OrthoWarpER Manual-2.2.0

OrthoWarp ER
Rigorous Satellite Image Orthorectification

Users Guide, version 2.2.0
Inpho Technology Ltd

Tekniikantie 12, 02150 Espoo
Tel: +358 -9- 5840 0466 Fax: +358 -9- 5840 0469
E-mail: posti@xposition.fi
www.xposition.fi, www.inpho.de
Product support: OrthoWarpER@inpho.de
ORTHOWARP ER
INPHO TECHNOLOGY LTD
TABLE OF CONTENTS
1
Introduction ................................................................................................................................................ 5
Installing and starting OrthoWarp ER .................................................................................................... 5
General information................................................................................................................................... 6
Getting started............................................................................................................................................ 8
4.1
4.2
Project menu ............................................................................................................................................ 10

5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
USER INTERFACE.................................................................................................................................... 8
TYPICAL SESSION ................................................................................................................................... 9
CREATE NEW PROJECT ......................................................................................................................... 10
OPEN PROJECT .................................................................................................................................... 10
SAVE PROJECT ..................................................................................................................................... 10
SAVE PROJECT AS ................................................................................................................................ 10
CLOSE PROJECT................................................................................................................................... 10
DELETE PROJECT ................................................................................................................................. 10
PROJECT INFO ...................................................................................................................................... 10
EXIT ..................................................................................................................................................... 10
Parameter menu....................................................................................................................................... 11
6.1
DISPLAY ............................................................................................................................................... 11
6.1.1
ELEMENTS.................................................................................................................................... 11
6.1.1.1
POINTS SYMBOLS AND COLORS............................................................................................. 11
6.1.1.2
POINT NUMBERS/NAMES ....................................................................................................... 12
6.1.1.3
LINES ................................................................................................................................... 12
6.1.1.4
GENERAL DEFINITIONS.......................................................................................................... 13
6.1.2
GENERAL WINDOW PARAMETERS.................................................................................................. 13
6.1.3
CURSOR DEFINITION ..................................................................................................................... 14
6.2
UNITS ................................................................................................................................................... 14
6.2.1
GENERAL UNITS............................................................................................................................ 14
6.2.2
GEODETIC COORDINATES ............................................................................................................. 15
6.2.3
COMPUTATION UNITS .................................................................................................................... 15
6.2.4
IMAGE UNITS................................................................................................................................. 15
6.3
COMPUTATION PARAMETERS ................................................................................................................ 16
6.3.1
LINE SENSOR MODEL .................................................................................................................... 16
6.3.2
CORNER POINTS ........................................................................................................................... 16
6.3.3
ADVANCED MODEL........................................................................................................................ 17
6.3.4
DRIFT MODELS AND GPS/INS PRECISION .................................................................................... 18
6.4
MISCELLANEOUS .................................................................................................................................. 18
6.4.1
IMPORT ........................................................................................................................................ 18
6.4.2
LOGBOOK ..................................................................................................................................... 19
6.4.3
INTERFACE ................................................................................................................................... 19
Data menu................................................................................................................................................. 20
7.1
DATA IMPORT ....................................................................................................................................... 20
7.1.1
DIGITAL HEIGHT, SURFACE OR TERRAIN MODEL (DHM / DSM / DTM).......................................... 20
7.1.2
SOURCE IMAGE ............................................................................................................................ 21
7.1.2.1
SUPPORTED IMAGE FORMATS ............................................................................................... 22
7.1.2.2
IMAGE FILE NOT AVAILABLE IN NATIVE FORMAT ...................................................................... 22
7.1.2.3
IMAGE HEADER FILE NOT AVAILABLE ...................................................................................... 22
7.1.2.4
IMAGE FORMAT NOT RECOGNIZED BY ORTHOWARP ER........................................................ 23
7.1.2.5
UNKNOWN DATUM OR DATUM TRANSFORMATION .................................................................. 24
7.1.2.6
DISPLAY OF CORNER POINTS ................................................................................................ 24
7.1.3
REFERENCE IMAGES..................................................................................................................... 25
7.1.4
GROUND CONTROL POINTS ........................................................................................................... 26
7.1.4.1
USER SPECIFIED FORMAT GROUND CONTROL POINTS ........................................................... 26
7.1.4.2
ER MAPPER GROUND CONTROL POINTS ............................................................................... 28
7.1.5
REFERENCE DXF FILE ................................................................................................................. 28
7.2
DATA EXPORT....................................................................................................................................... 28
ORTHOWARP ER
Toolbars .................................................................................................................................................... 29
8.1
8.2
MAIN TOOLBAR ..................................................................................................................................... 29

GENERAL IMAGE WINDOW TOOLBAR ..................................................................................................... 29
8.2.1
ZOOM IN + PANNING ............................................................................................................ 29
8.2.2
ZOOM OUT + PANNING......................................................................................................... 30
8.2.3
MOVE.................................................................................................................................. 30
8.2.4
WINDOW AREA .................................................................................................................... 30
8.2.5
FIT ...................................................................................................................................... 30
8.2.6
UNDO LAST / PREVIOUS SCALING ........................................................................................ 30
8.2.7
GRID SETTINGS ................................................................................................................... 30
8.2.8
SEARCH FOR ELEMENT ........................................................................................................ 31
8.2.9
T & S (BEARING & DISTANCE).............................................................................................. 32
8.3
APPLICATION TOOLBAR......................................................................................................................... 32
8.3.1
ELEMENT QUERY ON/OFF .................................................................................................... 32
8.3.2
ZOOM WINDOW ON/OFF ....................................................................................................... 32
8.3.3
COORDINATE TABLE ON/OFF................................................................................................ 32
8.3.3.1
ADD NEW POINT .......................................................................................................... 33
8.3.3.2
DELETING POINT.......................................................................................................... 34
8.3.3.3
TOGGLE ENH / LATLONH ........................................................................................... 34
8.3.3.4
UPDATE TABLE CONTENTS .......................................................................................... 34
8.3.4
IMAGE MOVING DEPENDENT / INDEPENDENT......................................................................... 34
8.3.5
CONTRAST ENHANCEMENT.................................................................................................. 34
8.3.6
CHANNEL SELECTION (LEFT AND/OR RIGHT) ................................................................... 35
Control point measurement................................................................................................................... 36

9.1
OVERVIEW, ROAMING, PANNING, ZOOMING ........................................................................................... 36
9.1.1
OVERVIEW.................................................................................................................................... 36
9.1.2
ROAMING ..................................................................................................................................... 36
9.1.3
PANNING ...................................................................................................................................... 36
9.2
ZOOM WINDOW..................................................................................................................................... 37
9.2.1
BILINEAR RE-SAMPLING........................................................................................................ 37
9.2.2
CONTRAST ENHANCEMENT IN ZOOM WINDOW ...................................................................... 37
9.2.3
UNDO LAST MEASUREMENT ................................................................................................. 37
9.2.4
ZOOM FACTOR ..................................................................................................... 37
9.2.4.1
INDIVIDUAL ZOOMING WITH MOUSE ........................................................................................ 37
9.2.4.2
COMMON ZOOM WITH MOUSE ............................................................................................... 37
9.2.4.3
COMMON ZOOM WITH PGUP/PGDN KEYS ............................................................................. 38
9.3
MEASUREMENT PROCEDURE ................................................................................................................ 38
9.3.1
PRE-MEASUREMENT ACTIONS....................................................................................................... 38
9.3.2
POINT MEASUREMENTS ................................................................................................................ 38
9.3.3
ADJUSTMENT................................................................................................................................ 39
9.3.3.1
SOURCE IMAGE EXTENTS ...................................................................................................... 39
9.3.3.2
PRECISION FIGURES ............................................................................................................. 40
9.3.4
RE-MEASUREMENTS ..................................................................................................................... 40
9.3.5
ADDITIONAL MEASUREMENTS ....................................................................................................... 41
ORTHOWARP ER
9.3.6
10
MODIFYING PROPERTIES OF MEASURED POINTS ........................................................................... 41
9.3.6.1
DELETE/DEACTIVATE POINT.......................................................................................... 41
9.3.6.2
CHANGE POINT NAME ................................................................................................... 42
Analysis of the adjustment results ................................................................................................... 43
10.1
RESIDUALS .............................................................................................................................. 43
10.2
ESTIMATED ERRORS ................................................................................................................ 43
10.3
BLUNDER VISUALIZATION ......................................................................................................... 44
10.4
BLUNDER BROWSING ........................................................................................................ 47
10.5
USAGE OF CORNER POINTS ..................................................................................................... 47
10.6
RESULT LISTINGS ............................................................................................................................. 47
10.6.1 ESTIMATED ERRORS OF OBSERVATIONS ....................................................................................... 47
10.6.2 BLUNDERS (GROSS ERRORS) ....................................................................................................... 49
11
11.1
Orthorectification process ................................................................................................................. 50

EXTENTS OF THE ORTHOIMAGE......................................................................................................... 50
11.1.1
AREA DEFINITION BY RUBBER BAND ................................................................................... 50
11.1.2 AREA, CHANNEL AND CELL DEFINITIONS BY MANUAL INPUT ............................................................ 50
11.2
ATTRIBUTES OF THE COMPUTATION .................................................................................................. 52
11.2.1 PIXELS OUTSIDE THE INPUT IMAGE ................................................................................................ 52
11.2.2 RE-SAMPLING ...............................................................................................................................52
11.2.3 COMPUTATION METHOD................................................................................................................ 53
11.3
FILE SELECTION ................................................................................................................................ 53
11.4
THE GEOMETRIC QUALITY OF THE ORTHOIMAGE ................................................................................ 53
ORTHOWARP ER
Introduction
OrthoWarp ER is a software product for satellite image orthorectification. It models the satellite sensor
and orbit in order to achieve a high accuracy. It has multi-satellite sensor support. The software is an
add-on module to the ER Mapper image processing software package. This guide will explain the
functionality of OrthoWarp ER.
Installing and starting OrthoWarp ER

