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RapidProof User's Guide

1. 2 PlEneering Parallel Image Engineering Examples Case Data import to RapidStation RapidStation Block File Format Examples 25 The following is an example of presenting import data for RapidStation using external files There are three input files uav_log1 txt amp uav_log2 txt and gcp txt The uav_log1 txt amp uav_log2 txt files contain trajectory data and image file name and gcp txt contains ground control point data There s no camera calibration data The following example of an RSB file is commented to assist keeping track on the section logic Sections with darker background colour are optional the purpose being to demonstrate the possibility to introduce a priori estimated standard deviation values for the to be imported dataset These would be needed mainly in bundle block adjustments of RapidStation but not needed in e g RapidTerrain RSB file rapidstation block file format version al created block name coordinate system My area units flights 3 5 metre degree flight 3 mean terrain height 850 y platform my uav if image paths Flight1 ip ee columns FLIGHTLINE PHOTO IMAGEFILE external file uav_logl txt Ekola S jp lt mean terrain height 900 platform my uav image paths Flight2 columns FLIGHTLINE PHOTO IMAGEFILE external files uav log txt platform my uav cameras nx200 Saas
2. pi 180 60 radians 1 60th arc minute pi 180 3600 radians pi 200 radians pi 200 radians Degree representation Format signed degrees integer arc minutes integer arc seconds real any precision Different symbol sets are in use as field separators for example 2 Degree representation Format degrees integer arc minutes integer arc seconds real hemisphere abbreviation single character N S E or W Different symbol sets are in use as field separators for example 2 rad 10E 6 Pseudo unit format signed degrees period minutes two digits integer seconds two digits fraction of seconds any precision Must include leading zero in minutes and seconds and exclude decimal point for seconds Convert to deg using formula Pseudo unit Format sign degrees decimal point integer minutes two digits fraction of minutes any precision Must include leading zero in integer minutes Must exclude decimal point for minutes Convert to deg using algorithm 1 100 of a grad and gon pi 200 100 radians 1 100 of a centesimal minute or 1 10 000th of a grad and gon pi 200 10000 radians PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi T PlEneering Parallel Image Engineering RSB_NAME mil6400 degmin deghemi hemideg degminhemi hemidegmin hemidegminsec sexa
3. Rounded to 8 decimal places as 0 30479841 Used from Bangladesh to Vietnam Previously used in India and Pakistan but superseded Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 feet taken to be J S Clark s 1865 value of 0 9144025m Rounded to 8 significant figures with a small error as 1 Ind ft 0 3048996m Used in Pakistan since metrication Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 feet taken to be J S Clark s 1865 value of 0 9144025m Rounded to 8 significant figures as 1 Ind ft 0 3048995m Used in India since metrication Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 British feet taken to be J S Clark s 1865 value of 0 9144025 metres Indian Foot 0 99999566 British feet A R Clarke 1865 British foot taken to be 1895 Benoit value of 12 39 370113m Rounded to 8 decimal places as 0 30479841 Used from Bangladesh to Vietnam Previously used in India and Pakistan but superseded Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 feet taken to be J S Clark s 1865 value of 0 9144025m Rounded to 8 significant figures with a small error as 1 Ind ft 0 3048996m Used in Pakistan since metrication Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 feet taken to be J S Clark s 1865 value of 0 9144025m Rounded to 8 significant figures as 1 Ind ft 0 3048995m Used in India since metrication
4. float number Affinity of the image calculated with formula Affinity 1 1 aspect ratio The default value is O radial k1 float number This is the 1 radial distortion parameter of the lens The default value is O radial k2 float number This is the 2 radial distortion parameter of the lens The default value is O radial k3 float number This is the 3 radial distortion parameter of the lens The default value is 0 tangential t1 float number This is the 1 tangential distortion parameter of the lens The default value is O tangential t2 float number This is the 2 tangential distortion parameter of the lens The default value is O un orthogonality float number This is the deviation from a straight angle between the x and y axes of the sensor The default value is O image deformation set name The name of this section depends on keyword image deformatiohn set in section flight name If self calibration of the camera was done with RapidStation bundle block adjustment in order to account for changes in the camera since the last full calibration the self calibration model and its parameters are given here trajectory The values in this section are normally originated from the flight trajectory logs and are considered as initial approximate values for aerial triangulation The more accurate values are stored under section exterior orientation In case of a close range photogrammetric block this sect
5. o TYPEID type and ID in the same string For instance M00101 A12343 or C00004 o FLIGHTLINE the number of the flight line or flight line containing the current image Normally the flight line number changes when the aircraft turns back and flies the next flight line of the block In a normal photogrammetric block the flight lines should have some side overlap e PHOTO the number of the image or frame within the flight line This number can e g start from 1 at the beginning of each flight line but it can also be a sequential numbering for all images in the block H FLIGHTLINEPHOTO another way of expressing the flight line and photo number in one word of type LXXXFYYYY where XXx is the flight line number and YYYY the photo number Either FLIGHTLINE amp PHOTO or FLIGHTLINEPHOTO should be used not both e COL column coordinate of the point o ROW row coordinate of the point o SKIP this column is to be skipped and ignored Example columns TYPE ID FLIGHTLINE PHOTO COL ROW M 1 2 4 123 45 432 11 columns2 tag column type separator With this keyword it is possible to separate columns2 data from columns data in cases where image identification data is interleaved with point measurement data When this tag is found at the beginning of the line the rest of the line is interpreted with columns2 else columns is assumed Example columns2 tag P columns2 description of the columns Using this tag the contents of the tabular data a
6. 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 7 Parallel Image Engineering Sections On the following pages all supported sections with corresponding keywords and values are being described The mandatory keywords of the sections are denoted with an asterisk Optional values of keywords are within brackets rapidstation block In the section rapidstation block the following keywords are possible file format version number The current RSB file format version number is 1 If file format version is other than 1 the file is illegal created date and time The date of the creation of the block is currently just for information modified date and time The date of the last modification creation of the block is currently just for information block name name The name of the block is currently just for information coordinate system horizontal vertical Currently only the horizontal coordinate system is used and thus the vertical part can be left out The coordinate system must be defined as LOCAL or defined in PlEneering s coordinate system database csystems ini for example WGS84 UTM SUTM33 See separate documentation of csystems ini In this section the coordinate system of the output files is being defined A coordinate system for the input data i e the coordinate system for the ground control points can be defined separately in a corresponding
7. Fax 358 9 6219 0921 www pieneering fi T PlEneering Parallel Image Engineering RapidStation Block File Format Sections 20 way is set a common value with keyword common weight class Example common weight class pos1 columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear Use either triplet X Y Z E N H or LAT LON ALT X Y Z is used in close range photogrammetry only The allowed column tags are ID unique string or number identification of the ground control point E easting of the point N northing of the point H height of the point X X coordinate of the point Y Y coordinate of the point Z Z coordinate of the point LON longitude of the point LON2 longitude of the point so that two consecutive words are used for it e g 12 43 122 in the meaning of degrees and minutes LON3 longitude of the point so that three consecutive words are used for it e g 12 43 23 122 in the meaning of degrees minutes and seconds LON4 longitude of the point so that four consecutive words are used for it e g 12 43 23 122 W in the meaning of degrees minutes seconds and east west of Greenwich LAT latitude of the point LAT2 latitude of the point so that two consecutive words are used for it e g 12 43 122 in the meaning of degrees and minutes
8. LAT3 latitude of the point so that three consecutive words are used for it e g 12 43 23 122 in the meaning of degrees minutes and seconds LON4 latitude of the point so that four consecutive words are used for it e g 12 43 23 122 S in the meaning of degrees minutes seconds and hemisphere ALT altitude of the point OMEGA omega rotation angle about the Z axis according to ISPRS standard PHI phi rotation angle about the Y axis according to ISPRS standard KAPPA kappa rotation angle about the Z axis according to ISPRS standard If the x axis col axis of the image aligns with the X axis east of the ground coordinate system the angle is zero degrees Grows counter clockwise when seen from above WC weight class ID for point The corresponding standard deviations are defined in gcp weight classes SKIP this column is to be skipped and ignored Example columns ID E NH WC PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 21 Parallel Image Engineering gcp weight classes Note The section is mandatory if section ground control points is being introduced The values in this section are normally estimations on how accurate the GPS measurements of the ground control points are The following keywords are possible in this section units object unit The units can be
9. image deformation set name external file name If the image file names etc are listed in one or more external text files instead of in tabular form at the end of this section then the external files should be listed here PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi I PlEneering Parallel Image Engineering RapidStation Block File Format Sections 9 columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order as they appear The allowed column tags are O_EXCLUDE optional asterisk in the corresponding columns of the line of the image tells that the image of the current line is to be excluded from the processing If the asterisk is not present in that column the image is to be processed normally If this tag is first on the image line it is easy to comment out images with a text editor FLIGHTLINE the number of the light lines containing the current image Normally the flight line number changes when the aircraft turns back and flies the next flight line of the block PHOTO the number of the image or frame within the flight line This number can start from 1 at the beginning of each flight line but it can also be a sequential numbering for all images in the block FLIGHTLINEPHOTO another
10. j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 10 Parallel Image Engineering cameras camera name Currently only one camera per platform is supported but later on there could be more cameras If the name given is cam1 then there should be a section named camera cam1 containing the calibration parameters of the camera camera rotation rotation angle Camera rotation in degrees as shown in picture below X Flight direction O Y o l X Camera rotation in relation with flight direction antenna offset dx dy dz The location of the GPS antenna relative to the camera defined in metres Default values are 000 boresight misalignment dOmega dPhi dKappa The rotation angles between the camera and IMU defined in degrees Default values are 000 use raw calibration yes no If the camera calibration file contains parameters both for raw and normal jpeg modes this keyword is used to tell which one to use Default no use channels number If the camera calibration file contains parameters for more than one channels this keyword is used to tell which one to use Default default value is 3 meaning green channel in case of 3 channels If a number is written is must be listed with keyword channels in section camera name camera name The name of this section depends on keyword cameras in section
11. object angular units set for block flights 4 one flight name 4 ground control points coordinate system FinnKKJ KKJ2 units metre metre horizontal vertical units columns IDE NE OU SHE LOS GENADE ADEL DEL DO 002 STIG 1249 6607109739 1118 225 3300 003 378924 3634 6676402 8376 23 1660 OOS STILZOS EENS O676452 0335 19 6590 plectorm uay i cameras ricoh link to camera ricoh antenna offset 0 0 0 boresight misalignment 0 0 0 camera rotation 0 camera ricoh calibrated Sep 30 17 28 13 00 2012 camera body Ricoh GR Digital IV 2011 CRN097 lens Built in owner Some Company trigger delay 0 0000 channels ill link to camera ricoh channel 1 camera ricoh channel 1 single channel calibration parameters set focal length pix 206 903 92005 RER principal point x pix 1824 782014813620700 principal point y pix 1302 854313979510400 affinity 0 1090979126611 75900 radial kl 6 S208 72UIALS SL 75200 radial k2 0 666474302211251920 radial k3 0 002191664796303768 tangential t1 006329 967713882 361 83 tangential t2 0 671905493234987720 PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Examples 28 Parallel Image Engineering un orthogonality 0 170016826188293530 sensor width pix mm 3648 7 4900 sensor height pix mm 2036 5 52
12. platform name If the keyword line is cameras my cam then the corresponding PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 11 Parallel Image Engineering section name would be camera my cam In this section either external file or keywords below should be used not both More information of the calibration parameters can be found in the PlEneering s RapidCal Users Guide The following keywords are allowed in this section external file name Either an external file is to be used or keywords below should be used This instance of external file is an exception to the general usage of external files as this external file does not contain tabular data Instead the file should be in format generated by RapidCal camera calibration software calibrated date and time Date and time when the calibration was performed camera body name The name of the camera body preferably listed in cameramodels ini database of PlEneering s RapidCal camera calibration software lens name The name of the lens camera normally listed in cameramodels ini of RapidCal camera calibration software owner name The name of the owner of the camera is here just for the information only trigger delay seconds The default value of trigger delay is Os equation set year The default value of equation set i
13. units object unit The units can be any one of the units defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 and they relate to the output angular coordinate system defined in rapidstation block The default value is degrees columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear The allowed column tags are o ID unigue string or number identification of the weight class o S OMEGA standard deviation of the omega rotation angle o S PHI standard deviation of the phi rotation angle o S KAPPA standard deviation of the kappa rotation angle H S ROLL standard deviation of the roll rotation angle e S_PITCH standard deviation of the pitch rotation angle e S_YAW standard deviation of the yaw rotation angle PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 18 Parallel Image Engineering o SKIP this column is to be skipped and ignored Example columns ID S ROLL S PITCH S YAW att1 5 5 50 exterior orientation Note The section is mandatory when data to be imported data will be processed with RapidTerrain The values in this section are normally coming from the bundle block adjustment
14. Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi T PlEneering Parallel Image Engineering RapidStation Block File Format Index 30 Index MI ii AA Aid 13 AUT imasa sokkaa eaa un aa Taaka aa E NSE AS d Kaa asema ANEN 15 20 alttudes from sround Jevel mean aan ana aa enaa aaaaaaaaanean 14 AENA iii ars 10 uge 16 A 7 boresight misalignment oooooocccncnccononooncnnnnnnnnononnnnnnnnnnnnnnnnnnnonnnnnnnnnnnonnnnnnncnannnonos 10 calibrat BE 11 camera leie AA 11 CamerdsfotatiOn reset A pence eee kattua 10 TEEN eege ee ees 10 gll EE 11 CO TE 23 eet Ge un Foss trees enten hete rte teelde ee ites 6 Toto Ta La CN 9 15 17 18 20 21 22 COMAS EE 23 COlUmIs2 TEE 23 ell Eu ele EE 6 common attitude weight class aanne en en enenenannennereeerenenannenseevenrnnenn 14 common position weight clasS nan anannn enen enenenannennerenrrenenannenseeveseenenn 14 COMMON WEIBNUECIOSS E 19 coordInatessVStem EE 7 13 18 19 21 CNOA E 7 DATETIME SO areira aia 16 DATETIME SO 2 ont eng tege cia abia 16 DATETIME UNIXA oaran rausia renari iE EE ita 16 DATETIME UNDO 0 coord otto 16 DATETIME UNIDO eegene deed EN E 16 CeCIMal SYMBO E 6 eege e E 15 19 20 22 EN A ta see ee deeg EEN 6 le ue E EE 11 external ici ii lada 8 11 14 file format VersiOh iii idad ainda 7 FLIGATLINE vicio ii didas 9 15 18 23 ELIGHTLINEPHOTO eegener deeg anata 9 15 19 23 MENE A A aia 8 TOGAl l EN tM Mi caia ade 12 A E 12 pene
15. The default value is metre PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 17 Parallel Image Engineering columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear The allowed column tags are o ID unigue string or number identification of the weight class o S E standard deviation of the easting coordinates H SN standard deviation of the northing coordinates e S_EN standard deviation of the easting and northing coordinates e S_H standard deviation of the height coordinates o S X standard deviation of the X coordinates H S_Y standard deviation of the Y coordinates H S_XY standard deviation of the X and Y coordinates e S_Z standard deviation of the Z coordinates o SKIP this column is to be skipped and ignored Example columns ID S ES NS H posl 0 03 0 04 0 2 attitude weight classes Note The section is mandatory if the column keyword in section trajectory contains tag triplets PHI KAPPA OMEGA or ROLL PITCH YAW The values in this section are normally estimations on how good the IMU INS is or how good the values are synchronized with the images The following keywords are possible in this section
16. and are therefore normally more accurate than the values in section trajectory In case of a close range photogrammetric block this section will refer to X Y and Z co ordinates else E asting N orthing and H eight are being used The following keywords are possible in this section coordinate system horizontal vertical Currently only the horizontal coordinate system is used and thus the vertical part can be left out The value should be the same as corresponding value in section rapidstation block referring to bundle block adjustment The coordinate system must be one of the ones defined in csystems ini See separate manual describing csystems ini units object unit angular unit The object unit and angular unit can be any one of the metric units defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 The default values of the units are metre and degree Example units usfoot gon columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear Use either triplet X Y Z E N H or LAT LON ALT X Y Z is used in close range photogrammetry only The allowed column tags are FLIGHTLINE the number of the flight line or flight line containing the current image Normally the flight line number changes when the aircraft turns back and flies the next flight line of
17. any one of the units defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 and they relate to the output object coordinate system defined in section rapidstation block The default value is metre columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear The allowed column tags are o ID unigue string or number identification of the weight class H SE standard deviation of the easting coordinates e S_N standard deviation of the northing coordinates e SEN standard deviation of the easting and northing coordinates e S_H standard deviation of the height coordinates e S_X standard deviation of the X coordinates e S_Y standard deviation of the Y coordinates o S XY standard deviation of the X and Y coordinates H S_Z standard deviation of the Z coordinates o SKIP this column is to be skipped and ignored Example columns ID S ENS H pos1 0 02 0 2 adjusted points The values in this section are normally output from bundle block adjustment In case of a close range photogrammetric block this section will refer to X Y and Z co ordinates else E asting N orthing and H eight are being used The following keywords are possible in this section coordinate system horizontal vertical Currently only the horizontal coordinate syste
18. any precision Different symbol sets are in use as field separators for example 2 Convert to degrees using algorithm Degree representation Format hemisphere abbreviation single character N S E or W degrees integer arc minutes integer arc seconds real Different symbol sets are in use as field separators for example 2 Pseudo unit Format signed degrees minutes two digits seconds real any precision Must include leading zero in minutes and seconds where value is under 10 and include decimal separator for seconds Convert to degree using algorithm PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi T PlEneering Parallel Image Engineering RSB_NAME sexadesimaldms_sss binw_us330 binw_us165 binw_us825 binw_us375 binw_us25m binw_us125m binw_us0625m binw_us03125m decimetre centimetre millimetre micrometre nanometre inch UNIT_OF_MEAS_NAME degree supplier to define representation Bin width 330 US survey feet Bin width 165 US survey feet Bin width 82 5 US survey feet Bin width 37 5 metres Bin width 25 metres Bin width 12 5 metres Bin width 6 25 metres Bin width 3 125 metres decimetre centimetre millimetre micrometre nanometre inch Appendix 1 European Petroleum Survey Group EPSG units 7 UNIT_OF_ MEAS_TYPE angle length length length length length length leng
19. be read really can be found and is reliable The following values are allowed o DATETIME date and time of image creation are read from the image o GPSDATETIME the timestamp given by the GPS connected to the camera is read from the image PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering Parallel Image Engineering RapidStation Block File Format Sections 15 GPSPOS latitude and longitude of the image are read from the exif header GPSHEAD GPS heading direction of flight is read from the exif header of the image Example read from exif GPSDATETIME GPSPOS GPSHEAD columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear Use either triplet X Y Z E N H or LAT LON ALT X Y Z is used in close range photogrammetry only None of the triplet tags should be used if read from exif GPSPOS is used Use either triplet OMEGA PHI KAPPA or ROLL PITCH YAW Only one of the alternative LAT LON and DATETIME tags should be used The allowed column tags are FLIGHTLINE the number of the flight line or flight line set for an image Normally the flight line number changes when the aircraft turns back and flies the next flight line of the block PHOTO the number of the image or fram
20. international metre Usedin older Australian southern clarcechain Clarke s chain length 20 11661949 African amp British West Indian mapping 1 100 Clarke s chain Assumes Clarke s 1865 ratio of 1 British foot 0 304797265 French legal metres applies to the international metre Usedin older Australian southern African amp British West clarcelink Clarke s link length 0 2011661949 Indian mapping Uses Sear s 1922 British yard metre ratio as given by Bomford as 39 370147 inches per British yard Sears metre Used in East Malaysian and older britishyard 1922 length 36 0 New Zealand mapping Uses Sear s 1922 British yard metre ratio as given by Bomford as 39 370147 inches per British foot Sears metre Used in East Malaysian and older britishfoot 1922 length 12 0 New Zealand mapping PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi I PlEneering Parallel Image Engineering RSB_NAME britishchain britishlink britishyard1895a britishfoot1895a britishchain1895a britishlink1895a britishyard1895b britishfoot1895b britishchain1895b britishlink1895b britishfoot1865 indianfoot UNIT OF MEAS NAME British chain Sears 1922 British link Sears 1922 British yard Benoit 1895 A British foot Benoit 1895 A British chain Benoit 1895 A British link Benoit 1895 A British yard Benoit 1895 B British foot
21. 00 EIT SDEt 4 mean terrain height 50 essential as section adjusted points is not included in this example platform uavl COSA Sra puc amenas ed image paths flight4 image file location set columns O EXCLUDE FLIGHTLINE PHOTO IMAGEFILE O ATTRIBUTES ij 0 O EXCLUDE reserved to R0048643 JPG introduce field for R0048644 JPG commented out images R0048645 JPG R0048646 JPG R0048647 JPG water R0048648 JPG water R0048649 JPG R0048650 JPG R0048651 JPG R0048668 JPG R0048669 JPG R0048670 JPG blurred R0048671 JPG R0048672 JPG DG WD H O 0 J E 01 amp W R H N N NNN exterior orientation coordinate system FinnKKJ KKJ2 ses coordinate system of the output files units metre gon columns FLIGHTLINE PHOTO E N H OMEGA PHI KAPPA O APPROX L STOS ATA COTTE ELZEN AASS AIDE 4237 88 134 I 5 2 SISSY SSS OSA OAD 212 5260 4 6842 6 7356 95 9661 3 SISSI CSV SSS 21250 107735 ESOS 98 7942 A SSS HOMO CoE SIKS 2112 O02 0 5163 7 1140 ZD 5 SISA OG 7191 JY 273 499 O5 gt 22 10 OSOS STUD 397 OOV 456 212 0010 Dee 2 0437 SUSO SCS FT SIMS MOO 66771193 0622 205 594 4 5229 GEUS 114 02 i 11130649 0677192 SA 203 039 DAZ VAS DE Zi SPNA eer 200 035 91858192 9 4014 111 9423 2 11 SSS SAN OSV TIAS ZO 200 250 SODA SHS A Is 2 2 378624 952 6677149 189 202 119 2 6384 10 8644 296 3641 2 ISS AS SG SSI 205 210 Zee ASHA DDO amp 4 STB GOTI COVIISS 296 203 372 12043 OO 29
22. 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi Appendix 1 European Petroleum Survey Group EPSG units 2 T PlEneering Parallel Image Engineering UNIT_OF RSB_NAME UNIT_OF_MEAS_NAME MEAS TYPE FACTOR B REMARKS Also known as International metre SI metre metre length 1 0 standard unit foot foot length 0 3048 usfoot US survey foot length 12 0 Used in USA Assumes Clarke s 1865 ratio of 1 British foot 0 304797265 French legal metres applies to the international metre Usedin older Australian southern African amp British West clarcefoot Clarke s foot length 0 304797265 Indian mapping fathom fathom length 1 8288 6feet nauticalmile nautical mile length 1852 0 germanmetre German legal metre length 1 0000135965 Used in Namibia Used in USA primarily for public lands uschain US survey chain length 792 0 cadastral work Used in USA primarily for public lands uslink US survey link length 7 92 cadastral work Used in USA primarily for public lands usmile US survey mile length 63360 0 cadastral work km kilometre length 1000 0 3 Clarke s feet Assumes Clarke s 1865 ratio of 1 British foot 0 304797265 French legal metres applies to the international metre Usedin older Australian southern clarceyard Clarke s yard length 0 914391795 African amp British West Indian mapping 22 Clarke s yards Assumes Clarke s 1865 ratio of 1 British foot 0 304797265 French legal metres applies to the
23. 1 8206 2 8 SISV26 915 OOVIISO 322 205 054 VIG 8 9418 29 9204 PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Examples 29 Parallel Image Engineering Miscellaneous sample RSB sections Example of adjusted points section adjusted points coordinate system FinnKKJ KKJ2 units metre columns TYPEID E N H C0001001 378631 866 6676426 485 295818 C0001002 378640 080 6676575 628 22 346 CODOS 431189247299 6676402 896 2301405 M0000001 378848 163 6676610 73 24 776 M0000002 378878 014 6676576 164 2200871 M0000003 378584 149 6676686 854 21 866 M0000004 378574 301 6676622 394 22 492 A0000001 378480 134 6677311 004 19 759 A0000002 378489 711 6677311 582 18 824 A0000003 378495 723 GOT TSL JIE 18 480 A0000004 378500 750 BOT IS LL 925 18 570 A0000005 378540 944 6677317 254 18 718 Example of adjusted photo observations section point photo observations columns FLIGHTLINE PHOTO TYPE ID COL ROW EG 101 92852 354 6 1A ASS MS O SIS 501 6 JTN 454 3620 4 SZ o Al 1A As SOS 325 55 1A O07 302101 123 1A GZ S547 50 SiS De 10 534 2 624 9 2A Oe 3333 5 coimig 2 A OMS GS 2 A JID 788 0 2A 2 3937 4 Sions 2 A 3 34618 693 0 2A 5 342358 850 0 2A I ST Sol S C Lut GIGci L t I A 43 3623 8 EES 3 A A SUS USAS S A 48 3579 2 Bolg PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland
24. 5280 feet Used in Ghana and some adjacent parts of British west Africa prior to metrication except for the metrication of projection defining parameters when British foot Sears 1922 used PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi Appendix 1 European Petroleum Survey Group EPSG units 5 I PlEneering Parallel Image Engineering RSB_NAME britishfoot1936 radian degree arcminute arcsecond grad gon degminsecond degminsecondhemi microradian sexadesimaldms sexadesimaldm centesimalminute centesimalsecond UNIT OF MEAS NAME British foot 1936 radian degree arc minute arc second grad gon degree minute second degree minute second hemisphere microradian sexagesimal DMS sexagesimal DM centesimal minute centesimal second UNIT OE MEAS TYPE FACTOR B length angle angle angle angle angle angle angle angle angle angle angle angle angle 0 3048007491 1 0 3 14159265358979 3 14159265358979 3 14159265358979 3 14159265358979 3 14159265358979 1 0 3 14159265358979 3 14159265358979 REMARKS For the 1936 retriangulation OSGB defines the relationship of feet of 1796 to the International metre through log 1 48401603 exactly 0 3048007491 Also used for metric conversions in Ireland SI standard unit pi 180 radians 1 60th degree
25. 593 354 364 2 i 08130055 JPG 109359650 5 5912 1953 ADAT oY TAIS 399 353 980 2 2 08180054 JPG 2 1033346529 Se eS LIE 244 60 0 055 0 341 354 913 2 3 08130055 JPG 2I s 9829769 5 539102313 AO U 54 6059 2 4 08180056 JPG A 98247910 5 52692097 245 50 2 208 1 626 9350 106 2 5 08180057 JPG 21 98201942 5 59684658 245 36 LOL EE PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Examples 27 Parallel Image Engineering external file gcp txt ID TYPE LATITUDE LONGITUDE HEIGHT WC cep etzcle 219 57 EDA 8 SS OS ISLE 92279 80 reet eos Al Se ee ST EE EEG is 922 220 W Gee Gross 219 50 275 TZ 8 ST Sei SIZE 1 924 188 1 Gee circle 219 SEV 275 5615575 DSS GRASS SUE 926 942 2 Ges epes 219 581 21 050757 8 5 357 36 93007Y 925 1562 gcp6 rock 219 587 34 754030 8 57 357 34 81533U TE 921 318 Case Data import to RapidTerrain The following is an example of presenting import data for Rapidterrain using one RSB file The purpose is to present a minimum amount of sections Camera calibration is known The following example of an RSB file is commented to assist keeping track on the section logic RSB file rapidstation block file format version 1 created Mule OS MISS SIS 00 202 block name Example coordinate system FinnKKJ KKJ2 coordinate system of the output files units metre degree
26. 61 5 58908844 247 48 2 461 3 604 69 464 4 08180005 JPG 21 97213364 5 58914566 246 93 1 846 4 164 66 619 5 08180006 JPG 21 97264671 5 58923435 245 835 1 505 22263 63 455 6 08180007 JPG 21 97309875 5 58934498 246 79 0 154 2 078 60 697 a 08180008 JPG 2 159705516 5 58946610 246 52 0 209 607280 8 08130009 JPG 21 97404099 598958550 246 35 Os SO 62 246 9 08180010 JPG 00104507 DIS 245 9 MOLL SA GIL AEN 10 08130011 JPG A II O 2450 0010 1 00 OS eas TIS E 08180012 JPG 21 97545052 5 58990479 PNG YY Seil ASA 62 114 12 08180013 JPG 2197393308 o S900Z2 781 245215 U 901 0 615 61 082 S 08180014 JPG 21 97644615 LES 245 28 0 549 2 049 61 741 14 08180015 JPG 21 91695062 5r 9027386 244 60 1 890 130355 61 005 LS 08180016 JPG Z s 97741508 29008555 244 18 1 439 0033 63 345 2 L 08180043 JPG 2 1 988 708550 5 59840012 24405 L2 gt 00 1 091 241 2 2 08180044 JPG 21 982824310 559827900 245020 1 505 0 979 S509325 2 5 08180045 JPG 21 98 1719534 S DSS SIT 245 42 2 186 SMO S HON 2 4 08180046 JPG sdh SAS 5 59805489 245 15 L 769 0 176 357 035 2 5 08180047 JPG 21 9868164 5 59795475 245 42 0 308 2 054 355 902 2 6 08180048 JPG 2 1 9865510 TITEL 245 01 0 308 lt 0 286 355 968 2 7 08180049 JPG 21 98589134 5 59774590 245 01 1 055 2 043 355 694 2 8 08180050 JPG 21 98538780 5 59762478 245 56 0 231 0 703 354 100 2 9 08180051 JPG 21 98490143 5 59750843 246 79 0 736 4 285 354 760 2 0 08180052 JPG 21 98445129 5 59740448 246 93 0 121 2
27. Benoit 1895 B British chain Benoit 1895 B British link Benoit 1895 B British foot 1865 Indian foot Appendix 1 European Petroleum Survey Group EPSG units 3 UNIT OE MEAS TYPE FACTOR B length 792 0 length 7 92 length 0 9143992 length 0 9143992 length 20 1167824 length 0 201167824 length 36 0 length 12 0 length 792 0 length 7 92 length 0 9144025 length 12 0 REMARKS Uses Sear s 1922 British yard metre ratio as given by Bomford as 39 370147 inches per metre Used in East Malaysian and older New Zealand mapping Uses Sear s 1922 British yard metre ratio as given by Bomford as 39 370147 inches per metre Used in East Malaysian and older New Zealand mapping Uses Benoit s 1895 British yard metre ratio as given by Clark as 0 9144992 metres per yard Used for deriving metric size of ellipsoid in Palestine Uses Benoit s 1895 British yard metre ratio as given by Clark as 0 9144992 metres per yard Used for deriving metric size of ellipsoid in Palestine Uses Benoit s 1895 British yard metre ratio as given by Clark as 0 9144992 metres per yard Used for deriving metric size of ellipsoid in Palestine Uses Benoit s 1895 British yard metre ratio as given by Clark as 0 9144992 metres per yard Used for deriving metric size of ellipsoid in Palestine G Bomford Geodesy Uses Benoit s 1895 British yard metre ratio as given by Bomford as 39 370113 inches per metre Used in West Malaysian mappin
28. For instance M00101 A12343 or C00004 o E easting of the point o N northing of the point o H height of the point o X X coordinate of the point o Y Y coordinate of the point o Z Z coordinate of the point o SKIP this column is to be skipped and ignored Example columns ID TYPE E N H point photo observations The values in this section are normally coming from the bundle block adjustment As an exception to all the other sections this one might have two different types of columns If both of them are used then also the columns2 tag must be specified The following keywords are possible in this section units image unit The default unit is rawpixel and is almost always used with digital images Data from analogue images might need units like i centimetre ori millimetre columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear The allowed column tags are o ID unigue string or number identification of the point o TYPE type of the point Either M for manually measured point A for automatically measured point or C for ground control point PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 23 Parallel Image Engineering
29. GA PHI KAPPA ground control points The values in this section are normally coming from GPS or total station measurements on the ground and are normally quite accurate In case of a close range photogrammetric block this section will refer to X Y and Z co ordinates else E asting N orthing and H eight or LON gitude LAT itude and ALT itude are being used The following keywords are possible in this section coordinate system horizontal vertical Currently only the horizontal coordinate system is used and thus the vertical part can be left out The value should be the same as corresponding value in section rapidstation block referring to bundle block adjustment The coordinate system must be one of the ones defined in csystems ini See separate manual describing csystems ini units horizontal unit vertical unit The units can be any one of the units defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 The attitude unit is needed for IMU readings The default values of the three units are metre and metre Example units degree metre common weight class class id The position observations should have an a priori accuracy or standard deviation The values can be defined in section gcp weight classes A specific weight class can be assigned to each trajectory data entry with WC tag in columns An alternative PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920
30. PlEneering Parallel Image Engineering RapidStation Block File Format Version 1 0 THE GROUND TRUTH PlEneering RapidStation Block File Format 1 Parallel Image Engineering O 2012 PlEneering Ltd The material contained in this document is confidential and intended for use only by parties authorized by PlEneering All Rights Reserved No part of this document may be photocopied reproduced stored in a retrieval system or transmitted in any form or by any means whether electronic mechanical or otherwise without the prior written permission of PlEneering PlEneering Ltd Hylkeenpyyt j nkatu 1 FIN 00150 Helsinki FINLAND Tel 358 9 6219 0920 Fax 358 9 6219 0921 mail to swsupport pieneering fi www pieneering fi PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi 2 PlEneering Parallel Image Engineering RapidStation Block File Format Table of Contents 2 Table of Contents Table of Contents Introduction Principal structure Sections Sections amp keywords External files rapidstation block flight name platform name camera name camera name channel number image deformation set name trajectory position weight classes attitude weight classes exterior orientation ground control points gcp weight classes adjusted points point photo observations Examples In
31. a priori accuracy or standard deviation The values can be defined in section position weight classes A specific weight class can be assigned to each trajectory data entry with POSWC tag in columns An alternative way is set a common value with keyword common position weight class Example common position weight class posl common attitude weight class class id The attitude observations should have an a priori accuracy or standard deviation The values are defined in attitude weight classes A specific weight class can be assigned to each trajectory data entry with ATTWC in columns An alternative way is set a common value with keyword common attitude weight class Example common attitude weight class 1 external file name If the trajectory data is in external files the external files should be listed here altitudes from ground level yes no If the altitudes listed in the tabular data are measured from ground level the value of this keyword should be set to yes By default the altitudes are from sea level meridian convergence corrected yes no If YAW is used in columns and it has been pre corrected for meridian convergence the value of this keyword should be set to yes The default value is no read from exif tag1 tag2 tag3 Instead of listing everything in the tabular data some information can be read from the exif headers of the images Keep in mind that reading from exif headers is slow Also check that the data to
32. ading starts form the beginning of the file Example start tag START FROM HERE end tag text string In case an external file is used we might want to stop reading at some point and skip the stuff at the end of the external file The tag or text string looked for e g the string END should be the first non blank characters on the line By default the reading stops at the end of the file comment symbols symbols In case the external file has comments preceded with some symbol it can be defined here The default comment symbol is the hash sign so it does not have to be mentioned but if it is mentioned it has to be written inside quotes as it otherwise is interpreted as a comment in the RSB file If many comment symbols are defined e g H then they all individually are treated as comment symbols Example comment symbols S column delimiter symbol By default the column delimiter is space a blank character but if it is something else it can be defined here Multiple consecutive unquoted spaces and or tabs are treated as one space character when splitting data into columns Example column delimiter decimal symbol symbol By default the decimal symbol of floating point numbers is period but if it is comma or something else it can be defined here Example decimal symbol PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax
33. alues of all observations etc The RSB file format is a human readable ASCII file format which contains a number of sections similar to what can be found in e g Windows INI files The sections which can be in any order in the file all are all constructed in the following way e Each section starts with a header in brackets e g exterior orientation e After the section header certain keywords and their corresponding values can be listed e g mean terrain height 50 The keywords can be listed in any order and some of them are mandatory and others optional The applicable values for each section and its keywords are described explicitly in this manual e After the keywords tabular data can be listed This tabular data can optionally be read from external files e The section ends when the next section starts or the file ends There s a mandatory section with fixed name in an RSB file rapidstation block Moreover section trajectory or section exterior orientation or both are mandatory in an RSB file The remaining structure depends on the content of the file and can be mandatory or optional If for example there is a keyword value line flights 4 5 in section rapidstation block then three need to be sections flight 4 and flight 5 in the RSB file The RSB file may contain comments starting with hash Whole lines can be comments or just the end of the line startin
34. apidstation block If the keyword line is flights 6 7 then the corresponding section names would be flight 6 and flight 7 The following keywords are possible in this section units mean terrain height unit If the unit of mean terrain height below is other than what is specified by the object unit of keyword units in section rapidstation block or metres if object unit was not specified the correct unit should be specified with units keyword mean terrain height height value This is the approximate average height above sea level of the terrain covered by the current flight In the case of UAVs if can be the GPS elevation of the start or landing point which normally can be found in the log files image paths image folder The location of all images of a flight is specified with this keyword It can be absolute or relative to the folder of the RSB file Example image paths images 1 note double quotation marks because of blank characters in the file name platform name The UAV platform used during a flight e g uav1 requires a section platform uav1 containing camera information in the RSB file image deformation set name If self calibration of the camera was done with RapidStation bundle block adjustment in order to account for changes in the camera since the last full calibration the link to parameters are given here The actual parameters should then be found in section
35. camera rotation 0 gt camera nx200 camera body Samsung NX200 a lens 21mm channels 1 a camera nx200 channel 1 focal length mm 21 gt sensor width pix mm 5472 23 5 sensor height pix mm 3648 15 7 trajectory coordinate system WGS84 units degree metre degree d altitudes from ground level yes ji osa WGS84 UTM SUTM3 essential Oee si 04228815 00 ZOTZ according to PIEneering s csystem ini database definitions object angular units set for block laks te Elie e Ekle e e SS rrom Uns 1 yalte of keyword flights needed for approximate image scaling link to platform my uav image file location set instructions to read block formation directive to read data from external file NEZ fron tas 2 values of keyword flights link to camera nx200 essential camera orientation in aircraft just for information only just for information only link to camera nx200 channel 1 Single channel calibration assumed essential CCD CMOS width in pixels and mm s horizontal vertical attitude units set otherwise from sea level PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Examples 26 Parallel Image Engineering common position weight class pl common setting for GPS positions link to position weight classes common attitude we
36. data such as ground control points measurements can be common to many projects or blocks and can this way be stored in one common place only e some data such as exterior orientation parameters that might change often as new block adjustments are run can be stored in some other file e third party software are used to create the external files External files are included into the RSB file during the project import in the software External files are named with the keyword external file During import some additional keywords can be used to enable reading of some specific portion of these files These keywords are PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Principal structure 6 Parallel Image Engineering skip lines number We might want to skip the first number of lines before starting to read By default no lines are skipped Example skip lines 10 read lines number With this tag we can define how many lines to read after possibly skipped lines By default all is read until the end of file start tag text string In case we do not in advance know how many lines to skip but there is some text string to start reading from in the file we can define it here The tag or text string looked for e g the string START should be the first non blank characters on the line By default the re
37. desimaldms_s UNIT_OF_MEAS_NAME mil_6400 degree minute degree hemisphere hemisphere degree degree minute hemisphere hemisphere degree minute hemisphere degree minute second sexagesimal DMS s Appendix 1 European Petroleum Survey Group EPSG units 6 UNIT_OF_ MEAS_TYPE FACTOR_B angle 3 14159265358979 angle angle angle angle angle angle angle REMARKS Angle subtended by 1 6400 part of a circle Approximates to 1 1000th radian Note that other approximations notably 1 6300 circle and 1 6000 circle also exist Degree representation Format signed degrees integer arc minutes real any precision Different symbol sets are in use as field separators for example 2 Convert to degrees using algorithm Degree representation Format degrees real any precision hemisphere abbreviation single character N S E or W Convert to degrees using algorithm Degree representation Format hemisphere abbreviation single character N S E or W degrees real any precision Convert to degrees using algorithm Degree representation Format degrees integer arc minutes real any precision hemisphere abbreviation single character N S E or W Different symbol sets are in use as field separators for example 2 Convert to degrees using algorithm Degree representation Format hemisphere abbreviation single character N S E or W degrees integer arc minutes real
38. dex Case Data import to RapidStation Case Data import to RapidTerrain Miscellaneous sample RSB sections Appendix 1 European Petroleum Survey Group EPSG units PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi WO ON NS U B A W N WN N NIIN NNN H rr p p p p R O ON UU H H OND W W O PlEneering RapidStation Block File Format Introduction 3 Parallel Image Engineering Introduction The purpose of the RapidStation Photogrammetric Image Block Data ASCII Format RSB of PlEneering is to offer an intuitive human readable text file format in contrast to the binary clu file format used by Rapid software to store and describe photogrammetric block data Another equally useful purpose is to make it easy to import various photogrammetric blocks in ASCII tabular and list format into Rapid software without the need of a separate file format converter The principal method for preparing data for import is to define metadata with RSB rules described in this manual which explicitly describes the to be imported dataset There are basically two options to choose from e create a RSB file with metadata only pointing to the original data files which are left intact containing the actual data e convert an external dataset into a one RSB file containing all data The contents of this manual may be found quite comprehensive due to very flexible a
39. e within the flight line This number can e g start from 1 at the beginning of each flight line but it can also be a sequential numbering for all images in the block FLIGHTLINEPHOTO another way of expressing the flight line and photo number in one word of type LXXXFYYYY where XXX is the flight line number and YYYY the photo number Either FLIGHTLINE PHOTO or FLIGHTLINEPHOTO should be used not both LON longitude of the point of image exposure LON2 longitude of the point of image exposure so that two consecutive words are used for it e g 12 43 122 in the meaning of degrees and minutes LON3 longitude of the point of image exposure so that three consecutive words are used for it e g 12 43 23 122 in the meaning of degrees minutes and seconds LON4 longitude of the point of image exposure so that four consecutive words are used for it e g 12 43 23 122 W in the meaning of degrees minutes seconds and east west of Greenwich LAT latitude of the point of image exposure LAT2 latitude of the point of image exposure so that two consecutive words are used for it e g 12 43 122 in the meaning of degrees and minutes LAT3 latitude of the point of image exposure so that three consecutive words are used for it e g 12 43 23 122 in the meaning of degrees minutes and seconds LON4 latitude of the point of image exposure so that four consecutive words are used for it e g 12 43 23 122 S in the meanin
40. g Uses Benoit s 1895 British yard metre ratio as given by Bomford as 39 370113 inches per metre Used in West Malaysian mapping Uses Benoit s 1895 British yard metre ratio as given by Bomford as 39 370113 inches per metre Used in West Malaysian mapping Uses Clark s estimate of 1853 1865 British foot metre ratio of 0 9144025 metres per yard Used in 1962 and 1975 estimates of Indian foot Indian Foot 0 99999566 British feet A R Clarke 1865 British yard 3 British feet taken to be J S Clark s 1865 value of 0 9144025 metres PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi I PlEneering Parallel Image Engineering RSB_NAME indianfoot37 indianfoot62 indianfoot75 indianyard indianyard37 indianyard62 indianyard75 statutemile goldcoastfoot UNIT OF MEAS NAME Indian foot 1937 Indian foot 1962 Indian foot 1975 Indian yard Indian yard 1937 Indian yard 1962 Indian yard 1975 Statute mile Gold Coast foot Appendix 1 European Petroleum Survey Group EPSG units 4 UNIT OE MEAS TYPE FACTOR B length 0 30479841 length 0 3047996 length 0 3047995 length 36 0 length 0 91439523 length 0 9143988 length 0 9143985 length 1609 344 length 6378300 0 REMARKS Indian Foot 0 99999566 British feet A R Clarke 1865 British foot taken to be 1895 Benoit value of 12 39 370113m
41. g from If a comment needs PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi E Parallel Image Engineering PlEneering RapidStation Block File Format Principal structure 5 several lines all of them has to start with H In the import phase all comments are ignored as are all empty lines and lines with only spaces Example this is a comment line ground control points coordinate system FinnKKJ units metre columns IDENH WC 1 378631 9105 6676426 4581 29 5690 xyz1 2 378640 1249 6676575 7178 22 3300 xyz1 3 378924 3634 6676402 8376 23 1660 xyz1 5 379205 8186 6676452 0335 19 6590 xyz2 empty lines are allowed first defined section this is a comment at end of line the columns of the data below this data could also be in an external file trajectory second defined section coordinate system WGS84 units degree metre degree horizontal vertical attitude columns FLIGHTLINE PHOTO LON LAT ALT HEAD DATETIME ISO2 ROLL PITCH YAW external file flight1 log data as defined by columns is read from this file External files All data of a photogrammetric block besides the actual images can be stored in one RSB file only but there can be a few reasons for using external files instead e keeping the metadata in the RSB file separated from the data files e keeping the RSB file short and compact e some
42. g of degrees minutes seconds and hemisphere ALT altitude of the point of image exposure E easting of the point of image exposure N northing of the point of image exposure H height of the point of image exposure PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi A PlEneering Parallel Image Engineering Example RapidStation Block File Format Sections 16 X X coordinate of the point of image exposure Y Y coordinate of the point of image exposure Z Z coordinate of the point of image exposure HEAD GPS heading at the point of image exposure DATETIME ISO Date and time in ISO8601 format 2012 08 09T01 24 52 4 or with time zone 2012 08 09T01 24 52 47 DATETIME_ISO2 Date and time in ISO8601 format with space 2012 08 09 01 24 52 4 or 2012 08 09 01 24 52 4Z DATETIME_UNIX4 Date and time in UNIX format Aug 09 01 24 52 4 2012 DATETIME_UNIXS Date and time in UNIX format Thu Aug 09 01 24 52 4 2012 or alternatively Aug 09 01 24 52 4 GMT 2012 DATETIME_UNIX6 Date and time in UNIX format Thu Aug 09 01 24 52 4 GMT 2012 OMEGA omega rotation angle about the Z axis according to ISPRS standard PHI phi rotation angle about the Y axis according to ISPRS standard KAPPA kappa rotation angle about the Z axis according to ISPRS standard If the x axis col axis of the image aligns with the X axis east of the ground coordinate system the angle i
43. ight class al common setting for IMU data link to attitude weight classes read from exif DATETIME directive to read time stamps from image header columns FLIGHTLINE PHOTO SKIP LAT LON ALT ROLL PITCH YAW skip image file names external file uav_logl txt uav_log2 txt i leese tee zeen leren from 2 external files position weight classes units metre colums IDS ES NSH pl 5S 5 5 a piori approximation set 5 metres for XYZ attitude weight classes units degree columns ID S ROLL S PITCH S YAW al 5 5 50 a piori approximation set 5 degrees for roll amp pitch 50 degrees for YAW ground control points coordinate system WGS84 GCP coordinate system set units degminsecondhemi metre sss horizontal vertical units set columns ID SKIP LAT4 LON4 ALT WC skip TYPE during execution WO value as lin to row ID in section gcp weight classes external file gcp txt directive to read data from external file gcp weight classes columns IDS ES NS H it 0 05 0 05 O10 WD teal ster er sos 00 WO Yelle 150 Seeker 2 0 09 0 09 0 15 ground control points keyword columns 30529 0 25 0 25 external file uav_log1 txt Flightline Photo Filename Latitude Longitude Height Roll Pitch Heading d 08180002 JPG 109100993 598890915 o Woe e 62 246 2 08180005 JPG J 15700 5 30902550 245 09 7 229 0 945 64 476 3 08180004 JPG 21 911660
44. ion will refer to X Y and Z co ordinates otherwise E asting N orthing and H eight or LON gitude LAT itude and ALT itude are being used The following keywords are possible in this section coordinate system horizontal vertical Currently only the horizontal coordinate system is used and thus the vertical part can be left out Normally geographical coordinates of WGS84 system are being used The coordinate system must defined in PlEneering s coordinate system database PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 14 Parallel Image Engineering csystems ini See separate manual describing csystems ini In this section the coordinate system of the trajectoy data is being defined If case of close range photogrammetric block the coordinate system should be defined in section rapidstation block and should not be defined in this section again Example coordinate system WGS84 units horizontal unit vertical unit attitude unit The units horizontal vertical attitude are defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 The attitude unit is needed for IMU readings The default values of the three units are degree metre and degree Example units degree metre degree common position weight class class id The position observations should have an
45. m is used and thus the vertical part can be left out The value should be the same as corresponding value in section rapidstation block referring to bundle block adjustment The coordinate system must be one of the ones defined in csystems ini See separate manual describing csystems ini PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 22 Parallel Image Engineering units horizontal unit vertical unit The units can be any one of the units defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 If e g the coordinate system is WGS84 the normal horizontal unit would be degrees The attitude unit is needed for IMU readings The default values of the three units are metre and metre Example units degree metre columns description of the columns columns keyword describes the contents of the tabular data either at the end of this section or in an external file The tags should be listed in the same order they appear Use either triplet X Y Z E N H or LAT LON ALT X Y Z is used in close range photogrammetry only The allowed column tags are o ID unigue string or number identification of the point o TYPE type of the point Either M for manually measured point A for automatically measured point or C for ground control point o TYPEID type and ID in the same string
46. nd powerful nature of RSB format itself However the logic of the format can be quite easily adopted by studying the examples in chapter Example data Data import Data export from RSB into RSB Prepare PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Principal structure 4 Parallel Image Engineering Principal structure Sections amp keywords In majority of cases where a third party photogrammetric software store data in some kind of tabular form it should be possible to import that data directly by writing metadata information into the RSB file instead of converting the project files to PlEneering formats in a separate step This way the RSB file may remain constant in the event that for instance the orientation parameters are updated into the external file by the third party software Typically a photogrammetric block contains information about the imaging flights image names and the order of the images the initial positions of the images up in the air trajectory data eventually the final exterior orientation parameters of the images The blocks also often have information about the cameras used ground control points and tie points their ground coordinates measured and adjusted and image coordinates measurements or observations Then there also might be information about the initial accuracy v
47. ra when the jpeg image was created sensor height pix mm integer number float number integer Here the height of the imaging CCD CMOS sensor are defined both in the number of pixels and in millimetres If a third number is specified it relates to the size difference in pixels between jpeg and raw images in the case where the geometry of the image is not altered in other ways meaning that no lens corrections are made in the camera while the jpeg image was created focal length mm float number The focal length of the camera is defined here in millimetres Either this keyword or keyword focal length pix should be used Note that real millimetres are used and not 35mm full frame equivalent millimetres focal length pix float number The focal length of the camera is defined here in pixels Either this keyword or keyword focal length mm should be used general scaling float number In the current equations used in Rapid software this value is always 0 01 It is also the default value and therefore the keyword may be omitted principal point col pix float number integer number The x coordinate column coordinate of the principal point has its origin in the centre of the top left pixel of the image The default value is calculated with formula sensor width pix 1 2 and is being used with non calibrated cameras If a third number is specified it relates to the position difference in pixels between jpeg and raw images in the case whe
48. ral scaling ico ANE ege aie 12 Historico 15 19 20 22 PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi 2 PlEneering Parallel Image Engineering RapidStation Block File Format Index 31 HEAD aiii a 16 Diva dia ai 17 20 21 22 IMAGEFILE eg ege eegen deeg ees eege edd EE 9 lu EE 8 KAPPA EE 16 19 20 RN EE 15 20 LAT iia a 15 20 LAT BEE 15 20 ES seca saa cde Pox vet deelen ah aude Tos vee en A tene he oden tee okeee E ends 11 LON WEE 15 20 A kaada ua E ENONN NEN ROTOOENEEUVUNMENKOUANENS ENONSA ROUUNENEKT 15 20 LON EE 15 20 A aO 15 20 mean terrain height ccccccccccccecsssesssecececesseseseeeeeeeecseseseesaeeeeecssseseesaeeeesesesesees 8 meridian convergence corrected cccccccccccssssssssecececsceesessaeeeeeesseeseceaeeeeeesseesees 14 MOTIE WEE 7 A RE 15 19 20 22 O ATTRIBUTES 55e sdsceescsecetevsaiaceeecadsnhesssdacsessdbdetessdeccteetadanhasssdecthesanaetetsenseeevase 9 A TEE 9 OMEGA Sen nanserrente rn adnaerensnaete vs a 16 19 20 fen 11 TEE 16 19 20 PHOTO DEE 9 15 18 23 PU TG ME 16 LIT DEE 8 ie e 16 principal point col pix uuuuooo oonan aan a aan aan eaa ana aa nana ana nanaen 12 principal point row piX oooooon mannaa aa aa aa aa ana a nannaa aa nana ana nanan 12 principal Point X MM ccecsscecececessessaececeescesseeaaeseceescessesasaeeeeeceseeseasaeeeeeesseesags 12 principal point
49. re the geometry of the image is not altered in other ways meaning that no lens corrections are made in the camera when the jpeg image was created principal point row pix float number integer number The y coordinate row coordinate of the principal point has its origin in the centre of the top left pixel of the image The default value is calculated with formula sensor height pix 1 2 and is being used with non calibrated cameras If a third number is specified it relates to the position difference in pixels between jpeg and raw images in the case where the geometry of the image is not altered in other ways meaning that no lens corrections are made in the camera when the jpeg image was created principal point x mm float number integer number The x coordinate column coordinate of the principal point has its origin in the centre of the image The default value is O Either this keyword or keyword principal point col pix can be used principal point y mm float number integer number PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 13 Parallel Image Engineering The y coordinate row coordinate of the principal point has its origin in the centre of the image The default value is O The Y axis grows upwards Either this keyword or keyword principal point row pix can be used affinity
50. s 2010 Prior to that year RapidCal used a different set of equations channels number1 number2 number3 Listing of the image channel numbers of the camera that was calibrated Normally 1 for normal calibration and 1 2 3 for three channel calibration with RapidCal For each channel a corresponding section camera name channel number must be defined camera name channel number Note The section is optional if the corresponding data is being introduced in an external file The name of this section depends on keyword cameras in section platform name and on keyword channels in camera name If the first keyword line is cameras my cam and the second is channels 1 then the corresponding section name is camera my cam channel 1 The following keywords are possible in this section PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 12 Parallel Image Engineering sensor width pix mm integer number float number integer Here the width of the imaging CCD CMOS sensor are defined both in the number of pixels and in millimetres If a third number is specified it relates to the size difference in pixels between jpeg and raw images in the case where the geometry of the image is not altered in other ways meaning that no lens corrections are made in the came
51. s zero degrees Grows counter clockwise when seen from above YAW yaw or heading is the rotation angle about the Z axis obtained an IMU or INS device When the nose of the aircraft points north the angle is zero degrees Grows clockwise when seen from above PITCH pitch rotation angle about the lateral X axis obtained an IMU or INS device When the nose of the aircraft points straight ahead the angle is zero degrees Positive pitch means nose up ROLL roll or bank rotation angle about the longitudinal Y axis obtained an IMU or INS device When the wings of the aircraft are levelled angle is zero degrees Positive roll means left wing up POSWC weight class ID for position The corresponding standard deviations are defined in position weight classes ATTWC weight class ID for attitude The corresponding standard deviations are defined in attitude weight classes SKIP this column is to be skipped and ignored columns FLIGHTLINE PHOTO LON LAT ALT HEAD DATETIME ISO2 OMEGA PHI KAPPA position weight classes The values in this section are normally estimations on how accurate the GPS measurements on board the aircraft are or how well the values are synchronized with the images The following keywords are possible in this section units object unit The units are defined by the European Petroleum Survey Group EPSG and listed in Appendix 1 and they relate to the output object coordinate system defined in section rapidstation block
52. section A coordinate system defined as LOCAL means that the block is a close range photogrammetry block perhaps indoor one When LOCAL is used then X Y Z should be used in the rest of the file instead of E N H or LON LAT ALT Example coordinate system WGS84 UTM SUTM33 units object unit angular unit image unit The units object angular image can be units defined by the European Petroleum Survey Group EPSG listed in Appendix 1 The default values of the three units are metre degree and rawpixel The units defined here will be used for all output and are by default used also for all input unless defined otherwise in the corresponding input sections Example units usfoot gon PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 8 Parallel Image Engineering flights name1 name2 name3 These are the names of the flights of the block One flight consists of all images acquired between take off and landing of a manned or unmanned aircraft For each flight all environmental weather date and imaging parameters camera its settings and its orientation in the aircraft are constant For each flight listed here a corresponding section flight name must be found in the RSB file see below flight name The name of this section depends on keyword flights in the section r
53. t the end of this section or in an external file is described The tags should be listed in the same order they appear in the table or in the external file The allowed column tags are o FLIGHTLINE the number of the flight line or flight line containing the current image Normally the s flight line number changes when the aircraft turns back and flies the next flight line of the block o PHOTO the number of the image or frame within the flight line This number can e g start from 1 at the beginning of each flight line but it can also be a seguential numbering for all images in the block H FLIGHTLINEPHOTO another way of expressing the flight line and photo number in one word of type LXXXFYYYY where XXX is the flight line number and YYYY the photo number Either FLIGHTLINE amp PHOTO or FLIGHTLINEPHOTO should be used not both o SKIP this column is to be skipped and ignored Example columns TYPE ID COL ROW columns2 tag P PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi PlEneering RapidStation Block File Format Sections 24 Parallel Image Engineering columns2 FLIGHTLINE PHOTO 1 1 1 123 45 432 11 1 543 23 5566 77 1 2 next image 1 1543 23 566 77 1233 4432 22 4422 12 1234 4132 22 4122 12 pp oOmgO tv PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi
54. th length length length length length length length FACTOR_B 3 14159265358979 3960 0 1980 0 990 0 37 5 25 0 12 5 6 25 3 125 0 1 0 01 0 001 0 0001 0 000000001 0 0254 REMARKS pi 180 radians The degree representation e g decimal DMSH etc must be clarified by suppliers of data associated with this code PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi
55. the block PHOTO the number of the image or frame within the flight line This number can e g start from 1 at the beginning of each flight line but it can also be a sequential numbering for all images in the block PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering RapidStation Block File Format Sections 19 Parallel Image Engineering FLIGHTLINEPHOTO another way of expressing the flight line and photo number in one word of type LXXXFYYYY where XXX is the flight line number and YYYY the photo number Either FLIGHTLINE amp PHOTO or FLIGHTLINEPHOTO should be used not both o E easting of the point of image exposure o N northing of the point of image exposure o H height of the point of image exposure o X X coordinate of the point of image exposure o Y Y coordinate of the point of image exposure o Z Z coordinate of the point of image exposure H OMEGA omega rotation angle about the Z axis according to ISPRS standard o PHI phi rotation angle about the Y axis according to ISPRS standard o KAPPA kappa rotation angle about the Z axis according to ISPRS standard If the x axis col axis of the image aligns with the X axis east of the ground coordinate system the angle is zero degrees Grows counter clockwise when seen from above e SKIP this column is to be skipped and ignored Example columns FLIGHTLINE PHOTO E N H OME
56. way of expressing the flight line and photo number in one word of type LXXXFYYYY where XXX is the flight line number and YYYY the photo number Either FLIGHTLINE amp PHOTO or FLIGHTLINEPHOTO should be used not both IMAGEFILE the name of the image file The folder name given by image paths will be added in front of the image file name to create a relative path to the images from the current folder O_ATTRIBUTES optional attributes describing the images Allowed attributes are o blurred the image is more shaken out of focus or blurred than most of the other images This attribute tells that the image can be used in aerial triangulation but it should not be used in mosaics e water the image contains only moving water or something similar which inhibits it from being used in aerial triangulation but it should still be used in the mosaics with the help of approximate exterior orientation parameters given for example in the trajectory section SKIP this column is to be skipped and ignored Example columns O EXCLUDE FLIGHTLINE PHOTO IMAGEFILE O ATTRIBUTES 1 1 imal jpg 1 2 ima2 jpg blurred 1 3 ima3 jpg 1 4 ima4 jpg 2 1 ima5 jpg water platform name The name of this section depends on keyword platform in section flight name If the keyword line is platform my uav then the corresponding section name would be platform my uav The following keywords are possible in this section PlEneering Oy Hylkeenpyyt
57. y mm ccccccccececessessaececeeecesseaaaececeescusseaaaeseeeesseuseaaaeeeseessesees 12 El EE 13 radial E 13 CS TT 13 E tee EE 14 ANOS EE 6 ROLL iia dad tddi did 16 RO Wines did 23 IM EE 17 21 A A 17 21 EE 17 21 S KAPPA E 17 K EE 17 21 S OMEGA E 17 SPN EEE 17 S KE 17 PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi 2 PlEneering Parallel Image Engineering RapidStation Block File Format Index 32 S ROLL aire serene ergeet Ee ee 17 SM OE 17 21 SY OEE 17 21 EN 17 21 NR makaava ekaa Kaa maa e aa MALIN 17 CE EEE 17 21 sensor NEEN PIX MM iessen e a is 12 sensor widthspieMmam streetart ic 12 TEE 9 16 17 18 19 20 21 22 23 le Te E 6 Gta TEE 6 ETS E ME 13 LAN BENT EL E 9 0 COMO OOPPOOOOO O 13 trigger EE 11 Ln 22 LD Ln 22 TYPED EE 22 23 dl EE 7 8 14 16 17 18 19 21 22 Un Orthogonality E 13 usezchannelS rnsrserensdersensen dein a manne TL keneden Sch dees AER egene EES 10 use raw calibration EE 10 Le 20 h EE 16 19 20 22 Neves se O 16 19 20 22 K 16 KE 16 19 20 22 PlEneering Oy Hylkeenpyyt j nkatu 1 00150 Helsinki Finland Tel 358 9 6219 0920 Fax 358 9 6219 0921 www pieneering fi EI PlEneering Appendix 1 European Petroleum Survey Group EPSG units 1 Parallel Image Engineering Appendix 1 European Petroleum Survey Group EPSG units PlEneering Oy Hylkeenpyyt j nkatu

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