Mars 2020 IMGOPS Release Notes Users are encouraged to provide comments to the PDS Imaging Node if errors are found either in data or in documentation in this archive. Please send comments by e-mail or U.S. mail to the Imaging Node: PDS Imaging Node California Institute of Technology Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena, CA 91109 USA Web: http://img.pds.nasa.gov/index.html Email: pds.img@jpl.nasa.gov This document, release_notes.txt, contains release notes and errata concerning the Mars2020 IMGOPS archives. It is updated with each release of SHERLOC WATSON, SHERLOC ACI, SUPERCAM RMI or PIXL ACI data. Section A of this document contains an entry for each release with general information about the contents of the release, in order from newest to oldest. Updates to previously released files are reported in these entries, along with any known errata. Section B of this file contains general notes, if any, concerning the archive as a whole. ******** SECTION A ******** Release Number: 9 Release Date: 2024-03-29 Data Coverage: 2023-08-31 to 2024-01-01 (Sols 900-1019) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops 1. On sol 690, the onboard Watson coordinate frame was updated, in an attempt to improve alignment with the SHERLOC frame. Unfortunately, this had unintended consequences on the camera models, and the change was reverted on sol 695. As a result Watson images on Sol 690 have incorrect camera models. 2. SHERLOC products in the data_watson_imgops and data_aci_imgops collection have a label item that is out of order. The MINI_HEADER.INSTRUMENT_STATE_NAME should be [SPARE, UV_LED, VIS2_LED, VIS1_LED, SPARE, FILTER_HALL_STATE, COVER_HALL_STATE, FOCUS_HALL_STATE] instead of [SPARE, UV_LED, VIS1_LED, VIS2_LED, SPARE, FILTER_HALL_STATE, COVER_HALL_STATE, FOCUS_HALL_STATE]. ------------------------------------------------------------ Release Number: 8 Release Date: 2023-11-27 Data Coverage: 2023-04-30 to 2023-08-31 (Sols 780-899) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops 1. On sol 690, the onboard Watson coordinate frame was updated, in an attempt to improve alignment with the SHERLOC frame. Unfortunately, this had unintended consequences on the camera models, and the change was reverted on sol 695. As a result Watson images on Sol 690 have incorrect camera models. ------------------------------------------------------------ Release Number: 7 Release Date: 2023-07-27 Data Coverage: 2023-12-28 to 2023-04-30 (Sols 660-779) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops 1. PIXL MCC Trapezoid Correction products were reprocessed for all Sols and are now being delivered. 2. On sol 690, the onboard Watson coordinate frame was updated, in an attempt to improve alignment with the SHERLOC frame. Unfortunately, this had unintended consequences on the camera models, and the change was reverted on sol 695. As a result Watson images on Sol 690 have incorrect camera models. ------------------------------------------------------------ Release Number: 6 Release Date: 2023-03-24 Data Coverage: 2022-8-27 to 2022-12-28 (Sols 540-659) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops 1. We are now delivering late arriving data products, which were received outside the sol range in previous releases. 2. PIXL MCC Trapezoid Correction products are not included in Release 6 and will be included in a future release. ------------------------------------------------------------ Release Number: 5 Release Date: 2022-11-21 Data Coverage: 2022-04-25 to 2022-26-22 (Sols 420-539) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse 1. PIXL MCC Trapezoid Correction products are not included in Release 5 and will be included in a future release. 2. For Watson and ACI images (only), the INSTRUMENT_AZIMUTH and INSTRUMENT_ELEVATION keywords in the ROVER_DERIVED_GEOMETRY and SITE_DERIVED_GEOMETRY groups are incorrect. These values are also reflected in the geom:Derived_Geometry.instrument_azimuth and instrument_elevation attributes in the PDS4 labels. They were derived using onboard pointing calibration expressed in the TURRET frame, while actual pointing was expressed in the SHERLOC frame. This led to an approximately 70 degree difference in the camera model pointing vector, which carried through into the azimuth and elevation labels. Note that the camera model itself in the label is correct, as it is recomputed on the ground using the SHERLOC frame consistently. Here's how to tell if the values are good or not. Look at the camera model A vector (MODEL_COMPONENT_2 in VICAR/ODL, or Vector_Axis in PDS4). Take the x and y components, and compute the azimuth using atan(y,x), converted to degrees. The value should be within a couple degrees of the INSTRUMENT_AZIMUTH from the ROVER_DERIVED_GEOMETRY group. If not, all four values are incorrect (as noted above the error is on the order of 70 degrees so the difference should be obvious). The values are not exact because the az/el values are computed in different ways, see below. To compute correct values, there are two options. The most correct way is to do what the pipeline does: take the central pixel of the image, project it through the camera model, and convert the resulting vector to azimuth/elevation. Section 8.2 of the Camera SIS and references therein discuss this projection. That provides the Rover frame version. Rotate by the rover (nav) to site quaternion to get the Site vector (see Section 20.11 of the Camera SIS for an example of such a rotation). The alternative way is to simply use the camera model A vector directly (as above, when determining if there is an error), and convert it to az/el for the Rover frame values. The A vector is not the same as projecting the central pixel, but it is a reasonable proxy for most uses (generally less than a degree) that is much easier to compute. ------------------------------------------------------------ Release Number: 4 Release Date: 2022-06-30 Data Coverage: 2021-12-23 to 2022-04-24 (Sols 300-419) Image products from PIXL, SuperCam, and SHERLOC were delivered (6/29/2022): New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse 1. PIXL MCC Trapezoid Correction products are not included in Release 4 and will be included in a future release. 2. For Watson and ACI images (only), the INSTRUMENT_AZIMUTH and INSTRUMENT_ELEVATION keywords in the ROVER_DERIVED_GEOMETRY and SITE_DERIVED_GEOMETRY groups are incorrect. These values are also reflected in the geom:Derived_Geometry.instrument_azimuth and instrument_elevation attributes in the PDS4 labels. They were derived using onboard pointing calibration expressed in the TURRET frame, while actual pointing was expressed in the SHERLOC frame. This led to an approximately 70 degree difference in the camera model pointing vector, which carried through into the azimuth and elevation labels. Note that the camera model itself in the label is correct, as it is recomputed on the ground using the SHERLOC frame consistently. Here's how to tell if the values are good or not. Look at the camera model A vector (MODEL_COMPONENT_2 in VICAR/ODL, or Vector_Axis in PDS4). Take the x and y components, and compute the azimuth using atan(y,x), converted to degrees. The value should be within a couple degrees of the INSTRUMENT_AZIMUTH from the ROVER_DERIVED_GEOMETRY group. If not, all four values are incorrect (as noted above the error is on the order of 70 degrees so the difference should be obvious). The values are not exact because the az/el values are computed in different ways, see below. To compute correct values, there are two options. The most correct way is to do what the pipeline does: take the central pixel of the image, project it through the camera model, and convert the resulting vector to azimuth/elevation. Section 8.2 of the Camera SIS and references therein discuss this projection. That provides the Rover frame version. Rotate by the rover (nav) to site quaternion to get the Site vector (see Section 20.11 of the Camera SIS for an example of such a rotation). The alternative way is to simply use the camera model A vector directly (as above, when determining if there is an error), and convert it to az/el for the Rover frame values. The A vector is not the same as projecting the central pixel, but it is a reasonable proxy for most uses (generally less than a degree) that is much easier to compute. ------------------------------------------------------------- Release Number: 3 Release Date: 2022-03-22 Data Coverage: 2021-08-22 to 2021-12-22 (Sols 180-299) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: None. 1. PIXL MCC Trapezoid Correction products are not included in Release 2 and will be included in a future release. ------------------------------------------------------------ Release Number: 2 Release Date: 2021-11-19 Data Coverage: 2021-05-21 to 2021-08-21 (Sols 90-179) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: None. 1. PIXL MCC Trapezoid Correction products are not included in Release 2 and will be included in a future release. 2. The mars2020_imgops bundle contains LIDVID reference pointers to browse images that incorrectly omit the extension, causing the pointer to the browse images LID to be broken. ------------------------------------------------------------ Release Number: 1 Release Date: 2021-08-21 Data Coverage: 2021-02-18 to 2021-05-20 (Sols 0-89) New products have been added to these collections: urn:nasa:pds:mars2020_imgops:data_watson_imgops urn:nasa:pds:mars2020_imgops:data_aci_imgops urn:nasa:pds:mars2020_imgops:data_rmi_imgops urn:nasa:pds:mars2020_imgops:data_mcc_imgops urn:nasa:pds:mars2020_imgops:browse Products have been revised in these collections: None. 1. PIXL MCC Trapezoid Correction products are not included in Release 1 and will be included in a future release. 2. The mars2020_imgops bundle contains LIDVID reference pointers to browse images that incorrectly omit the extension, causing the pointer to the browse images LID to be broken. ******** SECTION B ********