Chap06D Stereoplotters

Materi kuliah GD3204 Fotogrametri I, Semester II-
2011/2012
Chapter 05C
Stereoplotters
Compiled & developed by
Saptomo H Mertotaroeno, Ir., M.Sc.
saptomo@gd.itb.ac.id
KK Inderaja & Sains Informasi Geografis

Fakultas Ilmu dan Teknologi Kebumian
Institut Teknologi Bandung
Contents
 Photogrammetric Instruments
 Introduction
 Optical Projection Stereo-plotters
 Mechanical Projection Stereo-plotters
 Analytical Stereo-plotters
 Softcopy Photogrammetric Workstation
 Problems /Exercises
 References
 Tugas No.
1/22/16 05:56:59 PM Stereoplotters, SHM 2
• Analog Photogrammetry Environment
• Analytical Photogrammetry Environment
• Digital Photogrammetry Environment
PHOTOGRAMMETRIC
INSTRUMENTS

Analog Photogrammetry Environment
• Input : hardcopy image
• Analog instrument as data
acquisition, and da-ta processing
tools
• Typical instruments : points transfer
device, comparator, stereo-plotter,
rectifier, orthopho-to device
• Highly operator dependence
• No or less software
• Output : hardcopy products,
analytical/vector products
Analog Photogrammetric
Instruments
Film Camera
System
Contact
Printer
Mechanical Stereoplotter
Rectifier Orthophoto Device

Points Transfer Device
Stereo-Comparator

Analytical Photogrammetry
Environment
• Input : hardcopy image
• The analog parts is a stereo-comparator typical instrument
• Instrument as coordinates data acquisition tool, the rest of
the process done analytically (software based system)
• Collinearity, and Coplanarity Condition
• Space Resection, and Space Intersection by Collinearity
• Analytical Stereo-model
• Analytical Interior, Relative, and Absolute Orientation
• Analytical Rectification, Digital Mono Plotting, Self-
calibration
• Output : hardcopy and/or softcopy products
‐ Digital Topographic Data Base / DTDB (“layered information” for GIS)
‐ Profiles
‐ Input data for AeroTriangulation (photo-, model-, or strip-coordinates)

Analytical Photogrammetric
Instruments
Film Camera
System
Contact
Printer
Analytical Plotter
Tablet Digitizer Digitally Controlled Orthophoto Device

Digital Photogrammetry
Environment
• Input : softcopy/digital image
• The analog parts is only the viewing system
(software based system)
• Automatic or Semi-automatic Orientation
Procedures
• Epipolar Geometry
• Digital Image Matching
• Automatic Production of Digital Elevation Models
• Automatic Production of Digital Orthophoto
• Automatic Feature Extraction
• Output : softcopy products
Digital Photogrammetric Instruments
System
Film Camera
Digital Camera
Softcopy
Photogrammetric
Workstation
Photogrammetric
Scanner

 Definitions
 Fundamental Concept of Analog Stereoscopic
Plotting Instrument Design
 Spatial Data Acquisition
 Generasi Alat Restitusi Foto Stereo
INTRODUCTION

Definitions
Stereoscopic restitution instruments / stereoscopic
plotting ins-truments / stereo-plotters /
photogrammetric plotters / plotters :
 Instruments designed to provide rigorously accurate
solutions for object point positions from their
corresponding image positions on overlapping pairs of
photos.
 A three-dimensional digitizer; capable of producing
accurate X, Y, and Z object space coordinates when
properly oriented and calibrat-ed.
The primary uses of stereo-plotters are :

 compiling topographic maps, and
 generating digital files of topographic information.

Fundamental concept of
analog
stereoscopic plotting
instrument
The keywords design
: similarity
between stereo-restitution and
aerial photography;
 Inner orientation
• Projectors ~ cameras
• Diapositives ~ negatives
Aerial Photography • p (principal distance) ~ f
(focal length)
• Angle θ’₁ = θ₁ ; θ’₂ = θ₂
 Parallactic angle φ’ = φ
(intersection angle, relative
orientation)
 Model scale b/B
 Stereo-model ~ overlap
 Scaling and levelling (absolute
Stereoscopic plotting instrument orienta-tion)

Model-approach : photo/image
Spatial Data Acquisition
When orientation is completed, measurements of
the model may be made and recorded, nowadays
generally in digital, computer-compatible form.
 The position of any point is determined by bringing a
reference mark (the floating mark) in contact with
the model point.
 At the position of the reference mark, the 3-D
coordinates (X, Y, and Z) are obtained through either
an analog or a digital solution.
 Planimetric (X, Y) positions and elevations (Z) of
points are thus obtained.

Analog Spatial
Data Acquisition

Spatial Data Derived by
Stereoplotters
PETA
TOPOGRAFI
Informasi
Tinggi (Z)
Grid DEM
Fitur /
obyek
planimetrik
(X,Y)

Generasi Alat Restitusi Foto
Stereo (1)
1. Stereo-plotter Analog :
1.1 Proyeksi Optis : Multiplex, Balplex, Kelsh plotter
(American made)
1.2 Proyeksi Optis-Mekanis : Zeiss-C8
1.3 Proyeksi Mekanis : Wild A9, A8, A10, Zeiss Planimat,
Planicart, Kern PG2, PG3 (European –Switzerland &
Germany- made)
A. Computer Supported Analog Stereoplotter
B. Automatic Stereoplotter : Wild B-8 Stereomat (mechanical
stereoplotter B8 + image correlators)
2. Analitis/Analytical : AP/C, AP2000, Zeiss P3, Leica
SD3000
C. Analytical Stereoplotter from Upgraded Analog Plotter
3.Softcopy/Digital
1/22/16 05:57:00 PM
: Leica (Wild-Zeiss), Vertuozo(China-
Stereoplotters, SHM 16
Canada), Helava, Intergraph Z, Socoph(ITB), PCI
Generasi Alat Restitusi Foto
Stereo (2)
A n a lo g
S te r e o P lo tte r
Analog Rectifier
B IN O C U L A R E Y E P IE C E S
P H O TO C A R R IE R C O V E R / D O O R P H O TO C A R R IE R C O V E R /D O O R
D IG ITA L P LO TTE R LE F T R IG H T
A n a ly tica l J O Y S T IC K
F LO A TIN G M A R K IN TE N S ITY C O N TR O L
S ter eo P lo tte r J O Y S TIC K

S C A N S P E E D C O N TR O L
Analitik
ADAM
A SP-2 0 0 0
A n a ly tic a l S te re o P lo tte r
Softcopy
Softcopy
P h otogra m m etric
I n str u m en t

Optical Stereo-plotter
These instruments create a true 3-D stereomodel by
projecting transparency images (diapositives)
through projector lenses.
 The model is formed by intersections of light rays
from corresponding images of the left and right
diapositives.
 An operator is able to view the model directly and
make measurements on it by intercepting projected
rays on a viewing screen (platen).
 A description of their operation provides a good
introduction to the subject of stereo-plotters.

Principal Components of
Optical Projection Stereo-plotter
1. Main frame
2. Reference table
3. Tracing table
4. Platen
5. Guide rods
6. Projectors
7. Illumination lamps
8. Diapositives
9. Leveling screws
10.Projector bar
11.Tracing pencil

Mechanical, or Optical-
mechanical Stereo-plotter
Their method of projection is a simulation of
direct projection of light rays by mechanical
or optical-mechanical means.
 Create a true 3-D model from which measurements are
taken.
 An operator views the diapositives stereoscopically
directly through a binocular train.

Basic Principles of Mechanical
Projection
(placed in carriers)
a’ & a” : image points.
(K’ & K” :mechanical photo points,
moves in X & Y direction) V’ & V” : objective lenses
+ half marks
(x”,y”)
(x’,y’) (free to rotate about O’ & O”)
O’ & O” : gimbal joints (fixed),
mechanical projection centers.
O’O” : model base.
(sliding) (sliding)
(Negati
ve
(X, Y)
(Z)
System
(mechanical model point)
: the
mecha-
nical
photo
points at
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Analytical Stereo-plotter
Form a stereomodel through a purely
mathematical procedure which take place in a
computer.
 An operator views the diapositives stereoscopically
directly through a binocular train.
 The movements of the stereoscopic images are
introduced by servomotors which are under computer
control.
 These versatile instruments are essentially unlimited
in terms of the photographic geometry they can
accommodate.
 The mathematical basis : Analytical Photogrammetry.

Schematic diagram of
components and operation of
an analytical plotter
The heart of
the system is
the controller
computer
which accepts
input from the
operator
controls and
calculates left
and right plate
positions from
these inputs.
It then
operates the
servomotors
to move the
plates,
stopping
when the en-
coders
indicate that
the correct
positions
have been
Softcopy Stereo-plotter
Operate in the same manner as analytical

stereoplotters, except that instead of viewing film
(hardcopy) diapositives through binocular optics,
scanned (softcopy) photographs are displayed
on a computer screen and viewed directly.
 Special viewing systems have been designed which
enable the operator to view the left image with the
left eye and the right image with the right eye.

Softcopy
Stereoplotter
C-factor and S-factor
The C-factor (Contouring-  Thus, when using an analytical
factor, dynamic mode) is an plotter, the imagery could be
obtained with higher flights (at
attempt to quantify the
smaller scale and thus more
accuracy of a stereo-plotter. economically), and the same
 This number multiplied by level of accuracy could be
the desired contour interval achieved.
yields the flying height  Softcopy plotter may have C-
above the terrain needed to factor of 3800 to 5600.
meet conventional map
S-factor (Static-factor)
accuracy standards.
represents the pointing
 A typical analog plotter
accuracy with res-pect to the
might have a C-factor of stereoscopic restituti-on
1200 to 1800, whereas an instrument.
analytical plotter might have  S-factor is 2 to 4 times of C-
a C-factor of 2000 to 2500. factor.

History
 Principal Components of Optical Projection Stereo-plotter

 Projection, and Viewing Systems
 Measuring and Tracing Systems
 Orientation Procedures
 C-factor and S-factor
OPTICAL PROJECTION
STEREOPLOTTERS

Principal Components of
Optical Projection Stereo-plotter
1. Main frame
2. Reference table
3. Tracing table
4. Platen
5. Guide rods
6. Projectors
7. Illumination lamps
8. Diapositives
9. Leveling screws
10.Projector bar
11.Tracing pencil

Projection & Viewing Systems
Full-scale or reduced-scale
Full-scale projectors
projectors.
Enlarged stereo-model in
the model space above a
plotting surface.
Left/right channel
separation :
 the anaglyph technique,
 the image alternator technique,
or
 the polarization technique.
The enlargement ratio from

pho-to to map was variable
within a very small range. Kelsh-type optical stereo-plotter

Measuring, Tracing, & Projection Systems
Balplex optical
A tracing table with an
stereo-plotter
illuminat-ed floating mark was
Reduce-scale
fitted with
projectors
 Z-motion control (thumb wheel),
 an elevation counter, and
 a pencil for tracing map features, or
 guide rails and digitizing electronics
Enlarged for digital data capture into a CAD
stereomodel system rather than manual plotting
of the map directly.
Tracing table Small changes in principal dis-
tance could be easily introduced,
Manuscript map  but changing from a wide angle
lens (152-mm) to a normal angle
lens (210-mm) requires changing
major components of both
projectors.

Example of Optical Projection
Stereo-plotter
Kelsh
stereoscopic plotting
instrument
Nominal principal
distance of 152mm.
Optimum projection
distance of 760 mm.
 The distance from
projection lens to model
surface.
Nominal enlargement
ratio of 5 from diapositive
scale to model scale.

Orientation Procedures
Analog Inner Orientation
 Centering the diapositives,
 Setting the projector
principal distance,
 Analog correction of
systematic errors.
Analog Relative Orientation

 Independent, or dependent
relative orientation.
The six basic projector motions.
Analog Absolute Orientation
Followed by  Scaling the model,
mapFollowed by
compilation  Levelling the model.
map
(spatial compilation
data acquisition)
(spatial data acquisition)
History
• Basic Principles of Mechanical Projection

• Projection and Viewing Systems
• Zeiss Parallelogram
• Measuring and Tracing Systems
• Orientation, Applications, Advantages
• Analog Photogrammetry Environment
MECHANICAL PROJECTION
STEREOPLOTTERS

Basic Principles of Mechanical
Projection
(placed in carriers)
a’ & a” : image points.
(K’ & K” :mechanical photo points,
moves in X & Y direction) V’ & V” : objective lenses
+ half marks
(x”,y”)
(x’,y’) (free to rotate about O’ & O”)
O’ & O” : gimbal joints (fixed),
mechanical projection centers.
O’O” : model base.
(sliding) (sliding)
(Negati
ve
(X, Y)
(Z)
System
(mechanical model point)
: the
mecha-
nical
photo
points at
1/22/16 05:57:02 PM Stereoplotters, SHM negative34
Projection and Viewing
The mechanical
Systems
stereo-plotter uses a
steel space rod and a
gimbal with a sliding
cardan joint to model
the projection of the
rays from conjugate
image points.
 The space rods guide
viewing optics, which
contain the floating
mark;
 Channel separation
can be achieved by
having a separate
optical train for each Schematic of Wild B8 analog
photograph. mechanical stereoplotter
(Positive System : the mechanical photo points at
1/22/16 05:57:02 PM Stereoplotters, SHM positive position) 35
Zeiss Parallelogram
Physical separation
of the model point (Positive system)
can be achieved by Mechanical
projection
devices such as Zeiss centers
parallelogram.
First order instruments Split
have a base-in/base- model point
out capability,
 which allows the left
and right projectors to Handwheels,
footdisk
interchange roles, via
an optical switch.
 Application : analog
strip formation only
with two projectors.
ZEISS Planimat D2

Measuring and Tracing
Systems
A tracing stand and
half-marks (floating
mark).
 Free-hand movement
(XY-movement), thumb
wheel (Z-movement),
and polar-pantograph Polar-pantograph
Free-hand movement
(for enlarge-ment from
model to map). Drawing table
 Handwheels (XY-
movement), footdisk
(Z-movement), and XY-
Up/down
pantograph
tracing pencil
(coordinatograph).
 Digitizing electronics
for digital data capture. WILD B8
Orientation, Applications,
Advantages
Orientation procedures :
 Analog orientation (inner, relative, and absolute).
Applications : data collectors for

 independent model triangulation (model coordinates),
and
 map compilation (analog / hardcopy, digital).
These instruments are preferred over direct optical

projection plotters due to their :
 versatility,
 higher accuracy,
 overall stability, and
 the fact that they need not be operated in a dark room.

History
• Introduction
• The Essential Capabilities of an Analytical Plotter
• Schematic Diagram of Components and Operation of an Analytical Plotter
• Projection System & Hardcopy Imagery
• Principal Distance & Video Data Capture
• Analytical Plotter Orientation
• The Real Time, 3-D Operation of an Analytical Plotter
• Analytical Photogrammetry Environment
• Developments of Map Compilation from Stereoplotters
ANALYTICAL
STEREOPLOTTERS

Introduction
By combining computerized
con-trol with precision
optical and mechanical
components, analy-tical
plotters enable exact mathe-
matical calculation to define
the nature of the
stereomodel.
 They are also easily interfaced
with computer-aided drafting
(CAD) systems, which facilitates
map editing and updates.
 These instruments, with their
digital output capability, are
ideal for compiling data for use Leica SD3000 analytical
in GISs. plotter

The Essential Capabilities of an
Analytical Plotter
(1) To precisely measure x Servomotors, which respond to
and y photo coordinates signals from the controlling
on both photos of a computer, allow the photographs
stereopair, and to be moved to the defined
locations.
(2) To accurately move to de-
fined x and y photo
locations (visit points
mode).
These operations are carried out
un-der direct computer control.
Digital encoders provide the

ability to measure x and y
photo coordinates,
()with the output from the
encoders being read by the Schematic representation of a
computer. comparator from an analytical
plotter
Schematic diagram of
components and operation of
an analytical plotter
The heart of
the system is
the controller
computer
which accepts
input from the
operator
controls and
calculates left
and right plate
positions from
these inputs.
It then
operates the
servomotors
to move the
plates,
stopping
when the en-
coders
indicate that
the correct
positions
have been
Projection System & Hardcopy Imagery
The projection is done

synthetic-ally (with
collinearity equations) by a
real-time computer program
that tracks operator position re-
quests and maintains a parallax-
free stereo view.
 Thus no physical rotations or
base component motions are
needed for the analytical stereo-
plotter.
The analytical stereo-plotter could
work with hardcopy imagery
from any sensor, since the
sensor model is part of the real-
time program that control the Z/I Imaging analytical
stage positions.
plotter
Principal Distance & Video Data
Capture
Changing the principal
distance become trivially easy
with this type of instrument.
 Just put the new principal
distance as input data.
 This made possible the new
deve-lopment of close-range
photo-grammetry with small-
format ca-meras and with non-
metric came-ras.
Late-model plotters of this type

include video data capture of
the stereo view for automated
target detection and pointing, and
semi-automatic DEM generation.
Zeiss Planicomp
Analytical Plotter Orientation
Prior to using an analytical plotter, its measuring system
should be calibrated using a precise grid plate.
Analytical Interior Orientation
 Input : all calibration data and parameters.
 Measurement of fiducial marks (xy-instrument coordinates)
 Data processing, results : the inner orientation parameters.
Analytical Relative Orientation

 Measurements of relative orientation points.
 Data processing, results : the exterior orientation parameters for both
photos.
Analytical Absolute Orientation

 Input : coordinates of ground control points.
 Measurements of photo control points.
 Data processing, results : 3-D transformation parameters.

The Real-time,
3-D Operation
of an
Ideal photo coord. Analytical
: computational steps
Opposite against inner orientation.
Plotter
: inputs
: instrument movements
Real time ≈ 60 Hz
(Hertz)
Instrument xy-coord. (after analytical plotter
orientation)
Developments of Map Compilation
from Stereo-plotters
Map compilation from stereo-plotters has
progressed :
 from direct drawing,
 to pantograph-controlled drawing (polar
coordinates),
 to mechanical table linkages (coordinatograph),
 to direct control of electronic pen plotters,
 to the current stage of digital vector data collection
into a computer-aided design (CAD) file.
• CAD data can be collected in 2-D or in 3-D
depending on the application.
• Introduction
• Components of a Softcopy Photogrammetric Workstation
• Major Functions Performed by a Softcopy
Photogrammetric Workstation
• Digital Photogrammetry Environment
SOFTCOPY
PHOTOGRAMMETRIC
WORKSTATION
Introduction
The fundamental
Software
operation of a softcopy
plotter is the same as
that of an analytical
plotter except that instead
of employing servomotors
and encoders for point
measure-ment, softcopy
systems rely on digital
imagery.
 Softcopy plotters can per-
form all the operations of
an analytical plotter, and
can perform a wealth of
digital image processing
routines as well. Softcopy Photogrammetric System

Components of a Softcopy
Photogrammetric Workstation
Printer,
Plotter
Comput
er

The Essential Component & Stereo Viewers
The essential component

of a softcopy plotter is a
computer with a high-
resolution graphic display.
 The computer must capable of
manipulating large digital
images efficiently and must be
able to display left and right
photos of a stereopair
simultaneously.
Softcopy stereo viewers can

either
 pan and scroll the imagery over
fixed floating marks, or
 pan and scroll the floating Intergraph Image Station Z
marks over fixed imagery. softcopy plotter

Channel Separation
Channel separation for
stereo viewing within the
computer environment can
be achieved by
 the anaglyph approach,
 the split-screen approach,
 computerized polarization,
or
 high-frequency flicker.
Softcopy Photogrammetric
Workstation

Operator Input
 A standard keyboard for
routine data entry, and
 Control which provide
continuous input of the
primary X, Y, and Z
coordinates, i.e.,
• A cursor for XY input and
a thumbwheel for Z input,
or
• Handwheels controls for X
and Y, and a footwheel for
Z input.
Zeiss PHODIS ST
Major functions
performed by a softcopy
photogrammetric
workstation

Multiple Viewers
Softcopy stereo permit
multiple viewers to observe
the stereo-model
simultaneously.
 This opportunity for discussion
and collaboration while viewing
the same 3-D model is a
significant value of the softcopy
stereo environment.
 Training new operators in the
use of stereo benefits from this
possibility.
 Other ambiguous measurement
and interpretation tasks also
benefit in the same way.
Leica DPW 770
Automatic Features &
Manual Use
One of the most useful Manual use of softcopy
automatic capabilities is the plotter is most similar to
ability to per-form routine that of an analytical
point measurement by
stereoplotter.
computer processing,
requir-ing little or no operator
input.
 It can significantly speed up the
process of orienting the plotter,
 It assists in collecting DEM
information, profiles, and cross-
sections,
 It assists in AT processes
(coding, points selection, points
transfer, points mensuration, AT
map-index).

Vector Superimposition
Another advantage of the soft-
copy stereo environment is the
ease of including what used to
be called super-imposition.
 It is often desirable to display
col-lected vector feature
information overlaid on the
source imagery, in stereo if
possible.
 This is very important for
checking accuracy and
completeness in a mapping
project.
 Such a capability was available
only at the cost of enormous
com-plexity in the
optical/mechanical/ analytical Screen print from softcopy
plotter environment photogrammetric workstation

PROBLEMS / EXERCISES

References
• McGlone, J.C., ed., 2004. Manual of Photogrammetry, 5th ed.,
American
Society of Photogrammetry and Remote Sensing, Maryland
20814, USA, 1151 p.
• Mikhail, E.M., J.S. Bethel, and J.C. McGlone, 2001. Introduction to
Modern
Photogrammetry, John Wiley & Sons, Inc., New York, 479 p.
• Wolf, P.R., and B.A. Dewitt, 2000. Elements of Photogrammetry :
with
Application in GIS, 3rd ed., McGraw-Hill, New York, 608p.
Aknowledgements
Some data, information, illustrations, and diagrams in this
presentation are quoted from .ppt files developed by Dr. Ir. Bobby S.
Dipokusumo, M.Sc., Ir. Andri Hernandi, MT, and Dr. Ir. D. Muhally
Hakim, M.Sc.
Tugas No.

Chap06D Stereoplotters

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Materi kuliah GD3204 Fotogrametri I, Semester II-

KK Inderaja & Sains Informasi Geografis

1/22/16 05:56:59 PM Stereoplotters, SHM 3

Rectifier Orthophoto Device

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Tablet Digitizer Digitally Controlled Orthophoto Device

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The primary uses of stereo-plotters are :

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S ter eo P lo tte r J O Y S TIC K

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Operate in the same manner as analytical

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 Principal Components of Optical Projection Stereo-plotter

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The enlargement ratio from

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Analog Relative Orientation

• Basic Principles of Mechanical Projection

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Applications : data collectors for

These instruments are preferred over direct optical

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Digital encoders provide the

The projection is done

Late-model plotters of this type

Analytical Relative Orientation

Analytical Absolute Orientation

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The essential component

Softcopy stereo viewers can

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