8. Stereo processing examples

This chapter showcases a variety of results that are possible when processing different data sets with the Stereo Pipeline. It is also a shortened guide that shows the commands used to process specific mission data. There is no definitive method yet for making elevation models as each stereo pair is unique. We hope that the following sections serve as a cookbook for strategies that will get you started in processing your own data. We recommend that you second check your results against another source.

Structure-from-Motion examples are in Section 9 (using a rig and robot images) and in Section 10 (for orbital images with no rig).

9. SfM examples using a robot rig

These examples shows how to solve for camera poses using Structure-from-Motion (SfM) and then create textured meshes.

The images are acquired using a rig mounted on a robot on the ISS (Section 9.1, Section 9.2) and with the MSL Curiosity rover (Section 9.3).

Somewhat related examples, but without using a rig or the above workflow, are in Section 10 (the images are acquired in orbit using a satellite and a DEM is produced) and Section 8.6 (a basic and rather old two-image example for the MER rovers). See also Section 8.12.5 for an example using CSM cameras for the MSL rover, without employing SfM.