An ascii list of filenames of rover stereo pair images to be displayed. Since there is no capability to identify rover stereo pairs you must list them in pair order: pair 1 left pair 1 right pair 2 left pair 2 right ...
An ascii file listing the rover location and orientation in the order: filename,x,y,z,heading,pitch,roll.
Image histogram saturation at each end. Each input image is autostretched before being displayed. Default is percent=2.0
Device type to plot or display to. Options are: /XTERM, tektronix terminal /XWINDOW workstations running x windows /XSERVE, persistent X window /XMOTIF X motif The default is: device=/XSERVE
The name of the xyz data archive created by program xyznet. The archive contains all known surveyed xyz points. These points will be displayed in the images.
Force the X,Y, and Z rover origin and the Heading, Pitch, and Roll to be reset to the 6 numbers following the FORCE keyword. Normally this information comes from the picture label.
The objective function to minimize. If OBJECTIVE=1 the objective function is the sums of the distances between the xyz tiepoint locations stored in the archive and computed from user specified tiepoints in the rover stereo pairs. if OBJECTIVE=2 the objective function is the sums of the distances between the pixel locations of the xyz archive points projected into the rover images and the corresponding user specified tiepoints in the rover stereo pairs. Default is OBJECTIVE=2. Note: I suspect that Objective #2 is better because it avoids the problem of huge xyz errors for distant tiepoints.
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).
This parameter is currently ignored by rovernav. It is here for compatibility with subroutines used by other programs (see e.g. marsmap).
This parameter is currently ignored by rovernav. It is here for compatibility with subroutines used by other programs (see e.g. marsmap).
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.