# Flight versions, from ATLO camera calibration, delivered by J. Maki
# on 2015/11/17.  Pose from email from J.Maki, 2015/11/18, 10:22am.

# There are no kinematics parameters per se for IDC.  We do not model
# arm motion but rather transform the camera using a generic 6DOF or
# 7DOF model (like on PHX and MSL-MAHLI).

# Position and quaternion of camera when calibration camera model was acquired.
# Lander frame
# Quat scalar is first
# This was supplied as idph_772.txt by Omair Khan, on 2015-04-07.
# Valid for the color camera in the testbed.

idc_calibration_position = -0.310856 -0.214977 -0.738911
idc_calibration_quaternion = 0.902205 -0.0147461 0.430142 0.0280321

# The 7DOF (default) errors are somewhat arbitrary.  We assume 1mm motion,
# but also assume .001 for the quaternion components, simply because it's
# convenient to use the same value.
# For 6DOF, the angular resolution of the IDC camera is ~.82 mrad, which
# when converted to degrees and multiplied by 5 (pixels) works out to
# ~0.2349127.  We round this off the 0.235 for simplicity, and use the same
# 1mm position error.

idc_pointing_error_7dof = 0.001 0.001 0.001 0.001 0.001 0.001 0.001
idc_pointing_error_6dof = 0.235 0.235 0.235 0.001 0.001 0.001