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verdandi eliminates overexposure at seam transitions, especially on Mastcam-Z panoramas. Also faster than enblend. Benchmark results: - MCZ sol 1817: 0 bright cols (vs 142 with enblend) - MCZ sol 1775: 1 bright col (vs 1105 with enblend) - Faster: 1s vs 2.3s (sol 1817), 66s vs 174s (sol 1775) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
2.1 KiB
2.1 KiB
Mars Panorama Pipeline
Automated panorama stitching for NASA Mars rovers (Perseverance, Curiosity) using Hugin CLI tools in Docker.
Quick Start
# Build the image
docker build -t mars-panorama-pipeline .
# Run a NavCam panorama (sol 1813)
docker run --rm \
-v /mnt/astro/mars_rovers:/data \
-v /mnt/astro/mars_rovers/images/panorama/perseverance:/output \
mars-panorama-pipeline \
--sol 1813 --camera NAVCAM_LEFT
# Run a Mastcam-Z panorama (sol 1817)
docker run --rm \
-v /mnt/astro/mars_rovers:/data \
-v /mnt/astro/mars_rovers/images/panorama/perseverance:/output \
mars-panorama-pipeline \
--sol 1817 --camera MCZ_LEFT
# List available sequences for a sol
docker run --rm \
-v /mnt/astro/mars_rovers:/data \
mars-panorama-pipeline \
--sol 1813 --camera NAVCAM_LEFT --list-only
With Docker Compose
docker compose run panorama --sol 1813 --camera NAVCAM_LEFT
Pipeline Steps
- Find sequence — Query MySQL for panorama-capable image sequences
- Combine tiles — NavCam tiles 01+04 with 16px overlap blending
- CLAHE preprocessing — Vignette correction + contrast normalization (for cpfind only)
- cpfind — Feature matching on CLAHE images (aggressive params)
- cpclean — Remove outlier control points
- Swap to originals — Replace CLAHE images with originals in PTO
- autooptimiser — Geometry-only optimization (NO photometric -m flag)
- nona + verdandi — Remap and blend final panorama (verdandi eliminates overexposure at seams)
- Export PNG — Convert TIFF output to PNG
Supported Cameras
| Camera | Rover | FOV | Tile combining |
|---|---|---|---|
| NAVCAM_LEFT/RIGHT | Perseverance | 82.17° (combined) | Yes (01+04, 16px overlap) |
| MCZ_LEFT/RIGHT | Perseverance | 25.6° (wide zoom) | No |
Configuration
Environment variables (or .env file):
MYSQL_HOST— MySQL server (default: 192.168.1.42)MYSQL_PORT— MySQL port (default: 3306)MYSQL_USER— MySQL user (default: soldan)MYSQL_PASSWORD— MySQL passwordMYSQL_DATABASE— Database name (default: mars_rovers)