## 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.