Mars Raw Image Utilities

Mars Raw Utils (MRU) is a set of utilities for the retrieval, calibration, and manipulation of publically available raw Mars surface mission imagery. It is not meant or intended to work with or produce full comprehensive science products (that is left to the NASA Planetary Data System and traditional image processing toolsets), instead provide tools for the enthusiast and "Citizen Scientist" communities to streamline, standardize, and teach the operations generally used for flight mission image processing.

MRU supports three flight missions currently or recently in operation on the ground on Mars. Data is sourced from the NASA Raw Image browse web services that are otherwise available in the web browser.

Supported Missions and Data Sources:

Mars Perseverance Rover (Mars2020): https://mars.nasa.gov/mars2020/multimedia/raw-images/
Mars Curiosity Rover (Mars Science Laboratory): https://mars.nasa.gov/msl/multimedia/raw-images/
Mars InSight Lander (legacy): https://mars.nasa.gov/insight/multimedia/raw-images/
Explore with Curiosity: https://mars.nasa.gov/msl/surface-experience/
Curiosity's Location: https://mars.nasa.gov/maps/location/?mission=MSL
Explore with Perseverance: https://mars.nasa.gov/mars2020/surface-experience/
Perseverance's Location: https://mars.nasa.gov/maps/location/?mission=M20

Supported Mission and Camera SIS documents

MSL: https://pds-imaging.jpl.nasa.gov/data/msl/MSLHAZ_0XXX/DOCUMENT/MSL_CAMERA_SIS_latest.PDF
Mars2020: https://pds-geosciences.wustl.edu/m2020/urn-nasa-pds-mars2020_mission/document_camera/Mars2020_Camera_SIS.pdf
InSight: https://pds-imaging.jpl.nasa.gov/data/nsyt/insight_cameras/document/insight_cameras_sis.pdf
MSAM: https://pds-imaging.jpl.nasa.gov/data/individual_investigation/deen_pdart16_msl_msam/document/MSAM_sis.pdf

Though not comprehensive, MRU aims to provide image calibration with the goal of achieving an output as close as possible to the full science data. The primary limitation being that prior to becoming available online, most images are converted to web-friendly formats that involve downscaling, lossy compression, and other changes that result in a loss of data precision.

Currently supported camera instruments and primary calibration functions:

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	☑	☑		☑
Mars2020	PIXL MCC				☑
Mars2020	SkyCam				☑	☑
Mars2020	SHERLOC ACI				☑
Mars2020	RDCAM		☑		☑
Ingenuity	Nav				☑
Ingenuity	Color				☑
InSight	IDC	☑			☑
InSight	ICC	☑			☑

* Hot pixel detection and correction

** For the purposes of this project, the cameras on MSL RCE-A have been ignored as the mission is very unlikely to return to that computer.

Additional instruments will be implemented more or less whenever I get to them.

Quick Start

Check out the wiki for some quick start topics: https://github.com/MarsRaw/mars-raw-utils/wiki

Contributing

Feedback, issues, and contributions are always welcomed. Should enough interest arise in contributing development efforts, I will write up a contribution guide.

For developers, the primary project structure is as follows:

   ./crate                      - Project root
   ├── bin                      - Main executable and subcommands
   ├── doc                      - Documentation resources
   ├── docker                   - Docker resources
   ├── examples                 - Example usage scripts
   ├── mars-raw-utils-data      - Main calibration data (git submodule)
   ├── src                      - Main library source code
   │   ├── caldata              - Calibration update and loading
   │   ├── m20                  - Code specific to Mars2020 mission
   │   ├── mer                  - Code specific to the MER mission
   │   ├── msl                  - Code specific to the MSL mission
   │   ╰── nsyt                 - Code specific to the InSight mission
   ╰── tests                    - Tests

Citing Mars Raw Utils

Citing MRU is not required, but if the software has significantly contributed to your research or if you'd like to acknowledge the project in your works, I would be grateful if you did so.

Building from source

A working Rust (https://www.rust-lang.org/) installation is required for building. MRU targets the 2021 edition, stable branch.

MRU is build and tested on Linux (Fedora, Ubuntu, Kubuntu), MacOS, and Windows (natively and WSL2.0)

To build successfully on Linux, you'll likely need the following packages installed via apt:

libssl-dev (Ubuntu)
openssl-devel (RHEL, CentOS, Fedora)

Clone from git

git clone git@github.com:kmgill/mars-raw-utils.git
cd mars-raw-utils/

Install via cargo

This is the easiest installation method for *nix-based systems, though it does require a working installation of the Rust toolchain. While the software does build and run natively on Windows, it is recommended to be used within a Ubuntu container on the Windows Subsystem for Linux.

cargo install --path .
mkdir ~/.marsdata
cp mars-raw-utils-data/caldata/* ~/.marsdata

NOTE: You can set $MARS_RAW_DATA in ~/.bash_profile if a custom data directory is required.

Install via apt (Debian, Ubuntu, ...)

Download the pre-built deb file from the project page.

sudo apt install ./mars_raw_utils_0.7.0_amd64.deb

NOTE: Adjust the output debian package filename to what is output by the build.

Install via rpm (RHEL, CentOS, Fedora, ...)

Download the pre-built rpm file from the project page.

rpm -ivh mars_raw_utils-0.7.0-1.x86_64.rpm

NOTE: Adjust the output rpm package filename to what is created by build.

Install on MacOS via Homebrew

brew tap kmgill/homebrew-mars-raw-utils
brew install marsrawutils

Docker

A prebuilt docker image is available for use:

docker pull kevinmgill/mars_raw_utils:latest

However, the container can also be built locally:

sh dockerbuild.sh

Building Install Packages using Docker

Install packages for MRU are currently built within Docker containers and are kicked off thusly:

# Fedora / Red Hat:
sh dockerbuild-fedora.sh

# Debian / Ubuntu:
sh dockerbuild-debian.sh

Build outputs will be placed into the target directory.

Informational and Debug Output

MRU uses the Strump library (https://github.com/MarsRaw/stump) for logging. By default, MRU it set up to write any major errors to the console. This can be modified by setting the environment variable MARS_LOG_AT_LEVEL to one of error, warn, info, or debug.

Specifying Calibration Data Location

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.

Updating Calibration Data

Once MRU is installed, or if a update is available, the calibration files can be updated by running::

mru update-cal-data

Calibration Profiles

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

calfiletype = "profile"
apply_ilt = true
red_scalar = 1.0
green_scalar = 0.96
blue_scalar = 1.2095
color_noise_reduction = false
color_noise_reduction_amount = 0
hot_pixel_detection_threshold = 0
filename_suffix = "rjcal-dcc"
decorrelate_color = true
mission = "Mars2020"
instrument = "WATSON"
description = "Applies color decorrelation to RAD calibrated images"

Listing available profiles

List profiles by running

mru profile -l

Describing a profile

You can ask MRU to describe a profile by running, for example:

mru profile -p msl_mcam_rad
Mission: MSL
Instrument: MASTCAM
Description: Calibration steps through to radiometric correction for MSL MastCam
Apply Decompanding: true
Red Scalar: 0.965
Green Scalar: 0.985
Blue Scalar: 1.155
Apply Color Noise Reduction: false
Apply Hot Pixel Correction: false
Output Filename Suffix: rjcal-rad

Included calibration profiles

m20_cachecam_ilt
m20_cachecam_rad
m20_hrte_rad
m20_ncam_bay
m20_ncam_dcc
m20_ncam_drcx
m20_ncam_ilt
m20_ncam_mcz
m20_ncam_rad
m20_scam_bay
m20_scam_dcc
m20_scam_ilt
m20_scam_rad
m20_watson_bay
m20_watson_dcc
m20_watson_drcx
m20_watson_ilt
m20_watson_rad
m20_zcam_bay
m20_zcam_ilt
m20_zcam_rad
m20_zcam_cwb
m20_zcam_cb2
m20_zcam_dcc
m20_zcam_drcx
msl_mahli_bay
msl_mahli_ilt
msl_mahli_rad
msl_mahli_cwb
msl_mahli_dcc
msl_mahli_drcx
msl_mahli_drxx
msl_mcam_bay
msl_mcam_ilt
msl_mcam_rad
msl_mcam_dcc
msl_mcam_drcx
msl_mcam_drxx

Calibration

Images posted to the NASA raw image pages are derived from what are known as Experimental Data Records (EDR). Not having gone through the ground pipelines, these images are raw and unprocessed. Further, the images have had various levels of compression applied to make them easier to serve on a website.

This tool provides a way to apply some of the steps required to generate a calibrated data product. Given the compression applied, it is impossible to produce a completely calibrated image on par with those in JPL's internal systems or the planetary data system. However, this best-effort calibration tool was developed to provide products suitable for image processing enthusiasts and some limited utility for researchers.

A note on radiometric and photometric calibration: Due to the nature of the public images and limited telemetry (temperature, tau, time, pointing, etc) available, full and proper radiometric calibration is presently not possible. MRU does have the means of setting per-channel mulipliers which simulate radiometric correction, however this is not a full solution.

Running

This tool uses associated metadata to identify the calibration routine required for a given mission and instrument (see list of supported instruments above). A such, this is the single subcommand for calibration.

To execute the default calibration on a set of images (modify input expression as required):

mru calibrate -i *jpg

To calibrate a set of images and apply a specific calibration profile, in this case msl_mcam_rad, run:

mru calibrate -i *jpg -P msl_mcam_rad

Usage

Usage: mru calibrate [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...
          Input raw images
  -I, --instrument <INSTRUMENT>
          Force instrument
  -R, --red-weight <RED_WEIGHT>
          Red weight
  -G, --green-weight <GREEN_WEIGHT>
          Green weight
  -B, --blue-weight <BLUE_WEIGHT>
          Blue weight
  -r, --raw
          Raw color, skip ILT
  -c, --color-noise-reduction-amount <COLOR_NOISE_REDUCTION_AMOUNT>
          Color noise reduction amount
  -t, --hpc-threshold <HPC_THRESHOLD>
          HPC threshold
  -w, --hpc-window <HPC_WINDOW>
          HPC window size
  -d, --decorrelate
          Decorrelate color channels
  -P, --profile <PROFILE>...
          Calibration profile
  -D, --debayer <DEBAYER>
          Debayer method (malvar, amaze)
  -C, --srgb-color-correction
          Apply sRGB color correction
  -S, --no-subframing
          Skip auto subframing (cropping) of output images
  -h, --help
          Print help
  -V, --version
          Print version

Fetch Raws for MSL

This tool fetches images from the public raw image website at https://mars.nasa.gov/msl/multimedia/raw-images/

Usage

USAGE:
    mru msl-fetch [OPTIONS]

OPTIONS:
    -c, --camera <CAMERA>...    MSL Camera Instrument(s)
    -h, --help                  Print help information
    -I, --instruments           List instruments
    -l, --list                  Don't download, only list results
    -m, --minsol <MINSOL>       Starting Mission Sol
    -M, --maxsol <MAXSOL>       Ending Mission Sol
    -n, --new                   Only new images. Skipped processed images.
    -N, --num <NUM>             Max number of results
    -o, --output <OUTPUT>       Output directory
    -p, --page <PAGE>           Results page (starts at 1)
    -s, --sol <SOL>             Mission Sol
    -S, --seqid <SEQID>         Sequence ID
    -t, --thumbnails            Download thumbnails in the results
    -V, --version               Print version information

Instrument Identifiers

Top level idenfiers include those in the sublevels.

NAV_LEFT
- NAV_LEFT_A
- NAV_LEFT_B
MAHLI
NAV_RIGHT
- NAV_RIGHT_A
- NAV_RIGHT_B
CHEMCAM
- CHEMCAM_RMI
MARDI
HAZ_REAR
- RHAZ_RIGHT_A
- RHAZ_LEFT_A
- RHAZ_RIGHT_B
- RHAZ_LEFT_B
MASTCAM
- MAST_LEFT
- MAST_RIGHT
HAZ_FRONT
- FHAZ_RIGHT_A
- FHAZ_LEFT_A
- FHAZ_RIGHT_B
- FHAZ_LEFT_B

Examples

Show available instruments:

mru msl-fetch -I

List what's available for Mastcam on sol 3113: (remove the -l to download the images)

mru msl-fetch -c MASTCAM -s 3113 -l

List what's available for NAV_RIGHT between sols 3110 and 3112: (remove the -l to download the images)

mru msl-fetch -c NAV_RIGHT -m 3110 -M 3112 -l

Download NAV_RIGHT during sols 3110 through 3112, filtering for sequence id NCAM00595:

mru msl-fetch -c NAV_RIGHT -m 3110 -M 3112 -S NCAM00595

Fetch Raws for Mars2020

This tool fetches images from the public raw image website at https://mars.nasa.gov/mars2020/multimedia/raw-images/

Usage

USAGE:
    mru m20-fetch [OPTIONS]

OPTIONS:
    -c, --camera <CAMERA>...    Mars2020 Camera Instrument(s)
    -e, --movie                 Only movie frames
    -h, --help                  Print help information
    -I, --instruments           List instruments
    -l, --list                  Don't download, only list results
    -m, --minsol <MINSOL>       Starting Mission Sol
    -M, --maxsol <MAXSOL>       Ending Mission Sol
    -n, --new                   Only new images. Skipped processed images.
    -N, --num <NUM>             Max number of results
    -o, --output <OUTPUT>       Output directory
    -p, --page <PAGE>           Results page (starts at 1)
    -s, --sol <SOL>             Mission Sol
    -S, --seqid <SEQID>         Sequence ID
    -t, --thumbnails            Download thumbnails in the results
    -V, --version               Print version information

Instrument Identifiers

Top level idenfiers include those in the sublevels.

MASTCAM
- MCZ_LEFT
- MCZ_RIGHT
NAVCAM
- NAVCAM_LEFT
- NAVCAM_RIGHT
HELI_RTE
CACHECAM
SKYCAM
EDLCAM
- EDL_DDCAM
- EDL_PUCAM1
- EDL_PUCAM2
- EDL_RUCAM
- EDL_RDCAM
- LCAM
SHERLOC
- SHERLOC_ACI
HELI_NAV
WATSON
- SHERLOC_WATSON
HAZ_FRONT
- FRONT_HAZCAM_LEFT_A
- FRONT_HAZCAM_LEFT_B
- FRONT_HAZCAM_RIGHT_A
- FRONT_HAZCAM_RIGHT_B
SUPERCAM
- SUPERCAM_RMI
PIXL
- PIXL_MCC
HAZ_REAR
- REAR_HAZCAM_LEFT
- REAR_HAZCAM_RIGH

Fetch Raws for InSight

This tool fetches images from the public raw image website at https://mars.nasa.gov/insight/multimedia/raw-images/

NOTE: The InSight mission has come to an end. Because of this, no new images will be appearing on the raw image website beyond what it already there.

Usage

USAGE:
    mru nsyt-fetch [OPTIONS]

OPTIONS:
    -c, --camera <CAMERA>...    InSight Camera Instrument(s)
    -h, --help                  Print help information
    -I, --instruments           List instruments
    -l, --list                  Don't download, only list results
    -m, --minsol <MINSOL>       Starting Mission Sol
    -M, --maxsol <MAXSOL>       Ending Mission Sol
    -n, --new                   Only new images. Skipped processed images.
    -N, --num <NUM>             Max number of results
    -o, --output <OUTPUT>       Output directory
    -p, --page <PAGE>           Results page (starts at 1)
    -s, --sol <SOL>             Mission Sol
    -S, --seqid <SEQID>         Sequence ID
    -t, --thumbnails            Download thumbnails in the results
    -V, --version               Print version information

Instrument Identifiers

ICC
IDC

Anaglyph

Generate a red/blue anaglyph from a matching stereo pair.

Usage: mru anaglyph [OPTIONS] --left <LEFT> --right <RIGHT> --output <OUTPUT>

Options:
  -l, --left <LEFT>      Left image
  -r, --right <RIGHT>    Right image
  -o, --output <OUTPUT>  Output image
  -m, --mono             Monochrome color (before converting to red/blue)
  -h, --help             Print help
  -V, --version          Print version

Example:

Generate an analyph from a sol 3931 ENV sequence stereo pair:

mru msl-fetch -c NAV_RIGHT NAV_LEFT -s 3931 -f NCAM00593

mru calibrate -i /data/MSL/3931/NCAM/NLB_746463314EDR_S1031742NCAM00593M_.JPG /data/MSL/3931/NCAM/NRB_746463314EDR_S1031742NCAM00593M_.JPG

mru anaglyph -l /data/MSL/3931/NCAM/NLB_746463314EDR_S1031742NCAM00593M_-rjcal.tif  -r /data/MSL/3931/NCAM/NRB_746463314EDR_S1031742NCAM00593M_-rjcal.tif -o MSL_NCAM_3931_anaglyph_1.tif

Output:

Hot Pixel Correction Filter

Attempt at hot pixel detection and removal.

Method:

For each pixel (excluding image border pixels):

Compute the standard deviation of a window of pixels (3x3, say)
Compute the z-score for the target pixel
If the z-score exceeds a threshold variance (example: 2.5) from the mean we replace the pixel value with a median filter

Usage: mru hpc-filter [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -t, --threshold <THRESHOLD>         HPC threshold
  -w, --window <WINDOW>               HPC window size
  -h, --help                          Print help
  -V, --version                       Print version

Inpainting Filter

Applies a basic inpainting filter on a set of input images. Inpainting regions need to be marked in red (rgb 255, 0, 0).

Usage: mru inpaint [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -h, --help                          Print help
  -V, --version                       Print version

Crop

USAGE:
    mru crop [OPTIONS] --crop <CROP>

OPTIONS:
    -c, --crop <CROP>                     Crop as x,y,width,height
    -h, --help                            Print help information
    -i, --input-files <INPUT_FILES>...    Input images
    -V, --version                         Print version information

Example

Crop an input image at the top left pixel at 100x480 and of width and height of 590x500:

mru crop -i ZR0_0897_0746567432_598ECM_N0440820ZCAM08906_1100LMJ01-rjcal-drcx.tif -c 100,480,590,500

Debayer

Apply Malvar or Amaze Demosaicking (Debayer) on a grayscale bayer-pattern image. Optionally apply a color noise reduction.

Usage: mru debayer [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -D, --debayer <DEBAYER>             Debayer method (malvar, amaze)
  -h, --help                          Print help
  -V, --version                       Print version                      Print version information

Example

Debayer a directory of jpeg images using the Amaze algorithm:

mru debayer -i *jpg -D amaze

Levels

Apply levels adjustments to an image. Analogous to 'Levels' in Photoshop or GIMP.

Usage: mru levels [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -b, --black <BLACK>                 Black level
  -w, --white <WHITE>                 White level
  -g, --gamma <GAMMA>                 Gamma level
  -h, --help                          Print help
  -V, --version                       Print version

Change Detection (Dust devils, clouds)

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: mru diffgif [OPTIONS] --output <OUTPUT>

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -b, --black <BLACK>                 Black level
  -w, --white <WHITE>                 White level
  -g, --gamma <GAMMA>                 Gamma level
  -d, --delay <DELAY>                 Interframe delay in increments of 10ms
  -l, --lowpass <LOWPASS>             Lowpass window size
  -o, --output <OUTPUT>               Output image
  -p, --prodtype <PRODTYPE>           Product type
  -m, --mono                          Convert RGB to mono
  -L, --lightonly                     Light only, discard dark values
  -h, --help                          Print help
  -V, --version                       Print version

Examples

Dust Devils, MSL Sol 3372, Seq id NCAM00595

mru msl-fetch -c NAV_RIGHT_B -s 3372 -f NCAM00595

mru calibrate -i *JPG -t 2.0

mru diffgif -i *NCAM00595*-rjcal.tif -o DustDevilMovie_Sol3372.gif -b 0 -w 2.0 -g 2.5 -l 5 -d 20

Output:

Cloud motion and shadows, MSL Sol 3325, Seq id NCAM00556

mru msl-fetch -c NAV_RIGHT -s 3325

mru calibrate -i *JPG -t 2.0

mru diffgif -i *NCAM00556*-rjcal.tif -o CloudShadow_3325.gif -b 0 -w 1.0 -g 2.5 -l 5 -d 20

Clouds, zenith movie, MSL Sol 3325, Seq id NCAM00551

mru msl-fetch -c NAV_RIGHT -s 3325

mru calibrate -i *JPG -t 2.0

mru diffgif -i *NCAM00551*-rjcal.tif -o CloudZenith_3325.gif -b 0 -w 3.0 -g 1.0 -l 5 -d 20

Data Update Checks

Fetches information as to the latest updated sols.

Example Output:

$ mru 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

$ mru m20-latest
Latest data: 2022-02-23T10:22:33Z
Latest sol: 359
Latest sols: [349]
New Count: 270
Sol Count: 99
Total: 217981

$ mru nsyt-latest
Latest data: 2022-02-14T15:11:15Z
Latest sol: 1144
Latest sols: [1144]
New Count: 2
Sol Count: 2
Total: 6353

Mission Dates

Mission time and sol are available for MSL, Mars2020, InSight, and the Mars Exploration Rovers via msl_date, m20_date, nsyt_date, and mer-date respectively.

