PI-Calib - Topcon ImageMaster Software
Contents
1. TOPCON Operation Manual Camera Calibration Software PI Calib Table of Contents Table of Contents 1 Introduction TA PIGTAG Gana AA anga alang Ama ana E ay ABE AR E KG a 1 2 QUINN kh ama a an Manag ma sa ane 2 Quick Operation Guide 5 Re UA corre cer err eo reerere ere retceer tree cert renee 2 OMISOUTIMNG aaa ANA amahan ANE Seton aes Step1 Preparation maananwwanaawanaaaaanawanaaananaaananananasananaaanwsasanas 2H APAN OUT a ana tay aha naga Ka aai 2 1 2 How to attach the Calibration Sheet unaan 2 1 3 Camera Setting mamumuanwwannaaaannaawanaananaaanananwannananan Step2 Taking Images 7 manwannwaannnawanaaawnanananananasanananannanaanas 2 2 1 Take image from Front mmuumuananwwanawawanawanaaananawwanaananan 2 2 2 Take image from Left side 22 002nnuwannaaaaanawanaawanan 2 2 3 Take image from Right side 2 2 4 Take image with Look down angle s 2 2 5 Take image in LOOK UP angle 0 00 0 eeeeeeeeeeeeeeeeeeeeeeeees Step3 ProCeS Sinama kaaa Ai ee 2 3 1 Importing images 2 cece ee eeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaes 2 3 2 Detecting center of marked Points cceesseeeeeereees 2 3 3 Gal6UlatI0oN 7min ied ee tie 3 Trouble Shooting 3 1 Focus distances can not be read from Exif file of Image data 3 2 Image can not be captured in good quality eee 3 3 Examples of bad images 1 7 mmanwwaannwaana2. failing detection of center on more than 40 dot points totally over 5 images may cause unsuccessful calculation Try to repeat the procedure in 2 3 2 Detecting Center of Standard Marks Dot Marks If still NG judgment is indicated even after repeating the procedure for Detection of center image quality may be insufficient Please re start from capturing images 2 Focal Length information is not available This software normally detect the used camera s Focal Length information from Exif file automatically Some digital cameras on the market are not using the Exif file format In such case an error message is indicated during importing image data and user need to enter manually the focal length of used camera at the time image is taken through menus Setup Focal Length Setup 27 Trouble Shooting 3 5 Enter Image Resolution Manually After importing and registering images in Project is completed see 2 3 1 Importing Images select menus Setup Pixel Size Setup Following dialog box will appear 1 Buto Cakulation Detak Cancel OCD Size or COD Sensor Site E COD Sre Equivalent to 1Picel iz known Input The Value ag w P um Yrs p um Else Input OCD Sensor Size mm cr Inch 3 C mm f x fp lam 009 4 C linch e p x S f finch j Poel Size Cakulate Value xP wm ve P lun Select mode how to Image Resolution factor 1 Normally choose by put check at check button of 1 Use Image Re
3. In case an error message Focal Length data could not be read from Exif file of Image data appears please refer to the related Chapter 3 Trouble Shooting 17 Quick Operation Guide 2 3 2 Detecting center of marked Points In order to perform calibration calculation it is necessary to detect precise center coordinates x y of the dot marks spread on the Calibration Sheet and pictured on the registered images On this Calibration Software the center coordinates of all dot marks including Standard Marks in squares are measured semi automatically following the steps as follows However diameter of all dot marks are needed to be composed more than 5 pixels or more on the taken images in order to detect center of dot marks correctly 1 Plotting Standard Marks On the pattern of the Calibration Sheet there are 5 squares Center dot mark of 4 peripheral squares except for central square to be detected 4 points each on 5 different images totally 20 points 1 Confirm 5 Images are registered in a Project as in section 2 3 1 Importing Images 2 Select menus Process Measure Standard Marks of All Images Measure Standard Marks of All Images 3 A dialog box Measure 4 Standard Marks of All Images will appear Press OK button 2 On the separate screen the first image will be displayed If necessary Zoom In or Out click menus View Zoom In Zoom Out and adjust the Brightness 18 Quick Ope
4. when the image data is imported as a file and use the focal distance information in the calculation However some digital camera and or the image data taken by such camera is not complied with Exif file format In such case it is necessary to manually obtain and enter the focal distance information follow the steps below 1 When the message Focal Length data could not be read from Exif file of Image data appeared click OK button 2 Dialog box Setting of Initial Focal Length will appear Enter the focal length value which is set when the image is taken and click OK button ref IG hitia Value of Focal Length Co Fout Raal Focal Length Not 3mm Format Cancel i ma 3 Images can be registered and following screen will be shown Proceed to the measurement of Standard Marks al x FE Nase Tene Fast Hees ARA a Ap amag Font ee erer ie an PDA sarm menh oa image list Oper ahon Double Cick fhe image Open the Image Right Click the mage Delete the Image 23 Trouble Shooting 3 2 Image can not be captured in good quality 24 1 Image is unfocussed Maybe shuttering speed of the camera too slow Recommended to set shutter speed to faster than 1 250 when camera is hold in hands 2 Too strong flash light disturbs clearness of patterns When distance from the camera to the Calibration Sheet is too close strong flash light may affect image and some part of dot pattern may be no
5. By keeping alignment to the central square at the center of image frame find camera position so that the most Bottom row of the dots are spread fully on the Bottom side edge of the image frame by adjusting aiming angle If this is done the Top end of calibration sheet does not reach to the Top end of image frame due to perspective effect This gap is all right and does not affect to the calibration result Please refer also to the Examples of Bad mage 16 Quick Operation Guide Step3 Process 2 3 1 1mporting images 1 Start up the Calibration Software by double clicking PICalib exe The main screen will appear 2 Select menus File New Project 3 Dialog box New Project will appear and enter the Project Name then click OK button 4 pie box Select Sheet Size will appear Select size of the used Calibration Sheet and click 5 Dialog box Open will appear Select 5 images taken from 5 different angles and click Open button 6 Dialog box Confirmation of Initial Focal Length will appear Confirm focal length and Enter the focal length value which is set when the image is taken if wrong then click OK button 7 Images will be registered and thumb nail images are shown as in following screen FO Puwet laat as Hees ll 2 5 ami 2 3 EZ 3 man fowl ee own ieee sanam ae ee ee Dt ow orem ab ow Image list Oper ahon Oouble Cick Ma image Open the image Right Click fhe mage Delete the imap
6. dure on all 4 Standard Marks 19 Quick Operation Guide 4 After when measurement of all 4 Standard Marks are completed following screen will appear Zoom ratio will be reset and whole sheet will be shown KIT Soon after small blue square marks will be displayed around the all dot marks including those Standard Marks in the black squares Check if almost all dots are within the blue squares several exceptions are acceptable click OK 3 Store Image and Close button at the dialog box Confirm Rough Location of Target Mark If the result shows as in the following example many dots are out of blue square click Retry button to go back to the step 3 and re start measurements Such result may be caused if the measurements of the 4 Standard Marks were not properly done 20 Quick Operation Guide 5 The next image will be shown therefore repeat the procedure step 3 and 4 In the same way repeat the procedure for the rest 4 images 2 3 3 Calculation 1 After the measurements of Standard Marks and all dot marks on all 5 images are completed successfully calculation will be automatically started 2 Dialog box Result of Camera Calibration will appear Rx panuse NG Calibration is ful Confirm if Judgment is indicated OK then click OK button If the Judgment is NG the calibration calculation could not be completed Please try to follow the procedure 2 3 1 and 2 3 2 maybe some steps were passed wit
7. enter of image frame find camera position so that the most left row of the dots are spread fully on the left side edge of the image frame by changing aiming angle If this is done the right end of calibration sheet does not reach to the right end of image frame due to perspective effect This gap is all right and does not affect to the calibration result 11 12 Note Quick Operation Guide 2 2 3 Take image from Right side 1 Camera Position Seeing from Top Seeing from Side Locate the camera height approx at the same height as one of center of 1 the calibration sheet N 1 NG ks H ka N ifr ter treceeggetereceneeeeeee N NG Ad NG N i Na 3 NW Camera position N D LI Camera position at Left side Pa ka Aim to the Center of the Calibration sheet so that it is at the center of image frame Camera position at front The best camera position may differ depends on the used camera therefore 2 Good Example adjust the position to get better image satisfying the point noted in the example 3 Left side of image frame has gap if you keep notes 1 and 2 This is all right 1 Aim to the Center of the Calibration sheet so that it is at the center of image frame 2 Adjust camera position so that the most Right row of dots are fully spread on the Right side edge of the image frame still by maintaining central square of the sheet locates at the center of the image
8. es and product names stated herein are the registered mark or trademark of each company Disclaimer TOPCON shall not take any responsibility for damage due to fire earthquakes actions by third persons intension or fault of the user misuse and use under unusual conditions TOPCON shall not take any responsibility for damage due to inability to use this instrument including change loss of data loss of business profit and suspension of business TOPCON shall not take any responsibility for damage caused by operations other than those described in this Instruction Manual TOPCON shall not take any responsibility for damage caused by malfunctions due to combination with other instruments Introduction 1 2 Outline This software is designed to get calibration data of digital camera used to capture images that will be used for 3D measurement on 3D Image Survey Station PI 3000 and DI 3000 software module In order to get precise 3D measurement result from taken images on the PI 3000 and DI 3000 software module it is necessary to get own parameters Camera Data of such digital camera by performing calibration procedure under the same settings applied when taking the images for measurements With this software following 7 parameters will be obtained 1 Focal Length of lenses f 2 Distortion of lenses Radial direction K1 K2 3 Distortion of lenses Tangential direction P1 P2 4 Location of Principle point of camera sen
9. fferent angles from direct front Upper location Lower location Left side and Right side and get images as in following examples It is recommended to use a camera tripod when taking image by a digital camera as much as possible in order to get a better quality images and also to more easily adjust the shooting angle and height If no tripod is available adjust the height using step or in stooping position Step 3 Process Importing images Import those images of the calibration sheet into Camera Calibration Software and store them Detecting center of marked Points Let the software to detect center of marked points of the pattern Calculation Let the software to make calibration calculation Refer to the following descriptions for details of each step Quick Operation Guide Step1 Preparation 2 1 1 Print Out 1 By double clicking PICalib exe the application software will start up and the following initial screen appear Fe Vem Hep salala amla ajay 2 At menu bar select menus File Print Calibration sheet A dialog box Select Sheet Size will appear and select desired size of the Calibration Sheet and click OK It is recommended to choose a possible maximum size to print or plot out by owner s printer or plotter In case however of using a Telescopic lenses on digital camera to be used then choose A4 size 3 The calibration sheet will be shown on the screen in the selected size and a d
10. frame Quick Operation Guide By keeping alignment to the central square at the center of image frame find camera position so that the most right row of the dots are spread fully on the right side edge of the image frame by changing aiming angle If this is done the right end of calibration sheet does not reach to the right end of image frame due to perspective effect This gap is all right and does not affect to the calibration result Please refer also to the Examples of Bad mage 13 Quick Operation Guide 2 2 4 Take image with Look down angle 1 Camera Position Seeing from Top Seeing from Side pe ag center of the calibration sheet f ka At the similar distance asoneforthe camera Na position at front x H Locate camera postion i fi approx 50cm higher Ni Camera position than the height of the go a Note The best camera position may differ depends on the used camera therefore adjust the position to get better image satisfying the point noted in the example 2 Good Example 2 Adjust camera position so that the most Upper row of dots are fully spread on the top side edge of the image frame still by maintaining central square of the sheet locates at the center of the image frame 1 Aim to the Center of the Calibration sheet so that it is at the center of image frame 3 Bottom side of image frame should have has gap if you keep notes 1 and 2 This is all righ
11. he set level Please note that this change of contrast is reflected on the displayed image only and not on the original image therefore once the adjusted image is closed and open the original image again the contrast level will be the original one and not the changed one 29 Trouble Shooting 3 7 Create image corrected lens distortion 1 30 By double clicking PICalib exe the application software will start up and the following initial screen will appear At menu bar select menus File Image Calibration Mode A dialog box Open will appear and select image and click OK A dialog box Open will be displayed again Select camera file cmr and click OK The 7 registered parameters will be shown on the dialog box Lens Distortion At menu bar select menus Process Image Calibration Message box Make Calibrated Image Data will appear then click OK Image corrected distortion of lenses will be displayed At menu bar select menus File Save Image Data Dialog box Save as will appear and save image if you want to save Operation Manual Camera Calibration Software PI Calib TOPCON POSITIONING SYSTEMS INC 7400 National Drive Livermore CA 94550 U 5 A Phare 925 245 8300 Fas 025 245 8509 www topcon com TOPCON CALIFORNIA 3380 lacinitrial Bled Seite 105 Wara Sacramento CA 064601 LISA Phare 916 374 575 Fan 095 374 8329 TOPCON EUROPE POSITIONING B V Etisbaan 11 2903 LI Cape
12. hout properly completed In case NG judgment does not change even after a couple of re trying 2 3 1 and 2 3 2 procedures there can be other possible causes for NG Please refer to the section Trouble Shooting In case Judgment is NG and check the items described there In case still the judgment indicates NG the used images may contain some problem Try to re capture the images 21 Quick Operation Guide 22 The result of the calculation will be shown as following screen es Ceres fae toe ze Oro Ciemata Dapin Sache Lane Matona La pa j This result of the Calculation will be stored as an file automatically named Project Name cmr and in the Project file created in the 2 3 1 Importing mages When 3D measurement is performed on the 3D Image Survey Station PI 3000 using the images taken by this calibrated camera use this file as an camera data Judgment Criteria Criteria to obtain the OK judgment is to get standard deviation of image coordinate residuals for all dot points is within pixel Since there are several possible reasons to get NG judgment please refer to the Chapter 3 Trouble Shooting In case udgment is NG Trouble Shooting 3 Trouble Shooting 3 1 Focus distances can not be read from Exif file of Image data This Calibration Software automatically read the focal distance information which is contained in Exif file attached to the image data of digital camera
13. ialog box for print out will appear On the dialog box or through the property button choose the paper size at the same size as the one specified in the above step 2 execute print out Operation in dialog box for print out or use of property button may slightly differ depends on Windows version or type of printer or plotter used Please refer to the related manuals for details Note Tt is recommended to make print out the Calibration Sheet pattern just before actually taking images since the paper may shrink expand or fold when it is left for a long time If intended to use the Calibration Sheet once printed at the later time again please keep and store them carefully by rolling it up Quick Operation Guide 2 1 2 How to attach the Calibration Sheet The printed Calibration Sheet contains as in following figure totally 145 black dots and 5 square patterns The black dot points in 4 peripheral squares except the central one are regarded as standard mark and are numbered as Standard mark 1 2 3 and 4 Up Left Up Right Lower Left and Lower Right The dot point in the central square is located in the centre of the sheet and is 5 This may be referred to find center of the sheet when image is taken Including these 5 standard marks there are totally 145 dot points and are identified in the software with identification number from 101 through 240 not numbered on the sheet During the camera calibration ca
14. ion used during the calibration for example by some mending tape so that the same position can be used for Later capturing for 3D measurements Also in this case always set Auto focus function OFF Due to above reason requiring a fixed focus position a compact digital camera which has self storing type lens system can not be used for this camera calibration purpose 2 Focusing adjustment Always set the Auto focus function Off and use in manual focus mode It is recommended to adjust the focusing distance to infinity side If desired to use at some intermediate focusing position that particular position should be kept by fixing focusing ring with some mending tape in order to keep the same focusing condition when it is used later for image capturing for 3D measuring purposes 3 Image Quality Image Size No restriction for these settings however accuracy may be diluted if smaller size and high compress ratio are chosen Therefore recommended to set the maximum image size and the lowest compression ratio of JPEG to get the optimal result Quick Operation Guide Step2 Taking Images 2 2 1 Take image from Front 1 Camera Position Seeing from Top Seeing from Side Locate the camera height so Wall inat it directly face to the center a of the calibration sheet Adjust distance so that the i Calibration Sheet PA AS Calibration sheet viewed i f maximum sizewithin the ue imageframe N Camera 2 Good Exa
15. lculation center of these 145 dot points are detected and used for the calculation Standard Marks 111 112 113 11g 115 125 127 128 19 10 p Center of Sheet Quick Operation Guide As been illustrated in the figure below attach and fix the printed Calibration Sheet on a flat wall surface in such way that the calibration sheet is naturally stretched and is not slacken using some scotch or mending tape at 4 corners and each side line Note Please attach the sheet on a flat wall and choose location at where not much reflection of lighting appears in the image In case of taking image outside select a place not to take images against the sun light Taking image will be easier if the calibration sheet is attached at a height so that Standard square marks 1 and 2 are at user s eye height Followings images are bad examples to avoid when attaching the sheet on to the wall Quick Operation Guide 2 1 3 Camera Setting Adjust and set the digital camera to be used When capturing images Focal Length Zooming position if provided Focusing distance Image quality and Image size to be same as ones that will be used for taking capturing images for 3D measurements Focusing should be selected as Manual Focus Notes 1 Focal Length When using Zoom lenses use only either at the most wide position or the most Telescopic position If desired to use at intermediate zoom position fix the zoom posit
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17. mple Locate the camera at the same height as one for center of the calibration sheet and aim to the central square Adjust distance from camera to the Calibration sheet so that the whole sheet are viewed in a biggest size as much as possible but all points are still within the image frame Please refer to the Examples of Bad mage Quick Operation Guide 2 2 2 Take image from Left side 1 Camera Position Seeing from Top Seeing from Side Locate the camera height approx a O latino same height as one of Pd center of the calibration sheet Padi PA AAAH AO AA a Pod Aim to the Center of the Calibration sheet so that it is at the center of Move laterall image frame Fa u Camera position at front Note The best camera position may differ depends on the used camera therefore adjust the position to get better image satisfying the point noted in the example 2 Good Example 3 Right side of image frame has gap if you keep notes 1 and 2 This is all right 1 Aim to the Center of the Calibration sheet so that it is at the center of image frame 2 Adjust camera position so that the most left row of dots are fully spread on the left side edge of the image frame still by maintaining central square of the sheet locates at the center of the image frame Please refer also to the Examples of Bad mage 10 Quick Operation Guide By keeping alignment to the central square at the c
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19. ration Guide Measure those 4 Standard marks the dot mark in each square by pointing with the cursor and clicking in clock wise order starting from left up standard mark Left up 1 gt Right up 2 SLeft bottom 3 5Right bottom 4 When measuring each standard mark the cursor need to be pointed rather precisely within the dot then click the mouse The center of the dot will be automatically and very precisely detected For this cursor pointing use Zoom up function of the image A dialog box Measure Standard Mark Enter Mark No will appear Confirm if number indicated at the Standard Mark Number is correct and click OK button wo NG 739 29339 x W Auto Adjust Position 3 If the center of dot is detected then yellow cross mark will be displayed If clicking is made without pointing the cursor within the dot click Cancel button for retry measurement If the detecting center of dot was unsuccessful a message Center Detection was not Successful Re try Measurement will appear and a red cross mark will be displayed at the pointed location Re try to measure again If center detection can not be successful even after several times of re measurement the image itself may be containing some problem insufficient clearness contrast etc Check with the Trouble Shooting section Examples of Bad mage and if judged the image is bad then please re capture the image Repeat the above proce
20. solution obtained by automatic measurement If NG judgment is given for the calibration calculation result however entering the image resolution factor manually and performing re calculation may solve the problem to get the OK judgment To enter Image Resolution factor manually choose the way to enter among following 3 ways Please refer to the specification in operation manual published by manufacturer of used camera and check which factor is available of the used digital camera and take the available factors 2 Choose when pixel size of used camera is known Enter pixel size in Xr and Yr 3 Choose when Image sensor size is known in mm scale Enter Horizontal x Vertical size 4 Choose when Image sensor size is known in inch scale example 1 1 7 inch After selecting and entering the factor click OK button The image sensor size may not be described in the user s manual of some digital cameras 28 Trouble Shooting 3 6 lmage Contrast Adjustment When the used image is too bright or too dark the automatic center detection of the dot mark may be not successfully done In such case contrast of the image can be adjusted in the following manner 1 Select the image to be adjusted and open it Select menus View Contrast Adjustment 2 Dialog box Contrast Adjustment will appear Adjust contrast level with it s scroll bar and click Set button The contrast will be changed according to t
21. sor Xp Yp To perform calibration procedure please print out the exclusive Calibration Sheet with an exclusive pattern through any Printer or Plotter then take images by a Digital Camera from several direction Feed those images into the software to get above 7 parameters The obtained 7 parameters are stored with file name as Project Name cmr Furthermore image which corrected distortion of lenses Calibrated image is created used 7 parameters For detail see 3 7 Create Image Corrected Lens Distortion Quick Operation Guide 2 Quick Operation Guide Step0 Outline 2 0 1 Outline Preparation should be done as in following procedures Step1 Preparation Print out the exclusive pattern sheet The following pattern data is contained in the software CD with the file name of 2Dchart dxf in DXF format This file will be read automatically by the Camera Calibration Software For this please locate this 2Dcahrt dxf at the same folder which includes the execution file PICalib exe of the Camera Calibration Software Note Do not change the file name Attach the Printed Calibration Sheet on a flat surface on a wall Quick Operation Guide Choose setting of the digital camera On the digital camera choose same setting as those should be used when taking images for 3D measurements Step2 Taking Images Take image of the pattern sheet Take images of the calibration sheet attached to the wall from 5 di
22. t 14 Quick Operation Guide y keeping alignment to the central square at the center of image frame find camera position so that the most top row of the dots are spread fully on the top side edge of the image frame y adjusting aiming angle If this is done the bottom end of calibration sheet does not reach to the bottom end of image frame due to perspective effect This gap is all right and does not affect to the calibration result Please refer also to the Examples of Bad mage 15 Quick Operation Guide 2 2 5 Take image in Look up angle 1 Camera Position Seeing from Top Seeing from Side a ee SE Locate camera position approx 50cm higher than the height of y i the center of the calibration sheet Atthe similar distance as one forthe camera position at front if n bf i Camera position NG la Note The best camera position may differ depends on the used camera therefore adjust the position to get better image satisfying the point noted in the example 2 Good Example 3 The top side of image frame should have gap if you keep notes 1 and 2 This is all right 1 Aim to the Center of the Calibration sheet so that it is at the center of image frame 2 Adjust camera postion so that the most Bottom row of dots are fully spread on the Bottom side edge of the image frame still by maintaining central square of the sheet locates at the center of the image frame
23. t clearly pictured On such images automatic detection of the center of dot mark may be not successful Even if automatic center detection is failed on a few points in a image this may not affect to get calculation be completed However those 4 Standard Marks has to be clearly imaged and detected Take the bigger size of the Calibration Sheet and capture image from longer distance 3 Too dark image Take one of following 3 counter measures 1 Use contrast adjustment function 2 Use a flash light 3 Take slower shuttering speed use tripod in this case Trouble Shooting 3 3 Examples of bad images Not all dots are in the image Too small image in the image frame Unfocussed image Image is too much inclined Image is too much bright Image is too much dark The most right raw of dots to be The Center square mark should be located more right end of image frame at the center of the image frame 25 Trouble Shooting The bottom raw of dots to be located The center square mark should be more bottom end of image frame at the center of the image frame 26 Trouble Shooting 3 4 In case Judgment is NG Following situation may cause NG judgment 1 Detecting the center of dots were not properly performed There are totally 145 dot marks in the Calibration Sheet Detecting the center of each dot on approximately 75 of these 145 points on an image is necessary in order to get the calculation successful Also
24. wwnnaananananaaaanwnanana 3 4 In case Judgment is NG ou eccceececeesneceeessneeeeessneeeeeseseeeenees 3 5 Enter Image Resolution Manually s 3 6 lmage Contrast Adjustment mmauuunnnwwaanaawwnnnananawananaawananana 3 7 Create image corrected lens distortion 7 00002 Table of Contents Introduction 1 Introduction 1 1 Preface Thank you for purchasing TOPCON Camera Calibration Software To get the best use of the instrument read carefully the On line Instruction Manual of this software Copyright Statement This software is copyrighted by TOPCON and the specifications are subject to change without prior notice This manual is copyrighted by TOPCON It is not allowed to copy or reprint contents of this manual in whole or in part without prior approval The contents are subject to change without prior notice Contents of this manual are prepared with thorough care However your information about incomprehensibilities and errors if any would be highly appreciated Trademarks Microsoft Windows is the registered mark or trademark of US Microsoft Corporation Pentium is the registered mark or trademark of US Intel Corporation AutoCAD DXF is the registered mark or trademark of US Auto Desk Corporation Memo HASP is the registered mark or trademark of Aladdin Knowledge System Ltd This software is based in part on the work of the Independent JPEG Group for reading JPEG Other company nam
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