JP2001074455A - Apparatus and method for processing phototopography picture image, and storage medium in which processing program for phototopography picture image is stored - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make connection work efficient, and to make manual work efficient by connecting each group whose corresponding object has been determined in a specified order, and displaying even its relation of connection along with the object. SOLUTION: In this picture processing, an object(OB) corresponding to each group is determined, and a group at a common target position is defined as a great group(GG), and the objects OB1-OB3 of a group GG1 are arranged in a connection editing area CEA from a connection candidate displaying area GDA. On this occasion, OB1 is arranged at the position of an object marker, and at the same time OB2 and OB3 are arranged below it continuously, and that each OB and the next are connected to each other with a connecting line CNL is displayed. In this way, OB-to-OB connection inside the same GG is performed automatically by object arrangement to the editing area CEA, and the connection relationship can be easily seen visually by the connecting line CNL. Besides, objects OB4, OB5 of a great group GG2 are displayed in the displaying area GDA newly, since objects OB of a newly arranged GG different from already arranged objects are connected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to image processing in photogrammetry.

[0002]

2. Description of the Related Art Photogrammetry is widely used for creating maps, but is also used as an extremely effective means for recording local situations such as on-site verification of traffic accidents. Conventionally, photogrammetry uses a stereo camera in which two cameras are fixed while being separated from each other, and three-dimensional coordinates of each survey point are calculated from two images taken by both cameras. Here, a stereo camera is a heavy and large equipment, and it is necessary to record detailed information such as camera position information, road surface inclination angle, and actual measured length of the subject for calculation of three-dimensional coordinates. In addition, the surveying work was complicated and labor intensive. In addition, there are many cases where a sufficiently wide shooting environment is not secured, such as many obstacles around the traffic accident site, and it is often difficult to verify the site with a stereo camera.

[0003] The applicant of the present application has proposed a photogrammetry method using a monocular camera (Japanese Patent Laid-Open Nos. 10-29326 and 10-221072), and a pair of images ( (Hereinafter referred to as “pair image”)
No. 025, Japanese Patent Application Laid-Open No. 10-29326, Japanese Patent Application Laid-Open No. 10-185563, Japanese Patent Application Laid-Open No. 10-18556.
No. 2, JP-A-10-170263, JP-A-10-170263
No. 0-141951) to realize efficient photogrammetry using simple equipment.

In such a photogrammetry method, a paired image of the same target and the object to be surveyed is photographed from arbitrary different directions, and input means such as a mouse is used in a dedicated photogrammetry image processing apparatus. The survey points (hereafter referred to as “the survey points”) that were
By specifying “object points”, surveying in an arbitrary range is performed based on these object points. If the survey covers a wide area, a survey map is created using a large number of pairs of images, and then each survey map is manually connected.

[0005]

However, when creating a survey map, sufficient accuracy is obtained while taking into account the survey accuracy, as well as the complexity of finding and specifying the corresponding object points in the paired images. Selecting an object point to be obtained was an extremely complicated task even for a skilled operator. Further, at the time of drawing, it is difficult to identify which position of the obtained survey map indicates the position in the survey range, and connection of the survey map was extremely complicated.

SUMMARY OF THE INVENTION The present invention has been made in order to solve such a conventional problem. A photogrammetric image processing apparatus, a photogrammetric image processing method, and a photogrammetric image processing apparatus capable of greatly increasing the efficiency of manual work in a photogrammetric image processing apparatus. An object of the present invention is to provide a recording medium storing a photogrammetry image processing program.

[0007]

SUMMARY OF THE INVENTION A photogrammetric image processing apparatus according to the present invention defines a predetermined number of images commonly including a target at a predetermined position in the same group, the position of a camera which has taken each image and the light of the camera. The inclination of the axis is calculated, and a common object point in the image is designated for each of the images.
The three-dimensional coordinates are calculated, and a survey map is generated based on the three-dimensional coordinates. In such a photogrammetric image processing apparatus,
Object determination means for determining an object corresponding to each group, group connection means for connecting each group in a predetermined order, and displaying the objects,
Display means for displaying the connection relation of each object based on the connection relation defined by the group connection means. As a result, the connection work between the groups can be made extremely efficient, and the connection relationship can be easily visually recognized.

In the photogrammetric image processing apparatus, a connection editing area for displaying an object to which the display means is connected;
A connection candidate display area for displaying candidate objects to be arranged in the connection editing area; and input means for designating an object to be moved between the connection editing area and the connection candidate display area. Thereby, the degree of freedom in selecting an object to be edited in the connection editing area is improved.

[0009] In the photogrammetric image processing apparatus, the arrangement of each object in the connection editing area may be appropriately changeable, so that the object can be arranged according to an operator's request.

In the photogrammetric image processing apparatus, the connection relationship between two objects in the connection editing area defined by the group connection means may be displayed by a line segment having a predetermined thickness connecting the centers of both objects. Thereby, the two objects are connected at the shortest distance, and the connection relationship between them can be easily visually recognized. Note that the object may be overwritten after this line segment is drawn.

The photogrammetric image processing apparatus may further include a grouping means for defining a group of the common target position as a higher-order group, and one of the grouping means is provided in the connection candidate display area.
Objects of a group included in any one of the superior groups may be displayed. Thereby, arrangement can be performed for each group at the same target position.

In the photogrammetric image processing apparatus, preferably, the object designated in the connection candidate area is
At the same time as being placed in the connection editing area, objects in the same higher-level group as the specified object are placed in the connection editing area, and the objects are connected in a predetermined order. Thereby, the connection work of the same upper group can be simplified.

In the photogrammetry image processing apparatus, preferably, the object specified in the connection candidate area is
When placed in the connection editing area, an object marker for determining the position of this object is displayed in the connection editing area. The object marker is preferably movable in the connection editing area by the input means, so that the position to be arranged in the connection editing area can be easily visually recognized and can be arbitrarily specified.

In the photogrammetric image processing apparatus, preferably, in the connection editing area, a group corresponding to two objects to be connected is connected in order to connect an object of a different upper group newly arranged to an already arranged object. Are associated with the two points that are commonly printed. This makes it possible to easily connect different upper groups with a simple operation.

In the photogrammetric image processing apparatus, each group is preferably composed of two images. This makes it possible to create a survey map with a minimum number of images. Also,
Preferably, the object is a reduced image obtained by reducing one of the images included in the group. Thus, the characteristics of each group can be visually checked while the display is simple.

In the photogrammetry image processing method according to the present invention, a predetermined number of images including a target at a predetermined position in common are defined in the same group, and the position of the camera that has taken each image and the inclination of the optical axis thereof are calculated. In a photogrammetry image processing method of specifying a common object point in an image for each image, calculating three-dimensional coordinates of the object point, and generating a survey map based on the three-dimensional coordinates, a method corresponding to each group is used. A first step of determining an object, a second step of defining a group at a common target position as an upper group, and a third step of displaying an object included in one arbitrary higher group in a connection candidate display area of the display device. In the step and the connection editing area of the display device, the object specified in the connection candidate display area And connecting the objects in the same higher-level group in a predetermined order, and displaying the connection relation of the respective objects. In order to connect the objects of the group, in all the images of the group corresponding to the two objects to be connected, the fifth step of associating the two points which are imprinted in common and the arrangement of the objects displayed in the connection editing area And a sixth step of editing. As a result, the work of connecting the groups can be made extremely efficient, and the connection relationship can be easily visually recognized.

According to the storage medium of the present invention, a predetermined number of images commonly including a target at a predetermined position are defined in the same group, and the position of a camera which has taken each image and the inclination of the optical axis thereof are calculated. In the photogrammetry image processing program for designating a common object point for each image, calculating three-dimensional coordinates of the object point, and generating a survey map based on the three-dimensional coordinates, an object corresponding to each group is determined. A definition routine for defining a group at a common target position as a higher order group; a candidate display processing routine for displaying an object included in one arbitrary higher order group in a connection candidate display area of the display device; In the editing area, the object specified in the connection candidate display area is placed together with the object of the same higher-level group. The same upper group connection processing routine for connecting the objects in the same upper group in a predetermined order and displaying the connection relation of the objects, and a different upper layer newly arranged for the already arranged objects in the connection editing area. In order to connect the objects of the group, in all images of the group corresponding to the two objects to be connected, edit the arrangement of the objects in the connection processing routine and the connection editing area for associating the two points that are commonly projected. And a photogrammetry image processing program characterized by having an editing processing routine to perform the processing. Therefore, a photogrammetric image processing program can be executed by a general-purpose personal computer, and a highly accurate survey map can be easily created.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of a photogrammetric image processing apparatus, a photogrammetric image processing method, and a photogrammetric image processing program according to the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a photographing situation of photogrammetry according to an embodiment of the present invention. FIG. 1 is a horizontal plan view of a contour of a road to be surveyed and a white line or the like marked on the road viewed from vertically above. It is. In the figure, the points where the images were taken by the camera (reference numeral 50, FIG. 2) are indicated by solid circles in the figure, and the camera positions M1 to M18 coincide with the rear principal points of the photographing optical system of the camera 50. Defined. The direction of the optical axis of the photographing optical system is indicated by arrows extending from the camera positions M1 to M18, respectively.

The photographing is performed on two different objects for one surveying object.
Performed continuously from the direction, two obtained images are defined as one group. The two images constituting each group are defined as a pair image in which targets (reference numeral 30, FIG. 2) at the same position indicated by an L-shape in the figure are commonly printed.

As shown in FIG. 1, camera positions M1, M2,
··· When shooting is performed in the order of M18, first the images obtained at the camera positions M1 and M2 are the target positions RP
1, the target 30 in the group GP1
Is defined as Subsequently, the camera positions M3 and M4
, The images obtained at camera positions M5 and M6 are group GP3,..., And the images obtained at camera positions M17 and M18 are group G.
It is defined in P9. By performing such two consecutive photographings in order, a pair image of the groups GP1 to GP9 is obtained.

In order to imprint the target on the entire image, the target moves to the target position R
It is sequentially moved from P1 to RP2 and RP3.
The target positions RP1 correspond to the groups GP1 to GP3, and the groups GP4 and GP5, ie, the camera positions M7 to M7.
10, a target position RP2, groups GP6 to 9,
That is, the camera positions M11 to M18 have the target position RP3.
Corresponds.

In the figure, connection points RC1 to RC4 indicated by triangular points
Is marked with a mark such as a cone. These connection points RC are arranged substantially in the middle of different target positions RP, and at least two connection points RC are always imprinted on at least one pair image of a plurality of groups at the same target position. In FIG. 1, the connection points RC1 and R2 are imprinted on the group 3 and group 4 pair images, respectively.
The connection points RC3 and R4 are imprinted on the group 5 and group 6 pair images, respectively. Target position RP2
And RP3 are represented by relative coordinates from the initial position RP1, and the relative coordinates are calculated based on the information of these connection points RC1 to RC4.

FIG. 2 is a perspective view showing a photographing situation at the camera position M 1 as a representative, and is a diagram showing a positional relationship between the camera 50 and the target 30. The camera 50 is an electronic still camera having a CCD (not shown), and photoelectrically converts an optical subject image by the CCD to obtain digital pixel data corresponding to the optical subject image.

The target 30 has three reference points 32, 34, and 36 provided on the same plane.
A right-angled L having end points 2, 36 and a reference point 34 as a corner.
It is formed in the shape of a letter. The length between the reference points 32, 34 and the length between the reference points 34, 36 are equal and are denoted LT.
The dashed line O1 extending from the camera position M1 indicates the optical axis of the camera 50.

The target 30 is provided with a sensor (not shown) for measuring an inclination angle and an azimuth with respect to a horizontal plane around two orthogonal axes at predetermined time intervals. In the two orthogonal axes, two straight lines orthogonal to each other at the reference point 34, that is, a straight line passing through the reference points 32 and 34 and a straight line passing through the reference points 34 and 36 are defined.

The target 30 has a function of counting the number of movements of the target 30 itself. More specifically, a target position number is set, a point of time when the power is turned on is set as an initial value, and it is determined that the target 30 has been moved each time the output of the sensor greatly changes, and the target position number is incremented. . For example, if the target position number is an initial value 1 when the power is turned on, the target position number is incremented to 2 when the target position number is placed on the target RP1, which is a shooting start position, and further moved to the target positions RP2 and RP3 in order. The target position numbers change to 3, 4 respectively.

The data of the dimension LT of the target 30, the output of the sensor and the target position number are transmitted to the camera 50 at predetermined time intervals, and the camera 50 updates these data each time it receives it. In the camera 50, the latest received data is added to the digital pixel data obtained at the camera position M1, and stored in an appropriate storage medium, for example, a memory card (reference numeral 13, FIG. 4). Therefore, the target position number is the same as the target position RP from the 18 images.
Can be used as an index for extracting an image captured in the step (1).

FIG. 3 is a diagram showing the format of the survey image data stored in the memory card 13. The 18 survey image data obtained in the photographing situation shown in FIG. 1 are sequentially stored in the photographing order. . Note that FIG.
Only -2 to n + 1th survey image data are shown, and n
Only the second survey image data will be described in detail.

The n-th survey image data is composed of a header H and digital pixel data IMD, and a spare space area SP is provided after the digital pixel data IMD to separate it from the adjacent (n + 1) -th survey image data. . It goes without saying that the survey image data other than the n-th survey image data has the same configuration.

The header H includes an image name H1, an identification number H2,
It contains information on the shooting date and shooting condition H3. The image name H1 is manually input in the camera 50. Identification number H2
Includes a photographing point number incremented by one for each photographing and a target position number transmitted from the target 30, and is used for grouping of images, group connection described later, and the like. The shooting date of H3 is determined manually or by a date and time automatic setting mechanism (not shown). The shooting conditions of H3 include the focal length f set in the camera 50,
The angles of view Δh and Δv in the horizontal and vertical directions, the resolution rp of the CCD, and the like are included. Target 3 for the inclination angle of H4
The inclination angle with respect to the horizontal plane of 0, the azimuth of H4 includes the azimuth of the target 30, and the dimensions of H4 include the distance between the reference points 32, 34 and the distance between the reference points 34, 36. 30 is the data transmitted.

