A set of utilities for processing and calibration of imagery from either the Curiosity or Perseverance rovers. Meant to be used on publicly available images.
Implemented calibration steps include (varying per instrument):
| Mission | Camera | Decompand | Debayer | Inpaint | Flats | HPC* | | ---------- |:-----------:|:---------:|:-------:|:------------:|:------:|:------:| | MSL | MastCam | ☑ | ☑ | | | | | MSL | MAHLI | ☑ | | ☑ | ☑| | | MSL | NavCam | | | ☑ | ☑| ☑| | MSL | Rear Haz | | | ☑ | ☑| ☑| | MSL | Front Haz | | | ☑ | ☑| ☑| | MSL | ChemCam RMI | | | | ☑| | | Mars2020 | Mastcam-Z | ☑ | ☑ | ☑ | | | | Mars2020 | NavCam | | ☑ | | | | | Mars2020 | Rear Haz | | ☑ | | | | | Mars2020 | Front Haz | | ☑ | | | | | Mars2020 | Watson | ☑ | ☑ | ☑ | | | | Mars2020 | SuperCam | | ☑ | | ☑| | | Ingenuity | Nav | | | | ☑| | | Ingenuity | Color | | | | ☑| | | InSight | IDC | ☑ | | | ☑| | | InSight | ICC | ☑ | | | ☑| |
* Hot pixel detection and correction
Additional instruments will be implemented more or less whenever I get to them...
A working Rust (https://www.rust-lang.org/) installation is required for building.
So far I've only tested building on Ubuntu 21.10, natively and within the Windows Subsystem for Linux on Windows 10, and on MacOSX Catalina. Within the project folder, the software can be built for testing via cargo build and individual binaries can be run in debug mode via, for example, cargo run --bin m20_fetch_raw -- -i
To build successfully on Linux, you'll likely need the following packages installed via apt: * libssl-dev (Ubuntu) * openssl-devel (RHEL, CentOS, Fedora)
git clone git@github.com:kmgill/mars-raw-utils.git
cd mars-raw-utils/
git submodule init
git submodule update
This is the easiest installation method for *nix-based systems. It has not been tested in Windows.
cargo install --path .
mkdir ~/.marsdata
cp mars-raw-utils-data/caldata/* ~/.marsdata
NOTE: You can set $MARSRAWDATA in ~/.bash_profile if a custom data directory is required.
cargo install cargo-deb
cargo deb
sudo apt install ./target/debian/mars_raw_utils_0.1.3_amd64.deb
NOTE: Adjust the output debian package filename to what is outputted by build.
cargo install cargo-rpm
cp -v mars-raw-utils-data/caldata/* .rpm/
cargo rpm build -v
rpm -ivh target/release/rpmbuild/RPMS/x86_64/mars_raw_utils-0.1.3-1.el8.x86_64.rpm
NOTE: Adjust the output rpm package filename to what is created by build.
The dockerfile demonstrates a method for building an installable debian package, or you can use the container itself:
docker build -t mars_raw_utils .
docker run --name mars_raw_utils -dit mars_raw_utils
docker exec -it mars_raw_utils bash
Builds for MacOSX (maybe via Homebrew?) and Windows are in the plan. Though the project has built and run from MacOSX and Windows, I haven't worked out the installation method in a way that handles the calibration data.
CentOS targetted RPMs can be built using dockerbuild.sh which will result in the build artifacts being placed into the target directory.
By default, if the software is installed using the .deb file in Debian/Ubuntu, the calibration files will be located in /usr/share/mars_raw_utils/data/. In Homebrew on MacOS, they will be located in /usr/local/share/mars_raw_utils/data/. For installations using cargo install --path . or custom installations, you can use the default ~/.marsdata or set the calibration file directory by using the MARS_RAW_DATA environment variable. The variable will override the default locations (if installed via apt or rpm), as well.
