covered in the RMC SIS. The directory specified is the one containing "master", so if <dir> is the name specified in the RSF parameter, the following files will be searched for: <dir>/master/_Master.svf <dir>/master/ _Site_ _Master.rvf The name of each file loaded is printed to the stdout log for reference.
If enabled, this causes the internal database of RMC locations to be printed <A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#out">out to the stdout log. This is after the RSF files have been loaded and the coordinate systems read from the input label(s).
The coordinate system to use for most input parameters: the camera model
vectors (<A HREF="/VICAR-DOCS/vicar/core460/html/vichelp/marsunmosaic_level2.html#c">C, A, etc.), the AZIMUTH and ELEVATION parameters, and POSITION.
The interpretation of the values of COORD is dependent on the mission.
Some representative missions are listed here:
Fixed - The Fixed frame (default). This is the ultimate reference frame
(see also FIXED_SITE for rover missions).
Instrument - The "natural" frame for the instrument (of the first input
image). MPF: Lander or Rover; M98: MVACS; MER: Rover.
Site - A major Site frame. For rover missions, COORD_INDEX specifies which
Site frame to use. Non-rover missions treat this as Fixed.
Rover - An instance of the Rover frame. For rover missions, COORD_INDEX
specifies which instance of the rover frame to use. Non-rover mission
use the spacecraft frame (e.g. Lander for M98).
Local_Level - An instance of a Local Level frame. This is typically
coincident with the Rover frame (in XYZ) but oriented toward North
like the Site and Fixed frames. For MER, this is an instance of a
Drive index move.
The index specifies which instance of a coordinate system to use. It is currently applicable only to rover-based missions, but could have other uses. The index is equivalent to the Rover Motion Counter (RMC) for MER and FIDO. For MER/FIDO, there are many Site frames. Each is numbered with a single index. For Site Frames, coord_index specifies which to use. Likewise, there are many Local_Level and Rover frames, corresponding to values of the RMC. The multiple instances of this frame are selected by COORD_INDEX. Generally COORD_INDEX defaults sensibly so you don't usually need to specify it. It will default to the instance used by the first input.
Specifies which major Site is the "Fixed" Site for this run.
Historically, MPF and M98 had a single "Surface Fixed" frame which never
moved, and which all other coordinate system frames were referenced to.
With the advent of long-range rovers (such as MER and FIDO), that became
insufficient. The rover traverses far enough that errors in knowledge of
coordinate system offset and orientation become unacceptable.
For this reason, a system of major Sites was introduced. Periodically
during the mission, a Site frame is declared. This then becomes the
reference frame for all activities until the next Site is declared.
References are kept local, and errors don't propogate across Sites.
However, if images from more than one Site are combined together, the
Site's must be placed relative to each other. Therefore a single reference
frame is still needed to combine different sites.
The FIXED_SITE parameter controls which of the major Site frames is
the reference ("fixed") site for this program run. This fixed frame
can vary in different program runs, but is constant throughout one
execution.
If not specified, FIXED_SITE defaults to the minimum Site number (i.e.
lowest numbered, or earliest chronologically) used in all input images.
Normally this default is sufficient; rarely must FIXED_SITE be specified.
One or more Rover State Files must usually be specified in order to combine
image from more than one Site. These describe the relationship between
sites. See the RSF parameter.