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Getting Started with TIG

Quick setup guide for running Mars 2020 stereo mesh generation.

Prerequisites

  • Docker or Podman installed
  • 8GB RAM minimum (16GB recommended)
  • M2020 stereo images (NavCam or Mastcam-Z)

Installation

Option 1: Use Pre-built Image (Recommended)

docker pull ghcr.io/nasa-ammos/tig/terrain-intelligence-generator:opensource

Option 2: Build Locally

cd terrain-intelligence-generator/docker
docker build -t terrain-intelligence-generator:opensource .

Note: Local build requires vicario.jar (see Vicario Reference)

Running Your First Demo

1. Prepare Data

Get M2020 stereo images from PDS or use sample data:

# Sample NavCam stereo pair locations:
# Left:  NLM_<SCLK>_*FDR_*.VIC
# Right: NRM_<SCLK>_*FDR_*.VIC

2. Run Mesh Generation

./demo-mesh-generation-with-xyz.sh \
  --stereo-left /path/to/left.VIC \
  --stereo-right /path/to/right.VIC

Processing time: ~10 minutes for 1280x960 images

3. View Results

# Check output
ls workspace/
# terrain.obj      - 3D mesh (~273M)
# terrain.mtl      - Material file
# texture.png      - Texture (1280x960)
# pointcloud.xyz   - XYZ data (~15M)

# View mesh
meshlab workspace/terrain.obj
# or
blender workspace/terrain.obj

What the Demo Does

  1. Stereo Correlation (marscorr + marscor3)

    • Matches features between left/right images
    • Generates disparity map
    • ~8 minutes

  2. XYZ Generation (marsxyz)

    • Converts disparity to 3D coordinates
    • Filters outliers
    • ~1 minute

  3. Mesh Creation (marsmesh)

    • Triangulates point cloud
    • Applies texture
    • ~30 seconds

  4. Format Conversion (vicario)

    • Converts VICAR to PNG
    • <1 second

Troubleshooting

Container Name Conflict

docker: Error response from daemon: Conflict. The container name "/tig-mesh-demo" is already in use

Solution:

docker stop tig-mesh-demo && docker rm tig-mesh-demo

Out of Memory

no additional memory available

Solution: Increase Docker memory limit to 16GB or use lower resolution images

Missing Calibration

ERROR: MARS calibration not found

Solution: Ensure calibration files are in terrain-intelligence-generator/docker/mars_calibration_m20/

Next Steps

Configuration

Using Custom Calibration

Mount your own M2020 calibration:

docker run -v /path/to/calib:/usr/local/vicar/mars_calib:ro ...

Using Pre-computed XYZ

Skip correlation if you have XYZ files:

./demo-mesh-generation-with-xyz.sh \
  --xyz pointcloud.IMG \
  --texture image.IMG

See demos/mesh-generation.md for details.