Calibration files are used to specify commonly used parameters for the various instruments and output product types. The files are in toml format and if not specified by their absolute path, need to be discoverable in a known calibration folder.
An example profile
apply_ilt = true
red_scalar = 1.16
green_scalar = 1.0
blue_scalar = 1.05
color_noise_reduction = false
color_noise_reduction_amount = 0
hot_pixel_detection_threshold = 0
filename_suffix = "rjcal-rad"
``` USAGE: mslfetchraw [FLAGS] [OPTIONS]
FLAGS: -h, --help Prints help information -l, --list Don't download, only list results -t, --thumbnails Download thumbnails in the results -v Show verbose output -V, --version Prints version information
OPTIONS:
-c, --camera
Show available instruments:
msl_fetch_raw -i
List what's available for Mastcam on sol 3113: (remove the -l to download the images)
msl_fetch_raw -c MASTCAM -s 3113 -l
List what's available for NAV_RIGHT between sols 3110 and 3112: (remove the -l to download the images)
msl_fetch_raw -c NAV_RIGHT -m 3110 -M 3112 -l
Download NAV_RIGHT during sols 3110 through 3112, filtering for sequence id NCAM00595:
msl_fetch_raw -c NAV_RIGHT -m 3110 -M 3112 -S NCAM00595
``` USAGE: mslmahlicalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
Calibrate a directory of JPEGs, applying color correction values:
msl_mahli_calibrate -i *jpg -v -R 1.16 -G 1.00 -B 1.05
``` USAGE: mslmcamcalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
Calibrate a directory of JPEGs, applying color correction values:
msl_mcam_calibrate -i *jpg -v -R 0.965 -G 0.985 -B 1.155
Calibrate a directory of JPEGs, skipping ILT conversion (decompanding):
msl_mcam_calibrate -i *jpg -v -r
Calibrate a directory of JPEGs, applying color noise reduction with a chroma blur radius of 21 pixels:
msl_mcam_calibrate -i *jpg -v -c 21
``` USAGE: mslecamcalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT (not currently used) -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
Calibrate a directory of JPEGs:
msl_ecam_calibrate -i *jpg -v
Calibrate a directory of JPEGs, apply a hot pixel detection with a threshold of 2.5 standard deviations:
msl_ecam_calibrate -i *jpg -v -t 2.5
``` USAGE: mslccamcalibrate [FLAGS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -v Show verbose output -V, --version Prints version information
OPTIONS: -i, --inputs ... Input ```
``` USAGE: m20fetchraw [FLAGS] [OPTIONS]
FLAGS: -h, --help Prints help information -l, --list Don't download, only list results -t, --thumbnails Download thumbnails in the results -v Show verbose output -V, --version Prints version information
OPTIONS:
-c, --camera
``` USAGE: m20zcamcalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
``` USAGE: m20watsoncalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
``` SAGE: m20ecamcalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
``` USAGE: m20scamcalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
``` USAGE: m20hnavcalibrate [FLAGS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -v Show verbose output -V, --version Prints version information
OPTIONS: -i, --inputs ... Input ```
``` USAGE: m20hrtecalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
...
``` USAGE: nsyticccalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
``` USAGE: nsytidccalibrate [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -n Only new images. Skipped processed images. -r, --raw Raw color, skip ILT -v Show verbose output -V, --version Prints version information
OPTIONS:
-B, --blue
Attempt at hot pixel detection and removal.
Method:
For each pixel (excluding image border pixels): 1. Compute the standard deviation of a window of pixels (3x3, say) 1. Compute the z-score for the target pixel 1. If the z-score exceeds a threshold variance (example: 2.5) from the mean we replace the pixel value with a median filter
``` USAGE: hpc_filter [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-t, --hpcthreshold
Applies a basic inpainting filter on a set of input images. Inpainting regions need to be marked in red (rgb 255, 0, 0). ``` USAGE: inpaint_filter [FLAGS] --inputs ...
