Vr Mapping

ON-LINE REFERENCE DOCUMENTATION

CARDINAL SYSTEMS, LLC

386-439-2525   

www.cardinalsystems.net   
Copyright © 2000-2006 by Cardinal Systems, LLC   

IMPORTING ORIENTATIONS

 

Detailed Description

 

Which Method to Use?

 

Requirements

 

Measurement File Formats

 

Exterior Orientation File Formats

 

Detailed Description

 

Following is an overview and the requirements of the methods for importing orientations from aerial triangulation solutions.  There are three ways to orient a model in the VrTwo Orientation Program (Vr2Ori).  In all three methods the inner orientations are performed manually in Vr2Ori or automatically in Vr Image Utility.  Care must be taken when importing orientations that parameters such as image (film) strip direction is the same the the VrTwo Orientation photo definitions that were used in aerial triangulation.  Following is an overview of the three methods:

 

  • Manual - The first method is a manual orientation in which the relative and absolute steps are performed manually.  This method is similar to the method used when orientating an analytical stereo plotting instrument.  The relative orientation in Vr2Ori offers three measurement methods which include single photo measurement, auto correlated measurement and stereo measurement.  The stereo measurement mode has stereo plotter instrument adjustments such as dove prism rotations, image scale factor adjustment and floating point color and size adjustments.

 

  • Air Trig Measurements - The process of measuring points for aerial triangulation involves reading common points on multiple photographs.  This process ties photographs together along photo strips (pass points) and ties photo strips together (tie points).  The resulting measurements are stored in a file normally with the photo listed with the photo points following.  The coordinates in this file are normally in microns or millimeters in the coordinate system based on the fiducial coordinates from the camera calibration report.  Vr2Ori has the ability to read various measurement file formats and run the relative and absolute orientations based on these measurements.

 

  • Exterior Orientations - The result of any aerial triangulation adjustment is the computation of the orientation and position of each photograph.  These values consist of the rotation angles about the X, Y and Z axis for each photograph.  These rotation angles are referred to as Omega (X), Phi (Y), and Kappa (Z).  Also included is the position of the photograph in ground units.  Together, the Omega, Phi, Kappa, X, Y and Z values define the exterior orientation of an aerial photograph.  The process of obtaining these values is commonly referred to as photo resection.  Vr2Ori has the ability to read various exterior orientation files and compute a stereo model.

 

All three methods of orientations produce residual reports for each step of the orientation process.  In some cases residuals will be shown for inner, relative and absolute orientations.  These residuals must be checked after each step.  High residuals indicate a problem with a parameter, such as image strip location or a problem with the input format.  You should stop and correct any problems that cause high residuals before continuing.

 

Which Method to Use?

 

Choosing an import method of Measurements or Exterior depends on the data available and personal preference. Following are some of the pros and cons of each method.

 

  • Measurements - Since the measurements are placed into the relative and absolute orientations, it is possible to review the points as they were measured for aerial triangulation.  Although not recommended, this gives the operator the ability to “touch up” the orientation if required.  Using the measurement method is more difficult than using the exterior method.  During the importing of measurements a single model adjustment is performed to set the model.  If there are discrepancies among the control points where the control points were held and the error was pushed into the pass and tie points this adjustment will not consider this and the single model adjustment will spread the error evenly.  In these cases it is recommended the importing of exterior orientations be used.

 

  • Exterior Orientations - It is not possible to review the points that were used when importing exterior orientations.  If there is parallax in the resulting solution it cannot be removed.  If a control file is available, these ground control and air triangulation points may be driven to in VrTwo.  Using the exterior orientation method is easier than importing measurements.  An exterior orientation may match the results of the aerial triangulation bundle adjustment than the import measurements method depending on how well the control fit during the bundle adjustment.

 

Requirements

Requirements for Using Measurements

 

  • Ground control file – This file should be the final coordinate file from the aerial triangulation adjustment.  It should include the coordinate positions for the original ground control and the xyz coordinate positions for the aerial triangulation pass and tie points.  Since we are setting a single model which requires at least three vertical and two horizontal points the original ground control file will not have enough points to set the model.

 

  • Measurements file – This file contains the measurements for the points on each photograph for the adjustment.  These measurements consist of x, y coordinates expressed in microns or millimeters for the common points and control points for each photograph.  There are several supported formats which are listed below.

Requirements for Using Exterior Orientations

 

  • Exterior orientation file – This file is a result of the aerial triangulation adjustment and contains the Omega (x), Phi (y) and Kappa (z) rotation angles and the x, y, z coordinate for each photograph.

 

  • Ground control file – This file should be the final coordinate file from the aerial triangulation adjustment.  It is not required to orient a model but will allow you to drive to these points in VrTwo.

 

Measurement File Formats

 

Following are the supported file formats for importing orientations using measurements from aerial triangulation:

 

JFK

ISAT

PATB

ALBANY

ISBBA

VrAt

 

JFK Measurement File Format

(ASOP file) – The JFK format is one of the few whose coordinates may not be presented in microns or millimeters.  In many cases they are in a machine coordinate system.  For this reason the first four or eight points for each photograph are the fiducial measurements.  When importing JFK measurements the inner orientation is recomputed so the coordinates in the file may be converted to millimeters.  The order that the fiducial points were read in aerial triangulation must be entered and it is suggested that the USGS point number sequence be used when measuring these points in aerial triangulation.
Example:

1  1    1  394005  394013

1  1    2  606000  606008

1  1    3  394000  606011

1  1    4  606004  394013

1  132761  435628  544371

1  132762  415034  522530

1  132763  456432  498834

1  1 1011  500711  602651

1  1 1012  500646  559562

1  1 1013  500501  553826

1  1 1021  586181  544371

1  1 1022  588259  522530

1  1 1023  584832  498834

1  1  374  564371  544390

1  1  375  584965  540962

1  1  801  562101  496860

1  1  802  556680  553263

 

Description:

Strip number:  0 -  4   4 chars

Photo number:  4 -  6   3 chars

Point name:    7 - 11   5 chars

X:            12 - 19   8 chars

Y:            20 - 27   8 chars

 

 

ISAT Measurement File Format

The coordinates are normally represented in millimeters and there a two pair of measurements for each point.  It is possible that the strip number and the photo number are encoded in the field after the photo_measurements keyword or the photo number only may be stored in this location.  In any case the Vr Mapping software will prompt the user for the strip number location when using this format when needed.

 

 

Example:

begin photo_measurements 33304      strip_id 333      version 2.0

 102  -88.223459  -54.48708   -88.21914   -54.485536  1 0

 202  -88.22346   -54.486643  -88.219141  -54.485099  1 0

 130  -90.547583  88.019566   -90.542839  88.016663   1 0

 103  47.460939   -28.304471  47.46056    -28.30407   1 0

 203  47.459191   -28.306224  47.458812   -28.305823  1 0

 33030 -93.935157 -25.859113  -93.930286  -25.858331  1 0

 33031 -100.47029 69.43473    -100.46501  69.43212    1 0

 33033 -99.97721  69.843071   -99.971954  69.840451   1 0

 33032 -99.925894 -77.858603  -99.921382  -77.857109  1 0

 33034 -104.82956 -80.321189  -104.8249   -80.319784  1 0

 33040 -0.55964746 -8.5576488 -0.55961614 -8.5573221  1 0

 33041 -10.922536 90.767633   -10.92116   90.765257   1 0

 33043 -6.903269  96.243403   -6.9018842  96.241167   1 0

 33042  2.7350342 -69.753146  2.735623    -69.751729  1 0

 33044  4.2095274 -69.864267  4.2100893   -69.86288   1 0

 33050 71.912829  9.8773264   71.913098   9.8771497   1 0

 33051 81.140142  83.422012   81.142934   83.422727   1 0

 33052 81.649493  -76.860884  81.652592   -76.862506  1 0

 6001 53.335374   -22.283994  53.335054   -22.283749  1 0

 6002 60.035923   -19.217072  60.035789   -19.216948  1 0

 6003 88.107365   -18.523815  88.109033   -18.524119  1 0

 6004 93.966025   -18.909729  93.968263   -18.910138  1 0

 6005 95.200412   -13.861172  95.202697   -13.861531  1 0

 6006 83.691161   -13.863357  83.69238    -13.863561  1 0

 6007 68.450912   -14.366451  68.451108   -14.366464  1 0

 6008 61.215586   -17.45878   61.215476   -17.458685  1 0

 6009 53.595521   -14.765279  53.595114   -14.765122  1 0

 6010 71.401473   -11.362814  71.401802   -11.362872  1 0

 6011 86.704885   -4.9812579  86.706267   -4.9814476  1 0

 6012 71.737042   5.1825883   71.737305   5.1824424   1 0

 6013 75.166358   -25.993112  75.167144   -25.993234  1 0

 6014 93.554794   -30.308202  93.557233   -30.308791  1 0

 6015 69.879982   -35.217456  69.880641   -35.217514  1 0

end photo_measurements

 

Description:

Field 1  - Point name

Field 2 – X coordinate

Field 3 – Y coordinate

Field 4 – X coordinate

Field 5 – Y coordinate

 

 

PATB Measurement File Format

(.ptb) – This is the most common file format for point measurements and most all aerial triangulation programs can output this format.  The coordinates in a PATB file may be in micros or millimeters.  The easiest way to determine the units is to look at the focal length in the second field on each photo name record.  A focal length similar to 153352.0 will indicate microns while a focal length similar to 153.352 in indicate millimeters.  The coordinates in the example below are in microns.

 

Example:

 

   01     153352.000          0

10010      -6620.441       2659.528         0

10012      -2315.185     -87815.725         0

10011       2189.424      90393.601         0

10022      97584.696     -89972.479         0

10020      95414.200      28553.299         0

HV23A      92335.855      80252.801         0

  -99

   02     153352.000          0

10010    -101528.830       6362.794         0

10012     -97161.205     -83840.714         0

10011     -92053.394      94683.069         0

10022       2627.953     -85568.158         0

10030      95457.685     -34333.063         0

10031      94577.448      89272.723         0

10032      82389.838    -100853.220         0

10020       1994.823      32149.234         0

HV23A      -1128.292      84051.952         0

  -99

 

NOTE: There is no strip designation in the PATB file

      The 0 after the focal length on the photo record can be a 1

      The 4th field on the coordinate is optional

      Photo names may be numbers or names

      Point names may be numbers or names

      Each photo is terminated with a point name of -99

 

ALBANY Measurement File Format

(.icr) – This is another common file format for point measurements and most all aerial triangulation programs can output this format.  The coordinates in a ALBANY file may be in microns or millimeters.  The easiest way to determine the units is to look at the focal length in the fifth field on first record for each photo.  A focal length similar to 152673.0 will indicate microns while a focal length similar to 152.673 in indicate millimeters.  The coordinates in the example below are in millimeters.

 

Example:

 

2  13         0 0     152.673        .000      .000

2  13        33 0     -70.745      72.775      .000

2  13       108 0      11.430      40.554      .000

2  13       176 0     -45.256    -100.547      .000

2  13      1051 0     -67.553     -96.527      .000

2  13      1061 0      15.520    -105.421      .000

2  13      2121 0     -71.696      75.076      .000

2  13      2122 0     -68.741      -7.373      .000

2  13      2123 0     -67.538     -96.541      .000

2  13      2131 0      11.149      98.604      .000

2  13      2132 0      -2.860      27.499      .000

2  13      2133 0      15.510    -105.424      .000

2  13      4082 0     -70.560     -19.258      .000

2  12         0 0     152.673        .000      .000

2  12        21 0     -69.577     -80.242      .000

2  12        33 0       5.606      78.743      .000

2  12       108 0      88.496      46.671      .000

2  12       176 0      33.294     -93.886      .000

2  12      1041 0     -63.319     -73.209      .000

2  12      1051 0      11.074     -90.166      .000

2  12      1061 0      93.484     -98.102      .000

2  12      2111 0     -74.637      83.657      .000

2  12      2112 0     -73.999      -3.280      .000

2  12      2121 0       4.586      81.071      .000

2  12      2122 0       8.614      -1.932      .000

2  12      2123 0      11.089     -90.180      .000

2  12      2131 0      87.788     105.447      .000

2  12      2132 0      74.303      33.448      .000

2  12      2133 0      93.474     -98.105      .000

2  12      4082 0       7.016     -13.799      .000

 

Definition:

Field 1 – Strip number

Field 2 – Photo number

Field 3 – Point Number (0 Means the focal length is in the X field)

Field 4 – Not used

Field 5 – X coordinate

Field 6 – Y coordinate

Field 7 – Not used

 

 

ISBBA Measurement File Format

This format is commonly used by SoftPlotter.

 

Example:

 

** ISBBA image coordinate data ***

***

*** file name D:/12762-1grant//block/12762-1.ISBBA/IMAGE.DAT

***

*** data source SoftPlotter 4.0

***

1

1-1c

1012        3.075      -23.137

58        -24.894      -56.993

1021      -95.234      -46.531

1011       -0.870      -73.799

53       -105.578      -39.682

59        -16.912       -4.766

1022      -96.304        5.440

51        -77.204       37.841

57        -72.808      -40.258

1013        0.552       38.587

1023      -94.155       51.627

-99

1-2c

58         67.540      -53.370

1022       -5.451       10.793

1023       -3.503       58.069

57         18.059      -35.766

1021       -5.013      -41.768

52        -34.854       -7.483

1013       95.717       44.240

1012       97.223      -19.365

1032      -91.183       -1.213

53        -15.630      -34.736

1011       92.172      -70.744

51         13.978       43.814

1031      -83.426      -45.247

50        -34.060       40.378

1033      -83.017       54.921

59         76.639       -0.355

-99

1-3c

1023       93.011       62.148

1022       91.285       13.377

52         59.645       -5.671

1021       91.032      -40.537

53         79.846      -33.432

51        111.354       47.565

1033        8.644       58.189

1032        0.153        0.268

1031        9.797      -44.792

50         60.523       43.597

-99

-999

 

Definition

Field 1 – Photo name or point name (-99 = End of photo -999 = End of job)

Field 2 – X coordinate

Field 3 – Y coordinate

 

ORIMA Measurement File Format

This format is commonly used by SOCET SET

 

   1_3   2_2_11    19.5207   -64.5603   0   N

   1_3   2_3_13    34.4873  -119.0402   0   N

   1_3    2_1_8    10.6301   -37.6484   0   M

   1_3   2_1_14   -20.0428   -46.0351   0   M

   1_3    2_1_5   -94.9184   -13.1161   0   N

   1_3   2_1_17  -105.2247  -112.9695   0   N

   1_4    1_3-3   -71.7986   -88.6343   0   M

   1_4    1_4-3     2.6107   -86.6616   0   M

   1_4    1_5-3    87.4736   -87.6902   0   M

   1_4     4326    -7.5582    27.0686   0   M

   1_4     4327    24.3368   -63.3050   0   M

   1_4     4329   -51.9367   -56.5482   0   M

   1_4     4335  -104.6063   -69.5853   0   M

   1_4    1_2_4  -105.4197   117.1721   0   N

   1_4    1_2_5   -67.8985   100.3433   0   M

   1_4    1_2_6   -74.6294   107.7340   0   M

 

   Field Descriptions:

   1 - Photo name

   2 - Point name

   3 - X coordinate

   4 - Y coordinate

   5 - ??

   6 - Measure flag M=Measured N=Not Measured D=Disregard

 

MATCH-AT Measurement File Format

(.prj) – This file is written from the MATCH-AT aerial triangulation program.  Typically this single file contains information to import Interior Orientations, orientations from measurements and orientations from exterior orientations.  Following is an example of the format for the measurement area of the project file.  Each photograph in the project file contains a $PHOTO record which indicates the start of photograph parameters.  The measurement section of each $PHOTO starts with the $PHOTO POINTS : record.

 

NOTE: The MATCH-AT project also contains the measurements for interior orientations which can be read by the VrTwo Orientation program.

 

  $PHOTO_POINTS :

    101           7.26132        70.06186   1.00  1 { * }

    104           1.35889       -63.66409   1.00  1 { * }

    9001         -0.26552       -80.54105   1.00  2 { * }

    9002          3.64609        -0.74474   1.00  2 { * }

    9003         -1.46410        81.74808   1.00  2 { * }

    9004         87.16268        81.69672   1.00  2 { * }

    9005         87.91409        -3.76749   1.00  2 { * }

    9006         89.27521       -81.72300   1.00  2 { * }

  $END_POINTS

 

Field Descriptions:

1 – Point name

2 – X photo coordinate

3 – Y photo coordinate

VrAt Measurement File Format

(.vat) – This file may be written from the Cardinal Systems Vr Air Trig program (VrAt).  Coordinate units may be in microns or millimeters and the point names may be output as names or numbers.

 

Example:

 

# VrTwo Air Trig Measurement Export File

# FileName: E:\Jobs\ManAtControl\ManAt.vat

# Units   : Millimeters

# Date    : 30-Jul-2004 20:00:54

#

Pho         2013     152.6730

Pnt        02131      11.1487      98.6042

Pnt        02132      -2.8599      27.4994

Pnt        02133      15.5102    -105.4237

Pnt        02121     -71.6956      75.0761

Pnt        02122     -68.7412      -7.3727

Pnt        02123     -67.5377     -96.5406

Pnt           33     -70.7452      72.7753

Pnt         4082     -70.5599     -19.2580

Pnt          108      11.4295      40.5537

Pnt        01061      15.5199    -105.4212

Pnt        01051     -67.5527     -96.5268

Pnt          176     -45.2563    -100.5470

End

Pho         2012     152.6730

Pnt        02121       4.5857      81.0707

Pnt        02122       8.6144      -1.9320

Pnt        02123      11.0894     -90.1799

Pnt        02111     -74.6367      83.6569

Pnt        02112     -73.9989      -3.2800

Pnt        02131      87.7877     105.4474

Pnt        02132      74.3027      33.4480

Pnt        02133      93.4742     -98.1047

Pnt           33       5.6058      78.7429

Pnt         4082       7.0155     -13.7986

Pnt          108      88.4956      46.6711

Pnt        01041     -63.3187     -73.2092

Pnt        01051      11.0745     -90.1661

Pnt           21     -69.5766     -80.2417

Pnt        01061      93.4839     -98.1022

Pnt          176      33.2945     -93.8862

End

 

Description:

Field 1 – Keyword

          Pho – Photo name record

          Pnt – Point record

          End – End of photo record

Field 2 – Photo number/name or Point number/name

Field 3 – X coordinate or focal length

Filed 4 – Y coordinate

 

Exterior Orientation File Formats

 

Following are the supported file formats for importing orientations using exterior orientations from aerial triangulation:

 

ALBANY

Applanix          

PATB

JFK

AeroSys

ISAT EO file

BINGO

ISAT ‘photo’ file

 

ALBANY Exterior Orientation File Format

(.opm) – Each photo consists of two records.

 

Example:

 

   1   3         1   1847839.844  727097.439  5176.269 .152673E+03

   1   3         1        -.2471      -.9274    -.9588

   2  10         1   1847877.219  731502.554  5155.066 .152673E+03

   2  10         1        1.3715      -.5810   -5.0702

   1   4         1   1850122.336  726831.159  5151.653 .152673E+03

   1   4         1         .1069       .3669   -2.8769

   2  11         1   1850502.820  731357.482  5167.058 .152673E+03

   2  11         1         .7268      -.1776   -5.9014

   1   5         1   1852361.929  726573.614  5114.480 .152673E+03

   1   5         1         .3401       .6811   -4.0090

   2  12         1   1852741.687  731250.353  5158.552 .152673E+03

   2  12         1         .1342       .0886   -5.6188

   1   6