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Unverified Commit 57e0d2a3 authored by Austin Sanders's avatar Austin Sanders Committed by GitHub
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Added load test for msl mastcam (#561)

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tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_0.xsp 0 → 100644
+ 175
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/SPK '
'2'
'6'
'SPKMERGE '
BEGIN_ARRAY 1 16
'MARS -to- ROVER, LOCALIZED '
'23AC4A8578F996^8'
'23AC4B84A5435^8'
'-4C'
'1F3'
'271E'
'9'
16
'-9B717FC874B4A^3'
'8F0C00BF1949C^3'
'-11791C7BB95EDC^3'
'0^0'
'0^0'
'0^0'
'-9B717FC874B4A^3'
'8F0C00BF1949C^3'
'-11791C7BB95EDC^3'
'0^0'
'0^0'
'0^0'
'23A29B2243782C^8'
'23D7918F325EB^8'
'1^1'
'2^1'
END_ARRAY 1 16
BEGIN_ARRAY 2 12
'DE-0425LE-0425 '
'23AC4A8578F996^8'
'23AC4B84A5435^8'
'1F3'
'4'
'1'
'2'
12
'E0BD34^7'
'500208^8'
'0^0'
'0^0'
'0^0'
'0^0'
'0^0'
'0^0'
'-41F634C^8'
'A0041^8'
'8^1'
'1^1'
END_ARRAY 2 12
BEGIN_ARRAY 3 39
'DE-0425LE-0425 '
'23AC4A8578F996^8'
'23AC4B84A5435^8'
'A'
'0'
'1'
'2'
39
'23ACEF4^8'
'A8C^5'
'-182D9A9BFB179A^5'
'-2476E10E336A1A^4'
'-B8A3486486B768^1'
'-17AA1DC98AB4BF^0'
'11F6AC565388EC^-1'
'-2003202CA7FB1C^-2'
'4696DD82DA8E3C^-3'
'-436A0DEA81049C^-4'
'-3D906B8CD195B2^-5'
'1B327152242364^-5'
'-3FEA99EE1E579A^-6'
'F8FBAE76383698^5'
'887854CAE5193^3'
'-11006081023A6B^2'
'-220754DC10457C^0'
'6130AF671931E8^-2'
'-E83B72F00F3BD8^-3'
'-1054721423B0A2^-3'
'6924BC38A4542^-4'
'-E7BBE4454FE7B8^-5'
'10DF04C3BBF7EA^-5'
'6972E9D5ED0014^-7'
'699181548D915C^5'
'4B5504F8DBFD08^3'
'-6CC66492AE1BE^1'
'-FBD23530BA2778^-1'
'2FD92127C74098^-2'
'-459AE2252BA5E8^-3'
'-1037663F52D79C^-3'
'3F25DF0A901AB6^-4'
'-7565B9626659D8^-5'
'631E5CFD949408^-6'
'A1EB36F8F8AFA8^-7'
'23A2634^8'
'1518^6'
'23^2'
'1^1'
END_ARRAY 3 39
BEGIN_ARRAY 4 39
'DE-0425LE-0425 '
'23AC4A8578F996^8'
'23AC4B84A5435^8'
'4'
'0'
'1'
'2'
39
'23A2634^8'
'1518^6'
'B00002EDB937A^7'
'-E969C89A1E30B^6'
'-124A7464F0595F^6'
'5BC1A06B5D9C2^4'
'23748F27DC7DA2^3'
'-13F1FE0C9663BC^2'
'3F34782E51C96^-1'
'33F60EE49FB7BE^-1'
'-105C286C7007F7^-2'
'-5CC38010013918^-4'
'46B8CA23A8F87C^-5'
'5E380908FD46FC^7'
'1B7983B2777E94^7'
'-9AA49B4B5E614^5'
'-6AD04684E06BC8^4'
'288E91E21C135^3'
'642F8C265138A^1'
'-7A1ABF128E0F28^0'
'14546AFA061D2B^-1'
'FE8B1E89D51F3^-3'
'-970B125DFF63B^-4'
'2922FD19E7EA68^-5'
'266DE7098D312C^7'
'CFEDC8716ABDF8^6'
'-3F081D8B041946^5'
'-337818D362154^4'
'11A5420BC9C15C^3'
'3690DC976B5E3C^1'
'-381D8BE2BE2D4E^0'
'7EDFB99588D58^-2'
'7BD3086CA25FB8^-3'
'-44B07AB7EBC32C^-4'
'1A9A8AA68474EE^-5'
'238D4B4^8'
'2A3^6'
'23^2'
'1^1'
END_ARRAY 4 39
TOTAL_ARRAYS 4
~NAIF/SPC BEGIN COMMENTS~
; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp LOG FILE
; Created 2023-09-11/17:50:25.00.