Currently, the output provides valules for the Mars Sol Date, coordinated Mars time, mission sol, mission time (LMST/HLST), 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_time(sol_offset:f64, longitude:f64, time_system:time::TimeSystem).

Example Output:

$ mru 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

$ mru 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

$ mru 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

$ mru mer-date
MER-A / Spirit:
Mars Sol Date:          52818.42509854407
Coordinated Mars Time:  10:12:08.514
Mission Sol:            6602
Mission Time:           10:12:08.514 LMST
Local True Solar Time:  09:52:00.678 LTST
Solar Longitude:        276.7135713289173
-----------------------------------------------
MER-B / Opportunity:
Mars Sol Date:          52818.42509854497
Coordinated Mars Time:  10:12:08.514
Mission Sol:            6583
Mission Time:           09:11:02.476 LMST
Local True Solar Time:  08:50:54.640 LTST
Solar Longitude:        276.7135713294991

Focus Merge

A tool for focus stacking a series of images taken on the same scene but at different focal distances with the intent of simulating a greater depth of field. This is commonly done with MSL MAHLI (usually stacked on-board the rover then downlinked with an derived depth map).

The tool takes an input of 2+ images and an output location. An optional parameter allows for tuning the window size when determining the quality sigma value (default: 15).

Usage: mru focus-merge [OPTIONS] --output <OUTPUT>

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -o, --output <OUTPUT>               Output image
  -w, --window <WINDOW>               Quality determination window size (pixels)
  -d, --depth-map                     Produce a depth map
  -h, --help                          Print help
  -V, --version                       Print version

Cross-eye Stereograms

This provides the capability for MRU to produce cross-eye/parallel-eye 3D stereograms.

Usage: mru xeye [OPTIONS] --left <LEFT> --right <RIGHT> --output <OUTPUT>

Options:
  -l, --left <LEFT>      Left image
  -r, --right <RIGHT>    Right image
  -o, --output <OUTPUT>  Output image
  -u, --use-cm           Use camera model, if available
  -h, --help             Print help
  -V, --version          Print version

Example:

Download MAHLI stereo pair from sol 3931, calibrate them, then create a cross-eye stereogram:

mru msl-fetch -c MAHLI -s 3931

mru calibrate -i 3931MH0001700001402361R00_DXXX.jpg 3931MH0001700001402363R00_DXXX.jpg -P msl_mahli_rad

mru xeye -l 3931MH0001700001402363R00_DXXX-rjcal-rad.tif -r 3931MH0001700001402361R00_DXXX-rjcal-rad.tif -o MSL_MAHLI_3931_xeye_1.tif

Output:

Color Decorrelation Stetching

Stretches each color band of an image independent of one another to the minimum and maximum values of the bit depth.

Usage: mru decorr [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -c, --cross-file                    Cross-File decorrelation (value ranges determined across all files rather than individually)
  -b, --ignore-black                  Ignore black values
  -h, --help                          Print help
  -V, --version                       Print version

Example Before (M20 MCZ calibrated with m20_zcam_rad)

Example After following mru decorr

Mars Relay Network Pass Information

Retrieve overflight and downlink information from the Mars Relay Network. Information can be filtered by lander (M20, MSL), and/or orbiter (MRO, ODY, TGO, MVN).

Usage: mru passes [OPTIONS]

Options:
  -o, --orbiter <ORBITER>...  Limit to orbiter(s)
  -l, --lander <LANDER>...    Limit to lander(s)
  -f, --future                Limit to future overflights
  -h, --help                  Print help
  -V, --version               Print version

Example:

Retrieve upcoming passes for Curiosity:

mru passes -l MSL -f
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
| ID                  | Orbiter | Lander | Max El Time             | Max El (deg) | Duration | Range   | Data Vol |
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
| TGO_MSL_2023_242_03 | TGO     | MSL    | 2023-08-30 18:20:01 UTC | 33.448813    | 16.566   | 635.226 | 710      |
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
| MRO_MSL_2023_242_02 | MRO     | MSL    | 2023-08-30 20:40:32 UTC | 72.00407     | 13.5     | 277.561 | 397      |
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
| ODY_MSL_2023_243_02 | ODY     | MSL    | 2023-08-31 12:13:00 UTC | 70.262318    | 17.316   | 426.163 | 114      |
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
| MRO_MSL_2023_243_03 | MRO     | MSL    | 2023-08-31 20:59:15 UTC | 30.584128    | 12.933   | 474.955 | 211      |
+---------------------+---------+--------+-------------------------+--------------+----------+---------+----------+
...

