ASP 2.6.2
·
2595 commits
to master
since this release
*** RELEASE 2.6.2, June 15, 2019 ***
DOI: https://doi.org/10.5281/zenodo.3247734
-
New satellites
- Added support for SkyBox, together with a detailed example,
including how to jointly align and optimize cameras in respect
to a reference DEM, while optionally refining the intrinsics.
This approach may be helpful for other images obtained with frame
cameras and uncertain positioning information. - Added support for CORONA KH-4B, KH-7, and KH-9 declassified images
and their panoramic (optical bar) camera models, as well as using
and optimizing camera models with RPC distortion. An example
is in the documentation.
- Added support for SkyBox, together with a detailed example,
-
New tools
- Added parallel_bundle_adjust which computes image statistics and
IP matching in a parallel manner similar to parallel_stereo. - Added the cam_gen tool to create a correctly oriented pinhole
camera model given camera intrinsics, lon-lat coordinates of the
corners (or some other pixels), and optionally a ground truth
DEM. It can also parse SkySat's video/frame_index metafile to get
this data. It can also take as input any camera supported by ASP
via --input-camera and create a most-similar pinhole camera
model with given intrinsics. - Added the coverage_fraction tool to provide a coverage estimate
of the results of a stereo call. - Added the image_mosaic tool which merges together images based on
interest point matches. Can be used to stitch together Corona
scanned images. - Added a new tool, n_align, to jointly align n clouds
(re-implemented from Matlab, works well for small clouds that are
close to each other).
- Added parallel_bundle_adjust which computes image statistics and
-
stereo_rfne
- Added the option to run a non-SGM subpixel option after
running SGM/MGM. - Added the phase correlation subpixel option. This is a Fourier
transform based method.
- Added the option to run a non-SGM subpixel option after
-
pc_align
- Added a new approach to finding an initial transform between
clouds, when they are DEMs, that may be more robust to large
scale or translation changes, or to noise. It is based on
hillshading the DEMs and finding interest point matches among
them, which are then used to find the transform. Can be invoked
with --initial-transform-from-hillshading .
Supported transforms are: 'similarity' (rotation + translation +
scale), 'rigid' (rotation + translation) and 'translation'. - Added the expression of the Euler angles in the North-East-Down
coordinate system around the center of gravity of the source
cloud. - Bugfix: intersection of bounding boxes of the clouds takes
into account the initial transform applied to the source points. - Added a new alignment algorithm, based on
https://github.com/IntelVCL/FastGlobalRegistration
It can be invoked with --alignment-method fgr. It can perform
better than ICP when the clouds are close enough to each
other but there is a large number of outliers, when it can
function with very large --max-displacement. It does worse if the
clouds need a big shift to align.
- Added a new approach to finding an initial transform between
-
bundle_adjust
- Two passes of bundle adjustment (with outlier filtering after
- first pass) is now the default.
- The flag --skip-rough-homography is on by default as it usually
gives more reliable results. Use --enable-rough-homography
to turn this option back on (useful when the footprint on the
ground and difference in perspective are large). - The flag --disable-tri-ip-filter is also the default as input
cameras may not be reliable enough for this filter. Can be
enabled back with --enable-tri-ip-filter. - Added the --intrinsics-limits option to manually specify
intrinsic parameter limits. - Added the --num-random-passes option to allow repeat solving
attempts with randomly distorted initial parameters. - Added option to automatically guess overlapping images from
Worldview style XML camera files. - Removed the non-Ceres bundle adjustment options.
- Added the option to share or not share selected intrinsic parameters
between pinhole cameras when optimizing intrinsics. - Improvements in solving simultaneously for both intrinsics and
extrinsics of n camera images if underlying ground truth
terrain in the form of a DEM or LIDAR point cloud is
present. After this bundle adjustment, pairwise stereo and DEM
creation, the DEMs are well-aligned to the ground truth. - Added the flag --reference-terrain-weight which, when increased,
helps align better camera images to a given reference terrain. - Added the option --heights-from-dem. It is very helpful in
determining an unknown focal length and distortion parameters
for pinhole cameras.
