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1 ************************************************************************
2 1. INTRODUCTION
3
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4 A. Neo-Geography Toolkit
5
6 The Neo-Geography Toolkit (NGT) is a collection of tools for automated
7 processing of geospatial data, including images and maps. It is capable of
8 processing raw raster data from remote sensing instruments and transforming it
9 into useful cartographic products, such as visible image base maps, topographic
10 models, etc. Additionally, components of the NGT can perform data processing on
11 extremely large geospatial data sets (up to several tens of terabytes) via
12 parallel processing pipelines. Finally, it can also transform raw metadata (i.e.
13 SPICE kernels and PDS image labels), vector data (e.g., 2D/3D shape files), and
14 geo-tagged data sets into standard NeoGeography data formats, such as KML.
15
16 NGT is an evolving collection of loosely connected open-source modules designed
17 by the NASA Ames Intelligent Robotics Group. Modules of the NGT will be released
18 one at a time, as they reach maturity. To date, we have completed only one
19 module: the NASA Ames Stereo Pipeline, but more will soon follow. Check this
20 website for the latest updates.
21
22 B. Stereo Pipeline
23
24 The NASA Ames Stereo Pipeline (ASP) is a suite of automated geodesy &
25 stereogrammetry tools designed for processing planetary imagery captured from
26 orbiting and landed robotic explorers on other planets. It was designed to
27 process stereo imagery captured by NASA spacecraft and produce cartographic
28 products including digital elevation models (DEMs), ortho-projected imagery, and
29 3D models. These data products are suitable for science analysis, mission
30 planning, and public outreach.
31
32 This version of the Stereo Pipeline is designed as an add-on to an existing
33 installation of the USGS Integrated Software for Imagers and Spectrometers
34 (ISIS). ISIS is widely used in the planetary science community for processing
35 raw spacecraft imagery into high level data products of scientific interest such
36 as map projected and mosaicked imagery.
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37
38 ************************************************************************
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39 2. LICENSE (see COPYING for the full text)
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40
41 A. Copyright and License Summary
42
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43 Copyright (C) 2006-2009 United States Government as represented by the
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44 Administrator of the National Aeronautics and Space Administration
45 (NASA). All Rights Reserved.
46
47 This software is distributed under the NASA Open Source Agreement
48 (NOSA), version 1.3. The NOSA has been approved by the Open Source
49 Initiative. See the file "COPYING" at the top of the distribution
50 directory tree for the complete NOSA document.
51
52 THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY
53 KIND, EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT
54 LIMITED TO, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL CONFORM TO
55 SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR
56 A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT
57 THE SUBJECT SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT
58 DOCUMENTATION, IF PROVIDED, WILL CONFORM TO THE SUBJECT SOFTWARE.
59
60 B. Third-Party Libraries
61
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62 This distribution may include some bundled third-party software as a
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63 convenience to the user. This software, located in the "thirdparty/"
64 directory, is not covered by the above-mentioned distribution
65 agreement or copyright. See the included documentation for detailed
66 copyright and license information for any third-party software. In
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67 addition, various pieces of the NGT depend on additional
68 third-party libraries that the user is expected to have installed.
69 Information of where to obtain non-bundled third-party libraries is
70 provided in section 3, "INSTALLATION".
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71
72 ************************************************************************
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73 3. INSTALLATION AND USE
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74
75 A. Obtaining the Software
76
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77 If you are reading this text then presumably you have a copy of
78 the software. However, you can obtain the most recent version from
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79
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80 http://ti.arc.nasa.gov/project/ngt
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81
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82 Before attempting to configure, build or install the NGT
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83 you should obtain and install any prerequisite libraries that you
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84 need. The only absolute requirement is the Boost. The others are
85 either required to build a specific module, or will enable a
86 particular feature if available. A complete list of dependencies
87 is shown in the table below, where each library is noted as being
88 either a required or optional dependency of one or modules. All of
89 these libraries are distributed under some variation on the themes
90 of the MIT and BSD licenses. See each individual library's
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91 documentation for details.
92
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93 +------------------+-------------+-----------------------------------------+
94 | Library | Required? | Source Website |
95 +------------------+-------------+-----------------------------------------+
96 | Vision Workbench | Required | http://ti.arc.nasa.gov/visionworkbench/ |
97 | Boost | Required | http://www.boost.org/ |
98 | ISIS | Recommended | http://isis.astrogeology.usgs.gov/ |
99 | OpenSceneGraph | Optional | http://www.openscenegraph.org/ |
100 +------------------+-------------+-----------------------------------------+
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101
102
103 B. Building and Installing
104
105 Once you have obtained and installed all of the prerequisite software
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106 the process of building the NGT itself is generally
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107 straightforward. There are four steps:
108
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109 i. Configure the library. This is usually as simple as running the
110 "./configure" script from within the root NGT package directory.
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111
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112 ii. Build the tools by running "make".
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113
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114 iii. Install the tools by running "make install".
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115
116 While this simple sequence will suffice for most users, the configure
117 script has many options that you can use to adjust various properties,
118 such as compiler optimization flags or the search paths used to find
119 required libraries. See the "INSTALL" file in this directory for more
120 detailed information.
121
122 C. Using the Library
123
124 When you install the library it will place files into three
125 subdirectories in the installation location. The header files which
126 you will need to develop software using the library are located in the
127 "include/" subdirectory. The compiled libraries, which you will need
128 to link your software against, are located in the "lib/" subdirectory.
129 You will need to configure your software development environment as
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130 appropriate to locate these files. Finally, a number of command-line
131 tools are provided in the "bin/" directory. See the documentation for a
132 complete list of the tools.
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133
134 ************************************************************************
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135 4. DOCUMENTATION
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136
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137 The primary source of documentation is the Stereo Pipeline Book, which
138 is provided in source form along with this distribution. It includes a
139 gentle introduction to using the Stereo Pipeline, as well as
140 documentation for each of its major processes. A copy of this document
141 in PDF format should be available from wherever you obtained this
142 package. The original source for this document can be found in
143 "docs/book" and it can be built by running "make" in that directory.
144 This operation requires the latex typesetting package.
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145
146 ************************************************************************
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147 5. CONTACTS & CREDITS
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148
149 A. Mailing List
150
151 All bugs, feature requests, and general discussion should be sent to
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152 the NGT user mailing list:
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153
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154 stereo-pipeline@lists.nasa.gov
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155
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156 To subscribe to this list, send an empty email messoge with the subject
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157 'subscribe' (without the quotes) to
158
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159 stereo-pipeline@lists.nasa.gov
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160
161 To contact the lead developers and project manager directly, send mail
162 to:
163
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164 stereo-pipeline@lists.nasa.gov
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165
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166 Please do NOT use this second list for technical inquiries, which
167 should all be sent to the main stereo-pipeline list above.
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168
169 B. Credits
170
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171 The NGT was developed within the Autonomous Systems and
172 Robotics area of the Inteligent Systems Division at NASA's Ames
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173 Research Center. It leverages the Intelligent Robotics Group's (IRG)
174 extensive experience developing surface reconstruction and tools for
175 planetary exploration---e.g. the Mars Pathfinder and Mars Exploration
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176 Rover missions---and rover autonomy. It has also been developed in
177 collaboration with the Adaptive Control and Evolvable Systems (ACES)
178 group, and draws on their experience developing computer vision
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179 techniques for autonomous vehicle control systems.
180
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181 See the AUTHORS file for a complete list of developers.
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