Help for TOTOPO

Converts the tiepoint locations stored in a Mark file and written by
program TRACKER3 and XYZ coordinates created by program LSTOXYZ to one of:
1. A topomap.
2. An orthonormal view of the left image.
3. An orthonormal view of the right image.
4. An error map

A topomap is a map of elevation above a surface
(in this case above the geoid or oblate spheroid).
In this mode the correlator (tracker3) can be run with a wide grid spacing
such as : GRID=3 NLW=15 NSW=15.

An orthonormal image is an image viewed from directly above
(in the planetocentric sense) at every pixel. Orthonormal
views have no parallax. If you want good resolution on orthonormal
maps then the correlator (tracker3) should be executed on every pixel,
ie: parameter GRID=1.

An error map is a map of the miss distance of the two vectors
in the XYZ solution in program LSTOXYZ.

All output images are REAL.

Example:
       TOTOPO left,right,points,xyz out parameters

  where: 
         LEFT is the first input image. This is the first input image
              to program TRACKER. In this case it must be a map projected
              image.
         RIGHT is the second input image. This is the second input image
              to program TRACKER. The second input must also be a map
              projection preferably the identical projection as the first
              input image (non-identical projections are OK except that
              TRACKER will work better if they are identical).
         POINTS is a MARK file containing the tiepoints written by
              program tracker.
              Mark files contain 512 byte records of real*4 data.
              Coordinates are stored in groups of 4 words in the
              order left_line,left_sample,right_line,right_sample...
         XYZ is a MARK file containing the xyz coordinates written by
              program LSTOXYZ.
              Mark files contain 512 byte records of real*4 data.
              Coordinates are stored in groups of 4 words in the
              order of either:lat,long,range-radius,error....
                or
                              x,y,z,error...
                  (see keyword XYZ)

          OUT is identical to LEFT but contains one of:
              1. A topomap.
              2. An orthonormal view of the left image.
              3. An orthonormal view of the right image.
              4. An error map.
              
All output images are REAL.

METHOD:

The correct output location for any tiepoint is the lat,long
computed by program LSTOXYZ. This coordinate is converted 
to line,sample for the input projection. Then what goes to
that coordinate depends upon the mode:

In the TOPO mode the elevation of the surface above the geoid
is written to the output.

In the ORTHL or ORTHR modes the original line,samp (from the
output of TRACKER) point to the input DN value which is to be
placed into the output.

In the ERROR mode a map of the miss distance of the two vectors
in the XYZ solution in program LSTOXYZ is written to the output
after scaling.

LIMITATIONS:

At the moment input & output pictures (not Mark files) 
cannot each exceed a total number of pixels of 1000 by 1000.

The ORTHR image will have the label of the left (first) input.

OUTPUT UNITS:

  Topomaps are in kilometers (one DN = 1 kilometer) above the
planet oblate spheroid. Zero DN is at the geoid (zero elevation).
  The orthonormal images are just geometrically undistorted
replicas of the first two input images.

EXAMPLE: 

         farenc in1
         farenc in2
         map3 in1 a
         map3 in2 b
         tracker a,b m
         lstoxyz a,b,m xyz
         totopo a,b,m,xyz out

! EXAMPLE OF BATCH STEREO RUN:
!
! First correct navigation.
FARENC INP=moon1.img OUT=g1.img   'update below=10 dnth=10 activi=45 GEOM=3    area=(3,2,790,790)
dcl del g1.img;1
FARENC INP=moon2.img OUT=g2.img   'update below=10 dnth=10 activi=35 GEOM=3    area=(3,2,790,790) cluster=(30,10)
dcl del g2.img;1
!
! Next convert the perspective views to IDENTICAL projections.
map3 INP=moon1.img OUT=moon1.map    'MERC nl=512 ns=512 sedrsrc=FARE scale=10.     line=256 samp=256 lat=0 long=70.
map3 INP=moon2.img OUT=moon2.map    'MERC nl=512 ns=512 sedrsrc=FARE scale=10.     line=256 samp=256 lat=0 long=70.
!
! Then collect a dense tiepoint grid (every point).
tracker inp=(gll1:[jjl320]moon1.map,gll1:[jjl320]moon2.map)     out=gll1:[jjl320]tiep.img     nlw=13 nsw=13 grid=1 'fit window=(2,2)     limit=(6,6) look=(2,2)
!
! Then convert tiepoints to lat,long,Del-radius,error values.
lstoxyz inp=(gll1:[jjl320]moon1.map,gll1:[jjl320]moon2.map,        gll1:[jjl320]tiep.img) out=gll1:[jjl320]xyz.img        sourcel=FARE sourcer=FARE

! Then create the topomap (meters above the geoid).
totopo inp=(gll1:[jjl320]moon1.map,gll1:[jjl320]moon2.map,        gll1:[jjl320]tiep.img,        gll1:[jjl320]xyz.img) out=gll1:[jjl320]topo.img mode=TOPO
!
! Last create left orthonormal view
totopo inp=(gll1:[jjl320]moon1.map,gll1:[jjl320]moon2.map,        gll1:[jjl320]tiep.img,        gll1:[jjl320]xyz.img) out=gll1:[jjl320]orth.img        mode=ORTHL


HISTORY
Written By: J Lorre			feb 91
Cognizant Programmer: J Lorre

PARAMETERS: