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d3a76c8 Copied over from the Vision Workbench and started trying to rewrite.
Ross Beyer authored
1 The NASA Ames Stereo Pipeline Version Alpha-something
2
3 *** IMPORTANT ***
4 This is an ALPHA release of the Stereo Pipeline. There are many
5 known bugs and incomplete features, and the API will almost certainly
6 change prior to the final release. Much of the documentation is
7 incomplete or incorrect. Although we hope you will find this release
8 helpful, you use it at your own risk.
9
10
11 ************************************************************************
12 1. INTRODUCTION
13
14 The NASA Ames Stereo pipeline is a modular, extensible, cross-platform
15 computer vision software framework written in C++. It was designed to
16 support a variety of space exploration tasks, including ...
17
18 [[ Really Michael should fill more of this out. ]]
19
20 ************************************************************************
21 2. LICENSE
22
23 A. Copyright and License Summary
24
25 Copyright (C) 2008 United States Government as represented by the
26 Administrator of the National Aeronautics and Space Administration
27 (NASA). All Rights Reserved.
28
29 This software is distributed under the NASA Open Source Agreement
30 (NOSA), version 1.3. The NOSA has been approved by the Open Source
31 Initiative. See the file "COPYING" at the top of the distribution
32 directory tree for the complete NOSA document.
33
34 THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY
35 KIND, EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT
36 LIMITED TO, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL CONFORM TO
37 SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR
38 A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT
39 THE SUBJECT SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT
40 DOCUMENTATION, IF PROVIDED, WILL CONFORM TO THE SUBJECT SOFTWARE.
41
42 B. Third-Party Libraries
43
44 This distribution includes some bundled third-party software as a
45 convenience to the user. This software, located in the "thirdparty/"
46 directory, is not covered by the above-mentioned distribution
47 agreement or copyright. See the included documentation for detailed
48 copyright and license information for any third-party software. In
49 addition, various pieces of the Vision Workbench depend on additional
50 thrid-party libraries that the user is expected to have installed.
51 The specific dependencies of each component of the Vision Workbench
52 are discussed section 3, "LIBRARY STRUCTURE", and information of where
53 to obtain non-bundled third-party libraries is provided in section 4,
54 "INSTALLATION".
55
56 ************************************************************************
57 3. LIBRARY STRUCTURE
58
59 The Stereo Pipeline software is located in the directory "src/"
60 and consists of a core library and several optional libraries or
61 "modules". Each module is contained in a subdirectory with the name
62 name as the module.
63
64 [[ Again, someone more knowledgeable about the structure should fill this out. ]]
65
66 ************************************************************************
67 4. INSTALLATION AND USE
68
69 A. Obtaining the Software
70
71 If you are reading this text then presumably you have a copy of
72 the Vision Workbench software. However, you can obtain the most
73 recent version from
74
75 http://ti.arc.nasa.gov/??
76
77 Before attempting to configure, build or install the Stereo Pipeline
78 you should obtain and install any prerequisite libraries that you
79 need. The only absolute requirement is the Boost. The others are
80 either required to build a specific module, or will enable a
81 particular feature if available. A complete list of dependencies
82 is shown in the table below, where each library is noted as being
83 either a required or optional dependency of one or modules. All of
84 these libraries are distributed under some variation on the themes
85 of the MIT and BSD licenses. See each individual library's
86 documentation for details.
87
88 +------------------------------+------------------------------------+
89 | Library | Relevant Modules | Source Website |
90 +---------+--------------------+------------------------------------+
91 | Boost | Core, etc. (req.) | http://www.boost.org/ |
92 | others | to be filled out | http://www.tbd.com/ |
93 +---------+--------------------+------------------------------------+
94
95 In addition, some Stereo Pipeline modules require other, lower
96 level modules to be built. The internal Vision Workbench dependency
97 table appears below.
98
99 [[ table to be built by someone who knows better ]]
100
101
102 B. Building and Installing
103
104 Once you have obtained and installed all of the prerequisite software
105 the process of building the Stereo Pipeline itself is generally
106 straightforward. There are four steps:
107
108 i. Configure the library. This is usually as simple as running the
109 "./configure" script from within the root Vision Workbench package
110 directory.
111
112 ii. Build the library, by running "make".
113
114 iii. Run the tests, by running "make check".
115
116 iv. Install the library, by running "make install".
117
118 By default the library will be installed into a directory called
119 "build/" within the Stereo Pipeline package tree, in a subdirectory
120 named for the particular platform you've built it for. If you prefer
121 a more conventional installation into, for example, "/usr/local/",
122 then pass the command line argument "--prefix=/usr/local" to
123 the configure script in step i.
124
125 While this simple sequence will suffice for most users, the configure
126 script has many options that you can use to adjust various properties,
127 such as compiler optimization flags or the search paths used to find
128 required libraries. See the "INSTALL" file in this directory for more
129 detailed information.
130
131 C. Using the Library
132
133 When you install the library it will place files into three
134 subdirectories in the installation location. The header files which
135 you will need to develop software using the library are located in the
136 "include/" subdirectory. The compiled libraries, which you will need
137 to link your software against, are located in the "lib/" subdirectory.
138 You will need to configure your software development environment as
139 appropriate to locate these files. Finally, a number of simple
140 command-line tools are provided in the "bin/" directory. These are
141 intended primarily as demo applications, but many of them are in fact
142 useful in their own right. See the documentation for a complete list
143 of the tools.
144
145 ************************************************************************
146 5. DOCUMENTATION
147
148 Yes, we should have some documentation.
149
150 ************************************************************************
151 6. CONTACTS & CREDITS
152
153 A. Mailing List
154
155 All bugs, feature requests, and general discussion should be sent to
156 the Stereo Pipeline user mailing list:
157
158 ??@lists.nasa.gov
159
160 To subscribe to this list, send an empty email messoge with the subject
161 'subscribe' (without the quotes) to
162
163 ??@lists.nasa.gov
164
165 To contact the lead developers and project manager directly, send mail
166 to:
167
168 ??@lists.nasa.gov
169
170 Please do NOT use this second list for technical inquiries, which
171 should all be sent to the main vision-workbench list above.
172
173 B. Credits
174
175 The Stereo Pipeline was developed within the Autonomous Systems and
176 Robotics area of the Inteligent Systems Division at NASA's Ames
177 Research Center. It leverages the Intelligent Robotics Group's (IRG)
178 extensive experience developing surface reconstruction and tools for
179 planetary exploration---e.g. the Mars Pathfinder and Mars Exploration
180 Rover missions---and rover autonomy. It has also been developed in
181 collaboration with the Adaptive Control and Evolvable Systems (ACES)
182 group, and draws on their experience developing computer vision
183 techniques for autonomous vehicle control systems.
184
185 The lead developers of the Stereo Pipeline are Laurence Edwards
186 (IRG, Project Manager), Michael Broxton (IRG), and Matthew Hancher
187 (ACES). See the AUTHORS file for a complete list of developers.
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