16. Tools

This chapter provides a overview of the various tools that are provided as part of the Ames Stereo Pipeline, and a summary of their command line options.

• 16.1. add_spot_rpc
• 16.2. aster2asp
• 16.3. bathy_plane_calc
  • 16.3.1. Example 1 (using a camera, a mask, and a DEM)
    • 16.3.1.1. Preparation and running the program
    • 16.3.1.2. Handling adjusted cameras and alignment
  • 16.3.2. Example 2 (using water height measurements)
  • 16.3.3. Example 3 (using a DEM and shapefile)
  • 16.3.4. Example 4 (pick a sample set of points at mask boundary)
  • 16.3.5. Acquisition of water height data
  • 16.3.6. Command-line options for bathy_plane_calc
• 16.4. bathy_threshold_calc.py
  • 16.4.1. Example usage
  • 16.4.2. Dependencies
  • 16.4.3. Command-line options for bathy_threshold_calc.py
• 16.5. bundle_adjust
  • 16.5.1. Examples
    • 16.5.1.1. ISIS cameras
    • 16.5.1.2. Maxar Earth cameras and GCP
    • 16.5.1.3. RPC cameras and image lists
    • 16.5.1.4. Pinhole cameras
    • 16.5.1.5. CSM cameras
    • 16.5.1.6. Other cameras
  • 16.5.2. Validation
  • 16.5.3. Handling failures
  • 16.5.4. Constraints
    • 16.5.4.1. Ground constraints
    • 16.5.4.2. Camera constraints
  • 16.5.5. Use cases
    • 16.5.5.1. Large-scale bundle adjustment
    • 16.5.5.2. Solving for intrinsics
    • 16.5.5.3. Well-distributed interest points
    • 16.5.5.4. Controlling where interest points are placed
    • 16.5.5.5. Using mapprojected images
  • 16.5.6. Use of the results
  • 16.5.7. Camera adjustments and applying a transform
  • 16.5.8. How bundle adjustment works
  • 16.5.9. Ground control points
    • 16.5.9.1. File format
    • 16.5.9.2. Uses of GCP
    • 16.5.9.3. Effect on optimization
  • 16.5.10. Control network
    • 16.5.10.1. Match files
    • 16.5.10.2. ISIS control network
    • 16.5.10.3. NVM format
  • 16.5.11. Output files
    • 16.5.11.1. Reprojection errors per camera
    • 16.5.11.2. Camera position changes
    • 16.5.11.3. Changes in triangulated points
    • 16.5.11.4. Convergence angles
    • 16.5.11.5. Reprojection errors per triangulated point
    • 16.5.11.6. GCP report
    • 16.5.11.7. Error propagation
    • 16.5.11.8. Camera positions and orientations
    • 16.5.11.9. Registration errors on the ground
  • 16.5.12. Format of .adjust files
  • 16.5.13. Command-line options
• 16.6. cam2map4stereo.py
• 16.7. cam2rpc
  • 16.7.1. Examples
  • 16.7.2. Validation
  • 16.7.3. Usage
  • 16.7.4. Command-line options
• 16.8. cam_gen
  • 16.8.1. Examples
    • 16.8.1.1. Pinhole cameras
    • 16.8.1.2. Optical bar cameras
    • 16.8.1.3. Fit a prior camera
    • 16.8.1.4. CSM Frame cameras
    • 16.8.1.5. CSM linescan cameras
  • 16.8.2. Further refinement
  • 16.8.3. Validation
  • 16.8.4. Command-line options
• 16.9. cam_test
  • 16.9.1. Examples
  • 16.9.2. Usage
  • 16.9.3. Command-line options
• 16.10. camera_calibrate
• 16.11. camera_footprint
• 16.12. camera_solve
  • 16.12.1. Example
  • 16.12.2. Usage
  • 16.12.3. Command-line options
• 16.13. CGAL tools
  • 16.13.1. Examples
• 16.14. colormap
  • 16.14.1. Using your own colormap
  • 16.14.2. Command-line options for colormap
