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Block adjustment

1. 20 7 2 Ihe Coordinate system IaD nii ei ede oe out ee dus gu uM 21 Lo he Adus ment Vasher sto tanec reticle cca acct Stobaccictes fa sais norton san Nd cst af BS eR Tun sii Labs a bonsai 22 7 3 1 Adjustment parameters of central projection images block 22 7 3 2 Adjustment in free model cece ecceceececeeeececeececesecuececueeesueaesueesessesesenseseeas 25 7 3 9 Independent strips method iudi eee Gael p v xe e e ue o use Sde 26 7 3 4 Method of initial approximation by a block scheme eseeeeseeeeeses 28 7 3 5 Independent stereopairs method cccccccecececececececeeeeeeeeceaeaeauseseseseseseeeseeeaeeas 29 7 93 56 Bundle adjustment method suesuxistiupditedd tut kk faxxt tus dnt Latus Sac a edocs Erin asse sa RS 30 7 3 7 Bundle adjustment with self calibration cccccceceeeeeea sense eeeeeeeeeeeeeeaeaeeseaeeeeas 32 7 3 8 Parameters of camera self calibration ccccccceceeceeeeceeeeeeeeeeeeeeaeseeaeeeeaeaeeeaes 34 7 3 9 Compensation of systematic errors cece ccc ee nee ee ec eeeeceeeeeeeeeaeeeeeeeeeaeaeeeeaeeeas 38 PB VO SSIS Ci SUD OO CI esac ETC PN 40 TAs LNG REDON TaD seis ithe eae euo Cast ae he i oe 41 8 Adjustment of scanner blocks usines tao gud uethxnux est trente des agtindGent awk ony bend enki e a e Oe dors 45 8 1 Workflow of scanner block adjustment 6 ccc cec ee cec eee
2. Fig 14 The Bundle adjustment parameters window 30 o PHOTOMOD 6 0 2 Block adjustment In the Point on image measurement precision RMS section specify accuracy for manual measurements and automatic measurements of points coordinates on images in pix or mm s Accuracy of points coordinates measurements depends on photographic material quality grain blur image deformations not considered in camera parameters including geometric distortions of scanner terrain type and human factor accuracy of measurements performed by operator ts If step of image scanning corresponds to its quality and points are correctly recognized measurements accuracy value lies within 0 5 1 0 of a pixel size In the Weights section define weights for the following data weights of image measurements e ground control points weight of GCP coordinates E Input value of GCP weight is equivalent to multiplying of accuracy value of GCP coordin ates taken from Catalogue of ground control points by 1 W where W is a weight value If GCP weight value is more than 1 then binding of triangulation network to GCP coordinates is strong if the weight values are less than 1 the binding is weak see the Aerial triangulation User Manual projection centers input field for weight of projection centers coordinates Accuracy of projection centers coordinates are setup in the Catalogue of exter ior orientation parameters see the Aerial
3. Q Q Q OQ I Q Q QG DW Fig 32 Brief report on images groups As amp BRAS Report settings Mark exceeding of limits yes Exclude acceptable points no H Errors on tie points from mean value Limits on ground control points maximum x error pixels l maximum y error pixels maximum planar displacement m 2 2 on check points maximum x error pixels l maximum y error pixels l maximum planar displacement nm 2 2 on tie points maximum x error pixels 1 maximum y error pixels 1 maximum planar displacement m 2 2 Croup 47244640257 Inages count 59 Inage rlO 00235 1 093 4s p4 0160 Inage rlO0 00235 1 093 4s pO 0161 Attached to the image r1r10 00235 1 093 4 s pl 0161 dx dy ds Geometry Pixels Pixels Pixels 410 0 7 0 3 0 8 Error ll 1 0 0 2 1 0 Error 12 0 2 0 0 0 2 Error PMS 0 7 0 2 0 8 Mean 0 7 0 2 0 7 MAX 1 0 0 3 1 0 points number 3 Image rlO 00235 1 093 4 s p0 0162 Attached to the image r10 00235 1 093 4s pO 0161 dx dy ds Ceometry Pixels Pixels Pixels 0 1 0 8 0 8 Error zj Fig 33 Detailed report on images groups When it is impossible to create images groups RMS considerably exceeds a threshold value and the report displays a message about error during images groups creating 62 PHOTOMOD 6 0 2 Block adjustment Block Repor dA E Ey amp 85 Rostov Copy Natalia t creating date Report settings Ma Ex Er Limit on on on
4. cor kant can osten orto durante sut aise bocusd otc s aeg eeetae iextesemensie TT 1k Export ON MAN A a toot eai ini tea Cem E iad eh A 77 12 2 Import of adjustment results 3 5 5 59 5 eet ction Vestis Gren Gus acte toon taal kaha bean Fco gib 19 T9 SlaGes Of accuracy COMMON oo a f n Do door ean Esa D E d o ue M RN a ERE 83 13 1 Adjustment control in free model esses nennen 83 1331 12 Spitting on SUD DIOCKS cien o DEEP t o Saa FERE bugie psa tm aes ee R ues Durus 83 13 1 2 Blunders control in camera focal length cccccceceeceeeeceeeeneeeeaeeeeaeeeeaeeeeeeaes 83 13 1 3 Blunders control IN SIPS TYING ii euo eere ein isan dee vu cave te ad ae eee eee 83 13 1 4 Intermediate control of tie measurements blunders essseesess 84 13 1 5 Blunders detection on interstrip not transferred points 84 PHOTOMOD 6 0 2 Block adjustment 13 1 6 Control of errors of tie points measurements sseeseseeeeeeeeereenene 84 13 1 7 Control of errors of automatic tie points measurements sss 85 13 2 Adjustment control with geodetic reference ccccceccec cence eee eceee ee eeeeaeeeeaeeeeaeaeeeeneeeees 86 13 2 1 Control of coordinate system correctness cccccecec sec eceeceeeeeeeeeneeeeaeeeeaeeeeaeaes 86 13 2 2 Control of adjustment performed using projection centers coord
5. rk exceeding of limits clude acceptable points rors on tie points s qround control points maximum x error pixels maximum y error pixels maximum planar displacement im check points maximum x error pixels maximum y error pixels maximum planar displacement m tie points maximum x error pixels maximum y error pixels Maximum planar displacement mn 17 11 2013 12 17 26 mean value Image SCENE 5 123 254 06 09 27 08 14 40 1 T Residuals on control points T9 OQ FP i J amp ON i In in dx Pixels op 440 1 b 0 052 op 440 1 d 0 229 op 440 l g 0 309 op 440 1 h 0 937 op 440 1 i 0 063 op 440 1 c 0 814 op Dub 07 21 70p 440 0 565 op Dub 07 3790p 440 0 180 rp Dub 07 161a0P 440 0 445 RMS 0 499 Mean 0 399 MAX 0 937 points number 9 Residuals on tie points dx Pixels 1 0 116 2 0 201 3 0 110 4 0 016 Fig 34 Report on residuals obtained during images grouping 8 4 The Report tab dy Pixels 1 021 1 763 1 020 0 108 ds 5 72 441 568 273 The Report tab of the Parameters window is used to setup display of adjustment results and their level of details in the report as well as to define acceptable residuals during block adjustment 63 PHOTOMOD 6 0 2 Parameters E eie Points Images Report Tie points errors From adjusted location C Between stereopairs Include into report v Report on images
6. Resours DK 6 Check points 3 4 3 4 M points in points in Tie points double quadruple overlap area overlap area Fig 38 Number of points recommended for adjustment of scanner block by rigorous method lf a monoblock contains images with triple or quadruple overlap area it is recommended to measure several points in this area ts Number of GCP could be decreased due to tie points measured in triple or quadruple overlap 70 PHOTOMOD 6 0 2 Monoblock QuickBird OrbView 3 World View 1 1 4 per image Ground control points 4 5 Cartosat 1 IRS rs per image Check points 3 4 points in double overlap area Tie points RPC method Block adjustment Stereoblock qu Cartosat 1 IRS ps 45 per stereopair 3 4 points in quadruple overlap area Fig 39 Number of points recommended for adjustment of scanner block by RPC method up Number of GCP could be decreased due to tie points measured in quadruple overlap 71 PHOTOMOD 6 0 2 Block adjustment Generic method Monoblock Stereoblock Landsat 7 ETM IRS 1C PAN 7 10 IRS 1D per IRS P6 Resourcesat 1 image ALOS AVNIR 2 Ground control points Check points Not Not Tie points P necessarily necessarily Fig 40 Number of points recommended for adjustment of scanner block by generic method Recommended number of check points on images is not absolute and in many cases is determ ined by the cust
7. a name and path of the AeroSys project in Windows file system file with aer extension 5 optional In order to change coordinate system during the adjustment import in the Coordinates section set the Swap XY checkbox s If the Swap X Y checkbox is off the initial data will be imported in the right coordinate system Otherwise in the left one 6 Click Import to complete import operation from AeroSys project to the system To import adjustment results from file which contains coordinates of images projection centers and matrix of angular exterior orientation parameters perform the following actions 1 Click the button on the Adjustment toolbar The Adjustment import window opens 80 PHOTOMOD 6 0 2 Block adjustment Import format AeroSys project PAT B rotation matrix C PAT B angles PAT B point coordinates YZ yz PAT B exterior orientation parameters XYZ and matris ori M Coordinates SwapXY Angles vw Negate focus Invert matrix xe Fig 46 Parameters of import from PAT B format 2 Inthe Import format section set the PAT B rotation matrix format 3 In the PAT B point coordinates XYZ field click the _ button The Open PAT B file point coordinates window is opened 4 Specify a name and path of the file with points coordinates in Windows file system file with xyz extension 5 In the PAT B exterior orientation paramet
8. ee eee ee eee eceeeeseee sees eaeeeeaeeeeaeeeeaeeees 45 5 2 Ee FRONS Ce 6 ane ee oan vee men mnie Petia a te Teme ee rr eet To tu en pone De reer fd 47 8 92 1NeIMageS tab sigs spt anteater ate aka ante Leia ee oe a aaa D CUN M EE IPIE 48 8 3 1 Parameters of scanner images adjustment cece cee ecsec eee eeeeeeeeeeeeeeeeaeeeeaeeeeas 48 8 3 2 Rigorous method of adjustment ccc ccc cece nec ee eee ee eee eeeeaeeeeaeeeeaeseeaeaeeeeaeeeeaenees 51 9 9 9 RPC 9 21 01 6 6 su oaa e eee een oe eee ore ee aa 53 8 3 4 Generic adjustment method cccccccececeececeececeececeeeecueeeseeeeseseeseseeeeseeensesenees 55 8 3 5 Manual creation of stereopairs ccc cece cc cec ec ee eee eeeceeeeeeaeceseeeeaeeeseeeaeaeeeeneaeaeees 56 8 3 6 Groups of images acquired from the same orbit ccccceceeeceeeeeeeeeeeeeeeaeaeees 60 OA iL MG IRC DOM AAD UT LT UTE 63 8 5 Recommendations on monoblock adjustment ccc ccc ec sence ee ee eee eeeeeeeeaeeeeeeeeeeaeseeeeeeas 66 8 6 Number of points recommended for adjustment of scanner block 70 SN AQJUSUIMONT DFOCCOUNS re tcm ay et a auanG omni benh es 72 10 Creating adjustment report suisse tercera S ie Dota e itai rema Sp otnranmaasaniniaatManvatt Gtoinane sane 73 TH Adjustment accuracy COMICON sarena oie orina tho aut toe tate pesa necne apad ue aes AG 15 12 4J98te export and IMPON sus tetas teen ste aneat etter
9. exterior orientation parameters allows to calculate missing data x For self calibration of camera parameters at least focal length is required specified in the Camera window see the nterior orientation chapter in the Aerial triangulation User Manual ez For self calibration of camera parameters it is recommended to use georeference data GCP and or exterior orientation parameters during block adjustment The system also allows to use self calibration in free model that allows to analyze systematic errors and make decision whether it is necessary to go on with self calibration Self calibration results depend on a set of initial camera data block configuration position of block images and strips which depends on flight scheme availability of georeference data GCP exterior orientation parameters and tie points measurements Description of all self calibration features are out of scope of the User Manual see appropriate references about the subject 32 PHOTOMOD 6 0 2 Block adjustment To use self calibration of camera parameters during adjustment operation perform the following actions 1 2 10 Click the button on the Adjustment toolbar The Parameters window opens Click the Adjustment tab oet the Perform self calibration checkbox on in the Camera parameters self calibration section Click the Self calibration parameters button The Camera parameters self cal ibration window opens Camera par
10. of the methods ways of adjustment accuracy control The document also de scribes special aspects of adjustment of different images blocks and accuracy control of various types of projects on stage of projects processing in 2 General information Block adjustment could be performed of both central projection images and scanner space images The adjustment is a process of calculation exterior orientation parameters and coordinate measurement of all points in the block It is necessary to have interior and relative orientation of block images available to start block adjustment Block adjustment is performed after stage of data collection for phototriangulation in ternal and relative images orientation measurement of ground control points GCP see Aerial triangulation User Manual Minimal requirement for block adjustment is available results of interior and relative orientation of block images For adjustment of images block it is necessary to preliminary setup of adjustment parameters specify coordinate system select adjustment method choose main ad justment parameters setup report parameters and define residuals threshold of adjust ment The system provides the following adjustment methods for adjustment of central projec tion images block e Initial approximation independent strips method or initial approximation using block scheme is basically used to reveal blunders such as incorrectly specified ground con
11. pix Focal length mm 153 4060 Calibration date F 18 06 2008 Principal point mm x 0 0050 l n 0050 Description Distortion 38 xf Fiducial coordinates e Fiducial marks template Rezo camera 105 9990 106 0020 106 0030 106 0050 106 0010 106 0030 106 0040 106 0060 4 directions x Point of symmetry zero distortion mm 20 0000 30 0000 40 0000 50 0000 60 0000 70 0000 0 0000 30 0000 100 0000 0 600 0 600 0 400 0 100 0 100 0 500 0 300 0 600 0 100 0 400 4H wo x xv A 0 0080 SR mm dRI miron dR2 micron dR3 micron dR4 micron 0 200 0 500 0 300 0 300 1 000 0 800 0 600 0 100 0 300 0 500 Y p 0010 0 200 0 600 0 700 0 400 0 100 0 500 0 200 0 200 0 700 0 200 To principal point 4 0 100 0 100 3 0 300 0 400 0 600 D PD 0 400 0 500 0 500 0 300 ee cm Fig 17 Initial table data of distortion from camera passport defined in the Camera window during input of camera parameters step 37 PHOTOMOD 6 0 2 Block adjustment Camera parameters self calibration InfoMap RC 20 a C am run TEM N 9093605316e 11 7 9093605 16e 11 1 022879247e 13 1 022879247e 15 5 127805277e 18 5 127805277e 18 0 0 Fig 18 Distortion coefficients K1 K2 K3 calculated as a result of approximation by formu
12. point Symbol color A GCP Check point Excluded point By ties Strip points Single point Point measured on one stereopair Point measured in triple or higher overlap Point measured on non adjacent images Point measured on a stereopair and non adjacent images Interstrip points Point measured on isolated images in strips Point measured on stereopairs Point measured on stereopairs and triplets Point measured on stereopairs and isolated images Point measured on stereopairs and non adjacent images Point measured on non adjacent images Other Excluded point Point without adjustment V Targeted points Projection center Fig 2 The Symbols window For points with known coordinates the following symbols are used e points with known X Y coordinates rectangle _ e points with known Z coordinates circle 7 e points with known X Y Z coordinates triangle A program For points with known coordinates the following symbol colors are used PHOTOMOD 6 0 2 Block adjustment e for GCP red color f e for check points black color f e for points excluded from adjustment C white color By default for tie strip points there are the following shapes and colors of symbols e single point black circle measured on a single stereopair yellow rhombus measured in triple or more overlap green rhombus measured on non
13. points e Exy Ez average residuals of points XY and Z coordinates dX dY dZ dS discrepancies on GCP dX dY dZ dXY GPS corrections on projection centers 11 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 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 system 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 In order to change point s type on image perform the following actions 1 On a block scheme or in a list of points select a point which residual exceeds specified threshold value 2 Inthe Points attributes window click amp the Coordinates button The Triangulation points window opens In this window coordinates of selected GCP and RMS are displayed It is possible to change point s type in this window Double click of points name allows to open the Points Measurement window and change point s position 19 PHOTOMOD 6 0 2 Block adjustment In order to change point s position on image perform the following actions 1 On a
14. projection centers 3 On the Adjustment tab of the Parameters window set the Free model checkbox off 4 Setthe Use current solution checkbox 5 Inthe Adjustment method section select the Keep initial approximation option 6 Adjustthe block All data of project processing vector objects TIN and DEM created in free model transform to selected geodetic coordinate system 25 PHOTOMOD 6 0 2 Block adjustment 7 3 3 Independent strips method Independent strips method is used to perform first approximation This method consists in preliminary creation of independent models using images of each strip by tie points measured between images and further joining of the models into integrated model Then the model is orientated by GCP in geodetic coordinate system Independent strips method is applied in general to reveal blunders such as incorrectly specified GCP coordinates or errors in positioning of tie points Prior to adjustment using independent strips method check a direction of coordinate system If the coordinate system is turned at 180 in relation to geodetic coordinate system perform one of the following actions reverse the strips order reverse images in the strip order e turn all images to 180 use another coordinate system with reversed axis orientation e change signs of X and Y coordinates of all GCP to opposite only when perform the adjustment in Cartesian coordinate system In order to calculat
15. section is used to setup display image groups results in a report which includes images acquired from the same orbit as well as to specify image group join threshold RMS O O Detailed report is used to include full statistics detailed and brief about images groups to the report Short report is used to include only brief statistics about images groups to the report Do not include in report is used to exclude information about images groups from the report Mark exceeding of limits is used to detect and mark image grouping errors RMS values that exceed threshold specified in the Image group join threshold input field Image group join threshold is used to input RMS of images group threshold value the Acceptable residuals section is used to input residuals threshold values control points check points and tie points on image and on ground the Sort by section is used to setup display of a list of erroneous points in report O point name is used to display erroneous points in alphabetical order 65 PHOTOMOD 6 0 2 Block adjustment o point error is used to display adjustment errors in ascending order q Errors in meters on scanner stereo block is an error of intersection solution X Y Z coordinates are calculated by stereopair after adjustment and compared with X Y Z coordinates specified in catalogue Errors in pixels is an error of resection solution usin
16. stop the adjustment process If the accuracy value is less then 0 5 the adjustment time is reducing due to accuracy decreasing The algorithm of optimiz ation has a complex nature that is why the dependence of adjustment time and accuracy from this parameter value is nonlinear 8 optional In the Equation weights field input the values of weights for GCP and tie points as well as for projection centers to reduce adjustment errors ts Considerable change of equation weights values leads to reducing of actual adjustment accuracy There is some optimal value at which the accuracy is maximal In most cases the weight value of 1 is near to optimal It is necessary to have check points enough to control the result of optimal value search If there is a lack of check points it is recommended to temporarily transfer some GCP to check points see Section 11 In order to record numbers of high low order an exponent is used for example 5 7e 4 i 2 PHOTOMOD 6 0 2 Block adjustment 9 optional In order to use GCP measurements during adjustment set the Use ground control point coordinates checkbox on 10 optional In order to use projection centers data during adjustment set the Use projection center coordinates checkbox on 7 3 4 Method of initial approximation by a block scheme Method of initial approximation calculation by a block scheme consists in using of block layout for block adjustment see the Aerial triangulation
17. suc cessive adjustment of selected subblocks of scanner space images In order to setup adjustment parameters on the Images tab perform the following actions 49 PHOTOMOD 6 0 2 Block adjustment 1 Click the is Options button The Parameters window opens 2 Choose the Images tab 3 Inthe Method section select adjustment method s If there is sufficient or abundant number of GCP in a project so it does not matter what method to use since adjustment results will be almost the same If there is a few GCP in a project it is possible first to use one adjustment method and in case of poor adjustment result another one About recommended amount of GCP needed for scanner block ad justment see Section 8 6 Rigorous method see Section 8 3 2 RPC method which uses RPC coefficients see Section 8 3 3 Generic method see Section 8 3 4 Import adjustment import of exterior orientation parameters from metadata s The Import adjustment parameter is used only for ADS 40 80 100 projects 4 n the Stereoscopic processing section set the Stereoscopic processing checkbox to perform adjustment with stereopairs creation 5 optional In order to create stereopairs from every two adjacent images of a strip select the Create stereopairs by strips option s The Create stereopairs by strips parameter is used for stereoblocks only 6 optional In order to form stereopairs from block images manually select the Cre
18. 0 2 Block adjustment The best way of processing of such images blocks depends on kind of output production If the end production is orthomosaic creation using exterior DEM perform the following actions 1 Perform the whole block processing 2 Measure coordinates of each point tie GCP check on all images of a strip where this point is displayed 3 Perform adjustment using bundle adjustment method 4 In adjustment report it is recommended to consider only errors on images and errors on GCP and check points shown in the Images mode of working window If it is necessary to produce 3D vector objects or DEM it is recommended to reduce number of images in such a way that images overlap in resulting block will be close to 60 and then process this block in a usual way It is recommended to perform such images reducing when images overlap is not less than 75 80 In order to evaluate images reducing coefficient use the following expression 40 100 4 1 where k images overlap in percent Analyze the results e final value equals O it is recommended to process all images in strips final value equals 1 prior processing it is recommended to reduce number of images and involve next second image final value equals 2 prior processing it is recommended to reduce number of images and involve next third image In order to create orthomosaic using external DEM and 3D vector objects or DEMs choose one of the fo
19. 0_00235 1_093 4s_p0 0164 r10_00235 1_093 4s_p0 0165 3 r10_00235 1_093 4s_p0 0165 r10_00235 1_093 4s_p0 0166 2 r10_00235 1_093 4s_p0 0166 r10_00235 1_093 4s_p0 0167 2 r10_00235 1_093 4s_p0 0167 r10_00235 1_093 4s_p0 0168 2 r10_00235 1_093 4s_p0 0168 f Create Rename Delete Delete All Group va by project strips B by metadata M Group images M Untied images magngdate r10_00235 1_093 4s_p0 0165 r10_00235 1_093 4s_p0 0161 r10_00235 1_093 4s_p1 0166 r10_00235 1_093 4s_p1 0169 r10_00235 1_093 4s_p1 0167 r10_00235 1_093 4s_p2 0160 ri D0235 1 093 4s p1 0168 gt r10_00235 1_093 4s_p2 0161 r10_00235 1_093 4s_p2 0162 r10_00235 1_093 4s_p2 0163 hd A OK X Cancel Fig 31 The Image groups editor window 60 PHOTOMOD 6 0 2 Block adjustment 10 11 12 optional If it is possible to group images from each strip click the W by project strips button In order to create images groups using metadata click the by metadata button s To group images by strips it is necessary prior to groups creating split images into strips by orbits in the block editor Set a name of new images group in the input field located under the Image groups table and click the Create button A new image group will be created in the table In order to add images to created images group to define images list to be grouped select images in the Untied images table and click the button Selected images will be shown in the Group ima
20. 2 Block adjustment s Acceptable residuals are setup in the Parameters window on the Report tab see Sec tion 7 4 or Section 8 4 Points selection by residuals value is performed using additional parameters Ground XY Ground Z Tie XY Tie Z s Residuals are also could be displayed using checkboxes in the Show errors section of the Display options window n selected models used to select points located in selection area of stereopair strip or multiple steropairs strips o At least one points with measurements located in one selection area o All points with measurements located in all selection areas 5 4 Points selection Triangulation points on a block scheme could be selected using standard group selection tools To change the selection mode are used the Edit Group selection menu and the Tools toolbar see the Objects selection chapter of the Vectorization User Manual Also the system provides possibility to highlight points of selected types on a block scheme Click the button to select points to be highlighted The Select points window is opened gt Select points Frei Ea By coordinates r Ausiliary Ground control V Geodetic A Iv Check V Iv Targeted v Excluded Q v Projection centers EN XYZ points v With changed type XY points V Z points By residual value v No coordinates C Worst points fo iv Al f Over acceptable residu
21. 2548 SCENE 5126 256 Rigorous SPOTS5 HRG2 7 50284 V Stereoscopic processing Create stereopairs by strips C Create stereopairs manually View Edit stereopairs list v Use adjustment result to create epipolar images M Computing device CPU Y Select m Parameters P Perform independent refinement Separate position and attitude refinement Refinement polynomial orders oy Suto uel M Adjustment steps w Use adjustment steps Steps No groups C User defined groups Set groups Apply vd Apply to all Auto groups X Cancel Fig 24 Parameters of adjustment The Images tab consists of the following sections e in the left part there is the Images table which displays all project images and method of their processing sensor and off nadir angle left lower part of the window contains the section to setup images groups acquired from the same orbit ez If groups of images are available for block adjustment this allows to use less number of GCP per block see recommendations in Section 8 6 e the right part of the window contains two following sections o the Adjustment parameters section is used to setup parameters of scanner space images adjustment method or to import exterior orientation parameters from metadata of ADS 40 80 100 images o the Adjustment steps section is used to perform step by step adjustment
22. Digital Paotogrammetric System Version 6 0 2 USER MANUAL Block adjustment G RACURS PHOTOMOD 6 0 2 Block adjustment Table of Contents ls PUPDOSE Of INE document secen hes geiovie E a TE TET 4 2 aehneralaforriatobieax anas tutecot eee ee eee usc igi intacta ere bete tos auos ae Senneterre nae Sry ce ar ere te 4 3s ne Block adjustment OOlDal asscateenesta von buta vada el obo E atm able india eta 5 aM Vo UES da Weal 8121 61g Whi 0 0 gt kesa A AN 6 5 Objects displaying Settings srs ah atid les hail he eee to LL NI Ease Oboe cR pad eC LUPO MEDI CA T 5 1 Parameters of points and error display on a block scheme ccceceecee eee ee eee eeeeaeeeeeeeees 7 5 2 oetup of points symbols eI a Ae ae ee 9 9 3 OMS MNO ocuscuus itte auguudsaelia tent etus ta E a altus afud cte Hobie MommaaGa E 11 9 4c PONS SCI CLIOM caren ante ac e e nier ctidhtaa Sensei iatnente Suture cis urea ton co born eec a sr ON E 13 9 5 The PONE attributes WIDnOOW usssteodet uta tb a Ne eeu std buie o uut fu Debe o md ea ui oua 15 5 6 List Of trlangulatioD DOWNS Aces eis Get ear us deua chicane aie uae teet hae 18 6 Brief Tesiduals repor uoto ton minae tod gsx i Doce eat sies xam oiu a iaae aaa a Dile qut akaN ewes 19 7 Adjustment of central projection images block cccccccececeeceeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeneeeeaeeeeaenees 20 7 1 Workflow during adjustment of central projection images block
23. Exclude acceptable points no Errors on tie points from mean value Limits on ground control points maximum x error pixels maximum y error pixels maximum planar displacement m check points maximum x error pixels maximum y error pixels maximum planar displacement m tie points maximum x error pixels L maximum y error pixels l maximum planar displacement m 2 2 Group 47244640257 Images count ss Image Attached to the image PMS pix Points count r10_00235 1_093 4s_p4 0160 r10_00235 1 093 4s p0 0161 rlO 00235 1 093 4s pl 0161 rlO 00235 1 093 4s p0 0162 rlO 00235 1 093 4s pO0 0161 rlO O0235 1 093 42 p0 0163 rlO 00235 1 093 4s pO 0162 rlO0 00235 1 093 4s p0 0164 rlO 00235 1 093 4s p0 0163 rlO O0235 1 093 4s p5 0161 rlO 00235 1 093 4s p5 0160 rlO0 00235 1 093 4s p5 0163 rlO 00235 1 093 4s p5 0164 rlO O0235 1 093 4s p5 0164 rlO 00235 1 093 4s p4 0164 rlO 00235 1 093 4s p4 0168 rlO 00235 1 093 4s p5 0168 rlO 00235 1 093 4s p4 0164 rlO 00235 1 093 4s p3 0164 rlO 00235 1 093 4s p5 0160 rlO 00235 1 093 42 p4 0160 rlO0 00235 1 093 4s p5 0168 rlO 00235 1 093 4s p5 0167 rlO 00235 1 093 4s p3 0168 rlO 00235 1 093 4s p4 0168 rlO0 00235 1 093 4s p3 0164 rlO 00235 1 093 4s p2 0164 rlO0 O0235 1 093 4s p3 0160 rlO 00235 1 093 4s p4 0160 rlO0 00235 1 093 4s p2 0164 rlO0 00235 1 093 4s pl 0164 ri 00235 1 093 4s p2 0160 rlO 00235 1 093 4s p3 0160 Oooo0Oo00000000 0550000 I I OON Q lk I I U FI O0 0 0 0 Q 4 Q Q
24. In general the system considers errors added by GPS device during flight along a strip that is why it is recommended to choose the common for strip option In the Polynomial degree section the XY and Z checkboxes allow to specify coordinates to which corrections will be added The section also contains fields to specify polynomial degree gt Corrections to projection centers coordinates are calculated using GCP and look like the following AX Gox G 4x N AY Gay Gy N AZ Gozt Giz N where N sequence number of image in a block or strip or time in GPS system which corres ponds to a moment when the image was taken is defined by the Dependency 1st order polynomial parameter G polynomial coefficients calculated at adjustment 39 PHOTOMOD 6 0 2 Block adjustment When 1 st order polynomial are chosen the Gy and Gi coefficients will be used If O order polynomial are used just the G coefficient is applied and G will be equaled to zero The Exterior orientation angles constant rotation section is used to specify a type of corrections applied to exterior orientation angles of images if they are specified in a project and are considered for adjustment do not apply common for block is used to consider systematic errors in each block common for strip is used to consider errors obtained due to work of GPS device recommended option s Corrections in the Exterior orientation angles constant
25. In this case it is recommended to check coordinate system selection to consider the curvature of the Earth and check interior orientation to consider distortion 13 2 3 Control of adjustment performed without projection centers If there is big enough amount of GCP approximately 10 and more on a block it is re commended to set small weight of equation on GCP 0 01 0 1 and adjust the block without projection centers If there is a big systematic Z error in a block after adjustment Z error vectors in a block center are directed to opposite side in relation to vectors located on the edges of a block In this case it is recommended to check coordinate system selection to consider the curvature of the Earth and check interior orientation to consider distortion If there is a big systematic XY error in a block after adjustment vectors of XY errors are directed radially from block center the block is compressed in one direction and stretching of the block in perpendicular direction In this case it is recommended to check for stretching compression of images in one direction gt If the adjustment was performed by independent strips and independent stereopairs method when there was set small weight of equations on GCP approximately up to 0 01 and less the block will be compressed If the block was adjusted by bundle adjustment method it will be not compressed 13 2 4 Control of bundle adjustment errors When perform a
26. PU Y Select Parameters Model type Parallel perspective C Direct Linear Transformation DLT C Affine zl m Adjustment steps Use adjustment steps Steps No groups C Auto groups X Cancel Fig 28 Parameters of generic method of images adjustment The Model type section is used to select one of the following model types depending on a number of used GCP Parallel perspective at least 7 GCP Direct Linear Transformation DLT at least 6 GCP Affine at least 4 GCP lt lt The more the number of GCP the better the accuracy of adjustment results however wherever possible it is recommended to use Rigorous or RPC method which provide better accuracy as compared to generic method results 8 3 5 Manual creation of stereopairs The system provides opportunity to form stereopairs from block images manually during adjustment of images block otereopairs forming is performed in the Stereopair editor window which allows to create stereopairs automatically from adjacent images of each strip In addition it is also possible to set stereopairs formed by non adjacent images of a strip and to add 56 PHOTOMOD 6 0 2 Block adjustment interstrip stereopairs Besides manual stereopairs forming allows to build epipoles for selected images Manual creation of stereopairs is performed in those cases when it is necessary to form stereopair from images with small overlap area
27. Report on stereopairs wv Report on block v Mark exceeding of limits Exclude acceptable Points catalog Acceptable residuals Block adjustment Mil E Control points m Location on image dS x y 22 m x fi pix y fi pix Location on ground dS Y 22 m Z 22 m Check points m Location on image x fi pix y fi pix m Location on ground dS Y 22 m Fy 22 m Show errors dS x v 22 m Tie points m Location on image x fi pix y fi pix dS x y 22 m Include orientation data Location on around dS Y 22 m zZ 22 m Image groups C Detailed report Short report C Do not include in report v Mark exceeding of limits Image group join threshold fi pix Adjustment steps C Detailed report Short report C Do not include in report Sort by point name C point error X Cancel Fig 35 Parameters on the Report tab The Report tab contains the following parameters to be setup the Tie points errors section is used to choose one of the following methods of re siduals calculation for tie points o From adjusted location is used to calculate residuals by maximal deviation from mean coordinates value calculated for all stereopairs o Between stereopairs is used to calculate residuals by maximal difference betw
28. The Sigma 0 value shows how much adjustment discrepancies correspond to specified thresholds 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 10 7 Adjustment of central projection images block 7 1 Workflow during adjustment of central projection images block The system allows to process images of central projection Central projection images include airborne images close range images satellite images of central projection see Project creation User Manual Setup adjustment parameters of central projection images block selection of adjustment method and adjustment model is performed using the Parameters window To open the Parameters window click the amp button on the Adjustment toolbar 20 PHOTOMOD 6 0 2 Block adjustment Parameters E rs E Coordinate system Adjustment Report Approximation computing method Tie point rejection independent strips worst points E 0 C by block scheme over acceptable residuals Initial appro
29. User Manual s Initial approximation by block scheme with adjustment by bundle adjustment method is used for a single image adjustment To calculate initial approximation by block scheme perform the following actions 1 Click the 3 button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 n the Approximation computing method section select the by block scheme method 4 Click the Initial approximation parameters button The Initial approximation parameters window opens gt Initial approximation parameters J Use ground control point coordinates w Use projection center coordinates J Use exterior orientation angles w Perform direct georeferencing Deficient data are calculated From the current block scheme and mean project relief elevation X Cancel Jf OK Fig 12 The Initial approximation parameters window 5 Setup initial approximation parameters by block scheme Use ground control point coordinates allows to use GCP measurements for adjustment operation Use projection center coordinates if projection centers coordinates are available in catalogue of exterior orientation parameters it is possible to use them for adjustment operation e Use exterior orientation angles if exterior orientation angles are available in catalogue of exterior orientation parameters the option allows to use them for adjustment operation 28 PHOTOMOD 6 0 2 Blo
30. a necessary condition for adjustment control operation in free model in the following cases e ifthe block contains many blunders it is easy to detect them by splitting on sub blocks in such a way that each sub block would contain not more than one blunder e if a processed block has a length more than 20 bases time for sub block adjustment is less than time for adjustment of the whole block 13 1 2 Blunders control in camera focal length In order to detect blunders in camera focal length value it is recommended to input a survey basis approximately If a basis value was input correctly the Scale section on the Report tab of the Parameters window displays correct value of survey scale after adjustment If the difference between calculated height values of triangulation points and projection centers differs significantly from real ones at that than more likely focal length was input incorrectly gt During adjustment in free model values of calculated Z coordinates of projection centers are close to O gt During adjustment in free model values of calculated Z coordinates of triangulation points are negative and close to survey altitude by absolute value s During adjustment in free model small errors in value of camera focal length cannot be detected In this case it is recommended to perform adjustment using GCP 13 1 3 Blunders control in strips tying In order to detect blunders in interstrip tie measurements it is recommended
31. adjacent images red circle measured on a stereopair and its non adjacent images red circle By default for tie interstrip points there are the following shapes and colors of symbols measured on single images in strips crimson rhombus measured on stereopairs turquoise rhombus measured on stereopairs and triplets turquoise rhombus measured on stereopairs and single images crimson rhombus measured on stereopairs and non adjacent images red circle measured on non adjacent images red circle For the rest points there are the following shapes and colors of symbols e excluded white square brackets e without adjustment red square brackets e targeted points black upturned triangle S e projection centers black rhombus s A point could be displayed on a block scheme as combination of one two or more symbols To change shape and color of tie points symbol both strip and interstrip perform the following actions 10 PHOTOMOD 6 0 2 Block adjustment 1 optional Click the button on the Block adjustment toolbar to show the Display options window 2 Click the Sy button of the Display options window toolbar The Symbols window is opened 3 In the By ties list select a point type which symbol or color needed to be changed 4 Select Symbol to define a point s shape circle amp rhombus or square oO 5 Click the Color field and select necessary color from sta
32. age by bundle ad justment method with initial approximation by a block scheme To do this it is necessary to have at least three GCP available in the image Besides it is necessary to set the Use exterior orientation angles checkbox off in the Bundle adjustment parameters and Initial approximation parameters windows and set the Perform direct georefer encing checkbox off in the Initial approximation parameters window For adjustment of block images using the Bundle adjustment method perform the fol lowing actions 1 Click the i button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 In the Adjustment method section select the bundle adjustment method 4 Click the Adjustment parameters button The Bundle adjustment parameters window opens gt Bundle adjustment parameters Of x Point on image measurement precision RMS M Use ground control point coordinates manual measurements 0 500 J Use projection center coordinates automatic measurements 0 500 w Use exterior orientation angles f pix C mm Minimize residuals On images Weights C In3D space image measurements f 00 I ground control points f 00 Projection center to object distance m projection centers fi 00 min 10 0 max f Oe 07 Adjustment accuracy 0 5 exterior orient ang omega 1 00 hi jo r i 1 1 ET low high kappa ji 00 xc
33. als By ties M Ground Y O v Single Iw Ground z v Stereopair Iv Ti v Triplet Iv Ti M Strip tie BE 7 Nontonsfened In selected models w Used C Atleast one v Excluded f All w All Also invisible Add Subtract Invert Cancel Fig 4 The Select points window To display points on a block scheme special symbols 13 PHOTOMOD 6 0 2 Block adjustment The Select points window contains the following sections which are used to make points selection using different criteria the By coordinates section is used to select points depending on their coordinates o ground control points ground and projection centers o check points ground and projection centers o excluded points with known coordinates excluded from adjustment o no coordinates points without geodetic coordinates if the checkbox is set off only ground control points are displayed o all allows to set on off all checkboxes of section XYZ XY and Z points checkboxes allows to choote type of displayed ground control tie and excluded points e the By ties section is used to select points depending on number of point s coordinates measurements on image o single points not measured on any stereopair o stereopair points measured on at least one stereopair O triplet points measured at least in one triplet o strip tie points measured in interstrip overlap o non transferred tie points not m
34. ameters Mel E Coordinate system Adjustment Report Coordinate system eps I New Zealand Map Grid Mew Zealand EPSG Super Select Orientation right geo referencing global coordinate system Jf OK 4 Compute X Cancel Fig 9 Parameters of adjustment 7 3 The Adjustment tab 7 3 1 Adjustment parameters of central projection images block The Adjustment tab allows to choose method and model of adjustment of central pro jection images block and also to setup adjustment parameters Parameters mlel xe Coordinate system Adjustment Report Approximation computing method Tie point rejection independent strips worst points fi 0 c C 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 approximation MT Camera parameters self calibratio C independent stereopairs e t borde ROCHE Perform self calibration pa f calibrati eee Ga Self calibration parameters Adjust subblock DE Select subblock E georeference free did by block scheme Basis m fi 000 4 Compute X Cancel Fig 10 Parameters of adjustment In order to setup adjustment parameters of central projection images check if georefer ence data is available measured GCP coordinates or exterior orien
35. ameters self calibration Cameras Calibrate Name Images number M Calibration type Physical Mixed Coefficients Parameter Initial value Optimize Camera Adjustment K1 2 201647247e 009 K2 3 904209404e 013 K3 1 38193323e 017 Pi 2 201647247e 009 3 904209404e 013 1 38193323e 017 LINDEN bi Camera distortion Radial OK Cancel Fig 15 The Camera parameters self calibration window In the Cameras table mark cameras which are needed to be calibrated Click the button to copy coefficients from the camera passport In the Coefficients table define initial values of camera parameters in the Initial value column and select parameters for optimization in the Optimize column see oection 7 3 7 Click OK to complete setup of camera self calibration parameters oetup the adjustment parameters in the Parameters window Click the 4 amp Compute button When the adjustment procedure is completed estimate the adjustment accuracy and results of camera self calibration shown in the Adjust ment column of the Camera parameters self calibration window In case of sat 33 PHOTOMOD 6 0 2 Block adjustment isfying results pass to the next step otherwise change initial values and or a set of optimization parameters and adjust the block once more 11 Click the Save button to save the adjustment results 12 Choose Orientatio
36. approximations with filtering 1 Click the button of the Block adjustment toolbar The Parameters window opens 2 Onthe Points tab input the following parameters in the Points coordinates accuracy section input 0 5 pix to the Image measurements RMS input field e in the Unity weighted geodetic coordinates accuracy section input 1 m to the plane and height input fields 68 PHOTOMOD 6 0 2 Block adjustment e in the Points usage section input 0 01 to the Coordinates delta threshold pix input field e in the DTM for adjustment section set the Use DEM option and load the DEM from file During mono block adjustment it is highly recommended to use DEM due to insuf ficient images overlap area Otherwise there are errors in the correlator work as well as errors in calculating Z coordinates of tie points measurements 3 Click OK 4 Click the 4 button of the Block adjustment toolbar 5 Tie points with tie residual that exceeds 10 20 pixels transfer into Excluded status in the By ties section of the Information window see Section 5 5 6 Setthe Use ties in block adjustment checkbox in the Points usage section on the Points tab of the Parameters window s For images with low quality exterior orientation parameters it is recommended to set the Affine option in the Parameters window on the Images tab in the Refinement section s For images with precise exterior orientation parameters it is recommended to set th
37. arameters a priory covariances section allow to specify accuracy of initial RPC and accuracy of coordinate system specifying for example in case of approximation of local coordinate system with unknown parameters using topocentric horizontal coordinate system 54 PHOTOMOD 6 0 2 Block adjustment gt Parameters P M Parameters apriory covariances Fi Bias pixels fi 0 Drift p p m 50 L1 1 Fig 27 Parameters a priory covariances The Parameters a priory covariances section contains the following parameters Bias pixels RMS of absolute terms of input refinement in pixels a priory Drift p p m RMS oflinear coefficients of input refinement a priory itis dimension less units and their value is setup in millionth parts p p m parts per million The system provides opportunity to use DEM for adjustment by RPC method to increase adjustment accuracy There are the following recommendations concerning use of DEM during adjustment 1 It is recommended to use DEM in projects with relatively smooth relief i e with smooth elevation difference Otherwise sharp elevation difference in tie point area or artefact on DEM lead to incorrect data 2 tis not recommended to use DEM if there are a lot of triangulation points since it results in significant slowing down of adjustment procedure 3 For stable work it is recommended to decrease the Bias parameter value on the Parameters apriory covariances secti
38. ate stereopairs manually option and click the View edit stereopairs list button 7 optional In order to calculate epipolar images using tie points set the Use adjust ment result to create epipolar images checkbox off Otherwise the system will calculate epipolar images just after adjustment since the checkbox is set by default cz It is recommended to set the Use adjustment result to create epipolar images checkbox to obtain correct models on stereopairs with complicated enough geometry at asynchronous stereo survey 8 In the Computing device section select a computing device that will be used for adjustment procedure CPU orGPU 50 PHOTOMOD 6 0 2 Block adjustment 10 11 12 s If working station is equipped with NVIDIA CUDA processor choose theGPU option to speed up adjustment procedure see detailed information on web site http www nvidia ru ob ject cuda gpus ru html A In case of GPUwas chosen as an accounting device but it initialize was failed or it has not enough of computational capability CPUis used automatically In the Parameters section setup adjustment parameters which set depends on selected method of images processing tz If the Import adjustment option is selected there are no parameters since all exterior orientation elements are imported from ADS 40 80 100 data acquired after preliminary processing and adjustment of images block in dedicated software like ORIMA optional For manual gr
39. block scheme or in a list of points select a point which residual exceeds specified threshold value 2 Inthe Points attributes window click the fs Measure button The Points meas urement window opens By default a list with in only selected points is displayed in the Triangulation points window Only these are also displayed on images The following buttons on a toolbar of the Triangulation points window allows to change the filter for points list that are displayed in the table and on images vy all points dL points on open images a common points on open images mig points selected on the adjustment stage for details see the The Points measurement module chapter in the Aerial triangulation User Manual Points measurement QAAE e gt t folo BES SOM 45 S AAA E 84 dll 01 96 9606 0000 8050 0000 83 5755 mm 51 8753 mm QQQME s u ud ia o jm a 8 21 1 9606 0000 8050 0000 83 5755 mm 51 8753 mm Triangulation points total 154 visible 14 P d wx v visi J J BE Fig 43 Editing points shown in a list 3 Move a point manually or using correlator see description of correlator work in the Aerial triangulation User Manual 76 PHOTOMOD 6 0 2 Block adjustment 4 Click OK to exit the Points measurement module 5 Click the 4 amp button on the Block adjustment toolbar to complete changing point s position on image In
40. borne blocks adjustment in the system 14 1 Use the coordinates of projection centers During adjustment with specified projection centers coordinates it is recommended to use Cartesian coordinate system for example WGS 84 When perform adjustment with specified projection centers coordinates it is not recommended to use local coordinate system which takes into account the curvature of the Earth approximately During adjustment without projection centers using local coordinate system it is not re commended to consider as precise images exterior orientation parameters obtained by the adjustment When using a local coordinate system occurs a discrepancy between the Z and XY coordinates of the projection centers as well as between the angular elements of exterior orientation 14 2 Survey with big images overlap The main feature of a survey with big images overlap more than 70 is that survey basis to height ratio is small for stereopairs composed by neighbor images of strip Therefore the value of height error on points measured on these stereopairs exceeds plane errors in several times However at that 100 of block area is covered by overlaps of three and even more images of a strip In stereopairs composed by images taken as next nearest one per 2 3 depending on overlap size the survey basis to height ratio is big enough like during usual survey with 6096 overlap that allows to obtain small height error 88 PHOTOMOD 6
41. checkbox Click OK to save parameters or Compute to start the adjustment process 24 PHOTOMOD 6 0 2 Block adjustment 7 3 2 Adjustment in free model Adjustment in free model allows to adjust a block without georeference data Adjustment in free model to perform control of blunders in tie points measurements To perform block adjustment in free model perform the following actions 1 Click the i button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 Setthe Free model checkbox 4 Select one of the following types of model georeference free during adjustment the system performs rotation zoom and shift of projection centers coordinates in such a way that X Y Z coordinates of projection center of the first image of block are 0 0 0 of the second b 0 0 where b value of basis in meters specified in the Basis field by block scheme during adjustment the system performs rotation zoom and shift of projection centers coordinates in accordance with block layout 5 Specify the rest of adjustment parameters After interior and relative orientation it is necessary to measure GCP coordinates and adjust a block in selected coordinate system In order to adjust a block in selected coordinate system after its adjustment in free model perform the following actions 1 Adjust a block in free model 2 Measure coordinates at least of three GCP or load data about at least of three
42. ck adjustment e Perform direct georeferencing allows to calculate tie points coordinates using exterior orientation data If the checkbox is set off then X Y coordinates of tie points are calculated using frames of images on a block scheme For Z coordinate the system assigns average terrain height from heights difference data specified in a project properties see the Project creation User Manual 6 Click OK All the missing data is calculated by frames of images of current block scheme considering average terrain height from heights difference data specified in a project properties see the Project creation User Manual 7 3 5 Independent stereopairs method Independent stereopairs method consists in preliminary creation of single independent models by stereopairs and further joining them into common block and orientation of the block in geodetic coordinate system using GCP gt Independent stereopairs method is used to enhance accuracy of adjustment results obtained during calculation of initial approximation in order to detect smaller errors and in case of satis fying results for final adjustment For adjustment using the independent stereopairs method perform the following actions 1 Click the button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 Inthe Adjustment method section select the independent stereopairs method 4 Click the Adjustment parameters button The Ind
43. contains big number of images by block scheme adjustment using current block scheme of block layout for approximate adjustment considering results of all block measurements optional In order to use previous adjustment results in new adjustment session set the Use current solution checkbox This allows to use results obtained during previous step of adjustment and not calculate the values again lt It is used in those cases when iterations of adjustment disagree some measurements are corrected and the process starts again for example when there are lack of points meas urements in triplets for images blocks acquired from UAV or they are insufficient In the Adjustment method section choose method and specify parameters of se lected method e keep initial approximation aerial triangulation using initial approximation results 23 PHOTOMOD 6 0 2 Block adjustment 10 11 12 13 s The method is used to search for blunders such as incorrectly specified coordinates of GCP For rough adjustment of images block acquired from UAV set the keep initial approx imation checkbox and adjust block using the Initial approximation methodby block scheme independent stereopairs preliminary aerial triangulation by stereopairs of in dependent models and their further merging into common block and orientation of the block network in geodetic coordinate system e bundle adjustment aerial triangula
44. d If the residuals exceed the threshold they are shown by dark red color Residuals vectors with by ties types are not displayed in single image 2D window s Residuals vectors displaying depending on its size also could be changed in the Auxiliary section of the Select points window see the Section 5 3 The On excluded points checkbox allows to show residuals for points excluded from adjustment View scale section allows to manage zoom of residuals vectors display on a block scheme in accordance with selected scale option real scale residual vector size size of circle with a cross corresponds to a scheme scale i e for residuals on GCP check points the end of error vector indicates point with user defined coordinates at zoom x1 one to one that allows to see position PHOTOMOD 6 0 2 Block adjustment of erroneously recognized GCP At that vectors are zoom in out during zooming in out of block scheme see and Section 5 2 screen scale in the field is used to specify number of units of coordinate system meters feet in 100 screen pixels 5 2 Setup of points symbols Unique symbol and different colors can be used for each type of points on a block scheme The Symbols window allows to display symbols list change symbol or color To open the window click the fz button of the Display options window toolbar P Symbols By coordinates Symbol shape XY point Z point XYZ
45. dir angle as well as possibility to select images and make groups manually For automatic creation of images groups select the Auto groups option The system automatically selects images acquired by the same sensor and with the same survey time and off nadir angle To create groups from images acquired from the same orbit perform the following actions 1 Analyze images suitability to be grouped compare them by survey time time differ ence should not exceed 1 minute and check images joint in overlap areas in the Aerial triangulation module 2 Measure tie points coordinates in overlap areas in order to group images For correct images grouping it is recommended to measure at least 2 3 points coordinates in each images overlap Tie points used for creating images groups cannot be involved to block adjustment 3 Click the B button on the Adjustment toolbar The Parameters window opens 4 On the Images tab set the User defined groups checkbox on and click the Set groups button The Image groups editor window opens Image groups editor e aT xi r Image groups Project images Images count Min date Max date Duration sec Imaging date Image group Strip 1 3 0 0 r10_00235 1_093 4s_p0 0161 r10_00235 1_093 4s_p0 0161 2 10 0 0 r10_00235 1_093 4s_p0 0162 1 r10_00235 1_093 4s_p0 0162 3 4 0 0 r10_00235 1_093 4s_p0 0163 1 r10_00235 1_093 4s_p0 0163 r10_00235 1_093 4s_p0 0164 1 r1
46. djustment by bundle adjustment method or import of adjustment results from external software it is recommended to set in the Parameters window on the Report tab in the Tie residuals section set the from mean value checkbox e in the Include in the report section it is recommended to set the Residuals on stereopairs include singles checkboxes 87 PHOTOMOD 6 0 2 Block adjustment If bundle adjustment method was used to adjust block of images acquired by long focus camera or which have images overlap coefficient that exceeds 65 then when the focal length or images overlap coefficient increase there is a reducing of survey basis height ratio in that way the Z errors on GCP are reduced When the adjustment was performed by the independent stereopairs method so reducing of survey basis height ratio results in increasing of Z errors on GCP When perform adjustment by bundle adjustment method Z error on GCP transforms into Z error on tie points In the report Z error on GCP is displayed in the Tie point re siduals from mean value section When perform adjustment by bundle adjustment method error on tie points which co ordinates are measured on a single stereopair in some cases is defined by vertical parallax residual and difference of distances to projection centers of two stereopair im ages on tie points In the absence of adjustment blunders the tie points residual tends to zero and is negligible 14 Special aspects of air
47. e None in the Parameters on the Images tab in the Refinement section In this case the refinement will be not calculated 7 Click the 4 amp button of the Block adjustment toolbar to adjust the block once more 8 Tie points with tie residual that exceeds 2 5 pixels transfer into Excluded status in the By ties section of the Information window see Section 5 5 9 Perform adjustment accuracy control see Section 11 All steps of adjustment procedure require evaluation of adjustment results accuracy Here the tie points measurements and exterior orientation parameters consistency could be evaluated During monoblock adjustment the adjusted estimate of the accur acy of tie points coordinates in meters is displayed as O This is due to the fact that DEM serves as a reference data for the tie points Therefore quality control of monoblock processing reduces to estimating errors on tie points 69 PHOTOMOD 6 0 2 Block adjustment 8 6 Number of points recommended for adjustment of scanner block There are some recommendations about number of GCP and check points used for different methods adjustment of images included to scanner mono stereo blocks s For satellite scanner images it is possible to use only XYZ GCP with X Y Z coordinates Rigorous method Monoblock Stereoblock FORMOSA T 2 EROS A B m KOMPSAT 2 Ground control KOMPSAT 2 NEU SPOT 1 4 points SPOT 1 4 ds TERRA ASTER TERRA ASTER Mage SPOT 5 4
48. e by overlaps e Delete all X cares Fig 29 The Stereopair editor window The Stereopair editor window contains the following sections Project images a table with all block images with specified imaging date and time strip number and whether the image is included to a stereopair e Stereopair allows to select two images from the Project images table to form a stereopair from them Selected image s stereopairs a table displaying all defined stereopairs to which is included the image selected from the Project images table Stereopairs list list of all formed stereopairs To form stereopairs manually from block images perform the following actions 1 Click the i Parameters button The Parameters window opens 2 Click the Images tab and set the Stereoscopic processing checkbox on 57 PHOTOMOD 6 0 2 list button The Stereopair editor window is opened Block adjustment Select the Create stereopairs manually option and click the View edit stereopairs optional For automatic stereopairs creation from adjacent images of each strip and to add them to the Stereopairs list table click the Create by strips button the following actions optional To form stereopairs by parameters of images overlap in a strip perform 1 Click theCreate by overlaps button The Find stereopairs by overlaps window opens Find stereopairs by overlaps Mil EJ M Search
49. e initial approximation using independent strips method perform the following actions 1 Click the i button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 Inthe Approximation computing method section select the independent strips method 4 Click the Initial approximation parameters button The Independent strips ad justment parameters window opens gt Independent strips adjustment parameters Maximum point distance 1000 Equations weights in bases tie n Maxi trip length REI E siia 20 ground control f 00 projection centers f 00 w Use ground control point coordinates Adjustment accuracy 0 5 v Use projection center coordinates low high X Cancel Fig 11 The Independent strips adjustment parameters window 26 PHOTOMOD 6 0 2 Block adjustment 5 Specify the Maximum points distance in bases parameter The parameter is used to process close range projects where points with big X parallax difference is measured gt Applying this parameter results in automatic excluding from adjustment on each stereopair those points distance from which to projection centers exceeds specified distance in bases For example ia a stereopair basis is 10 meters and predefined value of maximal distance is 100 meters then the system will exclude the points which distance from projection centers is more than 1000 meters s It is recommended to set the value o
50. easured on adjacent images o Used tie points used in adjustment o Excluded tie points excluded from adjustment o All allows to select unselect all points mentioned in the section the Auxiliary section is used to select points depending on their type o Geodetic tie points which are not targeted and projection centers o Targeted targeted points o Projection centers projection centers o with changed type points with type that was changed during adjustment 14 PHOTOMOD 6 0 2 Block adjustment the By residual value section allows to select points depending on residual value on the point o Worst points points with maximal residuals number of points to be displayed is specified in the appropriate field o Over acceptable residuals points with residuals exceeding threshold s Acceptable residuals are setup in the Parameters window on the Report tab see Sec tion 7 4 or Section 8 4 Points selection by residuals value is performed using additional parameters Ground XY Ground Z Tie XY Tie Z s Residuals are also could be displayed using checkboxes in the Show errors section of the Display options window n selected models used to select points located in selection area of stereopair strip or multiple steropairs strips o At least one points with measurements located in one selection area o All points with measurements located in all selection areas The Select Add Subtrac
51. ed point coordinates o adjusted coordinates coordinates of point obtained after adjustment o residuals mage residuals o residuals max maximal residuals on images for selected point o number of images where selected point coordinates were measured o images displays number of images where point s coordinates were measured For each of the images tie residuals are displayed to average adjusted position and also points measurements on image coordinates of projection on image of point s adjusted position For GCP and check points there are also coordinates of projection of initial geodetic coordinates on image Stereopair residuals o residuals max maximal residuals on images for selected point o number of stereopairs where selected point coordinates were measured o by stereopairs displays residuals from mean value and mutual residuals for each stereopair with selected point Type information about point s type whether it is a projection center a code of selected point image code for projection centers is also shown here 17 PHOTOMOD 6 0 2 Block adjustment Images list of images where selected point coordinates were calculated e Strips list of strips where selected point coordinates were measured on one image at least 5 6 List of triangulation points The system provides possibility to view search and edit of triangulation points The Triangulation points window is used t
52. ee Orientation Manage cameras p On step of initial orientation during input of camera parameters user specifies absolute values of principal point coordinates and focal length that is why data for Dx0 Dy0 DF deviations are absent in the Camera column gt If table distortion data was setup during step of camera parameters input so in the Camera column distortion coefficients are shown for this camera The coefficients are obtained as a result of approximation of initial table distortion data using the following formula Xcorr X7 kxr kaxr kaxr PQx r 2Pxy bix b y Yeorr y kyr kayr kayr Py r 2Poxy ax ayy papey 35 PHOTOMOD 6 0 2 Block adjustment where X y coordinates of symmetry point zero distortion in mm k1 k2 k3 coefficients of radial distortion p1 p2 coefficients of tangential distortion al a2 b1 b2 image deformation coefficients As a result of approximation by formula that uses least squares method the distortion coef ficients and root mean square error RMS of approximation are calculated e Adjustment results of self calibration after adjustment operation calculated as a result of adjustment of selected for optimization parameters The Camera parameters self calibration window contains the following buttons used to work with the data of the Coefficients table 8 allows to select all parameters for opti
53. een values of tie point coordinates calculated on different stereopairs e the Include into report section is used to setup display adjustment results in a report o Report on images is used to include adjustment results by images into report o Report on stereopairs is used to include a list of stereopairs and values of ste reoangles convergent angles to report A list of stereopairs is displayed in report only when the adjustment is performed with stereopairs creation i e The Stereopairs checkbox is set on the Images tab of the Parameters window 64 PHOTOMOD 6 0 2 Block adjustment Report on block is used to include adjustment results for the whole block to the report Mark exceeding of limits is used to mark residuals which exceed threshold specified in the Acceptable residuals section es Residuals which exceed threshold are marked by the QUOTE QUOTE symbol Exclude acceptable is used to exclude from the report an information about re siduals within the threshold specified in the Acceptable residuals section Points catalogue is used to include to the report a list of adjusted coordinates of triangulation points X Y Z Show errors is used to add XY residuals values Exy and Z residuals values Ez to a list of adjusted coordinates Include orientation data is used to add to the report coefficients of transfer to image coordinates and coefficients refinements the Image groups
54. efined coordinate system right left Adjustment procedure interrupts only between iterations at that the adjustment results are saved In order to save satisfactory adjustment results click the fal button of the Block adjust ment toolbar Pass to further project processing see the Project creation User Manual The amp button on the Adjustment toolbar is used to restore current block status Also it allows to load adjustment results after project loading When adjustment brings unsatisfactory results and it is necessary to bring the block back to its initial status as it was prior to adjustment launch click the amp button on the Adjustment toolbar 10 Creating adjustment report The system provides possibility to view full statistics of adjustment summary information about adjustment residuals and control data 73 PHOTOMOD 6 0 2 Block adjustment To display adjustment report the button on the Block adjustment toolbar Report LL IBEX Am d Ba B 83 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 Exy metre limit E 0 200 nean absolute 0 105 RMS 0 094 s 0 109 maximum 0 124 a 0 137 number of points differences 6 Control projection centers residuals N Xm Xg metre limit 0 200 mean absolute 0 120 RMS 0 128 maximum 0 193 n
55. ent 1 On block forming step images are distributed to strips depending on a set of initial data 66 PHOTOMOD 6 0 2 Block adjustment Monoblock Different sensors Same sensor Different orbits Same orbit Each image in the Images are formed to separate strip strips using metadata Fig 36 Scheme of monoblock forming in the system 2 Onstep of triangulation points measurement there are the following recommenda tions concerning setup of parameters of automatic tie points measurements 67 PHOTOMOD 6 0 2 Block adjustment Monoblock Different sensors Same sensor Different Use DEM orbits Measure points just between strips without points transfer Number of points per pair 30 i Correlation coefficient is defined by data quality Area for match point search Use DEM 90 200 for different orbits case Measure points just between strips without points for different sensors case measure transfer manually in Points measurement module MITT of points per pair 5 10 Attempts per point 500 Correlation coefficient 0 92 Correlation matrix halfsize 20x20 Area for match point search 50 100 Attempts per point 100 Correlation matrix halfsize 12x12 same orbit Fig 37 Parameters of automatic correlation for monoblock 3 Onthe step of mono block adjustment perform the following actions up It is recommended to perform the mono block adjustment using the method of successive
56. ependent stereopairs adjust ment parameters window opens gt Independent stereopairs adjustment parameters Maximum point distance 1000 Equations weights in bases tie io 8 8F7 7Ft CSt ground control f 00 Optimization algorithm projection centers f 00 Gradient i C Matrix inversion w Use ground control point coordinates Adjustment accuracy 0 5 vw Use projection center coordinates a I i f I low high xc Fig 13 The Independent stereopairs adjustment parameters window o Inthe Optimization algorithm section choose one of the following algorithms e gradient by default e Matrix inversion 29 PHOTOMOD 6 0 2 Block adjustment Method of matrix inversion was used in previous versions of the system and it is developed for relatively small blocks of images up to 500 images 6 Setup parameters of the independent stereopairs method and click OK Parameters of the independent stereopairs method are setup right in the same way as paramet ers of independent strips method 7 3 6 Bundle adjustment method Bundle adjustment method is used for final adjustment When using the bundle adjust ment method aerial triangulation and adjustment are performed for all images at once For adjustment by bundle adjustment method it is not necessary to have images triple overlap available The system provides possibility to perform adjustment of a single im
57. ers XYZ and matrix field click the L button The Open PAT B file exterior orientation parameters window opens 6 Specify a name and path of the file with points coordinates in Windows file system file with ori extension 7 optional In order to swap coordinate system left right during adjustment import in the Coordinates section set the Swap X Y checkbox s If the Swap X Y checkbox is off the initial data will be imported in the right coordinate system Otherwise in the left one 8 optional In order to change a direction of coordinate system if the coordinate sys tems directions are mismatched in the Angles section set the Negate focus checkbox on 9 optional In order to invert a matrix of angles rotation set the Invert matrix checkbox on in the Angles section 10 Click the Import button to complete import from PAT B format to the system To import adjustment results from file which contains coordinates of images projection centers and exterior orientation angles perform the following actions 81 1 PHOTOMOD 6 0 2 Block adjustment Click the z button on the Adjustment toolbar The Adjustment import window opens Import format C AeroSys project C PAT B rotation matrix PAT B angles PAT B point coordinates XYZ yz Exterior orientation parameters YZ and angles cri M Coordinates SwapXY r Angles Negate focus Invert matr
58. f project processing in the system allows to reset block to initial state only for central projection allows to export adjust ment results for further adjustment in third party software only for central projection allows to import adjust ment results obtained using third party software allows to display a window of displaying triangulation points settings allows to show the Triangulation points window with a list of all triangulation points of a project ground control check and tie and also to view search edit and import export points allows to show hide the window with values of RMS mean absolute and maximal adjustment residuals The window is intended for quick results estimation without viewing of detailed report see Section 6 allows to show hide the Point attributes window with information about selected point and possibility to manage a type of points see Section 5 5 allows to select on a block scheme types of points chosen in the window see Section 5 5 4 Adjustment batch mode The system also provides block adjustment in batch mode Perform the following actions to do this 1 Start the server client of distributed processing mode see the Distributed pro cessing chapter in the General information User Manual 2 Choose Orientation gt Adjustment in batch mode or click the amp button on the AT additional toolbar The Parameters window opens 3 Setup parameters of central projec
59. f the parameter not more than 100 bases since when points with distance exceeding 100 bases of survey are considered in adjustment inde pendent strips or stereopairs method may disagree or bring to result with big errors s If there are no blunders in measurements decreasing of the Maximum points distance in bases value results in decreasing of RMS on a block Too small value results in breaking of adjustment operation and shows warning about error due to lack of tie points in triplet 6 Inthe Maximum strip length number of images input field set number of images on which each strip will be divided This parameter is used to decrease a number of systematic errors inside strips which bring to adjustment blunders when strips are more than 20 30 images in length s It is recommended to set the value of the parameter within 10 30 images Strips that have more images will be divided into part of specified size during adjustment procedure 7 Setthe Adjustment accuracy slider to a value at which the system should complete iterative adjustment procedure tz It is recommended to use the value 0 5 it is set by default When it equals 0 5 0 55 the adjustment process converges and provides an optimal ratio accuracy time If you increase the value more than 0 5 the accuracy generally does not improve considerably but pro cessing time may increase very much up to infinite looping of iterations in this case you may use the Stop button to
60. g adjustment procedure the system applies corrections to linear and angular ex terior orientation parameters obtained from images metadata The corrections are 52 PHOTOMOD 6 0 2 Block adjustment polynomials which orders are calculated by the system automatically or are setup by user manually The corrections are setup depending on type of exterior orientation parameters e for linear exterior orientation parameters Along track Across track Radial for angular exterior orientation parameters Roll Yaw Pitch It is recommended to use automatic corrections applying first and then after obtaining adjustment results during analyzing results shown in report or analyzing residuals vectors in the Images and Stereopairs modes it is possible to make a decision whether to setup refinement values manually for some exterior orientation parameters In order to setup the refinement manually select the User defined option in the Refinement polynomial orders section specify a polynomial order or set the it is set on by default if itis necessary to not to submit a refinement Table 2 Interpretation of error vectors caused by inaccuracy of exterior orientation parameters Refinement type Direction of error vector Along track Pitch Across track Roll Radial 8 3 3 RPC method When perform adjustment by RPC method the system uses RPC coefficients from metadata obtained from RSD provider 53 PHOTOMOD 6 0 2 Block adjus
61. g known ground coordinates X Y Z the coordinates on image are calculated and compared with coordinates measured on image During scanner block adjustment in case of stereopairs absence these errors for selected GCP or check point are shown in the Image residuals section on the Information window of the Images tab Error on image in meters is a shift of the point on terrain which is the distance between the point measured on the ground and the point calculated taking into account the exterior orientation parameters 8 5 Recommendations on monoblock adjustment Monoblock is a set of overlapped images which usually have small overlap area Most often a monoblock consists of images acquired from different sensors and with significant time interval between surveys When processing blocks containing images with significant survey time interval work of correlator during automatic measurement of tie points is hampered It takes place due to following reasons e different luminosity parameters survey in different seasons different images resolution change of situation on terrain for example construction of new objects forest cutting appearance of oblique images since off nadir angle differs greatly for different block images datarelative accuracy depends on absolute accuracy of satellite position on the orbit There are the following recommendations for monoblocks processing on different steps of adjustm
62. ges table Statistic data about images group will be opened in a row of the Image groups table number of images selected for group creation and imaging time difference of these images minimal and maximal time duration in seconds tz If imaging time difference is significant more than one minute creation of images group becomes doubtful In this case it is recommended to perform additional research of images overlap areas in the Aerial triangulation module see the Aerial triangulation User Manual Create other images groups from the rest of images shown in the Untied images table Click OK to return to the Images tab of the Parameters window Images groups will be displayed in the Images table On the Report tab in the Image groups section setup display parameters of grouping results in a report and specify image group join threshold It is recommended to set the RMS value less than 1 pixel For images acquired from the same orbit image group join threshold should not exceed 0 01 pixel Click the amp Compute button Click the Report button to view images grouping results in the Image groups section and analyze errors values whether they exceed the threshold specified on the Report tab of the Parameters window tz Tie points used for creating images groups cannot be involved to block adjustment 61 PHOTOMOD 6 0 2 Block adjustment Report l xi A i8 A PR E3 B 85 Report settings Mark exceeding of limits yes
63. he following buttons e 4 allows to set selected point as a GCP A allows to set selected point as a check point e allows to exclude selected check point or GCP from further adjustment x allows to add excluded tie point to adjustment e allows to exclude tie point from further adjustment s When a group of points of the same type check for instance is selected buttons allow to change type of all selected points In order to change coordinates of selected GCP click the Coordinates button in the By coordinates section amp Coordinates button The Triangulation points window PHOTOMOD 6 0 2 Block adjustment opens Double click on point name allows to open the Points measurement module to edit point s position see the Aerial triangulation User Manual In order to change coordinates of selected tie point button in the By ties section click s Measure button The Points measurement window opens where the tie point is displayed on block images see Section 11 Section in the lower part of the Point attributes contains information about selected point s Information field contains any information only when just one point is selected on a block scheme In the section are displayed the following settings of selected point Geodetic information about GCP and check points o reference coordinates initial user defined coordinates of point o reference std dev initial weights of select
64. ial and space cameras it is recommended to use default values For central projection images acquired during close range survey as well as for images of space objects taken from big distance it is recommended to specify the Projection center to object distance m value with accuracy up to order 12 optional Use the Adjustment accuracy slider to specify value of relative adjustment accuracy when it is reached the iteration process of adjustment is completed 13 Click OK to complete parameters setup 7 3 7 Bundle adjustment with self calibration Method of bundle adjustment with self calibration is used if a project contains not full set of camera parameters for example there are no all necessary passport data of camera or if itis necessary to clarify camera parameters see the Aerial triangulation User Manual E Self calibration of camera parameters is automatic calculation of camera parameters correc tions to principal point coordinates and focal length distortion coefficients during adjustment operation A Self calibration of camera parameters is performed only during the bundle adjustment When execute adjustment using other methods specified corrections to camera parameters are con sidered but not optimized If interior orientation is done incorrectly due to absence of some camera data or due to incorrectly specified camera data so self calibration of camera parameters on adjustment step using georeference data GCP
65. iduals tie residuals calculated between strips and inside strips m include singles adjustment residuals on points which coordinates are measured on a single stereopair A It is recommended to set the include singles checkbox on only when it is necessary to calculate the from mean value residuals in the Tie residuals section s During adjustment by independent stereopairs method or by independent strips method residuals on points measured just on a single stereopair equals to zero s During bundle adjustment residuals on points measured just on a single stereopair were less then 0 1 of vertical parallax value on terrain o on images adjustment residuals on images in mm or pixel 42 PHOTOMOD 6 0 2 Block adjustment o exterior orientation angles residuals on angle exterior orientation paramet ers only if the angles are specified in a project were used during adjustment o details is used to display detailed information about residuals including im ages and stereopairs numbers o mark bad points is used to display adjustment residuals which exceed specified threshold o include acceptable is used to display all adjustment residuals including those that fall within specified threshold Exterior orientation parameters is used to display exterior orientation para meters of each image in a report Catalog is used to display in a report geodetic coordinates of all points calcu lated duri
66. inates 86 13 2 3 Control of adjustment performed without projection centers 87 13 2 4 Control of bundle adjustment errors 2 0 0 0 cece ce cec eee ee eee ee eee eeeeaeeeeaeeeeaeaeeeeaeeeeaeeees 87 14 Special aspects of airborne blocks adjustment in the system cccececseceeeceeeeceeeeneeeeaeeeeas 88 14 1 Use the coordinates of projection centers cccccccceceececeeeeceeeeceeeeseeaeseceeeeseeseseeaesass 88 14 2 Survey with big images overlap ssssssssseseseenenenem nemen nenne mener nne nenas 88 14 9 Survey bY Torig TOCus cameras 1 305 5 suena ewes oet eee res eee bee ee 90 14 4 S rvey in different sasos s css hotsi ana sud ocn ED netu petu ND aea endo rn edet er Du MOX Uganda 90 14 5 55 UEtVey Ol 1OreSled ale as wise dodo i veto dino as oiii tee ne eee ee eee 90 14 07 B ndie3dlus ierit osos evum E edo V anus Ba Ed Du Mp d 91 14 7 Tie points measurement on lengthy objects boundaries sseeseseseeeeseseesse 91 Appendix A Exterior orientation angular systems sssssssssesssssseeen mene 91 PHOTOMOD 6 0 2 Block adjustment 1 Purpose of the document This document contains detailed information about block adjustment procedure in PHOTOMOD system s window Here there is a description of project types and methods of block adjustment of both central projection images and scanner images distinguishing features
67. ion e if the errors on both points have a value close to accuracy limit it is recom mended to complete point s validation 3 Check a few closest tie interstrip points all of them or minimum 3 ones regularly distributed in each stereopair overlap where the point exists and some more points in a distance of 1 3 stereopairs 4 Check errors on new tie points measure one tie point in those triplets where the tested point is located check errors on new tie points after adjustment operation The error will appear on really erroneous points 85 PHOTOMOD 6 0 2 Block adjustment If itis impossible to identify erroneous points after all the procedures it is necessary to check other possible sources of errors e interior orientation errors e deformations of some particular image of the block e incorrect choice of objects for points measurements see Section 14 7 To obtain tie points errors that are within a tolerance threshold it is recommended to delete points with maximal error in adjacent stereopairs and to re measure points in this area manually 13 2 Adjustment control with geodetic reference 13 2 1 Control of coordinate system correctness If the adjustment of georeferenced block fails it is necessary to check coordinate system selection In order to detect coordinate system selection perform the following actions 1 Check if it is correct selection of left handed or right handed coordinate system e adju
68. ive value of kappa angle 93
69. ix xe Fig 47 Parameters of import from PAT B format In the Import format section select the PAT B angles format In the PAT B point coordinates XYZ field click the _ button The Open PAT B file point coordinates window is opened Specify a name and path of the file with points coordinates in Windows file system file with xyz extension In the Exterior orientation parameters XYZ and angles field click the button The Open exterior orientation parameters file XYZ and angles window opens opecify a name and path of the file with points coordinates in Windows file system file with cri extension optional In order to swap coordinate system left right during adjustment import in the Coordinates section set the Swap X Y checkbox s If the Swap X Y checkbox is off the initial data will be imported in the right coordinate system Otherwise in the left one optional In order to change a direction of coordinate system if the coordinate sys tems directions are mismatched in the Angles section set the Negate focus checkbox optional In order to invert a matrix of angles rotation set the Invert matrix checkbox in the Angles section 10 Click the Import button to complete import from PAT B format to the system 82 PHOTOMOD 6 0 2 Block adjustment 13 Stages of accuracy control 13 1 Adjustment control in free model 13 1 1 Splitting on subblocks oplitting on subblocks is
70. la and distortion error 7 3 9 Compensation of systematic errors There is a possibility to calculate systematic errors of block measurements automatically and compensate them during block adjustment 38 PHOTOMOD 6 0 2 Block adjustment Systematic error compensation fel E Projection center coordinates GPS Compensation type C do not apply common For block C common for strip Polynomial degree Dependency 1st order polynomial ontime Iv xv 1 C on image number IV z 1 Y Exterior orientation angles constant rotation do not apply C common for block C common For strip TN Fig 19 The Systematic error compensation window The Projection center coordinates GPS section is used to specify Compensation type option to define a type of compensation to be applied to coordinates of projection centers GPS do not apply common for block is used to consider systematic errors in each block common for strip is used to consider errors obtained due to work of GPS device recommended option p It is possible to include calculated values of GPS systematic error to adjustment report If a survey was performed using GPS equipment that was used to define projection centers coordinates it is possible to calculate corrections to these coordinates during adjustment To do this set the appropriate checkbox in the Projection center coordin ates GPS section
71. llowing tasks e to check correctness of stereopair forming from different time images or from images acquired from different sensors set the There are points measured on both images e toform stereopairs in order to create digital elevation model set the Overlap ping area percentage checkbox on and specify overlap value in the At least field in percent and or set the Convergence angle checkbox on and specify a range of angle values to the from to fields in degrees 58 PHOTOMOD 6 0 2 Block adjustment 4 to limit stereopairs forming using number of pixels hitting into images overlap set the Overlapping area pixels count checkbox on and specify the At least value in millions of pixels e to form stereopairs just from images acquired by the same sensors set the Both images were acquired with the same satellite sensor checkbox on to search for images using restriction by survey data set the Time gap checkbox on and specify a number of days in the Doesn t exc days field e to limit stereopairs forming using value of spatial resolution set the GSD difference should not exceed checkbox on and specify the value in the field in percent ts In case when some of the parameters cannot be calculated or recognized on stereo pairs the If can t be estimated option is used the system provides the following two ways Select the Reject in drop down list to ignore stereopairs with mismatched parameters or select Accept to create stere
72. llowing ways e prior to block processing reduce number of images in strips in such a way that images overlap in resulting block will be about 60 Split a block into two subblocks full and reduced Then adjust full block and import the adjustment results into the reduced block Use the full block for orthomosaic creation and the second one for building 3D vector objects or DEMs 89 PHOTOMOD 6 0 2 Block adjustment 14 3 Survey by long focus cameras The main feature of survey performed by long focus cameras is that resulting images are rectangles with considerable difference between width and height To obtain 3D vector objects or DEMs it is not recommended to use survey performed by long focus cameras since considerable height errors occur during the project processing In order to decrease elevation errors on images when perform survey by long focus camera perform the following actions e when possible turn a camera in such a way that image long side will be oriented along flight specify images overlap equal 60 in this case survey basis height ratio will be maximal and therefore height errors during block adjustment will be minimal place and measure interstrip ties in zigzag line if used geodetic network is not dense enough 14 4 Survey in different seasons During processing of images block which contains multi temporal images including those acquired in different seasons there is a problem of
73. mization Ei allows to cancel optimization of all parameters 5 allows to setup 0 value for all parameters in the Initial value column e amp allows to copy all parameters values from the Cameras column to the Initial value column e allows to copy all parameters values from the Adjustment column to the Initial value column e i allows to copy parameter value from selected cell to the Initial value column By default during the very first self calibration of project cameras is used the following scenario all project cameras are selected in the Cameras table for self calibration initial camera parameters are used as initial values of each camera parameters for self calibration i e The data from the Cameras column to the Initial value column are copied automatically s Since absolute values of principal point coordinates and focal length are specified at camera parameters input then in the Initial value column for Dx0 Dy0 DF deviations the O value is shown e the following parameters are selected for optimization during adjustment procedure DF to calculate focal length deviation from its initial value and K1 K2 K3 to calculate distortion coefficient 36 PHOTOMOD 6 0 2 Block adjustment Camera Import Export Standard cameras Camera ac Z x cam Fiducial marks amera type Digital Film digital camera parameters in mm C
74. n gt Manage cameras CtrI Alt tl The Manage project cam eras window opens 13 In the Project cameras list select new calibrated camera cameras autocal x cam and assign it them to project images Click the Execute button see the Aerial triangulation User Manual Click OK 14 Choose Orientation Interior orientation Calculate interior orientation 15 Click the 4 button Settings on the Adjustment toolbar Block will be adjusted considering new results of interior orientation 7 3 8 Parameters of camera self calibration The system allows to setup parameters of camera self calibration The Camera para meters self calibration window is used to do this The window also allows to specify initial values of parameters and define a set of parameters for optimization during ad justment operation Camera parameters self calibration Cameras Calibrate Name Images number m Calibration type Physical Mixed Coefficients Parameter Initial value Optimize Camera Adjustment DxO 0 O DyO r DF 0 K1 2 201647247e 009 2 201647247e 009 K2 3 904209404e 013 3 904209404e 013 K3 1 38193323e 017 a 1 38193323e 017 P1 0 P2 0 E 0 bi 0 E 0 b2 0 a 0 Camera distortion Radial sies Dol ed B OK Cancel Fig 16 The Camera parameters self calibration window The Camera parameters self calibration window contains the following tables e
75. nates see the Aerial triangulation User Manual K allows to display triangulation points with coordinates obtained after adjustment e allows to display only errors The Refresh button is used for refreshing data in triangulation points table after changes 18 PHOTOMOD 6 0 2 Block adjustment The list of triangulation points is a table with the following columns Code an object code e Name image name e Type displays point s type tie GCP check excluded e X Y Z GCr tie point initial coordinates e X Y Z adjusted coordinates of triangulation points e dX dY dZ error values on point The Triangulation points window is synchronized with 2D window when point selecting in 2D window it is also selects in the table Double click by row with point allows to open the Points measurements module to edit point s position The system provides possibility to edit position of triangulation points selected in 2D window in the Points measurements module Perform the following actions to do this 1 Select points in 2D window with one of the group selection instruments see the Vectorization User Manual 2 Inthe Triangulation points click the srg button to show in the table only points se lected in 2D window ooo 3 Inthe Point attributes window click the ga Measure button The Points measure ment module opens see Section 11 In the Triangulation points window is displayed lis
76. ndard color palette of Windows 6 optional To go back to default marker size use the Reset button 7 Click OK to confirm changes 5 3 Points filter It is possible to choose points for display on the block scheme and in the Triangulation points table The Point filter window is used for that To open the Point filter window in the Display options window click the button By coordinates Auxiliary f Iv Ground control IV Geodetic fA M Check V M Targeted v Excluded Iv Projection centers N Iv XYZ points Iv with changed type xY points OF Z points By residual value I No coordinates C We T V all Cow f By ties M single Iv Groun A v around Stereopair Eee IV Triplet E iS e iv strip tie Iv Tie on mages M Non transferred Ls v Used In selected models M Excluded Atleast one iv All Al cea Fig 3 The Point filter window To display points on a block scheme special symbols The Select points window contains the following sections which are used to make points selection using different criteria the By coordinates section is used to select points depending on their coordinates o ground control points ground and projection centers 11 PHOTOMOD 6 0 2 Block adjustment o check points ground and projection centers o excluded points with known coordinates excluded from adjustment o no coordinates point
77. ng adjustment When the print residuals checkbox is set the points catalogue shows residuals on GCP and check points GPS coordinates correction is used to display GPS corrections to projection centers in a report It is recommended to set the GPS coordinates correction checkbox when projection centers are used as GCP and systematic error in GCP coordinates is defined Exterior orientation angles correction is used to display corrections to angular exterior orientation parameters in a report It is recommended to set the Exterior orientation angles correction checkbox on when exterior orientation angles are used during adjustment and to define systematic errors of exterior orientation angles Self calibration results is used to display self calibration results of camera parameters in a report A It is recommended to set the Self calibration results checkbox on only for bundle ad justment operation In this case it is recommended to set the Perform self calibration checkbox on in the Camera parameters self calibration section 2 The Tie residuals section is used to select method of calculation tie residuals between stereopairs e between models tie residuals from difference of the same point positions calculated on each stereopair 43 PHOTOMOD 6 0 2 Block adjustment from mean value tie residuals from difference of the same point position cal culated on each stereopair and its mean adjusted positi
78. nsferred in images overlap on one of the strips it is recommended to perform block adjustment using independent stereo pairs method in free model prior to bundle adjustment Not transferred point points which coordinates are measured only on a single image in one strip itis not measured in overlap of adjacent images in a strip If point s coordinates are measured in adjacent images overlap area it is necessary to check tie points distribution in triplets corresponding to this point If the ties are located in some small area of overlap it is recommended to measure additional tie points on the whole overlap area 13 1 6 Control of errors of tie points measurements In order to detect blunders in interstrip and inside strip tie points measurements it is recommended to perform block adjustment in free model using independent stereopairs method then adjustment the block by bundle adjustment method lt is recommended to alternate two ways of adjustment until obtaining error values that not exceed 75 of tie errors threshold before executing adjustment with GCP since using GCP data leads to increasing of error values The first adjustment should be performed by independent stereopairs method as it is more stable Then it is possible to alternate independent stereopairs with bundle adjust ment To obtain correct error values of interstrip and inside strip tie points measurements that within threshold it is recommended to set surve
79. nsion 3 optional In order to swap coordinate system left right during adjustment import in the Coordinates section set the Swap X Y checkbox s If the Swap X Y checkbox is off the initial data will be imported in the right coordinate system Otherwise in the left one 4 Click the _ button The Destination file window opens 5 Choose a folder to place a file inWindowsfile system 6 Specify file name where to export adjustment results When input a name of some file the same file name and path is set for all selected formats automatically 7 optional To cancel automatic specifying of the same name for all selected formats set the Files autonaming checkbox off 8 optional To correct an accuracy of GCP geodetic coordinates projection centers and exterior orientation parameters edit weight values of these parameters in the 78 PHOTOMOD 6 0 2 Block adjustment Weights section default value is 1 In output file a value of accuracy will be divided by specified weight 9 optional To measure a priory RMS accuracy of points measurements on images set the image measurements value in mm in the Measurements accuracy std dev section ue This is used for less quality source images By default it is set 0 5 pixel 0 005 mm value for measurements obtained from scanned images acquired by precisely calibrated camera s Besides measurements points coordinates on images geodetic coordinates of GCP s exterior
80. o do this To open the Triangulation points window click the button on the Adjustment toolbar or choose Window Triangulation points coordinates Triangulation points Pl fel Ea A se ges Fen Code Name Type x zZ x iy zi dx dy dz 134 260 163 40169P 586 248000 737831 426511 259916 760742 619 924615 589 463000 259849 345000 258080 392000 737988 821000 736405 485000 Ground Control 157 394489 67 415742 33 676615 Ground Control i 7 259 132 129 6719 6720 779 Ground Control Ground Control Ground Control 737810 891000 736702 642000 737124 879000 257589 784000 258651 461000 257793 530000 633 260000 566 595000 612 451000 130 139 145 215 216 217 218 219 220 221 222 970 10 100 102 103 104 105 106 107 108 Ground Control 736273 122000 Tie 259010 329000 581 178000 737344 750618 258347 104308 2292 393383 Refresh Fig 6 The Triangulation points window The Triangulation points window contains the toolbar with buttons used to perform the following operations allows to set on off the filter of triangulation points display me allows to setup the filter of triangulation points display e gfe allows to display all selected on a block scheme points in the table g is used to search for an image by name part of name e i allows to display GC tie points with initial coordi
81. of adjustment results in a report Click OK After that the system checks parameters settings If their values are in correct the tab containing field with incorrect value becomes active and the input field gets red If parameters were specified correctly the Parameters will be closed Click the 4 button to start the adjustment operation To display and analysis of adjustment results in the report window click the button of the Block Adjustment toolbar 46 PHOTOMOD 6 0 2 Block adjustment 9 Incase of satisfactory results of adjustment click the fal button of the Block Adjust ment toolbar to save adjustment data Proceed to step of project processing DEM creation vectorization orthomosaic creation Otherwise in case of poor result correct errors appeared on a step of data collection for aerial triangulation see the Aerial triangulation User Manual and or change settings of adjustment parameters in the Parameters window and start the adjustment operation once more 8 2 The Points tab The Points tab of the Parameters window allows to choose project coordinate system and to setup parameters of calculation accuracy of points coordinates Parameters LE RIelk amp i ie Points Images Report Coordinate system was 84 UTM zone 35N 24deg East to 30deg East northern hemisphere Belart Select Orientation right geo referencing global coordinate system i Points coordinates accuracy Image meas
82. omer requirements to specific project Nevertheless it is necessary to have check points available for objective estimation of adjustment accuracy 9 Adjustment procedure In order to perform adjustment it is necessary to setup parameters of project adjustment and click the J amp Compute button The calculation procedure is started and the window opens where the adjustment operation status is displayed 72 PHOTOMOD 6 0 2 Block adjustment PHOTOMOD 5 25 1578 Oe X 17 12 2013 12 29 23 Refinement 0 054293 17 12 2013 12 29 24 Coordinates delta after iteration across along the sensor maximum 0 19755 0 01807 pix mean 0 01032 0 00302 pix 17 12 2013 12 29 24 Refinement 0 051205 Time elapsed 0 00 05 9 Estimated time left 0 00 00 0 n PITT TTT TTT TTT T More Iteration 6 Difference 0 0512 Fig 41 Window of adjustment procedure status Adjustment operation convergence is represented by the diagram The window also shows iteration number adjustment method and a value of refinement If the iterative process does not converge interrupt the adjustment operation using the Stop button to display a result obtained on current iteration In order to delete all the adjustment results click the Cancel button ts Non convergent adjustment may be caused by relative orientation errors errors in GCP coordin ates or by incorrect adjustment parameters see Section 13 or due to wrongly d
83. on 3 The Acceptable residuals section allows to specify residuals threshold of block adjustment It is necessary to specify acceptable residuals of block adjustment in units of project co ordinate system all the same the same thresholds for all kinds of points In the All section there are the XY and Z fields used to input residual threshold by point type different threshold for each types of points In the the Ground control Check Projection centers Tie Targeted Tie projection centers fields there are the XY and Z fields used to input threshold for each type of resid uals 4 The Scale section allows to specify survey scale used for residuals re calculation from image scale to block scale and vice versa A value of survey scale is calculated automatically during adjustment or is specified manually Mean pixel size on terrain ground sample distance calculated after adjustment is specified in the Mean pixel size GSD input field 5 The Residuals print format section is used to specify format of numeric values of residuals in a report fixed point residuals display with accuracy up to 3 decimal points floating point residuals display with accuracy up to 3 significant digits 6 The Model section is used to specify format of exterior orientation angles system see Appendix A Alpha omega kappa are used in Russian coordinate systems e omega phi kappa are used in international co
84. on in relation to default value up Optimal value could be selected experimentally and could be both 1 and up to 0 01 8 3 4 Generic adjustment method Generic method supposes using affine and parallel perspective model or DLT Direct Linear Transformation algorithm and allows to process any scanner images including IRS LandSat etc However at that it is necessary to have more GCP per stereopair as compared to rigorous algorithm at least 4 GCP recommended 10 GCP see Sec tion 8 6 For orthomosaic processing for example to process images acquired by SPOT 5 with 2A processing level see more details in description of satellite system only generic adjustment method is used 55 PHOTOMOD 6 0 2 Block adjustment Parameters FT T E pB kB e Points Images Report m Images Adjustment parameters SCENE 5 123 254 Generic SPOTS HRG1 0 370624 mos SCENE 5 125 254 Generic SPOTS HRG1 19 2562 C RPC SCENE 5 123 255 Generic SPOTS HRG1 0 970858 enc SCENE 5 125 255 Generic SPOUTS HRG1 19 2555 SCENE 5126 255 Generic SPOT5 HRG2 7 5036 Import adjustment SCENE 5 125 256 Generic SPOTS HRG1 18 2548 aw Stereoscopic processing SCENE 5 126 256 Generic SPO T5 HRG2 7 60284 cy Create stereopairs by strips C Create stereopairs manually El View Edit stereopairs list w Use adjustment result to create epipolar images M Computing device C
85. opairs anyway optional To show stereopair s description select the stereopair from the Ste reopairs found table and click the Stereopair properties button The Save button allows to save stereopair s description in the text file Click OK to return to the Stereopair editor window 6 Toform stereopairs manually perform the following actions 1 4 Select first image from the Project images table and click the left 4 button in the Stereopair section Select second image from the Project images table and click the right 44 button in the Stereopair section Click the Create button to confirm and add stereopair to the Stereopairs list table Otherwise click the Clear button Repeat actions from p 6 1 6 3 to create more stereopairs 7 optional To edit a list of created stereopairs use the Delete selected and theDelete all buttons located under the Selected image s stereopairs and Ste reopairs list tables 8 Click OK to create stereopairs for their further use in the adjustment procedure Otherwise click the Cancel button 59 PHOTOMOD 6 0 2 Block adjustment 8 3 6 Groups of images acquired from the same orbit The system provides opportunity to create group of images acquired from the same orbit that allows to use less GCP for scanner block adjustment It is enough to use 4 GCP per each image group The system provides possibility to create images groups automatically by sensor type survey time and off na
86. or with intersection angle in range from 25 to 40 degrees Stereopair editor i CIE XI Project images Selected image s stereopairs Imaging date and time Strip 4 r10_00235 1_093 4s_p0 0161 r10_00235 1 ri0 00235 1 093 4s p0 0162 r10 00235 1 ri0 00235 1 093 4s p0 0163 r10 00235 1 r10 00235 1 093 4s p0 0164 r10 00235 1 r10_00235 1_093 4s_p0 0165 r10_00235 1 r10_00235 1_093 4s_p0 0166 r10 00235 1 r10_00235 1_093 4s_p0 0167 r10 00235 1 ri0 00235 1 093 4s p0 0168 r10 00235 1 r10_00235 1_093 4s_p0 0169 r10_00235 1 r10_00235 1_093 4s_p1 0160 r10_00235 1 r10_00235 1_093 4s_p1 0161 r10_00235 1 r10_00235 1_093 4s_p1 0162 r10_00235 1 r10_00235 1_093 4s_p1 0163 r10 00235 1 r10_00235 1_093 4s_p1 0164 r10_00235 1 r10_00235 1_093 4s_p1 0165 r10_00235 1 r10_00235 1_093 4s_p1 0166 r10_00235 1 r10_00235 1_093 4s_p1 0167 r10_00235 1 r10_00235 1_093 4s_p1 0168 r10 00235 1 r10_00235 1_093 4s_p1 0169 r10_00235 1 x Delete selected Stereopairs list First image name Second image name rio 00235 1 093 45 p1 0163 10 00235 1 093 45 _p1 0168 e lo l gt lo le lo lo lo lc lo l gt lo lo lo lo l gt lo lo lo I aa m Stereopair Festina Image name Image name rio 00235 1 n93 4s _p1 0163 r10 _00235 1 n93 4s _p1 0168 Strip Strip rio D0235 1 093 4s pi 0163 10 D0235 1 093 4s pi 0168 i W Create by strips x Delete selected x Clear gt Creat
87. 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 12 Data export and import 12 1 Export of initial data The system provides opportunity to perform export of source data for further adjustment in third party software The system allows to export data to AeroSys software format as well as to PAT B format Export or import of adjustment data is only possible in projects of central projection images For source data export perform the following actions 1 Click the button on the Adjustment toolbar The Export options window opens Export options fel xi Export formats V AeroSys project aer C import export export aer w PAT B point coordinates XYZ yz C import export export xyz K J PAT B exterior orientation parameters YZ and matrix ori C Simport exportsexport ori T Exterior orientation parameters XYZ and angles cri c import exportexport cri Images measurements im c import export export im J Files autonaming SwapXY W eights ground control points ron 0 projection centers ion 00 exterior orient ang omega ion phi fi 000 ka
88. ordinate system see Ap pendix A 7 The Angle units section is used to setup format of angles measurements units radians degrees 44 PHOTOMOD 6 0 2 Block adjustment gons plane angle measurement unit that equals to 1 100 of flat right angle measurement unit and full angle is 400 gons 8 Adjustment of scanner blocks 8 1 Workflow of scanner block adjustment At that preliminary parameters setup is required A set of the parameters depends on method of scanner data processing rigorous generic or RPC method detailed inform ation about algorithms of space images processing see in the Project creation User Manual For setup of adjustment parameters the system provides dedicated mode for adjustment of scanner block acquired by ADS 40 80 100 digital sensor The Parameters window is used to setup parameters of adjustment accuracy select adjustment method procedure as well as to setup a content of adjustment results report Parameters EH Ea Ponts coordinates accuracy Image measurement RMS E pec Unity weaghbed geodehbc coordinates accuracy plane fi m heigl m Orientation right geo referencing global coordinate system Points urage Lise tes in block adpstment fo mn Coordinates delta threshold pi M DTM for adjustment f Do mot use C Use DEM C Use constant elevation o 0m Fig 22 The Parameters window toolbar 45 PHOTOMOD 6 0 2 Block adjustment A toolbar in
89. orientation parameters the a priory accuracy of these measurements is written to the exported files as well 10 optional In order to export adjustment results in necessary measurement units in microns for example in the Image measurements scaling input field input a coefficient which all measurements will be multiplied by 11 Click OK to complete the export operation 12 2 Import of adjustment results The system provides opportunity to perform import of adjustment results obtained using third party software Export or import of adjustment data is only possible in projects of central projection images For import of adjustment results obtained in the AeroSys software or other software packages it is recommended to choose Cartesian coordinate system for the system project otherwise XY and Z residuals may occur in coordinates of images projection centers To import adjustment results obtained in the AeroSys software perform the following actions 1 Click the button on the Adjustment toolbar The Adjustment import window opens 19 PHOTOMOD 6 0 2 Block adjustment Import format AeroSys project C PAT B rotation matrix C PAT B angles AeroSys project aer M Coordinates SwapXY xe Fig 45 Parameters of import from AeroSys project 2 Inthe Import format section set the AeroSys project format 3 Click the _ button The Open AeroSys project window opens 4 Specify
90. ouping of images that are used for adjustment procedure select the User defined groups option p Images groups are used only for images acquired from the same orbit optional For automatic creating of images groups by ties with automatic filtering of incorrect ties select the Auto groups parameter In order to display information about filtered ties in a report select Detailed report option in the Image groups section of the Report tab Click the Apply or Apply to all button to apply setup parameters to selected image or to all images of a block correspondingly 8 3 2 Rigorous method of adjustment When perform adjustment by rigorous method the system considers exterior orientation parameters from images metadata obtained from RSD provider 51 PHOTOMOD 6 0 2 Block adjustment Parameters FT T E pB ekr Points Images Report Images M Adjustment parameters Name Netied Sensor Oifrati angle Metos SCENE 5123 254 Rigorous SPOTS HRG1 0 970624 ucc ISCENE 5125 254 C Rigorous SPOTS HRGl 19 2562 RPC SCENE 5123 255 Rigorous SPOT5 HRG1 0 970859 P SCENE 5125 255 C Rigorous SPOT5 HRG1 19 2555 SCENE 5126 255 Rigorous SPOT5 HRG2 7 6036 Import adjustment SCENE 5125 256CRigorous SPOT5 HRG1 19 2548 H7 Stereoscopic processing SCENE 5 125 256 C Rigorous SPOTS5 HRG2 7 50284 cy Create stereopairs by strips C Create stereopairs manually View Edit stereopairs list v Use adjus
91. parameters v Overlapping area percentage Overlapping area pixels count Convergence angle Time gap GSD difference does not exceed There are points measured in both images At least fio wo At least fi million From 10 to oo P Both images were acquired with the same satellite sensor Doesn t exceed oi days TPH HeBO3MOXHOCTH BBIHHCRHTb If can t be estimated If can t be estimated If can t be extimated If can t be estimated If can t be estimated Reject Reject Reject M Reject si Reset search parameters Stereopairs Found po 878967 rgb 0000000 po 878967 rgb O00D001 13 13 975038854903 41 848 po 878967 rgb DODDODO po 878967 rgb D010000 12 89 5948580542324 279 911 31 po 878967 rgb 0000000 po 884875 rgb D0D0000 O 18 3511441232405 58 364 11 po 878967 rgb D000000 po_884875_rgb_0000001 O 11 3414559006556 36 071 11 po_878967_rgb_0000000 po 884875 rgb 0010000 0 15 6082251926227 49 574 31 po 878967 rgb 0000000 po 884875 rgb 0040000 22 90 8580680650696 288 972 0 po_878967_rgb_0000000 po 884875 rgb_0050000 11 87 5491539750325 270 08 31 po_878967_rgb_0000001 po 878967 rgb 0000002 25 19 8732399084136 59 509 0 b Delete All X Cancel Fig 30 Parameters of stereopairs search by overlaps 2 Setone or multiple checkboxes to search for maximal number of stereopairs using selected parameters depending on the fo
92. ppa io Measurements accuracy std dev image measurements 0 005000 mm Image measurements scaling 1 000 Jf OK X Cancel Fig 44 Export parameters T PHOTOMOD 6 0 2 Block adjustment 2 n the Export formats section set one or multiple formats checkboxes to which it is necessary to export the data e AeroSys project is used to perform further adjustment in theAeroSysprogram Files of this format has the aer extension s During export to AeroSys format all measurements of the system project are exported to AeroSys project see the official web site of AeroSyscompany he PAT B point coordinates XYZ format is used to perform further adjust ment in third party software File of this format contains coordinates of measured points in meters Files of this format has the xyz extension The PAT B exterior orientation parameters XYZ and matrix format is used to export coordinates of images projection and matrix of angular exterior orientation parameters Files of this format has the ori extension Exterior orientation parameters XYZ and angles is used to export coordin ates of images projection and angular exterior orientation parameters Files of this format has the cri extension e Images measurements is used to perform further adjustment in third party software File of this format contains coordinates of measured points in pixels Files of this format has the im exte
93. rotation section are used only for bundle adjustment method gt The corrections are as follows A Qo Ag A Ag A K k where A coefficients calculated at adjustment 7 3 10 Select subblock The system allows to perform adjustment just for a part of a block subblock To perform subblock adjustment perform the following actions 1 Click the button on the Adjustment toolbar The Parameters window opens 2 Click the Adjustment tab 3 Setthe Adjust subblock checkbox 4 Click the Select subblock button The Select subblock window opens 40 PHOTOMOD 6 0 2 Block adjustment Select subblock Pije X 3B EE SEE em om Gee GN M 673 680 C 680 C 679 678 C 677 C 676 C 675 1674 C 673 1 V 664 671 664 V 665 C 666 v Se C 668 C 669 O 670 O 671 s Fig 20 The Select subblock window 5 Select images to define a subblock content using the following tools of images selection 8 allows to select all images in the list ER allows to deselect all images in the list gE allows to inverts images selection fs allows to select highlighted images DE allows to unselect highlighted images Wa allows to select the images that are highlighted on block scheme in 2D window ae allows to highlight on block scheme in 2D window the images selected in the list 6 Click OK 7 4 The Report tab The Report tab is intended for set
94. s without geodetic coordinates if the checkbox is set off only ground control points are displayed o all allows to set on off all checkboxes of section XYZ XY and Z points checkboxes allows to choote type of displayed ground control tie and excluded points the By ties section is used to select points depending on number of point s coordinates measurements on image o single points not measured on any stereopair o stereopair points measured on at least one stereopair o triplet points measured at least in one triplet O strip tie points measured in interstrip overlap o non transferred tie points not measured on adjacent images o Used tie points used in adjustment O Excluded tie points excluded from adjustment o All allows to select unselect all points mentioned in the section the Auxiliary section is used to select points depending on their type o Geodetic tie points which are not targeted and projection centers o Targeted targeted points o Projection centers projection centers o with changed type points with type that was changed during adjustment the By residual value section allows to select points depending on residual value on the point o Worst points points with maximal residuals number of points to be displayed is specified in the appropriate field o Over acceptable residuals points with residuals exceeding threshold 12 PHOTOMOD 6 0
95. st block in the Cartesian right handed coordinate system e adjust block in the Cartesian eft handed coordinate system compare the adjustment results and check for residuals 2 Selecting of the coordinate reference system type window opens Check correctness of a type of used coordinate system by comparing coordinates of 3 GCP that are clearly not lie along a straight line with their location on block scheme before ad justment 3 Make sure that there are no input mistakes in coordinates presence of typos in coordinates extra digits missed digits incorrect zone number 13 2 2 Control of adjustment performed using projection centers co ordinates In order to define errors of adjustment with specified projection centers coordinates perform the following actions 1 Select GCP with a blunder on a block scheme 86 PHOTOMOD 6 0 2 Block adjustment 2 Inthe Point attributes window click the amp button to change selected GCP into check point 3 Click the amp button on the Block adjustment toolbar to perform a block adjustment 4 Check for the presence of the random component of the error If there is a big constant Z error in a block after adjustment it is recommended to check camera focal length and coordinate system selection If there is a big systematic Z error in a block after adjustment Z error vectors in a block center are directed to opposite side in relation to vectors located on the edges of a block
96. t and Invert buttons are used to perform corresponding operations with selected types of points 5 5 The Point attributes window The system provides possibility to view such attributes of triangulation points as type coordinates and residuals The Point attributes window is used to do this To open the Point attributes window click the amp 3 button on the Adjustment toolbar 15 PHOTOMOD 6 0 2 Block adjustment Point attributes xi Selected point fiaa M9 g M Type by coordinates Control Al Check MA _ Excluded amp Coordinates Type by ties x V Tie gt C Excluded Bon Measure Geodetic reference coordinates reference std dev adjusted coordinates residuals residuals max number of images images Stereopair residuals residuals max number of stereopairs by stereopairs Type Images Strips Fig 5 The Point attributes window for selected point The Point attributes window consists of two sections in the upper part of the window the editing panel is displayed in the lower part of the window there is informational panel The Selected point field shows a name of highlighted point if a single point is highlighted Or it contains a message about number of highlighted points s A type of highlighted point is checked in the appropriate field of the Type by coordinates section The Type by coordinates section contains t
97. t of points selected in 2D win dow 4 Edit points position and click OK to return to the adjustment step 6 Brief residuals report The system 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 19 PHOTOMOD 6 0 2 Block adjustment Residuals RMS Mean abs value Max Ex Ey Ez Exy metre ground control points 157 394 67 416 33 677 171 225 control projection centers 257 024 110 089 54 994 279 609 Stereopair residuals tie points From mean 0 000 0 000 0 000 mutual 0 000 0 000 0 000 mutual 0 000 0 000 0 000 tie projection centers from mean 0 000 0 000 0 000 mutual 0 000 0 000 0 000 Image residuals Ex Ey Exy mm tie points 8 049 20 170 21 717 targeted points 0 000 0 000 0 000 Sigma 0 506 751 Fig 7 The Residuals window The 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 pro jection centers mutual and from mean residuals eG If adjustment is performed by bundle adjustment procedure the Sigma 0 value is calculated
98. tation parameters and perform the following actions 22 1 2 PHOTOMOD 6 0 2 Block adjustment Click the button on the Adjustment toolbar The Parameters window opens Click the Adjustment tab In case of georeference data is unavailable or not enough it is recommended to perform adjustment in free model To do this set the Free model checkbox and select one of the following georeference models free during adjustment the system performs rotation zoom and shift of projection centers coordinates in such a way that X Y Z coordinates of projection center of the first image of block are 0 0 0 of the second b 0 0 where b value of basis in meters specified in the Basis field by block scheme during adjustment the system performs rotation zoom and shift of projection centers coordinates in accordance with block layout gt Adjustment in free model allows to perform control of blunders in tie points measurements In the Approximation computing method section choose method and specify parameters of first approximation e independent strips during adjustment independent models by images in each strip are creating using tie points between images and further joining to common model After that performs orientation by GCP in selected geodetic coordinate system p It is necessary to have enough amount of points measured in triplets to use method of independent strips This allows to quickly adjust block which
99. the Cameras is used to select cameras to be calibrated 34 PHOTOMOD 6 0 2 Block adjustment the Coefficients is used to define initial parameters values to select optimization parameters and perform analysis of parameters values calculated during adjustment e a toolbar that contains buttons used for work with data of the Coefficients table The Calibration type section allows to choose method of camera self calibration coefficients calculation In most cases it is recommended to choose the Physical calib ration type The Coefficients table contains the following columns Parameter list of the following camera parameters o Dx0 offset from the principal point by X in mm o Dy0 offset from the principal point by Y in mm o DF deviation from focal length value in mm o KI K2 K3 coefficients of radial distortion o P1 P2 coefficients of tangential distortion o b1 b2 coefficients of image deformation Initial value initial parameters values that are used during self calibration in adjust ment operation Optimize selection of parameters for optimization during adjustment operation considering initial values To enable parameter optimization click on the after that the sign is shown in the column In order to unselect optimization parameter it is necessary to use one more mouse click Camera initial data of camera specified on interior orientation step in the Camera window s
100. the upper part of the Parameters window is intended to save load paramet ers settings on all tabs of the window and contains the following buttons e allows to load parameters settings saved previously to active profile resources EX allows to save all parameters settings to x ini file located in the ProjOption project folder in active profile resources i allows to load parameters settings from project name gt options x solver s file located in a folder of Windows file system lal allows to save parameters settings to project name gt options x solver s file located in a folder of Windowsfile system amp allows to restore default parameters settings In order to adjust scanner images block perform the following actions 1 Click the button of the Block Adjustment toolbar The Parameters window opens On the Points tab select coordinate system and setup parameters of adjustment accuracy and points use On the Images tab choose method and parameters of adjustment Click the Apply to all button to apply adjustment settings to all project images or click the Apply button to apply all adjustment settings to a single image selected in the Images table On the Report tab specify values of the following acceptable residuals for control check and tie points e acceptable residuals RMS of grouping of images acquired from the same orbit if there was any grouping Setup display parameters
101. tie points measurement If images strips were acquired in different seasons then during tie points measurement in image areas where interstrip stereo visualization is impossible it is recommended to measure a tie point on the same object individually in each strip When measuring tie points on the ground level it is necessary to consider a refinement on height difference of grass cover which covers an object footing In images strips acquired in different seasons it is recommended to measure tie points on artificial objects power lines pillars buildings roads 14 5 Survey of forested areas During processing of images block which contains huge forested areas there is a problem of tie points measurement When processing such a survey a residual of neighboring strips exceeds an error that caused by incorrect point positioning Adjustment accuracy in areas with continuous forest cover and in neighboring areas may be impaired If itis impossible to exclude densely forested areas from images block processing it is recommended to measure tie points on artificial objects power lines pillars buildings roads 90 PHOTOMOD 6 0 2 Block adjustment 14 6 Bundle adjustment During bundle adjustment operation in the Stereopairs mode of working window occurs deviation from mean adjusted position of interstrip ties points by elevation on different stereopairs to the same side Height deviation is determined by the X parallax on inter s
102. tion and block adjustment by all images at once is used for final adjustment In the Tie point rejection section specify conditions of triangulation points filtering worst points to filter specified number of tie points with maximal residuals over acceptable residuals to filter tie points where residuals values exceed preset threshold on the Report tab In the Reject on one iteration input field specify number of points to be rejected in accordance with specified filtering conditions on each step of iterative procedure of adjustment optional For automatic calculation and compensation of systematic measurement errors click the Systematic errors compensation button optional For automatic calculation of camera parameters during adjustment if in project using incomplete set of camera data or when it is necessary to refine the data set the Perform self calibration checkbox and click the Self calibration parameters button optional In order to select project images for adjustment set the Adjust subblock checkbox and click the Select subblock button optional The Consistency check checkbox allows to check availability of all source data that are required to adjustment If any data is not available the error message displays and adjustment process doesn t start If the Approximation computing method by a block scheme and the bundle adjustment A method were chosen consistency check doesn t perform regardless of the
103. tion or scanner image block adjustment 4 Click OK Distributed processing tasks are created and the system shows a message about number of created tasks PHOTOMOD 6 0 2 Block adjustment 5 Objects displaying settings 5 1 Parameters of points and error display on a block scheme The system provides setup of display of triangulation points on the block scheme and display errors on points To setup objects display is used the Display options window Click the button on the Adjustment toolbar to open the window Display options Eg Sa oy x i ow We Mode Block scheme r Point display settings Show method symbols C points Point size 5 pix Show names C All Selected C Dont show r Show errors By ground XY By ground Z By ties between stereopairs XY IV By ties between stereopairs Z By ties on images On excluded points m View errors scale real Magnification 1000 0 C screen Scale 16 0 pix fim Fig 1 Parameters of triangulation points display The Display options window contains the toolbar with buttons used to perform the following operations fs allows to display a list of points symbols on a block scheme allows to set on off the filter of triangulation points display 59 allows to setup the filter of triangulation points display In the Mode field is displayed chosen mode of block scheme it depends on active 2D windo
104. tment Parameters FT T E pB kB e Points Images Report m Images Adjustment parameters SCENE 5 123 254 RPC SPOT5 HRG1 0 970624 f Rigorous SCENE 5 125 254 C RPC SPOTS HRG1 19 2562 RPC SCENE 5 123 255 C RPC SPOTS HRG1 0 970858 Rarenc SCENE 5 125 255 C RPC SPOT5 HRG1 19 2555 SCENE 5 126 255 C RPC SPOTS HRG2 7 5036 Inport adjustment SCENE 5 125 256 C RPC SPOTS HRG1 18 2548 aw Stereoscopic processing SCENE 5 126 256 RPC SPOT5 HAG2 7 60284 cy Create stereopairs by strips C Create stereopairs manually View Edit stereopairs list v Use adjustment result to create epipolar images M Computing device CPU ba Select m Parameters Refinement Auto Bias C Bias and drift d i Adjustment steps v Use adjustment steps Steps No groups Auto groups X Cancel Fig 26 Parameters of images adjustment using RPC coefficients The Refinement section allows to select one of the following types of corrections which are applied to RPC coefficients during adjustment e Auto a correction type is defined automatically by number of GCP and tie points Bias constant correction will be applied to RPC Affine affine correction will be applied to RPC None no correction will be applied to initial RPC this parameters is used for ex ample to check correctness of GCP or project coordinate system Parameters of the P
105. tment result to create epipolar images Computing device CPU Select Parameters P Perform independent refinement Separate position and attitude refinement Refinement polynomial orders Auto I Adjustment steps w Use adjustment steps Steps No groups C Auto groups X Cancel Fig 25 Parameters of rigorous method of adjustment The rigorous method provides two ways of adjustment Perform independent refinement allows to adjust block images individually along with applying of polynomial corrections i e each image is adjusted considering just GCP measured on the image without using ties with other block images Independent refinement is applied to obtain initial approximation for block adjustment or is used as a main operation of single image orientation in case of excluding this image from block adjustment If the Separate position and attitude refinement checkbox is set the system applies corrections to linear and angular exterior orientation parameters by turns Involve into block adjustment by default allows to adjust the whole images block using both GCP and tie points along with applying of polynomial refinements under condition that the Use ties in block adjustment checkbox is set on the Points tab To perform correct adjustment by rigorous method it is recommended to use default settings Durin
106. to adjust sub blocks using independent strips method in free model In case of long strips 20 bases the errors might exceed calculated ones in 10 20 times It is recommended to split on parts strips with length more than 10 20 bases In order to detect errors within a threshold it is necessary to specify a survey basis with accuracy of 30 5096 Operation of checking correctness of specified basis is performed after adjustment in the Parameters window on the Report tab in the Scale section by calculated value of survey scale 83 PHOTOMOD 6 0 2 Block adjustment In order to obtain correct error values in meters it is necessary to specify a survey basis with accuracy of 30 50 Correctness of specified basis checks after adjustment in the Parameters window on the Report tab in the Scale section by calculated value of survey scale For blocks with strips of moderate length up to 15 images itis recommended to adjust the whole block using independent strips method in free model 13 1 4 Intermediate control of tie measurements blunders After control of adjustment that was performed by independent strips method in free model it is recommended to execute control tie points measurement blunders using adjustment by independent stereopairs method The errors that are not exceeding 2 4 thresholds are acceptable 13 1 5 Blunders detection on interstrip not transferred points In order to detect blunders in interstrip points non tra
107. triangulation User Manual exterior orient ang omega phi kappa input field for weight of exterior orientation angles Accuracy of exterior orientation angles are setup in the Catalogue of exterior orientation parameters see the Aerial triangulation User Manual optional In order to use GCP measurements for adjustment by default the Use ground control point coordinates checkbox is set on Set the checkbox off and the system will not use the data for adjustment optional In order to use projection centers coordinates for adjustment by default the Use projection center coordinates checkbox is set on Set the checkbox off and the system will not use the data for adjustment optional In order to use exterior orientation angles for adjustment by default the Use exterior orientation angles checkbox is set on Set the checkbox off and the system will not use the data for adjustment 10 In the Minimize residuals section choose one of the following options e in order to obtain more accurate result select residuals minimization on images 31 PHOTOMOD 6 0 2 Block adjustment e in order to obtain less accurate but more robust result select residuals minimiz ation in 3D space 11 The Projection center to object distance m input field is used to specify paramet ers to filter points with blunders minimal and maximal distance from projection centers to objects in meters s For central projection images taken by aer
108. trip tie points located in stereopairs formed by images of different strips During adjustment using independent stereopairs method a deviation from mean adjusted position by elevation doesn t occur 14 7 Tie points measurement on lengthy objects boundaries If the boundary or its vicinity has no any other objects that are located along the boundary that are crossing the boundary common irregular background or boundary curvature it is not recommended to measure a tie point in the boundary vicinity ts Lengthy objects boundaries boundaries of objects and objects themselves roads tracks arable lands consisting of parallel furrows and other similar objects Appendix A Exterior orientation angular systems The angular exterior orientation parameters are calculated and included to the report as omega phi kappa or alpha omega kappa system of angles Rotation sequence in omega phi kappa angular system a Fig A 1 Rotation about X axis at a positive value of omega angle b 91 PHOTOMOD 6 0 2 Block adjustment Fig A 2 Rotation about Y axis at a positive value of phi angle c Fig A 3 Rotation about Z axis at a positive value of kappa angle Rotation sequence in alpha omega kappa angular system a Fig A 4 Rotation about Y axis at a negative value of alpha angle b 92 PHOTOMOD 6 0 2 Block adjustment f nT ar Fig A 6 Rotation about Z axis at a posit
109. trol points coordinates errors of tie points positioning etc e independent stereopairs method is used to increase accuracy of adjustment results obtained during initial approximation calculation to recognize small errors and in case of acceptable results for final adjustment e Bundle adjustment is used for final block adjustment s In many cases it is advisable to use independent stereopairs method and bundle adjustment alternatively to recognize and fix small errors PHOTOMOD 6 0 2 Block adjustment e Free model block adjustment without georeference data When free model is created itis possible to pass directly to project processing vectorization TIN and DEM cre ation Therefore when GCP coordinates will be obtained the main work with project will be completed After interior and relative orientation it is necessary to measure GCP coordinates and adjust a block in selected coordinate system After that all data obtained during pro cessing project vector objects TIN and DEM created in free model will be transformed in selected coordinate system The system provides the following adjustment methods for adjustment of scanner images block e Rigorous method the method allows to consider exterior orientation parameters from metadata obtained from RS data provider e RPC method the method uses RPC coefficients from metadata obtained from RS data provider e Generic method the method uses parallel perspecti
110. umber of points differences Fig 42 The window of adjustment report The toolbar of the Report window contains the following buttons allows to refresh the report 4 allows to start search in report s text Ctrl F fal allows to save a report into text file s 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 system resources amp allows to print a report The adjustment report displays the following values residual values calculated on GCP check tie points and projection centers for the whole block and for each point e catalogue of points coordinates images exterior orientation parameters 74 PHOTOMOD 6 0 2 Block adjustment e GPS corrections corrections for exterior orientation parameters s Report content is setup on the Report tab of the Parameters window see Section 8 4 and Section 7 4 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 Xg Yg Zg geodetic value of points coordinates specified by the user for GCP and check
111. up of adjustment results display as well as for setup parameters of errors display on a block scheme 41 PHOTOMOD 6 0 2 Block adjustment Parameters E rs E Coordinate system Adjustment Report Include in the report Acceptable residuals w Residuals allthe same v control check C by point type v onstereopairs All tie and pass residuals include singles ay 0 200 m J on images E 0 200 m Iv ixi orientation angles DR 2 details 1 11258 v mark bad points Mean pixel include acceptable size GSD m 0 80 Exterior orientation parameters Residuals print format fixed point Catalog print residuals GPS coordinates correction C floating point Model d alpha omega kappa Exterior orientation angles correction Er 9 pp MA C phi k Self calibration results omega phi kappa Tie residuals Units between models radians C gons C from mean value C degrees 4x Compute X Cancel Fig 21 The Settings window The Report tab contains the following parameters 1 The parameters group Include in the report is used to setup adjustment results display in report Residuals in report display the following types of residuals o control check adjustment residuals on GCP and check points o on stereopairs adjustment residuals on points which coordinates are changed at least on a single stereopair m tie and pass res
112. urements RMS 0 5 pis r Unity weighted geodetic coordinates accuracy plane 1 m height 1 m Points usage w Use ties in block adjustment 0 01 Coordinates delta threshold pix DTM for adjustment Do not use C Use DEM C Use constant elevation fa Fig 23 Parameters of adjustment The Points tab contains the following parameters the Coordinate system section is used to display project coordinate system The Select button allows to change current coordinate system of a project detailed in formation about selection of coordinate system see in the Project creation User Manual the Points coordinates accuracy section is used to specify accuracy of pixel on image and geodetic on ground points coordinates included to adjustment 47 PHOTOMOD 6 0 2 Block adjustment o Image measurements RMS pix a priori accuracy of measurements of GCP and tie points on images if the latter were used for adjustment o Unity weighted geodetic coordinates accuracy a priori measurement errors of GCP coordinates in plane X Y and height Z which weight equals 1 ts Unity weighted accuracy of plain and height geodetic coordinates are setup in the same units as those used in project coordinate system the Points usage section is used to setup using excluding tie points in from adjustment operation the checkbox is set by default tz Coordinates delta threshold pi
113. ve model or Direct Linear Transformation DLT algorithm that allows to process any scanner images including IRS LandSat etc However this requires more ground control points per stereopair as compared to rigorous method Import of adjustment import of images exterior orientation parameters from metadata for ADS 40 80 100 projects After images block adjustment the system provides possibility to view adjustment report for adjustment accuracy control to edit points position for adjustment errors recovery to save and export adjustment results of block scheme Besides the system allows to import adjustment results acquired in third party software packages for further project processing using these data 3 The Block adjustment toolbar The Block adjustment additional toolbar is used for adjustment of images block To show the Block adjustment toolbar choose the Orientation Block adjustment Ctri Alt S or click the i button on the main system toolbar Table 1 The Block adjustment toolbar E allows to load or restore current status of a block load adjustment results after reloading project allows to open window used to setup parameters of block adjustment see Section 7 and Section 8 PHOTOMOD 6 0 2 Block adjustment allows to start the adjustment procedure allows to open window with results of block adjust ment see Section 10 allows to save results of block adjustment in order to pass to the next stage o
114. w Block scheme or Image Triangulation points are not displayed in the stereopair 2D window The Point display settings section allows to setup the following parameters e The Show method of points o symbols allows to display all points by symbols PHOTOMOD 6 0 2 Block adjustment o points allows to display by points and also to specify the point size in pixels e Show names the following points in 2D window o All points o Selected points o Don t show points names on a block scheme The Show errors section allows to choose errors of different types to display in 2D window By ground XY vector with beginning in point s center directed to specified point s position with small circle at the end By ground Z vertical vector with small horizontal bar at the end s Vectors mentioned above are displayed by green color if residuals are within specified threshold If the residuals exceed the threshold they are shown by red color By ties between stereopairs XY sidelong cross with size proportional to residuals values by X and Y e By ties between stereopairs Z vertical line directed symmetrically up and down in relation to point the line s size corresponds to residuals values by Z By ties on images circle with center in point s center and with size proportional to residuals values p Vectors mentioned above are displayed by dark green color if residuals are within specified threshol
115. x minimal difference between point s position in pixel co ordinates calculated on adjacent iterations using exterior orientation parameters during ad justment operation When the parameter is reached iterative operation is terminated s It is recommended to setup this threshold value in range from 0 01 to 0 2 pixel e the DTM for adjustment section is used to consider DEM or specified constant elev ation in adjustment o Do not use to perform adjustment without DEM o Use DEM allows to use DEM from file out from active profile resources up The system memorizes the last used DEM o Use constant elevation allows to use constant elevation of relief instead of DEM lt lt It is recommended to perform adjustment of projects with images of flat terrain 8 3 The Images tab 8 3 1 Parameters of scanner images adjustment The Images tab is used to specify adjustment method of scanner images block as well as to setup the adjustment parameters 48 PHOTOMOD 6 0 2 Block adjustment Parameters FT T E pB kie Points Images Report m Images Adjustment parameters SCENE 5123 254 Rigorous SPOT5 HRG1 0 970624 Rigorous SCENE 5125 254 C Rigorous SPOT5 HRG1 19 2562 C RPC SCENE 5123 255 C Rigorous SPOT5 HRG1 0 970858 C Genes SCENE 5125 255 Rigorous SPOT5 HRG1 19 2555 SCENE 5126 255 Rigorous SPOT5 HRG2 7 6036 Import adjustment SCENE 5125 256 Rigorous SPOT5 HRG1 19
116. ximation parameters Reject on one iteration 1 s points Use current solution Adjustment method Systematic error compensation C keep initial approximation Camera parameters self calibratiorr C independent stereopairs 2 Y giu Perform self calibration 3 z f calibrati t a Self calibration parameters Adjust subblock iB Select subblock Model georeference ree C by black scheme Basis m fi 000 4 Compute X Cancel Fig 8 Parameters of adjustment of central projection images block In order to setup adjustment parameters perform the following actions 1 Specify coordinate system of a project on the Coordinate system tab 2 Select the adjustment method and setup main parameters of adjustment on the Adjustment tab 3 Setup display of adjustment results on report and define adjustment residuals threshold using the Report tab 4 Click the Compute button to start the adjustment operation or click OK to save the settings and close the Parameters window 7 2 The Coordinate system tab The Coordinate system tab allows to specify coordinate system if it wasn t specified on project creation stage or allows to change current coordinate system see Coordinate system selection chapter in the Project creation User Manual ts It is not necessary to define coordinate system for block adjustment in free model 21 PHOTOMOD 6 0 2 Block adjustment Par
117. y basis approximately with 10 20 of accuracy 84 PHOTOMOD 6 0 2 Block adjustment 13 1 7 Control of errors of automatic tie points measurements During automatic tie points measurement it is possible to face a situation when obviously erroneous points are corrected and maximal out of tolerance adjustment error exists on points measured correctly One of the reasons may be incorrect work of automatic tie points measurement algorithm due to complex terrain wrong algorithm settings In order to detect errors of automatic tie points measurement it is recommended to check regularity of points distribution and errors absence on closest stereopairs and triplets It is also recommended to perform control of each point starting from points with max imal error Perform the following actions to do this 1 Check point location measurement in stereomode point should not be placed in trees shadow correctness of point position in Z axis 2 Check point recognition correctness 1 Measure one more point near point under test on a distance not exceeding of about 1 10 of stereopair overlap area 2 After adjustment check error value on both points e if the errors on both points are of the same value direction and size then the point is recognized correctly e if error on the tested point is within tolerance threshold and error on a new point has maximal value it is necessary to perform control of points regular distribut

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