https://www.asteroidmission.org/objectives/instruments/The OSIRIS-REx Camera Suite (OCAMS) consists of three cameras: PolyCam, MapCam, and SamCam. These cameras “saw” asteroid Bennu as the spacecraft first approached it.
As for surface illumination levels of the Moon I have had only one person actually suggest a figure and that was Miles Mathis, who gave a range of 1000 to 10,000 lux, but gives no explanation of how he arrived at those values. He does not believe anyone actually went to the moon though.
For Mars the only figure I have found is 50 lux which was measured by the Russian Mars 3 lander but was during a dust storm. I wonder why these illumination levels are so difficult to come by? Venus with its 14,000 lux surface illumination is surprising too. Yes, it is closer to the Sun but I'd have thought the dense atmosphere would have blocked out almost all the sunlight, unless of course the light is being created within the atmosphere, a glowing sky.