| DATA_SET_DESCRIPTION |
Data Set Overview : This data set has been generated by NASA's Galileo Project in order to distribute the processed calibration files to be used with the images acquired by the Solid State Imaging (SSI) camera to the scientists and later to the Planetary Data System (PDS). Included are all Dark Current files, Shutter Offset file, Blemish files and Slope Offset/Calibration files, required to work with all image files obtained from the SSI camera system from launch through End of Mission. This disc also contains the technical documentation necessary to understand how these files may be used, as well as the source code for the computer program which the SSI scientists use to apply these files. Parameters : The Galileo SSI camera acquires data in a digital raster-format containing 800 scan lines and 800 samples per scan line. Each picture element (pixel) in the two dimensional image array is represented as an 8-bit value between 0 and 255, proportional to the amount of light detected at that point (with 0 being the least amount of light and 255 being the greatest amount of light). The camera is equipped with seven color filters and a clear filter such that images taken through complementary filters can be combined during ground processing to produce color images. To make full scientific use of the image collection, the radiometric and geometric properties of the camera system should be understood. This disc, GO_0001, provides calibration files and technical documentation necessary for the understanding of the images produced by the SSI camera. Also note that, calibration files and software are available through the VICAR software system at MIPS, software are available through the ISIS software system at USGS, Flagstaff and SPICE files are available through the Galileo Project. Processing : The processing done to create each type of calibration file are explained below. All calibration files were generated using the VICAR software. The user should refer to reference 1 for more details on the software programs. Dark Current Files and Slope Offset/Radiometric Calibration Files ------------------------------------------------------------------ Dark Current files and Slope Offset (commonly called Radiometric Calibration Files or cal files) are generated by the VICAR program GALGEN. GALGEN generates radiometric files by fitting the data from a light transfer sequence to a linear model of the light-transfer curve. GALGEN assumes a linear model of the light-transfer function. For a given line-sample coordinate (i,j), the light-transfer function is of the form: d(i,j) : c(i,j)e(i) + dc(i,j) (1) where e(i) is the exposure at image line i, d(i,j) is the output camera signal (DN), and c(i,j) and dc(i,j) are the slope and offset (dark-current)terms. GALGEN assumes that the intensity of the light source is held constant and that the exposure is varied by varying the shutter speed of the camera. The exposure e(i) is computed from the light of the light cannon, the commanded shutter time t, and the shutter offset to(i): e(i) : l*[t - to(i)] (2) GALGEN operates in two modes. In the default mode (FIT:LINEAR), GALGEN solves for both the slope and offset terms at each pixel position in the image by fitting a straight line (via least squares) through the input data points (extracted from input files (D1,D2,D3,...). The inverse of the slope (1/c) is output to the radiometric slope file (CAL) and the offset is output to DC. If FIT:SLOPE is specified, then GALGEN solves for the slope-term only by fitting the input points to the function: d(i,j) : c(i,j)e(i) - do(i,j) (3) where do(i,j) is extracted from the input dark-current file (DC). The inverse of the slope (1/c) is output to CAL and no DC file is output. If the input frames have been pre-processed by PICSUM to sum multiple frames, GALGEN will normalize the data by dividing by the picture scale (extracted from the picture label) prior to performing the fit. The picture scale may be optionally input via the NUMB parameter. For pixels with unsuccessful fits, the CAL file will receive a 0.0, the SAT, ERR, and RMS files will receive -1.0 and the DC file will receive 0. While processing each pixel, if a saturated level is detected, that level and all higher levels are ignored. This saturation value is 255. Blemish Files -------------- The VICAR program BLEMGEN is used to generate Blemish Files. BLEMGEN uses files produced by the VICAR program GALGEN. Blemish Files define each blemish as a vector of the form (LINE,SAMP,CLASS,SATDN), where LINE and SAMP are the picture coordinates where the blemish occurs, SATDN is the DN value at which the pixel saturates at full-well, and CLASS describes the interpolation algorithm to be used to remove the blemish. The vectors are sorted first on LINE, then on SAMP. Two types of blemishes are stored in the Blemish File: 1) permanent blemishes and 2) low-full-well pixels. Low-full-well pixels are treated as blemishes only when the DN value exceeds the full-well capacity of the pixel. Permanent blemishes are identified by vectors with SAT:0. If SAT>0, then the vector represents a low-full-well pixel. BLEMISH IDENTIFICATION: A permanent blemish is any pixel which has one of the following characteristics: o a light-transfer function whose slope or offset is excessively high or low. o a lower-than-average full-well. o light-transfer function nonlinearities greater than specified thresholds. Blemishes are identified by applying user-specified thresholds to the slope (CAL), offset (DC), saturation DN, maximum error, and rms (RMS) associated with each pixel of the CCD and generated by the VICAR program GALGEN. BLEMGEN parameters (MINSLOPE,MAXSLOPE, MINDC,MAXDC, MINSAT, MAXERR, and MAXRMS) specified at the time the files are created are used as follows: 1) Let z and dc represent the slope and offset terms of the inverse light-transfer function e : z(d-dc) as extracted from input files CAL and DC, respectively. Then z and dc are acceptable if: MINSLOPE < z < MAXSLOPE and MINDC < dc < MAXDC Otherwise, the pixel is identified as a permanent blemish. 