;
; BEGIN SPKMERGE COMMANDS
LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls
SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp
SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp
INCLUDE_COMMENTS = NO
BODIES = -76
BEGIN_TIME = 2018 DEC 19 12:16:00.289
END_TIME = 2018 DEC 19 12:20:15.462
SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp
INCLUDE_COMMENTS = NO
BODIES = 4, 10, 499
BEGIN_TIME = 2018 DEC 19 12:16:00.289
END_TIME = 2018 DEC 19 12:20:15.462
; END SPKMERGE COMMANDS
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_1.xsp 0 → 100644
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− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/SPK '
'2'
'6'
'SPKMERGE '
BEGIN_ARRAY 1 16
'MARS -to- ROVER, LOCALIZED '
'23AC4D556F80C2^8'
'23AC4E52CC2CCC^8'
'-4C'
'1F3'
'271E'
'9'
16
'-9B717FC874B4A^3'
'8F0C00BF1949C^3'
'-11791C7BB95EDC^3'
'0^0'
'0^0'
'0^0'
'-9B717FC874B4A^3'
'8F0C00BF1949C^3'
'-11791C7BB95EDC^3'
'0^0'
'0^0'
'0^0'
'23A29B2243782C^8'
'23D7918F325EB^8'
'1^1'
'2^1'
END_ARRAY 1 16
BEGIN_ARRAY 2 12
'DE-0425LE-0425 '
'23AC4D556F80C2^8'
'23AC4E52CC2CCC^8'
'1F3'
'4'
'1'
'2'
12
'E0BD34^7'
'500208^8'
'0^0'
'0^0'
'0^0'
'0^0'
'0^0'
'0^0'
'-41F634C^8'
'A0041^8'
'8^1'
'1^1'
END_ARRAY 2 12
BEGIN_ARRAY 3 39
'DE-0425LE-0425 '
'23AC4D556F80C2^8'
'23AC4E52CC2CCC^8'
'A'
'0'
'1'
'2'
39
'23ACEF4^8'
'A8C^5'
'-182D9A9BFB179A^5'
'-2476E10E336A1A^4'
'-B8A3486486B768^1'
'-17AA1DC98AB4BF^0'
'11F6AC565388EC^-1'
'-2003202CA7FB1C^-2'
'4696DD82DA8E3C^-3'
'-436A0DEA81049C^-4'
'-3D906B8CD195B2^-5'
'1B327152242364^-5'
'-3FEA99EE1E579A^-6'
'F8FBAE76383698^5'
'887854CAE5193^3'
'-11006081023A6B^2'
'-220754DC10457C^0'
'6130AF671931E8^-2'
'-E83B72F00F3BD8^-3'
'-1054721423B0A2^-3'
'6924BC38A4542^-4'
'-E7BBE4454FE7B8^-5'
'10DF04C3BBF7EA^-5'
'6972E9D5ED0014^-7'
'699181548D915C^5'
'4B5504F8DBFD08^3'
'-6CC66492AE1BE^1'
'-FBD23530BA2778^-1'
'2FD92127C74098^-2'
'-459AE2252BA5E8^-3'
'-1037663F52D79C^-3'
'3F25DF0A901AB6^-4'
'-7565B9626659D8^-5'
'631E5CFD949408^-6'
'A1EB36F8F8AFA8^-7'
'23A2634^8'
'1518^6'
'23^2'
'1^1'
END_ARRAY 3 39
BEGIN_ARRAY 4 39
'DE-0425LE-0425 '
'23AC4D556F80C2^8'
'23AC4E52CC2CCC^8'
'4'
'0'
'1'
'2'
39
'23A2634^8'
'1518^6'
'B00002EDB937A^7'
'-E969C89A1E30B^6'
'-124A7464F0595F^6'
'5BC1A06B5D9C2^4'
'23748F27DC7DA2^3'
'-13F1FE0C9663BC^2'
'3F34782E51C96^-1'
'33F60EE49FB7BE^-1'
'-105C286C7007F7^-2'
'-5CC38010013918^-4'
'46B8CA23A8F87C^-5'
'5E380908FD46FC^7'
'1B7983B2777E94^7'
