Perseverance Imagery, technical discussion of processing, cameras, etc. |
Perseverance Imagery, technical discussion of processing, cameras, etc. |
Feb 22 2021, 02:26 AM
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#1
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Member Group: Members Posts: 219 Joined: 14-November 11 From: Washington, DC Member No.: 6237 |
Putting this here, for reference as the payload of the JSON feed link for Perseverence raws (see source in other thread here)
https://mars.nasa.gov/rss/api/?feed=raw_ima...;&extended= Looks like there's a ton of good data in addition to just the (PNG! Bayer color separated!) images This is for the first image shown on the page at the moment. CODE "images": [ { "extended": { "mastAz":"UNK", "mastEl":"UNK", "sclk":"667129493.453", "scaleFactor":"4", "xyz":"(0.0,0.0,0.0)", "subframeRect":"(1,1,1280,960)", "dimension":"(1280,960)" }, "sol":2, "attitude":"(0.415617,-0.00408664,-0.00947025,0.909481)", "image_files": { "medium":"https://mars.nasa.gov/mars2020-raw-images/pub/ods/surface/sol/00002/ids/edr/browse/rcam/RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01_800.jpg", "small":"https://mars.nasa.gov/mars2020-raw-images/pub/ods/surface/sol/00002/ids/edr/browse/rcam/RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01_320.jpg", "full_res":"https://mars.nasa.gov/mars2020-raw-images/pub/ods/surface/sol/00002/ids/edr/browse/rcam/RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01.png", "large":"https://mars.nasa.gov/mars2020-raw-images/pub/ods/surface/sol/00002/ids/edr/browse/rcam/RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01_1200.jpg" }, "imageid":"RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01", "camera": { "filter_name":"UNK", "camera_vector":"(-0.7838279435884001,0.600143487448691,0.15950407306054173)", "camera_model_component_list":"2.0;0.0;(46.176,2.97867,720.521);(-0.701049,0.00940617,0.713051);(8.39e-06,0.0168764,-0.00743155);(-0.00878744,-0.00869157,-0.00676256);(-1.05782,-0.466472,-0.724517);(-0.702572,0.0113481,0.711523);(-448.981,-528.002,453.359)", "camera_position":"(-1.05782,-0.466472,-0.724517)", "instrument":"REAR_HAZCAM_RIGHT", "camera_model_type":"CAHVORE" }, "caption":"NASA's Mars Perseverance rover acquired this image of the area in back of it using its onboard Rear Right Hazard Avoidance Camera. \n\n This image was acquired on Feb. 21, 2021 (Sol 2) at the local mean solar time of 15:37:11.", "sample_type":"Full", "date_taken_mars":"Sol-00002M15:37:11.985", "credit":"NASA/JPL-Caltech", "date_taken_utc":"2021-02-21T02:16:26Z", "json_link":"https://mars.nasa.gov/rss/api/?feed=raw_images&category=mars2020&feedtype=json&id=RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01", "link":"https://mars.nasa.gov/mars2020/multimedia/raw-images/?id=RRB_0002_0667129492_604ECM_N0010052AUT_04096_00_2I3J01", "drive":"52", "title":"Mars Perseverance Sol 2: Rear Right Hazard Avoidance Camera (Hazcam)", "site":1, "date_received":"2021-02-21T23:12:58Z" }, (with syntax color): Here's hoping that one of you skilled characters can make good use... |
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Feb 25 2021, 01:13 AM
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#2
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Senior Member Group: Members Posts: 4250 Joined: 17-January 05 Member No.: 152 |
About image pointing, the algorithm I use for MSL, based on this post, seems to work fine for Percy, with the "rover_attitude" quaternion field replaced with "attitude". So for the "shiny rock" image:
https://mars.nasa.gov/mars2020-raw-images/p...6_034085J01.png I get elevation,azimuth = 1.2, 251.5 degrees, which looks about right. That presumably is for the centre of the FOV, which happens to correspond almost exactly with the shiny rock. |
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Feb 25 2021, 09:00 PM
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#3
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Junior Member Group: Members Posts: 95 Joined: 11-January 07 From: Amsterdam Member No.: 1584 |
About image pointing, the algorithm I use for MSL, based on this post, seems to work fine for Percy, with the "rover_attitude" quaternion field replaced with "attitude". Thank you for this hint, fredk. I didn't realize the Spice toolkit works just as fine without kernels. For future use, does anyone know how to obtain the zoom value from the JSON information? Should it be derived from the CAHVOR data? -------------------- |
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Feb 25 2021, 09:56 PM
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#4
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Senior Member Group: Members Posts: 2517 Joined: 13-September 05 Member No.: 497 |
For future use, does anyone know how to obtain the zoom value from the JSON information? Should it be derived from the CAHVOR data? Should be if the CAHVOR model is set correctly, which they may or may not be at this point. See https://github.com/bvnayak/CAHVOR_camera_model and https://agupubs.onlinelibrary.wiley.com/doi...29/2003JE002199 -------------------- Disclaimer: This post is based on public information only. Any opinions are my own.
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Feb 26 2021, 12:32 PM
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#5
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Junior Member Group: Members Posts: 95 Joined: 11-January 07 From: Amsterdam Member No.: 1584 |
Should be if the CAHVOR model is set correctly, which they may or may not be at this point. See https://github.com/bvnayak/CAHVOR_camera_model and https://agupubs.onlinelibrary.wiley.com/doi...29/2003JE002199 Thanks for the links. I tried the code but it gave very low values and fluctuating results for the Mastcam-Z focal length. Will try again when new images arrive. -------------------- |
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Feb 26 2021, 04:44 PM
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#6
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Senior Member Group: Members Posts: 2517 Joined: 13-September 05 Member No.: 497 |
Thanks for the links. I tried the code but it gave very low values and fluctuating results for the Mastcam-Z focal length. Seems like, for the one case I looked at, that the values in the JSON are in the order VORCAH instead of CAHVOR as one would expect. I don't know if this is intentional or a bug. And I'm not sure if these models are actually correct anyway. But you could take a look. -------------------- Disclaimer: This post is based on public information only. Any opinions are my own.
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Feb 26 2021, 06:51 PM
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#7
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Junior Member Group: Members Posts: 95 Joined: 11-January 07 From: Amsterdam Member No.: 1584 |
Seems like, for the one case I looked at, that the values in the JSON are in the order VORCAH instead of CAHVOR as one would expect. So close. Processing the CAHVOR as VORCAH gave more plausible results, although one decimal off. It was a fun exercise but no longer nescessary... thanks for posting the decode guide Doug! -------------------- |
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