Help for MPFMAP

PURPOSE:
To assemble multiple MARS PATHFINDER lander images obtained with the same: 

 camera (either left or right camera) 
 filter (0 - 11)

into a mosaic in spherical coordinates which is either:

 Cylindrical
 Polar.

And puts azimuth & elevation lines on the image along with annotation.
For cylindrical mosaics the input image number can be placed into the image
along with a footprint border. See the NUMBER keyword.

The program can accept a navigation file written by MPFNAV which will improve
the accuracy of the mosaic.

EXECUTION:
There are two ways to present input images:

mpfmap inp=(a.img,b.img,c.img,...) out=mos.img
or

mpfmap inp=ascii_listoffiles out=mos.img
or

mpfnav inp=ascii_listoffiles out=navtab search=25
mpfmap inp=ascii_listoffiles out=mos.img navtable=navtab
where

ascii_listoffiles is a text file created by Sybase or an editor, containing
the list of filenames to include in the mosaic, one per record.
Up to 200 input images can be listed.

navtab is a navigation correction file written by mpfnav.

COORDINATES:
The cartesian xyz axes are in Mars Local Level, +x north, +y east, +z nadir.
Azimuth is measured clockwise from the +x axis looking down on the lander.
Elevation is measured positive up from the horizon.

Note: If parameter MLLQ is used with (1.,0.,0.,0.) the coordinates will
be in Lander coordinates.

USAGE:
Mpfmap creates an output image large enough to contain the mosaic.
You may override input azimuth and elevation limits using keywords:
LEFTAZ,RIGHTAZ,TOPEL,BOTTOMEL

Two types of output mosaics are available. These are:

"CYLINDRICAL"
The mosaic consists of lines of constant elevation and columns of constant
azimuth. An equal scale of pixels/degree exists everywhere. The user can
control the extent of the azimuth and elevation coverage.
A label will be written to the output image specifying:
The line of zero elevation.
The scale in pixels/degree.
The azimuth of sample one.
The program will try to determine a window containing the input images and
only create enough of the output to contain the inputs. If the inputs are
all over this may not succeed.
For large mosaics near 360 degrees, override the algorithm by specifying the
azimuth limits manually.

"POLAR"
The mosaic consists of radial lines of constant azimuth emanating from the
center of the output. Zero azimuth is up. The scale is only constant 
radially. Nadir is the center of the image.
A label will be written to the output image specifying:
The radial scale in pixels/degree.

You have the option to rotate the polar coordinate system in any direction to
level the horizon.

OPERATION:
The program uses the CAHVOR model for each input image and outputs a mosaic
in polar coordinates.
Each pixel in the output is transformed from output azimuth and elevation
to input picture coordinates.
The first input image (left to right) which contains this value is
interpolated bilinearly to get the DN which goes into the output. Thus
priority is in the order of the inputs. All input images are loaded into
memory simultaneously.
If over 20 inputs exist then multiple passes will be made through the output
taking the input images 20 at a time until all are processed.

LIMITATIONS:
This program only looks at azimuth & elevation. It has no concept of parallax.
If the lander has translated, mpfmap will have no way of reflecting this.
For perspective corrected mosaics use mpfmos.

Output Labels:
The output image mosaic has inserted into it's label the following fields:

AZIMUTH_OF_SAMPLE_ONE=0.0
MAP_PROJECTION_TYPE='SIMPLE_CYLINDRICAL' or 'POLAR'
MOSAIC_REFERENCE_AZIMUTH=0.0
MOSAIC_REFERENCE_ELEVATION=0.0
MOSAIC_REFERENCE_LINE=0.0
MOSAIC_REFERENCE_SAMPLE=0.0
MOSAIC_RESOLUTION=5.0
NADIR_LINE=0.0
NADIR_SAMPLE=0.0
ORIENTATION=''
RADIAL_MOSAIC_RESOLUTION=0.0
ZERO_ELEVATION_IMAGE_LINE=10

Depending upon the projection, various of these fields will be set.

HISTORY:
4-30-94  J Lorre. 
8-30-96 upgraded JL
COGNIZANT PROGRAMMER:  Jean Lorre