'-9AA49B4B5E614^5'
'-6AD04684E06BC8^4'
'288E91E21C135^3'
'642F8C265138A^1'
'-7A1ABF128E0F28^0'
'14546AFA061D2B^-1'
'FE8B1E89D51F3^-3'
'-970B125DFF63B^-4'
'2922FD19E7EA68^-5'
'266DE7098D312C^7'
'CFEDC8716ABDF8^6'
'-3F081D8B041946^5'
'-337818D362154^4'
'11A5420BC9C15C^3'
'3690DC976B5E3C^1'
'-381D8BE2BE2D4E^0'
'7EDFB99588D58^-2'
'7BD3086CA25FB8^-3'
'-44B07AB7EBC32C^-4'
'1A9A8AA68474EE^-5'
'238D4B4^8'
'2A3^6'
'23^2'
'1^1'
END_ARRAY 4 39
TOTAL_ARRAYS 4
~NAIF/SPC BEGIN COMMENTS~
; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp LOG FILE
; Created 2023-09-11/17:50:32.00.
;
; BEGIN SPKMERGE COMMANDS
LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls
SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp
SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp
INCLUDE_COMMENTS = NO
BODIES = -76
BEGIN_TIME = 2018 DEC 19 12:28:00.252
END_TIME = 2018 DEC 19 12:32:13.614
SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp
INCLUDE_COMMENTS = NO
BODIES = 4, 10, 499
BEGIN_TIME = 2018 DEC 19 12:28:00.252
END_TIME = 2018 DEC 19 12:32:13.614
; END SPKMERGE COMMANDS
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/MSL_76_SCLKSCET.00019.tsc 0 → 100755
+ 210
− 0
View file @ 57e0d2a3
KPL/SCLK
MSL SCLK File
===========================================================================
This file is a SPICE spacecraft clock (SCLK) kernel containing
information required for MSL spacecraft on-board clock to UTC
conversion.
Production/History of this SCLK file
--------------------------------------------------------
This file was generated by the NAIF utility program MAKCLK, version
3.5.2, from the most recent MSL spacecraft SCLKvSCET file (see
corresponding sections of these comments for a copy of the source
SCLKvSCET file and MAKCLK setup file).
Usage
--------------------------------------------------------
This file must be loaded into the user's program by a call to the
FURNSH subroutine
CALL FURNSH( 'this_file_name' )
in order to use the SPICELIB SCLK family of subroutines to convert
MSL spacecraft on-board clock to ET and vice versa.
SCLK Format
--------------------------------------------------------
The on-board clock, the conversion for which is provided by this SCLK
file, consists of two fields:
SSSSSSSSSS-FFFFF
where:
SSSSSSSSSS -- count of on-board seconds
FFFFF -- count of fractions of a second with one fraction
being 1/65536 of a second; normally this field value
is within 0..65535 range.
