Data Set Overview : This data set contains images where multiple frames are mosaicked into a single RDR product. The methods for this process are applied by MIPL under OPGS, associating projections with the mosaicking process. It should be noted that these processes can be independent, and that governing methods and software can differ between OPGS and the Athena Pancam and Microscopic Imager Teams under SOAS. For instance, it is possible that OPGS and SOAS software will transform individual images to one of the projections discussed below, without involving any mosaicking. Detailed mathematical descriptions of the mosaic projections and algorithms will be available in a separate paper, Mars Mosaic Projection Algorithms. Processing : The following is a description of each mosaic: - Cylindrical Projection: the image is overlaid onto azimuth and elevation grid lines, with individual frame boundries super imposed and annotated by number. In this case each pixel represents a fixed angle in azimuth and elevation. Rows are of constant elevation in Mars coordinates. The horizon is level, and columns begin clockwise from Mars north. - Camera Point Perspective: a perspective projection with horizontal epipolar lines. The image view is as if the camera had a much larger field of view. - Cylindrical-Perspective Projection: a 360 degree view projection similar to the Point Perspective mosaic except that this is like a pinhole camera which follows the mosaic in azimuth. The horizon is not level in order to preserve epipolar viewing. - Polar Projection: concentric circles represent constant projected elevation. Mars nadir is at the convergent center and the horizon is corrected for lander tilt. North is up. - Vertical Projection: the creation of this type of mosaic assumes that the field is a plane tangent to the Martian surface with up pointing north. This is not an orthorectified rendering, but was found to be useful for rapid initial orientation. - Orthographic Projection: this type of mosaic is a generalization of the vertical projection intended primarily for use with Microscopic Imager data. It differs in that an arbitrary axis of projection (as well as X- and Y-axes in the plane of projection) can be specified. - XYZ: this mosaic contains XYZ values for each pixel in the mosaic rather than intensity values. The inputs to the mosaic program are XYZ files (or individual X, Y, or Z components), and the pixels are interpreted in the same way - as the coordinate of the corresponding pixel in Cartesian space. Like XYZ images, they may consist of a single 3-band file with X, Y, and Z components, or separate 1 band files for each component. XYZ mosaics can be produced in any of the mosaic projections. Note: these mosaics have a consistent coordinate system used applied to each input image; the output mosaic may have only one coordinate system in which the XYZ values are defined. - Surface Normal (UVW): similar in concept to XYZ mosaics, a UVW mosaic is simply a mosaic created from UVW (surface normal) input images. The pixels represent the surface normals at each point. Like Surface Normal (UVW) images, they can be single 3-band files or separate 1-band files for each component. As with XYZ mosaics, any projection may be used, and all output values must be defined in the same coordinate system. Data : 1 or 3 16-bit signed integer or Float, PDS (SOAS) or dual PDS/VICAR (OPGS) binary file. Software : The MIPL Mars Program Suite was used to generate these RDRs. Media/Format : The data set will initially be delivered and kept online. Upon Mission completion, the Panoramic Camera Operations RDRs will be delivered to PDS on DVD.

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