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Lesson 3 Categories
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��������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� ������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������Ariel Dynamics, Inc. TRANSFORMATION MODULE Revision 1.0 Contents ARIEL TRANSFORMATION PROGRAM����������������������������������������������������������������������������� INTRODUCTION...................................................................................................................................... WHAT�S NEW IN TRANSFORMATION 1.0...................................................................................... SYSTEM REQUIREMENTS.................................................................................................................... TO START THE TRANSFORMATION PROGRAM.......................................................................... SCREEN LAYOUT.................................................................................................................................... THE APAS TOOL BAR........................................................................................................... THE TOOL BAR....................................................................................................................... THE STATUS BAR.................................................................................................................. TRANSFORMING A SEQUENCE
FILE................................................................................................ TIME MATCHING
INFORMATION.................................................................................... SYNCHRONIZING.................................................................................................................................... SYNCHRONIZING VIEWS...................................................................................................... SYNCHRONIZING ALGORITHM.......................................................................................... OPTIONS................................................................................................................................................... TRANSFORMATION
ALGORITHMS................................................................................. UV/XYZ COLORS................................................................................................................... SMOOTH................................................................................................................................. TECHNICAL ASPECTS OF
TRANSFORMATION.......................................................................... TRANSFORMATION
QUICK REFERENCE...................................................................................... TRANSFORMATION MENUS............................................................................................................ FILE COMMAND MENU..................................................................................................... EDIT COMMAND MENU.................................................................................................... VIEW COMMAND MENU................................................................................................... 2D/3D COMMAND MENU.................................................................................................. SYNCH COMMAND MENU................................................................................................ OPTIONS COMMAND MENU............................................................................................ HELP COMMAND MENU.................................................................................................... ARIEL TRANSFORMATION PROGRAM The computation phase of
analysis is performed after all camera views have been digitized.� The purpose of this phase is to compute the
three-dimensional image space coordinates of the subject�s body joints from the
relative two-dimensional digitized coordinates of each camera�s view.� The ARIEL TRANSFORMATION software is
a Windows based program for performing this conversion process. Transformation is the
process of converting two or more, two-dimensional digitized views into a
three-dimensional image sequence.� The
transformation option is also available to convert a single, two-dimensional
digitized view into a two-dimensional image sequence.� In either case, the process involves transforming the relative
digitized coordinates of each point in each frame to absolute image space
coordinates.� This process is performed
entirely by the computer.� Some initial
timing information will be requested, after which the transformation will occur
automatically. Although a few of the TRANSFORMATION�s
features may appear complex, they are relatively easy to master once you
understand the underlying concepts.�
This manual is arranged to teach you these concepts in a logical order
by showing you, in step-by-step fashion, how to use TRANSFORMATION. A few of the new features
you will see in TRANSFORMATION version 1.0 1.� Stick Figure Display.� Stick Figures are displayed for each camera
view as well as one for each of X, Y, and Z axes. 2.� Transformation Parameters.� Display DLT and PPT transformation
parameters for each view. 3.� Support For Panning Cameras.� Views utilizing either the Ariel Panning
head or any panning camera can be transformed for analysis. 4.
Synchronizing Algorithm.� A newly
developed Synchronizing Algorithm determines relative error in synch time
between views. 5.
Automatic Smoothing.� Smoothing
can be accomplished automatically using user-defined smoothing values. 6.
APAS Tool Bar.� A toolbar has been added to
allow the user to activate individual APAS modules from within the main
programs. The following table
provides the basic guidelines for minimum and recommended hardware to provide
the best possible performance.� The
software requires a minimum of Microsoft Windows 95/98 and APAS-2000 Revision
1.0 or later. Component������������������������ Minimum���������������������������������������������� Recommended _____________________________________________________________________________________________________________________________________________________ Pentium
Computer����������� Pentium 233���������������������������������������� Pentium
II 333 MHz or higher Video
Display�������������������� S-VGA (256
Colors)��������������������������� High
Color Display (65,000 colors or more) RAM
������������������������������������ 32 MB���������������������������������������������������� 64
MB or more 1.� Double-click the TRANSFORM icon
located in the APAS System window group.� The main TRANSFORMATION window will appear. Prior to performing
the� transformation process, you should
take the time to familiarize yourself with the format and contents of the
various screens listed below: THE APAS TOOL BARYou can activate any of
the APAS software modules from within the current program by selecting the
icons located on the APAS tool bar.� The
tool bar is toggled on/off using the APAS Toolbar command in the VIEW
menu.� A check mark in the left column
of the menu indicates that the toolbar is currently active.� The toolbar can be re-located anywhere in
the main program window by dragging it with the mouse.� The following program modules can be
activated by clicking the appropriate icon.�
Icons are pictorial representations of programs, commands or functions.� THE TOOL BARYou can activate many
functions by selecting the icons located on the TRANSFORMATION program
tool bar.� The tool bar is located near
the top of the window.� Icons are
pictorial representations of commands or functions.� You can access the following commands by clicking the appropriate
icon. THE STATUS BARThe status bar provides
useful information about the current image status of the file during the
Transform process.� The status bar is
located at the bottom of the TRANSFORMATION window.� The far-left side of the status bar is
divided into three separate fields. The left field displays the transformation
algorithm being used.� Available option
are 2D-Multiplier, 2D-DLT, 3D-DLT and 3D-PPT.�
The middle field displays the current Frame number as the sequence is
being transformed.� The right field
displays the current Time value as the sequence is being transformed. 1.� Choose the OPEN command from the FILE
menu.� The OPEN File Dialog box
will appear. The
OPEN File Dialog box looks for a particular type of file (files that have the
extension of (*.CF).� This file
is automatically created when a New Sequence is established in the APAS DIGI4
module.� The OPEN File Dialog box can be
used to specify the Drive, Directory, and Name of the sequence file to be retrieved.� Select the sequence name to be transformed
and then select OPEN to proceed.�
A
small window will appear indicating the path of the *.cf file and the algorithm
that will be used for the transformation.�
The Transform Type is automatically determined by the software and is
based on the control point coordinates entered in the Digitizing module. The
Multiplier algorithm indicates that only 2 control points have been
specified.� Only two-dimensional
analysis can be performed using this algorithm.� NOTE:� The Z coordinate
must be zero for 2D transformations. The
2D-DLT algorithm indicates that 4 or more coplanar control points have
been specified. The
3D algorithm indicates that 6 or more non-coplanar control points have
been specified.� Three-dimensional
transformations require a minimum of two views. Select
OK to proceed.� All the existing
views for the associated *.CF file will be displayed one per row in a grid. 2.� Select the views to be Transformed by
double-clicking anywhere on the grid row of the desired view to toggle the
�SEL� state for the row.� A �YES� entry
in the SEL column indicates that particular view will be included in the
Transform process.� If the SEL column is
blank, the view will not be used in the Transform process.� NOTE:�
At least 2 views must be selected for 3-Dimensional data. 3.� Select the TRANSFORM command from the
3D menu (or select the 3D icon in the tool bar) to start the
Transformation process.� A menu box will
be displayed where the user may select 1st/Last times and a data rate.� Select OK to proceed with the transformation
process using the values specified in the Transformation Parameter menu. ����� Stick figures will appear on the monitor,
one for each view and one for each of the X, Y, and Z axes as the
transformation takes place.� A
confirmation screen will appear when the 3D Processing is complete. 5.� The STOP command can be selected from
the 3D menu to abort the transformation process.� STOP can also be activated from the
Tool Bar icon. 6.� Upon completion of the Transformation,
select the DLTs_etc command from the 3D menu to see the actual
transformation parameters. TIME MATCHING INFORMATIONIf a three-dimensional
transformation is being performed, an additional operation must be performed on
the individual camera views to synchronize them.� This process is called time matching.� Since each digitized camera view may start at a different point
in time, frame one of the first view may not correspond to frame one of the
second view.� The transformation will
only yield accurate results if digitized coordinates from simultaneous frames
are used.� The TRANSFORMATION
software utilizes the synchronizing event from each of the views as a basis for
time matching.� The time for each frame
in each view is adjusted relative to the synchronizing event so that all the
synchronizing events occur at the same absolute time. 1st Time (sec)
The 1st Time is the starting
point in time for the resulting image sequence.� Since the image sequence is created by combining information from
each of the views, the sequence should not start until the view with the
highest 1st-Time value starts.� It is possible
to specify that the image sequence should begin at a later time if the
information from the beginning of the digitized views is to be omitted.� In most cases, the image sequence is
captured and digitized from a synchronized point, so this field will be zero. Last Time (sec)
The Last Time is the ending
point in time for the resulting image sequence.� This value is computed by multiplying the number of images
captured minus 1 by the frame rate entered in the DIGI4 module.� For example: A sequence of 30 images
captured at a Frame Rate of 60 images per second would have a Last Time of
0.483333 seconds. ����� Last Time = (30-1) * (1/60) = 29/60 = 0.483333 seconds ����� It is recommended that the default value be used unless a
specific data interval is required for analysis. Rate (Fr/Sec)
The Rate is the time between
data points for the resulting image sequence.�
Image sequences do not have to have the same frame rate as the
individual views.� The TRANSFORMATION
module will automatically interpolate linearly between digitized frames to
create any resulting frame rate desired.�
For example, suppose views were recorded at the standard video rate of
60 Hz (1/60 = .0166 sec), but it is desired that the resulting image sequence
has an apparent frame time of 0.01 seconds (100 images/second), then a value of
0.01 would be entered for Rate. NOTES: First, setting Rate to a very small value will create a
large number of frames that will slow the analysis process and can possibly
exceed the capacity of some of the analysis modules.� It is NOT recommended to create sequences with more than 1000
frames. Second, the analysis system cannot manufacture data.� A higher frame rate will produce more stick
figures; however, there will be no more actual information available than in
the original digitized data.� A tennis
swing recorded at 60 images/second cannot be used to analyze the impact
interval at 500 images/second.� The
information is just not there!� For this
reason, it is recommended that a time interval close to the digitized data
interval be selected. One major contribution to
error in 3D studies is the inability to accurately determine the
synchronization between cameras that are not gen-locked.� This is often achieved by trying to locate a
synchronizing event or impact, a process that is accurate to .5 frames at best
and may actually be several frames.� The
"SYNCH" command added to ARIEL TRANSFORMATION is
a software feature that employs a newly developed algorithm to determine the
relative error in the synch time. SYNCHRONIZING VIEWSThe steps to synchronize
multiple camera views utilizing the ARIEL TRANSFORMATION algorithm are
listed below.� For the Synch algorithm
to work correctly there must be a single data point with a large amount of
vertical (Y) motion.� For example,
include as an extra point, a ball falling that is simultaneously visible from
all camera views. 1.� Open the desired Sequence File and select the individual views to
be used for the Transformation process. 2.� Select the AUTO-SYNCH command from the SYNCH
menu. 3.� Select the point to be used for the Synch Shift.� As stated above, this should be a single
point with a large amount of vertical displacement.� Select OK to proceed.�
4.� A table of time shifts for the different views is displayed to
the user.� The user can accept the
values by selecting OK.� This
will update the view files with the new synch times.� Cancel is selected to reject the computed values. SYNCHRONIZING ALGORITHMThe ARIEL
TRANSFORMATION synchronizing algorithm uses the fact that when calculating
3D from two 2D views the situation is over-constrained. Four numbers are used
to calculate three unknown numbers using a least squares criteria.� In such a situation the fit is not likely to
be exact and there is a residual left over from the fitting calculation. The
better the fit the smaller the residual. Think of fitting 3 points to a line.
The "best" fit" may not go through any of the three points.� The deviation from the �best-fit� line is
the residual. In the case of 3D
reconstruction, each camera determines a line in 3D space on which the point
lies.� In a perfect world the two lines,
one for each camera, would intersect, the point of intersection being the 3D
point of interest.� In the real world,
the lines don't actually intersect but there is a point of closest approach
with the distance of closest approach being related to the residual. Consider the �ideal�
situation of a normal lab setup consisting of two cameras recording a falling
object.� As the object falls, the two
lines of projections track the falling object intersecting exactly at the
falling object. Now think of introducing a synch error so that one camera is
now "seeing" the falling object at an earlier time from the other.
For this camera the line of projection will point too high and the two lines
will not intersect. The earlier the camera �sees� the falling object relative
to the second camera, the greater the "miss" and the larger residual.
For this algorithm to work
properly there must be a single point with a large amount of motion out of the
plane which contains the camera projection centers.� In most cases, this relates to VERTICAL (Y) motion.� NOTE:�
If everything is in one plane this approach will not work! The Ariel
TRANSFORMATION Synch algorithm utilizes a point with large vertical motion
and calculates a total residual value for this point summing over all frames as
follows: ��������������� ResidualSQ = SUM( Res[i]**2)
for all frames "i"of interest Then the program finds the
time shift that minimizes the above "ResidualSQ". The time shift that
produces a minimum value is the synch error. Several studies have been
performed that suggests the data improves when this analysis is performed.
However other factors could contribute which have nothing to do with a synch
error. For example, suppose one view always has the falling object digitized
low due to the person's digitizing inability to estimate the point center. This
would appear as a synch shift because the program could improve the ResidualSQ
by making that view slightly earlier thus raising slightly the projection line
causing it to more closely intersect the other camera's projection line. Then
for all other points in the study the data would be moved to this slightly
earlier time as well. Selecting the OPTIONS
command from the OPTIONS menu accesses the ARIEL TRANSFORMATION program
options.� Available options allow for
the selection of the transformation algorithm and user-selectable colors for
the �stick figure� displays. TRANSFORMATION ALGORITHMS The ARIEL TRANSFORMATION
program converts digitized coordinate locations to image space coordinate
locations through a process known as �transformation.�� The TRANSFORMATION program provides
two possible algorithms for performing the transformation process: Direct
Linear Transformation (DLT) and Physical Parameter Transformation (PPT).� The desired algorithm can be set by
selecting the Options command from the Options menu.� The PPT algorithm will automatically be used
for Panning Camera views. DIRECT LINEAR TRANSFORMATION (DLT)
The traditional method
used to convert digitized coordinate locations to image space coordinate
locations utilizes a widely used method known as the Direct Linear
Transformation or DLT.� In this
�mapping� process, the known image coordinates, as well as the digitized
coordinates of the control points, are used to solve a set of simultaneous
linear equations which relate one set of coordinates to the other.� This set of equations is solved using a
linear least-squares method that yields the image space coordinates of each point,
given the digitized view coordinates of that point. Colinearity
photogrammetric relations provide the mapping from spatial coordinates to image
coordinates.� This mapping is a function
of 16 physical parameters that describe the central projection model of a
camera.� The DLT is obtained from
the colinearity relations.� The
colinearity conditions may be rearranged into a form requiring 11
coefficients.� These 11 coefficients are
functions of the 16 physical parameters.�
Minimization of residual error with respect to these 11 coefficients is
linear; thus, the calibration procedure is simplified.� The 11 parameters are the coefficients of
the widely used DLT method. The advantage of this
transformation method over more traditional methods is that one does not need
to know the location or orientation of the cameras, the distance of cameras to
the subject, or any information about the camera or projections lenses such as
focal length and magnification.�
Instead, by directly determining the relationship between the image
space and each of the digitized views, all the intervening image changes are
eliminated, and need not be considered. In order to utilize this
method, there must be a known set of control points in the video recording of
each view.� At least six non-coplanar
control points are required (though more can be used) for a three-dimensional
analysis.� This is the minimum number of
points required to solve the set of simultaneous linear equations that produce
the transformation.� For a two
dimensional analysis using a single camera, at least four co-planar but
non-colinear control points must be used.�
It is possible to use more than the minimum number of control points, as
this will increase the accuracy of the transformation.� The control points should be distributed to
fill as much of the image space as practical.�
If the control points all occur in a small portion of the image space,
then image distortion is likely to increase as the distance from the image to
the control points increases. PHYSICAL PARAMETER TRANSFORMATION (PPT)
The Physical Parameter
Transformation (PPT), like the Direct Linear Transformation (DLT), is built
upon the colinearity photogrammetric relations.� The rotational orientation matrix of the camera with respect to
the spatial coordinate system provides 9 of the 16 physical �mapping�
parameters.� If the rotational
orientation matrix of the camera is expressed as a function of three suitable
angles, the number of physical parameters reduces to 10.� Minimization of mapping error with respect
to these 10 physical parameters automatically insures that the resulting
orientation matrix is orthogonal.� The
minimization is still nonlinear; thus numerical optimization technique is
required along with an initial estimate for the 10 physical parameters.� The 10 physical parameters may be expressed
as functions of the 11 DLT coefficients; thus, the DLT provides a good initial
estimate for the 10 parameters. This photogrammetric
procedure involving 10 physical parameters is called the Physical Parameter
Transformation (PPT).� Like the DLT,
once the mapping parameters are known for two or more cameras, spatial
locations of points whose digitizer coordinates are known may be obtained by
solution of a linear system. The PPT may easily
accommodate panning cameras if the displacement of the camera relative to its
calibration position is known.� In
addition to the camera�s orientation matrix, the location of the projection
center provides three physical parameters that may vary with the panning angle.� Both camera orientation and projection
center are transformed via the displacement yielding the PPT
coefficients for a panned camera position.�
View files designated as �Panning Views� will automatically use the PPT
algorithm for the Transformation process.�
This algorithm is optional for stationary cameras. PANNING CAMERA VIEWSCamera Views designated as
�Panning Views� will automatically use the Physical Parameter Transformation
(PPT) algorithm for the 3-D transformation.�
The Direct Linear Transformation (DLT) is not an option with Panning
views. UV/XYZ COLORSDuring the transformation
process, stick figure images will be displayed; one for each camera view (UV)
and one for the X, Y, and Z-axis view (XYZ).�
Selecting the UV and XYZ tabs allows the user to select the color of the
stick figure display for the UV and XYZ views.�
The box around the color indicates the current color setting.� NOTE:�
Be aware that the stick figure image will not be visible when the stick
figure color is set the same as the background color. SMOOTHDuring the transformation
process, it is possible to specify that when performing the Transformation that
smoothing be done automatically using some user selected default values.� If further smoothing is required, it is
recommended to use the FILTER program. Auto-Smooth The Auto-Smooth option is
used to turn the Automatic Smoothing option either ON or OFF.� When this option is set to YES, smoothing
will automatically occur during the Transformation process.� If this option is set to NO, automatic data
smoothing is not performed and the settings for Algorithm and Values are
irrelevant. Algorithm The Algorithm option is
used to specify the default algorithm for automatic smoothing.� The available options are Cubic Spline,
Quintic Spline, and Digital Filter.�
Please refer to the FILTER program for additional information. Values The Values option is used
to specify the default smoothing values for the X, Y and Z data curves.� For the spline algorithms, these values
represent the allowable variance between the "raw" data and the
smoothed data.� Larger values will
approximate a straight line while smaller values will approximate the
"raw" data curve.� For the
Digital Filter algorithm, these values represent the cut-off frequency.� Please refer to the FILTER program for
additional information. The Ariel Performance
Analysis System (APAS) computes true three-dimensional image space coordinates
of objects from two or more sets of two-dimensional digitized coordinates by a
method knows as Direct Linear Transformation.�
The mathematical basis for this transformation is described in this
section.� In addition, the APAS can
alternately compute two-dimensional image space coordinates from a single set
of two-dimensional digitized coordinates using the same method.� Since the two-dimensional transformation is
actually a subset of the three-dimensional problem, a separate derivation will
not be provided. The APAS considers the
image space (the space in which the activity being studied occurs) to be
described by a right-handed Cartesian coordinate system with a fixed origin and
orthogonal X, Y and Z coordinate axes.�
An arbitrary point in the image space is described by its coordinates
(x, y, z).� When a film or video
recording of an object in the image space is projected or displayed on a flat
screen, the original three-dimensional image is reduced to a two-dimensional
projection.� If a device such as a video
digitizer is employed to measure the location of points on this plane of
projection, an arbitrary point can be described by its horizontal and vertical
digitizer coordinates (U,V).� The
general form of the transformation between these coordinate systems may be
expressed as: ����������� U� =� ��� Ax
+ By + Cz + D��������������������������������������������� (1) The coefficients, A
through L, represent various physical parameters defined in the configuration
of the camera and the playback or projection system.� In general, it is a difficult process to determine the values for
these coefficients by measurement of camera orientation, distance of camera to
subject, magnification of camera and projection lenses, etc.� If, however, the image space contains an
adequate number of points (control points) whose coordinate locations are
accurately known, the coefficients can be determined through the solution of a
set of simultaneous linear equations relating the image space coordinates of
the control points to the digitized coordinate of the control points. ����������� [A]������� x1 y1 s1 1 - U1x1 - U1y1 -
U1z1 0 0 0 0 U1�������������������� (2) Equations (1) and (2) can
be rewritten in matrix form as shown in equations (3) to express the sets of
simultaneous equations that must be solved to determine the coefficients A
through L.� Subscripts are used to denote
the image space and digitizer coordinates of individual control points.� A minimum of six non-coplanar control points
are required to solve equations (3), although additional points may be used as
indicated by the ellipses.� If more than
six points are used, the set of equations becomes over-determined and may be
solved using a standard linear least squares technique. For a given unknown image
space point (x, y, z), equations (1) and (2) can be rearranged as: ����������� {A - EU}{B - FU}{C - GU}x = {U - D}��������������������������������� (4) The digitizer coordinates
(U,V) are known as the coefficients A through L from the solution of equation
(3).� However, equation (4) cannot be
solved for (x, y, z) since this set of linear equations is underdetermined.� Digitized information from one camera is
therefor not sufficient to determine three-dimensional image space
coordinates.� This problem can be
resolved by the addition of a second camera. For film or video
recordings, each joint location (x, y, z) is a function of time, and therefore,
digitized camera information must be combined for the same moment in time.�� This is the purpose of the �Time-Matching�
step in the transformation process.� The
requirement for simultaneous digitized information underscores the importance
of accuracy in knowing the camera speed and measuring the synchronizing event
for each camera view. 1.�� Select FILE, OPEN (or the OPEN icon in the
Toolbar) to Open desired Sequence. 2.�� Select desired sequence from displayed files. 3.�� Double-click on the individual views to SET them for
Transformation. *4.� Select VIEW, STATUS BAR to toggle the Status Bar
On/Off. *5.� Select OPTIONS, OPTIONS and MISC tab to
select the desired Transformation algorithm (DLT or PPT). *6.� Select OPTIONS, MISC and the UV and/or XYZ
tabs to select colors for stick-figure display during the transformation
process. 7.�� Select OPTIONS, MISC and the SMOOTH tab to
activate/de-activate the automatic smoothing option. 8.�� Select SYNCH, AUTOSYNCH for the optional TRANSFORMATION
Synchronizing program. (Skip to step #9 to bypass this step). 9.� Select the desired point with large vertical (Y) movement. 10.� Select OK to update Synch times or Cancel to
proceed without any changes to the Synch information. 11.� Select 3D and TRANSFORM (or the 3D icon in the
ToolBar) to start the Transformation process. 12.� If necessary, adjust the TRANSFORMATION PARAMETERS and
select OK to proceed. 13.� Select OK when 3D PROCESSING COMPLETE. 14.� If desired, select 3D, DLTs etc... to examine the
DLT and/or PPT transformation parameters. 15.� Select FILE and EXIT to exit the Ariel
TRANSFORMATION program. * These are only required to
be selected once.� The program will
remember the current settings unless changed by the user. FILE COMMAND MENUOpen �� Selected to open an existing sequence file that has previously
been digitized. Print �� Print the current file on the selected printer. Print
Preview �� Selected to check or examine the positioning on one or more
pages.� When you give the Print Preview
command, a new window will be open showing the document position as it would
appear on paper.� To close the Print
Preview window, select the Cancel button to go to the previous mode. Print
Setup �� Selected to adjust the printer settings prior to issuing the
PRINT command. Recent
Files �� Displays a list of the most recent files that have been used in
the Transformation module. APAS
Modules �� Selected to open additional APAS modules while keeping the
current program open.� When this command
is selected, the user will be presented with a list of APAS modules. Exit �� Selected to EXIT the TRANSFORMATION program. EDIT COMMAND MENUCopy �� Selected to Copy the currently selected items to the Windows
clipboard.� This feature can also be
activated using the keyboard by simultaneously selecting the Ctrl and C keys. VIEW COMMAND MENUAPAS
Toolbar �� Selected to toggle on/off the APAS toolbar.� When this option is active, the APAS toolbar
will be displayed and allow the user to select additional APAS modules while
keeping the current program open.� The
toolbar can be positioned to the desired position by dragging it with the
mouse. Status
Bar �� Selected to alternately display the status bar located at the
bottom of the TRANSFORMATION window.�
The check mark indicates that the Status Bar will be visible. Switch �� Selected to alternately Switch between the View Information grid
and the Stick figure displays. 2D/3D COMMAND MENUDLTs
etc... �� Selected to display the Direct Linear Transformation (DLT)
and/or Physical Parameter Transformation (PPT) transformation parameters for
each view. Transform �� Selected to Transform the selected views into 3-dimensional
image space. Stop �� Selected to Stop the Transformation process prior to completion. SYNCH COMMAND MENUAutoSynch �� Selected to Automatically Synchronize the selected views using
the Synchronize algorithm. Reset �� Selected to remove any synchronizing information added by the
AutoSynch command.� This command will
return the sequence to the original condition. OPTIONS COMMAND MENU Options �� Selected to set various program options.� When this command is selected, a new menu
will be displayed on the screen.� Select
the MISC tab to indicate if the Physical Parameter Transformation (PPT)
algorithm should be used.� NOTE:� The PPT algorithm is required for Panning
camera views. It is optional for stationary camera views.� Select the UV tab to specify the
color of the stick figure diagram for each of the digitized views.� Select the XYZ tab to specify the
color of the transformed �stick-figure� image.�
Select the SMOOTH tab to activate/de-activate the automatic
smoothing parameters. HELP COMMAND MENUIndex �� Selected to provide an INDEX of Help related topics. Using
Help �� Selected to provide instructions on using the Help Windows. About
TRANSFORMATION (C3D) �� Provides program information, version number and copyright for
the TRANSFORMATION program.
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