Quick Start with Quick Start with AeroSys-ATAeroSys-AT

Step by Step TutorialStep by Step Tutorial

Step 1: Gather Data FilesStep 1: Gather Data Files

• Refined Photocoordinate Data File(s)Refined Photocoordinate Data File(s)•Export to PAT-B format, *.ptbExport to PAT-B format, *.ptb

– Refined for radial lens distortion and fiducialsRefined for radial lens distortion and fiducials– No interior (fiducial) points listed, only relative No interior (fiducial) points listed, only relative

pointspoints– Units in MillimetersUnits in Millimeters

• Ground Control Data FileGround Control Data File•AeroSys native format, *.CTLAeroSys native format, *.CTL

•ptID, X, Y, Z, Sxy, SzptID, X, Y, Z, Sxy, Sz

Sample PAT-B formatSample PAT-B format

168001 152.000168001 152.000 681097 -1.306 -91.717681097 -1.306 -91.717 682097 0.081 -46.604682097 0.081 -46.604 683097 0.306 0.057683097 0.306 0.057 683107 92.735 2.407683107 92.735 2.407 685056 -0.183 97.547685056 -0.183 97.547 685066 -0.387 88.344685066 -0.387 88.344 685076 47.049 92.719685076 47.049 92.719 685086 47.190 87.721685086 47.190 87.721 685096 99.749 100.458685096 99.749 100.458 685106 97.316 82.737685106 97.316 82.737 695056 64.026 -77.335695056 64.026 -77.335 695066 63.746 -87.991695066 63.746 -87.991 695076 90.639 -79.120695076 90.639 -79.120 695086 88.551 -87.953695086 88.551 -87.953 681091 30.451 -105.108681091 30.451 -105.108 683091 -1.878 -0.091683091 -1.878 -0.091 -99-99

Sample AeroSys *.CTL Sample AeroSys *.CTL formatformatCTLCTLProject: City of Saint Paul, MNProject: City of Saint Paul, MN 661051 316094.710 425151.530 1525.442 0.0100 0.0100661051 316094.710 425151.530 1525.442 0.0100 0.0100 661071 324300.000 425188.260 1639.058 0.0100 0.0100661071 324300.000 425188.260 1639.058 0.0100 0.0100 661151 333170.630 424863.340 1597.493 0.0100 0.0100661151 333170.630 424863.340 1597.493 0.0100 0.0100 661201 342692.270 424777.720 1411.468 0.0100 0.0100661201 342692.270 424777.720 1411.468 0.0100 0.0100 661251 350446.650 425413.140 1197.069 0.0100 0.0100661251 350446.650 425413.140 1197.069 0.0100 0.0100 663051 316598.870 426671.720 1489.140 0.0100 0.0100663051 316598.870 426671.720 1489.140 0.0100 0.0100 663071 324561.840 426815.000 1518.809 0.0100 0.0100663071 324561.840 426815.000 1518.809 0.0100 0.0100 663151 333384.500 426727.470 1515.782 0.0100 0.0100663151 333384.500 426727.470 1515.782 0.0100 0.0100 663201 342406.710 426593.300 1361.070 0.0100 0.0100663201 342406.710 426593.300 1361.070 0.0100 0.0100 663251 351001.900 427304.920 1251.495 0.0100 0.0100663251 351001.900 427304.920 1251.495 0.0100 0.0100 665051 316816.330 428914.560 1459.911 0.0100 0.0100665051 316816.330 428914.560 1459.911 0.0100 0.0100 665071 324559.250 428680.220 1413.010 0.0100 0.0100665071 324559.250 428680.220 1413.010 0.0100 0.0100-99-99-99-99

Put *.ptb & *.CTL into Data Put *.ptb & *.CTL into Data DirDir

Step 2: Start AeroSys-ATStep 2: Start AeroSys-AT

• Start AeroSys-AT main menu GUIStart AeroSys-AT main menu GUI

• Click on the desktop shortcut iconClick on the desktop shortcut icon

• Main Menu AppearsMain Menu Appears

Step 3: Make AeroSys-AT Step 3: Make AeroSys-AT ProjectProject

• On Main Menu GUIOn Main Menu GUI• Click to 1Click to 1stst (left most) icon button (left most) icon button

• Project Set-up GUI appearsProject Set-up GUI appears• Purpose(s):Purpose(s):

– Set project “BASENAME” & “Data Directory”Set project “BASENAME” & “Data Directory”– Translate photocoordinate data file(s) to *.REF formatTranslate photocoordinate data file(s) to *.REF format

AeroSys-AT Project Set-up AeroSys-AT Project Set-up GUIGUI

Make a new project ….Make a new project ….

• Select File | NewSelect File | New

Choose New Project NameChoose New Project Name

• From File Choice Dialog …From File Choice Dialog …– Traverse to Data DirectoryTraverse to Data Directory

• Enter New Project NameEnter New Project Name

• e.g., BoreSite16Q12.prje.g., BoreSite16Q12.prj

• Click “Click “OOpenpen” Button ” Button

to create new projectto create new project

Project Info GUI looks like …Project Info GUI looks like …

So far …..So far …..

• The Project Basename has been setThe Project Basename has been set• i.e., i.e., BoreSite16Q12BoreSite16Q12

• The Project Data Directory has been The Project Data Directory has been setset

• i.e., i.e., E:\mapping\AeroMap\16Q275AT\E:\mapping\AeroMap\16Q275AT\

• Now enter some text to Identify your Now enter some text to Identify your project in the “project in the “TitleTitle” text box” text box

Select Ground Control FileSelect Ground Control File

• Click on the Click on the ““yellowyellow” No.2 ” No.2 buttonbutton

• Select the AeroSys Select the AeroSys native formatted native formatted

*.CTL data file*.CTL data file

• Click “Click “OOpenpen” button” button

So Far …..So Far …..

Set the photocoordinate Set the photocoordinate type …type …• Click on the “Photocoordinate Type” tabClick on the “Photocoordinate Type” tab

• Select AttributesSelect Attributes• Format: e.g., Format: e.g., PAT-BPAT-B• Processing: Raw vs. Processing: Raw vs. RefinedRefined• Parsing: Paired vs. Parsing: Paired vs. Un-PairedUn-Paired

Is Camera Info in Data Is Camera Info in Data Base?Base?• Is this block using a “New” camera, i.e., one that is Is this block using a “New” camera, i.e., one that is

not in your local AeroSys-AT camera data base?not in your local AeroSys-AT camera data base?

• If If YESYES, then click on the tab labelled , then click on the tab labelled

“ “Camera Data base” Camera Data base”

Adding a new Camera ….Adding a new Camera ….

• Click on the blue arrow icon to add a new Click on the blue arrow icon to add a new camera to the data base … Camera Editor camera to the data base … Camera Editor GUI appearsGUI appears

Add the new camera InfoAdd the new camera Info

• Click on the “New” button to put the gui Click on the “New” button to put the gui into editor modeinto editor mode

Enter Camera Info ….Enter Camera Info ….

• Type in the camera calibration info into the Type in the camera calibration info into the GUIGUI

OrOr

• Click on the “yellow” file open icon to Click on the “yellow” file open icon to import an existing *.CAL data fileimport an existing *.CAL data file

• Click the “Done” button to enter the Click the “Done” button to enter the cameracamera

• Click the “Select_OK” button to finish Click the “Select_OK” button to finish

Enter Block infoEnter Block info

• Click on the Block Configuration tabClick on the Block Configuration tab

Select Number of Cameras Select Number of Cameras ……• If one camera …If one camera …

• If more than one …If more than one …

• To add more cameras to the list, select the To add more cameras to the list, select the camera name in the drop-down combo and camera name in the drop-down combo and then click the “green” plus icon buttonthen click the “green” plus icon button

Select your PAT-B data fileSelect your PAT-B data file

• Click on the “all-in-1-Click on the “all-in-1-file” choice buttonfile” choice button

• Click the green plus Click the green plus icon to select the icon to select the *.ptb file*.ptb file

Pre-Check the block Pre-Check the block contents …contents …• Click on the green check button to Click on the green check button to

pre-parse the *.ptb file to check its pre-parse the *.ptb file to check its contentscontents

Transfer Block Info to GUI …Transfer Block Info to GUI …

• Click on the green up-arrow buttonClick on the green up-arrow button

• Click on the “Save” project ButtonClick on the “Save” project Button

Time Saving Step ….Time Saving Step ….

• Click on the “export” button to parse the Click on the “export” button to parse the *.ptb file into the native AeroSys-AT file *.ptb file into the native AeroSys-AT file formats: *.REF & *.CALformats: *.REF & *.CAL

So far …So far …

• We have set up :We have set up :•Project basenameProject basename•Project Data DirectoryProject Data Directory•Project Ground Control fileProject Ground Control file•Selected a camera for the blockSelected a camera for the block•Translated *.ptb to *.ref & *.calTranslated *.ptb to *.ref & *.cal

• Now we are ready to start the bundle Now we are ready to start the bundle Pre-Processing steps … Pre-Processing steps …

AeroSys-AT Pre-processing AeroSys-AT Pre-processing ……• Steps to make the *.AER input file for the Steps to make the *.AER input file for the

Aero.exe bundle adjustment programAero.exe bundle adjustment program• Relative OrientationRelative Orientation

• Strip FormationStrip Formation

• Block FormationBlock Formation

• Estimate Ground CoordinatesEstimate Ground Coordinates

• Photo ResectionPhoto Resection

• Point IntersectionPoint Intersection

• MergeMerge

• Pre-bundle Image Rays gross error checkPre-bundle Image Rays gross error check

Step 4: Relative OrientationStep 4: Relative Orientation

• Click on the 9Click on the 9thth tool bar icon button from the tool bar icon button from the leftleft

Pre-Processing GUI appears Pre-Processing GUI appears ……

Pre-Processing GUI details Pre-Processing GUI details ……• Action Buttons …Action Buttons …

• Go, start current pre-processing stepGo, start current pre-processing step• Next, move to next pre-processing stepNext, move to next pre-processing step• Skip, skip over current pre-processing stepSkip, skip over current pre-processing step• Back, go back to previous pre-processing stepBack, go back to previous pre-processing step

Pre-Processing GUI details Pre-Processing GUI details ……

• Tabs, non-functional … only for visual Tabs, non-functional … only for visual referencereference

Pre-Processing GUI details Pre-Processing GUI details ……• Quick Summary text boxQuick Summary text box

• Stats output for each pre-processing stepStats output for each pre-processing step

Pre-Processing GUI details Pre-Processing GUI details ……• Status InfoStatus Info

• Current Status: Idle, Processing, Done, ErrorCurrent Status: Idle, Processing, Done, Error

• Progress BarProgress Bar

• Pre-processing stepPre-processing step

Pre-Processing GUI details Pre-Processing GUI details ……• Message Text BoxMessage Text Box

• Internal processing messagesInternal processing messages

Pre-Processing GUI details Pre-Processing GUI details ……• Options BoxOptions Box

• Processing options for each stepProcessing options for each step

Let’s go on …Let’s go on …

• Click the “Go” button to start the Relative Click the “Go” button to start the Relative OrientationOrientation

• Quick SummaryQuick SummarySTRIP Model L_Photo R_Photo RMS_Vx (µm) RMS_Vy (µm)STRIP Model L_Photo R_Photo RMS_Vx (µm) RMS_Vy (µm)

----- ----- ------- ------- ----------- ---------------- ----- ------- ------- ----------- -----------

1 1 101 102 0.0 0.51 1 101 102 0.0 0.5

1 2 102 103 0.1 3.01 2 102 103 0.1 3.0

1 3 103 104 0.1 1.01 3 103 104 0.1 1.0

----- ----- ------- ------- ----------- ---------------- ----- ------- ------- ----------- -----------

2 1 201 202 0.0 0.32 1 201 202 0.0 0.3

2 2 202 203 0.0 0.42 2 202 203 0.0 0.4

2 3 203 204 0.0 0.52 3 203 204 0.0 0.5

----- ----- ------- ------- ----------- ---------------- ----- ------- ------- ----------- -----------

Is RELORN ok?Is RELORN ok?

• What each independent model to solve as What each independent model to solve as “squeaky-clean” as possible“squeaky-clean” as possible

• RMS_Vx, direction of overlap 0.0 to 0.1 micronsRMS_Vx, direction of overlap 0.0 to 0.1 microns

• RMS_Vy, parallax <= 3.0 in generalRMS_Vy, parallax <= 3.0 in general• Threshold is function of scanning sizeThreshold is function of scanning size

• Click the “Next” button to go onto next Click the “Next” button to go onto next stepstep

Step 4: Strip FormationStep 4: Strip Formation

• Click on the “Go” buttonClick on the “Go” button• Quick SummaryQuick Summary

STRIP Model RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm)STRIP Model RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm)----- ----- ----------- ----------- ---------------- ----- ----------- ----------- -----------Next 1 xxx.x xxx.x xxx.x Next 1 xxx.x xxx.x xxx.x 1 2 2.4 39.0 44.51 2 2.4 39.0 44.5 1 3 0.9 22.5 27.31 3 0.9 22.5 27.3----- ----- ----------- ----------- ---------------- ----- ----------- ----------- -----------Next 1 xxx.x xxx.x xxx.x Next 1 xxx.x xxx.x xxx.x 2 2 0.9 15.7 18.62 2 0.9 15.7 18.6 2 3 0.5 32.3 31.92 3 0.5 32.3 31.9----- ----- ----------- ----------- ---------------- ----- ----------- ----------- -----------

• Don’t sweat the residuals, just want Don’t sweat the residuals, just want the models to join into stripsthe models to join into strips

• Click the “next” button to go on …Click the “next” button to go on …

Step 5: Block FormationStep 5: Block Formation

• Click on the “Go” buttonClick on the “Go” button• Quick SummaryQuick Summary

STRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm)STRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm)----- ----------- ----------- ---------------- ----------- ----------- ----------- 1 xxx.x xxx.x xxx.x 1 xxx.x xxx.x xxx.x 2 15.2 22.7 34.82 15.2 22.7 34.8----- ----------- ----------- ---------------- ----------- ----------- -----------

• Don’t sweat the residuals, just Don’t sweat the residuals, just want the strips to join into a blockwant the strips to join into a block

• Click the “next” button to go on …Click the “next” button to go on …

Step 6: Estimate Ground Step 6: Estimate Ground CoordinatesCoordinates

• Click on the “Go” buttonClick on the “Go” button

• Two processing Choices:Two processing Choices:•Polynomial Strip AdjustmentPolynomial Strip Adjustment

Need lot’s of ground control in each and Need lot’s of ground control in each and every flight stripevery flight strip

•Hybrid Rigid Body 2D-3D transHybrid Rigid Body 2D-3D trans Used in AB-GPS blocks where some flight Used in AB-GPS blocks where some flight

strips do not have any ground control points in strips do not have any ground control points in themthem

Estimate pre-processing Estimate pre-processing optionsoptions

Estimate Quick SummaryEstimate Quick Summary

• Using the Polynomial … each stripUsing the Polynomial … each stripSTRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm) SourceSTRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm) Source----- ----------- ----------- ----------- ----------- ----------- ----------- ----------- ------ 1 0.219 0.250 0.248 POLY1 0.219 0.250 0.248 POLY 2 0.233 0.182 0.060 POLY2 0.233 0.182 0.060 POLY----- ----------- ----------- ----------- ----------- ----------- ----------- ----------- ------

• Using the Hybrid … on the whole blockUsing the Hybrid … on the whole blockSTRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm) SourceSTRIP RMS_Vx (µm) RMS_Vy (µm) RMS_Vz (µm) Source----- ----------- ----------- ----------- ----------- ----------- ----------- ----------- ------ 1 0.137 0.097 0.362 3D-2D1 0.137 0.097 0.362 3D-2D----- ----------- ----------- ----------- ----------- ----------- ----------- ----------- ------

Step 7: Photo (Space) Step 7: Photo (Space) ResectionResection• Click on the “Go” buttonClick on the “Go” button• Quick SummaryQuick Summary

STRIP Photo_ID RMS_Vx (µm) RMS_Vy (µm)STRIP Photo_ID RMS_Vx (µm) RMS_Vy (µm)----- -------- ----------- ---------------- -------- ----------- ----------- 1 101 12.3 14.11 101 12.3 14.1 1 102 14.0 12.91 102 14.0 12.9 1 103 11.7 9.41 103 11.7 9.4 1 104 6.0 7.91 104 6.0 7.9----- -------- ----------- ---------------- -------- ----------- ----------- 2 201 13.8 14.52 201 13.8 14.5 2 202 12.9 12.72 202 12.9 12.7 2 203 15.1 13.42 203 15.1 13.4 2 204 12.2 15.02 204 12.2 15.0----- -------- ----------- ---------------- -------- ----------- -----------

• Don’t sweat the residuals, just want the photos to Don’t sweat the residuals, just want the photos to solvesolve

• Click the “next” button to go on …Click the “next” button to go on …

Step 8: Point (Space) Step 8: Point (Space) IntersectionIntersection• Click on the “Go” buttonClick on the “Go” button• Quick SummaryQuick Summary

Searching for additional model points....Searching for additional model points.... Done searching strip no.1Done searching strip no.1Done searching strip no.2Done searching strip no.2Sorry, No additional model points were found!Sorry, No additional model points were found!

• Don’t sweat the residuals, just want the Don’t sweat the residuals, just want the points to solvepoints to solve

• Click the “next” button to go on …Click the “next” button to go on …

Step 9: MergeStep 9: Merge

• Click on the “Go” buttonClick on the “Go” button

• Merges text output file from previous Merges text output file from previous steps into a text input file for the steps into a text input file for the Aero.exe bundle adjustment programAero.exe bundle adjustment program

• Click the “next” button to go on …Click the “next” button to go on …

Step 10: Image RaysStep 10: Image Rays

• Click on the “Go” buttonClick on the “Go” button

• Check input data for gross errors by Check input data for gross errors by performing a space intersection on performing a space intersection on all points listed in the *.AER data fileall points listed in the *.AER data file

• Sometime residuals can look funky if Sometime residuals can look funky if pre-processing estimates are a little pre-processing estimates are a little roughrough

•Take note and go on to bundle adjustmentTake note and go on to bundle adjustment

Step 11: Aero Bundle Step 11: Aero Bundle AdjustmentAdjustment

• Click on the “Go” buttonClick on the “Go” button

• Main menu for Aero.exe appearsMain menu for Aero.exe appears

• Processing is auto-startedProcessing is auto-started•Processing dialogProcessing dialog

•Quick Summary DialogQuick Summary Dialog– Evaluate bundle resultsEvaluate bundle results

Aero Bundle Main MenuAero Bundle Main Menu

Aero Bundle Processing Aero Bundle Processing DialogDialog

Aero Bundle Quick Aero Bundle Quick Summary Summary

All for now … need some All for now … need some sleep!sleep!