asp-plot 3.0.0__tar.gz → 3.2.0__tar.gz

{asp_plot-3.0.0 → asp_plot-3.2.0}/AGENTS.md

@@ -76,7 +76,7 @@ The rest is automated: `release.yml` detects the version bump, creates a GitHub
 ASP output files follow specific naming patterns (find them with the `glob_file()` utility):
 - DEMs: `*-DEM.tif` or `*_dem.tif`
 - Disparity: `*-F.tif`
-- Match files: `*.match`
+- Match files: `*.match` (binary) or `*__*.txt` (plain text, from ASP >= 3.7.0 `--matches-as-txt`; binary preferred when both exist)
 - Bundle adjust residuals: `*-initial_residuals_pointmap.csv`, `*-final_residuals_pointmap.csv`
 - Log files: `*log-bundle_adjust*.txt`, `*log-stereo*.txt`, `*log-point2dem*.txt`
 

{asp_plot-3.0.0 → asp_plot-3.2.0}/ARCHITECTURE.md

@@ -46,7 +46,7 @@ The package is organized by functionality, with each module focused on a specifi
 
 **`report.py`** - PDF report generation using fpdf2
 - `ReportSection`: Dataclass representing a report figure (title, image path, caption)
-- `AlignmentReportPage`: Dataclass for the pc_align + ICESat-2 alignment workflow (title, parameters dict, 1-row stats dict, description paragraph, status message, optional figure + caption). Rendered alongside `ReportSection` by `compile_report()`. Body text blocks are left-aligned (not justified) to avoid word-spacing gaps on long lines. Long pc_align column names (`north_shift`, `east_shift`, `down_shift`, `translation_magnitude`) are displayed as `N_shift`, `E_shift`, `D_shift`, `|T|` via `_ALIGNMENT_STATS_DISPLAY_LABELS` so the 10-column horizontal stats row fits in the page width.
+- `AlignmentReportPage`: Dataclass for the pc_align + altimetry alignment workflow (title, parameters dict, flat stats dict from `pc_align_report()`, description paragraph, status message, optional figure + caption). Rendered alongside `ReportSection` by `compile_report()`. Body text blocks are left-aligned (not justified) to avoid word-spacing gaps on long lines. `_add_alignment_stats_tables()` splits the flat stats dict (`_split_alignment_stats()`) into two side-by-side tables: "Error Statistics (m)" with one row per `<stat>_beg`/`<stat>_end` pair and Before / After / Change columns (row labels via `_ALIGNMENT_STAT_LABELS`, Change from `_fmt_pct_change()`), and "Translation (m)" with one row per remaining key (`north_shift` → `North`, … `translation_magnitude` → `Magnitude |T|` via `_ALIGNMENT_TRANSLATION_LABELS`). Either table takes the full width when the other is empty.
 - `ReportMetadata`: Dataclass for DEM metadata displayed on the title page (dimensions, GSD, CRS, nodata %, elevation range, DEM filename, reference DEM, acquisition dates). The "Acquisition Date(s)" row is added to the summary table only when `acquisition_dates` is non-empty.
 - `ASPReportPDF`: FPDF subclass with custom header/footer and page numbers
 - `compile_report()`: Assembles title page, Processing Parameters (page 2), figure sections with captions, and any trailing alignment pages into a PDF. Accepts optional `report_command` string to record the CLI invocation. Figures are automatically scaled to fit page dimensions, preventing overflow/cutoff. `sections` is a mixed list of `ReportSection | AlignmentReportPage`; dispatch is by `isinstance` check.
@@ -109,18 +109,22 @@ The package is organized by functionality, with each module focused on a specifi
 - Detects map-projection status via `Raster.transform` check
 - For non-mapprojected scenes: match points are overlaid on images using alignment transform matrices (`run-align-{L,R}.txt` loaded via `np.loadtxt`), and disparity plots use pixel-unit scalebar instead of GSD-based. Exception: when the match file is named for the aligned images themselves (`run-L__R.match`, older ASP raw-image runs that write `.exr` alignment matrices), the coordinates are already aligned — detected via `_ip_on_aligned_images()` (match stem's left name == L image stem) — and are only rescaled
 - **Raw interest point overlay** (issue #8): `StereoFiles` also discovers the per-image `.vwip` files (named after the images the match file pairs — `<A>__<B>.match` ↔ `<A>.vwip`/`<prefix>-<B>.vwip` — derived from the match stem, with a `*-L.vwip`/`*-R.vwip` glob fallback when no match file exists; either side may be absent). `get_vwip_df()` parses the binary format (a uint64 count then the same interest point records as `.match`); `plot_match_points()` underlays them in blue beneath the red matches through the same per-side coordinate transform (layers denser than 10,000 points are thinned by seeded random sampling for display; titles report true counts), renders interest-points-only when the match file is missing, and falls back to the previous matches-only figure when the `.vwip` files are gone
+- **Plain-text match files** (issue #147): ASP >= 3.7.0 writes `<A>__<B>.txt` (one `x1 y1 unc1 x2 y2 unc2` line per match) *instead of* `.match` when run with `--matches-as-txt`, so `StereoFiles._find_match_file()` globs both `*.match` and `*__*.txt` (the `__` anchor plus a first-row check — six numeric fields, `_opens_with_match_row()` — keeps logs and alignment matrices out even when the run prefix itself contains `__`), preferring binary when both coexist. `get_match_point_df()` detects the format from the bytes (`_is_text_match_file()`: the binary header's uint64 counts contain NULs, text never does — so a renamed file still parses) and routes text through `_read_text_match_file()` — read directly, uncertainties dropped, never via the `.csv` cache a binary conversion leaves behind — while the binary path keeps its CSV conversion. `.vwip` files stay binary-only: stereo never writes text ones (`ipfind --binary-to-txt` is a manual conversion)
 - **Multi-view aware** (issue #160): `StereoFiles` resolves each `<prefix>-pairN/` subdirectory into a `PairStereoFiles` (field names mirror the top-level attributes so the per-figure helpers consume either, duck-typed); `plot_match_points()` / `plot_disparity()` render one figure per pair (`<stem>_pairN.png`) and return the saved filename list — `[fig_fn]` for a standard run — mirroring the `stereo_geom_plot()` N-scene contract
 - Detects the imagery rights-holder via the `attribution` attribute (`detect_satellite_attribution`); adds the copyright overlay to optical imagery in `plot_match_points()` and `plot_detailed_hillshade()`
 - `plot_detailed_hillshade()` auto-selects three subset clips from intersection-error variance (low/medium/high) via `_auto_hillshade_clip_offsets()`. Accepts `clip_windows` (DEM-CRS bboxes) + `clip_windows_crs` to pin/replay clips for run-to-run comparison (issue #121); records the boxes it drew on `self.detailed_hillshade_clips`. Out-of-bounds pinned boxes warn and fall back to auto.
 - Key methods: `plot_dem_results()`, `plot_disparity()`, `plot_match_points()`, `plot_detailed_hillshade()`
 
