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PHOTOMOD Solver USER MANUAL

1. eese ree eee 76 6 Recommendations on long focus camera survey esee eeeee enne nne nnn 76 T Tie points measuring in forested areas in areas with bad stereo effect Tie points measuring between strips acquired in different seasons eere 77 8 Tie points measuring on lengthy objects boundaries 77 2009 4 Solver July 25 2009 1 PHOTOMOD Solver Module of the block adjustment PHOTOMOD Solver program is used to adjust strips and blocks of aerial or satellite images The source images must be previously processed in PHOTOMOD AT module see PHOTOMOD AT User Manual Besides you can export and import data from to PHOTOMOD Solver module to from external software of data adjustment see the chapter 16 Block adjustment by external programs 2 Installation and starting PHOTOMOD Solver module is a part of PHOTOMOD system and is installed by setup exe file from your installation CD See also readme txt file on this CD for the installation instructions PHOTOMOD Solver is started for the selected project from the PHOTOMOD Montage Desktop program see the corresponding User Manual Note that the project must be completely prepared in PHOTOMOD AT module If necessary you can also adjust a part of block Use Block editor window in Montage Desktop module to select sub block of ima
2. show images in all windows in 1 1 scale plz duplicated by Alt hot keys zoom in images in all windows al duplicated by Alt hot keys zoom out images in all windows duplicated by Alt M hot keys move image center to the marker position on all of the images duplicated by Alt P hot keys move image center to the point position on all of the images kA Show tie error to show point projection in its adjusted location on the image after the adjustment on all images unavailable on the Source tab show GCP error only for points with known geodetic coordinates to show location of point s projection in adjusted position on all images unavailable on the Source tab i s move along error vector to move the point into new position shown by error vector after pushing the above button unavailable on the Source tab duplicated by Alt A hot keys add images opens the window for strips and images selecting to open them in Point editor window 2009 44 Solver July 25 2009 F Add images iBl m x Strips 10 E Selected images for addition 0 Fig 23 Adding images to Point editor window You can add images to the Edit point window where the point is located but not measured using the Add images list Light green color indicates strips and images which may contain the point and you can add them to the selection by the button s Select images automatically T
3. 8 1 Coordinate system tab The Coordinate system tab is used to select the project coordinate system see the chapter 4 Coordinate systems for details Push the Change button and select coordinate system and projection in standard PHOTOMOD window see Montage Desktop User Manual After 17 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 choosing or changing the coordinate system and map projection for images block processing you can adjust the block 8 2 Adjustment tab The Adjustment tab is used to select the Block adjustment method Independent strips Independent stereopairs or Bundle adjustment see the chapter 7 Methods of block adjustment Use Free model adjustment mode to adjust a block without GCP and to provide following georeference The Free model option is used this procedure see the chapter 5 Free model EtjParameters O x Coordinate system Adjustment Fiepart Tie paint rejection M warst points fi T A W over acceptable residuals Adjustment metha C independent strips f independent stereapairs bundle adjustment Free model Basis fi O00 Method parameters Systematic error compensation aff OF 4c Compute x Cancel Fig Adjustment parameters Free model adjustment is executed using distance between projection centers indicated in Basis field in units of coordinate system of a project Basis value by defa
4. G Software PHOTOMOD 4 4 Module PHOTOMOD Solver USER MANUAL 1 PHOTOMOD Solver Module of the block adjustment 5 2 Installation and Starting uiii ue ee e cer Eee Eoo oe aa Leur cea Oeo vede ETENA aE Ea 5 3 Adjustment of projects of different types 11 eeeee e eLeeeeee ecce eere rennen 5 4 COOKIN ALS SV Lc age Y 6 5 aide I M 7 6 SOUE WINDOW Anette 7 6 1 FOILS GIS Ol AV NN late ced PO Ere Dp S 8 6 2 Vew AIO VON Sioseuteu c eurn is chip ote edu ue roue zu E I tee LL ae ee eat 9 6 3 Points selection DV filter S os cues codacc atouts ev un lasse e quum pes cnu dest MM leer Mp S ELM IL eUE 10 6 4 PONK SNAN etes tiores eum cen eee ge MEL E EE 11 6 5 image S AVI GOW M pp 12 6 6 SIBI eODaAIES WIHSIOWLS Gutes este euet suicide keine Rear Sey ne te Sec ne ene Seer ete 13 6 7 Information window on the Source tab ssessssssssssssseseeneeenen nennen nnns 13 6 8 Images stereopairs and strips displaying eeseeseeeeeeeeeneeeenn 15 6 9 COUT SOU OC Sonata Seca Gece teur Edad at toe e ecc bene titt oc tdas ito pfe eus 15 6 10 Graphic WindOWSl00lDal dns ei nO ee Ss da pa oem Eae tet tee dee eae eae ene 16 7 Methods of block adjustment cccceeeeesseeeeeeeenseeeseeensseeeseoeaseeeeeeoenseeeseensseeeseoensneessonenss 17 8 Parameters WINGOW e
5. leues high Maximum distance fin bases xc Fig 8 Independent strips method setup The following parameters are available Equation weights for ground control tie points and projection centers with specified coordinates You can reduce the residuals values by changing the equation weights However real adjustment accuracy can be also reduced in this case In many cases the weight value of 1 is near to optimal You have to have check points enough to control the result of optimal value search If there is a lack of check points you can temporarily transfer some GCP to check The decimal delimiter is period The exponent sign is e Example 5 7e 4 0 00057 The slider Adjustment accuracy is used to setup relative accuracy and when it is reached the iteration process of adjustment may be completed You are recommended to use the default value 0 5 When it is 0 5 0 55 the adjustment process converges and provides an optimal ratio accuracy time If you increase the value the accuracy generally does not improve considerably but processing time may increase very much up to infinite looping of iterations in this case you may stop iterations when you need using the Stop button If the accuracy value is less then 0 5 the adjustment time is reducing due to accuracy decreasing The algorithm of optimization has a complex nature that is why the dependence of adjustment time and accuracy from this parameter value is nonlinear Mark
6. 9099 8822 0 0833 mean absolute 0 394 RMS D olm maximum 1 44 number of points differences 23 22 projection centers N Xm Xg 199 LeL7 264 0 943 mean absolute 1 05 RMS 1 05 maximum T 27 number of points differences 3 3 Ym Yg O 70645 0 528 0 729 1 69 22 Ym Yg 0 449 0S5 0 516 0 518 0 583 Zm Ag eL aa 0 445 1 57 1 84 3 61 22 Zm 2g 1 24 Er Dow 59 1 102 Quid OS 0 750 0 893 22 Exy m The option is available only when the option Residuals is marked The data is output as a table where point name and its values are shown AX X X AY zY Y AZ Z Z E AX AY 2009 24 Solver July 25 2009 where X Y Z coordinates of adjusted mean point position X Y Z user defined coordinates On stereopairs allows to include a section with adjustment residuals on points measured on one stereopair at least The option is available only when the option Residuals is marked Depending on the Tie residuals radio button the report contains the following statistical parameters When the option Tie residuals From mean value is selected AX X X AY 2Y Y AZ Z Z Eus AX AY Xy lj Y Z coordinates of i point where i point number j stereopair number X jo Ly yj calculated from j stereopair are shown correspondingly in X Xcp Y Ycp Z Zcp and Exy columns Tie point residuals from
7. E jParameters i Bl x Reference system Points coordinates accuracy was 84 UTM zone 23M e Image measurement AMS 0 5 pix 12deg West ta Bdeg West northern hemisphere Algeria Cote D Ivoire Ivory Coast Faroe Islands Guinea Ireland Mali Mauritania Morocco Portugal Sierra Leone Spain United Measurement accuracy of unity wieighted ground coordinates Kingdom UE Western Sahara EPSG plane height X Cancel Fig 3 Parameters for scanner block adjustment on Points tab The Reference system panel on the first tab shows coordinate system selected for the project and its parameters and also is intended for its change if needed Push the button 2009 58 Solver July 25 2009 El to select new coordinate system in appeared window See the details of coordinate system selection in PHOTOMOD Montage Desktop User Manual The Points coordinates accuracy panel allows to setup the accuracy of pixel and ground geodetic points coordinates involved to block adjustment The Image measurements RMS pixel allows to set up a priory accuracy for tie and GCP measurements on images if tie points are involved to adjustment Plane set up a priory accuracy of GCP plain coordinates X and Y measurements Height set up a priory accuracy of GCP heights measurements Z coordinate weight of which is 1 Units errors of plain coordinates and heights weight should be input in the same units as for project
8. RMS panel for ground control points projection centers exterior orientation angles omega phi kappa and measurements on images When exporting ground control points and projection centers the value assigned is divided into point weight which was input in modules PHOTOMOD AT or PHOTOMOD Solver in the Point coordinates window see the chapter 10 6 Editing points For measurements acquired by GPS device the average RMS is indicated in device certificate and more accurate value may be measured by specific 53 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 program used for GPS signals processing Recommended and default values are as follows for images acquired by precisely calibrated camera and scanned with high resolution 0 5 pixel for example 7 mkm i e 0 007 mm For source data with less quality the value would be coarser and should be evaluated in advance Closeness of adjusted RMS to values setup a priori is an indirect sign of accuracy propriety but it is uncertain criterion Blunders in input values may fail the block adjustment The Image measurements scaling field allows to multiply all measurements on images by the coefficient input if needed It is helpful for instance to export measurements in mkm in this case you should input the coefficient 1000 After choosing of export parameters and pushing OK button the initial data is exported into target files You can imp
9. Z duplicated by Alt S hot keys open stereo comparator window to measure the point in stereo mode see PHOTOMOD AT User Manual about working in this window Before stereo comparator launch place the cursor into the needed point on each stereopair image images should be selected by the icons L left and R right k restore initial measuring for all images Cha delete on all images deletes the point and its measurements on all images relative orientation and triplet check opens a window with correlation results and errors in triplets in the given point in image scale Fig 14 Upper panel of this window shows a list of stereopairs with selected point and vertical parallax values and also maximal and RMS residuals in it In the lower table there are measurements errors for the point in triplets 43 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Relative Orientation and Triplet Check X Parallax Stereopalrs Errors R 3 S87 R 3 S85 R S 585 Old 0 001 0 005 0 010 R10_505 R10_506 Old 0 002 0 004 0 010 R10_506 R10_507 Old 0 008 0 005 0 011 Triplet Errors image scale Images Errors Type FIG S05 FIO SUB R1U SU 0 001 0 007 Fig 22 Relative orientation and triplet check Re settings opens pop down menu allowing to set up the color of marker points errors and correlator parameters as well 1 1 duplicated by Alt 1 hot keys
10. 17 8 1 C rdinate System tab isostesesisosaad pastas Unda sra n ge edu acs mueble aas us o c das cuu pu rc ost Ud 17 P AJUSMEN TAD tc 18 8 2 1 4ngependent stps method ui ou RU ot eta 19 8 2 2 Independent stereopairs method eese isses sese na aan nana ass n aa sana sana aaa 20 62 3 BUNGICGOJUSIRICIN TT Er 20 824o0ysiemaliceror compensallQh si ism E ERR a Remp a EM a ME 21 8 3 aieo E 23 9 COMPUTATIONS e Y 33 10 St reopal s tan eter a ARD CRT OP pt DRY 35 10 1 Error Vectors aispla VIFIC iu ioo aa ierit RP io Ratte BRL ateecs oC as encode udi dote Roe e DON BR RN 9D 10 2 sesidialsWIPIdO Wo uoce ga utm E ae EE ca ns sees M EL E M e d 36 10 3 Brief residuals report on Stereopairs tab ce cccceccccseececeeececeeeeeceeeeeseeeesseeeesaeeeseeeesseeees 37 Solver July 25 2009 10 4 Tie residuals window sseesssssssssssseseeennennn ener nnne nnne nnn nnn nnne nna nnne nns n nnns 38 10 5 Information window on the Stereopairs tab eeesseesssesssseseeeeeneeenennnnnns 40 10 6 Editing points RET E 42 11 bleue 46 11 1 Residuals WINGO Wo T E 47 11 2 Residuals on image cccccceseceeseeccesceceeeeceeceneueeeeaeessaeeessaeeecaeeeseuecessueeesaseessaseessaeeenseees 48 11 3 Brief residuals report on the Images tab cece ccc ceeeeeeeeeeecee cesses eesseeeesaeeeesaeeeeseeeess
11. 18 x Selected point 33 points selected v Editing panel By coordinates Ex Control C Check A _ Rejected e gordinrates xd X By ties x R Tie x Rejected noa Measure E Geodetic E reference coordinates A none Y none Z none E reference weights Wx none WY none WZ none H adjusted coordinates A none Y none Z none E residuals Ex lt none gt Ey lt none gt Ez lt none gt Exy lt none gt E residuals max Ex lt none gt 4 Source Stereopairs Fig 24 Editing points from the list After editing of the coordinates or points location save these measurements and re adjust the block to obtain new results Note If images block contains inter strip points which are not measured on some strip shown by violet sign on scheme they should be measured on neighbor images within the strip in PHOTOMOD AT module or in Editing window opened by the button oom Measure see above to be included to adjustment using independent strips or stereopairs method 11 Images tab Block adjustment results are shown in graphic form also on the Images tab of PHOTOMOD Solver This tab displays the residuals on GCP and tie points in image coordinate system Tie point residuals are calculated as follows its geodetic coordinates are measured by intersection on all adjusted
12. 189 0 577 0 304 Tie points between stereopairs 0 0134 0 0113 0 0218 0 0227 from mean value EE 0 00968 0 00597 0 0109 El Geodetic pee d ponit EF reference coordinates between stereopairs st NN x gt 443155 040 0 0 0 001 ke Y 3361537 060 from mean value Do iz 75910 0 0 0 0 E reference weights WZ 1 000 Er adjusted coordinates 0p pj X 43165757 i f pe Y 3361637 025 PP bee 2 76 111 residuals max B i Iz Ex 0 000 Fig 42 Results of scanner images block adjustment Push the button Create adjustment report to view the results in Report window see the chapter 12 Report creation Then you should save adjustment results by pushing the B button if they are acceptable and go to the next stage of project processing see the chapter 15 Finishing the 2009 64 Solver July 25 2009 Appendix A Exterior orientation angular systems The angular exterior orientation parameters are calculated and included to the report as omega phi kappa or alpha omega kappa system of angles The rotation sequence omega phi kappa a Rotation about X axis at a positive value of angle 65 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 The rotation sequence alpha omega kappa d Rotation about Y axis at a negative value of amp angle f 2009 66 Solver July 25 2009 Appendix B Recommen
13. A office 15 129366 Moscow Russia PHOTOMOD 4 4 2 4 3 Detection of blunders in strips tying PHOTOMOD Solver module In order to detect blunders in interstrip tie measurements you are recommended to adjust sub blocks groups of strips using independent strips method in free model You should keep in mind that in case of long strips 20 bases the errors might exceed calculated ones in 10 20 times that is caused by adjustment method nature It is recommended to split on parts strips with length more than 10 20 bases when selecting sub block To obtain correct error values in meters you should input survey basis correctly Usually the accuracy about 30 50 is enough After adjustment you can check if the basis was input correctly using Scale field on Report tab in Parameters window where calculated survey scale will be shown For blocks with strips of moderate length up to 15 images you can adjust the whole block using independent strips method in free model 2 4 4 Intermediate control of tie measurements blunders PHOTOMOD Solver module After detection of errors in independent strips method it is recommended to identify tie measurements blunders using adjustment by independent stereopairs method prior to bundle adjustment On this stage the errors that are not exceeding 2 4 thresholds are acceptable 2 4 5 Blunders detection on interstrip not transferred points PHOTOMOD Solver module Before bundle adjustment it is ad
14. feces IKONS Pieneblerk l b xj Wam uA Capen fi E G ieee par d rer Boxe 0 mS Hm m TL ADDSX tt leo Bee gam Tusce ur ET aS EH 233A a E i 1308 22084 IE Residuals on image in meters are computed from residuals in pixels and GSD of the image There is an option of specifying threshold residuals both in pixels and in meters In this case a point is considered erroneous if it fails at least one threshold condition Points catalog allows to include to the report the list of adjusted triangulation points coordinates X Y Z And if the option Show errors is on plane Exy and height Ez errors on these points will be included to the report either See also the chapter 8 3 Report tab After pushing the OK button the input parameters are checked If they are incorrect the tab with incorrect value opens and the wrong field become red If all the parameters are acceptable the window is closed When adjustment parameters have been setup start the adjustment by pushing the button Ve Compute see the chapter 9 Computations Adjustment results will be displayed in graphic window on Stereopairs and Images tabs see the chapter 10 Stereopairs tab and 11 Images tab 63 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia Block adjustment The First IKONOS Stereoblock ExX m EY m EZ m EXY m Ground control points 0 00026 0 000357 0 000201 0 000442 Check points 0 239 0
15. images where the point is located Then pixel coordinates of this point are calculated on each image using known geodetic coordinates of the point and adjusted model After that the difference of points pixel coordinates calculated and measured on the image are shown Adjustment results are shown on Images tab likewise Stereopairs tab see the chapter 10 otereopairs tab 2009 46 Solver July 25 2009 Block adjustment Airborne survey 3block 15 xl Steps View Help n E E WN Parameters 4 Compute PS Report EA Save e 2 R 11 amp amp illalnim Pi X 4 se E CE BS 5 0 ER al mE Residuals _ 220000 000 o 0 061 0 042 0 105 0 074 70053 0053 0044 0107 4 i 01322 0111 0 257 0 172 z Ey Exy rnm 0 007 0 011 0 013 targeted 0 000 0 000 0 000 RMS Max 1 4 b E Source Stereopairs mages Fig 25 Adjustment results on Images tab Tie points residuals in this window are shown by targeted circle Center of the circle is in the point with adjusted coordinates Its diameter fits to the maximal residual on the image on all images where the point is measured Residual value in image scale is re calculated to meters on terrain using survey scale denominator specified on the Report tab in the Parameters window see the chapter 8 3 Report tab Residuals exceeding the tolerance are shown on the block scheme by red symbols residuals within tolerance by gre
16. is a possibility to choose the algorithm of adjustment optimization in the following way Independent models adjustment parameters E a E x quatians weights Lie OU ground control 1 00 ptimization algorithm Gradient Matrix inversion projection centers 1 00 Adjustment accuracy 0 5 UNCTUS EET CHE CEEN Calculate relative orientation low high Maximum distance in bases TN Fig 9 Independent stereopairs method setup In settings window there is the Optimization algorithm panel that allows to select one of the following methods of adjustment optimization Gradient by default and Matrix inversion The last method was used in previous up to 4 1 inclusive versions of PHOTOMOD system It was developed for moderate blocks of images less than 500 images 8 2 3 Bundle adjustment When using bundle adjustment method you can setup its parameters in the window opened by pushing the button Method parameters on the Adjustment tab see the chapter 8 2 Adjustment tab Bundle adjustment parameters dal xl easurement precision RMS image measurements 2 0100 camera units ground control points p 200 M projection centers p 200 M exterior orient ang omega jo 00573 degrees phi jo 00573 degrees kappa jo 00573 degrees Use exterior orientation angles Adjustment accuracy 0 5 leues high ken Fig 10 Bundle adjustment setup 2009 2
17. of control 2 1 Interior orientation control 2 1 4 Interior orientation control PHOTOMOD AT module When perform images interior orientation the systematic radially directed errors may occur The reason of such errors is not clear during adjustment their effect is the same as a results of wrong consideration of distortion It should be noted that some errors of interior orientation focus error distortion error may be detected reliably only during block adjustment using ground control points GCP coordinates and projection centers 2 2 Relative orientation control 2 2 1 Points recognition control PHOTOMOD AT AAT modules If tie points are measured automatically the typical errors are occurred on interstrip ties measured in shadows and on trees Time between shooting of two adjacent images is usually small enough and object shadow does not shift on significant distance When surveying two different strips the time difference often allows the shadow to move on distance which is close to required accuracy of adjustment It causes systematic shift of 67 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 strips relatively to each other which could be detected only during adjustment with GCP At that it will result in systematic error on projection centers and a random error on GCP You should pay attention to trees shadows and heads their position may be changed due to wind In this case the
18. of corresponding errors are shown in the Information window see the chapter 6 8 Information window You can also open the Tie residuals x window by the 5 button to view the graphic interpretation of the errors on the tie point 2009 38 Solver July 25 2009 Tie residuals Rio 506 R10_507 xi 14 513 y 574 h TES Ros ss RDS 585 xi 13 513 v 4 574 Fig 18 Tie residuals window In this window the image scale in pixels is always used to display errors At the upper part of the window there are XY error vectors directed from the adjusted average tie point position to its positions calculated from each stereopair The lower picture shows Z error vectors White labels showing errors are shown after click on the end of error vector with black cross The label contains number name of stereopair and difference between average point location and its location on the current stereopair Numeric values of appropriate errors are shown in the Information window see the chapter 10 5 Information window on the Stereopairs tab Use the slider at the bottom of window for zooming in out 39 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 10 5 Information window on the Stereopairs tab Information window opened by the icon La point attributes is used to view the attributes of currently selected point its type coordinates and residuals in it It looks the
19. points will be displayed with labels options All Selected None e Images panel Show shows hides image borders Names defines which images will be displayed with labels options All Selected None e Stereopairs panel Show shows hides borders of stereopairs Names defines which stereopairs will be displayed with labels options All Selected None e Strips panel Show shows hides borders of strips Names defines which strips will be displayed with labels options All Selected None e Grid panel allows to show map grid lines lines and coordinates coordinates 6 3 Points selection by filter The dialog Selection by filter opened by the icon gi is used to filter and select points based on some criteria and to show selected points using symbols on block scheme The symbols are described in the chapter 6 1 Points displaying Point selection a Inl x By coordinates 5 Iw around control J geodetic file check X targeted v rejected ground O w projection centers fI 3D v with changed type v horizontal CO vertical by residual value Iv no coordinates f worst points Iv all C over acceptable residuals oe ground 47 o w single Iv gound x w stereopair D tex x Iw triplet E x v strip tie X v nomtramfered ss in selected models wv used C atleast one Elves it ea v all also invisible Toggle Subtract X Cancel Fi
20. the option Calculate relative orientation to recalculate relative orientation parameters during block adjustment When processing close range photogrammetry projects containing points with big differences in x parallaxes the option Maximum distance in bases is used Points located from projection centers on the distance more then indicated in this field are excluded from adjustment on each stereopair automatically The distance is input in survey bases i e if stereopair basis is 10 m and in this field the value 100 is set up then the points located farther then 1000 m from projection centers will be excluded It is recommended to set up the values not more than 100 because when the points with distance more than 100 survey bases are used for adjustment the method of independent strips or stereopairs would fail or return a blunder result Basically if there are no blunders in measurements reduction of this value leads to decreasing of RMS for the whole block However if too small value is set up there will be 19 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 very few tie points or no points at all in triple overlap that will result in adjustment error with an appropriate message 8 2 2 Independent stereopairs method Parameters of independent stereopairs method are setup similarly to those of independent strips method see the chapter 8 2 1 Independent strips method However there
21. window e Point attributes opens closes a window with the information related to selected point See the chapter 6 7 Information window on the Source tab 10 5 Information window on the Stereopairs tab 11 4 Information window on the Images tab x e o Points residuals opens closes a window for displaying error vectors on selected tie point see the chapter 10 4 Tie residuals window Available only on the Models tab 2009 16 Solver July 25 2009 E D Image residuals opens closes a window for displaying error vectors on selected image see the chapter 11 2 Residuals on image Available only on the Images tab E e J mage list opens closes Images window with an image list see the chapter 6 5 Images window e HE Stereopair list opens closes Stereopairs window with a model list see the chapter 6 6 Stereopairs window e i Residuals window opens closes a window containing RMS mean absolute and maximum adjustment error values Used for quick estimation of the adjustment results without opening a full report Differs for Stereopairs and Images tabs and is available only on these tabs See the chapter 10 3 Brief residuals report on the Stereopairs tab and 11 3 Brief residuals report on the Images tab e ex Hide windows closes all additional windows e Save block scheme to the vector wmf or raster bmp format See the chapter 14 saving the block scheme 7 Methods of block adjust
22. 0 Solver July 25 2009 The panel Measurement precision RMS is intended for setup of the following parameters e image measurements mean square accuracy of points recognition on images which is performed in PHOTOMOD AT module or in point editing window see the appropriate User Manual It is measured in camera units mm or pixels This accuracy depends on the quality of photomaterial photographic grain blur image deformations that were not considered in camera parameters including geometric distortions of scanner and on accuracy of recognition performed automatically or by operator In case of operator the main impact make visual acuity terrain type image zoom at recognition carefulness of work For automatic recognition settings of automat and terrain type are important If scanning resolution of image corresponds to image s quality and points are recognized properly this value has to be between 0 5 1 0 of pixel size e ground control points projection centers mean square accuracy of GCP coordinates and projection centers that are used as GCP It is measured in units of selected coordinate system of a project meters ft etc This accuracy depends on the measuring equipment e exterior orientation angles omega phi kappa mean square accuracy of exterior orientation angles that are used as GCP data It is measured in degrees This accuracy depends on the measuring equipment Mark the option Use exterior orient
23. 37 0 275 8801 136 138 0 0171 04533 0 297 0 533 199 201 0 0528 0 462 0 588 0 465 projection centers N X Xg Y Yg Z Ag Exy m Check point residuals N X Xg Y Yg Z AGg Exy m x212 197 199 DIL 0 378 0 343 0 805 1225 197 199 0 0863 1 30 0 165 1 90 2009 28 Solver July 25 2009 262 264 0 431 eL bo 2 321 1 24 projection centers N X Xg Y Yg Z Zg Exy m 199 197 199 0 330 0 00443 0 0179 0 330 199 201 0 330 0 00443 0 0179 0 330 Tie point residuals from mean N X Xm Y Ym Z ZInm Exy m 1427 197 199 0 0113 0 0992 0 0578 0 0998 262 264 0 178 0 00337 0 293 0 178 155 262 264 0 00854 0 0123 0 0284 0 0150 264 266 0 0695 0 0140 0 0315 0 0709 Targeted point residuals from mean N X Xm Y Ym Z Zm Exy m Tie point residuals projection centers from mean N X Xm Y Ym Z Zm Exy m 136 134 136 0 00 0 00 0 00 0 00 136 138 0 00 0 00 0 00 0 00 Tie point residuals on images N x pr x meas y pr y meas Exy mm 136 262 7 80e 05 0 00300 0 00300 264 0 000109 0 00299 0 00300 x137 262 2 81e 05 0 000962 0 000962 264 3 70e 05 0 000961 0 000962 Targeted point residuals on images N x pr x meas y pr y meas Exy mm 136 262 7 80e 05 0 00300 0 00300 264 0 000109 0 00299 0 00300 sg2345 262 0 000110 0 00313 0 00314 264 0 000131 0 00313 0 00313 Mark bad points allows to mark in the report the points with residuals over the acceptable value by symbol 29 RACURS Co UI Yaroslavskay
24. 413 020 1619 540 99 714 1225 3600 092 2017 084 91 248 total 22 points targeted 136 2071 706 2445 369 97 166 sg2345 3998 009 3158 506 84 686 total 2 points tie 137 2764 921 2251 057 97 446 139 2111 772 3271 090 95 484 total 161 points N X Y Z EXy Ez m ground control 203 2400 304 2299 701 90 356 0 459 0 134 8801 4928 290 3454 432 112 663 0 508 0 430 total 5 points check LE 3413 020 1619 540 99 714 Leis 0 714 1225 3600 092 2017 084 91 248 Low 0 428 total 22 points GPS coordinates correction If projection centers are used as GCP and systematic error on their coordinates is calculated during adjustment the report will contain a section with calculated values of the systematic error See also the chapter 8 2 4 Systematic error compensation N Dx Dy Dz Dxy m ground control 11169369 0 783 1 80 0 544 1 96 11169374 0 0908 Le TS 0 608 Lg tS mean absolute 24 03 1 75 0 558 3 22 RMS 2 93 1 99 0 635 3 54 maximum 6 28 3 29 1 06 6 54 number of points differences 31 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 36 36 36 36 36 check mean absolute 0 00 0 00 0 00 0 00 RMS 0 00 0 00 0 00 0 00 maximum Du DD 0 00 0 00 0 00 number of points differences O 0 0 0 0 Exterior orientation angles correction allows to include a section with corrections to exterior orientation angles if the angles are used during adjustment and the option of systematic error co
25. 83 0 060 x 4970040 443 piso Y 6443598 934 rom mean 0 000 0 000 0 000 0 000 Z 123 297 mutual E residuals 0 000 0 000 0 000 0 000 Ex 0 071 tie projection centers i m from me Ey 0 006 Ez 0 003 Exy 0 071 E Tie E residuals max Ex 0 064 an 0 024 0 030 0 028 0 038 mutual 0 049 0 058 0 055 0 077 Mean abs value RMS Max 000 000 6444000 000 6445000 000 EN 4 Source Stereopairs Fig 14 Stereopairs tab with adjustment results see the description of Images tab in the chapter 11 Images tab The Stereopairs tab Fig 14 uses the same symbols of points images stereopairs and strips as the Source tab see the chapter 5 Source tab Additionally to described you can see here white points the points that with uncalculated coordinates after adjustment due to lack of point s measurements on images for instance and also points filtered automatically during adjustment Besides the adjustment residuals are shown graphically symbols and colors on the block scheme see the chapter 10 1 Error vectors displaying 10 1 Error vectors displaying Errors residuals are displayed in the graphic window as vectors of different directions shapes and colors and look like the following e Residuals on control and check points XY vector starting in the point directed to the source point position ending with a small circle Z vertical vector e
26. CP enough in the project you are recommended to setup your equipment to acquire strips with overlap more than usual 20 30 4096 for instance to provide more strict connection of strips by measuring interstrip ties in Zigzag 2009 16 Solver July 25 2009 7 Tie points measuring in forested areas in areas with bad stereo effect Tie points measuring between strips acquired in different seasons Sometimes it is necessary to process images blocks consisting of strips acquired in different seasons or images of terrain which does not contain enough number of objects suitable for stereo viewing and therefore not good for tie points measurements dense forest areas for instance At that you face a problem of tie point measurement which could be resolved in similar ways but with some peculiar features The only resolution is usually tie points measuring on artificial objects power lines pillars buildings roads Suppose we need to tie strips of images acquired in different seasons and each of them is suitable for stereo processing Then in those areas where there is interstrip stereo you may measure interstrip tie point on the object in each strip independently At that when measuring points on the ground level you should consider possible height difference of grass covering object s base Tie points measuring on trees or trees shadows in dens forest areas is not recommended excluding those cases when this area could not b
27. a 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 0 200 0 200 0 134 0 459 0 430 D S0p Include acceptable allows to include a section with all residuals for all points according to options selected on the Report tab 0 400 0 400 0 430 0 508 0 167 0 250 0 106 0 490 If the option is off the report will include residual values only on the points where the limit is exceeded 0 400 0 400 0 430 0 5087 0 106 0 490 Exterior orientation parameters allows to include a section with exterior orientation parameters of images calculated during adjustment Image 134 projection center 5907 812105 rotation matrix 0 0309144854 0 9995190724 0 0024328076 Alpha Omega Kappa 0 0088256889 1964 086641 0 9994830686 0 0308916973 0 0089049782 0 0027068461 1496 543074 0 0088255420 0 0027068428 0 9999573905 1 6016930528 Image 136 projection center 5897 148453 rotation matrix 0 0067208647 0 9999566038 0 0064513995 Alpha Omega Kappa 0 0262624684 2882 002910 0 999632535833 0 0065489931 0 0263022647 0 0066258516 1495 789992 0 026253588731 0 0066258031 0 9996332179 1 5773455105 Catalog allows to include a catalog containing coordinates of all points of the block calculated during adjustment 2009 30 Solver July 25 2009 N X Y Z m ground control 203 2400 304 2299 701 90 356 8801 4928 290 3454 432 112 663 total 5 points check 212 3
28. a 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 EBlock adjustment InfoMap_for_AT J x Steps View Help EF S Parameters amp Compute 15 Report Ed Save OQ PERS SZ 1 amp 9 OF AD S X T s EE o A iix Iteration 2 Difference 4 53e 08 Sigma 151292 ET Source Fig 13 Iterations window If it takes a long time to complete processing push the Stop button to cancel it In this case you get the result of current iteration In case of pushing the Cancel button all the adjustment results will be deleted A bad convergence may be caused by errors of the relative orientation errors in control points coordinates or incorrect Block adjustment parameters Sometimes it is due to incorrect coordinate system choice left right In this case you should change XY axes direction using the Coordinate system tab in Parameters window see the chapters 4 Coordinate systems and 8 1 Coordinate system tab Note One iteration could be quite long for a big block processing but the process can be interrupted only between iterations If the results of adjustment are acceptable you can save them by pushing the Save adjustment results button see the chapter 15 Finishing the work in PHOTOMOD Solver then close PHOTOMOD Solver and pass to the Block processing stage in PHOTOMOD Montage Desktop module see an appropriate User Manual EH You can use the Save stat
29. adjusted mean point projection position on image x pr pr y coordinates of point s measurements on image meas Tie point residuals projection centers between stereopairs x pr x meas y pr y meas Exy mm mean absolute 0 00288 0 00522 0 00690 RMS 0 00579 0 00669 0 00885 maximum 0 0423 0 0241 0 0458 number of points differences 190 484 484 484 Targeted point residuals on images N x pr x meas y pr y meas Exy mm mean absolute 0 000107 0 00306 0 00306 RMS 0 000109 0 00306 0 00307 maximum 0 000131 0 00513 0 00314 number of points differences 2 4 4 4 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Exterior orientation angles correction allows to include a section with residuals on exterior orientation angles if the angles were used in the adjustment Ground control Image Alpha Omega Kappa rad 264 0 0050651339 0 0002582413 0 0008223636 mean absolute 0 0050651339 0 0002582413 0 0008223636 RMS 0 0050651339 0 0002582413 0 0008223636 maximum 0 0050651339 0 0002582413 0 0008223636 number of images differences L 4 1 1 1 Check data Image Alpha Omega Kappa rad mean absolute 0 0000000000 0 0000000000 0 0000000000 RMS 0 0000000000 0 0000000000 0 0000000000 maximum 0 0000000000 0 0000000000 0 0000000000 number of images differences O 0 0 0 Ground control point residuals N X Xg xr Yg Az Exy m 203 262 264 0 118 0 460 0 1
30. aeess 49 11 4 Information window on the Images tab ceecccccseeceeeeeeeeeeaeeeeeeseeeeeeseeueeeeeeeeeesaeeeeeesaeeeeeeas 49 12 alejier i et 50 13 CONSOLE WN OW M 52 14 Saving THE DIGeK SCHEME sosisini Aa AA EAEE 52 15 Finishing the work in PHOTOMOD Solver cceeccesssseeeeeeeeeeceeensnseeeeeeeeeeenseneeeeseoes 52 16 Block adjustment by external programs 1 eeeeeee eee eeeeee enne e enne nennen 52 17 Single aerial image adjust melle uuu copas aue cusa var re rUU veu ru cu semana Erin o uv Miu ni SEI uua 6E Re Dui 55 18 Adjustment of scanner monoblock and stereoblock 57 Appendix A Exterior orientation angular systems eere ceres ener enne nnn 65 Appendix B Recommendations on aerial images blocks adjustment in PHOTOMOD system 67 1 AEM PONG E lgrelcc e c e 67 2 CSS of CONTO i a a a 67 2 1 Menor aenta CONTO Me I a E N 67 2 1 1 Interior orientation control PHOTOMOD AT module 11ccccccecccccsneeeescneeeceaeseessneeeessneeseees 67 2 2 Relative orientation control seessessssessessssssssssseeeee nennen nenne nnne rsen sa nsns ens 67 2 2 1 Points recognition control PHOTOMOD AT AAT modules eeeeseeeeeseeeeennne 67 2 2 2 Control of uniform distrib
31. art of an expression 40 100 k 1 where k images overlap in percent If the result obtained is O it means that you have to take all of images 1 next nearest 2 next third etc If the end production includes both orthophoto and vectors DEMs you may use the second method as it is less labour intensive Another way is to create two blocks whole and reduced then adjust the first one as described above and import adjustment results into the second block The first block will be used for orthophoto creation and the second one for stereo vectorization This method is more laborious but allows to produce more accurate orthophoto map 6 Recommendations on long focus camera survey If the end production is orthophoto mosaic you can execute long focus camera survey using standard workflows For stereo vectorization and DEM creation long focus camera survey is not recommended due to big errors in height obtained during its processing Some digital cameras acquire rectangle images with considerable difference between width and height If you perform a survey using long focus camera you should turn the camera in such a way that long side of image will be oriented along the flight with standard image overlap 6096 that will allow to reduce height errors In this case survey basis height ratio will be maximal therefore height errors during block adjustment will be minimal At that number of strips will increase If there is not G
32. as Monoblock type Single scanner image is processed in project of Monoblock type too Details on project types and formats of processed images see in PHOTOMOD Montage Desktop User Manual In case of stereopair or set of stereopairs of space images they are processed as Stereoblock project type see the chapter 18 Adjustment of scanner monoblock and stereoblock Images acquired by airborne digital sensor ADS 40 by Leica Geosystems Swizerland are processed in PHOTOMOD system as described in PHOTOMOD Montage Desktop User Manual 4 Coordinate systems The coordinate system can be selected either in PHOTOMOD Montage Desktop module during the project creation or in PHOTOMOD Solver while the block adjustment Refer to PHOTOMOD Montage Desktop User Manual for full description of coordinate systems and map projections supported by PHOTOMOD system In some cases images orientation and their further processing in PHOTOMOD system modules are executing without images referencing to ground control points without referencing to coordinate system that corresponds the free model term see the chapter 5 Free model 2009 6 Solver July 25 2009 5 Free model If you have no ground control points at the beginning of work with the project you can build free model In this case you make the interior orientation and tie points measurements in PHOTOMOD AT module PHOTOMOD Solver builds a model based only on tie points and calculates ti
33. asured on these stereopairs exceeds plane errors in several times However at that 10096 of block area is covered by overlaps of three and even more images of a strip In stereopairs composed by images taken as next nearest one per 2 3 depending on overlap size the survey basis to height ratio is big enough like during usual survey with 6096 overlap that allows to obtain small height error The best way of processing of such images blocks depends on kind of output production If the end production is orthophoto creation using exterior DEM the best method will be processing of the whole block It is recommended to measure every point tie ground check on all images of a strip where it exists and perform bundle adjustment then In adjustment report you should consider only errors on images and errors on GCP and check points shown on the Images tab Tie points errors on stereopairs shown on the Stereopairs tab may be big at that however they are not influence on orthophoto accuracy so they should not be considered If you need to produce 3D vector objects or DEM you are recommended to reduce number of images in such a way that images overlap in resulting block will be close to 6096 and then process this block in a usual way Theoretically such a reducing is possible when overlap is more than 70 but in practice it is available when overlap is not less than 75 80 You can evaluate approximately a reducing coefficient as an integer p
34. ation angles to use exterior orientation angles during adjustment procedure 8 2 4 Systematic error compensation For automatic calculation and compensation of some systematic errors of block adjustment you can use settings in a window opened by the button Systematic error compensation on the Adjustment tab see the chapter 8 2 Adjustment tab EN systematic error compensation lei Z rojection center coordinates GPS Compensation type C donot apply i common Far black C common For strip Palvnamial degree M xv Mz xkerior orientation angles constant rotation f do nat apply common Far Black C common for strip alynomial correction For black v apply horizontal C vertical fe 3 D X Cancel Fig 11 of OK 21 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 In the Projection center coordinates GPS panel you can select a type of compensation applied to projection center coordinates GPS If the airborne survey was performed using GPS equipment for measuring the projection centers coordinates you can calculate the corrections to these coordinates during adjustment by choosing the appropriate option in the Compensation type panel Usually the corrections of GPS device which were introduced on strip survey should be considered So it is recommended to turn on the option common for strip Cal
35. ation of block adjustment accuracy Unacceptable residuals are marked with Generalized adjustment residuals information Sigma 0 0 623 Sigma_0 value is calculated only for bundle adjustment method It is calculated using the following formula l va Y Ay al axy are azey a SE l A ou Al t n EN g a 5 xi yi i l 5 yi Syi 57i where Ax Ay residuals on images AX AY AZ residuals on GCP and projection centers GPS s s sy sy sz corresponding to measurements 23 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 accuracy a priori N N number of GCP and projection centers 8 number of points measurements on images point image pairs More details about Sigma parameter see in the chapter 10 3 Brief residuals report on the Stereopairs tab Control check allows to include a section with ground control and check points residuals Ground control point residuals Ym Yg 0 0726 0 0538 0 0347 0 0456 0 0726 Ym Yg Zm Ag 0 00749 0 00214 0 00338 0 00436 0 00749 4 Zm Ag Exy m 0 173 0 0566 0 0920 0 114 0 173 N xXm Xg 8801 0 157 9693 0 0175 mean absolute 0 0781 RMS 0 105 maximum 0 157 number of points differences 4 4 projection centers N Xm Xg mean absolute 0 00 RMS 0 00 maximum 0 00 number of points differences 0 0 Check points residuals N xXm Xg 212 0
36. block straining in perpendicular direction Fig 2 this may be a result of unaccounted stress strain of images in one direction i o Mi 5 l Y B SV A AI NM H D qe Q A E V S X j PA A N KS di E AN See a a t V ea x TAN j Fig 2 Errors of stress strain You should keep in mind that if you use method of independent strips and independent stereopairs when GCP weight is considerably reduced approximately up to 0 01 and less then your block might be squeezed error vectors in plane are directed outward from block center It is caused by mathematic properties of these adjustment methods Bundle adjustment has no such a property 2 5 7 Bundle adjustment and adjustment import errors on points measured on one stereopair PHOTOMOD Solver module When using bundle adjustment or importing adjustment results from external software you should check adjustment errors with marked options Tie residuals from mean value and Include in the report Residuals on stereopairs include singles see the chapter 8 3 Report tab When using bundle adjustment for a survey performed by long focus camera or with big image overlap more than 6596 you should consider the following Focus enlarging and image overlap increasing r
37. but it is necessary to provide high accuracy You should keep in mind that for images of this area the exterior orientation parameters are calculated with less accuracy thus stereo vectorization accuracy is guaranteed only in the area that contains tie points 2 3 2 Control in triplets PHOTOMOD AT AAT modules During errors control you should consider that height errors in triplets are bigger on average than plane errors A coefficient is equal to height to basis ratio of survey Too big height errors are usually caused by wrong points measurement or by interior orientation errors blunders in focus length or distortion input If you failed to reduce errors check relative orientation 2 3 8 One strip adjustment in free model using independent models method PHOTOMOD Solver module You can adjust each strip separately by selecting of sub block in free model Such kind of adjustment is the same as errors control in triplets If the strip is drifted too much in height you are recommended to check camera parameters distortion It is necessary to control errors both on the Stereopairs and on the Images tabs On this stage you can also detect blunders in focus length input see the chapter 2 4 2 Detection of blunders in camera focus input PHOTOMOD Solver 2 4 Control of free model adjustment 2 4 4 Using of splitting on sub blocks PHOTOMOD Solver module Most of operations described in this chapter may be performed not for the whole b
38. cause adjusting with GCP leads to errors increasing 2009 70 Solver July 25 2009 The first adjustment should be performed by independent stereopairs method as it is more stable Then you may alternate independent stereopairs with bundle adjustment You should control errors using both the Stereopairs and the Images tabs independently from adjustment method To obtain correct error values in meters you should input survey basis correctly Usually the accuracy about 10 20 for the basis value is enough 2 4 7 How to detect errors of automatic tie points measurements PHOTOMOD Solver module At automatic tie points measurement you may get a situation when obviously erroneous points are corrected and maximal out of tolerance adjustment error exists on points measured correctly One of the reasons may be incorrect work of automatic tie points measurement algorithm due to complex terrain wrong algorithm settings In this case it is recommended to check regularity of points distribution and errors absence on closest stereopairs and triplets and to perform the following validation procedure for each point starting from points with maximal error 1 Check point location measurement in stereomode thoroughly 2 Measure one more point near point under test on a distance not exceeding of about 1 10 of stereopair overlap area If after adjustment the errors on both points will be of the same value direction and size then m
39. ck points Dx Dy Dz constant error of GPS device in projection centers coordinates Upper panel of the Report window contains the following icons A e opens a window for report font change allows to edit report duplicated by F4 hot key d search in report duplicated by Ctrl F Ctrl G and F3 hot keys save report to the text file e EX save report to PHOTOMOD system resource E print report printing settings 51 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 13 Console window Push the icon l Console to open an additional window in the lower part of the screen containing the results of operations with block adjustment block state saving and restoring import etc obtained in the current Solver module session The Console is also appeared at the first PHOTOMOD Solver module opening It allows to analyze the results with different parameters applied to adjustment You can save or print this protocol using appropriate window buttons See also the chapter 12 Report creation 14 Saving the block scheme The icon Save block scheme of the graphic PHOTOMOD Solver window is used to save the block scheme to the vector wmf or raster bmp format When saving to wmf vector format the entire scheme picture is saved In case of bmp format the scheme fragment bounded by current view window is saved You can insert the scheme picture into any documents reports an
