Help for MARSAUTOLOCO

PURPOSE:
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To automatically adjust the map coordinates origin (Easting, Northing) of the
INP image with respect to the base map image. The adjustment is based on
the coregistration of the orthomosaic (INP) to the baseline image.


EXECUTION:
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marsautoloco inp=orthomosaic.img basemap=basemap.img out=solution.xml rmc=45,345 ortho_northing=-279206.27 ortho_easting=8141890.79


METHOD:
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The process is composed of the following steps:

[1]
The orthomosaic is low-pass filtered and decimated according to the basemap
resolution to simulate an orthomosaic at the same resolution of the basemap

[2]
Using the input Easting/Northing map coordinates estimate of the orthomosaic 
(usually based on the telemetry), a subset of the basemap image that contains 
the footprint of the orthomosaic is extracted. The subset is actually enlarged 
to account for the search space

[3]
The downsampled orthomosaic and base map are correlated using NCC. The 
correlation is designed to account for holes (no data) in the orthomosaic and 
can weight (WEIGHT) differently pixel that are far from orthomosaic map 
coordinates origin (usually the center of the mosaic, which also usually 
corresponds to the rover location). The hypothese is that orthomosaic pixels 
far from the rover are of poorer quality. Also, good registration in the 
vicinity of the rover is what matters.

[4]
The corrected map coordinates of the orthomosaic reference system with respect 
to the base map are saved in an XML file. If a DEM is supplied, the elevation
at the corrected coordinates is extracted and supplied in the XML file.





HISTORY:
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  2002-02-18 Francois Ayoub - Initial marsautoloco. 
  2019-10-02 Walt Bunch - IDS-7926 - Initialized some variables;
                          Commented unused variables. Added a test directory
                          with a csh test script and example output and log.

COGNIZANT PROGRAMMER:  Francois Ayoub

PARAMETERS: