Data Set Overview
  =================
    An IDD Reachability map contains information about whether or not
    the instruments on the IDD can reach (contact or image) the
    object or location represented by each pixel in the scene.  It is
    derived from the XYZ and Surface Normal (UVW) products.

    The geometry of the reachability map matches the linearized
    reference, XYZ, and Surface Normal (UVW) images, in that each pixel
    in the file directly corresponds to the pixel at the same location
    in the other products.

    The reachability map is a 16-band byte image in standard Band
    Sequential order. Thus for each pixel there are 16 values. These
    values represent reachability for each of the 4 IDD instruments in
    each of its 4 configurations. The mapping between band number and
    instrument/configuration is given by the INSTRUMENT_BAND_ID and
    CONFIGURATION_BAND_ID labels.

    The value of the pixel is interpreted according to the instrument.
    For RAT, 0 means the pixel is not reachable in that configuration,
    while any other number represents the maximum preload in integer
    Newtons that can be applied at that point. For all other
    instruments, 0 means the pixel is not reachable by that instrument
    in that configuration, while 255 means that the pixel is reachable.


  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 Hazcam Operations RDRs will be delivered
    to PDS on DVD.

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