References
--------------------------------------------------------
1. SCLK Required Reading Document
2. MAKCLK User's Guide Document
3. SFOC SCLKvSCET SIS Document
Inquiries
--------------------------------------------------------
If you have any questions regarding this file contact NAIF at JPL
Charles H. Acton, Jr
(818) 354-3869
Chuck.Acton@jpl.nasa.gov
Boris V. Semenov
(818) 354-8136
Boris.Semenov@jpl.nasa.gov
Source SCLKvSCET File
--------------------------------------------------------
CCSD3ZS00001$$sclk$$NJPL3KS0L015$$scet$$
MISSION_NAME=MSL;
SPACECRAFT_NAME=MARS_SCIENCE_LABORATORY;
DATA_SET_ID=SCLK_SCET;
FILE_NAME=MSL_76_SCLKSCET.00019;
PRODUCT_CREATION_TIME=2022-229T12:27:15.000;
PRODUCT_VERSION_ID=00019;
PRODUCER_ID=DSMS_TIME_SERVICES;
APPLICABLE_START_TIME=2022-230T00:00:00.000;
APPLICABLE_STOP_TIME=2023-358T15:16:11.000;
MISSION_ID=33;
SPACECRAFT_ID=76;
CCSD3RE00000$$scet$$NJPL3IS00613$$data$$
*____SCLK0_____ ________SCET0___________ _DUT__ __SCLKRATE__
0000000000.000 2000-001T11:58:55.816 64.184 1.000000000
0189345665.000 2006-001T00:00:00.816 64.184 0.000010000
0189345666.000 2006-001T00:00:00.817 65.184 1.000000000
0284040066.000 2009-001T00:00:00.815 65.184 0.001000000
0284040067.000 2009-001T00:00:00.816 66.184 1.000000000
0375075862.000 2011-324T15:43:15.816 66.184 0.995566030
0375076862.000 2011-324T15:59:51.382 66.184 1.000007536
0375077191.000 2011-324T16:05:20.385 66.184 1.000004134
0375078191.000 2011-324T16:22:00.389 66.184 1.000009564
0375163622.000 2011-325T16:05:52.206 66.184 0.999958637
0375164622.000 2011-325T16:22:32.165 66.184 1.000009114
0375235601.000 2011-326T12:05:31.812 66.184 0.999997081
0375236601.000 2011-326T12:22:11.809 66.184 1.000009250
0375410971.000 2011-328T12:48:23.422 66.184 1.000010108
0375411971.000 2011-328T13:05:03.432 66.184 1.000008880
0375950039.000 2011-334T18:32:56.210 66.184 0.999889040
0375951039.000 2011-334T18:49:36.099 66.184 1.000008973
0380648630.000 2012-024T03:43:29.250 66.184 1.000550348
0380649630.000 2012-024T04:00:09.801 66.184 1.000009187
0392778715.000 2012-164T13:13:26.231 66.184 0.996915113
0392779715.000 2012-164T13:30:03.146 66.184 1.000009272
0394372698.000 2012-183T00:00:00.916 66.184 0.001000000
0394372699.000 2012-183T00:00:00.917 67.184 1.000009272
0396387693.000 2012-206T07:43:33.600 67.184 0.999848543
0396388693.000 2012-206T08:00:13.449 67.184 1.000009275
0434589485.000 2013-282T11:25:59.761 67.184 1.001583303
0434590485.000 2013-282T11:42:41.345 67.184 1.000009438
0488979811.000 2015-182T00:00:00.669 67.184 0.001000000
0488979812.000 2015-182T00:00:00.670 68.184 1.000009438
0536499363.000 2017-001T00:00:00.159 68.184 0.001000000
0536499364.000 2017-001T00:00:00.160 69.184 1.000009438
0626394666.000 2019-311T11:09:10.592 69.184 1.003346471
0626395666.000 2019-311T11:25:53.938 69.184 1.000009575
0655335115.000 2020-281T10:14:40.033 69.184 0.996931000
0655336115.000 2020-281T10:31:16.964 69.184 1.000009464
0707809507.000 2022-157T18:36:05.572 69.184 0.999115094
0707810507.000 2022-157T18:52:44.687 69.184 1.000007602
0709438101.000 2022-176T14:59:31.061 69.184 1.000009738
0709439101.000 2022-176T15:16:11.071 69.184 1.000007639
0713969869.000 2022-229T01:49:33.682 69.184 1.000007639
0713970869.000 2022-229T02:06:13.689 69.184 1.000009464
CCSD3RE00000$$data$$CCSD3RE00000$$sclk$$
MAKCLK Setup file
--------------------------------------------------------
SCLKSCET_FILE = MSL_76_SCLKSCET.00019.clean
OLD_SCLK_KERNEL = /ods/cedl/strategic/naif/misc/work/sclkscet/msl_template.tsc
FILE_NAME = MSL_76_SCLKSCET.00019.tsc
NAIF_SPACECRAFT_ID = -76
LEAPSECONDS_FILE = /ods/cedl/strategic/naif/kernels/lsk/msl.tls
PARTITION_TOLERANCE = 2560
LOG_FILE = MSL_76_SCLKSCET.00019.log
Kernel DATA
--------------------------------------------------------
\begindata
SCLK_KERNEL_ID = ( @2022-08-18/20:50:01.82 )
SCLK_DATA_TYPE_76 = ( 1 )
SCLK01_TIME_SYSTEM_76 = ( 2 )
SCLK01_N_FIELDS_76 = ( 2 )
SCLK01_MODULI_76 = ( 4294967296 65536 )
SCLK01_OFFSETS_76 = ( 0 0 )
SCLK01_OUTPUT_DELIM_76 = ( 3 )
SCLK_PARTITION_START_76 = ( 0.0000000000000E+00 )
SCLK_PARTITION_END_76 = ( 2.8147497671065E+14 )
SCLK01_COEFFICIENTS_76 = (
0.0000000000000E+00 -3.5763036976277E-10 1.0000000000053E+00
1.2408957566976E+13 1.8934566600100E+08 9.9999999998944E-01
1.8614849830912E+13 2.8404006700000E+08 1.0000000000000E+00
2.4580971692032E+13 3.7507586200000E+08 9.9556599998474E-01
2.4581037228032E+13 3.7507685756600E+08 1.0000091186048E+00
2.4581058789376E+13 3.7507718656900E+08 1.0000040000081E+00
2.4581124325376E+13 3.7507818657300E+08 1.0000095632730E+00
2.4586723131392E+13 3.7516361839000E+08 9.9995900005102E-01
2.4586788667392E+13 3.7516461834900E+08 1.0000091153724E+00
2.4591440347136E+13 3.7523559799600E+08 9.9999699997902E-01
2.4591505883136E+13 3.7523659799300E+08 1.0000092504443E+00
2.4602933395456E+13 3.7541096960600E+08 1.0000099999905E+00
2.4602998931456E+13 3.7541196961600E+08 1.0000088799185E+00
2.4638261755904E+13 3.7595004239400E+08 9.9988899999857E-01
2.4638327291904E+13 3.7595104228300E+08 1.0000089728970E+00
2.4946188615680E+13 3.8064867543400E+08 1.0005509999990E+00
2.4946254151680E+13 3.8064967598500E+08 1.0000091870079E+00
2.5741145866240E+13 3.9277887241500E+08 9.9691500002146E-01
2.5741211402240E+13 3.9277986933000E+08 1.0000092725350E+00
2.5845609201664E+13 3.9437286810100E+08 1.0000092719879E+00
2.5977663848448E+13 3.9638788078400E+08 9.9984899997711E-01
2.5977729384448E+13 3.9638888063300E+08 1.0000092749909E+00
2.8481256488960E+13 4.3459002694500E+08 1.0015840000510E+00
2.8481322024960E+13 4.3459102852900E+08 1.0000094379730E+00
3.2045780959232E+13 4.8898086885400E+08 1.0000094380099E+00
3.5160022319104E+13 5.3650086934400E+08 1.0000094380016E+00
4.1051400830976E+13 6.2639701977600E+08 1.0033459999561E+00
4.1051466366976E+13 6.2639802312200E+08 1.0000095749923E+00
4.2948042096640E+13 6.5533774921700E+08 9.9693099999428E-01
4.2948107632640E+13 6.5533874614800E+08 1.0000094639965E+00
4.6387003850752E+13 7.0781263475600E+08 9.9911500000954E-01
4.6387069386752E+13 7.0781363387100E+08 1.0000076026331E+00
4.6493735387136E+13 7.0944124024500E+08 1.0000099999905E+00
4.6493800923136E+13 7.0944224025500E+08 1.0000076391023E+00
4.6790729334784E+13 7.1397304286600E+08 1.0000069999695E+00
4.6790794870784E+13 7.1397404287300E+08 1.0000094640000E+00 )
\begintext
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_ml_20120731_c03.ti 0 → 100755
+ 177
− 0
View file @ 57e0d2a3
KPL/IK
MSL_MASTCAM_LEFT 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_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor'.
