DATA_SET_DESCRIPTION 
Data Set Overview
=================
EDRs and singleframe RDRs are described by a camera model. This
model, represented by a set of vectors and numbers, permit a point
in space to be traced into the image plane, and viceversa.
EDR camera models are derived by acquiring images of a calibration
target with known geometry at a fixed azimuth/elevation. The vectors
representing the model are derived from analysis of this imagery.
These vectors are then translated and rotated based on the actual
pointing of the camera to represent the conditions of each specific
image. The results are the camera model for the EDR.
The Navcam and Pancam use a CAHVOR model, while the Hazcams use a
more general CAHVORE model. Neither are linear and involve some
complex calculations to transform line/sample points in the image
plane to XYZ positions in the scene. To simplify this, the images
are warped, or reprojected, such that they can be described by a
linear CAHV model. This linearization process has several benefits:
1) It removes geometric distortions inherent in the camera
instruments, with the result that straight lines in the scene are
straight in the image.
2) It aligns the images for stereo viewing. Matching points are on
the same image line in both left and right images, and both left
and right models point in the same direction.
3) It facilitates correlation, allowing the use of 1D correlators.
4) It simplifies the math involved in using the camera model.
However, it also introduces some artifacts in terms of scale change
and/or omitted data (see the references). The linearized CAHV camera
model is derived from the EDR camera model by considering both the
left and right eye models and constructing a pair of matched linear
CAHV models that conform to the above criteria.
The image is then projected, or warped, from the CAHVOR/CAHVORE
model to the CAHV model. This involves projecting each pixel through
the EDR camera model into space, intersecting it with a surface
(which matters only for Hazcams and is a sphere centered on the
camera), and projecting the pixel back through the CAHV model into
the output image.
C  The 3D position of the entrance pupil
A  A unit vector normal to the image plane pointing outward
(towards C)
H  A vector pointing roughly rightward in the image; it is a
composite of the orientation of the CCD rows, the horizontal
scale, the horizontal center
V  A vector pointing roughtly downward in the image; it is a
composite of the orientation of the CCD columns, the vertical
scale, the vertical center, and A.
If P is a point in the scene then the corresponding image locations
x and y can be computed from:
x = (PC)H

(PC)A
y = (PC)V

(PC)A
Processing
==========
This Operations RDR is produced by OPGS/MIPL using the Mars Suite of
VICAR image processing software.
Singleframe RDRs are described by a camera model. This model,
represented by a set of vectors and numbers, permit a point in space
to be traced into the image plane, and viceversa.
Data
====
1 band, 16bit signed integer, 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 multiframe (mosaic)
form. Most RDR data products will have PDS labels, or if generated
by MIPL (OPGS), dual PDS/VICAR labels. Nonlabeled RDRs include the
Terrain products (Mesh and Wedge).
The following is a list of the types of Linearized files along with
the Product Type Identifier, which is an element in the formal RDR
file name:
Data Product Linearized
 
Full frame EDR FFL
Subframe EDR SFL
Downsampled EDR DNL
Thumbnail EDR THN
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 Microscopic Imager Operations RDRs will be
delivered to PDS on DVD.
