KPL/IK =========================================================================== $Id: lro_lroc_v18.ti,v 1.8 2014/03/24 12:52:24 espeyerer Exp espeyerer $ =========================================================================== Lunar Reconnaissance Orbiter Camera (LROC) Instrument Kernel =========================================================================== This Lunar Reconnaissance Orbiter Camera instrument kernel (I-kernel) contains the instrument geometric parameters for the LROC Narrow Angle Camera (NAC) and LROC Wide Angle Camera (WAC). Version and Date --------------------------------------------------------------------------- Version 19.0 -- December 13, 2023 -- Alyssa Bailey, NAIF/JPL Removed PDS3 label from start of file Replaced TABs and special characters with ACSII equivalents Added blank lines before and after \begindata and \begintext Fixed typos Version 18.0 -- March 24, 2014 -- Emerson Speyerer, ASU Updated the focal length and boresight parameters for the 360nm band to use the correct NAIF ID Version 17.0 -- November 1, 2013 -- Emerson Speyerer, ASU Added documentation for loading a kernel into MICE (MATLAB SPICE utility) Reformatted background documentation for readability Changed the modeled NAC-R boresight sample to account for sample mirroring during EDR and CDR generation Added wavelength dependent internal orientation parameters (focal length, boresight, distortion coefficients) for the LROC WAC Moved deprecated WAC VIS and UV parameters with the prefix of INS-85621 and INS-85626 to the end of the IK for clarity. These parameters remain in order to maintain backwards compatibility with older software packages (ISIS 3.4.4 or earlier) Changed WAC pixel size value to keep the units consistent with the NAC and previous documentation Updated the center line and sample for NAC and WAC detector to correspond to the LROC pixel coordinate definition Updated IFOV values for the NAC and changed the parameter from a two entry array to a single value to match the WAC IFOV parameters Replaced the field of view parameters for each camera with a 10 point polygon. The new WAC field of views are broken up into individual bands Version 16.0 -- November 1, 2010 -- Emerson Speyerer, ASU Improved documentation and updated WAC field of view dimensions and sensor parameters Version 15.0 -- August 25, 2010 -- Jeff Anderson, USGS Improved WAC documentation and updated values to reflect corrected detector offsets used in the WAC camera model Version 14.0 -- August 18, 2010 -- Kris Becker, USGS Changed the sign of the NACL and NACR distortion parameters to match the calibration report. Add additional keywords/values for the WAC to more fully describe the WAC detector/filter design Version 13.0 -- May 13, 2010 -- Ernest Bowman-Cisneros, ASU Incorporating comments from NAIF regarding content and structure of kernel file Version 12.0 -- May 10, 2010 -- Jacob Danton, ASU Incorporating changes from ASU development work Version 11.0 -- February 17, 2010 -- Jacob Danton, ASU Refinements of changes provided by USGS Version 10.0 -- February 12, 2010 -- Jacob Danton, ASU Refinements of changes provided by USGS Version 9.0 -- February 12, 2010 -- Jacob Danton, ASU Incorporating changes from Kris Becker, USGS Version 8.0 -- August 25, 2009 -- Jacob Danton, ASU Refinement on changes to support lrowaccal Version 7.0 -- August 5, 2009 -- Jacob Danton, ASU Changes to support lrowaccal to look for different BW cubes for different filters Version 6.0 -- July 30, 2009 -- Jacob Danton, ASU Incorporating changes from ASU development work Version 5.0 -- July 20, 2009 -- Jacob Danton, ASU Change values for the variables INS-85610_ITRANSS/ITRANSL and INS-85610_TRANX/TRANY Version 4.0 -- July 20, 2009 -- Jacob Danton, ASU Incorporating changes from ASU development work Version 3.0 -- February 12, 2009 -- Jacob Danton, ASU Refinement of values based on development work, including feedback from USGS Version 2.0 -- February 12, 2009 -- Jacob Danton, ASU First large scale changes to support development work on autotarget application Version 1.0 -- April 7, 2006 -- Ernest Bowman-Cisneros, ASU Initial release References --------------------------------------------------------------------------- 1. Kernel Pool Required Reading, available online at http://naif.jpl.nasa.gov 2. LRO Frames Definition Kernel (FK), latest version 3. Robinson et al. (2010) Lunar Reconnaissance Orbiter Camera (LROC) Instrument Overview, Space Science Reviews 150, 81-124, DOI: 10.1007/s11214-010-9634-2 4. Speyerer et al. (2013) Pre-Flight and On-Orbit Geometric Calibration of the Lunar Reconnaissance Orbiter Camera 5. LRO Wide Angle Geometric Calibration, P. Thomas, LROC Internal Report, July 14, 2008 6. LRO NAC Geometric Calibration, S. Brylow, D. Humm, M. Robinson, P. Thomas, M. Tschimmel, LROC Internal Report, July 14, 2008 Contact Information --------------------------------------------------------------------------- Direct questions, comments or concerns about the contents of this kernel should be sent to: Ernest Bowman-Cisneros, ASU, lroc-dn@ser.asu.edu Implementation Notes --------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name MATLAB: (MICE) cspice_furnsh( 'frame_kernel_name' ); In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [1] for more details. This file was created and may be updated with a text editor or word processor. Naming Conventions --------------------------------------------------------------------------- All names referencing values in this Instrument Kernel (IK) start with the characters 'INS' followed by the NAIF LRO spacecraft ID number (-85) and then followed by a NAIF three digit code for an LROC camera or specific WAC filter: Table 1: LROC Instrument IDs ----------------------------- ----------- ------------ Frame Name NAIF ID Comments ----------------------------- ----------- ------------ LRO_LROCNACL -85600 LRO_LROCNACR -85610 LRO_LROCWAC -85620 *Deprecated* LRO_LROCWAC_VIS -85621 *Deprecated* LRO_LROCWAC_UV -85626 *Deprecated* LRO_LROCWAC_VIS_FILTER_1 -85631 415 nm LRO_LROCWAC_VIS_FILTER_2 -85632 566 nm LRO_LROCWAC_VIS_FILTER_3 -85633 604 nm LRO_LROCWAC_VIS_FILTER_4 -85634 643 nm LRO_LROCWAC_VIS_FILTER_5 -85635 689 nm LRO_LROCWAC_UV_FILTER_1 -85641 321 nm LRO_LROCWAC_UV_FILTER_2 -85642 360 nm ----------------------------- ----------- ------------ The remainder of the name is an underscore character followed by the unique name