mvic tdi camera distortion map updates (723ae9ee) · Commits · aflab / astrogeology / ISIS3

isis/src/newhorizons/objs/MvicTdiCamera/MvicTdiCameraDistortionMap.cpp

+85 −171

Original line number	Diff line number	Diff line
		@@ -23,6 +23,7 @@
		#include <boost/math/special_functions/legendre.hpp>

		#include "Camera.h"
		#include "CameraFocalPlaneMap.h"
		#include "Constants.h"
		#include "FunctionTools.h"
		#include "IString.h"
		@@ -32,7 +33,6 @@
		#include <QDebug>



		using namespace boost::math;
		using namespace std;
		using namespace Isis;
		@@ -83,52 +83,60 @@ namespace Isis {
		*
		* Compute undistorted focal plane x given a distorted focal plane x
		*
		* Distortion in line direction currently not considered (MVIC TDI is treated as line scan sensor)
		* TODO: Modify this - Distortion in line direction currently not considered (MVIC TDI is treated as line scan sensor)
		*
		* In the event of any failure, undistorted focal plane values are set equal to the raw
		* (distorted) values
		*
		* @param dx distorted focal plane x in millimeters
		* @param dy distorted focal plane y in millimeters
		*
		* @return if the conversion was successful
		* @return success/failure
		*
		* @see SetDistortion
		*/
		// TODO: Don't really like this - we always return true, even in event of failures
		bool MvicTdiCameraDistortionMap::SetFocalPlane(const double dx, const double dy) {

		p_focalPlaneX = dx;
		p_focalPlaneY = dy;

		// if x lies outside of the detector, do NOT apply distortion
		// set undistorted focal plane values to be identical to raw values
		if ((fabs(dx) > m_focalPlaneHalf_x)) {
		// initialize undistorted focal plane coordinates to the distorted
		// coordinate values
		p_undistortedFocalPlaneX = dx;
		p_undistortedFocalPlaneY = dy;

		// if x lies outside of the detector, do NOT apply distortion
		// set undistorted focal plane values to be identical to raw values
		if ((fabs(dx) > m_focalPlaneHalf_x)) {
		return true;
		}

		// scale x and y to lie in the range -1.0 to +1.0
		// this is requirement for Legendre Polynomials, man
		// scale x to lie in the range -1.0 to +1.0
		// this is required for Legendre Polynomials, man
		double xscaled = -dx/m_focalPlaneHalf_x;

		if (fabs(xscaled) > 1.0) {
		string msg = "MvicTdiCameraDistortionMap::SetFocalPlane - value not in range -1.0 to +1.0 required for Legendre Polynomials";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// compute distortion corrections in x and y using Legendre Polynomials
		// compute distortion corrections in x using Legendre Polynomials
		// these corrections are also in the -1.0 to +1.0 range
		double deltax, deltay;
		computeDistortionCorrections(xscaled, 0.0, deltax, deltay);

		// apply the corrections
		xscaled += deltax;
		double deltax1 = 0.0;
		if (!computeDistortionCorrections(xscaled, 0.0, deltax1)) {
		return true;
		}

		// now compute residual distortion corrections (per Jason Cook)
		// TODO: implementation not complete
		// computeResidualDistortionCorrections(dx, dy, deltax, deltay);
		double deltax2 = 0.0;
		double deltay2 = 0.0;
		computeResidualDistortionCorrections(dx, deltax2, deltay2);

		// apply the corrections
		xscaled += deltax1;

		// scale back from range of '-1.0 to +1.0' to the detector, '-32.5 to 32.5 mm'
		p_undistortedFocalPlaneX = -xscaled * m_focalPlaneHalf_x;
		p_undistortedFocalPlaneY = p_focalPlaneY;
		// p_undistortedFocalPlaneX = -xscaled * m_focalPlaneHalf_x;
		// p_undistortedFocalPlaneY = p_focalPlaneY;
		p_undistortedFocalPlaneX = -xscaled * m_focalPlaneHalf_x + deltax2;
		p_undistortedFocalPlaneY = p_focalPlaneY + deltay2;

		return true;
		}
		@@ -153,11 +161,24 @@ namespace Isis {
		p_undistortedFocalPlaneX = ux;
		p_undistortedFocalPlaneY = uy;

		double xt = ux;
		double yt = uy;

		// p_focalPlaneX = p_undistortedFocalPlaneX;
		// p_focalPlaneY = p_undistortedFocalPlaneY;
		// return true;

		// scale undistorted coordinates to range of -1.0 to +1.0
		double xtScaled = -ux/m_focalPlaneHalf_x;
		double uxScaled = xtScaled;
		double xScaledDistortion, yScaledDistortion;
		double xScaledPrevious = 1000000.0;
		double uxScaled = -ux/m_focalPlaneHalf_x;
		double xtScaled;
		double xprevious, yprevious;
		double scaledDeltax;
		double deltax2 = 0.0;
		double deltay2 = 0.0;

		xprevious = 1000000.0;
		yprevious = 1000000.0;

		double tolerance = 0.000001;

		bool bConverged = false;
		@@ -167,26 +188,31 @@ namespace Isis {
		// in successive iterations is at or below the given tolerance
		for( int i = 0; i < 50; i++ ) {

		xtScaled = -xt/m_focalPlaneHalf_x;

		if (fabs(xtScaled) > 1.0) {
		// continue;
		string msg = "value not in range -1.0 to +1.0 required for Legendre Polynomials";
		throw IException(IException::Programmer, msg, _FILEINFO_);
		}

		// compute distortion in x and y (scaled to -1.0 - +1.0) using Legendre Polynomials
		if (!computeDistortionCorrections(xtScaled, 0.0, xScaledDistortion, yScaledDistortion) )
		return false;
		// compute scaled distortion in x (scaled to -1.0 - +1.0) using Legendre Polynomials
		computeDistortionCorrections(xtScaled, 0.0, scaledDeltax);

		// compute residual distortion in unscaled focal plane coordinates
		computeResidualDistortionCorrections(xt, deltax2, deltay2);

		// update scaled image coordinates
		xtScaled = uxScaled - xScaledDistortion;
		// update unscaled coordinates
		xt = -(uxScaled-scaledDeltax)*m_focalPlaneHalf_x - deltax2;
		yt = uy - deltay2;

		// check for convergence
		if((fabs(xtScaled - xScaledPrevious) <= tolerance)) {
		// check for convergenceyScaledDistortion
		if((fabs(xt - xprevious) <= tolerance) && (fabs(yt - yprevious) <= tolerance)) {
		bConverged = true;
		break;
		}

		xScaledPrevious = xtScaled;
		xprevious = xt;
		yprevious = yt;
		}

		if (bConverged) {
		@@ -194,100 +220,14 @@ namespace Isis {
		// xtScaled *= -m_focalPlaneHalf_x;

		// set distorted coordinates
		p_focalPlaneX = -xtScaled * m_focalPlaneHalf_x;
		p_focalPlaneY = p_undistortedFocalPlaneY;


		p_focalPlaneX = xt;
		p_focalPlaneY = yt;
		}

		return bConverged;
		}


		/** Compute distorted focal plane x/y
		*
		* Compute distorted focal plane x/y given an undistorted focal plane x/y.
		*
		* This is an iterative procedure as computing the inverse of the distortion equations used by New
		* Horizons MVIC is difficult.
		*
		* @param ux undistorted focal plane x in millimeters
		* @param uy undistorted focal plane y in millimeters
		*
		* @return if the conversion was successful
		* @see SetDistortion
		*/
		/*
		bool MvicTdiCameraDistortionMap::SetUndistortedFocalPlane(const double ux, const double uy) {

		// image coordinates prior to introducing distortion
		p_undistortedFocalPlaneX = ux;
		p_undistortedFocalPlaneY = uy;

		double xScaledDistortion, yScaledDistortion;

		// scale undistorted coordinates to range of -1.0 to +1.0
		double xtScaled = ux/m_focalPlaneHalf_x;
		// double ytScaled = uy/m_focalPlaneHalf_y;
		double ytScaled = 0.0;

		double uxScaled = xtScaled;
		double uyScaled = ytScaled;

		double xScaledPrevious = 1000000.0;
		double yScaledPrevious = 1000000.0;

		double tolerance = 0.000001;

		bool bConverged = false;

		// iterating to introduce distortion...
		// we stop when the difference between distorted coordinates
		// in successive iterations is at or below the given tolerance
		for( int i = 0; i < 50; i++ ) {

		// if (fabs(xtScaled) > 1.0 \|\| fabs(ytScaled) > 1.0) {
		// continue;
		// string msg = "value not in range -1.0 to +1.0 required for Legendre Polynomials";
		// throw IException(IException::Programmer, msg, _FILEINFO_);
		// }

		// compute distortion in x and y (scaled to -1.0 - +1.0) using Legendre Polynomials
		// if (!computeDistortionCorrections(xtScaled, ytScaled, xScaledDistortion, yScaledDistortion) )
		if (!computeDistortionCorrections(xtScaled, 0.0, xScaledDistortion, yScaledDistortion) )
		return false;

		// update scaled image coordinates
		xtScaled = uxScaled - xScaledDistortion;
		// ytScaled = uyScaled - yScaledDistortion;
		ytScaled = 0.0;

		// check for convergence
		if((fabs(xtScaled - xScaledPrevious) <= tolerance) && (fabs(ytScaled - yScaledPrevious) <= tolerance)) {
		bConverged = true;
		break;
		}

		xScaledPrevious = xtScaled;
		yScaledPrevious = ytScaled;
		}

		if (bConverged) {
		// scale coordinates back to detector (-32.656 to +32.656)
		xtScaled *= m_focalPlaneHalf_x;
		// ytScaled *= m_focalPlaneHalf_y;

		// set distorted coordinates
		p_focalPlaneX = xtScaled;
		p_focalPlaneY = ytScaled;

		// p_focalPlaneY = uy;
		}

		return bConverged;
		}
		*/

		/** Compute distortion corrections in x and y direction
		*
		* For Legendre Polynomials, see ...
		@@ -300,11 +240,11 @@ namespace Isis {
		* @param deltax focal plane distortion correction to x in millimeters
		* @param deltay focal plane distortion correction to y in millimeters
		*
		* @return if successful
		* @return success/failure
		*/
		bool MvicTdiCameraDistortionMap::computeDistortionCorrections(const double xscaled,
		const double yscaled, double &deltax,
		double &deltay) {
		const double yscaled,
		double &deltax) {

		double lpx0, lpx1, lpx2, lpx3, lpx4, lpx5;
		double lpy0, lpy1, lpy2, lpy3, lpy4, lpy5;
		@@ -350,67 +290,41 @@ namespace Isis {
		m_xDistortionCoeffs[18] * lpx4 * lpy1 +
		m_xDistortionCoeffs[19] * lpx5 * lpy0;

		deltay = 0.0;

		// deltay =
		// m_distCoefY[0] * lpx0 * lpy1 +
		// m_distCoefY[1] * lpx1 * lpy0 +
		// m_distCoefY[2] * lpx0 * lpy2 +
		// m_distCoefY[3] * lpx1 * lpy1 +
		// m_distCoefY[4] * lpx2 * lpy0 +
		// m_distCoefY[5] * lpx0 * lpy3 +
		// m_distCoefY[6] * lpx1 * lpy2 +
		// m_distCoefY[7] * lpx2 * lpy1 +
		// m_distCoefY[8] * lpx3 * lpy0 +
		// m_distCoefY[9] * lpx0 * lpy4 +
		// m_distCoefY[10] * lpx1 * lpy3 +
		// m_distCoefY[11] * lpx2 * lpy2 +
		// m_distCoefY[12] * lpx3 * lpy1 +
		// m_distCoefY[13] * lpx4 * lpy0 +
		// m_distCoefY[14] * lpx0 * lpy5 +
		// m_distCoefY[15] * lpx1 * lpy4 +
		// m_distCoefY[16] * lpx2 * lpy3 +
		// m_distCoefY[17] * lpx3 * lpy2 +
		// m_distCoefY[18] * lpx4 * lpy1 +
		// m_distCoefY[19] * lpx5 * lpy0;

		return true;
		}


		/** Compute residual distortion corrections in row and column direction
		* TODO: Implementation not complete
		* TODO: Implementati plete
		*
		* @param dx
		* @param dy
		* @param residualDeltax
		* @param residualDeltay
		*
		* @return if successful
		* @return success/failure
		*/
		bool MvicTdiCameraDistortionMap::computeResidualDistortionCorrections(const double dx,
		const double dy,
		void MvicTdiCameraDistortionMap::computeResidualDistortionCorrections(const double dx,
		double &residualDeltax,
		double &residualDeltay) {

		// double sample = p_camera->Sample();
		// double line = p_camera->Line();
		//
		// double residualColDelta, residualRowDelta;
		//
		// residualColDelta = sample * m_residualColDistCoeffs[1] +
		// pow(sample,2) * m_residualColDistCoeffs[2] +
		// pow(sample,3) * m_residualColDistCoeffs[3] +
		// pow(sample,4) * m_residualColDistCoeffs[4] +
		// pow(sample,5) * m_residualColDistCoeffs[5];
		//
		// residualRowDelta = line * m_residualRowDistCoeffs[1] +
		// pow(line,2) * m_residualRowDistCoeffs[2] +
		// pow(line,3) * m_residualRowDistCoeffs[3] +
		// pow(line,4) * m_residualRowDistCoeffs[4] +
		// pow(line,5) * m_residualRowDistCoeffs[5];
		double s = 2500.5 - dx/0.013;

		return true;
		residualDeltax = s * m_residualColDistCoeffs[1] +
		pow(s,2) * m_residualColDistCoeffs[2] +
		pow(s,3) * m_residualColDistCoeffs[3] +
		pow(s,4) * m_residualColDistCoeffs[4] +
		pow(s,5) * m_residualColDistCoeffs[5];

		residualDeltay = s * m_residualRowDistCoeffs[1] +
		pow(s,2) * m_residualRowDistCoeffs[2] +
		pow(s,3) * m_residualRowDistCoeffs[3] +
		pow(s,4) * m_residualRowDistCoeffs[4] +
		pow(s,5) * m_residualRowDistCoeffs[5];

		// convert to mm (correction for negative x to the left)
		residualDeltax *= -p_camera->PixelPitch();
		residualDeltay *= p_camera->PixelPitch();
		}

isis/src/newhorizons/objs/MvicTdiCamera/MvicTdiCameraDistortionMap.h

+3 −5

Original line number	Diff line number	Diff line
		@@ -59,11 +59,9 @@ namespace Isis {
		bool outputResidualDeltas(); // for debugging

		private:
		bool computeDistortionCorrections(const double xscaled, const double yscaled, double &deltax,
		double &deltay);
		bool computeResidualDistortionCorrections(const double dx, const double dy,
		double &residualDeltax, double &residualDeltay);

		bool computeDistortionCorrections(const double xscaled, const double yscaled, double &deltax);
		void computeResidualDistortionCorrections(const double dx, double &residualDeltax,
		double &residualDeltay);

		private:
		std::vector<double> m_xDistortionCoeffs; //!< distortion coefficients in x and y as determined

isis/src/newhorizons/objs/MvicTdiCamera/mvicAddendumWithOffsets.ti

deleted100644 → 0

+0 −283

Original line number	Diff line number	Diff line
		\begintext

		New Horizons Spacecraft, MVIC instrument, ISIS addendum kernel
		===============================================================================

		This kernel contains New Horizons spacecraft, MVIC instrument specific
		data to the ISIS camera model software.
		instruments.

		Version and Date
		-------------------------------------------------------------------------------

		Version 001 -- June 17, 2014 -- Tracie Sucharski USGS

		-- Original version

		Version 002 -- June 17, 2014 -- Stuart Sides USGS

		-- Added +Y offsets for the MVIC TDI CCDs to the INS-9890x_TRANSY keys and the
		inverse to the INS-9890x_TRANSL keys. NOTE: The values came from comments
		in the New Horizons FK (i.e. nh_v200.tf)


		\begintext
		All Mvic frames have the boresight in the -X directions, ISIS assumes the boresight is
		either in the +/- Z direction. A new frame was created for each Mvic ccd's to do a final
		rotation into the ISIS assumed boresight. This is a 90 degree rotation around the Y-axis.
		New Naif Id's were created by simply adding 700 to the Mission Naif ID.

		This was done as an extra frame rather than in the FocalPlaneMap code because of ckwriter and
		spkwriter ISIS applications.

		FRAME (Naif Frame ID = -98203 Isis Frame ID = -98903)

		INS-98903_PP_OFFSET = (-0.03538, -0.00120)

		\begindata

		INS-98900_PP_OFFSET = (0.03538, 0.00120)



		INS-98900_DISTORTION_COEF_X = (
		-2.184e-05,
		32.911e-05,
		-0.243e-05,
		7.444e-05,
		-19.201e-05,
		-0.218e-05,
		0.686e-05,
		-0.502e-05,
		-144.410e-05,
		0.662e-05,
		-0.194e-05,
		0.537e-05,
		-0.843e-05,
		0.201e-05,
		-0.289e-05,
		-0.153e-05,
		-0.209e-05,
		-0.067e-05,
		-0.490e-05,
		-12.455e-05
		)

		INS-98900_DISTORTION_COEF_Y = (
		194.590e-05,
		169.360e-05,
		1.100e-05,
		-3.500e-05,
		609.640e-05,
		-4.300e-05,
		0.400e-05,
		-287.100e-05,
		-114.900e-05,
		-5.100e-05,
		33.600e-05,
		-41.400e-05,
		-38.800e-05,
		-122.500e-05,
		37.300e-05,
		41.500e-05,
		4.500e-05,
		11.300e-05,
		-60.000e-05,
		40.900e-05
		)

		FRAME_ISIS_NH_RALPH_MVIC_FT = -98903
		FRAME_-98903_NAME = 'ISIS_NH_RALPH_MVIC_FT'
		FRAME_-98903_CLASS = 4
		FRAME_-98903_CLASS_ID = -98903
		FRAME_-98903_CENTER = -98
		TKFRAME_-98903_RELATIVE = 'NH_RALPH_MVIC_FT'
		TKFRAME_-98903_SPEC = 'ANGLES'
		TKFRAME_-98903_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98903_AXES = ( 1, 2, 3 )
		TKFRAME_-98903_UNITS = 'DEGREES'

		INS-98903_PIXEL_PITCH = 0.013
		INS-98903_FOCAL_LENGTH = 657.5

		INS-98903_TRANSX = ( 0.0, -0.013, 0.0 )
		INS-98903_TRANSY = ( 0.0, 0.0, 0.013 )

		INS-98903_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98903_ITRANSL = ( 0.0, 0.0, 76.9230769230769 )

		\begintext

		PAN2 (Naif Frame ID = -98204 Isis Frame ID = -98904)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_PAN2 = -98904
		FRAME_-98904_NAME = 'ISIS_NH_RALPH_MVIC_PAN2'
		FRAME_-98904_CLASS = 4
		FRAME_-98904_CLASS_ID = -98904
		FRAME_-98904_CENTER = -98
		TKFRAME_-98904_RELATIVE = 'NH_RALPH_MVIC_PAN2'
		TKFRAME_-98904_SPEC = 'ANGLES'
		TKFRAME_-98904_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98904_AXES = ( 1, 2, 3 )
		TKFRAME_-98904_UNITS = 'DEGREES'

		INS-98904_PIXEL_PITCH = 0.013
		INS-98904_FOCAL_LENGTH = 657.5

		INS-98904_TRANSX = ( 0.0, -0.013, 0.0)
		INS-98904_TRANSY = ( 2.041, 0.0, 0.013 )

		INS-98904_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98904_ITRANSL = ( -157.0, 0.0, 76.9230769230769 )

		\begintext
		PAN1 (Naif Frame ID = -98205 Isis Frame ID = -98905)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_PAN1 = -98905
		FRAME_-98905_NAME = 'ISIS_NH_RALPH_MVIC_PAN1'
		FRAME_-98905_CLASS = 4
		FRAME_-98905_CLASS_ID = -98905
		FRAME_-98905_CENTER = -98
		TKFRAME_-98905_RELATIVE = 'NH_RALPH_MVIC_PAN1'
		TKFRAME_-98905_SPEC = 'ANGLES'
		TKFRAME_-98905_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98905_AXES = ( 1, 2, 3 )
		TKFRAME_-98905_UNITS = 'DEGREES'

		INS-98905_PIXEL_PITCH = 0.013
		INS-98905_FOCAL_LENGTH = 657.5

		INS-98905_TRANSX = ( 0.0, -0.013, 0.0)
		INS-98905_TRANSY = ( 3.354, 0.0, 0.013 )

		INS-98905_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98905_ITRANSL = ( -664.0, 0.0, 76.9230769230769 )

		\begintext
		RED (Naif Frame ID = -98206 Isis Frame ID = -98906)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_RED = -98906
		FRAME_-98906_NAME = 'ISIS_NH_RALPH_MVIC_RED'
		FRAME_-98906_CLASS = 4
		FRAME_-98906_CLASS_ID = -98906
		FRAME_-98906_CENTER = -98
		TKFRAME_-98906_RELATIVE = 'NH_RALPH_MVIC_RED'
		TKFRAME_-98906_SPEC = 'ANGLES'
		TKFRAME_-98906_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98906_AXES = ( 1, 2, 3 )
		TKFRAME_-98906_UNITS = 'DEGREES'

		INS-98906_PIXEL_PITCH = 0.013
		INS-98906_FOCAL_LENGTH = 657.5

		INS-98906_TRANSX = ( 0.0, -0.013, 0.0)
		INS-98906_TRANSY = ( 4.693, 0.0, 0.013 )

		INS-98906_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98906_ITRANSL = ( -361.0, 0.0, 76.9230769230769 )


		\begintext
		BLUE (Naif Frame ID = -98207 Isis Frame ID = -98907)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_BLUE = -98907
		FRAME_-98907_NAME = 'ISIS_NH_RALPH_MVIC_BLUE'
		FRAME_-98907_CLASS = 4
		FRAME_-98907_CLASS_ID = -98907
		FRAME_-98907_CENTER = -98
		TKFRAME_-98907_RELATIVE = 'NH_RALPH_MVIC_BLUE'
		TKFRAME_-98907_SPEC = 'ANGLES'
		TKFRAME_-98907_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98907_AXES = ( 1, 2, 3 )
		TKFRAME_-98907_UNITS = 'DEGREES'

		INS-98907_PIXEL_PITCH = 0.013
		INS-98907_FOCAL_LENGTH = 657.5

		INS-98907_TRANSX = ( 0.0, 0.013, 0.0)
		INS-98907_TRANSY = ( 0.0, 0.0, 0.013 )

		INS-98907_ITRANSS = ( 0.0, 76.9230769230769, 0.0 )
		INS-98907_ITRANSL = ( 0.0, 0.0, 76.9230769230769 )

		\begintext
		METHANE (Naif Frame ID = -98208 Isis Frame ID = -98908)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_METHANE = -98908
		FRAME_-98908_NAME = 'ISIS_NH_RALPH_MVIC_METHANE'
		FRAME_-98908_CLASS = 4
		FRAME_-98908_CLASS_ID = -98908
		FRAME_-98908_CENTER = -98
		TKFRAME_-98908_RELATIVE = 'NH_RALPH_MVIC_METHANE'
		TKFRAME_-98908_SPEC = 'ANGLES'
		TKFRAME_-98908_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98908_AXES = ( 1, 2, 3 )
		TKFRAME_-98908_UNITS = 'DEGREES'

		INS-98908_PIXEL_PITCH = 0.013
		INS-98908_FOCAL_LENGTH = 657.5

		INS-98908_TRANSX = ( 0.0, -0.013, 0.0)
		INS-98908_TRANSY = ( 7.280, 0.0, 0.013 )

		INS-98908_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98908_ITRANSL = ( -560.0, 0.0, 76.9230769230769 )


		\begintext
		NIR (Naif Frame ID = -98209 Isis Frame ID = -98909)

		\begindata

		FRAME_ISIS_NH_RALPH_MVIC_NIR = -98909
		FRAME_-98909_NAME = 'ISIS_NH_RALPH_MVIC_NIR'
		FRAME_-98909_CLASS = 4
		FRAME_-98909_CLASS_ID = -98909
		FRAME_-98909_CENTER = -98
		TKFRAME_-98909_RELATIVE = 'NH_RALPH_MVIC_NIR'
		TKFRAME_-98909_SPEC = 'ANGLES'
		TKFRAME_-98909_ANGLES = ( 0.0 90.0 0.0 )
		TKFRAME_-98909_AXES = ( 1, 2, 3 )
		TKFRAME_-98909_UNITS = 'DEGREES'

		INS-98909_PIXEL_PITCH = 0.013
		INS-98909_FOCAL_LENGTH = 657.5

		INS-98909_TRANSX = ( 0.0, -0.013, 0.0)
		INS-98909_TRANSY = ( 8.632, 0.0, 0.013 )

		INS-98909_ITRANSS = ( 0.0, -76.9230769230769, 0.0 )
		INS-98909_ITRANSL = ( -664.0, 0.0, 76.9230769230769 )

		\begintext


		\begintext
		INS-98208_BORESIGHT_SAMPLE = 2511.5
		INS-98208_BORESIGHT_LINE = 1.0

		INS-98208_PP = ( 0.0, 0.0 )
		INS-98208_OD_K = ( 0.000379921103637315, 0.000213226448051461, -4.01862878758592E-08 )
		INS-98208_DECENTER = ( -0.000005, 0.004047 )

		\begintext
		These are the parameters required for writing c-kernels. For
		the New Horizons spacecraft the ck frame is NH_SPACECRAFT (-98000),
		and the ck reference frame is J2000 (1).

		\begindata
		INS-98908_CK_FRAME_ID=-98000
		INS-98908_CK_REFERENCE_ID=1

		\begintext