40. coordinate system The Use ties in block adjustment option allows to include exclude tie points to from the adjustment process On Images tab in the Method panel select the adjustment algorithm e Rigorous uses parameters of sensor which acquired space images PHOTOMOD system uses rigorous algorithm to process images obtained by the following sensors SPOT 1 5 EROS A ASTER FORMOSAT 2 Fig 38 shows algorithm parameters for SPOTS5 images adjustment iBi xi Points Images Report Images Adjustment parameters Method f Rigorous IE Generic Parameters Perform independent refinement Separate position and attitude refinement Refinement polynomial orders f Auto User Pasitian refinement Along track E E Across track E H Radial L Involve into block adjustment Refinement polynomial orders Auto User a ILLE X Cancel Fig 38 Adjustment parameters on Images tab Image Independent refinement is performed only using GCP measured on it without ties with other images of the block For independent refinement it is possible to make 59 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 alternate refinement into linear and angular elements of exterior orientation roll yaw pitch Refinements are polynomials orders of which are set up by user by or the system automatically Independent refinement may be executed for obtaining of initial app
41. cri co J Images measurements im EAPAT Bnew project imi co Files autonaming Use names of points and images Measurement precision AMS ground control points jo O00 m projection centers 0 1000 m exterior orient ang omega Do05730 degrees phi D005730 degrees kappa D005730 degrees Image measurements 0 005000 mm Image measurements scaling 1 000 TN Fig 30 Parameters of initial data export to AeroSys format You can export the data into two types of formats AeroSys and PAT B When exporting to AeroSys format all measurements of PHOTOMOD project will be exported to AeroSys project aer file refer also to AeroSys web site htip aerosys aerogeomatics com During adjustment in AeroSys the preliminary approximation on the current adjustment in PHOTOMOD Solver module is used Data export to PAT B format is performed for each type of measurements separately The Set similar file names option is intended for set up the same file names and paths for all marked formats as first file has At that file extensions will be different in accordance to selected formats During export to PAT B format you can use either names or identifiers codes of images and points depending on the state of the option Use names of points and images For export to AeroSys only numeric identifiers not the names are used For export set up a priori RMS threshold value for a block in the Measurement precision
42. culated corrections of coordinates measured by GPS could be included into adjustment report see the chapter 8 3 Report tab Coordinates corrections for projection centers are calculated by ground control points and are as follows AX Gox Gaix N AZ Go Gz N where N number of image in block or strip G polynomial coefficients that are calculated during adjustment If polynomial order equals 1 input in the Polynomial degree panel then both Go and G4 are used if the order is 0 then just Go are used and G4 are assumed to be equal 0 The panel Exterior orientation angles is used to setup the type of corrections that are applied to exterior orientation angles of images if they are in the project and are used for adjustment These parameters are available only for bundle adjustment method and are as follows Aw a Ao A Ak Ax where A coefficients calculated during adjustment The type of polynomial corrections for adjustment results is setup in the Polynomial corrections for block panel XY Z XYZ at user s option The panel is available only for methods of independent strips and independent stereopairs Polynomial corrections are calculated using the following formulas AX A B X C Y D X E XY F Y 2 2 AY A B X C Y D X E XY F Y lt AZ A B X CY D_ X E XY F Y A F coefficients are calculated during post processing of adjustment results performed by GCP including projection ce
43. d so on 15 Finishing the work in PHOTOMOD Solver Once you got good adjustment results save them using the 2 Bsr button and exit PHOTOMOD Solver the Lu button To continue block processing push the button with a green down arrow tvi in the Block Adjustment panel in PHOTOMOD Montage Desktop program As a result Block processing panel gets active where you can start other modules of PHOTOMOD system DTM StereoDraw etc depending on your current tasks If you need to correct the measurements in PHOTOMOD AT module close PHOTOMOD Solver and go back to the Aerial Triangulation stage in the PHOTOMOD Montage Desktop program by pushing the button lA in Block adjustment panel of Project manager window 16 Block adjustment by external programs In some cases it is suitable to adjust the block in external software and import the results then into PHOTOMOD system PHOTOMOD Solver module allows to export adjustment data into other formats Input J export parameters to the window opened by the button 4 external adjustment programs export source data for 2009 52 Solver July 25 2009 2101 x1 Export formats I AeroSys project aer EAPAT B inew project aer co PAT B point coordinates zz syz EAPAT Bnew project xyz co PAT B exterior orientation parameters T and matrix ori E PAT B inew project ori c J Exterior orientation parameters 72 and angles cri EMPAT B inew project
44. d to open the Residuals window This window displays RMS mean absolute and maximum adjustment error values that is useful for quick estimation of the results without viewing of a full report Here you can also see Sigma O0 value if it is calculated during bundle adjustment Sigma value o shows how adjustment residuals correspond with limits of points measurements and input GCP ground control points and projection centers coordinates setup a priori If limits are setup correctly c value approximately equals 1 30 If it is higher it means that there are errors in points measurements in initial GCP or that the limits are incorrect If sigma value is less than 1 it also indicates some errors most likely limits mismatch See also the chapter 8 3 Report tab 37 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 E Ex Ey Ez Exy ra ground control 16 192 65 750 19 770 67 640 projection centers 196 1756 65 235 30 643 219 186 166 467 Fo 22 zB 234 tie from mean 2433 5 129 8 5735 5 bz mutual 1 599 6310 12 545 BAET targeted from mean 2 499 1 123 6 870 2 685 mutual 1 743 2 087 12 8817 24 tie projection centers from mean 0 000 0 000 0 000 0 000 mutual 0 000 0 000 0 000 0 000 Sigma 151 352 j Mean abs value Mas Fig 17 Residuals window 10 4 Tie residuals window If the tie point is selected the values
45. dations on aerial images blocks adjustment in PHOTOMOD system This appendix contains recommendations elaborated during adjustment of aerial images blocks in Racurs company Scanner survey data processing is not considered here Tools and methods described are not supposed to be applied to all possible cases of processing of central projection data However the information stated here might be useful for PHOTOMOD system users PHOTOMOD system of 4 2 and 4 3 versions have been used during work on the appendix 1 Typical errors If you use projection centers for adjustment you should not use local coordinate system which considers Earth curvature approximately You should use Cartesian coordinate system if survey scale and accuracy requirements allow or real coordinate system where points have been measured SK 42 WGS 84 etc When adjusting without projection centers in Cartesian or local coordinate systems you should not consider obtained exterior orientation parameters as accurate values in geodetic coordinate system It is especially related to local coordinate system which leads to big discrepancies either in height and in plane coordinates of projection centers as well as in angles of images orientation Points coordinates on the ground are calculated correctly at that Typical errors at distortion setup distortion input with wrong sign positive or negative distortion units are mixed up microns millimeters 2 Stages
46. dle adjustment specific features Adjusted heights of interstrip tie points may differ at adjustment using independent strips method and bundle adjustment After bundle adjustment on Stereopairs tab the height error may be shown on such points at that deviation from mean adjusted position in height from different stereopairs may have the same direction that is impossible for independent stereopairs method The reason is parallaxes on interstrip ties on stereopairs between images lying on neighbor strips If using independent stereopairs method these errors appear as tie errors in plane and in bundle adjustment they may transform into height errors 4 Interpretation of errors shown in PHOTOMOD Solver on Stereopairs and Images tabs Errors shown on the Stereopairs tab describe the accuracy which could be reached on further processing during stereo vectorization including automatic operations performed by correlator TIN DEM building Errors in triplets and interstrip errors are shown as a residual during connecting of vector objects created on adjacent stereo pairs When using recommended scheme of points measuring in triplets on triplets edges and centers the residuals of vectors connecting between adjacent stereo pairs are practically equal to tie errors on triplet points Errors of interstrip connection are also approximately equal to errors on interstrip tie points if they are located on distance of 0 5 2 bases and are no
47. duals calculation method from mean value At that the report will contain points measured only on one stereopair and that are not ground control The option does not influence on residuals calculated between stereopairs or strips When independent stereopairs or independent strips method is used for adjustment the residuals on these points are equal to zero During bundle adjustment the residuals on these points differ insignificantly from zero The difference is defined by residual vertical parallax of relative images orientation Usually they are less than 0 1 of residual vertical parallax value on the terrain Tie point residuals from mean N X Xm Y Ym Z Zm Exy m 136 262 264 0 000306 0 000168 2 52e 05 0 000349 x137 262 264 1 41e 05 2 70e 05 0 000144 3 05e 05 At import of external adjustment results these residuals could be also not equal to zero the residual value depends on the adjustment method used At import of external adjustment results you are recommended to mark this option along with selected residuals calculating method from mean value for intermediate control of consistency of imported relative orientation parameters and points coordinates In the final report this option may be turned off if the residuals on single points are negligible On images allows to include a section with residuals on images in mm or pixels Ax X pr OA meas d Ay Y pr D ans E y B Ax Ay where x coordinates of
48. e and the e Restore state icons to save and restore current job state However it would be not easy to restore the state if some data was changed in PHOTOMOD AT module If adjustment results are not satisfying you can cancel them and return the block to its initial state using the button 9 Reset state The results of block adjustment are displayed in two graphic tabs for their analysis see the chapter 10 Stereopairs tab and 11 Images tab O 2009 34 Solver July 25 2009 10 Stereopairs tab The Stereopairs tab is used to show results of block adjustment in graphic form Here you can see residuals on ground control points and tie residuals between stereopairs Block adjustment InfoMap for AT l x Steps View Help n E N Parameters 4c Compute amp Report E Save amp 2S 14 QO c AIDIISX Ts sr amp g OS A Tie residu xj Selected point al 0904 puo UD iliis 2 Vv Editing panel By coordinates gt Control A C Check BN _ Rejected ae Coordinates By ties x I Tie Rejected sou Measure E Geodetic reference coordinates x 4970040 520 Y 6443598 940 Z 123 300 reference weights Wwe 1 000 WY 1 000 Wz 1 000 adjusted coordinates le d R10_506 R10_507 e Ex 0 032 y 0 003 Saal from mean 0 012 0 028 0 044 0 030 mutual 0 l 023 0 056 0 0
49. e errors Then you can pass to Block processing stage in PHOTOMOD Montage Desktop build DTM s in PHOTOMOD DTM and create 3D vectors in PHOTOMOD StereoDraw Thus when you will get coordinates of control points the biggest part of job is already done Once you have GCP you should go back to Aerial triangulation stage and measure them on images then pass to the Block adjustment stage and adjust the block again in PHOTOMOD Solver After passing the Block processing stage all your TINs and 3D vectors will be transformed to the selected geodetic coordinate system automatically To adjust block in free model select the option Free model in Parameters Adjustment window and set the approximate aerial survey basis in units of coordinate system of a project meters feet etc in Basis field Free model errors are displayed in the same units and depend on the basis accuracy Note There is no way to create orthomosaic and contour lines in free model 6 Source window Once PHOTOMOD Solver is started for the project at the first time using the button GY of the PHOTOMOD Montage Desktop program Block adjustment window is opened and the source data collected in the PHOTOMOD AT module is loaded automatically to the window of the Source tab When adjustment is completed you get three tabs in the graphic window Source Stereopairs and Images First of them shows the initial images block see Fig 1 the second and the third ones the block adjusted wi
50. e excluded from images block and estimated residual between neighbor strips will exceed the error caused by wrong point recognition corresponding points recognition error and unknown shift of the object due to tree swinging Adjustment accuracy in this area and neighbor ones defined by block configuration is worsening correspondingly 8 Tie points measuring on lengthy objects boundaries Considering current limitations of adjustment procedure in PHOTOMOD system the common recommendation for points measuring on lengthy objects boundaries is as follows if the boundary or its vicinity has no any features along the boundary you should not place and measure tie point there Features examples boundaries bends other objects crossing the border common irregular background allowing to perform reliable correlation along the border Lengthy objects boundaries are not only boundaries of objects but also roads including ruts arable lands consisting of parallel furrows and other similar objects TT RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia
51. ed aaa Measure reference coordinates A none Y none Z none El reference weights WX none WY none WZ none adjusted coordinates AX 4970144371 Y 5443314 316 Z 130 997 E residuals Ex lt none gt Ey lt none gt Ez lt none gt Exy lt none gt Tie E residuals max Ex 0 054 4 Source Stereopairs Fig 19 Information window shows the data for selected point Panel By ties contains the button Be Messe 0 Edit tie points used for tie points editing in special window See the chapter 10 6 Editing points ah You can exclude tie point selected from the further adjustment by the button x Besides you may transfer one or several points from control to check and vice versa using the button M The rest part of the Information window used to display selected point attributes It contains information if the only one point is selected in graphic window Geodetic Shows adjusted geodetic coordinates adjusted coordinates source real coordinates entered in PHOTOMOD AT module reference coordinates difference between calculated and source values residuals initial weights of selected point coordinates reference weights and values of GPS compensation for projection centers if they are calculated GPS compensation Ties Displays information corresponding with ties in the block adjustment Number of models number of stereopairs where the poin
52. en Tolerance limit is set on the same tab Report Ground control points errors are displayed in the same way as on the Stereopairs tab see the chapter 10 1 Error vectors displaying 11 1 Residuals window Residuals parameters dialogue is calling by the z residuals button on the Images tab AT RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 i xj View scale screen C real 100 pixel fe filter Parameters rejected TT Fig 26 Residuals visualization parameters in the Images tab Here you can include exclude to from the report tie points residuals on images using the tie option The rest options are the same as on the Images tab see the chapter 10 2 Residuals window 11 2 Residuals on image Push the button D Residuals on image to call the window showing the residuals on selected image by yellow rectangle and points in their measured positions Residuals on image x a Fig 27 Residuals on image in the Images tab Each point is shown by the symbol according to its type the same as on the Source tab see the chapter 6 1 Points displaying Vector of tie residual is directed from the point to its projection on the image of its 3D adjusted average position scaled in accordance with settings in the Residuals dialogue see the chapter 11 1 Residuals window This vector is ended with small diagonal cross For ground control and check points the
53. error is random or systematic within small area You should keep in mind that automatic points filtering does not work in such cases The reason is that those erroneous points in small areas cause self consistent systematic error which is impossible to detect without adjustment using big amount of GCP If there is a majority of such points all the rest will be filtered automatically including those measured correctly One more possible source of errors is measuring of points on borders of extended objects In this case correlation coefficient may be big but accuracy of points measurements is high only in direction perpendicular to the border Accuracy along the border is usually several times worse Automatic filtering is also often unhelpful since those points may be associated with other erroneous points Besides if the border is directed along epipolar line in stereopair or at some angle to it it is impossible to detect such an error automatically 2 2 2 Control of uniform distribution of points measurements on stereopairs PHOTOMOD AT AAT modules For relative orientation you should have not less than 5 points each 3 of them should not be on the same line It is recommended to measure more points not less than 6 to be able to control errors You should keep in mind that for algorithm of relative orientation measurement a group of points measured along straight line is equivalent to two points on this line It is necessary to consider
54. esult in reducing of basis to survey height ratio With this ratio reduction and adjustment method set to independent stereopairs height errors on GCPs increase on the contrary when bundle adjustment is used these errors decrease this is the mathematical feature of the algorithm One can regard it as if height component of the error on GCPs were transferred to the height component of the error on tie in these points in bundle adjustment That is why height errors on GCP are mainly appeared not in the report chapter devoted to GCP errors or GCP errors vectors on block scheme but in the chapter devoted to errors on tie points from mean or shown by corresponding errors vectors It should be noted that if using an independent stereopairs method the tie error on points that are not GCP and measured on the only stereopair always equals to zero by the construction For a bundle adjustment method this errors may differ from zero on a value depending from vertical parallax residual and difference of distances to projection centers of two stereopair images on these points This error is neglible for standard aerial survey with no blunders in data 2009 74 Solver July 25 2009 2 6 Control during points filtering in PHOTOMOD Solver 2 6 1 Irregularity of points distribution control PHOTOMOD Solver module After points filtering make sure that there is no stereopairs and or triplets with irregular points distribution 3 Bun
55. for generic algorithm After that in Parameters panel you can choose the model type Parallel perspective or DLT direct linear transformation If the number of GCP is sufficient you may leave the model selected by default in that case the algorithms work similarly If GCP amount is minimal use default algorithm first and in case of improper results use another one Apply button applies setup parameters to the image selected in the left window Apply to all button applies setup parameters to all images shown in the left window If you would not like to apply setup parameters push Cancel button to close Parameters window without preserving changed parameters 61 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 After OK button pushing input parameters will be checked and if some values are incorrect the tab containing wrong field becomes active and the input field red colored In case of correct data input Parameters window will be closed and adjustment process starts Note Inexperienced users are not recommended to change adjustment settings on Images tab Report tab is used to select adjustment report parameters and set the acceptable residual values iol Tie points errors Acceptable residuals Ground control points Position on image f From adjusted position Ground postion Between stereopairs Include inta repart x pis dipr 1 m
56. g 4 Point selection window 2009 10 Solver July 25 2009 There are five panels used to setup different criteria e By coordinates List of point types used to select deselect points includes ground control ground control points projection centers check check points projection centers rejected ground points excluded from adjustment with known coordinates ground control check and projection centers both in plane and height 3D plane horizontal and height vertical no coordinates points with unknown coordinates tie targeted and projection centers if their coordinates are not known e Byties Single tie points measured on no stereopairs stereopair tie points measured at least on one stereopair triplet tie points measured at least on one triplet Strip tie tie points measured in strips overlap non transferred tie points not measured on the adjacent images used tie point used for the block adjustment as ties rejected tie point rejected from the block adjustment as ties e Auxiliary geodetic tie points that are neither targeted nor projection centers targeted targeted points projection centers projection centers with changed type points which type was changed in PHOTOMOD Solver e By residual value worst points selection of points with maximum residual values Number of worst points is to be set in corresponding text fie
57. ges intended for further adjustment See details in PHOTOMOD Montage Desktop User Manual 3 Adjustment of projects of different types PHOTOMOD system works with two types of projects based on the source image geometry Central projection images obtained by photo cameras and Scanner images images obtained by scanning devices such as SPOT ASTER IRS IKONOS etc The project type is selected in PHOTOMOD Montage Desktop module during project creating see the corresponding User Manual While processing central projection images acquired by photo camera PHOTOMOD works with images block Block project subtype or single image project subtype Single image oee the chapter 17 Single aerial image adjustment for the description of single images adjustment The process of adjustment for blocks of airborne images is performed as described in chapters 6 18 of present User Manual 9 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 New project X Project name New praject Description Black of aerial images Single image Merging projects Scanner survey Monoblock Coordinate system was B4 UTM zone 44N Select ced Fig 1 Project type selection Projects of the Scanner survey type are divided on two sub types Monoblock and Stereoblock If the set of scanner images has minimal overlap and does not form a stereopair you should create new PHOTOMOD project
58. good way to reduce an error is to remove all points on several adjacent stereopairs and to re measure points in this area manually 11 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 2 5 Control of adjustment of georeferenced blocks 2 5 1 How to detect a reference to wrong coordinate system PHOTOMOD Solver module If the adjustment of georeferenced block fails you should check coordinate system selection 1 Check if it is correct selection of left handed or right handed coordinate system You can perform it experimentally by adjusting the block in Cartesian right handed and Cartesian left handed systems You can also identify a type of used coordinate system by comparing coordinates of 3 GCP that are clearly not lie along a straight line with their location on block scheme before adjustment or in free model 2 Check if the format of points coordinates matches coordinate system selected is it with zone number or not Make sure that there are not input mistakes in coordinates odd numbers skipped numbers wrong zone number etc Check if the block is adjusted in Cartesian coordinate system 3 In some cases independent strips method fails if a preliminary scheme before adjustment is turned on 180 to geodetic coordinate system if the orientation of scheme s axes is as follows horizontally to the right East vertically upward North To resolve a problem in current PHOTOMOD ver
59. he button bar above each image is used for the following operations L and R left and right stereopair images selection to measure point using stereo comparator or correlator 11 a image zooming duplicated by M key center marker put image center to marker position on the image duplicated by P key center point put image center to point position on the image move point to marker position x delete measuring Rd duplicated by Space key correlate with left at first you should assign one of the images as a left using the L button above it p restore initial position i move along error vector to move the point into new position shown by error vector x close image the button is located in upper right corner of the image and allows to close the image if there are no measured points If you need to edit several points that are selected in the main graphic window push the button onm Measure to open the list containing points selected Double click the point s name in the list to open the window for it s editing described above or use the button Measure or Enter key To move and select other points in the list use PgUp PgDown or arrow keys Press Esc to close the list 45 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 ESTEE Steps View Help A EIS S Parameters 4a Compute FA Save e amp 325582 1 QO OA EXIT e9 amp teB 5p pre a
60. here error vectors exceed the tolerance as shown on Stereopairs tab To run such editing mark the option Editing panel and use the Information window in two following ways change ground geodetic point coordinates in appropriate fields on the panel opened by the button Coordinates Edit coordinates Point coordinates lO x Coordinates Weights bs 25901 56 670000 i e Y 563563 500000 i mz sm p v all 1 000 4 Control C Eheck C Rejected Tie X Cancel Chem Fig 20 Geodetic coordinates editing change point s location on the images where it exists using the window opened by the button S Measure Edit tie points 2009 42 Solver July 25 2009 FE Edit Point 52 dis RFHAQEBA X o amp nosse XL R T19 9 E E 4 X oF Ross XL R T1 amp S p E K 5 Rose X R t1 HEX y n5 moso Fig 21 Selected point editing The window allows to change point s location and re measure it on some image manually or automatically using the correlator Use button bar above each image and common upper button menu for working in this window Upper menu of the window has the following functions IU exit from the window without changing measurement results a exit with results saving ES duplicated by Ctrl Space hot keys correlate all images with the left one at first you should assign one of the images as a left using the EH button above it
61. hift key is pressed down the selection will be inverted 6 8 Images stereopairs and strips displaying Images stereopairs and strips are shown on the block scheme in the following way e Images are shown by yellow frames selected images by light yellow frames e Stereopairs images overlap areas by blue frames e Strips the whole areas of coverage of strip s images by magenta frames Models and images names can also be displayed if the names option in View parameters window is on see the chapter 6 2 View parameters 6 9 Cursor modes Selection mode is the default cursor mode is on when the button select mode is pushed You can define the type of objects to be selected by following icons Select points f Select images and Select models mi Click the object neighborhood to select a closest object the screen distance between the cursor and the object should be less than the cursor size Note Points are selected by their centers images stereopairs and strips by their frames By default selection of objects cancels the selection of previously selected ones if they were selected in Points selection Images selection and Model selection modes All other objects if any remain selected since there is a possibility of using objects filter that depends on selected objects see the chapter 6 4 Points window To add objects to selection select them by mouse along with pressed down Ctrl key In this case the c
62. ie E residuals max Ex 0 014 4 Source Stereopairs mages Fig 28 Information window on Images tab This window are the same as on the Information window opened on the Stereopairs tab see the chapter 10 5 Information window on the Stereopairs tab Just Tie section of informational panel is different In Tie section are displayed maximal residuals on the images for the point selected multiplicity number of images where the point was measured and images list where the point was measured in descending order of tie points residual For each of those images tie residuals are shown for average adjusted position points measurements on the image itself as well as coordinates of adjusted point projection on the image In addition for ground control and check points initial geodetic coordinates projection on the image The window allows to select images stereopairs and strips where the point is measured in the following way Holding Ctrl key pressed you can click the following lines in the window Tie images Tie images image name Images Images image name Stereopair Stereopairs stereopair name Strips Strips strip name At that the appropriate object or object group will be highlighted If the object is already selected the selection will be cancelled If Shift key is pressed down too the selection will be inverted 12 Report creation To display full process statistics push the button on the main men
63. l point coordinates using the window opened by the button e Coordinates Edit coordinates which is used to open the window for editing coordinates of triangulation points described in the chapter 10 6 Editing points 13 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Block adjustment Airborne survey 3block l 18 x Steps View Help n El N Parameters 4 Compute r5 Report FA Save e amp vy b 3223 v Editing panel By coordinates Control A C Check bal _ Rejected E Coordinates By ties x R Tie x _ Rejected Boa Measure El Geodetic H reference coordinates X 758370 592 Y 217653 682 2 85 070 E reference weights WX 1 000 WY 1 000 WZ 1 000 B Tie E number of images lt none gt images la Type AT module control E Block Adjustment E coordinates control tie used code 3223 E Images Stereopairs Strips 4 Source Fig 6 Information window shows the data for selected point Panel By ties contains the button a Messe 0 Edit tie points used for tie points editing in special window See the chapter 10 6 Editing points s You can exclude tie point selected from the further adjustment by the button F To restore ae excluded tie point to adjustment push the button x For ground control and check points A a restoring push the buttons and accordingly The
64. ld over acceptable residuals selection of points with residual values greater than the Acceptable residual parameter indicated in the Parameters window on the Report tab in Acceptable residuals panel see the chapter 8 3 Report tab You can set on ground and or tie options to select ground and or tie points that satisfy chosen criteria as well as XY and Z options to take into account XY and or Z residuals only e n selected models all select points which belong to all models atleast one select points which belong to at least one model e Also invisible mark the option to select both visible and invisible points If the option is not marked only visible points will be selected Points may be invisible if they do not satisfy to preset filter of points displaying Note The panel By residual value is inactive if the window is opened from the Source tab but is used on the Stereopairs and Images tabs The buttons Select Add Toggle and Subtract are used to execute the appropriate selection operations with selected points 6 4 Points window Points window opened by the icon amp point list is used for quick selection of points in the block scheme by their names 11 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 12 233 233 v list of selected objects Fig 5 Points window At the upper part of the window there is a text field where you can type the point name to be
65. lly the Parameters button becomes available You have to set process parameters if you start Block adjustment for the first time see the chapter 8 Parameters window Parameters are memorized when exiting PHOTOMOD Solver module and restored for each future block adjustment session Borders of selected images stereopairs and strips are shown in lighter color 6 1 Points displaying Points are shown on block scheme by graphic symbols Point type is shown by the color and shape of symbol as follows e points with known coordinates control and check XYZ points double triangle A XY points single triangle Z points circle ground control red color check black color rejected from adjustment white color e projection centers small black square H e tie points measured on at least one stereopair small diagonal cross 5 2009 8 Solver July 25 2009 measured on no stereopairs small circle measured on only one stereopair black color d measured on more than one stereopair on one strip green color for example HN measured in triplet interstrip point deep blue color light blue if rejected rejected from adjustment white color measured on only one image on one strip magenta color light magenta if rejected ground point tie point that is not targeted and is not a projection center no symbol targeted point bold s
66. lock but for separate strips groups of strips or sub blocks Such parting would be helpful due to two main reasons The first one if the block contains many blunders it is easy to detect them by splitting on sub blocks in such a way that each sub block would contain not more than one blunder The second reason time for sub block adjustment is less than time for adjustment of the whole block that is important for big blocks 2 4 2 Detection of blunders in camera focus input PHOTOMOD Solver module Adjustment in free model allows to detect blunders in camera focus input For this purpose you should input approximate survey basis If the basis is correct Scale field on Report tab in Parameters window will show correct survey scale value after adjustment If the difference between calculated height values of triangulation points and projection centers differs significantly from real one at that than more likely focal length was input incorrectly Note 1 In free model calculated heights of projection centers are close to 0 and of triangulation points negative and in absolute value are close to survey height Note 2 As survey basis is input approximately you should compare measured and real height of survey considering accuracy of this approximation That is why it is impossible to find out small errors in focus input on stage of adjustment in free model for this the adjustment using GCP is required 69 RACURS Co UI Yaroslavskaya 13
67. matic tie points measurements PHOTOMOD Solver module 71 2 5 Control of adjustment of georeferenced DIOCKS ccccceecccceeeeeeeeeeeeeeseeeeeeeaeeeeesaeeeeeesaeeeeas 72 2 5 1 How to detect a reference to wrong coordinate system PHOTOMOD Solver module 72 2 5 2 Detection of blunders in GCP measurements PHOTOMOD Solver module 72 2 5 3 Selection from several adjacent GCP if their error vectors have opposite direction PHOTOMOD Solver Mod l serrer inlei E A EEEa 72 2 5 4 Control of GCP located on one stereopair PHOTOMOD Solver module 73 2 5 5 Control of adjustment with projection centers PHOTOMOD Solver module 73 2 5 6 Detection of systematic errors of interior orientation PHOTOMOD Solver module 73 2 5 7 Bundle adjustment and adjustment import errors on points measured on one stereopair PHOTOMOD S lver Mod le c medatiitatentquE n En EEE EPOR UN CR APabXatR MDUAD USE 74 2 6 Control during points filtering in PHOTOMOD Solver eeeeeeeeeeeeen 75 2 6 1 Irregularity of points distribution control PHOTOMOD Solver module 75 3 Bundle adjustment specific features cccccssscccssessseeeeeesseeeeeeoesseeeeeeenseeeseoeesneeeseoeenseees 75 4 Interpretation of errors shown in PHOTOMOD Solver on Stereopairs and Images tabs 75 2 Processing of survey with big images overlap
68. mean N X Xm Y Ym Z Anm Exy m mean absolute 0 103 0 0759 0 149 0 139 RMS 0 134 0 0986 0 195 0 166 maximum 0 510 0 414 0 849 0 516 number of points differences 53 cx 122 122 122 122 Targeted point residuals from mean N X Xm Y Ym Z Zm Exy m mean absolute 0 00 0 00 0 00 0 00 RMS 0 00 0 00 0 00 0 00 maximum 0 00 0 00 0 00 0 00 number of points differences O 0 0 0 0 Tie point residuals projection centers from mean N x Xm Y Ym ZA Exy m mean absolute 0 00 2036 14 0 00 2 53e 14 RMS 0 00 1 07e 13 0 00 1 07e 13 maximum 0 00 4 55e 13 0 00 4 55e 13 number of points differences 9 4 18 18 18 18 When the option Tie residuals Between models is selected AX ix X i Xw AY Y Ys AZ ii E Zi Zug E ok AX jn j AY f ijk where point number j and k numbers of stereopairs where 7 point is measured are shown correspondingly in X1 X2 Y1 Y2 Z1 Z2 and Exy columns Tie point residuals between stereopairs 25 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 N X1 X2 A Lex Al mz Exy m mean absolute 0 179 0 0932 0 230 0 225 RMS 0 223 0 144 0 287 0 265 maximum 0 614 0 543 0 851 0 646 number of points differences So uf 91 91 91 91 Targeted point residuals between stereopairs N XxX1 X2 Yley2 21 22 Exy m mean absolute 0 00 0 00 0 00 0 00 RMS 0 00 0 00 0 00 0 00 maximum 0 00 0 00 0 00 0 00 number of point
69. meas Y pr y meas limit 0 025 0 025 3302 g ulz Bs mean absolute 0 018 PHS 0 020 vaxima number of points differences Check points residuals on image N x pr x meas Y pr y meas 0 025 O 025 mean absolute o 000 EMS 0 InaxXinum go n0nu number of points differences D id Fig 35 Single image adjustment report After passing interior orientation and adjustment stages of single image processing you can go to its orthorectification if the external DEM is available see PHOTOMOD Mosaic User Manual 18 Adjustment of scanner monoblock and stereoblock PHOTOMOD project which contains scanner images block or single scanner image is adjusted in PHOTOMOD Solver module after its interior orientation and georeferencing in PHOTOMOD AT module 57 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 f report 1 4 OF All e x ERORAR Xj Block adjustment The First IKONOS Stereoblock 8 x Steps View Help A EIS SV Parameters J Compute E m amp ER 73 jpo 151066 pan 0010000000 jpo 151066 pan 0010000001 ry x x r3 x E Source Fig 36 Scanner images block on Initial tab Prior to start adjustment select adjustment parameters in the window opened using the NL ete Parametets button The appeared dialogue contains three tabs Points Images and Report
70. ment PHOTOMOD Solver provides three algorithms to be used for the block adjustment procedure Independent strips Independent stereo pairs and Bundle adjustment e Independent strips This method is used to check out the gross errors such as wrong coordinate values of control points incorrect tie point s measurements etc Accuracy of this method in case of long strips more than 10 images may be dozen times worse than adjustment accuracy achieved by the other two methods See method setup parameters in the chapter 8 2 1 Independent strips method e Independent stereo pairs Use this method to increase the accuracy you have achieved by Independent strips method and to detect more delicate errors and possibly for final adjustment See method setup parameters in the chapter 8 2 2 Independent stereopairs e Bundle adjustment is used for the final block adjustment See details about method setup in the chapter 8 2 3 Bundle adjustment In most cases it is practical to perform adjustment alternately by method of independent stereopairs and bundle adjustment for searching and correction of delicate errors You can select adjustment method and setup it on the Adjustment tab of the Parameters window opened by pushing the button d Parameters Parameters See the chapter 8 2 Adjustment tab 8 Parameters window Parameters window opens after clicking the button d Parameters Edit adjustment and report parameters and includes the following tabs
71. mpensation was on Ground control data Image Omega Phi Kappa deg 262 0 0087633401 0 0038763912 0 0112346521 264 0 0087633401 0 0038763912 0 0112346521 mean absolute 0 0087633401 0 0038763912 0 0112346521 RMS 0 0087633401 0 0038763912 0 0112346521 maximum 0 0087633401 0 0038763912 0 0112346521 number of images differences 5 T 5 5 5 Check data Image Omega Phi Kappa deg mean absolute 0 0000000000 0 0000000000 0 0000000000 RMS 0 0000000000 0 0000000000 0 0000000000 maximum 0 0000000000 0 0000000000 0 0000000000 number of images differences O 0 0 0 Tie residuals the option defines one of the following calculation methods of tie residuals between stereopairs Between models allows to use pairwise difference between point position calculated from each stereopair which contains the point measurement 142 197 199 262 264 From mean value allows to use differences between point position calculated from each stereopair and mean adjusted position 2009 32 Solver July 25 2009 x142 197 199 0 0581 0 133 dled 0 145 262 264 0 0581 O l3 0 21L5 0 145 Acceptable residuals allows to setup acceptable residuals for block adjustment These limits do not influence on adjustment but are used in the report and for results visualization on the block scheme You can setup the same limits for all point types the All the same option or for different limit for each point type the By point type o
72. nding with a small cross bar The vector color is green for acceptable residuals and red for exceeded e Residuals on tie points XY diagonal cross with size proportional to X and Y residual components 35 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Z vertical line symmetrical relatively to the point position The vector color is deep green for acceptable residuals and deep red for those which exceed residual threshold EX Residuals ini IV a dm Fig 15 Error vectors The error vector size is proportional to the residual value and is set up in Residuals window see the chapter 10 2 Residuals window 10 2 Residuals window The dialog Residuals opened by the icon s is used to set parameters of displaying error vectors on the block scheme appeared on the Stereopairs and the Images tabs after the adjustment procedure On the Stereopairs tab this window contains the following options 2009 36 Solver July 25 2009 lal x View scale I ground Y screen I ground 4 real v tie xN 100 pixel rejected u OF x Cancel Fig 16 Residuals window Residuals dialog includes the following panels and options e Show defines which error vectors should be displayed XY displays error vectors corresponded to XY errors Z displays error vectors corresponded to Z errors Ground displays error vectors corresponded
73. nters Corrections obtained are added to adjusted coordinates of all points of the block including projection centers In most cases you are recommended to turn off polynomial corrections usage 2009 22 Solver July 25 2009 8 3 Report tab The Report tab is used to select adjustment report parameters and parameters of residuals visualization on the block scheme acceptable residuals and method of tie residuals calculating ru Parameters lei X L aordinate system Adjustment Fieport Acceptable residuals allthe same Include in the report Residuals control check C by point type v on stereapairs tie and pass residuals Al include singles ar 0 100 M on images Z 0 100 w exterior orientation angles Scal details 1 10000 mark bad points Residuals print Forma fixed point include acceptable jw Exterior orientation parameters jw Catalog print residuals C floating point Made alpha omega kappa V GPS coordinates correction C omega phi kappa Tie residual Unit between models radians Exterior orientation angles correction from mean value degrees 4c Compute X Cancel Fig 12 Report parameters The Include in the report panel allows you to include the following values to the report Residuals the option allows to include the section with adjustment residuals into the report Estim
74. o refinement will be applied to the initial RPC This option could be used for GCP or project coordinate system control 2009 60 Solver July 25 2009 Options in Parameters apriory covariances field determine initial RPC accuracy as well as coordinate system correctness i e in case of approximation of local coordinate system with unknown parameters using Topocentric horizontal coordinate system Bias pixels RMS of absolute terms of input refinement in pixels a priory Drift p p m RMS of linear coefficients of input refinement a priory it is dimensionless units and their value is setup in millionth parts p p m parts per million e Generic allows to select model which is used for adjustment if the project does not include interior orientation parameters of the following type parallel perspective or DLT Direct Linear Transformation models description see in PHOTOMOD Montage Desktop User Manual If RPC coefficients are not supplied with the product or the results of adjustment using the coefficients are poor you may adjust the projects using Generic algorithm Select the appropriate option in this case in Parameters window on Images tab EtjParameters B Points Images Report Images Adjustment parameters C Rigorous 15 1 NI APC Generic Parameters Model type f Parallel perspective Direct Linear Transformation DLT Fig 40 Adjustment parameters
75. oom E GA Zoom in duplicated by key turns on the mode which allows to enlarge the block scheme twice by each mouse click e A Zoom Out duplicated by key turns on the mode which allows to reduce the block scheme twice by each mouse click e W Pan mode allows to pan the block scheme by mouse See the chapter 6 9 Cursor modes Select mode turns on selection mode for points images stereopairs and strips See the chapter 6 9 Cursor modes A Select points allows to select points See the chapter 6 1 Points displaying e m Select images allows to select images See the chapter 6 8 Images stereopairs and strips displaying Select models allows to select stereopairs and strips See the chapter 6 8 Images stereopairs and strips displaying F Selection by filter opens closes a dialog used to filter and select points see the chapter 6 3 Points selection by filter E X Unselect objects cancels all selection Marker parameters opens dialog used to change cursors shape size and color 5 View parameters opens a dialog used to set view parameters see the chapter 6 2 View parameters Es Residuals opens a dialog used to set parameters of residuals viewing See the chapter 10 2 Residuals window 11 1 Residuals window Available only on the Stereopairs and Images tabs e LJ Point list opens closes a window with a point list see the chapter 6 4 Points
76. ore likely the point is measured correctly If the situation is caused by irregular points distribution the error may be within tolerance after adjustment and maximal error may move to another point If the errors have a value close to accuracy limit for particular input data you may stop search for error at that 3 Check a few closest tie interstrip points all of them or minimum 3 ones regularly distributed in each stereopair overlap where the point exists and some more points in a distance of 1 3 stereopairs 4 Check the same way all stereopairs where the point exists in every of the six standard zones falling in the triplet overlap or add 1 tie point in each triplet If the block has changed you must re adjust it after that the error may appear on really erroneous point 5 If maximal error value is on already checked points you should reject from adjustment the rest un checked points of stereopairs where the point exists you may also exclude part of points on neighbour stereopairs keeping in mind regular points distribution After adjustment turn on the option allowing to show errors on points rejected from adjustment Check points with maximal errors If it is impossible to identify erroneous points after all that procedures you should check other possible sources of errors wrong interior orientation deformations of some particular image of the block adverse choice of objects for points measurements In some cases a
77. ort adjustment results produced by external software using the window opened m2 by the button amp import adjustment results Adjustment import ial x Import forma C AeroSus project PAT B angles PAT B point coordinates 272 xyz D SPAT Bt xyz c FAT B exterior orientation parameters AT and matris ori D APAT Bt ari c Angles W Negate focus Invert matrix TN Fig 31 Import adjustment parameters from PAT B format When importing from AeroSys project it is enough to select AeroSys project name file with aer extension and path in appropriate field You can import two types of data from PAT B format rotation matrix and angles using appropriate radio buttons in import window When importing from PAT B you can also use an additional re calculations of initial data assigned in the Angles panel e Negate focus e Invert matrix Note During import of adjustment results obtained in AeroSys or other external software select Cartesian coordinate system for PHOTOMOD project to avoid plane and height errors on images projection centers See PHOTOMOD Montage Desktop User Manual for detailed export and import procedures description using external formats on Block adjustment stage 2009 o4 Solver July 25 2009 17 Single aerial image adjustment PHOTOMOD project with single aerial image is adjusted in PHOTOMOD Solver module after its interior orientation and ground cont
78. point window using the button Show GCP error In practice errors occur due to wrong objects recognition adjacent power lines pillars another corner of fence etc 2 5 3 Selection from several adjacent GCP if their error vectors have opposite direction PHOTOMOD Solver module If there are two or more points located close to each other where error vectors are oppositely directed you can transfer the points to check and adjust the block Most likely that 2009 72 Solver July 25 2009 the erroneous point is a point with maximal error however in some cases it might not be like that if for instance the points are on the edge of block or the error is caused by other GCP or tie points You can also transfer these points to check one after another and assign them small values of weights 0 1 0 01 2 5 4 Control of GCP located on one stereopair PHOTOMOD Solver module If four or more GCP with blunders are located on one stereopair could be recognized there it is helpful to select sub block containing just this stereopair and analyze it In this case the least number of factors influences on adjustment errors 2 5 5 Control of adjustment with projection centers PHOTOMOD Solver module For evaluation of adjustment by projection centers it is useful to perform the following Transfer GCP to check points on the area covered by images with known projection centers coordinates Make sure that there is no big systematic er
79. ption In first case you should fill in XY and Z fields in the All panel In second case fill in fields in panels Ground control Check Projection centers Tie Targeted Tie projection centers for each point type The limits are setup in coordinate system units of the project Scale the field is used to indicate survey scale used for residuals calculation from image scale to block scale and vice versa This value is calculated during adjustment automatically but you can edit it manually in necessary The value is input in dependently from approximate scale of survey in PHOTOMOD Montage Desktop module Residuals print format allows to select format of output of residuals values in the report At that two options are available Fixed point is used to round off the residuals up to three decimal places 8801 0 0760 0 165 0 0259 0 182 Model to setup angular system used for output of exterior orientation parameters Available options are alpha omega kappa and omega phi kappa See the description of the parameters in the chapter 19 Appendix Exterior orientation angular systems Units is used to setup angle units in the report Available options are Radians and Degrees 9 Computations Once parameters are entered push the ve Compute button to start calculations Each calculation session uses currently entered parameters You can see process progress in the Iteration window 33 RACURS Co UI Yaroslavskay
80. residual vector is 2009 48 Solver July 25 2009 shown in the same way directed to the projection of user 3D coordinates on the image For plane and height points for coordinates not defined by user adjusted coordinate values are used for residuals calculating Ground control point residual vector has small circle on the end Residuals vector color depends on their value whether the residual succeed the threshold or not The tolerance in image coordinate system is equal to user defined tolerance in plane XY multiplied to the survey scale which is input on the Report tab in the Parameters window see the chapter 8 3 Report tab The slider below the image is used for image zoom 11 3 Brief residuals report on the Images tab The icon 8 Brief residuals report is used to open Residuals report window This window displays RMS mean absolute value and maximum adjustment error values and is used for quick estimation of the results without viewing of a full report The window is similar to Residuals window opened on the Stereopairs tab see the chapter 10 3 Brief residuals report on the Stereopairs tab On the Images tab it has the following format Ex Ey Ez Exy Ground control points 0 410 0 330 0 342 0 526 check 0 325 0 325 0 486 0 460 Ex Ey Exy tie in mm 0 006 0 012 0 014 targeted in mm 0 003 0 003 0 004 oigma O0 1 23 Note When adjusting single airborne image project thi
81. rest part of the Information window is used to display selected point attributes It contains information if the only one point is selected in graphic window Geodetic Shows initial real coordinates entered in PHOTOMOD AT module reference coordinates and also initial weights of coordinates reference weights Ties Used to show information about tie points Images number of images where the point is measured and measurements of the point its coordinates in these images number of stereopairs and strips Type indicates whether the point was ground control check or rejected during adjustment and whether it used as a tie It also indicates is the point a projection center and shows point code or image code for projection centers Images list of images the point was measured on Stereopairs list of stereopairs the point was measured on Strips list of strips the point was measured on on one image at least The window allows to select images stereopairs and strips where the point is measured in the following way 2009 14 Solver July 25 2009 Holding Ctrl key pressed you can click the following lines in the window Tie images Tie images image name Images Images image name Stereopair Stereopairs stereopair name Strips Strips strip name At that the appropriate object or object group will be highlighted If the object is already selected the selection will be cancelled If S
82. rol points measuring in PHOTOMOD AT module G WX 9 5 b Gs Rie Fig 32 Single aerial image in Source tab To adjust the image you should setup process parameters in the window opened by pushing the button see the chapter 8 Parameters window For the single image use the Report tab in the Parameters window to select elements to be displayed in adjustment report and also to set up acceptable residuals to be shown O9 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia HOTOMOD 4 4 Fig 33 Parameters of adjustment report for single aerial image inen start process by pushing the button FE Compute see the chapter 9 Computations Adjustment results are shown on the Images tab see the chapter 11 Images tab EX Block adjustment single aerial image MEEN Ex Ey Exy mm ground control on image 0 008 0 020 0 022 check on image 0 000 0 000 0 000 Ex Ey Ez Exy m Fig 34 Single image with residuals vectors 2009 56 Solver July 25 2009 Push the button on the main menu bar and view adjustment results on measured ground control points see the chapter 12 Report creation Then save the results by pushing the P Save button if they are acceptable or change adjustment parameters and re adjust the image see the chapter 15 Finishing the work in PHOTOMOD Solver x AS A BRAS Ground control point residuals on image N x pr x
83. ror Big systematic error in height is usually caused by incorrect input of camera focal length or by selection of wrong coordinate system wrong value of local plane scale of cartographic projection Big systematic error in height which depends from a distance between the point and block center as well as big plane errors directed radially from block center are usually the result of improper choice of coordinate system Cartesian geodetic errors of interior orientation distortion 2 5 6 Detection of systematic errors of interior orientation PHOTOMOD Solver module If case of areal survey with big enough amount of GCP approximately 10 and more you can assign small weight of equation on GCP 0 01 0 1 and adjust then without projection centers Systematic error on GCP causes the height errors vectors in block center are directed oppositely to the vectors on block edges Fig 1 That may indicate incorrect selection of coordinate system inaccurate consideration of the Earth curvature or errors of interior orientation unaccounted distortion Fig 1 Vectors of height errors when the Earth curvature is considered improperly or if the distortion is assigned incorrectly 13 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 If systematic error looks in such a way that vectors of plane errors show block squeezing in one direction and
84. roximation for block adjustment or could be used as a main procedure of image orientation when given image is excluded from block adjustment or it could be turned off for selected image or for all images Beside GCP block adjustment uses ties between images During adjustment refinement polynomial orders are input to images exterior orientation elements Order of polynomials is determined automatically or by user The image could be excluded from block adjustment e RPC this mode uses RPC coefficients delivered by the data supplier along with images kk iol xi Adjustment parameters Method f Rigorous i APC po 4314 rgb DODODOL po 4317 rgb DODODOL po 4318 rgb DODODOL Generic Parameters Refinement Auto Bias Bias and drift C No Parameters apron covariances Bias pixels Drift p p m de X Cancel Fig 39 Adjustment parameters for RPC algorithm When using RPC algorithm Options group in Refinement panel allows to select refinement type for RPC which are delivered alone with initial images Auto the refinement type will be detected automatically using the number of ground control and tie points Bias if there is enough number of points the constant refinement will be applied to RPC Bias and drift if there is enough number of points the affine refinement will be applied to RPC otherwise the constant refinement will be applied if possible None n
85. s differences O 0 0 0 0 Tie point residuals projection centers between stereopairs N XxX1 X2 yY L Y2 Z1l zZ2 Exy m mean absolute 0 00 5 05e 14 0 00 5 05e 14 RMS 0 00 1 52e 13 0 00 1 52e 13 maximum 0 00 4 55e 13 0 00 4 55e 13 number of points differences 9 9 9 9 9 The above parameters describe residuals which will appear during merging of vector objects and DEM created on the adjacent stereopairs Tie and pass residuals allows to include a section with tie points residuals calculated separately between stereopairs and strips Sections Between models and Between strips will be added to the Tie residuals section of the report The option is available only when the option Residuals on stereopairs is marked Tie point residuals between stereopairs N Xl X2 Y1 Y2 Z1l zZ2 Exy m mean absolute 0 179 0 0932 0 230 0 225 RMS 0 223 0 144 0 287 0 265 maximum 0 614 0 543 0 851 0 646 number of points differences 53 91 91 91 91 between stereopairs N X1 X2 YLl Y2 21 22 Exy m mean absolute 0 175 0 0138 0 253 0 177 RMS 0 204 0 0198 0 310 0 205 maximum 0 391 0 0603 0 712 0 391 number of points differences 37 Y 43 43 43 43 between strips N Xx1 X2 Y1 Y2 ALLA Exy m mean absolute Qu I9 Beda 0 210 0 284 RMS 0 255 0 207 0 285 0 329 maximum 0 614 0 543 0 851 0 646 number of points differences 26 26 26 26 26 2009 26 Solver July 25 2009 Include singles is used only for resi
86. s window will not contain tie points residuals 11 4 Information window on the Images tab The Information window opened by the icon bz point attributes is used to view the attributes of currently selected point its type coordinates and residuals in it In this window you can change point type control check and vice versa and also exclude the points from the adjustment rejected points Besides you can edit point coordinates in the windows opened using respectively the button Coordinates Edit coordinates for ground control points and the button ses Measure Edit tie points for tie points See the chapter 10 6 Editing points 49 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Block adjustment InfoMap for AT le x Steps View Help l n E N Parameters 4e Compute amp Report EA Save amp 2 amp g 11 O er apmmm XT s 3 8186 Em Informat xl Selected point 0304 w Editing panel By coordinates Control _ Check bal _ Rejected amp Coordinates i By ties x 2 Tie _ Rejected poo Measure Geodetic H reference coordinates X 4970040 520 Y 6443598 940 Z 123 300 reference weights Wwe 1 000 WY 1 000 wz 1 000 adjusted coordinates x 4970040 449 Y 6443598 934 Z 129 297 E residuals Ex 0 071 Ey 0 006 Ez 0 003 Exy 0 071 T
87. same as the Information window opened on the Source tab see the chapter 6 7 Information window on the Source tab There is a text field at the upper window part which shows the name of selected point if the only one point is selected If the option Editing panel is on the appropriate panel is opened where you can change point type control or check and vice versa and also exclude points from the adjustment The point type which it had during adjustment is coded by point symbol on the block scheme The point s type which it will have during the next adjustment is indicated by marked check box near the appropriate type name in this panel To change this type push one of the appropriate buttons al control E Al check rejected You can edit control point coordinates using the window opened by the button je Coordinates Edit coordinates which is used to open the window for editing coordinates of triangulation points described in the chapter 10 6 Editing points 2009 40 Solver July 25 2009 Ay aU JUSU e x Steps View Help n E N Parameters 4 Compute 5 Report EA Save e amp x S ge ae FESTER IER Sg Id TS Noo aa lt 11 amp 2 LATCH BK 9 9 amp CE BO OF 6A B Information al Selected point 52 6444000 000 v Editing panel a By coordinates A _ Control C Check EA _ Rejected amp Coordinates i By ties x A Tie x _ Reject
88. searched and selected You can also select point in the point list below sorted in alphabetical order If the Auto option is on selected point is automatically marked in the block scheme outlined by the white circle E If you need to select several points turn off the Auto option and use the Select button for point s selection If current point is already selected click the Select button to cancel point selection The option List of selected objects is used to show a list of currently selected objects 6 5 Images window Images window opened by the icon E image list is used for quick selection of images in the block scheme by their names At the upper part of window there is a text field where you can type the image name to be searched and selected You can also select image in the image list below sorted in alphabetical order If the Auto option is on selected image is automatically marked in the block scheme bordered by yellow bold line If you need to select several images turn off the Auto option and use the Select button for images selection If current image is already selected click the Select button to cancel image selection The option List of selected objects is used to show a list of currently selected objects 2009 12 Solver July 25 2009 6 6 Stereopairs window Stereopairs window opened by the icon B stereopair list is used for quick selection of stereopairs in the block scheme by their names At
89. sion you should either turn the scheme by inverting of strips order and images order in strip and rotation of all images on 180 or use special coordinate system which is not included to delivery set with opposite axes orientation East to the left North downward In case of Cartesian coordinate system you can inverse a sign of X and Y coordinate values for all GCP You can use independent strips method to speed up verifying 2 5 2 Detection of blunders in GCP measurements PHOTOMOD Solver module To detect blunders in GCP measurements you should select a few more reliable GCP and adjust a block using the rest of points as check If geometry of block allows you can leave 3 points located as far as possible from each other and that are clearly not lie along a straight line desired shape close to equilateral triangle On stage of blunders detection you can use Cartesian coordinate system If the error value is big enough it is helpful to show errors in real scale with zoom 1 in this case the end of vector of plane error shows on block scheme real point location with preset geodetic coordinates In practice in some cases it turned out that in the list of catalogue numbers of points group or one of point s coordinates are mixed up It would be also helpful to look at suggested location on image of erroneous point For that you should mark a point as a check adjust a block and visualize vector of GCP error on the point in the Edit
90. t is measured Residuals max maximum difference between point coordinates calculated from different models By models residuals for every model calculated either as difference from the mean coordinate values from mean value or as difference for each pair of models mutual residuals Type indicates whether the point was ground control check or rejected during adjustment and whether it used as a tie It also indicates is the point a projection center and shows point code or image code for projection centers Images list of images the point was measured on Stereopairs list of stereopairs the point was measured on Strips list of strips the point was measured on on one image at least 41 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 The window allows to select images stereopairs and strips where the point is measured in the following way Holding Ctrl key pressed you can click the following lines in the window Tie Stereopairs stereopair name Images Images image name Stereopair Stereopairs stereopair name Strips Strips strip name At that the appropriate object or object group will be highlighted If the object is already selected the selection will be cancelled If Shift key is pressed down too the selection will be inverted 10 6 Editing points If necessary to obtain better adjustment results you can edit re measure some doubtful points w
91. t lying on the same line as much as interstrip overlap allows You should keep in mind that in areas without tie points discrepancy between vectors may be greater due to the degradation of actual triangulation accuracy in the area by the amount determined by the points geometry Errors shown on the Images tab describe accuracy of orthophoto creation using either precise external DEM DEM accuracy is higher than block adjustment accuracy or DEM created from block adjustment results in the first case the average accuracy is expected 1 5 times higher Plane and height error values shown on the Stereopairs tab or in the report influence on orthophoto in so far as they lead to errors on images although they also influence on accuracy of created relief model DEM At that the value of height error of tie point has less influence on orthophoto accuracy than error in plane It should be multiplied by coefficient that is equal to ratio of distance between point position on image used for orthophoto and principal point of this image to focal length This coefficient is always less than one 15 RACURS Co UI Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 5 Processing of survey with big images overlap The main feature of a survey with big images overlap more than 70 is that survey basis to height ratio is small for stereopairs composed by neighbour images of strip Therefore the value of height error on points me
92. th residual s vectors that makes easy visual analysis of adjustment results After adjustment procedure the block scheme is shown on the Stereopairs tab of the main window see the chapter 10 Stereopairs tab and also on the third tab Images see the chapter 11 Images tab In the upper part of PHOTOMOD Solver window there are main buttons that allow to perform the adjustment procedure o A Patameters _ opens the window for adjustment parameters setting see the chapter 8 Parameters window aor Compute starts the process of computing of exterior orientation parameters and coordinates of all points of a block see the chapter 9 Computations opens the window with adjustment results see the chapter 12 Report creation e Pl Save saves the adjustment results that allows to proceed to next project processing stage in PHOTOMOD system see the chapter 15 Finishing the work in PHOTOMOD Solver e tl exits PHOTOMOD Solver module T RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 Block adjustment Airborne survey 3block 18 xl Steps View Help n E XN Parameters 4c Compute amp Report FA Save o amp 3m Al Source Fig 2 Initial block state on the Source tab If some errors occur while image block loading you will receive an appropriate message and further work in the module will be blocked If the source dataset is loaded successfu
93. the upper part of window there is a text field where you can type the stereopair name to be searched and selected You can also select stereopair in the list below sorted in alphabetical order If the Auto option is on selected stereopair is automatically marked in the block scheme bordered by light blue bold line If you need to select several stereopairs turn off the Auto option and use the Select button for stereopairs selection If current stereopair is already selected click the Select button to cancel stereopair selection The option List of selected objects is used to show a list of currently selected objects 6 7 Information window on the Source tab Information window opened by the icon Li point attributes is used to view the attributes of currently selected point its type coordinates and measurements There is a text field at the upper window part which shows the name of selected point if the only one point is selected Mark the option Editing panel to open the panel allowing to change point type control or check and vice versa and also to exclude points from the adjustment Current point s type is indicated by marked check box near the appropriate type name in this panel To change the type of the selected point for the next adjustment push one of the appropriate buttons ub al control n A check ds rejected as a ground control or check point but can be used as a tie You can edit contro
94. to ground control and check points Tie displays error vectors corresponded to ties errors e Points defines which points are to be used to display error vectors for A All all points Filter points selected by filter see the chapter 6 3 Points selection by filter e View scale allows to manage the size of residual vectors on the block scheme There are two options screen and real If the screen scale is selected use the lower field to input the number of units of project coordinate system meters feet in 100 screen pixels Push the arrow buttons VA in this field to change the screen scale value to obtain the best residuals view on the block scheme on the screen If the real scale is selected the size of residual vector circle is corresponding to the block scheme scale on the screen Therefore if the scale value in numeric field is x1 the end of residual vector is directed to the point with coordinates of ground control or check points That allows to see the location of ground control points mistakenly measured At that the vectors are zooming in and out while the scheme resizing See also the chapter 10 1 Error vectors displaying Red arrows on the block scheme show the error vectors for point with exceeded residuals green arrows with acceptable ones see the chapter 10 Stereopairs tab and 11 Images tab 10 3 Brief residuals report on Stereopairs tab The icon f amp l Brief residuals report is use
95. u bar You can also open and view the last report created in the current PHOTOMOD Solver session by pushing upper menu button last report 2009 50 Solver July 25 2009 la x A j MES amp 06 June 2005 11 41 56 Block adjustment report Estimation of block adjustment accuracy Unacceptable residuals are marked with Points with acceptable residuals are not included in the report Ground control point residuals N mean absolute 0 044 RMS 0 054 max imum 0 097 number of points idifferences 6 f 6 projection centers wean absolute EMS Fig 29 Report window The report contains the residual values calculated on control check tie points and projection centers for the whole block and for every point the catalogue of points coordinates images exterior orientation parameters and GPS corrections and corrections for exterior orientation parameters Report content is setup on the Report tab in the Parameters window see the chapter 8 3 Report tab Report refers to different values as follows X Y Z coordinate values calculated from a model model is a strip for the method of independent stereo pairs and a stereo pair for the method of independent stereo pairs X1 X2 Y1 Y2 Z1 Z2 coordinates calculated from different models Xm Ym Zm average coordinate value calculated from all models Xg Yg Zg ground real coordinates input by the user for ground control and che
96. ult is 1000 You can reject the worst tie points during adjustment automatically using filtering options on the Tie point rejection panel worst points number of points with maximal residuals and over acceptable residuals all points with residuals exceeded the accepted values indicated in Acceptable residuals panel on Report tab see the chapter 8 3 Report tab If the options are on filtered points will be excluded from adjustment When the adjustment method is selected you can setup it in the window opened by the button Method parameters see the chapter 8 2 1 Independent strips method 8 2 2 Independent stereopairs method 8 2 3 Bundle adjustment Systematic errors of adjustment are considered and you can setup their compensation parameters in the window opened by the button Systematic error compensation see the chapter 8 2 4 Systematic error compensation 2009 18 Solver July 25 2009 8 2 1 Independent strips method When you have selected independent strips method of adjustment you can setup the process parameters in the window opened by the button Method parameters on the Adjustment tab see the chapter 8 2 Adjustment tab Independent models adjustment parameters E 5 x ptimization algorithm C Gradient quations weights tie OU ground control 1 00 f Matrix inversion projection centers 1 00 Adjustment accuracy 0 5 I l i uS ER aa ae M Calculate relative orientation
97. ursor gets plus sign added uil To deselect some objects press and hold Shift key In this case the cursor gets minus sign added To invert selection of the group of objects press and hold l down Shift and Ctrl keys At that the cursor gets minus plus sign added a Click the blank part of the window or push upper menu button X Unselect objects to unselect all objects Pan mode is activated by pushing the Pan icon EY or by pressing and holding down the Space bar if you are in Select mode when the button E is pushed Once the pan mode d is on small pictogram with arrows appears nearby the cursor T There are following options in the pan mode panning the image the default one Press and hold mouse button to pan over the image 15 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 zoom in Press Ctrl key to zoom in the image using the zoom box drawn by the mouse Mouse click causes two times image enlarging Or press and hold Ctrl Space shortcut if you are in Selection mode when the button toot jg pushed zoom out Press Shift or Alt keys to zoom out the image in the same way as described above Or press and hold Shift Space or Alt Space if you are in Selection mode when the button PE is pushed 6 10 Graphic windows toolbar Graphic windows toolbar contains the following buttons e Source scale to go back to original block scheme z
98. ution of points measurements on stereopairs PHOTOMOD AT AAT TOOU NR ERR en ene E ne eee ee eee eee 68 2 2 3 Control of vertical parallaxes on stereopairs PHOTOMOD AT AAT modules 68 2 3 TENOR WAU m MENOR RE 68 2 3 1 Control of uniform distribution of points measurements in triplets PHOTOMOD AT AAT MOI ME E M 68 2 3 2 Control in triplets PHOTOMOD AT AAT modules ssseesssssseee eene nna nnns 69 2 3 3 One strip adjustment in free model using independent models method PHOTOMOD Solver UISa UNE H E 69 2 4 Control of free model adjustment cee ccccseseecceesseecceeseeeceeueecseuseeecsaeeecseaseesssaeeeessaseessaaes 69 3 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 2 4 1 Using of splitting on sub blocks PHOTOMOD Solver module sssssssuuus 69 2 4 2 Detection of blunders in camera focus input PHOTOMOD Solver module 69 2 4 3 Detection of blunders in strips tying PHOTOMOD Solver module 70 2 4 4 Intermediate control of tie measurements blunders PHOTOMOD Solver module 70 2 4 5 Blunders detection on interstrip not transferred points PHOTOMOD Solver module 70 2 4 6 How to detect errors of tie points measurements PHOTOMOD Solver module 70 2 4 7 How to detect errors of auto
99. visable to check blunders on interstrip points that are not transferred in images overlap on one of the strips For that you should adjust block by independent stereopairs method in free model and compare errors values shown on the Stereopairs and Images tabs If errors circles size on the Images tab in some point exceeds errors vectors size on the Stereopairs tab in several times you should check if this point is not transferred in one of strips i e it is measured in this strip on the only image Usually the point happens to be measured incorrectly on this image If the measurements are correct then more likely in triplets corresponding to this point ties are located just in small overlap area and you should add some more ties At that as a rule on the Images tab big circles of errors are existing not on separate points but on all points of some area If the discrepancy occurs but it is not big 1 5 2 times the reason of the error may be big residual parallax on the point on one or several stereopairs 2 4 6 How to detect errors of tie points measurements PHOTOMOD Solver module After the whole block checking for blunders you should adjust the block in free model using independent stereopairs method and bundle adjustment to find out moderate errors in measurements of tie points between strips and images You are recommended to reach errors less than 7596 of tolerance for ties errors and then perform final adjustment using GCP be
100. w Report on images ind i y fi pis Z fi m Report on stereopairs d5 x v fi m Report on black Check points v Mark exceeding of limits Position on image Exclude acceptable M fi pix Points catalog y fi pix Show errors d5 s v f m Tie points Position on image m fi pix y 1 pix dS s v fi m around postion d5 szv fi m zi fi m Ground postion ds fi m Z f m X Cancel Fig 41 Adjustment parameters on Report tab Acceptable residuals panel contains fields for input errors threshold for ground control check and tie points You can consider plane and height errors of points location both on the terrain in meters and on the images in pixels Errors on tie points included to the report are calculated using two methods shown in Tie points errors panel by the following options From adjusted position tie point residual included to the report is maximal deviation from average coordinate values calculated for all models stereopairs Between stereopairs tie point residual included to the report is maximal difference between tie point coordinates calculated on the different models stereopairs The panel Include into report allows to include exclude to from the report the following e Report on images Report on stereopairs Report on block includes to the report tie points residuals calculated on images stereopairs and on the whole block e Mark e
101. when measuring points along man made extended objects roads power lines etc You should avoid situations when there are many points in some small part relatively to the rest area of stereopair You should either thin out these points or add more points on the rest of stereopair 2 2 3 Control of vertical parallaxes on stereopairs PHOTOMOD AT AAT modules In some cases errors of points recognition may not result in big vertical parallaxes but in predetermined wrong angles of relative orientation for example when kappa angle is more than 45 degrees PHOTOMOD AAT module contains the option of points filtering by kappa angle value 2 3 Control of triplets 2 3 1 Control of uniform distribution of points measurements in triplets PHOTOMOD AT AAT modules For correct triplets creation it is necessary to measure not less than 2 points with distance between not less than 1 3 of image width You are recommended to measure not less than 1 point in each of 3 zones central and 2 outermost If itis impossible to meet this condition for example if water body covers more than a half of strip width use bundle adjustment for this part of block At that you should match it to adjacent parts of the block in the best way and measure more than usual number of strip ties You can also measure not transferred points that are not measured in images overlap 2009 68 Solver July 25 2009 area in areas where there is no images overlap
102. xceeding of limits points with residuals exceeding the threshold indicated in Acceptable residuals panel will be marked by asterisk symbol in the report e Exclude acceptable allows to exclude points with acceptable residuals setup in Acceptable residuals panel from the report 2009 62 Solver July 25 2009 Residuals in meters in stereoblock see chapter 6 7 Information window on the Source tab are the residuals of the intersection solution coordinates Xeac Ycac Zcac are calculated by the stereopair and then compared to the catalogue coordinates Xeat Y cats Z car Residuals in the image overlaps of monoblock project may be computed the same way but in this case these residuals are not a reliable estimation of the block orientation accuracy as the basis to height ration is arbitrary even with rather accurate orientation of each image the intersection solution in the overlap area may have large errors which is not otherwise significant for the projects of this type as intersections are not solved for obtaining output products for such projects Residuals in pixels are the resection solution from the known X Y Z coordinates on the ground Xeaic Ycac Coordinates on the image are calculated and compared to measured coordinates Xmeas Ymeas In case of monoblock these errors for the given GCP or check point are displayed in the Residuals on images section in the Information window on the Images tab Fv papiesaeee
103. ymbol one of described above Any point can be displayed using a set of symbols For example control XYZ point identified on two strips in the overlap areas is displayed as double red triangle and blue diagonal Cross d All projection centers except the first and last ones are displayed as a square and a diagonal cross ap The white circle shows selected points Symbols for points displaying are also described in the chapter 6 3 Points selection by filter 6 2 View parameters The window View parameters opened by the icon E is used to select the elements to be included to the block scheme The window is divided into five main panes related to displaying points images stereopairs strips and the map grid respectively x Points Stereo pairs M show selected Strips M show selected C none Grid C selected v lines C none Iw coordinates X Cancel Fig 3 View parameters 9 RACURS Co Ul Yaroslavskaya 13 A office 15 129366 Moscow Russia PHOTOMOD 4 4 e Points panel Show all all points measured on the images of the block are displayed Show filter points to be displayed are selected according to filter settings Click the Parameters button if the Filter option is selected to open a window used for setup point s filter see the chapter 6 3 Points selection by filter Thus points selected in this window are visualized in viewing window Names defines which

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