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1 parent b708815 commit 16dfe34562282d646b328b21ec5bad7d09378347 @novas0x2a novas0x2a committed Oct 23, 2009
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  1. +39 −0 AUTHORS
  2. +20 −23 COPYING
  3. +90 −96 README
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39 AUTHORS
@@ -0,0 +1,39 @@
+This open source version of the Ames Stereo Pipeline (ASP) was
+developed by the Intelligent Robotics Group (IRG), in the Intelligent
+Systems Division at NASA Ames Research Center in Moffett Field, CA. It
+builds on over ten years of IRG experience developing surface
+reconstruction tools for terrestrial robotic field tests and planetary
+exploration.
+
+Credit and thanks go to the following developers for contributing time
+and energy to this effort.
+
+Michael Broxton (NASA/CMU) - Principal Investigator
+Zachary Moratto (NASA/SGT) - Lead Developer
+Terry Fong (CS) - Project Manager
+
+-------------------------------------
+Contributors
+-------------------------------------
+
+Ross Beyer (NASA/SETI Institute)
+Ara Nefian (NASA/CMU)
+Matthew Hancher (NASA)
+Kyle Husmann (EAP)
+Mike Lundy (NASA/SGT)
+Vinh To (NASA/SGT)
+Laurence Edwards (NASA)
+
+Sasha Aravkin (NASA Intern)
+Patrick Mihelich (NASA Intern)
+Melissa Bunte (NASA Intern)
+Matthew Faulkner (NASA Intern)
+Todd Templeton (NASA Intern)
+Morgon Kanter (NASA Intern)
+Kerri Cahoy (NASA Intern)
+Ian Saxton (NASA Intern)
+
+
+CMU - Carnegie Mellon University
+SGT - Stinger Ghaffarian Technologies
+EAP - Educational Associates Program
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43 COPYING
@@ -12,12 +12,16 @@ SOFTWARE, AS DEFINED HEREIN, OR ANY PART THEREOF, IS, BY THAT ACTION,
ACCEPTING IN FULL THE RESPONSIBILITIES AND OBLIGATIONS CONTAINED IN
THIS AGREEMENT.
-Government Agency: National Aeronautics and Space_Administration (NASA)
-Government Agency Original Software Designation: {CASE_NUMBER}
-Government Agency Original Software Title: {SOFTWARE_TITLE}
-User Registration Requested. Please Visit {WEBSITE}
-Government Agency Point of Contact for Original Software: {POINT_OF_CONTACT}
+Government Agency: National Aeronautics and Space Administration (NASA)
+Government Agency Original Software Designation: ARC-16341-1
+Government Agency Original Software Title: Neo-Geography Toolkit
+User Registration Requested. Please Contact POC.
+Government Agency Point of Contact for Original Software:
+ Terrence W. Fong
+ NASA Ames Research Center
+ Mail Stop 269-3, Moffett Field, CA, 94035
+ stereo-pipeline-owner@lists.nasa.gov
1. DEFINITIONS
@@ -41,9 +45,9 @@ act of including Subject Software as part of a Larger Work does not in
and of itself constitute a Modification.
G. "Original Software" means the computer software first released
under this Agreement by Government Agency with Government Agency
-designation {CASE_NUMBER} and entitled
-{SOFTWARE_TITLE}, including source code,
-object code and accompanying documentation, if any.
+designation ARC-16341-1 and entitled "Neo-Geography Toolkit",
+including source code, object code and accompanying documentation, if
+any.
H. "Recipient" means anyone who acquires the Subject Software under
this Agreement, including all Contributors.
I. "Redistribution" means Distribution of the Subject Software after a
@@ -144,20 +148,9 @@ or a prior Recipient's participation in this Agreement.