• 16.15. convert_pinhole_model
• 16.16. corr_eval
• 16.17. Image correlator
• 16.18. dem_geoid
• 16.19. dem_mosaic
  • 16.19.1. Overview
  • 16.19.2. Examples
    • 16.19.2.1. Blend DEMs
    • 16.19.2.2. Priority blending
    • 16.19.2.3. Mean height DEM
    • 16.19.2.4. Regridding
    • 16.19.2.5. Apply a blur
    • 16.19.2.6. Erosion
    • 16.19.2.7. Fill small holes
    • 16.19.2.8. Grow a DEM
  • 16.19.3. Usage
  • 16.19.4. Command-line options
• 16.20. dg_mosaic
• 16.21. disp2ip
  • 16.21.1. Procedure
    • 16.21.1.1. Stereo between filtered images
    • 16.21.1.2. SfM between the left raw images
    • 16.21.1.3. Running this program
  • 16.21.2. Use of results
  • 16.21.3. The input filter
  • 16.21.4. Command-line options
• 16.22. disparitydebug
• 16.23. gcp_gen
  • 16.23.1. Example
  • 16.23.2. Validation
  • 16.23.3. Command-line options
• 16.24. GDAL tools
• 16.25. geodiff
  • 16.25.1. Examples
  • 16.25.2. See also
  • 16.25.3. Command-line options
• 16.26. hiedr2mosaic.py
• 16.27. hillshade
• 16.28. historical_helper.py
• 16.29. hsv_merge
• 16.30. icebridge_kmz_to_csv
• 16.31. image2qtree
• 16.32. image_align
  • 16.32.1. Examples
  • 16.32.2. Application for alignment of DEMs
  • 16.32.3. Determination of ECEF transform
  • 16.32.4. Usage
  • 16.32.5. Command-line options for image_align
• 16.33. image_calc
  • 16.33.1. Examples
    • 16.33.1.1. Apply operation and save pixels as float32
    • 16.33.1.2. Invalidate values no more than a threshold
    • 16.33.1.3. Apply a mask to an image
    • 16.33.1.4. Create a mask
    • 16.33.1.5. Create an image with random values
    • 16.33.1.6. Add a value to the geoheader metadata
    • 16.33.1.7. Subtract 360 degrees from the longitudes in a GeoTiff file
  • 16.33.2. Usage
  • 16.33.3. Command-line options
• 16.34. image_mosaic
• 16.35. ipfind
• 16.36. ipmatch
• 16.37. jitter_solve
  • 16.37.1. Ground constraints
    • 16.37.1.1. Intrinsic constraint
    • 16.37.1.2. Extrinsic constraint
    • 16.37.1.3. Anchor points
  • 16.37.2. Camera constraints
  • 16.37.3. Resampling the poses
  • 16.37.4. Interest point matches
  • 16.37.5. Example 1: CTX images on Mars
    • 16.37.5.1. Input images
    • 16.37.5.2. Reference datasets
    • 16.37.5.3. Uncorrected DEM creation
    • 16.37.5.4. Solving for jitter
    • 16.37.5.5. Multiple CTX images
  • 16.37.6. Example 2: WorldView-3 DigitalGlobe images on Earth
    • 16.37.6.1. Bundle adjustment
    • 16.37.6.2. Mapprojection
    • 16.37.6.3. Stereo
    • 16.37.6.4. Alignment
    • 16.37.6.5. Solving for jitter
    • 16.37.6.6. Redoing mapprojection and stereo
    • 16.37.6.7. Reusing a previous run
    • 16.37.6.8. Validation
  • 16.37.7. Example 3: Airbus Pleiades
    • 16.37.7.1. Creation of terrain model
    • 16.37.7.2. Correcting the jitter
  • 16.37.8. ASTER cameras
    • 16.37.8.1. Setup
    • 16.37.8.2. Initial stereo and alignment
    • 16.37.8.3. Solving for jitter
  • 16.37.9. Jitter with synthetic cameras and orientation constraints
  • 16.37.10. Constraining direction of jitter with real cameras
  • 16.37.11. Mixing linescan and frame cameras