Rover Surface Location and Waypoint Information

Fetches drive, location, and vehicle attitude information. By default, this includes information from the latest reported drive. However, by using the -a option, MRU will print out all reported site locations since the beginning of the mission (Use -c for CSV formatting);

Curiosity

Usage: mru msl-location [OPTIONS]

Options:
  -a, --all      Print all known waypoints
  -c, --csv      Print CSV format
  -h, --help     Print help
  -V, --version  Print version

Example:

Current vehicle status:

mru msl-location
Site: 103
Drive: 2216
Sol: 3931
Easting: 8144432.505
Northing: -282950.238
Elevation (geoid): -3777.79
Longitude: 137.4015026
Latitude: -4.77354166
Roll: -10.81
Pitch: 1.8
Yaw: 134.87
Tilt: 10.96
Drive Distance (meters): 64.63
Total Traverse Distance (kilometers): 30.78

Vehicle Location History:

mru msl-location -a
Site  Drive   Sol     Easting    Northing  Elevation   Climb       Lon       Lat Dist(m) Total (km)
    2     0     3 8146811.223 -272039.268   -4500.97    0.00 137.44163  -4.58947    0.00       0.00
    3    78    16 8146817.210 -272039.150   -4501.12   -0.15 137.44173  -4.58946    7.01       0.01
    3   100    21 8146814.363 -272035.346   -4501.39   -0.27 137.44169  -4.58940    4.90       0.01
    3   260    22 8146826.607 -272035.482   -4502.36   -0.98 137.44189  -4.58940   15.14       0.03
    3   372    24 8146843.725 -272038.080   -4502.61   -0.25 137.44218  -4.58945   21.51       0.05
    3   530    26 8146861.191 -272056.004   -4503.03   -0.41 137.44248  -4.58975   29.79       0.08
    4     0    29 8146885.959 -272078.049   -4503.56   -0.53 137.44289  -4.59012   30.56       0.11
    4   404    38 8146910.129 -272085.295   -4504.60   -1.05 137.44330  -4.59024   32.35       0.14
    4   468    39 8146931.566 -272089.740   -4504.76   -0.15 137.44366  -4.59032   21.70       0.16
    4   916    40 8146962.057 -272073.023   -4504.47    0.29 137.44418  -4.59004   37.22       0.20
    4  1238    41 8146985.961 -272061.770   -4504.95   -0.49 137.44458  -4.58985   26.89       0.23
...

Perseverance

Usage: mru m20-location [OPTIONS]

Options:
  -a, --all      Print all known waypoints
  -c, --csv      Print CSV format
  -h, --help     Print help
  -V, --version  Print version

Example:

Current vehicle status:

mru m20-location
Site: 44
Drive: 830
Sol: 897
Easting: 4349292.079
Northing: 1095551.419
Elevation (geoid): -2414.699463
Longitude: 77.35836062
Latitude: 18.48261509
Roll: -1.581429204
Pitch: 0.356870366
Yaw: -94.94701482
Tilt: 1.621185506
Drive Distance (meters): 0.047
Total Traverse Distance (kilometers): 19.93

Vehicle Location History:

mru m20-location -a 
Site  Drive   Sol     Easting    Northing  Elevation   Climb       Lon       Lat Dist(m) Total (km)
    3     0    13 4354494.086 1093299.695   -2569.91    0.00  77.45089  18.44463    0.00       0.00
    3   110    14 4354497.517 1093294.730   -2569.86    0.05  77.45095  18.44454    6.25       0.01
    3   386    15 4354502.424 1093329.801   -2569.94   -0.08  77.45103  18.44514   36.39       0.04
    3   578    16 4354528.468 1093338.387   -2569.29    0.65  77.45150  18.44528   27.43       0.07
    3   770    20 4354548.640 1093330.590   -2568.93    0.36  77.45186  18.44515   23.42       0.09
    3   792    23 4354544.202 1093333.786   -2568.97   -0.04  77.45178  18.44520    5.47       0.10
    3   828    29 4354546.709 1093331.539   -2568.93    0.04  77.45182  18.44516    3.94       0.10
    3  1044    31 4354519.166 1093332.465   -2569.60   -0.67  77.45133  18.44518   33.39       0.14
    3  1266    32 4354511.566 1093304.014   -2569.81   -0.21  77.45120  18.44470   30.61       0.17
    3  1374    33 4354501.886 1093307.106   -2569.99   -0.18  77.45102  18.44475   12.96       0.18
...

Converting PDS images to MRU-readable Format

This provides a simple utility for converting archived VICAR images from the Planetary Data System (PDS) into a format readable by MRU.

Usage: mru pds2png [OPTIONS]

Options:
  -i, --input-files <INPUT_FILES>...  Input images
  -m, --min <MIN>                     Minimum value
  -M, --max <MAX>                     Maximum value
  -x, --minmax                        Prints minimum and maximum values then exit
  -h, --help                          Print help
  -V, --version                       Print version

Example

Download MastCam image from PDS and convert to a usable format:

curl -O https://planetarydata.jpl.nasa.gov/img/data/msl/MSLMST_0028/DATA/RDR/SURFACE/3154/3154ML1002700011203864E01_DRCX.IMG

curl -O https://planetarydata.jpl.nasa.gov/img/data/msl/MSLMST_0028/DATA/RDR/SURFACE/3154/3154ML1002700011203864E01_DRCX.LBL

mru pds2png -i 3154ML1002700011203864E01_DRCX.LBL

Perseverance NavCam Assembly

The Perseverance Rover's NavCam sensors have a resolution of 5120x3840 pixels, however due to heritage data interface these images must be split into tiles of 1280x960 pixels. These sub-image tiles are then transmitted back to JPL and reassembled by the internal pipelines to the full data product. The public raw images don't receive this reassembly, instead posting the tiles online.

