Table 10.

Parameters of the photogrammetric camera model

Nominal focal length [mm]	26 mm	34 mm	48 mm	63 mm	79 mm	100 mm	110 mm
Zoom Motor count [mc]	0000	2448	3834	5196	6720	8652	9600
Num. of Stereo image-pairs	25	25	26	25	32	32	30
Re-projection Error [pix]	0.226	0.271	0.365	0.386	0.404	0.431	0.410
Reference Focus Lefta [mc]	−2364	0108	1326	2214	2706	2718	2484
Reference Focus Righta [mc]	−2106	0108	1278	2154	2646	2640	2406
Stereo Baseline [mm]	242.9	243.2	244.0	244.1	244.3	244.2	243.4
Stereo Toe-In angleb [deg]	1.17	1.15	1.15	1.16	1.17	1.17	1.17
Relative Center Offsetc [mm]	−0.00	−14.0	−36.8	−46.4	−42.9	−41.8	−33.2
Focal Length Left ($F{L}_l$) [mm]	26.16	34.49	49.22	63.67	79.65	100.1	109.9
Focal Length Right ($F{L}_l$) [mm]	26.16	34.52	49.26	63.69	79.65	100.0	109.9
Horizontal FOVd [deg]	25.6	19.6	13.8	10.7	8.56	6.79	6.18
Vertical FOVd [deg]	19.1	14.6	10.3	7.97	6.38	5.08	4.63
$A_l$ focus-param. Left [m × mc]	2090 ± 780	2450 ± 10	2084 ± 32	1888 ± 234	1943 ± 80	1948 ± 21	1951 ± 58
$A_l$ focus-param. Right [m × mc]	2268 ± 350	2011 ± 116	2073 ± 79	1965 ± 163	1810 ± 128	1966 ± 22	1968 ± 27
$B_l$ focus-param. Left [m]	0.045 ± 0.24	−0.23 ± 0.01	−0.12 ± 0.04	−0.18 ± 0.15	−0.09 ± 0.04	−0.09 ± 0.01	−0.10 ± 0.03
$B_l$ focus-param. Right [m]	−0.004 ± 0.12	0.09 ± 0.1	−0.21 ± 0.1	−0.14 ± 0.10	−0.20 ± 0.07	−0.08 ± 0.01	−0.09 ± 0.02
$C_l$ focus-param. Left [mc]	−1629 ± 49	844 ± 2	2050 ± 8	2953 ± 28	3349 ± 8	3352 ± 3	3120 ± 6
$C_l$ focus-param. Right [mc]	−1338 ± 24	747 ± 26	2036 ± 20	2914 ± 21	3329 ± 13	3287 ± 3	3043 ± 3

^aThe reference focus positions are at the best focus of 3.0 ± 0.2 meters under ambient conditions

^bThe toe-in is taken to be the half-angle between the rays passing through the center pixels of both cameras

^cThe relative offset is the approximate range (+X) displacement of the camera center relative to the 26 mm camera placements

^dThese fields of view do not include optical distortion and are nearly equal for the left and right Mastcam-Zs