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-76210_FOV_CENTER_PIXEL = ( 823.5, 599.5 )
INS-76210_PIXEL_SAMPLES = ( 1648 )
INS-76210_PIXEL_LINES = ( 1200 )
\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-76210_BORESIGHT_PIXEL = ( 829.18782212, 601.33514402 )
INS-76210_DISTORTION_PIXEL = ( 837.77915717, 592.14046615 )
\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-76210_FOCAL_LENGTH = ( 34 )
INS-76210_PIXEL_SIZE = ( 0.0074 )
INS-76210_IFOV_NOMINAL = ( 0.01247026 )
\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 )
( 823.5, 0.0 )
( 1647.0, 0.0 )
( 1647.0, 599.5 )
( 1647.0, 1199.0 )
( 823.5, 1199.0 )
( 0.0, 1199.0 )
( 0.0, 599.5 )
The boresight direction corresponds to the view direction of the center
pixel, (823.5,599.5).
All directions are unit vectors specified in the 'MSL_MASTCAM_LEFT'
frame.
\begindata
INS-76210_FOV_FRAME = ( 'MSL_MASTCAM_LEFT' )
INS-76210_FOV_SHAPE = ( 'POLYGON' )
INS-76210_FOV_CLASS_SPEC = ( 'CORNERS' )
INS-76210_BORESIGHT = (
-0.00000000 -0.00000000 1.00000000
)
INS-76210_FOV_BOUNDARY = (
0.17483767 0.12730492 0.97633255
-0.00000000 0.12834274 0.99172987
-0.17476887 0.12719345 0.97635940
-0.17553059 -0.00005566 0.98447398
-0.17480715 -0.12735688 0.97633124
0.00001620 -0.12838394 0.99172454
0.17491070 -0.12728511 0.97632205
0.17557293 0.00003780 0.98446643
)
\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
(823.5,0) and (823.5,1199) for the vertical direction and between
(0,599.5) and (1647,599.5) 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-76210_IFOV_VERTICAL = ( 0.01230196 )
INS-76210_IFOV_HORIZONTAL = ( 0.01227780 )
INS-76210_IFOV = ( 0.01228988 )
\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-76210_CAHVOR_FILE = ( 'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor' )
INS-76210_CAHVOR_MODEL = ( ' CAHVOR ' )
INS-76210_CAHVOR_DIMS = ( 1648 1200 )
INS-76210_CAHVOR_C = ( 0.767151 0.433709 -1.971648 )
INS-76210_CAHVOR_A = ( 0.999664 0.025047 0.006727 )
INS-76210_CAHVOR_H = ( 712.373106 4664.465028 33.182389 )
INS-76210_CAHVOR_V = ( 570.612488 -14.279011 4648.733195 )
INS-76210_CAHVOR_O = ( 0.999627 0.026908 0.004759 )
INS-76210_CAHVOR_R = ( -0.000151 -0.139189 -1.250336 )
INS-76210_CAHVOR_HS = ( 4645.242086 )
INS-76210_CAHVOR_HC = ( 829.187822 )
INS-76210_CAHVOR_VS = ( 4644.882626 )
INS-76210_CAHVOR_VC = ( 601.335144 )
INS-76210_CAHVOR_THETA = ( -1.571004 )
INS-76210_CAHVOR_POS = ( 0.80436 0.55942 -1.90608 )
INS-76210_CAHVOR_QUAT = ( 0.00001 -0.00325 -0.00104 0.99999 )
\begintext
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_mr_20120731_c03.ti 0 → 100755
+ 177
− 0
View file @ 57e0d2a3
KPL/IK
MSL_MASTCAM_RIGHT Instrument Kernel
==============================================================================
Version and Date
----------------------------------------------------------
Tue Jul 31 15:46:21 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_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor'.
