International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B3. Istanbul 2004 
another camera, the binocular stereo system is made up of it 
and the real digital camera. It is pave the smooth path for the 
calculation of the space coordinates. The digital camera is the 
main collector of the image data. From the information of these 
images, the space model is only able to be computed out and be 
formed up. 
2.2.2 The steps of the method 
First, the three positions of the digital camera, the slide 
projector and the rotating platform are adjusted suitably 
according to the size of the target solid of rotation. Then the 
digital camera and the slide projector are focused respectively. 
So the texture feature projected is shown clearly on the surface 
of the solid of rotation and the images of the solid of rotation 
taken are all in focus, too. 
Second, the target solid of rotation is put on the centre of the 
rotating platform. The slide projector projects a feature texture 
slide onto the solid of rotation with reference to the different 
condition, such as points, lines or grid. The digital camera takes 
the sequential images of the solid of rotation with the texture 
feature from the different orientations when the platform is 
controlled to rotate by the fixed angle. 
Third, for each space feature point projected on the surface of 
the solid of rotation, there are two corresponding 2D points 
existing. One is an image point in one of the image sequences 
and another is a point within the slide. Using the image 
processing method, the image points of each image can be 
extracted out completely and the 2D coordinates of them can be 
computed out correctly. At the same time, the slide projected is 
designed first so that the 2D coordinates of the points within the 
slide are gotten by the known data. 
Fourth, how to get the homologous points from the slide and 
the image? Known the intrinsic and extrinsic parameters of the 
digital camera and the slide projector and the 2D coordinates of 
a point in the slide or the image, the homologous epipolar lines 
can be computed out. So the homologous point of this known 
point can be calculated. Hence, the 3D coordinates of the space 
points on the surface of the solid of rotation can be worked out 
by the collinear equations when two 2D coordinates of the two 
corresponding 2D points are gotten already. 
Fifth, The sequential images are taken from different directions 
of the solid of rotation. So there are the feature textures 
projected on the every aspect of the solid of rotation. Using the 
correspondence of whole adjustment and the inherent structure 
characteristic of the solid of rotation, the 3D coordinates of all 
space points projected on the whole surface of the solid of 
rotation can be computed out entirely. 
Finally, The 3D model of this solid of rotation is acquired by 
connecting all neighbour space points. By this time, the 3D 
reconstruction of the solid of rotation is achieved ultimately. 
2.3 Algorithm 
The collinear equations are: 
Ca Yea lv vide oil 2) 
where Xo, Vo f = the intrinsic parameters of the projector 
X qr Y. JZ s = the coordinates of the projector centre 
X » Y ; Z =the space coordinates of points 
X, y 7 the image coordinates of the relative points 
Rzía,.b.0.i 12,3]. - the rotated matrix 
made up of rotated angles Q, Q,K 
Z -0 
From the formula (1), the formulas of the space resection and 
the space forward intersection can be deduced correctly. 
Considering to these formulas known well already, their list is 
omitted here. It is very easy to find them in the books about 
photogrammetry. [Deren Li, 1992.] 
Because of the same reason, the formulas of the homologous 
epipolar lines are not listed here, either. They can be found 
easily in the books about the digital photogrammetry. [Zuxun 
Zhang, and Jianging Zhang, 2000.] 
According to the inherent structure characteristic of the solid of 
rotation, every section of it parallel with horizontal surface is 
vertical with its fixed axis. The section is just a circle. In the 
same horizontal section, the equation of the circle is: 
(x-x)-(y-»)2R (2) 
where Xg, Vg 7 the coordinates of the centre of the circle 
X ,y =the coordinates of the points on the circle 
R = the radius of the circle 
Considering to the same coordinates of the centre of circle in 
the every horizontal section, the formula (3) is from the two 
different horizontal sections. For example, one is from the top 
horizontal section of the solid of rotation and another is from 
the bottom horizontal section of the solid of rotation. Then: 
-2(x, -x,)x, = 200 RAR + : 
^? ? 2 (3) 
(x, — x," + =) 0 
where X, V = the coordinates of the centre of the circle 
X;, V; = the coordinates of the points on the circle i 
R, = the radius of the circle / 
From the formula (3), the equation of the whole adjustment is: 
À =LA 4) 477, (4) 
  
   
  
    
   
  
   
   
  
   
   
   
   
  
  
  
   
  
   
  
  
   
   
  
  
  
    
  
  
  
  
   
   
    
   
  
  
   
   
   
  
   
  
  
  
  
   
   
   
  
  
   
  
  
   
  
  
  
   
   
  
International Arc 
ee 
— 20 
"6 
A = us 20, 
Mu 
= 2(x,, 
  
  
where Xo, Vo 
Xi yy 
the circle whose 
Xp ij 
the circle whose 
Áisac 
Lis ac 
X isau 
After resolving t 
solid of rotation 
the distance fron 
of the solid of rc 
the formula (2). 
3. DAT. 
3.1 Design Dat 
The size of the r 
is fixed upon it, 
coordinates syst: 
the planar grid.