SAGA 9.4.2 | Tool Library Documentation

Colorisation (PC)


Description

This tool attaches the color information from a RGB image to Laser Points. The RGB Image and the Point Cloud to be colorised are the inputs along with the interior and exterior orientation parameters of the camera. The necessary interior orientation parameters are Focal Length (mm), Pixel Size (um), Principal Point Offsets (pixels) and optionally the Radial Distortion Parameters. The distortion model being used is as follows: x_d = x_u (1 - dR) y_d = y_u (1 - dR) where, dR = K1 * r_u ^ 2 + K2 * r_u ^ 4 + K3 * r_u ^ 6, r_u ^ 2 = x_u ^ 2 + y_u ^ 2, x_u, y_u are the undistorted (corrected) image coordinates in mm, x_d, y_d are the distorted (observed) image coordinates in mm, K1 is in [mm ^ -2], K2 is in [mm ^ -4], K3 is in [mm ^ -6]. The necessary exterior orientation parameters are the coordinates of the Projection Center and the Cardan angles Omega, Kappa and Alpha. The Cardan angles refer to the following transformation between image coordinates (x_image) and global coordinates (X_Global): x_image = R_1(omega) * R_2(kappa) * R_3(alpha) * X_Global [Optional] If the Time Stamp of the RGB Image is given, an acceptable time difference between the points and the image must provided in order to colorise only those points falling that range. If no time is given all points are colorised. The result is a colorised point cloud.


Parameters

 NameTypeIdentifierDescriptionConstraints
InputRGB Imagegrid, inputrgbImageRGB Image-
Points to be Colorisedpoint cloud, inputPC_INPoints to be Colorised-
OutputColorised Point Cloudpoint cloud, outputPC_OUTColorised Point Cloud-
OptionsGrid systemgrid systemrgbImage_GRIDSYSTEM--
Provide Time stamp of Image?booleanGIVE_TIMEDo you wish to provide the time stamp of Image?Default: 0
Time stamp of Imagefloating point numberIMG_TIMETime stamp of ImageDefault: 0.000000
Time Difference between Image & Pointsfloating point numberTIME_DIFFAcceptable Time Difference between Image and Laser PointsDefault: 0.000000
Focal Length (mm)floating point numberFFocal Length in mmDefault: 0.000000
Pixel Width (um)floating point numberWPixel Width in micro metersDefault: 0.000000
Principal Point Offset in X (pixles)floating point numberppXPrincipal Point Offset in XDefault: 0.000000
Principal Point Offset in Y (pixels)floating point numberppYPrincipal Point Offset in YDefault: 0.000000
Provide Radial Distortion Parameters?booleanGIVE_DISTORTIONSDo you wish to provide the Radial Distortion Parameters?Default: 0
K1floating point numberK1K1Default: 0.000000
K2floating point numberK2K2Default: 0.000000
K3floating point numberK3K3Default: 0.000000
Projection Centre - Xfloating point numberXcProjection CentreDefault: 0.000000
Projection Centre - Yfloating point numberYcProjection CentreDefault: 0.000000
Projection Centre - Zfloating point numberZcProjection CentreDefault: 0.000000
Omegafloating point numberomegaRotation AngleDefault: 0.000000
Kappafloating point numberkappaRotation AngleDefault: 0.000000
Alphafloating point numberalphaRotation AngleDefault: 0.000000

Command Line


Usage: saga_cmd imagery_photogrammetry 1 [-rgbImage ] [-PC_IN ] [-GIVE_TIME ] [-IMG_TIME ] [-TIME_DIFF ] [-F ] [-W ] [-ppX ] [-ppY ] [-GIVE_DISTORTIONS ] [-K1 ] [-K2 ] [-K3 ] [-Xc ] [-Yc ] [-Zc ] [-omega ] [-kappa ] [-alpha ] [-PC_OUT ]
  -rgbImage:        	RGB Image
	grid, input
  -PC_IN:           	Points to be Colorised
	point cloud, input
  -GIVE_TIME:       	Provide Time stamp of Image?
	boolean
	Default: 0
  -IMG_TIME:     	Time stamp of Image
	floating point number
	Default: 0.000000
  -TIME_DIFF:    	Time Difference between Image & Points
	floating point number
	Default: 0.000000
  -F:            	Focal Length (mm)
	floating point number
	Default: 0.000000
  -W:            	Pixel Width (um)
	floating point number
	Default: 0.000000
  -ppX:          	Principal Point Offset in X (pixles)
	floating point number
	Default: 0.000000
  -ppY:          	Principal Point Offset in Y (pixels)
	floating point number
	Default: 0.000000
  -GIVE_DISTORTIONS:	Provide Radial Distortion Parameters?
	boolean
	Default: 0
  -K1:           	K1
	floating point number
	Default: 0.000000
  -K2:           	K2
	floating point number
	Default: 0.000000
  -K3:           	K3
	floating point number
	Default: 0.000000
  -Xc:           	Projection Centre - X
	floating point number
	Default: 0.000000
  -Yc:           	Projection Centre - Y
	floating point number
	Default: 0.000000
  -Zc:           	Projection Centre - Z
	floating point number
	Default: 0.000000
  -omega:        	Omega
	floating point number
	Default: 0.000000
  -kappa:        	Kappa
	floating point number
	Default: 0.000000
  -alpha:        	Alpha
	floating point number
	Default: 0.000000
  -PC_OUT:          	Colorised Point Cloud
	point cloud, output