Data Set Overview
  =================
    A Surface Normal (UVW) file contains 3 bands of 32-bit floating
    point numbers in the Band Sequential order. Alternatively, U, V and
    W may be stored in separate single-band files as a U Component RDR,
    V Component RDR and W Component RDR, respectively. The single
    component RDRs are implicitly the same as the UVW file.


  Processing
  ==========
    The pixels in a UVW image correspond to the pixels in an XYZ file,
    with the same image geometry.  However, the pixels are interpreted
    as a unit vector representing the normal to the surface at the point
    represented by the pixel. U contains the X component of the vector,
    V the Y component, and W the Z component. The vector is defined to
    point out of the surface (e.g. upwards for a flat ground). The unit
    vector can be referenced to any of the MER coordinate systems
    (specified by the DERIVED_IMAGE_PARAMS Group in the PDS label).

    Most UVW images will contain holes, or pixels for which no UVW
    value exists. These are caused by many factors such as differences
    in overlap, correlation failures, and insufficient neighbors to
    compute a surface normal. Holes are indicated by U, V, and W all
    having the same specific value. Unlike XYZ, (0,0,0) is an invalid
    value for a UVW file, since they are defined to be unit vectors. Thus
    there is no issue with the MISSING_CONSTANT as there is with XYZ,
    where (0.0,0.0,0.0) is valid.


  Data
  ====
    Surface Normal (UVW) RDR: 3 bands, Float data type, DualPDS/VICAR
                                   (OPGS) binary file.

    Surface Normal U-component RDR: 1 band, Float data type, PDS (SOAS)
                                   or dual PDS/VICAR (OPGS) binary file.

    Surface Normal V-component RDR: 1 band, Float data type, PDS (SOAS)
                                   or dual PDS/VICAR (OPGS) binary file.

    Surface Normal W-component RDR: 1 band, Float data type, PDS (SOAS)
                                   or dual PDS/VICAR (OPGS) binary file.

    The RDR data product is comprised of radiometrically decalibrated
    and/or camera model corrected and/or geometrically altered versions
    of the raw camera data, in both single and multi-frame (mosaic)
    form. Most RDR data products will have PDS labels, or if generated
    by MIPL (OPGS), dual PDS/VICAR labels. Non-labeled RDRs include the
    Terrain products (Mesh and Wedge).

    The following is a list of the types of Surface Normal RDRs along
    with the Product Type Identifier, which is an element in the formal
    RDR file name:

    Data Product                              Linearized  Non-Linearized
    ------------                              ----------  --------------
    UVW (XYZ) Surface Normal RDR              UVW         UVL
    UVW (XYZ) Surface Normal RDR (Thumbnail)  UVT         UVN
    U (X) Surface Normal RDR                  UUU         UUL
    U (X) Surface Normal RDR (Thumbnail)      UUT         UUN
    V (Y) Surface Normal RDR                  VVV         VVL
    V (Y) Surface Normal RDR (Thumbnail)      VVT         VVN
    W (Z) Surface Normal RDR                  WWW         WWL
    W (Z) Surface Normal RDR (Thumbnail)      WWT         WWN


  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 Panoromic Camera Operations RDRs will be
    delivered to PDS on DVD.

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