摄影测量——内定向

概念

  内定向就是恢复像片对的内方位元素，目的是确定扫描坐标系与像片坐标系之间的关系，m₁、n₁、m₂、n₂、x₀、y₀分别是内定向的6个参数，像主点o在扫描坐标系(i-cr)中的坐标为（c₀,r₀）,影像的扫描坐标系与像片坐标系的关系为：

  然后根据左右倾斜像片的各自四个框标点（数字影像四角的像素坐标就是其扫描坐标）的扫描坐标和框标坐标，求解各自内定向参数。

代码

//内定向参数求解
void Internal_ori(double* scanpos, double* kuangbiaopos, double* np, double delta)
{
	//系数矩阵A
	Mat A = Mat::zeros(8, 6, CV_64FC1);
	for (int i = 0;i < 8;i=i + 2)
	{
		A.at<double>(i, 0) = 1;
		A.at<double>(i, 1) = kuangbiaopos[i] * delta;
		A.at<double>(i, 2) = kuangbiaopos[i + 1] * delta;
		A.at<double>(i + 1, 3) = A.at<double>(i, 0);
		A.at<double>(i + 1, 4) = A.at<double>(i, 1);
		A.at<double>(i + 1, 5) = A.at<double>(i, 2);
	}

	Mat L(8, 1, CV_64FC1, scanpos);
	Mat X = (((A.t())*A).inv())*(A.t())*L;
	//Mat X = ((A.t()*A).inv())*A.t()*L;
	np[0] = X.at<double>(0);
	np[1] = X.at<double>(1);
	np[2] = X.at<double>(2);
	np[3] = X.at<double>(3);
	np[4] = X.at<double>(4);
	np[5] = X.at<double>(5);
}