Reassembly of the public raw tiles into the full frame image must take a few things into account. When converted from the internal data format to a PNG, each tile is stretched to within the 8bit data bounds. This stretching results in each tile presenting an altered histogram relative to the others. This needs to be corrected. Additionally, telemetry pixels are added to the borders of each tile which need to be discarded prior to histogram matching.

Assembly of the tiles into the full data frame is done with the m20-ecam-assemble subcommand. This command takes as input the tiles of a single full frame product (it will not reassemble multiple products at once):

mru -v m20-ecam-assemble -i NLF_0897_0746580073_784ECM_N0440830NCAM03897_??_195J02.png -o NLF_0897_0746580073_784ECM_N0440830NCAM03897_00_195J01.tif

A helper script is available in examples which automates the reassembly of Navcam images within a directory:

mru m20-fetch -c NAVCAM_LEFT NAVCAM_RIGHT -s 897 -n
assemble_ncams.sh -ncam
mru calibrate -i *assembled.tif -P m20_ncam_mcz

Perseverance Sherloc Colorization

As part of some SHERLOC ACI observations, LEDs on different sides of the camera are used to produce alternate angles of illumination. These alternate lighting angles can be used to create an interesting false-color image when mapped to red and blue. Green can be simulated as a simple mean of the two.

Usage

Usage: mru m20-sherloc-colorizer --red <RED> --blue <BLUE> --output <OUTPUT>

Options:
  -r, --red <RED>        Image for red channel
  -b, --blue <BLUE>      Image for blue channel
  -o, --output <OUTPUT>  Output image
  -h, --help             Print help
  -V, --version          Print version

Example

mru m20-fetch -c SHERLOC -s 851

mru calibrate -i SC3_0851_0742516884_101ECM_N0410188SRLC10600_0000LMJ01.png SC3_0851_0742516900_691ECM_N0410188SRLC10600_0000LMJ01.png

mru m20-sherloc-colorizer -r SC3_0851_0742516900_691ECM_N0410188SRLC10600_0000LMJ01-rjcal.tif -b SC3_0851_0742516884_101ECM_N0410188SRLC10600_0000LMJ01-rjcal.tif -o M20_SHERLOC_0851_colorized_1.tif

Output Image:

References

Bell, J. F. et al. (2017), The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in‐flight calibration, validation, and data archiving, Earth and Space Science, 4, 396– 452, doi:10.1002/2016EA000219. https://doi.org/10.1002/2016EA000219

Hayes, A.G., Corlies, P., Tate, C. et al. Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager. Space Sci Rev 217, 29 (2021). https://doi.org/10.1007/s11214-021-00795-x

Edgett, K.S., Yingst, R.A., Ravine, M.A. et al. Curiosity’s Mars Hand Lens Imager (MAHLI) Investigation. Space Sci Rev 170, 259–317 (2012). https://doi.org/10.1007/s11214-012-9910-4

Edgett, K. S., M. A. Caplinger, J. N. Maki, M. A. Ravine, F. T. Ghaemi, S. McNair, K. E. Herkenhoff, B. M. Duston, R. G. Willson, R. A. Yingst, M. R. Kennedy, M. E. Minitti, A. J. Sengstacken, K. D. Supulver, L. J. Lipkaman, G. M. Krezoski, M. J. McBride, T. L. Jones, B. E. Nixon, J. K. Van Beek, D. J. Krysak, and R. L. Kirk (2015) Curiosity’s robotic arm-mounted Mars Hand Lens Imager (MAHLI): Characterization and calibration status, MSL MAHLI Technical Report 0001 (version 1: 19 June 2015; version 2: 05 October 2015). doi:10.13140/RG.2.1.3798.5447 https://doi.org/10.13140/RG.2.1.3798.5447

Deen, R., Zamani, P., Abarca, H., Maki, J. InSight (NSYT) Software Interface Specification Camera Experiment Data Record (EDR) and Reduced Data Record (RDR) Data Products (version 3.3: 26 June 2019) https://pds-imaging.jpl.nasa.gov/data/nsyt/insight_cameras/document/insight_cameras_sis.pdf

Edgett, Kenneth & Caplinger, Michael & Ravine, Michael. (2019). Mars 2020 Perseverance SHERLOC WATSON Camera Pre-delivery Characterization and Calibration Report. 10.13140/RG.2.2.18447.00165. https://www.researchgate.net/publication/345959204_Mars_2020_Perseverance_SHERLOC_WATSON_Camera_Pre-delivery_Characterization_and_Calibration_Report

Maurice, Sylvestre & Wiens, R. & Mouélic, S. & Anderson, R. & Beyssac, O. & Bonal, L. & Clegg, S. & Deflores, L. & Dromart, G. & Fischer, W. & Forni, O. & Gasnault, O. & Grotzinger, J. & Johnson, Jordanlee & Martínez-Frías, Jesús & Mangold, N. & McLennan, S. & Montmessin, F. & Rull, Fernando & Sharma, Shiv. (2015). The SuperCam Instrument for the Mars2020 Rover. European Planetary Science Congress 2015. 10. https://www.researchgate.net/publication/283271532_The_SuperCam_Instrument_for_the_Mars2020_Rover

J. -M. Reess, Marion Bonafous, L. Lapauw, O. Humeau, T. Fouchet, P. Bernardi, Ph. Cais, M. Deleuze, O. Forni, S. Maurice, S. Robinson, R. C. Wiens, "The SuperCam infrared instrument on the NASA MARS2020 mission: performance and qualification results," Proc. SPIE 11180, International Conference on Space Optics — ICSO 2018, 1118037 (12 July 2019); https://doi.org/10.1117/12.2536034

