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PHOTOMOD User manual on UAS data processing.

1. None MS5 TIFF Save separately pao ballet os Internal GeoTIFF C Sbit JPEG with quality as A always on TIFF C C ww ArcInfo World File Apply to image f 16 bit Always off ile format eoreference olor depth ompression orrection parameters egaTIFF C Mapinfotaa s Output files placement u Same as input Folder PHOTOMOD resources TechSupportUAv Gazprom vesna Lite UAV Images jue 7 Do not process images only extract metadata Convert Distributed processing Close 9 2 tput folder ile names hen output file exists Add prefix Choose new name automatically Sooo Skip Add suffix Overwrite if not same as input rename if same as input Fig 7 Images conversion in the Raster Converter module Adding images Perform the following actions to load images to a project and to form a block Choose Block gt Add images from resources or click the button in the Block editor window to start images adding Choose images files and click the Open button After that all images are loaded to the first strip eG optional To filter showing files choose Image in TIFF format in the list rightward to the Resources name field See a description of images load setup and editing of images block in the Project creation User Manual 10 Interior orientation Inte of fl rior orientation operation
2. At the bottom of the table final values of tie residuals on all triplet measurements are shown RMS Mean abs and max error Accuracy control is performed only for the residual type that is specified for the Triplet residuals threshold parameter in the Relative orientation report settings window Values of tie errors that exceed specified threshold are highlighted by red color 63 PHOTOMOD 6 0 Processing of UAS data 13 Block adjustment 13 1 Preliminary block adjustment In order to adjust images block perform the following actions 1 Click the 4 button of the main toolbar to refresh initial block scheme to refine block layout using measured tie and GC points E See a description of block layout creation in the Aerial triangulation User Manual 2 Choose Orientation gt Block adjustment or click the button on the main toolbar The adjustment toolbar opens ME See detailed description of interior orientation step in the Aerial triangulation User Manual 3 Click the button Settings on the Adjustment toolbar The Settings window Jx Coordinate system Adjustment Report Approximation computing method Tie point rejection independent strips J worst paints fi 0 by block scheme over acceptable residuals Initial approximation parameters Reject on one iteration fi 4 points Use current solution Adjustment method Systematic error compensation keep initial approxim
3. e specify Near and Far distance of points mutual influence in meters to define the circle radius In this area points are checking for errors lt lt It is recommended to set the near distance minimum circle radius value as 3 5 values of Average distance between points in the layer parameter e specify the following filtering parameters Up above surface and or Down below surface o Filter surges allows to select pickets to be filtered pickets on surface high objects and or pickets below surface pits f For filter operating it is necessary to set at least one checkbox on o Spikes only is used to reject just sharp spikes above below surface that are defined by values of the Threshold slope angle for spikes and Distance of points parameters The rest of parameters are not considered 97 PHOTOMOD 6 0 Processing of UAS data gt In an angle between three points exceeds in relation to selected measuring plane a value of the Threshold slope angle for spikes parameter then the surge is called spike o Threshold slope angle for spikes allows to specify angle of slope in relation to selected measuring plane above and or below surface to define sharp spikes o Maximum area of flat surges allows to define maximal area of plane surges above below surface points groups that form smooth surfaces and are distant from some plane of neighbour points Generally the points are located on buildings roofs
4. flight longitude 24 PHOTOMOD 6 0 Processing of UAS data e Alt flight altitude e Heading flight heading e Roll roll e Pitch pitch eG The symbols marks columns with data which is not imported In order to setup active template perform one of the following actions e drag by mouse field name from the Available fields list to the column of the Preview file table After that the template in the Line template field is changes In order to cancel field selection double click the column of the Preview file table e change the template manually in the Line template field At that column types in the Preview file table are changed automatically The ff button allows to use the default template T Lat Lon Alt Heading Roll Pitch The button is used to compare the Line template field with data shown in the Preview file table MES The active template corresponds only to lines shown in the Preview file table The button is used to replace specified field names by field values taken from the first line of the Line template table 6 optional The Automatically validate template checkbox is set on by default that allows to select current template automatically In order to configure the template for file containing lines with different columns number set off the Automatically validate template checkbox and configure the template in the Line template field manually 7 optional To specify a line fr
5. Use this computer as J Distributed processing server Port For incoming connections 10000 v V Distributed processing client Server name or IP address fiz 0 0 1 T Tee Port for connecting to server Maximum tasks number fi v Monitor uses the server name and port specified for the client Fig 41 Distributed processing parameters setup The program provides an opportunity only to use local computer for distributed pro cessing tasks with using several cores of one computer i e using computer as a Server and Client at the same time Perform the following actions to do this 1 2 Set on the Distributed processing server checkbox Set free port in the Port for incoming connections field MES If not possible to connect with chosen port choose another one Set on the Distributed processing client checkbox Server name and port number are set automatically optional Set on the Maximal number of tasks which are process of each Client at the same time By default the value is equal to number of cores or processors of computer Click OK During the first setup the Monitor of distributed processing window opens and in the Windows system tray the icon of distributed processing is displayed MES It is necessary to restart the distributed processing control center if parameters were changed Also there is an opportunity to detail setup of distributed processing parameters Click the More button of the
6. button The Object attributes window opens 3 Click the gas Measure button The Points measurement window opens ZOE kha est ts RE a l tf ale er HE FRR Age OB win FF A A 8 ker lop 2 Rev eraels Sed ELL Pieced A Le 201 SLT per AR derta fo OT ier E I OG rapera Lif r PET rz 209 x PET x ardi yard CE zard Ci Fard Ci yard CE yard CE yard CE yard CE yard Ci jide yard Ci yard Ci yard Ci Fig 40 Editing of selected point 4 Move a point manually or using correlator see description of correlator work in the Aerial triangulation User Manual 5 Click OK The Points measurement is closed as a result 6 Click Compute to complete changing point s position on image 71 PHOTOMOD 6 0 Processing of UAS data In order to use interstrip points and points non transferred in some strip in the adjustment by independent strips method or independent stereopairs method it is necessary to measure co ordinates of the points on adjacent images inside the strip during aerial triangulation or in the Points measurement window see the Aerial triangulation User Manual 14 Distributed Processing 14 1 General Information Program includes capability of distributed processing of some tasks This helps achieve maximum utilization of hardware resources for carrying out large projects Distributed tasks processing is a capability of parallel task execution with multiple pro cessor
7. is used to filter points in stereopair zones sequentially Ge The operation provides filtering the worst by parallax points on stereopair passing zone by zone one after another So the worst point on stereopair is found and deleted first then the worst one in the next zone and so on Uniformity of point s distribution on stereopair is also verified in such a way e DEM allows to choose a DEM if any to consider its data during automatic tie points measurement For this it is necessary to have saved adjustment results available lt lt This parameter allows to use DEM for calculation of the true position of the point Thereby the required search area of points reduces 12 4 2 Additional parameters of automatic measurement of tie points coordinates For more detailed setup and adjustment and refinement of the basic parameters of tie points coordinates measurement the Tie point measurement parameters window of additional parameters is used It is opened using the More button located in the main Automatic tie point measurement window 40 PHOTOMOD 6 0 Processing of UAS data Tie point measurement parameters el EG Search for points Correlator Rejection Miscellaneous Search area pix fi 000 A Contrast point search area pix fi 0 Tries per point 0 V Multipass points search Search the whole images area J On neighbor images in strips On other image pairs Fig 23 Parameters of points
8. 18 PHOTOMOD 6 0 Processing of UAS data F used to refine a block layout it is considered during import of exterior orientation parameters and during calculation of ground sample distance GSD Choose a folder of active profile resources in the Placement list to place a project resources there The Full project path input field shows a name and a path of a project Click OK to complete a project creation Service folders and configuration files are created in specified project folder The first strip create automatically See details about project creation in the Project creation User Manual 9 Images block forming 9 1 Image prepearing Prior to load UAS images to a project it is recommended to prepare them using the Raster Converter module as follows 1 2 F if necessary Perform the radiometric correction Convert the images to files of inner MS TIFF format optional It is recommended to apply JPEG compression with 85 quality for output files to save place on hard disk Choose an individual folder of active profile resources in the Placement list to place a converted images See the Raster Converter module description in the General information User Manual 19 PHOTOMOD 6 0 Processing of UAS data i PHOTOMOD Raster Converter al Sim Gazprom vesna Lite HE Mosaic M9 Gazprom_2 BO Gazprom_astrachan HO Gazprom_November 43 Gazprom_road Projectz1 PhSData2 TechSupportl
9. A If images were removed from project the do not remove from the Windows file system 1 Choose Block gt Delete images selectively The Selective delete images window opens 82 PHOTOMOD 6 0 Processing of UAS data Selective delete images ES m Search criteria Omega absolute value gt 15 0 J Projection center Z lt 0 0 M Phi absolute value gt 15 0 s Projection center Z gt 0 0 M Distance between centers lt 0 0 M 7 Pitch absolute value gt 15 0 l Roll absolute value gt 15 0 s V No GPS time No interior orientation No projection center No measured triangulation points No EO angles Find images matching criteria m Search results fly1_MIIGAIKDSCO3899 fly1_MIIGAIKDSCO3900 fly1_MIIGAIKDSCO3901 Fly1_MITGAIKDSCO3902 fly1_MITGAIKDSCO3903 Fly1_MIIGAIKDSCO3904 CO fly1_mitcaikosco3905 Co fly1_miiGaikbsco3906 fly1_MIIGAiIKDSCO3907 CJ fly1_mitcaikosco3926 Co fly1_mitcaikosco3927 fly1_MITGAIKDSCO3928 Fly1_MIIGAIKDSCO3929 gt MIn a rH RK a view in block layout Delete checked Fig 48 Setting of images selection criteria for deleting 2 Seton one or more checkboxes to search images by chosen parameters e to search images with omega phi or pitch roll angles absolute values greater than specified value in degrees set on the Omega absolute value Phi absolute value Pitch absolute value and Roll absolute val
10. EN h allows to start search in report s text Ctrl F Ctrl G and F3 allows to edit make changes a report F4 allows to save a report into text file 68 PHOTOMOD 6 0 Processing of UAS data IE The report also saves in the backup project folder automatically with the adjustment results only for central projection images E allows to save a report into program resources e allows to print a report e allows to setup report printing parameters The adjustment report displays the following values e residual values calculated on GCP check tie points and projection centers for the whole block and for each point e catalogue of points coordinates e images exterior orientation parameters e GPS corrections e corrections for exterior orientation parameters Report content is setup on the Report tab of the Parameters window Residuals and errors are displayed in the report as follows e X Y Z coordinates values taken from model from strip when using independent strips method from stereopair when using independent stereopairs method e X1 X2 Y1 Y2 Z1 Z2 values of points coordinates on two different models e Xcp Ycp Zcp values of points coordinates averaged over all models e Xg Yg Zg geodetic value of points coordinates specified by the user for GCP and check points e Exy Ez average residuals of points XY and Z coordinates e dX
11. and are lying on the same plane MES The filter is not applied to plane surface which area exceeds the specified value o Intermediate smoothing radius allows to specify a sphere radius above below surface that defines a level of intermediate smoothing of surface o Allowed point deviation from from smoothed surface allows to specify criterion according which the filter is applied to all pickets with elevations that differ from smoothed surface more then on specified value o Maximum area of flat surges allows to define maximal area of plane surges above below surface points groups that form smooth surfaces and are distant from some plane of neighbour points f The w gt button allows to go back to a standard script that includes two passes with all default settings regardless of which script has been loaded 9 Inthe Actions section specify actions for reliable and doubtful surges found after any step of filtering e Delete deleting of pickets found from base pickets layer e Correct editing in base layer Z coordinates of points found e Check saving of found pickets in a new layer without change of base layer Reliable corrected surges found well defined surges that satisfy completely to all specified filtering criteria Doubtful surges ambiguous surges in which vicinity there is no data enough to analyse filtering operation possibility 98 PHOTOMOD 6 0 Processing of UAS data
12. dY dZ dS discrepancies on GCP e dX dY dZ dXY GPS corrections on projection centers 13 5 Adjustment accuracy control It is recommended to perform control of block adjustment accuracy after the completion of the adjustment operation The adjustment results are displayed in graphic form as a 69 PHOTOMOD 6 0 Processing of UAS data residuals vectors in the Stereopairs and Images modes of working windows numeric values of residuals are included to adjustment report If the adjustment brought unsatisfactory results and there some blunders the program provides possibility to improve the results using editing of points position To do this it is necessary re measure points on which the residuals vectors exceed defined threshold and are shown by red color The program provides two ways of points position editing e by change of points geodetic coordinates e by change of points position In order to change geodetic coordinates of points on image perform the following actions 1 Selecta point on a block scheme or in a list which error exceeds specified threshold value 2 Click the button The Points attributes window opens 3 optional In order to display the editor panel set the Editing panel checkbox in the Information window 4 Click the 4 Coordinates button The Point coordinates window opens For GCP and check points the X Y Z all checkboxes are set and coordinates and accuracy values stand
13. performs control of threshold exceeding only for error type specified in the Relative orientation report settings window Values of vertical parallax residuals exceeding specified threshold are highlight by red color the Relative orientation parameters table contains values of calculated relative orient ation angles for the left and right images according to selected angular system and measured units on the Additional tab in the Relative orientation report settings window the Orientation 2D by block scheme and Discrepancy of kappa angles tables contain values of kappa angles lt lt Accuracy control of kappa angles discrepancy between images Is performed if in the Relative orientation report settings window the appropriate checkbox is set and a threshold value for kappa angles discrepancy is specified 61 PHOTOMOD 6 0 Processing of UAS data e the Distribution uniformity tables contain information about uniformity of points distri bution over standard zones To estimate the parameter the system analyses a differ ence of points number in each of 6 standard zones Control of points number and uniformity of their distribution on stereopair s zones is performed if corresponding parameters are specified in the Relative orientation report settings window 12 5 6 The triplet measurements section Relative orientation report provides possibility to view a detailed report on selected triplet A detailed report for a triplet is
14. 1 Select the Save into one resource option and click the _ button The Save window opens Select a folder in the active profile resources and input a name of vector file in the Resource name field Click OK to create a new vector file and to return to the Settings for saving points window The input field of the Settings for saving points window shows path and name of new vector file Click OK to return to the Compute points window To save pickets in parts into several vector files of active profile perform the fol lowing actions 1 2 Choose the Split into parts option Select one of the ways of pickets splitting By rectangular sheets and input a size of rectangular area in meters or By stereopairs Input path to save file to the Save in folder field or click the _ button to select name and path in active profile resources to save pickets in parts to corresponding vector files and click OK The input field of the Settings for saving points window shows path and name of new vector file Click OK to return to the Compute points window 13 Click OK The pickets calculation operation starts A In some cases operation of automatic pickets calculation takes a lot of time To setup pickets calculation in distributed mode click the Distributed processing button and specify parameters of tasks distribution 90 PHOTOMOD 6 0 Processing of UAS data 16 2 2 Pickets calculation in distributed processin
15. 7 Pick out adjustment parameters analyse and eliminate residuals to obtain satisfying adjustment result A amp 8 Itis After making any alterations to points measurements data it is necessary to re start the adjustment procedure once again To use previous adjustment results for the new adjustment operation set the Use current solution checkbox on the Adjustment tab of the Parameters window recommended to use self calibration of camera parameters during adjustment procedure if camera without calibration was used 13 2 Using self calibration optiona camera If a complete set of camera parameters is unavailable use self calibration of parameters during adjustment procedure Se f calibration of camera parameters is automatic calculation of camera parameters correc tions to principal point coordinates and focal length distortion coefficients during adjustment operation To use self calibration of camera parameters during adjustment operation perform the following actions 65 1 PHOTOMOD 6 0 Processing of UAS data Set on the Perform self calibration checkbox and click the Self calibration parameters button on the Adjustment tab of the Parameters window The Camera parameters self calibration window opens ME See detailed description of self calibration operation in the Block adjustment User Manual Choose camera to be calibrated in the Cameras table In the Coefficients table define initia
16. 919 0 975 4 313 5 743 18 765 Fig 18 Evaluation of residuals of automatic UAS triangulation 12 3 Measurement of tie and GC points coordinates For automatic tie points measurement with UAS preset perform the following actions ts Choose Orientation gt Automatic tie points measurement or click the button The Automatic tie points measurement window allows to setup of points meas urement parameters Setup main and additional parameters for automatic tie points measurement con sidering the following recommendations e As a base parameters set for tie points measurement for UAS projects it is recom mended to use a pre set UAS parameters set that ensures satisfying result even with poor quality images To load a set of UAS parameters click the arrow next to the button to open drop down menu and choose UAS ME See detailed description of main and additional parameters of automatic tie points measurement in the Section 12 User Manual e You should remember that each flight is unique uses different UAS cameras on board GPS IMU with different accuracies That is why output images have different quality and spatial geometry Thus you should setup parameters of automatic measurement considering particular project features 33 PHOTOMOD 6 0 Processing of UAS data 3 Choose Orientation gt Relative orientation report or click the E button to analyse and correct measurements errors in relative orientation
17. Alpha 0 0 s Omega o o 4 Kappa o o s l Kappa o o s coal _ Fig 27 Miscellaneous parameters The Zones section allows to define a zone size on a stereopair where the program performs automatic search and measurement of tie points coordinates The Points transfer section contains the following parameters e Strict limits for initial point position if the checkbox is set on the program per forms search for a point only inside of image otherwise the search is possible out of the image boundary if the Search area parameter value on the Search for points tab exceeds the image size 47 PHOTOMOD 6 0 Processing of UAS data e Automatically transfer manually measured allows to transfer tie and or GCP measured manually The Rejection by angles section allows to specify parameters of measured points fil tering by single or multiple relative orientation parameters of the right or left image In some cases after automatic measurement of tie points coordinates due to erroneous points the images are rotated in a block and their relative orientation parameters are calculated incorrectly To prevent images rotation the filtering of measured tie points by the values of the rotation angle is used To do this it is necessary to change angles threshold value in degrees for each of stereopair elements As a result the points which cause exceeding of angles thresholds will be rejected after relative orient
18. Buildings and vegetation filter erR BA Mm Wo Pass N f i Layer sheet_1_2 Vectors le Sni Average distance between points in the layer 13 983812 m Filter selected objects only Estimated distance between points J Copy points to new layers before removing or correcting Moe Near Untestable points G I r Distance of points mutual influence f 19514369 4 Remove a Distance From the border C Remove near the border 5o z m Up C Mark only Filter surges Vv Spikes only E V Recalculate parameters for average distance between points in the layer Threshold slope angle for spikes fo al Filter passes 4 ci Maximum area of flat surges Reliable surges Doubtful surges PANEN ag Betean iade sites Re A 5 radius faz w Additional Delete Delete Detailed Delete Delete Allowed point deviation From smoothed surface fi 39838123 A Maximum area of inclined surges 10000 s m2 Actions Reliably corrected surges gt Doubtful surges Delete Delete e Hide pass parameters lt lt Correct Correct Check Check a JV Use all available CPU cores Fig 55 Parameters of buildings and vegetation filter e optional to change name of pass input a new one in the Name field e the Average distance between points in the layer in meters and Estimated distance between points in meters after filtering are displayed in fields
19. Distributed processing setup window to do that It is strongly not recommended to change default parameters in the e Distributed processing setup window 14 PHOTOMOD 6 0 Processing of UAS data Additional settings for distributed processing Tasks start interval ms Eoo v Number of tasks to start simultaneously fi v Number of attempts to start a task is case of the task runtime errors Min 1 Max C fio By the number of clients Enable server debug log Enable client debug log WARNING debug logs should be enabled when debugging network connectivity problems only in order to send the log files to the Technical Support service Enabling debug logs during normal operation may lead to problems with stability Sa Fig 42 Additional distributed processing parameters The following parameters are available to setup e Task start interval ms allows to change the delay time between starting tasks e Number of task to start simultaneously allows to change the number of tasks which are processing in the same time by distributed processing clients e Number of attempts to start in case of the task runtime errors allows to change number of attempts ta start the task if there is an error It is reccommended to change the value in case of non stable network or breaks in electricity supply etc o Min max range of restart attemps o by number of clients by default the restart attemps nu
20. GCP perform the following actions 1 choose Orientation gt GCP list or click the button to input GCP coordinates manually or to import GCP coordinates catalogue from file of text format 2 Measure GCP on project images in the Points measurement module F See details about input import measurement of GCP in the Aerial triangulation User Manual 34 PHOTOMOD 6 0 Processing of UAS data Points measurement QAAE gt t PEET EAM fi soe eee at fe BI L E AAA QAAE t AS AX S T Gt eee fe Mc _o A AE 7 a i mc_o2s0 sa b A n of Ge 5 P y G R A i g g 73 E gt s gt a p gt Fi e gt eelen ra A ri a Gah O e jo ae SBAI ELOLE BK awe Zm Ground Control 572130 4113 6082873 937 124 9456124 2 Ground Control 572648 214 6082806 649 124 3455988 0 3 Ground Control 572810 9227 6082781 931 125 1455946 0 4 Ground Control 572106 963 6083018 427 119 6456122 0 2 1 4 5 270 Ground Control 572052 2494 6083250 244 165 1456124 0 2 0 2 0 2 0 6 282 Ground Control 572698 6705 6083109 884 135 5455958 0 2 0 2 0 2 0 7 30 Ground Control 572463 5532 6083118 319 121 745602 0 2 0 2 0 2 0 3 350 Ground Control 572401 1178 6083493 425 180 5456016 0 2 0 2 0 2 0 9 360 Ground Control 572732 8116 6083445 31 179 145593 0 2 0 2 0 2 0 Fig 20 GCP measurement in the Points measurement module 12 4 Automatic measurement of tie points coordinates 12 4 1 Main parameters of
21. Se O Block scheme Ta E SEN 9250 ing attda 030 Ma 0331 y IMG_ a X s gt Raster IMG 1356 z d w IMG_0277 P IMG 10304 Sameer mgao a A Ume gt i gt WG_0323 Y a ir ner an IMG_0275 IMG_0305 my ie oo v i on ee HNG TY Tem eta AY Sy S ja HBL 0278 mc 0363 i IMG y pee IMG_0330 IMG micy sa i IMG_0253 f 4 gt xa f i e y lle 573126 784479 m 6083343 229726 m 0 000000 m WGS 84 UTM zone 42N Fig 16 Block scheme after automatic UAS triangulation 3 Click OK for automatic UAS triangulation in normal mode To distribute the triangulation process do the following 1 Change settings and run the distributed processing server client see the Dis tributed processing chapter in the General information about system User Manual 2 Press the button in the Tasks part of the Monitor for distributed processing window to start tasks automatically after theirs creating 31 PHOTOMOD 6 0 Processing of UAS data 3 Click the Distributed processing button The Distributed processing para meters window opens gt Distributed processing parameters Pa fel EF Number of stereopairs in the project z Models per task fil A Temporary folder Techsupport InfoMap_Group InfoMap_copy Temp Sa m _ Fig 17 Distributed processing parameters of the UAS automatic triangulation The number of stereopairs in the project shows automatically in the window 4 Define the number of Models pe
22. The Automatic tie points measurement window includes the following interface ele ments e the images selection toolbar used to open auxiliary windows to save and load sets of parameters e a list of project images allows to select images scheduled to perform automatic measuring of tie points coordinates e the Tasks section used to specify main actions measurement transfer filtering re porting during operation of automatic measuring of tie points coordinates e the Parameters section used to specify main parameters of automatic measuring of tie points coordinates e the More button used to setup additional parameters of measuring of tie points co ordinates e the Start button used to launch an operation of tie points measurement and to perform relative orientation in automatic mode e the Distributed processing button is used for automatic tie points measurement in distributed processing mode The program provides the following buttons in the toolbar to work with auxiliary windows 36 PHOTOMOD 6 0 Processing of UAS data HE allows to choose stereopairs where there is no tie points coordinates measure ments and their adjacent images i allows to open the block layout window to create a block layout or update it E allows to open the Relative orientation report settings window used to specify parameters and view a relative orientation report Ay allows to open the Triangulation points window u
23. a project 16 3 Points filtering The system provides deletion correction or recognizing pickets which have fallen on buildings trees cars in pits during automatic pickets calculation and during filtering of accident surges For that filter of buildings and vegetation id used After its work only pickets that describe terrain relief are remain in the system In this document all points not lying on the relief surface average smoothed terrain surface are called surges Filter of buildings and vegetation allows to apply step by step points filtering using particular script i e to apply pickets filtering in multiple passes with different parameter sets Ea It is possible to develop customized script of filter workflow or to use default script Creating script of buildings and vegetation filtering means specifying of passes set order of their passing and setup the parameters for each pass Step by step filtering allows to achieve optimal results of objects filtering on any type of terrain to acquire pickets that correctly describe terrain relief and that could be used to generate high quality DEM By default the system uses standard script that includes three passes in the following order 92 PHOTOMOD 6 0 Processing of UAS data 1 Basic main pass with parameters configured for filtering points not lying on the relief surface surges On this step the system rejects majority of points on buildings and also correlators
24. a strip for utmost images of a strip from adjacent image to the current one and kappa angle is setup from this direction A If the survey time is available the correct images order is checked otherwise images in strips should be located in chronological order only 28 PHOTOMOD 6 0 Processing of UAS data In order to eliminate blunders in block scheme building by exterior orientation parameters perform the following actions 1 Refine block layout parameters by performing the following actions 1 Click the 8 button on the main toolbar The Block layout window opens 2 Choose the By ext or mode and click the Apply button eG See a description of block layout creation in the Aerial triangulation User Manual 2 Import exterior orientation parameters from a file of text format once more and refine import parameters 3 To split images into strips by imported exterior orientation parameters if any per form the following 1 Choose Block gt Split into strips gt By exterior orientation data The Split into strips by exterior orientation window opens Split into strips by exterior orientation O x mImages order From GPS5 time image names Direction of motion between strips top to bottom bottom to top Direction of motion inside strips left to right right to left cot Fig 14 Split images into strips by exterior orientation 2 Specify the following
25. and breaklines Ctrl N vom to build DEM by loaded TIN CtrI N D allows to load georeferenced raster image to project as a layer v O U m g am 5 Q O P gt D D o P O O mmp O 5 W D D P gt D a D D D v 3 I formation about system pia Manual allows to display the list of last actions see the General information about system User Manual allows to redo the last undone action see the General information about system User Manual allows to open the Marker window see the menu description in Vectorization User Manual allows to open the Measurements window see the menu description in Vectorization User Manual allows to tile 2D windows allows to open the general program parameters window see the General information about system v O o D 5 O 5 3 O o Q O Y Q lt Ca D D O 5 D o a User Manual PHOTOMOD 6 0 Processing of UAS data 5 4 The Orientation menu To perform work on data collection for aerial triangulation serves the Orientation menu and also buttons of the main toolbar and of the AT additional toolbar Table 3 Brief description of the Orientation menu tai Manage projects cameras Ctrl Alt l allows to input edit parameters of project cameras and also to assign cameras to project images Tie points list Ctrl Alt T allows to open catalogue of all measu
26. blunders sharp spikes 2 Additional additional pass with parameters configured for searching surges missed during basic step 3 Detailed off by default the pass with parameters configured for filtering points located on low objects such as small buildings cars and so on After filtering the system may perform the following actions with points found surges e rejecting surges from initial pickets layer e correction of surges found on initial pickets layer that means editing of surges Z co ordinates e search for surges to analyse them with saving of found points to new vector layers without changing initial pickets layer Buildings and vegetation filter eFrliba Mm Wo Pass N f i Layer fsheet_1_2 Vectors le B Average distance between points in the layer 13 983812 m Filter selected objects only Estimated distance between points J Copy points to new layers before removing or correcting ee Near Untestable points G I i Distance of points mutual influence 41 19514369 A Remove a Distance From the border C Remove near the border 5o 7 m Up Mark only Filter surges Vv Spikes only i V Recalculate parameters for average distance between points in the layer Threshold slope angle For spikes fo al Filter passes 4 4 d area of flat masman Reliable surges Doubtful surges see poms penn EREN ET vi rad
27. cores or multiple computers in local network f The program provides an opportunity only local distributed processing with using several cores of one computer Computers participating in the distributed processing are assigned the three following modes e Server is the control center of the distributed processing responsible for distribution of tasks and synchronization of Client computers e Client is a computer which receives tasks to process from the Server lt lt Each Client must be connected to the Server e Monitor is a computer where the distributed processing control center is launched and the Monitor for distributed processing window is opened to observe task processing To launch the Distributed processing control center perform one of the following e in context menu of System Monitor modulechoose the Distributed processing control center lt lt The Start automatically menu item allows to launch the distributed processing control center automatically concurrently with launching any module of program when System Monitor module is also launched e choose the Service gt Distributed processing gt Control centre The distributed processing control center is launched with properties of previous working session of program in the Windows system tray the icon displays During the first launch the Distributed processing setup window is also opens 72 PHOTOMOD 6 0 Processing of UAS data The distributed proc
28. edit points measurements and allows to open the Points measurement module and to open automatically at the same time images of inter strip stereopair selected in the table When editing is completed and the Points measurement module is closed click the Refresh link in the report to re calculate relative orientation and refresh the report 58 PHOTOMOD 6 0 Processing of UAS data o the Stereopair column is used to display names of images of each inter strip ste reopair After clicking the inter strip stereopair link the detailed report on selected stereopair measurements is opened see the Section 12 5 4 o the Number of points column is used to display a number of points measured on inter strip stereopair o the Vertical parallax column is used to display a value of vertical parallax for all measurements on a inter strip stereopair RMS mean abs and maximal error considering threshold parameters error type and measurement units specified in the threshold parameters o the Discrepancy of kappa angle column is used to display a value of kappa angles difference calculated using block scheme between images o the Distribution uniformity column is used to display data about uniform or non uniform distribution of points on a inter strip stereopair o the last columns allows to highlight a stereopair or cancel the highlighting of a stereopair in 2D window that allows to estimate visually whether the stereopair is
29. eens arent weiter tri ee NT neers a hiv rete Ren een ire eee Men enya ee 99 16 54DEM Creation DY EIN saae a canst oid etisalat a naeagieas Galata 101 1 6 0 F URMEE project processing serras ssania i a a e vet hneieat aes R 102 PHOTOMOD 6 0 Processing of UAS data 1 About 1 1 Purpose of the document This document contains detailed information about UAS data processing in the PHO TOMOD UAS program The document contains recommendations of processing order program properties to obtain the best results and also contains description of additional possibilities when working with UAS data 1 2 Purpose and main definitions The PHOTOMOD UAS program is purposed to process data from unmanned aircraft system UAS There is a limit on using of the source data when working with program f Only central projection images with size not more than 60 Mpix could be used a source data The following definitions for UAS projects processing are provided in the program e preliminary preparing of source images e images interior orientation e relative orientation of images e input and measurement of GCP coordinates e Images exterior orientation vectorization stereovectorization building DEM creating orthomosaic creating digital map e creating 3d models 1 3 Technical Support The Racurs company technical support provides the actual information about system functionality characteristics price and services For techn
30. in the report The Residuals format section is used to setup format of errors numeric values in the report e fixed point is used to set format of errors numeric values accurate within 3 decimal places e exponential is used to set format of errors numeric values in exponential notation where a part of number is replaced with symbols E n where E expo nent means multiplying the preceding number by 10 to the power n The Precision section is used to setup output data accuracy select normal high or maximal The Angles section is used to setup angles format in the report e Alpha omega kappa angular elements of image exterior orientation are used in Russian coordinate systems e omega phi kappa angular elements of image exterior orientation are used in International coordinate systems see the Block adjustment User Manual The Angle units section is used to setup format of angles measurements units e radians e degrees e gons plane angle measurement unit that equals to 1 100 of flat right angle measurement unit and full angle is 400 gons 51 PHOTOMOD 6 0 Processing of UAS data Relative orientation report settings Main parameters Additional Residuals format Angles Fixed point Alpha Omega Kappa Exponential Omega Phi Kappa M Precision Angle units Normal Radians High C Degrees C Maximal C Gons ma Fig 29 Addition
31. includes input or import of camera parameters specifying ight direction and angle of camera axes rotation for images of a project 20 TOMOD 6 0 Processing of UAS data PHO In order to implement interior orientation perform the following actions 1 F Choose Orientation gt Import exterior orientation or click the SZ button on main toolbar to get camera data from EXIF metadata in image files The Import orient ation from metadata window opens Set the Import interior orientation and Import exterior orientation checkboxes if EXIF metadata contains exterior orientation parameters Click OK J Import interior orientation Replace existing data J Import exterior orientation Replace existing data col _ Fig 8 Import orientation parameters from EXIF metadata vn Dutton of main toolbar to adjust camera parameters and define camera axes direction for project images The Manage project cameras window opens Choose Orientation gt Manage cameras or click the i Choose camera in the list and click the sg button The Camera window opens to view and edit camera data optional Input camera additional data if camera passport is available and click OK Specify flight direction using window of images preview and define camera axes rotation for project images in the following way 1 Choose images in the table which do not require axes rotation 2 Set the Set camera rotation for selected images c
32. located within images block eG A stereopair is highlighted along with adding it to already highlighted ones in 2D window Cancelling of a stereopair highlighting is performed along with subtraction from highlighted stereopairs If in the Relative orientation report settings window the Check errors in interstrip stereopairs checkbox is set then the errors in the report are highlighted in the following way yellow color shows strips and stereopairs that contain points measurements ex ceeding threshold and the errors values are shown by red color 12 5 5 The stereopair measurements section Relative orientation report provides possibility to view a detailed report on any selected stereopair that contains data on tie points measurements calculated relative orientation parameters information about kappa angles difference and uniformity of tie points dis tribution on a stereopair A detailed report allows to perform control of measurement accuracy of common points of a stereopair images by values of vertical parallax resid uals To view detailed report for selected stereopair click the stereopair hyperlink in the tables of in strip and inter strip stereopairs 59 PHOTOMOD 6 0 Processing of UAS data Report Iof x 1AA AB 6B Stereopair R10 SO05 R10 S06 See also relative orientation report Back Refresh Report parameters Number of tie points 66 Vertical Parallax Sorted by diminishing the residuals Image R10_50
33. measurement module the Relative orientation report settings window in not opened and the report is opened only for images opened 48 PHOTOMOD 6 0 Processing of UAS data in the module considering preset or default parameters To view and edit the parameters it is possible to use the link in the report window Report parameters In order to open the relative orientation report perform the following actions 1 Choose Orientation gt Relative orientation report or click the button in the toolbar of the Triangulation window The Relative orientation report settings window opens It is used to specify parameters of accuracy control and format of output results of relative orientation in report Relative orientation report settings Main parameters Additional mShow report For all images For selected images Add adjacent images Stereopairs Triplets J Check vertical parallax Jv Check residuals in triplets vertical parallax threshold Triplet residuals threshold 000 py o so00 xy fio Fe 2 000 pix RMS pix RMS C mm C Mean abs value C mm C Mean abs value C Max Cm C Max Check discrepancy of kappa angle From block layout Angle discrepancy threshold degrees 30 00 J Check number of tie points Jv Check number of tie points Minimum number fe 4 Minimum number k v J Check point distribution uniformity Check errors in interstrip stereopairs cont
34. measurements The Tie point measurement parameters window contains four tabs with parameters A To reset to default parameters delete the ProjCorrMatchOptions x ini file located in the project root folder The Search for points tab allows to setup the following parameters e Search area pix allows to specify a halfsize of area of matching point search e Contrast point search area pix allows to search tie points in areas with maximal contrast on images with clear objects outlines MES In some cases it is reasonable to measure points in areas with low contrast for example when forested areas have maximal contrast and in these areas correlator s errors are very probable In this case the Contrast point search area value should be set to 0 e Tries per point number of tries of matching point search with correlation coefficient value that exceeds specified in the search area e Multipass points search recommended allows to perform points search and filtering on stereopairs in multiple passes with help of different algorithms It is applied in case of insufficient quality of the block layout when real relative rotation of images relative to each other is sufficiently big A For multipass points search it is recommended to set correlation threshold high enough for example 95 41 PHOTOMOD 6 0 Processing of UAS data e Search the whole images area allows to specify images pairs to search points ad jacent ima
35. open block editor window see the Project creation User Manual allows to reload project to display the last saved version of project allows to perform import of exterior orientation res ults allows to open block layout window see the Aerial triangulation User Manual allows to open the Exterior orientation data list allows to display all images loaded to project in the Block scheme window allows to display only selected on scheme images in the Block scheme window PHOTOMOD 6 0 Processing of UAS data allows to open block layout window see the Aerial triangulation User Manual allows to open block editor window see the Project creation User Manual allows to start automatic UAS triangulation measurement allows to open the relative orientation report allows to open the triangulation points window allows to load triangulation points allows to open the ground control points window v O A te O N D F Cc O fa 5 Q a dp re Q 3 i sed i te O i feb O i D O O 5 P N allows to open the eee toolbar see the Vectorization User Manual w L O P O oO TO D N O E Q oO D O P o Q n P D D O O ed allows to create regular grid or display settings of existed allows to start automatic points calculation i to build TIN by points
36. parameters of splitting images into strips e Images order from by GPS time or image names A If the GPS time is unavailable for part of images they add to the separate strip automatically e Direction of motion between strips up to down or bottom up e Direction of motion inside strips left to right or right to left 3 Click OK Block scheme rebuilds by set parameters Block scheme created using exterior orientation is an initial block layout and requires further refining by tie GC points see Section 12 29 PHOTOMOD 6 0 Processing of UAS data 12 Aerial triangulation 12 1 Workflow On aerial triangulation step you can perform tie points measurement in automatic mode and relative orientation as well as GC point measurement if coordinates are available For automatic tie points coordinates measurement and relative orientation perform the following actions 1 Execute automatic UAS triangulation to refine initial block scheme 2 Perform automatic measurement of tie points using build in set of parameters for UAS 12 2 Automatic UAS triangulation For automatic UAS triangulation do the following 1 Choose Orientation Automatic UAS triangulation The UAS automatic trian gulation window opens UAS automatic triangulation E3 Performance i peed Robustness Precision i Coarse Fine Bypass triplet filtering Adjust with default settings Extended correlation check Preliminary search pyra
37. the block layout by comparing it with real location of images in a block 2 Choose Block gt Block layout Automatic block layout The Automatic block layout window opens Automatic block layout Block quality I I Better Worse Process JV Instrip stereopairs JV Interstrip stereopairs Distributed processing w Fig 44 Parameters of automatic block layout creation 3 Set the Block quality using the appropriate slider If there are project images with a rotation angles up to 10 degrees move the slider to the Better side If there are project images with a rotation angles from 10 to 60 degrees move the slider to the Worse side This increases the likelihood of incorrect data 4 optional Both Instrip and Interstrip stereopairs are processed in the program by default Clear one of the checkboxes to exclude appropriate stereopairs from processing 19 PHOTOMOD 6 0 Processing of UAS data 5 optional In order to use distributed processing during automatic creation of block layout perform the following actions 1 Change settings and run the distributed processing server client see the Dis tributed processing chapter in the General information about system User Manual Click the Distributed processing button The Automatic block layout window opens Automatic block layout ile x Total number of stereopairs 27 Tasks number fi v Fig 45 Parameters of
38. tie points measurement The Automatic tie points measurement window allows to use presets for tie points coordinates measurement for airborne and UAS images or to manually select optimal combinations of main and additional parameters used for automatic tie points search measurement and filtering Open the Automatic tie points measurement window using one of the following ways e choose Orientation gt Automatic tie point measurement e click the button of the main program toolbar e click the F button of the AT additional toolbar 35 PHOTOMOD 6 0 Processing of UAS data 7B EB KE ol of Ge Ge BE Ree oi eo v 2 Tasks W R10_S05 nal doh W R10_506 7 R10 507 v J Measure tie points in stereopairs E M 1 v Transfer tie points SEE Filter tie points by relative orientation E Filter tie points by adjustment results Set up Iv Report on relative orientation on completion o D 2 ling T co gm Dm g xl xl v R W ROS_S8S Parameters Gah GOW pea Points per stereopair fiso 4 so Correlation threshold Maximum vertical parallax J Maximum error in triplets feo s 2 0 s pix C mm in plane f 0 s fe 0 s by Zz Measure points by zones Filter points by zones More Distributed processing Fig 21 The Automatic tie points measurement window
39. to create new or delete configurations from the list click the _ button 87 PHOTOMOD 6 0 Processing of UAS data 5 Inthe Search area section specify a search area which will be used for automatic pickets calculation All images allows to select all images of a block e Selected images allows to select block images highlighted in 2D window IE To view and change a set of highlighted images in block 2D window click the _ button e Active stereopair allows to select images of a stereopair opened in active 2D window A All selected stereopairs should be located on adjusted part of a block see Block adjust ment User Manual otherwise pickets calculation is not performed or is performed in correctly In the first case the system displays error message in the second one it is not possible to match calculated pickets to project coordinate system 6 optional Pickets calculation is performed by default for strip stereopairs To calculate pickets for inter strip stereopairs formed by selected images set the Process inter strip stereopairs checkbox on 7 optional To filter blunders by Z on images with intersection angle of small or null value set the Limit intersection angle checkbox on and define a value of minimal angle using the slider 8 optional In the Grid section the Area of the grid layer in m as well as Appr nodes count in a grid are displayed in appropriate fields To cha
40. used to view and perform accuracy control of measurements in triplet by tie points errors In order to view a detailed report on selected triplet click the triplet link in the triplets table of the Inter strip measurements section of the report see the Section 12 5 3 Report mie x Triplet R10 _S05 R10_S06 R10_S07 See also relative orientation report Back Refresh Report parameters Number of triplet points 22 Tie Residuals Point Ex pix Ey pix Bz Rie Exy pix zz Limit max 1 414 1 414 2 828 1 414 E 51 0 178 0 834 1 238 0 853 o 72 0 140 0 170 1 476 0 220 162 0 030 0 921 0 927 0 921 46 0 202 0 231 1 239 0 307 p bo 0 126 0 197 1 223 0 234 161 0 161 0 487 1 016 0 513 o 142 0 156 0 067 1 105 0 170 157 0 067 0 256 0 985 0 265 ad 0 012 0 280 0 770 0 280 140 0 005 0 066 0 616 0 066 p 114 0 046 0 289 0 479 0 293 Fig 34 Detailed report for selected triplet Detailed report on selected triplet includes the following data e hyperlinks of detailed report o Relative orientation report the link is used to return to the first page of common report on relative orientation 62 PHOTOMOD 6 0 Processing of UAS data o Back the link is used to return to previous view of detailed report on measure ments in triplet o Refresh allows to refresh relative orientation res
41. 2014 17 58 11 TechSupport 0x7892E7C Waiting 0 Compute DEM sheet sheet_1_3 01 10 2014 17 58 09 TechSupport O0x9413392 Waiting 0 Compute DEM sheet sheet_4_3 01 10 2014 17 58 11 TechSupport 0x9472DB4 Waiting 0 Compute DEM sheet sheet_1_1 01 10 2014 17 58 09 TechSupport Ox98730D5 Waiting 0 Compute DEM sheet sheet_3_1 01 10 2014 17 58 10 TechSupport Ox9F82FA9 Waiting 0 Compute DEM sheet sheet_2_2 01 10 2014 17 58 10 TechSupport OxBA92F 44 Waiting 0 Compute DEM sheet sheet_2_1 01 10 2014 17 58 10 TechSupport OxBD33201 Waiting 0 Compute DEM sheet sheet_3_4 01 10 2014 17 58 10 TechSupport OxC7F2E18 Waiting 0 Compute DEM sheet sheet_1_2 01 10 2014 17 58 09 TechSupport OxC96307 1 Waiting 0 Compute DEM sheet sheet_2_4 01 10 2014 17 58 10 TechSupport 0xE383266 Waiting 0 Compute DEM sheet sheet_4_1 01 10 2014 17 58 10 TechSupport OxFSB3139 Waiting 0 Compute DEM sheet sheet_3_2 01 10 2014 17 58 10 TechSupport Computers total clients 1 working 0 total tasks capacity 1 selected 0 gt n 34 31 Ye IP address Type 127 0 0 1 Client VIRTXP GONEMAN Current tasks PHOTOMOD version 0 1 1 5 3 1619 Fig 43 Monitor for distributed processing In the Monitor of distributed processing window displays information about tasks queue and Clients computers using The window also allows to manage tasks pro cessing F The Tasks containts toolbar and table with information about tasks The t
42. 2D window status bar If base TIN layer was changed it is possible to rebuild DEM The DEM gt Rebuild by TIN menu item is used for that See the detailed information about other was of creation edit filter and accuracy control of DEM in the DTM creation User Manual 16 6 Further project processing Further project processing includes the following steps e stereo vectorization see detailed description of self calibration operation in the Vectorization User Manual e orthorectification See detailed description of self calibration operation in the Or horectification User Manual e the mosaic creation with sheets splitting detailed description of self calibration op eration in the GeoMosaic User Manual e etc 102
43. 3 2 Using sef calibratiOm seres a a a E a a ts 65 13 3 Brief residuals repor iit Ste e E a O she dee ae Mince oe 67 13 4 Creating adjustment report aes atari aan Ag haa el eels 68 13 5 Adjustment accuracy Control sercis tn aaea ssw a Arai 69 t4 DistibDUtEd ProcessNg serran a a a a E 72 TA Al General MPO MAUON wie ister cn teas antes stan a a ets Gute a a a 72 14 2 Workflow of distributed processing cccceccec eee ec eee cess cess ee eeeeeeeeeeeseeaeseeeneeeeaeneenenees 73 14 3 Distributed processing parameters setup cccc cece cece cece cece ee eeeeeeeseseeeseeeeeeeeeeeeaeaes 73 14 4 Distributed processing management ccccccecsceeeecececeeeesececeeaeeesecseeeeesesseutanseneeass 15 WD PROCITE OMAN TS ALCS acs chat sie tee a a Stace ea tems cts Ge See Vas acto 79 15 t A tomatie block layout creation ans 2aiiscocecesneahan aaa a E hawaii 79 15 2 Creating overlap map cccccccccececeeeececeeneeecececueaeeeseceeaesesecueaesesecaegeseseseeueaesesaseeaees 80 15 3 Deleting images Selectively ssiccisesiisieisantins ine elanetnanddl c ead aac 82 MG AOS C HOC CS Sle Cf resino nan a ese cine tna a a eeanatoie crepe teieae 84 16212 NG Cre auon 2 sc0s eee et ee E a ae ek et ee T E et 84 16 2 Pickets automatic calculating ccccccceceeececeeeeeesecseeeeesesscueaesececeeaesesesseuteesenseetanes 86 16 3 FP OlALS MENN sipa a E i ete Reale cade Ri ect a tie 92 16 4 18 1 6 1 aCe TIN sicie et ieee
44. 302 IMG_0302 572352 7760382 6083223 7889250 629 7456045 4 217994390 5 384109879 32 317172653 1304589495 000000000 Control Control 0 2000000 303 IMG_0303 572359 7150771 6083127 5160983 629 8456048 2 473425343 6 005793529 32 145377573 1304589500 000000000 Control Control 0 2000000 304 IMG_0304 572365 6295119 6083035 1222409 630 5456051 2 493950861 6 016402155 33 141047903 1304589505 000000000 Control Control 0 2000000 305 IMG_0305 572368 8827471 6082936 6754291 630 6456056 2 915854147 5 531883422 35 174623392 1304589510 000000000 Control Control 0 2000000 329 IMG_0329 572511 9010654 6082888 4509400 629 3456020 5 537448329 2 879337657 69 026125918 1304589631 000000000 Control Control 0 2000000 330 IMG 0330 572499 7465035 6082989 6478861 628 5456018 6 927886042 1 141302293 70 072098854 1304589636 000000000 Control Control 0 2000000 331 IMG_0331 572489 7641862 6083091 4363970 629 5456015 7 491797014 1 365864420 66 130380181 1304589641 000000000 Control Control OK Cancel Apply 0 2000000 Fig 13 List of exterior orientation parameters The program provides possibility to create a block scheme by UAS images if angular exterior orientation parameters of block images are specified with low accuracy or are unavailable For this operation it is necessary to use the i button of the Exterior ori entation parameters window toolbox For each highlighted image the program calculates the direction from previous to next center in
45. 480 40 082915991 1304589239 000000000 Control Control 0 2000000 252 IMG_0252 572118 1168364 6083038 7120977 630 9456118 5 450916108 4 403305595 41 362279830 1304589244 000000000 Control Control 0 2000000 253 IMG_0253 572115 7842784 6082940 1756080 630 8456124 4 785099943 4 155284958 37 324375776 1304589249 000000000 Control Control 00 2000000 276 IMG_0276 572254 1819676 6082823 9768058 631 0456093 6 844862744 1 278696884 67 087050097 1304589364 000000000 Control Control 0 2000000 277 IMG_0277 572246 7137149 6082925 3609281 631 1456090 8 890056609 0 822209338 63 224814607 1304589369 000000000 Control Control 0 2000000 278 IMG_0278 572248 7117367 6083028 5667095 632 5456063 6 553909703 4 051900828 59 146810265 1304589374 000000000 Control Control 0 2000000 279 IMG_0279 572253 4926709 6083126 2523294 632 8456077 4 819138976 4 667545680 65 991462355 1304589379 000000000 Control Control 0 2000000 280 IMG_0280 572247 4803610 6083228 8841743 632 5456073 5 229065059 2 016941483 71 003822452 1304589384 000000000 Control Control 0 2000000 281 IMG_0281 572237 7534750 6083331 1224341 631 1456070 6 438321376 1 269380948 71 043905439 1304589389 000000000 Control Control 0 2000000 300 IMG 0300 572355 5745141 6083428 5120609 631 4456032 5 724796204 4 562581843 41 367108548 1304589485 000000000 Control Control 0 2000000 301 IMG 0301 572349 6743196 6083324 7980860 630 6456040 5 454806382 3 741222666 35 380042604 1304589490 000000000 Control Control 0 2000000
46. 5 left Image R10_S06 right Point mm pix mm pix Limit max 0 707 0 707 162 0 0192 9912 0 0192 om p 114 0 0173 0825 0 0175 osa 51 0 0110 0 522 0 0109 0 520 161 0 0098 0 468 0 0099 0 469 96 0 0097 0 461 0 0096 0 456 109 0 0093 0 441 0 0093 0 443 145 0 0092 0 438 0 0092 0 438 46 0 0090 0 431 0 0090 0 430 o 20 0 0085 0 405 0 0085 0 403 Cose Fig 33 Detailed report for selected stereopair Detailed report on selected stereopair includes the following data e hyperlinks of detailed report o Relative orientation report the link is used to return to the first page of the common report on in strip and inter strip measurements o Back the link is used to return to previous view of detailed report on stereopair measurements o Refresh allows to refresh relative orientation results in the report after tie points editing in the Points measurement module o Report parameters the link is used to change the report parameters and to re fresh the report o Edit the link is used to view and edit measurements on a stereopair in the Points measurement module o Select stereopairs allows to select a stereopair on a block scheme in 2D window o Unselect stereopairs allows to unselect a stereopair on a block scheme in 2D window 60 PHOTOMOD 6 0 Processing o
47. 579 24 GE Project 6 Supplementary data Big project 7 l l l Filez Outside 579 24 GE E Example p E aea TB O 0000 Test Project 7 8 80 TE iRazuvanovaiDIIMAGESI 6bit 430 40 GB coat nov _ Fig 4 Creating resources structure of network profile The folder tree displays in the PHOTOMOD Explorer window after creating profile igisi Bax c pila ea Profile Example Images E Projects pe Supplementary data p iow Pyramid Pyramid 02 11 2011 16 52 16 Pyramid po_7015_rgb_0000000 tiF 22 93 MB 26 05 2003 7 26 00 po_7015_rgb_0000000 tif po_7015_rgb_0010000 tif 22 93 MB 26 05 2003 7 26 00 po_7015_rgb_0010000 tif Filter 3 resources 48 081 132 bytes selected 0 resources 0 bytes Fig 5 Resources tree of network profile in the Explorer window PHOTOMOD Explorer To avoid loss of data it is not recommended to edit virtual folder for storage group 8 Project creation In order to create UAS project perform the following actions 1 Choose active profile 2 Start the PHOTOMOD UAS program 17 PHOTOMOD 6 0 Processing of UAS data 3 Open the New project window using one of the following ways e choose Project gt Open Manage Ctril Alt O or click the y button on the main toolbar The Manage project window opens Click the New button e choose Project gt New IE The New project window opens automatically if there is no existed projects in the activ
48. Digital Paotogrammetric System Version 6 0 USER MANUAL Processing of UAS dato G RACURS PHOTOMOD 6 0 Processing of UAS data Table of Contents I PRI OUI a ea nets nard nett a bs aero a nan een baa cman sa aah Asean aatedaeiee 3 eh PUrDOSe Or INE GOCUIMEME serran aa we wae ian a a a eiateen es 3 1 2 Purpose and main definitions cc cc ccc cece ec E ececee eee N DAA A a 3 AS TECMMIGAL OUD DONG iare a a R bop acd cto ne node da E a E E R aaa 3 2 nputand output Cate cis ic Shae aaah ek ee ek ae Sar ek eas AE cuenta ad 4 7a Goa a 2 gt nee Se ee re IN ne a a OEE ye a PN ee ee ee eee eae 4 222 UNDUE Alas eee A Ate ita Sle ues EA eee i ae Rene a 5 Se Ate MOAN UA NS CMM A CUO Me arate ott ce ati ee ecto Eve cn S 6 JS Ol WORK icici iat Gace a eked ip ae Ce ck Ge cee hit heheh ic ateed a i 6 5 Interface and its elements matisi cece ccc ce cece ec eee cece ee eee a O esses aes a E a a E 6 2 1 WOrk allea IMC ACE tas et ehtet a a ae ee ade a es eae es ales eee a rtd 6 5 2 Brief description of MAIN MENU c cc ccccc ec ee acc ec eee ee ee eceeeeeeaeceeeeeeseceseeeeeeeeseeeaeaeseeeegeaeees 7 O32 WING AMI TOOID AP srna a aoe ete ha ORS E ogee ie eth 8 cA TNE Onentallon MENU vasisi a a a Gs batea wl aaa 10 9 9 Ne BIOK MENU isin its ss oe ee See teat a et Sete lS a eee Dt 11 5 6 The Block editor WINdOW nnannannannennsnnnnnnnarrnrrnrnnrnsrnrrnrrnrrnrrnrnnrnrrnrrnrrnrrnrrnrrnrnrrnrenne 12 6
49. Fig 28 Parameters of relative orientation report 2 Select the Main parameters tab it is selected by default 3 Inthe Show report section specify block images to be included to relative orientation report e to view a general report for the whole images block select the for all images option e to view a report for selected images select the for selected images option e to view a report for selected and their adjacent images select the for selected images option and set the add adjacent images checkbox 4 Inthe Stereopairs section specify the following parameters of accuracy control for points measurements on block stereopairs 49 PHOTOMOD 6 0 Processing of UAS data e to check measurements for vertical parallax error select the Check vertical parallax checkbox and input acceptable threshold value in pixels or mm for selected error type RMS mean or maximal error IE It is recommended to set the threshold value of maximal error equal to the pixel size e to check discrepancy of kappa angle from block layout set on the Check discrep ancy of kappa angle from block layout checkbox and specify a threshold value of angles discrepancy in degrees ME It is recommended to specify Angle discrepancy threshold values from 30 to 45 de grees e to check stereopairs for sufficient measurements number set the Check number of tie points checkbox and specify minimal number of tie points per stereopair MES It is recommended to
50. File record with number fi v matches project image with number fi v Cancel Fig 11 Images matching by numbers 1 Inthe Numbers in the file section set the following parameters o Serial numbers of records matching the template is used to match a list of records numbers in a file by order o Read from the Name field is used to match a list of records numbers in a file by the last number from the filename 2 Inthe Numbers of images in the project section set the following paramet ers o Serial numbers of images used to match a list of records numbers in a project by order o Read from images names used to match a list of records numbers in a project by the last number from the filename 3 Inputnecessary parameters to the File record with the number and matches project image with number input fields ME For convenient setup of necessary parameters it is recommended to place windows in that way that allows to display on screen a name of the first image in the table of the Exterior orientation parameters window and also allows to display first rows in the Preview file table of the Exterior orientation import window It is re commended to place the Match images by numbers window in such a way that allow to show both windows mentioned above 5 The Line template field displays the list of fields contained in each line of imported file e T precise time from GPS receiver e Lat flight latitude e Lon
51. G_0056 JPG 54 8946791233531286 70 1377478146832516 263 545585419300551 IMG_0057 JPG 54 8930471182823823 70 1387887938581542 272 745584545406473 IMG_0058 JPG 54 8923451083626759 70 1408107899314501 293 84558144189441 Drag a field name From the list of available Fields on a grid column to assign column type Double click on grid column to cancel assignment coat _ Fig 10 Setup a file string template for import of exterior orientation parameters 4 optional If images names in file and in project are not the same perform one of the following actions e set on the Loose matching of image names in file against names in project checkbox The program performs search for common substrings and matches images names For example it searches for common substring 078 02595 in image name RGBI_ 018 02595 in file and image name 078 02595 in project lt If the Loose matching of image names in file against names in project checkbox is set on the image name with file extension is also imported e set on the Match by record number checkbox and click the Setup button The Match images by numbers window opens 23 PHOTOMOD 6 0 Processing of UAS data gt Match images by numbers Piel EY gt Numbers in the file E Serial numbers of records matching the template Read From the Name Field Numbers of images in the project Serial numbers of images C Read From image names
52. If the Delete or Correct option is selected the system allows to edit base pickets layer IE In order to save deleted or corrected pickets to new layers it is recommended to set the Copy points to new layers before removing or correcting checkbox on If the Check option is selected the initial pickets layer remains unchanged and found reliable or doubtful surges are copied to a new layer Surges 10 optional To use all cores of workstation CPU for calculation operation the Use all 11 available CPU cores checkbox is set on in the system by default It is necessary to set the checkbox off to use only one core Click OK The system starts DEM filtering operation When the filtering operation is completed the system displays information message about number of used basic points and filtered pickets There are the following recommendations concerning use of buildings and vegetation filter it is recommended to use step by step filtering in multiple passes with different parameter sets the passes should be formed in ascending order of the following parameters distances of mutual influence radius of intermediate smoothing and decreasing of allowed deviation of picket from smoothed surface value of intermediate smoothing radius directly describes terrain relief features that it why it is necessary to specify the radius value not exceeding 1500 meters it is recommended to perform preliminary analysis of maximal area of flat su
53. OTOMOD 6 0 Processing of UAS data o the Tie residuals column is used to display values of tie residuals in triplet by XY and Z RMS mean abs and max error considering parameters of threshold error type and measurement units specified in the Relative orientation report settings window Triplet errors by ties exceeding specified thresholds are highlight by red color 12 5 4 The inter strip measurements section The Inter strip measurements section of report is used to view points measurements results inside a strip and contains the following data lt 7 at xX nies Measurements Statistics Stereapairs Strips Total Complete Residuals Not complete 2 1 Top Strips 2 1 Vertical Vertical parallax pix pix Saana Number of Discrepancy of kappa Distribution P points rvs Mean men angle rad uniformity abs R10_505 R09_ 587 0 319 0 263 0 643 osas 0 021768629 Non uniform R10_506 R09_586 0 319 0 239 0 935 0 03199809 Uniform R10_S07 RO39_ S85 16 0 260 0 219 0 532 0 05611179 Non uniform to Fig 32 The Inter strip measurements section e The inter strip ties table Statistics displays a number of inter strip stereopairs for each pair of adjacent strips and presence of measurement errors during relative ori entation operation e The inter strip stereopairs table contains the following columns o the first column is used to
54. S00D x cam Canon FOS SNND x ram Intor Camera Rotation _ Processing of UAS data O x Project cameras Cee OF w ame um of images Canon EOS 500D x cam 41 gt Change camera for selected images JV Assign selected camera to selected images JV Set camera rotation for selected images o C 90 clockwise 180 C 270 clockwise 4752 x 3168 pix Fig 9 Performing interior orientation 11 Exterior orientation lf exterior orientation parameters are available for UAS project you can import them to the project Exterior orientation parameters are coordinates of projection centres and 3 angles that allow to specify in whole real position of images in space Exterior orientation parameters may be included to EXIF metadata of images files or separately as a catalogue in a file of text format Additional information about import of preliminary exterior orientation data from EXIF metadata Is in Section 10 In order to perform import of exterior orientation data catalogue from a file of text format do the following 1 Choose Orientation gt Exterior orientation data list or click the 2 button on the main toolbar The Exterior orientation parameters window opens 2 Click the button to import exterior orientation parameters 3 Choose a file with exterior orientation parameters and click OK The Exterior ori entation import Step 1 of 2 File window opens The Fi
55. Save and Grid gt Save as menu items The grid is saved to the x grid file 85 PHOTOMOD 6 0 Processing of UAS data To open existing grid select Grid Open To close a grid select Grid Close Context menu of the Grid layer in the Manager duplicates save and load commands in the Grid menu and allows to close a grid layer 16 2 Pickets automatic calculating 16 2 1 Automatic calculating of pickets The program provides possibility to calculate pickets automatically using correlator in overlap areas of stereopair images by regular nodes grid Because of large processing data volumes in UAS projects it is recommended to use automatic calculating of pickets A All selected stereopairs should be located on adjusted part of a block see Block adjustment User Manual otherwise pickets calculation is not performed or is performed incorrectly In the first case the system displays error message in the second one it is not possible to match calculated pickets to project coordinate system Acquired pickets are used as a vector base for DEM generation Additional possibilities of pickets editing allow to obtain vector base for TIN creation and DEM generation gt The principle of automatic pickets calculation is as follows For each selected oriented stereopair the system performs automatic pass of all grid nodes located in overlap area of stereopair im ages and tries to calculate spatial coordinates in vicinity of e
56. Uay_ProjectData Gazprom vesna Lite Images HO Geometr_Center Projectz1 PhSData2 TechSupportlAy_ProjectData Gazprom vesna Lite Images H Gremyachinsk_ndist Projectz1 PhSData2 TechSupportlUAy_ProjectData Gazprom vesna Lite Images H GUZ_Area Projectz1 PhSData2 TechSupportUAy_ProjectData Gazprom vesna Lite Images H GUZ_Strips WProjectz1 PhSData2 TechSupportUAY_ProjectData Gazprom vesna Lite Images BO in Terra H v p iA Irkutsk AGP P Wneaiancka 1 Oho ska Tae uinnackl LIAL Deainc th sksiGasnvam uarn Lika Tasane b d 181 x iew iProjectz1 Ph5Data2 TechSupportUAY _ProjectDatatGazprom vesna Lite Im iles selected 41 42 In Folder Projectz1 PhSData2 TechSupportUAV_ProjectData Gazprom yvesna s ders A TechSupportUAy_Projec a H borovici GQ CPT E E HE 2 AAAKA HS CQ deme Name OOOO Type Modified B Gazprom Spass_ose vG _0406 JPG 8303KB PrcyHok JPEG 05 05 2011 10 06 i a Gazprom Spass_ves IMG_0407 JPG 8454 KB PucyHoK JPEG 05 05 2011 10 07 H Gazprom truba_chel IMG _0408 JPG 8516KB PrcyHoK JPEG 05 05 2011 10 07 CQ Gazprom truba_perr IMG_0409 IPG 8613KB PrcyHoK JPEG 05 05 2011 10 07 7 Sy IMG G 8873 KB PrcyHok JPEG 05 05 2011 10 07 H Data_Dima H Images jpg WE EY xe a d a V i ist selected 0 41 1 14 W 4752 H 3168 0 000000 0 000000 Projectz1 PhSData2 TechSupportlUay_ProjectData Gazprom vesna Lite Images Output format
57. Workflow f UAS processSiNg oisein anesan he a e a a E E S a 14 7 Creating and Choosing active profile ccccccccccsececeececeececeececeeaecueeececeeseseeseseeaesueaeseesnsesenaes 16 O Proc Che Allo eisi a aera orca sae gata a aaa a 17 9 Images DIOCK HOM T Gis sess acer enner one ice ole eaae na EEEE eects er ENa aE EERE 19 Zi AerlIMaAGS Phe DCAMNG ciara caer oti a a a a a a edema a a seas 19 Pe ATP MAGS S casas aaitat a tia Scales alan aeeian Spe Wienke ain nacaatle a a a S 20 IOs INTEROP OFenbatlony sis gtces eee en ae i eee De a I ie 20 T HE XU FIO OnentaU oN sesegan a ie odes atic se bene oe asec eh eect aeapen eect odes 22 NZ NOVA tangua ON fas vae ciel eah cue dee Cau a a ante tat waa ucaae sued theater wa lane twaiaeeeeuants 30 12i WOKO W neman eee ttc ine ee oar ree rte Sern ty ae ae mre er ee nV eet Een EME ae Semen eee 30 12 2 Automatic UAS triangulation seccina 2 picts a aae Wis hei een ae 30 12 3 Measurement of tie and GC points coordinates ccc cc cec cece ec ec eee eaeceeeeeeaeeeseeeeneaeees 33 12 4 Automatic measurement of tie points coordinates c cece ec ec ec eceeeeaeceeeeeeaeseeeeeeaeaeees 35 12 5 Relative orientation report v8 ae keels Gate ierate ni Oates ite taue tauidestnen fedallssalagolenveas a aanas 48 13s Block AC USIIMOENE seen EA a a T ana ineiananoes 64 13 1 Preliminary block adjustment c cece cccecececeeeecececeeeeceseceeeeeesessceeaeeesecseaneesenseetanes 64 1
58. able consists of columns with following information The window refresh automatically each several seconds e ID unique identifier for each task e State the status of the task o waiting o paused o performed in this case shows the percentage of task completion o complete o failed displayed in case of complete part or resource connection error marks yellow 76 PHOTOMOD 6 0 Processing of UAS data o not complete marks red displayed in case of tasks didn t complete because of Client was disconnected during the task processing Server was disconnected or task was cancelled e Priority priority of the tasks integer the larger the number the higher the priority the tasks of higher priority are performed in the first place e Name type of task and number in tasks list e Created at the date and time of posting task e Started at the data and time are displayed for started task e Executor for started task the name of Client computer which executes it e Est time left the approximate time before complete processing tasks e Profile active Client profile at the time of posting of tasks This profile must be network and connected to other Clients in order that they have been able to execute the tasks MES Points sorting in columns of the list is performed by mouse click on the column header If during the task execution an error occurs on any of network comput
59. ach grid node using correlator In case of successful correlation the system performs accuracy control of each found point s co ordinates and after that the point is either added to vector layer as point object or is excluded If the system fails to calculate spatial coordinates in vicinity of some grid node the node is skipped and the system passes to the next node Prior to start of automatic pickets calculation perform the following preparatory actions 1 optional Define search area select block stereopairs where to perform automatic pickets calculation 2 Create regular nodes grid for selected search area 3 Choose Vectors gt Conpute points automatically or click the button on the main toolbar The Compute points window opens MES If a grid not was not created it is created automatically for the entire images block and the Grid properties window opens that allows to specify grid parameters 86 PHOTOMOD 6 0 Processing of UAS data Compute points fel xi MCorrelator preset Desert ane Search area gt Initial approximation All images Mean stereopair elevation Selected images ae Fixed elevation o o s m KGUYE Stereopalt C DEM Use pre regions Process interstrip stereopairs J Limit intersection angle A o Precision f o pa D Grid Additional settings Area 1663700 i V Save quality assessment to attributes fone Maco hs 7481 J Delete redu
60. al report parameters 7 Click OK The report on relative orientation results is opened It considers all spe cified main and additional parameters see the Section 12 5 2 12 5 2 Report view and analysis Report on relative orientation includes results of relative orientation operation displays statistics of tie points measurement and allows to reveal and eliminate errors of points measurement The report is generated for all or for selected project images considering parameters specified in the Relative orientation report settings window ME A feature of relative orientation report is the ability to pass to the Points measurement module directly from the report that allows to eliminate detected measurement errors ME It is possible to view relative orientation report from different windows of the program using the button Prior to the report appearing the Relative orientation report settings window opens When the report is opened from the Points measurement module the Relative orientation report settings window is not opened and the report is shown only for images opened in the module considering previously set or default parameters To view and edit the parameters it is possible to use the link in the report window Report parameters 52 PHOTOMOD 6 0 Processing of UAS data Report Beles 1AA RB Ek Relative Orientation Report Jump to e in strip measurements e inter strip measurements See also e interior orie
61. all types of value added photo grammetric products DEM 2D and 3D vectors orthomosaics There are the main output products e Digital Terrain Model DTM digital cartographic presentation of terrain surface both as regular grid of elevations DEM and as triangulated irregular network TIN Ucnonb3ylt0Tcs npn peWeHUN npnknaghHbix anannTnyecknx 3agay e 3D vector objects e orthophoto production MES There is opportunity to export all photogrammetric products to various formats PHOTOMOD 6 0 Processing of UAS data 3 Program installation The PHOTOMOD UAS program is stand alone software which is not required the PHOTOMOD system installation Also the program could be launched as a module of the PHOTOMOD system 4 Start of work Define the folder in which are placed the sources data before the beginning work in the program The program allows to place the files with the source data in the folders of Windows file system as well as in the profile resources To start the program perform one of the following in the context menu of System Monitor module the 3 icon in the system tray choose the PHOTOMOD UAS e choose the Start gt Programs gt PHOTOMOD6 gt UAS 5 Interface and its elements 5 1 Work area interface The GUI contains the following elements e the main menu which contained the all program functionality A e the main toolbar is used for quick main program functions access B e the optiona
62. ard deviation of these coordinates in meters are displayed in corres ponding fields Coordinates m Accuracy std dev m wx rovese te000 fozooo my _esos0se 7070000 faz SS wz fensomo ao lt pec e M Point type Control C Check Excluded C Tie X Cancel lt Revert Fig 39 Changing geodetic coordinates of selected GCP 5 optional To change the value of the Accuracy parameter use the or button 6 To change a type of selected point set a type in the Point type section If the Tie type is specified for GCP or check point its geodetic coordinates will be deleted 70 PHOTOMOD 6 0 Processing of UAS data 7 Input necessary coordinates to the X Y Z input fields or clear one or multiple checkboxes to use a point as a XY or Z A When working with a scanner images it is possible to use only XYZ GCP that is why if for the GCP one of the X Y Z checkboxes is cleared the point is used as a tie point and its coordinates are not considered during adjustment If such points are available in a project the program shows warning message during adjustment 8 optional Click the Revert button to restore initial points coordinates 9 Click OK After that the geodetic coordinates of point will be changed In order to change point s position on image perform the following actions 1 Selecta point on a block scheme or in a list which error exceeds specified threshold value 2 Click the
63. asurements between strips o see also the interior orientation report allows to open report on interior orientation o Back allows to go back to previous report view o Refresh allows to refresh relative orientation results in the report after tie points editing in the Points measurement module o Report parameters allows to change the parameters and refresh the report o Unselect all allows to cancel data selection in the report o Top allows to go to the report top the Block statistics section of a report used to view general statistics contains the following information o a project name o a total number of project strips images o anumber of selected strips images o report generating date the In strip measurements section of a report used to view and analyse points measurements inside strips contains the following tables o Statistics table on in strip measurements strips table o table of stereopairs of each strip o table of triplets of each strip lt lt In inter strip stereopairs and triplets tables there is a possibility to go to the Points measure ment module and open images of selected stereopair triplet automatically that allows to edit points measurements there the Inter strip measurements section of a report used to view and analyse points measurements between strips contains the following tables 54 PHOTOMOD 6 0 Processing of UAS data o Statistics table on int
64. ation i Camera parameters self calibration independent stereopairs R TA E Perform self calibration pa If calibrati t Adjustment parameters ___Sel calation parameters Adjust subblock EA Select subblock Model georeference free C by block scheme Basis m fi 000 4 Compute X Cancel Fig 35 Adjustment parameters for the first adjustment operation 4 On the Adjustment tab define the following parameters for the first start of the ad justment procedure 1 Choose the by block scheme option in the Approximation computing method section 64 PHOTOM 8 9 OD 6 0 Processing of UAS data Click the Initial approximation parameters button The Initial approximation parameters window opens Set the Use ground control points coordinates and Use projection centers coordinates checkboxes Click OK Choose the bundle adjustment option in the Adjustment method section Click the Adjustment parameters button The Bundle adjustment parameters window opens Set the Use ground control points coordinates and Use projection centers coordinates checkboxes Choose the in 3D space option in the Minimize residuals section Click OK to return for the Parameters window 5 Click Compute to start the adjustment operation 6 To analyse the adjustment results you can use visual control of residuals on block scheme and the Residuals window which contains brief residuals report
65. ation recalculation A It is not recommended to use this method of rejection for blocks in which the images can actually be rotated in relation to each other since in this case the likelihood of removing properly placed tie points increases 12 5 Relative orientation report 12 5 1 Report parameters and output The program allows to view the results of relative orientation operation after measure ment of tie points coordinates To view and analyse the data and control accuracy of relative orientation the program allows to generate a report that is formed considering specified parameters of accuracy control residuals threshold and data output format Relative orientation and accuracy control includes the following steps e accuracy control for measurements on stereopairs using residual vertical parallaxes e accuracy control for measurements in triple overlap zones using discrepancies in tie points measurements taken on two adjacent stereopairs models e control of tie points number and uniformity of their distribution on stereopairs and in triplets e control of difference between kappa angle and a block scheme Itis possible to view the relative orientation report in the Automatic tie point measure ment Triangulation points windows and in the Points measurement module after clicking the E button Prior to the report appearing the Relative orientation report settings window opens When the report is opened in the Points
66. bout Block menu items buttons of Block editor window s toolbar and Block forming additional toolbar see in the Project creation User Manual Table 4 Brief description of the Block menu Delete images selectively allows to select images in accordance with specified criteria for deleting see Section 15 3 Check images allows to check images for example to find images where radiometric correction is recommended Mark all images as checked allows to exclude project images validation check their presence and compliance to images files during project opening at the next working session Block layout contains groups of menu items used to create block layout allows to refresh load save block layout apply w o layout or by exterior orientation modes build block layout automatically for Unmanned Aer ial System UAS projects delete results of automat ic block layout see the Aerial triangulation User Manual Split to strips allows to split images block to strips automatically using images names or exterior orientation paramet ers Rotate images by block layout allows to rotate all or selected images of block con sidering block layout data images don t rotate if the w o layout was used see the Aerial triangulation User Manual 11 PHOTOMOD 6 0 Processing of UAS data 4 Set GSD for selected images allows to define calculate GSD value in meters for all or selected images of block Create overlap map a
67. culate interior orientation 9 Choose Orientation gt Block adjustment or click the i button on the main toolbar Click the y amp button Settings on the Adjustment toolbar Block will be adjusted considering new results of interior orientation 13 3 Brief residuals report The program allows to display brief residuals report which contains RMS errors mean absolute and maximal adjustment errors Brief residuals report is used for quick estimation of adjustment results without viewing detailed report In order to display brief residuals report click the button on the Adjustment toolbar The Residuals window opens Residuals Ex Ey Ez Exy metre ground control points om mean 0 064 0 056 0 141 0 085 mutual m mean 0 000 0 000 0 000 0 000 mutual 0 000 0 000 0 000 0 000 tie projection centers from me an 0 000 0 000 0 000 0 000 mutual 0 000 0 000 0 000 0 000 Sigma_0 0 671 Fig 37 The Residuals window In the Stereopairs mode brief report contains information about mean absolute errors on GCP and check points in meters about tie and targeted points as well as about tie residuals on projection centers mutual and from mean residuals eG If adjustment is performed by bundle adjustment procedure the Sigma 0 value is calculated 67 PHOTOMOD 6 0 Processing of UAS data gt The Sigma 0 value shows how much adjustment discrepancies correspond to specified thr
68. distributed processing of automatic block layout creation Specify Tasks number which are processed by one computer See the de scription of distributed processing setup in the General information User Manual lt lt It is recommended to specify not more than one task per computer f Both Instrip and Interstrip stereopairs are used during distributed processing re gardless of settings Click OK Distributed processing tasks are created and the program shows a message about number of created tasks 6 Click OK After that the program will measure tie points created artificially specially to consider them for adjustment coordinates of the points are not saved Creation results are saved to Image Iransforms x ini file in the project resources F F File with results of automatic block layout creation is used for automatic measurement of tie points If the operation of automatic block layout creation was interrupted its results will be also saved in the program 15 2 Creating overlap map For visual analysis of images and strips overlap in a block the program provides a feature of overlap map creating After creating of such a map the overlap areas are created as kind of vector polygons on a new vector layer 80 PHOTOMOD 6 0 Processing of UAS data Perform the following actions to create overlap map 1 Choose Block gt Create overlap map The Create heat map window opens Preis For images For
69. dow and check coordinates values in the Marker window see the Vectorization User Manual 13 Choose one of the following formats to specify a type of imported file e PAT B matrix file containing coordinates of projection centers and rotation matrices e CSV projection centers Omega Phi Kappa angles and GPS time file containing coordinates of projection centers in any coordinate system as well as exterior orientation parameters and precise time from GPS receiver fj CSV format is exchange text format with csv extension which is supported by major applications in different industries It is used as exchange format when special geospatial data formats are not applicable for some reason e CSV navigation data latitude longitude altitude WGS 84 heading pitch roll angles and time file containing navigation data latitude longitude set in de grees altitude in meters angles in degrees radians or gons and precise time from GPS receiver 26 PHOTOMOD 6 0 Processing of UAS data A To perform import of exterior orientation parameters it is necessary that a project is in coordinate system consistent with WGS 84 coordinate system e CSV navigation data projection centers in working c s heading pitch roll angles and time file containing navigation data coordinates of projection centers in project coordinate system angles in degrees radians or gons and precise time from GPS receiver 14 Click the N
70. ds in meters 2 PHOTOMOD 6 0 A 5 optional In the Precision std dev section change precision of a priori RMS of measurements of projection centers coordinates and exterior orientation angles Processing of UAS data If the max value bigger than projection centers coordinates elevations the error message displays 6 optional In order to cancel automatic setting of the same precision by all axes set off the Uniform precision by all axes checkbox 15 Click the Execute button Exterior orientation parameters obtained after the import are displayed in the table of the Exterior orientation parameters window 16 Click the Apply button in the Exterior orientation parameters window to save exterior orientation parameters folder in the project 17 Click OK The window closes block scheme by exterior orientation automatically to build initial block layout F Exterior orientation parameters SA eX SO He wat ee sea ee ac Re ae Re AE eS ae pee ree a 248 IMG_0248 572112 2790776 1 5 5 74103 36490 3 42 7160182 748 31269 Control 10 2000000 10 x 249 IMG_0249 572118 3043358 6083330 6734343 630 2456102 2 522352580 5 721573436 31 162862101 1304589229 000000000 Control Control 0 2000000 250 IMG 0250 572125 2311275 6083235 0453506 629 4456105 2 354677662 6 861052612 34 105016579 1304589234 000000000 Control Control 0 2000000 251 IMG_0251 572125 5464253 6083139 4450720 630 1456110 2 651871035 7 181143
71. e profile New project Ea Name UAS new M Description Type Central projection C 405 40 Satellite scanner imagery C VisionMap 43 SLF M Coordinate system WGS 84 UTM zone 43N 72deg East to 78deg East northern hemisphere Select Orientation right geo referencing global coordinate system IV Relief elevation min 100 m max 300 m M Placement UAVprojects Finko UAVprojects GUZ UAVprojects Gazprom UAVprojects Geometr_centr UAVprojects Leonardo_Bastianelli UAYprojects MIIGAIK UAVprojects MIIGAIK_Polygon UAVprojects MIIGAIK_Polygon2014 UAVprojects MIIT_Deltaplan UAVprojects MKS UAYprojects Opten UAYprojects Orlan UAVprojects Others UAVprojects PTERO is Full project path Specify project placement cms Fig 6 Creating UAS project 4 Define a Name of new project 5 optional Input to the Description section a brief project description its main fea tures notes etc 6 Define a coordinate system using the Select button in the Coordinate system section 7 Seton the Relief elevation checkbox and specify at least approximately difference of terrain heights on project images in the min and max input fields MES If the relief elevation data is unavailable or inaccurate by the time of project creation the program allows to define the value later in project properties The relief elevation data is
72. e Image blur slider is used to consider image material quality from No to Strong blur f For images without blur or with negligible blur it is highly not recommended to place the slider to position different from No 42 PHOTOMOD 6 0 Processing of UAS data e the Bands section allows to choose one of three channels Greyscale by default RGB and Green IE Generally RGB option is selected for tie point calculation on the color images passed ra diometric correction operation That allows to enhance measurement accuracy but increase the work time of automatic calculation It is recommended to choose the Green option for low quality images acquired by compact digital camera mounted on UAS and for images acquired by cameras that use Bayer filter Tie point measurement parameters fal xi Search for points Correlator Rejection Miscellaneous V Preliminary filtering with detection of trusted points group V Delete all tie points if after filtering number of them left is less than 7 m Delete measurements on non adjacent images V Delete single points Delete points with correlation below threshold Delete points surplus Check correlation for measurements transferred from other stereopairs In strip Between strips parallax clipping 0 0 0 0 owes Fig 25 Filtering parameters The Rejection tab is used to setup filtering parameters of points found and contains the following options e Prel
73. ed for image selected in the table o Font size allows to change the font size of table text PHOTOMOD 6 0 Processing of UAS data To select highlight the image in the Block editor window click the image name in the list To select strip click on the name of strip ME To select multiple images strips use Shift and Ctrl keys MES To highlight several images in 2D window use additional toolbar of group selection see the Tool section in the Vectorization User Manual The Edit gt Select all Edit gt Invert selection and Edit gt Cancel selection allows to change strip or images selection both in block scheme and in 2D window The Block menu items buttons of the Forming block toolbar and the toolbar of the Block editor window Table 5 The toolbox of Block editor window allows to change the Block editor window size so that window displays all list of strips images allows to show hide the list of strips images and the status bar to comfort work with block images in 2D window in the Block editor window only toolbar displays is used to search for an image by name part of name allows to select in the list initial images which con tain marker position is used to display and edit properties of selected strip name and type of strip is used to display and edit properties of selected image is used for adding image files locating in the re sources out of active profile to the selected strip allo
74. een points in the layer checkbox is set by default After that the system calculates automatically values of average distance between pickets in active layer This leads to automatic re calculation of current parameters of each pass Specify a number of filter passes e by default it is used two passes with standard parameters Basic and Additional Set off checkboxes to change set of passes e the button allows to add a new pass of filter e the button allows to remove selected pass of filter buttons 4 and 4 buttons allow to move selected pass up down The Filter passes section contains a table of passes and buttons used to change set of passes and their order with the following columns e Pass displays pass name and checkbox used to include a pass to script or to exclude it from filter workflow script e Reliable surges displays action to be applied to well defined surges found that are completely comply with specified filtering criteria e Doubtful surges displays action to be applied to ambiguous surges found in which vicinity there is no data enough for analysis It is necessary to select an action to be applied to reliable and doubtful surges during configuring of pass parameters Select a pass name and click the Edit pass parameters gt gt button The Pass section is opened and allows to display and configure the following parameters of filter pass 96 PHOTOMOD 6 0 Processing of UAS data
75. er strip measurements o table of inter strip stereopairs IE In inter strip stereopairs tables there is a possibility to open selected stereopair in the Points measurement module that allows to edit points measurements there 12 5 3 The in strip measurements section The In strip measurements section of report is used to view points measurements results inside a strip and contains the following data oR Pile xi In Strip Measurements Statistics Stereopairs Stereopais o O Triplets Strips Images Not Not Total Complete Residuals Total Complete Residuals 2 R10_S05 R10_S07 2 1 ROS_S87 RO9_S85 2 Top Strip 2 Vertical Vertical parallax pix pix Staronair Number of Discrepancy of kappa Distribution P points Mean angle rad uniformity fe abs Ne B10 s05 R10 S06 505 R10_506 0 276 ozs 0 206 0 912 0 00662689 Uniform R1i0_S06 R10_S07 0 335 0 256 0 963 0 03222982 Uniform Tie residuals pix Triplet Number of points Mean abs EEE ENEA R10_505 R10_506 R10_507 a Ec 0 362 0 768 0 282 0 629 0 921 1 476 Close Fig 31 The In strip measurements section e Table of strips Statistics contains measurements data inside each strip and includes the following columns o the Strips column is used to display a strip name in block o the Images column is used to display names of the f
76. ers its highlighted in yellow in the list In this case attempts will be made to perform the same tasks on other computers The task will remain in the queue with a Failed state until it is deleted manually if no computer in network is able to execute this task Table 6 The Tasks section toolbar allows to start selected tasks sequentially allows to pause selected tasks allows to stop selected tasks allows to reset selected tasks state the Waiting caption appears in the State field allows to decrease priority of selected tasks by 1 k gt allows to set on the auto run tasks automatic dis tribution of tasks in the queue according to priority between the Clients and launch of the tasks T PHOTOMOD 6 0 Processing of UAS data The Computers section contains the table of computers which are currently in the network and configured with the same Server The table contains following parameters for each computer ME Points sorting in columns of the list is performed by mouse click on the column header e Name shows network computer name e IP address IP address of the computer e Type Client or Monitor e Current tasks tasks number of distributed processing which currently performed by Client e Core quantity the total quantity of Client CPU s cores e Max tasks the maximum quantity of simultaneously running tasks specified during the Client configuration MES Maximum quantity of tasks are
77. esholds on points coordinates measurements and input GCP data GCP and projection centers coordin ates If the thresholds were specified correctly the Sigma _0 has value close to 1 30 If the Sigma 0 is much greater than 1 there are errors in points coordinates measurements in input GCP data or because of incorrectly specified thresholds on points coordinates measure ments If the Sigma _ 0 is mush less than 1 the threshold on points coordinates measurements were specified incorrectly or there are some other errors See Section 13 4 13 4 Creating adjustment report The program provides possibility to view full statistics of adjustment summary information about adjustment residuals and control data To display adjustment report the button on the Adjustment toolbar Report Estimation of block adjustment accuracy Unacceptable residuals are marked with Points with acceptable residuals are not included in the report Ground control point residuals N xm Xqg Exy metre limit 0 200 3 0 200 nean absolute 0 089 0 105 RMS 0 094 0 109 maximum 0 124 0 137 number of points differences 6 Control projection centers residuals N Xu Xgq metre limit 0 200 mean absolute 0 120 RMS 0 128 maximum 0 193 number of points differences 10 Fig 38 The window of adjustment report The toolbox of the Report window contains the following buttons e A allows to edit a font of report text
78. essing icon in the Windows system tray is different depending on using computer in the distributed processing mode 2 Server and Client are not launched computer is not used in distributed pro cessing Bl Server connection fault e E only Server is launched Server and Client are launched e only Client is launched connection to Server 14 2 Workflow of distributed processing The following work flow is used to distributed tasks processing 1 Launch the Distributed processing control center 2 Choose the computer as a Server and Client of distributed processing 3 Choose not used Port for incoming connections 4 Setup parameters of distributed processing task and click OK The list of distributed processing task is created and displayed in the Tasks table 5 Open the Monitor for distributed processing 6 Choose the task for processing in the Task section 7 Choose the computer as a Client to process chosen task in the Computers section 8 optional Click the button to perform all distributed processing task automatically 9 Click the button on the Tasks section toolbox to start distributed processing lt lt Each next task start with lagged on some seconds 14 3 Distributed processing parameters setup The Distributed processing setup window is used to setup distributed processing parameters 73 PHOTOMOD 6 0 Processing of UAS data Distributed processing setup Mm x
79. essing of UAS data to create a grid for the whole images block without defining its boundaries select Grid gt Properties specify its parameters and click OK Grid is created automatically for the entire block and the grid boundary passes over external boundary of block images When a grid boundary is defined the program creates a grid of nodes with specified or default parameters In order to change parameters of created grid select Grid Properties The Grid properties window opens x step boo PA m Y step boo W m Rotation bo Hi gt z level 601 64372 4 m Mean GSD b235 m Fig 49 Regular grid parameters The Grid properties window allows to setup the following parameters e X step and Y step steps for nodes creation correspondingly by X and Y axes in meters e Rotation angle of nodes grid rotation in degrees MES Should be specified for manual work in the pathway mode A At that the nodes grid only is rotated Area of nodes grid creation remains in initial position e Z level a grid elevation above relief level in meters for visual correct display of the grid e Ground sample distance GSD shows a value of average pixel size in meters if a project contains adjustment results or pixel size is specified for at least one image To display a grid with specified parameters click the Apply button To change parameters click OK To save created grid in active profile resources use Grid gt
80. etween strips The filtering is performed using residuals tolerance specified in the Adjustment parameters window see the Block adjustment User Manual e Report on relative orientation on completion allows to open the Relative orient ation report window automatically to view and edit tie points measurements just after completing of automatic relative orientation The Parameters section allows to make the following settings of automatic measurement of tie points coordinates e Points per stereopair allows to specify a number of points to be measured on in strip and inter strip stereopairs e F The resulting number of measured points may be both greater than a predetermined amount due to points transfer from adjacent stereopairs and less due to the subsequent rejection of points Default value is 30 points on each in strip images pair and 10 points in inter strip overlap The minimum number of points to control the vertical parallax residual is 6 The Points per stereopair parameter depends on settings defined on the Miscellaneous tab in the Tie point measurement parameters window e Correlation threshold minimal acceptable value of correlation coefficient for tie points that will be selected during automatic search 39 PHOTOMOD 6 0 Processing of UAS data gt Recommended values lie in range from 90 to 95 In contrast to all other filtering criteria this parameter directly influences on operation of
81. ext button The Exterior orientation import Step 2 of 2 Import settings window opens Exterior orientation import i Ioj x Step 2 of 2 Import settings m ngles Measurement units Degrees Radians Gons Add to the kappa angle o 000000000 degrees Invert sign for angles Heading Jv Pitch MV Roll Precision std dev Projection centers Exterior orientation angles x 0 2000 O m omega 0 005000 degrees Y ja zo00 m phi 0 005000 degrees Z p 200 0 m kappa f cosooo degrees M Uniform precision by all axes J Uniform precision by all axes coos C ces Fig 12 Import options of exterior orientation parameters Define the following parameters of datum 1 In the Angles section specify measurement units for angles coordinates accord ing to data of the file to be imported e radians e degrees e gons plane angle measurement unit that equals to 1 100 of flat right angle measurement unit and full angle is 400 gons optional In order to make correction to kappa angle set on the Add to the kappa angle checkbox and input correction value to the input field optional In order to Invert sign for angles Omega Phi and or Kappa set on corresponding checkboxes optional Relief elevation is automatically set equal to values specified in the project settings see the Project creation User Manual To change values of relief elevation input then in min and max fiel
82. f UAS data o Unselect all allows to unselect all previously selected stereopairs information about number of measured tie points on a stereopair the Vertical parallax table contains the following columns o the first column is used to edit selected tie point and allows to open the Points measurement module and to open at the same time images of the stereopair automatically and place marker on selected point A After the point editing is completed and the Points measurement module is closed click the Refresh hyperlink in the report to re calculate relative orientation and refresh the report o the Point column displays names of tie points o the Number of points column is used to display a number of points measured on inter strip stereopair o the Image left column displays a value of vertical parallax residual on the left image of stereopair in mm and pix o the Image right column displays a value of vertical parallax residual on the right image of stereopair in mm and pix In the threshold row the threshold for vertical parallax residual is displayed in accord ance with specified value measurements units and residual type RMS Mean abs and max error of the Vertical parallax threshold parameter in the Relative orient ation report settings window At the bottom of the table there are final values of vertical parallax residual on all measurements of the stereopair RMS Mean abs and max error The program
83. f rect angles into which the entire search area is split in meters Filtering of nearest pickets is not performed in this case The result of each task processing is saved to the file with name like Sheet X Y x data lt Rectangle circumscribing grid boundaries in project coordinates system is split by rectangular sheets of a size specified in the fields Each sheet includes images parts from all stereopairs into which it falls 91 PHOTOMOD 6 0 Processing of UAS data gt If stereopairs are processed in separate tasks after that it is necessary to perform manual data correction Calculated pickets are saved in resources named by stereopairs names The Tasks number field displays calculated number of tasks depending on selected way of workflow split and or size of specified areas A It is not possible to define number of tasks manually 6 Inthe Working folder section click the _ button and select empty folder in active profile resources to save output DEM Before operation is performed all data from selected folder is removed It is strongly not recommended to specify a project folder as a working folder especially when there are no saved project backups 7 Click OK Distributed processing tasks are created and the system shows a message about number of created tasks When using distributed pickets calculation the result of each task is saved to separate file with tsk extension in specified Working folder of
84. fferent stereopairs the Delete redundant points checkbox is on in the system by default IE Thinning is performed after completion of pickets calculation operation according to specified radius value set by used correlator configuration f When the Save quality assessment to attributes checkbox is on points with minimal correlation coefficient minimal value of corr attribute are removed from several found nearest points optional To distribute pickets randomly in area of halfsize of grid cell from grid node set the Random points distribution checkbox on In the Destination section define parameters of loading and saving of calculated pickets e Load into vector layer allows to load pickets into active vector layer If there is no active vector layer pickets are loaded to a new vector layer e Save into resources allows to save pickets into active profile resources without loading Click the Settings button to specify parameters of pickets saving The Settings for saving points window opens 89 PHOTOMOD 6 0 Processing of UAS data gt Settings for saving points Save into one resource Split into parts C By stereopairs By rectangular sheets 1000 FA x jioo0 4 m and save in Folder Techsupport Waldkirch_Group test_docs at con _ _ Fig 51 The Settings for saving points window To save pickets in one vector file of active profile perform the following actions
85. filtering To create a copy select Vectors gt Save as and specify new name of pickets file A If a layer contains linear or area vector objects the filter may not work properly 2 Select Vectors gt Filter gt Buildings and vegetation filter The Buildings and ve getation filter window opens 94 PHOTOMOD 6 0 Processing of UAS data 3 Buildings and vegetation filter eplan rn Layer sheet_1_2 vectors Filter selected objects only Jv Copy points to new layers before removing or correcting Untestable points Remove all Distance from the border C Remove near the border fo p m Mark only V Recalculate parameters for average distance between points in the layer Filter passes piali At Pass Reliable surges Doubtful surges V Additional Delete Detailed Delete Delete MV Use all available CPU cores OK Cancel Fig 54 Parameters of buildings and vegetation filter optional In order to use filtering for selected objects points group set the Filter selected objects only checkbox on Otherwise filter is applied to all points of the layer lt lt To filter a group of points select it by mouse in 2D window prior to start configuring the buildings and vegetation filter A When using filter for selected objects only it is not recommended to set the Remove near the border option in the Untestable points section optional To increase the filteri
86. g mode To calculate pickets in distributed processing mode perform the following actions 1 2 Change settings and run the distributed processing server client Choose Vectors gt Conpute points automatically or click the button on the main toolbar The Compute points window opens ME If a grid not was not created it is created automatically for the entire images block and the Grid properties window opens that allows to specify grid parameters Setup parameters of automatic pickets calculation Click the Distributed processing button The Compute points Distributed Pro cessing window opens Compute points distributed processing Split into tasks C By stereopairs By rectangular sheets 1000 4 z 1000 4 m Tasks number 4 Working Folder Techsupport Waldkirch_Group test_docs ne All existing resources in the working folder will be deleted before proceeding cect _ Fig 52 Parameters of distributed processing of pickets calculation In the Split into tasks section select a way of splitting of processing operation into tasks e By stereopairs allows to process each stereopair in a separate task f Since tasks are executed independently from each other the system doesn t remove points falling into the same grid nodes from different stereopairs for example during filtering of nearest points e By rectangular sheets it is necessary to specify in the fields a size o
87. ges in each strip and or non adjacent pairs of images in a strip and inter strip pairs of images gt Tie point measurement parameters fal xi Search for points Correlator Rejection Miscellaneous Correlation matris half size Do not use image border area x fi 2 4 of width jo s m fi 2 of height fo s V Autocorrelation control Image blur Maximum value 30 A i i No Strong blur Bands C RGB with radiometric correction applied Grayscale C Green z Fig 24 Parameters of correlator The Correlator tab is used to setup parameters of area correlator work and contains the following parameters e Correlation matrix half size pix allows to specify size of correlation matrix by X and Y axes e Autocorrelation control allows to specify level of auto correlation the Maximum value of sigma in Gaussoid that is the top limit of distribution of the mask correlation coefficient in a small area on the same image The more the sigma value the less probability of correct points measurement which were measured using correlation with the given point as an initial one e Do not use image border area is used to specify a size of area near the image border that is not used during correlation operation A Service area width 2 of image width and height by default should not be less than on the image otherwise a big amount of bad points would be measured in image service areas e th
88. heckbox and specify a rotation angle so that X axis coincides with flight direction 3 Click the Execute button Interior orientation is performed automatically See detailed description of interior orientation step in the Aerial triangulation User Manual 21 PHOTOMOD 6 0 Manage project cameras m Project images Bs 78 OB HE oe om Ge Re EM Strip 1 IMG_0248 IMG_0249 IMG_0250 IMG_0251 IMG_0252 IMG_0253 IMG_0276 IMG_027 IMG_0278 IMG_0279 IMG_0280 IMG_0281 IMG_0300 IMG_0301 IMG_0302 IMG_O0303 IMG_0304 IMG_0305 IMG_0329 IMG_0330 IMG_0331 IMG_0332 IMG_0333 IMG_0352 IMG_0353 IMG_0354 IMG_O0355 IMG_0356 IMG_O35 7 IMG N3281 K K lt I lt K EK OK IX EK OK IX EK OK OX FX OK IS KOK EK OK OK EK KK KK tee teeteeteeeeeeeeteeeteeeteereteetest Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS S00D x cam Canon EOS S500D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS 500D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS 500D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS 500D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS SO00D x cam Canon EOS SO00D x cam Canon EOS S00D x cam Canon EOS S00D x cam Canon EOS 500D x cam Canon EOS S00D x cam Canon EOS
89. ical parallax J Maximum error in triplets i in XY 3 0 in X plane s oo byZ 8 0 p Cm Measure points by zones Filter points by zones More Distributed processing Fig 22 Example set of basic parameters for the UAS ME During tie points measurement for UAS images it is recommended to perform search in two steps on the first one search for tie points only inside strips on the second step just between strips at that it is not recommended to use the Transfer tie points option o Standard allows to load preset of parameters optimally selected for airborne images l used to save setting of main and additional parameters to a file with x ini extension in active profile resources eG To save setting to a file with x ini extension located out of active profile resources open drop down list by clicking the arrow next to the lal button and choose Save settings to file Setting saving is used to create files with settings directed to work with certain type of block kind of images or terrain etc The Tasks section is used to specify the following actions during automatic tie points measurement e Measure tie points in stereopairs allows to perform search and measurement of tie points coordinates on in strip and inter strip stereopairs MES A stereopair is called in strip if it is formed by two adjacent images in a strip and inter strip is any other ste
90. ical support use one of the following ways PHOTOMOD 6 0 Processing of UAS data e mail support racurs ru phone 495 720 5127 fax 495 720 5128 mail RACURS Co Ul Yaroslavskaya 13 A office 15 Moscow Russia forum www forum racurs ru 2 Input and output data 2 1 Input data During the project creation aerial triangulation and block adjustment the following source data is used Camera passport with interior orientation parameters to process central projection images image focal length and principal point coordinates For digital cameras principal points coordinates are set in relation to center or corner of image Besides image focal length and principal points coordinates the camera passport also could consist data about lens distortion which should be considered The list of GCP coordinates is necessary for block adjustment The system provides opportunity to measure GCP coordinates manually and also to perform import of GCP list from a text file The list of projection centers coordinates to process central projection images The program also provides the ability to import on board data coordinates about projection centers from CSV files MES Block adjustment could be process only by projection centers without using ground control points It is recommended to use GCP coordinates to increase adjustment accuracy Raster images For working with images in program it is recommended to use MS TIFF inte
91. ight 3426 610 m Width 2472 121 m Cell size DEM cell size 10 0 m Cells number Height 344 Width 249 Appr DEM size 445 01 KB Calculate parameters by existing DEM col Fig 57 DEM by TIN creation parameters 3 Specify the borders of DEM in the North West East and South fields Calculated size of DEM displays in the Height and Width fields in meters ME Default values are coordinates of rectangle corners which generate TIN creation area 4 Inthe Cell size specify the DEM cell size in meters to define cell size of output DEM The Cells number calculated considering specified cell size displays in the Height and Width fields Also the Approximately DEM size in megabytes displays in the appropriate field 101 PHOTOMOD 6 0 Processing of UAS data IE DEM cell size should be comparable to average distance between points of base TIN layer If less cell size is used the time of DEM creation and size of output file increase but accuracy is not 5 optional It is possible to use parameters of existed DEM to calculate parameters of output DEM To do that click the Calculate parameters by existing DEM button and choose DEM file in active profile resources 6 Click OK Define DEM file name and folder in active profile resources and click Save The system starts DEM building operation The new layer is created in the layer manager While moving marker on DEM XYZ coordinates of DEM cells displays in
92. iminary filtering with detection of trusted points group is used to preliminary filtering of blunders that do not allow calculate correctly angular elements of relative orientation see the parameters of trusted points group on the Miscellaneous tab e Delete all tie points if after filtering number of them left is less then specified number allows to delete all tie points on a stereopair acquired during operation of automatic measurement of points coordinates if after their filtering their number is not sufficient to perform correct relative orientation e Delete measurements on non adjacent images allows to filter potentially erroneous points measured on non adjacent images inside a strip MES It is recommended to set the Delete measurements on non adjacent images checkbox on the first step and to not to use this parameter on the second step e Delete single points allows to reject points measured on single images 43 PHOTOMOD 6 0 Processing of UAS data e Delete points with correlation below threshold allows to delete points previously measured using correlator if their correlation coefficient in below threshold value specified in the Correlation threshold field of the Automatic tie point measurement window IE It is recommended to use the option for recurrent or final points filtration since the filtering covers all measured points not only new ones added during just another start of automatic tie points measurement operati
93. irst and the last images in a strip o the Total column is used to display a number of stereopairs triplets in each strip 55 PHOTOMOD 6 0 Processing of UAS data o the Complete column is used to display a number of stereopairs triplets with per formed relative orientation with errors within specified thresholds o the Residuals column is used to display a number of stereopairs triplets with errors exceeding specified thresholds o the Not complete column is used to display a number of stereopairs triplets for which relative orientation is not performed Yellow color highlight is used if relative orientation inside a strip is performed with errors Strips where there is no relative orientation results are highlighted by red color e Table of stereopairs contains points measurements data on stereopairs for each strip and includes the following columns o the first column is used for points measurements editing and allows to open thePoints measurement module with images of stereopair selected in the table ME When editing is completed and the Points measurement module is closed click the Refresh link in the report to re calculate relative orientation and refresh the report o the Stereopair column is used to display names of images of each stereopair of a strip Click the stereopair link to open detailed report on measurements of selected stereopair see the Section 12 5 5 o the Number of points column is used to displa
94. ius 42 Additional Delete pa Detailed Delete Delete Allowed point deviation From smoothed surface fi 39838123 Ld Maximum area of inclined surges 10000 m2 Actions Reliably corrected surges Doubtful surges Delete Delete C Hide pass parameters lt lt Corect Correct C Check Check V Use all available CPU cores me _ Fig 53 Parameters of buildings and vegetation filter The Buildings and vegetation filter window allows to specify filtering parameters and setup a number of filter passes The Layer field displays a name of active vector layer The window contains a standard toolbar 93 PHOTOMOD 6 0 Processing of UAS data allows to load a script of filter work from x filter resource located out of active profile resources allows to load a script of filter work from x filter resource located in active profile resources allows to save a current script of filter work to x filter resource located out of active profile re sources allows to cancel all changes made to a script allows to go back to a standard script that includes two passes with default settings regardless of which script has been loaded eS al allows to save a current script of filter work to x filter resource located in active profile resources To filter objects on surface perform the following actions 1 Make active a points layer f To avoid loss of data it is recommended to use a copy of initial layer during
95. l toolbars is used for quick miscellaneous program functions access O ME Toolbars could be placed only one lined horizontal or vertical e the 2D window used for data displaying contains the following elements o the toolbar is used for the 2D window modes managing C o the work area is used for viewing and processing with loaded data of mosaic project F o the navigation bar is used for fast moving on the specified block images area of mosaic project D lt lt By default on launch of the program layers are not shown in the navigation window If ne cessary click the Navi tab and choose layers to display PHOTOMOD 6 0 Processing of UAS data o the Layer manager is used for managing of mosaic project layers E o the axes direction of project coordinate system M o the status bar is used for viewing current real ground and pixel marker coordinates and brightness contrast and gamma data adjustment in the work area G K L MES When place marker is on the area out of image or on background brightness is indicated as NULL a eT SURES B ye RO e Fi Frag pE i a os R SS SS SSS SS I A ih Fig 1 The main program s window 5 2 Brief description of main menu The program main menu contains the menu items for mosaic creation vector data processing additional applications starting and setting parameters Table 1 Main menu contains menu items to create open save and convert project and als
96. l values of camera parameters in the Initial value column and choose parameters for optimization in the Optimize column Camera parameters self calibration Oj x Cameras Calibrate Name Canon EOS 500D x cam 41 Coefficients Parameter Initial value Optimize Camera Adjustment 0 0 0090 0 0 0 0 0 0O Camera distortion None EE D el J OK X Cancel Fig 36 Self calibration of camera parameters Click OK Setup adjustment parameters in the Parameters window and click the Compute button to start the adjustment procedure When the adjustment procedure is completed estimate the adjustment accuracy and results of camera self calibration shown in the Adjustment column of the Camera parameters self calibration window If you are satisfied with the results pass to step 5 otherwise change initial values of parameters and or set of para meters for optimization and adjust the block once more Click the Save button to save the adjustment results Choose Orientation gt Manage cameras The Manage project cameras window opens 66 PHOTOMOD 6 0 Processing of UAS data 7 Inthe Project cameras list select new calibrated camera cameras autocal x cam and assign it them to project images Click the Execute button Click OK See a description of the Manage project cameras window in the Aerial triangulation User Manual 8 Choose Orientation gt Interior orientation gt Cal
97. le name input field dis plays selected file placement and name 22 PHOTOMOD 6 0 Processing of UAS data IE To select another file which contains exterior orientation parameters click the button Exterior orientation import Oj x Step 1 of 2 File File name Projectz1 PhSData2 TechSupportUAy_ProjectData Gazprom vesna Lite Data_Dima Synthetic EO_synth txt a J Loose matching of image names in file against names in project Match by record number PAT B matrix A egatve CSV projection centers Omega Phi Kappa angles and GPS time CS navigation data latitude longitude altitude WGS 84 heading pitch roll angles and time C CSV navigation data projection centers in working c s heading pitchfroll angles and time Line template e Lat Lon H Heading Pitch Ro Start import from line 2 A Preview maximum fio s lines J Automatically validate template Available fields Field separators V Comma Tab Space I Semicolon Other Decimal separator Misc Point only I UTF 8 Point or comma P Parse Preview File Projectz1 PhSData2 TechSupportUAy_ProjectData Gazprom vesna Lite Data_Dima Synthetic EO_synth txt Lat Lon IMG_0053 JPG 54 8933291236903642 70 1376867944993592 237 345586290480242 IMG_0054 JPG 54 8940881059663681 70 1412878172342005 262 645579624663242 IMG_0055 JPG 54 895881109666405 70 1405248413359459 264 545579928707411 IM
98. less than or equal to the number of CPU s cores of computer e PHOTOMOD version the PHOTOMOD build number for control of compatibility lt lt It is recommended to use the same RHOTOMOD build on all computers working with the same Synchronization folder In the case if the computer is disconnected from the distributed processing it s high lighted in red in the table lt lt To perform actions with multiple computers select them in the table using Shift and Ctrl keys Table 7 The Computers section toolbar allow selected computers to execute new tasks if forbidden forbid selected computer to execute new tasks When current task complete Client go to sleep mode and doesn t start new tasks temporary increase maximum number of simultaneously run ning tasks by 1 decrease maximum number of simultaneously run ning tasks by 1 78 PHOTOMOD 6 0 Processing of UAS data hide disconnected computers highlighted in red display all connected and disconnected Monitor computers in the table yi display all connected and disconnected Client computers in the table 15 Additional features 15 1 Automatic block layout creation The program provides possibility to create block layout for UAS projects automatically In order to create a block layout automatically perform the following actions 1 Perform preliminary creation of a block layout by exterior orientation for instance Perform visual estimation of
99. llows to create map of images and or strips overlap in new vector layer see Section 15 2 Create vector layer from block layout allows to create vector layers with common block outline boundaries of all images or selected image of the block Build pre regions allows to create pre regions by images stereopairs to provide joint work on a project 5 6 The Block editor window The Block editor window is used to form a block of project images The Block editor window contains a table of created strips and images loaded to project and contains tools for images block editing The Block editor window is synchronized with 2D window so all changes in the images list of the Block editor choosing adding deleting moving of strips and images are shown in the block scheme in 2D window and vice versa Choose the Windows gt Block editor Ctrl Alt B or click the button on the main toolbar to open the Block editor window 10 x ame BE EM LIT BBY RGA APRA SI M A Strip 1 1 2 Image 680 1 8 16 Font size le s Fig 2 The Block editor window The Block editor window contains the following elements e toolbar to form and edit block images e the list of existed strips and loaded there images e the status bar with the following data o Strip the Strip name item No total is displayed for strip selected in the table o Image the Image name item No total in strip total in block is display
100. mber is equal to number of connected distributed processing Clients e Enable server client debug log allows to create a log file with information about distributed processing to sent files in technical support during solving problems of server Client connection only Set on the Enable server client debug log checkboxes may cause to reducing stability of program s work f It is strongly not recommended to set on the Enable server client debug log checkboxes 14 4 Distributed processing management The Monitor of distributed processing window is used for condition monitoring of distributed processing The window opens automatically after setup distributed pro cessing parameters Also the menu item Start monitor of context menu of the distributed processing icon and the Service gt Distributed processing gt Monitor menu items 19 PHOTOMOD 6 0 Processing of UAS data While the Monitor of distributed processing window opens the Monitor status adds to computer also F Monitor for distributed processing Mi x Tasks total 14 running 0 completed 0 waiting 14 Failed 0 selected 0 gt ne olm e Fi 0 EE Priority Name Created at Started at Executor Est time left _ 0x532300D Waiting 0 Compute DEM sheet sheet_2_3 01 10 2014 17 58 10 TechSupport 0x606319D Waiting 0 Compute DEM sheet sheet_3_3 01 10 2014 17 58 10 TechSupport O0x764332E Waiting 0 Compute DEM sheet sheet_4_2 01 10
101. mid level 4 i aise Distributed processing OK Cancel Fig 15 Settings of the UAS automatic triangulation 2 Set the following options of the UAS automatic triangulation e Performance choose Speed for less points and higher speed or choose Ro bustness for more points and less speed e Precision choose Coarse to increase of the parallax allowance or choose Fine for better precision and less allowance e Bypass triplet filtering set the checkbox off to filter points in the triple overlap ping MES It is used to blocks with big overlaps inside strips where this filtering could make adjust ment results worse 30 PHOTOMOD 6 0 Processing of UAS data Adjust with default settings set the checkbox on to adjust the block after the UAS automatic triangulation e Extended correlation check allows to perform the points correlation check by reverse stereopair and also to check correlation coefficient values for points transferred from other stereopairs see the Aerial triangulation User Manual e Preliminary search pyramid level allows to set the image pyramid level used to preliminary search of points Es The 0 level is used to source image 1 1 2 Block scheme BelmaI AQMARQh2 JMG i feae e IMG b281 pi a oe Ne IMG_0405 ee x 1M 0333 wen ie 1 A k f 4 ae 4 AME e MG 0385 Ng main x Navi oh a le _dby 0406 i TEA gs S Marker y IMG nia ape
102. ndant points Properties Random points distribution Destination C Load into vector layer Save into resources Settings Save by rectangular sheets 1000 000000 x 1000 000000 in folder Techsupport Waldkirch_Group test_docs Distributed processing Cancel Fig 50 The Compute points window 4 Inthe Correlator preset section select in the list one of the following types of terrain Correlator configuration is a script of pickets calculation operation that defined a number of passes of regular grid nodes and a set of correlator parameters for each pass e mountainous terrain for automatic pickets calculation on images with mainly mountainous terrain with big elevation differences e urban areas for automatic pickets calculation on images with mainly urban type of build up e desert for automatic pickets calculation on images with monotonously deserted terrain with rare vegetation e rural area for automatic pickets calculation on images with rural areas with with minor amounts of buildings and infrastructure e rural area 2 for automatic pickets calculation for rural area with heterogeneous parts of relief If there are images with big intersection angle the configuration uses a mask of larger size Accuracy of pickets calculation is less then when using rural area type To view and edit parameters values and to setup correlator configuration the list
103. nded to increase the value of this parameter when the problems with block adjustment occur The parameter is considered only during measurement new points Existing tie points are not rejected e Minimal dispersion allows to specify minimal dispersion of mask to protect from points search on the clouds and water bodies ME The option is used to exclude points in monotonous areas for example for spaceborne scanner images if there are black strips on images borders and for overexposure due to cloudiness 45 PHOTOMOD 6 0 Processing of UAS data e Fixed search sequence allows to obtain the same results of automatic measure ment of tie points coordinates during multiple runs of the operation with the same initial parameters e Use automatic block layout results allows to use the block layout results created automatically IE If the automatically generated block layout is available then during automatic measurement of tie points coordinates information from current block scheme is not used and the Search the whole images area parameter is also ignored The default search parameters are used only considering data of automatic block layout e The Points per stereopair parameter influences on the Points per stereopair parameters located in the Automatic tie point measurement window and allows to select the following number of points o Points to add per session values specified in the main window that mean a number of
104. new points which will be added to already measured ones o Target number of points on a stereopair values specified in the main window that define total points number gt The resulting number of measured points may be both greater than a predetermined amount due to points transfer from adjacent stereopairs and less due to the subsequent rejection of points Default value is 30 points on each in strip images pair and 10 points in inter strip overlap The minimum number of points to control the vertical parallax residual is 6 e parameters which allow to specify trusted points group to be used as a master sample for points rejection see the Preliminary filtering with detection of trusted points group parameter on the Rejection tab A group of points is considered as trusted if the following two conditions are met during the points search 1 The distance between the point on one image and the corresponding point on another image should not exceed the parameter specified in the Maximum spread radius within trusted points group input field 2 Number of points found which satisfy to the first condition should not be less than the parameter specified in the Minimum trusted points group size input field If a trusted group has been found it supposedly means that angles of relative orient ation have been computed correctly and the points rejection can be performed using these data Otherwise the rejection of points will not be e
105. ng operation performance set the Copy points to new layers before removing or correcting checkbox off By default the system saves removed or corrected pickets in new vector layers used for analysis of filtering results These layers could be used to restore basic pickets layer using operation of layers merging if the copy of initial pickets layer was not created prior to filtering start If the Copy points to new layers before removing or correcting checkbox is off it is highly not recommended to apply filtering to initial pickets layer since it is impossible to restore the initial layer after filtering In the Untestable points section specify one of the following actions with untestable pickets found after filtering 95 6 PHOTOMOD 6 0 Processing of UAS data gt Some points can be untestable the points in which vicinity there is not enough neighbour points For example points located on the edge of the whole layer or in areas of low density of points fields forests water bodies e Remove all allows to remove all found untested pickets e Remove near the border allows to set a value of distance in meters from the edge of the whole vector layer at which all untestable pickets will be removed The Distance from the border field is used to do this e Mark only allows to save untested pickets to separate vector layer for further analysis optional The Recalculate parameters for average distance betw
106. nge a grid layer parameters click the Properties button To change grid boundaries it is necessary to close the Compute points window 9 In the Initial approximation section specify initial value of Z coordinate of a grid node for correlator work Initial approximation defines a value of Z coordinate of grid node that is used to calculate initial coordinates of picket on the left and right images of a stereopair e Mean stereopair elevation mean elevation of each stereopair calculated using exterior orientation parameters is used as initial approximation e Fixed elevation input elevation value in meters to be used as initial approxim ation e DEM a value of elevation of selected DEM in point with XY coordinates of grid node is used as initial approximation 88 10 11 12 PHOTOMOD 6 0 Processing of UAS data If grid node falls into null cell of DEM the system uses average elevation of cor responding stereopair To select DEM in active profile resources click the button To specify value of acceptable deviation of Z coordinate of calculated pickets from initial approximation set the Precision checkbox on and input value of acceptable deviation in meters to the input field IE If the Precision checkbox is off acceptable deviation is calculated automatically according to selected configuration of correlator optional To thin nearest pickets acquired during passing the same grid nodes on di
107. ntation report Back Refresh Report parameters Unselect all Block Statistics Project InfoMap_copy Number of strips 2 selected for the report 2 Number of images 6 selected for the report 6 Report date 17 mapta 2014 r 13 27 14 Top In Strip Measurements Statistics Stereopairs Triplets Strips Images Total Complete Residuals Not complete Total Complete Residuals Not complete Close Fig 30 Relative orientation report Relative orientation report contains the following main elements and sections e the toolbar with buttons used to perform the following operations o allows to return to previous view of the report O allows to refresh relative orientation results in the report after editing of tie points in the Points measurement module o h allows to perform a search for information in the report o Hl allows to save report data to files with htm html extensions out of active profile resources o allows to save report data to files with htm html extensions in active profile resources o amp allows to print a report o L amp allows to open a report preview window before its printing 53 PHOTOMOD 6 0 Processing of UAS data the links in upper part of a report o jump to n strip measurements allows to view the points measurements inside strips o jump to inter strip measurements allows to view the points me
108. o to get an information about project Pp Block allows to form images block of mosaic project PHOTOMOD 6 0 Processing of UAS data Orientation contains menu Items to interior orientation load and use ground control and triangulation points exterior orientation parameters and also to import and export triangulation points for various formats Vectors purposed for creating editing import export of vec tor data see the menu description in Vectorization User Manual allows to create open and save regular nodes grid see the Create DTM User Manual TIN allows to create edit and filter TIN see the Creating DTM User Manual allows to create edit filter and import export DEM see the Creating DTM User Manual allows to load and georeference raster images and also to launch additional modules for editing and orthorectification images see the Orthophotomaps creation User Manual Service allows to launch applications load additional data set general parameters and edit coordinate systems see the General information about system User Manual allows to open additional toolbars and windows new 2D window Marker and Measurements windows window of Object Attributes see the General in formation about system User Manual Oo OOE allows to start the Help system allows to close the program 5 3 The main toolbar Table 2 Brief description of main toolbar allows to
109. om to start data import define the value of the Start import from line parameter 8 optional To display necessary number of lines in the Preview file table set the Preview maximum parameter Default number of lines is 10 9 Inthe Available fields section select necessary field name and drag it to the table column To cancel the field name double click the column header 25 PHOTOMOD 6 0 Processing of UAS data 10 In the Field separators section set on one or multiple checkboxes to specify possible fields delimiter symbol Comma Space Tab Semicolon or Other delimiters De fault settings are comma and space 11 In the Decimal separator section setup the following parameters e Point only to use point only as a decimal separator in coordinates e Point or comma to use both point and comma as a decimal separator in co ordinates A If comma is used as Field separator it is not recommended to use comma as Decimal separator since it may cause import of incorrect data 12 optional In the Misc section set the checkbox e UTF 8 is used to recognize text in Unicode encoding gt Unicode symbols encoding format that allows to provide symbols of almost all written languages e Parse is used to recognize records of projection centers or GCP When using this parameter it is highly recommended to check points coordinates recognition correctness after import To do this select any point in 2D win
110. on e Delete points surplus allows to delete points if their number exceeds number spe cified in the Points per stereopair field of the Automatic tie point measurement window sorted by the Y parallax in descending order ME The parameter considers whether the Filter points by zones checkbox is marked that allows to delete points evenly It is recommended to use the option after the initial tie points meas urement on UAS images A The points are deleted regardless of type and number of measurements per point the program may delete both GC point and the points in triple overlap e Check correlation of measurements transferred from other stereopairs is used to check on each stereopair correlation coefficient of measurements collected during points transfer from other stereopairs since the chain of such transfers may lead to errors accumulation and bring unacceptable result e X parallax clipping allows to specify number of points with minimal and maximal x parallax relatively to total amount of points which will be deleted after filtering in strip and between strips It is recommended to apply this rejection method if erroneous points are dispersed clearly along stereopair basis if for example a highway with bright marking goes in parallel to survey basis and correlator puts points on marking line elements which do not correspond with each other 44 PHOTOMOD 6 0 Processing of UAS data Tie point measurement parameter
111. on parameters Import of exterior orientation parameters J YES Measurement of GCP Block adjustment Acceptable n accuracy YES Self calibration of camera Block adjustment Apply calibrated camera i _ Synchronization project Block adjustment YES Further project processing Fig 3 Workflow of UAS processing 15 Processing of UAS data PHOTOMOD 6 0 Processing of UAS data 7 Creating and choosing active profile Prior to work in the program you should create a profile for placing project resources such as project configuration files images files files processing projects project group A profile represents a resources tree with the following structure e Root profile virtual name e Top level branches profile virtual folders virtual names of physical local or network folders disks You can specify one physical folder disk or folders disks group as a virtual folder storages group Storage folders are a special type of virtual folder Resources are automatically placed in storage folders by the program on the basis of free space analysis Thus storage folders allow optimization of multiple disk usage for storage resources which is advantageous when network processing large projects e Resources all data of a profile all subfolders and files of each virtual folder in profile Thus profile resources are placed on any servers workstations or network disk
112. points measurement and transfer Check for exceeding of correlation threshold is performed only for new points if there are already measured points To check all measured points for exceeding of correlation threshold usually at final stage of collecting measurements of tie points set the additional Delete points with correlation below threshold checkbox on the Rejection tab in the additional parameters window e Maximum vertical parallax in pixels or mm threshold value for rejection executed after points measuring transfer On each step of rejection process the program searches for the point with maximal Y parallax on the stereopair and rejects it After that it makes relative orientation once more and the iteration is executed until max imal Y parallax exceeds the parameter specified here or until 6 points or less remain on stereopair Recommended value is a pixel size e Maximum error in triplets in XY plane and by Z in pixels meters or mm threshold discrepancy of points measurements on adjacent stereopairs in triple overlapping zone of adjacent images in a strip e Measure points by zones allows to apply a method of sequential measurement by zones of overlap area If the checkbox is set of points search is performed over the whole area of images overlap The program allows to select zones and define their size in the Zones section on the Miscellaneous tab of the additional parameters window e Filter points by zones
113. r task so as one task uses one kernel 5 In the Temporary folder field select an empty folder for temporary data f Folder must be available on the all utilized workstations 6 Click OK Distributed processing tasks are creating and information about number of tasks is shown on the screen If the Auto run tasks mode is set of in the Monitor of distributed processing window processing will not start 4 Choose Orientation gt Report on relative orientation or click the E button to evaluate initial triangulation in relative orientation report Residuals of UAS triangulation are considered during setting parameters of automatic tie points measurement 32 PHOTOMOD 6 0 Processing of UAS data ioii Strip 4 Vertical Vertical parallax pix pix Stardpair Number of Discrepancy of Distribution P points m Mean Ne kappa angle rad uniformity abs IMG _0329 MG_0330 0 445 0 354 1 175 0 13006419 Non uniform re IMG_0330 MG_0331 0 373 0 289 1 526 0 09624211 Uniform me IMG_0331 IMG_0332 0 403 0 315 1 619 0 02082794 Non uniform ET G 0332 IMG 0333 0 658 0 524 1 904 0 20514326 Non uniform Tie residuals pix Triplet Number of points RMS Mean abs Max O de Eyy pe Ez E Eyy E Ez Ev Exy Ez MG 0331 z 0 684 a 3 637 co 6 069 ETS 19 645 WG 0332 1145 5 339 0 661 3 586 7 198 22 515 MG 0333 104 1475 5
114. red triangula tion points GCP check tie with their measure ments GCP list Ctri Alt G allows to open catalogue of all ground control points including non measured on block images i Delete point measurements allows to choose types of triangulation points to be deleted and delete them lt Clear point catalogue allows to remove the whole list of triangulation points GCP check tie from triangulation points catalogue Automatic tie points measurements allows to measure tie points coordinates in automat Ctri Alt A ic mode Report on relative orientation Ctri Alt R allows to open the report with results of images rel ative orientation in order to perform analysis and removal of errors in tie points measurements Automatic UAS triangulation allows to measure ground points in automatic mode for UAS images E List of exterior orientation parameters allows to open the Exterior orientation data list Load projection centres as vectors allows to load projection centres data as vector point objects and to open them in 2D window to perform analysis at that an image name is saved to the Name point attribute Select subblock allows to select part of block images to perform ad justment sit Block adjustment Ctri Alt S allows to open the adjustment module to view ad justment results and errors correction see the Block adjustment User Manual Direct georeferecing allows to perform adjustment u
115. reopair of a block 38 PHOTOMOD 6 0 Processing of UAS data e Transfer tie points allows to perform transfer of measured points to adjacent stereo pairs transfer of points located in triple overlap area to adjacent models and transfer of tie points to adjacent strips e Filter tie points by relative orientation allows to perform points filtering that have measurements exceeding specified values of errors thresholds F F Points check if to filter them or not is performed sequentially by errors type first check whether the point falls within specified correlation threshold then whether it does not exceed maximal vertical parallax value and finally search for triplet errors is performed if the appro priate option is specified Check for exceeding correlation threshold is applied only to new points if measured points are already available In order to check all points whether they exceed correlation threshold set the additional Delete points with correlation below threshold checkbox on the Rejection tab in the Tie point measurement parameters window of additional parameters It is possible to perform actions with tie points inside strips between strips or not perform at e Filter tie points by adjustment results allows to perform automatic block adjustment using specified parameters and to filter measured tie points after that e Points filtering using adjustment results is applied if there are blunders on images b
116. report optional Repeat steps 2 3 if necessary picking optimal parameters of tie points measurement and verifying measurement results using relative orientation report F For example for images of good quality you can set more rigid parameters and start between strips automatic tie points measurement twice first to measure the points inside strips then The example below shows a set of images of good quality so more rigid paramet ers were set and automatic tie points measurement was performed twice first to measure the points inside strips then between strips Automatic Tie Point Measurement 7B E 6 oe of Ge Re 4 wo K D Distributed processing BE BB Bhule H Load settings From file jajn Jaja Reset settings to defaults Measure t aee Transfer t ibd eae Filter tie points by relative orientation Filter tie points by adjustment results v Report on relative orientation on completion Parameters Points per stereopair Correlation threshold Maximum vertical parallax J Maximum error in triplets in X plane 2 s by Zz fe 4 Measure points by zones Filter points by zones Fig 19 Example of parameters set for automatic tie points measurement for UAS project In order to measure
117. rges on given territory to measure it in a stereopair window and then to compare it with area calculated automatically for passes If the measured area is bigger than calculated one it is necessary to increase it it is highly not recommended to specify a distance of mutual influence of pickets ex ceeding a step between pickets in more than 20 times since it leads to considerable slowdown of filtering operation 16 4 Building TIN Perform the following actions to build TIN 1 Choose the TIN gt Create Ctrl N T or click the A button of the DEM additional toolbar The Create TIN window opens 99 PHOTOMOD 6 0 Processing of UAS data Create TIN g x Source data E B kE auto_pts_Sm_filtered Vectors Triangulation points Vectors 2 Quasicontours JV Display Starting level bo M m Interval bo M m Border Convex Nonconvex Smoothing a a r ET C Use polygons from layer Fig 56 The Create TIN window 2 optional By default in the Source data section set on checkboxes for all opened layers to use them in TIN creation Set of checkboxes if there are open layers not for TIN lt lt To select all available layers click the button to unselect all layers click the E button To invert selecting layers it is used the g3 button 3 optional In the Quasi contours section the Display checkbox on and in the Starting level filed specify minimal Z le
118. rnal raster format which is the TIFF format with overview pyramid set of subsampled images copies for higher image display performance The Raster Converter module is used to preliminary raster image processing It is possible to convert image into internal format both manually before creating project and on the stage of adding images into project with saving converted images into active profile resources The following image formats are available to process central projection images PHOTOMOD 6 0 Processing of UAS data o JPEG JPEG o Tag Image File Format TIFF TIFF n GeoTiff format included tags for saving of georeference information o Windows Bitmap File BMP o Advanced Systems Format ASF e Information about coordinate system and map projection during project creation it is necessary to define coordinate system of GC points By default there is an Interna tional coordinate system database and map projection see the details in the Geo Calculator User Manual e also it is possible to use the following exterior data o import of triangulation points from PAT B and X POINTS o import of ground control points from text files txt csv O import of interior and exterior orientation data from metadata o import of external orientation data from PAT B and CSV files o GPS data o import additional data from different formats 2 2 Output data The program allows to process UAS data and acquire
119. s Profiles can be ocal or network to organize individual or shared work with projects re spectively For profiles creation and organizing resources structure of each profile you can use the Control Panel module To view and edit active profile resources is used the PHOTOMOD Explorer module To launch these modules is used the Start gt Programms gt PHOTOMOD UAS menu and also the context menu of the System Monitor module the icon in the Windows system tray More details about program resources recommendations on organizing of local or network work and about creating profiles and virtual folders connecting see in the General information User Manual In one work session of the program could be used only one active profile Close all program modules an perform one of the following to choose active profile e choose active profile in the Profile list from the context menu of the System Monitor module the 2 icon in the system tray PHOTOMOD 6 0 Processing of UAS data e choose active profile with mouse double click by profile name in the Profile list in the Control Panel IE Current active profile is marked in the profile list by the icon Restart program after chosen active profile Control Panel Network profiles management oj xj Project 2 1 i Projectz1 PhSDataz 1 46 TB Project 3 1 24 TB 2 Projectz2 PhSData 2 24 TB Project 4 2 24 TB Projects Project 5 1 46 TB WFileAPhS
120. s Eije xi Search for points Correlator Rejection Miscellaneous Search for points Number automatically measured points starting with O auto Minimum distance between points pix Minimum dispersion Fixed search sequence J Use automatic block layout results Points per stereopair means Points to add per session Target number of points on a stereopair Minimum trusted points group size Maximum spread radius within trusted points group Maximum points to use filtering by trusted group Stereopairs Create stereopairs based on exterior orientation data from images projection centers of which are within range of 200 0 s M V from different strips only Fig 26 Miscellaneous parameters The Miscellaneous tab contains sections and options to setup the following additional parameters e Number automatically measured points starting with is used for automatic num bering of measured tie points starting with number specified in the entry field that allows to distinguish these points from the ones already measured on the project images Regardless of the set value the program does not generate points with duplicate numbers If the point with some number already exists then this number will be skipped when creating new points e Minimum distance between points pix allows to specify minimal distance in pixels between points measured on the image ME It is recomme
121. sed to view a list of triangulation points 00 _ allows to open the Points measurement module and open automatically open images selected in the list if more than 6 images are chosen Otherwise an in strip stereopair with image selected in the list will be opened To save and load sets of main and auxiliary parameters the program provides the fol lowing buttons e is used to load a set of parameters from x ini file saved previously in active profile resources or out of them The arrow located next to the k button allows to open a drop down menu containing the following items o Load settings from file allows to open the Load settings window used to load a set of parameters from x ini file located out of active profile resources o Reset settings to defaults allows to use default settings o UAS allows to load preset of parameters optimally selected for UAS images 3 PHOTOMOD 6 0 Processing of UAS data 7B EB KE ol of Be Ge BE Ree eo wv 2 Tasks MV R10_505 ee R10_506 R10_507 Iv M Measure tie points in stereopairs acd a iano Iv Transfer tie points V R09_586 Iv J Filter tie points by relative orientation V ROG S85 E Filter tie points by adjustment results Set up Iv Report on relative orientation on completion Parameters dof Points per stereopair fiso 4 so s Correlation threshold Maximum vert
122. sing imported exterior orientation parameters Delete adjustment results allows to delete adjustment data see the Block adjustment User Manual Import exterior orientation allows to perform import of exterior orientation res ults Import orientation from metadata allows to perform import metadata to a project Create images georeferencing files allows to perform export of georeference data after preliminary block exterior orientation and adjustment to files of ArcInfo World Fileand MapInfo TAB formats 10 PHOTOMOD 6 0 Processing of UAS data contains menu items used to import import of trian gulation points measurements from files of PAT B as well as data import from flight path file contains menu items used to export of triangulation points measurements to files of PAT B and X Points formats and for export of ties or GCP for further use them in Geomosaic program 5 5 The Block menu The Block menu buttons of Block editor window s toolbar and Block forming addi tional toolbar are used to work with images block in 2D window It includes extended features for images block forming as well as additional functions for block scheme creation and obtaining of auxiliary data Some menu items allow to manage operations with selected images in 2D window The Tools additional toolbar is used for group selection highlighting of images block in 2D window see the Vectorization User Manual Detailed information a
123. specify Minimal number value not less than 12 point per in strip stereopair 2 points per each of 6 standard zones and at least 2 points per inter strip stereopair e to check distribution uniformity of tie points on stereopairs set on the Check point distribution uniformity checkbox MES There is non uniform points distribution on a stereopair if in each of 6 standard zones a number of points differs more than 2 times from average amount of points in zone e to check number of tie points and their distribution uniformity on inter strip stereo pairs set on the Check errors in inter strip stereopairs checkbox MES The checkbox is cleared by default since an analysis of points in 6 standard zones for inter strip stereopair is not necessary in many cases 5 In the Triplets section specify the following parameters of accuracy control for points measurements in triplets e to check measurement errors in triplets set on the Check residuals in triplets checkbox and input threshold value by XY and by Z in pix mm or meters for selected residual type RMS mean or maximal error e to check triplets for sufficient number of measured tie points set the Check number of tie points checkbox and specify minimal number of points MES It is recommended to specify a Minimal number at least 3 points per each triplet 50 PHOTOMOD 6 0 Processing of UAS data 6 Open the Additional tab that includes sections used to setup data view parameters
124. strips J Paint by overlap multiplicity Limit overlap multiplicity m cor Fig 46 Parameters of overlap map creating 2 Choose elements of a block to be used for overlap map creating For images or For strips 3 optional Set on the Paint by overlap multiplicity checkbox to color overlap areas depending on overlap multiplicity i e on number of images strips that fall into the overlap When the option is disabled overlap areas are not colored 4 optional Set on the Limit overlap multiplicity checkbox and input number of im ages strips in overlap area and when the value will be exceeded the fill color will be not changed 5 Click OK A new vector layer containing overlap map is created ME In order to obtain information about number of images that fall to chosen overlap area al locate a part of overlap map and choose the Window gt Objects attributes You can export overlap map using the Vectors gt Export menu item to choose export format 81 PHOTOMOD 6 0 Processing of UAS data 1 1 4 Block scheme Oe MST QAQMagh Man Navi p Marker S 0 H vectors gt O H Block scheme Raster 4 gt lt lt y on y e o a a ow 6 m e 4970520 834925 m 6443513 908270 m 0 000000 m CK 42 30Ha 6 Fig 47 Overlap map 15 3 Deleting images selectively The program allows to delete images selectively using specified selection criteria Per form the following actions to do this
125. t of a block or for selected stereopair A shape of grid borders could be rectangular or as arbitrary polygon To create a grid select Grid gt Create Ctril N G or click the button button on the main toolbar After that a new layer Grid is created in theManager Area of grid creation is determined in one of the following ways e in order to create a grid with specified rectangular border press and hold the Shift key and drag by mouse a rectangular area over images block or over selected ste reopair e in order to create a grid with arbitrary border define a grid creation area in group selection mode by polygon and while holding pressed the Shift key specify by mouse all nodes of boundary of a grid creation area Complete creation of arbitrary grid border by mouse double click e to use vector layer polygons as areas of grid creation perform the following actions 1 Select Vectors Create layer to create vector layer without classifier or load layer with polygons which could be used as a grid boundaries 2 Create a polygon in such a way that its boundary coincides with boundaries of area which is used for grid creation 3 optional Select polygons to be used as boundaries for a grid creation otherwise a grid will be created considering all polygons of the layer 4 Select Grid gt Create boundaries from vectors After that created grid boundary coincides with outline of created polygon 84 PHOTOMOD 6 0 Proc
126. ted stereopairs Stereopairs with measurements errors are highlighted by yellow color stereopairs with unavailable relative orientation by red color The following errors are shown by red color they are depending on parameters specified in the Relative orientation report settings window o number of points measured on a stereopair below specified threshold o values of vertical parallax exceeding specified threshold o non uniformity of points distribution If there each standard zone contains measurements of coordinates of at least one point then a stereopair with measurements errors is highlighted by yellow color o difference of kappa angles that exceeds specified value e Table of triplets displays data on measurements in each triplet of a strip and contains the following columns o The first column is used for measurements editing and allows to open thePoints measurement module and to open automatically images of selected triplet at the same time IE When editing is completed and the Points measurement module is closed click the Refresh link in the report to re calculate relative orientation and refresh the report o the Triplet column is used to display names of images of each triplet in a strip After clicking the triplet link the detailed report on selected triplet measurements is opened see the Section 12 5 6 o the Number of points column is used to display number of points measured on triplet 57 PH
127. ue checkboxes accordingly e to search images where not specified projection centers and or not specified ex terior orientation angles set on the No projection center ot No EO angles checkboxes e to search images with projection center hight more or less specified value in meters set on the Projection center Z lt or Projection center Z gt accordingly e to search images with Distance between centers in strip less than specified value set on the appropriate checkbox e set on the appropriate checkboxes to search images with No GPS time No in terior orientation or No measured triangulation points 3 Click the Find images matching criteria button Images found are shown in the Search results list 4 optional To cancel deleting image set of the checkbox near to image name in the Search results section 83 PHOTOMOD 6 0 Processing of UAS data 5 optional Click the View in block layout button to analyse images selection using block layout Images selected in the Search results list are highlighted in the block layout 6 Click the Delete checked button to delete images selected in the list 16 Project processing 16 1 Grid creation The program provides possibility of regular grid creation with specified step A grid step is used as a frequency of nodes creation in which vicinity spatial coordinates are cal culated and pickets are created The grid could be created both for the whole images block and for any par
128. ults in the report after tie points editing in the Points measurement module o Report parameters the link is used to change the report parameters and to re fresh the report o Edit the link is used to view and edit a triplet measurements in the Points measurement module o Stereopairs two links used to proceed to detailed measurements report of points on stereopairs that form the triplet see the Section 12 5 5 e information about number of measured tie points in a triplet e the Tie residuals table contain the following columns o the first column is used to edit selected tie point and allows to open the Points measurement module and to open automatically at the same time triplet images and to place marker on selected point lt lt After the point editing is completed and the Points measurement module is closed click the Refresh hyperlink in the report to re calculate relative orientation and refresh the report o the Point column is used to display a tie point name o the Ex Ey Ez Exy columns tie residuals by X Y Z axes and tie residual by XY in measurement units specified for residuals control in triplet in the Relative orientation report settings window In the threshold row there is a triplet residual threshold according to specified value measurement units and error type RMS Mean abs and max error of the Triplet residuals threshold parameter in the Relative orientation report settings window
129. vel Zmin from which to start quasi contours creation 4 optional Set the Step of quoasicontours in meters 5 Inthe Border section set on the following e Convex the convex border of TIN is created MES It is recommended to create convex border when some part of vector objects does not cover all area of TIN creation for example when there are lakes and rivers on large scale images Nonconvex the nonconvex border of TIN is created lt lt It is recommended to place the Smoothing slider in the middle and smoothly move it to the left to get the best results 100 PHOTOMOD 6 0 Processing of UAS data e Use polygons from layer to create a TIN with convex border in limits of area of polygon s selected in the layers list Select from the list the layer with polygons which is used as a border In order to define a border of TIN creation area just from selected polygons set the Selected only checkbox on 6 Click OK The TIN is created in the new TIN layer 16 5 DEM creation by TIN Program includes capability of creating DEM by triangulated irregular network TIN Perform the following actions to do this 1 Create or load the source TIN 2 Choose DEM gt Build DEM gt From TIN Ctri N D The DEM by TIN creation parameters window opens DEM by TIN creation parame ters Bounds North 260722 66412 v m West 735901 58174 94 m East 738373 70248 A m South 257296 05444 m He
130. ws to remove selected images from project m is used to radiometric correction of selected image E Gt amp allows to move selected images left right up down is used for adding image files locating in the re sources of active profile to the selected strip allows to rotate selected images to any angle in re lation to source or current image s position in block scheme PHOTOMOD 6 0 Processing of UAS data allows to open the Block layout window to build block scheme in 2D window considering source or acquired data see the Aerial triangulation User Manual allows to show block images in 2D window if they were not displayed during project loading due to limitation specified in the program s setting window see the General system s parameters User Manual 6 Workflow of UAS processing Processing of data acquired by UAS implies performing the following steps 1 Creating and selecting active profile creating local profile or creating connecting network profile to place all project project group files resources and selecting the profile as active 2 Creating UAS project 3 Images block forming 4 Interior orientation 5 Import of exterior orientation parameters 6 Aerial triangulation which includes the correct order of preset algorithm processing 7 Block adjustment PHOTOMOD 6 0 Input data l Creating project Adding images in a project Import of interior orientati
131. xecuted even if the Prelim inary filtering with detection of trusted points group checkbox is set on the Re jection tab 46 PHOTOMOD 6 0 Processing of UAS data The Maximum points to use filtering by trusted group parameter is used to specify the limitation on the number of points to reject IE It is recommended to set the Maximum points to use filtering by trusted group value from 40 to 60 It is not recommended to set more than 60 points The Stereopairs section contains the following parameters e Create stereopairs based on exterior orientation data from images projection centers of which are within range of if this option is checked the stereopairs will be composed from images projection centers of which are located at the distance no more than a specified value in meters otherwise the stereopairs are composed from nearest images in a strip e From different strips only if this option is checked the in strip stereopairs will not be considered Otherwise all in strip stereopairs will be considered including the nonadjacent Tie point measurement parameters lel EG Search for points Correlator Rejection Miscellaneous Zones Zone size 100 Z Points transfer Strict limits for initial point position Automatically transfer manually measured JV Tie points GC points Rejection by angles Maximum relative orientation angle values in strips Left image Right image Alpha o o s
132. y a number of points measured on a stereopair o the Vertical parallax column is used to display a value of vertical parallax for all measurements on a stereopair RMS mean abs and maximal error considering threshold parameters error type and measurement units specified in the Relative orientation report settings window A row of stereopair with points which coordinates failed to be calculated is highlighted by red color and in the Vertical parallax column the warning message Coordinates calcu lation failed is displayed with specifying Y parallax value in brackets o the Discrepancy of kappa angle column is used to display a value of kappa angles difference calculated using block scheme between images o the Distribution uniformity column is used to display data about uniform or non uniform distribution of points on a stereopair 56 PHOTOMOD 6 0 Processing of UAS data ME A distribution of points on a stereopair is considered as non uniform when in any of 6 standard zones a number of points differs more than twice from average number of points in Zone o the buttons in the last column allow to highlight cancel highlight of stereopair on a block scheme in 2D window for visual estimation of stereopair location in im ages block A stereopair is highlighted along with adding it to already highlighted ones in 2D window Cancelling of a stereopair highlighting is performed along with subtraction from highligh

PHOTOMOD User manual on UAS data processing.

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