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User Manual for Australis

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1. Australis maintains a Scalebar Database of known distances In order to automatically assign distances from the database to the network it is first necessary to tick the option shown below in Figure 4 8 which is accessed from the EditlProject Settings menu Scale options M Automatically scale from database Scale via codes C 3mm om 12mm hangers cence Figure 4 8 Users who employ a scalebar on many projects need only enter the distance information once This data entry procedure is as follows 1 Select Edit Scale database as shown in Figure 4 9a This will bring up the Scale dialog shown in Figure 4 9b The next step is to enter the scalebar name endpoint labels length and standard error enter 0 001 if unsure x Database Entries 5 File Edit Photogrammetry wir z _ osete j Details i Nothing to undo Name ScaleBar 1 Clear Labela 57 add Camera database o g Scale database Distance 1603 2 units gt lt Froject Settings Std Error 0 1 E Point Description Figure 4 9a Figure 4 9b 11 To store the scalebar information in the database select Add The input of such scalebar information can be performed at any time 111 To apply a scalebar distance from the scale database first select Set Scale by right clicking in the Image or 3D view Then select Get from DB and a dialog will appear from which the particular scalebar name can be selected as indica
2. Photometrix Australia www photometrix com au Photometrix Version 7 October 2007 User Manual for Australis ustralis are for lose Range Digital Photogrammetry Copyright 2007 This program is probected by Australian and Intemational copyright laws l 2 2 4 5 6 7 8 9 10 11 Contents Australis User Interface Project Set up 2 1 Importing Project Images 2 2 Selecting the Camera Automatic Measurement Operation 3 1 Procedure 3 2 Initial Camera Self Calibration 3 3 Automatic 3D Measurement 3 4 Bundle Adjustment 3 5 Coordinate List and Point Dialog 3 6 Point Re labelling Setting the Scale 4 1 Automatic Scaling via Coded Targets 4 2 Scaling with Known Distances 4 3 Entering Scalebar Lengths into the Scale Database Assigning the X YZ Coordinate System 5 1 Automatic Assignment of XYZ Axes 5 2 Operator Controlled 3 2 1 Process Transforming to a Coordinate System via Control Points 6 1 Coordinate transformation 6 2 Whatis Needed for Coordinate Transformation 6 3 Transformation Procedure 6 4 Point Re Labelling via Coordinate Transformation Quality Assessment and Results Summary Exporting X YZ Coordinate Data Automatic Camera Calibration Lines and Colour Point Referencing for Manual Measurement 11 1 Marking and Referencing 11 2 Undoing the Last Point Reference 11 3 Target Centroiding 12 13 Review Mode Camera Selection and Camera Data Entry 13 1 Three Camera Scen
3. A ONS 16 Adjustment of Image Scanning Parameters 16 1 Autoscanning Within the autoscanning process the aim is to detect white blobs which are well contrasted against a dark background Whether each of these blobs is a valid target or not depends upon a number of blob properties a How white it is compared to the background ie is its greyvalue intensity sufficiently higher than the background b Its size ie is it too big or too small c Its shape ie is it elliptical and not long and thin Note in Figure 16 1 that there are four detected potential targets The code is recognized as is the valid target at the left of the figure but the other two detected blobs are hot spots from 61 the flash photography of the metal surface These are not valid targets but they have all the properties of targets The purpose of allowing the operator to adjust the scanning controls is to achieve settings that maximize the recognition of valid targets and minimize the detection of invalid targets As seen in Figure 16 1 this 1s not always easy to achieve and it is very dependent on the imagery hae target gt sues 16 1 16 2 Autoscanning Control Dialog and Parameters Figure 16 2 shows the Image Scanning and Auto Measurement Settings dialog which can be selected before or after the initial image scanning process eg after R or imagescan only If selection is after an autoscan the autoscanning must be run ag
4. E Camera database OPI Project Settings Global Figure 13 10 x Camera Make and Model uniguelD Focal Length Image Width Image Height E E INCA default 17 926mm 3070 pixels 2056 pixels Delete i NIKON CORPORATION NIKON D200 default 18 552mm 3872 pixels 2592 pixels i on NIKON S1 default 5 173mm 2592 pixels 1944 pixels w NIKON CORPORATION NIKON D100 18mm 2m focus 18 584mm 3008 pixels 2000 pixels Figure 13 11 13 5 Listing the Global Camera Database To list all cameras in the Global Camera Database select EditlCamera DatabaselGlobal The user can then scroll through the list of cameras but cameras cannot be added to or deleted from this list 14 Generation of 3D Polylines 14 1 Polyline types Previous versions of Australis have supported only 3D point determination from the referencing of corresponding image points in overlapping images Sometimes edge detail and curved features are found where point referencing is difficult or not feasible In such cases it is now possible to determine 3D Polylines which do not require the specific referencing of corresponding image points Australis can generate two types of polylines 1 Facet polylines which are best suited to geometric figures whose boundary points eg corners are recognisable in multiple images 11 Free form polylines which are best suited to defining curved lines a straight edge being the simplest case Two examples of polylines are shown i
5. Show Hide Axes Show Hide Labels Show Hide Control Points Zr P DuauUN N Increase View Scale gt Decrease View Scale Coordinate Axis Point Size Cameras 1 Distance Set scale 3 2 1 Line Create Offset Point s Delete Offset Point s Show Hide FOY y Enable Disable Invert graphics Show Hide Images Show Hide Codes Figure 3 6 10 Image General Image Measurement 30 View General Image General Image Measurement 3D view General View 3D graphics view hotkey list i keys zoom image in out Arrow keys left fright Rotate view left right ALT mouse Drag For 2zoorm to selection Arrow keys up f down Zoom view in f out CTRL mouse Drag For point line and polyline selection ESCAPE Unselect all points lines CTRL SHIFT L Rotate image 90 degrees left SPACE Centre view on selection CTRL SHIFT F Rotate image 90 degrees right A Show Hide axes SHIFT F Fit all images to view windows iz Show f Hide cameras F Fit image to view window L Show l Hide point labels SHIFT T Tile all images M Show Hide Control Points SPACE hold down Image navigation mode P Show 3D information for selected point Show Hide axes R Show Hide camera to point rays D Show Hide lines ES Show Hide scale H Show Hide point labels if Show f Hide camera field of
6. and after ensuring that the desired control points have also been referenced and therefore measured in 3D by Australis 1 Because the transformation to control points process involves a point linking operation it is useful to initially have the 3D View open in the Workspace with the point labels turned on the L key It might also be useful to have an image open for better visual interpretation of the control point layout An example 3D View is shown in Figure 6 4 Fis Et Proteysersiry Window Help f a Tangle age poet rrhing Ts s aliens cal Belur coat ate E bE abil oven Fabola Manm meanurement mode detorreference Eri amira HIED CORPORATION MEON OL A Figure 6 4 24 11 The first step in the coordinate transformation process is to select Transformation to Control from the Photogrammetry menu as shown in Figure 6 4 At this point the dialog box shown in Figure 6 3 will appear This dialog has a window where the control point coordinates will be listed Two actions are required here by the operator First the desired transformation must be selected by clicking the appropriate radio button 3D transformation is the default selection Second the control points need to be either imported from a control points file or interactively input Note_on Scale One of the two messages will be given in the dialog regarding the adopted scale of the transformed coordinates a Scale Set and
7. over the points s to be either unreferenced or deleted altogether Also the point label in all images containing that point will turn yellow Using the DELETE key will then un reference the points and they will revert to red marked status only hence they are no longer 3D points Clicking on these points in reference mode after the CTRL key is released will turn them purple and DELETE will remove them completely 111 When in reference mode a right click on the mouse will present the user with the option to either unreference or delete highlighted yellow points For points already referenced in other image pairs unreferencing will occur only in the current image iv Finally if the 3D view is open the left mouse button can be pressed and a box drawn over points to highlight them They will again turn yellow in both the 3D view and the images The DELETE key will unreference these points and remove them from the 3D points list 37 11 2 Undoing the Last Point Referencing It is possible to undo the most recent point referencing operation by selecting CTRL Z or choosing the pull down menu selection EditlUndo last referenced point Figure 11 5 File Edit Photogrammetry Window Help C Undo last reference point 62 Camera database Scale database Project Settings Point Description Figure 11 5 In the case where a point is already referenced this operation un references the point pair and deletes
8. such as distances input to define scale are assumed to be in these units Note that the choice of units does not relate to camera calibration parameters the chosen units refer only to object XYZ coordinates The units are defined by choosing one of the four options in Figure 4 4 Select Units ed m Units inches amp millimetres feet Y metres caneri Figure 4 4 111 The dialog box shown in Figure 4 5 then appears The operator selects the two points A and B from the number list forming the known distance and this distance is entered Scale O O O Ss xj Existing Scale __ Sh Get from DB Delete Details Point amp 57 Point B lt 4 Figure 4 5 18 iv To register the scaled distance click Apply At this point or later you can add v additional distances for scale control or even change or delete previously entered distances Once all data is entered press Close Red lines will be drawn between the pairs of nominated scale points in the Image and 3D Views The final scale will be a weighted average of the nominated scaled distances Figure 4 6 indicates a scale distance in the 3D View The S key can be used to toggle the red line between show and hide in both the 3D and individual Image Views Seale xi Existing Scale Get From DB scale S7 514 x Delete Beta Point 4 514 Foint 6 57 Distance
9. 1603 700000 mm Figure 4 6 As an alternative to entering the numbers for points A and B as in iv first highlight select two points Left click in either the 3D View or Image View with the Select tool and then CTRL left click for the second point Then select Set Scale The two selected points will be shown as Points A and B and the operator need only enter the distance and press Apply followed by Close This is shown in Figure 4 7 Existing Scale Get fram DB ial Delete Details Point A 514 Point 6 57 Distance 1603 2 mm Figure 4 7 In order to check point to point distances after scaling simply highlight the two end points of a line in the 3D view right click and then select Distance from the menu Cautionary Notes a In the event of a drastic rescaling of the network the 3D view may look too small or large and may require rescaling via either the mouse wheel or the Increase or Decrease view scale options see Figure 3 6 The camera size may also need rescaling the 1 and 2 keys b Unless Set Scale is employed to fix one or more point to point distances the object coordinates will be at an arbitrary scale ie objects will not be at true size A warning is given in this case to set scale if coordinates are to be exported via DXF or a text file or if the project is closed without first establishing a scale 19 4 3 Entering Scalebar Lengths into the Scale Database
10. 3 2 m Point to Form origin eo o Point to define axis 33 ba M f ar S S S m Point to fall on plane 22 r aM x cancel Inclinometer Figure 5 2 Note The three points for the 3 2 1 process can also be selected highlighted in an image window but the 3D view is necessary for viewing the newly assigned axes The 3 2 1 process can also be selected without highlighting points in which case point numbers are entered via the dialog box 111 By interactively checking the selected X X Z boxes the axes can be swapped keeping the right handed Cartesian nature of the coordinate system Once the desired axial directions are established press the OK button At this point the 3D coordinates of all points and camera stations are transformed to the new system as shown by the point table listing in Figure 5 3 Pore Label iX ly z arae ouy angle ideah Desnpton GO LMI LEE 144 6214 AA l f 88 a B 1317 55 152 544 nasia l O45 ate gt i 0 0000 0 0000 1 0000 5 4 6 Go Ate OSL 10 73 Hey 1 oa 3 B pig EPERE IA ma 9 0 7 a0 B 0 50 161 Wee 24am ob ou wd a i LW Gere 614 000 Law DE LER B gas LSU SUE 446 2515 10 D H a8 Bw LAUT We oa wag bere Th O51 5 Bu wiz S00 CREEL Maz 0 50 9 iz 301 6740 46 2029 S721 io 0 55 30 0 13 150 65379 O56 Pao 41 oe io 0 68 7 9 p LE SSS L1 743 GEG 4471 ig 070 52 5 o 16 1609 L640 1102 2703 iO L638 io 0 75 59 9 Gi 1575 83 TIHA DESH 9 62
11. Case 2 except that here an entry for the camera make and model must also be made An example completed entry is as shown in Figure 13 6 The first three compulsory fields in the camera parameters dialog will always initially contain not set for the make and model default for the camera name and 0 00 for the focal length The first and third field must have valid entries The Tab key is used to move between fields Once the camera information is entered and OK is selected the camera list in Figure 13 5 is updated with the new entry The operator then needs to highlight this newly entered camera and choose Select The project images can then be loaded in the normal manner x m Image dimensions are 1536 pixels wide amp 1024 pixels high The following three fields must have valid entry data Enter camera make and model Codak DCS 420 Enter camera name For iWitness default Enter focal length in mm 28 00 Enter the following data if known otherwise leave as itis Size of image pixel mm 0 009 Camera Image Size of imaging sensor mm width 13 82 height 9 22 Principal point coordinates mm xp 0 0 YP 0 0 Radial lens distortion coefficients K1 0 0 K2 0 0 K3 0 0 Decentring distortion coefficients P1 0 0 P2 0 0 Figure 13 6 13 2 Unique Camera Identifier Unique ID The important camera calibration parameters of focal length principal distance and lens disto
12. IO the output text file name will be named projectname_EOIO txt Thus there are two conditions necessary to generate this output file first the project must have been saved and second a bundle adjustment must be run following the selection of the EO IO parameters option The output image coordinate files are named imagename icf 74 Appendix B STANDARD END USER LICENCE AGREEMENT FOR Australis AND PHOTOMETRIX PRODUCTS Warning Permission to use the software Australis including any associated media printed materials and online or electronic documentation collectively Photometrix Products is conditional upon you the customer either an individual or a single entity Licensee agreeing to the terms set out below By installing copying or otherwise using the Photometrix Product Australis you agree to be bound by the terms of this Agreement If you do not agree to the terms of this Agreement do not install or use Australis you may however return Australis to your Australis supplier for a refund This document is a legal agreement Agreement between you and Photometrix Pty Ltd ACN 105 272 562 Photometrix Acceptance shall bind you and all of your employees sub contractors and other agents to the terms of this Agreement and of the Licence described below PHOTOMETRIX PRODUCTS LICENCE The Photometrix Product Australis is protected by copyright laws and international copyright treaties in additi
13. Image Zooming within the Image View Panning in the Image View 3D View Functions Menu from Right Click in 3D View Menu from Right Click in Image View Deleting Images from the Project De activating a Referenced Image Re orienting an Image Re orienting all Images Relative Orientation Re linking a Folder of Images to a Project page A15 Driveback 71 A16 Single Image Resection 71 A17 Entering a Point Description 74 A18 Exporting Orientation Parameters and Image Coordinates 74 Appendix B The End User License Agreement for Australis 75 Quick Reference Note For a quick reference to all program controls such as toolbar buttons cursors menus within the Image View and 3D View workspaces refer to Appendix A Note on Camera Settings and Operation Recall that there are three basic rules which apply to recording images for photogrammetric measurement with Australis The camera lens should not be refocused during the photography session If using a zoom lens the zoom setting should not be adjusted during the photography session Where the camera has an auto rotate function which digitally rotates the recorded image turn this feature OFF 1 Australis User Interface Upon running Australis double click on desktop icon the user is presented with the screen shown in Figure 1 1 There are two basic windows the scrollable Thumbnail Window at the left of the screen which lists the camera s and image thumbna
14. Referencing Predicted Points After the new point is referenced and therefore measured in 3D in two images its position can be predicted in all other images that see that point These points are labelled in blue if the blue points are not displayed move the cursor over the image and select the B key So 1f the user now chooses to reference the image point 62 in the third image he she must first un click the green R button of one of two referencing images 36 and then click the red R of the image to be referenced The R will turn green or the user can turn referencing off and back on again via the R toolbar button or the R key To reference the blue point first click close to point 62 in the left image green label and then precisely mark the image point don t just click near the blue label its position is only predicted and may not be accurate The blue label will turn to green and so point 62 is now referenced in three images This process can be continued with other images and desired points j i j i i j Figure 11 4 4 Deleting a Point During Referencing Points are deleted during referencing as follows 1 Ifthe point selected in the first image coloured purple is deemed to be in error use the Delete key to cancel the marking 11 For a referenced pair of points while still in reference mode hold down the CTRL key and the cursor will change to the Select cursor arrow A marquee box can then be drawn
15. Review Button Selects the Review or Edit mode where the quality of each feature point determination can be verified Status Summary Provides a summary of the current status of the project ra ScreenGrab Provides a jpeg image file of the current screen contents 4 Step forward or backwards through the images when a single image is open in the image view Buttons to open a new Australis project open an existing project and to save the current project Oh Oo In addition there are also the button and the selection buttons for polylines and texturing 67 A3 Rotating an Image In order to rotate an image to make it view as upright right click in the image view and select Rotate You will then have the option of rotating either 90 or 180 Once rotated the image will stay in its new rotation throughout the project The manual referencing function is easier when the two images being referenced are similarly oriented The presence of camera rotations of 90 in the image network is quite important for camera self calibration so image rotation will be frequently encountered A4 Zooming within the image view The four zoom options available in the active image window are 1 The Z key When the pencil cursor is over the point of interest hold down the Z key to generate a zoom window The cursor can then be accurately placed on the feature point of interest The window will remain as long as the Z key is held
16. a convex order as indicated in Figure 15 2a Figure 15 2b shows an invalid polygon selection The entity boundary is drawn as the bounding points are selected Single points are selected via the left mouse button in the usual way This can be done in either the 3D view or in the Image view Unlike all other point selection modes in Australis predicted blue points can also be selected in the Image View when in texture mapping mode The deselecting of the last selected point is possible by pressing the Backspace key 56 a correct selection b invalid selection Figure 15 2 Selected boundaries for entity creation 15 3 2 Selection of polyline points Polylines can form boundaries of textured planar surface entities and they can be selected in the same way that single points are selected again in either the 3D View or Image view A polyline is internally stored as a sequence of 3D points and it is possible to use only a subset of these in the texture mapping process To shorten a polyline from each end for texturing use the Backspace and CTRL Backspace to deselect points from both sides ends of the polyline To aid in this process points of the polyline are highlighted and the start and end points are coloured green and red For a closed polyline at the beginning the start green and end red are the same and appear in red as shown in Figure 15 3 To deselect the red point use Backspace to deselecting the green point use CT
17. be reset at any time by selecting the Defaults button shown in Figure 16 2 The settings adopted via the dialog will only apply to the current project Upon starting a new project the settings return to the default values 16 6 Saving Autoscanning Settings Selecting the OK button sets the assigned scanning values for all images within the project Thus some care must be taken in ensuring that the adjusted settings are most suitable for all images Images can then be scanned or rescanned with the new settings 16 7 When to adjust the scanning settings As mentioned the Q selection can be carried out before or after an Autoscan eg R but if after the autoscanning must be repeated with the new settings The recommended time to adjust the target detection criteria is after the images are initially loaded into the project before the first autoscan Open a representative image make the necessary adjustments and then run the autoscanning via Autocal or R 65 APPENDIX A Summary of Hotkey and Program Control Functions Al Index to Australis Hotkeys The following hotkeys are utilised for operations within Australis Note that this list is accessible via the Help menu amp the toolbar Image General Image Measurement 3D view General Image General Measurement 1 2 keys Image Measurement 3b View General Arrow keys left fright Move bo next previous point in guided referencing m
18. linking procedure is adopted First highlight a point in the 3D View or image view left click and drag over the point and then click the label of the corresponding point in the control points list left hand column This is illustrated a for 3D Points 21 33 40 and 44 Control C 21 C 33 C 40 and C 44 in Figure 6 6 Note that once the control point has been referenced a green tick mark will appear Also the label in the 3D view and images will change to that of the control point If the point is the first to be linked the coordinate origin will move to that point Continue this process ensuring that at least the minimum number of points for the desired transformation have been linked 1 for a block shift 2 for a 2D transformation and 3 for a 3D transformation A warning message will be displayed if a linked control point label is the same as an existing referenced point The already referenced point will then have a 1 appended to its label Control Points Closest Point C 15 595 3000 743 6000 30 4000 0 0000 v 15 0 0206 0 0617 0 0392 0 0759 C 21 1383 6000 1246 7000 0 9000 0 0000 h C 21 0 0426 0 0058 0 0057 0 0434 C 33 1381 2000 0 0000 0 0000 0 0000 h C 33 0 0057 0 0284 0 0070 0 0298 C 40 178 9000 5 1000 41 2000 0 0000 v C 40 0 0161 0 0071 0 0078 0 0192 Chit 184 5000 1253 0000 43 5000 0 0000 h C44 0 0208 0 0296 0 0065 0 0366 m Transformation Options New Point Import Control Points Control po
19. osc_o027 3PG 140 4 0 60 pcc 0028 16 136 4 0 63 FE osc_0029 2PG 129 4 0 54 Hts oz lz 1 0 45 DSC _O0031 IPG 130 D 0 52 DSC O0032 IPG 138 10 0 62 Hcc 0033 36 136 4 0 52 Bosc _o034 3P6 129 0 0 43 FE osc_0035 2PG 126 1 0 50 Figure 7 2 A further quality summary is provided for all oriented images via the selection of Photogrammetry Orient all Camera Stations This summary shown in Figure 7 3 lists for each camera station the image name orientation status number of used observations closure value RMS value of image coordinate residuals for the image exterior orientation parameters and list of image coordinate residuals Project Images Summary x OSC _026 JPts 131 of 166 DSC _027 JP6 Yes O 62um DSC _O26 IP 137 of 235 OS _O29 JP 126 of 150 DSC 030 JP 126 of 156 DSC 031 JP 129 of 158 Os _O32 JP 132 of 218 Lt ee a aa _0 44 1922 5 1655 1 585 9 1708 7 a11 4 116 2 1903 5 Ss Image summary i 1040 8522 Azimuth 67 437 yi 587 056 Elevation 41 2767 7 972 653 Fall 140 109 Figure 7 3 Overall summary Number of project images Number of oriented images 29 Prior to exporting the measured 3D coordinates it is desirable to assess the accuracy of the overall photogrammetric survey Information related to the quality of the full measurement process is contained in the Summary which is available through selecting the S button on the toolbar A sample summary is shown i
20. the second and subsequent points To stop the line building simply click again on the Line Button click in the window away from any feature points or use the ESC key on the keyboard In the 3D view window click on the first point and then hold down the CTRL key when selecting subsequent points iv The resulting line will be drawn in the 3D view and in the images as shown in Figure 10 2 and line attributes are output with the X YZ coordinates with the DXF export option Figure 10 2 Alternatively the user can right click in the Image View while in Select Mode and choose Line This brings up the dialog box shown in Figure 10 3 After selecting the two endpoint labels from the pull down list the line length will be displayed The operator then chooses the colour and selects OK twice if a new colour is set at which point the line is displayed Line Te Pointl 320 Y Pono Distance 1515 51 Colour Figure 10 3 To delete a line Select it in the 3D View and then use the DEL key on the keyboard The D key can be used to toggle between show and hide lines in the Image and 3D Views Note on Line and Point Colour To change the colour of a line or point and label highlight the line or point in the 3D View and click on the colour button Then select the desired colour and press OK The new colour will apply after the line or point is no longer highlighted ie click anywhere in the 3D View 34 11 Point Referencing
21. the new point marking Through this function it is possible to undo referencing in the reverse order to which is was carried out stepping backwards through the points Note_on displaying images It is possible to have multiple images open at different enlargements It is thus often useful to return all images to full image view To achieve this simply use the SHIFT F keyboard combination To return a single image to full view use the F key on the keyboard Also in order to close all images that are displayed but not being referenced either select WindowlClose NonReferencing or call up the Select Cursor use CTRL key when in reference mode right click and choose Close Non Referencing Images Finally to evenly tile uneven windows simply select either WindowlITile or SHIFT T 11 3 Target Centroiding The optimum targets for precise marking and referencing are likely to be high contrast dots Where such targets are utilised Australis can fine measure them during manual referencing with an auto assist function that provides precise centre of target centroid determination In order to perform an automatic precise marking in either Referencing or Single Image Point Marking mode Photogrammetry menu red pencil cursor the Centroiding function can be employed By selecting the X key for white blobs on a dark background or the C key for dark blobs on a light background Recall select Referencing or Marking mode first followed by the centroidi
22. the planar condition is not fulfilled the texture will appear distorted to some extent If the selected polygon is not convex the texture can potentially be turned upside down which would make it visible from the backside of the 55 entity rather than the front If no oriented image is available or the entity is too large to fit into one orientated image a default texture white appears Figure 15 1b 15 2 Selecting Texture Mapping Mode The 3D Texture Mapping mode 1s selected via the Bl icon on the Toolbar Upon selection of this mode the cursor will change to one of the following symbols 3D Texture Mapping mode RT Point Construction mode Textured entities can be created and modified in the 3D Texture Mapping mode In the Point Construction mode additional 3D points can be created to support the entity creation and to complete the visual 3D model by overlaying additional texture where necessary To toggle between the two modes the hot key W is used as will be explained further in a following section 15 3 Planar Surface Entity Creation 15 3 1 Point selection To create an entity at least three points or polylines that contains at least three points must be selected Lines created via the Australis Line Tool are not considered Upon point selection a polygon appears that shows the boundary of the proposed entity The selection can be carried out in either the 3D View or Image View and the points have to be selected in
23. time it is desired to remove a referenced image from the multi image network the operator need only right click on the image thumbnail and select Set Un oriented The referenced points from that image are then effectively unreferenced This operation should only be used with caution for it may weaken network geometry Also if a point on the un oriented image is only referenced to one other then that point will be effectively removed from the 3D list Show EO Set Image Fath Change Camera Remove Image Set Un oriented Enable Disable A11 Re orienting an Image To reinstate a referenced image which has been removed from the network by setting it un oriented simply open the image right click in Select Cursor the white arrow or Reference Mode and choose PhotogrammetrylOrient Camera Station Orient A dialog box lists the status of the re orientation A12 Re orienting all Images To re orient all images at any given point in time select Orient all camera stations from the Photogrammetry pull down menu Note however that it is very unlikely that you will need to use this facility in routine use of Australis A13 Relative Orientation In the normal processing of Australis all orientation functions occur automatically In very rare instances the user may wish to explicitly orient one already referenced image to another This process can be carried out by choosing Relative Orientation from th
24. view i Show Hide residual vectors D Show Hide lines Wy Show Hide reference guiding line Bay Show Hide polylines 5 Show Hide scale z Show f Hide textures F Show 3D point f polyline information for selection Tf Decrease Increase coordinate axes B Blue predicted points onmtoFf be Decrease Increase point size NH Blue predicted polylines onjotF Err Decrease Increase camera size R Referencing mode on off Shift Right Mouse Pans the view L Line Mode onoff F Fit to view window M Single image point marking F7 Initialise point re labelling E Open 30 Graphics view F Increment label in point re labelling i kevs Decrease Increase coordinate axes Fee Se z Arrow keys Cup f dawn Increase Decrease image brightness pees DEL cists selected bee uy Point construction mode on tof Rea E Create texture of selected thumbnail F7 Initialise point re labelling BaCckSPACE Deselect used polyline points from end Fa Increment label in point re labelling CTRL BACKSPACE Deselect used polyline points From Front Image General Image Measurement 30 view General Measurement 7 Arrow keys deft fright Move to next t previous point in guided referencing mode 1 2 keys Move to next previous point in guided referencing mode Oo Edit color target scanning parameters thald down Brings up the zoom window For dark
25. with 4 well spread points being the minimum The example below has 6 points linked referenced Closest Point Cl 0 0000 0 0000 0 0000 h cl C2 221 6159 7 2468 59 2698 h C2 E3 472 9815 8 2660 59 1317 M c m C4 722 8948 6 7856 60 5958 N A ccl 3 6782 827 3155 0 0000 h Cal CEZ 220 8165 820 9200 58 7420 N A CC3 472 1937 508 6595 60 2487 v CE3 cc4 739 2245 630 4457 63 1073 Mcc vl Number of linked points 6 Image station oriented No Import Control Inverse Camera Orient Close 6 When the desired number of points have been linked 4 or more choose the Orient button This will bring up the Orientation Summary Dialog whereupon Orient is chosen from the dialog box Orientation results are then displayed amp the image thumbnail changes to green to indicate that the image is oriented Cera NEON CORPORATIA NIKON Dil centred taba X e a cem El C pEi a t 0 0000 Wc ard Boh PMG 50 ee fic a 472 9815 a3860 sin cs oa TEE TESS 60 5758 NJA orl ome wns owo cea on ais 6200200 58 720 NIA oct 21007 BL i 2487 w ES ccd mess eman awna Wea f Murer of iriad pointa map station oriented Min impart Control iwerse Camera oriere cow 7 The 3D View can be used to view the resulting position of the resected camera with respect to the control points used for the resection as shown below 3 DSC_026 IPG Ys s E 73 A17 Entering a Point D
26. 0574 2PG Open all images that see FRONTDOOR Enter change existing information Enter new polyline label FRONTDOOR Enter text string description Front door of the PA s Cancel Figure 14 2 49 In order to change the default label or to add a description for the polyline just change the entries new polyline label and or text string description and press OK 14 5 Polyline Length To determine the length of a polyline highlight it and click the right mouse button in either one of the images or the 3D View Select Distance from the menu Depending upon the units used and whether or not the scale is set a dialog similar to that below will appear listing the length of the polyline If more than one polyline is selected only the length of the first polyline is displayed The length of a selected polyline is also displayed in the 3D View Distance Length of Polyline 646 7697 units 14 6 Closed Polylines Both closed and open non closed polylines can be created To close the polyline being working on move the mouse pointer to the first clicked polyline point A small rectangle over this point will then appear Just press the left or right mouse button and Australis will close the polyline automatically Important note As previously mentioned it is not possible to mix closed and non closed polylines in the calculation of a single 3D object 14 7 Facet Versus Free Form Polylines Australis provides two differen
27. 0598 C 21 1383 6000 1246 7000 0 9000 0 0000 7 C 21 0 0418 0 0068 0 0122 0 0441 C 33 1381 2000 0 0000 0 0000 0 0000 v C 33 0 0096 0 0373 0 0030 0 0386 C 40 178 9000 5 1000 41 2000 0 0000 v C 40 0 0234 0 0188 0 0165 0 0343 C 44 184 5000 1253 0000 43 5000 0 0000 vj C 44 0 0251 0 0142 0 0048 0 0292 m Transformation Options New Point Import Control Points Control points scale used 3 Cm C1p Quality RMS 0 025 units Link Codes Unlink All Number of linked points 5 I Point re labelling only Closeness 0 147 units Link Close Points Close Figure 6 8 vii Linking Closest Points As shown in Figure 6 8 after a transformation solution is obtained a listing will be made of the referenced points which lie closest to the unlinked control points The distance discrepancies are indicated for the unlinked points in the columns DX DY DZ and Total vector distance In most cases if the values are small amp consistent with the DX DY DZ values for linked points then there is a good chance that the closest point is also the correct point to be linked to the corresponding control point To achieve an automatic linking of the closest points simply choose the Link Close Points button which will be greyed out until an initial transformation solution is obtained viii Unlinking Control Points In order to either unlink a control point or remove the point from the control listing altogether righ
28. 1 23 24 2 Ar a Figure 3 13 2 Select point 21 amp then hit the F7 Key The following dialog Figure 3 14 will appear a a x Prefix Label 34 Cancel lt gt i E G Figure 3 14 3 Enter the prefix Edge_ and use the arrow keys to select the start number in this case 31 as indicated in Figure 3 15 wi ri Prefix Edge_ Label Edge 31 Cancel lt OK Figure 3 15 Select OK and the point label will change to the desired new label as in Figure 3 16 15 10 11 9 CODES CODES CODEBS 15 GODE7O GODESO 95 106 EDGE_31 SCODE8395 30 Figure 3 16 4 Note that it is not necessary to first highlight a point before calling up the label dialog via the F7 key Instead F7 can be selected and the new label inserted before any points are highlighted After closing the dialog with OK simply highlight the point and hit the F8 key and it will assume the new label 5 Following the relabelling of a point via the F7 option additional points that are to be assigned the same label prefix eg Edge_ can be relabelled The operator need only highlight the point and hit F8 The label number will then automatically increment by 1 So you select 25 amp hit F8 select 24 amp hit F8 select 23 amp hit F8 and finally select 21 amp hit F8 and the labels will appear as in Figure 3 17 x ODE78 18 EDGE_35 CODETS EDGE_34 epoe33 7 CODESO EDGE_32 EDGE_
29. 252e 009 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 Finished Results Quality of Self Calibration 1 0 good Estimated internal accuracy of Referencing 0 07 pixels 0 58 microns Accept Cancel 3 DSC_028 JPG Figure 3 3 3 3 Automatic 3D Measurement Once the initial self calibraton has been completed only if necessary fully automatic 3D measurement of the object targets can be commenced by selecting Auto reference from the pull down Photogrammetry menu or from the R toolbar button as indicated in Figure 3 4 Photogrammetry Window Help Single image point marking Relative orientation Orient all camera stations Transformation to contral AutoCal Manual measurement mode Photogrammetry Nwindow Help Bundle N Ak fA BKH Figure 3 4 Note on image scanning Automatic measurement requires that all image points are detected within the imagery in an initial image scanning process This requires high contrast between target blobs and background as well as particular characteristics for the image points There is generally no need to adjust image scanning parameters but this option is available as is fully described in Chapter 16 The operator then selects Begin as shown in Figure 3 5 Once the operation is complete as indicated by the Auto Referencing Finished message and the screen plot of the network the operator selects Close after reviewing th
30. 31 30 Figure 3 17 To rename 19 to Corner10 highlight 19 select F7 and input the label as per Figure 3 18 Then Select OK amp the point will be relabelled _ Prefix Corner Label Cornerid Cancel lt all Figure 3 18 As will be described in Chapter 6 it is also possible to automatically re label entire object point arrays using Network Re Labelling This is very useful in applications where photogrammetric surveys are repeated as for example in deformation measurement 16 The next two steps in the Australis data processing sequence are to scale the object to true scale and assign a particular Cartesian coordinate reference system to the object points 4 Setting the Scale There are three means to set object space scale first via coded targets second using a Scale Database of stored scale bar values and third by simply assigning distances between point pairs in the object point array 4 1 Automatic Scaling via Coded Targets Since Australis uses coded targets of known sizes it is possible to assign object space scale based on point to point distances between points forming the codes To achieve this initial scaling the user ticks Scale via codes from the EditlProject Settings menu and ensures that the correct coded target size is also ticked there are three standard size options The dialog appears as in Figure 4 1 Selection of this option causes red scaled distances to be shown for coded targe
31. 4b The camera make and model cannot be changed as this is read from the EXIF header A valid non zero entry must be made for the focal length whereas other entries need only be made if the correct values are known Otherwise leave the entries except the focal length at the default values displayed The default pixel size is set to 0 005mm A typical range for consumer digital cameras is 0 003mm to 0 009mm and it is desirable though not mandatory to enter the correct value here if it is known Adoption of the default pixel size will lead to a satisfactory camera calibration and subsequent 3D measurement but the computed focal length principal distance may differ from that indicated for the lens Once the required entries are made click OK and the camera is then added to the Australis database Image dmenpere sre image dimensions ona IA piek vanha Bk ONC pios hgh M pirak vaia h BIO pioak high The following three Helda must h The following three fields must hove valld entry data Fides ramea rote mal racer i Ta ee Pe Dier camara mak ard madal MON CORPORATION MIGON D10 Eri cain a arrea ar Din del ell Enter camari nana fo fairer PET Eiter Poza beret ini ma Ch ete Enter Pocol iergch in mmi 7 00 Enter the follawing date if eiin whernaiie leave an itis Enter the following date H known olherwise lease os iis Sine oF mage pocel xen nis Carena Iimge Tise of iaga pxiced diern owm Tamera Image She of mag Sere
32. 9 Sightings list 176 87 11D Imagename Residual vector pixels microns E lz osc_027 3P6 0 13 1 06 527 32 psc_0032 3P6 0 17 1 37 22 373 M Dsc _0029 3PG 0 27 212 199 74 E Dsc_0026 3Pc 0 16 1 28 Hs 0sc_0028 3P 0 23 1 85 7139 09 Es psc_0030 3PG 012 0 96 276 47 e psc_o031 3PG 0 10 0 81 689 23 Open all images that see 6 513 68 m Enter change existing information 204 85 Enter new point label 79 558 6 257 171 Enter text string description 269 31 SSE 498 88 Figure 3 12 3 6 Point Re labelling To re label a point simply type the desired label into the enter new point label box of the Point Dialog shown in Figure 3 12 The new label will now appear in the Image and 3D Views A description can also be entered and this will be written to the DXF file on coordinate output As an alternative it is possible to manually relabel strings of points with sequentially increasing numbers This is more convenient when there is a lot of point relabelling required The steps are as follows 14 1 Assume that it is desired change the labels of the points below in Figure 3 13 as follows 27 to Edge_31 and then 25 24 23 and 21 to Edge_32 to Edge_35 Also label 19 is to be changed to Corner10 The changes can now be made in either the Image or 3D Views 95 108 22 167 CODE 8 19 xCODE S CODESO CODESS 4 149 2
33. Held scale has been set in the Australis project and will be maintained b Control Points Scale Adopted means that the final scale of the transformed coordinates will be that of the control points system The program will adopt option a or b purely on the basis of whether scale has been set in the project If scale has been set in Australis the user must first delete the scale information from the 3D View ie no red scaled distances in the 3D View in order to adopt the scale of the control point coordinates 111 Select Import Control Points in the case where control points are to be read from a file The point labels and coordinates will then be displayed as indicated in Figure 6 5 The control points text file can be built using an accessory program such as NotePad Control Points Closest Point 595 3000 C 21 1383 6000 1246 7000 0 9000 0 0000 Nia Nia Nia Nis Nid C 33 1381 2000 0 0000 0 0000 0 0000 Nid Nis Nia Nid Nis c 40 178 9000 5 1000 41 2000 0 0000 Nia Nia Nia Nis Nia 184 5000 1253 0000 43 5000 743 6000 30 4000 New Point Import Control Points Control paints scale used Quality N A Link Codes Unlink All Number of linked points 0 Closeness units Link Glose Points Close 3p 2p 1D gt Transformation Options Point re labelling only Figure 6 5 iv Linking In order to match points in the 3D view or in the image s with the corresponding control points a
34. IFF or JPG file could be chosen The texture will be stretched onto the chosen entity Through use of the Point Construction mode and artificial texturing unrecorded areas of the 3D scene can be texture mapped in this way This is a particularly useful way to fill small gaps between complex textured entities Recalculate Texture Set Image Path Set Texture Export vRAML Figure 15 7 Menu resulting from right click in a selected entity within the 3D View 15 6 3 Mapping the entity on its reverse side It is possible to texture map an entity from behind ie to have the texture visible from the opposite direction To achieve this first select the entity in the 3D View and then rotate it into the position where the texture should be visible Now either a choose an Image View and click the right mouse button or b select a thumbnail of in the thumbnail window and press E or c click the right mouse button in the 3D View and choose Recalculate Texture from the menu shown in Figure 15 7 Note To make the entity visible from both sides a second entity must be created See How to create an entity 15 7 Deleting Entities To delete an entity or entities select the entities and press the Delete key Sometimes overlapping objects of the OpenGL View and Image View are simultaneously selected You can choose individually which group of objects have to be deleted 15 8 Export of Texture Mapped Object
35. LZe System of the control points The transformation involves a translation three rotations and possibly a uniform scale change This represents the general transformation case and 2D transformations and block shifts are special cases of this general case Figure 6 1 illustrates a 2D coordinate transformation Basically the provision of control points allows transformation into any chosen object space Cartesian X Y Z reference system 6 2 What is Needed for Coordinate Transformation In order to transform Australis XYZ coordinates into another reference coordinate system control points are required either a text file of control point coordinates or interactively input coordinate values A sample control points file is shown in Figure 6 2 a Control points in b Measured points in c Measured points transformed Primary Xc Yc system Secondary X Y System into the Primary Xc Yc system Figure 6 1 2D transformation of XY coordinates Secondary system into Xc Yc coordinates Primary system via four control points Points 2 10 11 and 15 Control Points File The format for each point record in the file must be Control Point label Xe Yc Ze Not all points need also be measured in the Australis project though clearly the minimum number of common point is three non co linear points for a 3D transformation If more points are used a least squares estimation process is adopted to obtain a best fit solution Also the point labels of the
36. RL Backspace Further selected points will be attached to the end point 15 4 Texturing The texturing step follows immediately after the planar surface entity is generated To texture a selected bounded entity press the right mouse button in the 3D View The image patch to be rectified onto the surface entity will be automatically selected based on the geometry of the images forming the network Normally the best image is that whose orientation in 3D is most parallel to the entity surface Only images from side of the viewing direction from which the user is looking at the entity in the 3D View will be considered As an alternative to automatic texture selection the user can specify a given image from which the texture will be taken In this case which occurs quite frequently because the automatic selection might not be the optimal choice because of occlusions or image quality the user simply clicks the right mouse button within the desired Image view or he she selects highlights a chosen thumbnail within the thumbnail view and presses the E key The texture mapping of the entity will result in one of three outcomes as shown in Figure 15 4 In the first a texture will be mapped to the surface in the 3D View In the second a yellow fill will appear along with a message that there is no texture available eg the selected entity is being viewed from the backside in the 3D View In the third a default texture is assigned to indicate tha
37. ain with the new settings After Opening an image the dialog is selected using either the Q key within the Image View or via the pull down Photogrammetry menu selection Image Scan Settings Image View window must be active The window within the dialog shows the portion of the image where the user left clicked note the position of the cursor Initially this window is blank Of the two highlighted blobs 1e recognized as candidate targets the one on the right is valid whereas that on the left is invalid but classified here by Australis as valid Now consider each of the adjustment controls 16 3 Target Scanning Parameters 1 Threshold The threshold adjustment can be used to include only those target blobs whose intensity is sufficiently greater than the surrounding background The threshold greyvalue step between background and a target will be larger for a highly reflective target The default setting is 20 greyvalues the maximum for an 8 bit image is 255 and a suitable setting for retrotargets against a moderately dark background is anywhere from 15 to 50 Note what happens when the threshold in Figure 16 2 is changed to 36 as shown in Figure 16 3 Only the valid target remains and the hotspot is not classified as a candidate target Typically sliding the threshold value to the right causes less blobs to be found and more blobs Ge higher noise are found when it is moved to the left 62 ee ee Threshold Max wi
38. also output options for Export TXT as shown in Figure 8 2 These cover inclusion of code points the ordering of the output ASCII file in alphanumeric order and the inclusion of the coordinate standard errors DXF Options X DSF Options Text size 25 millimetre Label Prefix I Include Origin Point IW Include descriptions I Include offset points Figure 8 1 Figure 8 2 Export TXT l Options M Include code points M Order alphanumerically M Include coordinate sigmas 9 Automatic Camera Calibration As briefly discussed in Section 3 the basic procedure for fully automatic camera calibration within Australis follows closely that for a normal automatic photogrammetric measurement The only distinction is that the initial AutoCal procedure involves the use of coded targets alone The user needs an array of preferably 20 30 coded targets To illustrate the process here however we will simply use the same network as in the previous sections 1 Establish the target array Using the principles of having a well spread array which fills the image format and is preferably non planar establish a suitable target array The array is shown in Figure 9 1 Normally more codes than 12 should be used 11 Determine the camera station geometry and record the images as JPEGS at full resolution The primary items to remember are that a the camera station network provides strong convergence angles b The images
39. anarity constraint 1 When activating the PolyLine Marking Mode choose the polyline method Free form or Facet and the constraint in advance Every newly created polyline will use these settings 2 Highlight one or more polylines and select either planar or non planar from the toolbar The 3D object s and all the back projected polylines will be changed immediately to reflect this 3 Highlight one polyline and press the right mouse button in the 3D View to bring up the menu then select Planar to add remove the planar constraint Once the planarity constraint is added to a polyline it is possible to adjust the adopted plane by changing the rotation angle and rotation axis To change the rotation angle and axis use the following procedure 1 Zoom to the desired polyline in the 3D View It is also a good idea to open one or more image s where the back projection of this polyline can be seen 11 Select one polyline in the 3D View and click the right mouse button In the menu displayed select Adjust Plane Adjust plane Distance 4 Delete Ai y Smoothed Planar 111 Notice the red line below this is the rotation axis Use either the default rotation axis or adjust the axis by unselecting Use default rotating axis and changing the line points considered for the rotation 53 Adjust plane Rotation Angle Rotation Axis lf Use default rotation axis aa o pa 0 Point 1 a Point 2 cme iv Change the
40. annot be used to reject points with an intersection angle of more than 40 degrees After adjustment select R and CONTINUE to re run the Automeasure it is not necessary to re scan the images 3 Minimum Number of Rays This adjustment operates the same as the intersection angle condition except that here points can be omitted in situations where they do not have a sufficient number of intersecting rays The minimum number of rays for Automeasure is 2 and points with more than 10 rays cannot be omitted via this adjustment The default number which is recommended for strong multi image networks is 5 4 The Driveback Tolerance relates to the process that finds image points corresponding to 3D object points Based on the image orientation Australis looks within a certain location for a candidate image point matching a given object point The Driveback Tolerance expresses the size of the window in which the search will be conducted for an image point The tolerance value goes from pixel to 15 pixels with the default being 5 pixels If it is found 64 that points are not being identified labelled and triangulated then relaxing the tolerance will increase the chance of finding more matching points But it will also increase the chance of finding close by but wrong points In general this tolerance should rarely need to be adjusted 16 5 Default Settings Default values have been set for Image Scanning and Automeasure Settings and these can
41. are taken such that at least 3 4 of them are rolled 90 rotation c the codes are distinguishable with each code dot being of high contrast and larger than 5 pixels in diameter in the imagery and d it is preferable if all codes do not lie in the same plane The geometry of the ship component survey shown in Figure 9 2 is a good example 31 Figure 9 1 Figure 9 2 111 Load the images into a new Australis project in the normal way as described in Section 2 At this point the project camera will have been identified and the image thumbnails will be displayed in the thumbnail window iv Run the automatic calibration Select AutoCal from the Photogrammetry menu as in Figure 9 3 same dialog box as in Figure 3 2 The operator then selects Begin and the automatic calibration proceeds Each image is sequentially processed and once the calibration is complete the calibration results are displayed as indicated in Figure 9 4 File Edit Photogrammetry Window Help E Single image point marking Relative orientation OPEN Orient all camera stations Transformation to control Auto Cal Manual measurement mode Auto reference Bundle Camera MIKOM CORPORATION NIKON D1 Figures 9 3 32 v Save the calibration data Upon completion of the automatic calibration the user is asked whether he she wishes to update the local camera database with the new calibration data The normal res
42. arios 13 2 Unique Camera Identifier 13 3 Changing Cameras 13 4 Camera Databases 13 5 Listing the Global Camera Database 14 Generation of 3D Polylines 14 1 Polyline types 14 2 Polyline Creation 14 3 Selecting Deleting and Colouring Polylines 14 4 14 5 14 6 14 7 14 8 14 9 Polyline Information Dialog Polyline Length Closed Polylines Facet Versus Free Form Polylines Ambiguous Polyline Solutions Planar and Non Planar Polylines 14 10 Smoothed and Non Smoothed Polylines 14 11 Referencing and Unreferencing Polylines 14 12 Summary of Hotkeys Short Cuts 15 Texture Mapping To Generate Photo Realistic 3D Models 15 1 15 2 15 3 15 4 15 5 15 6 15 7 15 8 15 9 Overview Selecting Texture Mapping Mode Planar Surface Entity Creation Texturing Generation of Constructed Points Re Texturing Deleting Entities Export of Texture Mapped Object in VTML format Saving and Re Loading the Project File 15 10 Summary of Hot Keys 16 Adjustment of Image Scanning Parameters 16 1 16 2 16 3 16 4 16 5 16 6 16 7 Autoscanning Autoscanning Control Dialog and Parameters Target Scanning Parameters Measurement Tolerance Parameters Default Settings Saving Autoscanning Settings When to adjust the scanning settings Appendix A Summary of Hotkey and Program Control Functions Al A2 A3 A4 AS AO A7 A8 A9 A10 All A12 A13 A14 Index to XYZ Hotkeys Cursors and Toolbar Buttons Rotating an
43. ason This error message can appear for several reasons but if it occurs while using the free form polyline mode instead try using facet polylines In most cases this will give the desired result 14 3 Selecting Deleting and Colouring Polylines In order to select a single polyline either click close to the polyline in one of the images or 3D View or use marquee dragging left mouse click and dragging over the whole polyline To select more than one polyline hold down the CTRL key and click close to the polylines or enclose the desired polylines with the marquee tool To delete one or more polylines highlight the desired polylines and select the Delete entry from the menu by clicking the right mouse button in either the Image View or the 3D View Alternatively press the DEL key on your keyboard Polylines are drawn in the current selected system colour To change the colour of an existing polyline first highlight it then click the colour button in the toolbar choose a colour in the dialog and press OK 14 4 Polyline Information Dialog To view information about a polyline highlight it and press P in either one of the images or the 3D View This will produce the dialog shown in Figure 14 2 Information for 3D Polyline FRONTIDOOR Polyline information Properties Polyline Label FRONTDOOR Planar ves Polyline Type FACET Smoothed no Referencedon 2 images Closed yes Sightings list Image name Es mc_o569 1PG a7 imc_
44. color target centroiding hold down Brings up the zoom window For light color target centroiding zit hold down Brings up the zoom window For referencing marking FQ Enter Point Description Polvline Mode i Toggle next refrenced polyline point on Facet polylines BACKSPACE Removes last polyline point Cancel current polyline ES APE Texture Mode Wy Point construction mode on off E Create texture of selected thurnbnail B4ACKSPACE Deselect used polyline points From end CTRL BACKSPACE Deselect used polyline points From Front Figure 3 7 3 4 Bundle Adjustment The final stage of the automatic measurement process within Australis is the bundle adjustment a least squares estimation process that computes the photogrammetric network orientation and thus the XYZ coordinates of all object feature points There are a number of circumstances that will lead the user to require a recomputation of the bundle adjustment at the end of an automeasure sequence This is initiated via the B toolbar button or the Photogrammetry Bundle menu selection the associated dialog being as shown in Figure 3 8 11 Bundle Adjustment x Included Rejected Stations Points E 2 RMS microns 0 57 Minimum number of rays Rejected observations Rejection limit microns 42 points 12 codes 84 code bits Setup Close Run Figure 3 8 Upon selecting Run the us
45. control points file and the Australis points do not need to correspond exactly 23 Interactive Entry of Control Points for Coordinate Transformation It is also possible to enter the control xX points interactively directly into the listing within the 595 3 dialog box shown in Figure 6 3 Select the New Point o button Each time this button is selected a new control 178 9 point record will appear with X YZ coordinate values of 184 5 N A and with a label of NEWPOINT 7 where i is Fiswre62 incremented This dialog will be further explained in the next section Control Points Control Label x Y Z 2 Offset Closest Point Dx DY DZ Total NEWPOINT Nia Nia N A N A NjA NA NA NA Nj NEWPOINT1 NJA NjA NJA NjA NjA NJA NjA NJA NjA SCALE66 768 5000 1 6300 34 5000 0 0000 NjA NJA NjA NJA NjA m Transformation Options New Point Import Control Points scale set ics held 3p C 2 ip Quality NifA Link Codes Unlink All Number of linked points 0 Point re labelling onl ZARE Closeness mm ink Glose Paints Close Figure 6 3 Once the desired number of control point entries is entered simply highlight the cell in which a value is to be entered and insert the correct label coordinate value as shown in Figure 6 3 To remove a control point right click on the label and select Remove 6 3 Transformation Procedure The following procedure can be performed at any time after the 3D points measurements have been made
46. cy of image referencing 0 07 pixels RMS 1 sigma level Quality of self calibration if applied 1 0 r Output Files 3D coordinate file text xYZ Coords 443 txt 3D coordinate file DXF NjA e Figure 7 4 8 Exporting XYZ Coordinate Data The final XYZ coordinates can be exported for further analysis and for CAD modelling purposes There are two options the first as a listing of XYZ coordinates and coordinate standard errors sigma X sigma Y sigma Z in an ASCII text file filename txt and the second as a DXF formatted file of XYZ coordinates filename dxf which may include attribute data eg lines point identifier numbers colours To export the coordinates select button next to OPEN above the camera icon and then select either of the Export options 30 Upon selection of Export DXF the dialog box indicated in Figure 8 1 will be shown and the user is asked to select the text size for the DXF file Also there are four options The first is to include a Network Label Prefix The second is to write a dummy origin point to the file which is simply a record with the point label origin and XYZ coordinates of 0 0 0 The third relates to whether the user wishes to output to the DXF file text descriptions entered for points The default option for Include descriptions is to output the text point descriptor strings The fourth option relates to the output of Offset Points There are
47. d E10 LOSI Lo O01 D3 LEINA rra 2204 Ag Lu DH m g ot My Va eur Lary Lu U4 0 0 ZENH 1420 101 4 Lu Ou 2 0 ita Mra TESI SLUG LU ura 0 0 A A EA La Lu ur 1 fbi Pol EE ded iie Lu UP 9 Oy atone IHA LAU L100 Lu Dot m4 SLI bs 1329 1710 g4 27a Lo O45 8 6 24 4 33 134 S Da7 4 TSS eres 107 52 Lo Og 59 9 lt 257 bel Sere 2TLlim 9 Oe 20 0 269 3118 ioia 7575 4025 O83 4 0 oa RRT Pied ees SHO 4005 Lo O56 Rad Bee ISEE 205 1720 Lo Qua 0 7 LAAT 6 9516 Lo DH 3 7 54 02 A Shoe Code Bits 46 ports 12 cneders Total RPS 0 55 microns Chee Figure 3 11 A Point Dialog Box shown in Figure 3 12 can be selected by double clicking on the point label This shows the current point label quality factor RMS misclosure value in pixels and a list of the individual image measurement residuals for each image seeing the point Also shown with the XYZ coordinates are the corresponding standard errors SX SY SZ A red cross instead of green indicates that the image point observation has been rejected hye ARK Description Information for 3D point 6 i xj m Point information Position 556 65 Point Label 6 393 71 Quality factor 0 11 pixels 177 63 x 269 312 SX 0 01685 Y 1038 758 SY 0 0241 407 071 Number of accepted rays 6 Intersection angle 84 degrees Z 344 924 52 0 0226 0 369 154 4
48. desired ignore the suggested point on the referenced polyline With the Free form method it is not necessary to start and end polylines with common points though common points generally produce a more stable and reliable result The points marked in between the first and last point of a Free form polyline do not necessarily have to have corresponding points on the equivalent polyline in the other image s The most important thing is to try to describe the object as well as possible in all images All Free form polylines are smoothed by default Recall that it is possible to close both types of polylines Figure 14 4 To change between the two polyline modes click the down arrow next to the polyline button on the toolbar and select the desired mode This will change the icon of the polyline button to either Le for facet or Le for free form depending upon which method has been selected inon planar 2 Free Form PolyLine LF Facet Form PolyLine Examples of facet and free form polylines are shown in Figure 14 5 51 TOOHEY NEW ap Figure 14 5 14 8 Ambiguous Polyline Solutions Sometimes the operator will have to mark a polyline where the blue guiding line closely follows the path of the actual object feature being measured For example the blue guiding line may be parallel and overlapping the white road paint that defines the edge of a lane In such cases Australis may have problems in determining a unique so
49. down 11 The ALT zoom Press the ALT key and use the mouse to draw a marquee box that will enclose the enlarged portion of the image 111 The keyboard key to enlarge the image and the key to reduce it iv The mouse wheel if present can be used to zoom v To zoom the display size of labels hold down the CTRL key and use the mouse wheel A5 Panning in the image view To pan or roam within an enlarged image hold down the wheel of the mouse or central button and move the mouse The slider bars can also be used for this function as can dragging the mouse with left button held down in Navigate mode A6 3D View Functions the cursor must be in the 3D View area 1 To zoom in or out within the 3D view make sure the cursor is over the 3D window you can also use the roller ball on the mouse 11 To rotate the 3D View about the axis coming out of the screen hold down the CRTL key and the right mouse button and move the mouse 111 To rotate the 3D View about the vertical axis on the screen hold down the ALT key and the right mouse button and move the mouse iv To pan in the 3D View use the SHIFT key and the right mouse button and move the mouse v To bring a point to the centre of the 3D View display window first highlight the point left mouse button and drag and then hit the Spacebar vi Moving the mouse with the right button pressed and the point in v still highlighted will rotate the dis
50. dth A a WIH ratio Measurement tolerances Rank val Int angle __ _ 15 Min rays P 4 Driveback na 5 i i Close Help Defaults Lox i INA i Figure 16 2 Threshold J6 Figure 16 3 2 The Maximum Width or diameter simply specifies the largest size that a blob may have to be classed as a valid target The default size is 50 There is no adjustable minimum size that width being about 4 pixels The ideal sizes for target blobs are from 5 to 30 pixels 3 The width to height or W H ratio is one measure of blob shape A value of 1 would normally indicate a near circular blob which is generally what is required A value of more than 4 the default would indicate a very thin elongated blob which is likely invalid 16 4 Measurement Tolerance Parameters The next four parameter values that can now be interactively changed relate to the point measurement process and specifically to the determination of matching unlabelled image points These parameters are Rank Value Intersection Angle Minimum Number of Rays and Driveback Tolerance The function of these individual adjustments is as follows 63 1 The Rank Value expresses the geometric tolerance applying to the ray intersection geometry during the determination of corresponding non coded targets in multiple images There is a range of values from 1 to 5 with three being the default Basically the smaller the va
51. e Photogrammetry pull down menu The two images for Relative Orientation are then chosen from the drop down lists of images and Compute is selected Following success of this process the operator will be asked whether all other images should be re oriented to this newly relatively oriented pair The normal answer to this would be Yes although it is always possible to re orient all images at any time A14 Re linking a Folder of Images to a Project In the case where a project file projectname aus 1s moved to another folder along with its images the images must be re linked to the project if they are to be further used You will know that this is the case because when you open the project by double clicking on the project file projectname aus the image thumbnails will be red To re link right click on any thumbnail and choose Set Image Path The directory holding the images then needs to be specified After this there will be a further option to Set Path for All Images to which the answer is mostly Yes 70 Show EO Set Image Path Change Camera Remove Image Set Un oriented Enable Disable A15 Driveback In instances where there is a network of oriented images and an object point array of 3D points it 1s possible to automatically assign correct point labels to scanned points and measure there image coordinates This process is called Driveback To illustrate the concept consider the situation depicted belo
52. e results summary Images Scanned m Images Scanned 10 Stations Solved Stations Solved 10 Referencing progress Referencing progress pair 36 of 36 Points Referenced Points Referenced 142 Bundle Iteration Bundle Finished Iter 3 Pk 59 Bundle RMS microns Bundle RMS microns 0 55 V Find new points Imagescan only Australis __ aed M Find new points Z AutoCal camera J Imagescan only Begin A Auto Referencing Finished V _AutoCal camera Continue Continue i Close Figure 3 5 The basic 3D photogrammetric network is now measured which means that its shape is determined but not its size or alignment with a chosen XYZ coordinate system The operator can assess the results of the measurement by referring to the coordinate listing which is The project should be saved at this point via the normal FilelSave function The project file which can be reopened at any time is called projectname aus Note that by right clicking in the 3D View a list of options is presented so the operator can do such things as show and hide labels show and hide axes etc This list is shown in Figure 3 6 There are also hotkeys for these functions which are listed both below in Figure 3 7 and in Appendix A These are accessed via the Help toolbar button and the button Show Hide Cameras Show Hide Scale Show Hide Rays
53. east so approximately representative calibration parameters are available for the auto referencing process in which the camera calibration is further refined This camera self calibration step generally need only be carried out once the first time the camera is used The self calibration uses the normal measurement network Figure 3 1 with the only provision being that there are a sufficient number of coded targets in each image Six to eight codes or more per image are recommended Once these requirements are met and the images are loaded into the project stage indicated by Figure 2 2 the network of coded targets 1s automatically measured to provide the camera self calibration This is initiated by choosing AutoCal from the pull down Photogrammetry menu as indicated in Figure 3 2 Single image point marking Relative orientation Orient all camera stations Transformation to control Manual measurement mode x Auto reference Bundle Inverse Camera Image scan settings Figure 3 2 The initial self calibration process concludes with a listing of the updated camera parameters as shown in Figure 3 3 A further more comprehensive account of automatic camera calibration is provided in Section 9 of this Users Manual Dees Ae BS amp plana z H e EA exs a Camera NIKON CORPORATION NIKON D1 18 000mm 18 592mm 0 000mm 0 198mm 0 000mm 0 043mm 0 000e 000 3 586e 004 0 000e 000 1 562e 006 0 000e 000 5
54. ement or the Licence or arising out of the supply of defective Photometrix Products The Licensee acknowledges that it has exercised its independent judgment in acquiring Australis and has not relied on any representation made by Photometrix which has not been stated expressly in this Agreement or upon any descriptions or illustrations or specifications contained in any document including catalogues or publicity material produced by Photometrix or a licensed reseller of Photometrix COPYRIGHT The Licensee acknowledges that Australis and any associated documentation are the subject of copyright The Licensee shall not during or any time after the expiry or termination of this Agreement permit any act which infringes that copyright and without limiting the generality of the foregoing the Licensee specifically acknowledges that it may not copy the Photometrix Products except as otherwise expressly authorised by this Agreement The documentation may not be copied unless written consent has first been obtained form Photometrix Additional copies of the associated documentation may be acquired from Photometrix The Licensee shall indemnify Photometrix fully against all liabilities costs and expenses which Photometrix may incur to a third party as a result of the Licensee s breach of the copyright provisions of this Agreement TERM OF LICENCE The Licence commences upon payment of the licence fee and is granted in perpetuity bu
55. er will be presented with the statistics of the bundle adjustment solution namely the number of cameras employed the number of image stations accepted and rejected the number of object points accepted and rejected A number of important metrics are also provided these include the number of iterations involved the image coordinate misclosure value RMS microns the assigned minimum number of rays per point the observation rejection limit and the number of rejected image coordinate observations The numbers of single points coded targets and code nuggets are also listed It is often desired to re run the bundle adjustment with altered tolerance values the two most common being the Minimum number of rays per point and the Rejection limit The Setup button is used to assign the new values the dialog being shown in Figure 3 9 Bundle Setup x m Rejection limit M Fixed microns Mumber of Rays Minimum 3 Convergence limit _ 0 050 microns Iterations p Maximum 15 cane _ Figure 3 9 12 A fixed rejection limit in micrometres for image coordinate residuals can be set by ticking Fixed and then entering the desired value 5 microns in this case which is much looser than the automatically set value of 1 95 shown in Figure 3 8 The minimum number of rays has also been changed to 3 in Figure 3 8 which means that a 3D point will be accepted if it is triangulated by three non rejected ra
56. ere a point does not lie within the format of an image a red cross will be shown in the centre of the image vi On the other hand if the ray from an object point to a camera station does fall within the image format then the predicted point location will be indicated in blue as in Figure 40 12 1 It is now possible to mark and therefore reference this feature point if visible by simply positioning the cursor at the correct position and clicking the left mouse button Note The operator can perform all the normal functions within the Review Mode images such as zooming un referencing points and deleting referenced points Upon completion of Review Mode select the Finish button Australis returns to the status it was at before Review Mode was selected 13 Camera Selection and Camera Data Entry 13 1 Three Camera Scenarios When images are loaded into Australis one of three possibilities arises regarding the selection of the camera s and camera data 1 The images contain an EXIF header which identifies both the camera and important camera parameters especially the focal length The Australis camera database already has details of this camera so basic camera information can be immediately associated with the images in the project This case covered in the Section 2 is the most common that Australis users with newer digital cameras and JPEG imagery will encounter 11 As in 1 the images contain an EXIF header but the camera
57. escription A text description can be added for each object point this being shown in the 3D List Point Label z Rays Ouality Angle deg Description a CODESO 152 1416 5740 5055 15693 5899 J 0 42 25 6 1 476 5676 62448340 2094 7270 2 370 33 6 Cross Beam 4 2 4 6951 6 05 f 275 2005 0044 2 1 06 31 1 Cross Beam B 3 459 9176 7140 73890 1902 9745 2 1 53 20 5 End Point EJ z 25099 7250 5270 0919 1052 4731 E 0 62 Ho Although this description can be added at any time via the Point Dialog double click on point label in 3D List or highlight point in Image or 3D Views and select the P key it is often convenient to enter the description just before the point is initially referenced To do this either use the F9 key or select Point Description from the Edit Menu The following dialog box will appear Enter Point Description x Cross Beam B Cancel ae The user need only enter the desired description and then choose OK The description will then stay in effect until it is again changed A18 Exporting Orientation Parameters and Image Coordinates Text files of the computed exterior and interior orientation parameters EO IO as well as the image coordinates for each image can be exported from Australis to the project directory by selecting the appropriate Output Options from the EditlProject Settings dialog Output Options EOTO parameters Image coordinates In the case of the EO
58. et of calibration data recorded in the database then it does not need a Unique ID Subsequent selection of Add Unique ID will show all IDs listed Figure 13 7c The dialog will now also show the Unique ID and the parameters related to that camera setting NIKON CORPORATION NIKON D x NIKON CORPORATION NIKON D x NIKON CORPORATION NIKON D x Please type the new unique ID Please type the new unique ID Please type the new unique ID D100 20mm infinity M Existing unique IDs J M Existing unique IDs M Existing unique IDs Unique camera identifier D100 20mm infinity default Unique camera identifier default coa b c Figure13 7 13 3 Changing Cameras The user may wish to change the camera and camera parameters associated with the project images either a single image or a group of images For example it may be desired to change from the default camera to a calibration set associated with a particular Unique ID There are two ways to change the project camera 1 The most common procedure will entail double clicking on the Project Camera icon and then selecting the Change Camera button in the Camera Parameters dialog box see Figure 13 2 This will open a list of cameras from which the desired camera Unique ID combination can be selected After clicking on the desired camera select the Change button Note that only cameras with the correct image dimensio
59. for Manual Measurement 11 1 Marking and Referencing Following the automatic network orientation in Australis it is possible to also measure the 3D coordinates of non targetted points via a Referencing procedure This manual process can also be used to initially orient images where coded targets are not available but in this description it is assumed that an initial automatically measured 3D point network is in place Such a situation is indicated in Figure 11 1 OSM kt BER BS fee E e one e a ye 1a ih ped E i Figure 11 1 Imagine now that it is desired to measure an additional point usually a non targetted point The procedure to do this is called referencing Briefly the actions to take are as follows 1 Enter Reference Mode To enter referencing mode select either the green R button on the toolbar or simply the R key on the keyboard Or when there are three or more images open click on the red R button on the image titlebar of the two images you wish to reference the R button will then turn green The cursor will now change to a green pencil Referencing simply entails the successive marking of the same point sequentially in each image with the order being either right to left or left to right Note on Navigate Mode If at any time you wish to navigate around the images hold down the Space Bar on the keyboard and Navigate Mode will be selected Left and right clicking in navigate mode
60. formation Computation will occur automatically as soon as enough control points are referenced to their corresponding measured points Upon transformation the coordinate axes in the 3D View will move to correspond with the Control Point Reference System as shown in Figures 6 6 to 6 8 At this time transformation residuals will be displayed in the columns headed DX DY and DZ in the control points dialog box In the case of there being more control points referenced than necessary these coordinate discrepancy values can be used to indicate the quality of shape 26 correspondence between the measured and the control point networks This is illustrated by the example shown in Figure 6 8 where 5 points have been linked for a 3D transformation the magnitude of the residuals indicates the level of shape size correspondence between the two networks Non zero residuals will always be apparent for a 3 point 3D transformation An overall quality value for the transformation which is only applicable for cases of more control points than necessary is indicated by the Quality RMS which is shown in Figure 6 8 with the value 0 025 mm Upon transformation to control the position of all control points will be shown in the 3D view in blue The blue labels for these can be toggled on and off with the N key Control Label x ri 2 Offset Closest Point DX DY DZ Total C 15 595 3000 743 6000 30 4000 0 0000 v C 15 0 0163 0 0487 0 0306 0
61. highlighting dragging etc Referencing Button produces green pencil used to mark corresponding pairs of HA feature points in the two images being referenced When two points are referenced both are marked and identified as the same point in two images seen from different viewing directions Auto Referencing Button Initiates fully automatic measurement via coded targets B Bundle Adjustment Optional operator invoked processing of bundle adjustment S Line Cursor used to build line segments between feature points 2 or more These lines can be shown in both the graphics and image windows There are also two other cursors which are used which do not have toolbar buttons Centroiding Cursor used for auto assisted marking centroid measuring of feature points this requires suitable feature point targets This cursor is activated J in referencing or marking mode only by selecting either the X key for white targets or the C key for dark targets Marking Cursor red pencil used to mark image points to provide 2D image s coordinates This is accessed via the M keyboard key or pull down menu Photogrammetry Single image point marking Marking is implicitly part of the referencing process and is thus not frequently required as a stand alone procedure Also on the toolbar are the select buttons for the following functions m Colour Button for assigning colour to highlighted points and lines E
62. ils used in the project and a main Workspace window in which image measurement and graphics operations occur An example which shows image thumbnails along with a graphical view of the image stations and measured 3D point locations is shown in Figure 1 2 ee EEE Flo Ede Pegigrarmnnty Winder Hoek oa H ig Bae BE s 5 pian He H a Figure 1 1 Fie Edi Paotegnecenptry arke Help FRrrrrrrrer ot RECA Figure 1 2 Generally speaking Australis will be used to make automatic 3D measurements of an array of targetted points on an object of interest The targets for measurement points will usually comprise retro reflective dots and coded targets will be employed to facilitate the automatic measurement Samples of dot targets and coded targets are shown in Figure 1 3 Shown in Figures 1 1 and 1 2 are the main menus and toolbars for Australis These have deliberately been kept to a minimum to facilitate maximum ease of use The menu options and toolbar icons will be explained later and a full description of functions is provided in Appendix A Note that the list of Hotkey functions listed in Appendix A can also be accessed from the Help pull down menu or the on the toolbar Figure 1 3 2 Project Set Up 2 1 Importing Project Images Upon running Australis and commencing a new project the operator first selects FilelNew from the main File pull down menu The first function to perform is the importing of se
63. in accordance with the terms of this Agreement and the Licence to ensure its employees sub contractors and other agents who have authorised access to Australis are made aware of the terms of this Agreement to not provide or otherwise make available Australis in any form to any person other than those referred to in paragraph 00 without the written consent of Photometrix and WARRANTY The Licensee acknowledges that Australis cannot be guaranteed error free and further acknowledges that the existence of any such errors shall not constitute a breach of this Agreement or the Licence Photometrix will replace any defective media at no charge subject to notification of the said defect within 90 days of the date of the commencement of this Licence and provided that the Licensee is responsible for all shipping costs associated with the replacement exercise In the event any statute implies terms into this Agreement which cannot be lawfully excluded such terms will apply to this Agreement save that the liability of Photometrix for breach of any such implied term will be limited at the option of Photometrix to any one or more of the following the replacement of goods to which the breach relates or the supply of equivalent goods or 75 the payment of the cost of replacing the goods or of acquiring equivalent goods Photometrix will not be liable for any indirect or consequential damages arising out of a breach of this Agre
64. in VTML format The virtual reality modelling language VRML is a well known 3D data format The textured entities including the 3D vertices image points of the texture and the texture itself can be exported using the Entity menu Figure 15 7 A sample VRML view is shown in Figure 15 8 In addition to the VRML file textures are saved as JPEG files The image files comprise rectified images of the entities A VRML Viewer is required to view the exported model 60 VRML model Boundaries of entities Figure 15 8 Views of the VRML model Note The textured entities will not be exported into DXF format but the Constructed Points will be exported Only geometric elements are stored in the exported DXF file from Australis 15 9 Saving and Re Loading the Project File When the project is saved an additional subfolder for the entity textures is created in the current project folder The subfolder contains the rectified entity images as tiff files If the project is moved to another folder the image path of the entities has to be set in much the same way as occurs with normal Australis projects In this case to re link the textures select an entity right click and choose Select Image Path in the Entity Menu Figure 15 7 The new image path can be assigned for all entities 15 10 Summary of Hot Keys toggle point construction mode toggle entity visibility toggle line visibility for texturing with selected thumbnail of the project Bar
65. ints scale used Quality RMS 0 019 mm Ne hans Bike Link Codes Unlink All Number of linked points 4 I Point re labelling onl iSite Closeness 0 116 mm Link Close Points Close Figure 6 6 Note When moving the cursor from the control point dialog box to the 3D View or the image view the window for these two views may not become active until a cursor action is initiated To activate the windows simply left click within the window v Linking via the List of Reference Points A second method to link control points to referenced points is to right click on the control point label and select Link to The desired point is then selected from the list of referenced points by left clicking on the label in the referenced points list and choosing OK This is illustrated in Figure 6 7 980 4191 2 3517 14 5116 776 7751 0 8771 20 8045 550 1892 3 3428 28 3416 380 1471 5 2275 34 1219 f Ms Desk 178 9317 5 0859 41 1698 pO 0 0428 584 8537 142 0773 146 1507 1 0 0296 1601 0387 1091 6310 59 6355 1597 9003 156 3373 58 8440 o T 165 9201 981 7036 6 5768 1418 1475 559 5734 3 1154 Transformation Options 59 le2ieore 92001269 aiai ontrol points scale used Pep deo io c 44 184 5249 1253 0181 43 4991 ality RMS 0 020 units C 33 1381 2175 0 0239 0 0006 Aber of inked pane 3 go fe 1383 5577 1246 7058 0 8984 CODE65_1 1216 4043 839 0083 6 6352 a Close 3 DSC_0026 JPG Cancel iy aie a Figure 6 7 vi The Trans
66. ionally submits to the jurisdiction of the courts of Victoria and of any court competent to hear appeals therefrom SUPPORT SERVICES Photometrix may provide the Licensee with technical support services related to Australis Support Services Use of Support Services is governed by the Photometrix policies and programs described in the documentation accompanying Australis and or in other Photometrix provided materials Any supplemental software code provided to the Licensee as part of the Support Services shall be considered part of the Photometrix Products and subject to the terms and conditions of this Agreement With respect to technical information you provide to Photometrix as part of the Support Services Photometrix may use such information for its business purposes including for product support and development Photometrix will not utilise such technical information in a form that personally identifies you 76
67. is not in the Australis database The camera will then be new to Australis and although certain camera information will be available from the EXIF header the user may need to enter additional camera values This scenario may arise when using a newly released camera 111 The final scenario is where the images have no EXIF header and so Australis cannot determine from the imagery alone the make model and calibration parameters for the camera In this case the user will be prompted to enter important camera data before proceeding further with the project The procedure associated with each of these scenarios will now be summarised i Camera Case 1 Image files contain camera information and the camera data is already in the Australis database The procedure for this most frequently encountered case i has already been described in Section 2 2 In this section therefore only a brief summary is presented for this camera o nee scenario As will be explained in Section 13 2 there canbe multiple sets of calibration data in the Australis database 7 ESS for a given camera If there are two or more such entries the dialog box shown in Figure 13 1 is displayed when the images are imported into the project list The desired Unique ID Section 13 2 needs to be selected in this case Upon the images being imported the camera thumbnail will appear as shown in Figure 13 2 This means that the Cancel camera associated with the i
68. l point mm Change camera ci 18 5826 I Fix xp 0 2009 J Fix x yp 0 0401 J Fix Hide Details Radial distortion K1 3 3938e 004 D Fix Fical K2 1 1118e 006 l Fix Free all Ka 2 5031e 009 Fix Zero all not c m Decentering distortion Pi 0 0000e 000 IV Fix p2 0 0000e 000 iM Fix Show Distortion Curves 1 Linear distortion _ Run Calibration Bundle SSS eran B1 0 0000 M Fix Update Database Figure 13 2 Note If the focal length in the EXIF Header is more than 1mm different from that for the same camera in the database a new Unique ID for the camera should be set at this time This will create a second set of calibration parameters as explained in Section 13 2 ii Camera Case 2 Images contain camera information but the camera is not in the Australis database In the case where the images have EXIF header information about the camera but the camera data is not already in the Australis camera database the warning message shown in Figure 13 3 is displayed to indicate that some camera data will need to be entered before the project images are loaded This camera is not in the database Camera details must be completed manually Figure 13 3 42 Upon selection of OK the camera parameters dialog shown in Figure 13 4a will be displayed The User needs to check the listed camera values and enter any calibration values Figure 13
69. lected images into the project This is carried out as follows e If the project is new Australis will enter the Import Images function Alternatively this can be selected with Filellmport Images for an existing project e The user then selects from the Image Browser the folder holding the images At this point the window shown in Figure 2 1 appears An image in the Select Image s list is transferred into the project by first highlighting the image or images and then selecting the gt button The gt gt button moves all images into the project Similarly the lt button moves highlighted images out of the project list and lt lt removes all images e A single image at a time can be selected or multiple images can be highlighted by either dragging the mouse over the images as shown in Figure 2 1 left mouse click and drag or holding down the CTRL key while selecting multiple images Holding down the SHIFT key means all images between the two selected images will be highlighted e Australis currently supports JPEG jpg and TIFF tif image formats e If the image files do not contain information which identifies the camera s a warning message is displayed This indicates that before the importing of images into the project camera data must be entered either manually or by selecting the appropriate camera from the Australis camera database Images are selected by highlighting the chosen thumbnai
70. ll now not exist in 3D as at least two polyline measurements in 2D are required for the 3D calculation It is also now possible to delete the unreferenced polyline If you forgot to highlight the referenced polyline to which your newly created polyline should refer just select both polylines while you are in PolyLine Marking Mode and Reference them Australis now calculates a new 3D object from all polylines related to both those selected 14 12 Summary of Hotkeys Short Cuts BACKSPACE undoes the last clicked point of polyline ESC cancels whole drawing process of current polyline N turns back projected polylines off P shows information about selected polyline 15 Texture Mapping to Generate Photo Realistic 3D Models 15 1 Overview The process of texture mapping involves the mapping of image patches from selected Australis project images onto planar surface entities defined on the 3D object model displayed in the 3D View An example of texture mapping is indicated below where the 3D object photogram metrically created from the seven images Figure 15 la is textured to produce a photo realistic representation Figure 15 1b that can be exported for subsequent viewing in VRML format Figure 15 1a The process involved is image rectification where the surface entities that are textured must be planar polygons a triangle is the minimum be visible from at least one oriented image and desirably have a convex boundary If
71. ls Once the images are selected they will appear as in Figure 2 2 and to enter them into the project the user selects OK selected for the project Figure 2 2 2 2 Selecting the Camera Australis requires a camera to be assigned to the images in the project Generally there is only one camera per project but there may be more than one An up to date list of cameras and their key metric design characteristics 1s provided with the Australis software The operator generally does not have to identify the camera or cameras used in the project this is done automatically Figure 2 3 shows a sample of the list of the camera parameters that can be displayed in the main window by double clicking on the camera icon and then selecting Details Calibration values can be changed interactively though this is rarely required NIKON CORPORATION NIKON 0100 Calibration dates cee parameters Unique identifier defwa Add urwque ID Wide High Resoktion pies 3003 2000 Proel size men 0 0079 fo 0079 Focal length ad pinapa pork mm rot c pz 5 0151e 006 Fe Show Distortion Curves Uor dbtuiion Run Caite ation Burdie s f 0 0000 F Fre p Database 62 0 0000 F Pee Figure 2 3 3 Automatic Measurement Operation 3 1 Procedure The most common mode of operation of Australis is fully automatic 3D measurement where a network of multiple images covering an array of object targets has been recorded with a specific geome
72. lue the larger the number of possible point matches true targets and erroneous hot spot targets Thus although more possible matches will be made the automeasure process will slow down as this value is decreased towards The admission of possibly many more erroneous point matches is not such a problem because these will usually be edited out in the final bundle adjustment The recommended action here is to start with the default setting of 3 If valid target points are missed then reduce the value to 2 and select R and CONTINUE to re run the Automeasure it is not necessary to re scan the images Reduce the value to 1 if true target points are still missed 2 The Intersection Angle Limit is an important tolerance to apply since it is often the case in networks with many images that erroneous targets arising from such factors as sun reflections are seen in closely adjacent images which often means that they have very small angles of intersection This is depicted in Figure 16 4 where the point out in the right side of the figure has a maximum intersection angle of 5 degrees The Intersection Angle Limit can be used to omit such points Figure 16 4 As a recommended action the default setting of 15 degrees should initially be used To include points with a smaller intersection angle move the slider to the left the minimum admissible angle is 3 degrees To omit more points move the slider to the right but note that this adjustment c
73. lution and this is caused by the overall geometry of the camera station network The dialog below which lists all possible solutions Australis can determine will then be shown To help select the correct solution it is useful to open the 3D View as well as a few additional images in which the polyline is back projected The selected solution in the dialog will be shown in the open views so that the correct solution can be visually determined Once OK 1s selected there is no way to change it so care must be taken to ensure the correct solution is chosen Select Solution Possible Solutions Help iWitness couldn t determine a unique solution Please open the 3D View or an image that sees this polyline but has no measurement For it to select the desired result then press OK 14 9 Planar and Non Planar Polylines Quite often the object featured being measuring using polylines in the images are planar for example building facades road surfaces car panels etc A planarity constraint can be added to ensure the polyline lies within a plane Alternatively the planarity constraint can be 32 removed for non planar cases This option is only available in PolyLine Marking Mode or when a polyline is highlighted selected The default selection is to impose the planar constraint with the choose being made through the pull down menu from the toolbar planar non planar planar o There are three ways to add remove the pl
74. mages has been recognised Figure 13 1 41 and that it exists in the Australis database Multiple cameras can also be accommodated within the one project Note Regarding Image Resolution It is highly recommended for accuracy reasons that the digital camera be used at the correct resolution setting It is best not to use resolutions where the image dimensions in pixels are either higher or lower than the pixel dimensions of the camera If the camera is 3008 x 2000 pixels then use the image resolution of 3008 x 2000 A list of the camera parameters can be generated in the main window by double clicking on the camera icon this list being shown in Figure 13 2 Calibration values can be changed interactively though this is only infrequently required for the case of a previously calibrated camera already residing in the database Caution must be exercised in altering camera calibration values If nothing is known of these other than the approximate focal length value which must always be entered the values should be left at either their previously calibrated values or at zero Deh CMSB BSB SNS poar e e xl r Information Model NIKON CORPORATION NIKON D100 Calibration date 13 01 2007 22 27pm Unique identifier default Add unique ID Camera NIKON r Sensor specifics CORPORATION NIKON D1 Wide High Resolution pixels 3008 2000 Pixel size rm 0 0079 0 0079 m Focal length and principa
75. n Figure 7 4 This can be printed via the Print button Note the measurement accuracy summary in the figure It states that scale has been set and that the individual l sigma accuracies for the X Y and Z coordinates are 0 024 0 023 and 0 029mm respectively The relative accuracies are also listed as is the internal accuracy of the photogrammetric triangulation which is here 0 07 pixels 1 15 of a pixel suggesting a 0 6 micrometer accuracy for image coordinate measurements on the Nikon D100 images in this project It is important to verify the quality of the results before the XYZ object point coordinate data is exported for further analysis x xXYZen Project Status Summary Project Name Component A43 zen Camera Name s NIKON CORPORATION NIKON D100 unique ID default Measurement Network Number of images fie SSS Number of referenced points a tst S S 3SC CSO 3 ETht Number of cameras ee Quality of geometry On Minimum number of points on an image 5 on image Dsc_0034 3PG 0 Minimum point intersection angle 50 degs For point Bso Number of points referenced on 2 images only booo 3 or more images faz 4 or more images Ea 6 or more images iiss Measurement Accuracy Summary Scale set Yes Estimated accuracy of 3D point coordinates RMS 1 sigma level x 0 024 mm or 186000 Y 0 023 mm or 1 8970 0 029 mm or 170600 Overall 0 025 mm or 18120 Estimated accura
76. n selected or highlighted mode in Figure 14 1 The arch above the door is a 3D free form polyline generated from non corresponding point markings whereas the rectangle at the top of the door is a facet polyline that has corresponding corner points but note that these are not referenced points The arch could also have been generated via the facet polyline method Both polylines in Figure 14 1 were referenced via the two right hand images with their positions in the lower left image being from back projection equivalent to blue predicted points Their 3D location is shown via the 3D View Cautionary Note The generation of polylines is an inherently less accurate and often less robust procedure than the creation of single 3D points through referencing Indeed there are many possible image 46 geometry configurations where the polyline determination will be subject to systematic error and may even fail Consequently care needs to be taken to ensure a that the project will produce accurate polyline information and b that polylines free of systematic error are being generated This can be checked in part via visual assessment of the back projected polylines in non referencing images File Edit Photogrammetry Window Help OSE ko MSE OB SS pa m e 6 IMG_0954 JPG f a Le th gt 1 r e Active Photo 3 rr 3 IMG 0951 JPG 2 y Figure 14 1 14 2 Polyline Creation The follo
77. ne Marking Mode and that the polyline object you want to measure is present in one of the two referencing images 2 Highlight the polyline you want to measure the colour of the highlighted polyline will change to purple 3 Now follow steps 11 and 111 above again to measure the polyline After the right mouse click Australis will recalculate the polyline in 3D from all measurements 4 The 3D View and the back projected polylines are updated automatically If Australis is unable to calculate the 3D object one of the following error messages will appear A Cannot reference closed and non closed polylines Reason An attempt was made to reference closed and non closed polylines which is not possible in Australis The type of the second and subsequent polyline measurements must match the first drawn polyline A Cannot reference Free and Facet polylines Reason This error message appears when the user attempts to reference Free and Facet polylines together The polyline type of the second and subsequent referenced polylines must match the type of the first drawn line A Mo common points Found Reason Australis was not able to determine the common start and or end points between two or more referenced polylines Suggestion if this message occurs try to use exactly the same start and end points rather than using different points 48 AN Cannot calculate a 3D object From the selected palylines Re
78. ng select Point Re labelling Only from the control points dialog see Figure 6 8 and proceed through steps 111 and iv of the coordinate transformation procedure i e import the control file amp perform the linking but with a relaxed Closeness value Once linked the control point labels will be assigned to the corresponding object points Control Points Closest Point DX AAG 398 0000 1137 4000 179 9000 0 0000 v AAG 0 0236 0 0247 0 0287 0 0446 AA 362 9000 961 8500 13 2000 0 0000 AA 0 0085 0 0105 0 0141 0 0195 AAS 257 3000 946 6629 30 5000 0 0000 v 8 0 0218 0 0076 0 0168 0 02685 4410 160 8000 946 3000 30 6000 0 0000 x 10 0 0336 0 0591 0 0439 0 0809 A11 65 1000 948 4500 33 3000 0 0000 4 AALL 0 0118 0 0166 0 0292 0 0356 B512 223 5000 9485 2669 31 4000 0 0000 v 12 0 0907 0 0140 0 0221 0 0944 R13 320 300 a47 7340 29 ANIN annnn MAn nnz nnise nnee nne Z Transformation Options New Point Control points scale used Goon Cop O Ea Quality RMS 0 019 units Link Codes Unlink All Number of linked points 5 eee aay Closeness oss units Link Close Points Close Figure 6 9 7 Quality Assessment and Results Summary Australis updates the photogrammetric orientation and object point coordinates through a process called bundle triangulation every time a point is referenced Thus the final measured 3D data is always up to date and no special orientation processing step needs to be selected at any time b
79. ng function The centroid tool determines the precise centre centre of gravity of a target blob In this case the centre of target G in Figure 11 6 is required Figure 11 6 Figure 11 7 38 The centroiding operation proceeds as follows 1 Select Referencing or Marking mode 11 The cursor is placed over the target and the X key or C key for dark blobs is selected the zoom window then appears as shown in Figure 11 7 111 Moving the mouse within the window adjusts the intensity profile of the target with the red cross always indicating the centroid centre point To see the image window clearly simply move the mouse to the top right hand corner of the zoom window The aim here is to isolate an image blob which is distinct from its background ie it has a closed border as indicated in Figure 11 8 and its red cross is stable with small movements of the mouse iv A left click of the mouse records the centroid position as shown in Figure 11 9 A final centroid determination has thus been made to an accuracy that may well be 5 times better than with manual marking for suitably exposed high contrast targets Figure 11 8 Figure 11 9 12 Review Mode Review Mode which is initiated by selecting the Edit Review button on the Toolbar Indicated with a capital E allows a point by point review of all image point markings ie image point referencing operations As the name implies Review Mode represents a final quality con
80. ns will be displayed 11 A second way to invoke the Change Camera function is to right click on one of the image thumbnails The procedure is then the same as in 1 except that in this case only the image concerned will be assigned the new camera 13 4 Camera Databases Australis utilises two camera database files a read only global database and a local database All cameras utilised in projects will be entered into the local database Thus whenever Australis searches for a camera it first looks in the local database after which it accesses the global database The distinction between the two is not apparent to the user The global database is read only so that no editing of this is allowed On the other hand cameras can be added or deleted from the local database as required through normal Australis operations Descriptions have been given as to how to add a camera to a project and hence to the local database and how to delete a camera from the local database via the Change Camera option To delete a camera from the camera database select EditICamera DatabaselLocal as indicated in Figure 13 10 This then brings up the dialog box shown in Figure 13 11 which lists all cameras in the local database To delete a camera from the list and therefore permanently from the local database but not the global database highlight the camera and select Delete 45 File Edit Photogrammetry Window Help C Nothing to unda a E
81. ode Move to next previous point in guided referencing mode Image General Image Measurement 3D View General Unselect all points lines Centre view on selection Show i Hide point labels Show Hide Control Points Show 3D information For selected point Show Hide camera to point rays Show f Hide camera Field of view Decrease Increase coordinate axes Decrease Increase point size Decrease Increase camera size Initialise point re labelling Increment label in point re labelling Point construction mode on taff Create texture of selected thumbnail Deselect used polyline points From end Deselect used polyline points From Front m View 3D graphics view hotkey list i keys Zoom image in out Arrow keys left fright Rotate view left right AEE ramaus Pisa E E Arrow keys tup f down Zoom view in f out CTRL mouse Drag For point line and polyline selection ESCAPE CTRL SHIFT L Rotate image 90 degrees left SPACE CTRL SHIFT R Rotate image 90 degrees right i SHIFT F Fit all images to view windows A show Hide ares F Fit image to wiew window L show Hide cameras SHIFT T Tile all images 4 SPACE hold down Image navigation mode N Show Hide axes F D Show f Hide lines R H Show Hide point labels 5 Show Hide scale Y Show i Hide residual vectors Y h Show Hide reference guiding line B Show f Hide lines 5 Show Hide scale Y Show f Hide polylines F Show 3D point polyline information For
82. on to other intellectual property laws and treaties The Photometrix Product Australis is licensed not sold Pursuant to this Agreement the Licensee acquires a non exclusive right to the Licence at any one time use one copy of Australis on a single computer make one copy for backup purposes only and use Australis strictly in accordance with the provisions of this Agreement If the Licensee wishes to use Australis on more than one computer at the same time it may purchase an additional dongle key from Photometrix or its licensed distributor and such use will be subject to and governed by the terms of this Agreement LICENCE FEE The Licensee is not entitled to use Australis until the agreed licence fee has been paid In the case of payment by cheque payment will not be deemed received until the cheque has been cleared A separate licence fee is payable in the circumstances described in clause 0 DOCUMENTATION This Licence extends to any enclosed or related documentation The documentation may not be copied modified or used in any way not contemplated or expressly authorised by this Agreement LICENSEE S OBLIGATIONS The Licensee hereby undertakes the following obligations to not copy reproduce lend rent lease sell translate adapt vary or modify Australis without the express consent of Photometrix except as expressly authorised by this Agreement to supervise and control the use of Australis
83. ors in pixels for the individual triangulated point Values in the range of 0 05 to 3 0 would be expected for this Finally there are zoom buttons to further enlarge or reduce the images all together OPEN Next Point gt Last Point lt m Point 3D MAA diddi H E x irre ere g x k wrrrr rrr ria 7 E a i a 3 13 Ba m Intersection 89 9 degrees Quality 0 1 pixels Photos 10 al Figure 12 1 Note on number of images displayed In Review Mode only six images will be displayed at any one time The operator can use the gt gt or lt lt buttons to move forward to the next subset of nine image chips of the point currently being reviewed or back to the previous subset Thus for a network with 36 images the user must proceed if desired through six subsets of six image sets to review all possible images 11 The marked referenced point in any image can be dragged to a new position using the blue pencil cursor and by holding down the left mouse button if the blue predicted points are not being displayed hit the B key 111 Every time a point is moved in Review Mode the full network is immediately recomputed so small changes will be seen in the Point Table list especially for the point being reviewed iv In instances where multiple points appear in an enlarged image view only the current point can be adjusted v Wh
84. ouse button in the 3D View for automatic texture selection or in the Image View for manual selection The texturing of entities formed by Constructed Points is very useful for texturing over obstructions and occlusions as indicated by the effective removal of the pole from the texture mapped facade section shown in Figure 15 6 Texture mapped pole to be removed Pole is cut out Constructed Points used to define an additional entity which is textured Figure 15 6 15 6 Re Texturing In situations where it is required to change the texture within an entity for example when the automatic image selection does not produce the optimal texturing or the default white texture needs to be replaced the three re texturing options are available 15 6 1 Changing the image from which the texture is taken Select the relevant entities then a choose an Image View and click the right mouse button or b select a thumbnail of in the thumbnail window and press E or c click the right mouse button in the 3D View and choose Recalculate Texture from the menu shown in Figure 15 7 59 15 6 2 Assigning an artificial texture It is possible to assign an artificial texture to a planar entity This is often required when the default texture no orientated image is available for texturing appears Select an entity and click the right mouse button and the Entity menu Figure 15 7 appears With Set Texture an artificial texture 8bit or 24bit T
85. play about the highlighted point Also the rotations described in 11 and 111 will be about the highlighted point vii To centre the network in the 3D View use the F key 68 A7 Menu from Right Click in the 3D View cursor must be in the 3D View area Show Hide Cameras Show f Hide Scale Show Hide Rays Show f Hide 4xes Show Hide Labels Show f Hide Control Points F p paa Coordinate Axis Decrease View Scale F Point Size cameras 2 Distance Sek scale 3 2 1 Line Create Offset Pointts Delete Offset Pointish Show f Hide Foy i Enable Disable Invert graphics Show f Hide Images Show Hide Codes A8 Menu from Right Click in the Image View cursor must be in Image View Distance Set scale 3 2 1 Line Unreference Delete Close non referencing images Enable Disable Image Photogrammetry Rotate Distance Set scale 3 2 1 Line Unreference Delete Close non referencing images Enable Disable Image Determine focal length Orient Camera Station Photogrammetry Rotate r Driveback A9 Deleting Images from the Project Right clicking in the image thumbnails produces the following menu Show ED Set Image Path Change Camera Set Un oriented x Enable Disable Select Remove Image to completely remove an image from the project 69 A10 De activating a Referenced Image If at any
86. ponse would be Yes The project can then be saved and the process is complete Camera NIKON CORPORATION NIKON D1 2 DSC_0027 JPG 3 DSC_0026 IPG she r A a r 10 Lines and Colour Ar E Figures 9 4 18 000mm 0 000mm 0 000mm 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 18 593mm 0 198rom 0 042mm 3 595e 004 1 569e 006 5 239e 009 0 000e 000 0 000e 000 0 000e 000 0 000e 000 Status Results Accept Cancel Finished Quality of Self Calibration 1 0 good Estimated internal accuracy of Referencing 0 07 pixels 0 57 microns Lines joining points can be drawn in both the 3D View and Image Views The procedure for drawing lines between just two points or between multiple points 1s as follows 1 Select the Line Cursor via the Line Button on the toolbar the line cursor being a short line with a cross at each end The cursor point is the dot adjacent to the upper cross The line cursor can also be selected in the image view using the L key 11 Click the Colour Button on the tool bar This will generate the colour chart shown in Figure 10 1 Click on the desired colour and then click OK Color Basic colors Custom colors tee EF FF eee EF FF Define Custom Colors gt gt caret Figure 10 1 33 111 In any of the image windows click on the first end point of the desired line and then on
87. r en wath 15 04 eight 10 00 Sips of magg cero mm val FIA i baigi 5 8m Prigia pia ciaiiy p i nne pri cone dines vin WE io w 00 ve ho Roda kers doton coclfcents kif of il of ml oo Radellersdtomoncomiceks mI of ke of ml oo Deters lotion ooa P ha Py m Gece iori eea P he Pr i 6 0 cout L_ox cmt ce Figure 13 4 iii Camera Case 3 Images contain no camera information the camera may or may not be in the Australis database When images have no EXIF header the following warning message appears No camera found in EXIF Header Camera must be selected manually After OK is selected all cameras in the Australis database that have matching image dimensions will be listed as shown in Figure 13 5 the list may well be empty if there are no such matching cameras The operator can now either select a camera from the list by highlighting it and choosing Select Or the operator can choose to Add New Camera It is also possible to delete a camera from the camera database via this dialog use Delete Camera Select Camera E x M Current camera p Select new camera Camera Make and Model uniquelD Focal Length Image Width Image Height _ Kodak DCS 420 default 28 000mm 1536 pixels 1024 pixels Add New Camera Delete Camera E Figure 13 5 43 If Add New Camera is selected the operator needs to go through the same procedure as in the previous case Camera
88. rotation angle until you are satisfied with the back projected polylines in the images v Press OK to save the rotation axis and angle 14 10 Smoothed and Non Smoothed Polylines Australis provides the possibility to smooth polylines as a post process By default Free form polylines are smoothed but they can also be unsmoothed Facet polylines may also be smoothed where it is appropriate to do so To toggle between smoothed and non smoothed highlight one polyline and press the right mouse button in the 3D View to bring up the menu shown in Figure 14 6 Select or deselect Smoothed from the menu to toggle the status of the polyline Figure 14 6 14 11 Referencing and Unreferencing Polylines Sometimes the operator may not be satisfied with the calculated 3D polyline In this case the entire 3D polyline object can be unreferenced in selected images and or deleted altogether Switch to Select mode white arrow cursor and highlight the polyline Now use the right click menu in the image where you want to unreference a single polyline Select Unreference from the menu and press OK on the next dialog 2 r Unreference 1 polylinetsi 54 This will unreference the polyline in the current image If the old 3D polyline was calculated from more than two polylines the unreferenced polyline and the back projected polyline of the newly recalculated 3D polyline will be shown If the old 3D polyline was calculated from only two polylines it wi
89. rtion vary with focus and zoom settings for a lens The possibility then arises that for a given camera in the Australis database multiple sets of calibration data might be needed 1f the camera is employed either at different lens focus or with different lenses or zoom settings This can create difficulties because the same camera name etc will be read from the EXIF header in the images but the essential calibration data which may or may not be known for the particular lens and focus will be different to that stored for that camera in the database Australis overcomes this problem by assigning Unique Identifiers Unique IDs to given camera lens focus combinations The procedure for assigning a Unique ID which is essentially a new entry for an existing camera in the database is as follows 1 Within the Camera Parameters dialog which is opened by double clicking on the Project Camera icon there is a button labelled Add Unique ID See Figure 13 2 Selecting this button will produce a further dialog box as shown in Figure 13 7a 11 The Unique ID for the camera setting of the project for the camera named in the title bar of the dialog in Figure 13 7 can then be entered An example is shown in Figure 13 7b 111 At this point the unique ID will be added to the existing list of IDs for that camera There may already be more than one ID but there will always be at least one this being the 44 default ID If a camera has only one s
90. selection 7 Show Hide textures B Blue predicted points on off i M Blue predicted polylines on off spe R Referencing mode on off if b LE Mode on off Shift Right Mouse Pans the view M Single image point marking F toen nnda E Open 3D Graphics view E7 i keys Decrease Increase coordinate axes Arrow keys up down Increase Decrease image brightness lex e DEL Delete selected objects Texture Mode F7 Initialise point re labelling aT Fa Increment label in point re labelling E BACKSFACE CTRL BACKESFACE q hold down hold down AY hold down FQ m Polyline Mode Edit color target scanning parameters Brings up the zoom window For dark color target centroiding Brings up the zoom window For light color target centroiding Brings up the zoom window For referencing marking Enter Point Description i Balk SPACE Texture Mode yy ESCAPE Toggle next refrenced polyline point on Facet polvlines Removes last polyline point Cancel current polyline E BACK SPACE CTRL BCE SPACE Point construction mode on off Create texture of selected thumbnail Deselect used polyline points From end Deselect used polyline points From Frant 66 A2 Cursors and Toolbar Buttons Further Cursors and Toolbar Buttons k on Navigate Cursor used for moving around within the image windows Select Cursor used for select functions such as
91. t may be terminated in the following circumstances if the Licensee is in breach of any term of this Agreement if the Licensee being a corporation is wound up has a receiver or receiver and manager appointed to any of its property has a voluntary administrator or provisional liquidator appointed to it or enters into a deed of company arrangement if the Licensee being a firm or partnership is dissolved or if the Licensee destroys the Photometrix Products and documentation for any reason Upon termination the Licensee or its representatives shall destroy any remaining copies of Australis and documentation or otherwise return or dispose of such material in the manner directed by Photometrix Termination pursuant to this clause shall not affect any rights or remedies which Photometrix may have otherwise under this Agreement or at law ASSIGNMENT The benefit of this Agreement shall not be dealt with in any way by the Licensee whether by assignment sub licensing or otherwise without Photometrix s written consent WAIVER Failure or neglect by either party to enforce at any time any of the provisions of this Agreement shall not be construed or deemed to be a waiver of that party s rights under the Licence and this Agreement GOVERNING LAW This Agreement takes effect is governed by and shall be construed in accordance with the laws of the state of Victoria Australia and each party hereby uncondit
92. t click on the control point and make the required selection When a point is unlinked a new point label is assigned to the corresponding point in the 3D view This will also occur if a linked control point is removed It is possible to unlink all points but in doing so the XYZ coordinate system will remain in its current position ix The transformation process is now complete and the Close button can be selected If at any time following the transformation to control it is desired to again assign a new XYZ coordinate system this can be achieved via the standard 3 2 1 procedure Section 5 Similarly scale can be re set via the standard approach Section 4 6 4 Point Re Labelling via Coordinate Transformation There are many instances where object points are measured repeatedly for example in deformation monitoring surveys where it is desired to quantify point movement over time Because the automated referencing procedure assigns point labels automatically the 2 numbering sequence for non coded targets can change between repeat surveys Australis offers a feature whereby point labels from a previous survey can be assigned to a repeat measurement through the coordinate transformation process The procedure is basically identical to that for the 3D coordinate transformation to control except that when a point is re labelled it retains its original coordinates 1 e there is no transformation of XYZ values To initiate the Re labelli
93. t the entity spans more than one image ie entity is not contained within a single image 57 Selected points of a polyline Polyline with four points excluded Figure 15 3 A Mo texture available Textured entity Warning message if no texture is available blank default texture Figure 15 4 Note Textures can be toggled off and on via the Z key and entities can also be created textured when the visibility is toggled off 15 5 Generation of Constructed Points 3D Constructed Points can be created within the plane of an entity The main purpose of these points is to enable the definition of additional sub entities to allow further texturing within an existing textured entity Constructed points appear in red in the 3D View Point Construction mode is invoked by pressing the W key There are two ways to generate a Constructed Point as indicated in Figure 15 5 a Click on an existing entity in the 3D View or b Select an entity first this represents a plane in 3D space and click somewhere in the 3D View or ImageView The intersection point of this chosen image ray and the plane results into a constructed 3D point 58 a Point construction within an entity b Point construction in relation to an entity Figure 15 5 3D point construction Constructed Points are automatically selected for a later texturing To complete the texturing switch back to the texture mapping mode by pressing W and click the right m
94. t ways to draw polylines the Facet and Free form methods The preferred method is Facet as this usually leads to more accurate and reliable results The facet polyline method provides the capability to define polylines using discrete points such as distinctive corners edges pixel brightness variations etc where it 1s possible to see common points between images Of course this restricts the choice of points as the polyline needs to be defined by corresponding points in the images The polyline can start and end on different points as illustrated in Figure 14 3 below Notice that the resultant 3D polyline will consist of only the common segments measured between the images image 1 polyline result Figure 14 3 Since common points are selected with Facet polylines Australis suggests the next point to be measured on the referenced polyline Additionally a guiding line is shown in the image in which the polyline is currently being marked as shown in Figure 14 4 To change to the next 50 suggested point press the or key This is a perfectly valid thing to do as it is not necessary to start and end a Facet polyline exactly at the same points as the referenced polylines This may be the case for example if the first point of the polyline is not visible on the image currently being marking in this case press the key to go to the second point It 1s also possible to measure beyond the initial polyline s length If this is
95. ted in Figure 4 10 Then select OK and the scale information will be displayed as shown in Figure 4 11 Select Close to apply the scaling Existing Scale Get From DB Select scalebar xj Database entries m Det Poir ScaleBa 7 5 Poir Ca Figure 4 10 20 iv To remove a scalebar entry from the database simply select the Delete button in the dialog shown in Figure 4 11 SS x m Existing Scale l Get from DB ScaleBar 1 S7 514 Delete Details Point amp s7 Point B 514 Distance 1603 200000 mm Close Units Apply Figure 4 11 5 Assigning the XYZ Coordinate System The process of photogrammetric orientation can be carried out within an arbitrary XYZ Cartesian coordinate system In Australis this coordinate system has its origin at the first of the relatively oriented images and its XY plane is aligned with the focal plane of the camera at that station In most cases the user will wish to assign a more useful XYZ reference system This assignment of the coordinate system origin and orientation is carried out via the so called 3 2 1 process First a point is selected to define the origin X Y Z values of zero Next a point through which the X axis will pass is defined and finally a third point is selected to define the XY plane and therefore the direction of the Z coordinate axis This process can be carried out either automatically via coded targets or man
96. tion Orient all camera stations Transformation to control Abo al Manual measurement mode 4uto rererence Bundle Image scan settings be 2 The control points measurement dialog for Inverse Camera will appear Note also that the cursor will change to a blue triangle with a central cross Number of linked points 0 Image station oriented No Import Control Inverse Camera Orient Close as ie bas 3 Select the Import Control button to load the desired text file of control points structured as Label X Y Z If a control points file has previously been loaded it will be immediately displayed 4 Then either 1 click on the desired control point label in the dialog box and then on the corresponding image point or 11 click on the image point followed by the label in the dialog box A green tick will appear once the image and control point have been linked The figure below shows CC1 linked and CC3 selected in the dialog and about to be measured in the image 0 0000 0 0000 N A 221 6159 7 2468 59 2698 N A 472 9815 8 2660 59 1317 N A 722 8948 6 7856 60 5958 N A 3 6782 827 3155 0 0000 M cci 220 8165 820 9200 58 7420 N A 472 1937 808 6595 60 2487 N A 739 2245 630 4457 63 1073 N A NE ccs 72329 2204 O21 ann 42 1499 KIA x Number of linked points 1 Image station oriented No Import Control Inverse Camera Orient Close 12 5 Link as many image and control points as desired
97. tric network of camera stations Such an example is indicated in Figure 3 1 OSH kc eB E E planar T RY fd es Camera NI KON CORPORATION NIKON D1 Figure 3 1 The photogrammetric network of images and object points must have the following characteristics 1f Australis is to perform a fully automatic measurement 1 Every targetted object point must appear in two or more images that provide good ray intersection geometry see Figure 3 1 The targets should be as distinct as shown in Figure 1 3 ie bright against a dark background such as is achieved with retroreflective targets 11 There needs to be a sufficient number of coded targets such that any five coded targets must appear on two or more images It is not necessary that all codes are seen in all images but codes provide the link between images so having subsets of five or more codes seen in two or more images 1s quite important 111 The network should have strong convergent geometry as indicated in Figure 3 1 iv The array of images must include both portrait and landscape orientations This means that the camera must be rotated or rolled 90 degrees between images It is not necessary to have exactly half with a 90 degree roll and half with no roll but some of the images and preferably more than 30 must be rolled 3 2 Initial Camera Self Calibration Automatic measurement with Australis requires that the camera be first calibrated at l
98. trol procedure which is commenced once the network has been formed It is really only appropriate for manually referenced points so it will only be briefly described here By presenting a visual display of every marking for a given point as indicated by point 13 in Figure 12 1 the review process allows the operator to verify that the same physical feature point has been precisely marked in every image If this is not the case the operator can either move the marked point to the correct position or delete it if desired Caution When the network contains many very large images say 10 at gt 8mb each Review Mode can be very slow to initially set up Thus it should be used infrequently for such networks or even not at all It is generally only appropriate for reviewing manually measured image points The review process is carried out as follows 1 At the desired stage typically after all images have been oriented and points referenced select the Review Mode button on the toolbar the E button The workspace will then display the images In Figure 12 1 the manually referenced point 13 is shown Note the small dialog box which allows the user to move forward to the next point move backwards to the previous point or move to any selected point by selecting the number from the list Also the number of imaging rays to the point is shown the maximum 39 intersection angle and a Quality Value which is the RMS value of image measurement err
99. ts within the 3D View as shown in Figure 4 2 Scale options Automatically scale from database M Scale via codes 3mm 6mm 12mm argas OK Cancel Figure 4 1 Figure 4 2 Cautionary Note The distances used to scale the network via coded targets are very short and thus small uncertainties in the mean scale will be magnified for larger point to point distances in the network It is therefore recommended that scaling via codes be used where a preliminary scale of only moderate accuracy is required Higher accuracy scaling requires one of the following two approaches 4 2 Scaling with Known Distances To set a true scale to the XYZ coordinates the operator must specify one or more point to point distances The scaling process proceeds as follows 17 1 First with the cursor in the 3D View select the L key to show the point labels Then right click in the 3D viewer window and select Set Scale as indicated in Figure 4 3 Show Hide Cameras Show Hide Scale Show Hide Rays Show Hide Axes Show Hide Labels Show i Hide Control Points Increase view Scale Decrease View Scale Distance Create Offset Points Delete Offset Point s Vectors Show Hide Foy Invert graphics Show Hide Images Figure 4 3 11 When Set Scale is first selected and only on the first occasion the user is asked to specify the project units All coordinate and distance information
100. ually by selecting appropriate object points an then choosing the 3 2 1 command These two XYZ datum assignment options will now be described 5 1 Automatic Assignment of XYZ Axes Open the EditlProject Settings Dialog and enter the desired labels for the origin point X axis point and the point to define the XY plane orientation as indicated in Figure 5 1 This choice of XYZ coordinate system can be made at any time but it will only come into effect with the running of a bundle adjustment Thus select the B toolbar button 1f necessary The resulting coordinate axes are displayed in the 3D View as shown in Figure 5 1 Project Settings x m Targets i M Red Set Change Units IV Retro Remove Scan Points Sounds Off F Sutoscan Points gt Default points For 3 2 1 Origin point label CODE S Axis point label CODE 5 Plane point label CODE 4 Scale options Automatically scale from database IV Scale via codes C 3mm 6mm 12mm targets conce Figure 5 1 21 5 2 Operator Controlled 3 2 1 Process In order to manually set the XYZ coordinate system in Australis these steps are followed 1 Select highlight three points in either an image view or the 3D view in the order origin point X axis point and XY plane point then right click and select 3 2 1 11 A dialog box then appears as in Figure 5 2 It shows the three points and the default axes as well as the newly assigned axes
101. w where there is a complete network but one of the images has only some of the image points measured but the rest are scanned To automatically driveback to and measure the unmeasured points right click in the Image View and select Photogrammetry Driveback This feature is useful for re instating deleted or unreferenced points and also for repeat surveys where it is required to use the same point labels automatic point re labelling is an alternative approach Distance Set scale 3 2 1 eee Line Unreference Delete Close non referencing images Enable Disable Image Photogrammetry Determine focal length Rotate gt Orient Camera Station Driveback A16 Single Image Resection Spatial resection often termed Inverse Camera is the process by which the exterior orientation EO parameters position and orientation at an image station are determined from image coordinate measurements to four or more object space points with known XYZ coordinates The function is most often employed to either gain approximate EO values for bundle adjustment or to track a moving camera with respect to a fixed array of object points The process to determine spatial resection in Australis proceeds as follows once the image s are loaded into the project 71 1 Open the required image and select Inverse Camera from the Photogrammetry menu Photogrammetry Window Help Single image point marking Relative orienta
102. wa Gis LADA 1379 1107 ROAM cee to 0 35 a5 E 1 EEE 1257 7063 BEA 7 ne LE LE 774 5580 iH a Hams l a BALE GB 1383 62 16 7465 wasa 7 AT a lt gt B 2 BIs oT hoo n 74 A rc EAn 120 9103 EEH T 0 46 2 Expurt TT Expert OXF Shoe Code bts Sb pints LE Goce Toka ROM 1S mance Cues Figure 5 3 22 6 Transforming to a Coordinate System via Control Points 6 1 Coordinate Transformation There are many situations where it is desired to tie the photogrammetrically measured 3D point coordinates into an existing coordinate system which is defined by control points Control points have known coordinates in two Cartesian reference systems they have X Yo Zc coordinates from the existing Primary or control coordinate system as well as X Y Z coordinates from the specified Secondary or Australis 3D reference system In such instances it is usually desired to transform all Secondary coordinates into the Primary or control point system Australis accommodates three coordinate transformation options a block shift 2D transformation within the XY plane and a full shape preserving 3D similarity transformation The 3D transformation will be of most use to Australis users and so it will be explained in more detail here 3D transformation Given three or more control points that are non co linear a 3D transformation can be performed from the specified Secondary XYZ system to the Primary XcY c
103. wing procedure is adopted to create a 3D polyline 1 In order to draw polylines switch to the Polyline Marking Mode by selecting on the toolbar This is only possible in Referencing Mode Le Either Facet or Free form polylines are available as mentioned above and detailed later You can create a polyline now in one of the two referencing images by clicking the left mouse button along the desired object Select as many points as necessary to approximate the object If you are not happy with a point press backspace to undo the last clicked point To cancel the whole drawing process press the ESC key To stop adding more points to the polyline click the right mouse button The polyline will change colour to purple which advises you that any new polyline drawn on the other images will be referenced to this polyline Go to the second referenced image and create a polyline along the same object as described in 11 and 111 47 Important note Use the same drawing order for both polylines After the second image polyline is created Australis is able to calculate a 3D polyline v Open the 3D View to see the result You can also open a third image to see the back projected predicted location of the polyline This will be shown as a dotted blue line To turn the back projected polylines off press N on your keyboard In order to calculate a polyline from more than two images do the following 1 Make sure that you are in PolyLi
104. y the user If required however the bundle triangulation can be performed as described in Section 3 4 by simply selecting the B button on the toolbar and then Run This produces a summary of the bundle adjustment listing the number of points and images as well as other information as shown in Figure 7 1 Clicking on the buttons labelled Camera s Stations or Points will give listings for these parameters as shown for example for the camera stations in Figure 7 2 Bundle Adjustment d x Included Rejected Process summary Complete Iteration 4 RMS microns Minimum number of rays Rejection limit microns Rejected observations 46 points 12 codes 84 code bits Figure 7 1 28 The observational error detection criterion for the bundle adjustment is set automatically within Australis As mentioned in Section 3 4 a fixed rejection limit for the image coordinates observations can be set by selecting Setup Figure 7 1 and then ticking the Fixed box and choosing the desired value This option is generally not recommended as experience is necessary in selecting an appropriate value The number of rays per target point can also be controlled via the Setup option In a network with many images per point this can be used to remove points from the bundle adjustment which are imaged by an insufficient number of rays perhaps less than four in the network shown here for example xl DSC O026 IPG 131 1 0 54 FE
105. ys It 1s very rarely the case that either the maximum number of iterations or the convergent limit would need to be changed from their default values Shown in Figure 3 10 is the summary dialog for the re run bundle adjustment with the altered tolerance values displayed in Figure 3 9 The relaxing of the rejection limit coupled with changing the minimum number of rays to 3 has resulted in two previously rejected points now being accepted but the adjustment quality is slightly poorer the RMS value of image coordinate residuals rising from 0 57 to 0 64 micrometres Bundle Adjustment x Included Rejected Cameras Stations WH 10 140 44 points 12 codes 54 code bits Setup Close on Figure 3 10 3 5 Coordinate List and Point Dialog as indicated in Figure 3 11 The list shows the point labels numbers or alphanumeric labels coordinates number of images upon which the point appears the RMS misclosure of triangulation a quality indicator expressed in micrometres and the maximum angle of intersection between intersecting rays to a point The overall RMS misclosure value is also shown as are the number of points and codes in the network 13 Lear PT arab Fad 300 0817 Lo O43 HLE EEE SST 1305141 115 8257 Lo O54 5 6 303 71 L8 131630711 4 9134 Lo 05 7 9 Caman MTC CORPORA KAN MEGA OI 407 npn ord Br re 220 0361 Lo O55 7 9 Oar TEAL ee 495 6509 Lo O88 3 8 L584 we
106. zooms the image view Recall also that you can move the image by holding down the mouse wheel and moving the mouse 2 Reference the point s of interest The actual marking is illustrated in Figure 11 2 As shown it is generally desirable to enlarge the image of the point to be marked This is achieved through one of the four zoom options described in Appendix A With the pencil cursor positioned on the point of interest click the left mouse button and a purple cross will mark the desired point A sequence number which has no importance at this stage will also appear This is the case in Figure 11 2 Then move to the second image 35 where a blue line is shown along which the correspond point should lie If the blue line does not appear press the B key A line also joins the marked point with the pink label and the green pencil Now go to the same point in the second image and mark the corresponding position The two label markers now turn green and a number is assigned to the point Be S DSC_0033 JPG 5 x SL AAAAAAAAS STE SS Figure 11 2 The point is now referenced and has 3D coordinates but the accuracy will likely be significantly lower than the measurement of targeted points Upon the successful referencing the new point label 62 in this case will appear in the Image and 3D Views as shown in Figure 11 3 the label is yellow instead of green here because the point has been highlighted selected Figure 11 3 3

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