## CHANGE LOG ## 1.0.0.0 - Initial version 1.1.0.0 - Upgraded to v1B10 of the IM. - Re-classified this dictionary as a Discipline Dictionary, instead of Mission Dictionary. - Renamed Surface_Imaging_Parameters to Surface_Imaging, Error_Model_Information to Error_Model, Geometry_Projection_Parameters to Geometry_Projection, and Pointing_Correction_Parameters to Pointing_Correction. - Added new attribute to Instrument_Information: ops_instrument_key 1.1.1.0 - Removed Pointing_Correction and its child attributes/classes (moved to IMG) 1.2.0.0 T.Hare - updated to PDS IM v 1E00 and GEOM 1E00_1800 - updated ops_instrument_key to be unbounded and updated definition. - added Commanded_Parameters using existing classes as children added to bottom of Surface_Imaging class - added image_id_2 attribute to Image_Identifiers - added start_image_id, observation_number, parameter_table_number to Image_Identifiers - added camera_model_serial_number attribute to Instrument_Information class 1.2.1.0 T.Hare - added correlation_average_scale, correlation_overlap_percentage, correlation_pixel_count attrinutes to Stereo_Product_Parameters Class - added Reachability Class and attributes and classes including these children: Reach_Instruments and Reach_Instrument classes and their attributes 1.2.2.0 T.Hare - build with GEOM v1900, grabbing the depenancies using: git submodule add https://github.com/pds-data-dictionaries/ldd-geom - add 3 new reference_types for external under rules - update instrument_type to allow nil and added enumerations to meet "_type" attribute rules 1.2.4.0 T.Hare - fix: added Reachability class as a child of img_surface:Surface_Imaging - updated to Reachability to new loaction in class 1.2.5.0 T.Hare - added Trapezoid to geometry_projection_type (for cameras like Mars 2020 PIXL MCC) 1.2.6.0 T. Hare - added tracking_id The Commanded_Parameters class contains attributes used to identify or describe the commands sent to a spacecraft to perform one or more actions resulting in the acquisition of the current data product. These are distinct from similar values in the root Surface_Imaging class which indicate the state of the image as acquired Defines a single configuration for this reachability assessment. Specifies the configurations of the device used for reachability assessment. The specific values will be device-dependent but could include e.g. shoulder in/out, elbow up/down, wrist up/down. The Derived_Product_Parameters class contains attributes used to identify and describe processing performed on products in order to produce a higher level product. The Error_Model class specifies the name of the error model used, a reference to the algorithm descriptions, and the parameters needed for that algorithm. The specific set of values is determined by each individual missions. The Error_Model_Parameter class specifies name and value for a parameter defined by the error model described by the parent class. The Error_Pixel class specifies the line and sample in the image where an error occurred. The Geometry_Projection describes the geometric projection or warping the image has undergone. It is not the intent of this class to describe map projections, but rather image warps such as linearization (stereo epipolar alignment), geometric sensor correction, or rubber-sheeting. If present, a linearization partner image can be referenced using either an Internal_Reference or External_Reference. The Image_Identifiers class contains items that help to identify the image or guide how processing should be done to the image. The Instrument_Information class specifies information about the configuration of the instrument as it acquired this observation. Indicates the instrument that is referred to by the product. This is not the same as the instrument that acquired the product. For example, on InSight instrument placement products, it defines which instrument is being placed. Defines a single instrument for this reachability assessment. For products where each instrument is associated with a band in the output, the "band" attribute specifies which band it is. For products where instruments are involved in the computation but not represented individually in the output, the band should be omitted. Lists the instruments involved in this reachability assesment. This class describes Reachability products, which define whether and how a moving device (such as an arm) can contact, view, or otherwise interact with the world at each pixel of an image. The Stereo_Product_Parameters class describes the conditions under which stereo analysis was performed. This includes items such as the stereo baseline (separation between the cameras) and what partner image(s) were used for stereo analysis. If present, stereo partner images can be referenced using either an Internal_Reference or External_Reference. Attributes specific to imaging instruments on surface missions. The Vector_Range_Origin class specifies the 3-D space from which the Range values are measured in a Range RDR. This will normally be the same as the C point of the camera. It is expressed in the coordinate system specified by the Coordinate_Space_Reference class. This section contains the simpleTypes that provide more constraints than those at the base data type level. The simpleTypes defined here build on the base data types. This is another component of the common dictionary and therefore falls within the common namespace. Specifies the band number (1-based) of the band in which the data for the specified instrument resides. Specifies the manufacturer's serial number for the camera for which the camera model was derived. This should match instrument_serial_number in most cases; generally speaking a mismatch should only occur during testing/development. The camera_product_id attribute specifies a numeric identifier assigned by the instrument to this specific observation. The camera_product_id_count attribute specifies the number of times a specific camera_product_id has been used. Contains the "average" scale factor for the correlation. In other words, given the reference image, scale it by this amount to match the target image. This scale factor is not precisely defined; it is determined in different ways by different correlation programs. The intent is to provide a "hint" for users of the correlation without requiring a full set of transform coefficients. Contains the percentage of the reference image that could overlap, geometrically speaking, with the target image. It does not indicate the actual correlation percentage, but rather what might