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Posted by: elakdawalla Oct 31 2012, 05:26 PM

This is going to be awesome.

Posted by: pmetschan Oct 31 2012, 05:33 PM

I have been waiting for an image like this for yeeeears!

Posted by: Stu Oct 31 2012, 07:21 PM

Thumbnails mosaic of self portrait...

Posted by: Explorer1 Oct 31 2012, 07:26 PM

Look ma, no hands! You can't even see the arm...
Time to replace that dusty self-portrait on the social media sites.

Posted by: pospa Oct 31 2012, 08:00 PM

Fantastic, Stu! ... but isn't it flipped left to right?

Posted by: Stu Oct 31 2012, 08:36 PM

Yes it is, I did it in a bit of a rush, but it doesn't really matter, does it? Just a pretty pic, not an official NASA product :-)

But here you go, corrected view...

Posted by: ronald Oct 31 2012, 09:06 PM

This will bring some light to the surface brightness "debate"!

Posted by: Tesheiner Oct 31 2012, 09:47 PM

Oh ... my ... god!
Can barely wait for the full-res.

Posted by: Explorer1 Oct 31 2012, 10:03 PM

And Scott Maxwell says there's another surprise coming tomorrow; no idea what that could be.

Posted by: Astro0 Nov 1 2012, 06:21 AM

Did my own version of the thumbnail self-portrait but then as soon as I get that done, down come the full-size images.

Posted by: James Sorenson Nov 1 2012, 06:34 AM

Wow!

Full Resolution

http://www.flickr.com/photos/43581439@N08/8143883619/

EDIT: A horizon corrected version

http://www.flickr.com/photos/43581439@N08/8144065534/

Posted by: Explorer1 Nov 1 2012, 06:49 AM

The upsidedown landscape reflected in the chemcam just cinches it for me....

Posted by: jvandriel Nov 1 2012, 10:30 AM

My view of the Sol 84 Mahli Portrait.

Jan van Driel

Posted by: Cargo Cult Nov 1 2012, 11:45 AM

I meant to just stitch a couple of images of the Mastcam together, but ended up doing most of 'em:

https://hylobatidae.org/?action=articleinfo&id=38

(Link above goes to blog-thing - alternatively there's a https://hylobatidae.org/misc/curiosity-self-portrait-20121101-massive.jpg just there. Seeing other people's panoramas, I realise the bits of horizon I couldn't get to stitch automatically were actually important. I reserve the right to update things! ;-) )

Posted by: KrisK Nov 1 2012, 11:59 AM

...and I just focused on MSL's mast

http://www.flickr.com/photos/55907406@N08/8144385350/sizes/c/in/photostream/

Posted by: Tom Tamlyn Nov 1 2012, 12:09 PM

Unbelievable. Where's the swear jar ...

TTT

P.S. I've been wondering if it would be possible, without unreasonable effort, to use Mastcam images of the "missing" sections of the arm and turret, resized, reoriented, reprojected, and whatever else, to complete the self-portrait. I'm not sure the result would be a better picture; just curious if it could be done.

Edit: this was in response to Cargo Cult's version, one back from KrisK's.

Posted by: ngunn Nov 1 2012, 12:46 PM

... and in that upside down image we also see (presumably) the reflection of MAHLI. Now here's a question: When I peer hard at what I assume is the reflection of the MAHLI lens I can persuade myself I'm seeing something reflected in that too. Just a few pixels, and it's not clear what. Maybe I'm making it up. It's a bit of a mad idea but I'm sure if there's anything in it somebody here will sleuth it out.

Posted by: jmknapp Nov 1 2012, 12:48 PM

Very dramatic. Here's a color-corrected version of KrisK's composite, using the LR filter:

Posted by: mcaplinger Nov 1 2012, 12:57 PM

I'm glad everyone is enjoying the self-portrait. We worked all day yesterday doing the "official mosaic" of the thumbnails, and I expect we will do the same today on the full-res.

As a courtesy, it'd be nice if people could not broadly release these for a few days. If our mosaic turns out worse, then the better mosaic will win in the end. If you do release anyway, make sure you have the right image credits and be advised that I may be somewhat miffed at you. We've been working on this particular project since before landing and I feel like we are having to rush it to avoid being scooped.


ADMIN NOTE: The UMSF Admin team highly recommends that members use http://www.unmannedspaceflight.com/index.php?showtopic=7375&view=findpost&p=189703. See the reference in the http://www.unmannedspaceflight.com/index.php?showtopic=7375&view=findpost&p=189703.

Posted by: fredk Nov 1 2012, 03:27 PM

Beautiful work, guys! Another signature image in space exploration.

Chemcam is not pointing towards mahli - if it was we'd be looking into the chemcam aperture on-axis. Instead chemcam is looking above mahli. So we're not seeing the mahli lens reflected. It looks like we're looking pretty close to on-axis into MC34, but I can't see any reflection there. Can someone figure out what bit of the rover we're seeing reflected in one of the L navcam lens covers?

Posted by: akuo Nov 1 2012, 03:34 PM

I think the reflection of the turret is there right above the middle baffle/secondary mirror of the Chemcam. Would have to look at earlier Mastcam images of the arm and turret to recognise Mahli from that tiny reflection though.

Edit:Yes, it is there, with maybe half of Mahli's aperture visible too. I can't see how you could see anything out of its reflection though

Cropped image with reduced and mirrored http://mars.jpl.nasa.gov/msl-raw-images/msss/00032/mcam/0032ML0076000000E2_DXXX.jpg included :

Posted by: djellison Nov 1 2012, 04:14 PM

I concur - it's the turret we're seeing.

Posted by: Ant103 Nov 1 2012, 04:18 PM

Wow wow ! Some EXCELLENT work there . And a big thanks to the MSSS and JPL team to manage acquiring such a wonderfull panoramic !

So, from my side (and after a great Halloween party…), here is my take :

http://www.db-prods.net/blog/2012/11/01/curiosity-premier-veritable-autoportrait/

By clicking on the picture, you will be brought on an "interactive" version of the panorama. Enjoy .

Posted by: mcaplinger Nov 1 2012, 04:24 PM

"Official" thumbnail mosaic:

http://mars.jpl.nasa.gov/msl/multimedia/images/?ImageID=4837

The full image will probably look the same, only bigger.

Posted by: maschnitz Nov 1 2012, 04:58 PM

Very exciting.

What's going on with the streaks in the shots towards tail/RTG? Overexposure?

Posted by: ronald Nov 1 2012, 05:19 PM

Well, here is my version. I used the darker surface images as a base aligning the others to.

http://dl.dropbox.com/u/5875127/msl/0084MH0071000000E1_DXXX-0084MH0071000054E1_DXXX_v43_x.jpg

Posted by: mcaplinger Nov 1 2012, 05:30 PM

Very nice! It's too bad nobody has figured out how to remove the shutter smear off the RTG, but it gives us a competitive advantage.

How did you get Mount Sharp that close to the rover? Did it just project that way or did you do something special? If you used hugin what projection did you use?

Posted by: ugordan Nov 1 2012, 05:43 PM

Kinda like this?

Posted by: Ant103 Nov 1 2012, 05:44 PM

Full stereographic projected version

http://www.db-prods.net/marsroversimages/curiosity.html#63

Mcaplinger : I guess he used a rectilnear projection.

Posted by: mcaplinger Nov 1 2012, 05:51 PM

You left out the partial frames, which you need to fill those gaps.

Posted by: mcaplinger Nov 1 2012, 05:59 PM

Yes. Now do http://mars.jpl.nasa.gov/msl-raw-images/msss/00084/mhli/0084MH0071000025E1_DXXX.jpg -- it's harder.

Posted by: ngunn Nov 1 2012, 06:06 PM

Clearly I was wrong about the last bit. But more important: Great detective work - Thanks to all for following this up.

Posted by: Ant103 Nov 1 2012, 06:10 PM

I prefer to waiting for the full version of these few missing frames .

Posted by: ronald Nov 1 2012, 06:18 PM

Thanks Just stereographic projection and some movement in the preview window. Ah - I nearly forgot that - I did fill in some sky too

[Edit]: Maybe we should move all the sol84 MAHLI buzz to a new thread - it clutters things up a bit - no?

Posted by: fredk Nov 1 2012, 06:26 PM

I agree now that we are seeing the turret reflected in chemcam. I hadn't realized how wide a field was being reflected in the mirror, so we can see the turret even though chemcam isn't pointed directly at it.
Yes. It's near one corner of the turret. Here's a comparison of the mahli image (reflected) with the new ML thumbnail (white circles):

BTW, the http://mars.jpl.nasa.gov/msl-raw-images/msss/00084/mcam/0084ML0374000000I1_DXXX.jpg was taken almost simultaneously with the mahli images of the RSM!

And a new self portrait on sol 85!
http://mars.jpl.nasa.gov/msl-raw-images/msss/00085/mhli/0085MH0113000008I1_DXXX.jpg

Posted by: ngunn Nov 1 2012, 06:37 PM

Shifted a little sideways relative to the background I notice. Going for 3D?

Posted by: djellison Nov 1 2012, 06:37 PM

That's not QUITE the same as the one from 85.

Did someone say Stereo?

Posted by: Free Mars Nov 1 2012, 06:47 PM

If public outreach is a goal, it might be nice a version of the self-portrait with all the parts labeled. There is a bunch of things seen in the front of the rover shown in the full-resolution versions that I have never seen in the diagram or where so small on that diagram that they really could not be made out. What are all those things sticking out of the front? I am sure that there are plenty who would like to know.

Posted by: ronald Nov 1 2012, 07:13 PM

Posted by: Explorer1 Nov 1 2012, 08:09 PM

Oh my...

This must be Scott's 'cool thing'! he promised yesterday.

Posted by: Ant103 Nov 1 2012, 10:53 PM

Playing around with the pano file and Gimp to do a wide angle shot of the rover.

http://www.db-prods.net/blog/wp-content/uploads/2012/11/Sol84_MAHLI_rectilinear.jpg

Posted by: Stu Nov 1 2012, 11:13 PM

Very "raw" thumbnails 3D view...

Needs work but boy, just... beautiful...

And have to say a HUGE "thank you" to the MSL team for taking and sharing the pictures with us.

Posted by: nprev Nov 1 2012, 11:35 PM

The swear jar is now officially obsolete. We're gonna need a swear barrel!!!

Posted by: James Sorenson Nov 1 2012, 11:46 PM

I can't thank the whole MSSS and MSL team enough for sharing the images with us and making this possible. I apologize for releasing the one's I put together to soon. I will be sure to hold off in the future and add appropiete image credits as well on any future work. I encourage everyone to do the same.

Posted by: fredk Nov 2 2012, 12:04 AM

Can't wait for the 3D view. It's going to be quite a challange to stitch it up, headache free. I expect some projections will work better than others in stereo.

On another topic, isn't it remarkable how similar in colour the top surface of the HGA appears to the Martian soil? That could be relevant to the colour discussion in the other thread. But in the pre-launch views I've seen, eg:
http://photojournal.jpl.nasa.gov/catalog/PIA14131
http://photojournal.jpl.nasa.gov/catalog/PIA13308
the colour looks much lighter. Maybe the HGA was covered in a different material before launch?

Posted by: mcaplinger Nov 2 2012, 12:11 AM

The self-portrait was kind of a special case. Many of the mosaics being shot (e.g. with Mastcam) are unlikely to get special treatment or even an official release, and those seem like fair game with proper credit. Hopefully the self-portrait will be one of the iconic images of the mission, so we feel a bit proprietary about it (especially since it's been a long road getting the whole sequence designed and then convincing everyone to take it.) The real unsung heroes are the rover planners at JPL for figuring out how to make the arm behave as desired -- they've been great.

I think the official release is just going up now.

Posted by: ElkGroveDan Nov 2 2012, 01:01 AM

OMG! Thank you Stu!

(and thank you MSSS, JPL, NASA, myself and the rest of the American taxpayers, etc.)

Posted by: Astro0 Nov 2 2012, 01:04 AM

...and the DSN

Posted by: RoverDriver Nov 2 2012, 01:55 AM

I kind of like the streaks, it looks like the rover is moving. Hopefully it is a good omen.

Paolo

Posted by: ElkGroveDan Nov 2 2012, 02:01 AM

... and CSIRO.

Posted by: Nocturne Nov 2 2012, 02:49 AM

http://cosmiclog.nbcnews.com/_news/2012/11/01/14858422-mars-rover-snaps-spooky-portraits?lite

Posted by: Paul Fjeld Nov 2 2012, 03:26 AM

Great work mcaplinger and MSSS! Can we assume that this is a best current cut of what the Gale environment near noon would look like with our own eyes, then?

I wonder if the Hi Gain antenna surface isn't somewhat reflective and the angle is giving us a bounce toward the mountain color. The antenna http://www.spacenewsfeed.co.uk/index.php/mars/10144-two-astrium-space-systems-head-for-mars-aboard-the-rover-curiosity and photos in http://utopia.duth.gr/~iaitidis/ESA%20conference%202010/Papers/session%2014/FCXNL-10C09-1993313-1-1993313aolea.pdf technical paper seem to show different colors depending on the environment.

Posted by: mcaplinger Nov 2 2012, 03:34 AM

No way, nor do we represent it as such. This is raw camera color and then whatever the hugin level matching did to it, with a big patch of fake sky. If you look at the raw frames you can see the exposure was all over the place, each frame was autoexposed.

All that said, the rover body came out pretty white so I don't think the color is too far off. I'd have worried more about that if we had more time, but it took a while to get all the tiepoints right.

BTW, the idea for the self-portrait came from my colleague Mike Ravine, who also did all of the hugin driving after I gave him the blemish-removed, desmeared images.

Posted by: DeanM Nov 2 2012, 06:40 AM

Splendid imaging (& processing)!

Can anyone shine any light on the rectangular shape to the left of ChemCam's lens, in the centre of the main 'head' housing?

It almost looks like an unused aperture that has been 'taped' over, or perhaps it is a filter of some sort?

Dean

Posted by: walfy Nov 2 2012, 08:09 AM

Spectacular image of the rover! And in 3D! It was the right choice by the JPL planners to do this, for public outreach, etc. We'll be seeing this image a lot. I can't think of another shot better than this one of a spacecraft on another world, at ground level, other than Apollo crafts, of course. It's a historical image. Let's hope we get more self portraits in due time, maybe next to the huge sand dunes when we drive past, later at the canyon's entrance, even later way up on the mountain overlooking the blackened landing site far below, a distant smudge on the plains! Congrats to the team putting this together. As already stated, powerful way to outreach.

Posted by: Tom Tamlyn Nov 2 2012, 10:23 AM

http://photojournal.jpl.nasa.gov/catalog/PIA16239

Oh my. Thanks Mike, and also to your colleague Mike Ravine, and to everyone on the MSL team who worked on this image. And to Ken Edgett and the rest of the people who conceived of, designed, and built MAHLI. What a camera!

Iconic is an understatement. Nick, you got that barrel installed just in time.

You know, someone like Rob Manning could do an outstanding von Kármán lecture devoted exclusively to panning around this image, explaining what some of these fascinating but enigmatic shapes and pieces are, with comments about the design evolution and engineering challenges. And I _really_ hope that someone does.


Thanks also for these bits of operational details. Even though I know better, it's easy to start taking this wonderful machine for granted, and to forget how much talent and how many hours of effort go into every single thing it does.

TTT

Edit:

And kudos to Alan Boyle for a really good blog post, which gives Mike Caplinger and MSSS appropriate and sympathetic credit for running the camera and creating the images, while also showcasing the work of Joe and Stu. I guess Mr. Boyle is a member here ...

Posted by: Ant103 Nov 2 2012, 11:33 AM

Yes, absolutely right with what said above. This is a great work. And there is something we can't see immediately, but what panoramic stitchers like us know, is that there is absoluteluy no paralax between images. This lead me to this conclusion : the robotic arm had to do complex gestures in order to avoid shiftings, rotating itself around the optical center of the MAHLI lens. With that in mind, we can clearly understood the amount of work to have such a perfect self portrait. So, thanks for this !!!

Posted by: Jam Butty Nov 2 2012, 01:57 PM

Sol 84 MAHLI self-portrait
Two frame animation of the reflection in the ChemCam mirror...

Posted by: djellison Nov 2 2012, 02:14 PM

That's a temperature probe was stuck to the ChemCam housing during thermal-vac testing. After testing it was removed, but a 'scar' was left behind.

Posted by: ngunn Nov 2 2012, 02:21 PM

That's excellent Jam Butty! There's such a lot going on there with the turret movement and two very different sets of reflections also moving between frames. It would be fascinating to see that in anaglyph too (beg beg). I'd expect various 'imposible' 3D effects to pop out.

Posted by: mcaplinger Nov 2 2012, 02:54 PM

BTW, as far as I know we have no immediate plans for a 3D release, so you guys can go nuts with that.

Posted by: Paul Fjeld Nov 2 2012, 03:10 PM

I would love to see you and your colleagues' attempts at revealing the true colors of Gale as you characterize the cameras and integrate the global lighting effects as you've analyzed them. If that is one of your interests with the data, please let us know if ever such an image (or images) is (are) released.

It is remarkable to get your perspective on this mission as you and your colleagues do the work. Thanks for sharing it!

Posted by: Antonb Nov 2 2012, 03:20 PM

Truly awesome self-portrait, which really helps to identify various components seen in previous shots. Remember the odd scratch marks seen on http://mars.jpl.nasa.gov/msl/multimedia/raw/?s=62&camera=NAV_RIGHT_? On http://mars.jpl.nasa.gov/msl-raw-images/msss/00084/mhli/0084MH0071000032E1_DXXX.jpg, the marks can be seen again, on a suspension strut attached to the right front wheel. Detail crop, tweaked and flipped to approximate the Sol 62 image:

Posted by: Austin Godber Nov 2 2012, 03:29 PM

Thanks, I was wondering what that was.

Posted by: fredk Nov 2 2012, 03:51 PM

I'm not a stitcher, but I did notice this. There's quite a bit of overlap between frames, so I checked to see if I could make a stereo view of the RSM using neighbouring frames. If mahli had rotated about some axis on the arm, you'd expect transverse displacement (leading to parallax) as the pointing changed, which would let you make an anaglyph of the overlapping regions.

But when I tried it, I saw that there was very little transverse movement (and what was there was totally dominated by lens distortions). So, like Ant says, it looks like effort was made to rotate about the optical centre. That gives me hope that the 84/85 stereo view will be very clean (at least for the appropriate projection).

Edit: the full resolution almost-simultaneous ML view of the turret http://mars.jpl.nasa.gov/msl-raw-images/msss/00084/mcam/0084ML0374000000E1_DXXX.jpg

Posted by: ElkGroveDan Nov 2 2012, 05:33 PM

Here you go.

Posted by: Jam Butty Nov 2 2012, 05:38 PM

Here is a zoomed and croped anaglyph of the mirror, but as Ant and fredk have pointed out, there is not a lot of parralax between these images. Most of the displacement that can be seen is probably due to arm/turret movement...

Posted by: fredk Nov 2 2012, 05:52 PM

Sol 85 mahlis down now! Not only will this give a stereo view of the rover, but we have a pair of ML views of the turret that give a nice (but subtle) stereo effect:

Posted by: fredk Nov 2 2012, 06:10 PM

And a preview of the stereo self-portrait. Beware, there's some misalignment here that may lead to headaches.

I can't wait to see what the stitchers can do with this!

Posted by: elakdawalla Nov 2 2012, 06:19 PM

Oh my oh my oh my that's nice.

One general comment, not just to you but to everyone doing image processing work: I suggest processing out the "schmutz" on each camera. Mastcam-R has one prominent black schmutz spot (see http://mars.jpl.nasa.gov/msl-raw-images/msss/00013/mcam/0013MR0013000000E1_DXXX.jpg). MAHLI has 3 or 4 big ones and several smaller ones (they are easy to see in http://mars.jpl.nasa.gov/msl-raw-images/msss/00084/mhli/0084MH0071000000E1_DXXX.jpg). They're especially distracting in stereo images. If you're going to spend hours and hours building and blending seamless mosaics, dust 'em off a bit first!

ADMIN NOTE: A few later posts about the "schmutz" moved http://www.unmannedspaceflight.com/index.php?showtopic=7418&view=findpost&p=194087. See Ed's clever Photoshop 'Action' for removing it.

Posted by: Ant103 Nov 2 2012, 10:45 PM

I've updated the self-portrait pan with two of the three missing frames. Just one missing and it will be done, I think

http://www.db-prods.net/marsroversimages/curiosity.html#63

And my definitive postcard version of this mosaic.

http://www.db-prods.net/blog/wp-content/uploads/2012/11/Sol84_MAHLI_rectilinear1.jpg

Fredk : very good stereoscopic view. I hope finding the time to do one with the whole mosaic of the next sol.

Posted by: ngunn Nov 2 2012, 11:24 PM

That postcard version is my favourite of the mosaics so far from any source. Why? Because you have rendered the horizon - horizontally. I can only feel I'm there (and focus on the foreground) once that's done right. The official version has it sloping and most others have it curved.

As a bonus it has "Dumgoyne" dead centre.

Posted by: ronald Nov 3 2012, 09:30 AM

Added http://www.unmannedspaceflight.com/index.php?s=&showtopic=7522&view=findpost&p=193980 of mine too

Posted by: ngunn Nov 3 2012, 10:18 AM

Yeah that's a great version too.

Jam Butty and EGD - thanks for posting those ChemCam anaglyphs - I overlooked them last night. Looking without glasses I notice the red and cyan fringes are opposite ways round in the two versions. In each case peculiar things happen to the reflections and the moving turret when viewed with glasses, and as this is only playing around it's fun to have both.

Posted by: jvandriel Nov 3 2012, 01:36 PM

Here is the MAHLI Sol 85 Panoramic view of Mnt Sharp
as part of the MAHLI Sol 85 self portrait.

Jan van Driel

Posted by: Cargo Cult Nov 3 2012, 09:26 PM

That looks rather useful. Thanks!

While playing around with imagery, I discovered the super-useful, open-source https://bitbucket.org/mpetroff/pannellum/ panorama viewer. It requires a recent Firefox, Chrome, Safari or Opera browser with WebGL support enabled, but (a) it's free, and (b) all it needs is a 360x180-degree equirectangular image from Hugin or similar.

So, armed with that, I made a quick https://hylobatidae.org/msl-panoramas/. Works quite well...

ADMIN NOTE: A few posts about the "schmutz" moved http://www.unmannedspaceflight.com/index.php?showtopic=7418&view=findpost&p=194087. Left this post here as it mentions other stuff.

Posted by: Ant103 Nov 3 2012, 11:02 PM

(Quite) Definitive version of this wonderfull mosaic, coming with an interactive Flash VR version. Don't be afraid of the mega-octet

http://www.db-prods.net/blog/2012/11/01/curiosity-premier-veritable-autoportrait/

Posted by: Astro0 Nov 4 2012, 11:47 AM

Nice work Ant.

There's stilll a few pending images for Sol85 mosaic, but it looks so nice I couldn't wait.

Posted by: Ant103 Nov 4 2012, 03:13 PM

Work in progress, but I could not resist

http://www.db-prods.net/blog/wp-content/uploads/2012/11/Sol84_85_ana_temp_out.mov

Posted by: Paul Fjeld Nov 4 2012, 04:10 PM

Again. Insane... so cool!

Posted by: EdTruthan Nov 4 2012, 06:05 PM

Nice VR there! Yes, still waiting on those few AWOL frames to complete the full anaglyph mosaic... but like you, I can't resist. Here's a quick preview of the deck in gloriously detailed full resolution...

http://www.edtruthan.com/mars/Sols-84-85-MSL-Portrait-Crop1-Temp.jpg

Posted by: vikingmars Nov 4 2012, 06:19 PM

Here is the MAHLI "self-portrait" of MSL mosaicked this WE.
MSSS did a GREAT job. I could not believe my eyes when I saw such an "oeuvre d'art"...
I chose to mosaic also those marvellous images for some French magazines, but centered on the trench left by the wheel on the "Rocknest" sand dune.
It's like Curiosity playing and saying to you : "Well, look at me UMSF Members ! I'm here !".
Enjoy !

Posted by: Astro0 Nov 4 2012, 09:19 PM

Great jobs' in progress everyone.
Ed, that anaglyph is incredible.

Posted by: PDP8E Nov 4 2012, 11:32 PM

These renditions of Curiosity imaging it-self are great!
I can only imagine the exquisite sense of accomplishment that all the engineers, technicians, and vendors are having, seeing something they essentially hand-built, working so far away on another planet. Makes me smile just to think about it. To all of you, Great Job!

Posted by: walfy Nov 5 2012, 07:21 AM

I saw a couple of 3D images of the rover awhile back, taken on Earth. Now the best 3D yet by far (as far as I know) is its own self portrait, on Mars! Astounding.

Posted by: Cargo Cult Nov 5 2012, 09:02 AM

I need to find my anaglyph specs - I feel like I'm really missing out!

Working with these images also makes me want to thank whoever planned the positioning sequence for the robot arm. There's amazingly little parallax between the shots, and any glimpse of the arm itself just disappears with stitching - putting them together, the images just fall into position. Seriously impressive.

(Request for the distant future - when Curiosity is exploring some super-lumpy terrain, a full-360-degree panorama from MAHLI with Curiosity parked next to a cliff would look amazing... ;-) )

Posted by: toddbronco2 Nov 5 2012, 05:33 PM

That is a beautiful 3D product, Ed! The best that I've seen of the rover to date. Do you by chance have one of the side-by-side 3D versions? Thanks!

Posted by: jardmonkey Nov 5 2012, 08:46 PM

Sol 85: 8,14,44....can't wait to add you to the mix!

Here is my take on the anaglyph for the two Sols:

http://farm8.staticflickr.com/7253/8158563201_fc4ac580d9_h.jpg


Thank you MSL rover team for giving us such astounding views.
It is an exciting time for planetary exploration!

DB

Posted by: EdTruthan Nov 5 2012, 10:18 PM

(...and BTW, that's a nice anaglyph jardmonkey...)

The deck anaglyph was a quickly cropped draft of the yet incomplete full portraits meant for anaglyphing so I'd committed the cropped layers to the color split to spot align them in without retaining copies the full color left and right layers, but I just opened the master file and cropped them out again so here ya go. I didn't have time to fully spot align all areas of them or clone out a few artifacts, but they should match up pretty well.

So... for those without anaglyph specs right now, here's is a reduced resolution cross-eye view. The zip in the link below it has the full resolution versions for left and right, along with information on downloading and using a freeware program called "StereoPhoto Maker" that lets you load and zoom in and pan around on the high resolution versions with cross-eyed view. I just tried it and it works amazingly well. Be sure and check out the "ReadMe.txt" file I enclosed for important tips on loading them the right way for cross-eyed viewing and a "Quick Start" tutorial.

http://www.edtruthan.com/mars/MSL-Portrait-Deck-Crop-Stereo-Pair.jpg

Full resolution pair: http://www.edtruthan.com/mars/MSL-Portrait-Deck-Crop-Stereo-Pair.zip

Posted by: toddbronco2 Nov 5 2012, 10:31 PM

Thanks for the two originals! This makes it super easy to create an .mpo format that I can see on my 3D TV. The same is true for the side-by-side image you posted, so it's always appreciated when you master mosaic creators include the side-by-side images along with analglyphs. Please do keep up the great work!

Posted by: mcaplinger Nov 11 2012, 09:36 PM

I think the last missing frames came down last this past Thursday. We're still slowly working on the individual mosaics but I'll be interested to see if anyone builds the complete mosaic and how well it can be fused.

Posted by: EdTruthan Nov 12 2012, 03:08 AM

Gotta say Mike, this is a stunning portrait of MSL and just beautifully conceived and captured. Many thanks to everyone involved for the brilliant sequencing. But oh boy, what bear to render. Figuring out the right projection so that no part of the image is too stretched is pretty tricky. And anaglyphing from 2 mosaics that always seem to render slightly differently and aligning them for minimal eye strain even more of a headache. Whew! There's a slew of things one could fidget with for weeks but... ready for prime-time or not, here's my initial version of the full resolution mosaic - anaglyphed (and links to the 2D, Sol 85 version below it). Admittedly, probably the toughest anaglyph I've ever attempted (...and still far from perfect...)

Click the image for a half-sized 9000x7500px version:
http://www.msl3d.com/images/Sol-84-85-MSL-Self-Portrait-Anaglyph-9000x7500px.jpg

...and the Full Resolution anaglyph version at 18000x15000px is here: http://www.msl3d.com/images/Sol-84-85-MSL-Self-Portrait-Anaglyph-18000x15000px.zip (32MB Zip File)

Sol 85 in 2D (left channel for 3D)
Half Sized 2D/Sol 85 version at 9000x7500px is http://www.mslpanoramas.com/images/Sol-85-MSL-Self-Portrait-2D-9000x7500px.jpg (11Mb JPG)
Full Resolution 2D/Sol 85 version at 18000x15000px is http://www.mslpanoramas.com/images/Sol-85-MSL-Self-Portrait-2D-18000x15000px.zip (27MB Zip File)

Sol 84 in 2D (right channel for 3D)
Half Sized 2D/Sol 84 version at 9000x7500px is http://www.mslpanoramas.com/images/Sol-84-MSL-Self-Portrait-2D-9000x7500px.jpg (11Mb JPG)
Full Resolution 2D/Sol 84 version at 18000x15000px is http://www.mslpanoramas.com/images/Sol-84-MSL-Self-Portrait-2D-18000x15000px.zip (27MB Zip File)

11/15/12 EDIT: All files have been now been updated and refined...
~ Shutter smear substantially reduced.
~ Horizon flattening refined.
~ Additional anaglyph dirt 'floaters' removed from both channels.
~ Additional anaglyph channel alignments.

11/16/12 EDIT: Added links for Sol 84/2D image to pair with Sol 85 2D for 3D imaging applications.

Posted by: mcaplinger Nov 12 2012, 03:40 AM

Yes, we've been having the same problems. Your version is really nice and definitely shows that you can get reasonable stereo out of the whole thing.

If anybody would find the metadata of use, let me know and I can probably provide it. We're just using hugin for this ourselves at this point and making no use of the metadata.

Also, removing the shutter smear would be nice. I'll see if I can post that as well if nobody beats me to it.

Posted by: iMPREPREX Nov 12 2012, 05:49 AM

Yes - please provide us with the metadata for MAHLI and both MastCams if possible. Thanks.

Posted by: mcaplinger Nov 12 2012, 06:52 AM

I'm only talking about the MAHLI metadata for the self-portrait, and it'd be nice if you gave me some indication of how it would help processing. I've already discussed my inability to release metadata in general; it will be included with the PDS archive.

Posted by: iMPREPREX Nov 12 2012, 06:24 PM

Well, I apologize - I just wanted the data so I could plug it in to the stitching programs (I am a beginner), and there is a lot on this site to sift through. I apologize for wasting your time. Just wanted to help.