ER Mapper 6.1 or later must be installed before starting the OrthoWarp ER installation.
Installation procedure of OrthoWarp ER
The Installation is performed by running the self-extracting file OrthoWarpERInstall.exe, or by running
Setup.exe from the installation CD. You will be guided through the different steps of the installation. In
the beginning the installation module asks for the ER Mapper installation directory. It is important to
enter the correct installation directory, for example C:\ERMapper63, and not the standard installation
directory, for example C:\Program Files. After specifying the installation directory of ER Mapper, all the
software components will be installed automatically.
OrthoWarp ER works with a software protection key (a dongle), which requires a HASP driver to be
installed. If it is not already installed, it should be done during the installation of OrthoWarp ER. If the
dongle is not present the software runs automatically in evaluation mode. Evaluation mode has some
restrictions compared to the normal mode:
It is not possible to export data

The resulting orthoimages has some random artifacts, such as lines, patterns and demo-texts.
As the generation of these artifacts takes some time the orthoimage generation process is
somewhat slower in evaluation mode.
Version 2.2.0 introduced a new licensing system, which is not compatible to the old licenses stored in
the protection keys. Those having purchased OrthoWarp ER between 1.7.2002 and 1.7.2003 obtain a
free license upgrade. First the form created with Licensing / Make a License Request Form in the
Help menu has to be filled in and sent to OrthoWarpER.licensing@inpho.de. After that the new
license, which is obtained via e-mail, is imported with Licensing / Import new License from File in the
Help menu. The same procedure can any time be used to extend the license.
After the installation(s) has been completed you have to boot the computer, if the installation module
requires so.
Starting OrthoWarp ER
Start ER Mapper
There is now a new toolbar in ER Mapper called Inpho Tools. Activate it.
Start OrthoWarp ER by clicking on the corresponding icon on the toolbar
OrthoWarp ER Online Help

This manual is available both in PDF (http://www.xposition.fi/pub/owarp and in the directory
$ERMAPPER\bin\win32\inpho\doc) and HTML formats (Select Contents in the Help menu). Before you
can use the HTML-version, the Help Viewer has to be selected (in the Help menu). Select you favorite
WWW-browser, such as Netscape or Internet Explorer. However, due to a bug in Internet Explorer the
user of that one has some limitations. The limitation does not allow jumps on tags of a specific html-file.
Thus pressing the help button will always jump to the beginning of the file, and not to the tag as
supposed. Due to this limitation it is highly recommended to use Netscape as the help browser.
ORTHOWARP ER
General information
Principle
OrthoWarp ER is an add-on module to the ER Mapper PC version. It uses the datums and projections
as specified in ER Mapper.
The software performs orthorectification using the following data types:
Digital satellite image

Digital surface, height or terrain model (DSM / DHM / DTM)
Ground control points (GCP)
A digital height model must be available for the orthorectification of satellite images.
The ground control points are either imported from text files, or measured on-line from digital maps or
reference images. In some cases the satellite image headers contain enough accurate information on
the approximate location of the satellite image. In these cases it is even possible rectify the image
without measuring additional points. But the accuracy will normally be better when points are
measured.
Multi-satellite support
The rectification module will support a multitude of sensor geometries. Currently available sensor
models are as follows:
Satellite
Sensor
Format
Level*
IRS 1 C/D
PAN/LISS/WiFS
Eosat FST
Oriented
Spot 1-4
PAN/XI/XS
Cap
Eosat FST
CCRS
Raw, oriented
Oriented
Oriented
Spot 5
PAN/HI
Dimap
Raw, Oriented
Landsat 4-5
TM
LGSWOG
Eosat FST
Nlaps
Oriented
Oriented
Oriented
Landsat 7
ETM+
HDF
Eosat FST
LGSWOG (CEOS)
Oriented
Oriented
Oriented
Ikonos 2
PAN/MSI
Tiff
Oriented
Aster
VNIR/SWIR/TIR
HDF
Oriented
Quickbird 2
PAN/MS
Tiff
Raw, Oriented
*Levels:
Raw: normally only sensor specific corrections have bee made to images of this level. Earth
curvature and other geometric corrections have not been done. Radiometric corrections might
have been done.
ORTHOWARP ER
Oriented: sensor specific corrections, earth curvature corrections and possibly radiometric
corrections have been to images of this level. The images have normally been oriented either
with the orbit or a map projection, but using orbital parameters only. The images of this level
have not been rectified with ground control points or a digital terrain model.
Images of higher processing levels are not supported. Images of these levels have normally been
rectified with ground control points and/or digital terrain models, and during this process the original
geometry of the image is destroyed.
ER Mapper image format support

In addition to native satellite image formats, OrthoWarp ER is able to rectify satellite images in the
following ER Mapper formats:
Raster datasets
Virtual datasets
Algorithms
ECW-compressed datasets
Remote images on a Image Web Server, if the ECWP-connection is hidden into an algorithm
Other features
Any satellite sensor model can be implemented if the relevant data is accessible.
Rigid sensor models and full utilization of all sensor data
Full geometric modeling of the sensor and orbital parameters:

o
o
o
o
Keplerian Orbit
Free Orbit
True utilization of INS data
True utilization of GPS data
Optimized measuring workflow

o
o
o
Direct import of native image formats

Easy-to-use measuring GUI
Advanced measuring tools
Perfect results
High quality orthorectified satellite images
ORTHOWARP ER
Getting started
4.1 User interface

The application is operated via a graphical user interface (GUI).
The main window of the GUI contains three parts.
Main menu. Data handling procedures, parameter settings and project management are
controlled from the main menu. For a detailed description see chapters 5: Project menu, 6:
Parameter menu and 7: Data menu. The help-browser can be set for the on-line help in the
Help-menu. Netscape is preferred due to a bug in Internet Explorer that prevents jumps to the
correct page in the manual. (More on this subject in the release notes). The browsing can be
started from the same menu or from any help-button in the numerous dialogs. The language
of all dialogs and texts can be changed in the Language-menu.
Main toolbar. Ortho-image generation, results listings and logbook activation are started and
controlled from the main toolbar. Details about these operations can be found in chapter 8.1:
Main toolbar.
Image & Map window. Graphics interface to display imported data, digitizing control points, or
editing ortho-areas, etc. See sections 8.2: General image window toolbar and 8.3: Application
toolbar for more information. The image and map windows normally contain the satellite image
to be rectified and the reference image or map. In the control point measurement and results
analyzing processes the Zoom window and Element information windows are used. More on
these topics in sections 9: Control point measurement and 10: Analysis of the adjustment
results.
ORTHOWARP ER
4.2 Typical session

A typical session or orthorectification procedure goes like this:
1. Import data using the Data menu:
a. First import the digital height model. The digital height model should cover the whole area
to be ortho-rectified. In case the elevation model consists of several files, it is advised to
first combine them into a virtual dataset or algorithm using ER- Mapper.
b. The reference images of maps, if such exist, can be imported now either in raster or
vector format. The reference data can consist of several files, which can be imported any
time during the measurement process when needed.
c.
Then import the un-rectified satellite image. In case it is in ER Mapper format the original
header should be imported at the same time. The first adjustment (computation of the
image to ground coordinate transformation) will be done automatically if there is enough
ground control information in the header files. This automatic procedure is the reason why
reference and/or height model data has to be imported first.
d. Now it is also possible to import Ground Control Points from ER Mapper gcp/ers-files or
user definable format files. When the satellite and reference images are imported they will
be displayed in the Image & Map widows.
2. Now it is recommended to save the project for the first time. Then it is faster to reopen all the
data sets and point measurements later on. The project can be re-saved later on at any time.
The project is saved in a binary file. Later on after the measurement the measured points can
be separately exported to ER Mapper ASCII files.
3. If there are enough ground control information in the header files, in form of ground
coordinates of image corner and center points, or if ground control points were imported, then
the adjustment has already been done automatically. In this case it is possible to skip next
point and proceed to orthorectification right away, but especially if no extra ground control
points have been imported it is recommended to still measure some points to make the result
more accurate.
4. As a next step some ground control points should be measured. On the overview images (in
the Image and Map windows) the interesting control point areas are first located and clicked
on with the mouse. (In some cases it might be worth to change the channels of the image,
enhance the image, or zoom in the overview images in order to see the interesting areas
better). After the click, the same areas appear in the zoom window, where the control points
are measured, by clicking on the corresponding points. After each measured point (when
there are enough of them) the adjustment is done automatically. The adjustment computes the
transformation between the image and ground coordinates by modeling the orbit and sensor.
The standard errors of the adjustment are shown in the application toolbar. By using the
different Application toolbar tools for displaying residuals, estimated error, and blunders the
erroneous points can be easily corrected. New points should be measured (and old ones
corrected) until the standard errors are within acceptable limits. After about 30 measured
points the sensor calibration can be activated in order to get even more accurate results.
Before the orthorectification is started the corner and center points should be excluded from
the computation. Then the final standard errors can be seen.
5. Finally the orthorectification is started from the main toolbar. In case only a sub-area of the
satellite image is to be orthorectified, the area can be predefined interactively with the rubber
band box tool in the application toolbar before the orthorectification button is pressed. After the
orthorectification button is pressed a dialog comes up for fine-tuning the area and channels to
be rectified, selecting the pixel size and output data type, the computation and pixel selection
method, and the name of the resulting orthoimage.
ORTHOWARP ER
10
Project menu
The project menu provides a number of functions to administrate the rectification project.
Following options are available:
5.1 Create new project

This function is used to create a new project. It only gives a name to the project; it does not yet save it.
5.2 Open project

This function is used to open an existing rectification project using a file selection dialog box. Five of the
most recently opened projects are shown in the project menu, as well.
5.3 Save project

This function is used to save the project using the current name. Save Project as option is activated
automatically, if the project name is not yet specified.
5.4 Save project as

This function is used to save the current (or unsaved) project with a new name. The default project file
extension is *. prj, but any other extension can be used as well. It is recommended to save an open
project right after the data import, and later on every now and then (using Save Project).
This function saves, among other things, point measurements, imported points, ortho-area definitions,
and the names and directory paths of the images and maps, in order to quickly return to the same
situation later on. It is not allowed to move the images or maps to other locations or remove them, in
order to be able to use the saved project later on.
5.5 Close project

This function will close the project and save it, if required, under the current name.
5.6 Delete project

This function is used to delete a project using a file selection dialog box. Confirmation will be prompted
for the file deletion.
5.7 Project info

This function is used to display and edit project specific information, which includes e.g. the project file
name and path, as well as imported images control points etc.
5.8 Exit
This function is used to terminate the program.
ORTHOWARP ER
11
Parameter menu
The parameter menu provides a number of functions to define all the necessary parameters of
rectification project.
Following options are available:
6.1 Display
This function can be used to define the appearance of the graphics on the screen.
6.1.1
Elements
The appearance of all the graphics elements can be defined in this dialog.
6.1.1.1 Points symbols and colors

All points imported manually into the coordinate table or from user specified format text files have
ground coordinates and are called ground control points. Points measured interactively in the images
(both satellite and reference images) are called image points.
ORTHOWARP ER
12
Ground control points
Full control points (XYZ)

These points are shown as a triangle in the reference window. After the control point has
been measured in the reference window, a small cross is drawn inside the point symbol. For
color definition, see Symbol colors XYZ Point.
Plane control points (XY)

These points are shown as a rectangle in the reference window. After the control point has
been measured in the reference window, a small cross is drawn inside the point symbol. For
color definition, see Symbol colors XY Point.
Height control points (H or Z)

These points are shown as a circle with a crossing line in the reference window. After the
control point has been measured in the reference window, a small cross is drawn inside the
point symbol. For color definition, see Symbol colors H Point.
Note: Control points are shown in the reference window (right side) only.
Image points
In the source window an image points is drawn as a thin circle (default color: cyan). In the reference
window the corresponding image point is drawn as a thin cross. For color definition, see Symbol
colors New point
The ground coordinates are interpolated from the reference image files, i.e. from a geocoded image
and a DTM, for the adjustment.
ER Mapper ground control points
In ER Mapper GCP/ERS-files the points have both image and ground coordinates. If the ground
coordinates are editable (i.e. not locked), they have most likely been digitized in ER Mapper, and thus
they are classed as image points in both source and reference windows. Otherwise they are classed
as ground control points in reference window and image points in source window. Image points can be
moved during the interactive measurement process, but the imported ground control points cannot be
moved.
6.1.1.2 Point numbers/names
Point naming is automated for all the image points. Each digitized image point will get a name starting
with character P, e.g. P5. The imported ER Mapper points start with E- and continue with the
name given in the GPC-list. This is done to distinguish them from each other and from other imported
points. If points with existing names are imported, the new one(s) gets an .1, .2, etc. added to the
end. If an image point is deleted during the measurement, the corresponding point number will not be
reused. The corner points read from the header files get a prefix CC to the point number.
To show point numbers on the screen, check the Show box in the dialog. The Point number font and
color can be defined in Point Numbers Font/Color.
6.1.1.3 Lines
To draw lines on the screen, check the Show box in the dialog.
For color definition, see Lines Color.
ORTHOWARP ER
13
6.1.1.4 General definitions

Some general color definitions:
Highlight
Defines the highlight color for "picked" points and lines, as well as point numbers.
Deactivation
Defines the color for points, where all elements are deactivated, i.e. they are temporarily
excluded from the computation.
Partial deactivation
Defines the color for points, where parts of the elements are deactivated; i.e. they are
temporarily excluded from the computation.
Reference vector file (Background map)

Defines the color of the lines of the reference DXF-vector file on the screen.
Shading
Checking the Shading box can activate shading of lines and point numbers.
6.1.2
General window parameters

On this page the following parameters
can be defined:
Background color
Background color of the image
window.
Default color: gray.
Coordinate grid
The color and cross size of the
coordinate grid.
Default color: light gray.
ORTHOWARP ER
6.1.3
14
Cursor definition
Cursor definition will change the shape and color of the cursor in the overview window.
It is possible to select the cursor from three
options:
Normal cross
Check type cross
Circle with dot
Default color: black.
6.2 Units
6.2.1
General units
This function is used to define the length and angular units and the number of decimal places used in
listings etc. In the import function, the full precision of the observation is always used. All decimals
available are used and no truncation is performed, i.e. the data is stored in the program internally as
precise as possible.
Sub-units are used in all result files and listings, e.g. for residuals, estimated errors, standard
deviations, and other outputs, where the actual unit would not be practical.
The units selected here are for display and usage in the GUI only. For example, if feet is selected as
a length unit, then all coordinates are displayed in feet. Also the orthorectification area is selected in
feet units. But the unit of the coordinates of the resulting orthoimage depends on the projection used,
only. In order to have the output orthoimage in feet units, a feet projection has to be chosen. This is a
feature of ER Mapper. The output projection will be the same as the projection of the reference image
and digital elevation model.
ORTHOWARP ER
15
Geodetic coordinates
6.2.2
In this page the following parameters can be defined for

geodetic latitude and longitude coordinates:
Format of coordinates
Number of decimal places for them
Type of separator in the file
Computation units
6.2.3
In general, the observed and adjusted values are not

equal in their size, but have small differences, which are
called residuals or corrections. The terminology
comes from least-squares adjustment.
A correction shows how much the original observation has been modified to fit together with other
observations in the adjustment. A residual again shows the error of the original observation compared
to the adjusted observation. In brief:
Residual
Correction
= original observation - adjusted observation

= adjusted observation - original observation
As can be seen the only difference between residual and correction is the sign. It depends only on the
user preferences, which one is used.
6.2.4
Image units
In this page the following parameters are defined for images:
Base unit of image coordinates

Pixel [pix]
Millimeter [mm]
Micrometer [um]
Inch
Reciprocal or sub-units (pixel, mm, um, inch)

These units are used in computation and all results

listings. For example, the base unit co-determines the
length of the estimated error and residual vectors on
screen, and the sub-unit determines the format of the
standard error display in the toolbar.
ORTHOWARP ER
16
6.3 Computation parameters

Line sensor model
6.3.1
The model of the underlying sensor and the level of pre-processing of the input source image are
displayed in the first two lines. These are data dependent and cannot be edited by the user.
In case no geometric pre-processing has been carried out for the source image, it is possible to choose
here the type of the mathematical model for modeling the satellite path in the orbit.
Free model will model the satellite path without any orbital constraints.
Keplerian model is used, if the satellite path is described by the dynamic orbital parameters.
The Keplerian model gives more accurate results, but in case the source image has been preprocessed (rectified) from raw image to some higher level, only Free Model can be used.
If the Automatic Model Parameterization box is checked, the system tries to choose the individual
parameters of the (advanced) model automatically. This is always the highly recommended option. The
automatic parameterization tries to solve as many parameters as possible by at the same time keeping
the reliability high. The number of solved parameters will be kept less than two times the number of
point observations.
The Sensor Calibration box is automatically enabled and can be checked after 30 points have been
measured. Then there are enough observations to model the distortions of the sensor, as well. Sensor
calibration will improve the accuracy of the result even further.
6.3.2
Corner points
Some of the satellite header files include information on the approximate ground control coordinates of
the corners of the image and/or the center of the image. In some cases it is the corners of the original
raw image, in some cases the corners of the processed image. In some cases the corners refer to the
original product, but the center to the processed product etc. Often this information is accurate enough
to allow the computation of the unknown parameters, at least approximately. Of course the accuracy of
the corners/center points always will be lower than that of manually measured points.
For these reasons the corner/center point information should be regarded as start-up information, that
can be used in the beginning when no or only a few points have been measured. By using these points
the system automatically can tie the source and reference image together and automatically jump to
the correct point on the reference image when the source image has been clicked. This greatly speeds
up the point measurement process.
The precision of the corner and center point information varies from satellite image to satellite image. In
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the dialog the Precision of Corner Points can be edited, in image pixel units. Mostly the default value
is good enough, but for some satellites data, such as IRS 1 in Space Oblique Mercator (SOM)
projection, errors of several kilometers (i.e. hundreds of pixels) have been found. In such cases the
precision should be lowered, i.e. the number in the box should be edited larger. Another possibility is to
check the Exclude Corner Point Data box, or the corresponding button in the toolbar.
Recommendation: Just to be sure of good results it is recommended to check this box before starting
the final adjustment and orthorectification process.
6.3.3
Advanced model
In this dialog page the order and type of the individual parameters can be chosen for the orbit model
(here: Free model).
If the selected type is spline, i.e. the dynamics are modeled by B-splines, the order equals the order of
the chosen spline.
If the selected type is polynomial, the order as defined here is the power of a normal polynomial used
for modeling the dynamics.
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18
Drift models and GPS/INS precision
This page of the dialog is shown only when raw satellite data is processed.
The satellite-borne GPS and INS recordings can be fully utilized in the computation. However, in that
case the data must be in raw format, i.e. not pre-processed. Raw format is for instance level L0R of
Landsat 7 and Level 1A of Spot. Lower order polynomials are used in the computation to compensate
the drifting of GPS recordings.
The order as defined here is the power of a normal polynomial used for modeling of the drifting.
The a priori precision of the satellite-borne GPS/INS recordings, for both position and attitude
observations, can be specified in the dialog page, as well.
If the precision data is not desired in the computation, the Exclude box can be checked.
6.4 Miscellaneous
6.4.1
Import
When importing ground coordinates, it may be
necessary to skip zero coordinates. Sometimes
zero is used to indicate a missing coordinate
value. This is not correct, because it might be a
valid coordinate. Leading zeroes can be
removed automatically from point names, as
well.
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19
Logbook
When the first check box is on Logbook control
buttons are displayed immediately after program
start. The second one activated deletes the
contents of the logbook at the launch of the
program. With the last two it can be selected
whether the logbook should pop up on warnings
or errors.
6.4.3
Interface
Two different wild card keys can be used in file
selection, Windows and Unix style keys. If Unix
style is chosen upper and lower case characters
in file names are differentiated.
It is up to users preference which one to use.
The search tolerance of the cursor can be defined
here, too. It is given in screen pixels. This
tolerance is used, for instance, when connecting
source image measurements to ground control
points imported manually via the coordinated
table or as a user specified format text file.
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Data menu
7.1 Data import
Digital height, surface or terrain model (DHM / DSM / DTM)
7.1.1
A digital height model of the area of the satellite image is always required for the orthorectification. The
height model has to be imported before the source image can be imported because in case the
satellite image header has enough information the adjustment is performed automatically right after
image import, and for this the height model is needed. Also information about the target datum and
projection is needed. This information is taken from the height model or reference data.
The digital height model should cover the whole area to be ortho-rectified. In case the elevation model
consists of several files, it is advised to first combine them into a virtual dataset or algorithm using ERMapper.
Import the DHM using the Data Import Height Model menu. Height model format is currently
fixed to following formats:
ER Mapper .ers (both raster and virtual datasets)