-**`bundle_adjust.py`** - Two main classes
+**`bundle_adjust.py`** - Four main classes
 - `ReadBundleAdjustFiles`: Reads bundle adjustment CSV outputs (residual pointmaps)
   - `get_initial_final_residuals_gdfs()`: Returns initial and final residual GeoDataFrames
   - `get_initial_final_geodiff_gdfs()`: Returns geodiff comparison GeoDataFrames (requires `--mapproj-dem` flag in bundle_adjust)
   - `get_mapproj_residuals_gdf()`: Returns map-projected residual GeoDataFrame
 - `PlotBundleAdjustFiles` (inherits from `Plotter`): Visualizes bundle adjustment residuals before/after optimization
 - Plots include map views of residuals, histograms, and geodiff comparisons
+- **Camera before/after position and orientation (issues #95, #43)** — shows where each camera *moved* in the solve, not just the ground residuals. Unlike `csm_camera.py` (which needs the user to pass original + optimized cameras), this is **self-contained on a bundle_adjust output folder**: the pre-BA cameras are not co-located there, and ASP writes no "unadjusted" state (see the AGENTS.md gotcha).
+  - `ReadBundleAdjustCameras`: discovery is driven by the `*.adjust` files (rigid ECEF translation `T` + rotation quaternion; matched as both `<base>.adjust` and `<base>.adjusted_state.adjust`, the ASTER jitter naming). Per ASP's `.adjust` convention (a world point projects the same in the original camera as `R*(P−C)+C+T` in the adjusted one, `C` = camera center for pixel (0,0)), `T` is the exact bulk camera-center shift at the anchor pixel; the rotation only adds a lever-arm shift for other lines. Each camera's absolute center is anchored at the **center image line** (sub-satellite point at mid-acquisition, more meaningful than the trajectory mean when the ephemeris is padded beyond the image; falls back to the mean if the timing can't be computed): from `*.adjusted_state.json` (CSM runs; `getTimeAtLine` + ephemeris interpolation) or, for DigitalGlobe runs that write only `.adjust` deltas, from the original camera `.xml` ephemeris (`<EPHEMLIST>` interpolated at `FIRSTLINETIME + (NUMROWS/2)/AVGLINERATE`), auto-found in the BA dir and its parent or via `original_cameras_directory`. The two paths agree to <1 m on the same scenes. `get_camera_optimization_gdf(map_crs, original_cameras_directory)` returns one row per camera: the translation in local ENU (`t_east/t_north/t_up`, `t_horizontal`), the adjustment `adj_roll/adj_pitch/adj_yaw`, and `horizontal_offset_m/vertical_offset_m` — from `camera_offsets.txt` when present (authoritative: folds in the rotation lever-arm; associated to cameras positionally by zipping with `camera_list.txt`, both written per input image in the same order), else derived from `T`; `offsets_from_asp` flags which. Cameras whose center cannot be located, or whose `.adjust`/state file fails to parse, are warned and skipped. `triangulation_offsets.txt` (ASP >= 3.6; per-image mean/median/count of the initial-vs-final triangulated-point distance) is read the same positional way into `tri_mean_m/tri_median_m/tri_count`, NaN when absent — both reports go through `_rows_by_camera_basename()`.
+  - `PlotBundleAdjustCameras` (inherits from `Plotter`): per-camera bar rows sharing the camera order — `plot_center_offset_bars()` (horizontal and vertical center change, m), `plot_orientation_bars()` (signed roll/pitch/yaw in degrees with the value printed on every bar; `_draw_satellite()` draws one satellite cartoon beside the row as the legend for the body axes and rotation sense — deliberately not scaled, the numbers carry the magnitude), and `plot_triangulation_offset_bars()` (median/mean triangulated-point change with the point count), which `summary_plot()` adds as a third row only when `has_triangulation_offsets`. An all-zero run (identity `--initial-transform`) still draws the panels, with a "no camera change (identity adjustment)" note overlaid; signed zeros print as `+0` (`_fmt_deg`). Earlier map-view/orientation quivers and the per-camera cartoon grid were dropped: sub-meter shifts can't be drawn to scale on a ~400 km map, and fixed-size arcs looked identical at 1e-7° and 0.016°.
 
