KPL/IK HIRISE Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains MRO High Resolution Imaging Science Experiment (HIRISE) optics, detector, and field-of-view parameters. The version 1.0 of this IK must be used with the MRO FK versions 1.3 or earlier. The version 1.1 of this IK must be used with the MRO FK versions 1.4 or later. Version and Date --------------------------------------------------------------------------- Version 1.2 -- May 24, 2011 -- Boris Semenov, NAIF/JPL Added a note about the round trip, round off errors at the level of a few 10^-2 pixels when using TRANS[XY] to go from line/sample to position x/y in the focal plane and then ITRANS[SL] to do the inverse. No changes in the data values in Version 1.2 compared to Version 1.1. Version 1.1 -- February 24, 2009 -- Boris Semenov, NAIF/JPL Incorporated USGS ISIS 3 HiRISE Instrument Kernel ``hiriseAddendum003aaa.ti'' providing updated CCD positions by shifting whole focal plane 5 mm to match analysis by Randy Kirk (USGS) of camera distortions of star images. Version 1.0 -- June 7, 2007 -- Boris Semenov, NAIF/JPL Initial release. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. MRO Frames Definition Kernel (FK), latest version. 4. ``SIS for HIRISE EDR Products'', Ver 1.1.1, March 17, 2006. 5. ``hiriseAddendum003.ti'' IK file by USGS, Flagstaff, included ``as is'' at the bottom of this IK. 6. ``hiriseAddendum003aaa.ti'' IK file by USGS, Flagstaff, included ``as is'' at the bottom of this IK. 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 MRO instrument ID code, constructed using the spacecraft ID number (-74) followed by the NAIF three digit ID number for HIRISE (699) or one of its detectors (600..613). These IDs are defined in [3] as follows: Instrument name ID -------------------- ------- MRO_HIRISE -74699 MRO_HIRISE_CCD0 -74600 MRO_HIRISE_CCD1 -74601 MRO_HIRISE_CCD2 -74602 MRO_HIRISE_CCD3 -74603 MRO_HIRISE_CCD4 -74604 MRO_HIRISE_CCD5 -74605 MRO_HIRISE_CCD6 -74606 MRO_HIRISE_CCD7 -74607 MRO_HIRISE_CCD8 -74608 MRO_HIRISE_CCD9 -74609 MRO_HIRISE_CCD10 -74610 MRO_HIRISE_CCD11 -74611 MRO_HIRISE_CCD12 -74612 MRO_HIRISE_CCD13 -74613 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 HIRISE camera is specified by INS-74699_FOCAL_LENGTH The upper bound on the length of all keywords is 32 characters. If a keyword is included in more than one file, or if the same keyword appears more than once within a single file, the last assignment supersedes any earlier assignments. Overview -------------------------------------------------------- From [4]: The HiRISE camera is a "pushbroom" imaging system featuring a 0.5 m aperture telescope with a 12 m focal length and 14 CCD detectors capable of generating images of up to 20,264 cross-scan observation pixels (exclusive of overlap pixels) and 65,000 unbinned scan lines (Table 2.0). The HiRISE instrument capabilities include the acquisition of: (1) observations of the Mars surface from orbit with a ground sampling dimension between 25 and 32 cm/pixel, depending on the orbital altitude, along with an intrinsic point spread function of 1.4 pixels (full width at half maximum assuming no spacecraft jitter) and high signal-to-noise ratio (SNR), (2) high-resolution topographic data from stereo observations with a vertical precision of ~0.2 m over areas of ~5x5 pixels (~1.5 m), and (3) observations in 3 colors with high radiometric fidelity. A key instrument design feature includes Charge