correlate ideally. This can be used to distinguish, for example, nearly perfect correlation in a small overlapping area vs. very poor correlation over the entire image - both of which could have the same correlation_pixel_count). This percentage is not precisely defined; it is an approximation intended to facilitate culling of results. Contains a count of the number of pixels that successfully correlated in the image. The derived_image_type_name attribute specifies how to interpret the pixel values in a derived image (or colloquially, the type of the derived image itself). Valid values vary per mission depending on the products produced. Names a specific configuration of the device. Current MSL and Mars2020 valids: "ARM_SO_EU_WU", "ARM_SO_EU_WD", "ARM_SO_ED_WU", "ARM_SO_ED_WD", "ARM_SI_EU_WU", "ARM_SI_EU_WD", "ARM_SI_ED_WU", "ARM_SI_ED_WD" Identifies the device that this Reachability applies to. Current MSL and Mars2020 valids: "ARM" The error_model_name attribute specifies the method or algorithm used to create the error estimate. Each mission will define their own set of possible values. Algorithms will be added over time. The initial value is MIPL_CONST_DISPARITY_PROJECTED_V1, which means an arbitrary constant disparity error is assumed (in ERROR_MODEL_PARMS), which is projected through the camera models to approximate an error ellipse, which is then projected to the XYZ or range/crossrange axes depending on the file type. The geometry_projection_type attribute specifies how pixels in a file have been reprojected to correct for camera distortion, linearization, or rubber-sheeting (it is not the intent of this field to capture map projections). "Raw" indicates no projection has been done. The horizon_mask_elevation attribute specifies the elevation (in degrees) used as the horizontal cutoff in a mask file that prevents the horizon and sky features in the image from being processed. If this attribute is not present in the product label, no horizon mask was used. _TBD The image_id is an arbitrary string identifier that is associated with this image. The specific interpretation of it is mission-dependent, and it need not be unique to this image. For example, missions may use it as an image counter, a round-trip token indicating how to process the image, or a FSW-assigned value identifying the image. The image_id_2 allows a second image_id for missions with two, same use cases. The image_type attribute specifies the type of image acquired. The intent is to distinguish between different kinds of image-related data that may differ in how they are interpreted. Some types are not standard images, but they are stored in an image structure. Examples include Regular, Thumbnail, Reference Pixels, Histogram, Row Sum, and Column Sum. Identifies the instrument used in reachability assessment. Mars2020 valids: "DRILL","GDRT","SHERLOC_WATSON","SHERLOC","PIXL", "FCS". MSL valids: "DRILL","DRT","MAHLI","APXS","SCOOP_TIP" The instrument_mode_id attribute provides an instrument-dependent designation of operating mode. This may be simply a number, letter or code, or a word such as 'normal', 'full resolution', 'near encounter', or 'fixed grating'. These types may vary by mission so the permissible values should be set by the mission dictionaries. The instrument serial number element provides the manufacturer's serial number assigned to an instrument. This number may be used to uniquely identify a particular instrument for tracing its components or determining its calibration history, for example. The instrument_type attribute specifies the type of an instrument, for example IMAGING CAMERA, SPECTROMETER, IMAGING SPECTROMETER, or RADIOMETER The instrument_version_number element identifies the specific model of an instrument used to obtain data. For example, this keyword could be used to distinguish between an engineering model of a camera used to acquire test data, and a flight model of a camera used to acquire science data during a mission. The line attribute specifies the line number in the image. The linearization_mode attribute specifies what kind of stereo partner was used to linearize the image (the process requires two camera models). The linearization_mode_fov attribute specifies how the linearized camera model's field of view (FOV) as constructed (corresponding to the "cahv_fov" parameter in MIPL software). The mesh_id attribute specifies which terrain mesh this image should be automatically included in. This does not constrain which mesh(es) the image may be included in outside a pipeline environment. The mosaic_id attribute specifies which mosaic this image should be automatically included in. This does not constrain which mosaic(s) the image may be included in outside a pipeline environment. Identifies which observation of many this data product pertains to. The ops_instrument_key attribute specifies the identifier or key for the instrument that was used during operations to look up instrument parameters or calibration. The key in Commanded_Parameters may differ from the primary ops_instrument_key in that the command may apply to a stereo camera as a pair (e.g. MCAMZ_BOTH) rather than a specific left or right eye. Specifies which table of parameters to use. Tables are necessarily defined in a mission- and instrument-specific manner. The sample attribute specifies the sample number in the image. For Configurations that are bit-packed into a word, specifies the starting bit for this configuration. Bits are numbered starting at 0 for the least-significant bit. Specifies the starting image ID for some operation. The stereo_baseline_length attribute specifies the separation between the two cameras used for processing of the stereo image. The stereo_match_id attribute specifies which other image this image matches with for stereo processing. If used for a mission, the two images making up a stereo pair should share the same stereo_match_id value. For Configurations that are bit-packed into a word, specifies the ending bit for this configuration. Bits are numbered starting at 0 for the least-significant bit. If present, stop_bit must be equal to or less than start_bit. If absent, start_bit identifies a single bit. tracking_id is an arbitrary string identifier associated with the image. The specific interpretation of it is mission-dependent, and it need not be unique to this image, but it is intended to help track the image and relate it back to commanding. The x component of a Cartesian position vector. The y component of a Cartesian position vector. The z component of a Cartesian position vector.