Ames Stereo Pipeline documentation (version “3.7.0-alpha”)

• 1. Introduction
  • 1.1. Background
  • 1.2. Human vs. Computer: When to Choose Automation?
  • 1.3. Software foundations
  • 1.4. Getting help and reporting bugs
  • 1.5. Typographical conventions
  • 1.6. Citing the Ames Stereo Pipeline in your work
  • 1.7. Warnings to users of the Ames Stereo Pipeline
• 2. Installation
  • 2.1. Precompiled binaries
  • 2.2. Conda-based installation
  • 2.3. Post-installation
  • 2.4. System requirements
  • 2.5. Common errors
  • 2.6. Settings optimization
• 3. How ASP works
• 4. Tutorial: Processing planetary data (non-Earth)
  • 4.1. Lightning-fast example using Lunar images
  • 4.2. Example using Mars MOC images
• 5. Tutorial: Processing Earth images
  • 5.1. Supported products
  • 5.2. Processing raw
  • 5.3. Processing map-projected images
  • 5.4. Dealing with clouds
  • 5.5. Handling CCD boundary artifacts
  • 5.6. Images lacking large-scale features
  • 5.7. Jitter
  • 5.8. Multi-spectral images
  • 5.9. Implementation details
• 6. The next steps
  • 6.1. Stereo Pipeline in more detail
  • 6.2. Manipulating the results
  • 6.3. Visualizing the results
  • 6.4. Use of existing terrain data
• 7. Tips and tricks
• 8. Stereo processing examples
  • 8.1. Guidelines for selecting stereo pairs
  • 8.2. Mars Reconnaissance Orbiter HiRISE
  • 8.3. Mars Reconnaissance Orbiter CTX
  • 8.4. Mars Global Surveyor MOC-NA
  • 8.5. Mars Exploration Rovers
  • 8.6. K10
  • 8.7. Lunar Reconnaissance Orbiter (LRO) NAC
  • 8.8. Chang’e 3 landing camera
  • 8.9. Apollo 15 Metric Camera images
  • 8.10. Mars Express High Resolution Stereo Camera (HRSC)
  • 8.11. Cassini ISS NAC
  • 8.12. Community Sensor Model
  • 8.13. Dawn (FC) Framing Camera
  • 8.14. Kaguya Terrain Camera
  • 8.15. Chandrayaan-2 lunar orbiter
  • 8.16. KPLO ShadowCam
  • 8.17. JunoCam
  • 8.18. LRO Mini-RF using ISIS camera models
  • 8.19. Using PBS and SLURM
  • 8.20. ASTER
  • 8.21. DigitalGlobe
  • 8.22. RPC camera models
  • 8.23. PeruSat-1
  • 8.24. Pleiades
  • 8.25. SPOT5
  • 8.26. SPOT 6/7
  • 8.27. SkySat Stereo and Video data
  • 8.28. Declassified satellite images: KH-4B
  • 8.29. Declassified satellite images: KH-7
  • 8.30. Declassified satellite images: KH-9
  • 8.31. Shallow-water bathymetry
  • 8.32. Umbra SAR
• 9. SfM examples
  • 9.1. About SfM
  • 9.2. Camera solving overview
  • 9.3. Example: Apollo 15 Metric Camera
  • 9.4. Example: IceBridge DMS Camera
  • 9.5. Solving for pinhole cameras using GCP
  • 9.6. Refining the camera poses and intrinsics
  • 9.7. UAS example
• 10. SfM examples with a rig
  • 10.1. A 3-sensor rig example
  • 10.2. Mapping the ISS using 2 rigs with 3 cameras each
  • 10.3. MSL navcam example
  • 10.4. Orbital rig
• 11. Shape-from-Shading
  • 11.1. Overview of SfS
  • 11.2. Examples
  • 11.3. Limitations
  • 11.4. Mathematical model
  • 11.5. How to get images
  • 11.6. ISIS vs CSM models
  • 11.7. SfS at 1 meter/pixel using a single image
  • 11.8. Albedo modeling with one or more images
  • 11.9. SfS with multiple images in the presence of shadows
  • 11.10. Large-scale SfS
  • 11.11. Insights for getting the most of SfS
  • 11.12. Shape-from-Shading for Earth
  • 11.13. Shape-from-Shading with CTX images
• 12. Bundle adjustment
  • 12.1. Overview
  • 12.2. Running bundle adjustment
  • 12.3. Bundle adjustment using ISIS
  • 12.4. Using the ISIS cnet format in ASP
• 13. Error propagation
  • 13.1. The input uncertainties
  • 13.2. Produced uncertainty for triangulated points
  • 13.3. Bundle adjustment
  • 13.4. Export to DEM and LAS
  • 13.5. Implementation details
  • 13.6. What the produced uncertainties are not
  • 13.7. Example
  • 13.8. Definitions
  • 13.9. Theory
  • 13.10. Validation for Maxar (DigitalGlobe) linescan cameras
• 14. Advanced stereo topics
  • 14.1. Pre-processing
  • 14.2. Disparity map initialization
  • 14.3. Low-resolution disparity
  • 14.4. More on the correlation process
  • 14.5. Sub-pixel refinement
  • 14.6. Triangulation
  • 14.7. Advanced discussion of mapprojection
• 15. Experimental features
  • 15.1. The CASP-GO stereo processing system
• 16. Tools
  • 16.1. add_spot_rpc
  • 16.2. aster2asp
  • 16.3. bathy_plane_calc
  • 16.4. bathy_threshold_calc.py
  • 16.5. bundle_adjust
  • 16.6. cam2map4stereo.py
  • 16.7. cam2rpc
  • 16.8. cam_gen
  • 16.9. cam_test
  • 16.10. camera_calibrate
  • 16.11. camera_footprint
  • 16.12. camera_solve
  • 16.13. CGAL tools
  • 16.14. colormap
  • 16.15. convert_pinhole_model
  • 16.16. corr_eval
  • 16.17. Image correlator
  • 16.18. dem2gcp
  • 16.19. dem_geoid
  • 16.20. dem_mosaic
  • 16.21. dg_mosaic
  • 16.22. disp2ip
  • 16.23. disparitydebug
  • 16.24. gcp_gen
  • 16.25. GDAL tools
  • 16.26. geodiff
  • 16.27. hiedr2mosaic.py
  • 16.28. hillshade
  • 16.29. historical_helper.py
  • 16.30. icebridge_kmz_to_csv
  • 16.31. image2qtree
  • 16.32. image_align
  • 16.33. image_calc
  • 16.34. image_mosaic
  • 16.35. image_subset
  • 16.36. ipfind
  • 16.37. ipmatch
  • 16.38. jitter_solve
  • 16.39. lronac2mosaic.py
  • 16.40. lvis2kml
  • 16.41. mapproject
  • 16.42. multi_stereo
  • 16.43. n_align
  • 16.44. orbit_plot.py
  • 16.45. orbitviz
  • 16.46. ortho2pinhole
  • 16.47. otsu_threshold
  • 16.48. pansharp
  • 16.49. parallel_bundle_adjust
  • 16.50. parallel_sfs
  • 16.51. parallel_stereo
  • 16.52. parse_match_file.py
  • 16.53. pc_align
  • 16.54. pc_filter
  • 16.55. pc_merge
  • 16.56. point2dem
  • 16.57. point2las
  • 16.58. point2mesh
  • 16.59. refr_index
  • 16.60. rig_calibrator
  • 16.61. ROS bag handling tools
  • 16.62. sat_sim
  • 16.63. sfm_merge
  • 16.64. sfm_proc
  • 16.65. sfm_submap
  • 16.66. sfm_view
  • 16.67. sfs
  • 16.68. sfs_blend
  • 16.69. stereo
  • 16.70. stereo_dist
  • 16.71. stereo_gui
  • 16.72. stereo_sweep
  • 16.73. stereo_tile
  • 16.74. texrecon
  • 16.75. theia_sfm
  • 16.76. undistort_image
  • 16.77. view_reconstruction
  • 16.78. voxblox_mesh
  • 16.79. wv_correct
• 17. The stereo.default file
  • 17.1. Preprocessing
  • 17.2. Correlation
  • 17.3. Subpixel refinement
  • 17.4. Filtering
  • 17.5. Post-processing (triangulation)
  • 17.6. Error propagation (used in triangulation)
  • 17.7. Bathymetry correction options
  • 17.8. GUI options
• 18. The stereo algorithms in ASP in detail
  • 18.1. Block-matching
  • 18.2. Semi-Global Matching and More Global Matching algorithms
  • 18.3. Original implementation of MGM
  • 18.4. OpenCV SGBM
  • 18.5. LIBELAS stereo algorithm
  • 18.6. Multi-Scale Multi-Window stereo matching
  • 18.7. OpenCV BM
  • 18.8. Adding new algorithms to ASP
• 19. Guide to output files
  • 19.1. Files created in preprocessing
  • 19.2. Files created during correlation
  • 19.3. Files created during blending
  • 19.4. Files created during refinement
  • 19.5. File created during filtering
  • 19.6. Files created at triangulation
  • 19.7. Diagnostics files
  • 19.8. Other files created at all stages
  • 19.9. Inspection and properties of the output files
  • 19.10. Plain text match files
  • 19.11. Format of CSV files
  • 19.12. Format of polygon files
• 20. Frame camera models
  • 20.1. Pinhole models
  • 20.2. Panoramic Camera Model
  • 20.3. CSM frame camera
• 21. Bathy water masking
  • 21.1. Multispectral image bands
  • 21.2. Water indices for land-water masking
  • 21.3. Thresholding
  • 21.4. Mask creation
• 22. Papers that used ASP
• 23. News and development history
  • 23.1. Changes since last release
  • 23.2. RELEASE 3.6.0, December 26, 2025
  • 23.3. RELEASE 3.5.0, April 28, 2025
  • 23.4. RELEASE 3.4.0, June 19, 2024
  • 23.5. RELEASE 3.3.0, August 16, 2023
  • 23.6. RELEASE 3.2.0, December 30, 2022
  • 23.7. RELEASE 3.1.0, May 18, 2022
  • 23.8. RELEASE 3.0.0, July 27, 2021
  • 23.9. RELEASE 2.7.0, July 27, 2020
  • 23.10. RELEASE 2.6.2, June 15, 2019
  • 23.11. RELEASE 2.6.1, August 13, 2018
  • 23.12. RELEASE 2.6.0, May 15, 2017
  • 23.13. RELEASE 2.5.3, August 24, 2016
  • 23.14. RELEASE 2.5.2, Feb 29, 2016
  • 23.15. RELEASE 2.5.1, November 13, 2015
  • 23.16. RELEASE 2.5.0, August 31, 2015
  • 23.17. RELEASE 2.4.2, October 6, 2014
  • 23.18. RELEASE 2.4.1, 12 July, 2014
  • 23.19. RELEASE 2.4.0, 28 April, 2014
  • 23.20. RELEASE 2.3.0, 19 November, 2013
  • 23.21. RELEASE 2.2.2, 17 MAY 2013
  • 23.22. RELEASE 2.2.0, 6 MAY 2013
  • 23.23. RELEASE 2.1.0, 8 JANUARY 2013
  • 23.24. RELEASE 2.0.0, 20 JUNE 2012
  • 23.25. RELEASE 1.0.5, 27 OCT 2011
  • 23.26. RELEASE 1.0.4, 23 MAY 2011
  • 23.27. RELEASE 1.0.3.1, 16 MARCH 2011
  • 23.28. RELEASE 1.0.3, 11 MARCH 2011
  • 23.29. RELEASE 1.0.2, 9 DECEMBER 2010
  • 23.30. RELEASE 1.0.1, 24 MAY 2010
  • 23.31. RELEASE 1.0.0, 23 OCTOBER, 2009
• 24. Contributing
  • 24.1. Types of Contributions
  • 24.2. Get Started!
  • 24.3. Pull Request Guidelines
  • 24.4. What to expect
  • 24.5. ASP People
• 25. Building and releasing ASP
  • 25.1. Building ASP from source
  • 25.2. Building ASP and its dependencies with conda
  • 25.3. Releasing a new version of ASP
• 26. Third party licenses
• 27. Credits
  • 27.1. Acknowledgments
• 28. Glossary
• 29. References

Indices and tables

• Index

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