Continuing my ASP Journey: Seeking Guidance on Stereo Matching and Output Generation

[Kumar]

Dear Ames Stereo Pipeline Support Community,

Thank you for your previous support. I have two rover NavCam stereo images, along with their corresponding CAHV files, and I'm hoping to get some advice on the next steps.

My images have a 24.2 cm baseline, they are 1024x1024 pngs, and are radiometrically calibrated but not epipolar aligned. They contain a variety of features, including craters, boulders, and shadows, as well as unique, non-overlapping regions and a deep space horizon.

I'd like to perform the following tasks and would greatly appreciate guidance on the correct ASP commands and parameters to use:

1. Stereo Matching Algorithms: I want to run and compare the results of the bm, mgm, sgm, and final_mgm algorithms.

2. Visualizing Conjugate Match Points: For each of the algorithms, I'd like to visualize the conjugate match points found between the left and right images, also I'm looking for a way to generate a plot or image that shows these points connected by lines, demonstrating the successful matching.

3. Generating Outputs: Following the stereo matching, I want to create the standard ASP outputs:

   • Disparity Map: A visual representation of the pixel disparity.

   • Point Cloud: A 3D representation of the scene, typically in a .csv or .ply format.

   • Digital Elevation Model (DEM): Both a colored and a grayscale DEM to visualize the topography.

Could you please provide a step-by-step guide or command examples for achieving this? I'm particularly interested in how to generate the visualization of the conjugate match points, as this is a key step I'm struggling with.

I've uploaded the left and right images along with their respective CAHV files for reference:

• Left Image: ch3_nav_ncl_20230830T2301162535_d_img_gnh_030.jpg

• Right Image: ch3_nav_ncr_20230830T2301563822_d_img_gnh_030.jpg

• Left CAHV File: ch3_nav_left_cahv.txt

• Right CAHV File: ch3_nav_right_cahv.txt

Any advice or example commands would be a huge help in my learning process. Thank you again for your time and expertise.

Best regards,
Kumar Waibhav Akshat

[Oleg Alexandrov]

For rover work, the closest we have is  https://stereopipeline.readthedocs.io/en/latest/examples/mer.html

For plots of conjugate points i think the ipmatch debug option will help. https://stereopipeline.readthedocs.io/en/latest/tools/ipmatch.html

Visualization of matches but without connection by edge of matching points can be done with stereo_gui https://stereopipeline.readthedocs.io/en/latest/tools/stereo_gui.html

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