Home

DIPLOMA THESIS - Karol Kwiatek

1. Swing lens mechanism Fig 3 1 1 No 3A Panoram Kodak swing lens panorama camera made by Eastman Kodak Company New York USA around 1928 8 Karol Kwiatek AGH University of Science and Technology Cracow 2005 11 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The same multiple images technique was used with the wet plate process that followed the daguerreotype system It was only in the late nineteenth century that camera manufactures began to produce equipment designed to specifically capture wide images Engineered to eliminate the need to shoot multiple images most units followed one of two designs the swing lens or 360 swing lens these cameras kept the film static whilst the lens moved from side to side on a pivot system Fig 3 1 1 360 more complex in design these cameras moved both film and lens around a central point through a full 360 capturing the whole scene in a single movement Both types of camera produced amazing images that unlike the results from techniques used previously covered whole vistas in a single picture The 100 years subsequent to the release of these early models saw great improvements in lenses camera bodies and film transport mechanism but the essential designs have remained the same Modern film based panoramic cameras are high quality optical instruments capable of creating stunning images with masses of fine detail
2. ccccccccssssssssssscccssssssees 9 3 Cylindrical and spherical panoramic images ssscccsscccccsssssssssssccccesseesees 11 Dele TUO putea hme e enemas cane hi E E A 1 3 2 Panoramic formats projections types cccccccccccceessseeseccecceeeaeeeseeeeeees 12 3 3 Ratios between panoramic width and height eeececccceeceeesseeeeeeeees 15 3 4 Three types of camera three types to SHOOL cc eeeeeeeeeeececeeeeseeeeseeeees 15 JAk Plat back Came IS aie E E taecatects 16 342 gt WINE ICSC AMER Acaena a a a alee enaiaeeents 16 34 3 AROLAU ONAN CAIMCIAS siempre ateranse a r 17 3 5 Technologies of generating digital 360 panoramic images 6666 17 Iah Rotine near Tay e r E ier tmbendales 18 P2y Made Se DNE cesena a a a a 18 FIs FENCE EiS a a a aria aoa 19 Dehn Hy Dero UCO sr R E S 19 Dee Mulsecnsor SYSICING anners ia r 20 3 0 Digital rotating line camera secsccicanssaaipceacdendunsdaheonnsddetdadetus gata E 20 3 6 1 Advantages of digital panoramic cameras ssoeeeessesssseeeeesssssseee 21 3 6 2 Disadvantages of digital panoramic cameras ccccecceeeeeeeeeeeeees 21 Oe HEV CSC AT MN a A A 22 ol ECC ACA aaen E eecennelaaiea 23 3 0 3 2 Resolution p tenfia l ssrssu e sncnacee dea emeastaies 24 IOA EE VESCAT WES MEN Cruesa 24 3 7 Lenses used in creating the virtual tour of the TU Dresden campus 25 Sie MeS OL WICW socere aua N E sp teMereuieetiaasma ness 29 IA TOV cererea a auc
3. Odejmowanie Cul dodawanie Shift tyb XOR obydwa Dysk 1043MB Pami 229175KB KB aa Fabi Fig 4 2 2 Screenshot from Corel Photo Paint showing 16 black columns of pixels at the end of a panorama Karol Kwiatek AGH University of Science and Technology Cracow 2005 43 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow How to correct This problem is similar to the first one see chapter 4 2 1 It could be corrected during the control of the one edge seam see chapter 4 2 1 To correct this problem a Rectangular Marquee Tool ought to be chosen in Adobe Photoshop Then Style should be changed to Fixed Size In this place the size of selecting area could be inputted Width should be 16px and Height 3600px Then the last column of the image should be clicked Then the inverse must be chosen Select gt Inverse This selected area could be after that copied and pasted to a new image and finally saved a 4 2 3 Moving objects Bl It was nearly impossible to take a panorama at the campus in Dresden without any i students But most of them did not stop while the m i camera was taking the panoramic image The ay process of taking panorama for example number 42 took about 40 seconds Eyescan MM1 needs some time to rotate around its axis During the ieee r last seconds of taking this panorama that is presented in Figures 4 2 3 4 2 5 some students ETE ite a
4. 7 VT JAVA Java based Virtual Tour this virtual tour uses Java and was designed in program from SASTAdigital PanoramaVision will be described later o Macromedia Shockwave Player 10 is necessary to run VT HI RES and VT LO RES Karol Kwiatek AGH University of Science and Technology Cracow 2005 72 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow o Click VT HI RES only for fast Internet connection or VT LO RES for slower Internet connection and the beginning message will be shown Tab 5 2 3 High resolution plug in Virtual Tour To view this virtual tour you will need the Macromedia Shockwave plugin and a recent video card 16 Mb Video RAM required If you are using Internet Explorer on Windows or the Firefox browser try pressing F11 to fill the full screen Press F11 again to return to a normal window On Mac OS X the best results are achieved using the Firefox browser If you have problems please close browser s window and run ajain This solution should help 32 Mb recommended it once Please wait a while after you click START START Tab 5 2 3 The beginning message o Click START when one has Shockwave Player 10 installed the virtual tour will start otherwise a little installation process is necessary to walk through the campus Fig 5 2 11 Fe Additional plugins are required to display all the media on this page Insta
5. ipak Fig 5 2 20 Fig 5 2 20 Linked panoramas Karol Kwiatek AGH University of Science and Technology Cracow 2005 SO Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Ubenpanpi Editii Fig 5 2 21 In PanoramaVision one can easily define the viewing directions Standpunkt2 STONES Action Editor Eel Action Editor PEx gi o D a Q Q x Darstellung Aktion Darstellung Aktion Action Typ E k HotSpot fI Tag C Ohne C Intemet Link i Darstellung o ohne Bid C eigenes Bild C gelber Punkt C Anzeige Htmi Site P iewer Funktion nfo Fenster C Java Script Funktion Stern Effekte L schen Frame ZeunerBau FenstergroBe 700 al x 600 al Neu ehen Cursor Test Fabwechsel nicht aktiviert aktiviert 42 3 19 3 ZuenerBau m ciYellow 7 E cRed 7 WV Rahmen O chYellow Hint anzeigen Sichtkoordinaten X 0 1528 Y 0 0000 X Abbrechen 4K _X Abbrechen Fig 5 2 22 The process of creating hot spots of places of interests o Next step of generation of interactive virtual tour is to make hot spots of places of interests that the creation is shown in Fig 5 2 22 Firstly one should choose this icon O i Or to select the area of interests Then one could make a html web page with a photo and information about that building or monument o The project is finished when all points are conne
6. 44 45 46 47 48 The latest VFX1 driver http www mindflux com au products 1s vfx 1 html overview Forte VFX1 Win95 Direct Input Driver win95_di doc Heymann S Representation coding and interactive rendering of high resolution panoramic images and video using MPEG 4 http www informatik hu berlin de knauer ISPRS panoramicworkshop2005 Paper PanoWS_Berlin2005_Hey mann pdf VFX1 Headgear Virtual Reality System User s manual Maas H G Schneider C Proceedings of the ISPRS working group V 1 Panoramic Photogrammetry Workshop Berlin Germany 19 22 February 2004 http www tu dresden de fghgipf photo PanoramicPhotogrammetry Workshop2004 Proceedings htm Reulke R Knauer U Proceedings of the ISPRS working group V 5 2 Panoramic Photogrammetry Workshop Berlin Germany 24 25 February 2005 http www informatik hu berlin de knauer ISPRS panoramicworkshop2005 Proceedings htm Karol Kwiatek AGH University of Science and Technology Cracow 2005 107 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 9 List of enclosures Folders are marked in bold DVD PANOIL 01_night_panorama chapter 3 6 night_panorama jpg Q2_hemispherical_images chapter 3 9 2 hemispherical images F23M4407 tif and F23M4401 tif Scene 1 ipx for iPIX viewer iPIX Interactive studio trial installation files 03_corrections_Panotools chapter
7. It is ineffective to take pictures during the night with such cameras as the exposure process is extremely long and moving lights lead to distortion in the form of stripes However one night panorama Fig 3 6 2 was taken at the university campus in Dresden It was done to test Fig 3 6 3 digital panoramic camera Fig 3 6 2 The realistic night scene at the TU Dresden campus Crossing of George Bahr Strasse and Helmholtzstrasse 11 30pm 28mm lens shutter speed 1 3s aperture F2 8 horizontal angle 360 1 8 resolution and time of taking this panorama 26minutes Fig 3 6 3 The process of taking this night panorama Digital panoramic cameras can only be used when connected to a notebook The pictures taken are controlled by the computer and saved on its local hard disk The software for this comes with the camera and will function only when the camera is connected 3 6 1 Advantages of digital panoramic cameras One shot is all it takes to create a fully spherical view No stitching required only the seam edge needs to be edited A panoramic image can be taken in a dozen of seconds When the notebook is connected directly to the camera the resulting picture can be visually analyzed Due to the high resolution the resulting image quality is sufficient for making printouts O O O O O 3 6 2 Disadvantages of digital panoramic cameras o The camera is really expensive and can be used for panoramic photography Traditiona
8. L o Click this icon 5M5 Proekt to start a new project o Click ii to add a map to the project the same map as used in SPi V viewer is used but it must be converted to JPEG verl1111111 jpg o One will see this window Fig 5 2 18 o Now one could add panorama standing point by clicking this icon R and then the red point will be shown on the map to add a panoramic image to this point one should click in the right menu Karol Kwiatek AGH University of Science and Technology Cracow 2005 79 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Price ntations Edibor D m w Neues Prot Proved finer Projeki speichern Speicher aiz Show anzeigen ora HAG Fig 5 2 18 PanoramaVision after adding a map to the project o To show the basic function of this program one should use more than one interactive points on the map in order to link them example Fig 5 2 19 shows loaded two panoramic images one cylindrical and one spherical Fig 5 2 19 PanoramavVision after implementing two panoramic images the selected area is responsible for setting a starting field of view o This icon aid makes easily the connection between panoramas Firstly one can click the first yellow point and then the second In a while a new window Fig 5 2 21 appears and one could define the P viewing directions After this a big red arrow is visible on the map
9. gt lt applet gt lt applet name plan archive pva jar code pviewer pvplan class width 520 height 300 gt lt applet gt lt div gt Tab 5 2 13 The code that is responsible for displaying the virtual tour on the webpage this is a fragment of code of file main3 htm There are several advantages of this program quick method of creating a virtual tour with many panoramic images easy way of creating hot spots easy way of generation of viewing directions XML code O O O O And there are a few disadvantages o itis not yet possible to add hot spot on spherical panoramas o adding animated GIF to hot spots is not implemented It is difficult to compare those three panoramic viewers that are used for different purpose The first one is a stand alone viewer FSPViewer It is the best for panning huge panoramic images The second one SPi V is the plug in viewer that gives the user nearly infinite number of ideas that can be implemented to the virtual tour Contact with the author of this viewer is well done by a forum on his webpage 26 The last viewer that is based on Java does not create an amazing performance of virtual tours but panoramic images are easy to download and to can be displayed even when the computer is connected via modem Java Karol Kwiatek AGH University of Science and Technology Cracow 2005 82 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden a
10. optical centre Next method similar to this one is using spiral lens While not constructed yet at the time of writing this diploma thesis these systems represent the only known possibilities to capture real time movies having the stereo panoramic features 6 2 4 Panoramic stereo movies Stereo panoramic cameras are capable of capturing a dynamic scene This movie can than be projected in a theatre having a stereo projector and cylindrical screen Each viewer equipped with the appropriate stereo glasses is able to view any desired direction A more interactive experience can be obtained when an individual viewer is using a head mounted display 6 2 5 Method of a triangle This is a method of compilation a 360 stereoscopic panorama using parts of three panoramic images taken from three corners of equilateral triangle The idea of that method was invented by Professor J zef Jachimski of AGH University of Science and Technology in 2005 for the use in the part of this diploma project executed in Cracow The main task of creating stereo panoramas was to get a correct viewing while spinning 360 Stereo panoramas were made in two sites in Cracow One of them was Grodzka Street near St Paul and Peter s church The second stereo panorama was generated in Nowa Huta a district of Cracow at Rose Avenue Aleja R Those sites were chosen because there were no objects very near the position of cameras and the buildings were far enough from th
11. panr50 tif Then one could run vsdgl exe and move mirror stereoscope Fig 6 2 5 close to the monitor The following view will be visible Fig 6 5 3 Fig 6 5 3 Screen shot from VSDGL exe showing a part of panorama from Grodzka Street Karol Kwiatek AGH University of Science and Technology Cracow 2005 94 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow It is advisable to change the speed of mouse movement by pressing 2 What is more one should also press SHIFT P to hide the pointer in the middle of each image 6 5 2 Anaglyph glasses and FSPViewer At first a process of creating an anaglyph images is presented To do this one need to install 3D PIX Stereoscopic Image Editor Version 3 4 of this program is used in this diploma thesis This version of 3D PIX is an evaluation copy and it may be used on a single computer for a period of 30 days This program could be found in the Internet 40 After a process of installation one should run this program and firstly open left image and then the right one File gt Open gt Left Image Right Image In the main window of this program one could see connected image but in Interlaced Mode or Line Sequential Mode Fig 6 5 4 because every second line comes from left or right panorama inves ree a ei Fie Edt We Siar Preference Help Fie fa Ole ale a voaa Fig 6 5 4 After loading left and right panoramas in
12. 2 In this case of panoramic images vertical resolution is smaller than the horizontal resolution and it has 3600 pixels For Horizontal and Vertical r_sre and r_dest are the height divided by 2 The last difference between 4 4 and 4 5 is that Horizontal is calculating a change in x delta_x but not absolute position There is a lot of trials and errors involved in estimating a b c and d values These four values react differently It is good to make a function snapshot in Adobe Photoshop This feature is in the history pallet and is used to keep track of the different tests Then it is advisable to write down what was done and compare the results with the next set One should decide if the last correction makes it better or worse and if one should increase or decrease the change The first step of correcting panoramic images is to make sure that the optical centre of the image is the centre of the image To do this one should crop or expand the image Figure 4 2 15 shows that the black area in not equal at the top and bottom of the image One should crop this spherical panorama to have the same number of rows with black pixel at the top and at the bottom The second step is to magnify by two or three times the area of viewing This is important for better seeing small shifts in the image Next step is to start correcting the image using snapshot function One should start correcting image furthest from the centre b values correct bes
13. 9 the format of a panorama is defined in broad terms by the projection used to map the full or partial 3D scene into a 2 dimensional print or screen There are several types of projections that are used in the panoramic production process A Full spherical formats a Equirectangular b Cubic B Partial formats a Cylindrical b Rectilinear c Partial Spherical A Full Spherical Formats Display the whole sphere that surrounds us 360 along the horizon 90 up and 90 down a Equirectangular this format is widely used by viewers such as PT Viewers and Spi V Aspect ratio must be exactly twice the height Fig 3 2 1 Fig 3 2 1 Equirectangular panorama format 9 b Cubic this format uses 6 cube faces to make a full sphere that surround us The image is remapped to the cubicfaces The most popular viewer for this projection is QuickTime VR Fig 3 2 2 Fig 3 2 2 Cubic panorama format 9 B Partial Formats Here we can talk about panoramas that do not fill the whole sphere Partial panoramas can be displayed directly if they do not cover more than approximately 120 along the shorter side they can be 360 in one direction but must be 120 or less in the other direction The main formats are cylindrical and rectilinear but partial spherical panoramas are possible too Karol Kwiatek AGH University of Science and Technology Cracow 2005 13 Generation of a virtual tour in the 3D space applying panora
14. Eri 7 went through the scanning area That is why they Fig 4 2 3 A fragment of panorama no 42 afe not correctly presented in this panorama with moving people recorded How to correct While the camera was rotating around its axis and it was taking 360 panorama the scanning area was observed When some objects such as cars or people moved in this area then this situation was noticed by the photographer The angle of panorama where there was a movement is also noticed Then only a part of surrounding is taken In IcaScan the program for scanning with EyeScan MM1 one could eC z Emm srin define the horizontal angle of scanning In the Figure 4 2 4 the hexagon was cut from the image that was taken in the second part when people disappeared from that place It is important to join the small part of the image with the background This process must be done with magnified image After all the process the image must be flattened Layer gt Flatten Image The _ resulting part of panorama is shown in the Figure 4 2 5 Fig 4 2 4 A fragment of panorama no 42 with moving people that are going to be covered up Fig 4 2 5 A fragment of panorama no 42 with moving people that were covered up Karol Kwiatek AGH University of Science and Technology Cracow 2005 44 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4 2 4 Cropping fisheye im
15. FSPViewer one can define hotspots inside the FSV control file Tab 5 2 1 One can specify the viewing direction and angle of view of the opened panorama in order to Karol Kwiatek AGH University of Science and Technology Cracow 2005 67 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow create immersive virtual tours Each hotspot is defined by a number of consecutive lines in the FSV file The first line must be BEGIN HOTSPOT and the last must be END HOTSPOT The result of placing the hotspot on Panorama no 15 to Panorama no 14 is shown on Fig 5 2 6 w Panorama 15 FSPViewer File View Tools Help O HOTSPOT Sh iN p Fig 5 2 6 The hotspot defined in Tab 5 2 1 Yaw and pitch 909 Pitch l Horizon angle 9Q O Yaw angle 360 Fig 5 2 7 Coordinates of yaw and pitch angle use this scheme In order to compute these values you need to open the target panorama with an image editor for example Adobe Photoshop and take note of the coordinates of the point where you Karol Kwiatek AGH University of Science and Technology Cracow 2005 68 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow want to look Coordinates of yaw and pitch angle use the scheme presented in Figure 5 2 7 Let w be the width of the image A its height x and y the coordinates of the point 5 1 Initia
16. LCOME TO THE YAHOO TOOLBAR BY CLICKING 1 AGREE BELOW IN THE Fig 5 2 13 Installing Yahoo Toolbar will add a new toolbar for your browser and this is not necessary so it is advisable to leave this box empty o After a while the installation process is almost completed o Before full success of installation one needs to answer a question about the age and register the plug in Leave the circled box empty Fig 5 2 14 not to received additional e mail Welcome to Shockwave Player Eg Register Your Shockwave Player With Shockwave Player you can Please register your FREE Shockwave Player experience engaging interactive content on thousands of Web sites on We care about children s privacy i Last ts nal irises ae ot Please provide your age mecemecias ight a E mail k kk com Soo Oops Please complete the fields marked Under 13 with an asterisk Your selection will not affect your ability to ke to receive email updates about games and install or use the Shockwave Player attainment from Shockwave com tan affiliate of Fig 5 2 14 One question and registration of the plug in are necessary to complete installation process Leave the circled box empty o Mozilla Firefox needs to be restarted for the plug in to work o Once again enter this address www kwiatek krakow pl panotour and choose the version of TTL the virtual tour macromedia i o This sign Fig 5 2 15 will show that the virtual tour is a loadi
17. a longer than normal aspect ratio Their construction is designed to get enough amount of light on a film or digital sensor Aspect ratios are very important consideration They affect not only the final result of a panoramic image but also the whole means of capturing the light on film to create a panorama That is why sometimes cameras have strange construction What is more the style of shooting panoramas is also important There are three different kinds of cameras according to this style However they capture light and controls perspective in entirely different ways It is essential to understand the differences between Karol Kwiatek AGH University of Science and Technology Cracow 2005 15 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow them as their characteristics affect the way that panoramas are made and the way the finished photographs will look There are three categories of panoramic cameras 11 e flatback or straightback cameras e swinglens or short rotation cameras e full rotation or slit scan cameras 3 4 1 Flatback cameras This type of cameras Fig 3 4 1 has varying degrees of lenses projecting light onto a flat plane using mainly wide angle lenses The optical effect of these cameras is similar to slicing a straight section through the centre of a larger film format The aspect ratio of these cameras changes with the length of film Flatback cameras are ideal i
18. a specific angle to the position where the next picture is to be taken until entire 360 revolution has been completed After that pictures are stitched to make a panoramic picture using special stitching software Type of the panorama cylindrical spherical or cubic depends on the number of individual pictures and the selected projection format Taking pictures with a panoramic camera is the second method of getting a panorama The camera can be analog or digital and works by rotating once about its own axis while shooting the panorama to record the complete environment For a digital 360 panorama usually only two seam edges need to be stitched The projection type depends on the lens used 4 1 2 Correcting image distortion Before stitching images in special program all images need to be corrected The pincushion and barrel distortion as well as vignetting and chromatic aberration are errors that should be corrected Distortion of the panorama that was taken with digital panoramic camera is not necessary to correct 4 1 3 Stitching individual pictures The next step in panoramic production is to stitch individual pictures to make a panoramic picture The parameters that are necessary for stitching program are the type of lens used focal length and field of view Stitching program normally connects the pictures by overlapping them in order to create a soft invisible transition This process will be described more detailed on the example
19. also an influence on the speed of rotating camera This _ camera uses Nikon s interchangeable lenses en Sas gt The camera uses a power supply which is also Fig 3 6 4 All in one Eyescan MM1 visible in the picture on the left side of the box In the measurement two batteries were used One of the batteries was for a computer and the second one was for the camera Two batteries were used because of long distance of walking with the eqipment from the Institute of Photogrammetry and Remote Sensing where batteries were loaded These batteries supported 4 hour session of taking panoramic images in different places of the TU Dresden campus In the Figure 3 6 5 one can see an UV IR cut off filter that is mounted behind the lens and protect the sensor inside the camera There are two main purposes of using this filter Firstly it protects the sensor against dust Secondly it optimises colours and allows the use of super wide angle lenses without any losses Eyescan MM1 is controlled by a special user interface Program that controls this camera is called IcaScan This program is clearly and practically designed Eyescan MM1 consists of a few main elements camera camera head rotation drive Camera computer 121 TFT Screen wireless keyboard software IcaScan cable set rechargeable battery power supply for stationery use Fig 3 6 5 The front of the Eyescan MM 1 15 Karol Kwiatek AGH University of Science
20. faculties with different departments and diverse courses of study The faculty where one could study Photogrammetry is called Faculty of Forestry Water Sciences and Geosciences and it is situated in Hilsse s building Fig 2 2 Tie ee e _ Fig 2 2 One frame of the animated GIF of Hiilsee s building at the Dresden University of Technology campus 6 Karol Kwiatek AGH University of Science and Technology Cracow 2005 9 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow At present 24 000 students are studying at the Dresden University of Technology Around 600 professors and 90 associate professors along with members of the non professorial staff are responsible for ensuring high standards of teaching and research The academic year is divided into a winter semester and a summer semester each extending over 15 weeks followed by examinations Teaching covers basic courses usually 4 terms which lead to an intermediate diploma and main courses or specialized studies with a final degree examination The following map of the TUD campus Fig 2 3 shows positions of 53 panoramas Orange colour represents buildings that belong to the university Some abbreviations are also shown in this map in order to help locating on this map For example BEY Beyer s building or ZEU Zeuner s building Near H lsee s building there are a lot of panoramic images Most of s
21. making the time to complete panorama relatively short Due to the large field of view associated with fisheye pictures moving objects represent no problem as long as they are not located towards the edge of the picture The software is relatively easy to use Disadvantages As only two pictures are taken the resolution of the spherical panoramas is not very high when compared to other techniques that use more pictures Alternatively there 1s the option of using three fisheye pictures with iPIX Interactive Studio In order to ensure a perfect end result the seam edge usually needs to be retouched iPIX panoramas appear distorted in some areas 3 9 2 2 Using a parabolic mirror horizontally Instead of fisheye lens one can use a parabolic mirror and position it horizontally to create a spherical panorama Fig 3 9 10 Fig 3 9 10 Parabolic mirror 3 3 9 3 Shooting more than one row of pictures This shooting could be done by 14mm lens At first one should move the camera slightly up and take picture and then do the same but with moving the camera slightly down Fig 3 9 11 The main problems are that there are too many pictures It is also important to take care about exposure while taking images left to right and up to down Fig 3 9 11 Two rows of pictures 1 Advantages and disadvantages of this method According to JACOBS 18 the advantages are the following Karol Kwiatek AGH University of Science a
22. of creating panoramas for stereo panoramas see chapter 6 That process was carried out in program PTGui 4 1 4 Retouching the panoramic picture There are many problems on panoramic images that need to be retouched When creating a spherical panorama the legs of the tripod appear in the bottom of the picture at some point In areas that are called zenith and nadir retouching is necessary The procedure for doing this depends on how the scene was shot and what kind of program is used 4 1 5 Publication of the panorama There is variety of ways to publish finished panoramas Publication depends also on projection type Some of them can be printed and almost all of them can be published in the Internet Viewers are necessary to watch panoramas on the computer s screen Karol Kwiatek AGH University of Science and Technology Cracow 2005 Al Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4 1 6 General tips In conventional photography there were no big problems with illumination of different parts the picture In panoramic photography a person who takes a picture should be sure that there is the ideal amount of illumination If pictures are taken in daylight or artificially lit settings there is not a great deal of problems to avoid When mixed light situations are introduced it is much more difficult to get a uniform panoramic colour scheme It is suggested that the same set
23. opening angle 100 90 80 60 40 22 Data volume 360 48 Bit 1 4 GB 1 7 GB 2 3 GB 3 1 GB 5 1 GB 9 9 GB oe 2min 2 4min 3 1 min 4 1 min 6 9 min 12 4 min 360 5 ms column Tab 3 6 2 Basic parameters of Eyescan M3metric 14 Karol Kwiatek AGH University of Science and Technology Cracow 2005 24 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 7 Lenses used in creating the virtual tour of the Dresden University of Technology campus This section clarifies a few important terms before delving into the topic of panoramic production A wide variety of lenses can be used in panoramic photography In order to determine the number of pictures required for a panoramic picture it is critical to know the size of the field of view of the lens being used The larger is the field of view the fewer are the pictures that need to be taken using a conventional camera 3 7 1 Field of views There is a little glossary about field of views on the bases of Panoguide com 1 3 7 1 1 FOV Short for Field of View 35mm cameras produce rectangular pictures 36 x 24mm negatives and therefore the field of view is greater for the longer dimension Generally when someone refers ambiguously to the field of view of a 35mm image they are referring to the field of view along the longer of the two dimensions regardless of which way up the camera was
24. photography is limited to the cylindrical format There are the following examples of mirror technology o PanoMAXX Panorama Optik 0 360 Panoramic Optic Belissimo 0 360 Panoramaoptik EyeSee 360 Surroundphoto OmniEye 360 Cameras VSTONE Egg Solution Bowl Camera Construction Behere Corp Remote Reality Tateyama R amp D Fullview Versacomp O O O O O O O O O OOO Fig 3 5 2 A few examples of mirror technology 12 Karol Kwiatek AGH University of Science and Technology Cracow 2005 19 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 5 5 Multisensor systems We can get one panorama without stitching process in a short time but we need a special digital panoramic camera Event Cam Fig 3 5 3a is a camera that does not rotate It has ten digital cameras that are situated around the main part This device is produced by VRMAC or Kaidan Another camera that uses this technology is Ladybug Fig 3 5 3b It is a camera that is produced in Canada by PointGrey Research Inc It has six cameras and five of them are in horizontal plane One camera is looking up It makes automatically a spherical panorama EventCan a b Fig 3 5 3 Two examples of multisensor systems Event Cam and Ladybug 12 3 6 Digital rotating line camera The principle of scanning using digital panoramic camera is that this camera has a CCD linear array that moves linearly around t
25. that can be found as well as Radial Shift in Correct Options Correct Options Radial shift Ivf Vertical shift Horizontal shift Shear Options Scale Options Radial Luminance Options Cut Frame Options Fourier Filter Options Load Save Cancel OF Fig 4 2 24 Vertical Shift another submenu in Correct Options Horizontal Shitt Cancel Fig 4 2 25 Vertical Shift the name of the box is incorrect By Vertical Shift Fig 4 2 25 a little shift of pixels could be linearly corrected Moving all pixels one pixel down in red channel makes the image Fig 4 2 22 more clearly in magnification The result is seen in Figure 4 2 23 Karol Kwiatek AGH University of Science and Technology Cracow 2005 56 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4 2 6 Nadir and zenith Nadir In order to ensure a realistic depiction of a scene with spherical panoramic shots it is usually necessary to edit the lower part of the picture Fig 4 2 26 This is where the tripod legs or the feet of the photographer frequently can be seen The best way to retouch the ground is to convert the spherical panorama into cubic format This allows editing this specific area In this place a logo could be added Fig 4 2 26 Nadir of the spherical panorama displayed in SPi V Viewer When panning down one sees the tripod How to retouch a na
26. when the optimizer does not expect a good result it is recommended to delete the control points with a greater difference and redefine them Karol Kwiatek AGH University of Science and Technology Cracow 2005 91 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow After this one can see a preview of the panoramic picture in the Preview tab The panorama is created in the Create Panorama tab Clicking the Create Panorama button initiates the final stitching process and saves the resulting panoramic image Three panoramas were taken on each place three on Grodzka Street and three on Rose Avenue The result of the mosaic process is shown in Figures 6 3 6 and 6 3 7 These are two end product panoramas that were generated from three panoramas Fig 6 3 6 The left end product panorama at Grodzka Street that was created using 3 panoramas from 3 positions A B C Fig 6 3 7 The right end product panorama at Grodzka Street that was created using 3 panoramas from 3 positions A B C 6 4 Method of a triangle in practice Figure 6 4 1 shows the method that was used to generate stereo panoramas A tripod is in the middle of Rose Avenue A triangle was created on the ground Three panoramas were taken in three positions that are marked as A B and C in Figure 6 4 1 Then parts of these three panoramas were used to create two end product panoramas that will be used to viewi
27. 0 was from the Department of Photogrammetry and Remote Sensing Informatics from AGH University of Science and Technology It was not a tripod with special panoramic head The panorama on the Rose Avenue was taken at 5am and at Grodzka Street at 9am In the morning there was small traffic and not a lot of people were passing those places The trick of generation a good perception in whole 360 is that the parts of original panoramas were not cut in pre defined angles but they were cut by viewing the image and comparing the results For example panoramas were not cut every 60 360 divided by 6 areas The angle of cutting was not defined before To get a good stereo perception in whole 360 some details were chosen and then the image was cut for example along the edge of the church or through trees The problem of difference of scales was then edited in image editor with Stamp Tool in order not to see the difference in the scale There is an example of a mosaic Fig 6 2 7 that was created after connecting two parts of panoramas that was taken from different positions The difference in scale is visible only in the lower part of the image three stairs but not in the centre and at the top of the image where are windows and branches of tree a These stairs were retouched in order not to see an error in stereo _ panorama Fig 6 2 7 The seam in At the end of generation of stereo end product end product panorama at panoramas
28. 2005 29 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow IR SENSOR INTERFACE FOR CABLE FROM BATTERY DATA PORT IR SENSOR CONNECTION Fig 3 8 3 The connection of cables to camera computer e Attach the data wire to the data port Fig 3 8 3 f Attach the IR sensor and the keyboard Connect the IR sensor to the camera computer Fit the sensor in the top of the camera case using the already mounted Velcro strip ON OFF CHARGE POWER CABLE TO THE CAMERA COMPUTER POWER CABL TO THE l Fig 3 8 4 The connection of cables to the battery g Connect the camera and the camera s computer to the rechargeable battery Fig 3 8 4 The capacity of one battery is good enough for about 1 5 hour work of the system 3 8 2 How to do the Scan a After you connect the camera to the computer and the power supply to the camera the device is ready to take pictures Switch on the computer and Karol Kwiatek AGH University of Science and Technology Cracow 2005 30 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow start the program IcaScan By hitting INIT button Fig 3 8 5 you initialize the camera Fig 3 8 5 IcaScan INIT button b The camera is operated by the following buttons Fig 3 8 6 in this program PRE SELECTION FINE SELECTION Ic Scan Presentatio
29. 4 2 Correction for Panorama Tools horizontal vertical vertical2 04_VT_FSPViewer chapter 5 2 1 excel values xls file to determine values for control files FSPViewer two versions of FSPViewer virtual_tour run bat contains 23 panoramas and control files 05_VT_SPi V chapter 5 2 2 SPi V_spotter_Windows SPiV_viewer virtual tour high resolution run bat virtual tour low resolution run bat 06_VT_Java chapter 5 2 3 all the project of Java based virtual tour run bat 07_PTGUI chapter 6 3 read readme txt file before installation of PTGui and Panorama Tools 08_3D_panoramas chapter 6 5 Grodzka_Street Anaglyph run bat Three panoramas Two_end_product_panoramas run vsdgl exe Rose_Avenue Anaglyph run bat Three_panoramas Two_end_product_panoramas run vsdgl exe 09_VSDGL chapter 6 5 vsdgl exe and 2 example panoramas 10_3DPIX chapter 6 5 pixinste zip unzip and install 11_VFX1 chapter 6 5 3 files contains drivers SDK FAQ Manual etc no_stereo_panorama run 51 bat stereo_panorama run grodzka bat 12 WWW_PANOTOUR Webpage with this project status 18 09 2005 DVD PANO2 contains original panoramic images taken with Eyescan MM1 panoramas 1 27 DVD PANQ3 panoramas 28 44 DVD PANQO4 panoramas 45 53 Karol Kwiatek AGH University of Science and Technology Cracow 2005 108
30. 5 taken with taken with 14mm lens Smm lens Karol Kwiatek AGH University of Science and Technology Cracow 2005 27 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Gal F ia ae P naa age eh eg a Fig 3 7 6 90 degree part of panorama no 35 taken with 28mm lens As we can see from the previous three parts of panoramas the vertical field of view is changing due to the changes of the focal length In the Fig 3 7 4 there is even a part of a tripod Vertical field of view for fisheye image is 180 Looking on these pictures we can easily answer the question why three lenses were used in the measurements Fisheye lenses were used when panoramas were taken just near a high building or other object like high chimney When there were no high buildings there was no sense to use fisheye lens because the sky consists the greater part of panoramic image On the second hand the resolution of images that were taken with fisheye lens is worse than images received by applying the other types Fig 3 7 7 The true of lenses fisheye image 9 3 7 3 Fisheye lens A few words about fisheye lens will be citied from The Focal p Encyclopedia of Photography 16 Fisheye lens is a lens with extreme angle of coverage The geometry of f i orthoscopic image formation and image illumination limit the angle of coverage of a distortion free lens to about 120 degre
31. AGH UNIVERSITY OF SCIENCE AND TECHNOLOGY IN CRACOW Faculty of Mining Surveying and Environmental Engineering Department of Photogrammetry and Remote Sensing Informatics DIPLOMA Tse sls Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Name and surname Karol Kwiatek Major Geodesy and Cartography Speciality Geoinformatics Photogrammetry and Remote Sensing Grades ita aa pened eh eesumenwiukeeee meansiees Reviewer dr in W adys aw Mierzwa Supervisor Prof dr hab in Jozef Jachimski Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow AGH University of Science and Technology in Cracow Cracow 66 Faculty of Mining Surveying and Environmental Engineering Major Geodesy and Cartography Karol Kwiatek Topic of the diploma thesis Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The supervisor Prof dr hab in Jozef Jachimski The reviewer dr in W adys aw Mierzwa The supervisor s signature Karol Kwiatek AGH University of Science and Technology Cracow 2005 2 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The author wish to thank Professor Hans Gerd Maas and Danilo Schneider The Dresden Un
32. C 11CF 8075 444553540000 codebase http download macromedia com pub shockwave cabs director sw cab version 8 5 1 0 width 100 height 100 gt lt param name src value SP1i V dcr gt lt param name SwURL value tour22 xm1l gt lt param name swStretchsStyle value sStage gt lt param name progress value TRUE gt lt param name logo value TRUE gt lt param name bgColor value 000000 gt lt embed width 100 height 100 type application x director pluginspage http www macromedia com shockwave download src SPi V der swURL tour22 xml swStretchStyle stage progress TRUE logo TRUE bgColor 000000 gt lt embed gt lt object gt Tab 5 2 5 A code of index html at www kwiatek krakow pl panotest Karol Kwiatek AGH University of Science and Technology Cracow 2005 75 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow A simple SPi V XML document The virtual tour of the campus tour22 xml consists 2134 lines about 55 pages of code that was written in the text editor like Notepad or editor for HTML that coloured the code It is difficult to present all the details of creating this file that is the main part of the virtual tour Only the basic rules of creating XML files for SPi V will be presented below Tab 5 2 6 More information can be easily found on 16 lt xml version 1 0 gt lt tour gt lt scene id scene_p
33. Fig 4 2 15 To do this it is the best to select an area not from the centre of the picture Fig 4 2 16 This way the magnified display will allow you to determine easily if the distortion travels horizontally vertically or radially across the picture Fig 4 2 15 At a first glance this panorama no 33 does not show any CA Karol Kwiatek AGH University of Science and Technology Cracow 2005 50 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow HBHHHBRHEHHEHHHHHHESE KA mf ay k ee 3 SS PP cn Bee oe HHEHHRHBHHHHEHEHE SS Fig 4 2 16 Magnifying specific area of the panorama no 33 shows chromatic aberration If the distortion is to be corrected in Adobe Photoshop with PanoTools filters the PanoTools dialog box is invoked via Filter gt Panorama Tools gt Correct Fig 4 2 17 Correct Options I Redal shill Veatasal shift T Heeizertal shilt Shea Scale Rafal Lurenance T Cut Frame M Founer Filter Fig 4 2 17 Correction of chromatic aberration via Correct PanoTools filter for Photoshop Set Polynomial Coefficients for Radial Correction Lec psr dei d bxi deia cx det 2 dr ded ed fame oor foo Poo green fo 0 0 fi biki DOE com On fi Comection Mode C Rada Horizental Fig 4 2 18 The Radial Horizontal shift is needed to correct chromatic aberration errors In the Set Polynomial Coefficients for Radia
34. It would be fair to say that digital camera and imaging technology has turned many areas of photography upside down In this new silicon based technology it is easy to manipulate and enhance our pictures Digital camera users started to emulate their panoramic forefathers by shooting images of wide angle scenes Using the basic editing tools of the time the individual images were then placed side by side in a single digital document More advanced users started shooting overlapping images and then blending the repeated edge elements of the image to form a seamless picture The increasing sophistication of the manipulation tools in programs such as Photoshop made this complex task more achievable but still time consuming It did not take long time before a range of companies started to produce specialist blending and stitching programs designed to simplify the whole construction process In 1995 a company Apple produced software which is called QuickTime VR This program revolutionized the way viewing panoramas It was possible to spin left or right around one point By moving mouse it was possible to spin left or right or even all the whole vista Today when people think about panorama they refer to QuickTime version rather than to the print version In 2001 QuickTime 5 0 was produced and it enabled users to make a cubic panoramas In this kind of panoramic images it is possible to look not only left and right but also up and down Nowadays the most ama
35. O Cancel Uk Fig 4 2 33 Remap Options are used to convert images The following options should be chosen when remapping Filter gt Panorama Tools gt Remap Tab 4 2 3 HFOVO a Tab 4 2 3 Options used in remapping to Fisheye Vertical format f One should open the image Fig 4 2 34 that was saved in the folder and now the tripod could be edited Stamp Tool is necessary to edit a nadir The result image is Fig 4 2 35 A logo could also be placed in the centre of the image Fig 4 2 34 Remapped half of the Fig 4 2 35 Remapped half of the panorama no l8 with a tripod panorama no 18 without a tripod Karol Kwiatek AGH University of Science and Technology Cracow 2005 60 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow g Once again remapping should be processed on the basis of the Table 4 2 4 Convert from Fisheye Vert Convert to PSphere HFOVO vovo o Tab 4 2 4 Options used in remapping to PSphere format h Close last edited image and open the result image from the folder Match the size of the result to the original image Image gt Image Size make sure that Constrain Proportions is enabled and either correct the width use the width of the original panorama in pixels The bottom of the panorama without the tripod is shown in Figure 4 2 36 Fig 4 2 36 The bottom half of the panorama no 18 without the tripod i Th
36. One seam edge In panoramas with horizontal field of view of 360 that were taken with digital panoramic camera only one seam edge need to be processed In this project fifty three panoramas were taken In all panoramas this edge was controlled and in most cases some columns of pixels need be deleted Fig 4 2 1 Fig 4 2 1 One seam edge need to be corrected a fragment of Panorama no 7 How to correct This problem was always fixed in Adobe Photoshop For instance last fifty or more columns of pixels were copied from the end of image to the beginning of the image and new layer was created The other part need to be also copied on a new layer and moved to right until this new part will join perfectly to the second part Image flattening is important in this place Layer gt Image Flatten Empty space at the end of the image ought to be selected with Select Tool Next step is to select the inverse Select gt Inverse or CTRL Shift I and then cut this selected part This part that is in the clipboard should be pasted in a new image File gt New and than saved File gt Save as TIFF Corrected image should be checked in FSPViewer see chapter 5 2 1 if there are no mistakes on the seam 4 2 2 Problem of sixteen pixels This problem occurred in every panoramic image that was taken with Eyescan MM1 The last sixteen columns of pixels were always black Fig 4 2 2 There was completely no information i Wypetn EAE
37. Science and Technology Cracow 2005 83 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 6 Stereo panoramic images 6 1 Three dimensional perception There are three elements of immersive visual environment o complete 360 view allowing the viewer to look in any desired direction o stereo vision where each eye gets a different image appropriate to its location in space o allow free movement The first point was described in details in the previous pages Stereo vision and Head Mounted Devices that allow for a free movement of a head are topics of the next chapter Stereo panoramas are a new scene to image projection that enables simultaneously both O stereo complete panoramic view No depth information is necessary Viewers of stereo panoramas have the ability to freely view in stereo all directions A stereo pair consists of two images from two different viewpoints The disparity which is the angular difference in viewing directions of each scene point between the two images is interpreted by the brain as depth Fig 6 1 1 Fig 6 1 1 Two images are interpreted by the brain as depth 32 No stereo Stereo possible in this derection viewing direction 00 EE Stereo possible in lt 0 1o _ gt viewing direction No stereo No stereo this derection this derection NO wErES this derection Fig 6 1 2 No arrangement of two single viewpo
38. a after correction of the nadir and the zenith Karol Kwiatek AGH University of Science and Technology Cracow 2005 62 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 5 Displaying panoramic images and virtual tours All panoramas are essentially image files but viewing them in an interactive way 1s the result of combining the image and the capabilities of a viewer application Some viewers can display panoramic pictures saved in familiar image formats such as JPEG GIF or BMP while others use specialist file types designed specifically for VR use The special formats contain the images themselves as well as instructions on how these pictures are to be displayed These file types are associated with special viewer applications closely For example the Apple QuickTime viewer uses the QuickTime movie format MOV and the range of 1SeeMedia viewers display the companies own VR based pictures The viewers that display standard image formats are mostly based on Java applets which as long as one has Java enabled in a Web browser can be viewed by most Internet surfers without the need for installing another plug in 5 1 Presenting the completed project Depending on the file format and viewer type used in the creation of a virtual tour there are many possibilities of presenting the work Mainly there are two ways of publishing interactive panoramas One of them is to send the files of pr
39. a rest of LCA in the image In this case one or two colour channels can be blurred o Images where JPEG compressed too much If one shift the colour channels of previously JPEG compressed images you emphasize the jpeg artifacts It is a better idea to work on TIFF images converted directly from RAW or scanned directly o Adjustment is too coarse Depending on the resolution of the image sub pixel alignment might be necessary Easy way of correction The most convenient way to correct TCA is to use a tool like the Adobe Raw Converter Picture Window Pro or PTLens offer One zoom into a corner and use a pair of sliders to adjust the image size for the red channel red cyan fringes and the blue channel blue yellow fringes the purple green type is a mixture of red cyan and blue yellow type Both ways allow for sub pixel adjustment This technique including sub pixel adjustment can be performed by hand with any image editor that can make size adjustments to single channels If the step size is too large the image can be upsampled prior to correction However if one uses one of those easy approaches look closely at different areas of the image especially different distances from the image centre It could easily be noticed that correction in one area causes fringes in another one If this is the case TCA in this image does not follow an easy linear scheme and hence can not be corrected in this way see precise way of correction Precise wa
40. a was created using a conventional digital camera not panoramic Nikon D100 from the Institute of Photogrammetry and Remote Sensing at the Dresden University of Technology and fisheye lens The panorama was taken in the courtyard of the Schumann s building at the TU Dresden campus Two pictures were taken Fig 3 9 6 and 3 9 7 Fig 3 9 6 Front hemisphere used in iPIX Interactive Studio to create spherical panorama the courtyard at the Dresden University of Technology Fig 3 9 7 Back hemisphere used in iPIX Interactive Studio to create spherical panorama the courtyard at the Dresden University of Technology Working with iPIX Interactive Studio After importing images on the hard disk a program which is called iPIX Interactive Studio were used to generate one spherical panorama This program allows editing fisheye pictures with the field of view of 180 First both hemispheres are imported via File gt Open In order to edit two fisheye pictures Fisheye is selected by Scene Category and 2 Shot Fisheye by Scene Type Fig 3 9 8 Karol Kwiatek AGH University of Science and Technology Cracow 2005 37 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Dijeri Sopra Drep Fisheye Seen Tye 25h Fiaheya Omn Fig 3 9 8 Both fisheye pictures are imported to iPIX Interactive Studio After the individual pictures have been imported the software automatic
41. age Before correcting chromatic aberration it is important to crop a fisheye image The method of cropping one of the spherical panoramas is shown in Figure 4 2 6 Fig 4 2 6 The way of cropping spherical panorama no 5 This process must be done because in correcting chromatic aberration one needs the centre of the image for further calculations The resolution of the image Fig 4 2 6 is 6126x3600 pixels The aspect ratio of spherical panoramas should be 2 1 Dividing 6126 3600 one gets 1 7 The size of the pixel is 0 008 mm The size of the radius of the hole for circular fisheye lens Fig 4 2 7 that was used in the project 1s exactly 11 5mm The diameter is 23mm Fig 4 2 7 The diameter of the hole for Fisheye Nikkor 8mm f 2 8 and the area of cropping Dividing the size of the diameter by the size of the pixel one gets the amount of rows of pixels that create the image without black parts 23mm 0 008mm 2875 pixels 4 1 Karol Kwiatek AGH University of Science and Technology Cracow 2005 45 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The horizontal resolution of the spherical panorama is 6126 pixels One should find the vertical resolution The aspect ratio of 2 1 is not important now Next cropping will be done after correcting chromatic aberration In Adobe Photoshop one can get coordinates of pixels in the image in palette Info The number of the rows
42. aking a panorama with 1 8 resolution IfA 2x 4 8x ste Fig 3 8 9 IcaScan selecting the resolution g Picture taking ae 3 60 o Pressing this button will start scanning The camera head moves counterclockwise After the scan the camera will go back to the 0 position At the same time the computer starts to open the image on the screen The scan stops scanning when STOP button is pressed After a while an image appears on the screen The image is saved as a BMP and not compressed file Then one can close all programs and put the camera to the box O O O O O h Storing individual pre settings IcaScan can store different pre settings of light situations This feature makes it also possible to store light situations like daylight or different lamplight Typical light settings are stored in INOVISION INI The most important pre settings Fig 3 8 10 in the measurements were CLDY 680 for cloudy wheather RAIN 680 for rainy weather i Siaa and SUN 680 for bright sun light Tab 3 8 2 Co a A G Recommended settings are Light situation White balance Shutter Aperture R G B speed a Sunlight 15 26 2 1 360 Cloudy sky 46 49 13 200 mo oo Tab 3 8 2 Recommended light pre settings Fig 3 8 10 Pre settings in IcaScan Karol Kwiatek AGH University of Science and Technology Cracow 2005 33 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden an
43. ally generates a stitched view of the panorama In order to save stitched spherical panorama one should click to File gt Save to access the Save as dialog field In the demo version the panorama is saved with the watermark on it To create a spherical iPIX panorama select the iPIX Image file format This file can be later viewed in iPIX Viewer Fig 3 9 9 Scene iPhViewer by Internet Pictures Corp Proof IPX Not for distribution Fig 3 9 9 iPIX Viewer the watermark was created in demo version of iPIX Interactive Studio and it is visible in this viewer In this picture Fig 3 9 9 we can see that the stitching process did not correctly made a panorama Some displacement and colour changes are visible at the top right part of the picture This is probably because of not rotating camera with fisheye lens of exactly 180 and Karol Kwiatek AGH University of Science and Technology Cracow 2005 38 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow colour differences could be because of the different white balance while taking these two pictures iLinker is another program that allows you to link several 1PIX panoramas into virtual tours In addition text information and sound can be added to hot spots Advantages and disadvantages of this method JACOBS 18 points some advantages and disadvantages of this method Advantages Only two pictures need to be taken
44. amas were made using fisheye lens Panorama no 3 o Shift red channel 1 pixel down and 1 to the left o Horizontal shift Tab 4 2 1 is then applied d is not used in this correction Red a 0 016 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 016 b 0 001 c 0 001 o These corrections almost correct the CA but it looks like the image need a little more linear shift Red a 0 02 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 02 b 0 001 c 0 001 o Last correction got rid of 60 of what was left so next time a little more should be corrected Red a 0 022 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 022 b 0 001 c 0 001 o That got rid of the red cyan CA but there 1s still a little yellow blue Red a 0 022 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 023 b 0 001 c 0 001 o That fixes the horizontal corrections Karol Kwiatek AGH University of Science and Technology Cracow 2005 53 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow o Now Vertical corrections Tab 4 2 2 Red a 0 0035 b 0 c 0 d 1 002 Green a 0 b 0 c 0 d Blue a 0 b 0 c 0 d 1 o That fixed the vertical corrections o There are still some minor shifts of less than 1 pixel present in different places on the pan Panorama no 6 o Shift red channel pixel down and 1 to the left o Horizontal shift s
45. and Technology Cracow 2005 22 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 6 3 1 Technical data see Tab 3 6 1 Camera Eyescan MM1 Detail vertical resolution 3600 pixel each vertical O A Nn G O O active line lenght 29mm Sum 24 bit RGB bmp uncompressed data rate 2Mpixel s 24 bit RGB ISO 100 400 shutter speeds s 1 360 1 180 1 90 1 45 1 22 1 11 1 6 1 3 angle of view 5 11 22 45 90 135 185 225 270 315 360 380 shortest scanning time 30s for 360 in full resolution using 14mm lens up to 8 times faster in reduced resolution white balance manual list of presets different light situations storable in ersonal list for example 250 MB for a full 360 scan using a 28mm lens NIKON with integrated UV IR cut off filter type standard focal length 28mm camera control direct from the camera computer tripod connecting 3 8 and 4 12V DC gt N _ e N oO power supply Camera computer processor Pentium II 8300MHz 768MB RAM 20GB 12 1 TFT LCD monitor Windows 2000 a gt i wireless IR keyboard incl track ball Ethernet interface RJ 45 USB port parallel port serial port pre installed camera software ro nN DB S ie 1 06 1s 4 2 l S 2 FS E a amp s B BA amp ot Z or O Power supply battery rechargeable battery 12V 11Ah or external pow
46. angeaVR and SPi V are plug in based viewers Quicktime is available for Apple Macintosh and Windows This program requires QTVR movie format PangeaVR is a viewer for Mac OSX only that displays both cubic QuickTime VR panoramas movie format and equirectangular spherical JPEG panoramas The last viewer in this category that will be described in details later is SPi V This is a very sophisticated and smooth viewer based on Macromedia Shockwave that handles panoramas completely in graphic card memory Last group of viewers are stand alone viewers They do not need any plug in or Java installed on the computer FSPViewer that will be also described later displays really big panoramic images and it is a free hardware accelerated viewer Others viewers in this group are panoglview panoviewer PT Viewer original stand alone viewer created by Helmut Dersch and QuickTime also works as a stand alone viewer To display the virtual tour of the Dresden University of Technology campus one viewer from every group was chosen The choice was not randomize but after many selections SPi V and FSPViewer were chosen to present the virtual tour Java version was also created with help of PanoramaVision software from SASTAdigital from Berlin The problem before choosing the viewer was to find the best viewer for high resolution panoramic images that were taken with Eyescan MM1 The resolution of these images is even 27777x3600 pixels for 28mm lens The maximum fil
47. anoramic gt lt meta gt lt title gt panoramic lt title gt lt description gt A description of the panorama lt description gt lt meta gt lt panoelement id pano_panoramic image image_panoramic gt lt image id image_panoramic gt lt layer type bitmap src panoramic jpg gt lt image gt lt scene gt KA COUT Tab 5 2 6 A basic example of code of XML file that is necessary for SPi V XML documents Tab 5 2 6 look a lot like HTML but there are a number of subtle but important differences o All XML elements must have a closing tag and must be properly nested o When writing any XML document special care should be taken that all tags must either have a corresponding closing tag eg lt tour gt lt tour gt or specifically close themself for example lt panoelement gt o XML tags are case sensitive This line in tour22 xml is for implementing the user interface lt uLOoroup Ssre toolbar toolbarixmi 7 gt What is more this code Tab 5 2 7 adds information about images that are hot spots on the map For example there are three types of the same image normal image hover image the mouse is over the hot spot and press image this image activates when the hot spot is clicked The similar situation is with hot spots on the panoramas Tab 5 2 8 lt image 1d deot width hergheae 1i gt lt layer class base type matte color FFOOQOO alphatype bitmap alphas
48. ata Karol Kwiatek AGH University of Science and Technology Cracow 2005 104 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 8 Bibliography 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 http www panoguide com Pere Lachaise cemetery in Paris http www pere lachaise com The Sydney Opera House site http www sydneyoperahouse com sections tours virtual 5 Ftour vrtour2 asp Virtual reality brings to life BBC News World Edition 12 02 2004 Ehrhardt I Fachsprachzentrum Bereich English Leistungsnachweis 1 Ausbildungssemester Hiilsse s building a frame of animated GIF http www tu dresden de fghgipf index_FE htm Merriam Webster s dictionary http www m w com http www vintagephoto tv http www panotools info Andrews P 360 imaging The photographer s panoramic Virtual Reality manual Rotovision 2003 Meers N Stretch the world of panoramic photography RotoVision 2003 http www tbk de Maas H G Schneider D 2004 Photogrammetric Processing 360 Panoramic Images GIM International 7 04 pp 68 71 Maas H G Schneider D 2004 Development and application of an extended geometric model for high resolution panoramic cameras http www kst dresden de Stroebel L Zakia R The Focal Encyclopedia of Photography 3 edition ed Focal Press B
49. c termed PTMac PTGui could be tested for 30 days for testing and then must be registered Version 4 1 was used in the generation stereo panoramas The latest version could be downloaded from 37 In the following examples cylindrical panoramas are produced that consists of 7 individual pictures The 7 pictures were taken in sequence at an interval of about 50 degrees Creating a panorama using PTGui software requires use of the following editing tabs Source Images Lens Optimizer Panorama Settings Crop Image Parameters Control Points Optimizer Preview and Create Panorama A presentation of stitching process is carried out on the example of one panorama that was taken on Grodzka Street The first step is to import the individual pictures in the Source Images tab Fig 6 3 2 by clicking Add button 18 In the Lens Settings tab one should select a lens type The software can automatically calculate the corresponding values based on horizontal field of view or focal length Focal length was integrated under EXIF so all the process of choosing a lens type was done automatically Horizontal field of view is 65 5 and focal length is 28 001mm Setting for the resulting panoramic file is configured in the Karol Kwiatek AGH University of Science and Technology Cracow 2005 89 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Panorama Settings window Here one can select the desired fil
50. cation Or the panorama icssscicsscachstecradntienadd stsvnavdemadstmancsss 4 ANG MSC Metal TDS sa a as ssuthanaucuenestslanensuceonasssutoanauess 42 Karol Kwiatek AGH University of Science and Technology Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4 2 Correcting panoramic images taken with digital panoramic camera 43 A Zils CINE SEAM CACC F5e5 sis a A eA 43 AD PrODICMOL SIREC PIX CS as 43 4 2 3 Moving OD CCUS msustaseieecdiertsaccisas a eee daceiaas a a 44 424A Croppins TSMC Ve TIM AGES renie S 45 4 2 5 Chromatic aberration and colour separation cccccccessseeeeeeeeees 46 AO Nadir an ZC MINN ria sachin E Rene TOA 57 Displaying panoramic images and virtual t0UrS ssssssscccecccossssccecoccsssssseee 63 5 1 Presentne the completed ProjeCtsside a 63 Sle SDeStomine ie Mier ACC cocia e E 63 3 12a Bandwidth Considerations sonici a a ae tee 63 9 2 Panoramie Vie WCU acicgc cuishswacciasdastanninaeuaianss a E 64 Fake JOE VIC WEL oer snips snemdaeudubnes saesandtndd seadaacpemdeeedubaareaesendietaste 65 I2 OREN VOW Ree eer eee ee en Renee ee er ee ee 69 5 2 3 Panorama Vision and Java based VICWET cccccccssseesseeeeeeeeeeeeeeeees 79 2 PLEECO panoramic TNA GES oiekin a a a a 84 6 1 Three dimensional perce ptiOn xc sc ciaseraeeivse a a a ee om ant 84 6 2 Methods of generation stereo PANOTAMAG cccccccessee
51. ccording to some guidelines 25 Each line contains a key and a value separated by an equal sign without spaces The keys are not case sensitive ImageName 15 jpg Aname of the JPEG file to open WindowTitle Panorama 15 A text that appear in the title bar of the window Panorama 15 A comment A hotspot s section starts here Specifies the x coordinate of the hotspot It is computed as the absolute x coordinate of the pixel divided by the width of the image and multiplied by 100 The resulting value will be between O and 100 This may seem complicated but the result will not change as you resize the image Specifies the y coordinate of the hotspot It is computed as the x coordinate Specifies a description of the hotspot to be shown in the status bar target 14 fsv Specifies the name of the file to be opened when clicking the hotspot Specifies the yaw horizontal angle for the opened panorama It must be between 0 and 360 Specifies the pitch vertical angle for the opened panorama It must be between 90 and 90 INL Lalo Ov eos 0 Specifies the horizontal field of view for the opened panorama It is an angle and must be less than 70 degrees end hotspot This line closes hotspot s section begin hotspot x 65 275 y 48 37 description Panorama 14 initialYaw 262 82 Mia ralPIrtChs js io Tab 5 2 1 5 fsv a code panorama 15 describing the position of one hotspot to panorama With
52. cessor controller provides accurate movement which may be seen in Figure 6 5 10 and is marked with red ellipse The VOS Head Tracker provides roll pitch and yaw Fig 6 5 11 for precise VR orientation Forte CyberPuck the 2 axis CyberPuck can be used instead of mouse or joystick It has 3 programmable buttons 0 Pitch and Roll A Roll Z Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Fig 6 5 10 The Digital Signal Processor controller that is inside VFX Roll Users POV after Center operation Fig 6 5 11 VFXI s axes that are use by VOS Head Tracker 44 Karol Kwiatek AGH University of Science and Technology Cracow 2005 99 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow COMSET Microphone 3D VOS Headtracker VFX1 Smart Visor Forte CyberPuck 3D Stereoscopic ee Imaging High Fidelity Stereo Headphones Feature Connector _ gt oe Connector aC oS Stereo Headphone INPUT s Mierophone INPUT ACCESS bus Connector VFX1 Interface Protocol VIP Card Fig 6 5 12 Major components of VFX 1 Headgear system 45 The VFX1 Headgear was calibrated at the factory but may require in field calibration due to environmental factors The VFX1 uses the local magnetic field in the vicinity of the helmet as a calibration refer
53. cow a b Fig 6 5 8 Testing VFX1 at the Institute of Photogrammetry and Remote Sensing at the Dresden University of Technology Quick Install o Open the computer system and insert the VIP Card Fig 6 5 9 into free ISA slot o Attach the free end of the VESA feature connector cable to system s VESA connector o Close the computer system rS ana io dasal Fig 6 5 9 VIP Card with VESA Feature Connector red ellipse O Make final connections connect VIP Card and CyberPuck red ellipse in Figure 6 5 8b with the helmet Download the latest driver vfx1_216 exe from 43 Install VFX1 Headgear software Setup VFX1 Headgear Interface Protocol Card select I O address and IRQ Adjust VFX1 Headgear optics Test VFX1 Headgear by running setvfx1 exe O O O O Karol Kwiatek AGH University of Science and Technology Cracow 2005 98 A few important parts of this helmet for VR will be presented Those parts Fig 6 5 12 are important while viewing panoramas especially stereo panoramas O VFX1 Headgear Smart Vision allows the VR user to use the PC interactively without removing the headset 3D Stereoscopic Imaging a pair of colour LCDs where each creates 789 x 230 pixel image Each eye sees different images in stereo mode but both eyes work as a team to provide depth It provides true realistic stereo imaging 3D VOS Head Tracker this system tracks your head s move The Digital Signal Pro
54. cted and all panoramas are included To change the size of the viewer in the Internet on a webpage one should click this Ta icon N To save the project this icon Felchernals and specify the name of the xml file o Completed project is shown in Fig 5 2 23 All of 53 panoramas from the campus are linked The result is a file pano_dd1 xml and other folders with panoramic images html webpages pictures and drawings added during generation of the virtual tour Karol Kwiatek AGH University of Science and Technology Cracow 2005 81 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Dour The virtasi tour ef the Dresden University of Tochaslogy Cemow JAVA a aam tel feet Fig 5 2 23 The completed project of the virtual tour of the campus saved as pano_dd1 xml in PanoramaVision and the file displayed in the browser o Last step is to publish this file in the Internet One should create html file that consist the following code Tab 5 2 13 The most important part is bolded The first applet 1s responsible for the viewer and the second for the map with hot spots lt div align center gt lt applet name viewer archive pva yjar code pviewer pviewer class width 400 height 300 mayscript true gt lt param name datafile value pano_ddl1 xml gt lt param name plan value plan gt lt param name buttons value on
55. d Cracow 3 8 3 Icascan s interface The most important functions in IcaScan interface are Fig 3 8 11 1 2 3 4567 8 9 10 11 p can Pre catation lice we fet gt co fe mel ft De a Searctaed tors tem ntirty i hen o o i a i i at EYESCAN M Color Leck 12 13 14 15 Fig 3 8 11 All the function from IcaScan l Initialization of the camera 2 Adjustment of the 0 position 3 Stop of scanning 4 Preparation of the settings 5 Start picture taking 6 Save the picture 7 Selection of the screen 8 Selection of the resolution 9 Selection of the lens type 10 Selection of the shutter speed 11 Selection of the angle of view 12 Color lock 13 Pre setting of light situation 14 Save pre setting 15 White balance Karol Kwiatek AGH University of Science and Technology Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 9 Creating spherical panoramas Spherical panoramas became very popular in virtual tours According to the panoramic images spherical images give you something extra which 1s the ability to look vertically up and down Spherical panoramas can be photographed using special panoramic cameras Alternatively there is the option of taking one or more sequences of individual pictures that overlap each other by a certain percentage T
56. dir There are at least two ways to do retouch a nadir The first option is to manually edit the image in a graphics editing program Adobe Photoshop s rubber stamp tool is great for this purpose But it requires some effort to do it well Another solution is to insert a logo sometimes called a tripod cap One simply pastes a logo in a circular form over the very bottom of the spherical panorama This method is more suitable if one needs to produce many panoramas Before editing nadir and zenith one should change the aspect ratio of the spherical panorama At first the resolution of the spherical panorama is 6126x3600 pixels Vertical resolution depends only on the horizontal resolution For example for panorama no 18 after all process of controlling the seam and deleting of 16 pixels the horizontal resolution is 6254px Dividing this value by 2 one gets 3127px 4 6 6254 3127 2 1 4 6 The panorama no 18 should be cropped to the resolution of 6254x3127px aspect ratio of 2 1 The number of pixels could differ for every panorama There could be a change of a few pixels The target is to get the aspect ratio of 2 1 In Adobe Photoshop one should use Crop Tool in order to leave a few rows of pixels in the upper part of the image More black pixels should be in the lower part of the image The result after cropping is shown in Figure 4 2 28 and could be compared with the original and not edited panorama Fig 4 2 27 Karol Kwiatek AGH Univ
57. e and high quality There are also some disadvantages such as downloading plug in and performance depends on 3D hardware 5 2 3 Panorama Vision and Java based viewer SASTAdigital 1s a company from Berlin from Germany It is also a producer of two digital panoramic cameras DRS 3000 C and DRS 5000 DRS 3000 C produces a colourful panorama with the resolution of 3 648 x 22 500 pixels and DRS 5000 makes a black and white panorama with much more better resolution such as 5 000 x 30 000 pixels PanoramaVision is also a product of this company and it was provided free of charge to the author of this diploma thesis The virtual tour through the campus in Dresden was also created with this program and some comments about possible improvements were sent to the author of PanoramaVision Mr Karsten Knothe Panorama Vision is software for linking panoramas to get a virtual tour The use of the software is fast and can be provided without previous knowledge Already existing picture series can be further used In this program existing panoramas from the campus were used Preparation of the data for PanoramaVision 29 30 31 Firstly every panorama needs to be resized The vertical resolution should be resized from 3600 pixels to 300 pixels The horizontal resolution is different for different lenses It is advisable to build an action in Adobe Photoshop with resizing and saving as JPEG function There are a few steps to make a virtual tour in this program
58. e applying panoramas exercised on the sites of Dresden and Cracow 2 The Dresden University of Technology campus The Dresden University of Technology Technische Universitat Dresden TUD Germany with its buildings and facilities occupy an area of about 275 hectares 5 The university was founded in 1828 as an Educational Establishment of Technology The institution came to be officially acknowledged as Royal Saxon Polytechnic in 1871 and in 1890 obtained the status of College of Technology Ten years later it was granted the right to confer doctorates Many well known scientists have contributed to the worldwide reputation of the university for example Johann Andreas Schubert design engineer of the first German steam locomotive Hubert Engels founder of the world s first permanent river engineering laboratory Kurt Beyer bridge builder engineer etc All buildings in the campus have names that comes from well knows scientists Fig 2 1 Fig 2 1 Beyer s building at the Dresden University of Technology campus As a natural consequence of this development the college was given a name of a Technical University in 1961 The unification of Germany in 1990 marked the beginning of a new stage in the history of the Dresden University of Technology Several faculties were added to the traditional faculties of sciences and engineering These include social sciences transport and communication law and medicine Now the university has 14
59. e centre of the triangle The method of a triangle is the temporary name of a method used in this diploma thesis Karol Kwiatek AGH University of Science and Technology Cracow 2005 86 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Area Left panorama Right panorama Fig 6 2 4 The scheme of Professor Jachimski s method of a triangle to get a Stereo panorama On each of two sites the equilateral triangle was designed At Grodzka Street the length of the triangle s side was 1 5m and at Rose Avenue 2 0m Three cylindrical panoramas were generated on each site one in every corner of each triangle A sequence of images was taken with digital camera which was rotated about a vertical axis Then these images were stitched to get this cylindrical panorama This process of stitching images to get a panorama is described in chapter 6 3 The space around the triangle is divided into 6 sections These sections are presented as ellipses in Fig 6 2 4 Different colours of ellipses and arrows help to understand this method A B and C are the positions of taking three panoramas For example the first section area is created using parts of panoramic images from positions A and B The first ellipse and two arrows directed to this ellipse are blue The Area 2 could not be created by using the same positions because there is no stereoscopy along the extended ba
60. e format Projection specifies the form of projection here the possible settings are Rectilinear for planar pictures Cylindrical for cylindrical 360 panoramas and Eguirectangular for spherical 360 panoramas In this case Cylindrical projection were chosen Vertical field of view was automatically calculated and is 39 13 T ECM WORD OURAN ARON WO OW ARORA SO Mero deka pr Lygrodrka_ pts FIG irh verska E Pe Eat bkep Control Pores coe Po Ca ope H g BR ay me es Leet Pane ete Crop lee eee Copi Poig Ope Pee Ciema Petra 6 Lindi i Yes Erim Hap Tep L R fa Aii butor baira bo piad bhe mepa For eau prora Pa ari es ing red op Hie eoa Degdioner ints bhi ardoa Fie ai High A piii M RBS TAY Winadi ikg i ees a et ae Fig 6 3 2 Individual pictures are loaded in the Source Images tab Individual pictures can be cut or cropped as require in the Crop tab This function is helpful when using for example circular fisheye pictures The arrangement of the individual pictures in the panoramic strip is defined in the Image parameters tab Fig 6 3 3 dzka l piz Flui iria verses Gup jasp ban Getting Parnas Settings Cop EBR DREES Congl Paints Gpimige Prea Cea Panawa bhiis Shep Gi De He parameters yor mig ce ues She Fierce sra Lo iri he Bries ama bo eet tha akea by dragging YO Imap ni pour parer aik Vem Pau Ea Lave bate hp a b H shalt aii Ha Fig 6 3 3 Individual pictures are position
61. e size for original images is up to 249MB Those files can not be sent to the Internet Those files could be only seen in FSPViewer stand alone viewer that works on a local hard disk For the Internet the best choice was SPi V viewer because of its handling with big and compressed images in a quick way Karol Kwiatek AGH University of Science and Technology Cracow 2005 64 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 5 2 1 FSPViewer FSPViewer is a free viewer for cylindrical and spherical equirectangular panoramic images The latest version 1 3 is dated on 28 July 2005 One can download this version from 25 A few details will be described and some reasons for choosing this stand alone viewer will be mentioned It is not a program for viewing panoramas in the Internet FSP Viewer is designed for viewing local hard disk network or CD high resolution panoramic images at fullscreen and with very high image quality It uses advanced interpolation algorithms to show you smooth images without losing sharpness Internet viewers are designed for displaying small images in small windows since bandwidth is limited Viewing a panorama in 1024x768 or higher size will give you a much more immersive feeling but it will require much more resources from the computer The whole image will be loaded in memory and the program will need to write a very high number of pixels so a fast process
62. e survey conducted June 2005 Macromedia Shockwave Player reaches 55 4 of Internet viewers Fig 5 2 8 The most popular content is Macromedia Flash Player Java 86 5 and Apple QuickTime Player 64 1 that are used for viewing panoramic images are more popular than Macromedia Shockwave Player Though that it is worth to install Shockwave Player on the computer and to see the amazing results of this plug in Landis Bennett one of the World Wide Panorama organizers 26 found SPi V to be an extremely powerful panorama viewer that he believes that it will revolutionize the field of VR Photography The smooth panning and gentle stops really amaze with this viewer But a Karol Kwiatek AGH University of Science and Technology Cracow 2005 70 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow smooth viewing of a panorama is not the only think Aldo continues to come up with new and innovative things to do with SPi V In Michelle Bienias s article in VRMAG titled Aldo Hoeben s SPi V engine January 2005 28 there are clearly explained features of this viewer He writes that one of the big advantages of SPi V is the use of XML What is more by using XML format and separate graphics files SPi V itself is a modern viewer XML is much like HTML There is no WYSIWIG What you see is what you get editor for SPi V yet but Aldo Hoeben is thinking about this tool No
63. ed in the Image Parameters tab The Control Points tab Fig 6 3 4 is used to specify individual points in the overlapping area of the individual pictures that are to coincide in the panorama These points should be distributed as equally as possible in the overlapping area The more control points are defined the greater the fitting accuracy In this project 7 control points were used in every pair When selecting points it is advantageous to focus on areas of the picture that are rich in contrast In the editing window two neighbouring pictures are placed next to each other The stitching points are set using the left mouse button and appear in the table in the lower right corner of the window Once all of the required control points have been defined the Next or Karol Kwiatek AGH University of Science and Technology Cracow 2005 90 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Prev button should be pressed to go to the next overlapping area When all of the points for all of the pictures have been set it is time to click on the Optimizer tab T EVIE RO ORAS RA LP CRA ST ni i lpr Li Pie Exot Gees Opia fsck eoii Yee Wide fing yeaa 4 i Dg W gt E ae mw pb Se ieee bent biren pret ati cg eae pete CON end ning eee Greate Patan Lime Sep E eee corr pen Leer pos es ee Pe a eo ee eee E ee oe oe eo oe es pe OP Ce ee 2 Lt es Ba Gi eh a a a ee Fimi h
64. ence Items that can cause changes of this field could be iron made objects This leads to sporadic tracking and dead spots This problem occurred in the VFX1 which was tested in this diploma thesis Probably the controller Fig 6 5 10 was slightly damaged The reason why this problem occurs could be the fact that the helmet could have stayed to long in strong magnetic field However it works in some range of horizontal and vertical movement It works well in range of 150 horizontally The calibration process does not help to solve this problem What is more the producer of this helmet does not produce VR helmet any more and it changed the name to Interactive Imaging Systems so there are no updates of software for VFX1 Although the system of head tracking does not work properly it is worth to display panoramic images especially the three dimensional ones The following pages show how to display them in VFX1 The system of recognizing the head s movement works well only in the range of 150 and this is enough to view a part panoramic image The stereo panorama could be displayed also on another VFX1 not only the one that was tested in the Institute in Dresden Karol Kwiatek AGH University of Science and Technology Cracow 2005 100 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Displaying panoramic images in VFX1 For displaying panoramic images in VFX1 the program VRWDOS EXE i
65. eo perception the left viewpoint and the right viewpoint are located on an inner circle the viewing circle inside the cylindrical image surface as shown in Figure 6 2 1 IMAGE SURFACE VIEWING CIRCLE a b c Central projection Left Eye projection Right Eye projection Fig 6 2 1 Circular projections 34 The viewing direction is on a line tangent to the viewing circle The left eye ki A k WE Pi J p projection uses the rays on the tangent line in SCENE POINT 7 the clockwise direction of the circle as in ri Figure 6 2 1b The right eye projection uses o re the rays in the counter clockwise direction as bE eae LINE in Figure 6 2 lc Every point on the viewing i circle defines both a viewpoint and a viewing 7 direction of its own The applicability of circular projections to panoramic stereo 1s shown in Figure 6 2 2 From this figure it is au clear that the two viewpoints associated with VIEWPOINT all viewing directions using left eye projection and the right eye projection are IMAGE SURFACE in optimal relative positions for stereo viewing for all directions RIGHT VIEWPOINT VIEWING CIRCLE Fig 6 2 2 The two viewpoints for these projections are always in optimal positions for stereo viewing 34 Karol Kwiatek AGH University of Science and Technology Cracow 2005 85 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Crac
66. er supply possible Tab 3 6 1 Technical data of the digital panoramic camera Eyescan MMI 15 Karol Kwiatek AGH University of Science and Technology Cracow 2005 23 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 6 3 2 Resolution potential Resolution potential of the Eyescan MM1 is shown on the example of one part of the panorama Fig 3 6 6 that was taken near Caf on the crossing of Hettnerstrasse and George Bahr Strasse at TU Dresden campus a 20 of the original zoom a ets tat p E T amm Paes b Original 100 zoom c 1000 ten times zoom Fig 3 6 6 a b c Resolution potential of the camera Eyescan MM1 illustrated through 3 zoom steps 3 6 4 Eyescan M3metric In comparison to Eyescan MM1 this model Eyescan M3metric Fig 3 6 7 has higher vertical resolution This camera is produced by the same producer M3metric has one line sensor for each colour channel That is why true colour information is recorded without any filter patterns and interpolation techniques This camera has three CCD lines with maximal vertical resolution of 10 200pixel MAAS and SCHNEIDER in 11 presented some basic parameters for this camera Tab 3 6 2 Fig 3 6 7 Digital panoramic camera M3metric 14 Lens 28mm 35mm 45mm 60mm 100 mm 180 mm Vertical
67. eractive user interface and hotspot capabilities Highly customisable branding options Full 8 bit transparency support Compatible with Microsoft Windows 98 and up and Apple MacOS 9 X and OSX O O O O O Aldo Hoeben writes on his webpage 26 that SPi V can be used both online and offline When used online SPi V benefits from Shockwave s considerable player adoption Offline things look even better as no install is necessary to run the SPi V standalone viewer off a CD Even though SPi V is capable of displaying exciting new effects inside panoramic scenes hardware requirements are low allowing a wide audience to enjoy engaging content System requirements are the following o Macromedia Shockwave version 10 or newer plug in o Hardware accelerated 3d card 16 Mb Video RAM 32 Mb or more recommended o Display set to 32 bit for best performance SPi V is the first hardware accelerated panoramic viewer engine available to wide audience although it is something like PTViever a Java applet that does not run on Java but Shockwave Wo z i a j a a T a Pre G Percentage of Internet enabled PCs hs ri i 12 5 i Macromedia Adobe Jawa Microsoitt Appla Real Macromedia ViewPoint VG Flash Player Acrobat Windows QuickTime Player Shockwave Media Player Races Madia Playor Piayos Player Fig 5 2 8 Macromedia Shockwave content reaches 55 4 of Internet viewers 27 According to the NPD Onlin
68. ersity of Science and Technology Cracow 2005 57 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Fig 4 2 27 Original panorama no 18 amp Fig 4 2 28 Panorama no 18 after before editing cropping to aspect ratio 2 1 but before editing nadir and zenith Correcting nadir and zenith needs to install a new version of PanoTools Because of patent problems with Ipix Helmut Dersch limited field of view in PanoTools One should get an updated and unlimited PanoTools from Jim Watters s website 22 who now maintains this program In version 2 7 0 10 dated at 14 05 2005 field of view is limited to 1000 and it enables to correct nadir and zenith using PanoTools There are a few steps to correct the nadir 24 a Open a spherical panorama 2 1 in Adobe Photoshop The tripod is visible at the bottom b Write down the image size because it will be necessary later dmage gt Image size c Rotate the image 180 Image gt Rotate Canvas gt 180 Now the tripod is at the top of the image Fig 4 2 29 Fig 4 2 29 A rotated panorama no 18 d Remove the bottom half of the image Image gt Canvas Size For Height type 50 and select Percent For Anchor select the top middle tile Fig 4 2 30 Click OK One ends up with the top half Fig 4 2 31 Karol Kwiatek AGH University of Science and Technology Cracow 2005 58 Generation of a virtual tour in the 3D
69. es There are two a versions of such fisheye lenses The quasi fisheye Fig 3 7 8 has a circle i of illumination that circumscribes the film format and gives 180 degrees pia angle of view across the diagonal The true fisheye Fig 3 7 7 hasa p A circular image area wholly within the format thus including more of the al scene The diameter of the image circle depends on the focal length f Fig 3 7 8 The i quasi fisheye 9 Karol Kwiatek AGH University of Science and Technology Cracow 2005 28 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 8 Process of taking a panorama using Eyescan MM1 Eyescan MM1 is easy to handle and is also called All in One system because all components of the system are included in the camera case The following instruction will show how to deal with this camera how to setup it up and finally how to do the scan 17 3 8 1 Camera assembly a Mount the camera on a tripod it is possible to mount it on one of the common threads 4 and 32 Fig 3 8 1 Level the camera c Attach the data and control wire attach the 15 pin D SUB plug to the socket on the back of the camera and tighten the locking knobs Fig 3 8 2 Control wire d Attach the control wire Fig 3 8 2 to the COM 1 interface at the camera computer and tighten the locking knobs Karol Kwiatek AGH University of Science and Technology Cracow
70. es this helmet reluctant for more improvements Panoramic images were successfully implemented into VFX1 Headgear The implementation of the virtual tour was not successful The perfect virtual tour implemented into the virtual helmet should be like this O O O O O O True color 24 bit stereo viewing Full working head tracking that is not dependent on iron objects around the user Consists of high resolution spherical panoramic images Short loading time for panoramas Handheld device like CyberPuck for VFX1 should be used to navigate between panoramic images and for zooming areas of interests 3D music should be played in headphones Interactive panoramas are provided for complete documentation of areas When spherical panoramas are used every physical detail in the camera s environment can be recorded It would be the best to have a virtual tour that was created not only from panoramic images but also from real data that was achieved by laser scanner Comparing the first and the second Panoramic Photogrammetry Workshop in Dresden 2004 47 and in Berlin 2005 48 a trend of fusion of terrestrial laser scanner data with imagery from digital panoramic cameras 1s indicated Next solution that could be used in a perfect virtual tour is using GPS to determine the exact positioning data of a particular photographic site This solution could lead to mapping systems with a lot of graphics sound video and of course GPS d
71. etermine pan and tilt panorama no 51 Karol Kwiatek AGH University of Science and Technology Cracow 2005 78 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The red pointer Fig 5 2 17 is used to point the place where one would like to have a hot spot Shift and Control keys can be used to change the field of view In the 12 line Tab 5 2 10 there is a code that makes an action after one clicks the previously defined hot spot The new panorama no 4 will start with set values This is in order to get a real experience of the user of the virtual tour Virtual tour using panoramic images must behave in such way that the user does not fell confused The direction of viewing should be adequate when going through the virtual tour Line number 16 Tab 5 2 10 is the last line in the scene Special xml tag lt scene gt ends this section in file tour22 xml The last line in this file is tag lt tour gt that ends the xml file First version of SPi V was released in November 2004 Now there is version 1 3 26 Hoeben says in the interview with the reporter from VRMAG 28 that animated images and flash based textures are next step to add to his viewer SPi V 2 0 should include support for huge panoramic images SPi V viewer was originally developed for off line CD ROM and broadband delivery of rich panoramas It offers amazing possibilities Advantages of this viewer are high performanc
72. etween three lenses used in this diploma project Number of panoramas recorded A part in the OO 32 9 19 whole project Tab 3 7 2 Number of panoramic images that was made using different lenses These three kinds of lenses were used in creating the virtual tour Fig 3 7 1 3 7 2 and 3 7 3 The following pictures Fig 3 7 4 3 7 5 and 3 7 6 will show the difference in the field of view when using one of these three lenses It is easy to see that the maximum field of view is for the shortest focal length and the minimum for the longest focal length But not only is field of view changing when we change lens attached to the camera Number of image columns is also changing The shorter is the focal length the less are numbers of columns in 360 image What is more data volume is increasing when the focal length is increasing its length Three different lenses attached to the Eyescan MM1 are shown below Karol Kwiatek AGH University of Science and Technology Cracow 2005 26 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Disital panoramic camera MM1 Fig 3 7 1 F 7 2 Fig 3 7 3 mm Fisheye lens 14mm lens 28mm lens These test panoramic images Fig 3 7 4 3 7 6 were taken in front of the back door of H rsaalzentrum at the Dresden University of Technology campus Fig 3 7 4 90 degree part of Fig 3 7 5 90 degree part of panorama no 35 panorama no 3
73. f you need to shoot architectural pictures across parallel lines It is good to use these kinds of cameras when you need a lot of undistorted information across a wide area The next advantage is that these cameras are easy to synchronise with flash lighting because they are controlled by one point shutter There are a few examples of flatback cameras Hasselblad X Pan Timiyama Art Canham 4x10 Fuji GX617 Glide 66 17 MST Linhof Technorama 617 Horseman SW612 PRO and Z Pan s S14 2 arctang 42 T P objective oY gt Fig 3 4 1 Flatback camera 12 3 4 2 Swinglens cameras Swinglens or short rotation cameras Fig 3 4 2 are constructed in different way They enable a thin strip of light to scan across a curved film plane The first panoramic images were built using this rule of constructing such cameras The most popular and commonly seen cameras are the Noblex and Widelux They scan from a point source across 140 degrees of view they are most related to human vision That is why they are the only representatives of true perspective Mechanism of moving lens is often the weakest part of these cameras In Widelux there were many problems with getting up to speed from one side of the exposure to the other These problems were fixed in Noblex by designing a shutter that gets up to speed with a half rotation before it exposes any film to the light which was much more successful solution There are a few exaples of swinglen
74. generated using anaglyph glasses this method is not dependent on hardware This technique is presented in chapter 6 5 2 on the example of one stereo panorama that was created at Grodzka Street in Cracow 6 5 1 Mirror stereoscope and VSDGL exe As it was mentioned before glasses influence the way we see an image They are used to watch a standard monitor For example shutter glasses block the light from the right eye while the monitor shows an image for the left eye and vice versa The monitor has to show separate images for the left and right eye at a high rate In this diploma thesis mirror stereoscope and anaglyph glasses were used in viewing stereo panoramas To see a stereoscopy on the standard monitor the left image should be displayed on the left part of the monitor and the right image should be displayed on the right part of the monitor VSDGL exe is a program for displaying images in such way VSDGL exe is a viewer that is based on OpenGL standard and it was created by Mariusz Twardowski from the AGH University of Science and Technology in Cracow The code of this program was a little changed to enable viewing long images such as panoramas Unfortunately it was not possible untill now to change a code in this program that one could spin more than 360 To get a stereo effect in viewing panoramas that was created on Grodzka Street or R Alley one needs to change names of files Left image should be named panl50 tif and the right one
75. h daeeaue ysecebendsecawecunetoudadaeact 25 Sraa POV cenna a auets eee eae ce 29 EE e NTO a E S 25 Dn dy pree Enses Sed m the prOleCl eek staseteiaee cera N 23 Ilos HISNEWE EUS ernn a a inenin 28 3 8 Process of taking a panorama using Eyescan MM1 ssssscssssssssseesssssssseseerees 29 3S CAME aS MDI i esta cueeieiiah hapa saeniiehorabpasutuaetiae saabnc 29 382e HOWTO SCAN aaria a Gelade a a a neethant lees 30 DOs Tea Scam erli CE n E A easels 34 39 Creating spherical panoramas ipere i E 35 3 9 1 Digital panoramic camera and fisheye lens ce eeeeeecceeeeeeeeeeeeees 35 Ds Sle TOW CEC MMIC ennnen a a a 37 5 9 22 2 Usine two fisheye PICTUrES xiadvcindeariiadcessndodsartedotaaitolesssaelcesseies 37 3 9 2 2 Using a parabolic mirror horizontally ccceeseeeseeeeeeeeeeees 39 3 9 3 Shooting more than one row Of pictures 2 0 0 0 ceeeeeeeeeceeeeeeeeeeeeees 39 4 Editing panoramic images ioisscvesecedevecvcustvcsectverscsdustvesuecdevvsieustecsucsdexvesseatsccuesters 41 4 1 Panoramic production wsiveaccsadsacennsdseuas codenadanslieanscncantenesdiesadsedenadapsieaeesecsanests 4 Aalls Faking picie ia apa tae scaoew treat retest icv deviance dan temesharecars raeeiaaasncet 4 Ae Me KSOME CHING mane GISTOMIIOM a das onda raca amb enede tuebentance 4 Ae De 2UICMINe WIV 1dUAl PICLULES wav eieitesncut wwe wsiertichie a 4 4 1 4 Retouching the panoramic 1Mage cccccccccccssssessseeeeeceeeeeeeeesseeeees 4 A 1 5 Publi
76. he number of pictures required is a function of the focal length of the lenses used There are some methods available to make a spherical panorama o usean ultra wide angle fisheye lens that allows you to capture at least 180 degrees vertically o usea parabolic mirror device horizontally with specialist software o shoot more than one row of pictures o use 14 or 15mm wide lens in such a way you can add up and down shoots These four methods were described in Panoguide com 1 The next method that was used in creating the virtual tour of TU Dresden campus is not described in that source This technology is based on using digital panoramic camera and fisheye lens and it was a little mentioned by JACOBS 18 3 9 1 Digital panoramic cameras and fisheye lens While analog cameras are typically limited to photographing cylindrical panoramas digital panoramic cameras are capable of taking cylindrical and spherical panoramic shots The only way to produce a spherical panorama using digital panoramic camera is to apply it with fisheye lens Digital panoramic camera has a RGB line sensor that scans whole sphere It makes some kind of Half Slices Fig 3 9 1b Then the mosaics of these half slices make a full spherical image Fig 3 9 1a Fig 3 9 1 A single rotation of a 360 slice sensor produces a higher resolution spherical mosaic a Each slice corresponds to a greater circle on the sphere b Half of the slice maps to a line i
77. he object 14 In the case of digital panoramic camera the sensor moves around one fixed rotation axis with the projection centre on the rotation axis In this way it describes a cylindrical surface Fig 3 6 1 Because of this system of scanning this kind of camera is also called rotating line cameras Three channels of colours are not recorded strictly simultaneously causing colour seams when recording moving objects The scene around a camera is scanned in horizontal angle up to 360 The vertical opening angle is depended on o focal length o sensor length Fig 3 6 1 Principle of digital panoramic image acquisition 14 Instead of having a CDD chip typical for digital chip cameras these cameras are equipped with the RGB line sensor When a scene is being photographed the camera rotates about its axis via a motor in order to capture or scan the complete environment Due to the scanning technology they employ digital panoramic cameras are not very well suited to filming moving objects The amount of daylight present influences the rotational speed of the camera as it takes pictures While the time required to film a panorama with sufficient light is Karol Kwiatek AGH University of Science and Technology Cracow 2005 20 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow around minute more darkly lit scenes easily can result in shooting times of 10 minutes and more
78. hing Fig 3 5 1 Image stitching technology 12 Karol Kwiatek AGH University of Science and Technology Cracow 2005 18 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Image stitching is the most common technology of making panorama A panoramic image is created by composing a series of rotated images Fig 3 5 1 In order to generate a panoramic image one should ensure that the camera is rotating about an axis passing through its optical centre This process is presented in chapter 6 3 on the example of program that is called PTGui 3 5 3 Fisheye lens Fisheye lens could be used to create spherical panorama A digital camera and digital panoramic camera are sometimes equipped with this lens In the first case two or three images taken with fisheye lens is enough to generate spherical panorama The number depends on the program used In the second case one gets also spherical panorama but this image does not need stitching process More information about this technology is in chapter 3 9 3 5 4 Hyperbolic mirror This technology is used when a conventional digital camera looks vertically to a hyperbolic mirror These curved mirrors usually are attached to the respective lens by way of an adapter and allow a 360 view to be captured in a single shot This is only possible up to a certain horizontal field of view The subsequent digital panoramic application of this type of
79. hould be applied Red a 0 022 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 022 b 0 001 c 0 001 o That correction did not correct the trees at the top at all Much more of a correction is necessary Red a 0 03 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 03 b 0 001 c 0 001 o Still not enough Parameter a should be increased Red a 0 04 b 0 001 c 0 001 Green a 0 b 0 c 0 Blue a 0 04 b 0 001 c 0 001 o Still not enough and now the area between the centre and the edge is over corrected o Need less a and more of the reverse of b and c Red a 0 03 b 0 012 c 0 0012 Green a 0 b 0 c 0 Blue a 0 03 b 0 012 c 0 002 o Now itis time for vertical correction Tab 4 2 2 Red a 0 0035 b 0 c 0 d 1 002 Green a 0 b 0 c 0 sl Blue a 0 b 0 c 0 Fe That looks like it fixed the vertical It is advisable to save all correction values in different files so that all additional pictures taken with the same camera and lens can be quickly and accurately corrected In the four pictures that are below there is a presentation of a right correction that was done at every step It is good to compare these four screen shots from Adobe Photoshop Panorama no 33 was taken in the courtyard near Georg Schumann building Figures 4 2 20 4 2 23 show the top part of the tower that belongs to this building Fig 4 2 20 Original and not c
80. ill take the nearest pixel in the base image and show it on the screen This is the fastest option and is used to obtain a smooth panning but it yields to poor quality For this reason the program will compute a higher quality image as soon as you stop panning FSPViewer implements three different algorithms each one trades quality for speed at different extents and you can choose which one to use with the Tools gt Options menu command Fig 5 2 1 Options TETE o N one Fig 5 2 2 f does not use any interpolator A ee It is the fastest options but image quality is low Bilinear faster o Bilinear Fig 5 2 3 uses 4 pixels in the base O Lanczos slower image in order to compute each pixel on the Jenee shires en iaei screen It is very fast but the resulting images are a little blurred This is the only interpolator that is used 1f any in most viewers Interpolator when panning A o Lanczos2 Fig 5 2 4 is a two lobed Lanczos Ei windowed Sinc filter and uses 16 pixels in the base image for each pixel on the screen It is Default hFov slower but creates high quality images This is the default setting Fig 5 2 1 Options of interpolators in FSPViewer Karol Kwiatek AGH University of Science and Technology Cracow 2005 65 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow o Lanczos3 Fig 5 2 5 is a three lobed Lanczos windowed Sinc filter and uses 36 pi
81. ines in bold in Tab 3 8 1 in the INOVISION INI file This file is located in the folder where IcaScan is installed Lens14 name 28mm lens R 20 0 Lens15 name Fisheye R 7 8 Tab 3 8 1 Adding an additional lens to INOVISION_INI file The other two lenses that were used in measurements were pre defined in this file Note that more than 16 lenses cannot be added to this file because the seventeenth would not be seen in this menu Fig 3 8 7 R is the radius that is a characteristic value of every lens For the fisheye lens used in the project this radius 1s not 8 0mm but 7 8mm e Selecting shutter speed and angle of view Fig 3 8 8 r 12360 360 x Fig 3 8 8 Selecting shutter speed and angle of view f Selecting the resolution Fig 3 8 9 It is possible to select the resolution of the final image just before taking the image One can choose from four options 1x full resolution 3600 Pixel vertically 2x half resolution 1800 Pixel vertically Karol Kwiatek AGH University of Science and Technology Cracow 2005 32 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4x 1 4 resolution 900 Pixel vertically 8x 1 8 resolution 450 Pixel vertically For the maximum resolution the camera makes the best quality of the image but it takes much time On the other hand one can get the shortest scanning time by t
82. int images can give Stereo in all viewing directions For upward viewing the two cameras should be separated horizontally and for side ways viewing the two cameras should be separated vertically Karol Kwiatek AGH University of Science and Technology Cracow 2005 84 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The disparity is a function of the point s depth and the distance between the eyes baseline Maximum disparity change and hence maximum depth separation is along the line in the scene whose points have equal distances from both eyes No stereo depth separation exists for points along the extended baseline Fig 6 1 2 shows a conventional stereo setting According to GLUCKMAN and NAYAR 33 people can perceive depth from stereo images if the viewpoints of the two cameras generate horizontal disparity in a specific range Stereo has been obtained in panoramic images by having two viewpoints one above the other However since the disparity in this case is vertical it can only be used for depth calculation and not for viewing by humans eyes which are separated horizontally 6 2 Methods for generation stereo panoramas 6 2 1 Multiple Viewpoint Projections Stereo panoramic imaging uses a special type of multiple viewpoint projections circular projections where both the left eye image and he right eye image share the same cylindrical image surface 34 To enable ster
83. is image should be rotated copied and pasted to the panorama with aspect ratio of 2 1 j A layer with pasted half of the panorama should be merged down Layer gt Merge down The result is shown in Figure 4 2 37 Fig 4 2 37 The result image after editing a tripod nadir Now only zenith needs to be edited Zenith It is also necessary to edit the upper part of the image This is where almost always sky can be seen The process is nearly the same as editing the nadir There are a few differences Karol Kwiatek AGH University of Science and Technology Cracow 2005 61 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow a Open the last edited image Fig 4 2 27 b Values have been written down c This rotating is cancelled in the process of correcting the zenith d The process is the same e j The process is the same Figure 4 2 38 shows the small hole in the shy The zenith was corrected in the same way as the nadir Only point c should be cancelled The final result after edition process is shown in Fig 4 2 39 The difference between 4 2 37 and 4 2 39 is the zenith in the upper part of the panorama presented as a black line group of pixels Displaying these panoramas will be discussed in the next chapter Fig 4 2 38 Remapped second half of the panorama with a hole in the sky t Le Fig 4 2 39 The final result of the spherical panoram
84. ive viewers that can present panoramas with coded hot spot s file Some of them are based on Java others want you to install extra plug in to your browser There are also stand alone viewers which do not need extra plug ins or Java To make a virtual tour livelier it is good to add some sound movies etc In general we can say that the more interactive virtual tours are the more time a user spends on watching it Travel and estate agents have quickly seen the potential of interactive websites to advertise their holidays and properties and now it is common to take virtual tour around many different places even a cemetery Fig 1 1 without even leave the glare of the computer screen PS Pee SS eres z p m e joa Seren Pe Fig 1 1 P re Lachaise cemetery in Paris virtual tour with interactive map 2 What is more in order to have a completely immersive experience one needs to consider spherical panoramic photography A technique for making spherical panoramas using a few methods is described in this diploma thesis Especially the one with a digital panoramic camera and fisheye lens is described in details Panoramas have an amazing effect whether integrated in a personal homepage or professionally used in architecture in museums in company or product presentations A great Karol Kwiatek AGH University of Science and Technology Cracow 2005 6 Generation of a virtual tour in the 3D space applying pano
85. iversity of Technology Germany for their support in writing this diploma thesis I would like to express my gratitude for formulating interesting topic of diploma thesis and providing me with continuous technical support and scientific advice during the process of creating virtual tour of the university campus in Dresden The author would like to thank all the scientific employees from the Institute of Photogrammetry and Remote Sensing The Dresden University of Technology who gave me advice and provide support on various topics A special thanks go out to Professor J zef Jachimski from the AGH University of Science and Technology in Cracow Poland for the general supervision of the project and for consulting execution of stereoscopic panoramas on two sites in Cracow I wish to thank Mr Hans J rg Sch nherr from Kamera and System Technik GmbH from Pirna near Dresden for supporting me with Eyescan MM 1 The author would like to say thank you to Mr Karsten Knothe from INNOTECH HT GmbH from Berlin Germany for possibility to work with program for creating virtual tours Karol Kwiatek AGH University of Science and Technology Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Content Page Bs MDiroducthon es csteccncwccscasaastsacacncasiocbcebeacatavasncdeuclsadbeneessasaccbsacatesaswebaasseaceassasiaeaesans 6 2 The Dresden University of Technology Campu
86. izontal 35 5 degrees diagonal 45 0 degrees Angular range vertical 70 degrees horizontal 360 degrees Angular resolution vertical 0 077 degrees horizontal 0 251 degrees Three degrees of freedom yaw azimuth 360 degrees pitch elevation 70 degrees roll tilt 70 degrees Interfaces with standard VGA feature connector 26 pin ribbon cable 60Hz Refresh Rate 60 times per second up to 1 kHz refresh rate possible Utilises ACCESS bus Connectivity Standard Single 26 pin D connector High resolution containing video audio and VOS head tracking sensor cable Connects to VFX1 Interface Protocol VIP card ACCESS bus host connector Phone Jack Connector VIP interfaces with standard VGA feature connector 2 cables from stereo sound card to VIP card for headphones and microphone VIP card requires 8 bit PC ISA slot Dual active matrix colour LCDs Works with existing Standard VGA applications IBM PC or compatible 386 486 Pentium Video card VGA minimum with 100 VESA standard compliant feature connector ISA VLB PCI Free ISA Expansion Slot One free base port 260 280 2A0 2CO One free IRQ 5 7 10 11 12 15 Stereo capable soundcard for audio Tab 6 5 1 Specifications of VFX1 Headgear 42 Karol Kwiatek AGH University of Science and Technology Cracow 2005 97 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cra
87. l i iil ill Lu ety jil ML j ll eed i Lent T gi Iii I d Ml Wii qi ii i HHH AN Wat HI f if HTT UT HH NHI stereo panorama in VFX Tab 6 5 14 The part of resulting panorama grodzka bmp in Line o Put the helmet on your head and experience Sequential Mode stereo panorama o Press ESC to exit the viewer The author of the diploma did not find a solution of implementation a virtual tour into VFX1 Headgear To do this advanced programming in ANSI C is necessary to create panoramic images together with hot spot information Karol Kwiatek AGH University of Science and Technology Cracow 2005 102 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 7 Conclusions In this diploma thesis there were two parts discussed The first part was about creating editing and displaying the virtual tour of the Dresden University of Technology campus Fifty three panoramic images were taken using digital panoramic camera Eyescan MM1 It was provided by KST GmbH from Dresden The author used it many times during his 9 months stay in Dresden The stations for taking panoramic images were situated in the places from which one could see the neighbouring stations and having this it was possible to design a virtual tour According to the topic of panoramic images the following conclusions were drawn o Editing panoramic image
88. l Correction dialog box Fig 4 2 18 the coefficients a b c and d can be entered selectively To correct chromatic aberration the values for red green and blue must be selected with respect to the colour fringing offset Karol Kwiatek AGH University of Science and Technology Cracow 2005 51 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow In conventional photographs Radial Correction is enough to correct CA But for panoramic images especially spherical ones using only this function is not enough According to information included in correspondence from Jim Watters a new solution was found for panoramic images from digital panoramic camera Eyescan MM 1 Images from this camera can not be corrected with a radial correction A combination of horizontal Fig 4 2 18 and vertical Fig 4 2 19 corrections is needed Radial and Vertical correction differs from Horizontal Radial and Vertical use the formula 4 4 r src aXr_dest44 bXr_dest43 c X r_dest42 d X r_dest 4 4 However Horizontal uses other formula 4 5 delta x aXr_dest43 bXr_dest42 cxXr_dest l 4 5 fi Carec hida O Rada ff Vertical Cancel Fig 4 2 19 TheRadial Vertical shift is needed to correct chromatic aberration errors in panoramic images In formula 4 4 the value d is ignored For Radial r_src and r_dest are the smaller of width and height divided by
89. l Yaw x 360 w 5 1 Its values are between 0 left and 360 right InitalPitch 90 h 2 y w 4 5 2 One will obtain a number between 90 and 90 negative values mean look down positive values mean look up 5 2 Creating a virtual tour on a CD DVD One can create a CD to show the virtual tour to other people using FSPViewer The CD will not require installation and it will work on almost every Windows computer FSPViewer also runs on Linux computers using WINE The method to do this is to copy FSPViewer exe and panoramic images to a CD It is better to use JPEG images than TIFF ones TIFF images are so large that loading them from a CD takes lots of time To see the panoramic images just run FSPViewer and open the desired file One can create an autostart CD that will automatically open the first panoramic image in virtual tour when inserted in a computer A text file named AUTORUN INE containing the following three lines should be added to the CD Tab 5 2 2 autorun OPEN FSPViewer exe 1l fsv s ICON FSPViewer exe 0 Tab 5 2 2 A code of autorun inf The s switch forces FSPViewer to show fsv files in the file open dialog so users will not open the underlying jpeg files losing the information contained in the control file FSPViever is a good viewer for really big images There are of course some disadvantages of using this program in viewing panoramic images and as well virtual tours First
90. l shots cannot be taken o Due to the scanning technology employed unwanted distortion errors can arise when filming moving objects o Operation is only possible when a notebook is connected which controls the shooting process Data are transferred to the notebook as the picture is taken and saved on the local hard disk o A white strip can appear in that part of the picture where direct contact with sunlight was made This phenomenon is known as blooming Karol Kwiatek AGH University of Science and Technology Cracow 2005 21 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 6 3 Eyescan MM1 This is a digital panoramic camera from Kamera und System Technik GmbH It is produced in Pirna near Dresden in Germany This camera was provided to this project by Mr Hans J rg Sch nherr This instrument joins the advantage of digital photography and a traditional rotational panoramic camera It can be used in many places to take landscapes architecture real estate museums industry and advertisement Eyescan MM1 is perfect solution for high quality prints and application for CD ROM and stand alone viewers Camera is integrated with a box Fig 3 6 4 in which one can find a powerful computer with wireless keyboard One of the advantages is the short time of scanning This time depends on the lens that is mounted to the camera What is more the aperture and the shutter speed have
91. laying stereo panoramas using two mentioned earlier methods glasses and HMD At first there will be a presentation of mirror stereoscope and anaglyph glasses Secondly an implementation of stereo panoramas into Head Mounted Device VFX1 will be presented According to John T Bell from University of Michigan USA 39 there are several different methods for generating stereo views o Dual output graphics cards There are some graphics cards that have multiple monitor connections making it possible to output two separate images simultaneously One example is the Diamond FireGL 3000 With this card it is possible to set the resolution to twice a normal setting for example 2048 x 768 or 1024 x 1536 which will cause half the image to be sent to each video output o Field Sequential Mode A normal display mode for most monitors and graphics cards will refresh the entire screen at a rate of 60 Hz For field sequential stereo the image is refreshed at 120 Hz but every other frame is for the left eye and the alternate frames are for the right eye The user wears a special pair of LCD Liquid Crystal Display glasses that block the vision of alternate eyes at the same 120 Hz frequency These glasses work by applying an electrical current to LCD panels such that the right eye does not see the left eye images and vice versa This mode requires that both the monitor and the video card be capable of 120 Hz refresh frequencies o Over Under Mode This m
92. licen SAVE THE NEW 0 POSITION Fig 3 8 6 IcaScan camera operating buttons Pressing lt lt and gt gt makes the camera rotate quickly and pressing lt and gt causes that horizontal angle of camera movement is smaller than the angle described above The button is for storing the new position of the camera c The next step is to select the lens of the camera One should choose a focal length of the lens Fig 3 8 7 EF lica can Presentation licence File Scanner Motor View init amp l gt gt stop foc prey 080 E 2x 4x 8x Standard lens 14mm infinity K in Standard lens 14mm Standard lens 14mm near Standard lens Umm infinity Standard lens Z mm near Standard lens 28mm infinity Standard lens 25mm near Standard lens B mm infinity Standard lens S mm neat Lens 35mm int Lens 35mm near Lens 47mm int Lens 7mm int Lens 100mm int Lens 100mm near Standard Lens 1mm 1 Fisheye Fig 3 8 7 IcaScan selecting lens type Karol Kwiatek AGH University of Science and Technology Cracow 2005 31 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow One of the most important things was to add information about fisheye lens to this data base d Adding an additional lens Eyescan MM1 allows the program IcaScan to add extra lenses This process could be done by adding 3 extra l
93. ll Missing Plugins K Click here to download plugin Fig 5 2 11 Downloading plug in is necessary to walk through the campus o Click Install Missing Plugins The window Fig 5 2 12 will appear Plugin Finder Service Available Plugin Downloads The holioeing plugins ore available Macromedia Shockwave Player 10 1 Some plugins may regure additional information fram you during instalation Press Nest bo instal these plugins Fig 5 2 12 Macromedia Shockwave Player 10 1 needs to be installed Karol Kwiatek AGH University of Science and Technology Cracow 2005 73 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Then one needs to agree to install Macromedia Shockwave Player 10 After this Mozilla Firefox is installing the plug in Choose the language Then the installer will inform that the plug in was installed for all the viewers that one has on the computer for example for Internet Explorer In next step it is important not to agree for installing Yahoo Toolbar Leave the small box empty Fig 5 2 13 O O O O O Installing Shockwave Player Macromedia and Yahoo are pleased to offer you the FREE Yahoo Toolbar with your Shockwave Player download _ x KEZEL Find and get rid of spyware Stop annoying pop up ads Search the web From anywhere online Get one click access to Mail News and more SOFTWARE LICENSE AGREEMENT
94. ly the process of calculating the Initial Yaw and InitialPitch are really time consuming One should open an image editor and then write down all values and then change them to the necessary values In creation of the virtual tour for the Dresden University Campus this calculations were done in Microsoft Excel Secondly the interface is not as interesting as SP1 V viewer has see next chapter However displaying huge TIFF images is an advantage of this program One could check the seam while editing panoramic images This viewer was helpful during the process of cutting 16 columns of pixels for every panorama 5 2 2 SPi V viewer This viewer uses a file format that requires a plug in to be installed on the end user s machine Creating the virtual tour one risks that those users do not have the plug in There are also some users who can not download the plug in perhaps because of a firewall or who do Karol Kwiatek AGH University of Science and Technology Cracow 2005 69 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow not want to perhaps they do not know how or are worried they will mess up their computer by doing so SPi V short for Shockwave Panorama Viewer is Aldo Hoeben s program This viewer was chosen for the virtual tour of the TU Dresden campus because of a few reasons o High fidelity anti aliased graphics Full screen silky smooth navigation Fully int
95. ma Some important lines will be described under this table lt SCENE 14 Fishkye gt lt scene id scenel4 gt lt meta gt lt cameralimits fovmin 10 fovmax 60 gt lt meta gt lt panoelement id pano type spherical hfov 360 vfov 180 gt lt image id image gt lt layer class base type bitmap src tour 14 jpg gt lt image gt lt panoelement gt lt panogroup id grl zorder 3 gt lt panoelement id hotspot144 type flat hfov 4 pan 77 tilt 2 image hs gt lt behavior gt lt action event release type SetView scene scene4 pan 173 ELIES 7S lt behavior gt lt panoelement gt ce 6c tan lt panogroup gt isa cat og lt scene gt Tab 5 2 10 One of the scene no 14 in the tour22 xml Lines 1 6 in Tab 5 2 10 consist of text that defines the panorama made with fisheye lens For 14mm lens this text should look like Tab 5 2 11 lt SCENE 16 14mm gt lt scene id scenel6 gt lt meta gt lt cameralimits panmin 180 panmax 180 tiltmin 44 ca Lemex 4A fovnin 10 ovma ooN gt lt meta gt lt panoelement id pano type cylindrical gt Tab 5 2 11 The top part of scene no 16 in tour22 xml that is characteristic only for panoramic images made with 14mm lens Karol Kwiatek AGH University of Science and Technology Cracow 2005 TI Generation of a virtual tour in the 3D space applying panoramas exercised on the
96. ma thesis is Java based viewer and PanoramaVision the editor for generation of virtual tours Differences between these viewers are also included in the fifth chapter Generation of a stereo panorama is presented in the next chapter At first a few methods are shown A new method was carried out and two stereo panoramic images were produced These stereo panoramas were made in Cracow on Grodzka Street and Rose Avenue A description of generation of panoramic images using a digital camera Nikon D50 is also presented on the example of program that is called PTGui where the stitching process was carried out In the last part of this diploma thesis displaying panoramic images in Head Mounted Device is presented Panoramic images and also stereo panoramic images were implemented into VFX1 virtual helmet One of the most important features of this helmet is called head tracking and it recognizes movement of a head This feature was used to spin while watching panorama The virtual tour of the Dresden University of Technology campus can be found in the Internet www kwiatek krakow pl panotour In order to view all interactive panoramas one will need to install proper plug ins that are mentioned on the webpage It is also possible that this Internet address will change so please refer to authors webpage www kwiatek krakow pl for a new link Karol Kwiatek AGH University of Science and Technology Cracow 2005 8 Generation of a virtual tour in the 3D spac
97. mas exercised on the sites of Dresden and Cracow a Cylindrical this kind of projection can show a full circle along the horizon or a part of it They are very popular for landscape panoramas Fig 3 2 3 i M ra Fig 3 2 3 Cubic panorama format 9 b Rectilinear in this projection panoramas are displayed in the same way as non fisheye lens would do The horizontal and vertical field of view is limited to about 120 Straight lines stay straight hence they are good for architectural subjects But if either field of view is too large they suffer from unnatural looking distortions in the corners Fig 3 2 4 Fig 3 2 4 Rectilinear panorama format 9 c Partial Spherical applies basically the same as to full spherical see above In most cases they are used to cut off zenith or nadir Vertical field of view has to be limited in this case to prevent the viewer from misinterpreting the source images Fig 3 2 5 Fig 3 2 5 Partial spherical panorama format 9 On the second hand Philip Andrews 10 makes another easy to remember classification of projection types Flat Planar Cylindrical Cubic Spherical Flat This panoramic image is projected on a flat screen The distortion that occurs as a result of using wide angle lenses to capture source images is not corrected Therefore some straight lines in the scene appear as curves in the image Karol Kwiatek AGH University of Science and Technology C
98. n take images even up to 400 horizontally and 90 vertically o SpheronCam HDR the RGB line sensor allows for a maximum vertical resolution of 5 300 pixels After the shooting the seam edge is stitched by software It also has 26 aperture stops so it uses HDR High Dynamic Range technology o SASTAscan is a digital rotating scanner and it is produced by INNOTECH HT GmbH in Germany The company produces two models DRS 3000 C colour and DRS 5000 black and white o PanoScan is a camera that is set up on a special tripod and often two panoramas are scanned Next the images are processed to ensure geometric accuracy Finally the images are loaded into PanoMetric for measurements The user simply points to any pixel in the scene and accurate distance and spatial data is displayed Point to point measurement is fast and accurate o Eyescan MMI from Kamera und System Technik GmbH was used in the project of generation the high resolution virtual tour of the Dresden University of Technology campus It can record all 360 in less than 30 seconds Powerful camera computer is integrated in one box There is a NIKON system for lenses Vertical resolution is 3600 pixels More details about this model could be found in chapter 3 6 3 o Eyescan M3metric is a really professional panoramic camera from the same company It captures all 360 degrees in extremely high resolution CCD line RGB has 10200 pixels see chapter 3 6 4 3 5 2 Image stitc
99. n the spherical panorama 19 Karol Kwiatek AGH University of Science and Technology Cracow 2005 35 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Fig 3 9 2 Rotation of a slice camera with the center Fig 3 9 3 Eyescan MM1 of projection away from the axis of rotation RGB line with Fisheye lens mounted sensor scans the vertical field of view of 180 19 on the tripod When the digital panoramic camera Fig 3 9 3 rotates around the axis of rotation not all the area of the surrounding of camera is scanned Fig 3 9 4 There will be some information missing at the top zenith and the bottom nadir of the sphere Figure 3 9 4a shows not corrected spherical image that produce a hole in the sky Fig 3 9 4b and a tripod is also visible in this image The hole in the sky is reduced in the Figure 3 9 5 The solution of correcting the zenith and the nadir is also discussed in chapter 4 2 6 b Fig 3 9 4 a 360 panorama near HSZ Fig 3 9 5 a 360 panorama near HSZ at the TU Dresden campus b The hole at the TU Dresden campus b The hole in the sky in the sky is corrected Karol Kwiatek AGH University of Science and Technology Cracow 2005 36 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 9 2 Single row techniques 3 9 2 1 Using two fisheye pictures One spherical panoram
100. nclusions about three dimensional panoramas o Panoramas that were later cut into parts and used for stereo viewing were made from the sequence of images and stitched in program PTGui o Panoramas were created on a conventional tripod A special tripod head for panoramic images were not used Average distances between control points after optimization in PTGui were about 4 pixels The resulting panoramas were evaluated as very good o Method of a triangle was used for places where there are no objects close to three camera positions o VSDGL exe in this viewer for mirror stereoscope one can not spin more than 360 because this program was not designed for panoramic images o Anaglyph panoramas could be viewed using a stand alone viewer and the viewing does not depend on hardware o Head tracking system in the VFX1 was slightly damaged Despite this fact that a panoramic images could be viewed in the helmet The range of viewing is limited to about 150 horizontally o VFXI works only with old computers and use old technologies such as VESA ISA Karol Kwiatek AGH University of Science and Technology Cracow 2005 103 O O Q Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow VFX1 could not display more than 256 colours 8 bit A special VIP card for VFX1 works on ISA standard that does not exist in modern main boards Working well in DOS and problems with Windows mak
101. nd Cracow viewers do not require an extra plug in however Java must be installed and activated in the visitor s browser In order to be able to reach as many users as possible whose computers all are configured differently it is recommended that the author of a virtual tour could offer a Java based solution and corresponding plug in version It is the best to give the user the option of selecting the file size large or small that is right for them when visiting the Web site The comparison of viewers used in the project of creating virtual tour is in the following table Tab 5 2 14 FSPViewer PanoramaVision Java Viewer type Viewer type Stand alone player J Javabased Javabased Projection Cylindrical Cylindrical Cylindrical spherical format cubic D cubic M Zom o sso a R other media SPi V 2 0 video during loading time virtual tour files files Calculating In image editor for SPi V Spotter In Baal position of hot example Ms Excel spots Code in XML Support for No Yes Yes HTML Geer interee TE FSV Yes editable No images ee accelerated Fullscreen displayed SASTAdigital Latest version 1 3 28 07 2005 1 2 14d 29 08 2005 pva jar 29 08 2005 used in the project Download www fsoft it panorama www fieldofview nl www sastadigital com FSPViewer htm contact with K Knothe Tab 5 2 14 Comparing three viewers used in the project Karol Kwiatek AGH University of
102. nd Technology Cracow 2005 39 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The multi row technique does not require special camera equipment practically any camera and lens combined can be used The high number of pictures increases the resolution of the complete panorama Disadvantages A special panoramic tripod head is recommended in order to exactly align the camera for multi row shots Depending on the field of view of the lens there 1s a need to take from 15 to 50 pictures in order to create a spherical panorama The relatively high number of pictures associated with the technique demands more time for shooting and stitching The multi row technique presents problems when moving objects are introduced Thus it cannot be ruled out that such objects will appear incomplete in the panorama Karol Kwiatek AGH University of Science and Technology Cracow 2005 AO Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 4 Editing panoramic images 4 1 Panoramic production Before some details about edition of panoramic images will be described here is a brief overview on panoramic production 4 1 1 Taking pictures The most popular way of creating a panorama is to take one or more picture sequences and overlap the individual pictures by a certain percentage With this method the camera is turned by
103. ng Please wait a while because the first image in the virtual tour needs to be loaded Fig 5 2 15 Shockwave s loading bar Karol Kwiatek AGH University of Science and Technology Cracow 2005 74 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow How to run the virtual tour of the Dresden University of Technology campus on the hard disk o Open the folder on the CD ROM or DVD ROM o Open file BAT that contains the following line Tab 5 2 4 SPi V exe f tour22 xml Tab 5 2 4 A code of BAT SPi V exe SPi V viewer f runs the virtual tour in fullscreen mode tour22 xml the latest version of xml file at could have a different name o The first time one launches the viewer it may need to download some additional Shockwave components Fig 5 2 16 Macromedia Shockwave Player Downloading Xtra Packages for a Shockwave Projector cantal Fig 5 2 16 SPi V needs to install some additional Shockwave components Embedding the SPi V s virtual tour in a HTML page To embed the SPi V engine in a webpage one needs to invoke the shockwave player and let it play the SPi V engine DCR file The SPi V DCR file needs couples of specific parameters set which are outlined below A basic html snippet invoking the SPi V engine is shown below Tab 5 2 5 the most important parts in bold lt object classid clsid 166B1BCA 3F9
104. ng for example in mirror stereoscope Figures 6 4 2 and 6 4 3 show the method how these parts were cut and how they were stitched in Adobe Photoshop Please refer to Figure 6 2 4 and two colourful stripes presented there Left panorama is created from three double parts Fig 6 4 2 but right panorama is created from two double parts C and A and two single parts B at the beginning and at the end of the stripe Fig 6 4 3 Fig 6 4 1 The method of triangle three positions A B Fig 6 4 2 The left end product panorama at Rose Avenu Fig 6 4 3 The right panorama that was created using 3 panoramas from 3 positions A B C Karol Kwiatek AGH University of Science and Technology Cracow 2005 92 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 6 5 Viewing stereo panoramas There are basically two different types of devices that produce stereo One of them is glasses which just influence the way one sees the image on a standard monitor For example mirror stereoscope Fig 6 2 5 anaglyph glasses shutter glasses Fig 6 5 1 None of these glasses produces an image The others are devices which actually produce an image by themselves for example VR Helmets or Head Mounted Displays Fig 6 5 2 PS od Se Bw Fig 6 5 1 Shutter glasses 38 Fig 6 5 2 Head Mounted Displays 38 In this diploma thesis there will be a presentation of disp
105. ode is similar to the field sequential mode except that the video card issues a 60 Hz signal with the left eye image in the top half of the screen and the right eye image in the bottom half of the screen This video signal is passed through a converter box that adds an extra sync signal such that the monitor receives a 120 Hz signal with half the vertical resolution of the signal issued by the graphics card The converter box also issues a signal to LCD shutter glasses as described above so that each eye only sees the correct view o Line Sequential Mode or Interlaced Mode In this mode every other scan line goes to one eye and the remaining lines go to the other eye Karol Kwiatek AGH University of Science and Technology Cracow 2005 93 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow o Split Screen In this approach the left eye image appears on the left half of the screen and the right eye image appears on the right A mirror stereoscope Fig 6 2 5 is used for viewing Those methods were dependent on hardware Two of them will be presented in the following pages Line Sequential Mode is a method that is used to present three dimensional images in a helmet for virtual reality VFX1 Headgear see chapter 6 5 3 Split Screen is another method see chapter 6 5 1 that is dependent on hardware Mirror stereoscope is necessary to view in stereo The stereo perception can also be
106. of pixels should be calculated for the black pixels under the image because this area is smaller than the same black area over the image There are 270 5 black rows of pixels under the image The calculation of vertical resolution is 2875 px 270 5 px 2 3416 px 4 2 The result of cropping should be similar to the red dotted rectangle that is drawn on Figure 4 2 6 and Figure 4 2 7 Now chromatic aberration could be corrected After this two black areas should be edited 4 2 5 Chromatic aberration Chromatic aberration is a common lens error visible in images as coloured blur along edges It is caused by a different refractive index of glass for light at different wavelength According to Digital Photography Review 20 this error appears because camera lens does not focus different wavelengths of light onto the exact same focal plane the focal length for different wavelengths is different and or by the lens magnifying different wavelengths differently These types of chromatic aberration are divided to Longitudinal Chromatic Aberration and Lateral Chromatic Aberration The amount of chromatic aberration depends on the dispersion of the glass Fig 4 2 8 Longitudinal Chromatic Aberration Focal length varies with color wavelength 20 Fig 4 2 9 Transverse Chromatic Aberration Magnification varies with color wavelength 20 Karol Kwiatek AGH University of Science and Technology Cracow 2005 46 Generation of a virtual t
107. oject to the Internet and the second is saving all the data on a CD or DVD Before deciding the type of the viewer any decision about the interface should be made What is more bandwidth of the Internet at viewer s computer should also be considered 5 1 1 Designing the interface The design of the interface is a critical part of creating the whole VR experience Vast amounts of time and energy can be spent getting the panoramic images just right only to have the total effect let down by poorly designed or executed presentation pages Many VR producers realizing the complexities involved in quality Web production have formed partnership with Web designers in order to stage their work 5 1 2 Bandwidth considerations As with all content designed for the Web file size determines the speed of display High resolution panoramas or complex VR tours can easily become too large to be downloaded and viewed conveniently by Web users with a standard modem connection Because the only way to reduce the size of a panorama is to decrease their pixels dimensions or increase the level of compression Creating a good VR production is a balancing act between image quality and file size The panorama producer needs to be constantly aware of the size of content and the time it takes to download the panorama with different connection speeds That is why many VR sites contain a choice of differently sized versions of the same panorama to suit the variety of connec
108. or will be needed for smooth panning FSPViewer can handle images limited only from the available RAM and is heavily optimized so it is fast enough on modern computers FSPViewer runs on any Windows 32 bit operating system It requires DirectX 7 or later which is almost certainly already installed on every computer The graphic card must be set to True Color 16 million colors The program works in 24 and 32 bit modes but 32 bit is noticeably faster Displaying high resolution panoramic images At first displaying panoramas are described and then adding hotspots to make a virtual tour This program does not need any installation When one runs it FSPViewer shows an empty window To open a panorama one should select the File gt Open menu command or press the Open button in the toolbar The program can open JPEG TIFF or FSV control files that are described below One can navigate in an image by dragging the mouse or pressing the arrow keys Pressing the A key or the SHIFT key changes zoom in pressing the Z key or the CONTROL key changes zoom out There are three kinds of interpolator that are used in presenting panoramas Fulvio Senore 25 the author of this program writes that all panoramic viewers work in the same way they load an image in memory and use the pixels of that image to compute the different views that you see on the screen Every pixel on the screen maps to a position between the pixels of the base image While panning FSPViewer w
109. orama Editing panoramic images is the title of the forth chapter It is a continuance of the practical part Errors of lenses are also described in this diploma thesis One of the most visible errors connecting with lenses especially fisheye lens is chromatic aberration Knowing the parameters of the curve makes it possible to correct chromatic aberration in images Unfortunately it was difficult to find such parameters even for conventional images In 2004 two scientists found a solution to determine the coefficients for correcting channels of three colours red green and blue The way how to determine coefficients for panoramic images had not been found before This diploma thesis contains a description of a trial of finding the coefficients to the curve which corrects chromatic aberration in spherical panoramas that was produced using fisheye lens Other solutions of editing panoramic images are presented in this chapter Displaying panoramic images and virtual tours is the topic of next chapter All panoramas are now edited and prepared for displaying Before doing this a few things should be considered such as user interface bandwidth and a kind of a viewer In this project three different viewers were used FSPViewer is a stand alone viewer that works best in local hard disk SPi V is a plug in viewer that needs an installation of Macromedia Shockwave Player but it has a high performance and quality The last viewer that was tested in this diplo
110. orrected part of Panorama no 33 Karol Kwiatek AGH University of Science and Technology Cracow 2005 54 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow i Fig 4 2 21 After Horizontal correction HE o a ES J i eA i UONG Fig 4 2 22 After Vertical correction b Fig 4 2 23 After Vertical Shift correction Bb mn or Karol Kwiatek AGH University of Science and Technology Cracow 2005 55 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow These pictures are a good example to show how to correct chromatic aberration There are not only horizontal edges but even some vertical edges The perfect example should be with black and white circles or stripes and it would be more contrasted image What one can also find in the image are clock numbers and clock hands that are also enough contrast to show colour separation Fig 4 2 20 After Horizontal correction Fig 4 2 21 most of colour separation was corrected but not all of them That is why Vertical correction Fig 4 2 22 is also important All the previous function can be found in Radial Shift submenu fig 4 2 17 Vertical Shift can also be added to the image to correct a little vertical movement of the pixels This Vertical Shift is another submenu Fig 4 2 24
111. oston London 1993 Benutzerhandbuch Eyescan MM1 KST GmbH Jacobs C Parrish J Interactive Panoramas Techniques for Digital Panoramic Photography X media publishing Springer Verlag Berlin Heidelberg 2004 Benosman R Bing Kang S Panoramic Vision Sensors Theory and Applications Springer Verlag New York 2001 Digital Photography Review http www dpreview com learn Glossary Optical chromatic_aberration_O1 htm Dersch H Correcting Color Separation in Scanning Back Cameras http www path unimelb edu au dersch pscan pscan html Karol Kwiatek AGH University of Science and Technology Cracow 2005 105 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 Jim Watters http photocreations ca radial_distortion Erik Krause http www erik krause de ca D Hoore R Hiding the Tripod in a Sphere http www philohome com panotutorial tripodcap htm FSPViever http www fsoft it panorama FSPViewer htm SPi V viewer http www fieldofview nl Macromedia Shockwave Player http www macromedia com software player_census shockwaveplayer VRMAG http vrm vrway com Vvartist V R_industry ALDO_HOEBEN_S_SPI V_ENGINE html Panorama Vision Interaktive Planung und Pr sentation Handbuch 2004 Ein P
112. our in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Longitudinal Chromatic Aberration Fig 4 2 8 Different refractive index means different focal length for a single lens This would lead to different focal planes for different colours One would have to focus differently for red blue or green This effect is called longitudinal chromatic aberration LCA If one has a fringe near the image centre that changes colour if you defocus slightly this is most likely longitudinal chromatic aberration This type e can not be corrected by software e gets less 1f stopped down e is dependent from focus distance Transverse Chromatic Aberration Fig 4 2 9 When a lens is corrected for longitudinal chromatic aberration different colours focus more or less in the same point on the optical axis but they might focus in different distances of axis resulting in images of different size for different colours This type is called lateral or transverse chromatic aberration TCA If one has complementary coloured fringes progressively more from the centre to the corners this is most likely transverse chromatic aberration This type e can be corrected by software e does not change by stopping down e is dependent from focus distance Chromatic aberration should be corrected if visible otherwise at least for full screen or printed panoramas where you allow to zoom in to the native camera resolution While correction is
113. ow 6 2 2 Stereo panoramas with rotating cameras When panoramic images are captures from two different viewpoints the disparity and the stereo perception will degrade as the viewing direction becomes closer to the baseline until no stereo will be apparent Generation of images based stereo panoramas by rotating a stereo head having two cameras was proposed by HUANG 35 and SHUM SZELISKI 36 A stereo head with two rotated cameras is rotated and two panoramic mosaics are created from two different cameras 6 2 3 Stereo panoramas with a spiral mirror Creating images having circular projections using a regular camera anda SEGMENTS a Fin w CURVED MIRROR A No spiral shaped mirror is another method f a of getting stereo panoramas 34 The Se NKT N CETICAL shape of the spiral mirror can be a s p a i CENTER a a determined for a given optical center of RAYS TANGENT fa e A Tr F Fi HE J m the camera o and a desired viewing peent gan ZILA 2 T VIEWING VIEWING ANGLE Wwa CIRCLE circle V The tangent to the mirror at every point has equal angles to the Fig 6 2 3 The spiral mirror can be also used in optical center and to the tangent to the generation of stereo panoramas 34 circle Figure 6 2 3 Each ray passing through the optical centre will be reflected by this mirror to the tangent to the viewing circle This is true also in reverse all rays tangent to the circle will be reflected to pass through the
114. pherical panoramic images are placed there because of high buildings in this area TECHNISCHE CLIT UNIVERSITAT 204 TL Dresden Institut fir Kantographic Bew Fig 2 3 The map of the Dresden University of Technology campus and 53 hot spots to panoramic images More information about the university and Dresden can be found on o The Dresden University of Science and Technology www tu dresden de The Institute of Photogrammetry and Remote Sensing www tu dresden de ipf o Dresden www dresden de O Karol Kwiatek AGH University of Science and Technology Cracow 2005 10 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 3 Cylindrical and spherical panoramic images 3 1 History According to Merriam Webster s dictionary 7 the word panorama is a combination of two Greek terms namely the suffix pan nav meaning all and horama paua meaning sight The dictionary also listed the year of its conception or start of popular usage as 1796 Robert Barker was arguably the first person who conceived the idea of the panorama He had received a patent for it on 17th June 1767 The patent described an artistic format of paintings that practically surrounds the viewer A panorama painter s goal was to reproduce the real world so realistically that onlookers could believe that what they were seeing was real It was only by the 1800s that the
115. portrait or landscape 3 7 1 2 HFOV Short for Horizontal Field of View This is the horizontal angle in degrees that a particular image represents of the world The wider is a lens the greater is the angle of view When using a 35mm camera the HFOV is calculable from the focal length as follows if camera is used portrait HFOV 2 tan 12 focal_length if camera is used landscape HFOV 2 tan 18 focal_length 3 7 1 3 VFOV Short for Vertical Field of View This is the vertical angle in degrees that a particular image represents of the world The wider is a lens the greater is the angle of view When using a 35mm camera the HFOV is calculable from the focal length as follows if camera is used portrait VFOV 2 tan 18 focal_length if camera is used landscape VFOV 2 tan 12 focal_length 3 7 2 Three lenses used in measurements Three lenses were used during the measurements of creating the virtual tour Numbers of image columns and data volume are presented in Tab 3 7 1 In this table one can find the numbers of panoramic images divided to different lenses used and their part in all the virtual tour Karol Kwiatek AGH University of Science and Technology Cracow 2005 25 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow columns 360 360 and 24 bit Smm f 7 8mm 6126 69MB FISHEYE 11333 122MB 22 F11 248MB Tab 3 7 1 Comparison b
116. r as three dimensional In addition most HMDs include a head tracker so that the system can respond to head movements For example if you move your head left the images in the monitors will change to make it seem as if you were actually looking at a different part of the virtual reality This chapter will present how to install this helmet for virtual reality and how to view a panoramic image especially stereo panorama VFX1 Headgear VFX1 Headgear was designed in 1995 by Forte Technologies The author owned this virtual helmet and tried to display panoramic images at the Institute of Photogrammetry and Remote Sensing in Dresden where an old computer was provided The old computer was necessary because this helmet for VR was designed 10 years ago VFX1 was tested on computer equipped with Pentium II processor and the main board has one free ISA Expansion Slot Video card VGA with 100 VESA standard compliant feature connector was also found there VFX1 works perfectly in DOS but it has many problems while running in Windows Most tests were carried out on system Windows 98 in Dos Mode Specifications of VFX1 Headgear are presented in Tab 6 5 1 Karol Kwiatek AGH University of Science and Technology Cracow 2005 96 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Picture size vertical 10 6 mm horizontal 14 3 mm Optics Field of view FOV vertical 26 4 degrees hor
117. racow 2005 14 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Planar The panoramic image is rendered onto a flat screen so that no distortion occurs Cylindrical The panoramic image is projected onto the inside of a cylinder This type of projection is used mainly for single row stitched panoramas The option does not work particularly well if the source pictures are captured with spherical or fisheye lenses Cubic The panoramic image is projected onto the inside six faces of a cube The viewer reconstructs the six images so that it appears that you are standing inside a spherical representation of the environment Spherical Like the cubic projection detailed above this option projects the panoramic image onto the inside of a sphere But unlike cubic the results are stored as a single image rather than several faces of a cube 3 3 Ratios between panoramic width and height Some projection formats or file types have specific requirements when it comes to the width and height of the image that can be converted to an interactive panorama Table 3 3 1 shows these ratios Width length Spherical Width length 2 Cylindrical Width length 360 viewing angle in degrees Tab 3 3 1 A summary of the ratio settings that need to be used for the following projections or file types 10 3 4 Three types of camera three ways to shoot Panoramic cameras were built to get
118. ramas exercised on the sites of Dresden and Cracow example of such interactive and multi node virtual tour with well presented map and tour interface is a website of The Sydney Opera House Fig 1 2 Viewers know where they are in the tour at any given time One can view different floors and rooms ranging from the main concert hall to the place for cars Cale Eyini opera Prien wi tonl tout ozila Fehex Di gari upka Preji Teod hardi Fomo r aa ey hitoc inva nrdneyopershouss com sectionsiboursi M xt il tuomi ove L Auha D ha E ia inside the hc house mE lhe sydney opera Virtual four Fig 1 2 Multi node panoramic experience of the Sydney Opera House website 3 One of the targets of photogrammetry is to change the real world to the virtual one This virtual world could be then presented not only on the computer screen but also in print version Computer s version gives the user many opportunities to decide where to go which place to see or which video to watch There are two kinds of virtual tours One of them is three dimensional with a great help of photogrammetry Photographs are projected on surfaces of walls buildings floors of buildings museums etc Receiving a 3D model of the place of interest is not only a task of photogrammetry but also surveying Second kind of virtual tours is a presentation that uses a panoramic imagery This type of virtual tour was designed and described in this diploma thesis Virtual museum
119. rc common dot filled8 gif gt lt layer class hover type matte color FFFFOO alphatype bitmap alphasrc common dot filled8 gif gt lt layer class press type matte color 000000 alphatype bitmap alphasrc common dot open8 gif gt Tab 5 2 7 Implementing hot spots on the map lt image id hs gt lt layer class base type matte color FFFFFE alphatype bitmap alphasrc common logol_64 gif gt lt layer class hover type matte alphatype bitmap color FFFFFE alphasrc common logoT_64 gif gt lt image gt Tab 5 2 8 Implementing hot spots on the panoramas Karol Kwiatek AGH University of Science and Technology Cracow 2005 76 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow This is the fragment of the code that shows the map Tab 5 2 9 lt uilelement id op map zorder 2 gt lt image id op map img gt lt layer class base type bitmap src map ver1111111 png gt lt image gt lt uielement gt Tab 5 2 9 Implementing a transparency map to the virtual tour It is important to save the image as a PNG file There are 53 panoramas 53 scenes included in the project of the virtual tour There are two different projections cylindrical and spherical All details must be defined in the XML file for every panoramic image Below Tab 5 2 10 there is an example of one scene scene 14 that consists a spherical panora
120. relatively easy CA can not be automatically determined like for example barrel distortion Only visual judgement can give you enough control of the outcome Unfortunately one needs some experience to do this Fig 4 2 10 Achromatic Apochromatic Doublets 20 Special lens systems achromatic or apochromatic doublets Fig 4 2 10 using two or more pieces of glass with different refractive indexes can reduce or eliminate this problem However not even these lens systems are completely perfect and still can lead to visible chromatic aberrations especially at full wide angle On the basis of The focal Encyclopedia of Photography 16 Newton in 1666 gave the cause of chromatic aberration in binoconvex lenses used in camera obscura and he Karol Kwiatek AGH University of Science and Technology Cracow 2005 47 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow believed that this problem has no solution The first achromatic lens was produced in 1757 by John Dollond He demonstrated an achromatic lens that was a combination of a negatives lens and a positive lens of flint and crown glass How to correct According to the panotools info 9 in many cases it would be enough to adjust the size of the colour channels to correct for TCA However correction might not always be satisfactory even if it is of the true TCA type This might have different causes o There might be
121. rnet Www kwiatek krakow pl panotour Fig 5 2 10 is the main web page of this virtual tour Further the internet address could be changed so please refer to the author s webpage www kwiatek krakow pl and a new link to the virtual tour must be there The virtual tour of the Dresden University of Technology campus Mozilla Firefox Pek Edis Widi 6Prceidt geHeadkh 6 Harzedris Pomoy 4a z P amp Fi Lj http ewatek tr sow plipanctour F WT io kes A WTiava T Last updated 24 08 2005 Fig 5 2 10 The interface of the virtual tour www kwiatek krakow pl panotour status 28 08 2005 How to run the internet version of the virtual tour of the Dresden University of Technology campus The example of running the internet version of the virtual tour is presented using Mozilla Firefox browser Using other web browsers there could be different options at the beginning but all the process of installing Shockwave Player is very similar o Open a browser here Mozilla Firefox version 1 0 6 o Enter this internet address http www kwiatek krakow pl panotour o Inthe menu on the left there are three versions of the virtual tour VT HI RES High Resolution Virtual Tour vertical image size 1024 pixels file size 300kB 1 5MB depends on the lens used in the project m VT LO RES Low Resolution Virtual Tour vertical image size 800 pixels file size 80kB 500kB depends on the lens used in the project
122. rodukt der INNOTECH Holztechnologien GmbH Handbuch Panorama Vision pdf Erstellen und Pr sentieren einer Panorama Show Kurzbeschreibung Showerstellung pdf SASTAdigital PanoramaVision http www sastadigital com produkte SASTApan panoramavision html http www vision3d com stereo html Gluckman J Nayar S K Thoresz K J Real time omnidirectional and panoramic stereo DARPA Image Understanding Workshop pages 299 303 November 1998 Benosman R Bing Kang S Panoramic Vision Sensors Theory and Applications Springer Verlag New York 2001 Huang H C Hung Y P Panoramic stereo imaging system with automatic disparity warping and seaming Graphical Models and Image Processing 60 3 196 208 May 1998 H Y Shum and R Szeliski Stereo reconstruction from multiperspective panoramas International Conference on Computer Vision pages 14 21 1999 PTGui http www ptgui com Stereo3D http www stereo3d com John T Bell s webpage University of Michigan USA http www cs uic edu jbell Courses Eng591_F1999 outline_20 html 3D PIX http www nuvision3d com 3dpix html Webopedia encyclopedia dedicated for computer technology http www webopedia com VFX1 Headgear http www mindflux com au products 11s vfx 1 2 html Karol Kwiatek AGH University of Science and Technology Cracow 2005 106 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 43
123. s cameras Noblex 135U Noblex Pro 6 150 Widelux F8 Horizon 35mm Widepan 120 Pro and Mottweiler Pinoramic Karol Kwiatek AGH University of Science and Technology Cracow 2005 16 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Fig 3 4 2 Swinglens camera 12 3 4 3 Rotational cameras Rotational cameras Fig 3 4 3 make 360 images Some of them can make even more than 360 They can also make a panorama of a before programmed angle for example 30 60 120 270 etc They are mainly used in architectural and industrial photography What is unique in these cameras is that they produce a very different perspective to any other type of camera Straight lines become strangely curved Some people say it is a distortion but others say that this is true perspective One can easily find cameras that use film and others are digital For example Spheron Panocam 12FX this is one of the high resolution digital cameras It has a maximum vertical resolution of 5200 pixels Examples of rotational cameras are Globuscope Hulcherama 120s Roundshot von Seitz Lookaround and Mottweiler Fosterpan Fig 3 4 3 Rotational camera 12 3 5 Technologies of generating digital 360 panoramic images MAAS and SCHNEIDER 13 enumerate five various technologies that can be used to generate a digital 360 panoramic images o Rotating linear array a linear array image sen
124. s could offer a way of travelling back in time to experience the past The researchers say the technology could give visitors to a virtual museum a sense of being there For example the team from the University of Geneva has developed virtual reality models of two Turkish mosques dating from the Ottoman era of the 16 century which let you move around and explore the buildings in real time 4 The researchers are now performing these demonstrations in 3D stereo on a big screen They say that you feel like you are in the building In this kind of virtual museum one moves without jumping in the space The other types of museums are these with panoramic images in which one jumps through space to get to another panoramic image This diploma thesis introduces the production of cylindrical and spherical panoramas and explains how to link individual panoramas to make a virtual tour The designing process of the virtual tour of the Dresden University of Technology campus is explained in this work The author spent his fifth year of his studies 1 10 2004 30 06 2005 at the Dresden University of Technology in Germany In the second chapter there is a description of the Dresden University of Technology and its campus A map of the campus that was used in SPi V viewer is showing 53 hot spots Karol Kwiatek AGH University of Science and Technology Cracow 2005 7 Generation of a virtual tour in the 3D space applying panoramas exercised on the
125. s currently visible in VFX 1 while the shaded outside area is pre fetched 45 Karol Kwiatek AGH University of Science and Technology Cracow 2005 101 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Displaying stereo panoramic images in VFX1 To display stereo panoramic image in VFX1 one needs to transform panoramas to Line Sequential Mode To do this one should run program 3DPix that was amp mentioned in chapter 6 5 2 To make stereo panorama for __ VFX1 a few steps need to be done o Change a size of two end product panoramas those mosaic panoramas which was created from three positions for example at Grodzka Street in Cracow they are presented in Figures 6 3 6 and 6 3 7 to 4444x500 pixels o Change them to Indexed Colour Image gt Mode gt Indexed Color o Save as 8bit Windows Bitmap BMP o Import those two bitmaps to program 3DPix First left panorama and then right panorama o Save the resulting image as a new panorama grodzka bmp Fig 6 5 14 and choose the option Interlaced during the saving process please refer to Fig 6 5 5 but choose not Anaglyph but Interlaced o Displaying panorama in VFX1 was mentioned on a previous page change only the batch file to erodzka bat with the following line of code Tab 6 5 3 Vox eCom E vwrdos exe grodzka bmp M ab 6 5 3 The batch file grodzka bat that runs ii ail il jl ij
126. s in image editor takes much more time than the process of taking them o Because of the high cost of more than 20 000 of digital panoramic cameras this method of taking panoramic images is not so popular as stitching pictures to get a panorama o Panoramas taken with digital panoramic camera does not require stitching only the seam edge needs to be edited o The fastest method of taking spherical panorama is to take only two hemispherical images a conventional camera and fisheye lens A little slower method is using digital panoramic camera with fisheye lens o Stitching images is the most time consuming procedure in creation of a panorama o Having a full control on the process of creating virtual tours the knowledge of XML and HTML is advisable o The best viewer for the virtual tour of the TU Dresden campus is SPi V viewer that was born in November 2004 and it is still developed o SPi V was also the best viewer for on line version of this virtual tour o For slow Internet connection Java based viewer is recommended The second part of this diploma thesis was about stereo panoramic images A method of a triangle was carried out at two places in Cracow in Poland After that two end product panoramic images were generated in order to be viewed in stereo Three different methods of viewing three dimensional panoramas were presented The most interesting one was using an old but still working helmet for virtual reality There are a few co
127. s used This program needs file DOS4GW EXE and it runs in DOS or in Windows in Dos Mode The author of this program received this program from Dr William Lane Craig from USA O To view panoramic image in the VFX1 one needs to do the following steps Copy this viewer from the DVD enclosed to this diploma thesis VRWDOS EXE to the same folder where software for VFX1 is installed for example c vfx1 Run VFX1 COM to activate the helmet In image editor change the size of the panorama that is going to be viewed This viewer accepts panoramic images with the following conditions The width must be a multiple of 4 and greater than 1280 The height must be greater than 480 Reduce number of colours to 256 by choosing Indexed Color in image editor Image gt Mode gt Indexed Color Save as Bitmap BMP Windows 8 bit An example file 51 BMP has a resolution of 2040x648 Make batch file with the following line Tab 6 5 2 vwrdos exe 51 bmp M Tab 6 5 2 The batch file S1 bat that runs a panorama number 51 in VFX1 Put the helmet on your head Fig 6 5 13 and also take CyberPuck to your hand The software VRWDOS EXE operates as follows The HMD allows the user to look left right and up down The CyberPuck handheld controller can be used to Zoom in out Fine Zoom pitching forward backward Course Zoom button 2 3 Press ESC to exit A ae AM d Bigs Tab 6 5 13 The spherical rectangle i
128. seline A B That is why one need to eliminate position B and use parts of panoramas from positions A and C to create a stereoscopic view when viewing in direction of Area 2 Area 3 is visible the best in stereo when using parts of panoramas from positions B and C For Area 4 B and A This is just the opposite site of panoramas that creates stereo in Karol Kwiatek AGH University of Science and Technology Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Area 1 Area 5 is visible in stereo when using parts of panoramas taken from positions C and A The last Area 6 from positions C and B Under the triangle Fig 6 2 4 there is a presentation of two colourful stripes These two stripes present two end product panoramic images stereo component panoramas that should be generated using three panoramas taken from the triangle corners A B and C Every end product panorama should consist of 6 parts that corresponds to 6 areas around the triangle Then these two panoramas could be viewed in stereo using mirror stereoscope Fig 6 2 5 or anaglyph glasses after editing for example in 3D Fix Fig 6 2 5 Mirror stereoscope Photos that were used in my project to create panoramic Images were taken with the author s digital camera Nikon D50 Fig 6 2 6 This camera has 6 0 million effective pixels 3008x2000pixels A stable tripod Fig 6 2 6 Nikon D5
129. seseccececeeasseeeeeeeeees 85 6 2 1 Multiple Viewpoint Projections 0 0 00 eeecceccccceceeeeseseeeeeeeeeeeeaaeeeees 85 6 2 2 Stereo panoramas with rotating cameras s seeeeesssssssoeerrsssssseee 86 6 2 3 Stereo panoramas with a spiral MITTOT ccccceeeeeeeeeeeeeeeeeeeeeeees 86 6 2 4 Panoramic sterco MOVICS rerasan heen taeee 86 6 2 5 Menodora hanes eee Deadhead a en Sade een detoge 86 6 5 UTCHINe TMA SCS INET Gil eeren a eat deteeume rece bec reese 89 O29 te SULCMING TINAG CS ciecsactabetiin ea nominee tial mii Saectanetita mall meniuaie taal il Raasiales 89 625 2 Pano roo RS PE U eis E 89 04 Method or adrmanele Mpral ean ies 92 6 3 Viewing stereo panoramas siscneseriieninni ee i a ae 93 6 5 1 Mirror stereoscope and VSDGL EXE eeessssssssserrssssssssceerressssssee 94 6 5 2 Anaglyph glasses and FSPViewe ccccccccccecsesseseeseceeeeeeeaeeeeees 95 6 5 3 Head Mounted Display VFX1 Headgear cc cccceeeeseeeeeee 96 COMCHUSIONS siscscsessscevenssesceveadecassbesstdeseosicasentscddeeuhs coaduneaaadadeasacasennaaasansieaceseniaatiess 103 i SUDO GSE AD INY sieeve senaera eaa E EE 105 s HEISUOF CNClOSUDES sesione aa 108 Karol Kwiatek AGH University of Science and Technology Cracow 2005 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow 1 Introduction With the sophistication of the Internet and multimedia technology comes
130. sites of Dresden and Cracow And for 28mm lens the top text should be like this on the example of scene no 22 Tab 5 2 12 lt SCENE 22 28mm gt lt scene id scene22 gt lt meta gt lt cameralimits panmin 180 panmax 180 tiltmin 2079 tidemax 26 5 fovmin 10 fovmax 40 gt lt meta gt lt panoelement id pano type cylindrical gt Tab 4 2 12 The top part of scene no 22 in tour22 xml that is characteristic only for panoramic images made with 28mm lens One should define firstly in the scene what kind of panoramic image will be displayed Determining the right values for cameralimits camera limits are important to show the proper part of the environment around the view position The values are different for different lens used In the 7 line Tab 5 2 10 one must put the name of the panoramic image that should be displayed in that scene In the 10 line in the same table there is a definition of the hot spot to panorama 4 hotspot144 means that this is a hotspot from panorama 14 to panorama 4 This hot spot uses the images from the fragment of the code presented in Tab 5 2 8 Pan and Tilt is the place where the hot spot should be placed in the panorama One could get these values in degrees using Aldo Hoeben s program that is called SPi V Spotter Fig 5 2 17 2 SPi Spotter pan 20 2597 tle 2 1 9ae fov 85 4490 Open pano Fig 5 2 17 SPi V Spotter helps to d
131. sites of Dresden and Cracow of panoramas generated during the project Fig 2 3 The third chapter is about spherical and cylindrical panoramas At first there 1s a history of panoramic photography and projections types Three types of cameras and three types of taking panoramic images are described on the example of flatback swinglens and rotational cameras What is more digital technology of rotational cameras is specified on the example of the digital panoramic camera that was used in the project Eyescan MM1 This camera allows you to get a whole 360 panorama in less than one minute without stitching process In this project there were used three different lenses Differences in field of view are described in this chapter The last part of the second chapter presents a process of taking a panorama using Eyescan MM1 Program IcaScan that controls the camera is described in details as well as some tips that are important and not written in the manual Those tips are important for someone who starts working with this camera They were noticed by the author during a registration of more than fifty panoramas After that there is a description of a practical part of this diploma thesis Two methods of creating spherical panoramas are described in this place One of them is creating spherical panorama using digital panoramic camera Eyescan MM 1 and fisheye lens The second method is working with two hemispherical images in order to get one spherical pan
132. sor is rotating around a vertical or horizontal axis This type of camera is suited for recording static objects and should be mounted on a tripod Karol Kwiatek AGH University of Science and Technology Cracow 2005 17 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow o Image stitching this technology is using a number of images that are taken with a conventional camera and then stitched to get one image o Fisheye lens an image is taken with a conventional camera equipped with a gt 180 fisheye lens o Hyperbolic mirror an image is taken by a conventional digital camera that looks vertically down or up onto a hyperbolic mirror o Multisensor systems four or more area sensors that are equipped with wide angle lenses are combined to an omni directional vision system 3 5 1 Rotating linear array Special panoramic cameras outfitted with a pivoting lens or a swivel motor can be used to photograph complete panoramas in a single pass 12 The panoramic picture is produced by scanning the scene in front of the lens Most models allow different lenses to be fitted In the case of digital panoramic camera the sensor moves around one fixed rotation axis Panoramas taken with such camera require only one seam edge to be processed More about this technology can be found in chapter 3 6 Examples of cameras that use this technology are o Karline is produced by Dr Clauss It ca
133. space applying panoramas exercised on the sites of Dresden and Cracow Canvas Size Current Size 56M1 gt Width 6254 pixels Cancel Height 3127 pixels New Size zow Width 5254 pies Height Bo 7 percent Anchor Fig 4 2 31 The bottom half of the panorama no 18 was removed Remap it to a vertical fisheye image Filter gt Panorama Tools gt Remap At first click Prefs button and change options to these shown on Fig 4 2 32 Options a c and d should be disabled and in b one should choose the folder where new files will be saved lf Source and Result are differently sized _ More fa Display Cropped Framed Resultimage lw b Save full sized Result to File File Hame JEAPRACA MGA TE c Open Result with Application 4pplication Name Mour Plug in host might work C Program Files 4dobe Photoshop B 0 P Browse O id Don t Save Mask Photoshop LE Cancel Fig 4 2 32 Preferences that should be set before remapping Karol Kwiatek AGH University of Science and Technology Cracow 2005 59 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Remap Options Convert from Convert to Normal C Normal C QT VA Panoramic GT AR Panoramic f PSphere PS phere Fisheye Hor Fisheye Hor Fisheye Vert Fisheye Vert f Convex Mirror f Convex Mirror HFOW er faso WOVE p
134. t the image at the top and bottom furthest from the centre But this correction did not favour the area between the centre and the edge The area was away over corrected Then a value tries to correct these Karol Kwiatek AGH University of Science and Technology Cracow 2005 52 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow areas This makes the image too overcorrected but now it is much closer Then one should compensate them by adding a little reverse correction to b and c Increasing a again is one of the latest step Finally one should fix any errors that remain between the edge and centre by fine tuning the remaining parameters In tables Tab 4 2 1 and 4 2 2 are the corrections that fit to most of the spherical panoramas that were created during generation of the virtual tour of the TU Dresden campus Only a few panoramas need a special treatment but these new values will be shown later i ee eS 0 016 0 001 0 001 Gren 0 0 0 E 0 016 0 001 0 001 Tab 4 2 1 Horizontal correction Tab 4 2 2 Vertical correction Most of the spherical panoramas could be corrected using parameters from Table 4 2 1 and 4 2 2 There were two panoramas that could not be corrected this way Other values should be found There were problems only with Panorama no 5 and Panorama no 6 Evaluating the values will be presented here on the example of Panorama 5 and 6 Both panor
135. the ability to view panoramic images in a more interactive way With these technologies the audience can spin the panorama to experience the environment in much the same way as if they were actually there Someone once said that the difference between conventional and panoramic photography is like the difference between looking at a city from a small office window and from a rooftop Panoguide com 1 presents on its webpage a brief guide how to make a virtual tour At first one needs some panoramas Techniques of making panoramas are discussed in this diploma thesis Before designing a virtual tour one should decide what kind of object or place will be presented There are plenty of software and file formats for making panoramas These panoramas should be linked each other to make a simple virtual tour This linker is called hot spot and it is a part of panorama image when one clicks on it then something happens The most common example of this is a hot spot over a doorway in a panorama when clicked on appears a new panorama showing what the room the other side of the door looks like Knowledge of HTML or XML is necessary to edit files with hot spots in some software for virtual tours There also exists programs with a good tutorial and knowledge of coding languages is not necessary but really helps to control designing a virtual tour The advantage of these programs is that you have good results in a short time There are many kinds of interact
136. the result was checked in VSDGL exe Mariusz Rose Avenue Twardowski s program for displaying images for mirror Karol Kwiatek AGH University of Science and Technology Cracow 2005 88 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow stereoscope Individual steps of generation of stereo panoramas are described in the following pages 6 3 Stitching images in PTGui 6 3 1 Stitching images A panoramic image is created by composing a series of rotated camera images This sequence of images is taken while rotating a camera about a vertical axis that approximately passes through the camera optical centre Each image in the sequence is then projected onto a cylindrical surface whose cross sectional radius is an initially estimated focal length Fig 6 3 1 Fig 6 3 1 Composing multiple rotated camera views into a panorama The x mark indicates the locations of the camera optical and rotational centre 34 6 3 2 PanoTools PTGui Panorama Tools PanoTools consists of several components and is designed to be used for the production of cylindrical spherical and cubic panoramas As PanoTools is not very user friendly it is recommended that an add on program such as PTGui or PTMac is used This software integrates all of the PanoTools functions in a well organized easy to understand graphic interface PTGui runs on Windows with a comparable product available for the Ma
137. tings should be used when taking all pictures for a panoramic sequence White balance ISO value aperture and shutter speed must be exactly the same for every picture Doing this there are no differences in contrast and in illumination between the individual pictures A large depth of field typically is desired when taking panoramic shots In order to achieve a high depth of field a small aperture large F number should be selected The amount of light is influenced by selecting the appropriate exposure time Longer exposure times are not problematic as the camera usually is mounted on the tripod for the panoramic session During a panoramic session indoor and outdoor there could be a problem with sunlight There is a risk that the panoramic shots will reveal fluctuations in brightness This is why it is recommended to take a emer in sunlit or in cloudy conditions This tip is Fig 4 1 2 Blooming the problem with direct sunlight important because not doing this there will be varying patches of light in a panorama Taking panoramas in sunlight makes a possibility to take the photographer s shadow This problem could be easily corrected in computer software It is recommended not to take pictures in windy weather Plants can be blown around and be in different location in every second After stitching or during taking picture with digital panoramic camera the plants appear blurred in the panorama Another point
138. tion speeds Viewers with modem connections can select a smaller more compressed image while other users can choose a high resolution and better quality presentation In addition to this choice these sites often provide the content in multiple file formats that are suitable for several different types of viewer software The table below can be used to help predict the download speed of VR content with particular file size Tab 5 1 1 Karol Kwiatek AGH University of Science and Technology Cracow 2005 63 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow File size size Download speed 14kBps 28 8kBps 56 6kBps 128 kBps modem modem modem DSL Cable Tab 5 1 1 Download speed of VR content with particular file size 18 5 2 Panoramic viewers According to panotools info 9 there are basically three types of viewers for spherical panoramas o Java based viewers run on any platform that supports Java o Plug in based viewers require a plug in QuickTime Shockwave to run and might be platform specific o Stand alone viewers that are executables for a specific platform Java based viewers are for free First and until now most versatile is PTViewer developed originally by Helmut Dersch and now maintained and enhanced by Fulvio Senore The next free Java based viewer is Immervision G2 There 1s still beta version but this viewer seems to be very promising QuickTime P
139. to 3D PIX the image is in Interlaced Mode To get an anaglyph panorama one should save the resulting image File gt Save Stereoscopic Image Then Anaglyph option should be chosen Fig 6 5 5 Specify Image Layout anaglifQ00 tit Side by side Cross Eyed Right Lett side by side Parallel Lett Fight Cancel Lett Ower Aight Right Over Left Interlaced z z x A A Anaglyph Left Only Right Only IE Fig 6 5 5 Specyfying Image Layout in 3D PIX Karol Kwiatek AGH University of Science and Technology Cracow 2005 95 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow Fig 6 5 6 Anaglyph panorama created in 3D PIX After saving an anaglyph panorama Fig 6 5 6 on the hard disk one should watch this panorama running FSPViewer see chapter 5 2 1 The most important think to get a stereoscopic perception while watching this anaglyph panorama is to wear anaglyph glasses Fig 6 5 7 Fig 6 5 7 Anaglyph glasses are important to watch stereo panorama 38 6 5 3 Head Mounted Display VF X1 Headgear Head Mounted Display According to Webopedia encyclopaedia dedicated to computer technology 41 HMD abbreviation for Head Mounted Display is a headset used with virtual reality systems An HMD can be a pair of goggles or a full helmet In front of each eye there is a tiny monitor Because there are two monitors images appea
140. to keep in mind is that the tripod itself never should move during a panoramic shooting Moving picture elements are always problematic Taking pictures with a conventional camera one should consider that moving objects that are photographed must not be in the overlapping section of the pictures While taking panoramas with digital panoramic camera there is no possibility to record moving objects One of the most important recommendations is to take fully charged batteries What is more when outdoor pictures are taken there is a risk of encountering problems with direct sunlight Such light can cause the CCD sensors to overexpose which is known as blooming Fig 4 1 2 in digital photography In order to prevent this negative effect direct sunlight should be avoided It is advisable that the photographer could wait until the sun is a little lower in the sky or has disappeared behind a cloud for a longer Fig 4 1 1 The photographer s shadow on the street spherical panorama Fig 4 1 1 Panorama no 13 Karol Kwiatek AGH University of Science and Technology Cracow 2005 42 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow time This area should be retouched in graphical program like Adobe Photoshop The effort is worth a while as the result typically looks better than an overexposed picture 4 2 Correcting panoramic images taken with digital panoramic camera 4 2 1
141. used for measuring dx precisely but might fail on other points Then one might try linear correction using c dx ya or cubic correction using a dx yr yr ya For his example quadratic correction worked best Unfortunately this way of correcting colour separation does not fit to the panoramic images that were taken during the generation of the virtual tour using Eyescan MM1 Plenty of trials were made to estimate values for his equation but without a good solution Until in the year 2004 WATTERS 22 from Canada and KRAUSE 23 from Germany found a way how to determine suitable correction coefficients using different calculation approaches They found a solution for normal and conventional photographs Jim Watters also used Panorama Tools to correct chromatic aberration Here is the example photo Fig 4 2 12 that he used in his research In April 2004 he used fisheye lens Fig 4 2 12 Jim FC E8 with his Nikon CoolPix995 After many trials and A Va _ F i i k ss 2 ere SF l pn eye 5 r aer i Watters s errors he found a way to determine values for nearly every research photograph lens The formula 4 3 that he used 1s r sc aXr_dest 4 bXr dest 3 ecXr dest 2 dXr dest 4 3 where o d values make linear changes to the image o a b amp c values make polynomial changes to the image o The internal unit used for r_src and r_dest is the smaller of the width or height divided b
142. ve jei Eiai 1 0 fe Se oe Safa 458 ete ape Pores Ce 1 I iia waj A TE amp i ID DEN DEH 5 Haay Prev Maui krp b i ok Cri Taha zz peel 2 i Arai 7 Lh P7 mik igi horrea E PHH Fig 6 3 4 In the Control Points tab stitching points are defined in the overlapping area of the individual pictures In Optimizer tab the previously defined parameters such as focal length field of view position and distortion of the individual pictures are optimized such that the stitching points selected coincide with each other as much as possible The optimization process is started by clicking the Run Optimizer button Optimizer shows the average distance between the control points The smaller the number the better the chance of obtaining a good result After optimization has concluded a message window is displayed that informs you of the expected result Fig 6 3 5 Optimizer results Optimizer results The optimizer has optimized your panorama and returned the Following results Average control point distance 4 6903097826087 Minimum control point distance 1 08774 Maximum control point distance 8 33514 Fov 65 4993 a 0 007198 b 0 011827 c 0 063565 Do you want to accept the changes made by the optimizer Fig 6 3 5 The expected result is notified in the Optimizer results window The optimization result is very good It could be better when using a special tripod head for recording panoramas Sometimes
143. w virtual tours have to be edited in a text editor using XML Four licenses of SPi V are available One of them is free if the branding name fieldOfView is visible while the panoramas are displayed Fig 5 2 9 w spir SPi V engine 1 2 13b 0f 22004 Aldo Hosban faldOfviow No or invalid llcense s found Poworod by Micmmadia Shockwave 10 1 buki 11 WAL pim by Arcee hia anc Hus een and Jon Hurmureemi Some code aw flew pre Fig 5 2 9 SPi V viewer free version includes fieldOfView branding in the bottom right corner First steps with SPi V 26 SPi V can show images in different panoramic projections o Flat images also known as rectilinear o Cubic images o Cylindrical images o Spherical images SPi V can display panoramas in the browser but there is also an executable version available that works outside the browser This viewer is available for both Windows Windows 98 and newer and OS X version 10 2 and newer The stand alone viewer is essentially the same as the browser version it can open panoramas in either simple or xml mode One can drop simple panoramas in JPEG GIF PNG or BMP format on the application icon or SPi V xml files Karol Kwiatek AGH University of Science and Technology Cracow 2005 71 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow The virtual tour of the Dresden University of Technology campus is available in the Inte
144. word panorama became part of the vocabulary of every European language Since the mid 1850s there has been a fascination with panoramic photography the production of images that make us feel like we are there Ever before the term virtual reality became an everyday part of our language these wide angled vistas gave audiences the opportunity to experience places that they had never seen before The idea was simple to use the camera to duplicate what the viewer would see if he or she was actually standing in the same spot or to show a view that extends beyond the viewer s field of vision The photographer could produce pictures that simulated what the viewer would experience if he or she moved his or her head from side to side Unlike standard photography which tends to focus on one aspect of a scene to the exclusion of other elements panoramic imaging concerns itself with capturing all the detail of the world that surrounds us Early pioneers made a series of separately exposed and processed daguerreotype plates side by side to form their images Each image was carefully composed in the camera and the elements of the scene that fell at the edge of the frame noted Once the exposure was taken the camera was rotated so that the new composition was connected to the first a new plate was installed and the second exposure was made This process was repeated to produce a series of images which could be exhibited to form a panorama
145. xels in the base image for each pixel on the screen It is relatively slow but it creates the highest quality images Here are examples Fig 5 2 2 5 2 5 of the result of the various interpolator options The zoom level is 930 This sign 2 8t is from Panorama no 21 Fig 5 2 2 No interpolator Fig 5 2 3 Bilinear interpolator Fig 5 2 4 Lanczos2 interpolator Fig 5 2 5 Lanczos3 interpolator Karol Kwiatek AGH University of Science and Technology Cracow 2005 66 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow As one can see without interpolation the lines are jagged and distorted but the image looks sharp This is why many people prefer this setting to bilinear Bilinear interpolation renders smooth edges but creates a blurred image Lanczos interpolators render smooth edges and sharp images This is a very good result but it has a very high computing cost only modern computers can compute it fast enough to use it an almost real time application Displaying high resolution virtual tours FSPViewer can directly open the JPEG of TIFF image file of the panorama but one may want to use more advanced features of the program such as hotspots In order to use these features one must supply more information to the program This is accomplished by writing a control file for each panoramic image The control file has a default extension of FSV and is a text file written a
146. y 2 o With a b c 0 amp d 1 the image will remain unchanged o When at b c d 1 the image width will remain unchanged He drawn circles to show how the image is effected with a b and c parameters when d is also changed such that d l a b c What is more he also drew graphs Fig 4 2 13 and 4 2 14 to present how every parameters change the shape of the red net Knowledge of the parameters changes helps to correct images that were taken with digital panoramic camera Eyescan MM 1 Karol Kwiatek AGH University of Science and Technology Cracow 2005 49 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow i REEE EEE Fleece Aa see TE LALL T HHHH GEE ERED Fig 4 2 13 How changes ind Fig 4 2 1 4 How changes ina b amp will effect the image c will effect the image when d is also modified to keep a b c d 1 og mia Correcting chromatic aberration on the example of panoramic images taken with digital panoramic camera Eyescan MM1 and fisheye lens 8mm Nikkor This is a trial of correcting colour separation in spherical images A solution for this problem was not found in the Internet The following text in this chapter is written on the basis of correspondence with Jim Watters who was the first to found values for CA but for conventional images not for panoramic images The scope of chromatic aberration becomes visible by magnifying selected areas of the picture
147. y of correction Panorama tools Radial Shift filter allows for separate correction of red green and blue channel using a third degree polynomial This kind of curve should be complex enough to correct for any kind of non linear TCA MAX y Ax ye y b ya X Fig 4 2 11 Helmut Dersch s third degree polynomial Karol Kwiatek AGH University of Science and Technology Cracow 2005 AS Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow DERSCH 21 described in 1999 a trial of correcting chromatic aberration in images taken from scanning back cameras One of these cameras is PanoScan In the centre of the image the three colour channels RGB coincide whereas at the top and bottom the red and blue channels get shifted by a couple of pixels horizontally Fig 4 2 11 He suggested Panorama Tools and Correct submenu to correct images Then he determined the horizontal shift dx between the colour channels in the scan Calculation of the y coordinate is rather complicated He chose an algorithm that makes the coefficients useable for any scanning resolution First he determined the distance of the pixel from the centre line This is the absolute y coordinate ya Then he determined the relative y coordinate yr which is ya divided by half of the height Then he calculated b values for red and blue using the equation b dx yr ya This correction eliminated the error at the point that one has
148. zing development in virtual reality world is VR video It is sometimes called navigable movies This is a movie that allows you to turn left or right or even behind to get a different perspective on the event Please think how different could be watching movies when it is possible to move the viewpoint from the main actor to the reaction of the supporting cast during critical moments of the story What is more you can zoom in on different person of the band during the concert This technology exists now and you can watch a few concert recorded with DV cameras and a special lens adaptor Such concerts are available in the Internet or on DVD Spincam was the first company in the world to include 360 video on a CD as well as being the first to release such footage on DVD In 2001 they made history again by broadcasting awards ceremony the Brit Awards live on the Internet in 360 video 3 2 Panoramic formats projections type Panoramas come in various shapes and sizes In the process of creating a panorama it is important to choose a projection type The word projection is used to describe how the perspective of panoramic pictures is changed by software in order to present a realistic display Karol Kwiatek AGH University of Science and Technology Cracow 2005 12 Generation of a virtual tour in the 3D space applying panoramas exercised on the sites of Dresden and Cracow of the panorama on a computer screen According to Panotools info

DIPLOMA THESIS - Karol Kwiatek

Contents

Download Pdf Manuals

Related Search

Related Contents