pyBundleBlock.py : Perform bundle block adjustment computation using 'lmfit'
The program benefits modern and convenient pythonic paramdigm.
It incoperates Lmfit for least square adjustment computations
and solve non-linear bundle block problem with Levenberg-
Marquardt algorithm (LMA). The damped iterative solution can
result which may be more robust than the traditional Gauss-Markov
solution. The input parameter and data are code in YAML
pyTwoPhotoInter.py : Perform intersection of an unknown ground point (X,Y,Z)
User identifies two homologous points on photos and measure their
coordinates. The pyTwoPhotoInter.py will computer XYZ ground point,
given the two photo have its own exterior orientation (EOP).
The input parameter and data are code in YAML as show in example
TwoPhotoInter.yaml
Author : P.Santitamnont
Faculty of Engineering, Chulalongkorn University, Bangkok, Thailand
History : 22 Feb 2022 Initial
Example Result
Reading YAML "Block_62_63_6TP_TLE2020px.yml" ...
============================Input Measurement============================
| Photo | Pnt_Name | jx_px | iy_px | xp_mm | yp_mm | |
|---|---|---|---|---|---|---|
| 0 | P62_15 | 40401 | 9840.1 | -2376.6 | 34.2148 | 77.8308 |
| 1 | P62_15 | 40501 | 13847.1 | -2155.5 | 94.3682 | 81.1493 |
| 2 | P62_15 | 30301 | 6563.1 | -8907.7 | -14.9802 | -20.2166 |
| 3 | P62_15 | 30401 | 10098.1 | -7945.7 | 38.0876 | -5.7753 |
| 4 | P62_15 | 20301 | 7534 | -13325.9 | -0.4052 | -86.545 |
| 5 | P62_15 | 20401 | 10160.2 | -13288.9 | 39.0196 | -85.99 |
| 6 | P62_15 | t1 | 8494.2 | -11029.6 | 14.0096 | -52.072 |
| 7 | P62_15 | t2 | 10081.9 | -9718.9 | 37.8443 | -32.3954 |
| 8 | P62_15 | t3 | 11374.6 | -10245.2 | 57.2504 | -40.2967 |
| 9 | P62_15 | t4 | 10324.4 | -7793.9 | 41.4849 | -3.4964 |
| 10 | P62_15 | t5 | 9578.8 | -7418.1 | 30.2919 | 2.1454 |
| 11 | P62_15 | t6 | 9351.6 | -5323.3 | 26.8812 | 33.5936 |
| 12 | P63_15 | 40401 | 3819.3 | -2552 | -56.1696 | 75.1969 |
| 13 | P63_15 | 40501 | 7940.2 | -2354.9 | 5.6915 | 78.1541 |
| 14 | P63_15 | 30301 | 458.4 | -9075 | -106.62 | -22.7222 |
| 15 | P63_15 | 30401 | 4110.3 | -8135 | -51.7999 | -8.6127 |
| 16 | P63_15 | 20301 | 1358.3 | -13529.1 | -93.1104 | -89.5854 |
| 17 | P63_15 | 20401 | 3902.2 | -13518 | -54.9224 | -89.4197 |
| 18 | P63_15 | t1 | 2403.2 | -11223.7 | -77.4254 | -54.9782 |
| 19 | P63_15 | t2 | 3927.4 | -9920.9 | -54.545 | -35.4217 |
| 20 | P63_15 | t3 | 5176.8 | -10462.1 | -35.7894 | -43.5464 |
| 21 | P63_15 | t4 | 4328.7 | -7984.9 | -48.5214 | -6.3595 |
| 22 | P63_15 | t5 | 3600.8 | -7601.3 | -59.4484 | -0.6008 |
