Universitatea de Stiinte Agronomice si Medicina Veterinara Bucuresti

Facultatea de Imbunatatiri Funciare si Ingineria Mediului

Specializarea Masuratori Terestre si Cadastru

Prelucrarea Preliminara a Coordonatelor Imagine

Masurate la Stecometru
Stereofotogrammetrie si Fotointerpretare

Student: Stoica Andreea

Grupa: 9303

2012 - 2013

Prelucrarea Preliminara a Coordonatelor

Imagine Masurate la Stecometru

Datele initiale.

Se dau coordonatele imagine masurate pentru 4 indici de referinta si pentru un numar

de 12 puncte de reper de pe stereograma 6472/6473:
Nr. Pct.
1
2
3
4
3172
5022
22
5213
217
3173
14
229
5211
13
5234
1172

x' (mm)
407.005
618.115
617.074
405.971
514.002
493.556
492.594
536.220
546.336
577.717
599.706
563.357
516.266
491.458
572.406
498.913

y'' (mm)
406.833
406.152
195.029
195.711
219.527
243.435
240.542
264.287
245.015
213.777
311.741
289.241
287.562
349.384
338.308
405.728

x'' (mm)
306.542
306.538
306.183
306.198
370.243
369.982
369.828
369.371
367.731
367.867
373.077
371.790
369.391
373.220
376.978
379.810

y' (mm)
306.651
306.286
306.289
306.657
304.689
305.004
305.026
304.448
304.262
303.567
304.008
304.147
304.623
304.365
304.147
303.675

Se cere sa se corecteze aceste coordonate imagine pentru ambele fotograme cunoscand

urmatoarele date:
-

Constanta camerei:

Coordonatele punctului principal P al camerei cu care s-a realizat aerofotografierea:

xP = 3.9 m; yP = 8.7 m

Curba de distorsiune radiala a obiectivului:

ri (mm)
ri (m)

20
3

40
6

Ck = 151.840 mm

60
2

80
0

100
-4

120
-8

140
2

148
9

Coordonatele calibrate ale indicilor de referinta:

Nr. Indice
1
2
3
4

x (mm)
-106.008
106.008
106.008
-106.008

y (mm)
106.008
106.008
-106.008
-106.008

Inalitimea de zbor la care s-a efectuat aerofotografierea:

Raza:

R = 6370000 m

Hzbor = 2.8 km

Reducerea valorilor masurate.

Coordonatele si paralaxele punctului mijlociu M, care va deveni originea sistemului de

coordonate pentru valorile masurate, se calculeaza pe baza coordonatelor (x', y") si a
paralaxelor (x", y') indicilor de referinta:

x0

1 4
xi
4 i 1

unde:

y0

1 4
yi
4 i 1

p0

1 4
pi
4 i 1

q0

1 4
qi
4 i 1

x 0'' p 0
y 0' q 0
Coordonatele punctelor stereogramei se reduc la origine cu relatiile:

x' x' x0

y' ' y' ' y 0

x' ' x' 'x0''

y' y'y0'

Etapa 1. Calculul coordonatelor reduse:

x' (mm)
y'' (mm)
Nr. Pct.

x'
y''
y' '
x'
1
2
3
4
M
3172
5022
22
5213
217
3173
14
229
5211
13
5234
1172

407.005
618.115
617.074
405.971
512.041
514.002
493.556
492.594
536.220
546.336
577.717
599.706
563.357
516.266
491.458
572.406
498.913

-105.036
106.074
105.033
-106.070
1.961
-18.485
-19.447
24.179
34.295
65.676
87.665
51.316
4.225
-20.583
60.365
-13.128

406.833
406.152
195.029
195.711
300.931
219.527
243.435
240.542
264.287
245.015
213.777
311.741
289.241
287.562
349.384
338.308
405.728

x'' (mm)

105.902
105.221
-105.902
-105.220
-81.404
-57.496
-60.389
-36.644
-55.916
-87.154
10.810
-11.690
-13.369
48.453
37.377
104.797

y' (mm)

x"

x' '

y'

y'

306.542
306.538
306.183
306.198
306.365
370.243
369.982
369.828
369.371
367.731
367.867
373.077
371.790
369.391
373.220
376.978
379.810

0.177
0.173
-0.182
-0.167

306.651
306.286
306.289
306.657
306.471
304.689
305.004
305.026
304.448
304.262
303.567
304.008
304.147
304.623
304.365
304.147
303.675

0.180
-0.185
-0.182
0.186

63.878
63.617
63.463
63.006
61.366
61.502
66.712
65.425
63.026
66.855
70.613
73.445

-1.782
-1.467
-1.445
-2.023
-2.209
-2.904
-2.463
-2.324
-1.848
-2.106
-2.324
-2.796

Calculul coordonatelor in sistemul fiecarei fotograme.

Coordnatele stereogramei se calculeaza cu relatiile:

x' x'

x' ' x' x' '

y' y' ' y'

y' ' y' '

Etapa 2. Coordonatele provizorii pe stereograma:

Fotograma F'
Fotograma F"
Nr.
Pct.
x' (mm)
y' (mm)
x" (mm)
y" (mm)
1
-105.036
106.082
-105.213
105.902
2
106.074
105.036
105.901
105.221
3
105.033
-106.084
105.215
-105.902
4
-106.070 -105.034 -105.903
-105.220
3172
1.961
-83.186
-61.917
-81.404
5022
-18.485
-58.963
-82.102
-57.496
22
-19.447
-61.834
-82.910
-60.389
5213
24.179
-38.667
-38.827
-36.644
217
34.295
-58.125
-27.071
-55.916
3173
65.676
-90.058
4.174
-87.154
14
87.665
8.347
20.953
10.810
229
51.316
-14.014
-14.109
-11.690
5211
4.225
-15.217
-58.801
-13.369
13
-20.583
46.347
-87.438
48.453
5234
60.365
35.053
-10.248
37.377
1172
-13.128
102.001
-86.573
104.797

Orientarea fotogramelor si aplicarea

corectiei influentei contractiei suportului emulsiei.

Relatiile utilizate pentru orientarea, corectarea si reducerea coordonatelor masurate la

punctul principal sunt de forma:
x i x ic x P

x ic a 0 a1 x i' a 2 y i' a 3 x i' y i'

y i y ic y P

y ic b0 b1 x i' b2 y i' b3 x i' y i'

unde: - xp, yp sunt coordonatele punctului principal;

- a0, a1, a2, a3, b0, b1, b2, b3, b4 sunt parametrii transformarii (translatiile a0 si b0 se
neglijeaza).
AT (3, 4)

A (4, 3)

l (4, 1)

N = AT A
N-1 (3, 3)

N (3, 3)

X = N-1 AT l
X (3, 1)
Etapa 3.1. Ecuatiile de corectie pentru x:
a1 10-2
-1.050

a2 10-2
1.061

a3 10-4
-1.114

l 10-2
-1.060

1.061
1.050
-1.061

1.050
-1.061
-1.050

1.114
-1.114
1.114

1.060
1.060
-1.060

-1

N =

0.224381
0.000011
-0.000007

0.000011
0.224357
-0.000004

N=

4.456703

-0.000220

0.000156

-0.000220
0.000156

4.457191
0.000088

0.000088
4.965609

-0.000007
-0.000004
0.201385

Etapa 3.2. Ecuatiile de corectie pentru y:

b1 10-2 b2 10-2 b3 10-4
l 10-2
-1.050
1.061
-1.114
1.060
1.061
1.050
1.114
1.060
1.050
-1.061
-1.114
-1.060
-1.061
-1.050
1.114
-1.060

N=

X=

4.456703
-0.000220
0.000156

1.004284
-0.004935
-0.000016

-0.000220
4.457191
0.000088

0.000156
0.000088
4.965609

0.224381
0.000011
-0.000007

-1

N =

0.000011
0.224357
-0.000004

-0.000007
-0.000004
0.201385

X=

0.004985
1.004229
-0.000009

Etapa 3.3. Coordonatele transformate F':

Nr. Pct.
3172
5022
22
5213
217
3173
14
229
5211
13
5234
1172

Coordonate masurate

Coordonate corectate

x' (mm)
1.961
-18.485
-19.447
24.179
34.295
65.676
87.665
51.316
4.225
-20.583
60.365
-13.128

x (mm)
2.378
-18.294
-19.248
24.484
34.756
66.491
87.984
51.612
4.315
-20.889
60.413
-13.671

y' (mm)
-83.186
-58.963
-61.834
-38.667
-58.125
-90.058
8.347
-14.014
-15.217
46.347
35.053
102.001

y (mm)
-83.535
-59.323
-62.212
-38.710
-58.190
-90.066
8.804
-13.820
-15.268
46.440
35.474
102.370

Etapa 3.4. Ecuatiile de corectie pentru x:

a1 10-2 a2 10-2
a3 10-4
l 10-2
-1.052
1.059
-1.114
-1.060
1.059
1.052
1.114
1.060
1.052
-1.059
-1.114
1.060
-1.059
-1.052
1.114
-1.060

0.224364
-0.000007
0.000004

-1

N =

-0.000007
0.224350
-0.000001

N=

0.000004
-0.000001
0.201353

Etapa 3.5. Ecuatiile de corectie pentru y:

b1 10-2 b2 10-2 b3 10-4
l 10-2
-1.052
1.059
-1.114
1.060
1.059

1.052

1.114

1.060

1.052
-1.059

-1.059
-1.052

-1.114
1.114

-1.060
-1.060

4.457044
0.000138
-0.000089

N=

0.000138
4.457317
0.000023

X=

-0.000089
0.000023
4.966406

1.004252
-0.003273
0.000009

4.457044

0.000138

-0.000089

0.000138

4.457317

0.000023

-0.000089

0.000023

4.966406

0.224364
-1

N =

0.000004

-0.000007

-0.000007
0.224350

-0.000001

0.000004

-0.000001

0.201353

Etapa 3.6. Coordonatele transformate F'':

Coordonate masurate
Coordonate corectate
Nr. Pct.
x'' (mm)
y'' (mm)
x (mm)
y (mm)
3172
-61.917
-81.404
-61.872
-81.969
5022
-82.102
-57.496
-82.224
-58.024
22
-82.910
-60.389
-83.024
-60.933
5213
-38.827
-36.644
-38.863
-36.937
217
-27.071
-55.916
-26.993
-56.252
3173

4.174

-87.154

4.470

-87.517

14
229
5211
13

20.953
-14.109
-58.801
-87.438

10.810
-11.690
-13.369
48.453

21.005
-14.133
-59.004
-88.011

10.914
-11.794
-13.627
48.375

5234

-10.248

37.377

-10.421

37.493

1172

-86.573

104.797

-87.370

104.970

0.003242
X=

1.004222
-0.000002

Corectarea influentei distorsiunii obiectivului camerei de preluare.

Distorsiunea obiectivului, corespunzator constantei camerei aerofotogrammetrice,

rezulta in urma etalonarii si este un element al orientarii interioare. Influenta sa asupra pozitiei
punctelor pe fotograma poate fi corectata pe cale analitica.
ri este deplasarea in planul imagine intre pozitia reala si cea corectata a punctului P din spatiul
obiect;
ri a1 ri a 2 ri3 a 3 ri5 a 4 ri7 ...

Coeficientii ai se determina prin metoda patratelor minime:

rP x P2 y 2p
cx

r
x'
r

xi xi 'c xi

cy

r
y'
r

y i y i 'c yi

unde: - cX, cy sunt corectiile;

- xi, yi sunt coordonatele corectate.
A (8, 4)

AT (4, 8)

l (8,1)

N = AT A
N (4, 4)

N-1 (4, 4)

X = N-1 AT l
X (4, 1)
Etapa 4.1. Ecuatiile de corectie:
a1 10-2
a2 10-5
a3 10-9
0.2000
0.0800
0.0032
0.4000
0.6400
0.1024
0.6000
2.1600
0.7776
0.8000
5.1200
3.2768
1.0000
10.0000
10.0000
1.2000
17.2800
24.8832
1.4000
27.4400
53.7824
1.4800
32.4179
71.0082

a4 10-13
0.0001
0.0164
0.2799
2.0972
10.0000
35.8318
105.4135
155.5364

l 10-3
0.0030
0.0060
0.0020
0.0000
-0.0040
-0.0080
0.0020
0.0090

N=

N-1 =

7.790
122.795
223.377
432.623

122.795
2233.770
4326.232
8665.239

223.377
4326.232
8665.239
17712.453

432.623
8665.239
17712.453
36691.970

7.353
-2.102
1.691
-0.406

-2.102
0.715
-0.626
0.158

1.691
-0.626
0.575
-0.150

-0.406
0.158
-0.150
0.040

a1 = X1 10-2

a1 = 0.00017447501869732200

a2 = X2 10-5

a2 = -0.00000003716519061996

a3 = X3 10-9

a3 = 0.00000000000146564309

a4 = X4 10-13

a4 = -0.00000000000000000005

Etapa 4.2. Calculul coordonatelor corectate Fotograma F':

Coordonate initiale
Corectii
Nr. Pct.
x' (mm)
y' (mm)
r (mm)
r (m) cx (m)
3172
2.378
-83.535
83.569
-1.138
0.032

X=

cy (m)
-1.137

0.017448
-0.003717
0.001466
-0.000001

Coordonate corectate
x (mm)
y (mm)
2.378
-83.536

5022

-18.294

-59.323

62.080

3.291

0.970

3.145

-18.294

-59.320

22
5213
217
3173
14
229
5211
13
5234
1172

-19.248
24.484
34.756
66.491
87.984
51.612
4.315
-20.889
60.413
-13.671

-62.212
-38.710
-58.190
-90.066
8.804
-13.820
-15.268
46.440
35.474
102.370

65.122
45.803
67.780
111.951
88.423
53.430
15.866
50.922
70.058
103.279

2.814
4.716
2.349
-6.852
-2.346
4.291
2.621
4.479
1.917
-5.707

0.832
-2.521
-1.205
4.069
2.335
-4.145
-0.713
1.837
-1.653
-0.755

2.689
3.985
2.017
-5.512
0.234
1.110
2.523
-4.085
-0.971
5.657

-19.247
24.481
34.755
66.495
87.986
51.608
4.314
-20.887
60.412
-13.671

-62.209
-38.706
-58.188
-90.072
8.804
-13.818
-15.266
46.436
35.473
102.376

10

Etapa 4.3. Calculul coordonatelor corectate Fotograma F'':

Coordonate initiale
Corectii
Nr. Pct.
x'' (mm)
y'' (mm)
r (mm)
r (m)
cx (m)
3172
-61.872
-81.969
102.699
-5.600
-3.374

Coordonate corectate
cy (m)
x (mm)
y (mm)
-4.470
-61.876
-81.973

5022

-82.224

-58.024

100.636

-5.197

-4.246

-2.997

-82.229

-58.027

22
5213
217
3173
14
229
5211
13
5234
1172

-83.024
-38.863
-26.993
4.470
21.005
-14.133
-59.004
-88.011
-10.421
-87.370

-60.933
-36.937
-56.252
-87.517
10.914
-11.794
-13.627
48.375
37.493
104.970

102.984
53.616
62.393
87.631
23.671
18.408
60.557
100.429
38.915
136.573

-5.653
4.276
3.245
-2.148
3.648
2.983
3.506
-5.155
4.730
-1.253

-4.557
3.099
1.404
0.110
-3.237
2.290
3.416
-4.518
1.267
-0.801

-3.345
2.946
2.925
-2.146
-1.682
1.911
0.789
2.483
-4.557
0.963

-83.028
-38.860
-26.992
4.470
21.002
-14.131
-59.001
-88.015
-10.420
-87.371

-60.936
-36.934
-56.249
-87.519
10.912
-11.792
-13.626
48.377
37.489
104.971

11

Prelucrarea preliminara a coordonatelor imagine.

Corectia datorata curburii Pamantului se aplica atunci cand se utilizeaza sistemele de

coordonate in planul de proiectie. Deplasarea punctelor este radiala fata de punctul principal si
are sens negativ pe directia radiala fata de acesta.

rP x P2 y 2p
ri ( mm )

2 R ( m) * c k2 ( mm )

ri '
xi
ri

cX
cy

H ( m) * ri3 ( mm )

ri '
yi
ri

x i x i' c x
y i y i' c y

Etapa 5.1. Fotograma F':

Nr. Pct.
3172
5022
22
5213
217
3173
14
229
5211
13
5234
1172

Coordonate initiale
x' (mm)
2.378
-18.294
-19.247
24.481
34.755
66.495
87.986
51.608
4.314
-20.887
60.412
-13.671

y' (mm)
-83.536
-59.320
-62.209
-38.706
-58.188
-90.072
8.804
-13.818
-15.266
46.436
35.473
102.376

Corectii de curbura
r (mm)
83.570
62.077
65.119
45.799
67.777
111.958
88.425
53.426
15.864
50.918
70.056
103.285

r (m)
5.564
2.280
2.632
0.916
2.968
13.378
6.591
1.454
0.038
1.258
3.278
10.503

12

cx (m)
0.158
-0.672
-0.778
0.490
1.522
7.945
6.558
1.404
0.010
-0.516
2.826
-1.390

Coordonate corectate
cy (m)
-5.562
-2.179
-2.515
-0.774
-2.548
-10.762
0.656
-0.376
-0.037
1.148
1.660
10.411

x (mm)
2.379
-18.294
-19.248
24.482
34.756
66.503
87.993
51.609
4.314
-20.888
60.414
-13.673

y (mm)
-83.542
-59.322
-62.212
-38.707
-58.191
-90.083
8.805
-13.819
-15.266
46.437
35.475
102.386

Etapa 5.2. Fotograma F'':

Nr. Pct.
3172
5022
22
5213
217
3173
14
229
5211
13
5234
1172

Coordonate initiale
x'' (mm)
-61.876
-82.229
-83.028
-38.860
-26.992
4.470
21.002
-14.131
-59.001
-88.015
-10.420
-87.371

y'' (mm)
-81.973
-58.027
-60.936
-36.934
-56.249
-87.519
10.912
-11.792
-13.626
48.377
37.489
104.971

Corectii de curbura
r (mm)
102.704
100.641
102.990
53.612
62.390
87.633
23.667
18.405
60.554
100.434
38.910
136.574

r (m)
10.327
9.717
10.414
1.469
2.315
6.415
0.126
0.059
2.117
9.657
0.562
24.284

13

cx (m)
-6.222
-7.939
-8.395
-1.065
-1.002
0.327
0.112
-0.046
-2.062
-8.463
-0.150
-15.535

Coordonate corectate
cy (m)
-8.243
-5.603
-6.161
-1.012
-2.087
-6.407
0.058
-0.038
-0.476
4.652
0.541
18.665

x (mm)
-61.882
-82.236
-83.037
-38.861
-26.993
4.470
21.002
-14.131
-59.003
-88.023
-10.420
-87.386

y (mm)
-81.981
-58.033
-60.942
-36.935
-56.251
-87.525
10.912
-11.793
-13.626
48.382
37.489
104.990