Praca Dyplomowa - Photogrammetry and Remote Sensing - AGH

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Figure 6.3 Visual comparison of model – more sharp part of the sculpture – “collar”; top left Geomagic - “Konica Minolta”, top right Geomagic - “Autodesk”, bottom Geomagic – “Artec” .................................................................................................................................................. 66 LIST OF TABLES Table 2.1 Simplified workflow for modelling: from point cloud to final model ..................... 26 Table 3.1 Specification of Canon lens 28mm f/2.8 (Canon, 2011) .......................................... 29 Table 5.1 Comparison on results of camera calibration using photogrammetric softwares .... 50 Table 5.2 Comparison of photogrammetric software: ImageMaster, PhotModeler Scanner ... 53 Table 5.3 Comparison on scanning systems: Artec, Konica Minolta, processing in Geomagic .................................................................................................................................................. 59 Table 5.4 Comparison on results of alignment scans in Geomagic software .......................... 60 LIST OF APPENDIXES A. 1 Specification of Canon Camera EOS-1Ds ....................................................................... 72 A. 2 Report - results of camera calibration using PhotoModeler Scanner software ................ 76 A. 3 Comparison on photogrammetric software used in the project including system requirements, import/export files, main features camera calibration and modelling manipulation tools .................................................................................................................... 78 A. 4 Comparison of 3D digitizers: main features, specification: used methods, light, range, resolution, accuracy, etc. .......................................................................................................... 81 A. 5 Comparison of software from scanning systems; main features, system requirements, model manipulation tools. ........................................................................................................ 83 A. 6 Geomagic Qualify: main features, import/export files, system requirements and main manipulation tools used in the project ...................................................................................... 86 x
1 INTRODUCTION 1.1 Project background INTRODUCTION Sculptures are exposed to different damages, like atmospheric and so on. For many years, they have been getting to wear down and it is possible to see the signs of erosion. Something has to be done to preserve cultural heritage. Because of these problems many replicas are being done and they are replacing original forms inside the museums. Some of them are too fragile to use old methods and make plaster casts. There is a risk that touching the sculpture will destroy it completely. Nowadays, there are geodetic techniques which allow making three-dimensional digital models without touching the objects. It may be photogrammetric or laser scanning methods. The accuracy and resolution has been also improved over the time and it is possible to get 0,2mm resolution with 0,05mm accuracy (Artec S scanner). This kind of model may be displayed on a screen and virtual museum may be created. Digital models can be also printed, using special three-dimensional printers which allow recreating the 3D shape of the object. These methods seem to be the best, because of no risk of destroying the original sculpture. Moreover, these printers are able to make a copy with good accuracy as well, usually with 0,1mm layer thickness, where 3D dots size is around 0,05mm in diameter. The project is being done on The Restoration Workshop of Nidaros Cathedral request. They are trying to reconstruct all the sculptures and shapes of the Cathedral. Reconstruction process takes a long time and it is very tedious. Many characters have been reconstructed in plaster form or sculptures in stone. Around 4000 casts has been made, for preservation copy as a proof. In 1983 the Archbishop Palace was burnt. A lot of work and priceless documentation was lost in the flames. In November 2003, Vinn Design company from Oslo (Bache, 2003), have done some scanning in Nidaros. They made model of Prinsipp and Kong Sverre and made a real replica afterwards. The results were quite good, although some parts were not exact reflection of the real sculpture. Some small details were missing and sharp edges were being smoothed. The Cathedral needs more detailed and accurate models. As some of the sculptures are very small, or some details are very small, a proper method for acquiring the 3D data and modelling should be applied. To get better replica the higher resolution and more accurate model is needed. In the project investigation on methods of making detailed models has been done. Methods hereby mean existing photogrammetric software in use of non-metric commercial cameras and close range laser scanning. The software has been tested and the results are compared. The object of investigation is a sculpture – a head of Archbishop from the Cathedral, probably of Pål Bårdsson. It is a relatively small object, about 25x25x30 cm and there are a lot of small details and sharp edges, some small details are even smaller than 1mm. 1.2 Cathedral and sculpture background information Nidaros Cathedal (Nidarosdomen/Nidaros Domkirke) is a church located in city centre in Trondheim. Figure 1.1 shows the front side of the Cathedral. It was established in 1152 and at that time it was Norwegian archdiocese until its abolition in 1537. After the reformation, it 1
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 and 12: TABLE OF CONTENTS 1 INTRODUCTION ..
Page 13: LIST OF FIGURES Figure 1.1 Nidaros
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
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Page 53 and 54: EXPERIMENT Figure 4.3 Textured mesh
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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 5
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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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