Data Set Overview
  =================
    An XYZ file contains 3 bands of 32-bit floating point numbers in the
    Band Sequential order. Alternatively, X, Y and Z may be stored in
    separate single-band files as a X Component RDR, Y Component RDR and
    Z Component RDR, respectively. The single component RDRs are
    implicitly the same as the XYZ file, which is described below. XYZ
    locations in all coordinate frames for MER are expressed in meters
    unless otherwise noted.

    The pixels in an XYZ image are coordinates in 3-D space of the
    corresponding pixel in the reference image. This reference image is
    traditionally the left image of a stereo pair, but could be the
    right image for special products. The geometry of the XYZ image is
    the same as the geometry of the reference image. This means that for
    any pixel in the reference image the 3-D position of the viewed
    point can be obtained from the same pixel location in the XYZ image.
    The 3-D points can be referenced to any of the MER coordinate
    systems (specified by DERIVED_IMAGE_PARAMS Group in the PDS label).

    Most XYZ images will contain holes, or pixels for which no XYZ
    value exists. These are caused by many factors such as differences
    in overlap and correlation failures. Holes are indicated by X, Y,
    and Z all having the same specific value. This value is defined by
    the MISSING_CONSTANT keyword in the IMAGE object. For the XYZ RDR,
    this value is (0.0,0.0,0.0), meaning that all three bands must be
    zero (if only one or two bands are zero, that does not indicate
    missing data).


  Processing
  ==========
    MER Camera Payload RDRs are considered Level 3 (Calibrated Data
    equivalent to NASA Level 1-A), Level 4 (Resampled Data
    equivalent to NASA Level 1-B), or Level 5 (Derived Data
    equivalent to NASA Level 1-C, 2 or 3). The RDRs are to be
    reconstructed from Level 2 edited data, and are to be assembled
    into complete images that may include radiometric and/or geometric
    correction.

    MER Camera Payload EDRs and RDRs will be generated by JPL's
    Multimission Image Processing Laboratory (MIPL) under the OPGS
    subsystem of the MER GDS. RDRs will also be generated by the Athena
    Pancam Science and Microscopic Imager Science Teams under the SOAS
    subsystem of the GDS.

    RDR data products will be generated by, but not limited to, MIPL
    using the Mars Suite of VICAR image processing software at JPL, the
    Athena Pancam Science Team using IDL software at Cornell University
    and JPL, and the Microscopic Imager Science Team using ISIS software
    at USGS (Flagstaff) and JPL. The RDRs produced will be processed
    data. The input will be one or more Camera EDR or RDR data products
    and the output will be formatted according to this SIS. Additional
    meta-data may be added by the software to the PDS label.


  Data
  ====
    RDR products generated by MIPL will have a VICAR label wrapped by a
    PDS label, and their structure can include the optional EOL label
    after the binary data. RDR products not generated by MIPL may
    contain only a PDS label. Or, RDR products conforming to a standard
    other than PDS, such as JPEG compressed or certain Terrain products,
    are acceptable without a PDS header during mission operations, but
    may not be archivable.

    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 JPEG
    compressed products and the Terrain products.


  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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