终于写出来第二个摄影测量的程序了,感慨万千。对于编程学习,还是要多付出实践,才会有收获。
//#include "matrix.h"
#include<stdio.h>
#include<iostream>
#include<opencv2/opencv.hpp>
using namespace std;
using namespace cv;
int main()
{
//读入坐标
float saomiao[16] = { 106.003,-106.005,-106.003,-106.003,-106.001,106.003,106.001,106.001,
0.002,-109.998,-110.001,0.002, 0.004,110.004,109.997,0.000 };
//以像主点为原点的像平面坐标系的像点坐标
float kuangbiao[16] = { 4858,4930,152,4891,197,185,4903,221,2504,4996,80,2534,2549,113,4966,2578 };
//扫描坐标系下框标坐标的行列号
float A_num[16][6] = { 0 };
//A阵为16行6列
float x0 = -0.004; //x偏移量
float y0 = -0.008; //y偏移量
float delta = 0.045; //像素大小
float f = 152.72;
for (int k = 0; k < 16; k+=2 )
{
A_num[k][0] = 1;
A_num[k][1] = kuangbiao[k] * delta;
A_num[k][2] = -kuangbiao[k+1] * delta;
A_num[k + 1][3] = A_num[k][0];
A_num[k + 1][4] = A_num[k][1];
A_num[k + 1][5] = A_num[k][2];
}
//定义矩阵
Mat A(16, 6, CV_32F, A_num); //A为16行6列,float类型的矩阵
Mat X(6, 1, CV_32F, 0.0); //X为6行1列,float类型的矩阵,为要求的运算后的矩阵
Mat L(16, 1, CV_32F, saomiao); //L为16行1列的,float类型的常数矩阵
X = ((A.t()*A).inv())*A.t()*L;
//矩阵运算 A的转置A.t 再乘以A 矩阵求逆inv() 再乘以A 再乘以L
std::cout << X << std::endl;
float m0 = X.at<float>(0, 0); //X矩阵第一行第一列的数
float m1 = X.at<float>(1, 0);
float m2 = X.at<float>(2, 0);
float n0 = X.at<float>(3, 0);
float n1 = X.at<float>(4, 0);
float n2 = X.at<float>(5, 0);
float x1,x1_dx;
float y1,y1_dx;
float z;
x1 = 2996; //输入任意一个像素的框标坐标
y1 = 1486;
x1_dx = m0+ m1*x1*delta-m2*y1*delta-x0;
y1_dx = n0 + n1*x1*delta-n2*y1*delta-y0;//得到像平面坐标系(减去主点偏移量)
z = -f;
cout << x1_dx << endl;
cout << y1_dx << endl;
cout << z << endl; //得到像空间辅助坐标系
getchar();
return 0;
}
//运行结果
[-114.85733;
1.0008425;
-0.0094435224;
114.17293;
0.0083294483;
1.0008631]
20.7117
48.3762
-152.72