KPL/IK HRSC Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains Mars Express High Resolution Stereo Camera (HRSC) main camera and Super Resolution Channel (SRC) camera optics, detector, and field-of-view parameters. Version and Date --------------------------------------------------------------------------- Version 0.3 -- December 16, 2003 -- Boris Semenov, NAIF/JPL Updated focal length for SRC (988.6 mm instead of 975.0 mm) Corrected SRC size and central pixel location to be consistent with the values accepted by HRSC team. Corrected SRC diagram showing its relationship to the frame (it is rotated extra 90 degrees) and the cross- and along-track directions. Version 0.2 -- May 19, 2003 -- Boris Semenov, NAIF/JPL Cleaned up terminology and grammar. Version 0.1 -- November 4, 2002 -- Boris Semenov, NAIF/JPL Corrected error in HRSC/SRC FOV definition (replaced full angle, 0.54, degrees with half angle, 0.27 degrees, as GETFOV specification requires.) Replaced INS######_CENTER keywords with INS######_CCD_CENTER. Fixed acronym for the "RED" detector ("RD" was replaced with "RE".) Replaced SRC physical CCD sizes with active matrix sizes and added note clarifying the difference between them. Version 0.0 -- May 21, 2002 -- Boris Semenov, NAIF/JPL Initial release. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. ``HRSC ICD'', MSP01-97-0008, June 10, 1999 4. Mars Express Frames Definition Kernel (FK), latest version. 5. ``HRSC Geometric Calibration Data'', set of 9 ASCII tables provided by T. Roatsch/DLR, February 2002 6. ``HRSC On Mars Express'', presentation by R. Pischel, et al at HRSC Science Team Meeting, May 9-11, 2001 7. N/A 8. Review comments from Thomas Roatsch, HRSC Team, May-Nov 2002. 9. E-mails from Thomas Roatsch, Sep 11 & Dec 15, 2003. Implementation Notes -------------------------------------------------------- Applications that need SPICE I-kernel data must ``load'' the I-kernel file, normally during program initialization. Loading the kernel using the SPICELIB routine FURNSH causes the data items and their associated values present in the kernel to become associated with a data structure called the ``kernel pool''. The application program may then obtain the value(s) for any IK data item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL. Routine GETFOV may be used if the file contains instrument field-of-view (FOV) specification. See [1] for details. This file was created with, and can be updated with a text editor or word processor. Conventions for Specifying Data -------------------------------------------------------- Data items are specified using ``keyword=value'' assignments [1]. All keywords referencing values in this I-kernel start with the characters `INS' followed by the NAIF MEX instrument ID code, constructed using the spacecraft ID number (-41) followed by the NAIF three digit ID number for HRSC main camera head (210), individual HRSC line arrays (211-219) or SRC (220). These IDs are defined in [4] as follows: Instrument name ID -------------------- ------ MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the focal length of the main HRSC camera is specified by INS-41210_FOCAL_LENGTH The upper bound on the length of all keywords is 32 characters. If a keyword is included in more then one file, or if the same keyword appears more than once within a single file, the last assignment supersedes any earlier assignments. Overview -------------------------------------------------------- From [TBD]: "HRCS description. To be copied from TBD source provided by the HRSC team." Mounting