Couple Device (CCD) detectors with up to 128 lines of Time Delay and Integration (TDI) to create high (>100:1) SNR in the Red filter bandpass anywhere on Mars. At the nominal 300 km MRO orbital altitude the instrument can acquire image swaths of approximately 6 kilometers cross-orbit and 20 kilometers along-orbit. Table 2.0 - HiRISE Instrument Performance ----------------------------------------------------------------------- Parameter Performance Comments ----------------------------------------------------------------------- Ground Sample Distance 30 cm/pixel From 300 km altitude (GSD ) ----------------------------------------------------------------------- Telescope Aperture 0.5 m, f/24 For resolution and Signal to Noise ratio ----------------------------------------------------------------------- Spectral range 500 nm (400-600) Blue-Green 700 nm (550-850) Red 900 nm (800-1100) Near infrared ----------------------------------------------------------------------- SNR Blue-Green Typically 100:1 Achieved with Time Delay Red Typically 200:1 Integration, backside NIR Typically 100:1 thinned CCDs, and 50 cm aperture ----------------------------------------------------------------------- Swath Width Blue-Green > 1.2 km From 300 km altitude Red > 6 km NIR > 1.2 km ----------------------------------------------------------------------- Swath length > 2x swath width Along track ----------------------------------------------------------------------- Data Precision 14 bit Analog to 12 to 13 usable bits Digital Converters ----------------------------------------------------------------------- Data Compression Real-time 14 to Look-up table 8 bit 1, 2, 3, 4, 8, 16 Pixel binning increases areal coverage Lossless ~ 2:1 compression compression on Solid State Recorder (8-bit only) ----------------------------------------------------------------------- Camera memory 28 Gbits All channels ----------------------------------------------------------------------- Number of pixels 4,048 Blue-Green From swath width and across swath 20,264 Red pixel scale 4,048 NIR ----------------------------------------------------------------------- TDI line time >=74 mksec Set to match ground track speed ----------------------------------------------------------------------- CCD read noise < 50 electrons rms Achieve SNR at low at 22 deg C signal levels ----------------------------------------------------------------------- FOV 1.14 x 0.18 deg ----------------------------------------------------------------------- IFOV 1 x 1 mkrad Detector angular subtense ----------------------------------------------------------------------- Relative Radiometry < 1 % pixel to Absolute 20% pixel ----------------------------------------------------------------------- Mounting Alignment -------------------------------------------------------- Refer to the latest version of the MRO Frames Definition Kernel (FK) [3] for the HIRISE reference frame definitions and mounting alignment information. CCD FOV Layout -------------------------------------------------------- This section provides a diagram illustrating the HIRISE CCD nomenclature and layout (from [4]): ------ | IR10 | ------ ------ | IR11 | ------ ------ ------ ------ ------ ------ | RED0 | | RED2 | | RED4 | | RED6 | | RED8 | ------ ------ ------ ------ ------ ------ ------ ------ ------ ------ | RED1 | | RED3 | | RED5 | | RED7 | | RED9 | ------ ------ ------ ------ ------ ------ | BG12 | ------ ------ | BG13 | ------ +Yhirise +Zhirise (nadir) <------x | | | V +Xhirise (s/c velocity) The keywords below provide the CCD names and the corresponding CCD Processing and Memory Module (CPMM) IDs: \begindata INS-74600_NAME = ( 'RED0' ) INS-74601_NAME = ( 'RED1' ) INS-74602_NAME = ( 'RED2' ) INS-74603_NAME = ( 'RED3' ) INS-74604_NAME = ( 'RED4' ) INS-74605_NAME = ( 'RED5' ) INS-74606_NAME = ( 'RED6' ) INS-74607_NAME = ( 'RED7' ) INS-74608_NAME = ( 'RED9' ) INS-74609_NAME = ( 'RED9' ) INS-74610_NAME = ( 'IR10' ) INS-74611_NAME = ( 'IR11' ) INS-74612_NAME = ( 'BG12' ) INS-74613_NAME = ( 'BG13' ) INS-74600_CPMM = ( 0 ) INS-74601_CPMM = ( 1 ) INS-74602_CPMM = ( 2 ) INS-74603_CPMM = ( 3 ) INS-74604_CPMM = ( 5 ) INS-74605_CPMM = ( 8 ) INS-74606_CPMM = ( 10 ) INS-74607_CPMM = ( 11 ) INS-74608_CPMM = ( 12 ) INS-74609_CPMM = ( 13 ) INS-74610_CPMM = ( 6 ) INS-74611_CPMM = ( 7 ) INS-74612_CPMM = ( 4 ) INS-74613_CPMM = ( 9 ) \begintext CCD Parameters -------------------------------------------------------- Each of the 14 HIRISE CCD detectors has the following nominal geometry parameters, from [4]: ------------------------------------------------ parameter value ------------------------------------------------ Pixel Size, microns 12 x 12 Detector Array Size Samples 2048 Lines 128 Detector Array Center 1024.5, 64.5 ------------------------------------------------ The CCD detector corner based pixel numbering convention is shown on this diagram: 1, 1 samples -----> 2048, 1 ._______________________________________________. | | | | | | | | | | | | * 1024.5, 64.5 | | lines | | | | |<----- channel 1 ----->|<----- channel 0 ----->| V | | | ._______________________._______________________. 1, 128 1024|1025 2048, 128 +Yhirise +Zhirise (nadir) <------x | | | V +Xhirise (s/c velocity) The values are given in millimeters for PIXEL_SIZE keywords and in counts for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords. \begindata INS-74600_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74600_PIXEL_SAMPLES = ( 2048 ) INS-74600_PIXEL_LINES = ( 128 ) INS-74600_CCD_CENTER = ( 1024.5, 64.5 ) INS-74601_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74601_PIXEL_SAMPLES = ( 2048 ) INS-74601_PIXEL_LINES = ( 128 ) INS-74601_CCD_CENTER = ( 1024.5, 64.5 ) INS-74602_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74602_PIXEL_SAMPLES = ( 2048 ) INS-74602_PIXEL_LINES = ( 128 ) INS-74602_CCD_CENTER = ( 1024.5, 64.5 ) INS-74603_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74603_PIXEL_SAMPLES = ( 2048 ) INS-74603_PIXEL_LINES = ( 128 ) INS-74603_CCD_CENTER = ( 1024.5, 64.5 ) INS-74604_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74604_PIXEL_SAMPLES = ( 2048 ) INS-74604_PIXEL_LINES = ( 128 ) INS-74604_CCD_CENTER = ( 1024.5, 64.5 ) INS-74605_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74605_PIXEL_SAMPLES = ( 2048 ) INS-74605_PIXEL_LINES = ( 128 ) INS-74605_CCD_CENTER = ( 1024.5, 64.5 ) INS-74606_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74606_PIXEL_SAMPLES = ( 2048 ) INS-74606_PIXEL_LINES = ( 128 ) INS-74606_CCD_CENTER = ( 1024.5, 64.5 ) INS-74607_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74607_PIXEL_SAMPLES = ( 2048 ) INS-74607_PIXEL_LINES = ( 128 ) INS-74607_CCD_CENTER = ( 1024.5, 64.5 ) INS-74608_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74608_PIXEL_SAMPLES = ( 2048 ) INS-74608_PIXEL_LINES = ( 128 ) INS-74608_CCD_CENTER = ( 1024.5, 64.5 ) INS-74609_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74609_PIXEL_SAMPLES = ( 2048 ) INS-74609_PIXEL_LINES = ( 128 ) INS-74609_CCD_CENTER = ( 1024.5, 64.5 ) INS-74610_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74610_PIXEL_SAMPLES = ( 2048 ) INS-74610_PIXEL_LINES = ( 128 ) INS-74610_CCD_CENTER = ( 1024.5, 64.5 ) INS-74611_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74611_PIXEL_SAMPLES = ( 2048 ) INS-74611_PIXEL_LINES = ( 128 ) INS-74611_CCD_CENTER = ( 1024.5, 64.5 ) INS-74612_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74612_PIXEL_SAMPLES = ( 2048 ) INS-74612_PIXEL_LINES = ( 128 ) INS-74612_CCD_CENTER = ( 1024.5, 64.5 ) INS-74613_PIXEL_SIZE = ( 0.012, 0.012 ) INS-74613_PIXEL_SAMPLES = ( 2048 ) INS-74613_PIXEL_LINES = ( 128 ) INS-74613_CCD_CENTER = ( 1024.5, 64.5 ) \begintext The CCD detector center based pixel numbering convention used in USGS ISIS 3 camera model ([5]) is shown on this diagram: -1023.5, -63.5 samples -----> 1023.5, -63.5 ._______________________________________________. | | | | | | | | | | | | * 0, 0 | | lines | | | | |<----- channel 1 ----->|<----- channel 0 ----->| V | | | ._______________________._______________________. -1023.5, 63.5 -0.5|0.5 1023.5, 63.5 +Yhirise +Zhirise (nadir) <------x | | | V +Xhirise (s/c velocity) In TDI the last line that observes the scene is always the top line of the CCD while the first line observing the scene is "TDI" lines down the CCD, as shown on this diagram: ._______________________________________________. last line | | | ^ | | | | TDI | | | | lines | | | v | | | first line |<----- channel 1 ----->|<----- channel 0 ----->| | | | ._______________________._______________________. +Yhirise +Zhirise (nadir) <------x | | | V +Xhirise (s/c velocity) The numbers of TDI lines depends on the commanded TDI mode. FOV Parameters and Definition --------------------------------------------------------------------------- The following HIRISE FOV and IFOV parameters are provided by keywords in this section (all values are nominal values from [4]): ------------------------------------------------ parameter value ------------------------------------------------ IFOV, rad/pixel 0.000001 Field of view (deg) 1.14 x 0.18 ------------------------------------------------ Angular size values in the keywords are given in radians. \begindata INS-74699_FOV_ANGULAR_SIZE = ( 0.01989675, 0.00314159 ) INS-74699_IFOV = ( 0.000001, 0.000001 ) \begintext The set of keywords below contains definition of the HIRISE FOV. This definition is provided in the format required by the SPICE (CSPICE) function GETFOV (getfov_c). It defines the HIRISE FOV with respect to the MRO_HIRISE_LOOK_DIRECTION frame to be a rectangle with the nominal sizes specified above. \begindata INS-74699_FOV_FRAME = 'MRO_HIRISE_LOOK_DIRECTION' INS-74699_FOV_SHAPE = 'RECTANGLE' INS-74699_BORESIGHT = ( 0.000000 0.000000 1.000000 ) INS-74699_FOV_CLASS_SPEC = 'ANGLES' INS-74699_FOV_REF_VECTOR = ( 0.000000 1.000000 0.000000 ) INS-74699_FOV_REF_ANGLE = ( 0.57 ) INS-74699_FOV_CROSS_ANGLE = ( 0.09 ) INS-74699_FOV_ANGLE_UNITS = 'DEGREES' \begintext A Recipe for Computing Observation Time and CCD Pixel View Direction --------------------------------------------------------------------------- The following recipe explains how starting with a HIRISE EDR pixel identified by its line (l) and sample (s) determine the ephemeris time (et) at which this pixel made observation and the pixel view direction (v) in the HIRISE frame (MRO_HIRISE_OPTICAL_AXIS). The following values from the EDR label will be needed: - "bsclk", the image start time from the keyword SPACECRAFT_CLOCK_START_COUNT (p/ssssssssss.fffff) - "binning", binning mode ID from the keyword BINNING (1,2,3,4,8,16) - "tdi", TDI mode ID from the keyword TDI (8,32,64,128) - "dline", additional TDI line delay from the keyword DELTA_LINE_TIME_COUNT (an integer number) - "chan", channel ID from the keyword CHANNEL_NUMBER (0 or 1) The following IK parameters will be needed as well: - "cen_s" and "cen_l", the CCD center coordinates from INS-74???_CCD_CENTER keywords - parameters from the ``hiriseAddendum003.ti'' USGS ISIS 3 IK included at the end of this IK file. Step A: Compute ephemeris time (et) for the middle point of the TDI ------- line block 1) compute line rate in seconds lr = ( 74.0 + ( dline / 16.0 ) ) / 1000000 2) compute binned line rate lrb = lr * binning 3) convert first line sclk to et using high precision MRO SPICE SCLK (-74999) bsclk -> et 4) compute et of the last line in the TDI block that was recorded into this EDR line (l) et = et + l * lrb 5) adjust et time to be for the middle point of the TDI block et = et - lr * ( ( tdi / 2 ) - 0.5 ) 6) adjust et time for binning et = et + lr * ( ( binning / 2 ) - 0.5 ) Step B: Compute the index of the physical CCD line in the middle ------- of the TDI block with respect to CCD center that was exposed at this et 1) compute un-binned number of the CCD line in the middle of TDI block ccdLine_c = -64 + ( tdi / 2 ) 2) adjust CCD line number for binning ccdLine_c = ccd_lnum - ( ( binning / 2 ) - 0.5 ) Step C: Compute the index of the physical CCD pixel corresponding ------- to this EDR pixel with respect to the CCD center 1) compute unbinned pixel index from binned pixels with respect to the image "corner" ccdSample_c = ( s - 0.5 ) * binning + 0.5 2) adjust unbinned pixel index to be with respect to the CCD center: ccdSample_c = ccdSample_c + off_s - cen_s where off_s=0 for channel 1 and off_s=1025.0 for channel 0 Step D: Compute focal plane coordinates for physical CCD line and ------- sample 1) start with ccdSample_c and ccdLine_c and use formulas and values from the "computing focal plane coords from CCD coords" section of the ``hiriseAddendum003.ti'' IK ccdSample_c, ccdLine_c --> x, y Step E: Compute ideal focal plane coordinates from distorted ------- coordinates 1) start with x, y and use formulas and values from the "optical distortion parameters" section of the ``hiriseAddendum003.ti'' IK x, y --> xp, yp Step F: Construct view vector in the ``MRO_HIRISE_OPTICAL_AXIS'' ------- frame 1) Used computed xp, yp and focal length from the ``hiriseAddendum003.ti'' IK v = [xp, yp, fl] USGS ISIS 3 HiRISE Instrument Kernel ``hiriseAddendum003aaa.ti'' =========================================================================== This instrument kernel (I-kernel) contains parameters that describe the Mars Reconnaissance Orbiter HiRISE (High Resolution Imaging Science Experiment) instrument model used by UGSG's ISIS 3. This model is defined with respect to the MRO_HIRISE_OPTICAL_AXIS frame. ``hiriseAddendum003aaa.ti'' Version and Date ------------------------------------------------------------- Version 1.0 -- February 16, 2005 -- Jim Torson, USGS, Flagstaff, AZ Initial version. Version 1.1 -- April 5, 2006 -- Kris Becker USGS. Added entries so NADIR pointing can be utilized. These entries are identified with prefixes of INS-74699. They can be any CCD measurement but this one so happens to CCD #0. Version 1.2 -- May 10, 2006 -- Kris Becker USGS Update focal length from 12056.0189 to 11994.9988 per Randy's email of 2006/04/26. Version 1.3 -- April, 2008 -- Laszlo Keszthelyi USGS Updated CCD positions by shifting whole focal plane 5 mm to match analysis by Randy Kirk (USGS) of camera distortions of star images. ``hiriseAddendum003aaa.ti'' Data ------------------------------------------------------------- \begindata INS-74699_PLATFORM_ID = -74000 INS-74699_SPK_TIME_BIAS = 0.0 INS-74699_CK_TIME_BIAS = 0.0 INS-74699_CK_TIME_TOLERANCE = 1 \begintext The following is the focal length, which is expressed in MILLIMETERS. This value comes from Randy Kirk's December 21, 2004 email (HiRISE optical distortion report). This is the Version 2 value (EFL and balanced optical distortion). This was the initial value until 2006/05/10. INS-74699_FOCAL_LENGTH = 12056.0189 \begindata INS-74699_FOCAL_LENGTH = 11994.9988 \begintext The following is the pixel pitch, which is the distance between adjacent pixels on the CCD arrays. This is expressed in MILLIMETERS per pixel. \begindata INS-74699_PIXEL_PITCH = 12.0E-3 \begintext The following are the optical distortion parameters. These are used to transform from observed (distorted) coordinates (unprimed, e.g., x) to ideal coordinates (primed, e.g., xp). Both sets of coordinates are expressed in millimeters. These are used as described in Randy Kirk's December 21, 2004 email (ISIS 3 sensor models, take 2). From Randy's email (assuming x0 and y0 are zero): r=sqrt(x^2 + y^2) dr = k0*r + k1*r3 + k2*r^5 rp = r - dr xp = x * (rp/r), similarly for yp or, rearranging a bit, we have a more efficient version: r^2 = x^2 + y^2 dr/r = k0 + r^2*(k1 + r^2*k2) xp = x - (dr/r)*x yp = y - (dr/r)*y (Randy's original email had a "+" in these last two equations, which is incorrect.) The optical distortion parameters below come from Randy Kirk's December 21, 2004 email (HiRISE optical distortion report): \begindata INS-74699_OD_K = ( -0.0048509, 2.41312E-07, -1.62369E-13) \begintext The following are the parameters for computing focal plane coords from CCD coords. The last two characters of the parameter names are the HiRISE detector number (00 to 13). For a given detector number, these allow computation of focal plane coordinates (in millimeters) from "centered" detector coordinates in pixels (0,0 is the center of the detector array) as described in Randy Kirk's December 21, 2004 email (ISIS3 sensor models, take 2), i.e., x = transx[0] + transx[1]*ccdSample_c + transx[2]*ccdLine_c y = transy[0] + transy[1]*ccdSample_c + transy[2]*ccdLine_c The parameter values come from the spreadsheet attached to Randy Kirk's December 22, 2004 email (HiRISE pixel to focal plane). The INS-74699_TRANS[XY] is new and needed to support Nadir pointing CK simulations now supported in ISIS. \begindata INS-74699_TRANSX=( -96.3935, -0.000057, 0.012000) INS-74699_TRANSY=( 107.9956, -0.012000, -0.000057) INS-74600_TRANSX=( -96.3935, -0.000057, 0.012000) INS-74600_TRANSY=( 112.9956, -0.012000, -0.000057) INS-74601_TRANSX=( -89.4914, -0.000042, 0.012000) INS-74601_TRANSY=( 88.9950, -0.012000, -0.000042) INS-74602_TRANSX=( -96.9459, -0.000034, 0.012000) INS-74602_TRANSY=( 65.0469, -0.012000, -0.000034) INS-74603_TRANSX=( -89.4927, -0.000018, 0.012000) INS-74603_TRANSY=( 41.0380, -0.012000, -0.000018) INS-74604_TRANSX=( -96.4998, 0.000002, 0.012000) INS-74604_TRANSY=( 16.9992, -0.012000, 0.000002) INS-74605_TRANSX=( -89.4960, -0.000001, 0.012000) INS-74605_TRANSY=( -7.0010, -0.012000, -0.000001) INS-74606_TRANSX=( -96.6811, 0.000019, 0.012000) INS-74606_TRANSY=( -30.9996, -0.012000, 0.000019) INS-74607_TRANSX=( -89.4935, 0.000031, 0.012000) INS-74607_TRANSY=( -55.0034, -0.012000, 0.000031) INS-74608_TRANSX=( -96.3954, 0.000049, 0.012000) INS-74608_TRANSY=( -78.9990, -0.012000, 0.000049) INS-74609_TRANSX=( -89.1039, 0.000056, 0.012000) INS-74609_TRANSY=( -102.9997, -0.012000, 0.000056) INS-74610_TRANSX=( -110.9610, 0.000000, 0.012000) INS-74610_TRANSY=( 16.9991, -0.012000, 0.000000) INS-74611_TRANSX=( -103.6857, -0.000001, 0.012000) INS-74611_TRANSY=( -7.0010, -0.012000, -0.000001) INS-74612_TRANSX=( -82.2033, 0.000002, 0.012000) INS-74612_TRANSY=( 16.9993, -0.012000, 0.000002) INS-74613_TRANSX=( -74.9334, 0.000003, 0.012000) INS-74613_TRANSY=( -7.0007, -0.012000, 0.000003) \begintext Parameters for computing CCD coords from focal plane coords. The INS-74699_ITRANS[SL] is new and needed to support Nadir pointing CK simulations now supported in ISIS. Note that because the TRANS[XY] values above and the ITRANS[SL] values below are given with just 4-to-7 significant digits, a round trip, round off errors at the level of a few 10^-2 pixels exist when using TRANS[XY] to go from line/sample to position x/y in the focal plane and then ITRANS[SL] to do the inverse. While these errors, discovered by Bob King, PIRL/UofA in May 2011, prevent consistent round trip conversions, they, according to Randy Kirk, may not cause any operational problems because photogrammetric calculations are usually only needed to be accurate to ~0.1 pixel (typical image matching error). While these tabulated coefficients give an "adequate" round trip error, for full consistency users should calculate the inverses (ITRANS[SL]) of the forward coefficients (TRANS[XY]) to higher precision themselves. \begindata INS-74699_ITRANSS=( 8961.49, -0.3947, -83.3324) INS-74699_ITRANSL=( 8075.32, 83.3324, -0.3947) INS-74600_ITRANSS=( 9378.15, -0.3947, -83.3324) INS-74600_ITRANSL=( 8077.29, 83.3324, -0.3947) INS-74601_ITRANSS=( 7389.83, -0.2947, -83.3328) INS-74601_ITRANSL=( 7483.79, 83.3328, -0.2947) INS-74602_ITRANSS=( 5397.74, -0.2353, -83.3330) INS-74602_ITRANSL=( 8094.10, 83.3330, -0.2353) INS-74603_ITRANSS=( 3408.52, -0.1263, -83.3332) INS-74603_ITRANSL=( 7462.90, 83.3332, -0.1263) INS-74604_ITRANSS=( 1417.73, 0.0117, -83.3333) INS-74604_ITRANSL=( 8041.45, 83.3333, 0.0117) INS-74605_ITRANSS=( -584.19, -0.0087, -83.3333) INS-74605_ITRANSL=( 7457.94, 83.3333, -0.0087) INS-74606_ITRANSS=( -2570.47, 0.1327, -83.3332) INS-74606_ITRANSL=( 8060.86, 83.3332, 0.1327) INS-74607_ITRANSS=( -4564.45, 0.2140, -83.3331) INS-74607_ITRANSL=( 7469.54, 83.3331, 0.2140) INS-74608_ITRANSS=( -6550.29, 0.3413, -83.3326) INS-74608_ITRANSL=( 8059.85, 83.3326, 0.3413) INS-74609_ITRANSS=( -8548.73, 0.3870, -83.3324) INS-74609_ITRANSL=( 7465.11, 83.3324, 0.3870) INS-74610_ITRANSS=( 1416.59, 0.0000, -83.3333) INS-74610_ITRANSL=( 9246.75, 83.3333, 0.0000) INS-74611_ITRANSS=( -584.45, -0.0100, -83.3333) INS-74611_ITRANSL=( 8640.41, 83.3333, -0.0100) INS-74612_ITRANSS=( 1417.95, 0.0163, -83.3333) INS-74612_ITRANSL=( 6850.00, 83.3333, 0.0163) INS-74613_ITRANSS=( -581.94, 0.0193, -83.3333) INS-74613_ITRANSL=( 6244.59, 83.3333, 0.0193) \begintext