F. In an effort to track usage and maintain accurate records of the
Subject Software, each Recipient, upon receipt of the Subject
-Software, is requested to register with Government Agency by visiting
-the following website: {WEBSITE}. Recipient's
-name and personal information shall be used for statistical purposes
-only. Once a Recipient makes a Modification available, it is requested
-that the Recipient inform Government Agency at the web site provided
-above how to access the Modification.
-
-[Alternative paragraph for use when a web site for release and
-monitoring of subject software will not be supported by releasing
-Government Agency] In an effort to track usage and maintain accurate
-records of the Subject Software, each Recipient, upon receipt of the
-Subject Software, is requested to provide Government Agency, by e-mail
-to the Government Agency Point of Contact listed in clause 5.F., the
-following information: {REQUESTED_REGISTRATION_INFORMATION}. Recipient's
+Software, is requested to provide Government Agency, by e-mail to the
+Government Agency Point of Contact listed in clause 5.F., the
+following information: Recipient's name and organization. Recipient's
name and personal information shall be used for statistical purposes
only. Once a Recipient makes a Modification available, it is requested
that the Recipient inform Government Agency, by e-mail to the
@@ -258,4 +251,8 @@ Recipient hereby agrees to all terms and conditions herein.
F. Point of Contact: Any Recipient contact with Government Agency is
to be directed to the designated representative as follows:
-{POINT_OF_CONTACT}.
+
+ Terrence W. Fong
+ NASA Ames Research Center
+ Mail Stop 269-3, Moffett Field, CA, 94035
+ stereo-pipeline-owner@lists.nasa.gov
View
186 README
@@ -1,28 +1,46 @@
-The NASA Ames Stereo Pipeline Version Alpha-something
-
-*** IMPORTANT ***
-This is an ALPHA release of the Stereo Pipeline. There are many
-known bugs and incomplete features, and the API will almost certainly
-change prior to the final release. Much of the documentation is
-incomplete or incorrect. Although we hope you will find this release
-helpful, you use it at your own risk.
-
-
************************************************************************
1. INTRODUCTION
-The NASA Ames Stereo pipeline is a modular, extensible, cross-platform
-computer vision software framework written in C++. It was designed to
-support a variety of space exploration tasks, including ...
-
-[[ Really Michael should fill more of this out. ]]
+A. Neo-Geography Toolkit
+
+The Neo-Geography Toolkit (NGT) is a collection of tools for automated
+processing of geospatial data, including images and maps. It is capable of
+processing raw raster data from remote sensing instruments and transforming it
+into useful cartographic products, such as visible image base maps, topographic
+models, etc. Additionally, components of the NGT can perform data processing on
+extremely large geospatial data sets (up to several tens of terabytes) via
+parallel processing pipelines. Finally, it can also transform raw metadata (i.e.
+SPICE kernels and PDS image labels), vector data (e.g., 2D/3D shape files), and
+geo-tagged data sets into standard NeoGeography data formats, such as KML.
+
+NGT is an evolving collection of loosely connected open-source modules designed
+by the NASA Ames Intelligent Robotics Group. Modules of the NGT will be released
+one at a time, as they reach maturity. To date, we have completed only one
+module: the NASA Ames Stereo Pipeline, but more will soon follow. Check this
+website for the latest updates.
+
+B. Stereo Pipeline
+
+The NASA Ames Stereo Pipeline (ASP) is a suite of automated geodesy &
+stereogrammetry tools designed for processing planetary imagery captured from
+orbiting and landed robotic explorers on other planets. It was designed to
+process stereo imagery captured by NASA spacecraft and produce cartographic
+products including digital elevation models (DEMs), ortho-projected imagery, and
+3D models. These data products are suitable for science analysis, mission
+planning, and public outreach.
+
+This version of the Stereo Pipeline is designed as an add-on to an existing
+installation of the USGS Integrated Software for Imagers and Spectrometers
+(ISIS). ISIS is widely used in the planetary science community for processing
+raw spacecraft imagery into high level data products of scientific interest such
+as map projected and mosaicked imagery.
