This repository is an implementation of space resection, which can get the position and attitude of an camera with given information. The necessary information include:
- focal length [mm]
- image coordinates [mm]
- object point coordinates [m]
There must be more than three point observations to solve six unknown parameters.
First, create an input file. The format of an input file must like:
<f>
<P-Name> <x1> <y1> <X1> <Y1> <Z1> <X1-Err> <Y1-Err> <Z1-Err>
<P-Name> <x2> <y2> <X2> <Y2> <Z2> <X2-Err> <Y2-Err> <Z2-Err>
<P-Name> <x3> <y3> <X3> <Y3> <Z3> <X3-Err> <Y3-Err> <Z3-Err>
...
<f> is the focal length of camera.
<P-Name> is the point name.
<x*> <y*> stands for the image point coordinates with corresponding object point coordinates <X*> <Y*> <Z*>.
Since the object point coordinates are treated as observables with uncertainty, so they must have errors <X*-Err> <Y*-Err> <Z*-Err>.
Then you can just call ./spaceResecion.py -i <input file> to start the computation.
You can also type ./spaceResecion.py -h for more information about this repository.
There are already two input files serve as an example.
Python v2.7.X with the following modules to be installed.