using?System;
using?System.Collections.Generic;
using?System.Linq;
using?System.Text;
using?System.IO;

namespace?ConsoleApplication
{
????class?Program
????{
????????static?void?Main（string[]?args）
????????{
????????????//循環判斷的控制變量
????????????int?num?=?0;
????????????//讀取控制點個數
????????????int?control_num?=?Read_bundle_num（）;
????????????//Console.WriteLine（control_point?+?1）;
????????????//讀取控制點點名
????????????string[]?point_name?=?Read_bundleadjustment_SCBA_Point_name（）;
????????????//讀取控制點及其像點信息文件前三個為控制點空間坐標，后四個分別為左右像點像點坐標
????????????double[]?Point_Resulr?=?Read_bundleadjustment_SCBA_Point_Result（）;
????????????//控制點空間坐標數組
????????????double[]?control_XYZ?=?new?double[3control_num];
????????????//控制點像點坐標
????????????double[]?left_point_obs?=?new?double[2control_num];
????????????double[]?right_point_obs?=?new?double[2control_num];

????????????for?（int?a?=?0;?a?????????????{
????????????????control_XYZ[0?a]?=?Point_Resulr[0?a];
????????????????control_XYZ[1?a]?=?Point_Resulr[1?a];
????????????????control_XYZ[2?a]?=?Point_Resulr[2?a];
????????????????left_point_obs[0?a]?=?Point_Resulr[3?a];
????????????????left_point_obs[1?a]?=?Point_Resulr[4?a];
????????????????right_point_obs[0?a]?=?Point_Resulr[5?a];
????????????????right_point_obs[1?a]?=?Point_Resulr[6?a];
????????????}

????????????//讀取相機參數文件，內方位元素，畸變參數等
????????????double[]?temp?=?Bundleadjustment_SCBA_Camera_Result（）;
????????????double?x0?=?temp[0];
????????????double?y0?=?temp[1];
????????????double?f?=?temp[3];
????????????double?K1?=?temp[6];
????????????double?K2?=?temp[7];
????????????double?p1?=?temp[8];
????????????double?p2?=?temp[9];
????????????double?arf?=?temp[10];
????????????double?beita?=?temp[11];


????????????//讀取外方位元素初值文件
????????????double[]?Photo?=?Bundleadjustment_SCBA_Photo_Result（）;
????????????double?left_Xs?left_Ys?left_Zs?left_fia?left_w?left_k;
????????????double?right_Xs?right_Ys?right_Zs?right_fia?right_w?right_k;
????????????left_Xs?=?Photo[0?0];?right_Xs?=?Photo[1?0];
????????????left_Ys?=?Photo[0?1];?right_Ys?=?Photo[1?1];
????????????left_Zs?=?Photo[0?2];?right_Zs?=?Photo[1?2];
????????????left_fia?=?Photo[0?3];?right_fia?=?Photo[1?3];
????????????left_w?=?Photo[0?4];?right_w?=?Photo[1?4];
????????????left_k?=?Photo[0?5];?right_k?=?Photo[1?5];
????????????//計算求得旋轉矩陣
????????????double[]?R_left?=?Rotation_matrix（left_fia?left_w?left_k）;
????????????double[]?R_right?=?Rotation_matrix（right_fia?right_w?right_k）;

????????????//將坐標加以改正，包括內方位元素和畸變差
????????????left_point_obs?=?Point_app（control_num?left_point_obs?x0?y0?K1?K2?p1?p2?arf?beita?R_left?left_Xs?left_Ys?left_Zs?f?control_XYZ）;
????????????right_point_obs?=?Point_app（control_num?right_point_obs?x0?y0?K1?K2?p1?p2?arf?beita?R_right?right_Xs?right_Ys?right_Zs?f?control_XYZ）;

????????????//相對于右片像空間輔助坐標系的旋轉矩陣
????????????double[]?R2?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????232??2010-10-13?16:04??連續法相對定向\ConsoleApplication\bin\Debug\answer.txt

?????文件????????489??2010-10-02?16:13??連續法相對定向\ConsoleApplication\bin\Debug\bundleadjustment_SCBA_Camera_Result.scbacmr

?????文件????????448??2010-10-02?16:55??連續法相對定向\ConsoleApplication\bin\Debug\bundleadjustment_SCBA_Photo_Result.scbapht

?????文件???????9766??2010-10-02?16:13??連續法相對定向\ConsoleApplication\bin\Debug\bundleadjustment_SCBA_Point_Result.scbapts

?????文件??????14848??2010-10-26?21:38??連續法相對定向\ConsoleApplication\bin\Debug\ConsoleApplication.exe

?????文件??????32256??2010-10-26?21:38??連續法相對定向\ConsoleApplication\bin\Debug\ConsoleApplication.pdb

?????文件??????14328??2010-11-18?23:53??連續法相對定向\ConsoleApplication\bin\Debug\ConsoleApplication.vshost.exe

?????文件????????490??2007-07-21?01:33??連續法相對定向\ConsoleApplication\bin\Debug\ConsoleApplication.vshost.exe.manifest

?????文件???????8475??2010-10-21?20:18??連續法相對定向\ConsoleApplication\bin\Debug\model_point_location.txt

?????文件???????6698??2010-10-26?21:38??連續法相對定向\ConsoleApplication\bin\Debug\連續法相對定向.txt

?????文件???????2509??2010-10-10?19:37??連續法相對定向\ConsoleApplication\ConsoleApplication.csproj

?????文件???????3065??2010-11-18?23:53??連續法相對定向\ConsoleApplication\obj\Debug\ConsoleApplication.csproj.FileListAbsolute.txt

?????文件??????14848??2010-10-26?21:38??連續法相對定向\ConsoleApplication\obj\Debug\ConsoleApplication.exe

?????文件??????32256??2010-10-26?21:38??連續法相對定向\ConsoleApplication\obj\Debug\ConsoleApplication.pdb

?????文件??????30396??2010-10-26?21:38??連續法相對定向\ConsoleApplication\Program.cs

?????文件???????1392??2010-10-10?19:37??連續法相對定向\ConsoleApplication\Properties\AssemblyInfo.cs

?????文件?????138752??2011-10-27?14:31??連續法相對定向\說明.doc

?????文件????????944??2010-10-10?19:37??連續法相對定向\連續法相對定向.sln

????..A..H.?????13824??2010-11-19?00:00??連續法相對定向\連續法相對定向.suo

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\obj\Debug\TempPE

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\bin\Debug

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\obj\Debug

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\bin

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\obj

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication\Properties

?????目錄??????????0??2011-10-27?14:33??連續法相對定向\ConsoleApplication

?????目錄??????????0??2011-10-27?14:33??連續法相對定向

-----------?---------??----------?-----??----

???????????????326016????????????????????27



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