It can be used together with ---heights-from-dem-weight. - Bug fix in outlier filtering for n images.
- Updated Ceres version from 1.11 to 1.14. When optimizing with
multiple threads, results now vary slightly from run to run.
Results from single threaded runs are deterministic. - Added a new --parameter-tolerance option. Stop when the relative
error in the variables being optimized is less than this. - Documented the ability to create a roughly positioned
pinhole camera model from an image if its intrinsics and the
longitude and latitude (and optionally height) of its corners
(or some other pixels) are known. - When multiple passes happen with outliers removed, match files
are not over-written, but a new clean copy of them gets saved. - Renamed --create-pinhole-cameras to --inline-adjustments, and
distortion_params to other_intrinsics. This is needed since
for the panoramic model there will be other intrinsic
parameters as well. - Added the option --forced-triangulation-distance for when one
really needs to triangulate with poor cameras. Can be used with
--min-triangulation-angle 0. - Added the option --transform-cameras-using-gcp. If there
are at least two images with each having at least 3 GCP
(each GCP need not show in more than one image), use this
to convert cameras from an abstract coordinate system to world
coordinates. - Increased the default --num-ransac-iterations to 1000 from 100
so that the solver tries harder to find a fit.
Increased default --ip-inlier-factor from 1/15 to 0.2 to help
with getting more interest points for steep terrain with the
pinhole session. - Increased the default --ip-uniqueness-threshold from 0.7
to 0.8 to allow for more interest points. - Option to filter interest points by elevation limit and lon-lat limit
after each pass of bundle adjustment except the last.
-
dem_mosaic
- Added normalized median absolute deviation (NMAD) output option.
- Added the option --force-projwin to create a mosaic filling
precisely the desired box specified via --t_projwin.
-
stereo_gui
- Added the ability to manually reposition interest points.
- Can now show non-synchronous .match files (that is, each IP
need not be present in all images). - Added basic functionality for drawing/editing/merging polygons on
- top of georeferenced images or DEMs. The polygons can be saved as
shape files, and then used to cut out portions of images with GDAL. - Added the option --nodata-value. Pixels with value less than
or equal to this are shown as transparent. - Added the ability to view .vwip files (specify one per image).
- Can view (but not edit) GCP files, via --gcp-file (creating
GCP is supported in a separate mode, per the doc). - The option --dem-file specifies a DEM to use when creating
manually picked GCP and --gcp-file specifies the name of
the GCP file to use upon saving such GCP.
-
mapproject
- Added the --nearest-neighbor option to use that interpolation
method instead of bicubic. This is better for labeled images
which should not be interpolated.
- Added the --nearest-neighbor option to use that interpolation
-
convert_pinhole_model
- Can create RPC distortion models of any degree, which can be
further optimized in bundle_adjust. Old RPC distortion files are
still supported throughout ASP, but not functionality which
optimizes them. They can be approximately converted to new type
RPC distortion files with this tool if optimization is desired.
- Can create RPC distortion models of any degree, which can be
-
Misc
- Compiled against USGS ISIS version 3.6.0.
- Expanded the documentation explaining how to align cameras
to a DEM manually (or initialize such cameras) by selecting
matching points between the images and the DEM. - The stereo tools and bundle_adjust will now cache image
statistics and interest points to files on disk. - In stereo and bundle_adjust, when images or cameras are newer
than the match files, the latter get recomputed unless the tools
are invoked with --force-reuse-match-files. - Added a fix to make stereo work with the ZY3 satellite.
- For stereo and bundle_adjust, added the --no-datum option to
find interest points without assuming a reliable datum exists,
such as for irregularly shaped bodies. Added the related
option --skip-rough-homography to not use the datum in
rough homography computation. Added the option
--ip-num-ransac-iterations for finer control of interest
point matching. Added --ip-triangulation-max-error to control
the triangulation error. - The cam2rpc tool accepts --t_srs and --semi-major-axis as
alternatives to --datum and --dem-file. - Add option --theia-overrides to camera_solve to make it easier
to customize its behavior via flags. - Added an explanation for how the pinhole model works.