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-76220_FOV_CENTER_PIXEL = ( 823.5, 599.5 )
INS-76220_PIXEL_SAMPLES = ( 1648 )
INS-76220_PIXEL_LINES = ( 1200 )
\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-76220_BORESIGHT_PIXEL = ( 859.44651228, 534.29411479 )
INS-76220_DISTORTION_PIXEL = ( 767.27622715, 668.16368416 )
\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-76220_FOCAL_LENGTH = ( 100 )
INS-76220_PIXEL_SIZE = ( 0.0074 )
INS-76220_IFOV_NOMINAL = ( 0.00423989 )
\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 )
( 823.5, 0.0 )
( 1647.0, 0.0 )
( 1647.0, 599.5 )
( 1647.0, 1199.0 )
( 823.5, 1199.0 )
( 0.0, 1199.0 )
( 0.0, 599.5 )
The boresight direction corresponds to the view direction of the center
pixel, (823.5,599.5).
All directions are unit vectors specified in the 'MSL_MASTCAM_RIGHT'
frame.
\begindata
INS-76220_FOV_FRAME = ( 'MSL_MASTCAM_RIGHT' )
INS-76220_FOV_SHAPE = ( 'POLYGON' )
INS-76220_FOV_CLASS_SPEC = ( 'CORNERS' )
INS-76220_BORESIGHT = (
0.00000000 0.00000000 1.00000000
)
INS-76220_FOV_BOUNDARY = (
0.06091935 0.04433268 0.99715768
0.00000000 0.04462814 0.99900367
-0.06080956 0.04423678 0.99716864
-0.06106251 -0.00005126 0.99813394
-0.06083571 -0.04440396 0.99715962
0.00002390 -0.04469527 0.99900067
0.06099392 -0.04440530 0.99714989
0.06117482 -0.00000350 0.99812707
)
\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
(823.5,0) and (823.5,1199) for the vertical direction and between
(0,599.5) and (1647,599.5) 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-76220_IFOV_VERTICAL = ( 0.00426986 )
INS-76220_IFOV_HORIZONTAL = ( 0.00425504 )
INS-76220_IFOV = ( 0.00426245 )
\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-76220_CAHVOR_FILE = ( 'MSL_CAL_003_SN_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor' )
INS-76220_CAHVOR_MODEL = ( ' CAHVOR ' )
INS-76220_CAHVOR_DIMS = ( 1648 1200 )
INS-76220_CAHVOR_C = ( 0.872866 0.677208 -1.970931 )
INS-76220_CAHVOR_A = ( 0.999741 -0.022668 0.001764 )
INS-76220_CAHVOR_H = ( 1162.600942 13353.117702 -93.448986 )
INS-76220_CAHVOR_V = ( 512.731806 83.454058 13371.226140 )
INS-76220_CAHVOR_O = ( 0.999495 -0.029483 0.011824 )
INS-76220_CAHVOR_R = ( -0.000106 1.436779 -0.685884 )
INS-76220_CAHVOR_HS = ( 13376.370999 )
INS-76220_CAHVOR_HC = ( 859.446513 )
INS-76220_CAHVOR_VS = ( 13370.635765 )
INS-76220_CAHVOR_VC = ( 534.294115 )
INS-76220_CAHVOR_THETA = ( -1.570787 )
INS-76220_CAHVOR_POS = ( 0.80436 0.55942 -1.90608 )
INS-76220_CAHVOR_QUAT = ( 0.00001 -0.00325 -0.00104 0.99999 )
\begintext
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76122.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL HGA Reconstructed Orientation '
BEGIN_ARRAY 1 19
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'23AC435A3716^C'
'-1295A'
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76124.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL HGA Reconstructed Orientation '
BEGIN_ARRAY 1 19
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76122.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL HGA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL HGA Encoder AZ, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-1295A'
'-12959'
'3'
'1'
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'23AC452B004A^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76124.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL HGA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL HGA Encoder EL, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-1295C'
'-1295B'
'3'
'1'
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76301.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA SH. AZ Rotation, Reconstructed '
