The Mars Exploration Rovers (MER) have several cameras onboard that acquire
stereo pairs. The images come with CAHVOR camera models, that have local
positions and orientations.
ASP can create point clouds and textured meshes from these cameras. DEMs cannot
be created right away, unlike for MSL, which has geolocation information
(Section 8.11.5), but an SfM solution is likely to work as in
Section 10.3.
These are cameras on the rover and are all processed the same way. It is
preferred to use NAVCAM images, as those have less distortion than the HAZCAM.
Fig. 8.4 Left input image and produced textured mesh.¶
See Section 6 for a discussion about various speed-vs-quality choices.
It is suggested to filter out points that are not triangulated well because they
are too far using the parallel_stereo option --min-triangulation-angle
(Section 17).