MK Panorama Systeme PanoMachine MultiRowPlan User manual

PanoMachine Panorama Calculator 6.8.1
(25.September.2009)
MultiRowPlan
Spherical
Operators Manual
Developer of Program and Documentation
Copyright by: Josef Ehrler, CH-6032 Emmen, Schweiz
[e-mail]

PanoMachine Panorama Calculator Operators Manual
Copyright by Josef Ehrler 2
Contents
1INTRODUCTION.......................................................................................................................4
1.1 GENERAL.................................................................................................................................4
1.2 MULTIROW PANORAMA ............................................................................................................5
1.3 SPHERICAL-PANORAMA............................................................................................................6
1.4 CALIBRATING THE PIVOT POINT.................................................................................................6
1.5 DEAD ANGLE IN NADIR..............................................................................................................7
2MMI (MACHINE MAN INTERFACE) .........................................................................................8
2.1 MAIN MENU..............................................................................................................................8
2.2 MULTIROW CALCULATOR .........................................................................................................9
2.2.1 PARAMETER INPUTS.............................................................................................................10
2.2.1.1 Camera Model ................................................................................................................10
2.2.1.2 Min. Overlap between Columns (H) ................................................................................10
2.2.1.3 Overlap between Rows (V) .............................................................................................10
2.2.1.4 Focal length [mm] ...........................................................................................................10
2.2.1.5 Vertical Shift [°] ...............................................................................................................10
2.2.1.6 Pano Angle of View (H) ANGLE......................................................................................10
2.2.1.7 Pano Angle of View (V)...................................................................................................11
2.2.1.8 Numbers of images (H) NPos .........................................................................................11
2.2.1.9 Numbers of images (V)...................................................................................................11
2.2.1.10 Button “Auto Portrait” ......................................................................................................11
2.2.1.11 Button “Manual Portrait”..................................................................................................11
2.2.1.12 Button “Auto Landscape” ................................................................................................11
2.2.1.13 Button “Manual Landscape”............................................................................................11
2.2.2 PARAMETER OUTPUTS .........................................................................................................12
2.2.2.1 Pano Angle of View Pano (H) [°].....................................................................................12
2.2.2.2 Pano Angle of View Pano (V) [°] .....................................................................................12
2.2.2.3 Overlap (H) [°].................................................................................................................12
2.2.2.4 Overlap (V) [°].................................................................................................................12
2.2.2.5 Step size (H) [°]...............................................................................................................12
2.2.2.6 Step size (V) [°]...............................................................................................................12
2.2.2.7 Angle of View for 1 image (H) [°].....................................................................................12
2.2.2.8 Angle of View for 1 image (V) [°].....................................................................................12
2.2.2.9 No. of Pixel (H/V) ............................................................................................................12
2.2.2.10 Number of Pixel for the whole panorama ........................................................................12
2.2.2.11 Elevation values [°] .........................................................................................................12
2.2.3 NAVIGATION /FUNCTION KEYS..............................................................................................13
2.2.3.1 “Calculate” buttons..........................................................................................................13
2.2.3.2 „Create/Save Script“ button.............................................................................................13
2.2.3.3 „Back to Main Menu“ button............................................................................................13
2.2.4 SUMMARY:...........................................................................................................................14
2.3 SPHERICAL PANORAMA CALCULATOR.....................................................................................15
2.3.1 INPUTS ................................................................................................................................16
2.3.1.1 Camera Model ................................................................................................................16
2.3.1.2 Focal length [mm] ...........................................................................................................16
2.3.1.3 Min. Overlap between Columns (H) ................................................................................16
2.3.1.4 Min. Overlap between Rows (V)......................................................................................16
2.3.1.5 Optimizer for no. of Columns in Rows.............................................................................17
2.3.1.6 Mode to calculate vertical parameters (rows)..................................................................17
2.3.2 CONSIDERATIONS OF VERTICAL OVERLAP FOR A SPHERICAL PANORAMA ..................................18

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2.3.2.1 Calculations vertical parameters (rows)...........................................................................18
2.3.2.2 “Calculation in fixed step sizes“.......................................................................................19
2.3.2.3 “Optimize Zenith/Nadir“...................................................................................................19
2.3.2.4 “Take into account dead angle“.......................................................................................19
2.3.2.5 Determine the dead angle...............................................................................................20
2.3.3 OUTPUTS HORIZONTAL .........................................................................................................21
2.3.3.1 No. of Images horizontal .................................................................................................21
2.3.3.2 Overlap horizontal [%]...................................................................................................22
2.3.3.3 Step size horizontal [°] ....................................................................................................22
2.3.3.4 Overlap in the horizontal plain [%] (with optimizer).........................................................22
2.3.3.5 Total no. of images in rows .............................................................................................22
2.3.3.6 Horizontal Angle of View of a single image [°].................................................................22
2.3.4 OUTPUTS VERTICAL .............................................................................................................23
2.3.4.1 Parameter List.................................................................................................................23
2.3.4.2 Field of View (FoV) of 1 picture vertical [°].......................................................................23
2.3.5 NAVIGATION /FUNCTION BUTTONS ........................................................................................24
2.3.5.1 „Calculation“ Button.........................................................................................................24
2.3.5.2 „Create and Save Script“ Button .....................................................................................24
2.3.5.3 „Back to Main Menu“ Button............................................................................................24
2.4 PARAMETER DATABASE OF CAMERA MODELS .........................................................................25
3BRACKETING CALCULATOR ...............................................................................................26
4CALCULATION EXAMPLES ..................................................................................................29
4.1 EXAMPLE MULTIROW PANORAMA ...........................................................................................29
4.2 SPHERICAL-PANORAMA..........................................................................................................33
5CLOSING WORDS..................................................................................................................38
6WARRANTY............................................................................................................................39
7MUTIROW: ROWS, COLUMNS, OVERLAPS, ANGLE OF VIEW (AOV)................................40
8CAD CHECKED CALCULATION...........................................................................................41

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1 Introduction
1.1 General
The information in this operator’s manual is related to the following two types of pano-
rama calculators: “MultiRow” and “Sperical Panorama”. The only limitations are the
format of a single picture and it should be a rectangle (no fisheye lenses) and for
spherical panoramas the single photographs should be taken in portrait format.
Nowadays digital photo technique allows the creation of panorama photographs with a
previously unknown resolution. I think the first photographer breaking the Gigabyte
boundary was Max Lion with his MultiRow panorama from the Bryce Canyon taken in
2003. When taking into account a professional SRL camera, e.g. the Canon EOS 1Ds
Mark III with its 21 Mega pixels, the MultiRow technique opens up new possibilities.
A panorama photograph whether it is a MultiRow or a Spherical Panorama must be
taken on a fixed position not to be confused with mosaic e.g. Satellite photographs
which are taken from different positions.
Also Spherical Panoramas are delighting the professional promotion sector (real es-
tate properties and tourism market) and are also very popular in the semi professional
community.
As you assume, to take MultiRow and Spherical panoramas, it will require a minimal
knowledge to calculate the relevant parameters for a specific equipment combination
as:
- Sensor size (depending on the camera model used)
- Focal length of the lens used
- Horizontal/vertical step size between two pictures
- Horizontal/vertical overlap between two pictures
- Numbers of columns and rows
- Camera format (portrait / landscape)
To get good results, of course appropriate equipment, not necessarily expensive, is a
requirement.
The suggested panorama calculator should support photographers in the preparation
phase before taking the pictures. In chapter 2 and 3 the functionality and the use of
the panorama calculator will be explained in more detail.

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1.2 MultiRow Panorama
The MultiRow technique nearly eliminates the sensor resolution limitations of a
digital camera. Taking photographs represented in a number of columns and rows
is the base for a stitch program to assemble the single images into a giant seam-
less panorama.
To secure a fix horizontal and vertical step size over an entire panorama a tripod is
strongly recommended to adjust the tripod head in its horizontal and vertical axis.
Depending on the demanded precision a wide palette of tripod and panorama
heads are available such as:
- A simple tripod with its common 3-way panorama head. This kind of pano-
rama heads is recommended for MultiRow panoramas only.
- A panorama head which can be locked in any position, horizontally 360° and
vertically ±90°. Additionally this head has a gimmick to adjust the “Pivot
Point” to avoid parallax distortion between single images. For MultiRow
panoramas it is not mandatory, for Spherical panoramas it is a must. More
about that in chapter 1.4.
- A panorama head with different raster rings or mechanically programmable
to adjust horizontal positions for a specific panorama. Vertical positioning is
done on a special elevator unit e.g. Manufacturer: Manfrotto 300N (pro-
grammable) and Kaidan (different rings for fix step sizes). It is important to
know the sensor sizes and the focal length which is required for a specific
horizontal raster ring. The vertical positions are adjusted on a mechanical
elevator by hand.
- A motorized panorama head to adjust computer controlled horizontal posi-
tion. Vertical positioning is done on a special elevator unit. As an example
for these kind of panorama heads are the „PanoMachine“ from MK Pano-
rama, Deutschland"and the Roundshot VR Drive from Seitz, Switzerland.
In this documentation I describe the PanoMachine from MK Panorama.
- A fully motorized panorama head as the RODEONmodular from Dr. U.
Clauss, Germany, to adjust computer controlled horizontal and vertical posi-
tions. The panorama head control is done with a PDA (Personal Digital As-
sistant) via Bluetooth.
When all images for the panorama are taken and saved on to the memory card the
stitching process on the PC can start. Special stitching software allows the user to
define control points between two adjoining images to fit them seamlessly into a
single high resolution panorama. Most of the actual programs also provide an
automatic stitching process to stitch dozens or hundreds of images into a giant sin-
gle panorama. To generate control points between columns and rows an adequate
overlap is required. With overlap values between 25 … 35%, stitch programs will
deliver good results.

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When a MultiRow Panorama is photographed with the camera in portrait orienta-
tion, the overlap between rows is referenced to the long side of the image format,
between columns to the short side.
The relevant parameters for a MultiRow Panorama which should be known or cal-
culated before taking the first image are:
- Chosen horizontal and vertical Angle of View (AoV) for the whole panorama
in degrees [°]. These parameters are normally estimated at the place the
panorama has to be taken or from a map.
- The number of columns and rows for the whole panorama. These two pa-
rameters depend on the focal length of the lens used, the sensor size of the
camera, the chosen overlap and as a result the step size between columns
and rows and finally on the requested resolution for the printed panorama.
Note: Big values for focal length will result in higher panorama resolution and a
higher number of images for the whole panorama.
Reading all this stuff probably you expect a lot of technical work before shooting
the first image. Actually this is wrong. After estimating the necessary horizon-
tal/vertical angle of view for the whole panorama, the focal length for the lens and
the minimum horizontal/vertical overlap, the panorama calculator will do the rest
automatically with a few mouse-clicks.
1.3 Spherical-Panorama
Compared to the MultiRow Panorama, the Spherical Panorama is not a plane surface.
It is as if the viewer is inside a globe and viewing the panorama horizontally 360° and
vertically ±90° (+90° up to Zenith and -90° down to Nadir). The Spherical Panorama is
viewed with a special viewfinder e.g. “Quick Time Viewer” from Apple. It is also possi-
ble to create just a part of a spherical panorama. In this case the panorama is cropped
in the horizontal and/or vertical dimension to see just a part of the panorama.
The dispositions of the single images are like a MultiRow Panorama, a structure of a
number of columns and rows. The panorama calculator defines a specific number of
columns for each row. When the camera is levelled horizontally the maximum of col-
umns are calculated. For rows lined up between the horizon and Nadir/Zenith, the The
number of columns or images are reduced. To cover the areas (holes) in Zenith and
Nadir two additional single images has to be taken. Depending on the stitch software,
the whole sequence of images can be bonded manually or automatically to a seam-
less panorama.
1.4 Calibrating the Pivot Point
Especially for Spherical panoramas some objects are very close to the lens. To over-
come perspective/parallax distortion, the point of rotation to take all the pictures has to
be adjusted exactly to the Pivot Point which is inside the optical path of the lens sys-
tem. Special panorama heads provide mechanical arrangements to adjust the Pivot
Point on its horizontal and vertical axis.

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A well adjusted system to its Pivot Point will ensure that the stitch software can fit all
the images into a final panorama without any problems.
How to adjust the Pivot Point for a specific camera/lens combination is explained in
countless very good descriptions in the “World Wide Web”.
In the World Wide Web many articles are misinterpreting the Pivot Point as the Nodal
Point.
1.5 Dead angle in Nadir
In the area to Nadir (-90°) the field of view is covered by the panorama head and the
tripod, thus called the dead angle in Nadir. Depending on the construction, each pano-
rama head has got its own specific dead angle. While rotating the camera to take the
pictures in the lowest row to Nadir, it is possible that parts of the lower row are hidden
by the panorama head. The covered parts are wasted (unusable) information. The
panorama calculator is able to correct this nuisance. The smaller the dead angle the
easier it is to cover each Nadir with a single picture. More about this issue later.

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2 MMI (Machine Man Interface)
2.1 Main Menu
Main menu of the Panorama Calculator
Functions of the main menu bar:
File:
- Exit (terminating the program) ^x (ctrl x)
Program:
- Open the MultiRow Panorama Calculator ^m (ctrl m)
- Open the Spherical Panorama Calculator ^s (ctrl s)
- Open the Bracketing Calculator ^b (ctrl b)
Extras
- English ^e (ctrl e)
- German ^d (ctrl d)
Help:
About
- Author of the Programs / Copyright F1
- Data’s of the licensee

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2.2 MultiRow Calculator
The MultiRow panorama calculator is designed to take images in camera format Por-
trait and Landscape 21/22/2(,24. The calculator has an input- “Parameter Inputs” 3 and
an output field “Parameter Outputs” 25.
Changes in the input masks “Parameter Inputs” 3 can be done by pressing the arrows
adapted to the masks by increasing and decreasing the values. Changing the focal
length 10 is done by overwriting the given or default value. The decimal separator is
accepted as a comma (,) and point (.) as well. Also values like 88, without decimal
separator and fraction are accepted.
After using one of the calculation buttons “Auto Portrait”, “Auto Landscape”, “Manual
Portrait” or “Manual Landscape” 23/24 the program will calculate all the necessary Mul-
tiRow parameters and are displayed in the “Parameter Outputs” field 25.
The selected ANGLE (H) 13 in 45°-steps and the calculated NPos (H) 17 are the pa-
rameters to be entered into the PanoMachine.
In “Auto Portrait” and “Auto Landscape” 21/22 the “NPos (H)” 17 and the “No. of im-
ages (V)” 19 are calculated automatically. In “Manual Portrait” and “Manual Land-
scape” 23/24 the “NPos (H)” 17 and “No. of images (V)” 19 can be changed using the
arrow keys 18/20.
After activating the “Select” button 5, the database for the “Camera Parameter” opens.
In there, the camera model, sensor size, number of pixels x/y and also the dead angle
of the panorama head can be chosen, activated or changed. The parameters in the
database can be saved permanently to hard disk by pressing the “Save Database”
button in the database window. More about this issue in chapter 2.4.
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2.2.1 Parameter Inputs
2.2.1.1 Camera Model
On the top of the input field the actual camera model 4 is displayed. While pressing
the “Select” button 5 the camera database opens to display up to 100 camera models
with their parameters. More about this issue can be found in chapter 2.4.
2.2.1.2 Min. Overlap between Columns (H)
The "Min. overlap between columns (H)" is given in the input mask 6. The default
value is 25% and can be changed with the arrows 7 attached to the mask. With the
defined "Min. Overlap between Columns (H)" 6 and a given " ANGLE (H) "13, the cal-
culated horizontal overlap in the output field "Calculated Parameter" 26 will be equal or
a bit larger as defined in 6. This happens when rounding the “NPos (H)” 17 for a given
ANGLE (H) 13.
2.2.1.3 Overlap between Rows (V)
The overlap between rows is given in this input mask 8. The default value is 30% and
can be changed with the arrows 9 attached to the mask. The calculated overlap be-
tween rows in the output field "Calculated Parameter" 26 is always exactly as defined
8.
2.2.1.4 Focal length [mm]
The value for focal length 10 complies with the value engraved on the lens body used.
When using zoom lenses without engraved values between minimum and maximum
focal length, it is a good idea to use either the min or max value. Misrepresentation of
the input values may result in difficulties while stitching the panorama. An incorrect en-
tered focal length 10 will calculate incorrect AoV of a single image, step size between
images and overlap between images in 26.
Changing the focal length 10 is done by overwriting the given or default value. The
decimal separator is accepted as a comma (,) and point (.) as well. Also values like
88, without decimal separator and fraction, are accepted.
2.2.1.5 Vertical Shift [°]
When the natural horizon is not in the centre of the panorama, the “Vertical Shift” 11
allows defining an offset to the natural horizon. When this is the case, the Panorama
Calculator will calculate the elevation values in consideration of the selected “Vertical
Shift”.
When photographing a panorama on the top of a mountain, the horizon for the pano-
rama is very close to the skyline. With “Vertical Shift” 11 set to 0° the calculator will
calculate the elevation values symmetrically to horizontal levelled panorama head (0°).
In this case the upper part of the panorama just sky and the lower part is maybe
cropped out – maybe we don’t want.
2.2.1.6 Pano Angle of View (H) ANGLE
The desired or necessary horizontal angle of view of the panorama “ANGLE (H)” 13
should be set by using the attached arrows 14 or by marking the value and using the
keyboard arrow keys. The entered value complies with the desired Angle of View of
the panorama in 45° steps.