'23AC425B0B71^C'
'23AC435A3716^C'
'-12A0D'
'-12A0C'
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76302.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA SH. EL Rotation, Reconstructed '
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'23AC435A3716^C'
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'3'
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76303.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA ELBOW Rotation, Reconstructed '
'23AC425B0B71^C'
'23AC435A3716^C'
'-12A0F'
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'3'
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TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76304.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
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'23AC425B0B71^C'
'23AC435A3716^C'
'-12A10'
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'23AC425B0B71^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76305.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA TURRET Rotation, Reconstructed '
'23AC425B0B71^C'
'23AC435A3716^C'
'-12A11'
'-12A10'
'3'
'1'
19
'2252FFB00BBD4C^0'
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'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76301.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA SH. AZ Rotation, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-12A0D'
'-12A0C'
'3'
'1'
19
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'0^0'
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END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76302.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA SH. EL Rotation, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-12A0E'
'-12A0D'
'3'
'1'
19
'7FA72EB47E4D9C^0'
'-7FA72EB47E4D94^0'
'-805893D4FAE22^0'
'805893D4FAE228^0'
'0^0'
'0^0'
'0^0'
'7FA72EB47E4D9C^0'
'-7FA72EB47E4D94^0'
'-805893D4FAE22^0'
'805893D4FAE228^0'
'0^0'
'0^0'
'0^0'
'23AC452B004A^C'
'23AC46285C3F^C'
'23AC452B004A^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76303.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA ELBOW Rotation, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-12A0F'
'-12A0E'
'3'
'1'
19
'BAC136F54A23C8^0'
'0^0'
'0^0'
'AF189DF294FA78^0'
'0^0'
'0^0'
'0^0'
'BAC136F54A23C8^0'
'0^0'
'0^0'
'AF189DF294FA78^0'
'0^0'
'0^0'
'0^0'
'23AC452B004A^C'
'23AC46285C3F^C'
'23AC452B004A^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76304.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA WRIST Rotation, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-12A10'
'-12A0F'
'3'
'1'
19
'AB7F67B2F3A63^0'
'0^0'
'0^0'
'-BE1088C056211^0'
'0^0'
'0^0'
'0^0'
'AB7F67B2F3A63^0'
'0^0'
'0^0'
'-BE1088C056211^0'
'0^0'
'0^0'
'0^0'
'23AC452B004A^C'
'23AC46285C3F^C'
'23AC452B004A^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76305.xc 0 → 100644
+ 40
− 0
View file @ 57e0d2a3
DAFETF NAIF DAF ENCODED TRANSFER FILE
'DAF/CK '
'2'
'6'
'MSL RA Reconstructed Orientation '
BEGIN_ARRAY 1 19
'MSL RA TURRET Rotation, Reconstructed '
'23AC452B004A^C'
'23AC46285C3F^C'
'-12A11'
'-12A10'
'3'
'1'
19
'2252FFB00BBD4C^0'
'2252FFB00BBD4C^0'
'-B1BC3EBC31DB28^0'
'-B1BC3EBC31DB38^0'
'0^0'
'0^0'
'0^0'
'2252FFB00BBD4C^0'
'2252FFB00BBD4C^0'
'-B1BC3EBC31DB28^0'
'-B1BC3EBC31DB38^0'
'0^0'
'0^0'
'0^0'
'23AC452B004A^C'
'23AC46285C3F^C'
'23AC452B004A^C'
'1^1'
'2^1'
END_ARRAY 1 19
TOTAL_ARRAYS 1
~NAIF/SPC BEGIN COMMENTS~
This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
This CK was generated using the following command: {}
~NAIF/SPC END COMMENTS~
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