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PHOTORAY

Collinearity is the condition that the exposure station of any photograph , image of an object point ( on the Photograph ) and the corresponding object point ( on the Ground ) , all lie on a straight line . They are perhaps the most useful of all equations to the photogrammetrists.

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0% found this document useful (0 votes)
66 views

PHOTORAY

Collinearity is the condition that the exposure station of any photograph , image of an object point ( on the Photograph ) and the corresponding object point ( on the Ground ) , all lie on a straight line . They are perhaps the most useful of all equations to the photogrammetrists.

Uploaded by

Mangalamma B
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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COLLINEARITY CONDITION EQUATION :

Collinearity is the condition that the exposure station of any photograph , image of
an object point ( on the Photograph ) and the corresponding object point ( on the
Ground ) , all lie on a straight line . They are perhaps the most useful of all equations
to the photogrammetrists.

Very often we need to determine the object space position of a point appearing in
only one image ( i.e. a single photograph ) . Since the three dimensional information
about the object space is lost when it is projected into a two-dimensional image ,
additional information must be provided before we can back project the ray into the
object space.

The collinearity condition is used in Bundle Adjustment to represent the actual


physical situation without any serious approximation . Each light ray is assumed to be a
straight line passing through Exposure station , Image point on the photograph and
object point situated on the Ground .
THE PHOTOGRAMMETRIC RAY

It is evident that the geometry of a photograph is based on the perspective or


central projection . O ( x0 , y0 , f ) / ( X0 , Y0 , Z0 )

Z
Y a ( xa , ya , za)
p ( x0 , y0 , z0 )
Fiducial c(0,0,0) Op = f
centre

A ( XA , YA , ZA )

X
C ( 0,0,0 )

Interior orientation of a photograph defines the form of the bundle of rays emerging
from perspective center to the points in the object space . It expresses the angular
relationship between object space rays on the basis of the location of the image points
Consider the image vector Oa from the exposure station O to the image point ‘ a ’ and
the object vector OA from the exposure station O to the object point ‘ A ’ . Both lie
on the same line hence collinear .

Therefore , they should also be collinear during the photogrammetric reconstruction


and data capturing . Two vectors are said to be collinear if one is a scalar multiple of
the other .

Thus Oa = λ R OA

i.e. ca - cO = λ R ( CA - CO )

xa x0 XA X0
ya - y0 = λ R YA - Y0
0 f ZA Z0

The matrix R is called the rotation matrix . Thus the rectangular co-ordinates of a
point are rotated from one system to another system by pre multiplying the original
vector of co-ordinates by the rotation matrix . The rotation matrix is orthogonal , that is
its inverse is equal to transpose . If λ is a uniform scale change , then the rotation
matrix is multiplied by the scale λ . The nine elements of R are the cosines of the
spatial angles that each of the axes x,y,z makes with X,Y,Z .
xa - x 0 XA - X0
ya - y 0 = λ R YA - Y0
- f ZA - Z0

r 11 r 12 r13 XA - X0
=λ r 21 r 22 r23 YA - Y0
r 31 r 32 r33 ZA - Z0

T -1
Condition that R is orthogonal i.e R = R

i ) For near vertical photograph , rotations are of 1st order

i.e. R = I + S i.e. Identity Matrix + Skew Symmetric Matrix

1 - ∆k ∆ɸ
= ∆k 1 -∆ω
- ∆ɸ ∆ ω 1
ii ) For tilted photograph , R is the full matrix .

Since scale factor varies from point to point .

xa – x0 = λ ( r11 ( XA – X0 ) + r12 ( YA - Y0 ) + r13 ( ZA - Z0 ) ) --- Eqn. 1

ya – y0 = λ ( r21 ( XA – X0 ) + r22 ( YA - Y0 ) + r23 ( ZA - Z0 ) ) --- Eqn. 2

– f = λ ( r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 ) ) --- Eqn. 3

Eqn. 1 xa – x0 r11 ( XA – X0 ) + r12 ( YA - Y0 ) + r13 ( ZA - Z0 )


-------- = ------- = -------------------------------------------------------------------
Eqn. 3 –f r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )

Eqn. 2 ya – y0 r21 ( XA – X0 ) + r22 ( YA - Y0 ) + r23 ( ZA - Z0 )


-------- = ------- = -------------------------------------------------------------------
Eqn. 3 –f r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )
r11 ( XA – X0 ) + r12 ( YA - Y0 ) + r13 ( ZA - Z0 )
xa - x0 = - f -------------------------------------------------------------------
r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )

r21 ( XA – X0 ) + r22 ( YA - Y0 ) + r23 ( ZA - Z0 )


ya – y0 = - f -------------------------------------------------------------------
r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )

It is nothing but projective transformations . If the photo co-ordinates are reduced from
Fiducial center to Principal point then x0 = y0 = 0
Then
r11 ( XA – X0 ) + r12 ( YA - Y0 ) + r13 ( ZA - Z0 )
xa = - f ------------------------------------------------------------------- ---- Eqn . 4
r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )

r21 ( XA – X0 ) + r22 ( YA - Y0 ) + r23 ( ZA - Z0 )


ya = - f ------------------------------------------------------------------- ---- Eqn. 5
r31 ( XA – X0 ) + r32 ( YA - Y0 ) + r33 ( ZA - Z0 )

Eqns 4 and 5 are nothing but collinearity condition equations .


APPLICATION OF COLLINEARITY
- Applicable to the analytical solution of almost every aerial photogrammetric problem.

- Use in space resection , in which the six elements of Exterior orientation of a tilted
photograph are computed.

- Initial approximation are needed for all unknowns and these are easily obtained by
making certain assumption.

- In solving a system of collinearity equations of the form of any problem, the quantities
which are determined are corrections to the initial approximation .

- A system of collinearity equations may be expressed in matrix form.


THE COPLANARITY CONDITION

In most photogrammetric problems , object points are recorded on two or more photographs . From the
case of two photographs , there are two conjugate rays for each object point . Since these two rays originally
emanate from the same object point at the time of photography , they must therefore be coplanar during
any analytical solution .
If these two photographs are relatively oriented with respect to each other , then the object space rays
defined by the two image points and their perspective centers will intersect exactly . This intersection defines
the model space position of this point. The two rays and the base vector connecting the two perspective
centers constitute the three sides of a triangle and thus implicitly define a plane . The equation that enforces
the relationship between the three rays is the coplanarity condition .

The corresponding mathematical condition , termed as the coplanarity equation enforces the fact that the two
camera stations , the two image points and the object point lie on one and the same plane ( i.e an epipolar
plane ) .
O1 O2

Coplannarity Condition
The base vector b represents the displacement between the perspective centers .
The vector a1 represents the object space vector from the image point on the left photograph
and the vector a2 represents the object space vector from the image point on the right photograph .

Components of these three vectors may be expressed in matrix form as

[ bx ] [ XL2 - XL1 ]
b = [ by ] = [ YL2 - YL1 ]
[ bz ] [ ZL2 - ZL1 ]
The polygon rule of vector gives

O1O2 - O2 A + AO1 = 0

i.e. O1O2 - λ2 O2a2 + λ1 a1O1 = 0


Comparison between Analogue and Analytical Plotters

Analogue Plotters Analytical Plotters


1. Process - Rely on mechanical gear system and work 1. Process - Measure and use mathematical
on principle of measuring by proportional similarity. analysis to solve relationship between
stereo photo image coordinates with
ground coordinates.
2. Input – Dia-positive 2. Input – Dia-positive

3. Out put - Survey section / Blue print (Graphic) 3. Out put - Soft copy

4. Dimension of out put - 2 – D 4. Dimension of out put - 3 – D

5. Creation of model - Instrumental 5. Creation of model - Mathematical

6. Scale of out put - Fixed 6. Scale of out put - Scale free


( data collected on ground term )
7. Floating mark - Size , shape and 7. Floating mark - Changeable
colour fixed
8. Focal length - According to bracket 8. Focal length - Any ‘ f ’ can be set

9. Procedure for orientation - Fixed 9. Procedure for orientation - No fixed


position for putting dia-positive orientation . Directions and details
for orientation. of each photo has to be defined.

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