Praca Dyplomowa - Photogrammetry and Remote Sensing - AGH

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4.2 Three-dimensional scanning ...................................................................................... 44 4.2.1 Konica Minolta VI-910 laser scanner ................................................................ 44 4.2.2 Artec MHT three-dimensional scanner .............................................................. 46 4.3 Geomagic Software ................................................................................................... 47 5 RESULTS, COMPARISSON AND ANALYSIS ............................................................ 49 5.1 Photogrammetry ........................................................................................................ 49 5.1.1 Camera calibration (PhotoModeler Scanner and Topcon ImageMaster) ......... 49 5.1.2 Photogrammetric project concerning modelling of the sculpture (PhotoModeler Scanner and Topcon ImageMaster) .................................................................................. 51 5.1.3 Autodesk Project Photofly Photo Scene Editor 2.0 Software ............................. 55 5.2 Three-dimensional scanning ...................................................................................... 56 5.3 Geomagic Software, modelling, post-processing software ....................................... 58 6 DISCUSSION AND CONCLUSION ............................................................................... 61 REFERENCES ......................................................................................................................... 67 APPENDIXES ......................................................................................................................... 72 viii
LIST OF FIGURES Figure 1.1 Nidaros Cathedral nowadays – west, front side ........................................................ 2 Figure 1.2 Actual sculpture of Archbishop in Nidaros Cathedral .............................................. 4 Figure 2.1 Photogrammetric principle of 3D measurement; example on convergent image configuration (Luhmann et al., 2006) ......................................................................................... 8 Figure 2.2 Focusing and depth of field (Luhmann et al., 2006) ............................................... 10 Figure 2.3 Perspective centre and principle distance (Luhmann et al., 2006) ......................... 12 Figure 2.4 Effect of radial – symmetric distortion; example (Luhmann et al., 2006) .............. 13 Figure 2.5 Effect of radial – asymmetric and tangential distortion; example (Luhmann et al., 2006) ......................................................................................................................................... 14 Figure 2.6 Effect of affinity and shear deviations; example (Luhmann et al., 2006)............... 14 Figure 2.7 Interior orientation (Luhmann et al., 2006) ............................................................ 15 Figure 2.8 Exterior orientation for terrestrial photogrammetry (Luhmann et al., 2006) .......... 16 Figure 2.9 Methods and data flow for orientation and point determination (based on (Luhmann et al., 2006)) ............................................................................................................ 20 Figure 2.10 Epipolar geometry ................................................................................................. 21 Figure 2.11 Basic triangulation principle applied in scanning (http://www.impactstudiostv.com/Studios) .............................................................................. 23 Figure 2.12 System setup with one bar pattern and one camera; example of structured-light scanning (http://www.rob.cs.tu-bs.de/en/research/projects/shape/) ......................................... 24 Figure 3.1 Camera Canon EOS-1Ds (Canon, 2011) ................................................................ 28 Figure 3.2 Lens Canon 28mm f/2.8 (Canon, 2011) ................................................................. 29 Figure 3.3 Konica Minolta VI-910 laser scanner (Minolta and GmbH, 2011) ........................ 31 Figure 3.4 Artec MHT scanner (Artec, 2011) .......................................................................... 32 Figure 4.1 Photograph from image acquisition ........................................................................ 36 Figure 4.2 Results from Topcon ImageMaster Camera Calibration ........................................ 37 Figure 4.3 Textured mesh from one photo pair in Topcon ImageMaster ................................ 39 Figure 4.4 Residuals on control points in camera calibration in PhotoModeler Scanner ........ 40 Figure 4.5 Coloured point cloud of small part of the sculpture in PhotoModeler Scanner ..... 42 Figure 4.6 Data flow using Autodesk Project Photofly software (Autodesk, 2011) ................ 43 Figure 4.7 Final Maximum mesh in Autodesk Photo Scene Editor 2.0 Project Photo Fly ...... 44 Figure 4.8 Merged point cloud in Polygon Editing Tool from Konica Minolta ...................... 45 Figure 4.9 Merged and smoothed point cloud in Artec Scanner software ............................... 47 Figure 4.10 Registration of point clouds in Geomagic; model of deviations .......................... 48 Figure 5.1 Results of camera calibration from Topcon ImageMaster ...................................... 50 Figure 5.2 Textured model from PhotoModeler Scanner; sculpture was sprayed with dust ... 54 Figure 5.3 Shaded model from PhotoModeler Scanner, representing “hair”, 1mm resolution 54 Figure 5.4 Textured model from Autodesk Project PhotoFly 2.0 ............................................ 55 Figure 5.5 Model from Autodesk Project PhotoFly; converted and improved in Geomagic .. 56 Figure 5.6 Model from Artec MHT scanner and Software ...................................................... 58 Figure 5.7 Model from Artec MHT scanner, but data processed in Geomagic, which is perceived as the best one. ......................................................................................................... 60 Figure 6.1 Final model from Geomagic, using Artec MHT data ............................................. 64 Figure 6.2 Visual comparison of model – more detailed part of the sculpture – “hair”; top left Geomagic - “Artec”, top right Geomagic - “Autodesk”, bottom left Geomagic – “Konica Minolta”, bottom right “PhotoModeler Scanner” .................................................................... 65 ix
Page 1 and 2: Praca Dyplomowa Temat pracy: Badani
Page 3 and 4: wcześniej aplikacje. Nie mniej jed
Page 5: NORWEGIAN UNIVERSITY OF SCIENCE AND
Page 9 and 10: PREFACE AND ACKNOWLEDGMENTS This ma
Page 11: TABLE OF CONTENTS 1 INTRODUCTION ..
Page 15 and 16: 1 INTRODUCTION 1.1 Project backgrou
Page 17 and 18: INTRODUCTION Generally, the sculptu
Page 19 and 20: 1.4 Structure of the report INTRODU
Page 21 and 22: THEORETICAL BACKGROUND praying pain
Page 23 and 24: THEORETICAL BACKGROUND For computat
Page 25 and 26: 2.2.5 Coordinate systems THEORETICA
Page 27 and 28: THEORETICAL BACKGROUND Computed fea
Page 29 and 30: THEORETICAL BACKGROUND Total correc
Page 31 and 32: THEORETICAL BACKGROUND The collinea
Page 33 and 34: Where: Solving the normal equations
Page 35 and 36: THEORETICAL BACKGROUND features fro
Page 37 and 38: 2.3.3 Triangulation-based measureme
Page 39 and 40: THEORETICAL BACKGROUND Hand-held sc
Page 41 and 42: 2.4.2 CAD models THEORETICAL BACKGR
Page 43 and 44: 3.2.2 Lens: Canon 28mm f/2.8 INSTRU
Page 45 and 46: 3.3 Three-dimensional digitizing 3.
Page 47 and 48: INSTRUMENTS AND SOFTWARE � Geomag
Page 49 and 50: EXPERIMENT compression. RAW file co
Page 51 and 52: 4.1.2 Topcon ImageMaster Software E
Page 53 and 54: EXPERIMENT Figure 4.3 Textured mesh
Page 55 and 56: EXPERIMENT In the project there wer
Page 57 and 58: EXPERIMENT Figure 4.6 Data flow usi
Page 59 and 60: EXPERIMENT � Choose one scan; it
Page 61 and 62: EXPERIMENT � Artec software autom
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RESULTS, COMPARISSON AND ANALYSIS 5
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RESULTS, COMPARISSON AND ANALYSIS t
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RESULTS, COMPARISSON AND ANALYSIS N
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RESULTS, COMPARISSON AND ANALYSIS I
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6 DISCUSSION AND CONCLUSION DISCUSS
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DISCUSSION AND CONCLUSION change pe
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DISCUSSION AND CONCLUSION Figure 6.
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REFERENCES REFERENCES Akca, D., Gru
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REFERENCES Gruen, A., Huang, S.T.,
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http://www.konicaminolta.eu/. Nidar
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APPENDIXES 73
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APPENDIXES 75
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Quality APPENDIXES Photographs Tota
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APPENDIXES Application PhotoModeler
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APPENDIXES A. 4 Comparison of 3D di
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APPENDIXES A. 5 Comparison of softw
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APPENDIXES Application Konica Minol
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APPENDIXES Application Geomagic Qua
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APPENDIXES Application Geomagic Qua
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APPENDIXES Kochi, N., Ito, T., Noma
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Praca Dyplomowa - Photogrammetry and Remote Sensing - AGH

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