| 23 | P63_15 | t6 | 3130.3 | -5503.1 | -66.5119 | 30.8966 |
====== Adjusted Parameters and Precision ======
| Parameter | Value | Precision |
|---|---|---|
| P62_15_X | 3,708.722 m | +/-0.168 m |
| P62_15_Y | 2,100.745 m | +/-0.123 m |
| P62_15_Z | 2,258.518 m | +/-0.056 m |
| P62_15_O | 2.195479 deg | +/-11 sec |
| P62_15_P | -0.432853 deg | +/-17 sec |
| P62_15_K | -2.216337 deg | +/-3 sec |
| P63_15_X | 4,908.050 m | +/-0.134 m |
| P63_15_Y | 2,089.880 m | +/-0.119 m |
| P63_15_Z | 2,257.371 m | +/-0.056 m |
| P63_15_O | 2.401798 deg | +/-10 sec |
| P63_15_P | -0.309380 deg | +/-13 sec |
| P63_15_K | -1.771856 deg | +/-4 sec |
| t1_X | 3,881.978 m | +/-0.034 m |
| t1_Y | 1,486.193 m | +/-0.040 m |
| t1_Z | 205.402 m | +/-0.096 m |
| t2_X | 4,199.243 m | +/-0.028 m |
| t2_Y | 1,737.684 m | +/-0.033 m |
| t2_Z | 244.341 m | +/-0.093 m |
| t3_X | 4,442.128 m | +/-0.030 m |
| t3_Y | 1,628.684 m | +/-0.036 m |
| t3_Z | 256.297 m | +/-0.096 m |
| t4_X | 4,273.924 m | +/-0.028 m |
| t4_Y | 2,111.275 m | +/-0.030 m |
| t4_Z | 212.606 m | +/-0.095 m |
| t5_X | 4,129.187 m | +/-0.029 m |
| t5_Y | 2,192.282 m | +/-0.030 m |
| t5_Z | 208.918 m | +/-0.095 m |
| t6_X | 4,083.634 m | +/-0.031 m |
| t6_Y | 2,591.685 m | +/-0.038 m |
| t6_Z | 309.608 m | +/-0.092 m |
====================== Residual =============================
| Photo | Point | vx_mm | vy_mm | vx_px | vy_px |
|---|---|---|---|---|---|
| P62_15 | 20301 | 0.0002 | -0.0002 | 0 | -0 |
| P62_15 | 20401 | 0.0009 | 0.001 | 0.1 | 0.1 |
| P62_15 | 30301 | 0.0003 | 0.0028 | 0 | 0.2 |
| P62_15 | 30401 | 0.0012 | -0.0003 | 0.1 | -0 |
| P62_15 | 40401 | -0.0034 | 0.0021 | -0.2 | 0.1 |
| P62_15 | 40501 | 0.0007 | -0.0018 | 0 | -0.1 |
| P62_15 | t1 | -0 | 0.0014 | -0 | 0.1 |
| P62_15 | t2 | 0.0001 | -0.002 | 0 | -0.1 |
| P62_15 | t3 | 0 | -0.0009 | 0 | -0.1 |
| P62_15 | t4 | 0.0001 | -0.0019 | 0 | -0.1 |
| P62_15 | t5 | 0 | -0.0015 | 0 | -0.1 |
| P62_15 | t6 | -0 | 0.0013 | -0 | 0.1 |
| P63_15 | 20301 | -0.0004 | -0.0003 | -0 | -0 |
| P63_15 | 20401 | -0.0024 | -0.0009 | -0.2 | -0.1 |
| P63_15 | 30301 | 0.0039 | -0.0017 | 0.3 | -0.1 |
| P63_15 | 30401 | 0.0017 | -0.002 | 0.1 | -0.1 |
| P63_15 | 40401 | -0.0028 | 0.0046 | -0.2 | 0.3 |
| P63_15 | 40501 | 0.0002 | -0.0034 | 0 | -0.2 |
| P63_15 | t1 | 0 | -0.0014 | 0 | -0.1 |
| P63_15 | t2 | -0 | 0.002 | -0 | 0.1 |
| P63_15 | t3 | -0 | 0.0009 | -0 | 0.1 |
| P63_15 | t4 | -0 | 0.0019 | -0 | 0.1 |
| P63_15 | t5 | -0 | 0.0015 | -0 | 0.1 |
| P63_15 | t6 | 0 | -0.0013 | 0 | -0.1 |
====================== program stop =========================