It’s been a long 3 years in the making, but today I can finally say that I have finished my 3D reconstruction from the Apollo Metric cameras. After ten of thousands of CPU hours and several hundreds of liters soda, the Mapmakers at the Intelligent Robotics Group have managed to produce an Image mosaic and Digital Elevation Map. The final data products are going up on LMMP’s website for scientists to use. I encourage everyone else to instead take a look at the following KML link I’ve provided below.
It’s so pretty! But don’t be sad! IRG’s adventure with Apollo images doesn’t end here. Next year we’ll be working on a new and fancier Image Mosaic called an Albedo Map. Immediately after that, our group will be working with the folks at USGS’s Astrogeology Science Center to include more images into the Apollo mosaic. In that project we’ll include the images that are not only looking straight down on the Moon, but also the images that look off into the horizon.
All of the above work was produced using our open source libraries Vision Workbench and Ames Stereo Pipeline. Check them out if you find yourself producing 3D models of terrain. At the very least, our open source license allows you to look under the hood and see how we did things so that you may improve upon them!
Getting data from the NASA Planetary Data Services (PDS) can be a little intimidating. The most import thing a person needs to understand about the MER data is that it is sectioned into individual sites that the rovers visited during their trip. These sites are localized on interesting features like an individual bay into a large crater or a particularly large bolder. These sites are further subdivided into sols (Martian days) at the site. When we search for images we limit them by both sites and sols.
It is now time for us to select a site for which we want to render in 3D. I find MER’s Analyst’s Notebook as a good tool for this task. Here’s what I did:
To find a site: click on the “Map” icon on the toolbar, and then click on “Traverse Map”.
Each one of the black dots represents a site location. The number after the slash is a sol number. I compared this map to Google Earth (GE) and decided that I wanted to render “Cape Agulhas”. You can do that too in GE if you click on the flag icon for a MER and select “load rover way points”. Just note that the map on GE doesn’t show as much information as the traverse map on Analyst’s Notebook.
On the “Traverse Map”, click “91/1673”.
Select only Navcam data products on the left.
On the Data Products drop down box, select “Show for sol 1674”
Click “Redraw Map”.
From here we can see that the Navcam did a full panorama. We are now ready to start downloading data from PDS. You can download from Analyst’s Notebook, however I was only able to download a single image at a time. On NASA PDS we can download a ‘wget’ script that will download all Navcam images for us in one go.
On the left, under “Select Instrument(s):”, select “NAVCAM.
Next to “Instrument Host ID”, select “MERB/MER1/Opportunity”.
Next to “Product Type”, select “EDR”.
Next to “Image Type”, select “Regular”.
Next to “Eye”, select “LEFT”.
Next to “Planet Day Number”, type 1674 for both the Min and Max text boxes.
On the left, click “Get Results”.
You now have a listing of all the Left EDR NAVCAM. We want all of these; so on the left select ‘WGET’ under download products. Then click download. Move your downloaded ‘atlas_wget_script’ to your work directory. Here is how you start the download in the terminal:
Later on I can show how to produce 3D maps from this imagery. However this seems like a good start.