of the data item. For example, the focal length in the LRO_LROCNACL frame (see [2]) is specified by: INS-85600_FOCAL_LENGTH The upper bound on the length of the name of any data item identifier is 32 characters. If the same item is included in more than one file, or if the same item appears more than once within a single file, the latest value supersedes any earlier values. LROC Description --------------------------------------------------------------------------- From [3]: The two NACs, designated NAC-Left (NAC-L) and NAC-Right (NAC-R), are designed to provide 0.5 m scale panchromatic images over a combined 5-km swath from an altitude of 50 km. Each NAC utilizes a 700-mm focal-length telescope that images onto a 5064-pixel charge coupled device (CCD) line-array, providing an IFOV of 10 microradians and a cross-track field-of-view of 2.86 degrees each, which yields a total ground track swath-width for both cameras of 5-km at the nominal 50-km altitude. Each NAC internal buffer holds 256 MB of uncompressed data, enough for a full-swath image 25-km in length or a 2x binned image 52-km long. The NAC data are sampled to 12-bits, then companded (bit compression) to 8-bits. Prior to downlink an additional lossless first-difference Huffman compression is applied. The WAC is designed to provide global imaging at a scale of 100 m/pixel in seven color bands over a 105-km swath in monochrome mode and 57-km in color mode from an altitude of 50 km. The LROC WAC uses a 1024 by 1024 pixel CCD that has seven narrow-band interference filters bonded to the detector. Two of the filters are in the ultraviolet (UV) and five are in the visible. The WAC has two short-focal-length lenses, one UV and one visible, both of which image onto the same detector. From the nominal 50-km altitude orbit in monochrome imaging mode, the WAC will provide a nadir pixel scale of 75 m/pixel at nadir (98 m/pixel at far field). In the UV system, the nadir pixel scale is 384 m/pixel. The seven-band color filter array provides different sections of the CCD with different bandpasses. Repeated imaging at a rate such that each of the narrow framelets (14 lines x 1024 samples for VIS and 16 lines x 512 samples for UV) of each color band overlap provides continuous coverage in any one color ("push-frame imaging"). The layout of the WAC filters is similar to the MRO MARCI instrument as described in Bell et al. (2009). WAC pixel values are digitized to 11-bits and subsequently companded to 8-bit values. After transmission to the SCS, the WAC data have a lossless first-difference Huffman compression that is applied prior to downlink. LROC Geometric Calibration --------------------------------------------------------------------------- From [4]: Prior to launch, the interior orientation parameters (i.e. principal point, calibrated focal length and optical distortion) for all three cameras were characterized at Malin Space Science Systems in San Diego, CA. Due to the large minimum focusing distance, the NACs could not directly image a calibration target inside the laboratory environment. Therefore, the LROC team adopted a goniometric calibration technique [Hallert, 1960; Schuster and Braunecker, 2000] in which a collimator projects a target that is subsequently imaged by the camera that is attached to a rotary stage to enable precise measurements across the detector. Once installed on the spacecraft, the instrument integration team measured the relative pointing of each instrument with respect to the reference frame of the spacecraft bus. The NAC and WAC camera model incorporated these orientation parameters through variables defined inside the text based LROC Instrument Kernel (this file) and LRO Frames Kernel [2]. The mission architecture and instrument suite of LRO enable precise and accurate measurements of the lunar surface. Leveraging the precision orbit determination efforts led by the LOLA and GRAIL team and the precise LROC WAC-derived global terrain model (GLD100) [Mazarico et al. 2011; Scholten et al. 2012; Mazarico et al. 2013], the LROC team improved the exterior orientation parameters for all three cameras and refined the interior orientation parameters for the WAC. This work is based on locating a small set of independent ground control points in high-resolution images and measuring the offsets between many thousands co-registered orthorectified images. Notes concerning pre-flight WAC measurements: --------------------------------------------- The pre-flight derived optical parameters (e.g., boresight, sample offsets, line offsets, and distortion coefficients) for the WAC were computed in the laboratory using Ground Support Equipment (GSE) [5]. The laboratory GSE produced 1032 sample x 128 line calibration images which were used to compute the pre-flight WAC optical parameters. All optical parameters documented in the calibration report [5] are relative to these 1032 x 128 images. It is important to note after the WAC was integrated with the spacecraft it read out only selected areas (framelets) of the detector which were 1024 samples wide, not 1032. In flight offsets were computed in order to update the GSE optical parameters from a 1032 sample system to a 1024 sample system. The updates from GSE 1032 coordinates to detector 1024 coordinates occurred in version 15 of this kernel. Pixel Coordinate Definition: --------------------------------------------------------------------------- The LROC NAC and WAC images are composed of a raster of pixels. These pixels represent finite areas and not discrete points. The center of the upper left pixel is defined as line and sample (1.0, 1.0). The upper left corner of the upper left pixel has the coordinates (0.5, 0.5), while the lower right corner of the upper left pixel has the coordinates (1.499,1.499). The sample and line numbers increase as one progresses to the right and down in the image or detector. Figure 1: LROC Pixel Definition (0.5,0.5) *-------------------*-------------------*----> | | | | | | Sample | | | Coordinate | (1,1) | (2,1) | (+) | * | * | | | | | | | | | | | (1.499,1.499)| | *-------------------*-------------------*--- | | (1.5,1.5) | | | | | v Line Coordinate (+) LROC First Order Optical Parameters: --------------------------------------------------------------------------- The following section contains the first order optical parameters for the two LROC NACs and WAC measured prior to launch