<?xml version="1.0" encoding="UTF-8" ?>

<cis10:ReferenceableGridCoverage
  xmlns:cis10="https://schemas.isotc211.org/schemas/19123/-2/cis/1.2"
  xmlns:swe="http://www.opengis.net/swe/2.0"    
  xmlns:gml="http://www.opengis.net/gml/3.2"
  xmlns:sml="http://www.opengis.net/sensorml/2.1"
  xmlns:xlink="http://www.w3.org/1999/xlink"
  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
  xsi:schemaLocation="https://schemas.isotc211.org/schemas/19123/-2/cis/1.2 cis-annexB-All.xsd 
                      http://www.opengis.net/swe/2.0 sweAll.xsd 
                      http://www.opengis.net/gml/3.2 https://schemas.isotc211.org/schemas/19136/-/gml/1.0/gml.xsd 
                      http://www.opengis.net/sensorml/2.1 http://schemas.opengis.net/sensorML/2.1/sensorML.xsd"
  gml:id="CIS_referenceable-grid-by-sensormodel_2">
  
  <gml:domainSet>
    <cis10:ReferenceableGridBySensorModel gml:id="RefGrid_0" dimension="2" srsDimension="3">
      <gml:limits>
        <gml:GridEnvelope>
          <gml:low>0 0</gml:low>
          <gml:high>6731 8983</gml:high>
        </gml:GridEnvelope>
      </gml:limits>
      <gml:axisLabels>Row Column</gml:axisLabels>
      <cis10:sensorModel xlink:href="https://www.sensorml.work/sensorML-2.1/examples/csmFrame.html"/>
      <cis10:sensorInstance> 
        <sml:SimpleProcess gml:id="myKCM-HD-camera"
          xmlns:sml="http://www.opengis.net/sensorml/2.1"
          xmlns:swe="http://www.opengis.net/swe/2.0"
          xmlns:gml="http://www.opengis.net/gml/3.2"
          xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
          xmlns:xlink="http://www.w3.org/1999/xlink"
          xsi:schemaLocation="http://www.opengis.net/sensorml/2.1 http://schemas.opengis.net/sensorML/2.1/sensorML.xsd">
          <gml:description>
            An example of an instance of the Community Sensor Model for precise geolocation of the HD UAV-borne video KCM-HD camera
          </gml:description>
          <gml:identifier codeSpace="uid">urn:myDomain:swe:csm:KCM-HD</gml:identifier>
          <sml:typeOf xlink:title="urn:net:swe:process:csmFrameCamera2"
            xlink:href="https://www.sensorml.work/sensorML-2.1/examples/csmFrame.html"/>
          <sml:configuration>
            <sml:Settings>
              <sml:setValue ref="parameters/csmParams/focalLength">51.5465</sml:setValue>
              <sml:setValue ref="parameters/csmParams/focalLength/quality">5.512e-003</sml:setValue>
              <sml:setValue ref="parameters/csmParams/pixelGridCharacteristics/numberOfRowsInImage">6732</sml:setValue>
              <sml:setValue ref="parameters/csmParams/pixelGridCharacteristics/numberOfColumnsInImage">8984</sml:setValue>
              <sml:setValue ref="parameters/csmParams/pixelGridCharacteristics/rowSpacing">0.0074</sml:setValue>
              <sml:setValue ref="parameters/csmParams/pixelGridCharacteristics/columnSpacing">0.0074</sml:setValue>
              <sml:setValue ref="parameters/csmParams/principalPointCoordinates/x0">-0.1608</sml:setValue>
              <sml:setValue ref="parameters/csmParams/principalPointCoordinates/x0/quality">4.353e-003</sml:setValue>
              <sml:setValue ref="parameters/csmParams/principalPointCoordinates/y0">0.0979</sml:setValue>
              <sml:setValue ref="parameters/csmParams/principalPointCoordinates/y0/quality">5.059e-003</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/a1">0.0</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/b1">-4.94883e-025</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/b1/quality">1.419e-016</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/c1">0</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/a2">0</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/b2">-1.42380e-025</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/b2/quality">1.419e-016</sml:setValue>
              <sml:setValue ref="parameters/csmParams/affineDistortionCoefficients/c2">0</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k1">3.34076e-005</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k1/quality">1.036e-006</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k2">1.64705e-007</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k2/quality">1.735e-008</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k3">2.10952e-022</sml:setValue>
              <sml:setValue ref="parameters/csmParams/radialDistortionCoefficients/k3/quality">1.419e-016</sml:setValue>
              <sml:setValue ref="parameters/csmParams/decenteringCoefficients/p1">-2.30790e-025</sml:setValue>
              <sml:setValue ref="parameters/csmParams/decenteringCoefficients/p1/quality">1.419e-016</sml:setValue>
              <sml:setValue ref="parameters/csmParams/decenteringCoefficients/p2">-4.27963e-025</sml:setValue>
              <sml:setValue ref="parameters/csmParams/decenteringCoefficients/p2/quality">1.419e-016</sml:setValue>
            </sml:Settings>
          </sml:configuration>
        </sml:SimpleProcess>
      </cis10:sensorInstance>
    </cis10:ReferenceableGridBySensorModel>
  </gml:domainSet>
  
  <gml:rangeSet>
    <gml:File>
      <gml:rangeParameters/>
      <gml:fileName>gmljp2://codestream</gml:fileName>
      <gml:fileStructure>inapplicable</gml:fileStructure>
      <gml:mimeType>image/jp2</gml:mimeType>
    </gml:File>
  </gml:rangeSet>
  
  <cis10:rangeType>
    <swe:DataRecord>
      <swe:field name="panchromatic">
        <swe:Quantity definition="https://opengis.net/def/property/OGC/0/Radiance">
          <swe:description>Red Channel</swe:description>
          <swe:uom code="W.m-2.sr-1.nm-1"/>
        </swe:Quantity>
      </swe:field>
    </swe:DataRecord>
  </cis10:rangeType>
  
</cis10:ReferenceableGridCoverage>