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Calibration of the Nikon D200 for Close-Range Photogrammetry
Lassana Sheriff
Office of Science, Science Undergraduate Laboratory Internship Program
City College of New York, New York NYSLAC National Accelerator Laboratory, Menlo Park, California
August 13, 2009
August 13, 2009 Lassana Sheriff SULI 2009 2
Outline
• (AEG) and Metrology Department• Camera (Nikon D200)• Software and Targets• Camera Model
• Central Perspective Projection• Brown Extension Model
• 2D Calibration Wall• 3D Calibration Structure• Results• Conclusion and Future
August 13, 2009 Lassana Sheriff SULI 2009 3
Alignment Engineering Group (AEG) and Metrology Department
• Measuring and Aligning objects with survey instruments (Laser Tracker)
• For instance: Magnets and other components in LCLS from the electron gun to the dump
• The project is to evaluate the possibility to use photogrametry as another survey technique
• Photogrametry: Photographic Metrology
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Camera
• Nikon D200 and built-in flash.
• DX format 23.7mm x 15.7mm
• 10.2 megapixels(6 micron square pixels)
• Nikkor 20mm lens
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Software and Targets
Australis
Coded Targets (Retro-reflective) 60 degree lose reflective property.
Scale Bar (Distance between the targets on the bar is known) can use to scale measurement
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Reflective Targets
• Coded
• Spherical targets
• Rotatable targets
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Projection plane
y
p rx
Object point
M
X
Y
C
c i
iPerspective center
MMM ZYX ,,
Image point
Z
o
m
xp
yp
X
Y
Z
Object co-ordinate systemO
August 13, 2009 Lassana Sheriff SULI 2009 8
Camera Parameters
• Interior Orientation of the Camera• Focal length and the principal points of the
camera: c, xp, and yp
• Extended by Brown Model• k1,k2,k3 (radial distortion) • p1, p2 (decentering)• b1, b2 (shearing)
• Compare, analyze and assess the camera’s stability
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Interior Orientation
August 13, 2009 Lassana Sheriff SULI 2009 10
Central Perspective Projection
• This equation illustrates an ideal basic photogrammetry model
dxZZrYYrXXr
ZZrYYrXXrcxx
CMCMCM
CMCMCMpM
)()()(
)()()(
333231
131211
dyZZrYYrXXr
ZZrYYrXXrcyy
CMCMCM
CMCMCMpM
)()()(
)()()(
333231
232221
August 13, 2009 Lassana Sheriff SULI 2009 11
2D wall
• One partial wall in AEG Laboratory
• Coded Targets
• 13 points measured with a laser tracker
• Different Angles
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Flat Wall without Processing
• No Australis
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Australis window for the wall
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3D
• 3D Structure
• Coded Targets
• Reflective Sphere
• Same Angles as 2D
• Started late
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3D without Processing
• No Australis
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Graphs
• Line Graphs (trends)
• Histogram (distribution)
• 41 data sets 2D wall
• 6/29-8/7
• 23 data sets 3D structure
• 7/15-8/7
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Line Graph c
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Line Graph xp
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Line Graph yp
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Histogram c
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Histogram xp
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Histogram yp
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Results
• Line Graphs and their purpose (No trend as data is scattered and good stability within the day)
• Example: Focal length, some points are far off the trend likely due to transportation and handling purposes
• Histogram (distribution of the parameters)• Normal Distribution• (xp and yp) alike and are not normally distributed• Focal length more like a normal distribution.
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Conclusion and Future
• Camera can be used for Photogrammetry measurements but calibrate before each use.
• Mechanical improvement to the camera
• 3D structure from more angles to get true 360 degree.
August 13, 2009 Lassana Sheriff SULI 2009 25
Acknowledgement
• The Science Undergraduate Laboratory Internship SULI program wouldn't have been possible without the funding of the Department of Energy DOE here at Stanford Linear Accelerator Center SLAC. Special acknowledgment goes to my mentor BRIAN FUSS for his diligent guidance and support. I would like to acknowledge CATHERINE LECOCQ for her resilient work and direction in the entire project. And finally acknowledgement to BRENDAN DIX for his participation in building the 3D structure; and to the rest of the members of Alignment Engineering Group for their support.
• …and thanks to Stephen and all the students!!