at Malin Space Science Systems and from models derived from on-orbit observations. The first order optical parameters for the WAC are wavelength dependent due to chromatic aberrations in the WAC visible and ultraviolet optical system. From [4]: As white light enters the optical system, the light refracts at different magnitudes as a function of wavelength causing the single original incident ray to disperse in a spectral spread of color [Mahajan, 1998; Fiete, 2013]. This lateral chromatic aberration effect, also known as "chromatic difference in magnification" introduces variation to the effective focal length for each WAC band. As a second order effect, the slight changes to the magnification causes small variations in the point of refraction as the light passes through the various optical elements thus introducing small differences in the computed optical distortion coefficients [Sidney, 2002; Mallon and Whelan, 2007; Wighton et al., 2011]. Please refer to the "Pre-Flight and On-Orbit Geometric Calibration of the Lunar Reconnaissance Orbiter Camera" [3] and "Lunar Reconnaissance Orbiter Camera (LROC) Instrument Overview" [4] papers for more information about the values described here and the methods used to derive them. Optical Parameter Definitions: Effective Focal Length: Distance along the optical axis from the perspective center to the detector (units of mm) F/ratio (or f-number): Ratio of the effective focal length to the diameter of the entrance pupil (effective aperture) Spectral Band: Wavelength range (or spectral response) of the optics Boresight Line and Sample (principal point): Point at which the optical axis intersects the detector array IFOV (Instantaneous field of view): Angle subtended by a single detector element on the axis of the optical system Narrow Angle Camera (NAC): Table 2: First Order NAC Optical Parameters ------------------------------- ----------- ----------- Parameter, Unit NAC-L NAC-R ------------------------------- ----------- ----------- Effective Focal Length, mm 699.62 701.57 Estimated Uncertainty, mm 0.08 0.09 F/Ratio, unitless 3.577 3.590 Spectral Band, nm 400-760 400-760 Boresight Sample, pixel 2548 2496 Boresight Line, pixel 0 0 IFOV, radians/pixel Cross-track 10.0054E-6 9.9776E-6 Along-track 10.0054E-6 9.9776E-6 ------------------------------- ----------- --------- Wide Angle Camera (WAC): Table 3: Wavelength Dependent WAC Focal Lengths -------- ------------ ------------------------------ Filter Wavelength Effective Focal Length, mm -------- ------------ ------------------------------ Vis 1 415 nm 5.9983909 Vis 2 566 nm 6.0193387 Vis 3 604 nm 6.0247535 Vis 4 643 nm 6.0308669 Vis 5 689 nm 6.0377111 UV 1 321 nm 4.6690884 UV 2 360 nm 4.7120818 -------- ------------ ------------------------------ Table 4: Wavelength Dependent Boresight -------- ------------ --------------- --------------- Filter Wavelength Sample, pixel Line, pixel -------- ------------ --------------- --------------- Vis 1 415 nm 509.5696 775.8181 Vis 2 566 nm 509.5445 775.7541 Vis 3 604 nm 509.5379 775.7578 Vis 4 643 nm 509.5297 775.7545 Vis 5 689 nm 509.5314 775.7604 UV 1 321 nm 513.5482 295.4784 UV 2 360 nm 513.5601 295.4764 -------- ------------ --------------- --------------- Table 5: LROC WAC IFOV (Cross-track and along-track values are the same) with and without the 4x4 pixel averaging for the UV. -------- ------------ --------------- --------------- Filter Wavelength IFOV, IFOV (averaged) radians/pixel radians/pixel -------- ------------ --------------- --------------- Vis 1 415 nm 1.5004E-3 n/a Vis 2 566 nm 1.4952E-3 n/a Vis 3 604 nm 1.4938E-3 n/a Vis 4 643 nm 1.4923E-3 n/a Vis 5 689 nm 1.4906E-3 n/a UV 1 321 nm 1.9276E-3 7.7101E-3 UV 2 360 nm 1.9100E-3 7.6398E-3 -------- ------------ --------------- --------------- The F/ratio was measured prior to launch to be 5.052 for the visible bands and 5.650 for the UV bands. Additional information about the individual WAC filters can be found in the filter section of this IK. The NAC and WAC parameter values above are given in the keywords below in the same units. Narrow Angle Camera Left (NAC-L): \begindata INS-85600_FOCAL_LENGTH = 699.62 INS-85600_F/RATIO = 3.577 INS-85600_WAVELENGTH_RANGE = ( 400 760 ) INS-85600_BORESIGHT_SAMPLE = 2548 INS-85600_BORESIGHT_LINE = 0 INS-85600_IFOV = 10.0054E-6 \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_FOCAL_LENGTH = 701.57 INS-85610_F/RATIO = 3.590 INS-85610_WAVELENGTH_RANGE = ( 400 760 ) INS-85610_BORESIGHT_SAMPLE = 2496 INS-85610_BORESIGHT_LINE = 0 INS-85610_IFOV = 9.9776E-6 \begintext Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_FOCAL_LENGTH = 5.9983909 INS-85631_F/RATIO = 5.052 INS-85631_BORESIGHT_SAMPLE = 509.5696 INS-85631_BORESIGHT_LINE = 775.8181 INS-85631_IFOV = 1.5004E-3 \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_FOCAL_LENGTH = 6.0193387 INS-85632_F/RATIO = 5.052 INS-85632_BORESIGHT_SAMPLE = 509.5445 INS-85632_BORESIGHT_LINE = 775.7541 INS-85632_IFOV = 1.4952E-3 \begintext Wide Angle Camera VIS Filter 3 (604nm): \begindata INS-85633_FOCAL_LENGTH = 6.0247535 INS-85633_F/RATIO = 5.052 INS-85633_BORESIGHT_SAMPLE = 509.5379 INS-85633_BORESIGHT_LINE = 775.7578 INS-85633_IFOV = 1.4938E-3 \begintext Wide Angle Camera VIS Filter 4 (643nm): \begindata INS-85634_FOCAL_LENGTH = 6.0308669 INS-85634_F/RATIO = 5.052 INS-85634_BORESIGHT_SAMPLE = 509.5297 INS-85634_BORESIGHT_LINE = 775.7545 INS-85634_IFOV = 1.4923E-3 \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_FOCAL_LENGTH = 6.0377111 INS-85635_F/RATIO = 5.052 INS-85635_BORESIGHT_SAMPLE = 509.5314 INS-85635_BORESIGHT_LINE = 775.7604 INS-85635_IFOV = 1.4906E-3 \begintext Wide Angle Camera UV Filter 1 (321nm): \begindata INS-85641_FOCAL_LENGTH = 4.6690884 INS-85641_F/RATIO = 5.650 INS-85641_BORESIGHT_SAMPLE = 513.5482 INS-85641_BORESIGHT_LINE = 295.4784 INS-85641_IFOV = 1.9276E-3 \begintext Wide Angle Camera UV Filter 2 (360nm): \begindata INS-85642_FOCAL_LENGTH = 4.7120818 INS-85642_F/RATIO = 5.650 INS-85642_BORESIGHT_SAMPLE = 513.5601 INS-85642_BORESIGHT_LINE = 295.4764 INS-85642_IFOV = 1.9100E-3 \begintext LROC Detector Parameters: --------------------------------------------------------------------------- The following section contains the sensor parameters for the LROC NAC and WAC. Both NACs use a Kodak KLI-5001G detector with a pixel pitch of 7 um (7*10^-3 mm), while the common detector used for the WAC Vis and UV bands has a pixel pitch