ER Mapper .alg format (even Image Web Server data can be used: store the ecwp connection
as an alg)
ER Mapper compressed .ecw format
Datum and Projection

When a file has been selected and the Next button has been pressed the datum and projection
defined in the file are shown. If the datum or projection is missing from the file, is unknown, or if it is
defined as local, a new value has to be selected from the ER Mapper database. It is important to
always use correct definitions. This same dialog also appears in other data import contexts.
After a successful import, the program will display a message for it.
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The height values are interpolated from the digital height model for all the control points measured on
the reference image. Coordinates are displayed in the status bar on the bottom of the image window.
7.1.2
Source image
Import the image to be rectified using the Data Import Source Image menu. Orbit oriented
images or original raw images can be used as the source imagery, depending on the sensor type.
Satellite images are usually delivered as a set of two files: image and header files. To import an image,
select any of these files (e.g. the header file) with the File Selection tool. To get full information for the
adjustment, it is very important to import the original header files along with the source image files, too.
Note: Ikonos is an exception because Ikonos data sets might have several source images in the same
directory with only one metadata-file (each possibly consisting of several tiles). As the source images
might have been taken from different orbits, they have different orientation parameters and thus only
one of them can be processed at a time. The data files follow the naming convention
po_PPPPPP_TTT_SSSXXYY.tif, where SSS denotes the source image number (XX and YY the tile
number and TTT the channel(s)). In the case of multiple source images per directory the wanted
source image is imported by selecting any of the file having the wanted SSS number. Running the
software separately for each source image number will rectify all source images in the directory. If the
metadata file is selected the first SSS-number mentioned in the metadata file is used. QuickBird
directories also might contain several images (e.g. one pan and one multispectral), which are taken at
slightly different times and have to be rectified separately. They all have separate header files.
It is possible to get a quick-look of the image to be imported. To do this, check the Show option before
selecting an image file. In the next subsections the table of supported satellite image formats will be
repeated, and then a few cases with different header and image combinations will be listed. In the last
subsection of this section the problem of unknown datum or datum transformations is discussed.
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7.1.2.1 Supported image formats

Satellite
Sensor
Format
Level
IRS 1 C/D
PAN/LISS/WiFS
Eosat FST
Oriented
Spot 1-4
PAN/XI/XS
Cap
Eosat FST
CCRS
Raw, oriented
Oriented
Oriented
Spot 5
PAN/HI
Dimap
Raw, Oriented
Landsat 4-5
TM
LGSWOG
Eosat FST
Nlaps
Oriented
Oriented
Oriented
Landsat 7
ETM+
HDF
Eosat FST
LGSWOG (CEOS)
Oriented
Oriented
Oriented
Ikonos 2
PAN/MSI
Tiff
Oriented
Aster
VNIR/SWIR/TIR
HDF
Oriented
Quickbird 2
PAN/MS
Tiff
Raw, Oriented
OrthoWarp ER will automatically recognize the following image information:
Image format
Satellite
Sensor type
Processing level of the image
This information is shown in the relevant description fields in the dialog.

It is possible any time to check the basic information of the imported source image by pointing the
coordinate display of the source image while keeping the right mouse button down.
7.1.2.2 Image file not available in native format
In case the image data file is no more available in its native format, but it is converted to ER Mapper
image format, the corresponding *.ers, *.alg or *.ecw file formats can be selected for import in the File
Selection dialog.
The original header in selected using the Original Header page of the import routine. To get full
information for the adjustment, it is very important to import the original header files, if available.
In case the ER Mapper image is a sub-image of the product the headers belong to, the lower part of
the Data page has to be filled in. The sub-image might have been cut out during ER Mapper image
import.
7.1.2.3 Image header file not available
In case the original header files are not available, the satellite, sensor and processing level have to be
specified using the Satellite page of the import routine.
Using the Data page it has to be specified if it is a full product or sub-product, such as a quarter image.
The location of the sub-product in relation to upper left corner also has to be specified.
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In case the ER Mapper image is a sub image of the specified product to the lower part of the Data
page also has to be filled in as well.
7.1.2.4 Image format not recognized by OrthoWarp ER.

In case the original files are not recognized, please contact Inpho. We would be pleased to get a
sample dataset along with all necessary descriptions. They will be used for implementing import
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routines for that type of imagery.

7.1.2.5 Unknown datum or datum transformation
In case the satellite image header contains information on the corner and/or center coordinates this
information is used in the adjustment. Unfortunately not all header files contain information on the
datum in which these coordinates are expressed. In this case the message below is displayed. The
coordinates are still used, but there may be errors of a few hundred meters in them. Sometimes the
precision of the coordinates is very poor. Errors of up to 10 kilometers have been found in some
images. Therefore it might in some cases be best to lower the precision of the corner points, or even
exclude them from the adjustment right away.
In some cases the satellite image header contains the needed datum information, but ER Mapper does
not know the transformation between this datum and the one specified in the reference data. In such
cases the message below is displayed. If the user knows the transformation it can be added to the files
datum.cha and bursawol.dat of the ER Mapper subdirectory GDT_DATA.
7.1.2.6 Display of corner points

If the satellite image header contains information on corner and/or center points they will be displayed
on the satellite image with names CC1, CC2, and so on. A frame is also drawn around the full product
image.
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The points on the reference image are represented with triangles. It is not possible to move these
points during the control point measurement. A frame is also drawn around the full product image
projection.
If there are enough points (about 5) the adjustment will be performed automatically and the estimated
error vectors will be drawn.
7.1.3
Reference images
Reference images are used to measure ground control points. Coordinates for new (non-imported)
points are interpolated with sub-pixel accuracy from a geocoded image (aerial photos, satellite images,
scanned maps). Currently geocoded images in ER Mapper (*.ers, *.alg, *.ecw and virtual datasets)
and Tiff / tfw formats can be used as a reference image. Any number of reference images can be
used, and they can be imported any time during the measurement process.
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The reference image is imported using the Data Import Reference Image menu. Again, when
the file has been selected the datum and projection of the reference image are shown, and new values
have to be selected in case they are defined as local.
It is possible any time to check the basic information of the imported reference image. This is done by
pointing the coordinate display of the reference image while keeping the right mouse button down.
7.1.4
Ground control points
Ground control points can be imported in either user specified format or from ER Mapper *.ers and
*.gcp files. In the first case only XYZ or XY ground coordinates are imported together with point ID
numbers. In the second case also image observations are imported.
When ground control points (without image coordinates) are imported they are fixed and cant be
moved on the screen. The same goes for points marked as locked in ER Mapper control point files. For
more information on the symbols and colors of different type of points, cf. section 6.1.1: Elements
7.1.4.1 User specified format ground control points
Ground control points can be imported from a text file and used as a reference in the measurement
process.
It is possible to import control

points in free or fixed format.
Formats are user definable
and they can be saved for
future usage.
Text
files
may
contain
comment lines starting with a
user
definable
comment
character.
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Administration
It is possible to define and save various file formats by their names.
To add a format:
Click Add function button

Enter the name of the format in the upper text box, if you want to use the format later
Select Fixed or Free format option
Enter the comment character used in the coordinate files (if used)
Free format: enter the sequence of the data fields in the coordinate file
Fixed format: enter the start and end columns of the data fields in the coordinate file
Proceed in the wizard with the Next button. The settings are saved when exiting the wizard.
To remove a format:
Click the format to be removed on the list

Click Remove function button
Confirm action (Yes/No)
Format
Points can be imported from a text file in free or fixed format. A freely definable comment character
makes it possible to have comment lines in the coordinate file.
Free format
At least one space character must be as the separator between the subsequent data fields.
Example: 1 3 2 4 = Point ID is read from the 1st field, Northing (Y) from the 2nd field etc.
Fixed format
Data fields are read from the text file as specified by their start and end columns.
Point information
Point ID
X
Y
Z
= alphanumeric point name

= Easting coordinate of the control point
= Northing coordinate of the control point
= Height coordinate of the control point
Origin
On the second page of the Import wizard, it is possible to specify a positive or negative coordinate
value (origin or offset) after the file selection. This feature can be used to adjust the length of the
imported coordinates, if necessary (Default: 0,0). This same dialog can also appear in other contexts.
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Datum and projection

Because the ground control points will be used as the reference in the adjustment, the corresponding
datum and map projection have to be defined with the Datum and Projection page if the Import wizard.
7.1.4.2 ER Mapper ground control points
ER Mapper ground control points and image observations can be imported from an ER Mapper *.ers
or *.gcp file using a normal file selection dialog. The datum and projection information in the file are
used. When the ground control point is marked as locked in the ER Mapper file it cant be moved on
screen. The points marked as off are automatically deactivated from the adjustment.
7.1.5
Reference DXF file
Geocoded DXF vector maps can be used as a reference for the measurements.
After the file selection it is possible to specify a positive or negative coordinate value (origin or offset) for
the coordinates in the DXF file. This feature can be used to adjust the length of the imported
coordinates, if necessary (Default: 0,0).
Recommendation: It is recommended to use a selected subset of features from a large DXF file (e.g.
roads) as a reference file. Otherwise the processing of the vector file will become very slow. As the
handling of raster data is faster than the handling of vector data it is also recommended to convert the
file into raster format, if it is used frequently.
7.2 Data export

Ground control points with corresponding image observation coordinates can be exported to ER
Mapper *.gcp files. This feature is not available in evaluation mode.
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Toolbars
8.1 Main toolbar

The main toolbar contains three buttons:
Start orthorectification. This is explained in more detail in chapter 11: Orthorectification process.
List results. This is explained in more detail in chapter 10.6: Result listings
Logbook. This button is used to switch the logbook control buttons on and off. Logbook is a kind of
clipboard. It can be used to save results or reports from several other functions. It is toggled On/Off by
pressing the logbook button in the main toolbar. The Red lamp in the upper left corner is lit when
function is active, and at the bottom of the main toolbar the control buttons appear:
The Logbook Messages window is closed and can be opened by clicking to the arrow button.
The Logbook Messages window is opened and can be closed by clicking to the arrow button.
The complete Logbook is shown in a text viewer.
More information on the logbook functions can be found in chapter 6.4.2: Logbook.
8.2 General image window toolbar

The general image window functions are the following:
Zoom in + panning
8.2.1
The function works as follows:
Place the magnifier on a desired location on the image.

Press and keep down the left mouse button and move the zooming cursor to a new location.
Release the mouse button.
The image will be shifted to a new location and enlarged by a factor of 1.5.
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Zoom out + panning
8.2.2
Place the magnifier on the desired location on the image.

Press and keep down the left mouse button and move the zooming cursor to the new location.
The image will be shifted to a new location and rescaled by a factor of 1.5.
Move
8.2.3
Place the magnifier on the desired location on the image.

Press and keep down the left mouse button down
Move the zooming cursor to the new location.
The image will be shifted to a new location. The scale remains unchanged.
Window area
8.2.4
Place the magnifier on a corner of the desired area.

Press and keep down the left mouse button
Place the cursor on the diagonally opposite corner of the area.
As the "rubber band rectangle" is OK, release the mouse button.
The selected area will be enlarged and fitted on the screen.

8.2.5
Fit
This function fits the image to match the image window area. It can be used as a refresh function to
remove temporary graphics from the screen (e.g. bearing & distance graphics).
8.2.6
Undo last / previous scaling
This function is used to undo the last action or restore the previous stage of zooming. The depth of the
zoom stack is five, i.e. last five viewing stages can be restored.
8.2.7
Grid settings
Coordinate grid of the image window can be toggled on/off with this function (default: off).
Grid interval is given in the terrain units defined in the General units page of the Units menu. If too a
dense grid interval (< 10 pixels on the screen) is selected, it will not be drawn. In this case, a larger grid
interval should be chosen.
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31
Search for element
This function can be used for two purposes:

1.
Searching elements by the name

Check this option, enter the (point or image observation) element name in the text field and press
OK.
If the element is found, it is highlighted on the screen. Also the corresponding Element information
window will be opened. Below the Image Observation window or 3D Point Observation
windows are shown. They contain coordinate information and also point status information after
the adjustment.
Select coordinate system

In the 3D Point Observation window it is possible to toggle between the geocentric and map
projection coordinates at any time.
2.
Searching for all deactivated points

Check this option and press OK.
All the deactivated points excluded from the adjustment are searched. If there are deactivated
points in the project, they are highlighted in graphics. Also the corresponding Image Observation
windows and 3D Point Observation windows will be opened on the screen with slightly dimmed
colors. They contain coordinate information and also point status information after the adjustment.
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t & S (bearing & distance)
8.2.9
This function is used to measure bearing and distance between two control points or any other arbitrary
locations on the image.
Place the arrow cursor on the first point or location.

Press and keep down the mouse left button and place the cursor on the second point or
location.
If control points are clicked, the bearing, distance and height difference are computed from the given
coordinates. The selected control points are highlighted on the screen.
In the other case object space coordinates computed from pixel coordinates are used for the
calculation.
8.3 Application toolbar

In this chapter the first few buttons in the application toolbars are explained. The rest are explained in
chapter 10: Analysis of the adjustment results.
8.3.1
Element query on/off
This function toggles the query of the element information on/off (Default: off).
After setting the query on, the corresponding Image Observation window (source image) and 3D
Point Observation (reference image) window can be opened on the screen by clicking them with the
mouse.
They contain coordinate information and also point status information after the adjustment (original and
adjusted coordinates, residuals, statistics etc).
8.3.2
Zoom window on/off
This function toggles the Zoom window on/off (Default: on).

All the control point measurements are performed in the Zoom window only. However, sometimes it is
practical to switch it off to get better overview of the source and reference images.
8.3.3
Coordinate table on/off
This function toggles the Coordinate table on/off (Default: off).

Ground control points can be manually added in the table during the measuring process.
All the points in the table must share the same coordinate space (datum, projection).
The measured points can be easily auto-located in the Zoom window by selecting the corresponding
row in the Coordinate table. This is a handy feature e.g. when re-measuring points.
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33
Add new point
This function is used to add a new ground control point in the coordinate list.
To add a new control point:
1.
Click the function button to add a new row in the table

The default coordinate values are zero.
The default data field is the point name field, which is indicated with a black box. The active
field is ready for the input. Next field is selected automatically by pressing the Return key. An
alternative way to activate a data field is to click it with the mouse.
If this is the first point in the table, datum and projection has to be defined before the point
information can be added in the table. ER Mapper datum and projection databases are used
in this context.
2.
Insert the point information in the data fields
Alphanumeric point name

Easting
Northing
Point height
In case there is a DTM available, a point height is automatically interpolated for all XY points, i.e.
for points with zero heights.
It is possible to adjust the length of the fields by dragging with the mouse.
To edit data on the table:

1.
Click the desired data field(s) with the mouse and press any character key (e.g. E) or space
bar
2.
Edit the value(s) (move with arrow buttons)
3.
Press Enter to exit editing mode and accept changes or press Esc to exit editing mode and
reject changes
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To overwrite data on the table:

1.
Click the desired data field(s) with the mouse
2.
Enter new value(s) in the data field(s)
3.
Press Enter to exit editing mode and accept changes or press Esc to exit editing mode and
reject changes
8.3.3.2
Deleting point
This function in the Coordinate table toolbar is used to delete selected points from the coordinate table.
The corresponding image coordinates are deleted as well, and the graphics is updated accordingly.
To delete measured points:
1.
Select the point(s) to be deleted by clicking the corresponding row number (note color).
Several adjacent points (rows) can be selected to be deleted by painting them with the mouse
(click, keep the left button down and move up/down, release button).
2.
Click the Delete function button
3.
Confirm deletion (Yes / No)
8.3.3.3
Toggle ENH / LatLonH
This function will toggle the coordinate values between metrical (Easting, Northing, Height) and
geographical (Latitude, Longitude) coordinates. Calculation is based on the datum and map projection
as specified by the user.
This function makes it possible to edit the ground control coordinates in both coordinate spaces.
8.3.3.4
Update table contents
This function can be used to update the contents of the coordinate table in case the point remeasurements are done in the reference image.
Note: The measurements are always submitted in a correct form directly to the computation routines.
8.3.4
Image moving dependent / independent
There are two modes in the image movement control: dependent and independent moving mode
(Default: independent). In the default mode the overview cursors and the zoom images will move
independent of each other.
After a successful adjustment the mode is automatically set to dependent. In that mode the images are
linked together by a mathematical connection, and the image movements are synchronized.
8.3.5
Contrast enhancement
Automatic contrast enhancement will do a 99% clip on the image intensity values of each channel.
After the enhancement the images will normally show more details. Default: no enhancement.
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35
Channel selection (left and/or right)
OrthoWarp ER imports multi-channel images. The user has the possibility to select the preferred
channel or channel combination. This can be done independently for both imported (raw and
reference) images.
In maximum three channels can be shown on a PC screen. The functions to attach the desired
channels of the input image on the display channels are as follows:
Button for selecting desired channel on RED.
Button for selecting desired channel on GREEN.
Button for selecting desired channel on BLUE
Button for selecting desired channel on RED, GREEN and BLUE
By pressing one of the channel buttons, e.g. red, a list of all the channels of the imported image is
opened next to the function button. The desired channel is selected from the list. The asterisk character
will mark the currently selected channel.
This procedure is repeated for the other two display channels, Green and Blue, if necessary.
The channel selection explained here does not influence the channels selected into the resulting
orthoimage. Those are selected later when the orthorectification process is started.
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Control point measurement

A brief planning phase is always needed before starting the control point measurements. The control
points should cover the entire area of the orthoimage. The geometric quality of the warped image
outside the control point coverage is less good.
It is recommended to always measure redundant control points, i.e. always more points than is needed
for the trivial solution. This brings controllability to the adjustment computation and possible blunders in
observations can be localized in a proper way. Normally at least a few (5) ground control points (GCP)
are needed. Some image formats include enough accurate information on the coordinates of the image
corners in the header files, and some even on the center point. In these cases the corners (and center)
are used as ground control points, and less points have to be measured manually. However, the
accuracy of the corner (and center) points is normally worse than that of the measured points, and
therefore it is better not to rely on them too much. The accuracy will be much better if more points are
measured interactively. The more points are measured, the better the orbit and sensor can be
modeled, and the better the accuracy will be. When enough points (about 30) have been measured the
sensor calibration can be activated in order to still improve the accuracy.
9.1 Overview, roaming, panning, zooming

9.1.1
Overview
The overview mode is set on as a default. When clicking with the left mouse button on the overview
image, an overview cursor is placed on that location. The shape and color of the cursor can be
changed; see Parameters Display Map window, screen Cursors.
Image coordinates or ground coordinates of the cursor location are shown at the bottom of the
overview windows, depending on the image type. In case of orthorectification, where terrain heights are
needed, the height coordinate is interpolated from the imported DTM / DSM.
9.1.2
Roaming
Pressing and keeping the left mouse button down in the overview window activates the roaming mode.
The shape of the roaming cursor is a white cross.
The Zoom window will act as an overview roam window and it follows the movements of the roaming
cursor on the overview image. Zoom factor of the zoom image can be changed using the arrows in the
zoom window. Roaming mode is cancelled by releasing the left mouse button.
9.1.3
Panning
Pressing and keeping the left mouse button down in the Zoom window activates the panning mode.
There is no special cursor for panning mode, but the standard mouse cursor is used instead.
Panning of the image is then achieved by moving the mouse (or dragging the image) to the desired
direction. Both images can be panned individually with the mouse. Panning mode is cancelled by
releasing the left mouse button.
In case the adjustment has been already computed, the moving mode is set automatically to
dependent. The images will move synchronized together, when the mouse is moved. The arrow keys
on the keyboard can be used to move the images in panning mode, too. Use the shift key to move in
larger steps
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9.2 Zoom window

Zoom window can be toggled on/off by using the button in the application toolbar (Default: on).
Zoom window has various functions and depending on the situation it will act as:
Overview roaming window

Zooming and panning window
Measuring window
Note: Control point measurements can be performed only in the Zoom window.
Bilinear re-sampling
9.2.1
This function can be toggled on/off (Default: off). The images in the Zoom window can be smoothed
on-the-fly using bilinear re-sampling.
Contrast enhancement in zoom window
9.2.2
Automatic contrast enhancement will do a 99% clip on the image intensity values of each channel.
After the enhancement the images will normally have more details. In case this button is pressed in the
zoom windows the corresponding button in the main windows has no effect on the zoom window.
Default: no enhancement.
Undo last measurement
9.2.3
This button rejects the last point pair measurement.
Zoom factor
9.2.4
Individual zoom factors can be used for left and right images in the Zoom window. Each click on one of
the arrows zooms the image in or out with a factor of 1.25.
9.2.4.1 Individual zooming with mouse
It is possible to use the right mouse button for zooming as well:
Zoom in:
Zoom out:
click right mouse button

keep Shift key down & click right mouse button
9.2.4.2 Common zoom with mouse

Common zoom in / zoom out function of the images is possible in the Zoom window, when the
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movement of the images is synchronized.

The functionality is similar as described above.
9.2.4.3 Common zoom with PgUp/PgDn keys
Common zoom in / zoom out function of the images in the Zoom window is possible with Page Up and
Page Down keys, when the zoom window is active.
9.3 Measurement procedure

This chapter describes the measurement procedure. For processing a raw image or orbit oriented
satellite image, a coordinate reference is required. Currently following coordinate references can be
used:
Geocoded raster images in the ER Mapper .ers, .alg or .ecw format

Ground control points from a file or by manual input
Digital height / surface model (DHM/DSM)
Geocoded DXF vector file
The approximate locating of a suitable control point area will happen in the overview images. The
actual measurements will be performed only in the Zoom window.
Pre-measurement actions
9.3.1
1.
Point at the selected area on either of the overview images. An overview cursor appears on the
pointed location. The image area surrounding this location is shown enlarged in the corresponding
part of the Zoom window.
2.
Point the same area on the other overview image, in case the images are not already connected
as a result of an adjustment with the corner points, for example. An overview cursor appears on
the pointed location. The image area surrounding this location is shown enlarged in the
corresponding part of Zoom window.
3.
Use roaming or panning mode (see above) to get the same target areas visible in the Zoom
window. Use zoom factor functions to adjust the individual scales of the images.
4.
The Coordinate table could be switched on now, if it doesnt cover any interesting image areas.
5.
It is advised to adjust the zoom factor and to switch on the bilinear interpolation of the zoom
windows to allow the best pointing accuracy.
Point measurements
9.3.2
In general, to get the best results the points to be measured must be well defined and identifiable on
both images.
The point measurement proceeds as follows:
1.
Measure (= click with mouse) the image point on the left zoom window (source)
After the left mouse button has been pressed, a ring & cross symbol appears on the
measured image point. The measurement can be repeated, i.e. the point can be relocated as
many times on the left zoom window as necessary until the suitable point has been found.
2.
A new row (point) is automatically added in the coordinate table

There are two ways to enter the ground coordinates of the measured point:
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A) Entering the ground control coordinates from reference image
Measure the corresponding image point (might be an imported GCP point) in the
right zoom window (reference)
Ground control coordinates are interpolate from the geocoded reference image
and DHM/DSM and thereafter written in the table along with an automatically
generated point name.
B) Entering the ground control coordinates manually
Enter the ground control coordinates in the corresponding fields of the table
Edit the point name accordingly
The computation is triggered automatically after the point has been measured on both images or
measured on the left image with manually entered ground control coordinates.
Measurements are registered at sub-pixel accuracy. Point numbering is fully automated, but the
names/numbers can be edited when necessary.
In case there is something wrong with the point measurement, the Undo function will delete the last
point pair measurement. Points can be deleted also via graphics or via the coordinate table.
9.3.3
Adjustment
After the minimum number of control points (about 5) is measured the adjustment is computed
automatically. The number of the control points to be measured depends on the satellite image type. It
can also be less than five points if the corner and center point information of the satellite image can be
utilized in the adjustment computation.
Among others, the orbit and the dynamics of the satellite are solved in the adjustment. After the
adjustment has been computed using a minimum number of point measurements, a message is given.
It recommends measurement of additional points for improving the overall quality, i.e. precision and
reliability of the results. After about 30 points are measured also sensor calibration can be included in
the model, which still improves the accuracy of the result. See chapter 6.3: Computation parameters for
more information on this subject.
The image movement mode is automatically set to dependent, which makes it possible to do very
quickly and easily any number of additional measurements.
9.3.3.1 Source image extents
After the adjustment has been computed, a rectangle is generated in the reference window. It shows
the geographical extents of the source image when projected on the reference image coordinate
system. The frame might already be displayed earlier if there is corner point information in the header
files.
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In the middle of the polygon there

is a red dot, which in the case of
the image to the left is inside the
triangle in the middle.
When clicking the point symbol, a
Sensor Orientation window will
be opened on the screen. It
contains among other things the
orientation parameters of the
sensor.
9.3.3.2 Precision figures

As a general quality indicator of the measurement procedure, two precision figures are given in the
upper right corner of the main image window. They present the standard root means square errors of
the image point measurements. These figures are computed from residuals of the measured image
points and given for both coordinates.
Root mean square (RMS, s) values are given in the units and form specified in the Image units dialog,
item sub-units.
, where C = column (x) and R = row (y).
In general, small RMS values indicate successful point measurements. More detailed computation
results can be verified effectively on the graphics as well as results listings.
9.3.4
Re-measurements
An image point can be re-measured at any time. For this purpose it is recommended to have the
Coordinate table open. Measured points are easily located by selecting the corresponding row in the
Coordinate table. Zoom windows will automatically roam to the selected point.
Re-measurement is done by moving or dragging the point symbol with the left mouse button to a new
location. This can be done on either or both of the images in the Zoom window.
Update button
After moving a point in the reference window, it is advised to click the Update button to get the changed
coordinates updated in the coordinate table.
Note: The measurements are always submitted in a correct form directly to the computation routines.
Hint: Set the Estimated errors graphics function (see below) active. A re-computation of the
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adjustment is performed automatically after each new measurement. The results can bee seen as an
immediate feedback in graphics and as result listings, as well.
Additional measurements
9.3.5
Additional point measurements will considerably strengthen and improve the accuracy and reliability of
the mathematical solution and thus the overall results.
Points are very easy to measure in dependent mode, which is automatically set active after the
computation. It is recommended to measure altogether at least 10 to 12 points throughout the image
area to be rectified to achieve satisfactory results.
The number of the image points depends very much on the type of the images (raw, orbit oriented) and
the availability of the auxiliary data (GPS/INS). The more point measured, the better will be the quality
of the results.
Hint: Set the Estimated errors graphics function (see below) active. A re-computation of the adjustment
is performed automatically after each new measurement. The results can bee seen as an immediate
feedback in graphics and as result listings, as well.
Modifying properties of measured points
9.3.6
It is possible undo (i.e. remove) the last measurement immediately after it was done by using the undo
button in the zoom window.
The already measured and saved points can be deleted or deactivate temporarily as follows:
Activate
Select the point to be deleted/deactivated in the source window (left) with mouse
Next, the following Image Observation Element window will open:
Element query function, if not yet active.
In the toolbar of the window there are two functions available for handling point observations.
9.3.6.1
Delete/deactivate point
By activating this function, the following menu will open:
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Activate
Will activate a deactivated point.
Deactivate
Will temporarily exclude a point from the computation. It can
be activated later on any time.
Delete
Will permanently exclude a point from the computation. It
cannot be activated later on.
When deleting a point in the source window, the corresponding point in the reference window will be
deleted as well. The point symbols will be removed also from the graphics.
When deactivating a point in the source window, the corresponding point in the reference window
will be deactivated as well. The points will be shown with the color defined in the graphics dialog (see
Parameters Display Map window, screen).
When activating a point in the source window, the corresponding point in the reference window will be
activated as well. The points will be shown with the original color in the graphics (see Parameters
Display Map window, screen).
Note: Points can also be deleted using the Coordinate Table
9.3.6.2
Change point name
This function can be used to edit the name of a ground control point in case it is wrong.
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10 Analysis of the adjustment results

There are several functions available for evaluation of the computation results.
10.1
Residuals
This function is used for visualization of residuals or corrections of the measured ground control points.
Whether it shows residuals or corrections depends on the settings in the Parameters Units
Results dialog, see section 6.2.3: Computation units.
Residuals/corrections are shown on top of the source
image. A ruler or scale bar is available to help the
evaluation of them.
The residuals are rather small, usually from a few pixels
to a fraction of a pixel only. The scale factor is set to
10.0 by default, i.e. one unit in the scale bar
corresponds ten pixels on the image. All the residuals
will be shown 10 times enlarged on the screen. The
actual unit depends on the settings of the image unit, so
it could be expressed in millimeters as well.
The standard color of the residuals is blue.
However, if there are deactivated image points in the
project, their residuals are computed as well and are
drawn in gray color.
The gray residuals/corrections will show the true error
in the deactivated points, as compared to the computing
model.
The scale factor can be changes by simply editing it. The division of the scale bar will change along
with the changed scale factor. The notation [pix] in the ruler in the picture above means that it is 1 pixel
between the shortest tick marks on the ruler.
The scale bar can be toggled between horizontal and vertical position by clicking the gray arrow inside
the button. The scale bar can be dragged to desired position by holding the left mouse button down.
Residuals/corrections show how well each coordinate observation fits together with other observations.
In general, bad observations (containing a blunder) will get larger residuals than good observations.
However, the number and distribution of the measured points have a strong effect on the behavior of
the blunders. In case of minimum amount of points with bad geometry, the blunders as indicated by the
residuals might appear on a wrong point.
In general, the more control points are measured, the better will be the quality of the results.
10.2
Estimated errors
This function is used for visualization of the estimated errors. It gives a very good overview of the
quality of the solution. It is activated automatically after the solution has been computed.
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It is a well-known fact that residuals in a least squares adjustment do not equal with the original
observation errors, or blunders. Only a part of a possible blunder will be visible in the corresponding
residual after the least squares computation. Therefore it is better to look more at the estimated errors
and test criteria than on the residuals only. The equations for computing the estimated errors and test
criteria are show at the end of section 10.3: Blunder visualization.
In the picture below the length of the vectors are determined by the estimated error (and the scale
factor in the scale bar), and the color is determined by the test criteria.
Explanation of the color codes:
Green color
Normal observation.
- Action: can accepted.
Yellow color
Doubtable observation.
- Action: can be accepted yet
Red color
Erroneous observation (blunder).
- Action: must be rejected
Estimated errors are the "true" estimates of the original error in the observations. They should be
always used as a primary figure in the analysis of observation errors together with the test criteria,
instead of residuals.
As already stated, the number and distribution of the measured points have a strong effect on the
behavior of the blunders.
Scale bar functionality is identical to the previous function.
10.3
Blunder visualization
This function is used for visualization of the erroneous observations containing blunders. It gives
detailed information about the computation results of the corresponding point.
The point containing the largest blunder is shown by an estimated error vector in red. Next to it there is
a gray box, with some information inside. Explanations are as follows:
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(1)
= ordinal of the blunder, here number 1 means it is the largest blunder.
2.91**
= test criteria of the x observation. Here it is flagged to contain a blunder.
0.92
= test criteria of the y observation. Here it is OK.
More detailed computational information of the point will be shown when clicking the gray box with the
mouse.
The Image Observation Element window is shown below.
The contents of the window is as follows:
Element type
Shows the type of observation. Here: image coordinate observation.
Name
Shows the name/number of the observation. Here: point P7.
Additional info
May contain some additional info. Here: Sensor type and date of exposure.
Coordinate system
Coordinate system of the element. Here: Image coordinate system
Original observation
Original coordinate observation (x & y) in specified coordinate system. Here: pixels
Adjusted observation
Corrected coordinate observation after the least squares adjustment. Here: pixels.
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Correction/residual
The difference of original and adjusted coordinate observation (x & y). Here: pixels.
Standard deviation
A priori (given) standard deviation of a coordinate observation or measurement (x & y). Here:
pixels
Correlation matrix
Default correlation matrix of the observed point.
Estimated error
The estimated errors in coordinate observations (x & y). Here: pixels. It is possible to compute
an estimate of the possible gross error from the residual of the observation. Dividing the
residual by its local redundancy will give the estimate, i.e.
Local redundancy
The local redundancy values contain full geometry and reliability information of the current
control point set-up. They show how big part of a possible blunder will be visible in the
corresponding residual after the least squares adjustment; e.g. a local redundancy of r = 0.45
means 45 % only of the original blunder size is visible in the residual after the adjustment.
Therefore, the estimated errors (based on local redundancy figures) should be always used as
a primary figure in the analysis of observation errors, not residuals.
Test criteria
Blunder testing is an essential phase in the quality control of any adjustment. The fact is that
good observations produce good results. In the blunder detection, the purpose is to find out
the observations not statistically compatible with the majority of the observations. The test
value for single observations can be computed quite easily. In the literature this figure is often
called standardized residual, i.e. residual divided by its standard deviation:
This figure is normally distributed, i.e.

Standardized residuals can be compared to table values of the Normal distribution. If the
standardized residual of an observation exceeds the critical statistical table value, the
observation is flagged as erroneous. Observations are not rejected automatically. They are
flagged and presented to the user both in graphics and as text. It is always the user, who
makes the final decision for rejection of the observation.
IR
Inner reliability of the point. The internal reliability figure shows how strong single observations
are against the observation errors, i.e. how well the true observation errors are reflected into
the residuals.
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OR
Outer reliability of the point. The external reliability figure shows how strong a single parameter
is against the observation errors (and other distortions of the estimation model), i.e. how much
undetected model errors are effecting to the estimated coordinates. It can also be thought as
an estimate of the maximum bias of the estimated parameters.
10.4
Blunder browsing
In this function, the arrow buttons are used to browse the blunders (up and down) in their order of
magnitude. The results are shown both in graphics and as detailed text information, as described
above.
10.5
Usage of corner points
Using this button the usage of corner points can be activated and deactivated. The usage of corner
points is automatically activated when corner point information is available in the image headers. This
is done in order to speed up the point measurement process. However, the precision of the
coordinates of the corner points is normally much poorer than that of the measured points. Therefore
the standard errors shown in the toolbar is usually quite big when the corner points are used. Therefore
the error might even get bigger when the first accurate points are measured interactively. When
enough points (usually about 5) are measured the usage of the corner points should be deactivated.
When this is done the standard errors normally get smaller. In order to get the best result at least 30
points should be measured over the whole image area. With about 30 measured points also the sensor
calibration can be activated.
10.6
Result listings
To verify the results of the adjustment in a printed form in addition to browsing them in graphics, there
are two listings available:
10.6.1
Estimated errors of observations
To browse the list of the errors:

1. Select the Estimated errors option from the list
2. Click List button to open the list on the screen
Estimated errors of observations
Blunders (Gross errors)
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The size of the window can be adjusted to show all the contents. The contents of the list page is as
follows:
Point ID
Automatically generated point name. Can be edited in the Coordinate table, when necessary.
Image coordinate observations (column, row)

The measured image coordinates on the source image expressed in base units selected in
the units dialog.
Estimated errors of coordinate observations

These values are calculated from the residuals, i.e. differences of adjusted and measured
image coordinates, by using the formula as described in chapter 10.3: Blunder visualization.
Estimated errors (based on local redundancy figures) and test criteria should be always used
as a primary figure in the analysis of observation errors, not residuals.
In general, the smaller these values are, the better is the quality of he adjustment.
Color-coding
In the listing the observations suspected to contain a blunder are marked with asterisks (*) and color
codes, based on the test criteria. The color-coding of the results is as follows:
Standard color = a good observation

- Action: observation is OK
Yellow color & one asterisk = doubtable observation = warning only

- Action: observation can be yet accepted
Red color & two asterisks = erroneous observation with blunder = ERROR!
- Action: observation must be rejected
Note: The result list can be saved in a text file or printed out for archiving purposes using the function
buttons on the toolbar of the listing window.
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Blunders (gross errors)
10.6.2
To browse the list of the blunders:
Select the Gross error option

from the list
Click List button to open the list
The contents of the blunder list page is as follows:
Magnitude order
Observations given in the magnitude order of the suspected blunders.
Point ID
Automatically generated point name.
Estimated errors in the coordinate observations (column, row)

As in previous chapter.
In general, the point flagged to contain a blunder should be deactivated, i.e. excluded from the
adjustment. The graphics residual function will show the true errors in he deactivated points after the
automated readjustment. With a minimum number of points the blunder detection might not work
perfectly.
Additional information about the blunder is available via graphically supported functions.
Note: The result list can be saved in a text file or printed out for archiving purposes using the function
buttons on the toolbar of the listing window.
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11 Orthorectification process
After all the image measurements have been successfully performed and results are
acceptable, the orthorectification process can be started by pushing the Start
Orthorectification button.
11.1
Extents of the orthoimage
This function provides parameters to define the size or extents of the image area to be orthorectified.
The default area is the maximum usable image area.
11.1.1
Area definition by rubber band
Instead of rectifying the entire image area, a smaller rectangular orthoimage area can be defined on
the reference image using the rubber band function, before pushing the Start Orthorectification button.
A non-satisfactory area can be simply deleted by defining a new area. Another possibility is to point the
lower left corner of the rectangle with mouse (Element query must be on). The rectangle can then be
deleted by using the Delete/deactivate function of the Polygon Element window.
The extents of the rubber band area are automatically transferred into the Extents dialog, (described
in the next section) where they can be easily edited, if required.
11.1.2
Area, channel and cell definitions by manual input
Instead of rectifying the entire image area, a smaller rectangular orthoimage area can be defined by
manual input of the dimensions of the desired orthoarea in the Extents dialog.
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To define or edit the area extents of the orthoimage, the Orthorectify Sub area box has to be
checked, otherwise the maximum usable image area will be used.
The editable fields are:
Coordinates of the top left corner (Easting, Northing) of the desired orthoimage
Coordinates of the bottom right corner (Easting, Northing) of the desired orthoimage
Width and height of the desired orthoimage, in selected terrain units and in pixels
If the values in one of the parameter groups (corners, width / height, or cell size) are edited, the other
values will be calculated and updated accordingly, once the cursor is moved to one of the other boxes.
If the Orthorectify Sub area box is unchecked the maximum area will be used, even if the numbers of
the previously defined smaller area still are visible in gray color.
In the same dialog the channel selections can be done. By default all channels are processed, but by
checking Only Channels the wanted channels can be selected for processing. Select or unselect
more than one channel by holding down the Control key while clicking with the mouse. A range of
bands can be selected by using the shift key, as in most Windows software. If Only Channels is now
unchecked all channels will be used, even if only some of the channels were selected in the list.
Also the cell characteristics have to be selected:
Cell Size Eastward: Cell size of the output image in terrain units, Easting
Cell Size Northward: Cell size of the output image in terrain units, Northing.
The default value of the cell size is the ground resolution of the sensor, which is read from the original
header files, when possible.
On this dialog page also the Output data type can be selected. The default data type is the one of the
input image. When the input image is an algorithm the widest data type of all layers of all surfaces of
the algorithm is used as default. However, there might be some transformations in the algorithm that
require the change of data type.
As a result of the selected area extents, channels, cell size and data type the size of the output image
is computed and shown in the box to the top right of the dialog
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11.2
52
Attributes of the computation
Pixels outside the input image
11.2.1
Pixels outside the input image will be assigned the NULL Cell value in the output image. It must of
course be in the allowed range of the data type selected on the previous page of the dialog. Areas
outside the DTM will most likely have large errors and in these cases it is recommended to check the
Use NULL also outside DTM box to mask out these areas from the output image.
Re-sampling
11.2.2
There are three re-sampling methods available for orthoimage computation:
Nearest Neighbor
This is the fastest method, but geometrically least accurate. The method will not change the
original intensity values of the pixels. The image may look slightly saw-edged on some linear
features.
Bilinear
This method is geometrically more accurate, but not as fast as the previous method. It will
change the original intensity values of the pixels. The image looks smoother than in the
previous method.
Cubic Convolution
Cubic convolution is geometrically most accurate, but also the slowest of these three methods.
The method will change the original intensity values of the pixels. The image looks the
smoothest of all these three methods.
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Computation method
11.2.3
There are two methods available for orthorecification computation:
Fast computation
This computation method will use in the first phase the exact method for computing so called
anchor points. Every 10th pixel of the orthoimage in each direction is automatically selected as
an anchor point. A faster method is used to create the orthoimage in the areas between the
anchor points. This approximation is less accurate than the one achieved by the exact
method, but it will still be more accurate than many of the alternative methods can achieve.
Exact computation
This computation method is based on complete 3D modeling of the sensor, the orbit and the
dynamics of the satellite. The orthorectification is performed pixel-by-pixel, and it will give
superior orthoimage quality.
11.3
File selection
The directory path and the name of the output file can be chosen at will in the file selection. The type of
the output file is fixed to ER Mapper .ers raster file.
Press OK to start the orthoimage rectification.
11.4
The geometric quality of the orthoimage
The geometric quality of the orthoimage depends among other things on the following:
The height error: dh= true_terrain_height - interpolated_height [m]

The heights are interpolated from the DTM grid using bilinear interpolation. The height error
depends on the roughness of the terrain and the grid spacing.
The perpendicular distance pd [m] from nadir path

As the swath width for, for example, Landsat 7 is about 185 km, the maximum pd is
approximately 92.500 m when the sensor tilt angle is 0 degrees.
Satellite altitude z [m] above the terrain (approx. 705.000 m for Landsat 7 at sea level)
The resulting xy error e can be then calculated by using a simple formula

e= dh * pd / z [m]
For example, in case of Landsat 7 image with 15 m pixel size, the maximum xy-error at the left and
right edge of the image can thus be e_max= dh * 0.13
Assuming an extreme height error of 100 m, the corresponding xy-error is 13 m, which is close to one
pixel on the image. In practice, the errors are much smaller.
This was the error caused by a too inaccurate digital terrain model. Another part of the error comes
from the orientation parameters of the image lines computed during the adjustment. This accuracy
depends on the measured ground control points. To get the best results it is important to measure
points all over the image area, and to remove any blunders found in the data.

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OrthoWarp ER

Rigorous Satellite Image Orthorectification

Inpho Technology Ltd

Product support: OrthoWarpER@inpho.de

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Installing and starting OrthoWarp ER .................................................................................................... 5

Project menu ............................................................................................................................................ 10

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MAIN TOOLBAR ..................................................................................................................................... 29

ZOOM IN + PANNING ............................................................................................................ 29

ZOOM OUT + PANNING......................................................................................................... 30

WINDOW AREA .................................................................................................................... 30

UNDO LAST / PREVIOUS SCALING ........................................................................................ 30

GRID SETTINGS ................................................................................................................... 30

SEARCH FOR ELEMENT ........................................................................................................ 31

ELEMENT QUERY ON/OFF .................................................................................................... 32

ZOOM WINDOW ON/OFF ....................................................................................................... 32

COORDINATE TABLE ON/OFF................................................................................................ 32

ADD NEW POINT .......................................................................................................... 33

TOGGLE ENH / LATLONH ........................................................................................... 34

UPDATE TABLE CONTENTS .......................................................................................... 34

IMAGE MOVING DEPENDENT / INDEPENDENT......................................................................... 34

CHANNEL SELECTION (LEFT AND/OR RIGHT) ................................................................... 35

Control point measurement................................................................................................................... 36

CONTRAST ENHANCEMENT IN ZOOM WINDOW ...................................................................... 37

UNDO LAST MEASUREMENT ................................................................................................. 37

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MODIFYING PROPERTIES OF MEASURED POINTS ........................................................................... 41

CHANGE POINT NAME ................................................................................................... 42

Analysis of the adjustment results ................................................................................................... 43

ESTIMATED ERRORS ................................................................................................................ 43

BLUNDER VISUALIZATION ......................................................................................................... 44

BLUNDER BROWSING ........................................................................................................ 47

Orthorectification process ................................................................................................................. 50

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Installing and starting OrthoWarp ER

It is not possible to export data

OrthoWarp ER Online Help

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Digital satellite image

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ER Mapper image format support

Rigid sensor models and full utilization of all sensor data

Full geometric modeling of the sensor and orbital parameters:

Optimized measuring workflow

Direct import of native image formats

High quality orthorectified satellite images

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4.1 User interface

The main window of the GUI contains three parts.

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4.2 Typical session

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Following options are available:

5.1 Create new project

5.2 Open project

5.3 Save project

5.4 Save project as

5.5 Close project

5.6 Delete project

5.7 Project info

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Following options are available: