Pipelines for CSM vs ISIS Camera Models¶
Two types of camera model are available from USGS Astro: CSM or ISIS.
Recommended going forward: CSM
The CSM Camera Model is recommended, especially if working with GTIFFs or creating new pipelines. New missions will only be supported with the CSM Camera Model.
For projects with pre-existing tooling/pipelines, keep using ISIS Camera Models. The ISIS Camera Model is going into maintenance mode - Current missions will continue to be supported, but no new missions will be added.
Command-Line Examples¶
Initializing a Camera Model
Starting from an uninitialized image, run these commands to initialize a camera model.
# Ingest into ISIS
mroctx2isis from=B10_013341_1010_XN_79S172W.IMG to=B10_013341_1010_XN_79S172W.cub
# Attach SPICE
spiceinit from=B10_013341_1010_XN_79S172W.cub
# Make ISD using an ISIS SPICE Driver (-i)
isd_generate -i B10_013341_1010_XN_79S172W.cub
# Init CSM Model
csminit from=B10_013341_1010_XN_79S172W.cub isd=B10_013341_1010_XN_79S172W.json
We're using this MRO CTX Image for this tutorial. If you use an image from another mission, use the appropriate -2isis ingestion app or isisimport instead of mroctx2isis.
Developers - Updating the CSM Plugin Location for csminit
If building ISIS for development, add the location of the CSM Plugins as a CSMDirectory in your IsisPreferences file.
The IsisPreferences file may be found under ~/.isis/, ISIS3/isis, and/or ISIS3/build.
If you're not sure which file to update, just update any that are present.
The CSM Plugin location is commonly $CONDA_PREFIX/lib/csmplugins/ or $ISISROOT/lib/csmplugins/.
IsisPreferences (Plugin Section)
...
########################################################
#
# Indicate where ISIS should search for Community
# Sensor Model (CSM) plugins. The value of this keyword
# should be a list of paths, that contain CSM plugin
# libraries.
#
########################################################
Group = Plugins
CSMDirectory = ("$ISISROOT/lib/csmplugins/", -
"$ISISROOT/lib/isis/csm3.0.3/", -
"$ISISROOT/csmlibs/3.0.3/", -
"$HOME/.Isis/csm3.0.3/", -
"$CONDA_PREFIX/lib/csmplugins/")
EndGroup
...
isd_generate Examples
| Options |
|---|
-w: Use web Kernels ~or~ -s: Look in $ALESPICEROOT for Kernels |
-n: Use NAIF SPICE ~or~ -i: Use ISIS SPICE |
-k path/to/kernel.mk: Use this file for a kernel source. Can be a metakernel or .cub |
-v: Verbose (Useful for troubleshooting) |
# Requires a spiceinit-ed .cub
isd_generate -i B10_013341_1010_XN_79S172W.cub
# This makes an ISIS SPICE ISD, using an ISIS SPICE Driver in ALE.
# Use an ISIS SPICE ISD in csminit for the closest CSM parity with ISIS Camera Models.
The examples with -i and with -k <your.cub>
both produce ISIS SPICE ISDs with the same values.
# Requires a spiceinit-ed .cub
isd_generate -k B10_013341_1010_XN_79S172W.cub B10_013341_1010_XN_79S172W.cub
# This makes an ISIS SPICE ISD, using the kernel from the .cub
# Use an ISIS SPICE ISD in csminit for the closest CSM parity with ISIS Camera Models.
The examples with -i and with -k <your.cub>
both produce ISIS SPICE ISDs with the same values.
Process¶
For either model, the first step is to ingest the image into an ISIS .cub using an 2isis app. After that, the process diverges, depending on which Camera Model is preferred. You can attach SPICE information for the ISIS Camera Model, or a CSM State String for the CSM Camera Model.
flowchart TD
A["Raw Image (.img)"] -->|ISIS: x2isis | B["Uninitialized Cube (.cub)"]
B -->|ALE: isd_generate| C["ISD (.json)"]
C -->|ISIS: csminit| D["CSM Camera Model (.cub)"]
B -->|ISIS: spiceinit| E["ISIS Camera Model (.cub)"]
D --> F(Camera Model-dependent ISIS Apps)
E --> FThe ISIS and CSM Camera Models differ slightly from each other.
Most differences are negligible, but can vary depending on the instrument.
For the closest parity with ISIS Models in CSM, use isd_generate -i, which forces an ISIS SPICE-based driver.
Whichever method is used, after a Camera Model is attached, you can do further Camera Model-dependent work in ISIS:
- Camera Geometry
- Control Networks
- Bundle Adjustment
- Map Projection (About; Tutorial)
Image Labels¶
The label can reveal if a .cub has a Camera Model, and which kind (CSM or ISIS) it has.
If a NaifKeywords Object is present, a Camera Model has been initialized.
Other fields differentiate CSM and ISIS Camera Models from each other, as seen below.
Label Comparison¶
-
CSM Camera Model
- NaifKeywords Object
- Kernels not listed, but ShapeModel set (may be Null)
- CsmInfo Group
- CSMState String
-
ISIS Camera Model
- NaifKeywords Object
- Kernels listed
- Instrument Pointing, Instrument Position, Body Rotation, and Sun Position Tables
-
No Camera Model
- No NaifKeywords Object
- Kernels not listed
Sample Labels by Camera Model
Object = IsisCube
Object = Core
StartByte = 65537
Format = Tile
TileSamples = 1000
TileLines = 1024
Group = Dimensions
Samples = 5000
Lines = 24576
Bands = 1
End_Group
Group = Pixels
Type = SignedWord
ByteOrder = Lsb
Base = 0.0
Multiplier = 1.0
End_Group
End_Object
Group = Instrument
SpacecraftName = Mars_Reconnaissance_Orbiter
InstrumentId = CTX
TargetName = Mars
MissionPhaseName = ESP
StartTime = 2009-06-01T00:38:16.057
SpacecraftClockCount = 0928283918:060
OffsetModeId = 196/202/188
LineExposureDuration = 1.877 <MSEC>
FocalPlaneTemperature = 295.2 <K>
SampleBitModeId = SQROOT
SpatialSumming = 1
SampleFirstPixel = 0
End_Group
Group = Archive
DataSetId = MRO-M-CTX-2-EDR-L0-V1.0
ProductId = B10_013341_1010_XN_79S172W
ProducerId = MRO_CTX_TEAM
ProductCreationTime = 2009-12-02T19:21:25
OrbitNumber = 13341
End_Group
Group = BandBin
FilterName = BroadBand
Center = 0.65 <micrometers>
Width = 0.15 <micrometers>
End_Group
Group = Kernels
NaifFrameCode = -74021
End_Group
End_Object
Object = Label
Bytes = 65536
End_Object
Object = Table
Name = "Ctx Prefix Dark Pixels"
StartByte = 245826105
Bytes = 2359296
Records = 24576
ByteOrder = Lsb
Group = Field
Name = DarkPixels
Type = Integer
Size = 24
End_Group
End_Object
Object = History
Name = IsisCube
StartByte = 245825537
Bytes = 568
End_Object
Object = OriginalLabel
Name = IsisCube
StartByte = 248185401
Bytes = 1714
End_Object
End
Object = IsisCube
Object = Core
StartByte = 65537
Format = Tile
TileSamples = 1000
TileLines = 1024
Group = Dimensions
Samples = 5000
Lines = 24576
Bands = 1
End_Group
Group = Pixels
Type = SignedWord
ByteOrder = Lsb
Base = 0.0
Multiplier = 1.0
End_Group
End_Object
Group = Instrument
SpacecraftName = Mars_Reconnaissance_Orbiter
InstrumentId = CTX
TargetName = Mars
MissionPhaseName = ESP
StartTime = 2009-06-01T00:38:16.057
SpacecraftClockCount = 0928283918:060
OffsetModeId = 196/202/188
LineExposureDuration = 1.877 <MSEC>
FocalPlaneTemperature = 295.2 <K>
SampleBitModeId = SQROOT
SpatialSumming = 1
SampleFirstPixel = 0
End_Group
Group = Archive
DataSetId = MRO-M-CTX-2-EDR-L0-V1.0
ProductId = B10_013341_1010_XN_79S172W
ProducerId = MRO_CTX_TEAM
ProductCreationTime = 2009-12-02T19:21:25
OrbitNumber = 13341
End_Group
Group = BandBin
FilterName = BroadBand
Center = 0.65 <micrometers>
Width = 0.15 <micrometers>
End_Group
Group = Kernels
NaifFrameCode = -74021
ShapeModel = Null
End_Group
Group = CsmInfo
CSMPlatformID = Mars_Reconnaissance_Orbiter
CSMInstrumentId = "CONTEXT CAMERA"
ReferenceTime = 2009-05-31T12:39:45Z
ModelParameterNames = ("IT Pos. Bias ", "CT Pos. Bias ",
"Rad Pos. Bias ", "IT Vel. Bias ",
"CT Vel. Bias ", "Rad Vel. Bias ",
"Omega Bias ", "Phi Bias ",
"Kappa Bias ", "Omega Rate ",
"Phi Rate ", "Kappa Rate ",
"Omega Accl ", "Phi Accl ",
"Kappa Accl ", "Focal Bias ")
ModelParameterUnits = (m, m, m, m, m, m, m, m, m, m, m, m, m, m, m, m)
ModelParameterTypes = (REAL, REAL, REAL, REAL, REAL, REAL, REAL, REAL,
REAL, REAL, REAL, REAL, REAL, REAL, REAL, REAL)
End_Group
End_Object
Object = Label
Bytes = 65536
End_Object
Object = Table
Name = "Ctx Prefix Dark Pixels"
StartByte = 245826105
Bytes = 2359296
Records = 24576
ByteOrder = Lsb
Group = Field
Name = DarkPixels
Type = Integer
Size = 24
End_Group
End_Object
Object = History
Name = IsisCube
StartByte = 257709736
Bytes = 1095
End_Object
Object = OriginalLabel
Name = IsisCube
StartByte = 248185401
Bytes = 1714
End_Object
Object = String
Name = CSMState
StartByte = 248187115
Bytes = 9522621
ModelName = USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL
PluginName = UsgsAstroPluginCSM
End_Object
Object = NaifKeywords
BODY499_PM = (176.63, 350.89198226, 0)
BODY499_POLE_DEC = (52.8865, -0.0609, 0)
BODY499_POLE_RA = (317.68143, -0.1061, 0)
BODY499_RADII = (3396.19, 3396.19, 3376.2)
BODY_CODE = 499
BODY_FRAME_CODE = 10014
FRAME_-74021_CENTER = -74
FRAME_-74021_CLASS = 4
FRAME_-74021_CLASS_ID = -74021
FRAME_-74021_NAME = MRO_CTX
INS-74021_BORESIGHT = (0, 0, 1)
INS-74021_BORESIGHT_LINE = 0.430442527
INS-74021_BORESIGHT_SAMPLE = 2543.46099
INS-74021_CCD_CENTER = (2500.5, 0.5)
INS-74021_CK_FRAME_ID = -74000
INS-74021_CK_REFERENCE_ID = -74900
INS-74021_F/RATIO = 3.25
INS-74021_FOCAL_LENGTH = 352.9271664
INS-74021_FOV_ANGLE_UNITS = DEGREES
INS-74021_FOV_ANGULAR_SIZE = (5.73, 0.001146)
INS-74021_FOV_CLASS_SPEC = ANGLES
INS-74021_FOV_CROSS_ANGLE = 0.00057296
INS-74021_FOV_FRAME = MRO_CTX
INS-74021_FOV_REF_ANGLE = 2.86478898
INS-74021_FOV_REF_VECTOR = (0, 1, 0)
INS-74021_FOV_SHAPE = RECTANGLE
INS-74021_IFOV = (2e-05, 2e-05)
INS-74021_ITRANSL = (0, 142.85714285714, 0)
INS-74021_ITRANSS = (0, 0, 142.85714285714)
INS-74021_OD_K = (-0.007343392592005451, 2.83758786362417e-05,
1.28419891240271e-08)
INS-74021_PIXEL_LINES = 1
INS-74021_PIXEL_PITCH = 0.007
INS-74021_PIXEL_SAMPLES = 5000
INS-74021_PIXEL_SIZE = (0.007, 0.007)
INS-74021_PLATFORM_ID = -74000
INS-74021_TRANSX = (0, 0, 0.007)
INS-74021_TRANSY = (0, 0.007, 0)
SCLK01_COEFFICIENTS_74999 = (0, -631195148.816, 1, 3097283854336,
-583934347.816, 1, 5164027215872,
-552398346.816, 1, 7230770577408,
-520862345.816, 1, 11369919545344,
-457703944.816, 1, 16545271316480,
-378734343.816, 1, 20684420284416,
-315575942.816, 1, 22751163645952,
-284039941.816, 1, 25848447500288,
-236779140.816, 1, 27915190861824,
-205243139.816, 1, 29981934223360,
-173707138.816, 1, 33090542698496,
-126273537.816, 1, 36187826552832,
-79012736.816, 1, 39296435027968,
-31579135.816, 0.99999999999999,
52973626698957, 177118246.859,
0.99999852023164, 52993689169101,
177424375.406, 1, 52995043929293.01,
177445047.406, 1.0000000226389,
53096363306188.99, 178991058.441,
1.0000000201904, 53284625886413, 181863717.499,
1.0000000150408, 53363055635660.99,
183060460.517, 1.0000000132783, 53599962770637,
186675376.565, 1.0000000070773, 53627742694605,
187099264.568, 1.0000000106838, 53774962830541,
189345665.592, 0.99999997549027,
53791006043341, 189590465.586, 1,
53792386231501.01, 189611525.586,
0.9999987249048899, 53797217545421,
189685245.492, 1.0000000061688, 53892831227085,
191144194.501, 1.0000000031304, 54018442177741,
193060865.507, 1.0000000020774, 54239272283341,
196430465.514, 1, 54625917840589.01,
202330208.514, 0.9999990357606199,
54630607531213, 202401767.445,
0.99999999979331, 54947686296781.01,
207240005.444, 0.99999949258425,
54952723393741.01, 207316865.405,
0.9999999952330499, 55103951580365.01,
209624424.394, 0.99999999390912,
55480540900557, 215370721.359,
0.9999999917298601, 55734122228941,
219240065.327, 0.9999999909164601,
56253588483277, 227166491.255,
0.9999990477698499, 56282150317261,
227602309.84, 0.99999999099945, 56987144394888,
238359665.664, 0.9999999831211401,
57666621642887.99, 248727665.489,
0.99999998135288, 57972386404488,
253393265.402, 0.9999999820012601,
58187590238531, 256677015.252, 0.9999999809459,
58555613610307, 262292606.145,
0.9999999770547999, 59980855214403.01,
284040066.646, 0.9999999769993601,
60316686887734, 289164451.192,
0.9999999771683801, 60526226516790,
292361772.119, 0.9999999760003601,
60877151798382, 297716466.839,
0.9999999759615801, 60950761833582,
298839666.812, 0.99999997699925,
61228279462147, 303074249.67, 0.99999996699968,
61339176585694, 304766405.43,
0.9999990077562799, 61540822010334.01,
307843267.377, 0.99999906859216,
61648405973470, 309484866.848,
0.9999991604094201, 61747538479581.99,
310997507.578, 0.99999917299955,
61899057574089, 313309503.568,
0.99999997132958, 62100211544265, 316378869.48,
0.9999999697981201, 63419529736393,
336510066.872, 0.9999999679956, 63521451511732,
338065269.693, 0.99999996913538,
63538438246324, 338324466.685,
0.99999996880886, 64206591135668,
348519670.367, 0.99999996800035,
65622287286835.01, 370121478.623,
0.9999999657405499, 65673936470578.99,
370909582.596, 0.99999996300108,
65888349410862.01, 374181264.303,
0.99999996157694, 65900288955950.01,
374363447.296, 0.9999999631076,
66545125381677.99, 384202869.933,
0.9999999621435499, 67211626370606,
394372867.548, 0.9999999483391899,
67343558989358, 396385999.444,
0.9999999580000299, 67842962571636.99,
404006293.043)
SCLK01_MODULI_74999 = (4294967296, 65536)
SCLK01_N_FIELDS_74999 = 2
SCLK01_OFFSETS_74999 = (0, 0)
SCLK01_OUTPUT_DELIM_74999 = 1
SCLK01_TIME_SYSTEM_74999 = 2
SCLK_DATA_TYPE_74999 = 1
SCLK_PARTITION_END_74999 = (52973626698957, 56987144678331,
58187590527162.99, 60316687182323,
60877152115000, 61228279788693,
61339176915162.99, 61899057915627,
63521451859691, 65622287643263,
65888349770746.99, 67842962942791,
69529271265267, 70724085076049, 71692166304603,
281474976710650)
SCLK_PARTITION_START_74999 = (0, 52973626982399.99, 56987144683520,
58187590533120, 60316687204352.01,
60877152124927.99, 61228279791616,
61339176927232, 61899057922048, 63521451868160,
65622287646719.99, 65888349782016,
67842962948096, 69529271271424.01,
70724085088256, 71692166299648)
TKFRAME_-74021_ANGLES = (0, 0, 0)
TKFRAME_-74021_AXES = (1, 2, 3)
TKFRAME_-74021_RELATIVE = MRO_CTX_BASE
TKFRAME_-74021_SPEC = ANGLES
TKFRAME_-74021_UNITS = DEGREES
End_Object
End
Object = IsisCube
Object = Core
StartByte = 65537
Format = Tile
TileSamples = 1000
TileLines = 1024
Group = Dimensions
Samples = 5000
Lines = 24576
Bands = 1
End_Group
Group = Pixels
Type = SignedWord
ByteOrder = Lsb
Base = 0.0
Multiplier = 1.0
End_Group
End_Object
Group = Instrument
SpacecraftName = Mars_Reconnaissance_Orbiter
InstrumentId = CTX
TargetName = Mars
MissionPhaseName = ESP
StartTime = 2009-06-01T00:38:16.057
SpacecraftClockCount = 0928283918:060
OffsetModeId = 196/202/188
LineExposureDuration = 1.877 <MSEC>
FocalPlaneTemperature = 295.2 <K>
SampleBitModeId = SQROOT
SpatialSumming = 1
SampleFirstPixel = 0
End_Group
Group = Archive
DataSetId = MRO-M-CTX-2-EDR-L0-V1.0
ProductId = B10_013341_1010_XN_79S172W
ProducerId = MRO_CTX_TEAM
ProductCreationTime = 2009-12-02T19:21:25
OrbitNumber = 13341
End_Group
Group = BandBin
FilterName = BroadBand
Center = 0.65 <micrometers>
Width = 0.15 <micrometers>
End_Group
Group = Kernels
NaifFrameCode = -74021
LeapSecond = $base/kernels/lsk/naif0012.tls
TargetAttitudeShape = $mro/kernels/pck/pck00008.tpc
TargetPosition = (Table, $base/kernels/spk/de430.bsp,
$base/kernels/spk/mar097.bsp)
InstrumentPointing = (Table,
$mro/kernels/ck/mro_sc_psp_090526_090601.bc,
$mro/kernels/fk/mro_v16.tf)
Instrument = Null
SpacecraftClock = $mro/kernels/sclk/MRO_SCLKSCET.00114.65536.tsc
InstrumentPosition = (Table,
$mro/kernels/spk/mro_psp11_ssd_mro110c.bsp)
InstrumentAddendum = $mro/kernels/iak/mroctxAddendum005.ti
ShapeModel = $base/dems/molaMarsPlanetaryRadius0005.cub
InstrumentPositionQuality = Reconstructed
InstrumentPointingQuality = Reconstructed
CameraVersion = 1
Source = ale
End_Group
End_Object
Object = Label
Bytes = 65536
End_Object
Object = Table
Name = "Ctx Prefix Dark Pixels"
StartByte = 245826105
Bytes = 2359296
Records = 24576
ByteOrder = Lsb
Group = Field
Name = DarkPixels
Type = Integer
Size = 24
End_Group
End_Object
Object = Table
Name = InstrumentPointing
StartByte = 248187115
Bytes = 14848
Records = 232
ByteOrder = Lsb
TimeDependentFrames = (-74000, -74900, 1)
ConstantFrames = (-74021, -74020, -74699, -74690, -74000)
ConstantRotation = (0.99999956087984, -1.51960241928035e-05,
9.37021451059407e-04, 1.52765520753567e-05,
0.99999999619106, -8.59331791187953e-05,
-9.37020141647677e-04, 8.59474558407972e-05,
0.99999955730305)
CkTableStartTime = 297088762.24158
CkTableEndTime = 297088808.37074
CkTableOriginalSize = 24577
FrameTypeCode = 3
Description = "Created by spiceinit"
Kernels = ($mro/kernels/ck/mro_sc_psp_090526_090601.bc,
$mro/kernels/fk/mro_v16.tf)
Group = Field
Name = J2000Q0
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q1
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q2
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q3
Type = Double
Size = 1
End_Group
Group = Field
Name = AV1
Type = Double
Size = 1
End_Group
Group = Field
Name = AV2
Type = Double
Size = 1
End_Group
Group = Field
Name = AV3
Type = Double
Size = 1
End_Group
Group = Field
Name = ET
Type = Double
Size = 1
End_Group
End_Object
Object = Table
Name = InstrumentPosition
StartByte = 248201963
Bytes = 672
Records = 12
ByteOrder = Lsb
CacheType = HermiteSpline
SpkTableStartTime = 297088762.24158
SpkTableEndTime = 297088808.37074
SpkTableOriginalSize = 24577.0
Description = "Created by spiceinit"
Kernels = $mro/kernels/spk/mro_psp11_ssd_mro110c.bsp
Group = Field
Name = J2000X
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Y
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Z
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000XV
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000YV
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000ZV
Type = Double
Size = 1
End_Group
Group = Field
Name = ET
Type = Double
Size = 1
End_Group
End_Object
Object = Table
Name = BodyRotation
StartByte = 248202635
Bytes = 128
Records = 2
ByteOrder = Lsb
TimeDependentFrames = (10014, 1)
CkTableStartTime = 297088762.24158
CkTableEndTime = 297088808.37074
CkTableOriginalSize = 2
FrameTypeCode = 3
Description = "Created by spiceinit"
Kernels = ($base/kernels/spk/de430.bsp,
$base/kernels/spk/mar097.bsp,
$mro/kernels/pck/pck00008.tpc)
SolarLongitude = 276.65499960261
Group = Field
Name = J2000Q0
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q1
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q2
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Q3
Type = Double
Size = 1
End_Group
Group = Field
Name = AV1
Type = Double
Size = 1
End_Group
Group = Field
Name = AV2
Type = Double
Size = 1
End_Group
Group = Field
Name = AV3
Type = Double
Size = 1
End_Group
Group = Field
Name = ET
Type = Double
Size = 1
End_Group
End_Object
Object = Table
Name = SunPosition
StartByte = 248202763
Bytes = 112
Records = 2
ByteOrder = Lsb
CacheType = Linear
SpkTableStartTime = 297088762.24158
SpkTableEndTime = 297088808.37074
SpkTableOriginalSize = 2.0
Description = "Created by spiceinit"
Kernels = ($base/kernels/spk/de430.bsp,
$base/kernels/spk/mar097.bsp)
Group = Field
Name = J2000X
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Y
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000Z
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000XV
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000YV
Type = Double
Size = 1
End_Group
Group = Field
Name = J2000ZV
Type = Double
Size = 1
End_Group
Group = Field
Name = ET
Type = Double
Size = 1
End_Group
End_Object
Object = History
Name = IsisCube
StartByte = 248202875
Bytes = 1507
End_Object
Object = OriginalLabel
Name = IsisCube
StartByte = 248185401
Bytes = 1714
End_Object
Object = NaifKeywords
BODY499_PM = (176.63, 350.89198226, 0)
BODY499_POLE_DEC = (52.8865, -0.0609, 0)
BODY499_POLE_RA = (317.68143, -0.1061, 0)
BODY499_RADII = (3396.19, 3396.19, 3376.2)
BODY_CODE = 499
BODY_FRAME_CODE = 10014
FRAME_-74021_CENTER = -74
FRAME_-74021_CLASS = 4
FRAME_-74021_CLASS_ID = -74021
FRAME_-74021_NAME = MRO_CTX
INS-74021_BORESIGHT_LINE = 0.430442527
INS-74021_BORESIGHT_SAMPLE = 2543.46099
INS-74021_CK_FRAME_ID = -74000
INS-74021_CK_REFERENCE_ID = -74900
INS-74021_FOCAL_LENGTH = 352.9271664
INS-74021_ITRANSL = (0, 142.85714285714, 0)
INS-74021_ITRANSS = (0, 0, 142.85714285714)
INS-74021_OD_K = (-0.007343392592005451,
2.83758786362417e-05,
1.28419891240271e-08)
INS-74021_PIXEL_PITCH = 0.007
INS-74021_TRANSX = (0, 0, 0.007)
INS-74021_TRANSY = (0, 0.007, 0)
SCLK01_COEFFICIENTS_74999 = (0, -631195148.816, 1, 3097283854336,
-583934347.816, 1, 5164027215872,
-552398346.816, 1, 7230770577408,
-520862345.816, 1, 11369919545344,
-457703944.816, 1, 16545271316480,
-378734343.816, 1, 20684420284416,
-315575942.816, 1, 22751163645952,
-284039941.816, 1, 25848447500288,
-236779140.816, 1, 27915190861824,
-205243139.816, 1, 29981934223360,
-173707138.816, 1, 33090542698496,
-126273537.816, 1, 36187826552832,
-79012736.816, 1, 39296435027968,
-31579135.816, 0.99999999999999,
52973626698957, 177118246.859,
0.99999852023164, 52993689169101,
177424375.406, 1, 52995043929293.01,
177445047.406, 1.0000000226389,
53096363306188.99, 178991058.441,
1.0000000201904, 53284625886413,
181863717.499, 1.0000000150408,
53363055635660.99, 183060460.517,
1.0000000132783, 53599962770637,
186675376.565, 1.0000000070773,
53627742694605, 187099264.568,
1.0000000106838, 53774962830541,
189345665.592, 0.99999997549027,
53791006043341, 189590465.586, 1,
53792386231501.01, 189611525.586,
0.9999987249048899, 53797217545421,
189685245.492, 1.0000000061688,
53892831227085, 191144194.501,
1.0000000031304, 54018442177741,
193060865.507, 1.0000000020774,
54239272283341, 196430465.514, 1,
54625917840589.01, 202330208.514,
0.9999990357606199, 54630607531213,
202401767.445, 0.99999999979331,
54947686296781.01, 207240005.444,
0.99999949258425, 54952723393741.01,
207316865.405, 0.9999999952330499,
55103951580365.01, 209624424.394,
0.99999999390912, 55480540900557,
215370721.359, 0.9999999917298601,
55734122228941, 219240065.327,
0.9999999909164601, 56253588483277,