2) Let SATDN be the DN value at which full-well is reached, as extracted from the input file SAT. Then if SATDN < MINSAT the pixel is identified as a permanent blemish. Else if SATDN < 32767 the pixel is identified as a low-full-well pixel. 3) Let EMAX represent the maximum absolute difference between the light-transfer data points and the fitted curve, as extracted from the input file ERR. Then if EMAX > MAXERR the pixel is identified as a permanent blemish. 4) Let ERMS represent the rms error resulting from the fit, as extracted from the input file RMS. Then if ERMS > MAXRMS the pixel is identified as a permanent blemish. Shutter Offset File ------------------- The Shutter Offset File was generated by Ken Klaasen in Jan. 1993 from Earth 2 in-flight calibration PCT files. These images had the advantage of having high signal levels using the shortest exposure time (which is the most sensitive to shutter offset effects) as well as covering the entire image format allowing the shutter offset dependence on line number to be determined. The approach used was to determine the line-dependent shutter offset by comparing the SSI response in two PCT frames taken in the same filter at nearly the same spacecraft rotor clock angle - one frame having a short exposure (# 25 msec) and the other having a long (3 25 msec) exposure. The disadvantage of this approach is that the two different exposures were typically acquired in different camera gain states, and the changing rotor clock angle caused both the absolute brightness level of the PCT and the brightness nonuniformities across the PCT to vary somewhat between images. It turns out, however, that corrections for these effects can be made sufficiently accurately to yield useful shutter offset determinations. In-flight calibrations never indicated any drift in the pre-launch gain ratios (see below), so these were assumed in this analysis. The variations in PCT brightness as a function of rotor clock angle were modeled based on the geometry of the PCT system on the spacecraft. The variations are expected to follow a sine function dependence on clock angle. The observed brightness variations in flight as determined using the pre-launch SSI radiometric calibration parameters closely approximated this sine dependence. However, some obvious departures from a smooth sine dependence are apparent; these departures are correlated with images taken with the shortest exposure time indicating that the pre-launch shutter offset was likely to be in error. An improved line-dependent shutter offset was determined using a pair of green-filter PCT images having commanded exposure times of 4 1/6 msec and 25 msec. The rotor clock angles of these two frames differed by only 17 deg; an adjustment based on a sine fit to the clock-dependent brightness was made, but the PCT shading differences were assumed to be negligibly small over this small rotor clock difference. The pre-launch zero-exposure calibration was used. The value at line 400 is 1.21 msec, about 1 msec longer than the prelaunch value and consistent with the star-based in-flight values. The uncertainty is estimated to be about 0.1 msec. Ancillary Data : All document files and detached label files contain a carriage return character (ASCII 13) and a line feed character (ASCII 10) at the end of each record. This allows the files to be read by the MacOS, DOS, Unix, and VMS operating systems. Tabular files are also described by a detached PDS label. The PDS label file has the same name as the data file it describes, with the extension .LBL; for example, the file IMGINDEX.TAB is accompanied by the detached label file IMGINDEX.LBL in the same directory. The detached PDS labels for Calibration files contain information pertaining to the image. Tabular files are formatted so that they may be read directly into many database management systems on various computers. All fields are separated by commas, and character fields are enclosed in double quotation marks. Character fields are left justified, and numeric fields are right justified. The start byte and bytes values listed in the labels do not include the commas between fields or the quotation marks surrounding character fields. The records are of fixed length, and the last two bytes of each record contain the ASCII carriage return and line feed characters. This allows a table to be treated as a fixed length record file on computers that support this file type and as a normal text file on other computers. Software : The following CD-ROM copy, display and processing software has been successfully tested using the Galileo SSI data: Copy Software: --DCL Exchange/network (VMS) - for ASCII files - available with VMS. --DCL COPY (VMS) - available with VMS. --VICAR Copy (VMS and UNIX) - Available with VICAR package. Display Software: --NASAVIEW (PC, Apple Macintosh, UNIX-SUN OS) - Available from PDS. --VICAR XVD (VMS and UNIX) - Available with VICAR package --NIH IMAGE (Apple Macintosh) - A public domain program available from the National Institute of Health. --ISIS QVIEW or CV (UNIX) - Available with ISIS package Processing Software: --VICAR (VMS and UNIX) - Available through the Multimission Image Processing Lab at JPL - http://rushmore.jpl.nasa.gov/ --ISIS (UNIX) - Available through the USGS in Flagstaff http://wwwflag.wr.usgs.gov/ Media/Format : Each CD-ROM disc has been formatted such that a variety of computer systems may access the data. Specifically, the discs are formatted according to the ISO 9660 level 1 Interchange Standard, and file attributes are specified by Extended Attribute Records (XARs). Formats are based on standards for archive CD-ROM products established by PDS.
|