************************************************************************
-2. LICENSE
+2. LICENSE (see COPYING for the full text)
A. Copyright and License Summary
-Copyright (C) 2008 United States Government as represented by the
+Copyright (C) 2006-2009 United States Government as represented by the
Administrator of the National Aeronautics and Space Administration
(NASA). All Rights Reserved.
@@ -46,81 +64,54 @@ convenience to the user. This software, located in the "thirdparty/"
directory, is not covered by the above-mentioned distribution
agreement or copyright. See the included documentation for detailed
copyright and license information for any third-party software. In
-addition, various pieces of the Vision Workbench depend on additional
-thrid-party libraries that the user is expected to have installed.
-The specific dependencies of each component of the Vision Workbench
-are discussed section 3, "LIBRARY STRUCTURE", and information of where
-to obtain non-bundled third-party libraries is provided in section 4,
-"INSTALLATION".
-
-************************************************************************
-3. LIBRARY STRUCTURE
-
-The Stereo Pipeline software is located in the directory "src/"
-and consists of a core library and several optional libraries or
-"modules". Each module is contained in a subdirectory with the name
-name as the module.
-
-[[ Again, someone more knowledgeable about the structure should fill this out. ]]
+addition, various pieces of the NGT depend on additional
+third-party libraries that the user is expected to have installed.
+Information of where to obtain non-bundled third-party libraries is
+provided in section 3, "INSTALLATION".
************************************************************************
-4. INSTALLATION AND USE
+3. INSTALLATION AND USE
A. Obtaining the Software
-If you are reading this text then presumably you have a copy of
-the Vision Workbench software. However, you can obtain the most
-recent version from
+If you are reading this text then presumably you have a copy of
+the software. However, you can obtain the most recent version from
- http://ti.arc.nasa.gov/??
+ http://ti.arc.nasa.gov/project/ngt
-Before attempting to configure, build or install the Stereo Pipeline
+Before attempting to configure, build or install the NGT
you should obtain and install any prerequisite libraries that you
-need. The only absolute requirement is the Boost. The others are
-either required to build a specific module, or will enable a
-particular feature if available. A complete list of dependencies
-is shown in the table below, where each library is noted as being
-either a required or optional dependency of one or modules. All of
-these libraries are distributed under some variation on the themes
-of the MIT and BSD licenses. See each individual library's
+need. The only absolute requirement is the Boost. The others are
+either required to build a specific module, or will enable a
+particular feature if available. A complete list of dependencies
+is shown in the table below, where each library is noted as being
+either a required or optional dependency of one or modules. All of
+these libraries are distributed under some variation on the themes
+of the MIT and BSD licenses. See each individual library's
documentation for details.
-+------------------------------+------------------------------------+
-| Library | Relevant Modules | Source Website |
-+---------+--------------------+------------------------------------+
-| Boost | Core, etc. (req.) | http://www.boost.org/ |
-| others | to be filled out | http://www.tbd.com/ |
-+---------+--------------------+------------------------------------+
-
-In addition, some Stereo Pipeline modules require other, lower
-level modules to be built. The internal Vision Workbench dependency
-table appears below.
-
-[[ table to be built by someone who knows better ]]
++------------------+-------------+-----------------------------------------+
+| Library | Required? | Source Website |
++------------------+-------------+-----------------------------------------+
+| Vision Workbench | Required | http://ti.arc.nasa.gov/visionworkbench/ |
+| Boost | Required | http://www.boost.org/ |
+| ISIS | Recommended | http://isis.astrogeology.usgs.gov/ |
+| OpenSceneGraph | Optional | http://www.openscenegraph.org/ |
++------------------+-------------+-----------------------------------------+
B. Building and Installing
Once you have obtained and installed all of the prerequisite software
-the process of building the Stereo Pipeline itself is generally
+the process of building the NGT itself is generally
straightforward. There are four steps:
-i. Configure the library. This is usually as simple as running the
-"./configure" script from within the root Vision Workbench package
-directory.
