Here we present an explanation of these programs: 
ORPHO it converts Cardanic angles in Eulerian angles and 
vice versa. This is a very large used transformation in close 
range photogrammetry, because it is essential for the image 
orientation, when the rotation angles are acquired by surveying 
measurements. 
ORSYM it calculates the preliminary values for the 
Symmetric Relative Orientation. It solves 12800 linear 
problems, exploring all possible configurations in the space, 
with a step of II/4. The same program, choosing one of the four 
distinct solutions, permits to calculate the preliminary 
parameters for the Asymmetric Relative Orientation. 
ORELA it calculates the adjusted parameters of the 
Asymmetric Relative Orientation, starting from its preliminary 
ones. If these preliminary values are unknown at the data 
acquisition, it is possible to get them from the results of the 
previous program. On the contrary, if they are already known, it 
is possible to transform the Eulerian angles, more frequently 
and easily acquired, into the Cardanic ones, by means of 
ORPHO program. 
ORABS it calculates the adjusted Absolute Orientation 
parameters. They are calculated with a simple substitution of 
variables, able to transform the non-linear problem of the 
Absolute Orientation in a linear one. 
In the following flowchart, let us summarize the global 
procedure for the orientation of two images. 
Surveying measurement and Non-conventional 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
(classical) photogrammetry photogrammetry 
ORPHO ORSYM 
ORELA ««—— Selection of an 
i acceptable solution 
ORABS 
Plotting 
As evident, the analysis of the performance of the single 
programs and of the global procedure was quite heavy. Indeed 
it needed a long preparation of tools, which permitted to 
manage files of commands. Furthermore many different levels 
were prepared in order to collect, save and store the output files 
for the different steps. 
Before to conclude we wish to presents some results of these 
experiments. We considered robust statistical index (mode, 
median, 1* and 3'* quantiles), able to analyze distribution free 
| problems. On the following tables and figures, the difference 
214 
among the nominal values and the preliminary ones are shown. 
  
  
  
  
  
  
[10*]degree Q Y K 
mode 17 1 0 
percentile 0,25 10 5 10 
median 21 13 22 
percentile 0,75 38 25 39 
max 93 56 86 
  
  
  
  
  
Table 5. Absolute Orientation results 
Cumulative expectations 
  
  
0,00 10,00 20,00 30,00 40,00 50,00 
A WF LK 
«D PHI —#-D KAPPA 
60,00 
70,00 80,00 90,00 100,00 
—9—D OMEGA 
Figure 6. Absolute Orientation results 
For the Absolute Orientation, we reached small values, less than 
1/100 of grade. 
  
  
  
  
  
  
  
  
  
  
  
  
[10*]degree | Ag, AK; AQ» AQ» AK? 
mode 8 = 8 7 7 
percentile 4 
0,25 18 11 33 16 22 
median 46 41 91 36 53 
percentile 
0,75 84 99 176 68 139 
max 287 569 937 286 827 
  
  
Table 7. Symmetric Relative Orientation results 
  
0,75 | 
Cumulative expectations 
o 
m 
eo 
e 
N 
o 
  
  
0 500 1000 1500 2000 2500 3000 
^ phi 1 
—&-d phi 1 —9—d kappa 1 79—d omega 2 ii- d phi 2 —si-d kappa 2 
Figure 8. Symmetric Relative Orientation results 
For the Relative Orientation (but for the Polar Regions), we 
reached again small values, less than 1/10 of grade. These 
values are bigger that the previous ones, but we have to 
underline that we worked only with preliminary values. 
  
| [10*]degree | AQ1 | AK | AQ» | AQ» | AK» 
  
  
  
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