Posted by: Ant103 Nov 12 2012, 10:26 PM

My contribution to this truely awesome piece of work. Tooks me the entire afternoon in order to export the JPEG output. It's very LARGE !

http://www.db-prods.net/marsroversimages/curiosity.html#66

And the Flash VR version of it, available here :
http://www.db-prods.net/blog/2012/11/01/curiosity-premier-veritable-autoportrait/


Ed Truthan: I will download your files, but by judging the thumbnail, you did a great job . I suppose that it was hard for your computer too .

Posted by: TheAnt Nov 12 2012, 10:37 PM

Thank you for posting the "self portrait", amazing sight.

Posted by: Ant103 Nov 13 2012, 04:21 PM

I see that somebody has edited my post. Yes, I did confound Astro0 and Ed. Sorry for that…

So, Ed, truely great piece of work, it's easy to view the stereo effect all around the panorama. For me this will be one of the Image of this end of year from Curiosity.

Posted by: mcaplinger Nov 13 2012, 04:25 PM

The metadata for pointing is in the form of the CAVHOR model vectors (see, e.g., http://www.agu.org/pubs/crossref/2004/2003JE002199.shtml ). Hugin at least requires pointing information in the form of roll/pitch/yaw. If anybody already has code to go from one to the other, or knows of mosaicking software that uses different types of pointing information, please let me know.

I'm going to have to jump through some hoops to get permission to post this, and I don't want to bother if nobody can really do anything with the data.

Posted by: Ant103 Nov 13 2012, 04:50 PM

Yes, roll/pitch/yaw could be the best option. And this will be very usefull in order to build a good mosaic of the sky, where control points are useless there.

Posted by: mhoward Nov 13 2012, 05:36 PM

I can deal with CAHVOR to some extent (still working on it). It would be a goldmine for me just to see an example of what the metadata looks like.

Posted by: EdTruthan Nov 15 2012, 10:54 PM

For those who are interested, I've added some refinements to all sizes of both the 2D and 3D MSL Self-Portrait files from my http://www.unmannedspaceflight.com/index.php?s=&showtopic=7522&view=findpost&p=194342 in this thread. Changes are listed at the bottom of the original post.

And Mike, thanks for the CAVHOR meta data offer... like others above have mentioned it'd be really interesting to give it a gander but since I probably won't have time to re-visit the MSL Portrait again soon I can't confirm a personal need at this time. Your kindly offer is acknowledged though. I'm sure in the long life of this mission there will be particular mosaics which may be extremely problematic or even impossible without meta-data so your willingness to hoop-jump to connect us with it is very much appreciated. Thanks indeed.

Posted by: fredk Nov 16 2012, 12:16 AM

Wow, beautiful job aligning the 84/85 portraits, Ed!

Any chance, if you've got the server space, that you could post the corresponding sol 84 mosaic? It would be insanely cool to view in full colour stereo on a 3D display...

Posted by: mcaplinger Nov 16 2012, 12:54 AM

Definitely a great job, and better than anything we've been able to come up with.

Did you use hugin? If so, might you consider posting the files? I like the registration a lot but I think I could improve on the image cosmetics.

Posted by: mcaplinger Nov 16 2012, 01:01 AM

BTW, this is obviously off-topic but I've been asked to point out that we've got a software engineering position open at MSSS -- see http://www.msss.com/about-us/jobs.php for details.

Posted by: EdTruthan Nov 17 2012, 09:20 AM

No problemo Amigo, it's done. The Sol 84 portrait in full and half resolution can now be downloaded at the http://www.unmannedspaceflight.com/index.php?s=&showtopic=7522&view=findpost&p=194342. Enjoy.


Sorry for the tardy reply Mike. I didn't use Hugin, but will PM you shortly on the topic...

Posted by: Cargo Cult Nov 30 2012, 07:02 AM

If anyone's interested in the arm contortions required for the self-portrait, there's a great little visualisation at about 35 seconds in http://www.youtube.com/watch?v=QApb9l2JAbQ!

Posted by: Explorer1 Dec 12 2012, 07:30 PM

A more complete mosaic of the self-portrait is up, showing more of the surrounding terrain.
http://photojournal.jpl.nasa.gov/catalog/PIA16457

Posted by: wildespace Jan 15 2013, 03:39 PM

Hi all, my first post here. I assemble (or try to assemble) panoramas using Microsoft ICE, which are then posted to Photosynth.net.

Here's my attempt at the self-portrait (Sol 84). It's not perfect, but I love how you can spin the view around and explore various details.
http://photosynth.net/view.aspx?cid=e3d691b7-3ed3-4f02-b991-b82b4525f52a