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS: -i, --inputs ... Input ```
An experiment in smooth image upscaling using the median-based inpainting algorithm.
```
USAGE:
upscale [FLAGS] --factor
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-f, --factor
```
USAGE:
crop [FLAGS] --crop
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-c, --crop
Apply Malvar Demosaicking (Debayer) on a grayscale bayer-pattern image. Optionally apply a color noise reduction. ``` USAGE: debayer [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-c, --colornoisereduction
Apply levels adjustments to an image. Analogous to 'Levels' in Photoshop or GIMP. ``` USAGE: levels [FLAGS] [OPTIONS] --inputs ...
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-b, --blacklevel
Calculates a per-frame differential from a mean across a series of images. Intended for use with MSL and Mars2020 dust devil movies and sky surveys. Optional options are for contrast enhancement through Photoshop-like black level, white level, and gamma.
``` USAGE: diffgif [FLAGS] [OPTIONS] --inputs ... --output
FLAGS: -h, --help Prints help information -v Show verbose output -V, --version Prints version information
OPTIONS:
-b, --blacklevel
```
``` mslfetchraw -c NAVRIGHTB -s 3372 -S NCAM00595
mslecamcalibrate -i *JPG -v -t 2.0
diffgif -i NCAM00595-rjcal.png -o DustDevilMovie_Sol3372.gif -v -b 0 -w 2.0 -g 2.5 -l 5 -d 20 ```
``` mslfetchraw -c NAV_RIGHT -s 3325
mslecamcalibrate -i *JPG -v -t 2.0
diffgif -i NCAM00556-rjcal.png -o CloudShadow_3325.gif -v -b 0 -w 1.0 -g 2.5 -l 5 -d 20 ```
``` mslfetchraw -c NAV_RIGHT -s 3325
mslecamcalibrate -i *JPG -v -t 2.0
diffgif -i NCAM00551-rjcal.png -o CloudZenith_3325.gif -v -b 0 -w 3.0 -g 1.0 -l 5 -d 20 ```
Fetches information as to the latest updated sols.
Example Output: ``` $ msl_latest Latest data: 2022-02-23T18:30:03Z Latest sol: 3395 Latest sols: [3365, 3374, 3376, 3378, 3390, 3393, 3394, 3395] New Count: 364 Sol Count: 225 Total: 894201
$ m20_latest Latest data: 2022-02-23T10:22:33Z Latest sol: 359 Latest sols: [349] New Count: 270 Sol Count: 99 Total: 217981
$ nsyt_latest Latest data: 2022-02-14T15:11:15Z Latest sol: 1144 Latest sols: [1144] New Count: 2 Sol Count: 2 Total: 6353 ```
Mission time and sol are available for MSL, Mars2020, and InSight via msl_date, m20_date, and nsyt_date, respectively.
Currently, the output provides valules for the Mars Sol Date, coordinated Mars time, mission sol, mission time (LMST), local true color time, and areocentric solar longitude. The algorithm used for the calculation is based on James Tauber's marsclock.com and is exposed via time::get_lmst().
Example Output: ``` $ msl_date Mars Sol Date: 52391.26879394437 Coordinated Mars Time: 06:27:03.797 Mission Sol: 3122 Mission Time: 15:36:49.805 LMST Local True Solar Time: 15:29:37.673 LTST Solar Longitude: 47.04093399663567
$ m20_date Mars Sol Date: 52391.270293050664 Coordinated Mars Time: 06:29:13.320 Mission Sol: 87 Mission Time: 11:38:56.520 LMST Local True Solar Time: 11:31:44.417 LTST Solar Longitude: 47.04161842268443
$ nsyt_date Mars Sol Date: 52391.27048977531 Coordinated Mars Time: 06:29:30.317 Mission Sol: 880 Mission Time: 15:31:59.933 LMST Local True Solar Time: 15:24:47.833 LTST Solar Longitude: 47.041708238462114 ```
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