Help for MARSCHKOVL

PURPOSE:
To determine if there is sufficient  overlap between a list of putative left
images and a list of putative right images. Matching pairs are saved to 2
output files, 1 file for the left images (one line per image) and 
1 file for the right images.

This program is for use in 3 possible scenarios
1) Long-baseline stereo, where a rover moves several meters to enable 
ranging to distant objects.
2) Arm-based camera stereo using a single, but moving, camera, 
such as the MER MI, PHX RAC, or MSL MAHLI; 
3) Images which are taken in stereo but were not sequenced as
stereo images (which is fairly common for MER pancam, and likely others).

This is a multimission program. 

MARSCHKOVL supports any mission, instrument, and camera model supported by the
Planetary Image Geometry (Pig) software suite.

EXECUTION:
There are two ways to present input images:

marschkovl inp=(ascii_listof_putative_left_files,ascii_listof_putative_right_files)
or
marschkovl inp=ascii_listoffiles

In both cases the  ascii lists are  text files.

In the first case, the first (second) list contains the putative left (right) 
fiilenmes. Each image of the first list is compared with every 
image of the second list.
 
In the second case every image in the list is treated as the left image 
and is compared with every succeeding image, treated as the right image. For a 
list of length n, this results in n*(n-1) comparisons. 

USAGE:

METHOD:

For each left/right comparison

1)  the left image camera model is used to project every pixel in the 
left image to a surface location. This surface location is then 
projected into the right image and tested to see if it lies within the image
borders. 

2) A percentage of pixels satisfying the above test is tested to see
if it is greater than a user supplied threshold. 

3) If a left/right image pair satisfies the test, the left/right image filename 
is appended the first/second file spedified by the command line variable "OUT".
 


HISTORY:
3-01-08 Initial. This code is mostly ripped from the marstie program. 
COGNIZANT PROGRAMMER:  Mathew Yeates