Help for MARSFIDFINDER

PURPOSE:
To determine line/sample offset of a point projected  (inexactly)
to an image.
The resulting tiepoints are output in OUT_TPT for use by
other programs such as MARSNAV.

This is a multimission program.

MARSFIDFINDER 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:

marsfidfinder inp=(a.img,b.img,c.img,...) out_tpt=tiepoints.tpt
or
marsfidfinder inp=ascii_listoffiles out_tpt=tiepoints.tpt

where ascii_listoffiles is a text file created by  an editor,
containing the list of filenames to be searched for fiducials.
Up to 200 input images can be listed.



Then use MARSNAV to generate navigation solutions, and then one of the
mosaic programs:

marsnav inp=files.lis out=mosaic.nav in_tpt=tiepoints.tpt
marsmos inp=files.lis out=mosaic.img navtable=mosaic.nav


USAGE:
The program requires a set of templates for the fiducials. For each
fiducial, there needs to be a template matching all possible filters and eyes
of the target image.Information about the templates is located in one of
2 files, one for engineering and the other for flight.

METHOD:
For each input image
1) determine the image filter number and eye.
2) For each template with same filter and eye
2A) perform correlations by moving the template throughout the search area. Pixels
that are equal to a user specified mask value are ignored when computing the
correlation. The maximum (subpixel) correlation is found by interpolating
all computed correlations about the maximum.

WARNING: The parameters NORMAL, GROUND, SURF_COORD and SURFACE should be the same as
those used in MARSNAV and the mosaic program to get proper results (although
this is less critical with MARSFIDFINDER than with the other programs, because
once you have a tiepoint, the model doesn't matter - the surface is used
only to determine initial points before correlation).

Most stereo cameras (e.g. MPF IMP, M98 SSI) are *not* designed to have their
nodal surface at the azimuth axis.  This introduces LOTS of parallax if single
images contain objects both near and far that do not lie on the surface model.
Pick your points intelligently so you don't pick a near object in this pair
and a far one in that pair, and keep them as close as you can to the surface.



HISTORY:
4-15-08  Initial release
COGNIZANT PROGRAMMER: Mathew Yeates 

REVISIONS:
  2019-10-16 wlb - IDS-7926 - initialized some variables; cleaned up -Wall warnings.
  2020-03-20 wlb - IDS-7927 - replaced sprintf calls.

PARAMETERS: