tutorial match-at (english) 54

7/31/2019 Tutorial MATCH-At (English) 54

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TUTORIAL

MATCH-AT 5.4


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All rights to this publication are reserved. No part of this document maybe reproduced, transmitted, transcribed, stored in a retrieval system, ortranslated into any language, in any form or by any means, without priorwritten permission from Trimble Germany. The software described in this

document is furnished under a license agreement. The software may beused or copied only in accordance with the terms of the agreement. It isagainst the law to copy this software on magnetic tape, disk, or any othermedium for any purpose other than the licensees personal use.

Copyright 2006 2011 Trimble GermanyAll rights reserved.MATCH-AT Tutorial for Version 5.4 and higher

Trimble Germany reserves the right to make changes to this documentand the software described herein at any time and without notice.

Trimble Germany make no warranty, express or implied, other thanthose contained in the terms and conditions of sale, and in no case isTrimble Germany liable for more than the license fee or purchase priceof this product.


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Table of Contents

1. Sample Block P65-H56 11.1. Starting the ApplicationsMaster ................................................................. 41.2. Open Project ................................................................................................ 41.3. New Project / Project Editor ......................................................................... 4

1.3.1. Basics ................................................................................................... 51.3.2. Camera Editor ....................................................................................... 6

1.3.2.1. Import Existing Camera Definitions .............................................................. 61.3.2.2. Add A New Camera Definition ...................................................................... 7

1.3.3. Photo Definition ..................................................................................... 91.3.4. GNSS/IMU .......................................................................................... 111.3.5. Strip Definition ..................................................................................... 141.3.6. Points .................................................................................................. 151.3.7. Block Definition ................................................................................... 171.3.8. Project definition completed ................................................................ 17

1.4. Image Pyramid ........................................................................................... 181.5. Interior Orientation ...................................................................................... 191.6. Point Measurement .................................................................................... 20

1.6.1. Description of point measurement options .......................................... 241.7. Triangulation............................................................................................... 251.8. Checking the LOG File ............................................................................... 261.9. Checking Results with the Photo Measurement Program (Analyze) .......... 271.10. Graphical Analyzer ................................................................................. 281.11. Statistic Viewer ....................................................................................... 281.12.

Block Revision ........................................................................................ 29

1.13. Post-processing (Final Triangulation) ..................................................... 30

2. Point Outline (Block TAC_P65) 313. Good Success 314. End User License Agreement 32


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MATCH-AT Tutorial Sample Block TAC_P65

Page 1

1. Sample Block P65-H56

For this manual a block with 57 images was selected. The block is a cross-

flight situation that is also suited for camera calibration. The illustration on thenext page shows the block structure with the projection centers of theimages.The project file distributed with the sample block is only an example. Itcontains two sub-blocks. To work with sub-blocks in this case is however notnecessary.In general, this tutorial only reflects a standard workflow in "MATCH-AT". Itdoes not explain all the functions in detail, so for more explanation pleasesee the reference manual.The block is characterized as follows:

Ground pixel size: 0.1 m ( 0.32 ft ) number of images: 57

number of longitudinal strips: 4

number of cross strips: 3

average overlap: 60 / 60

average terrain height: 500 m

control points / check points(absolute accuracy: x,y = 0.03m z = 0.07m)

type of terrain: undulating, urban

camera data: TAC P65+

focal length: 51.839 mm

sensor sizewidth 8984 [pix] height 6732 [pix]

pixel size 6.0 micron

principal point PPS/PPA x=0,097 y=0,018

radial distortion coefficients referring ASPRS standards (K2 quadratic,K3 cubic)K0 = 0

flight


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K1 = -1.4124e-05K2 = +3.693e-09

For the entire block GNSS antenna coordinates are available with an

accuracy of a relative kinematic solution (0.20 m).

The input files which are necessary for "MATCH-AT"

(project file: example ) (control point and check point file) (file containing coordinates of the projection

centers obtained from GNSS observations andorientation angles from IMU)

(file containing camera data of the camera

OFFINGEN) (camera calibration report) (jpeg compressed digital images)

can be found on the data carrier containing the sample data. For Windowsoperating systems, the tutorial CD contains a self extracting archive. Doubleclick the executable and in the appearing dialog select the drive and directorywhere the tutorial project should be stored to. Press the Unzip button toextract the files.You need at least 600 Mb of free disk space to store the images and projectfiles.The following sub-directory structure is created:

[drive]:\...\InphoSampleData\P65-H56-Example\images\*.tif[drive]:\...\ InphoSampleData\P65-H56-Example \project\*.*[drive]:\...\ InphoSampleData\P65-H56-Example \input\*.*

The project file, is installed as an example, however if you work through thetutorial step by step this file is newly created. The required input data todefine a new project can be found in the input folder.

Illustration: flight layout map of the entire block


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1.1. Starting the ApplicationsMaster

Start the "ApplicationsMaster" by clicking the icon generated in yourinstallation folder. For a more detailed explanation see reference manual.

1.2. Open Project

If a project file is already existing, press the button labeled Opento enter the

file selection box and to load an existing project file. For a more detailedexplanation see reference manual. If the project was newly created, it isautomatically loaded.If you dont want to generate your own project, you may select the suppliedproject file < TAC_P65_H56.prj> using the Openbox of the "Project Menu".

1.3. New Project / Project Editor

Press the New button in the Project submenu from the main window"ApplicationsMaster". The editor itself can also be started by pressing theEdit button, if a project is already existing and loaded into theApplicationsMaster. For a more detailed explanation see referencemanual.

Steps to work through

When selecting New, theProject Editor will belaunched with the Basicsdialogue already opened.

Open the dialogues one afteranother from top to bottom inorder to enter all the necessarydata.

Double click to any of theelement icons of the tree view to accessan editor dialog or select them from theEditmenu.

Finally, save the project under any name e.g.


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1.3.1. Basics

Enter the name of the Log file, e.g. .

Specify the Unitsas follows: Object m, Image mm, Angular deg.

Activate all corrections to be applied: Earth's Curvature, Refraction


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If not already defined, in theDescriptiontext field youhave to enter a string whichwill be used further on toderive default file names for

newly created files duringprocessing time (e.g. P65-Example).

The Operatortext fieldgives you the opportunity toregister the name of theuser/operator (e.g. yourname). Otherwise this fieldwill be left blank.

A Coordinate Systemisnot necessary to bedefined, as this is only asmall project, so selectLocal.

Confirm with OK.

1.3.2. Camera Editor

Double clicking the camera icon launches the Camera Editor. From hereyou may define add a Newcamera or you may Importan existing one fromany other project file or from older inpho camera files. It is recommended tostore (Export) all cameras into one common inpho project file, locatedsomewhere in the companys network, accessible by any computer. This filecan serve as a database for all cameras associated with inpho software.

1.3.2.1. Import Existing Camera Definitions

To launch the import wizard, select

Importfrom the Camera Editormain dialogue.

On the next wizard page, select theinput format, whether it is an oldInpho Camera(version 4.0 orearlier) file format or if it is anInpho Project File(version 5.x).

Select the < CAMERA-data.prj >project file to be imported.

On the next page, select thecamera(s) to be imported. To avoidID conflicts with already defined


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cameras, check the Conflicticon. Only if conflictsare resolved by changing the Save As name orby deactivating the import of a certain camera, theNextbutton activates. Selectonly the for the

import. Press Finishto import the

camera definition.Note, that if you import an oldinpho camera file (version 4.0or earlier) it might still benecessary to edit the importedcamera, as the platform (Camera Mount Rotationand GNSSAntenna Eccentricity) is still unknown.

1.3.2.2. Add A New Camera Definition

To create a new camerapress the Addbutton. Enterthe new camera name into theCamera IDtext field.Specify CCD Frame forSensor Typeand set theBrandto Custom.

Go on by clicking the Edit button.

Set the defaults from the calibration protocol as given in paragraph"Sample Block P65-H56" for the camera TAC_P65

On the Basictab, the platformneeds to be defined.

Define the GNSS Antenna Offsetaccording to the sketchX=0.0mY=0.0mZ=0.0m(the GNSS to be imported isreferring to the camera alreadyinstead of antenna coordinates)


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The camera mount rotation defines the angle between the imagecoordinate systems x-achsis and the aircrafts flying achsis. Zeisscameras usually are mounted with x-achsis IN flight direction, whileLeica cameras are mounted 180deg rotated. Digital frame camerasmight have any rotation!

For the TAC_P65+ camera, enter 90.0deg.

On the Calibrationtab,define the Focal lengthf = 51.839 mm, thesensor sizewithWidth: 8984 pixHeight: 6732 pixand the pixel size6micron. Be aware that

the sensor size has to meet the actual image dimensions if animage is rotated on disk, the sensor parameters are swapped!

Enter the PrincipalPoints (PPA and PPS)Depending on thecalibration report,principal points aregiven either in the image

coordinate system (x/y)or in the pixel coordinatesystem (row/column). Ifthe principal point isgiven in row/columnformat, then, you haveto be sure that the origin is the upper left pixel of the image.Furthermore, you have to define the reference of the coordinate(center of a pixel, corner of a pixel). In our example the principalpoints are given in the Image Coordinate System (x/y). In this case itis essential to define the correct orientation of the image coordinatesystem with respect to the row/column system (see the sketch on theright). Any mistake here leads to a wrong rotation of the images in themulti photo measurement tool PMT. Also be aware that the rotation ofthe image coordinate system has to go well not only with the principalpoint offsets but also with IMU exterior orientation angles to beimported. If necessary, you have to rotate the image coordinatesystem (keeping an eye on necessary changes in the principal pointdefinitions!). As this matter is rather complex, refer to the referencemanual for more information. In our example select an imagecoordinate system that has x to the right and key in the correct

PPA/PPS offset. x = 0.097 mm y = 0.018 mm.


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Click onto the Distortion tabin order to be able to definethe cameras distortionvalues. The distortion Typeto be used is Coefficients.Alternatively you maydefine distortions in a radialdistortion table or in adistortion grid (a distortiongrid will e.g. be generated ifa camera is re-calibratedwith our software). Check ifthe distortion coefficientsare referring to the ASPRS

standards (see formula! Onthe GUI). If yes, then key inthe coefficients. If anycoefficients are notavailable, leave them blank,they will be initialized with 0. In our example we have the quadraticcoefficient K1 = -1.4124e-05 and the cubic coefficient K2 = 3.693e-09.Decentering is not available.

Leave the editor dialogues with OK, to save the changes.

1.3.3. Photo Definition

Open the "Photo Definition" dialogfrom the "Project Editor (Edit)". AsMatch-AT only supports frame typeimages, double click on the FrameTypeicon.


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Use the Import > Image Filesfunction to load allthe image files located in one common directory.TheAdd function is only used to manually add

ONE more photo.

SelectAddFrom Directory, to loadall Tiff images into the PhotoImporter wizard. The TAC-P65+images can be found in the delivered./imagesdirectory.

Now select the Camera(TAC_P65+)and set the

mean Terrain Height(500m).The checkbox Initialize WithExisting GNSS/IMUOrientationmay be leftunchecked, as GNSS is notyet imported.

Changing to the Nextpage,the Identifier Extractionpage is started. This dialogueis needed to extract an imageID from the file names, whichcorresponds to the image IDsof the photo centers to beloaded.Several extraction methodsare available, leading zeros

can be skipped and blankscan be erased. For theTAC_P65+ data set, selectUse digits only.

Finish the wizard by changing to the Nextpage and clicking Finish.

Exterior orientations for each photo will be initialized, when loading theprojection centers.If, however, EO parameters have to be re-initialized, open the Edit dialogue select Initialize EO from


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GNSS/Stripor from GNSS/IMU, if IMU data is available. The Editdialogue can also be used to change the camera, image path or meanterrain height for a selection of images

To save the parameter settings, quit the window on pressing the OKbutton.

1.3.4. GNSS/IMU

The dialog is used to define projection center coordinates and/or rotations, nomatter if they are coming from GNSS/IMU or if they are just digitizedcoordinates. In case there is a mixture of good and bad GNSS/IMUobservations, and later GNSS/IMU mode is activated (used as constraints inthe adjustment) the bad observations may be de-activated by changing theactivation column.

Importthe GNSScoordinates from the file. Followthe steps of the wizardpages.

Define the Import begins atrow17. Everything beforethat line is treated as acomment header.

Grouping separatorscanbe activated, considering anindicator (e.g. #) sign. If thefile uses separation marksbetween the strips, those separators are used, to automatically createthe strip layout from this information. So between each strip, thereshould be a separator. The example file, however does not use thoseseparators. Also comments can be marked with any character to beignored.

Nexttakes you to thedelimiter specification. For

this dataset simply defineblank as a delimiter.


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sequence with the column sequence in the file. The rotation sequencehere is the mathematical sequence when using a rotation system withrotated achses (so each rotation has an influence on the next angle).The direction Image-> World or World->Image is defining the negativeor positive sign for each angle. In rare cases IMU data is directly

delivered as aeronautical angles (not referring to the object coordinatesystem East/North/Height like omega phi kappa, but referring to theaircraft axes). Aeronautical angles are transformed into omega phikappa, considering the camera definition, during the import. ForGNSS, if necessary it would be possible to directly add the GNSSantenna offset to the observations to have the camera coordinatesinstead of antenna coordinates. In that case of course the GNSSantenna offset needs to be removed from the camera platformdefinition in the Camera Editor. In most cases, however, GNSSobservations are already delivered as camera coordinates so anoffset definition will not be necessary. Same is valid for offsets of IMU

data (boresight). Shift values (e.g. datum shifts) may also be entered.If shifts need to be taken into account, be sure to select the correctType as different companies use different definitions e.g. for negativeor positive signs. For the example data set, no offsets need to beentered.

Nextbrings you to thestrip generation andexterior orientationpage. From here, it ispossible to

automatically generatethe strip layout and toinitialize the exteriororientation of allimages according tothe loaded GNSS /IMU data.

Activate Initialize exterior orientation from GNSS / IMU.

Do notactivate Regenerate strips, as the file does not include stripseparators. If the separators would exist, typically use a Crab angle

(constant kappa) of 0.0deg. Consider only photos that are alreadyexisting.

Click Finishto close and finish the import wizard.

All observations should be activated.


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The GNSS positions have an accuracy of 0.1m. Enter this value for X,Y, Z into the Standard Deviationsdialog. Typically for MATCH-ATprojects, it is suitable to use the Defaults.

1.3.5. Strip Definition

If not created during the GNSS/IMU import, strips can now be manuallydefined or be automatically generated using the Strip Definition dialogue.For editing procedures or manual strip definition proceed as follows:

To automatically generate strips, use the Generate button. Bydefining to use increasing Photo IDsand a maximum Kappachangeof 5 deg, from model to model, automatically the project can bedivided into strips. Whenever the azimuth from one photo to another ischanging more than 5 deg, a new strip will be generated. Also with aDistance Toleranceof 100%, a new strip will be started, when thedistance from one photo to another is more than double of theprevious two images.

If strips shall be defined manually, press the Addor Editbutton. Enterthe Strip IDin the corresponding text field. It will automatically beincremented.

Set the crab angle. Crab angleis the deviation of aircraft axis andstrip direction which is 0 gradhere (e.g. drift angle when flying withside wind).

Select all images that shall be grouped to a strip from the Photos InProjectlist and move them with the < button to the Photos In Striplist.

The Strip Azimuthwill be computed automatically from thecoordinates of the first and last projection center as given in theGNSS file.

Confirm with OK. Leaving the dialogue, the kappa angles associatedwith the photographs (in our case coming from GNSS/INS) arechecked against computed kappa angles from the strip azimuth andinterior orientation ( camera definition ). If the kappa integrity check


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fails, either the image EO has not yet been initialized (e.g. if IMU datais not existing, in this case answer with Yes, to change the exteriororientation parameters) or there is a mismatch between cameradefinition, strip definition and IMU angles. In this case check all ofyour definitions for image coordinate system rotation, camera mount

rotation or strip direction. If necessary change the flight direction in thePhotos In Striplist (top to bottom) found in the Edit dialogue.

After completion of the input, the list of defined strips should look like this forblock Offingen.

Strip ID A [grad] Num C [grad] Image IDs

1 179.27 9 0.0 00003, 00004, 00005,00006, 00007, 00008,00009, 00010, 00011

2 -1.26 9 0.0 00012, 00013, 00014,00015, 00016, 00017,00018, 00019, 00020

3 178.67 8 0.0 0002100028

4 -89.78 8 0.0 0003900046

5 89.97 8 0.0 0004700054

6 -89.73 8 0.0 0005500062

7 90.26 7 0.0 0006300069

1.3.6. Points

Open the "Point Editor" by selecting Pointsfrom the Editsub-menu of the"Project Editor" dialog.

Press the Importbutton and follow the steps of the wizard. The wizard

is working similar to the GNSS/IMU import wizard. Since a ground control file is provided with the test block you may

import this file. Select the file located in the directory.To split the data stored on each line of the ASCII file into columns,one or several Delimitershave to be defined (here 'blank').To assign the columns to point IDs, coordinate values and rotationvalues, click into any header of the Import Data Previewtable andpress the corresponding element button. From left to right this is pointidentifier, easting, northing, height, type. In most cases the typecolumn will not exist, so you would have to specify the point typemanually later. Possible point types are (1=z, 2=xy, 3=xyz, -1/-2/-3check point)


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Check the point Typefor every point ID. Select Standardfor thestandard deviations entered under SDS X, Yand SDS Z.

Enter the standard deviations in the "Standard Deviation" dialog. Ifyou did not define any classified points besides standard, you willonly have to enter the global standard deviations. For a first try wesuggest to let the software calculate default values with the wizardbuttons. Assuming a measuring accuracy of about 1/3 of a pixel, thewizard will calculate standard deviations of xy = 0.03 m and y =0.08m. Other standard deviation classes may be defined if points areused with very different accuracies (not the case in this example).

Standard deviations in the image system will usually be defined

according to the manual measurement accuracy (1/3 pixel) for controlpoint measurements and the accuracy of automatic measurements fortie points of app. 1/5 pixel. For high resolution cameras like the TACwith 6micron pixel size it is recommended to enter 0,002mmforcontrol points and 0,002mmfor automatic tie points, otherwise theweights get too tight.

Confirm with OK.

XYZ control points are 2_12004 (HV)

2_2014 (HV)

2_21017 (HV)

2_22009 (HV)

2_24023 (HV)

2_6029 (HV)

The remaining points will be set to XYZ check points (chv).


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1.3.7. Block Definition

(Sub-) Blocks normally only have to be defined for special analysis purposeor to split a huge complete block into smaller computation units because ofdisk space or performance reasons. When working with sub-blocks, be sure

to define them with overlap in order to be able to automatically connect them.To define sub-blocks:

open the "Blocks" dialog and press Addto add a new block or selectEditto edit an already existing definition.

Enter the sub-block Identifier.

Select all images that shall begrouped to a sub-block from thePhotos In Projectlist and move

them with the < button to thePhotos In Blocklist.

Alternatively, use the Digitizefunction todrag a rectangular area over a graphicalblock overview with the left mousebutton pressed.

For this data set, define two sub-blocks:East-West-Only: images 00039-00069North-South-Only: images 00003-00028

Be aware that the complete block doesnot need to be defined it is existing automatically.

1.3.8. Project definition completed

The project definition should be completed without any remaining errors. Thevalidator might still show some warnings like timestamp differences etc. .


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1.4. Image Pyramid

Create an image pyramid for every image defined in the project. Imagepyramids are used for magnification and especially for iterative workflow ofthe matching and block adjustment process. The Image Commander canbe launched from the Basicsmenu of the ApplicationsMaster. For furtherexplanations also on the additional tools of the Image Commander seereference manual.The list of images in the table of the "Image Commander" should show 9overviews on each image.


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In general the default settings arerecommended - tiled Tiff format, nocompression. The number of overviews is

automatically defined.It is possible to store the image pyramid inseparate files instead of creating internalpyramids.

More details on the possible options can befound in the reference manual.

The images extracted from CD alreadycontain image pyramids, so it is notnecessary to do that again.

Note: RDX files are not yet there, because we did not do any color/intensityediting to the photos. For more information on that, see reference manual.

1.5. Interior Orientation

Through interior orientation the relation between the analogue photo and thedigital image is established. Every image defined in the project must beoriented.

For images derived with a digital camera, the interior orientation is defined bythe camera calibration parameters. It is therefore the same for all images. Asthe TAC used in this example is a digital frame camera a further interiororientation measurement is not necessary.


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For analogue images, fiducial marks have to be measured to find thetransformation parameters from measured pixel coordinates into the imagecoordinate system defined by the fiducial mark coordinates.

The interior orientation can be done automatically, semi-automatically or in a

fully automatic process. How to work through this process please refer toreference manual. The "Interior Orientation" dialogs can be launched fromthe "Match-B" sub-menu of the "ApplicationsMaster".Before starting the automatic process, the camera template has to bedefined, i.e. the description of the shape of fiducial marks has to be set, usingthe "Template Editor" in the "Interior Orientation" dialog.After the template is defined, all images may be selected and the automaticprocess may be started.To check the results, compare the results in the table, e.g. sigma 0 betterthan 10 micron, minimum 8 measured fiducial marks.To edit measurements, use the "Manual Interior Orientation" dialog.

1.6. Point Measurement

The Point Measurement Tool is first of all used to check the projectdefinition. Before going on with any measurements or tie point matching, youhave to assure that all images have the correct rotation. If images still needto be rotated, check the camera definition (mount rotation / image coordinatesystem rotation), IMU kappa angles and strip definition.

Also you may check how good the initial (approximate) exterior orientationsare. When using GNSS/INS that per definition is already free of any offsets(GPS shift/drift, IMU boresight misalignment), then all ground control pointprojections have to be close to a couple of cm to the location where the pointis to be measured. If this is not the case, either check your camera definition(distortion maybe the camera needs to be re-calibrated, principal pointoffsets) or you know that you will have to activate a GPS shift/drift correctionand IMU boresight correction in the adjustment.

Next step would be to measure all control points. You have to start theprogram "Photo Measurement" from the "Match-AT" sub-menu of the mainwindow "ApplicationsMaster".

Generally, there are two possible workflows in "Match-AT": Either doing allcontrol point measurements before starting the automatic tie point extractionor doing the automatic tie point extraction before measuring any groundcontrol.

Control points should be measured in beforehand whenever it is needed tostabilize the tie point matching because difficulties are expected (forest

regions, water).


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In other cases the control point measurement can be done after the tie pointextraction. This has the advantage that bad control point measurements willnot influence the automatic tie point matching and typically after a relativeorientation ( tie point extraction without using ground control) the projection ofground control points is much closes to the position to be measured in the

photograph. Therefore the measurement is much easier. In fact, a suitableworkflow could be to do1. an automatic tie point extraction without ground control2. measurement of a few ground control points in the block corners3. post-processing (adjustment only) -> better absolute orientation / better

projection of ground control points4. measurement of the remaining control points5. final post-processing.

When starting the first

time select OptionsPreferences todefine viewingproperties andshortcuts for aconvenient use of thetool. E.g. you shouldhave activated Display Aerial Images In Main View.

Change into theMeasurement Mode formeasuring ground control

points or tie points.

In case you would like tomeasure points in stereo, Activate View DisplaysMulti-Stereo Viewer.

Select a point in the Point List or add a new point ID in the menu bar.

Measure the point with the different "Measure Modes" either with theMulti-Aerial Viewer or the Multi-Stereo Viewer. A single click into animage (in Block, Topo, Aerial, Stereo Views) results in a point

measurement if the Measuring Mode is active and measuring Modeinthe options menu is set to Manual.A single click into an image results in a Semi-Automatic point

measurement if the Measuring Mode is active and measuring Modeinthe options menu is set to Semi-Automatic.A single click into an image results in a Full-Automatic point measurement

if the Measuring Mode is active and measuring Modein the options

menu is set to Full-Automatic.

The mode might be changed from a context menu activated with a click of


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o In order to select points, select them from the list itself or- Activate the point selection mode to select themgraphically in the views.- Point to a tie point or control/check point in the Block, Topoor Multi-Aerial View.

- Depending on the settings in the tool-options window, youmight select only one point or you might select groups ofpoints in a rectangular shape or fence.

o In the views themselves you might use the context menu(press the right mouse button) and select either RemoveImage Coordinateor Clear Image Coordinates(to deletethe complete point).

o Remove Image Coordinate works only in the Topo or Multi-Aerial View and removes the measurement in the image thepoint is selected.

o Clear Image Coordinates works in all mentioned views and

removes all measurements of the selected point in allimages.

1.6.1. Description of point measurement options

Manual: This switch activates the manual measurement mode. A clickwith the left mouse button into an image will place a measurement to thedesired position.

Semi-Automatic: This allows least squares matching assistedmeasurement of points. This mode requires that the points have to bemeasured in each image. But with each now measured position thesoftware is transferring the measured point into the images alreadymeasured and activated automatically the least squares finemeasurement. Successful matching will be displayed by a green square.The size of the square represents the size of the matching template. If youhave problems, e.g. shadow, set the template smaller.Note: The Semi-Automatic will most probably fail, if your point position isnot on a ground (e.g. Corner of Buildings, pole points). Points not on theground have to be measured in most cases stereoscopically.

Hint: for semi-automatic measurement it is recommended to deactivate thePyramid Tracking.


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Full-Automatic:This allows least squares matching assistedmeasurement of ground control, check and tie points by defining theposition of a point in just one image. When activated click with the leftmouse button in one of the images at the exact position you would like to

have the point measured. PMT will then project the measured position intoall other images in the Multi-Aerial or Multi-Stereo View and will do a leastsquared matching of the point.Note: The Full-Automatic mode will most probably fail, if the projection of apoint into other images cant be made good enough and if your pointposition is not on the ground (e.g. Corner of Buildings, pole points). Pointsnot on the ground have to be measured in most cases stereoscopically.

Hint: for full-automatic measurement it is recommended to activate thePyramid Tracking.To be successful in full automatic point measurements, it is essential to

have good orientations (e.g. to do a relative orientation automatic tiepoint matching first) and to have a mean terrain height definition as goodas possible.

1.7. Triangulation

Clicking the item Triangulation in the program commander"ApplicationsMaster" takes you to the "Triangulation" dialog window. With

the dialog all the control parameters necessary for complete processing of aproject have to be defined. From this window you might start the automaticaerial triangulation process, delete all automatic tie points or start a post-processing (adjustment only).

Steps to work through

Press the Change Settingsbutton to open the AT parameter

"Settings" dialog.

In the "Block Adjustment" dialog

o Activate Use GNSS mode. The projection centers imported intothe "Project Editor's GNSS/IMU" dialog are kinematic GNSSobservations, usable as constraints in the adjustment to reduceground control data.

o As it is only a GNSS with relative accuracy (shifts and drifts arenot yet corrected), activate Drift Correction, to automaticallycorrect the coordinates for systematic effects.

o As also IMU data is available, activate INS mode.

o Do not activate Self Calibrationto correct the image coordinatesfor systematic effects.


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o Do not activate not to eliminate manual measurements to have fullblunder detection capability.

Make the following specifications in the "Strategy" and "Matching"dialogs (leave the default settings).

Work with standard (default) settings and have GPS Mode and INSMode activated.

To start the triangulation, close the parameter definition and press theRunbutton.

Initialization

This process creates the tie point areas where the system searches forhomologous tie points in. The initialization process is automatically started

from within the "Triangulation" dialog, whenever the Automatic Tie PointExtraction With Adjustmentis started.The tie point extraction process may be stopped after initialization to checkthe location of tie point areas.The Initialization uses the current exterior orientation parameters saved witheach photo.An Initialization with DEM option is not necessary for the test block. Forfurther details refer to reference manual.

1.8. Checking the LOG File

For a complete description of the see reference manual. Take aspecial look at the standard deviations and the sigma naught in the lastpyramid level. The LOG file is named . It is located in the specifiedworking directory . Either load the file into any editor you arefamiliar with or use the Check LOG File button from the main window"ApplicationsMaster".

Without using any corrections for GPS/INS you will see that there is some

tension in the block. Make tests (post-processing with blunder detection)applying a global or strip-wise drift correction and see how the values (e.g.for GPS RMS, drift, residuals and for control and check points) change.

Do another try with activated boresight misalignment correction and see howthis affects the results.

If necessary apply a 44 parameter self-calibration and see how the resultschange.

Be sure, that no eliminated points / image measurements / GNSS

observations are left in the block. First check the coordinates andmeasurements, if they are ok. Often the results get better when usingGNSS/IMU corrections or self-calibration. Another influence might have the


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log file, e.g. it shows residuals on each individual measurement and it alsoshows all eliminated automatic and manual measurements.

The main advantage of the viewer is, that it is possible to filter and selectgroups of image measurements to be deleted from the project file. Note, that

the statistics file becomes invalid when deleting points from the project,therefore it will be deleted!

Points can be flagged for deletion by defining a threshold for the maximumacceptable residual. For more information, refer to the reference manual.

1.12. Block Revision

If the results dont meet your requirements, you might want to re-measure thecontrol points or add new manually measured tie points to the block. To editthe block start the program "Photo Measurement".

Often it is necessary to measure interactively additional tie points in imageslocated at edges or corners. In the case of poorly connected images - thereason being the extremely displaced final position of the tie point areas orthe lack of homologous image points (due to bad texture, e.g. forest area inlarge-scale photographs) - it is generally recommended to measure at leastthree additional points in the poorly filled areas, especially in the von-Gruberpositions.

Example of a well connected image:

Example ofpoor connections:

Furthermore there may also be incorrect matches for "homologous" imagepoints. If you detect such mismatches, or wrong measurements of control orcheck points you should correct them (recommended measuring method:Least Squares Matching) or delete them completely, if necessary.

More information concerning measuring methods and the correction of wrongmeasurements can be found in the section "Photo Measurement" of thereference manual.


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1.13. Post-processing (Final Triangulation)

Post-processing, i.e. the re-computation of the previous run, is onlynecessary if re-measurements were performed in the block or if adjustment

parameters were changed. The results of the previous run will be treated asa good approximation and used, together with the new measurements, as abasis for a new block adjustment. The computation will just be appended tothe LOG file.In order to start the post-processing program select Post-processing asprocessing step in the "Triangulation" dialog. You can select among thefollowing methods:

no blunder detection blunders in measurements will not beeliminated.

blunder detection blunders will be detected and eliminated.

absolute orientation an absolute orientation will be performedmodel-by-model, considering the totalnumber of measured points. This mode isonly used in cases when self-calibrationwas used and the computed exteriororientation parameters have to be exportedto systems that cannot handle a distortiongrid (which is normally generated whenusing self calibration). In those cases a

post-processing with absolute orientationalways is the final run.

For further reference see "MATCH-AT" reference manual.


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2. Point Outline (Block TAC_P65)

The initial EO parameters from GPS/IMU are good enough to show the

projection of the control and check points to be measured very close to theactual location.

Nevertheless you find control point sketches in the directory.

For an explanation on suitable control point layouts, see the referencemanual.

3. Good Success

We hope that the tutorial could help to learn about the general use ofMATCH-AT. Feel free to process the sub-blocks of this data set individuallyand compare the results. Or use your own data sets and try to finish themwith the tutorial workflow successfully.

Of course the tutorial is only a brief explanation of steps to be done for anaerial triangulation of a digital frame camera project in MATCH-AT. It caters

for standard projects, but usually, projects are not always standard. Thesoftware offers a variety of functions and possibility that provide all thenecessary flexibility to run through all kinds of difficult project environments.This brief explanation here cannot explain all details, so it is recommended toread through the Reference Documentation as well in order to learn aboutMATCH-ATs flexibility.

In addition, as aerial triangulation is a rather complex task, we would like toencourage everyone that seriously is interested in getting the full advantageof the software, to apply for a personal training.Benefit from years of experience of our support staff either in on-line trainings

or in face-to-face trainings. We offer trainings for all different knowledgelevels, pre-sales, beginners or advanced users.

For details and questions contact: [email protected]
mailto:[email protected]:[email protected]


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MATCH-AT Tutorial End User License Agreement

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