Interactive comment on “LAPM: a tool for underwater Large
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1. there Changed accordingly Figure 7 It would be helpful to include points here to indicate where crossover points exist Changed accordingly We included a point and greyed areas to indicate where crossover and sidelap exist Figure 8 Add a scale bar and description to all photomosaics Changed accordingly A scale bar and a description have been added to all mosaics Figure 10 What is the difference between the green and red lines The red lines represent links that were automatically detected while the green lines are links which were manually created This has now been added to the figure caption Figure 11 good but add a scale bar as well Changed accordingly Figure 12 Great example Can you make the image bigger The submitted figure was larger about 22 7x20cm We believe that the landscape page orientation of the discussion manuscript is the reason why all figures appear generally so small They will likely appear larger in the final portrait version of the article Figure 12 caption delete comma before which Changed accordingly Figure 12 caption replace distinguishing with for the ability to distinguish Changed accordingly C64 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper Figure 13 From what altitude above the seafloor was this mosaic obtained The overlap between images and especiall2. P128 L16 replace scene with intended target Changed accordingly P128 L17 replace imaging extended areas with creating a photo mosaic to encom pass an entire community or selected site Changed accordingly C53 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper P128 L18 replace consists in with consists of Changed accordingly P128 L19 replace Similar with A similar Changed accordingly P128 L20 replace the interest in mosaics with an interest in using photo mosaics Changed accordingly P129 L3 replace and low distorted photo mosaics with photo mosaics with low distortion Changed accordingly P129 L4 this is unclear what do you mean by institutes We rephrased this part to make it clearer by several research institutes P129 L11 delete potential Changed accordingly P129 L12 insert developing Changed accordingly P129 L15 Add a sentence explaining why it is advantageous to create 2 d mosaics why not build upon the new 3 d imaging and mosaicking techniques What makes 2 d mosaics particularly useful With this paragraph we did not wish to compare the advantages of 2D techniques against 3D techniques Instead we tried to point out that there is a gap between the current research in photo mosaicking techniques and the imme
3. can investi gate the various links or feature matches and make edits that would then require an additional construction stage Response see answer to the technical comments below Also how is the image and navigation data imported These types of details would be useful to add Response these details are explained in the electronic supplement Indeed the LAPM tool is provided with a short step by step user manual which explains how the data needs to be formatted However we feel that these details are too technical to be of interest for the manuscript itself Also many of the sentences begin with very broad statements any recent computer an unlimited of images that are later supported with figures and specific examples It may be helpful to restructure those paragraphs to open with more concrete phrases and to link to the appropriate figures earlier For example the section explaining the crossover points should have visual support from Figure 7 earlier perhaps switching Figure 5 with Figure 6 might help with this Also if the paper is intended to be read by potential end users there are points in the paper which are very technical for example the Global Registration section and could use a re edit if the intent is that this section be understood by a broader audience Response we reformulated some of the broad statements and amended the text as suggested in the comments See answers to technical comments below for detai
4. mosaic construction step again For clarity we amended the text as follow the LAPM tool gives the user full control over crossover matches It includes graphical interfaces to display all existing matches and to identify potential crossover points before starting the construction of the final mosaic files P133 L2 by preparing an adequate trajectory Comment This line should be moved earlier in the section on cross over points it helps to explain why they are important so should be earlier and also makes sense as you d set the trajectory before taking the images to make the mosaic Changed accordingly The corresponding paragraph was moved earlier in the section P133 L4 5 move for each image Changed accordingly P133 L11 As an reviewer whose background is more like the end user that you are C58 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper creating this product for rather than a mathematician or programmer myself find this sentence very challenging to understand An affine transformation as understand it preserves straight lines which makes sense for photomosaics But don t understand the reference to the 6 degrees of freedom and what that means here Perhaps adding another sentence to explain this would help it be more clear to a wider audience The number of degrees of freedom DOF is the number of
5. than in the introduction Changed accordingly The two sentences have been moved to the abstract P130 L5 It may be worth including the link to the software earlier in the paper Then in the computer requirements section add in the sentence from the conclusions about how you intend to add multicore parallelization capability in the future Changed accordingly The link to the software is now given in the introduction of the paper A sentence was added in the computer requirements section to mention that C55 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper multicore parallelization capability will be implemented in future versions P130 L6 Does the version of Matlab matter often had difficulties using the Pizarro and Singh tool with recent versions of Matlab The version of Matlab does not matter because LAPM tool is provided in the form of a compiled executable file which can be run on any computer even without the full Matlab program It only requires the Matlab runtime R2010a to be installed it is provided with LAPM tool The computer requirements section was rephrased to make this point clearer The LAPM tool was developed in Matlab and compiled to an executable which can be run without Matlab It is able to run on Windows MacOS and Linux operating systems and only requires the Matlab R2010a runtime provided with LAPM tool to be in
6. transformations that the transform allows For instance an affine transform which preserves parallel lines is a combination of the following transformations translation along two axes rotation scale aspect ratio and shear i e 6 DOF For comparison a projective transform which does not preserve parallel lines has 8 DOF Indeed it allows the same degrees of freedom as an affine transform but also some additional perspective distortions However as pointed out by the reviewer the reference to the degrees of freedom is not essential in the text and rather confusing Therefore we removed it P133 L22 What does combine mean here Are pixels from one image alternated with pixels of another For clarity we replaced combine with merge P134 L13 do not see an obvious connection between this introductory paragraph and the following section Perhaps relabelling the 4 1 4 2 etc sections with the lan guage in the introductory paragraph would make this more clear Changed accordingly The section titles and the language of the introductory paragraph were reworded to make the connection clearer P134 L14 insert a Changed accordingly P134 L14 large areas Comment how big We replaced large areas with areas larger than a few tens of square meters C59 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion P
7. Geosci Instrum Method Data Syst Discuss 3 C51 C65 2013 Geoscientific o www geosci instrum method data syst discuss net 3 C51 2013 Instrumentation Author s 2013 This work is distributed under Methods and the Creative Commons Attribute 3 0 License seooy ued O D D wn Se n a D 3 n S Discussions Interactive comment on LAPM a tool for underwater Large Area Photo Mosaicking by Y Marcon et al Y Marcon et al ymarcon marum de Received and published 26 May 2013 We are grateful to the anonymous Referee 1 for the constructive and encouraging comments We found the comments and remarks very relevant and they helped to improve the quality of the manuscript significantly Please see below our answers to all comments corrections and suggestions from the anonymous Referee 1 Specific Comments The paper is largely well organized and clearly written have included several comments in the attached text of specific places where it would be helpful to have additional information For example while reference is made to the control that the end user has over specific components of the process it is not clear if the software pauses and waits automatically while the end user makes the changes C51 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper or if the software runs and after the mosaic is constructed the end user
8. aper P134 L15 programs Comment like Changed accordingly We added the following text to the manuscript such as Au topano Hugin or Photoshop P134 L17 delete image Changed accordingly P134 L17 replace from with created using Changed accordingly P134 L21 22 At what point is the mosaic tiled in the process described above The figure suggests that the registration and mosaic construction process occurs first and that the tiling happens before the mosaic file is provided to the user Is this the case Please explain Changed accordingly We added the following sentence to the text The tiling is ap plied during the construction of the mosaic files only and hence it does not affect the feature matching and registration steps P135 L1 replace amount with number Changed accordingly P135 L9 10 move directly Changed accordingly P135 L16 average field of view of one image Comment How is this calculated From the altitude The LAPM tool does not calculate the average image field of view Instead it must be given to the by the user To clarify this point we amended the text as follow from the average field of view of one image which is given by the user The field of view C60 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper can either be ca
9. diate needs of deep sea scientists Indeed techniques for 2D photo mosaicking have been the focus of many efforts in the past and are now well developed Therefore the technical chal C54 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper lenge of 2D photo mosaicking tends to be considered as solved and developers now concentrate their efforts on 3D techniques There is little doubt that when available three dimensional photo mosaicking techniques will represent a huge step forward for the deep sea exploration and will replace 2D techniques However the development of 3D techniques is still at its early stages and it will take some time for 3D techniques to become available for routine use Still in the meantime there is still no end user software tool for deep sea scientists without technical background to routinely produce large i e thousands of images 2 dimensional photo mosaics P129 L18 22 delete Changed accordingly P129 L23 insert to meet the needs of deep sea scientists Changed accordingly P129 L25 are these individual image files or completed mosaic files With mosaic files we meant completed mosaic files This has been changed ac cordingly P129 L28 replace to use for end users with for end users to use Changed accordingly P130 L1 4 These two sentences may fit better in the abstract
10. lculated from the altitude and the camera parameters Such as sensor size pixel density and focal distance or estimated from the images if a scale is visible such as laser pointers or known size objects P135 L18 morphology Comment find a new word here topography relief geomorphology Changed accordingly We replaced morphology with topography P136 L3 very low overlapping images Comment by this do you mean between images that overlap very little Yes To make it clearer in the text we added an hyphen at low overlapping P136 L13 5 7 billion pixel Comment most end users don t think in terms of pixels it may be helpful to include of images size of images and the area imaged to better convey how large this is Changed accordingly We amended the text as follow For example the construction of a 105 000 m2 mosaic made of 5421 square images with 16 bit and 1024x1024 pixels on a computer equipped with a 3 GHz CPU required computing times of about 24 hours without blending and about 4 days with the multifrequency blending option selected The final mosaic required six tiles for a total of 5 7 billion pixels P136 L15 rephrase with the multifrequency blending option selected Changed accordingly P136 L15 16 Rephrase Dividing the resolution of the image by 2 allowed a fully blended mosaic to be constructed within one day Changed accordingly P136 L18 re
11. ls The figures help to support the text but it would be better if all of the photo mosaics had specific scale bars and short descriptions of where the pictures were obtained and what the photo mosaics consist of even if the purpose of the figure is to demonstrate a particular feature of the software Specific comments are in the attached document Response we added scale bars to all mosaics as well as short descriptions Also see C52 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper answers to the specific comments below Lastly it would be helpful if the authors had a fluent English speaker do a final proofread of the paper there are several awkward phrases and typos Response according to suggestion from the referee we asked a native English speaker to proofread the revised version Technical comments P128 L6 replace unlimited amount with an unlimited amount Changed accordingly P128 L6 recent computer Comment be specific here what are the minimum requirements recent means very different things to different people Changed accordingly P128 L8 replace full control over the with the ability to select Changed accordingly P128 L10 replace allow with permit Changed accordingly P128 L10 replace was successfully with has been successfully Changed accordingly
12. place was with has been Changed accordingly C61 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper P136 L19 replace images with image Changed accordingly P136 L22 replace Back Sea with Black Sea Changed accordingly P137 L3 delete in particular Changed accordingly P137 L14 replace seafloor with the seafloor Changed accordingly P138 L6 replace in GIS with using ArcGIS Changed accordingly P138 L17 insert such as coral reefs for instance carbonate boulders or hydrother mal vents Changed accordingly P139 L6 replace tool with LAPM tool Changed accordingly P139 L9 replace imagery with image Changed accordingly P139 L11 delete some Changed accordingly P139 L18 19 delete However given the absence of similar end user tools the quality and accuracy of the results could not be compared C62 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper Changed accordingly P139 L22 23 to solve homographies with 8 degrees of freedom projective trans formations Comment what is the advantage of this A projective transformation allows more distortions than an affine transformation Therefore it can allow finer regist
13. ration results We amended the text to make this point clearer According to the previous comment about the degrees of freedom we also removed the reference to the 8 degrees of freedom since it is not essential for the manuscript Figure 1 It may be helpful to include a short description of what this mosaic is It seems to be images of bacterial mats on a soft sediment sea floor but that may not be obvious to many readers Also include scale and make the images bigger if possible Changed accordingly The figure was re created with a scale and a better resolution Also the following sentence has been inserted to the caption The photo mosaics represent clam aggregates on soft sediments Figure 2 caption replace to with the end user Changed accordingly Figure 3 caption replace browsing with the end user the ability to browse Changed accordingly Figure 3 caption replace visualizing with visualize Changed accordingly Figure 5 How does the trajectory cross itself Does this occur when you have multiple lines images in which the images in each line overlap each other and the images between lines also overlap This is all made clear in Figure 7 and this section should be reorganized so that that figure can answer those questions when the reader gets C63 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper
14. rived from overlapping lines of images This is clearly explained in Figure 7 and that figure should be referenced here to make this point more clear Figure 5 is helpful in demonstrating the effect of the recalculation but not in demonstrating where the crossover point came from Figure 7 should be referenced at this point as well or perhaps even moved forward ahead of Figure 5 Changed accordingly The section was re organized and the figures re arranged C57 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper P132 L19 please change all of the consists in to consists of Changed accordingly P132 L23 delete to Changed accordingly P132 L23 It might be worth pointing out when this happens does it stop the mosaic construction process to check each crossover match with the scientist Or is it some thing that the end user can go back and investigate if something in the mosaic looks off The feature matching and the mosaic construction are two different steps of the pro cess Therefore after the automatic feature detection is done the user can check and manually edit or add matches before he starts the construction of the actual mosaic The mosaic construction step assumes that crossover matches have been checked and are correct Nevertheless if the final mosaic looks off the user can always go back edit the matches and start the
15. stalled No particular computer requirements other than those of the Matlab runtime are necessary P130 L18 replace attitude with altitude This was correct Attitude data refers here to the pitch roll and yaw i e to the orientation of the vehicle whereas the altitude is part of the navigation data P130 L20 replace low demanding in terms of computing resources with requires few computing resources Changed accordingly P130 L21 replace the inaccuracies of with any inaccuracies in Changed accordingly P130 L22 replace consists in with consists of Changed accordingly P130 L22 replace pictorial information with common features in consecutive im ages C56 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper Changed accordingly P131 L5 replace were with where Changed accordingly P131 L10 replace consists in with consists of Changed accordingly P131 L18 insert Changed accordingly P131 L20 delete also Changed accordingly P132 L4 delete main Changed accordingly P132 L6 replace consists in with consists of Changed accordingly P132 L9 replace a with one Changed accordingly P132 L10 At this point wonder if these overlaps from non consecutive images are de
16. y between lines is quite dark although can see how the Beggiatoa mats are contiguous This mosaic was obtained from an altitude of about 5m We added this information to the figure caption The darkness of the overlap between lines is not caused by the mosaicking process but comes from the original images Indeed depending on the number and position of the strobes on the AUV it is common that images get darker away from the center this is called vignetting Moreover if the images are rectangu lar the right and left sides tend to be even darker than the top and bottom sides This is the reason why the overlap between lines sidelap is darker than the overlap between consecutive images Some image pre processing may be applied on the raw images before mosaicking to reduce the vignetting Unfortunately we did not have the raw images and we were not able to achieve a more satisfactory rendering The images we used had been individually optimized for colour and contrasts beforehand which is the reason why the colors in the mosaic look so motley Interactive comment on Geosci Instrum Method Data Syst Discuss 3 127 2013 C65 GID 3 C51 C65 2013 Interactive Comment Full Screen Esc Printer friendly Version Interactive Discussion Discussion Paper
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