  • 16.37.12. Solving for jitter with a linescan and frame rig
  • 16.37.13. Output files
    • 16.37.13.1. Optimized cameras
    • 16.37.13.2. Reprojection errors per camera
    • 16.37.13.3. Changes in camera positions
    • 16.37.13.4. Changes in triangulated points
    • 16.37.13.5. Reprojection errors per triangulated point
    • 16.37.13.6. Anchor points
  • 16.37.14. Command-line options for jitter_solve
• 16.38. lronac2mosaic.py
• 16.39. lvis2kml
• 16.40. mapproject
  • 16.40.1. Examples
  • 16.40.2. Saved metadata
  • 16.40.3. Usage
  • 16.40.4. Command-line options
• 16.41. multi_stereo
  • 16.41.1. Examples
    • 16.41.1.1. Creation of camera models
    • 16.41.1.2. Running stereo and mesh creation
    • 16.41.1.3. Creating a textured mesh
  • 16.41.2. Handling issues
  • 16.41.3. Command-line options for multi_stereo
• 16.42. n_align
• 16.43. orbit_plot.py
  • 16.43.1. Satellite coordinate system
  • 16.43.2. Roll, pitch, and yaw angles
  • 16.43.3. Examples
    • 16.43.3.1. Plot one dataset
    • 16.43.3.2. Plot two datasets
    • 16.43.3.3. Plot two orbital groups, including linescan cameras
  • 16.43.4. Dependencies
  • 16.43.5. See also
  • 16.43.6. Command-line options
• 16.44. orbitviz
• 16.45. ortho2pinhole
• 16.46. otsu_threshold
• 16.47. pansharp
• 16.48. parallel_bundle_adjust
• 16.49. parallel_sfs
• 16.50. parallel_stereo
  • 16.50.1. Processes and threads
  • 16.50.2. Entry points
  • 16.50.3. Command-line options
• 16.51. parse_match_file.py
• 16.52. pc_align
  • 16.52.1. The input point clouds
  • 16.52.2. The max displacement option
  • 16.52.3. Alignment method
  • 16.52.4. File formats
  • 16.52.5. The alignment transform
  • 16.52.6. Applying an initial transform
  • 16.52.7. Applying an initial specified translation or rotation
  • 16.52.8. Interpreting the transform
  • 16.52.9. Error metrics and outliers
  • 16.52.10. Evaluation of aligned clouds
  • 16.52.11. Output point clouds and convergence history
  • 16.52.12. Manual alignment
  • 16.52.13. Creating a point cloud from a DEM
  • 16.52.14. Applying the pc_align transform to cameras
  • 16.52.15. Troubleshooting
  • 16.52.16. Command-line options for pc_align
• 16.53. pc_filter
• 16.54. pc_merge
• 16.55. point2dem
  • 16.55.1. Examples
    • 16.55.1.1. Auto-guess projection center and datum
    • 16.55.1.2. Orthoimage and error image
    • 16.55.1.3. Custom grid size with geographic projection
    • 16.55.1.4. Polar stereographic projection
    • 16.55.1.5. UTM projection
    • 16.55.1.6. Multiple clouds
    • 16.55.1.7. Ground-level or projected data
  • 16.55.2. Comparing with MOLA Data
  • 16.55.3. Post spacing
  • 16.55.4. Using with LAS or CSV clouds
  • 16.55.5. Output statistics
  • 16.55.6. Command-line options for point2dem
• 16.56. point2las
  • 16.56.1. Outlier removal
  • 16.56.2. Command-line options for point2las
• 16.57. point2mesh
• 16.58. rig_calibrator
  • 16.58.1. Capabilities
  • 16.58.2. Input data conventions
  • 16.58.3. Assumptions about the timestamp
  • 16.58.4. The reference sensor
  • 16.58.5. Configuration file
  • 16.58.6. Output files
  • 16.58.7. Examples
  • 16.58.8. Notes
  • 16.58.9. Determination of scale and registration
  • 16.58.10. Quality metrics
  • 16.58.11. Handling failures
  • 16.58.12. Point cloud file format
  • 16.58.13. Interfacing with bundle_adjust
  • 16.58.14. Source code
  • 16.58.15. Command-line options for rig_calibrator
• 16.59. ROS bag handling tools
  • 16.59.1. list_timestamps
  • 16.59.2. extract_bag
• 16.60. sat_sim
  • 16.60.1. Use given cameras
  • 16.60.2. Generate nadir-pointing cameras
  • 16.60.3. Follow custom ground path with varying orientation
  • 16.60.4. Fixed camera orientation
  • 16.60.5. Pose and ground constraints
  • 16.60.6. Jitter modelling
    • 16.60.6.1. Specifying the jitter amplitude in meters
    • 16.60.6.2. Specifying the jitter amplitude in micro radians
  • 16.60.7. Linescan cameras
  • 16.60.8. Roll, pitch, and yaw
  • 16.60.9. Efficiency considerations
  • 16.60.10. Preparing the input DEM and orthoimage
  • 16.60.11. Output files
  • 16.60.12. Command-line options
• 16.61. sfm_merge
  • 16.61.1. Example
  • 16.61.2. Handling tracks
  • 16.61.3. Command-line options for sfm_merge
• 16.62. sfm_submap
  • 16.62.1. Examples
  • 16.62.2. Command-line options for sfm_submap
• 16.63. sfm_view
  • 16.63.1. Example
  • 16.63.2. See also
  • 16.63.3. Command-line options
• 16.64. sfs
  • 16.64.1. Illustration
  • 16.64.2. Usage
  • 16.64.3. Example
  • 16.64.4. Inputs
  • 16.64.5. Outputs
  • 16.64.6. Command-line options for sfs
• 16.65. sfs_blend
• 16.66. stereo
  • 16.66.1. Command-line options
• 16.67. stereo_gui
  • 16.67.1. Use as stereo front-end
  • 16.67.2. Use as an image viewer
  • 16.67.3. Other features
  • 16.67.4. Hillshading
  • 16.67.5. Displaying colorized images, with a colorbar and axes
  • 16.67.6. View scattered points
  • 16.67.7. Polygon editing and contouring
    • 16.67.7.1. Plain-text polygon files
    • 16.67.7.2. Application
  • 16.67.8. Finding pixel values and region bounds
  • 16.67.9. View interest point matches
    • 16.67.9.1. View matches for an image pair
    • 16.67.9.2. View pairwise matches for N images
    • 16.67.9.3. View all matches for N images
    • 16.67.9.4. View NVM files
    • 16.67.9.5. View ISIS control network files
  • 16.67.10. View GCP and .vwip files
  • 16.67.11. Edit interest point matches
  • 16.67.12. Creating GCP with with an orthoimage and a DEM
  • 16.67.13. Creating interest point matches using mapprojected images
  • 16.67.14. Image threshold
  • 16.67.15. Cycle through images
  • 16.67.16. Command line options for stereo_gui
• 16.68. texrecon
  • 16.68.1. Example
  • 16.68.2. Command-line options
• 16.69. theia_sfm
  • 16.69.1. Usage
  • 16.69.2. Configuration
  • 16.69.3. Flags file
  • 16.69.4. Examples
  • 16.69.5. Visualization
  • 16.69.6. Manipulating SfM solutions
    • 16.69.6.1. Command-line options for theia_sfm
• 16.70. undistort_image
• 16.71. view_reconstruction
• 16.72. voxblox_mesh
  • 16.72.1. Example
  • 16.72.2. Format of the inputs
  • 16.72.3. Command-line options for voxblox_mesh
• 16.73. wv_correct
  • 16.73.1. Note for WV-2 images
  • 16.73.2. Usage
  • 16.73.3. Examples
  • 16.73.4. Command-line options for wv_correct