Next, the configuration of the photogrammetric image processing apparatus will be described with reference to FIG. FIG. 1 is a block diagram showing the entire configuration of the photogrammetric image processing apparatus. The photogrammetric image processing apparatus reads out the 18 images from the memory card 13, associates these images with each other, and creates a survey map, for example, a horizontal plane view shown in FIG. 1 based on these images.

The photogrammetric image processing apparatus includes a display device 10,
Input device 12 such as keyboard and mouse, CPU 14
And a hard disk 21, which are directly or indirectly connected to the bus 15.

A general-purpose personal computer is applied to the photogrammetric image processing apparatus. A program for performing a series of image processing from reading of an image to creation of a survey map is stored in a hard disk 21 as an internal recording medium provided in the apparatus. The image processing program is stored in the CPU as needed.
14 to be executed. The image processing program is held on an external recording medium detachable from the apparatus, for example, a magneto-optical disk 23, and is installed on the hard disk 21 before performing image processing.

The CPU 14 is provided with an input state management unit 41, a display state management unit 42, a connection processing unit 43, and a data management unit 44, where necessary management, calculation, and processing are executed. The input device 12 is connected to an input device control device 17 connected to the bus 15, whereby the input device 1
2 is transferred to the bus 15 and the input device 12
Is set.

Further, a working memory 19 and a display memory 20 are connected to the bus 15.
4 is used as a cache memory or the like in the calculation and processing of 4, and the display memory 20 holds the content to be displayed on the display device 10. A display device controller 16 connected to a bus 15 is connected to the display device 10, and digital data in a display memory 20 is converted to an analog RG suitable for the display device 10.
It is converted to a B signal.

The input state management unit 41 of the CPU 14 manages the settings of the input device 12, and converts input information, such as coordinates of a mouse pointer moving on the screen with a mouse, characters input from a keyboard, etc., into a predetermined digital format. Convert to data. The display state management unit 42 manages the content to be displayed on the display device 10, and changes the display content when a setting related to the display is changed. The connection processing unit 43 is used for a group connection process described later. Data management unit 44
Manages data contents read from the memory card 13,
It also manages the setting contents of a paired image described later and data of an object that is a reduced image, various coordinate data created based on this, data of a plotted survey map, and the like.

The memory card 13 is inserted into the card reader 22, and the survey image data stored in the memory card 13 is read out as appropriate. The reading operation and the writing operation of the card reader 22 are controlled by the storage medium controller 18 connected to the bus 15. A hard disk 21 is connected to the storage medium control device 18.
Reference numeral 1 denotes survey image data read from the memory card 13, setting data of a pair image and data of an object that is a reduced image, various coordinate data created based on the data, data of a survey map drawn, and the like. An image processing program for performing a series of these processes is stored. The magneto-optical disk 23 is inserted into the disk reader 24, and the image processing program is read out, or various data in the hard disk 21 is written.

Next, the operation of the photogrammetric image processing apparatus and various processes will be described in detail. In the photogrammetric image processing apparatus, when 18 pieces of survey image data are read from the memory card 13, the camera position M
Three-dimensional coordinates 1 to 18 are calculated respectively. Hereinafter, a method of calculating the camera position M1 will be described with reference to FIGS. Note that the same calculation method is applied to the camera positions M2 to M18, and a description thereof will be omitted.

FIG. 5 is a conceptual diagram of an image obtained in the photographing situation shown in FIG. 2, and FIG. 6 is a perspective view conceptually showing a positional relationship between the image and the target 30. Hereinafter, the image obtained at the camera position M1 is referred to as an image IM1.

When the target 30 is imaged on the image plane F of the camera 50, the optical axis O1 is set at the camera position M1.
And the image points p1, p2, and p3 of the reference points 32, 34, and 36 that pass through the imaging center C of the imaging plane F and are projected on the imaging plane F.
Are located on straight lines connecting the camera position M1 and the reference points 32, 34, 36, respectively.

The image IM1 substantially coincident with the image plane F has a photographic coordinate system (Xp, Yp) having the photographing center C as the origin.
Is set. In this photographic coordinate system, image points p1, p
The two-dimensional coordinates of p2 and p3 are respectively p1 (xp1, yp
1), p2 (xp2, yp2), p3 (xp3, yp)
3).

A three-dimensional coordinate system having the camera position M1 as an origin is set as a camera coordinate system (Xc, Yc, Zc), and the Xc axis and the Yc axis are respectively set to the Xp axis and the Yp axis of the photographic coordinate system. Parallel and the Zc axis is the optical axis O1
Matches.

Reference points 32, 34, in the camera coordinate system
The three-dimensional coordinates of 36 are represented by Pci (Pcxi, Pcyi, Pc
zi) (where i = 1 to 3), the relationship between the photographic coordinates pi (xpi, ypi), which is an image point, and the camera coordinates (Pcxi, Pcyi, Pczi) of the reference point is represented by Expression (1) and Expression (1). Indicated by (2). Equation (1)
In Expression (2), f is the focal length of the camera 50.

(Equation 1)

Further, the three-dimensional coordinates having the origin at the reference point 34 of the target 30 are defined in the first scene coordinate system (Xs, Ys,
Zs). Xs axis of the first scene coordinate system,
The Zs axis is a straight line passing through the reference points 34 and 32,
And 36, respectively, and the Ys axis is Xs
Axis, perpendicular to the Zs axis. As described above, Xs
The inclination angles of the axis and the Zs axis with respect to the horizontal plane are measured by the sensor of the target 30 and stored in the header H4. When the target 30 is placed on the inclined plane, the Xs axis and the Zs axis are based on the inclination angles. Is corrected. Therefore, the Ys axis is in the vertical direction, Xs-Zs
The plane is matched to the horizontal plane.

Here, if the coordinates of the camera position M1 in the first scene coordinate system are defined as (ΔX, ΔY, ΔZ) and the inclination of the optical axis O1 is defined as (α, β, γ), the camera coordinates Pci
(Pcxi, Pcyi, Pczi) and scene coordinates Psi
The relationship with (Psxi, Psyi, Pszi) is shown by equation (3).

(Equation 2)

Note that R in equation (3) is a rotation matrix, and is represented by the direction cosines cosα, cosβ, and cosγ of the optical axis O1 (Zc axis) as shown in equation (4). Further, Δ in Expression (3) is the coordinate origin moving amount, and coincides with the scene coordinates (ΔX, ΔY, ΔZ) of the camera position M1.

In practice, the reference point members 32, 34, 36 are white, and the target 3 excluding the reference point members 32, 34, 36
0 has a black surface, and when the image IM1 is read from the memory card 13 by the CPU 14, image processing such as binarization processing is performed, and the reference points 32, 34, and 36 are automatically extracted. Photo coordinates pi (xpi, ypi) (i
= 1 to 3) are required. Further, based on the dimensions (FIG. 3) stored in the header H4, the scene coordinates of the reference points 32, 34, and 36 in the first scene coordinate system are respectively represented by Ps
1 (-LT, 0, 0), Ps2 (0, 0, 0), Ps3
(0, 0, LT). Based on these values, the scene coordinates (ΔX, ΔY, ΔZ) of the camera position M1 in the first scene coordinate system, the optical axis O1
Are calculated (α, β, γ).

The scene coordinates (ΔX, Δ
Six parameters consisting of Y, ΔZ) and the inclination (α, β, γ) of the optical axis O1 are called camera parameters. The camera parameters of the remaining 17 images IM2 to IM18 are obtained in the same manner.

However, each camera parameter of the images IM1 to IM18 corresponds to the target position PR1, RP2 or RP3.
The origin is represented by a scene coordinate system, and when the target 30 moves, the scene coordinate systems are different. Therefore, in order to create one survey map from all images, the scene coordinate systems are unified. There is a need to. Here, the first scene coordinate system is set as the reference coordinates, the second scene coordinate system having the target position RP2 as the origin, and the target position RP3
Are applied to the third scene coordinate system having the origin as the origin.

FIG. 7 shows the second scene coordinate system (Xs', Z
FIG. 9 is a conceptual diagram showing a situation where coordinate values of camera positions M7 and M8 in s ′) are coordinate-converted into coordinates in a reference coordinate system (Xs, Zs). Since the target 30 is placed horizontally on the road surface, the amount of movement between the different target positions RP in the vertical direction, that is, along the Ys axis is relatively small, and has a negligible error in practice. Therefore, in this coordinate conversion, only movement in the Xs-Zs plane is handled, and the amount of movement in the vertical direction is appropriately corrected.

Assuming that the relative movement amount from the target position RP1 to the target position RP2 is (Xdp, Zdp) and the rotation angle of the Xs ′ axis with respect to the Xs axis (or the Zs ′ axis with respect to the Zs axis) is ξ, the coordinate conversion is represented by the following equation. It is represented by (5). The rotation angle 傾 き is added to α and γ for the inclinations of the optical axes O7 and O8.

(Equation 3)

By this coordinate conversion, the camera positions M7-1.
0 and the relative positions of the optical axes O7 to O10 are defined in a reference coordinate system (X
s, Zs). Similar coordinate conversion is performed on the camera positions M11 to M18 and the optical axes O11 to O18 in the third scene coordinate system.

As described above, even if the target position RP defining the scene coordinate system is different, all images can be unified into the same reference coordinate system (Xs, Ys, Zs). Can be created at once.

By obtaining all the camera positions M1 to M18 and all the optical axis inclinations O1 to O18 in the reference coordinate system (Xs, Ys, Zs), two images in the same group are associated with each other and different groups. Are also associated with each other. Also, the three-dimensional coordinates of the object point and the two-dimensional coordinates of the image point on the paired image are associated with each other. Therefore, when the image points of the object points commonly transferred in the paired images are designated, the three-dimensional coordinates of the object points can be specified based on these two image points.

In practice, the error of an image point on an image tends to increase as the object point moves away from the camera position. Therefore, in order to obtain a highly accurate survey map, the photographing range of one group is narrowed. Can be For this reason, similar images increase in many cases, in particular, when a photographing object with little change such as a straight road is photographed in a large number of times. Therefore, it is very difficult to visually discriminate a pair image of a different group, and work efficiency is significantly reduced.

In the present embodiment, as described below,
The display device 1 displays the interrelationship of all groups or the photographing history.
The structure is such that it can be easily visually recognized on the screen of No. 0.

Group GP at the same target position RP
Are related to each other in advance because they have the same scene coordinate system, and are defined as one higher-level group. Within the same upper group GG, the groups GP are connected in a predetermined order, for example, in the order of photographing, and the order of the upper group GG is also determined according to the order of the target position RP. Grouping of upper group GG and upper group G
The connection in G is determined based on the identification number (target position number) stored in the header H2 of the survey image data shown in FIG.

In the case of FIG. 1, the target position is RP1
Are defined as the upper group GG1, and the group GP4 whose target position is RP2,
5 is set as the upper group GG2, and the groups GP6 to 9 whose target positions are RP3 are set as the upper group GG3.

For the upper group GG having different target positions RP, the scene coordinate systems are different. Therefore, the two are "group-connected" by manual operation, and the two scene coordinate systems are unified by the conversion formula shown in equation (5). . Hereinafter, the “group connection” operation will be described.

FIG. 8 is a diagram showing an initial state of the display screen of the display device 10. On the right side of this display screen, a connection candidate display area GDA for displaying one upper group GG
Is provided. Each group GP has two images I
In the connection candidate display area GDA, for example, a reduced image obtained by reducing one image of each group GP is displayed as the “object OB” indicating the group GP. This makes it possible to clearly indicate the characteristics of each group GP in a simple expression. This object OB
After the survey image data is read from the memory card 13 in the photogrammetric image processing apparatus, the data is generated corresponding to each image and stored in the working memory 19.

In FIG. 8, connection candidate display area GDA
Shows the upper group GG1 and the upper group GG
The objects OB1, OB2, and OB3 indicating the three groups GP1 to GP3 constituting the image No. 1 are displayed in order from the top along the vertical direction. Objects OB1, OB2 and OB3 are reduced images of images IM1, IM3 and IM5, respectively.

In the upper part of the connection candidate display area GDA in the figure,
An upper group send button GGA and an upper group return button GGR are provided. The upper group send button GGA sequentially selects and displays the objects OB of the higher order group GG having a higher rank, and the upper group return button GGR has a higher rank. The objects OB of the group GG are sequentially selected and displayed. For example, when the upper group send button GGA is designated in a state where the upper group GG1 is displayed as shown in FIG. 8, the connection candidate display area GD
In A, the next upper group GG2 is updated and displayed.

As a result, the objects OB can be switched and displayed for each upper group GG in the connection candidate display area GDA, and the objects OB of an arbitrary upper group GG can be selected. Note that it is of course possible to provide two or more higher-order groups GG to be displayed in the connection candidate display area GDA, or to have a configuration in which the number of displayed groups can be appropriately changed.

A connection editing area CEA is provided on the left side of the connection candidate display area GDA in the figure.
In, the arrangement and the like of the object OB selected in the connection candidate display area GDA are freely edited manually, whereby the mutual connection relationship of each group GP is defined, and the photographing history can be easily visualized.

In the upper part of the connection editing area CEA in the figure, an arrangement mode button ARM and a movement mode button M are sequentially arranged from the left end.
A VM and a delete mode button DLM are provided with three edit mode setting buttons.
Any one of "Move mode" and "Delete mode"
Editing mode is selected. The selected button is displayed ON, for example, in a concave shape (indicated by hatching in the figure),
The other two buttons are displayed OFF in a convex manner. In the initial state shown in FIG. 8, "arrangement mode" is set in advance, and the arrangement mode button ARM is displayed ON.

In the "arrangement mode", the object OB selected in the connection candidate display area GDA can be arranged in the connection edit area CEA for each upper group GG. When the “movement mode” is set, the connection editing area CE
Each object OB can be moved to an arbitrary position in A. When "Delete mode" is set,
Object OB located in connection editing area CEA
Can be collectively deleted for each upper group GG, and can be saved to the connection candidate display area GDA.

In the upper right of the connection editing area CEA in the figure, a display update button DRM and a display setting button DST
Is provided, and a message display area MSA for notifying the operator of a message is further provided thereabove. By specifying the display setting button DST, a display setting change menu (not shown) is displayed, and the size of the object OB to be displayed in the connection editing area CEA and the reduced image to be displayed or the object O is changed.
The line type, line width, line color, and the like of the connection line CNL (FIG. 9) connecting between B are appropriately changed. By specifying the display update button DRM, the connection editing area CEA is updated and displayed based on the result of the setting change. Further, at the upper right corner of the display screen, a completion button CIB for instructing termination of the group connection process and a cancel button CSB for instructing termination of the group connection process are provided.

The object OB1 of the upper group GG1
3 are the connection candidate display area GDA to the connection edit area CE
A and simultaneously connected to each other. More specifically, in the “arrangement mode” state, an arbitrary object OB of the upper group GG1 indicated in the connection candidate display area GDA, for example, the object OB1 (image IM1) is designated by a mouse click. At this time, the periphery of the designated object OB1 is surrounded by a dashed line to indicate that it is the designated image, and is distinguished from other images. In addition,
The designation of the designated image may not be indicated by the one-dot chain line, but may be indicated by changing the line type, the line width or the line color, or by inverting the display.

Thereafter, when the mouse pointer is moved into the connection editing area CEA, an object marker GM (indicated by a broken line in the figure) which moves according to the mouse operation is displayed. The object marker GM has a rectangular shape having the same size as the object OB1 around the mouse pointer. Here, when the position of the object marker GM in the connection editing area CEA is designated by a mouse click, the upper group GG1 becomes the connection editing area CEA.
It is arranged at the designated position of A and is excluded from the connection candidate display area GDA.

FIG. 9 shows a state where the upper group GG1 is arranged in the connection editing area CEA. At the position of the object marker GM shown in FIG. 8, the object OB1 is arranged, and at the same time, the objects OB2 and OB3 are successively arranged therebelow. Two consecutive objects O
A connection line CNL is shown between B (between OB1 and OB2 and between OB2 and OB3) to clearly indicate that they are connected to each other. The connection line CNL is a straight line that connects substantially the centers of the two objects OB, and is drawn so that the two objects OB are overwritten after the connection line CNL is drawn.

As described above, the connection between the objects OB in the same higher-level group GG is determined by the connection editing area CEA.
Automatically by the placement of the object OB in the At the same time, the groups GP in the same higher-level group GG are connected in the shooting order. Two connected objects O
Since B is connected by the connection line CNL, the connection relationship can be easily recognized.

The connection editing area CEA of the upper group GG1
, The uppermost group GG at the forefront, excluding the upper group GG1, that is, the objects OB4 and OB5 of the upper group GG2 are newly displayed in the connection candidate display area GDA.

Next, an operation of connecting the objects OB4 and OB5 of the upper group GG2 to the objects OB1 to OB3 which have already been connected will be described with reference to FIGS. Specifically, the objects OB4 and OB5 are collectively arranged in the connection editing area CEA and connected to each other by the same operation as described above, and then the object OB4 is manually connected to the object OB3.

First, the object OB4 to be connected is specified in the connection candidate display area GDA, while the object OB to be connected is specified in the connection editing area CEA.
3 is designated, and the display around them is changed to a dashed line. When the designation of these two objects OB3 and OB4 is completed and the mouse pointer is moved into the connection editing area CEA, an object marker GM is displayed to indicate the position where the object OB4 is to be arranged. If the object marker GM is moved by a mouse operation, the arrangement position can be changed. If the mouse is clicked when the position is determined, the position of the object OB4 is determined.

Here, as shown in FIG. 11, the screen is switched to a screen for connecting the objects OB3 and OB4. In FIG. 11, the pair images IM5 and IM6 of the group GP3 corresponding to the object OB3 are displayed in the upper row in parallel, and the pair images IM7 and IM8 of the group GP4 corresponding to the object OB4 are displayed in the lower row.

In these images IM5 to IM8, image points of connection points RC1 and RC2 (FIG. 1) are designated. Note that these connection points RC1 and RC2 are shown by mounting a cone in the photographing of FIG. 1, but may be any two points that are commonly printed in all the images IM5 to IM8.

In the specification of the image point of the connection point RC1, first, the first specification mode button KB1 is clicked, whereby four points successively specified by the mouse in the images IM5 to IM8 are connected. Are associated with each other. The image points of the connection point RC1 are indicated by RC15, RC16, RC17 and RC18 in the images IM5 to IM8, respectively. Similarly, after clicking the second designation mode button KB2, image points RC25, RC26, RC27 and RC28 of the connection point RC2 are designated in the images IM5 to IM8.

When the image points RC15 and RC16 of the connection point RC1 are designated in the pair images IM5 and IM6,
From the photograph coordinates of these image points, the three-dimensional coordinates of the connection point RC1 in the first scene coordinate system are obtained.
17, three-dimensional coordinates in the second scene coordinate system are obtained from the photograph coordinates of RC18. Thereby, the relative movement amount of the second scene coordinate system with respect to the first scene coordinate system is obtained. Further, by considering the three-dimensional coordinates of the connection point RC2 in the first and second scene coordinate systems, the rotation angle of the second scene coordinate system with respect to the first scene coordinate system can be obtained. Therefore, Xdp, Zdp, and ξ shown in FIG. 7 are obtained, and the coordinate conversion can be performed based on Expression (5).

When the association between the two connection points RC1 and RC2 is completed, the connection process is completed by instructing the completion button OFN. As a result, the group GP4 is connected to the group GP3, and at the same time, the groups GP4 and GP5 represented in the second scene coordinate system are coordinate-transformed to the first scene coordinate system (reference coordinate system). Note that a cancel button OCS for interrupting the processing is provided below the completion button OFN. At the time of image point designation, an image near the image point can be arbitrarily enlarged by a magnification setting menu (not shown), and the image point designation is performed with high accuracy.

When the connection process is completed, the screen is switched to the screen shown in FIG.
B4 is connected by a connection line CNL. At this time, the objects OB6 to OB9 of the next higher order group GG3 are displayed in the connection candidate display area GDA. In FIG. 12, the objects OB6 to OB9 are indicated only by frame lines, and the reduced images are omitted. The connection of the upper group GG3 is the same as the operation described above, and the description is omitted here.

When a different upper group GG is connected to the upper group GG3 already arranged in the connection editing area CEA, the object OB to be connected in the connection candidate display area GDA and the connection in the connection editing area CEA should be connected. As the object OB, an object corresponding to an image in which the same connection point RC is captured is designated.

Referring to FIG. 13, "movement mode" will be described. When the movement mode button MVM is designated by a mouse (indicated by hatching in the figure), the mode is set to “movement mode”, and the relative position of the object OB in the connection editing area CEA can be changed. As a result, as shown in FIG. 13, a display close to the actual positional relationship of the shooting area indicated by each group GP can be performed, or an arrangement suitable for display can be set in the connection editing area CEA. At this time, it is impossible to move the object OB between the connection candidate display area GDA and the connection editing area CEA.

Specifically, one of the arbitrary objects OB
When one is designated with a mouse, the periphery of this object is displayed by a dashed line, and an object marker GM is generated. When the object marker GM is moved to a position to be moved with the mouse and clicked, the designated object OB moves to the position indicated by the object marker GM.

Although not shown, when the “delete mode” is set by the delete mode button DLM, the object OB specified in the connection editing area CEA is included together with other objects OB included in the same higher-level group GG. Is moved to the connection candidate display area GDA. At this time, the connection relation between the objects OB and between the groups GP is also deleted at the same time.

Referring to FIGS. 14 to 30, a group connection processing routine executed in CPU 14 will be described. This group connection processing routine constitutes a part of an image processing program for performing a series of image processing from reading of survey image data to creation of a survey map,
All images IM1 to IM18 read from the memory card 13
Is executed after the camera parameters are obtained.

FIGS. 14 and 15 are flowcharts showing the main routine of the group connection process.

When the start of the group connection process is instructed,
In step S101, the screen of the display device 10 is initialized, and only the frame portion excluding the objects OB1 to OB3 from FIG. 8 is displayed. Next, in step S102, "arrangement mode" is set as an initial mode, and 1 is substituted for a variable mode (= 1 to 3) indicating the edit mode. Note that mode = 2 indicates “movement mode” set by the movement mode button MVM, and mode = 3 indicates “deletion mode” set by the deletion mode button DLM.

Next, in step S103, two list variables are set, and one candidate list GDAList is set.
Stores the number of the group GP corresponding to the object OB to be displayed in the connection candidate display area GDA,
The element of the other connection list CEAList stores the number of the group GP corresponding to the object OB to be displayed in the connection editing area CEA. Connection candidate display area GDA
Displays the objects OB based on the order of the elements stored in the candidate list GDAList, and displays the objects OB in the connection editing area CEA based on the order of the elements stored in the connection list CEAList.
In the initial state, the candidate list GD is displayed in order to display all the objects OB1 to OB9 in the connection candidate display area GDA.
While the numbers of all groups GP are stored in the AList element in the order in which they were read, there is no object OB to be displayed in the connection editing area CEA, so the connection list CEA
List is left empty with no data.

Subsequently, in step S104, two variables are set, and one of the placement variables AddNum is assigned to the group G specified in the connection candidate display area GDA.
P (for example, group GP4 specified in FIG. 10)
Is assigned to the other edit variable EditNum and the group GP specified in the connection edit area CEA
The number (for example, the group GP3 specified in FIG. 10) is substituted. In the initial state, since the object OB is not specified in any area, both the arrangement variable AddNum and the editing variable EditNum are initialized and 0 is substituted.

Then, in step S105, the GDA
The display of the connection candidate display area GDA is updated based on the element of List. That is, the groups GP1 to GP3 included in the same upper group GG1 as the group GP1 of the head element of the GDAList are selected, and the objects OB1 to OB3 corresponding to the elements in order from the top of the connection candidate display area GDA are displayed as shown in FIG. Is done. However, at this time, the periphery of the object OB1 is not surrounded by a dashed line,
The object marker GM is not displayed.

After the object OB of the group GP which is a connection candidate is displayed in the connection candidate display area GDA, it is detected whether or not the mouse pointer exists in the connection editing area CEA (step S106). Connection editing area C
Only when a mouse pointer is detected in the EA, a marker display processing subroutine (step S200)
Is executed, and the display or deletion of the object marker GM (FIG. 8) is updated.

Subsequently, the presence or absence of a mouse click is detected (step S107).
Seven branch processing subroutines B according to the click location
The process proceeds to 1, B2, B3, B4, A1, A2, and E (step S108).

When there is no click (step S10)
7) If the click location is not within the predetermined area corresponding to the branching process (step S108), step S108
Return to 106. That is, steps S106 to S108 are repeatedly performed until a predetermined area is clicked. Six branch processing subroutines B1, B2, B
When 3, B4, A1 and A2 are completed, step S10
6, when the branch processing subroutine E ends, the main routine of the group connection processing ends.

FIG. 16 is a flowchart showing details of the marker display processing subroutine (step S200).
First, it is determined whether or not the object marker GM is displayed (step S201). Only when the object marker GM is displayed, the previous object marker GM is deleted (step S202), and the object marker GM is displayed at the current mouse position. Is performed (step S203). That is, the object marker GM once displayed can be freely moved in the connection editing area CEA by operating the mouse as long as the mouse is not clicked.

FIG. 17 is a flowchart showing the details of the first branch processing subroutine B1 (step S300) shown in FIG. 15, and is executed when the click location is the upper group forward button GGA or the upper group return button GGR. Is done.

First, based on the contents of the current GDAList, in the case of the upper group send button GGA, the next higher order group GG and the upper order group return button GGR
In the case of, the upper-ranking group GG of the previous rank is updated and displayed in the connection candidate display area GDA (step S301). Then, EditNum and AddNum are initialized (step S302), and the first branch processing subroutine B1 ends.

FIG. 18 is a flowchart showing the details of the second branch processing subroutine B2 (step S400) shown in FIG.
Executed when it is RM. Arrangement mode button AR
When M is clicked, 1 is substituted for mode and set to “arrangement mode” (step S401), and Edit
Num and AddNum are both initialized to 0 (step S402). And the placement mode button ARM
Is switched to ON display, and the other buttons MVM and D
LM is switched to OFF display (step S40).
3), the second branch processing subroutine B2 ends.

FIG. 19 is a flowchart showing the details of the third branch processing subroutine B3 (step S500) shown in FIG.
Executed when it is a VM. Move mode button MV
When M is clicked, 2 is substituted for mode and the mode is set to “movement mode” (step S501), and Edit is set.
Num and AddNum are both initialized (step S502). And the movement mode button MVM is ON
The display is switched to the display, the other buttons ARM and DLM are switched to the OFF display (step S503), and the third branch processing subroutine B3 ends.

FIG. 20 is a flowchart showing details of the fourth branch processing subroutine B4 (step S600) shown in FIG.
Executed when it is LM. Delete mode button DL
When M is clicked, 3 is substituted for mode and the mode is set to "delete mode" (step S601), and Edit is set.
Num and AddNum are both initialized (step S602). And the delete mode button DLM is ON
The display is switched, the other buttons ARM and MVM are switched to OFF display (step S603), and the fourth branch processing subroutine B4 ends.

FIG. 21 is a flowchart showing details of the fifth branch processing subroutine A1 (step S700) shown in FIG.
Executed when it is DA.

When mode = 1, that is, in the “arrangement mode” (step S701), it is determined whether or not the click location is within the object scope, that is, whether any one of the objects OB displayed in the connection candidate display area GDA is displayed. It is determined whether or not the designation has been made by clicking (step S702). If the object OB is specified, the number of the group GP corresponding to the specified object OB is substituted for AddNum (step S70).
3). Here, EditNum is temporarily initialized (step S704), and the fifth branch processing subroutine A1 ends. If mode = 1 and the object OB is not specified, the fifth branch processing subroutine A1 ends.

FIG. 22 is a flowchart showing the details of the sixth branch processing subroutine A2 (step S800) shown in FIG.
Is executed when

If any one of the objects OB displayed in the connection editing area CEA has been designated (step S
801), and shifts to the branch processing subroutines M11, M12, and M13, respectively, according to the edit mode (mode) at that time (step S802). If the object OB is not specified (step S801)
Also, the process shifts to the branch processing subroutines M21 and M22 according to the editing mode at that time (step S803). These five branch processing subroutines M1
When 1, M12, M13, M21, and M22 end, the sixth branch processing subroutine A2 ends. If the object OB in the connection editing area CEA is not specified and the mode is the “delete mode” (mode = 3), the sixth branch processing subroutine A2 ends immediately.

FIG. 23 is a flowchart showing details of the seventh branch processing subroutine (step S900) shown in FIG. 15, and is executed when the click location is the completion button CIB. When the completion button CIB is clicked, the contents of the current CEAList, that is, data such as the connection relation of the group GP displayed in the connection edit area CEA and the parameters calculated in the connection processing are written into the CPU 1.
4 is stored in the hard disk 21 (step S9).
01). When the seventh branch processing subroutine ends, the process returns to the main routine and the group connection processing ends.

FIG. 24 is a flowchart showing the details of the eighth branch processing subroutine M11 (step S1100) shown in FIG. 22. The "arrangement mode" (mode =
Executed when 1).

If AddNum is not 0, that is, if it is determined that the object OB of the connection candidate display area GDA has been designated (step S1101), the connection editing area CE
The number of the group GP corresponding to the currently designated object OB of A is assigned to EditNum (step S1102). Then, the object marker GM is displayed in the connection editing area CEA (step S110)
3), the eighth branch processing subroutine M11 ends.
If the object OB of the connection candidate display area GDA is not specified (step S1101), the eighth
Ends the branch processing subroutine M11.

FIG. 25 is a flowchart showing the details of the ninth branch processing subroutine M12 (step S1200) shown in FIG. 22. The "movement mode" (mode =
Executed when 2).

If it is determined that EditNum is 0, that is, the object OB of the connection editing area CEA has not been specified before the current specification (step S120).
1) The number of the group GP corresponding to the currently specified object OB in the connection editing area CEA is EditN
It is assigned to um (step S1202). Then, the object marker GM is displayed in the connection editing area CEA (step S1203), and the ninth branch processing subroutine M12 ends. If the object OB of the connection editing area CEA has been specified before (step S120)
In 1), it is determined that there is no need to specify, and this branch processing subroutine M12 is immediately terminated.

FIG. 26 is a flowchart showing the details of the tenth branch processing subroutine M13 (step S1300) shown in FIG. 22. The "delete mode" (mode =
Executed when 3).

First, the currently specified object OB
The number of the group GP corresponding to the higher-level group GG including “” is removed from the CEAList (step S130).
1), added to the GDAList (step S130)
2). Then, based on the updated CEAList, the object O to be displayed is displayed in the connection editing area CEA.
B and the connection line CNL between these objects OB are displayed again (step S1303), and the updated GDALi
Based on st, the connection candidate display area GDA is displayed again (step S1304). In other words, the designated object OB and the object OB of the same higher-level group GG as the designated object OB are stored in the connection editing area CE.
A returns to the connection candidate display area GDA. And Ed
ItNum and AddNum are initialized (step S1305), and the tenth branch processing subroutine M13 ends.

FIG. 27 is a flowchart showing the details of the eleventh branch processing subroutine M21 (step S1400) shown in FIG. 22. The "movement mode" (mode =
Executed when 2). EditNum is not 0, that is, in the connection editing area CEA, the object O
If B is specified (step S1401), the specified object OB is moved to the position currently specified by the mouse pointer (object marker GM) (step S1402), and the eleventh branch processing subroutine M2 is performed.
1 ends. If the object OB is not specified in the connection editing area CEA (EditNum = 0), the eleventh branch processing subroutine M21 ends immediately. Thereby, each object OB can be moved to an arbitrary position.

FIGS. 28 and 29 show the first embodiment shown in FIG.
2 branch processing subroutine M22 (step S150
11 is a flowchart showing details of (0), which is executed when the mode is the “arrangement mode” (mode = 1).

When both AddNum and EditNum are not 0 (steps S1501 and 1502), that is, when the object OB is specified in both the connection candidate display area GDA and the connection editing area CEA, the connection processing for connecting these two objects OB A subroutine (step S1700) is executed. After this, Add
The number of the group GP that matches Num is GDAList.
(Step S1505), and CEALis
t (step S1506). Here, the deletion and addition of the number of the group GP are performed for each upper group GG.

Then, in the connection editing area CEA, the objects OB to be displayed and the connection lines CNL between these objects OB are displayed again (step S1507),
The connection candidate display area GDA is displayed again (step S1).
508). On the screen, the designated object OB and the object OB of the same higher-level group GG as the designated object OB are newly arranged from the connection candidate display area GDA to the connection editing area CEA. Then, EditNum and AddNum are initialized (step S150).
9), the twelfth branch processing subroutine M22 ends.

An object OB is specified only in the connection candidate display area GDA (steps S1501, 1502),
If the CEAList is empty and no object OB is displayed in the connection editing area CEA (step S1)
In 504), since there is no object OB connected to the connection editing area CEA, only the movement of the object OB is performed without executing the connection processing subroutine. Also,
If the object OB is not specified in both the connection candidate display area GDA and the connection editing area CEA, the first
The second branch processing subroutine M22 ends.

FIG. 30 is a flowchart showing details of the connection processing subroutine (step S1700) shown in FIG. In the connection subroutine, as shown in FIG. 11, the pair image of the group GP corresponding to the designated object OB in the connection editing area CEA is placed in the upper part, and the pair image of the group GP corresponding to the designated object OB in the connection candidate display area GDA is placed in the upper row. It is displayed at the bottom (step S17
01, 1702). In the displayed four images, the image points of the connection points RC1 and RC2 are designated, respectively.
Two groups GP are connected. Here, parameters (Xdp, Zdp, and 示 す shown in FIG. 7) for connecting two different upper groups are calculated. Step S
When 1703 ends, the connection processing subroutine ends, assuming that the two objects OB are connected, and the process returns to the main routine.

When the group connection processing is completed,
Using the arrangement result shown in the connection editing area CEA, designation of an image point in a pair image of each group GP, coordinate calculation of an object point, and creation of a survey map are performed.

As described above, on the screen, a representative image IM is displayed as an object OB for each group GP, and by connecting these objects OB with the connection lines CNL, the group connection of each group GP is visually recognized. The user can easily recognize the shooting history and the connection relationship between groups. Further, since the position of the object OB can be changed to an arbitrary position by the operator, the photographing history can be more easily grasped visually. Therefore, using this arrangement result, the object point can be specified efficiently.

[0120]

According to the present invention, the connection editing work between groups in photogrammetry can be executed efficiently, and the manual work can be made much more efficient.

[Brief description of the drawings]

FIG. 1 is a view conceptually showing a shooting situation in photogrammetry, and is a horizontal plan view seen from vertically above.

FIG. 2 is a diagram showing a shooting state of one image, and is a perspective view showing a camera and a target.

FIG. 3 is a conceptual diagram showing a format of survey image data recorded by a camera.

FIG. 4 is a block diagram showing an overall configuration of a photogrammetric image processing apparatus according to the present invention.

FIG. 5 is a conceptual diagram showing an image obtained in the shooting situation shown in FIG.

6 is a perspective view showing a positional relationship between an image, a camera position, and a target shown in FIG.

FIG. 7 is a conceptual diagram showing a situation where different camera positions are converted into one reference coordinate.

8 is a conceptual diagram showing a display screen of the display device shown in FIG.

FIG. 9 is a conceptual diagram showing a display screen in a state where objects in a connection candidate display area are arranged in a connection editing area.

FIG. 10 is a conceptual diagram showing a display screen in a state where an object in another connection candidate display area is selected.

FIG. 11 is a conceptual diagram showing another display screen for executing a connection process.

FIG. 12 is a conceptual diagram showing a display screen after connection processing.

FIG. 13 is a conceptual diagram showing a display screen in a state where an object is moved in a connection editing area.

FIG. 14 is a flowchart showing a first half of a main routine of a group connection process executed by the CPU shown in FIG. 3;

FIG. 15 is a flowchart showing the latter half of the main routine of the group connection process.

16 is a flowchart showing details of a marker display processing subroutine shown in FIG.

17 is a flowchart showing details of a first branch processing subroutine B1 shown in FIG.

18 is a flowchart showing details of a second branch processing subroutine B2 shown in FIG.

19 is a flowchart showing details of a third branch processing subroutine B3 shown in FIG.

FIG. 20 is a flowchart showing details of a fourth branch processing subroutine B4 shown in FIG. 15;

21 is a flowchart showing details of a fifth branch processing subroutine A1 shown in FIG.

22 is a flowchart showing details of a sixth branch processing subroutine A2 shown in FIG.

23 is a flowchart showing details of a seventh branch processing subroutine M11 shown in FIG. 22.

FIG. 24 is a flowchart showing details of an eighth branch processing subroutine M12 shown in FIG. 22.

FIG. 25 is a flowchart showing details of a ninth branch processing subroutine M13 shown in FIG. 22.

FIG. 26 is a flowchart showing details of a tenth branch processing subroutine M21 shown in FIG. 22.

FIG. 27 is a flowchart showing details of an eleventh branch processing subroutine M22 shown in FIG. 22.

FIG. 28 is a flowchart showing details of a twelfth branch processing subroutine M12 shown in FIG. 22, and is a diagram showing a first half part.

FIG. 29 is a flowchart showing a third branch process in step S403 of FIG. 17, and is a diagram showing a latter half part.

30 is a flowchart showing details of a connection processing subroutine shown in FIG. 28.

[Explanation of symbols]

 Reference Signs List 10 display device 12 input device 13 memory card 30 target 50 camera GDA connection candidate display area CEA connection editing area GG1 to GG3 upper group RP1 to RP3 target position RC1 to RC4 connection point

Claims (12)

[Claims] 1. A predetermined number of images including a target at a predetermined position in common are defined in the same group, and a position of a camera which has photographed each image and a tilt of an optical axis thereof are calculated.
Specifying a common object point in the image for each image;
In a photogrammetric image processing apparatus that calculates three-dimensional coordinates of the object point and generates a survey map based on the three-dimensional coordinates, an object determining unit that determines an object corresponding to each group; A group connection means for connecting in the order of, and display means for displaying the objects and displaying the connection relations of the respective objects based on the connection relations defined by the group connection means. Surveying image processing device. 2. The display device according to claim 1, wherein the display unit includes a connection editing area for displaying a connected object, and a connection candidate display area for displaying a candidate for an object to be arranged in the connection editing area. 2. The photogrammetry image processing apparatus according to claim 1, further comprising an input unit that specifies an object to be moved between the connection candidate display area and the connection candidate display area. 3. The photogrammetry image processing apparatus according to claim 2, wherein the arrangement of each object can be changed as appropriate in the connection editing area. 4. In the connection editing area, a connection relationship between two objects defined by the group connection means is displayed by a line segment having a predetermined thickness connecting the centers of both objects. The photogrammetric image processing apparatus according to claim 2. 5. A grouping means for defining a group at a common target position as an upper group, wherein the connection candidate display area displays an object of a group included in one arbitrary upper group. The photogrammetric image processing apparatus according to claim 2. 6. The object specified in the connection candidate area is placed in the connection editing area, and at the same time, an object in the same higher-level group as the specified object is placed in the connection editing area, and the space between the objects is changed. 6. The photogrammetry image processing apparatus according to claim 5, wherein the connection is made in a predetermined order. 7. When an object specified in the connection candidate area is placed in the connection editing area, an object marker for determining the position of the object is displayed in the connection editing area. 7. The photogrammetric image processing apparatus according to claim 6, wherein: 8. In the connection editing area, in order to connect an object of a different upper group newly arranged to an already arranged object, all images of a group corresponding to the two objects to be connected are connected in common. 7. The photogrammetry image processing apparatus according to claim 6, wherein the two points projected and projected are associated with each other. 9. The photogrammetry image processing apparatus according to claim 1, wherein each group includes two images. 10. The photogrammetry image processing apparatus according to claim 1, wherein the object is a reduced image obtained by reducing one of the images included in the group. 11. A predetermined number of images commonly including a target at a predetermined position are defined in the same group, the position of a camera photographed for each of the images and the inclination of its optical axis are calculated, and a common object in the images is calculated. A point is designated for each of the images, a three-dimensional coordinate of the object point is calculated, and a surveying map is generated based on the three-dimensional coordinates. In the photogrammetry image processing method, an object corresponding to each of the groups is determined. 1
A second step of defining a group of a common target position as an upper group; a third step of displaying an object included in one arbitrary higher group in a connection candidate display area of the display device; In the connection editing area, the objects specified in the connection candidate display area are arranged together with the objects of the same higher-level group, and the objects in the same higher-level group are connected in a predetermined order to display the connection relation of the respective objects. In the fourth step, in the connection editing area, in order to connect an object of a different upper group newly arranged to the already arranged object, all the images of the group corresponding to the two objects to be connected are connected in common. Step 5 for associating the two projected points And a sixth step of editing an arrangement of the object displayed in the connection editing area. 12. A predetermined number of images commonly including a target at a predetermined position are defined in the same group, the position of a camera photographed for each image and the inclination of its optical axis are calculated, and a common object in the image is calculated. A point is specified for each image, a three-dimensional coordinate of the object point is calculated, and a photogrammetry image processing program that generates a survey map based on the three-dimensional coordinates determines an object corresponding to each group, A definition routine for defining a group at a common target position as an upper group; a candidate display processing routine for displaying an object included in any one of the upper groups in a connection candidate display area of the display device; In the area, if the objects specified in the connection candidate display area are arranged together with the objects of the same higher-level group Both, the same upper group connection processing routine for connecting the objects in the same upper group in a predetermined order and displaying the connection relation of the objects, and a new arrangement for the already arranged objects in the connection editing area A connection processing routine for associating two commonly imprinted points in all images of the group corresponding to the two objects to be connected, in order to connect objects of different upper groups, A storage medium storing a photogrammetry image processing program provided with an editing processing routine for editing the arrangement of objects.