This file contains a history and current status of the camera calibration
directory for Mars 2020.  It is intended to provide context for the
calibration files and should not be considered the canonical source of
information regarding them.

HISTORY
----

2018/10/10 rgd	Initial setup, copied from MSL and changed for M20
2019/10/03 rgd	Installed flight navcam cmod; separated SIM from flight files
		Updated SIM to use flight navcam models
2019/10/04 rgd	Switched flight RSM kinematics to nominal MSL values instead
		of measured (to match FSW load)
2019/11/14 rgd	Installed flight FHAZ-A models
2020/02/05 rgd	Updated filter exclude file for flight
2020/02/07 rgd	Added more cameras and S/Ns to camera mapping file
2020/03/19 rgd	Installed first 3 MCZ zoom models.  No focus yet.
2020/03/30 rgd	Updated RSM kinematics and cal pose params for flight.
2020/04/03 rgd	Installed first round of PIXL cmod, pointing, and cam mapping
2020/04/07 rgd	Installed placeholder for MMM_LUT0 (MSL copy)
2020/04/27 rgd	TEMPORARY link from MMM_LUT0 to MMM_LUT_0 until labels are right
2020/06/03 rgd	Updated PIXL cmod; fixed host ID in M20FSWTB_rover_filter.xml
2020/08/10 rgd	Installed FLIGHT cmods for FHAZ-B
2020/10/02 rgd	Added Heli and LVS cameras to flight camera mapping file
2020/10/12 rgd	Renamed rover_filter.xml files to .xmlf (.xml kept for compat)
2020/10/13 rgd	Renamed and renumbered LCAM (nee LVSCAM)
2020/11/04 rgd	Installed FLIGHT ZCAM models. Linked to FSWTB and VSTB.
2020/11/06 rgd	Installed flight RMI cmod, linked to VSTB/FSWTB. SN is 3002.
2020/11/09 rgd	Added comments to M20_mast.point indicating cal RSM joint angles
2020/11/10 rgd	Adjusted FSWTB cal pose, rad cal. Copied M20_flat_fields.parms
               to M20_rad_cal.parms (prelude to eventual rename).
2020/11/11 rgd	Added rad cal adjustment support for RMI #bits and ZCAM zoom
2020/11/30 rgd	Switched ZCAM EQM to proper SNs (on FSWTB). Installed proper
		ZCAM rad cal params(for flight). Updated RMI and Watson rad cal
		for FSWTB. Added FSWTB RMI flat field. Update VSTB Nav cmods.
2021/01/04 rgd	Installed flight RHAZ cmods. Renumbered RHAZ SNs to match.
2021/01/07 rgd	Copied all MSL-MMM LUTs for ZCAM, SI, SC for flight, VSTB, FSWTB
2021/01/11 rgd	Watson: impl flat fields (var with focus); update rad cal (=MSL)
2021/01/14 rgd	Installed identity color cal params for all cameras
2021/01/22 rgd	Installed flight "FOD" RMI flat from O. Gasnault, w/small bias.
2021/01/25 rgd	Rotate/flip RMI cmod. Tweak description in RMI/watson flats.
2021/01/25 rgd	Installed LCAM cmod. Installed RMI iluts.
2021/02/09 rgd	Tweaked flight ECAM/RMI rad cal based on comparison to ATLO ZCAM
2021/02/11 rgd	Installed Flight flat/rad cal for SkyCam
2021/02/12 rgd	Updated flat/rad cal for SkyCam. Full files included, but padded
2021/02/16 rgd	Installed flight flats for ECAM. Added cachecam to cam mapping
2021/02/16 rgd	Installed Watson and ACI flight cmods, and cal location
2021/02/16 rgd	Reran ecam flats with smaller normalization area. Remove ccam
2021/02/17 rgd	Fixed typo in all hazcam RAD_to_iRGB_vectors in color cal file
2021/02/18 rgd	Installed initial color matrices for nav/haz for flight
2021/02/22 rgd	New ECAM flats with bias correction and clipped Navcam corners
		Added bias, exp_overhead params for ECAMs
		Updated Nav repsonsivities to visually match ZCAM rad cal data
2021/02/25 rgd	Updated Haz resp to visually match Navcam. Disabled exp_overhead
2021/02/27 rgd	Installed ecam LUT1,2, updated ecam s->p white bal color matrix
2021/03/01 rgd	Installed color cal params for CWS/CWG products for ecams
2021/03/06 rgd	Installed new LUT2 for ECAMs.  Incompatible with old.
2021/03/12 rgd	Adjusted Watson responsivities. Fixed Watson varflat file.
2021/03/16 rgd	Installed new Watson/ACI cmod cal pose.
2021/03/21 rgd	Updated rover mask for RHAZ
2021/03/22 rgd	Changed heli S/N to 6001/6002, linked dummy camera models
2021/03/23 rgd	Added another object to RHAZ and FHAZ rover mast exclusion list
2021/04/04 rgd	Installed flight cmods for HELI NAV and RTE, changed to CAVHORE
2021/04/05 rgd	Adjusted C point of heli RTE cmod.  Twice.
2021/04/08 rgd	Added cal pose for heli cameras (in M20_arm.point)
2021/04/09 rgd	Adjusted cal pose for RTE based on bundle adjustment
2021/04/27 rgd	Updated RTE flat, added M20_rad_cal_rte_whitebal.parms
2021/04/28 rgd	Updated Heli Nav flat, and responsivity parms
2021/05/07 rgd	Added a top-level dir for RTE non-white-balanced cal params
2021/07/12 rgd	Renamed some zcam flats to use p instead of + (illegal PDS)
2021/07/22 rgd	Copied (inactive) M20_LUT2_sols0-13.txt into ilut dir for PDS
2021/09/24 rgd	Installed flats and rad cal for ACI and MCC. Not physical units.
2021/10/28 rgd	Installed temperature-dependent ncam cmods from J. Maki
2021/12/13 rgd	Installed temperature-dependent fhaz cmods from J. Maki
2022/07/13 rgd	Switched heli cmods to G frame instead of M frame
2023/01/09 aroth Added M20_RMI_filter.xmlf to mask RMI edges (marsautotie etc)
2023/09/11 rgd Revamped Zcam rad to again (mostly) match Zcam team. Many new
               flat fields, different params. Incompatible with old code.
               Algorithm called MIPLRAD-Z2. No changes to other cameras.

