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Contents
Preface 1st edition.............................................................................................V
Preface 2nd edition.........................................................................................VII
Contents .......................................................................................................... IX
1 Introduction ...............................................................................................1
1.1 Basic idea and main task of photogrammetry...........................................1
1.2 Why photogrammetry ?.............................................................................3
1.3 Image sources: Analogue and digital cameras .........................................4
1.4 Digital consumer cameras ........................................................................6
1.5 Short history of photogrammetric evaluation methods .............................7
1.6 Geometric principles 1: Camera position, focal length ............................8
1.7 Geometric principles 2: Image orientation.............................................11
1.8 Geometric principles 3: Relative camera positions (stereo)...................13
1.9 Some definitions......................................................................................15
1.10 Length and angle units..........................................................................16
1.11 A typical workflow in photogrammetry.................................................16
2 Included software and data ....................................................................19
2.1 Hardware requirements, operating system .............................................19
2.2 Image material........................................................................................20
2.3 Overview of the software.........................................................................20
2.4 Installation ..............................................................................................21
2.5 Additional programmes, copyright, data ................................................23
2.6 General remarks .....................................................................................23
2.7 Software versions, support......................................................................24
3 Scanning of photos...................................................................................25
3.1 Scanner types ..........................................................................................25
3.2 Geometric resolution ..............................................................................26
3.3 Radiometric resolution ...........................................................................27
3.4 Some practical advice.............................................................................27
3.5 Import of the scanned images .................................................................29
4 Example 1: A single model......................................................................31
4.1 Project definition ....................................................................................31
4.2 Orientation of the images........................................................................33
4.2.1 Camera definition ............................................................................33
4.2.2 Interior orientation ...........................................................................35
4.2.3 Brightness and contrast....................................................................37
4.2.4 Control points ..................................................................................38
4.2.5 Exterior orientation ..........................................................................41
4.2.6 Over-determination and error detection...........................................45
4.3 Model definition......................................................................................46
4.4 Stereoscopic viewing...............................................................................49
4.5 Measurement of object co-ordinates.......................................................50
4.6 Creation of DTMs via image matching...................................................53
4.6.1 Some theory .....................................................................................53
4.6.2 Practical tests ...................................................................................58
4.6.3 Additional manual measurements....................................................61
4.6.4 Quality control .................................................................................62
4.7 Ortho images ..........................................................................................63
4.7.1 Some theory .....................................................................................64
4.7.2 Resampling methods........................................................................65
4.7.3 Practical tests ...................................................................................67
4.7.4 Creation and overlay of contours.....................................................68
4.7.5 Simple 3D data collection................................................................70
5 Example 2: Aerial triangulation.............................................................73
5.1 Aerial triangulation measurement (ATM)...............................................73
5.1.1 Common principles..........................................................................73
5.1.2 Interior orientation ...........................................................................76
5.1.3 Manual measurement .......................................................................76
5.1.4 Automatic measurement via image matching: Introduction ............80
5.1.5 Co-ordinate input and measurement of ground control points.........80
5.1.6 Strip definition .................................................................................83
5.1.7 Measurement of strip connections....................................................84
5.1.8 Automatic image co-ordinate measurement (AATM) .....................85
5.2 Block adjustment with BLUH..................................................................89
5.2.1 Introduction......................................................................................89
5.2.2 Running the block adjustment..........................................................90
5.2.3 Discussion of the results ..................................................................92
5.2.4 Additional analysis of the results .....................................................97
5.2.5 Block adjustment with other programmes: Example BINGO........102
5.3 Mosaics of DTMs and ortho images .....................................................103
5.3.1 Model definition.............................................................................103
5.3.2 Creation of a DTM mosaic.............................................................103
5.3.3 Creation of an ortho image mosaic ................................................104
5.3.4 Shaded relief ..................................................................................106
5.3.5 Contour lines overlay.....................................................................106
5.3.6 3D view..........................................................................................107
5.3.7 3D view in real-time: Example for plug-ins...................................107
6 Example 3: Some special cases .............................................................109
6.1 Scanning aerial photos with an A4 scanner..........................................109
6.2 Interior orientation without camera parameters...................................111
6.3 Images from a digital camera ...............................................................112
6.3.1 The situation...................................................................................112
6.3.2 Interior and exterior orientation .....................................................114
6.3.3 Geometric problems.......................................................................115
6.3.4 DTM creation.................................................................................117
6.3.5 Differential DTM ...........................................................................118
6.4 An example of close-range photogrammetry ........................................119
6.4.1 The situation...................................................................................119
6.4.2 Interior and exterior orientation .....................................................121
6.4.3 Model definition.............................................................................125
6.4.4 DTM creation.................................................................................125
6.4.5 Image sequences ............................................................................127
6.4.6 Visualisation of wave movement ...................................................128
6.5 Some remarks about lens distortion......................................................130
6.6 A view into the future: Photogrammetry in 2020..................................132
7 Programme description.........................................................................135
7.1 Some definitions....................................................................................135
7.2 Basic functions......................................................................................135
7.3 Aims and limits of the programme ........................................................136
7.4 Operating the programme.....................................................................136
7.5 Buttons in the graphics windows ..........................................................137
7.6 File handling.........................................................................................138
7.6.1 File > Select project .......................................................................138
7.6.2 File > Define project ......................................................................138
7.6.3 File > Edit project ..........................................................................139
7.6.4 File > Import raster ........................................................................139
7.6.5 File > Import Rollei CDW .............................................................139
7.6.6 File > Combination ........................................................................140
7.6.7 File > Reference list.......................................................................140
7.6.8 File > Numerical file names...........................................................140
7.7 Pre programmes ...................................................................................141
7.7.1 Pre programmes > Camera definition > Analogue ........................141
7.7.2 Pre programmes > Camera definition > Digital.............................142
7.7.3 Pre programmes > Control point editor .........................................143
7.7.4 Pre programmes > Strip definition.................................................143
7.7.5 Pre programmes > Orientation > Measure > Interior orientation...144
7.7.6 Pre programmes > Orientation > Measure > Exterior orientation..146
7.7.7 Pre programmes > Orientation > Measure > Pseudo camera def...147
7.7.8 Pre programmes > Orientation > Measure > LICAL .....................148
7.7.9 Pre programmes > Parameters of the exterior orient. > Manual ....148
7.7.10 Pre programmes > Parameters of the exterior orient. > Import....149
7.7.11 Pre programmes > Parameters of the exterior orient. > BINGO..149
7.7.12 Pre programmes > Select model ..................................................149
7.7.13 Pre programmes > Define model .................................................149
7.8 Aerial triangulation measurement (ATM).............................................152
7.8.1 ATM > Manual measurement........................................................153
7.8.2 ATM > Editor ATM points............................................................156
7.8.3 ATM > Calculate strip images.......................................................156
7.8.4 ATM > Measure connections.........................................................157
7.8.5 ATM > Automatic measurement (AATM)....................................158
7.8.6 ATM > Import > IMATIE .............................................................159
7.8.7 ATM > Export > BLUH ................................................................160
7.8.8 ATM > Export > BINGO...............................................................160
7.8.9 ATM > Export > IMATIE .............................................................161
7.8.10 ATM > BLUH graphics...............................................................161
7.9 Processing.............................................................................................161
7.9.1 Processing > Mono measurement ..................................................161
7.9.2 Processing > Stereo measurement..................................................162
7.9.3 Processing > Stereo correlation (matching) ...................................164
7.9.4 Processing > DTM interpolation....................................................167
7.9.5 Processing > Compare nominal - real ............................................167
7.9.6 Processing > Ortho image ..............................................................168
7.9.7 Processing > Image sequence.........................................................169
7.10 Display................................................................................................170
7.10.1 Display raster image.....................................................................170
7.10.2 Display text ..................................................................................171
7.11 Aerial triangulation with BLUH .........................................................172
7.11.1 Getting started..............................................................................172
7.11.2 Pre processing ..............................................................................172
7.11.3 Pre processing > Import PIX........................................................172
7.11.4 Block adjustment > Strategy ........................................................173
7.11.5 Block adjustment > The central BLUH modules .........................173
7.11.6 Block adjustment > All (batch)....................................................174
7.11.7 Block adjustment > Export orientations.......................................174
7.11.8 Post processing > Analysis (BLAN) ............................................174
7.11.9 Post processing > Display graphics..............................................174
7.11.10 Some more theory ......................................................................174
Appendix........................................................................................................179
1. Codes ..................................................................................................179
2. GCP positions for tutorial 2 ................................................................179
3. Technical data of digital camera chips................................................198
References......................................................................................................199
Glossary .........................................................................................................203
List of figures and formulas .........................................................................207
1. Figures ................................................................................................207
2. Formulas .............................................................................................209
Index...............................................................................................................211
Introduction
Basic idea and main task of photogrammetry
If you want to measure the size of an object, let’s say the length, width and height of a house, then normally you will carry this out directly at the object. Now imagine that the house didn’t exist anymore – it was destroyed, but some historic photos exist. Then, if you can determine the scale of the photos, it must be possible to get the desired data. Of course you can use photos to get information about objects. This kind of information is different: So, for example, you may receive qualitative data (the house seems to be old, the walls are coloured light yellow) from photo interpretation, or quantitative data like mentioned before (the house has a base size of 8 by 6 meters) from photo measurement, or information in addition to your background knowledge (the house has elements of the “art nouveau” style, so may be constructed at the beginning of the 20th century), and so on.
Photogrammetry provides methods to give you information of the second type, quantitative data. As the term already indicates, photogrammetry can be defined as the “science of measuring in photos”, and is traditional a part of geodesy, belonging to the field of remote sensing (RS). If you would like to determine distances, areas or anything else, the basic task is to get object (terrain) co-ordinates of any
point in the photo from which you can then calculate geometric data or create maps.
Obviously, from a single photo (two-dimensional plane) you can only get two dimensional coordinates. Therefore, if we need three-dimensional co-ordinates, we have to find a way how to get the third dimension. This is a good moment to remember the properties of human vision (see also chapter 4.4). We are able to see objects in a spatial manner, and with this we are able to estimate the distance between an object and us. But how does it work? As you know, our brain at all times gets two slightly different images resulting from the different positions of the left respectively the right eye and according to the fact of the eye's central perspective.
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