Alignment -------------------------------------------------------- Refer to the latest version of the Mars Express Frames Definition Kernel (FK) [4] for the HRSC reference frame definitions and mounting alignment information. Detector Layout -------------------------------------------------------- This section provides a set of diagrams illustrating the HRSC line detector and SRC camera detector layout in the corresponding camera reference frames. HRSC Camera The HRSC camera includes 9 line detectors, each 5184 pixels long: Name Acronym -------------- ------- STEREO-1 S1 INFRARED IR PHOTOMETRIC-1 P1 GREEN GR NADIR ND BLUE BL PHOTOMETRIC-2 P2 RED RE STEREO-2 S2 The view directions of these detectors in the MEX_HRSC_HEAD frame are as follows: ^ s/c velocity | along track | View Direction of the central pixel of the line S1 .' `-. .'.' Yhrsc `-..'.'.' ^ .'`-.' | S1 .'.'.' `-. | IR .'.' .'.'`-. | Zhrsc P1 .' .'.'.' `-.| <--- <--------------.'.-----------o Nadir GR .'.'.' .' .' Focal ND .'.' .'.' .' Point BL .' .'.'.' v .'.'.' Xhrsc P2 .'.'.' RE .'.' S2 .' .' v' Cross-Track As seen on the diagram the view direction of the central pixel of the S1 (STEREO-1) line is in the (+Y,+Z) quadrant looking forward with regard to the s/c motion, while the view direction of the central pixel of the S2 line is in the (-Y,+Z) quadrant, looking backwards. Other pixel view directions extend from the focal point through the corresponding line point. This diagram shows view direction and HRSC camera head axes projected onto the Mars surface: ^ +Yhrsc -- s/c velocity/along track | | Pixel 1 | """"""""""""""|"""""""""""""" S1 """"""""""""""|"""""""""""""" IR """"""""""""""|"""""""""""""" P1 | | """"""""""""""|"""""""""""""" GR <------------------x """"""""""""" ND +Xhrsc """""""""" +Zhrsc """"""""""" BL cross-track boresight (into page) """"""""""""""""""""""""""""" P2 """"""""""""""""""""""""""""" RE """"""""""""""""""""""""""""" S2 5184 pixels SRC Camera The SRC camera comprises a single square CCD detector. The view directions of the corners and the axes of the MEX_HRSC_SRC frame projected onto the Mars surface look like this: ^ +Ysrc (cross-track) | Pixel | (1,1)-------|---------+ | | | | | | | | | | | | <-------------x | 1024 -------> +Xsrc | +Zsrc | lines direction of (along-track) | boresight | flight | (into page) | (s/c +Y axis) | | +-------------------+ 1024 pixels/line Optical Parameters -------------------------------------------------------- The following HRSC and SRC camera first order optical parameters are included in the data section below, taken from [6]: ----------------------------------------------------------------- parameter HRSC HRSC/SRC ----------------------------------------------------------------- Focal Length, mm 175.0 988.6 (4) f/ratio f/5.6 f/9.2 IFOV, rad/pixel 0.000040 0.0000092 Field of view (rad) Cross-track 0.200000 (1) 0.0094 (3) Along-track 0.659734 (2) 0.0094 (3) ----------------------------------------------------------------- (1) The HRSC main camera cross-track FOV is nominally 11.9 degrees. (2) The HRSC main camera combined along-track FOV size is assumed to be equal to the angular separation between the first and last line detectors. It is nominally equal to 2 * 18.9 degrees = 37.8 degrees, where 18.9 degrees is the nominal stereo angle. (3) The SRC along-track FOV is assumed to have the same size as the cross-track FOV -- nominally 0.54 degrees. (4) Actual calibrated FL from [9]; nominal value is 975.0 mm. Note that the value for HRSC cross-track FOV is not equal to the value of IFOV