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<INSTID>_FOV_FRAME            = 'MEX_HRSC_HEAD'
         INS<INSTID>_FOV_SHAPE            = 'RECTANGLE'
         INS<INSTID>_BORESIGHT            = (
                                           -(Xm1+Xm2)/2, -(Ym1+Ym2)/2, FL 
                                          )
         INS<INSTID>_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

