Symbol	Definition
i	pixel row in image
j	pixel column in image
$u_j$	pixel column or “x” coordinate
$v_i$	pixel row or “y” coordinate
u	point in the camera’s pixel reference frame
${\mathit{x}}_c$	point in the camera centered reference frame
${\mathit{x}}_w$	point in the world or rover reference frame
k	filter number from 0 to 7
l	zoom position or focal length
f	focus position
$f_{l,\mathit{ref}}$	zoom’s reference focus position
$m{c}_l$	zoom position in motor-counts [mc]
$m{c}_f$	focus position in motor-counts [mc]
$F{L}_l$	zoom focal length [mm]
$F{D}_{\mathit{lkf}}$	distance to target for best-focus [m]
${\mathit{K}}_l$	Zoom’s Intrinsic matrix for $f_{\mathit{ref}}$ and k = 0
${\mathit{M}}_{\mathit{lkf}}$	Affine transformation matrix to $f_{\mathit{ref}}$ and k = 0