of 9um (9*10^-3 mm). Table 5: LROC Detector Parameters ------------------------------- --------- --------- Parameter, Units NAC WAC ------------------------------- --------- --------- Pixel pitch, mm 7.0E-3 9.0E-3 Samples, pixels 5064 1024 Lines, pixels 1 1024 CCD Center sample, pixel 2532.5 512.5 CCD Center line, pixel 1 512.5 ------------------------------- --------- --------- The following NAIF keywords define the sensor: Narrow Angle Camera Left (NAC-L): \begindata INS-85600_PIXEL_SAMPLES = 5064 INS-85600_PIXEL_LINES = 1 INS-85600_PIXEL_PITCH = 7.0E-3 INS-85600_PIXEL_SIZE = ( 7.0E-3 7.0E-3 ) INS-85600_CCD_CENTER = ( 2532.5 1.0 ) \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_PIXEL_SAMPLES = 5064 INS-85610_PIXEL_LINES = 1 INS-85610_PIXEL_PITCH = 7.0E-3 INS-85610_PIXEL_SIZE = ( 7.0E-3 7.0E-3 ) INS-85610_CCD_CENTER = ( 2532.5 1.0 ) \begintext Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_PIXEL_SAMPLES = 1024 INS-85631_PIXEL_LINES = 1024 INS-85631_PIXEL_PITCH = 9.0E-3 INS-85631_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85631_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_PIXEL_SAMPLES = 1024 INS-85632_PIXEL_LINES = 1024 INS-85632_PIXEL_PITCH = 9.0E-3 INS-85632_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85632_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera VIS Filter 3 (604nm): \begindata INS-85633_PIXEL_SAMPLES = 1024 INS-85633_PIXEL_LINES = 1024 INS-85633_PIXEL_PITCH = 9.0E-3 INS-85633_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85633_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera VIS Filter 4 (643nm): \begindata INS-85634_PIXEL_SAMPLES = 1024 INS-85634_PIXEL_LINES = 1024 INS-85634_PIXEL_PITCH = 9.0E-3 INS-85634_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85634_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_PIXEL_SAMPLES = 1024 INS-85635_PIXEL_LINES = 1024 INS-85635_PIXEL_PITCH = 9.0E-3 INS-85635_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85635_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera UV Filter 1 (321nm): \begindata INS-85641_PIXEL_SAMPLES = 1024 INS-85641_PIXEL_LINES = 1024 INS-85641_PIXEL_PITCH = 9.0E-3 INS-85641_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85641_CCD_CENTER = ( 512.5 512.5 ) \begintext Wide Angle Camera UV Filter 2 (360nm): \begindata INS-85642_PIXEL_SAMPLES = 1024 INS-85642_PIXEL_LINES = 1024 INS-85642_PIXEL_PITCH = 9.0E-3 INS-85642_PIXEL_SIZE = ( 9.0E-3 9.0E-3 ) INS-85642_CCD_CENTER = ( 512.5 512.5 ) \begintext LROC NAC Detector Layout: --------------------------------------------------------------------------- The following section contains the layout information for the LROC NAC-Left and NAC-Right detectors. Figure 2 depicts the layout for the two NAC instruments. The "1" in the figure identifies the location of the first pixel in the 5064 sample array for all NAC EDR and CDR products. Note: the first pixel for the NAC-R is captured on the opposite side, but the image is flipped when generating the EDR and subsequent CDR products. The change in orientation also causes the positive y-axis to flip from positive right to positive left. Figure 2: Overall NAC detector layout (not to scale) NAC-Left NAC-Right ^ | [1--------------B--------------*] Dir. [1--------------B---------------] of * <--> ~130 pixel overlap flight | x---> <---x V +Y,NAC-L +Y,NAC-R 1 = Sample #1 in LROC NAC-Left and Right EDR/CDR Files * = Sample #1 in original LROC NAC Science Files B = NAC boresight x---> = Positive Y axis for each NAC Given the geometry of the detector and optical system, sample 1 on the NAC-L detector has a focal plane coordinate of -17.829 mm and the sample 1 on the NAC-R detector has a focal plane coordinate of 17.465 mm. The NACs are mounted off nadir at 1.39 degrees in opposite directions to provide a 5.67 degrees combined across-track FOV (~10,000 pixels) with ~135 pixels of overlap between image pairs [3]. The NACs were set slightly offset (0.08 degrees) in the down-track direction to enable jitter analysis during post-processing. This overlap is not constant and is characterized with a set of dynamic frames which the LROC team distributes through a set of CKs (soc31 and lrolc) and the current frames kernel (lro_frames_2014011_v01.tf or later). Please use this IK with the latest LRO FK and the LROC generated CKs to ensure proper image orthorectification. LROC WAC Detector Layout: --------------------------------------------------------------------------- The following section contains the detector layout information for the LROC WAC. From [4]: The WAC is a push-frame camera capable of providing images in seven different color bands: 321, 360, 415, 566, 604, 643, and 689 nm. Like a push-broom camera, the WAC uses the motion of the spacecraft to build a complete 2-dimensional image. However, instead of capturing a single line, a push-frame camera acquires multiple lines, called framelets, during each integration. Light enters the WAC through two sets of optics, one designed for the visible bands and the second for the two ultraviolet wavelengths. At the base of the ultraviolet optics is a prism that redirects the light to a common CCD mounted under the visible optics. Seven narrow-band interference filters bonded over the detector array enable the WAC to acquire color images. The camera operates in two modes: monochrome and color. In the monochrome mode, nominally the 643nm band, the WAC acquires framelets that consist of 1024 samples and 14 lines. In color mode, the WAC acquires framelets for all seven bands, however due to limitations in the readout rate of the CCD array each visible framelet is limited to 704 samples and 14 lines. During the read out of the two ultraviolet framelets, which are each 512 samples and 16 lines, the framelets are binned (pixel averaging) on the spacecraft (4 x 4 pixels) resulting in a 128 x 4 pixel UV framelet. This strategy increases the signal-to-noise ratio for both ultraviolet bands, but reduces the ground sampling distance. Figure 3: WAC Detector Layout (not to scale) +----------------------------------------------------+ | | | <-UV mono/color 512 px-> | | | | [------- 321 nm -------] | | | | [------- 360 nm -------] | | | | | | | | | | | | <--------VIS mono mode (1024 samples)---------> | | <-VIS color mode (704 samples)-> | | | | [<----- [------------ 415 nm ------------] ----->] | | [<----- [------------ 566 nm ------------] ----->] | | [<----- [------------ 604 nm ------------] ----->] | | [<----- [------------ 643 nm ------------] ----->] | | [<----- [------------ 689 nm ------------] ----->] | | | | | +----------------------------------------------------+ Visible Filters --------------- Table 6: WAC Visible Filter -------- ------ -------------- ------------ ------- ------- Filter Band Band Center, Bandwidth, Start End # # nm nm Line Line -------- ------ -------------- ------------ ------- ------- 1 3 415 36 703 716 2 4 566 20 728 741 3 5 604 20 754 767 4 6 643 23 781 794 5 7 689 39 806 819 -------- ------ -------------- ------------ ------- ------- Figure 4: VIS filter layout summarized in table 6 ^ Line Number | s/c velocity ----------- v 703 +-----------------------------------------------+ | | | VIS Filter 1 | 14 rows | | 716 +-----------------------------------------------+ 728 +---------------------------------(11 dark rows)+ | | | VIS Filter 2 | 14 rows | +Xvis | 741 +--------------- ^ ----------------+ 1 754 +--------------- | ---(12 dark rows)+ 1 | | | 7 | VIS Filter 3 x----> | 14 rows | +Zvis +Yvis | l 767 +-------------- ----------------+ i 781 +---------------------------------(13 dark rows)+ n | | e | VIS Filter 4 | 14 rows s | | 794 +-----------------------------------------------+ 806 +---------------------------------(11 dark rows)+ | | | VIS Filter 5 | 14 rows | | 819 +-----------------------------------------------+ 704 or 1024 columns The set of keywords below contains wavelength center, bandwidth and detector offsets for each VIS filter. \begindata INS-85631_FILTER_BANDID = 3 INS-85631_FILTER_BANDCENTER = 415 INS-85631_FILTER_BANDWIDTH = 36 INS-85631_FILTER_OFFSET = 703 INS-85632_FILTER_BANDID = 4 INS-85632_FILTER_BANDCENTER = 566 INS-85632_FILTER_BANDWIDTH = 20 INS-85632_FILTER_OFFSET = 728 INS-85633_FILTER_BANDID = 5 INS-85633_FILTER_BANDCENTER = 604 INS-85633_FILTER_BANDWIDTH = 20 INS-85633_FILTER_OFFSET = 754 INS-85634_FILTER_BANDID = 6 INS-85634_FILTER_BANDCENTER = 643 INS-85634_FILTER_BANDWIDTH = 23 INS-85634_FILTER_OFFSET = 781 INS-85635_FILTER_BANDID = 7 INS-85635_FILTER_BANDCENTER = 689 INS-85635_FILTER_BANDWIDTH = 39 INS-85635_FILTER_OFFSET = 806 \begintext The following parameters describe the how the line and samples in each WAC framelet are translated into line and samples on the detector array. Due to readout limitations, WAC color observations do not read out all 1024 samples. Instead, the middle 704 samples are read from the detector. The WAC can acquire images in several difference operation modes: Color (VIS and UV), VIS only, UV Only, BW (704 samples), and BW (1024 samples). Typically, WAC images are acquired in either Color mode or in BW mode #3 where all 1024 samples are captured. BW modes #2 and $3 are also referred to as polar mode since they are used primarily for gathering multi-temporal sequences of the polar regions. The following tables and parameters define the sample offsets for each mode id and mode number. The sample offset refers to the number of samples skipped on the left side of the WAC CCD. Table 7: WAC operating mode and sample offset for VIS bands -------------------- ------ ---------- ---------- --------------- INSTRUMENT_MODE_ID MODE COMPRESS IMAGE NS SAMPLE OFFSET -------------------- ------ ---------- ---------- --------------- COLOR 0 no 704 160 COLOR 1 yes 704 160 VIS 0 no 704 160 VIS 1 yes 704 160 BW 0 no 704 160 BW 1 yes 704 160 BW 2 no 1024 0 BW 3 yes 1024 0 -------------------- ------ ---------- ---------- --------------- \begindata INS-85631_COLOR_SAMPLE_OFFSET = 160 INS-85631_VIS_SAMPLE_OFFSET = 160 INS-85631_BW0_SAMPLE_OFFSET = 160 INS-85631_BW1_SAMPLE_OFFSET = 160 INS-85631_BW2_SAMPLE_OFFSET = 0 INS-85631_BW3_SAMPLE_OFFSET = 0 INS-85632_COLOR_SAMPLE_OFFSET = 160 INS-85632_VIS_SAMPLE_OFFSET = 160 INS-85632_BW0_SAMPLE_OFFSET = 160 INS-85632_BW1_SAMPLE_OFFSET = 160 INS-85632_BW2_SAMPLE_OFFSET = 0 INS-85632_BW3_SAMPLE_OFFSET = 0 INS-85633_COLOR_SAMPLE_OFFSET = 160 INS-85633_VIS_SAMPLE_OFFSET = 160 INS-85633_BW0_SAMPLE_OFFSET = 160 INS-85633_BW1_SAMPLE_OFFSET = 160 INS-85633_BW2_SAMPLE_OFFSET = 0 INS-85633_BW3_SAMPLE_OFFSET = 0 INS-85634_COLOR_SAMPLE_OFFSET = 160 INS-85634_VIS_SAMPLE_OFFSET = 160 INS-85634_BW0_SAMPLE_OFFSET = 160 INS-85634_BW1_SAMPLE_OFFSET = 160 INS-85634_BW2_SAMPLE_OFFSET = 0 INS-85634_BW3_SAMPLE_OFFSET = 0 INS-85635_COLOR_SAMPLE_OFFSET = 160 INS-85635_VIS_SAMPLE_OFFSET = 160 INS-85635_BW0_SAMPLE_OFFSET = 160 INS-85635_BW1_SAMPLE_OFFSET = 160 INS-85635_BW2_SAMPLE_OFFSET = 0 INS-85635_BW3_SAMPLE_OFFSET = 0 \begintext UV Filters ------------ Table 8: WAC UV Filter -------- ------ -------------- ------------ ------- ------- Filter Band Band Center, Bandwidth, Start End # # nm nm Line Line -------- ------ -------------- ------------ ------- ------- 1 1 321 32 244 259 2 2 360 15 302 317 -------- ------ -------------- ------------ ------- ------- Figure 4: UV filter layout summarized in table 8 ^ Line Number | s/c velocity ----------- v 7 4 244 +-----------------------------------------------+ | UV Filter 1 | 16 rows l 259 |-----------------------------------------------| i 302 +---------------------------------(42 dark rows)+ n | UV Filter 2 | 16 rows e 317 +-----------------------------------------------+ s 512 columns Note:All values for the UV filters are before averaging. All images have 4x4 pixel averaging performed on chip, and thus the UV are 128 pixels by 4 lines. The set of keywords below contains wavelength center, bandwidth and detector row ranges for each UV filter. \begindata INS-85641_FILTER_BANDID = 1 INS-85641_FILTER_BANDCENTER = 321 INS-85641_FILTER_BANDWIDTH = 32 INS-85641_FILTER_OFFSET = 244 INS-85642_FILTER_BANDID = 2 INS-85642_FILTER_BANDCENTER = 360 INS-85642_FILTER_BANDWIDTH = 15 INS-85642_FILTER_OFFSET = 302 \begintext The following parameters describe how the line and samples in each WAC UV framelet are translated into line and samples on the detector array in native pixel geometry (before averaging). Table 9: WAC operating mode and sample offset for UV bands -------------------- -------- ---------- --------------- INSTRUMENT_MODE_ID MODE NATIVE SAMPLE OFFSET IMAGE NS -------------------- -------- ---------- --------------- COLOR 0 or 1 512 264 UV 0 or 1 512 264 -------------------- -------- ---------- --------------- \begindata INS-85641_COLOR_SAMPLE_OFFSET = 264 INS-85641_UV_SAMPLE_OFFSET = 264 INS-85641_BW0_SAMPLE_OFFSET = 264 INS-85641_BW1_SAMPLE_OFFSET = 264 INS-85641_BW2_SAMPLE_OFFSET = 0 INS-85641_BW3_SAMPLE_OFFSET = 0 INS-85642_COLOR_SAMPLE_OFFSET = 264 INS-85642_UV_SAMPLE_OFFSET = 264 INS-85642_BW0_SAMPLE_OFFSET = 264 INS-85642_BW1_SAMPLE_OFFSET = 264 INS-85642_BW2_SAMPLE_OFFSET = 0 INS-85642_BW3_SAMPLE_OFFSET = 0 \begintext LROC Field of View Parameters: --------------------------------------------------------------------------- This section contains definitions for both NACs and each WAC filter field of views (FOVs). These definitions are provided in a format consistent with the format required by the SPICE (CSPICE) function GETFOV (getfov_c). This kernel defines the FOV for each NAC camera as well as each of the LROC WAC filters: Table 8: LROC FOV IDs ------------- -------------------------- Name Frame ------------- -------------------------- NAC-L LRO_LROCNACL NAC-R LRO_LROCNACL WAC (415 nm) LRO_LROCWAC_VIS_FILTER_1 WAC (566 nm) LRO_LROCWAC_VIS_FILTER_2 WAC (604 nm) LRO_LROCWAC_VIS_FILTER_3 WAC (643 nm) LRO_LROCWAC_VIS_FILTER_4 WAC (689 nm) LRO_LROCWAC_VIS_FILTER_5 WAC (321 nm) LRO_LROCWAC_UV_FILTER_1 WAC (360 nm) LRO_LROCWAC_UV_FILTER_2 ------------- -------------------------- Each of the LROC FOVs is defined by a polygon made of 10 points. For the two NACs, point 1, 5, 6, 10 describe the instantaneous FOV for the entire line array. Points 2, 4, 7, and 9 describe the instantaneous FOV for the unmasked portion of the array. Points 3 and 8 are midpoints measurements located at the boresight sample. Each point takes into account the location of the NAC boresight and optical distortion. Figure 10: NAC FOV Definition 1 2 3 4 5 *----*---------------------*----------------------*----* |mask mask| |mask mask| *----*---------------------*----------------------*----* 10 9 8 7 6 For the WAC FOV parameters, point 1, 5, 6, 10 describe the corners of the instantaneous FOV for monochrome framelet, while points 2, 4, 7, and 8 describe the instantaneous FOV for the portion of the array read during color observation. Points 3 and 8 are midpoints measurements located at the boresight sample. All points can be used to get get the general shape of the individual framelet. Each point takes into account the location of the wavelength dependent boresight, focal length and optical distortion and exclude masked pixels. Figure 7: WAC FOV Definition 1 2 3 4 5 *--------*-----------------*------------------*--------* | mono mono | | only only | *--------*-----------------*------------------*--------* 10 9 8 7 6 <-------------------- Mono Image ---------------------> <---------- Color Image -----------> Narrow Angle Camera Left (NAC-L): \begindata INS-85600_FOV_FRAME = 'LRO_LROCNACL' INS-85600_FOV_SHAPE = 'POLYGON' INS-85600_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85600_FOV_BOUNDARY_CORNERS = ( 4.9738E-6 -2.5336E-2 1.0 4.9747E-6 -2.4943E-2 1.0 5.0027E-6 0.0000E+0 1.0 4.9750E-6 2.4805E-2 1.0 4.9745E-6 2.5032E-2 1.0 -4.9745E-6 2.5032E-2 1.0 -4.9750E-6 2.4805E-2 1.0 -5.0027E-6 0.0000E+0 1.0 -4.9747E-6 -2.4943E-2 1.0 -4.9738E-6 -2.5336E-2 1.0 ) \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_FOV_FRAME = 'LRO_LROCNACR' INS-85610_FOV_SHAPE = 'POLYGON' INS-85610_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85610_FOV_BOUNDARY_CORNERS = ( -4.9595E-6 -2.5472E-2 1.0 -4.9604E-6 -2.5080E-2 1.0 -4.9888E-6 0.0000E+0 1.0 -4.9616E-6 2.4520E-2 1.0 -4.9611E-6 2.4756E-2 1.0 4.9611E-6 2.4756E-2 1.0 4.9616E-6 2.4520E-2 1.0 4.9888E-6 0.0000E+0 1.0 4.9604E-6 -2.5080E-2 1.0 4.9595E-6 -2.5472E-2 1.0 ) \begintext Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_FOV_FRAME = 'LRO_LROCWAC_VIS_FILTER_1' INS-85631_FOV_SHAPE = 'POLYGON' INS-85631_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85631_FOV_BOUNDARY_CORNERS = ( 1.4621E-1 -9.9906E-1 1.0 1.2423E-1 -5.9295E-1 1.0 1.0979E-1 0.0000E+0 1.0 1.2471E-1 6.0358E-1 1.0 1.4811E-1 1.0300E+0 1.0 1.2136E-1 1.0275E+0 1.0 1.0224E-1 6.0239E-1 1.0 9.0048E-2 0.0000E+0 1.0 1.0185E-1 -5.9179E-1 1.0 1.1981E-1 -9.9659E-1 1.0 ) \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_FOV_FRAME = 'LRO_LROCWAC_VIS_FILTER_2' INS-85632_FOV_SHAPE = 'POLYGON' INS-85632_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85632_FOV_BOUNDARY_CORNERS = ( 9.4975E-2 -9.8954E-1 1.0 8.0858E-2 -5.8847E-1 1.0 7.1551E-2 0.0000E+0 1.0 8.1173E-2 5.9911E-1 1.0 9.6197E-2 1.0202E+0 1.0 6.9902E-2 1.0186E+0 1.0 5.9004E-2 5.9838E-1 1.0 5.2021E-2 0.0000E+0 1.0 5.8776E-2 -5.8776E-1 1.0 6.9015E-2 -9.8803E-1 1.0 ) \begintext Wide Angle Camera VIS Filter 3 (604 nm): \begindata INS-85633_FOV_FRAME = 'LRO_LROCWAC_VIS_FILTER_3' INS-85633_FOV_SHAPE = 'POLYGON' INS-85633_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85633_FOV_BOUNDARY_CORNERS = ( 4.3116E-2 -9.8593E-1 1.0 3.6725E-2 -5.8661E-1 1.0 3.2517E-2 0.0000E+0 1.0 3.6867E-2 5.9723E-1 1.0 4.3670E-2 1.0165E+0 1.0 1.7568E-2 1.0159E+0 1.0 1.4833E-2 5.9696E-1 1.0 1.3084E-2 0.0000E+0 1.0 1.4776E-2 -5.8635E-1 1.0 1.7345E-2 -9.8538E-1 1.0 ) \begintext Wide Angle Camera VIS Filter 4 (643 nm): \begindata INS-85634_FOV_FRAME = 'LRO_LROCWAC_VIS_FILTER_4' INS-85634_FOV_SHAPE = 'POLYGON' INS-85634_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85634_FOV_BOUNDARY_CORNERS = ( -1.0367E-2 -9.8327E-1 1.0 -8.8386E-3 -5.8558E-1 1.0 -7.8282E-3 0.0000E+0 1.0 -8.8728E-3 5.9620E-1 1.0 -1.0500E-2 1.0138E+0 1.0 -3.6536E-2 1.0142E+0 1.0 -3.0873E-2 5.9641E-1 1.0 -2.7237E-2 0.0000E+0 1.0 -3.0754E-2 -5.8578E-1 1.0 -3.6074E-2 -9.8369E-1 1.0 ) \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_FOV_FRAME = 'LRO_LROCWAC_VIS_FILTER_5' INS-85635_FOV_SHAPE = 'POLYGON' INS-85635_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85635_FOV_BOUNDARY_CORNERS = ( -5.9730E-2 -9.8274E-1 1.0 -5.0927E-2 -5.8529E-1 1.0 -4.5114E-2 0.0000E+0 1.0 -5.1124E-2 5.9590E-1 1.0 -6.0494E-2 1.0132E+0 1.0 -8.6619E-2 1.0146E+0 1.0 -7.3181E-2 5.9654E-1 1.0 -6.4564E-2 0.0000E+0 1.0 -7.2899E-2 -5.8591E-1 1.0 -8.5523E-2 -9.8406E-1 1.0 ) \begintext Wide Angle Camera UV Filter 1 (321 nm): \begindata INS-85641_FOV_FRAME = 'LRO_LROCWAC_UV_FILTER_1' INS-85641_FOV_SHAPE = 'POLYGON' INS-85641_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85641_FOV_BOUNDARY_CORNERS = ( 1.1130E-1 -5.5241E-1 1.0 1.1130E-1 -5.5241E-1 1.0 9.6841E-2 0.0000E+0 1.0 1.1189E-1 5.6405E-1 1.0 1.1189E-1 5.6405E-1 1.0 8.4782E-2 5.6245E-1 1.0 8.4782E-2 5.6245E-1 1.0 7.3427E-2 0.0000E+0 1.0 8.4343E-2 -5.5087E-1 1.0 8.4343E-2 -5.5087E-1 1.0 ) \begintext Wide Angle Camera UV Filter 2 (321nm): \begindata INS-85642_FOV_FRAME = 'LRO_LROCWAC_UV_FILTER_2' INS-85642_FOV_SHAPE = 'POLYGON' INS-85642_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85642_FOV_BOUNDARY_CORNERS = ( -1.7570E-2 -5.4320E-1 1.0 -1.7570E-2 -5.4320E-1 1.0 -1.5327E-2 0.0000E+0 1.0 -1.7659E-2 5.5449E-1 1.0 -1.7659E-2 5.5449E-1 1.0 -4.4109E-2 5.5498E-1 1.0 -4.4109E-2 5.5498E-1 1.0 -3.8276E-2 0.0000E+0 1.0 -4.3886E-2 -5.4367E-1 1.0 -4.3886E-2 -5.4367E-1 1.0 ) \begintext LROC NAC Distortion Model Parameters --------------------------------------------------------------------------- Following the geometric calibration described above and in [4], optical distortion coefficients were modeled prior to launch for each NAC. The LROC NAC distortion model has the following form: xd = (sample - BORESIGHT_SAMPLE) * PIXEL_PITCH r = xd xc = xd / (1+k1*r^2) where "xd" is the distorted position (the measured position), "k1" is the distortion coefficients, and "r" is the distance from the optical center, and "xc" is the corrected focal plane positions in mm. Recall the NAC CCDs are line scan cameras (single line CCD) so yd = 0 and subsequently yc = 0 is always true. The keywords below contain the unitless optical distortion coefficients for each NAC: Narrow Angle Camera Left (NAC-L): \begindata INS-85600_OD_K = 1.81E-5 \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_OD_K = 1.83E-5 \begintext The NAC camera model uses the following keywords to compute focal plane coordinates from CCD coordinates: Narrow Angle Camera Left (NAC-L): \begindata INS-85600_TRANSX = ( 0.0 0.0 7.0E-3 ) INS-85600_TRANSY = ( 0.0 7.0E-3 0.0 ) \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_TRANSX = ( 0.0 0.0, -7.0E-3 ) INS-85610_TRANSY = ( 0.0 -7.0E-3 0.0 ) \begintext The NAC camera model uses the following keywords to compute CCD coordinates from focal plane coordinates: Narrow Angle Camera Left (NAC-L): \begindata INS-85600_ITRANSS = ( 0.0 0.0 142.857 ) INS-85600_ITRANSL = ( 0.0 142.857 0.0 ) \begintext Narrow Angle Camera Right (NAC-R): \begindata INS-85610_ITRANSS = ( 0.0 0.0 -142.8571 ) INS-85610_ITRANSL = ( 0.0 -142.8571 0.0 ) \begintext LROC WAC Distortion Model Parameters --------------------------------------------------------------------------- Following the geometric calibration described above and in [4], optical distortion coefficients were modeled in-flight by registering thousands of WAC and NAC images. This model resulted in a distortion model with the following form (note: the form of the equation differs from the equation used for the NAC optical distortion): xc=xd*(1+k1*r^2+k2*r^4+k3*r^6) yc=yd*(1+k1*r^2+k2*r^4+k3*r^6) where r=sqrt (xd^2 + yd^2) where "xd" and "yd" are the distorted position (the measured position), "k1", "k2" and "k3" are the distortion coefficients, "r" is the distance from the optical center, and "xc" and "yc" are the corrected focal plane positions in mm. The following equations are used to calculate the distorted position from the framelet line and sample in the image: WAC-VIS (415, 566, 604, 643, and 689 nm): xd = (sample + SAMPLE_OFFSET - BORESIGHT_SAMPLE - 1) * PIXEL_PITCH yd = ( line + FILTER_OFFSET - BORESIGHT_LINE - 1) * PIXEL_PITCH WAC-UV (321 and 360 nm): xd = ((sample*4)+SAMPLE_OFFSET-BORESIGHT_SAMPLE-2.5) * PIXEL_PITCH yd = ((line*4) +FILTER_OFFSET- BORESIGHT_LINE -2.5) * PIXEL_PITCH The keywords below contain the unitless optical distortion coefficients for each WAC band: Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_OD_K = ( 0.011386711675385400 0.000147045813479870 5.038005020438670E-6 ) \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_OD_K = ( 0.011330137284110200 0.000147788496863675 4.870907327326350E-6 ) \begintext Wide Angle Camera VIS Filter 3 (604nm): \begindata INS-85633_OD_K = ( 0.011302901258765900 0.000147434788741622 4.928415719467750E-6 ) \begintext Wide Angle Camera VIS Filter 4 (643nm): \begindata INS-85634_OD_K = ( 0.011310945216635900 0.000144463288593614 4.887542512911270E-6 ) \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_OD_K = ( 0.011256422654674700 0.000146609439724495 4.808691643457560E-6 ) \begintext Wide Angle Camera UV Filter 1 (315nm): \begindata INS-85641_OD_K = ( 0.025824582751554600 4.661394835922340E-5 0.000144650735580122 ) \begintext Wide Angle Camera UV Filter 2 (360nm): \begindata INS-85642_OD_K = ( 0.025144400734802000 0.000226010616709640 0.000124071862326273 ) \begintext The LROC WAC Camera Model in ISIS uses the following keywords to compute focal plane coordinates from CCD coordinates (these values include a slight twist due to decentering in the optics): Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_TRANSX = ( 0.0 0.000000590365231 -0.008999999980637 ) INS-85631_TRANSY = ( 0.0 0.008999999980637 0.000000590365231 ) \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_TRANSX = ( 0.0 0.000000216143494 -0.008999999997405 ) INS-85632_TRANSY = ( 0.0 0.008999999997405 0.000000216143494 ) \begintext Wide Angle Camera VIS Filter 3 (604nm): \begindata INS-85633_TRANSX = ( 0.0 -0.000000085741007 -0.008999999999592 ) INS-85633_TRANSY = ( 0.0 0.008999999999592 -0.000000085741007 ) \begintext Wide Angle Camera VIS Filter 4 (643nm): \begindata INS-85634_TRANSX = ( 0.0 -0.000002600831484 -0.008999999624204 ) INS-85634_TRANSY = ( 0.0 0.008999999624204 -0.000002600831484 ) \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_TRANSX = ( 0.0 -0.000000668455587 -0.008999999975176 ) INS-85635_TRANSY = ( 0.0 0.008999999975176 -0.000000668455587 ) \begintext Wide Angle Camera UV Filter 1 (315nm): \begindata INS-85641_TRANSX = ( 0.0 0.000000311994535 -0.008999999994592 ) INS-85641_TRANSY = ( 0.0 0.008999999994592 0.000000311994535 ) \begintext Wide Angle Camera UV Filter 2 (360nm): \begindata INS-85642_TRANSX = ( 0.0 0.000001425859353 -0.008999999887051 ) INS-85642_TRANSY = ( 0.0 0.008999999887051 0.000001425859353 ) \begintext The LROC WAC Camera Model in ISIS uses the following keywords to compute CCD coordinates from focal plane coordinates (these values include a slight twist due to decentering in the optics): Wide Angle Camera VIS Filter 1 (415nm): \begindata INS-85631_ITRANSS = ( 0.0 0.0072884596481 111.1111108720638 ) INS-85631_ITRANSL = ( 0.0 -111.1111108720638 0.0072884596481 ) \begintext Wide Angle Camera VIS Filter 2 (566nm): \begindata INS-85632_ITRANSS = ( 0.0 0.0026684381921 111.1111110790686 ) INS-85632_ITRANSL = ( 0.0 -111.1111110790686 0.0026684381921 ) \begintext Wide Angle Camera VIS Filter 3 (604nm): \begindata INS-85633_ITRANSS = ( 0.0 -0.0010585309475 111.1111111060689 ) INS-85633_ITRANSL = ( 0.0 -111.1111111060689 -0.0010585309475 ) \begintext Wide Angle Camera VIS Filter 4 (643nm): \begindata INS-85634_ITRANSS = ( 0.0 -0.0321090306666 111.1111064716567 ) INS-85634_ITRANSL = ( 0.0 -111.1111064716567 -0.0321090306666 ) \begintext Wide Angle Camera VIS Filter 5 (689nm): \begindata INS-85635_ITRANSS = ( 0.0 -0.0082525381149 111.1111108046414 ) INS-85635_ITRANSL = ( 0.0 -111.1111108046414 -0.0082525381149 ) \begintext Wide Angle Camera UV Filter 1 (315nm): \begindata INS-85641_ITRANSS = ( 0.0 -0.0038517843825 111.1111110443480 ) INS-85641_ITRANSL = ( 0.0 -111.1111110443480 -0.0038517843825 ) \begintext Wide Angle Camera UV Filter 2 (360nm): \begindata INS-85642_ITRANSS = ( 0.0 0.0176032018930 111.1111097166839 ) INS-85642_ITRANSL = ( 0.0 -111.1111097166839 0.0176032018930 ) \begintext Deprecated LROC WAC Optical Parameters --------------------------------------------------------------------------- This section contains the deprecated optical parameters for the LROC WAC. These values were defined in v16 and earlier versions of the LROC IK. These values remain in the IK so that scripts and older versions of ISIS (3.4.4 and prior) continue to run. However, these values should not be used if at all possible. Table 11: First Order WAC Optical Parameters (*Deprecated*) ------------------------------- --------- --------- Parameter, Units WAC-VIS WAC-UV ------------------------------- --------- --------- Effective Focal Length, mm 6.013 4.693 F/Ratio, unitless 5.052 5.650 Spectral Band, nm #see section describing filters# Boresight Sample, pixel 513.9 515.3 Boresight Line, pixel 778.2 298.1 ------------------------------- --------- --------- Wide Angle Camera Visible Bands (WAC-VIS): First Order Optical Parameters: \begindata INS-85621_FOCAL_LENGTH = 6.013 INS-85621_F/RATIO = 5.052 INS-85621_BORESIGHT_SAMPLE = 513.9 INS-85621_BORESIGHT_LINE = 778.2 INS-85621_IFOV = 0.001498 \begintext Detector Parameters: \begindata INS-85621_PIXEL_SAMPLES = 1024 INS-85621_PIXEL_LINES = 1024 INS-85621_PIXEL_PITCH = 0.009 INS-85621_PIXEL_SIZE = ( 9 9 ) INS-85621_CCD_CENTER = ( 511.5 511.5 ) \begintext Detector Layout: \begindata INS-85621_FILTER_BANDID = (3 4 5 6 7) INS-85621_FILTER_BANDCENTER = (415 566 604 643 689) INS-85621_FILTER_BANDWIDTH = (36 20 20 23 39) INS-85621_FILTER_OFFSET = (703 728 754 781 806) INS-85621_COLOR_SAMPLE_OFFSET = 160 INS-85621_VIS_SAMPLE_OFFSET = 160 INS-85621_BW0_SAMPLE_OFFSET = 160 INS-85621_BW1_SAMPLE_OFFSET = 160 INS-85621_BW2_SAMPLE_OFFSET = 0 INS-85621_BW3_SAMPLE_OFFSET = 0 \begintext FOV parameters: \begindata INS-85621_FOV_FRAME = 'LRO_LROCWAC_VIS' INS-85621_FOV_SHAPE = 'RECTANGLE' INS-85621_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85621_FOV_CLASS_SPEC = 'ANGLES' INS-85621_FOV_REF_VECTOR = ( 0.0 1.0 0.0 ) INS-85621_FOV_REF_ANGLE = 45.8 INS-85621_FOV_CROSS_ANGLE = 45.8 INS-85621_FOV_ANGLE_UNITS = 'DEGREES' INS-85621_FOV_ANGULAR_SIZE = ( 1.60 0.0210 ) \begintext Optical Distortion Parameters: \begindata INS-85621_OD_K = ( -0.0099 -0.0005 ) INS-85621_TRANSX = ( 0.0 0.0 -0.009 ) INS-85621_TRANSY = ( 0.0 0.009 0.0 ) INS-85621_ITRANSS = ( 0.0 0.0 111.11111111111 ) INS-85621_ITRANSL = ( 0.0 -111.11111111111 0.0 ) \begintext Wide Angle Camera Ultraviolet Bands (WAC-UV): First Order Optical Parameters: \begindata INS-85626_FOCAL_LENGTH = 4.693 INS-85626_F/RATIO = 5.65 INS-85626_BORESIGHT_SAMPLE = 515.3 INS-85626_BORESIGHT_LINE = 298.1 INS-85626_IFOV = 0.00198 \begintext Detector Parameters: \begindata INS-85626_PIXEL_SAMPLES = 1024 INS-85626_PIXEL_LINES = 1024 INS-85626_PIXEL_PITCH = 0.009 INS-85626_PIXEL_SIZE = ( 9 9 ) INS-85626_CCD_CENTER = ( 511.5 511.5 ) \begintext Detector Layout: \begindata INS-85626_FILTER_BANDID = (1 2) INS-85626_FILTER_BANDCENTER = (321 360) INS-85626_FILTER_BANDWIDTH = (32 15) INS-85626_FILTER_OFFSET = (244 302) INS-85626_COLOR_SAMPLE_OFFSET = 264 INS-85626_UV_SAMPLE_OFFSET = 264 INS-85626_BW0_SAMPLE_OFFSET = 264 INS-85626_BW1_SAMPLE_OFFSET = 264 INS-85626_BW2_SAMPLE_OFFSET = 0 INS-85626_BW3_SAMPLE_OFFSET = 0 \begintext FOV parameters: \begindata INS-85626_FOV_FRAME = 'LRO_LROCWAC_UV' INS-85626_FOV_SHAPE = 'RECTANGLE' INS-85626_BORESIGHT = ( 0.0 0.0 1.0 ) INS-85626_FOV_CLASS_SPEC = 'ANGLES' INS-85626_FOV_REF_VECTOR = ( 0.0 1.0 0.0 ) INS-85626_FOV_REF_ANGLE = 30.1 INS-85626_FOV_CROSS_ANGLE = 30.1 INS-85626_FOV_ANGLE_UNITS = 'DEGREES' INS-85626_FOV_ANGULAR_SIZE = ( 1.05 0.0307 ) \begintext Optical Distortion Parameters: \begindata INS-85626_OD_K = ( -0.024 -0.0007 ) INS-85626_TRANSX = ( 0.0 0.0 -0.009 ) INS-85626_TRANSY = ( 0.0 0.009 0.0 ) INS-85626_ITRANSS = ( 0.0 0.0 111.11111111111 ) INS-85626_ITRANSL = ( 0.0 -111.11111111111 0.0 ) \begintext =========================================================================== Platform ID --------------------------------------------------------------------------- \begindata INS-85600_PLATFORM_ID = -85000 INS-85610_PLATFORM_ID = -85000 INS-85620_PLATFORM_ID = -85000 INS-85621_PLATFORM_ID = -85620 INS-85626_PLATFORM_ID = -85620 INS-85631_PLATFORM_ID = -85620 INS-85632_PLATFORM_ID = -85620 INS-85633_PLATFORM_ID = -85620 INS-85634_PLATFORM_ID = -85620 INS-85635_PLATFORM_ID = -85620 INS-85641_PLATFORM_ID = -85620 INS-85642_PLATFORM_ID = -85620 \begintext NAIF ID Code to Name Mapping --------------------------------------------------------------------------- \begindata NAIF_BODY_NAME += 'LRO_LROCNACL' NAIF_BODY_CODE += -85600 NAIF_BODY_NAME += 'LRO_LROCNACR' NAIF_BODY_CODE += -85610 NAIF_BODY_NAME += 'LRO_LROCWAC' NAIF_BODY_CODE += -85620 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS' NAIF_BODY_CODE += -85621 NAIF_BODY_NAME += 'LRO_LROCWAC_UV' NAIF_BODY_CODE += -85626 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_1' NAIF_BODY_CODE += -85631 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_2' NAIF_BODY_CODE += -85632 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_3' NAIF_BODY_CODE += -85633 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_4' NAIF_BODY_CODE += -85634 NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_5' NAIF_BODY_CODE += -85635 NAIF_BODY_NAME += 'LRO_LROCWAC_UV_FILTER_1' NAIF_BODY_CODE += -85641 NAIF_BODY_NAME += 'LRO_LROCWAC_UV_FILTER_2' NAIF_BODY_CODE += -85642 \begintext ===========================================================================