Wiens, R.C., Maurice, S., Barraclough, B. et al. The ChemCam Instrument Suite on the Mars Science Laboratory (MSL) Rover: Body Unit and Combined System Tests. Space Sci Rev 170, 167–227 (2012). https://doi.org/10.1007/s11214-012-9902-4

O. Gasnault, S. Maurice, R. C. Wiens, S. Le Mouélic, W. W. Fischer, P. Caïs, K. McCabe, J.-M. Reess, and C. Virmontois "SUPERCAM REMOTE MICRO-IMAGER ON MARS 2020." - 46th Lunar and Planetary Science Conference (2015). https://www.hou.usra.edu/meetings/lpsc2015/pdf/2990.pdf

Telea, Alexandru. (2004). An Image Inpainting Technique Based on the Fast Marching Method. Journal of Graphics Tools. 9. 10.1080/10867651.2004.10487596. https://www.researchgate.net/publication/238183352_An_Image_Inpainting_Technique_Based_on_the_Fast_Marching_Method

Malvar, Henrique & He, Li-wei & Cutler, Ross. (2004). High-quality linear interpolation for demosaicing of Bayer-patterned color images. Acoustics, Speech, and Signal Processing, 1988. ICASSP-88., 1988 International Conference on. 3. iii - 485. 10.1109/ICASSP.2004.1326587. https://www.researchgate.net/publication/4087683_High-quality_linear_interpolation_for_demosaicing_of_Bayer-patterned_color_images

Getreuer, Pascal. (2011). Malvar-He-Cutler Linear Image Demosaicking. Image Processing On Line. 1. 10.5201/ipol.2011.g_mhcd. https://www.researchgate.net/publication/270045976_Malvar-He-Cutler_Linear_Image_Demosaicking

Maki, J.N., Gruel, D., McKinney, C. et al. The Mars 2020 Engineering Cameras and Microphone on the Perseverance Rover: A Next-Generation Imaging System for Mars Exploration. Space Sci Rev 216, 137 (2020). https://doi.org/10.1007/s11214-020-00765-9

Malin, M. C., et al. (2017), The Mars Science Laboratory (MSL) Mast cameras and Descent imager: Investigation and instrument descriptions, Earth and Space Science, 4, 506– 539, doi:10.1002/2016EA000252. https://doi.org/10.1002/2016EA000252

Di, K., and Li, R. (2004), CAHVOR camera model and its photogrammetric conversion for planetary applications, J. Geophys. Res., 109, E04004, doi:10.1029/2003JE002199. https://doi.org/10.1029/2003JE002199

Castano, A., Fukunaga, A., Biesiadecki, J. et al. Automatic detection of dust devils and clouds on Mars. Machine Vision and Applications 19, 467–482 (2008). https://doi.org/10.1007/s00138-007-0081-3

Allwood, Abigail C., Joel A. Hurowitz, Benton C. Clark, Luca Cinquini, Scott Davidoff, Robert W. Denise, W. Timothy Elam, et al. "The PIXL Instrument on the Mars 2020 Perseverance Rover." arXiv preprint arXiv:2103.07001 (2021). https://arxiv.org/abs/2103.07001

Gennery, D.B. Generalized Camera Calibration Including Fish-Eye Lenses. Int J Comput Vision 68, 239–266 (2006). https://doi.org/10.1007/s11263-006-5168-1

Fries, M.D., Lee, C., Bhartia, R. et al. The SHERLOC Calibration Target on the Mars 2020 Perseverance Rover: Design, Operations, Outreach, and Future Human Exploration Functions. Space Sci Rev 218, 46 (2022). https://doi.org/10.1007/s11214-022-00907-1

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Mars Raw Image Utilities

Quick Start

Contributing

Citing Mars Raw Utils

Building from source

Clone from git

Install via cargo

Install via apt (Debian, Ubuntu, ...)

Install via rpm (RHEL, CentOS, Fedora, ...)

Install on MacOS via Homebrew

Docker

Building Install Packages using Docker

Informational and Debug Output

Specifying Calibration Data Location

Updating Calibration Data

Calibration Profiles

Listing available profiles

Describing a profile

Included calibration profiles

Calibration

Running

Usage

Fetch Raws for MSL

Usage

Instrument Identifiers

Examples

Fetch Raws for Mars2020

Usage

Instrument Identifiers

Fetch Raws for InSight

Usage

Instrument Identifiers

Anaglyph

Example:

Hot Pixel Correction Filter

Inpainting Filter

Crop

Example

Debayer

Example

Levels

Change Detection (Dust devils, clouds)

Examples

Dust Devils, MSL Sol 3372, Seq id NCAM00595

Cloud motion and shadows, MSL Sol 3325, Seq id NCAM00556

Clouds, zenith movie, MSL Sol 3325, Seq id NCAM00551

Data Update Checks

Mission Dates

Focus Merge

Cross-eye Stereograms

Example:

Color Decorrelation Stetching

Mars Relay Network Pass Information

Example:

Rover Surface Location and Waypoint Information

Curiosity

Example:

Perseverance

Example:

Converting PDS images to MRU-readable Format

Example

Perseverance NavCam Assembly

Perseverance Sherloc Colorization

Usage

Example

References