Mars
Exploration Rover (MER) Project
Engineering
Camera Calibration Report
Approved:
Justin Maki, MER Imaging Scientist
Joy Crisp, MER Project Scientist
John Callas, MER Science Manager
MER 420-6-786
JPL D-25540
Author: Justin Maki
Jet Propulsion Laboratory
Change Log
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Change Notes |
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Initial Release |
Initial |
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3.2 Relative Responsivity
(flat fields)
Appendix
A – Geometric Camera Models
1 Introduction
1.1 Document Scope
This document describes the results of the Mars Exploration Rover (MER) Engineering Camera pre-launch calibration effort.
The pre-launch calibration of the MER Engineering Cameras focused primarily on the geometric calibration of the cameras at the system-level (i.e., flight cameras mounted on the rover prior to launch). These calibration data were used to derive a geometric “camera model” for each individual camera.
Although the calibration focused mainly on the geometric aspects of the cameras, effort was made to measure relative (flat field) and absolute responsivities. The results of this effort are described in sections 3.2 and 3.2.
1.2 Background
There are 14 Flight Model (FM) Engineering cameras (7 on
Spirit and 7 on
|
Camera Set Designator |
Rover Number |
|
Vehicle Name |
|
FM-1 |
2 |
A |
Spirit |
|
FM-2 |
1 |
B |
|
Table 1.1. MER camera and venue nomenclature.
In addition to the FM cameras, there are also 14 (EM) Engineering Cameras in the MER Testbed (6 cameras in the Surface System Testbed (SSTB), 4 on the SSTB-lite, 2 in the Flight Software Testbed (FSWTB) 1 in the CETB, and 1 non-testbed camera. While a subset of the EM cameras has been geometrically calibrated, the analyses of those data are not included in this report.
1.3 References
For information on the MER Engineering Cameras (and the MER Imaging System in general), see the JGR paper by Maki et al., 2003
Maki, J. N., et al., Mars Exploration Rover Engineering Cameras, J. Geophys. Res., 108(E12), 8071,doi:10.1029/2003JE002077, 2003.)
Detailed information about the camera models can be found in the following:
Gennery, D. B., Least-squares camera
calibration including lens distortion and automatic editing of calibration
points, in Calibration and Orientation of Cameras in Computer Vision, ch. 5,
edited by A. Grun and T. Huang, pp. 123–136, Springer-Verlag, New York, 2001.
Yakimovsky, Y., and R. Cunningham, A
system for extracting three-dimensional measurements from a stereo pair of TV
cameras,
2 Calibration Data
2.1 Deliverables
The Engineering Camera calibration effort focused on the following deliverables (listed in order of priority):
|
Item |
Priority |
Deliverable |
|
Geometric calibration of all MER cameras at the system-level |
Highest |
CAHVOR(E) Camera Model files. |
|
Relative responsivity (flat field) calibration of the Navcams and Hazcams |
Medium |
Flat field correction images. |
|
Absolute responsivity of the Navcams and Hazcams |
Low |
Responsivity coefficients |
|
Additional calibration data were gathered for purposes of characterizing detector dark current and detector read noise. Analysis of those data are not included in this report. |
Lowest |
None |
Table 2.1. Calibration deliverables.
2.2 Data Set Description
The MER Engineering Camera calibration data are divided into two types: The subsystem calibration (also called “camera standalone”) and the system-level calibration (in which the cameras were mounted on the rover and controlled through the rover avionics).
The types of data acquired for each camera are listed in table 2.2.
Table 2.2: MER Engineering Camera calibration data set at a glance.
2.3 Subsystem Calibration
The subsystem camera calibration was performed before the cameras were delivered to ATLO (Assembly Test and Launch Operations). Approximately 16,800 Engineering Camera images were collected during the subsystem calibration. These data are stored in the PDS “deep archive” and are organized by serial number according to the descriptors listed in table 2.3.
|
Descriptor |
Camera |
Number of Images |
|
mer_camera_cal_sn_102_edr |
MER B, Left Navcam |
1009 |
|
mer_camera_cal_sn_106_edr |
MER A Rear Left Hazcam |
1168 |
|
mer_camera_cal_sn_107_edr |
MER A Front Left Navcam |
1171 |
|
mer_camera_cal_sn_108_edr |
MER A Rear Right Hazcam |
936 |
|
mer_camera_cal_sn_109_edr |
MER A Front Right Hazcam |
1026 |
|
mer_camera_cal_sn_112_edr |
MER A Left Navcam |
1058 |
|
mer_camera_cal_sn_113_edr |
MER A Right Navcam |
972 |
|
mer_camera_cal_sn_117_edr |
MER B Right Navcam |
996 |
|
mer_camera_cal_sn_118_edr |
MER A DESCENT Imager |
2501 |
|
mer_camera_cal_sn_119_edr |
MER B Rear Left Hazcam |
928 |
|
mer_camera_cal_sn_120_edr |
MER B Front Left Hazcam |
1013 |
|
mer_camera_cal_sn_121_edr |
MER B Rear Right Hazcam |
912 |
|
mer_camera_cal_sn_122_edr |
MER B Front Left Hazcam |
668 |
|
mer_camera_cal_sn_123_edr |
MER B Descent Imager |
2480 |
|
|
Total Number of Images |
16838 |
Table 2.3. List of MER subsystem-level Engineering Camera Calibration data. These data will be delivered to the PDS as a deep archive delivery.
2.4 System-level calibration
The system-level calibration was performed while the cameras were on the flight vehicles. Approximately 5,800 image data products were collected as part of the ATLO calibration effort. These data are stored in the PDS deep archive and are organized by serial number according to the descriptors listed in table 2.4:
|
Descriptor |
Camera |
Number of Images |
|
Mer_atlo1_descent_edr |
MER B Descent Imager |
148 |
|
Mer_atlo1_fcam_edr |
MER B Front Hazcam |
522 |
|
Mer_atlo1_ncam_edr |
MER B Navcam |
1965 |
|
Mer_atlo1_rcam_edr |
MER B Rear Hazcam |
338 |
|
Mer_atlo2_descent_edr |
MER A Descent Imager |
181 |
|
Mer_atlo2_fcam_edr |
MER A Front Hazcam |
453 |
|
Mer_atlo2_ncam_edr |
MER A Navcam |
1972 |
|
Mer_atlo2_rcam_edr |
MER A Rear Hazcam |
257 |
|
|
Total Number of Images |
5836 |
Table 2.4. List of MER system-level Engineering Camera Calibration data. These data will be delivered to the PDS as a deep archive delivery.
3 Analysis
3.1 Geometric Calibration
All of the MER Engineering Cameras have been geometrically calibrated at the system level using the data listed in table 2.4. The derived results are stored in a CAHVOR(E) camera model file (see references in section 1.3 for more information regarding the CAHVOR(E) camera models). The entire set of CAVHOR(E) camera models for the MER flight cameras are provided in Appendix A.
The CAHVOR(E) camera model describes the relationship between the 2-dimensional detector frame and the 3-dimensional real-world frame. The camera models enable ray tracing, general image projection/reprojection, and the removal of geometric lens distortion. These projection techniques apply to the generation of epipolar aligned images for stereo processing, mosaic generation, and stereo ranging. For more information regarding the camera models used on MER, see the references listed in section 1.3
3.2 Relative Responsivity (flat fields)
All 14 of the flight MER Engineering camera flat field response patterns were measured during the subsystem calibration (table 2.1). These measurements were done at ambient temperatures (+20 C), at cold temperatures (-120), and at various transitional temperatures between –120 and +20 C. The derived flat field files are listed in table 3.1.
|
Flat
Field Filename |
|
MER_FLAT_SN_102.IMG |
|
MER_FLAT_SN_106.IMG |
|
MER_FLAT_SN_107.IMG |
|
MER_FLAT_SN_108.IMG |
|
MER_FLAT_SN_109.IMG |
|
MER_FLAT_SN_112.IMG |
|
MER_FLAT_SN_113.IMG |
|
MER_FLAT_SN_117.IMG |
|
MER_FLAT_SN_119.IMG |
|
MER_FLAT_SN_120.IMG |
|
MER_FLAT_SN_121.IMG |
|
MER_FLAT_SN_122.IMG |
Table 3.1. Engineering Camera derived flat field files.
See Appendix B for a comparison of the actual derived flat field data to the modelled response. The files listed in table 3.1 will be delivered to the PDS deep archive.
3.3 Absolute Responsivity
Absolute responsivity measurements were made at the subsystem level (table 2.4). Due to the relatively low prioritization of this task during pre-launch data reduction, the responsivity measurements have not been derived from this data set. However, estimates of the absolute responsivity were derived by comparing Navcam/Hazcam images to Pancam images of the same target. The results of these “proxy” responsivity estimates are shown in table 3.2
|
Vehicle |
Camera |
Camera Serial Number |
R0 in units of (W/(m2 st nm)/(DN/sec.) |
R1 in units of (W/(m2 st nm)/(DN/sec.) |
|
MER-A |
Left Navcam |
112 |
1.496E-05 |
1.437E-09 |
|
MER-A |
Right Navcam |
113 |
1.496E-05 |
1.437E-09 |
|
MER-A |
Left Front Hazcam |
107 |
1.496E-05 |
1.437E-09 |
|
MER-A |
Right Front Hazcam |
109 |
1.496E-05 |
1.437E-09 |
|
MER-A |
Left Rear Hazcam |
106 |
1.496E-05 |
1.437E-09 |
|
MER-A |
Right Rear Hazcam |
108 |
1.496E-05 |
1.437E-09 |
|
MER-B |
Left Navcam |
102 |
1.496E-05 |
1.437E-09 |
|
MER-B |
Right Navcam |
117 |
2.693E-05 |
1.437E-09 |
|
MER-B |
Left Front Hazcam |
120 |
1.496E-05 |
1.437E-09 |
|
MER-B |
Right Front Hazcam |
122 |
1.496E-05 |
1.437E-09 |
|
MER-B |
Left Rear Hazcam |
119 |
1.496E-05 |
1.437E-09 |
|
MER-B |
Right Rear Hazcam |
121 |
1.496E-05 |
1.437E-09 |
Table 3.2. Navcam/Hazcam absolute responsivity estimates. All of the Engineering Cameras have approximately identical responsivities, with the exception of Navcam SN 117, which is less sensitive than the average MER Engineering Camera by approximately a factor of 1.8. The responsivity as a function of temperature, R(T) = R0 + R1*T, where T is the temperature in degrees C.
3.4 Dark Current
Engineering Camera dark current data have been collected for all cameras and have been verified to be similar to that of the Pancam and MI cameras. For more information on the MER camera dark current, see the Pancam and MI calibration reports. The dark current values from the MER Engineering Cameras are less than 1% of the total signal of a well-exposed pixel at typical Martian operating temperatures.
3.5 Pointing Characterization
The ability of the PMA to point to a target was characterized during ATLO. The PMA units on both rovers exhibited virtually identical pointing characteristics.
Table 3.2 Pointing performance for the Spirit PMA, as measured in ATLO.
Appendix A – Geometric Camera Models
|
MER
A Camera Models |
MER
B Camera Models |
|
Filename:
/oss/mera/ops/ops/surface/tactical/staging/ssw/products/./050/028/d0148-000-0006_001_0141097355-043.dat Type: img_model - Camera
Model Tables Spacecraft: MER A
(SCID=254) DVT:2004-173T13:41:16.734
- 0141097355.043 Packetized:
2004-174T18:49:51.415 - 0141202270.052 ERT:2004-174T19:25:12.107 APID=50 Subtype=28
Version=0 [Front Left Hazcam] Camera Model ID: 58 Camera Serial Number: 107 Camera ID: Front Left
Hazcam Filter Position: No filter/unknown Model Class: CAHVORE Model Type: 3 Model Parameter: 0.370000 Array Center Vector
length 3 [0] Center Vector: 0.606185 [1] Center Vector: -0.043367 [2] Center Vector: -0.234891 Array Axis Vector length
3 [0] Axis Vector: 0.712013 [1] Axis Vector: 0.037316 [2] Axis Vector: 0.701174 Array Horizontal Vector
length 3 [0] Horizontal Vector:
353.340667 [1] Horizontal Vector:
474.872862 [2] Horizontal Vector:
350.820311 Array Vertical Vector
length 3 [0] Vertical Vector:
44.010163 [1] Vertical Vector: 16.904013 [2] Vertical Vector:
683.916158 Array Optical Vector
length 3 [0] Optical Vector: 0.712953 [1] Optical Vector: 0.038186 [2] Optical Vector: 0.700171 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.000003 [1] Radial Distortion Terms:
-0.013032 [2] Radial Distortion Terms:
-0.007540 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000942 [1] Entrance Pupil Terms:
0.002280 [2] Entrance Pupil Terms:
0.001613 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.000000 [1] Camera Reference Vector:
0.000000 [2] Camera Reference Vector:
0.000000 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.000000 [1] Camera Reference
Quaternion: 0.000000 [2] Camera Reference
Quaternion: 0.000000 [3] Camera Reference
Quaternion: 1.000000 Camera Temperature:
20.000000 [Front Right Hazcam] Camera Model ID: 59 Camera Serial Number: 109 Camera ID: Front Right
Hazcam Filter Position: No
filter/unknown Model Class: CAHVORE Model Type: 3 Model Parameter: 0.370000 Array Center Vector
length 3 [0] Center Vector: 0.605777 [1] Center Vector: 0.055065 [2] Center Vector: -0.235306 Array Axis Vector length
3 [0] Axis Vector: 0.702176 [1] Axis Vector: -0.007688 [2] Axis Vector: 0.711962 Array Horizontal Vector
length 3 [0] Horizontal Vector:
347.882684 [1] Horizontal Vector:
451.204960 [2] Horizontal Vector:
357.288613 Array Vertical Vector
length 3 [0] Vertical Vector:
39.944126 [1] Vertical Vector:
-7.191921 [2] Vertical Vector:
688.965306 Array Optical Vector
length 3 [0] Optical Vector: 0.701760 [1] Optical Vector: -0.012920 [2] Optical Vector: 0.712296 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.000028 [1] Radial Distortion Terms:
-0.013534 [2] Radial Distortion Terms:
-0.007456 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000568 [1] Entrance Pupil Terms:
0.001915 [2] Entrance Pupil Terms:
0.002274 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.000000 [1] Camera Reference Vector:
0.000000 [2] Camera Reference Vector:
0.000000 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.000000 [1] Camera Reference
Quaternion: 0.000000 [2] Camera Reference
Quaternion: 0.000000 [3] Camera Reference
Quaternion: 1.000000 Camera Temperature:
20.000000 [Rear Left Hazcam] Camera Model ID: 60 Camera Serial Number: 106 Camera ID: Rear Left
Hazcam Filter Position: No
filter/unknown Model Class: CAHVORE Model Type: 3 Model Parameter: 0.370000 Array Center Vector
length 3 [0] Center Vector: -0.352830 [1] Center Vector: 0.027840 [2] Center Vector: -0.220359 Array Axis Vector length
3 [0] Axis Vector: -0.820494 [1] Axis Vector: -0.017232 [2] Axis Vector: 0.571396 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-414.354735 [1] Horizontal Vector:
-461.547168 [2] Horizontal Vector:
286.204206 Array Vertical Vector
length 3 [0] Vertical Vector:
-170.157896 [1] Vertical Vector:
-9.813575 [2] Vertical Vector:
669.513537 Array Optical Vector
length 3 [0] Optical Vector: -0.818510 [1] Optical Vector: -0.020424 [2] Optical Vector: 0.574129 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.000022 [1] Radial Distortion Terms:
-0.012974 [2] Radial Distortion Terms:
-0.007563 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000972 [1] Entrance Pupil Terms:
0.001178 [2] Entrance Pupil Terms:
0.001015 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.000000 [1] Camera Reference Vector:
0.000000 [2] Camera Reference Vector:
0.000000 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.000000 [1] Camera Reference
Quaternion: 0.000000 [2] Camera Reference
Quaternion: 0.000000 [3] Camera Reference
Quaternion: 1.000000 Camera Temperature:
20.000000 [Rear Right Hazcam] Camera Model ID: 61 Camera Serial Number: 108 Camera ID: Rear Right
Hazcam Filter Position: No
filter/unknown Model Class: CAHVORE Model Type: 3 Model Parameter: 0.370000 Array Center Vector
length 3 [0] Center Vector: -0.352856 [1] Center Vector: -0.071599 [2] Center Vector: -0.220484 Array Axis Vector length
3 [0] Axis Vector: -0.817110 [1] Axis Vector: 0.006074 [2] Axis Vector: 0.576450 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-413.667588 [1] Horizontal Vector:
-448.794903 [2] Horizontal Vector: 287.678977 Array Vertical Vector
length 3 [0] Vertical Vector:
-170.387722 [1] Vertical Vector: 1.125681 [2] Vertical Vector:
673.049507 Array Optical Vector
length 3 [0] Optical Vector: -0.815498 [1] Optical Vector: 0.004208 [2] Optical Vector: 0.578744 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.000011 [1] Radial Distortion Terms:
-0.015912 [2] Radial Distortion Terms:
-0.006998 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000920 [1] Entrance Pupil Terms:
0.001679 [2] Entrance Pupil Terms:
0.002273 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.000000 [1] Camera Reference Vector:
0.000000 [2] Camera Reference Vector:
0.000000 Array Camera Reference
Quaternion length 4 [0] Camera Reference Quaternion:
0.000000 [1] Camera Reference
Quaternion: 0.000000 [2] Camera Reference
Quaternion: 0.000000 [3] Camera Reference
Quaternion: 1.000000 Camera Temperature:
20.000000 [Left Navcam] Camera Model ID: 174 Camera Serial Number: 112 Camera ID: Left Navcam Filter Position: No
filter/unknown Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.427748 [1] Center Vector: 0.114460 [2] Center Vector: -1.248564 Array Axis Vector length
3 [0] Axis Vector: -0.989991 [1] Axis Vector: -0.011243 [2] Axis Vector: 0.140682 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-450.458717 [1] Horizontal Vector:
-1193.412639 [2] Horizontal Vector:
75.082092 Array Vertical Vector
length 3 [0] Vertical Vector: -344.660526 [1] Vertical Vector: 4.426849 [2] Vertical Vector:
1249.216269 Array Optical Vector
length 3 [0] Optical Vector: -0.987140 [1] Optical Vector: 0.115434 [2] Optical Vector: 0.110584 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.019876 [1] Radial Distortion Terms:
-0.014281 [2] Radial Distortion Terms:
0.020876 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000000 [1] Entrance Pupil Terms:
0.000000 [2] Entrance Pupil Terms:
0.000000 Array Camera Reference Vector
length 3 [0] Camera Reference Vector:
0.457810 [1] Camera Reference Vector:
0.027790 [2] Camera Reference Vector:
-1.096680 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.070093 [1] Camera Reference
Quaternion: 0.001171 [2] Camera Reference
Quaternion: 0.997401 [3] Camera Reference
Quaternion: -0.016658 Camera Temperature:
20.000000 [Right Navcam] Camera Model ID: 175 Camera Serial Number: 113 Camera ID: Right Navcam Filter Position: No
filter/unknown Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.435019 [1] Center Vector: -0.085753 [2] Center Vector: -1.249092 Array Axis Vector length
3 [0] Axis Vector: -0.988104 [1] Axis Vector: -0.049381 [2] Axis Vector: 0.145646 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-452.075834 [1] Horizontal Vector:
-1233.255239 [2] Horizontal Vector:
79.557598 Array Vertical Vector
length 3 [0] Vertical Vector:
-342.762187 [1] Vertical Vector:
-13.628939 [2] Vertical Vector:
1273.248298 Array Optical Vector
length 3 [0] Optical Vector: -0.989044 [1] Optical Vector: -0.039669 [2] Optical Vector: 0.142189 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.000300 [1] Radial Distortion Terms:
-0.004874 [2] Radial Distortion Terms:
0.018766 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000000 [1] Entrance Pupil Terms:
0.000000 [2] Entrance Pupil Terms:
0.000000 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.457810 [1] Camera Reference Vector:
0.027790 [2] Camera Reference Vector:
-1.096680 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.070093 [1] Camera Reference
Quaternion: 0.001171 [2] Camera Reference
Quaternion: 0.997401 [3] Camera Reference
Quaternion: -0.016658 Camera Temperature:
20.000000 [Left Pancam, filter L1] Camera Model ID: 176 Camera Serial Number: 104 Camera ID: Left Pancam Filter Position: Pancam
Left-Eye Filter L1: empty Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.401265 [1] Center Vector: 0.163027 [2] Center Vector: -1.245082 Array Axis Vector length
3 [0] Axis Vector: -0.989679 [1] Axis Vector: -0.046318 [2] Axis Vector: 0.135607 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-349.960356 [1] Horizontal Vector:
-3576.595824 [2] Horizontal Vector:
44.320764 Array Vertical Vector
length 3 [0] Vertical Vector:
-10.046627 [1] Vertical Vector:
-28.461764 [2] Vertical Vector:
3591.399075 Array Optical Vector
length 3 [0] Optical Vector: -0.991056 [1] Optical Vector: -0.047812 [2] Optical Vector: 0.124591 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.022997 [1] Radial Distortion Terms:
0.024872 [2] Radial Distortion Terms:
-0.407146 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000000 [1] Entrance Pupil Terms:
0.000000 [2] Entrance Pupil Terms:
0.000000 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.457810 [1] Camera Reference Vector:
0.027790 [2] Camera Reference Vector:
-1.096680 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.070093 [1] Camera Reference
Quaternion: 0.001171 [2] Camera Reference
Quaternion: 0.997401 [3] Camera Reference
Quaternion: -0.016658 Camera Temperature:
20.000000 [Left Pancam, filter L2] Camera Model ID: 177 Camera Serial Number: 104 Camera ID: Left Pancam Filter Position: Pancam
Left-Eye Filter L2: 750 nm Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.401265 [1] Center Vector: 0.163027 [2] Center Vector: -1.245082 Array Axis Vector length
3 [0] Axis Vector: -0.989679 [1] Axis Vector: -0.046318 [2] Axis Vector: 0.135607 Array Horizontal Vector
length 3 [0] Horizontal Vector: -349.960356 [1] Horizontal Vector:
-3576.595824 [2] Horizontal Vector:
44.320764 Array Vertical Vector
length 3 [0] Vertical Vector:
-10.046627 [1] Vertical Vector:
-28.461764 [2] Vertical Vector:
3591.399075 Array Optical Vector
length 3 [0] Optical Vector: -0.991056 [1] Optical Vector: -0.047812 [2] Optical Vector: 0.124591 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.022997 [1] Radial Distortion Terms:
0.024872 [2] Radial Distortion Terms:
-0.407146 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000000 [1] Entrance Pupil Terms:
0.000000 [2] Entrance Pupil Terms:
0.000000 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.457810 [1] Camera Reference Vector:
0.027790 [2] Camera Reference Vector:
-1.096680 Array Camera Reference
Quaternion length 4 [0] Camera Reference
Quaternion: 0.070093 [1] Camera Reference
Quaternion: 0.001171 [2] Camera Reference
Quaternion: 0.997401 [3] Camera Reference
Quaternion: -0.016658 Camera Temperature:
20.000000 [Left Pancam, filter L3] Camera Model ID: 178 Camera Serial Number: 104 Camera ID: Left Pancam Filter Position: Pancam
Left-Eye Filter L3: 670 nm Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.401265 [1] Center Vector: 0.163027 [2] Center Vector: -1.245082 Array Axis Vector length
3 [0] Axis Vector: -0.989679 [1] Axis Vector: -0.046318 [2] Axis Vector: 0.135607 Array Horizontal Vector
length 3 [0] Horizontal Vector:
-349.960356 [1] Horizontal Vector: -3576.595824 [2] Horizontal Vector:
44.320764 Array Vertical Vector
length 3 [0] Vertical Vector:
-10.046627 [1] Vertical Vector:
-28.461764 [2] Vertical Vector:
3591.399075 Array Optical Vector
length 3 [0] Optical Vector: -0.991056 [1] Optical Vector: -0.047812 [2] Optical Vector: 0.124591 Array Radial Distortion
Terms length 3 [0] Radial Distortion Terms:
0.022997 [1] Radial Distortion Terms:
0.024872 [2] Radial Distortion Terms:
-0.407146 Array Entrance Pupil
Terms length 3 [0] Entrance Pupil Terms:
0.000000 [1] Entrance Pupil Terms:
0.000000 [2] Entrance Pupil Terms:
0.000000 Array Camera Reference
Vector length 3 [0] Camera Reference Vector:
0.457810 [1] Camera Reference Vector:
0.027790 [2] Camera Reference Vector:
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Quaternion: 0.705901 Camera Temperature:
20.000000 |
Filename:
/oss/merb/flight/ops/lc/downlink/data_prods/staging/ssw/products/./050/028/p0001-001-0028_001_0124528157-209.dat Type: img_model - Camera
Model Tables Spacecraft: MER B
(SCID=253) DVT:2003-346T19:09:17.816
- 0124528157.209 Packetized:
2003-350T02:32:24.377 - 0124814015.109 ERT:2003-350T03:08:42.308 APID=50 Subtype=28
Version=0 [Front Left Hazcam] Camera Model ID: 33 Camera Serial Number: 120 Camera ID: Front Left
Hazcam Filter Position: No
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Quaternion: 1.000000 Camera Temperature:
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Hazcam Filter Position: No
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Hazcam Filter Position: No
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Hazcam Filter Position: No
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Quaternion: 0.992507 [3] Camera Reference
Quaternion: -0.102653 Camera Temperature:
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Quaternion: 0.006818 [2] Camera Reference
Quaternion: 0.992507 [3] Camera Reference
Quaternion: -0.102653 Camera Temperature:
20.000000 [Left Pancam, filter L1] Camera Model ID: 198 Camera Serial Number: 115 Camera ID: Left Pancam Filter Position: Pancam
Left-Eye Filter L1: empty Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
length 3 [0] Center Vector: 0.382152 [1] Center Vector: 0.149178 [2] Center Vector: -1.246381 Array Axis Vector length
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Quaternion: -0.102653 Camera Temperature:
20.000000 [Left Pancam, filter L2] Camera Model ID: 199 Camera Serial Number: 115 Camera ID: Left Pancam Filter Position: Pancam
Left-Eye Filter L2: 750 nm Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
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Left-Eye Filter L3: 670 nm Model Class: CAHVOR Model Type: 0 Model Parameter: 0.000000 Array Center Vector
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20.000000 |
Appendix B. MER flat fields
Figure
A.1 Measured MER A Left Navcam Flat
Field Response
Figure A.2 Measured
MER A Right Navcam Flat
Field Response
Figure
A.3. Measured MER B Left Navcam Flat
Field Response
Figure
A.4 Measured MER B Right Navcam Flat
Field Response