227166491.255, 0.9999990477698499,
56282150317261, 227602309.84,
0.99999999099945, 56987144394888,
238359665.664, 0.9999999831211401,
57666621642887.99, 248727665.489,
0.99999998135288, 57972386404488,
253393265.402, 0.9999999820012601,
58187590238531, 256677015.252,
0.9999999809459, 58555613610307,
262292606.145, 0.9999999770547999,
59980855214403.01, 284040066.646,
0.9999999769993601, 60316686887734,
289164451.192, 0.9999999771683801,
60526226516790, 292361772.119,
0.9999999760003601, 60877151798382,
297716466.839, 0.9999999759615801,
60950761833582, 298839666.812,
0.99999997699925, 61228279462147,
303074249.67, 0.99999996699968,
61339176585694, 304766405.43,
0.9999990077562799,
61540822010334.01, 307843267.377,
0.99999906859216, 61648405973470,
309484866.848, 0.9999991604094201,
61747538479581.99, 310997507.578,
0.99999917299955, 61899057574089,
313309503.568, 0.99999997132958,
62100211544265, 316378869.48,
0.9999999697981201, 63419529736393,
336510066.872, 0.9999999679956,
63521451511732, 338065269.693,
0.99999996913538, 63538438246324,
338324466.685, 0.99999996880886,
64206591135668, 348519670.367,
0.99999996800035, 65622287286835.01,
370121478.623, 0.9999999657405499,
65673936470578.99, 370909582.596,
0.99999996300108, 65888349410862.01,
374181264.303, 0.99999996157694,
65900288955950.01, 374363447.296,
0.9999999631076, 66545125381677.99,
384202869.933, 0.9999999621435499,
67211626370606, 394372867.548,
0.9999999483391899, 67343558989358,
396385999.444, 0.9999999580000299,
67842962571636.99, 404006293.043)
SCLK01_MODULI_74999 = (4294967296, 65536)
SCLK01_N_FIELDS_74999 = 2
SCLK01_OFFSETS_74999 = (0, 0)
SCLK01_OUTPUT_DELIM_74999 = 1
SCLK01_TIME_SYSTEM_74999 = 2
SCLK_DATA_TYPE_74999 = 1
SCLK_PARTITION_END_74999 = (52973626698957, 56987144678331,
58187590527162.99, 60316687182323,
60877152115000, 61228279788693,
61339176915162.99, 61899057915627,
63521451859691, 65622287643263,
65888349770746.99, 67842962942791,
69529271265267, 70724085076049,
71692166304603, 75099259007666,
79809852390453, 83047459403679,
83339739513255, 83670199669409,
83696265279213, 84370208048567,
85222415648003, 85242076343532.98,
85281866692896, 86114551008961.98,
88075739900029, 88506310182792,
88602117136170.98, 281474976710650)
SCLK_PARTITION_START_74999 = (0, 52973626982399.99,
56987144683520, 58187590533120,
60316687204352.01, 60877152124927.99,
61228279791616, 61339176927232,
61899057922048, 63521451868160,
65622287646719.99, 65888349782016,
67842962948096, 69529271271424.01,
70724085088256, 71692166299648,
75099259011072, 79809852407808,
83047459454976.02, 83339739529216,
83670199697408, 83696265265152,
84370208063487.98, 85222415663104,
85242076332032.02, 85281866711040.02,
86114551070720, 88075739922431.98,
88506310197248, 88602117144576)
TKFRAME_-74021_ANGLES = (0, 0, 0)
TKFRAME_-74021_AXES = (1, 2, 3)
TKFRAME_-74021_RELATIVE = MRO_CTX_BASE
TKFRAME_-74021_SPEC = ANGLES
TKFRAME_-74021_UNITS = DEGREES
CLOCK_ET_-74_0928283918:060_COMPUTED = 74d83dfa36b5b141
End_Object
End