void Item_cam::setup(){
qDebug() << "Item_cam::setup()";
DQObject<Item_world>::createCallBackSlot( "QObject*", "addCam()", "", Item_cam::create, 0);
DQObject<Item_world>::createCallBackSlot( "QObject*", "addCam(QString)", "name", Item_cam::create, 1);
DQObject<Item_world>::actionlist << Action(":/images/xpm/cam.xpm", "Add Cam", SLOT(addCam()));
SCRIPTSLOTS(Item_cam,"Cam");
}
int main(void)
{
//values
double m_x_global,m_y_global,m_z_global;//,m_stdx_global,m_stdy_global,m_stdz_global;
double d_begin = 3.0;
double d_end =30.0;
double d_step = 0.5;
double d_i = d_begin;
double m_begin,n_begin,m_end,n_end;
#if defined(_MSC_VER)
char cam_left[] = {"AVT_Stingray_right_left_cam1.inikalib.ini"};
char cam_right[] = {"AVT_Stingray_right_right_cam2.inikalib.ini"};
#else
char cam_left[] = {"/home/steffen/projekte/Lehmann_und_Partner/photogrammetrie_dll/example_photogrammetrie/cam_calib/AVT_Stingray_right_left_cam1.inikalib.ini"};
char cam_right[] = {"/home/steffen/projekte/Lehmann_und_Partner/photogrammetrie_dll/example_photogrammetrie/cam_calib/AVT_Stingray_right_right_cam2.inikalib.ini"};
#endif
//################################
#if defined(_MSC_VER)
puts("access to the Photogrammetrie.dll\n");
#else
puts("access to the Photogrammetrie.so\n");
#endif
//################################
del_all();
printf("\n##################################\n");
printf("forwart intersection example 1:\n");
//fill the camera list with one cam and on bpoint and than the next pair
//create camera left with a bpoint
addCam(1040,1392,0.00465,0.0,0.0,0.0,0.0,0.0,0.0,-8.3481198,0.00089,0.00472,-0.00284666,4.33195e-05,0,1.01299e-05,-2.01898e-05,-0.000134369,-4.26305e-05,2.427375,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
addBPoint(272.0,325.0);
//create camera right with a bpoint
addCam(1040,1392,0.00465,-1114.242911,-2.313123752,-108.0708656,-0.006391017146,-0.1810263138,0.007287021954,-8.3789952,0.08349,0.00098,-0.00285721,4.69797e-05,0,8.79895e-05,6.01291e-05,3.13052e-05,-8.65479e-05,2.427375,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0);
addBPoint(223.0,300.0);
//calculate of the forward intersection
calculate();
//showVariablesAndInfos();
printf("\nforwart intersection calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_local(),get_y_local(),get_z_local(),get_stdx_local(),get_stdy_local(),get_stdz_local());
printf("\nforwart intersection control: (-1741.225369 , 799.567923 , -7397.498111) std(2.136106,1.646223,12.459384)\n");
//delete all values (depends of the internal List of bpoints)
del_all();
//################################
printf("\n##################################\n");
printf("forwart intersection example 2:\n");
//info -- calculation from the calibration --
/* calibration
###### forward intersection ########
picture left: RechtsVorn_13.BMP picture right: RechtsHinten_13.BMP
BP_left :126 ( 756.000, 345.000) BP_right :126 ( 401.000, 370.000)
###### end forward intersection ########
###### boreside transformation ########
car pos left : ( 641754.64076, 5638452.77658, 296.79691) rot (0.67666, -0.16642, 147.47308) have pic's the same car pos :1
UTM global : ( 641748.32241, 5638451.20961, 299.20626) 0.00000 0.00000 0.00000
UTM soll P_ref: ( 641748.32088, 5638451.20780, 299.20560)
soll - ist : ( -0.0-1062.3945612937441,1587.5888858836174,-7728.733215755935)0153, -0.00180, -0.00066)
###### end boreside transformation ########
*/
addCam2(cam_left);
addBPoint(756.000,345.000);
addCam2(cam_right);
addBPoint(401.000,370.000);
addGlobalCarReferencePoint(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
addGlobalCarReferencePoint_std( 1.0 , 1.0 , 2.0 , 0.1 , 0.1 , 0.2 );
setGlobalReferenceFrame();//todo in process -> for EPS data
//calculate of the forward intersection
calculate();
//showVariablesAndInfos();
printf("\n");
printf("\nforwart intersection calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_local(),get_y_local(),get_z_local(),get_stdx_local(),get_stdy_local(),get_stdz_local());
printf("\nforwart intersection control: (( 0.40655, 0.50524, -3.78090))\n");
printf("\nbore side calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_global(),get_y_global(),get_z_global(),get_stdx_global(),get_stdy_global(),get_stdz_global());
printf("\nbore side control: (641748.32241, 5638451.20961, 299.20626)");
printf("\ntestfield control: (641748.32088, 5638451.20780, 299.20560)\n");
//save the values for the next example
m_x_global = get_x_global();//Easting
m_y_global = get_y_global();//Northing
m_z_global = get_z_global();//ell. Height
//delete all values (depends of the internal List of bpoints)
del_all();
//##################################
printf("\n##################################\n");
printf("forwart intersection example 2A:\n");
//info -- calculation from the calibration --
/* calibration
###### forward intersection ########
picture left: RechtsVorn_13.BMP picture right: RechtsHinten_13.BMP
BP_left :126 ( 756.000, 345.000) BP_right :126 ( 401.000, 370.000)
###### end forward intersection ########
###### boreside transformation ########
car pos left : ( 641754.64076, 5638452.77658, 296.79691) rot (0.67666, -0.16642, 147.47308) have pic's the same car pos :1
UTM global : ( 641748.32241, 5638451.20961, 299.20626) 0.00000 0.00000 0.00000
UTM soll P_ref: ( 641748.32088, 5638451.20780, 299.20560)
soll - ist : ( -0.0-1062.3945612937441,1587.5888858836174,-7728.733215755935)0153, -0.00180, -0.00066)
###### end boreside transformation ########
*/
addCam( 960, 1280,
0.00645,
0, 0, 0,
0, 0, 0,
-5.96131, 0.09154, 0.05499,
-0.00392312, 5.3042e-05, 0,
3.41561e-05, 1.66584e-05,
0.000115336, 3.44961e-05,
3.1,
1.810038117, 1.997471691, 2.954505537,
0, 0, 0,
1.236546986, -0.6468711578, -0.222276496,
0, 0, 0);
addBPoint(756.000,345.000);
addCam( 960, 1280,
0.00645,
1.694736602, -0.5066248238, 1.913592406,
0.06547699024, -0.02425883623, 0.01597899627,
-5.96062, -0.02699, 0.00748,
-0.00392089, 5.0132e-05, 0,
-2.96244e-05, -0.000116111,
-8.63535e-05, -7.70085e-05,
3.1,
1.886692106, -0.6072478387, 2.940466502,
0, 0, 0,
1.312015813, -0.6836290131, -0.1604868833,
0, 0, 0 );
addBPoint(401.000,370.000);
addGlobalCarReferencePoint(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
setGlobalReferenceFrame();//todo in process -> for EPS data
//calculate of the forward intersection
calculate();
//showVariablesAndInfos();
printf("\n");
printf("\nforwart intersection calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_local(),get_y_local(),get_z_local(),get_stdx_local(),get_stdy_local(),get_stdz_local());
printf("\nforwart intersection control: (( 0.40655, 0.50524, -3.78090))\n");
printf("\nbore side calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_global(),get_y_global(),get_z_global(),get_stdx_global(),get_stdy_global(),get_stdz_global());
printf("\nbore side control: (641748.32241, 5638451.20961, 299.20626)");
printf("\ntestfield control: (641748.32088, 5638451.20780, 299.20560)\n");
//save the values for the next example
m_x_global = get_x_global();//Easting
m_y_global = get_y_global();//Northing
m_z_global = get_z_global();//ell. Height
//delete all values (depends of the internal List of bpoints)
del_all();
//##################################
printf("\n#########################################\n");
printf("calc back from a global point to left cam :\n");
addCam2(cam_left);
addGlobalMeasurementPoint(m_x_global,m_y_global,m_z_global);
addGlobalCarReferencePoint(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
setGlobalReferenceFrame();//todo in process -> for EPS data
calculate();
//showVariablesAndInfos();
printf("\n");
printf("\npicture point cam left calc : m: %lf , n: %lf ",get_m(),get_n());
printf("\npicture point cam left control: ( 756.000 , 345.000 )\n");
//delete all values (depends of the internal List of bpoints) is extreme important!!
del_all();
//##################################
printf("\n############################################\n");
printf("calc back from a global point to right cam :\n");
addCam2(cam_right);
addGlobalMeasurementPoint(m_x_global,m_y_global,m_z_global);
addGlobalCarReferencePoint(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
setGlobalReferenceFrame();//todo in process -> for EPS data
calculate();
//showVariablesAndInfos();
printf("\n");
printf("\npicture point cam left calc : m: %lf , n: %lf ",get_m(),get_n());
printf("\npicture point cam left control: ( 401.000,370.000 )\n");
//delete all values (depends of the internal List of bpoints) is extreme important!!
del_all();
//##################################
printf("\n############################################\n");
printf("Epipolargeomerie:\n");
//double d_begin = 3.0;
//double d_end =30.0;
//double d_step = 0.5;
//double d_i = d_begin;
addCam2(cam_left);
addBPoint(756.0,345.0);
addGlobalCarReferencePoint_CamSetGlobal(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
addCam2(cam_right);
addGlobalCarReferencePoint_CamSetGlobal(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
printf("\n");
//double m_begin,n_begin,m_end,n_end;
while( d_i <= d_end )
{
setDistanceForEpipolarLine(d_i);
calculate();
if(d_i==d_begin)
{
m_begin=get_m();
n_begin=get_n();
}
if(d_i==d_end)
{
m_end=get_m();
n_end=get_n();
}
printf("\none point in %lf m distance on the epipolar line: m: %lf , n: %lf ",d_i,get_m(),get_n());
d_i+=d_step;
}
printf("\ndistance of %lf m in pixel of the epipolar line: dm: %lf , dn: %lf ",d_i,(m_begin-m_end),(n_begin-n_end));
//delete all values (depends of the internal List of bpoints)
del_all();
//##################################
printf("\n############################################\n");
printf("Mono Photogrammetrie only for testing!!!:\n");
//E ground car: ( n: ( -0.00278, 0.02638, -0.99965) , p: 0.20855) (test ground plane from UNO (TUD))
addCam2(cam_left);
addBPoint(756.000,345.000);
addRefGroundSurface(0.0,0.0,1.0,2.44); //plane only for Point 126 picture 13!!
addGlobalCarReferencePoint(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
setGlobalReferenceFrame();//todo in process -> for EPS data
//showVariablesAndInfos();
//calculate of the forward intersection
calculate();
printf("\nmono measurenment calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_local(),get_y_local(),get_z_local(),get_stdx_local(),get_stdy_local(),get_stdz_local());
printf("\nmono measurenment control: (not available -> this function only for testing)\n");
printf("\nmono measurenment control: ( 0.410760 , 0.509896 , -3.820846 )\n");
printf("\nbore side calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_global(),get_y_global(),get_z_global(),get_stdx_global(),get_stdy_global(),get_stdz_global());
printf("\nbore side control: (not available -> this function only for testing)");
printf("\nbore side control: (641748.283425 , 5638451.200895 , 299.200014)");
//delete all values (depends of the internal List of bpoints)
del_all();
//##################################
printf("\n############################################\n");
printf("multi car position photogrammetrie:\n");
setGlobalReferenceFrame();//todo in process -> for EPS data
//picture 13
addCam2(cam_left);
addBPoint(756.000,345.000);
addGlobalCarReferencePoint_CamSetGlobal(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
//picture 13
addCam2(cam_right);
addBPoint(401.000,370.000);
addGlobalCarReferencePoint_CamSetGlobal(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
//picture 12
addCam2(cam_left);
addBPoint( 715.0 , 325.0 );
addGlobalCarReferencePoint_CamSetGlobal(641754.9447785,5638453.2901614,296.8227930,0.0109420,-0.9424530,212.0283640,50.8803453,11.0150821);
//picture 12
addCam2(cam_right);
addBPoint( 395.0, 360.0 );
addGlobalCarReferencePoint_CamSetGlobal(641754.9447785,5638453.2901614,296.8227930,0.0109420,-0.9424530,212.0283640,50.8803453,11.0150821);
//picture 10
addCam2(cam_left);
addBPoint( 985.0 , 369.0);
addGlobalCarReferencePoint_CamSetGlobal(641753.5016304,5638454.2034647,296.7935520,-0.1139750,-0.5450980,190.7414720,50.8803539,11.0150620);
//picture 10
addCam2(cam_right);
addBPoint( 506.0 , 381.0 );
addGlobalCarReferencePoint_CamSetGlobal(641753.5016304,5638454.2034647,296.7935520,-0.1139750,-0.5450980,190.7414720,50.8803539,11.0150620);
//picture 1
addCam2(cam_left);
addBPoint( 65.0 , 305.0);
//1001;50.8803713;11.0150901;296.8429180;-0.2612280;-1.5055340;219.9422050;15:47:18;1;641755.4308509;5638456.1936776
addGlobalCarReferencePoint_CamSetGlobal(641755.4308509,5638456.1936776,296.8429180,-0.2612280,-1.5055340,219.9422050,50.8803713,11.0150901);
//calculate of the forward intersection
calculate();
//showVariablesAndInfos();
printf("\n");
printf("\nforwart intersection calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_local(),get_y_local(),get_z_local(),get_stdx_local(),get_stdy_local(),get_stdz_local());
printf("\nforwart intersection control: (641748.309525 , 5638451.210544 , 299.207956 std(0.023276,0.012765,0.006509))\n");
printf("\nbore side calc : x: %lf ,y: %lf z: %lf std(%lf,%lf,%lf)",get_x_global(),get_y_global(),get_z_global(),get_stdx_global(),get_stdy_global(),get_stdz_global());
printf("\nbore side control: (641748.309525 , 5638451.210544 , 299.207956)");
printf("\ntestfield control: (641748.32088 , 5638451.20780 , 299.20560)\n");
//delete all values (depends of the internal List of bpoints)
del_all();
//##################################
printf("\n############################################\n");
printf("foot print:\n");
setGlobalReferenceFrame();//todo in process -> for EPS data
//picture 13
addCam2(cam_left);
addGlobalCarReferencePoint_CamSetGlobal(641754.64076,5638452.77658,296.79691,-0.2235410,-0.6600010,214.0967730,50.8803408,11.0150776);
addRefGroundSurface(0.0,0.0,1.0,0.30); //test plane
setDistanceForEpipolarLine(20.0); //max 20m in front of the picture
//calculate of the forward intersection
calculate();
printf("\n Point left up [x,y,z] : [%lf,%lf,%lf] ",get_FP_Easting(0),get_FP_Northing(0),get_FP_eHeight(0));
printf("\n Point right up [x,y,z] : [%lf,%lf,%lf] ",get_FP_Easting(1),get_FP_Northing(1),get_FP_eHeight(1));
printf("\n Point left dw [x,y,z] : [%lf,%lf,%lf] ",get_FP_Easting(2),get_FP_Northing(2),get_FP_eHeight(2));
printf("\n Point right dw [x,y,z] : [%lf,%lf,%lf] ",get_FP_Easting(3),get_FP_Northing(3),get_FP_eHeight(3));
//delete all values (depends of the internal List of bpoints)
del_all();
printf("\n\nend\n");
#if defined(_MSC_VER)
getchar();
#endif
return EXIT_SUCCESS;
}
