PHOTOGRAMMETRY I

TTH | 7:00 AM 9:30 AM

GRADING SYSTEM

REFERENCE TEXTS
o

Manual of Photogrammetry
by the American Society of Photogrammetry

Elements of Photogrammetry
by Wolf, Dewitt, and Wilkinson

introduction
PHOTOGRAMMETRY I

PHOTOGRAMMETRY
photos = light
- art, science, and technology
of obtaining reliable information
PHOTOGRAMMETRY
gramma
= drawing through processes
about physical objects and
the environment
metron
= to measurephotographic images
of recording, measuring,
and interpreting
and patterns of recorded radiant electromagnetic energy and
other phenomena. - ASPRS

PHOTOGRAPHY vs PHOTOGRAMMETRY

Photography

- drawing with light

Photogrammetry
measuring with photographs
photography + geometry

Willis Tower,
Chicago
(formerly Sears
Tower)
Chicago Aerial Survey

1976, ASP

AREAS OF PHOTOGRAMMETRY
Metric Photogrammetry

1.

2.

quantitative work

precise measurements from photos

determine relative locations of points

Interpretative Photogrammetry

qualitative work

recognize and identify objects and judging their significance

includes image interpretation and remote sensing

HISTORY OF PHOTOGRAMMETRY
Historical Developments in Photogrammetry:

Early Development the Photographic Process

Joseph Niepce of France produced the worlds first

photograph in 1827 by a process he referred to as
heliography

Fellow Frenchman Louis Daguerre announced his direct

photographic process called the Daguerreotype, which was
more practical than heliography

Joseph
Nipce (1765
1833)

Louis Daguerre
(1787 1851)

HISTORY OF PHOTOGRAMMETRY
Historical Developments in Photogrammetry:

First Generation (1850 1900) Plane Table

Photogrammetry
Around 1840, Francois Arago, a geodesist with the French
Academy of Science, demonstrated the use of
photographs in topographic surveying
In 1849, Colonel Aim Laussedat was the first person to
use terrestrial photographs for topographic map
compilation. He is referred to as the "Father of
Photogrammetry. The process Laussedat used was called
iconometry.
In Canada, Captain Edouard Deville, the Surveyor General
of Canada, invented the first stereoscopic-plotting
instrument called the Stereo-Planigraph in 1896.

Franois
Arago (1786
1853)
Aim
Laussedat
(1819 1907)

douard
Deville
(1849 1924)

HISTORY OF PHOTOGRAMMETRY
Historical Developments in Photogrammetry:

Carl Pulfrich
1858 1929

Second Generation (1900 1960) Analog Photogrammetry

In 1901 Dr. Carl Pulfrich, a German physicist, designed the

first stereocomparator and later began to experiment with
overlapping pairs of photographs. He referred to as the
"Father of Stereophotogrammetry

Wilbur Wright
(1867 1912)

In 1903 the Wright brothers invented the airplane which

provided the great impetus for the emergence of modern
aerial photogrammetry and a better camera platform than
the terrestrial camera.
Orville Wright
(1871 1948)

HISTORY OF PHOTOGRAMMETRY
Historical Developments in Photogrammetry:

Third Generation (1960 Present) Analytical Photogrammetry

In 1953 Dr. Hellmut Schmid developed the principles of

modern multi-station analytical photogrammetry using
matrix notation.

In 1955 Duane Brown developed new approaches to camera

calibration and the mathematical formulation of the bundle
adjustment.
Fourth Generation (emerging) Digital Photogrammetry

Hellmut Schmid
(1914 1998)

Duane Brown
(1929 1994)

Major photogrammetric phases as

a result of technological innovations

TYPES OF PHOTOGRAPHS

Vertical Aerial
Photograph

Low Oblique
Aerial
Photograph

High Oblique
Aerial
Photograph

APPLICATIONS OF PHOTOGRAMMETRY

Topographic mapping
Construction surveys
Boundary Surveys
Architecture
Archaeology
Oceanography
Traffic Management
Maps for city and regional planning and zoning
Geographic Information Systems
Etc

PROFESSIONAL PHOTOGRAMMETRY
ORGANIZATIONS
American Society for Photogrammetry and Remote Sensing (ASPRS)
A scientific association serving over 7,000 professional members around the
world. Its mission is to advance knowledge and improve understanding of
mapping sciences to promote the responsible applications of photogrammetry,
remote sensing, geographic information systems (GIS), and supporting
technologies.

International Society for Photogrammetry and Remote Sensing

(ISPRS)
A non-governmental organization devoted to the development of international
cooperation for the advancement of photogrammetry and remote sensing and
their applications. The Society operates without any discrimination on grounds
of race, religion, nationality, or political philosophy.

principles of
photography and imaging
PHOTOGRAMMETRY I

THE PINHOLE PRINCIPLE

involves drawing perspective

views of illuminated objects

uses a pinhole camera which is

an optical device that forms an
image without using a lens or a
mirror

light from a scene passes

through the pinhole and
projects an inverted image on
the opposite side of the box

this box used in conjunction

with photographic film became
known as a camera

FUNDAMENTAL OPTICS

optics is the branch of physics which involves the behavior and properties of light

two principal branches of optics: physical optics and geometric optics

in physical optics, light is considered to

travel through a transmitting medium
such as air in a series of electromagnetic
waves emanating from a point source
this can be visualized as a group of
concentric circles expanding or radiating
away from a light source
a good resemblance of this manner are
water ripples
concerns such subjects as wave motion,
diffraction, interference, and polarization

ELECTROMAGNETIC WAVE
Properties of an
Electromagnetic Wave:
1.

Frequency (f)

number of cycles of a
wave passing a fixed
point per unit of time
measured in hertz (Hz),
equivalent to one
cycle per second, and
various multiples of
hertz

ELECTROMAGNETIC WAVE
Properties of an
Electromagnetic Wave:
2.

Amplitude

measure of the height

of the crest or depth
of the trough
measured in meters

ELECTROMAGNETIC WAVE
Properties of an
Electromagnetic Wave:
3.

Wavelength ()

length of one wave

cycle, which can be
measured as the
distance between
successive wave crests
measured in meters or
some factor of meters

ELECTROMAGNETIC WAVE
Properties of an
Electromagnetic Wave:
4.

Velocity (V)

speed with which a

wave moves from a
light source
usually expressed in
units of meters per
second (m/s)

ELECTROMAGNETIC WAVE
Velocity is related to frequency
and wavelength according to the
equation
V = f
where:
V = speed of light (3x10 8 m/s)
f = frequency
= wavelength

FUNDAMENTAL OPTICS

optics is the branch of physics which involves the behavior and properties of light

two principal branches of optics: physical optics and geometric optics

in geometric optics, light is considered to

travel from a point source through a
transmitting medium in straight lines
called light rays
the entire group of radiating lines is
called a bundle of rays
preparation of rudimentary line diagrams
necessary in analyzing and solving
photogrammetric problems generally
requires tracing the paths of light rays
through air and various optical elements

FUNDAMENTAL OPTICS

where

n = refractive index
c = the velocity of light in a vacuum
V = its velocity in the substance

SNELLS LAW

when light rays pass from Medium 1 (n) to

Medium 2 (n) , the path of the light ray is
often bent or refracted

if the intersection occurs obliquely, the

angle of incidence () is related to the
angle of refraction by the law of
refraction which states that
n sin = n sin

where: n = refractive index of Medium 1

n = refractive index of Medium 2
, = as mentioned previously

SNELLS LAW

light rays can be made to change directions by

reflection

when a light ray strikes a smooth surface it is

reflected so that the angle of reflection () is
equal to the angle of incidence ()

LENSES

a simple lens is a piece of optical glass used to

gather light rays from object points and bring
them to focus at some distance on the opposite
side of the lens through the principles of
refraction

primitive device similar to the lens is a tiny

pinhole

pinholes, however, are unsuitable for

photogrammetric work because they allow only
a little amount of light to pass

the lens gathers a pencil of light rays and brings

these rays to focus at a point in a plane on the
other side of the lens called the image plane

LENSES

the optical axis of a lens is defined as the

line joining the centers of curvature of the
spherical surfaces of the lens

the focal point is where light rays (parallel

to the optical axis) come to focus as they
enter the lens

the focal length of the lens is the distance

from the focal point to the center of the
lens

the plane of infinite focus, or simply the

focal plane, is the plane perpendicular to
the optical axis passing through the focal
point

LENS FORMULA

Sample Problems:
1.

Under certain conditions, the speed of light through air is 2.99688 108 m/s. What
is the index of refraction of air under these conditions?

Ans.

Sample Problems:
2.

A certain electromagnetic energy is propagated in a vacuum at a frequency of

2,361,000 cycles per second. What is the wavelength (to the nearest meter) of this
energy?

Ans.

Sample Problems:
3.

The wavelength of visible light ranges from 0.4 to 0.7 m. Express this range in
terms of frequency (to the nearest cycle per second), based on the speed of light in
a vacuum.

Ans.

Sample Problems:
4.

A single ray of light traveling through air (index 1.0003) enters a convex glass lens
(index 1.575) having a radius of 47.5 mm. If the light ray is parallel to and 9.5 mm
above the optical axis of the lens, what are the angles of incidence and refraction?

Ans.

Sample Problems:
5.

A camera lens can accommodate object distances ranging from 1.2 m to infinity. If
the focal length of the lens is 38 mm, what is the corresponding range of image
distances?

Ans.

Sample Problems:
6.

Prepare a table of image distances (in millimeters) versus object distances of exactly
1, 2, 5, 10, 100, 1000, and 5000 m for a lens having a 152.416-mm focal length, such
that the images are in perfect focus.

Ans.

SINGLE-LENS CAMERA

its geometry is similar to that of the

pinhole camera

the size of the aperture is much larger

than a pinhole, requiring a lens to
maintain focus

Pinhole camera object and image

distances unrestricted

Lens camera object and image

distances lens formula

SINGLE-LENS CAMERA

to satisfy the lens formula, the lens

camera must be focused for each
different object distance by adjusting
the image distance

when object distances approach infinity,

the term 1/o approaches zero and i = f

with aerial photography, object

distances are very great with respect to
image distances

SINGLE-LENS CAMERA

hence, aerial cameras are manufactured

with their focus fixed for infinity

this is accomplished by fixing image

distance equal to the focal length of the
camera lens.

ILLUMINANCE

the brightness or amount of light received per unit area on the image
plane surface during exposure

a common unit of illuminance is the meter-candle.

one meter-candle (1 m cd) is the illuminance produced by a standard

candle at a distance of 1 m

proportional to the amount of light passing through the lens opening

(the area) during exposure

since the area of the lens opening is d2/4, illuminance is proportional

to the variable d 2, the square of the diameter of the lens opening

ILLUMINANCE

another factor of illuminance is the image distance i

illuminance is an effect that adheres to the inverse square law, which

means that the amount of illuminance is inversely proportional to the
square of distance from the aperture

according to this law, at the center of the photograph, illuminance is

proportional to 1/i 2

as distances increase away from the center of the photograph,

distances from the aperture likewise increase, hence decreased
illuminance

ILLUMINANCE

ILLUMINANCE

APERTURE AND SHUTTER SPEED

total exposure of photographic film is likewise the product of

illuminance and time of exposure

its unit is meter-candle-seconds, although in certain applications a

different unit, the microlux-second is used

variations in f-stop settings are actually variations in the diameter of

the aperture, which can be controlled with a diaphragma circular
shield that enlarges or contracts, changing the diameter of the opening
of the lens and thus regulating the amount of light that is allowed to
pass through the lens

APERTURE AND SHUTTER SPEED

with a lens camera, as the diameter of the aperture increases, enabling

faster exposures, the depth of field becomes less and lens distortions
become more severe

in photographing rapidly moving objects or in making exposures from

a moving vehicle such as an airplane, a fast shutter speed is essential,
to reduce image motion

in this situation a small f-stop setting corresponding to a largediameter lens opening would be necessary for sufficient exposure

the nominal f-stop settings are 1, 1.4, 2.0, 2.8, 4.0, 5.6, 8.0, 11, 16, 22,
and 32

Sample Problems:
1.

Suppose that a photograph is optimally exposed with an f-stop setting of f-4 and a
shutter speed of 1/500 s. What is the correct f-stop setting if shutter speed is
changed to 1/1000 s?

2.

A camera lens has a focal length of 35.0 mm. Its f-stop settings range from f-1.4
tof-22. What is the maximum diameter of the aperture? Minimum diameter?

3.

An exposure is optimum at a shutter speed of 1/1000 s and f-5.6. To increase the

depth of field, it is necessary to expose at f-22. What is the required shutter speed
to retain optimum exposure?

cameras and
other imaging devices
PHOTOGRAMMETRY I

CAMERA

a lightproof chamber or box in which

the image of an exterior object is
projected upon a sensitized plate or film,
through an opening usually equipped
with a lens or lenses, shutter, and
variable aperture

an alternative to traditional film

cameras is the digital camera which
senses light energy through the use of
semiconductor electronics instead of
film

IMAGING DEVICES

a more general term such as imaging device can be used to describe the
instrument used for primary photogrammetric data acquisition

they can be categorized according to how the image is formed: frame cameras,
strip cameras, flying spot scanners

frame cameras acquire the image simultaneously over the entire format

strip cameras sense only a linear projection of the field of view at a given time
and require that the device move or sweep across the area being photographed
in order to acquire a 2D image

flying spot scanners build an image by detecting only a small spot at a time,
requiring movements in two directions in order for the 2D image to be formed

AERIAL MAPPING CAMERA

traditional imaging device in widespread use

in the photogrammetric industry

consists of a lens of high geometric quality

capable of exposing in rapid succession a

great number of photographs to exacting
specifications

have short cycling times, fast lenses, and

efficient shutters

capable of faithful functioning under the

most extreme weather conditions and in
spite of aircraft vibrations

SINGLE-LENS FRAME CAMERAS

used almost exclusively in obtaining photographs for mapping purposes

because they provide the highest geometric picture quality

the lens is held fixed relative to the focal plane

the film is generally fixed in position during exposure, although it may be

advanced slightly during exposure to compensate for image motion

the entire format is exposed simultaneously with a single click of the

shutter

SINGLE-LENS FRAME CAMERAS

most common one in use today for

mapping photography has a 152mm (6-in) focal length and 230-mm
(9-in) square format which provides
the best combination of geometric
strength and photographic scale for
mapping

the Zeiss RMK TOP 15 aerial

mapping camera on the right has a
nominal 152-mm-focal-length lens

often classified according to their

angular field of view

ANGULAR FIELD OF VIEW

the angle subtended at the rear

nodal point of the camera lens by the
diagonal d of the picture format
Lens
Classification

Focal Length

Angle of Coverage

Narrow angle

12 in = 305 mm

Less than 60

Normal angle

8.25 in = 210 mm

60 to 75

Wide angle

6 in = 152 mm

75 to 100

Superwide angle

3.5 in = 89 mm

Greater than 100

ANGULAR FIELD OF VIEW

from the equation, it can be seen that angular field of view increases as
focal length decreases ( , f )

short focal lengths, therefore, yield wider ground coverage at a given

flying height than longer focal lengths

MAIN PARTS OF FRAME AERIAL CAMERAS

the three basic components or assemblies

of a frame aerial camera are the magazine,
the camera body, and the lens cone
assembly

the camera magazine is a light-tight

container that houses the reels or spools
which hold the exposed and unexposed film

the camera magazine also contains the filmadvancing and film-flattening mechanisms

MAIN PARTS OF FRAME AERIAL CAMERAS

the camera body is a one-piece casting

which usually houses the drive mechanism
for the shutter assembly and the magazine
drive

the drive mechanism operates the camera

through its cycle: (1) advancing the film, (2)
flattening the film, (3) cocking the shutter,
and (4) tripping the shutter

the camera body also contains carrying

handles, mounting brackets, and electrical
connections.

MAIN PARTS OF FRAME AERIAL CAMERAS

the lens cone assembly contains a number

of parts and serves several functions

contained within this assembly are the lens,

filter, shutter, and diaphragm

with most mapping cameras, the lens cone

assembly also contains an inner cone or
spider which a) rigidly supports the lens
assembly and focal plane in a fixed relative
position and b) fixes the so-called elements
of interior orientation of the camera that
are carefully determined through camera
calibration

MAIN PARTS OF FRAME AERIAL CAMERAS

the camera lens is the most important (and

most expensive) part of an aerial camera

it gathers light rays from the object space

and brings them to focus in the focal plane
behind the lens

the filter is a piece of colored glass placed in

front of the camera lens to prevent stray
and undesirable lights from entering the
camera

MAIN PARTS OF FRAME AERIAL CAMERAS

the filter serves three purposes: (1) It

reduces the effect of atmospheric haze, (2)
it helps provide uniform light distribution
over the entire format, and (3) it protects
the lens from damage and dust

the shutter and diaphragm together

regulate the amount of light which will
expose the photograph

MAIN PARTS OF FRAME AERIAL CAMERAS

the shutter controls the length of time that

light is permitted to pass through the lens

commonly used type of shutter is a

between the lens shutter

the diaphragm is a circular shield that

enlarges or contracts, changing the
diameter of the opening of the lens
(aperture)

it also regulates the f-stops of the camera

by varying the size of the aperture to
control the amount of light passing through
the lens

MAIN PARTS OF FRAME AERIAL CAMERAS

recall that as aperture , f-stop,

illuminance, thus requiring time,
shutter speeds

typically f-stops of aerial cameras range

from about f-4 down to f-22

the diaphragm is normally located in the

airspace between the lens elements of an
aerial camera and consists of a series of
leaves which can be rotated to vary the size
of the opening

OTHER DEFINITIONS

focal plane of an aerial camera is the plane in which all incident light rays
are brought to focus

fiducial marks are optically projected fine crosses, dots, half arrows, or
other geometric figures located either in the corners or on the sides of a
photo; these are reference marks that define the coordinate axes and the
geometric center of a single aerial photograph; they are usually four or
eight in number

Fiducial lines are the lines joining the fiducial marks

Vertical Aerial
Photograph

Low Oblique
Aerial
Photograph

High Oblique
Aerial
Photograph

OTHER DEFINITIONS

principal point is the point in the focal plane where a line from the rear
nodal point of the camera lens, perpendicular to the focal plane,
intersects the focal plane

forward-motion compensation is done to compensate for image motion

that occurs because of the forward movement of the aircraft during the
time that the shutter is open

camera mount is the mechanism used to attach the camera to the aircraft;
its purpose is to constrain the angular alignment of the camera so that
the optical axis is vertical and the format is squarely aligned with the
direction of travel

OTHER DEFINITIONS

crab is a disparity in the orientation of the

camera in the aircraft with respect to the
aircrafts actual travel direction

camera controls are those devices

necessary for operating the camera and
varying settings according to conditions
at the time of photography

intervalometer is a device which

automatically trips the shutter and
actuates the camera cycle as required by
the flight plan.

SAMPLE PROBLEMS
1.

What is the angular field of view of a camera having a 230-mm-square

format and a 209-mm focal length?

2.

For a camera having a 230-mm-square format, what range of focal

lengths could it have to be classified as wide angle?

3.

An aerial camera makes an exposure at a shutter speed of 1/500 s. If

aircraft speed is 390km/h, how far does the aircraft travel during the
exposure?

image measurements
and refinements
PHOTOGRAMMETRY I

IMAGE MEASUREMENTS

required in solving most photogrammetric problems

may consist of measuring the lengths of lines between imaged points or

determining rectangular coordinates of imaged points

equipment used varies from inexpensive, simple scales to very precise

and complex machines that provide computer-compatible digital output

may contain systematic errors

COORDINATE SYSTEMS FOR IMAGE

MEASUREMENTS

commonly adopted reference system for

photographic coordinates is the rectangular
axis system formed by joining opposite
fiducial marks with straight lines

x axis fiducial line most nearly parallel with

direction of flight

positive y axis is 90 counterclockwise from

positive x

COORDINATE SYSTEMS FOR IMAGE

MEASUREMENTS

the origin of the coordinate system is the

intersection of fiducial lines; it is often called
the indicated principal point

position of any image on a photograph is

given by its rectangular coordinates x and y

on digital images, coordinates are often

expressed as row and column numbers of
individual pixels; pixel dimensions convert
dimensionless row and column values to
linear measurements

REFINEMENT OF MEASURED
IMAGE COORDINATES

measured photo coordinates contain systematic errors

major sources of systematic errors are:

1.

2.
3.
4.
5.

(a) Film distortions due to shrinkage, expansion, and lack of flatness;

(b) CCD array distortions due to electrical signal timing issues or lack of
flatness of the chip surface
(a) Failure of photo coordinate axes to intersect at the principal point;
(b) Failure of principal point to be aligned with center of CCD array
Lens distortions
Atmospheric refraction distortions
Earth curvature distortion

IMAGE PLANE DISTORTION

nominal amount of shrinkage or expansion present in a photograph

can be determined by comparing measured photographic distances
between opposite fiducial marks with their corresponding values
determined in camera calibration

photo coordinates can be corrected if discrepancies exist, and the

approach differs depending on the necessary level of accuracy

IMAGE PLANE DISTORTION

for lower levels of accuracy the following approach may be used:

If x m and ym are measured fiducial distances on the positive, and
xc and yc are corresponding calibrated fiducial distances, then
the corrected photo coordinates of any point a may be calculated
as

in the equation, xa and ya are corrected photo coordinates and xa

and y a are measured coordinates

the ratios xc /x m and yc /y m are simply scale factors in the x and y

directions, respectively

CORRECTION FOR LENS DISTORTIONS

lens distortion causes imaged positions to be displaced from their ideal

locations

The mathematical equations that are used to model lens distortions are
typically comprised of two components: symmetric radial distortion and
decentering distortion

In modern precision aerial mapping cameras, lens distortions are typically less
than 5 m and are only applied in precise analytical photogrammetry works

symmetric radial lens distortion is an unavoidable product of lens manufacture

decentering distortion is primarily a function of the imperfect assembly of lens

elements, not the actual design

CORRECTION FOR LENS DISTORTIONS

the approach used for determining radial

lens distortion values was to fit a polynomial
curve to a plot of the displacements (on the
ordinate) versus radial distances (on the
abscissa)

the form of the polynomial, based on lens

design theory, is

in the equation, r is the amount of radial

lens distortion, r is the radial distance from
the principal point, and k1, k2, k3, and k4
are coefficients of the polynomial

CORRECTION FOR LENS DISTORTIONS

the coefficients of the polynomial are solved

by least squares using the distortion values
from a calibration report

to correct the x, y position of an image point,

the distance r from the image point to the
principal point is computed and used to
compute the value of r from the equation

CORRECTION FOR LENS DISTORTIONS

CORRECTION FOR LENS DISTORTIONS

the x and y corrections are based on a

similar-triangle relationship, as shown in
figure

CORRECTION FOR LENS DISTORTIONS

lens design in modern aerial mapping cameras has evolved to such a level
that symmetric radial lens distortion is of the same order of magnitude as
decentering distortion, and camera calibration reports have been adapted
to accommodate this change

for example, the mathematical model used in the current USGS

calibration procedure, known as the Simultaneous Multi-camera
Analytical Calibration (SMAC), computes both symmetric radial and
decentering distortion parameters directly by least squares

principal point coordinates and focal length are also determined in the
solution

CORRECTION FOR LENS DISTORTIONS

the USGS camera calibration report lists

polynomial coefficients for symmetric
radial lens distortion (k0, k1, k2, k3, k4),
and decentering distortion (p1, p2, p3, p4)

it also gives calibrated principal point

coordinates (x, yp)

to compute coordinates (xc, yc) corrected

for these systematic errors, the following
equations are used:

SAMPLE PROBLEM
1.

Assume that photo coordinates of points

a and b in the figure are xa = 57.62 mm,
ya = 67.15 mm, xb = 22.07 mm, and y b =
49.50 mm. Calculate photo distance ab
and radial distances oa and ob.

SAMPLE PROBLEM
2.

Calculate the acute angle (to the nearest

0.001) of intersection of fiducial lines
for a camera of the type shown in the
figure if comparator measurements of
the fiducial marks on a calibration flash
plate were as follows:

SAMPLE PROBLEM
3.

On a paper-print positive, the measured x distance between fiducials (1

and 3) was 224.9 mm and y between fiducials (2 and 4) was 223.5 mm.
These x and y distances determined in camera calibration were 225.433
and 225.693 mm, respectively. Calculate shrinkage-corrected
coordinates of points a, b, and c whose coordinates were measured on
the paper print as follows:

SAMPLE PROBLEM
4.

A recent USGS camera calibration report yielded the parameters given in

the following table. Using these calibration values, compute the
corrected coordinates (to the nearest micrometer) for an image point
having coordinates x = 73.952 mm and y = 98.155 mm relative to the
fiducial axes.

CORRECTION FOR ATMOSPHERIC

REFRACTION

density (and hence the index of refraction) of

the atmosphere decreases with increasing
altitude

because of this condition, light rays do not travel

in straight lines through the atmosphere, but
rather they are bent according to Snells law as
shown

photogrammetric equations assume that light

rays travel in straight paths, and to compensate
for the known refracted paths, corrections are
applied to the image coordinates.