multiplied by the the number of pixels in the line arrays. This is due to the fact that [6] provided nominal reference values. This data section also provides nominal data for each of the HRSC main camera line detectors. In these, the FOV_ANGULAR_SIZE keyword's along- track FOV dimension is set to IFOV. Angular size values in the keywords are given radians, with the cross-track size being the first value and the along-track size being the second value in each pair. \begindata INS-41210_FOCAL_LENGTH = ( 175.0 ) INS-41210_F/RATIO = ( 5.6 ) INS-41210_FOV_ANGULAR_SIZE = ( 0.200, 0.659734 ) INS-41210_IFOV = ( 0.000040 ) INS-41211_FOCAL_LENGTH = ( 175.0 ) INS-41211_F/RATIO = ( 5.6 ) INS-41211_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41211_IFOV = ( 0.000040 ) INS-41212_FOCAL_LENGTH = ( 175.0 ) INS-41212_F/RATIO = ( 5.6 ) INS-41212_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41212_IFOV = ( 0.000040 ) INS-41213_FOCAL_LENGTH = ( 175.0 ) INS-41213_F/RATIO = ( 5.6 ) INS-41213_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41213_IFOV = ( 0.000040 ) INS-41214_FOCAL_LENGTH = ( 175.0 ) INS-41214_F/RATIO = ( 5.6 ) INS-41214_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41214_IFOV = ( 0.000040 ) INS-41215_FOCAL_LENGTH = ( 175.0 ) INS-41215_F/RATIO = ( 5.6 ) INS-41215_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41215_IFOV = ( 0.000040 ) INS-41216_FOCAL_LENGTH = ( 175.0 ) INS-41216_F/RATIO = ( 5.6 ) INS-41216_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41216_IFOV = ( 0.000040 ) INS-41217_FOCAL_LENGTH = ( 175.0 ) INS-41217_F/RATIO = ( 5.6 ) INS-41217_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41217_IFOV = ( 0.000040 ) INS-41218_FOCAL_LENGTH = ( 175.0 ) INS-41218_F/RATIO = ( 5.6 ) INS-41218_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41218_IFOV = ( 0.000040 ) INS-41219_FOCAL_LENGTH = ( 175.0 ) INS-41219_F/RATIO = ( 5.6 ) INS-41219_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41219_IFOV = ( 0.000040 ) INS-41220_FOCAL_LENGTH = ( 988.6 ) INS-41220_F/RATIO = ( 9.2 ) INS-41220_FOV_ANGULAR_SIZE = ( 0.0094, 0.0094 ) INS-41220_IFOV = ( 0.0000092 ) \begintext Detector CCD Parameters -------------------------------------------------------- The HRSC and SRC CCD detector geometry parameters are included in the data section below, taken from [6]: ----------------------------------------------------------------- parameter HRSC SRC ----------------------------------------------------------------- Pixel Size, microns Cross-track 7.0 9.0 Along-track 7.0 9.0 Detector Array Size Cross-track 5184 (2) 1024 (3) Along-track 1 (1) 1024 (3) Detector Array Center Cross-track 2592.5 512.5 Along-track 0.5 (1) 512.5 ----------------------------------------------------------------- (1) This dimension is given for individual line detectors, each of which is 1 pixel wide. No combined CCD dimensions are provided for the HRSC main camera because they are not applicable. (2) The HRSC sensor lines have 5272 "physical" pixels but only 5184 of them are active and used for image reconstruction and processing ([8]). (3) The SRC has 1032 pixels and 1024 lines; only 1024 pixels are transferred to the data processing unit; only 1016 samples are transmitted to Earth; and only 1008 lines and 1008 pixels are available after calibration [8]. The 1024 by 1024 CCD and (512.5,512.5) for its center were chosen by the HRSC team as a reference for geometric calibration. The values are given in microns for PIXEL_SIZE keywords and in counts for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords. \begindata INS-41211_PIXEL_SIZE = ( 7, 7 ) INS-41211_PIXEL_SAMPLES = ( 5184 ) INS-41211_PIXEL_LINES = ( 1 ) INS-41211_CCD_CENTER = ( 2592.5, 0.5 ) INS-41212_PIXEL_SIZE = ( 7, 7 ) INS-41212_PIXEL_SAMPLES = ( 5184 ) INS-41212_PIXEL_LINES = ( 1 ) INS-41212_CCD_CENTER = ( 2592.5, 0.5 ) INS-41213_PIXEL_SIZE = ( 7, 7 ) INS-41213_PIXEL_SAMPLES = ( 5184 ) INS-41213_PIXEL_LINES = ( 1 ) INS-41213_CCD_CENTER = ( 2592.5, 0.5 ) INS-41214_PIXEL_SIZE = ( 7, 7 ) INS-41214_PIXEL_SAMPLES = ( 5184 ) INS-41214_PIXEL_LINES = ( 1 ) INS-41214_CCD_CENTER = ( 2592.5, 0.5 ) INS-41215_PIXEL_SIZE = ( 7, 7 ) INS-41215_PIXEL_SAMPLES = ( 5184 ) INS-41215_PIXEL_LINES = ( 1 ) INS-41215_CCD_CENTER = ( 2592.5, 0.5 ) INS-41216_PIXEL_SIZE = ( 7, 7 ) INS-41216_PIXEL_SAMPLES = ( 5184 ) INS-41216_PIXEL_LINES = ( 1 ) INS-41216_CCD_CENTER = ( 2592.5, 0.5 ) INS-41217_PIXEL_SIZE = ( 7, 7 ) INS-41217_PIXEL_SAMPLES = ( 5184 ) INS-41217_PIXEL_LINES = ( 1 ) INS-41217_CCD_CENTER = ( 2592.5, 0.5 ) INS-41218_PIXEL_SIZE = ( 7, 7 ) INS-41218_PIXEL_SAMPLES = ( 5184 ) INS-41218_PIXEL_LINES = ( 1 ) INS-41218_CCD_CENTER = ( 2592.5, 0.5 ) INS-41219_PIXEL_SIZE = ( 7, 7 ) INS-41219_PIXEL_SAMPLES = ( 5184 ) INS-41219_PIXEL_LINES = ( 1 ) INS-41219_CCD_CENTER = ( 2592.5, 0.5 ) INS-41220_PIXEL_SIZE = ( 9, 9 ) INS-41220_PIXEL_SAMPLES = ( 1024 ) INS-41220_PIXEL_LINES = ( 1024 ) INS-41220_CCD_CENTER = ( 512.5, 512.5 ) \begintext Wavelength Ranges --------------------------------------------------------------------------- This section contains assignments specifying HRSC and SRC detector wavelength ranges. HRSC Camera The following line detector wavelength band center/width data are taken from [6]: ------------------------------------------- Detector Band Center, Bandwidth, # nanometers nanometers (1) ------------------------------------------- S1 675 180 RED 750 40 P2 675 180 BLUE 440 90 NADIR 675 180 GREEN 530 90 P1 675 180 IR 970 90 S1 675 180 ------------------------------------------- (1) in [6] the bandwidth was specified as 1/2 of the value provided in this table (i.e. +/- 90 for 180 bandwidth given above.) The set of assignments below specifies wavelength center and bandwidth for each detector, with units the same as in the table above. \begindata INS-41211_FILTER_BANDCENTER = ( 675 ) INS-41211_FILTER_BANDWIDTH = ( 180 ) INS-41212_FILTER_BANDCENTER = ( 750 ) INS-41212_FILTER_BANDWIDTH = ( 40 ) INS-41213_FILTER_BANDCENTER = ( 675 ) INS-41213_FILTER_BANDWIDTH = ( 180 ) INS-41214_FILTER_BANDCENTER = ( 440 ) INS-41214_FILTER_BANDWIDTH = ( 90 ) INS-41215_FILTER_BANDCENTER = ( 675 ) INS-41215_FILTER_BANDWIDTH = ( 180 ) INS-41216_FILTER_BANDCENTER = ( 530 ) INS-41216_FILTER_BANDWIDTH = ( 90 ) INS-41217_FILTER_BANDCENTER = ( 675 ) INS-41217_FILTER_BANDWIDTH = ( 180 ) INS-41218_FILTER_BANDCENTER = ( 970 ) INS-41218_FILTER_BANDWIDTH = ( 90 ) INS-41219_FILTER_BANDCENTER = ( 675 ) INS-41219_FILTER_BANDWIDTH = ( 180 ) \begintext SRC Camera No wavelength data has been made available for this camera at the time when this IK file was made. begindata INS-41220_FILTER_BANDCENTER = ( '?' ) INS-41220_FILTER_BANDWIDTH = ( '?' ) begintext FOV Definitions --------------------------------------------------------------------------- This section contains definitions for the HRSC main camera combined FOV, HRSC line detector individual FOVs, and SRC camera FOV. These definitions are provided in a format consistent required by the SPICE (CSPICE) function GETFOV (getfov_c). HRSC Camera Individual Line Detector FOVs The sets of keywords in the data section below define individual HRSC line detector FOVs with respect to the MEX_HRSC_HEAD frame. Each of these FOVS is a rectangle with the edges defined by the outer corners of the first and last pixels of that line detector. The boresight of each of these FOVs is defined such that it points along the detector center's view direction (with the center being the point between the two middle pixels.) The data from which the view directions for the corner pixels have been computed are provided in the camera geometric calibration tables ([5]). This reference specifies coordinates for each pixel of each line detector in the CCD plane -- the plane normal to the camera boresight (+Z axis) and located at the focal length behind the focal point. The view direction of each pixel can then be determined as a vector pointing from that pixel's location on that plane through the focal point, as illustrated by this diagram: Corner pixel view direction ^ Center pixel \ Y view <. \ ^ CCD plane direction `-. \ | `-. \ | .^ X `-. \ | .' `-.\ F | .' <-----------`o.-----o' Detector line in Z Focal \`-. | . the CCD plane point \ `-*' \ .'| Center pixel * | Corner pixel Assuming that the CCD plane coordinates of the first and last pixel of the detector line N are (Xf,Yf) and (Xl,Yl) and the coordinates of the two pixels on either side of the geometric middle point of the line are (Xm1,Ym1) and (Xm2,Ym2), the FOV definition for that line can be constructed as: INS_FOV_FRAME = 'MEX_HRSC_HEAD' INS_FOV_SHAPE = 'RECTANGLE' INS_BORESIGHT = ( -(Xm1+Xm2)/2, -(Ym1+Ym2)/2, FL ) INS_FOV_BOUNDARY_CORNERS = ( -(Xf-HP), -(Yf-HP), FL -(Xf-HP), -(Yf+HP), FL -(Xl+HP), -(Yl+HP), FL -(Xl+HP), -(Yl-HP), FL ) where HP is 1/2 of the pixel size, and FL is the focal length. The boresight and corner vectors included in the frame definition below have intentionally been left un-unitized to allow easier back tracking to the original calibration data and focal length and pixel size values defined earlier in this I-kernel. Refer to [7] for definitions of the keywords used in these assignments. \begindata INS-41211_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41211_FOV_SHAPE = 'RECTANGLE' INS-41211_BORESIGHT = ( -0.028300 -60.035700 175.000000 ) INS-41211_FOV_BOUNDARY_CORNERS = ( 18.128100 -60.032900 175.000000 18.128100 -60.039900 175.000000 -18.186200 -60.043500 175.000000 -18.186200 -60.036500 175.000000 ) INS-41212_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41212_FOV_SHAPE = 'RECTANGLE' INS-41212_BORESIGHT = ( -0.052100 -49.818000 175.000000 ) INS-41212_FOV_BOUNDARY_CORNERS = ( 18.112200 -49.816100 175.000000 18.112200 -49.823100 175.000000 -18.217400 -49.821800 175.000000 -18.217400 -49.814800 175.000000 ) INS-41213_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41213_FOV_SHAPE = 'RECTANGLE' INS-41213_BORESIGHT = ( -0.023700 -39.592400 175.000000 ) INS-41213_FOV_BOUNDARY_CORNERS = ( 18.145600 -39.597300 175.000000 18.145600 -39.604300 175.000000 -18.191600 -39.591500 175.000000 -18.191600 -39.584500 175.000000 ) INS-41214_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41214_FOV_SHAPE = 'RECTANGLE' INS-41214_BORESIGHT = ( 0.064300 -10.229000 175.000000 ) INS-41214_FOV_BOUNDARY_CORNERS = ( 18.184500 -10.219900 175.000000 18.184500 -10.226900 175.000000 -18.053200 -10.233100 175.000000 -18.053200 -10.226100 175.000000 ) INS-41215_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41215_FOV_SHAPE = 'RECTANGLE' INS-41215_BORESIGHT = ( 0.032200 -0.005800 175.000000 ) INS-41215_FOV_BOUNDARY_CORNERS = ( 18.174900 -0.002900 175.000000 18.174900 -0.009900 175.000000 -18.110800 -0.007700 175.000000 -18.110800 -0.000700 175.000000 ) INS-41216_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41216_FOV_SHAPE = 'RECTANGLE' INS-41216_BORESIGHT = ( 0.042600 10.213000 175.000000 ) INS-41216_FOV_BOUNDARY_CORNERS = ( 18.186200 10.232000 175.000000 18.186200 10.225000 175.000000 -18.100700 10.191500 175.000000 -18.100700 10.198500 175.000000 ) INS-41217_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41217_FOV_SHAPE = 'RECTANGLE' INS-41217_BORESIGHT = ( 0.031600 39.612600 175.000000 ) INS-41217_FOV_BOUNDARY_CORNERS = ( 18.202500 39.617200 175.000000 18.202500 39.610200 175.000000 -18.138900 39.603100 175.000000 -18.138900 39.610100 175.000000 ) INS-41218_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41218_FOV_SHAPE = 'RECTANGLE' INS-41218_BORESIGHT = ( 0.015100 49.903900 175.000000 ) INS-41218_FOV_BOUNDARY_CORNERS = ( 18.198200 49.912100 175.000000 18.198200 49.905100 175.000000 -18.169300 49.890100 175.000000 -18.169300 49.897100 175.000000 ) INS-41219_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41219_FOV_SHAPE = 'RECTANGLE' INS-41219_BORESIGHT = ( 0.021500 60.057200 175.000000 ) INS-41219_FOV_BOUNDARY_CORNERS = ( 18.187000 60.064100 175.000000 18.187000 60.057100 175.000000 -18.142000 60.040600 175.000000 -18.142000 60.047600 175.000000 ) \begintext HRSC Camera Combined FOV The set of assignments in the data section below defines the combined HRSC main camera FOV with respect to the MEX_HRSC_HEAD frame to be a rectangle with the edges defined by the outer corners of the first and last pixels of the S1 and S2 detectors and the boresight along the +Z axis of the MEX_HRSC_HEAD frame. The corner view direction are taken from the corresponding individual detector FOV defined in the previous section. \begindata INS-41210_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41210_FOV_SHAPE = 'RECTANGLE' INS-41210_BORESIGHT = ( 0.000000 0.000000 175.000000 ) INS-41210_FOV_BOUNDARY_CORNERS = ( 18.187000 60.064100 175.000000 18.128100 -60.039900 175.000000 -18.186200 -60.043500 175.000000 -18.142000 60.047600 175.000000 ) \begintext SRC Camera FOV The set of assignments in the data section below defines the SRC FOV with respect to the MEX_HRSC_SRC frame to be a rectangle with the corners defined by the first and last pixels of the first and last lines of the CCD and the boresight along the +Z axis of the MEX_HRSC_SRC frame. This FOV definition uses angular extent style specification with the cross and along track angular sizes taken from the ``Optics Parameters'' section above. \begindata INS-41220_FOV_FRAME = 'MEX_HRSC_SRC' INS-41220_FOV_SHAPE = 'RECTANGLE' INS-41220_BORESIGHT = ( 0.000000 0.000000 988.600000 ) INS-41220_FOV_CLASS_SPEC = 'ANGLES' INS-41220_FOV_REF_VECTOR = ( 1.000000 0.000000 0.000000 ) INS-41220_FOV_REF_ANGLE = ( 0.27 ) INS-41220_FOV_CROSS_ANGLE = ( 0.27 ) INS-41220_FOV_ANGLE_UNITS = 'DEGREES' \begintext Optical Distortion -------------------------------------------------------- This section provides optical distortion and geometric calibration data for HRSC and SRC cameras. HRSC Camera The optical distortion for the HRSC provided in [5] has not been included in this version of the I-kernel. SRC Camera The optical distortion for the SRC camera was not available at the time when this version of the IK was released. Platform ID --------------------------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the cameras are mounted. For both cameras this platform is the spacecraft. \begindata INS-41210_PLATFORM_ID = ( -41000 ) INS-41220_PLATFORM_ID = ( -41000 ) \begintext