CURRENT STATUS OF FILES (keep updated - NOT a history!)

PARAMETER FILES
----
Camera Mapping:
M20: S/Ns correct.  RMI and MCC and Heli assigned arbitrarily.

Rad cal Params:
FLIGHT: ECAM: Guessed by cross-comparing ZCAM ATLO data, assuming ZCAM is right
	      Bias, exp_overhead set per camera team
	      Hazcams cross-compared to (adjusted) Navcam
	MCZ: correct for flight.  Revamped for V2 algo 2023-09.
	Watson: copied from MSL and adjusted, correct for flight
	ACI: derived from data analysis to get most RAS into good 12-bit range.
            LEDs assumed on but not taken into account, so rad is not related
            to physical units.
	MCC: derived from data analysis to get most RAS into good 12-bit range.
            LEDs assumed on but not taken into account, so rad is not related
            to physical units.
	RMI: Guessed by cross-comparing ZCAM ATLO data, assuming ZCAM is right
	SkyCam: correct for flight, full implementation
	Heli: RTE responsivities set for the un-white-balanced (bluish) images.
		See M20_rad_cal_rte_whitebal.parms for reddish images.
		Nav set to make RAS's in the normal 0-4k range


Mast.point:
M20: Kinematics correct for flight

Arm.point:
M20: Both PIXL and ACI/Watson good for flight

Filter_exclude.txt:
M20: Updated for flight

Rover_filter.xml:
M20: Good for flight.  RHAZ is the only one with entries.

Color_cal.parms:
M20: Initial values from J. Maki for nav/haz
     For others: Identity values so marscolor will run

CAMERA MODELS
----
FLIGHT
       - All camera models developed by J. Maki unless otherwise noted.
	Navcam: Correct models for flight.  Temperature dependent interp used.
	Hazcam-A: Correct models for flight.  Temperature dependent interp used.
	Hazcam-B: Correct models for flight
	Rear Haz: Correct models for flight
	ZCAM: Models good for flight, but focus interp may need to change.
	PIXL: Correct for flight, updated based on data from T. Elam 2020-06-03
          PIXL model developed by T. Elam and R. Deen
	RMI: Correct for flight, but only one focus setting. Rot/flip done.
	Watson: Correct models for flight, single focus only. Cal pose corrected
	ACI: Correct models for flight
	LVS: correct for flight
          LVS model developed by N. Trawny
	Heli: correct for flight (both NAV and RTE)
          Heli Nav model developed by J. Delaune
          Heli RTE model developed by J. Maki and R. Deen
          Adjusted to G frame instead of M by F. Ayoub


ILUT FILES
----
FLIGHT: ZCAM,Watson,ACI: Copied all 33 tables from MSL per PI. Good for flight.
	ECAM: New LUT1/2 from N. Ruoff, 2021-02-27.  Replaced LUT2 with new
		version from J. Maki, 2021-03-06.  New is incompatible with data
		taken using old!
	SCAM: Good for flight (linear tables).

FLAT FIELD FILES
----
FLIGHT: NAV: Flight versions from Reg Willson, bias applied, corners clipped
	HAZ: Flight versions from Reg Willson, bias applied
	CACHECAM: Intentionally missing: bad per Reg Willson
	ZCAM: updated per Alex Hayes for v2, 2023-09
	Watson: correct for flight
	ACI: derived by Deirdra Fey, MSSS from sky flats
	RMI: good for flight, although O. Gasnault wants to replace with sky
		flat soon after landing.  Includes small bias.
	MCC: derived by analysis and filtering of sols 125-207.
	SkyCam: Correct for flight. Note that currently installed versions are
		padded to 1056x1024 until edrgen is fixed to strip ref pixels
	Heli: RTE derived from sol 61 data by Reg Willson
		Nav derived by Reg Willson