以往前面有具體演算法流程介紹，這裡就不多說了。
該演算法程式有個小問題有待解決，就是無法讀取檔案裡的小數部位。
待解決
#include#include#include#include#includeusing namespace std;
using namespace cv;
int main()
; /*ifstream infile;//定義檔案流物件
infile.open("d1.txt", ios::in);//開啟文件
double *ptr = &data[0][0];
while (!infile.eof())
infile.close();*/
file *fp; //讀入同名像點座標檔案
if (fp = fopen("d1.txt", "r"))
fclose(fp);
} else printf("open file error!");
//左右像片的外方位元素
double xs1 = data[0][0];
double ys1 = data[1][0];
double zs1 = data[2][0];
double xs2 = data[3][0];
double ys2 = data[4][0];
double zs2 = data[5][0];
double phi1 = data[0][1];
double omig1 = data[1][1];
double phi2 = data[3][1];
double omig2 = data[4][1];
//同名像點的座標
double x1 = data[6][0];
double y1 = data[6][1];
double x2 = data[7][0];
double y2 = data[7][1];
cout << "zs1=" << zs1 << endl;
//定義基線分量
double bx = xs2 - xs1, by = ys2 - ys1, bz = zs2 - zs1;
cout << "x1=" << x1 << endl;
//兩張像片上的旋轉矩陣
double a3 = -1.0*sin(phi1)*cos(omig1);
double b3 = -1.0*sin(omig1);
double c3 = cos(phi1)*cos(omig1);
//定義旋轉矩陣r1
mat r1(3, 3, cv_64f, 0.0);
r1.at(0, 0) = a1;
r1.at(0, 1) = a2;
r1.at(0, 2) = a3;
r1.at(1, 0) = b1;
r1.at(1, 1) = b2;
r1.at(1, 2) = b3;
r1.at(2, 0) = c1;
r1.at(2, 1) = c2;
r1.at(2, 2) = c3;
//cout << "r1=" << r1 << endl;
double aa3 = -1.0*sin(phi2)*cos(omig2);
double bb3 = -1.0*sin(omig2);
double cc3 = cos(phi2)*cos(omig2);
//定義旋轉矩陣r2
mat r2(3, 3, cv_64f, 0.0);
r2.at(0, 0) = aa1;
r2.at(0, 1) = aa2;
r2.at(0, 2) = aa3;
r2.at(1, 0) = bb1;
r2.at(1, 1) = bb2;
r2.at(1, 2) = bb3;
r2.at(2, 0) = cc1;
r2.at(2, 1) = cc2;
r2.at(2, 2) = cc3;
//定義同名像點的像空間輔助座標系rr1(x1，y1，z1)和rr2(x2，y2，z)
mat rr1(3, 1, cv_64f, 0.0);
mat rr2(3, 1, cv_64f, 0.0);
mat rr11(3, 1, cv_64f, 0.0);
rr11.at(0, 0) = x1;
rr11.at(1, 0) = y1;
rr11.at(2, 0) = -1*f;
mat rr22(3, 1, cv_64f, 0.0);
rr22.at(0, 0) = x2;
rr22.at(1, 0) = y2;
rr22.at(2, 0) = -1*f;
rr1 = r1*rr11;
double x1 = rr1.at(0, 0);
double y1 = rr1.at(1, 0);
double z1 = rr1.at(2, 0);
rr2 = r2*rr22;
double x2 = rr2.at(0, 0);
double y2 = rr2.at(1, 0);
double z2 = rr2.at(2, 0);
//計算左右點投影係數
double n1 = (bx*z2 - bz*x2) / (x1*z2 - z1*x2);
double n2 = (bx*z1 - bz*x1) / (x1*z2 - z1*x2);
//計算模型點座標
double detex = n1*x1;
double detey = 0.5*(n1*y1 + n2*y2 + by);
double detez = n1*z1;
//計算地面點的地面座標（x，y，z）
double xp = xs1 + detex;
double yp = ys1 + detey;
double zp = zs1 + detez;
cout << "地面點座標是：" << endl;
cout << "xp=" << xp << endl;
cout << "yp=" << yp << endl;
cout << "zp=" << zp << endl;
//std::cout << rr1 << std::
system("pause");
return 0;
}
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