KPL/IK MSL_HAZCAM_BACK_RIGHT_A Instrument Kernel ============================================================================== Version and Date ---------------------------------------------------------- Tue Jul 31 15:46:20 PDT 2012 Pedigree ---------------------------------------------------------- This IK was generated by a script. All nominal parameters provided in this IK were obtained from the camera CDR materials; all actual parameters were copied/derived from the camera CAHVOR(E) model file 'MSL_CAL_003_SN_0217-RHAZR-FLIGHT-RCE-A.cahvore'. Camera CCD Dimensions ---------------------------------------------------------- The camera CCD dimensions are provided in the keywords below. The pixels are numbered left-to-right, top-to-bottom with the top-left pixel indexed (0,0). \begindata INS-76142_FOV_CENTER_PIXEL = ( 511.5, 511.5 ) INS-76142_PIXEL_SAMPLES = ( 1024 ) INS-76142_PIXEL_LINES = ( 1024 ) \begintext Camera Boresight and Distortion Center Locations ---------------------------------------------------------- The camera boresight and distortion center locations in pixel coordinates, computed from the model data using these formulas: boresight sample = H dot A boresight line = V dot A distortion sample = (O dot H) / (O dot A) distortion line = (O dot V) / (O dot A) are: \begindata INS-76142_BORESIGHT_PIXEL = ( 498.43698028, 525.51575933 ) INS-76142_DISTORTION_PIXEL = ( 499.74612293, 526.01856631 ) \begintext Nominal Camera Parameters ---------------------------------------------------------- The nominal camera focal length and physical pixel size, both in millimeters, along with the nominal pixel IFOV, in degrees, are provided in the keywords below. \begindata INS-76142_FOCAL_LENGTH = ( 5.58 ) INS-76142_PIXEL_SIZE = ( 0.012 ) INS-76142_IFOV_NOMINAL = ( 0.12321654 ) \begintext Camera FOV Definition ---------------------------------------------------------- To better reflect distortion in the camera optics the FOV is defined as a polygonal pyramid with the tip at the camera focal point and the edges along the view directions of the corner pixels and the side-middle pixels. Specifically the boundary vectors provided in the FOV_BOUNDARY keyword corresponds to view directions of the centers of these pixels provided in this order: ( 0.0, 0.0 ) ( 511.5, 0.0 ) ( 1023.0, 0.0 ) ( 1023.0, 511.5 ) ( 1023.0, 1023.0 ) ( 511.5, 1023.0 ) ( 0.0, 1023.0 ) ( 0.0, 511.5 ) The boresight direction corresponds to the view direction of the center pixel, (511.5,511.5). All directions are unit vectors specified in the 'MSL_HAZCAM_BACK_RIGHT_A' frame. \begindata INS-76142_FOV_FRAME = ( 'MSL_HAZCAM_BACK_RIGHT_A' ) INS-76142_FOV_SHAPE = ( 'POLYGON' ) INS-76142_FOV_CLASS_SPEC = ( 'CORNERS' ) INS-76142_BORESIGHT = ( -0.00000000 0.00000000 1.00000000 ) INS-76142_FOV_BOUNDARY = ( 0.69329031 0.71865924 -0.05364184 -0.00000000 0.89306314 0.44993135 -0.69637731 0.71498897 -0.06204372 -0.89049386 0.01985432 0.45456187 -0.73234900 -0.68037274 -0.02752948 -0.01762940 -0.89276006 0.45018738 0.70157134 -0.71202211 -0.02867354 0.89482347 0.00187226 0.44641622 ) \begintext Actual Camera IFOV ---------------------------------------------------------- The actual average vertical and horizontal pixel IFOVs were computed by dividing the angular extent between the view directions of pixels (511.5,0) and (511.5,1023) for the vertical direction and between (0,511.5) and (1023,511.5) for the horizontal direction by the number of pixels minus 1. The average IFOV is simply an average of the vertical and horizontal IFOVs. In the keywords below the IFOVs are provided in degrees. \begindata INS-76142_IFOV_VERTICAL = ( 0.12364999 ) INS-76142_IFOV_HORIZONTAL = ( 0.12358983 ) INS-76142_IFOV = ( 0.12361991 ) \begintext Source CAHVOR(E) Parameters The keywords below contain parameters of the CAHVOR(E) model from which all actual camera parameters provided in this file have been derived. Note that the reference quaternion (CAHVOR_QUAT) is not a SPICE-style but an engineering style quaternion (s1,s2,s3,c.) \begindata INS-76142_CAHVOR_FILE = ( 'MSL_CAL_003_SN_0217-RHAZR-FLIGHT-RCE-A.cahvore' ) INS-76142_CAHVOR_MODEL = ( ' CAHVORE3,0.37 ' ) INS-76142_CAHVOR_DIMS = ( 1024 1024 ) INS-76142_CAHVOR_C = ( -0.976811 -0.555458 -0.779633 ) INS-76142_CAHVOR_A = ( -0.703069 0.002937 0.711116 ) INS-76142_CAHVOR_H = ( -352.302693 -450.566058 354.467050 ) INS-76142_CAHVOR_V = ( -48.105738 0.171962 691.439373 ) INS-76142_CAHVOR_O = ( -0.702286 0.000037 0.711895 ) INS-76142_CAHVOR_R = ( 0.000010 -0.014080 -0.007074 ) INS-76142_CAHVOR_E = ( 0.002512 0.002172 0.001812 ) INS-76142_CAHVOR_HS = ( 452.033814 ) INS-76142_CAHVOR_HC = ( 498.436837 ) INS-76142_CAHVOR_VS = ( 451.924769 ) INS-76142_CAHVOR_VC = ( 525.515557 ) INS-76142_CAHVOR_THETA = ( -1.570667 ) INS-76142_CAHVOR_POS = ( 0.0 0.0 0.0 ) INS-76142_CAHVOR_QUAT = ( 0.0 0.0 0.0 1.0 ) \begintext