 **CSM camera model comparison** — split into three layers by issue #131 (was one 1541-LOC `csm_camera.py`):
 
@@ -180,7 +184,7 @@ The package is organized by functionality, with each module focused on a specifi
 - `pc_align_dem_to_atl06sr()`: ICESat-2 path, csv-format `1:lon 2:lat 3:height_above_datum`
 - `pc_align_dem_to_planetary_csv(planetary_csv, body, ...)`: MOLA/LOLA path. Uses csv-format `1:lon 2:lat 3:radius_m` and `--datum D_MARS`/`D_MOON` (per ASAP-Stereo's CTX cookbook). Default `max_displacement=500` m
 - Both public methods keep their signatures/validation/errors and delegate to a shared `_run_pc_align(csv, csv_format, max_displacement, datum=...)` (#127); generated argv is byte-identical to before, with `--datum` emitted only on the planetary path
-- `pc_align_report()`: Extracts begin/end percentiles + N-E-D translation from the pc_align log
+- `pc_align_report()`: Extracts begin/end percentiles, the ASP >= 3.7.0 Mean/StdDev/RMSE/Median/NMAD summary (keys absent for older logs), and the N-E-D translation from the pc_align log; the report page shows Median/NMAD/RMSE + translation when the log has them, else the percentiles (`report_pipeline._stats_row_from_result()`)
 - `apply_dem_translation()`: Applies pc_align's Cartesian translation to the DEM (geotransform shift + scalar add to pixel values, no resampling). Picks the right body-centered geocentric source CRS via the module-level `_GEOCENTRIC_PROJ` dict — Earth uses EPSG:4978, Mars/Moon use PROJ strings (`+proj=geocent +R=...`) because PROJ refuses to convert across celestial bodies
 - Used by `Altimetry` class for DEM-to-altimetry alignment on Earth, Mars, and Moon
 
@@ -245,6 +249,12 @@ All CLI tools are in `asp_plot/cli/` and use Click for argument parsing:
 - Compares original and optimized CSM camera models
 - Visualizes position/angle differences and camera footprints
 
+**`bundle_adjust_cameras.py`** - Self-contained camera before/after tool (`bundle_adjust_cameras` command)
+- Wrapper for `ReadBundleAdjustCameras` + `PlotBundleAdjustCameras` in `bundle_adjust.py`
+- `--directory` is the bundle_adjust output folder itself (split internally into the reader's root + subdirectory); no original cameras needed, except `--original-cameras-directory` for DigitalGlobe runs whose XMLs are in neither the BA folder nor its parent
+- `--map-crs`, `--title`, `--output-directory` (defaults to the BA folder, so a bare call always writes a figure) / `--output-filename`
+- Renders `summary_plot()`: center-offset bars, orientation bars (with the legend cartoon), and the triangulated-point row when the run wrote `triangulation_offsets.txt`
+
 **`request_planetary_altimetry.py`** - Planetary altimetry data request tool (`request_planetary_altimetry` command)
 - Submits async LOLA (Moon) or MOLA (Mars) queries to the ODE GDS REST API
 - Auto-detects planetary body from DEM CRS via `detect_planetary_body()`

{asp_plot-3.0.0 → asp_plot-3.2.0}/CHANGELOG.md

@@ -5,6 +5,22 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [3.2.0] - 2026-08-27
+
+A new view of what `bundle_adjust` did to the cameras — read from the run's own output folder, so no original camera files are needed — as a `bundle_adjust_cameras` command, a page of the `asp_report` PDF, and four notebook examples. The figure was reviewed on ten local runs (two to fourteen cameras, ASP 3.4 through 3.8); the row that earned its place is the ground effect from `triangulation_offsets.txt`, which is what tells a real camera error apart from a position/orientation trade in the solve. No new dependencies; one new entry point, so the conda-forge feedstock recipe needs the `bundle_adjust_cameras` entry point and test command added by hand this release.
+
+### Added
+- **A camera-change figure for `bundle_adjust` runs, self-contained on the run's output folder** (issues [#95](https://github.com/uw-cryo/asp_plot/issues/95) and [#43](https://github.com/uw-cryo/asp_plot/issues/43)). The bundle adjustment residual pages show how well the *tie points* reproject; the new figure shows what the solve did to the *cameras*: per-camera bars of the horizontal and vertical camera-center change (meters), per-camera bars of the roll / pitch / yaw orientation change (degrees, the value printed on every bar, with one unscaled satellite cartoon as the legend for the body axes), and — when ASP >= 3.6 wrote `triangulation_offsets.txt` — a third row of the median and mean change of each image's triangulated points, the effect of the camera change on the ground. Everything is read from the `bundle_adjust` folder itself: the per-camera `*.adjust` translation + rotation, `camera_offsets.txt` (ASP 3.7.0's "change in camera positions" report) and `triangulation_offsets.txt` associated to cameras positionally through `camera_list.txt`, and each camera's absolute position from its `*.adjusted_state.json` or, for DigitalGlobe runs that write only `.adjust` deltas, from the original `.xml` ephemeris. No original camera files are needed, unlike `csm_camera_plot`. New `ReadBundleAdjustCameras` and `PlotBundleAdjustCameras` in `bundle_adjust.py`, a new **`bundle_adjust_cameras` command** (`--directory` = the BA folder; `--map-crs`, `--original-cameras-directory`, `--title`, `--output-directory`, `--output-filename`), and a new **"Camera Changes from Bundle Adjustment" page in the `asp_report` PDF** right after the residual pages whenever `--bundle-adjust-prefix` is given (a prefix with a run stem narrows the files to that run, as for the residuals). A run that applied only an identity transform draws the panels with a "no camera change" note. Reviewed on ten local runs — two to fourteen cameras, ASP 3.4 through 3.8, CSM and DigitalGlobe cameras, ASTER, WorldView and Pléiades — which is also where the ground-change row came from: in the five-scene Atlanta solve the cameras moved 24–70 m while the ground points moved under 1 m, a position/orientation trade that the camera bars alone would misrepresent. The WorldView UCSD and Atlanta, Pléiades Marseille, and ASTER notebooks gain the figure with a write-up, the two committed WorldView reports gain the page, and the CLI is documented in `docs/cli/bundle_adjust_cameras.md`. The conda-forge recipe entry points and test commands are updated for the new command (the autotick bot does not sync those).
+
+## [3.1.0] - 2026-08-27
+
+A compatibility release for two things ASP 3.7.0 changed in the files the report reads. `pc_align` now writes Mean/StdDev/RMSE/Median/NMAD error statistics to its log, and the alignment page shows Median, NMAD and RMSE before and after alignment in place of the 16/50/84 percentiles ([#146](https://github.com/uw-cryo/asp_plot/issues/146)); older logs keep the percentiles, with no version sniffing. And a `parallel_stereo`/`bundle_adjust` run made with `--matches-as-txt` writes plain-text match files instead of binary `.match`, which previously left the match-point page with a "missing match file" placeholder — both formats are now discovered and parsed into the same DataFrame ([#147](https://github.com/uw-cryo/asp_plot/issues/147)). No new dependencies and no entry-point changes.
+
+### Added
+- **`pc_align_report()` parses the error statistics ASP 3.7.0 added to the `pc_align` log** (issue [#146](https://github.com/uw-cryo/asp_plot/issues/146)): the `Input stats (meters):` / `Output stats (meters):` lines become `mean_beg/end`, `stddev_beg/end`, `rmse_beg/end`, `median_beg/end`, `nmad_beg/end` alongside the existing percentiles and translation, and flow into `Altimetry.alignment_report_df`. The alignment report page (ICESat-2 and LOLA/MOLA) now shows `Median`, `NMAD` and `RMSE` before/after alignment in place of the 16/50/84 percentiles, with the column description updated; `mean`/`stddev` stay in the dataframe only. Logs from ASP < 3.7.0 parse exactly as before, without the new keys, and the page keeps showing the percentiles for them — no version sniffing, the absence of the new stats is the signal. The seven committed example reports in `reports/` are regenerated with the new page.
+- **The `pc_align` log parser is now regression-tested** against real logs from both generations — the existing 2024-11 fixtures and a new ASP 3.8.0-alpha LOLA log (`tests/test_data/pc_align/pc_align_lola-log-pc_align.txt`) — which also confirmed the percentile and translation lines we key off are unchanged in 3.8.0.
+- **Plain-text ASP match files are discovered and parsed** (issue [#147](https://github.com/uw-cryo/asp_plot/issues/147)). ASP 3.7.0 added a text match-file format (`<prefix>-<A>__<B>.txt`, one `x1 y1 unc1 x2 y2 unc2` line per match), and `parallel_stereo`/`bundle_adjust --matches-as-txt` write it *instead of* `.match` — so a stereo directory produced with that switch previously got the "missing match file" placeholder on the match-point page. `StereoFiles` now also looks for `*__*.txt` (anchored on the `__` image-name separator and required to open with a six-field match row, so logs and alignment matrices are never mistaken for it — even with a run prefix like `my__run`), `StereoPlotter.get_match_point_df()` reads either format into the same `x1/y1/x2/y2` DataFrame, and the `.vwip` interest-point pairing works off the text stem too. The format is detected from the file's bytes (the binary header has NUL bytes; text never does), not the extension, so a renamed file still parses; when both forms coexist the binary file is preferred, as before; text files are read directly, never through the `.csv` cache a binary conversion leaves behind. A text twin of the raw-image fixture, converted with `ipmatch --binary-to-txt` (ASP 3.8.0-alpha), is committed so the two readers are checked against each other. `.vwip` files remain binary-only — stereo never writes text ones.
+
 ## [3.0.0] - 2026-08-24
 
 A breaking standardization of the command-line interfaces ([#60](https://github.com/uw-cryo/asp_plot/issues/60)), done deliberately as a clean break — no aliases, no deprecation period — while the user base is small. Every multi-word option across the five CLIs (`asp_report`, `stereo_geom`, `csm_camera_plot`, `gallery`, `request_planetary_altimetry`) moves from underscores to the hyphenated style ASP itself uses (`--stereo_directory` → `--stereo-directory`), booleans become single switches for the non-default behavior (`--add_basemap False` → `--no-basemap`), and `--bundle_adjust_directory` becomes `--bundle-adjust-prefix`, matching both the name and the semantics of ASP's own option. The Python API is unchanged.

{asp_plot-3.0.0 → asp_plot-3.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: asp_plot
-Version: 3.0.0
+Version: 3.2.0
 Summary: Package for plotting outputs Ames Stereo Pipeline processing
 Project-URL: Homepage, https://github.com/uw-cryo/asp_plot
 Project-URL: Documentation, https://asp-plot.readthedocs.io
@@ -77,7 +77,7 @@ Generate a PDF report from an ASP processing directory:
 asp_report --directory ./ --stereo-directory stereo
 ```
 
-See the [CLI documentation](https://asp-plot.readthedocs.io/en/latest/cli/index.html) for all options and additional tools (`stereo_geom`, `csm_camera_plot`).
+See the [CLI documentation](https://asp-plot.readthedocs.io/en/latest/cli/index.html) for all options and additional tools (`stereo_geom`, `csm_camera_plot`, `bundle_adjust_cameras`, `request_planetary_altimetry`, `gallery`).
 
 ## Examples
 

{asp_plot-3.0.0 → asp_plot-3.2.0}/README.md

@@ -33,7 +33,7 @@ Generate a PDF report from an ASP processing directory:
 asp_report --directory ./ --stereo-directory stereo
 ```
 
-See the [CLI documentation](https://asp-plot.readthedocs.io/en/latest/cli/index.html) for all options and additional tools (`stereo_geom`, `csm_camera_plot`).
+See the [CLI documentation](https://asp-plot.readthedocs.io/en/latest/cli/index.html) for all options and additional tools (`stereo_geom`, `csm_camera_plot`, `bundle_adjust_cameras`, `request_planetary_altimetry`, `gallery`).
 
 ## Examples
 

{asp_plot-3.0.0 → asp_plot-3.2.0}/asp_plot/alignment.py

@@ -17,6 +17,43 @@ logging.basicConfig(level=logging.WARNING)
 logger = logging.getLogger(__name__)
 
 
+# Labels ASP >= 3.7.0 prints on the "Input stats (meters):" / "Output stats
+# (meters):" pc_align log lines, mapped to the keys pc_align_report() uses.
+_PC_ALIGN_STATS_FIELDS = {
+    "Mean": "mean",
+    "StdDev": "stddev",
+    "RMSE": "rmse",
+    "Median": "median",
+    "NMAD": "nmad",
+}
+
+
+def _parse_pc_align_stats_line(line, suffix):
+    """Parse one ``Input/Output stats (meters):`` pc_align log line.
+
+    Parameters
+    ----------
+    line : str
+        e.g. ``"... Input stats (meters): Mean: 71.4632, StdDev: 134.758,
+        RMSE: 152.535, Median: 5.71217, NMAD: 3.20963"``
+    suffix : str
+        ``"beg"`` for the Input line, ``"end"`` for the Output line.
+
+    Returns
+    -------
+    dict
+        ``{"mean_<suffix>": float, "stddev_<suffix>": float, ...}`` for every
+        label found on the line; labels that are missing are left out rather
+        than raising, so a future change to the line degrades gracefully.
+    """
+    parsed = {}
+    for label, key in _PC_ALIGN_STATS_FIELDS.items():
+        match = re.search(rf"{label}: (-?\d+(?:\.\d+)?(?:[eE][-+]?\d+)?)", line)
+        if match:
+            parsed[f"{key}_{suffix}"] = float(match.group(1))
+    return parsed
+
+
 class Alignment:
     """
     Perform DEM alignment using point cloud alignment techniques.
@@ -274,11 +311,22 @@ class Alignment:
         dict
             Dictionary containing alignment metrics:
             - p16_beg, p50_beg, p84_beg: Error percentiles before alignment
+            - mean_beg, stddev_beg, rmse_beg, median_beg, nmad_beg: Error
+              statistics before alignment (ASP >= 3.7.0 only; absent from
+              the dict when the log predates them)
             - p16_end, p50_end, p84_end: Error percentiles after alignment
+            - mean_end, stddev_end, rmse_end, median_end, nmad_end: Error
+              statistics after alignment (ASP >= 3.7.0 only)
             - north_shift, east_shift, down_shift: Translation vector components
               in North-East-Down (NED) coordinate frame, in meters
             - translation_magnitude: Magnitude of translation vector
 
+        All errors are the absolute point-to-point (or point-to-plane)
+        distances pc_align reports, in meters. ``median_*`` duplicates
+        ``p50_*``; ``nmad_*`` is the robust spread and ``rmse_*`` the
+        outlier-sensitive one, so a large RMSE alongside a small NMAD flags
+        a tail of gross errors rather than a broad misfit.
+
         Notes
         -----
         This method expects the log file to contain specific keyword patterns
@@ -317,6 +365,11 @@ class Alignment:
                     "p84_end": float(values[2]),
                 }
                 report = report | percentile_dict
+            # ASP >= 3.7.0 adds a one-line summary after each percentile line
+            if "Input stats (meters):" in line:
+                report = report | _parse_pc_align_stats_line(line, "beg")
+            if "Output stats (meters):" in line:
+                report = report | _parse_pc_align_stats_line(line, "end")
             if "Translation vector (North-East-Down, meters):" in line:
                 ned_shift = np.genfromtxt(
                     [line.split("Vector3")[1][1:-2]], delimiter=","

{asp_plot-3.0.0 → asp_plot-3.2.0}/asp_plot/altimetry.py

@@ -59,10 +59,10 @@ class AlignmentResult:
         One of:
           - ``"insufficient_points"``: not enough ATL06-SR points for
             pc_align to run (the aligned DEM is removed if one was written).
-          - ``"no_improvement"``: pc_align ran but p50 did not improve
+          - ``"no_improvement"``: pc_align ran but the median (p50) did not improve
             toward 0 by more than the ``improvement_threshold_pct``; the
             aligned DEM has been removed.
-          - ``"success"``: p50 improved by more than the threshold; the
+          - ``"success"``: the median (p50) improved by more than the threshold; the
             aligned DEM is retained and ``Altimetry.aligned_dem_fn`` points
             to it.
     alignment_report_df : pandas.DataFrame
@@ -729,11 +729,11 @@ class Altimetry:
             reason = (
                 f"Translation magnitude is below {min_translation_threshold*100:.0f}% "
                 "of the DEM GSD, so no aligned DEM was written despite a "
-                f"{improvement_repr} p50 reduction."
+                f"{improvement_repr} median reduction."
             )
         else:
             reason = (
-                f"p50 {p50_beg:.2f} m -> {p50_end:.2f} m, "
+                f"median {p50_beg:.2f} m -> {p50_end:.2f} m, "
                 f"{improvement_repr} <= {improvement_threshold_pct:.1f}% "
                 "threshold. Aligned DEM removed."
             )
@@ -795,7 +795,7 @@ class Altimetry:
             ``--max-displacement`` for pc_align, in meters. Default 500
             (ASAP-Stereo's CTX cookbook recommendation).
         improvement_threshold_pct : float, optional
-            Minimum p50 reduction (%) required to keep the aligned DEM.
+            Minimum median (p50) reduction (%) required to keep the aligned DEM.
         min_translation_threshold : float, optional
             Minimum translation magnitude as a fraction of the DEM GSD.
         minimum_points : int, optional
@@ -897,11 +897,11 @@ class Altimetry:
             reason = (
                 f"Translation magnitude is below {min_translation_threshold*100:.0f}% "
                 f"of the DEM GSD ({gsd:.2f} m), so no aligned DEM was "
-                f"written despite a {improvement_repr} p50 reduction."
+                f"written despite a {improvement_repr} median reduction."
             )
         else:
             reason = (
-                f"p50 {p50_beg:.2f} m -> {p50_end:.2f} m, "
+                f"median {p50_beg:.2f} m -> {p50_end:.2f} m, "
                 f"{improvement_repr} <= {improvement_threshold_pct:.1f}% "
                 "threshold."
             )
@@ -1034,7 +1034,7 @@ class Altimetry:
             aligned_dem_fn=self.aligned_dem_fn,
             improvement_pct=improvement_pct,
             message=(
-                f"p50 improved from {p50_beg:.2f} m -> {p50_end:.2f} m "
+                f"Median improved from {p50_beg:.2f} m -> {p50_end:.2f} m "
                 f"({improvement_pct:.1f}% reduction). Aligned DEM written to "
                 f"{self.aligned_dem_fn}."
             ),