The NASA Ames Stereo Pipeline is a suite of automated geodesy & stereogrammetry tools designed for processing planetary imagery captured from orbiting and landed robotic explorers on other planets.
Currently the optical bar model supports a tilt parameter, that brings one from the camera pose to the spacecraft pose, or alternatively, it shows the direction of flight relative to the camera orientation.
This assumes that the flight direction is in the camera's y-z plane, that is, the camera does not tilt sideways from the direction of flight. I think this is a little inadequate. I think a second tilt parameter is needed for the sideway orientation modeling. Should be reasonably quick to incorporate in the model. It is however yet another quantity to guess. I think its default can be zero, and hopefully bundle adjustment an solve for it in the presence of a reference terrain.
Currently the optical bar model supports a tilt parameter, that brings one from the camera pose to the spacecraft pose, or alternatively, it shows the direction of flight relative to the camera orientation.
This assumes that the flight direction is in the camera's y-z plane, that is, the camera does not tilt sideways from the direction of flight. I think this is a little inadequate. I think a second tilt parameter is needed for the sideway orientation modeling. Should be reasonably quick to incorporate in the model. It is however yet another quantity to guess. I think its default can be zero, and hopefully bundle adjustment an solve for it in the presence of a reference terrain.