Input files contain the XYZ coordinates. If three filenames are given, they all should be single band files each containing X, Y and Z values in that order. If only one filename is given, it should be a 3-band file with bands in (X,Y,Z) order. The input files are in REAL (float) format.
The output of MARSRFILT is a single 3-band file of type REAL (float).
Corrected navigation filename. If marsnav was run on the input images it created a table of corrected pointing parameters. If you refer to this table using NAVTABLE it will override the pointing parameters (e.g. azimuth and elevation) in the picture labels.
Specifies the 3D point to compute the range from. By default it's set to camera location as specified by C-point for CAHV-based instruments.
Correlation accuracy, in pixels. Generally this is quoted as 0.25, 0.33, or 0.5 depending on who you ask. The default for this program is 0.25, which errs on the side of less filtering.
Override for the camera baseline, in meters. The baseline is determined by the STEREO_BASELINE label (as written by marsxyz). If this label item is not present, it must be specified via this parameter.
Allows the window (and thus the Gaussian kernel) to be distorted out of saure (round). The default of 0.5 means the window in the Y direction is half of the window in the X direction. This is appropriate for most normal in-situ scenes, but in a case like the InSight workspace (arm camera looking more or less straight down), a circular kernel (1.0) may be more appropriate.
Controls how many sigma are included in the actual window. The higher the value, the steeper the Gaussian, meaning values near the center are weighted more. A value near 0 emulates a simple box filter.
Controls the window size. A value greater than 1 makes the window bigger than the nominal computed size. See the main help text for the formula.
Specifies the size of the window used for the initial range smoothing boxcar filter.
Override for the instantaneous field of view (angular size of one pixel), in radians. The default is to determine this from the camera model.
Defines the inner edge of the proximity filter (see main help). This factor is multiplied by the actual range error to get the edge of the filter in meters. Any pixels closer than this to the central range will not be affected by the proximity filter. Those between this and the maximum will be scaled linearly.
Defines the outer edge of the proximity filter (see main help). This factor is multiplied by the actual range error to get the edge of the filter in meters. Any pixels farther than this from the central range will be excluded from the plane fit. Those between this and the minimum will be scaled linearly.
Specifies how to reconstruct the XYZ point - casting either long the camera model (-CMOD) or along the original vector (-RAY). See the main help for a more complete discussion.
Minimum window size for range filter. This ensures a minimum level of filtering even for very nearby data. See the main text for full writeup.
Turns on spike filter. See the main text for a full writeup.
Window size for the spike filter. See the main text for a full writeup.
Threshold for spike filter. See the main text for a full writeup. The proper value of this depends on camera resolution. The default of .001 IS APPROXIMATELY CORRECT FOR THE MSL NAVCAMS. THE MSL M34 (ML) VALUE that works best appears to be about .00045, and for M100 (MR) the value appears to be about .00015.
Turns on or off parallel processing using OMP, which uses multiple cores on a single host machine. The default is on. The help for e.g. marsmap describes some environment variables that can further control parallel processing. Note that this program uses standard OpenMP (which is built in to the gcc/g++ compilers), so further details can be found in the OpenMP documentation.
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 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 method for pointing corrections. Loose method matchs with pointing parameters of the image. Tight method matchs with unique id of the image.
Tolerance value for matching pointing parameters in the pointing corrections file. Used if MATCH_METHOD=LOOSE Default value is pretty arbitrary, though seems to work well so far....
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 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.
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 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 all input parameters and output values,
and the XYZ points themselves. The interpretation of the values 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.
Specifies which solution ID to use when specifying the coordinate system. There are potentially many different definitions for the same coordinate system. These are identified via a unique Solution ID. If this parameter is given, only the specified solution's definition is searched for. Without it, the "best" available solution is chosen. It is extremely rare that this parameter should be needed. The default will be sufficient in almost every case. Note that the current MER implementation requires that a value for COORD_INDEX also be provided, in order for this parameter to take effect.
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.