-
-ii. Build the library, by running "make".
-
-iii. Run the tests, by running "make check".
+i. Configure the library. This is usually as simple as running the
+"./configure" script from within the root NGT package directory.
-iv. Install the library, by running "make install".
+ii. Build the tools by running "make".
-By default the library will be installed into a directory called
-"build/" within the Stereo Pipeline package tree, in a subdirectory
-named for the particular platform you've built it for. If you prefer
-a more conventional installation into, for example, "/usr/local/",
-then pass the command line argument "--prefix=/usr/local" to
-the configure script in step i.
+iii. Install the tools by running "make install".
While this simple sequence will suffice for most users, the configure
script has many options that you can use to adjust various properties,
@@ -136,52 +127,55 @@ you will need to develop software using the library are located in the
"include/" subdirectory. The compiled libraries, which you will need
to link your software against, are located in the "lib/" subdirectory.
You will need to configure your software development environment as
-appropriate to locate these files. Finally, a number of simple
-command-line tools are provided in the "bin/" directory. These are
-intended primarily as demo applications, but many of them are in fact
-useful in their own right. See the documentation for a complete list
-of the tools.
+appropriate to locate these files. Finally, a number of command-line
+tools are provided in the "bin/" directory. See the documentation for a
+complete list of the tools.
************************************************************************
-5. DOCUMENTATION
+4. DOCUMENTATION
-Yes, we should have some documentation.
+The primary source of documentation is the Stereo Pipeline Book, which
+is provided in source form along with this distribution. It includes a
+gentle introduction to using the Stereo Pipeline, as well as
+documentation for each of its major processes. A copy of this document
+in PDF format should be available from wherever you obtained this
+package. The original source for this document can be found in
+"docs/book" and it can be built by running "make" in that directory.
+This operation requires the latex typesetting package.
************************************************************************
-6. CONTACTS & CREDITS
+5. CONTACTS & CREDITS
A. Mailing List
All bugs, feature requests, and general discussion should be sent to
-the Stereo Pipeline user mailing list:
+the NGT user mailing list:
- ??@lists.nasa.gov
+ stereo-pipeline@lists.nasa.gov
-To subscribe to this list, send an empty email messoge with the subject
+To subscribe to this list, send an empty email messoge with the subject
'subscribe' (without the quotes) to
- ??@lists.nasa.gov
+ stereo-pipeline@lists.nasa.gov
To contact the lead developers and project manager directly, send mail
to:
- ??@lists.nasa.gov
+ stereo-pipeline@lists.nasa.gov
-Please do NOT use this second list for technical inquiries, which
-should all be sent to the main vision-workbench list above.
+Please do NOT use this second list for technical inquiries, which
+should all be sent to the main stereo-pipeline list above.
B. Credits
-The Stereo Pipeline was developed within the Autonomous Systems and
-Robotics area of the Inteligent Systems Division at NASA's Ames
+The NGT was developed within the Autonomous Systems and
+Robotics area of the Inteligent Systems Division at NASA's Ames
Research Center. It leverages the Intelligent Robotics Group's (IRG)
extensive experience developing surface reconstruction and tools for
planetary exploration---e.g. the Mars Pathfinder and Mars Exploration
-Rover missions---and rover autonomy. It has also been developed in
-collaboration with the Adaptive Control and Evolvable Systems (ACES)
-group, and draws on their experience developing computer vision
+Rover missions---and rover autonomy. It has also been developed in
+collaboration with the Adaptive Control and Evolvable Systems (ACES)
+group, and draws on their experience developing computer vision
techniques for autonomous vehicle control systems.
-The lead developers of the Stereo Pipeline are Laurence Edwards
-(IRG, Project Manager), Michael Broxton (IRG), and Matthew Hancher
-(ACES). See the AUTHORS file for a complete list of developers.
+See the AUTHORS file for a complete list of developers.

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