Sharing Point Clouds between Photogrammetric- and Lidar (laser) Based Systems

Detail of Building Corner

Measuring and drawing existing structures for preservation work can be accomplished with the aid of a variety of technologies – laser scanning and photogrammetry chief among them – that increase both  project accuracy and the speed of data collection in the field. Increasingly, both of these leading technologies are sought after at the same time in order to capitalize on each technology’s individual strengths. Rich laser-scan-data in dense clouds of 3D points provides a great point of departure for the creation of a “BIM” model. Meanwhile, mosaics of scale-able, rectified photographic images – created through photogrammetry – offer the users of the project documentation direct information about the physical conditions of the structure. “Hybrid drawings” consisting of building-information-modeling (BIM), rectified photography and record measured drawings provide an efficient and definitive means to quantitatively describe the structure.

So in cases when a project requires a combination of lidar sourced point cloud data and photogrammetry, how do the two systems talk to each other?  The current answer is through the identification of registration points/conjunction points. These are “smart points” that correspond to a specific location on the structure being measured and drawn. Sometimes these locations or points are somewhat “theoretical”, existing as an idea as much as a point in space – for example “the northwest corner of the building”.

Four different locations for the Building Corner

There are some important distinctions between point clouds created automatically by machine and those created through a process of selection based on the experienced judgement of a human.

Theoretical Intersections

Will Photogrammetry make laser scanning obsolete?

Interesting article coming out of a 3-D laser scanning conference (SPAR) going on in Houston, TX right now…

http://www.sparpointgroup.com/News/Vol10No18-Will-photogrammetry-make-laser-scanning-obsolete-/

Mosaic Fountain at Kykuit

Fountain, sculpture, mosaic paving at Kykuit

A variety of photos were taken in order to capture the architectural- and sculptural features that compose this fountain located on the grounds of the Rockefeller estate on the lower Hudson, just north of New York City, known as Kykuit.

Below are some screen shots of the point cloud in plan and elevation. Click on the images to see them in higher resolution.

Point Cloud Elevation

Point Cloud Plan

Vladivostok Street Scenes

While archiving some files today I had a brief look at the work that I was part of in 2009 in Vladivostok.  It just struck me as stunning when I realized just how much we documented in such a short period of time. We covered miles of streetscapes, and everywhere we covered, we can zoom in and see more of what was happening all over town that week. See below…

Partial View od Street Scene (Autocad screen shot)

Zooming in a little further

Measuring the approximate height of the lady in red's high heels...

…Confirmed: four inch heels!

If you click on these images, you’ll see them in even higher resolution! More can be learned about the project here.

Removing Color Cast

Just wanted to share a technique that I find pretty useful when you need to remove a color cast from a photo. Its a little labor intensive since its tailored to the specific image, but I find it works wonders – or alternately it sometimes can confirm that there is little or no color cast to remove…

Anyway, here’s the link:

http://www.petapixel.com/2012/03/06/how-to-quickly-find-and-select-black-and-white-points-in-photoshop/

Removing Color Cast manually using thresholds and curves

Updated War Memorial Auditorium project page

Detail

Here’s a link to the ::new page::

Entrance to Prices Fork Elementary School in Montgomery County, Virginia

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Cosmos Club Ball Room

just a quick post to share some images from a project completed in 2010. I understand that the restoration of the ballroom is fully complete now.

Ceiling of the Cosmos Club Ballroom

Centerpiece of Ballroom ceiling

Detail

Elevation of Cosmos Club Ballroom

a closer look...

...and a little closer

In these elevation drawings won can see black lines overlaid atop the rectified images. These are dimensionally accurate vector lines in AutoCAD.

Photogrammetry > Laser Scanning

I’d argue that for preservation work, photogrammetry can often provide a richer sort of architectural documentation than laser scanning techniques.  There are merits to both techniques and their products, of course – each has its strengths vis-a-vis the other.

When comparing the products of photogrammetry and laser scanning, I find it interesting to see how they are converging and looking more and more alike as each respective technology continues to advance. Simply put, photogrammetry is producing richer and richer point clouds (a strong point for laser scanning) while laser scanning is producing higher fidelity imagery than ever before (but still far from the photographic quality required for sensitive preservation work).

But in some cases, photogrammetry wins the argument as to which technique is more appropriate to the task because it can perform in conditions that render laser scanning impossible. This is even more true when one factors in what it costs to get a project from start to finish.

An ocean facing portion of Fort Sumter shot with a long lens

Take for example the work completed at Fort Sumter in Charleston Harbor by Aaslestad Preservation Consulting late last year.  In order to precisely map the layout, composition and condition of the fort’s exterior masonry walls, Aaslestad shot photos from a pitching boat!

Above is one of the shots used in the survey.  It was shot with a 200mm lens from a small craft that the Park Service provided Aaslestad to circumnavigate (as much as possible) the fort.  Later that day during the peak of low tide, Aaslestad was able to scramble around the the perimeter of the fort to collect a series of 16mm shots as well, see below.

The same ocean facing portion of Fort Sumter shot with a wide angle lens

So the versatility of using a handheld camera for ‘data capture’ can make some jobs possible through photogrammetry that would otherwise be either impossible or much more time intensive and expensive. To be sure, a laser scanner is a fabulous piece of equipment that can produce incomparable results for some applications – but it needs a stable platform from which to operate (therefore can not be used from a pitching boat!).  Repositioning a laser scanner around the perimeter of Fort Sumter (on these slippery rocks shown above) during the relatively small window of opportunity of extreme low tide would also be unfeasible, or at the very least impractical and time consuming/expensive.

Another example of the versatility of using camera equipment for data capture with preservation in mind is the use of a telescopic tripod.  The shot below was taken using a remote shutter release while the camera was suspended 25′ above grade on a a tripod. Gaining points of views such as this can sometimes make the difference between be able to document a surface or not – or at the very least of enhancing a survey through greater quality of coverage.

The courtyard at Fort Sumter from atop a telescoping tripod

Looking into the future we may see devices the size of an iPhone hovering around a structure like a miniature drone collecting 3-D scan data and high resolution digital imagery – maybe even sonography or thermography as well – but until then I’m very happy to rely on the versatility provided by a calibrated SLR.

Three Structures at Morven Park Documented

Morven Park Barn Complex

Above and below are screen shots (from AutoCAD) showing a group of rectified images assembled into model space depicting the existing conditions of one of three separate structures recently documented at Morven Park in Leesburg, VA.

Morven Park's Corbell House

For this project, the “drawings” are really a series of boundaries to rectified imagery organized onto different drawing layers.

Farm Manager Residence

All of the rectified images shown have been desaturated in order to make them read more clearly. Color versions are also provided.