Materi kuliah GD3204 Fotogrametri I, Semester II2011/2012

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.

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 Analog Photogrammetry Environment

Analytical Photogrammetry Environment
Digital Photogrammetry Environment

PHOTOGRAMMETRIC
INSTRUMENTS
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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
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Analog Photogrammetric
Instruments
System
Film Camera
Contact
Printer

Mechanical Stereoplotter

Rectifier

Orthophoto Device
Points Transfer Device

Stereo-Comparator
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Stereoplotters, SHM

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, Selfcalibration
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)

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Analytical Photogrammetric
Instruments
System
Film Camera

Contact
Printer
Analytical Plotter

Tablet Digitizer
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Digitally Controlled Orthophoto Device

Stereoplotters, SHM

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
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Digital Photogrammetric Instruments

System
Film Camera
Digital Camera

Softcopy
Photogrammetric
Workstation

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

INTRODUCTION

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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.
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Fundamental concept of
analog
stereoscopic plotting
instrument
design
The keywords
: similarity
between stereo-restitution and
aerial photography;

Aerial Photography

Inner orientation
Projectors ~ cameras
Diapositives ~ negatives
p (principal distance) ~ f
(focal length)
Angle = ; =
Parallactic angle =
(intersection angle, relative
orientation)
Model scale b/B
Stereo-model ~ overlap

Stereoscopic plotting instrument

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Scaling and levelling (absolute

orienta-tion)

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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.

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Analog Spatial
Data Acquisition

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Spatial Data Derived by

Stereoplotters
PETA
TOPOGRAFI

Informasi
Tinggi (Z)
Grid DEM
Fitur /
obyek
planimetrik
(X,Y)

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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
: Leica
(Wild-Zeiss), Vertuozo(China1/22/16 05:57:00 PM
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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

A n a ly tica l
S ter eo P lo tte r

D IG ITA L P LO TTE R

P H O TO C A R R IE R C O V E R / D O O R
LE F T

P H O TO C A R R IE R C O V E R /D O O R
R IG H T
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 C A N S P E E D C O N TR O L

J O Y S TIC K

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

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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.

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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
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Mechanical, or Opticalmechanical 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.

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Basic Principles of Mechanical

Projection
(placed in carriers)
(K & K :mechanical photo points,
moves in X & Y direction)
(x,y)

(free to rotate about O & O)

(sliding)

a & a : image points.

V & V : objective lenses
+ half marks
(x,y)
O & O : gimbal joints (fixed),
mechanical projection centers.
OO : model base.

(sliding)

(Negati
(mechanical model point)

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Stereoplotters, SHM

(X, Y)

(Z)

ve
System
: the
mechanical
photo
points at
negative21

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.
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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 encoders
indicate that
the correct
positions
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have been

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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.

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Softcopy
Stereoplotter
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C-factor and S-factor

The C-factor (Contouringfactor, dynamic mode) is an
attempt to quantify the
accuracy of a stereo-plotter.
This number multiplied by
the desired contour interval
yields the flying height
above the terrain needed to
meet conventional map
accuracy standards.
A typical analog plotter
might have a C-factor of
1200 to 1800, whereas an
analytical plotter might have
a C-factor of 2000 to 2500.
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Thus, when using an analytical

plotter, the imagery could be
obtained with higher flights (at
smaller scale and thus more
economically), and the same
level of accuracy could be
achieved.
Softcopy plotter may have Cfactor of 3800 to 5600.

S-factor (Static-factor)
represents the pointing
accuracy with res-pect to the
stereoscopic restituti-on
instrument.
S-factor is 2 to 4 times of Cfactor.

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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
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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
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Projection & Viewing Systems

Full-scale or reduced-scale
projectors.

Full-scale 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.
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Kelsh-type optical stereo-plotter

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Measuring, Tracing, & Projection Systems

Balplex optical
stereo-plotter
Reduce-scale
projectors

A tracing table with an

illuminat-ed floating mark was
fitted with

Z-motion control (thumb wheel),

an elevation counter, and
a pencil for tracing map features, or
guide rails and digitizing electronics
for digital data capture into a CAD
Enlarged
system rather than manual plotting
stereomodel
of the map directly.

Small changes in principal distance could be easily introduced,

Tracing table

Manuscript map

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but changing from a wide angle

lens (152-mm) to a normal angle
lens (210-mm) requires changing
major components of both
projectors.

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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.
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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.

Followed by
by
mapFollowed
compilation
map
compilation
(spatial
data
acquisition)
(spatial data acquisition)
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Analog Absolute Orientation

Scaling the model,
Levelling the model.

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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
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Basic Principles of Mechanical

Projection
(placed in carriers)
(K & K :mechanical photo points,
moves in X & Y direction)
(x,y)

(free to rotate about O & O)

(sliding)

a & a : image points.

V & V : objective lenses
+ half marks
(x,y)
O & O : gimbal joints (fixed),
mechanical projection centers.
OO : model base.

(sliding)

(Negati
(mechanical model point)

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(X, Y)

(Z)

ve
System
: the
mechanical
photo
points at
negative34

Projection and Viewing

Systems
The mechanical
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
photograph.
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Schematic of Wild B8 analog

mechanical stereoplotter
(Positive System : the mechanical photo points at
Stereoplotters, SHM positive position)
35

Zeiss Parallelogram
Physical separation
of the model point
can be achieved by
devices such as Zeiss
parallelogram.

(Positive system)
Mechanical
projection
centers

First order instruments

Split
have a base-in/base- model point
out capability,
which allows the left
and right projectors to
interchange roles, via
an optical switch.
Application : analog
strip formation only
with two projectors.
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Handwheels,
footdisk

ZEISS Planimat D2
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Measuring and Tracing

Systems
A tracing stand and
half-marks (floating
mark).
Free-hand movement
(XY-movement), thumb
wheel (Z-movement),
and polar-pantograph
(for enlarge-ment from
model to map).
Handwheels (XYmovement), footdisk
(Z-movement), and XYpantograph
(coordinatograph).
Digitizing electronics
for digital data capture.
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Polar-pantograph
Free-hand movement

Drawing table

Up/down
tracing pencil

WILD B8
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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.
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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
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Introduction
By combining computerized
con-trol with precision
optical and mechanical
components, analy-tical
plotters enable exact mathematical 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
in GISs.
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Leica SD3000 analytical

plotter

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The Essential Capabilities of an

Analytical Plotter
(1) To precisely measure x
and y photo coordinates
on both photos of a
stereopair, and
(2) To accurately move to defined x and y photo
locations (visit points
mode).

Servomotors, which respond to

signals from the controlling
computer, allow the photographs
to be moved to the defined
locations.

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
computer.
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Schematic representation of a
comparator from an analytical
plotter

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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 encoders
indicate that
the correct
positions
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have been

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Projection System & Hardcopy Imagery

The projection is done
synthetic-ally (with
collinearity equations) by a
real-time computer program
that tracks operator position requests and maintains a parallaxfree stereo view.
Thus no physical rotations or
base component motions are
needed for the analytical stereoplotter.
The analytical stereo-plotter could
work with hardcopy imagery
from any sensor, since the
sensor model is part of the realtime program that control the
stage positions.
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Z/I Imaging analytical

plotter

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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 smallformat ca-meras and with nonmetric 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
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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.
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Ideal photo coord.

Opposite against inner orientation.

The Real-time,
3-D Operation
of an
Analytical
: computational steps
Plotter
: inputs
: instrument movements
Real time 60 Hz
(Hertz)

Instrument xy-coord.
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(after analytical plotter

orientation)
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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.
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 Introduction
Components of a Softcopy Photogrammetric Workstation
Major Functions Performed by a Softcopy
Photogrammetric Workstation
Digital Photogrammetry Environment

SOFTCOPY
PHOTOGRAMMETRIC
WORKSTATION
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Introduction
The fundamental
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 perform all the operations of
an analytical plotter, and
can perform a wealth of
digital image processing
routines as well.
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Software

Softcopy Photogrammetric System

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Components of a Softcopy
Photogrammetric Workstation
Printer,
Plotter

Comput
er

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The Essential Component & Stereo Viewers

The essential component
of a softcopy plotter is a
computer with a highresolution 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
marks over fixed imagery.
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Intergraph Image Station Z

softcopy plotter

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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
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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
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Major functions
performed by a softcopy
photogrammetric
workstation

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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.
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Leica DPW 770

55

Automatic Features &

Manual Use

One of the most useful

automatic capabilities is the
ability to per-form routine
point measurement by
computer processing,
requir-ing little or no operator
input.

Manual use of softcopy

plotter is most similar to
that of an analytical
stereoplotter.

It can significantly speed up the

process of orienting the plotter,
It assists in collecting DEM
information, profiles, and crosssections,
It assists in AT processes
(coding, points selection, points
transfer, points mensuration, AT
map-index).
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Vector Superimposition
Another advantage of the softcopy 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
plotter environment
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Screen print from softcopy

photogrammetric workstation

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PROBLEMS / EXERCISES

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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.
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