辅导ENGO 53程序、写作MATLAB程序语言程序

” 辅导ENGO 53程序、写作MATLAB程序语言程序ENGO 531 Lab 1 Fall 2020 Page 1 of 3ENGO 531Advanced Photogrammetric and Ranging TechniquesLaboratory Assignment 1Bundle Adjustment Software ConstructionDate given: 16 September 2020Date due: 6 October 2020 at 23.59.59 Late submissions lose 20% per business dayMarks: This assignment constitutes 15% of your final grade.ObjectiveThe objective of this lab is to build and test your own photogrammetric bundle adjustment program forframe camera imagery. You will add to and use this program for all subsequent laboratory assignments inthis course.Thisis an individual assignment. Collaboration between studentsis anticipated and encouraged. However,each student is to submit their own, original work. We will check for plagiarism.Programming languageThe focus of this laboratory assignment to understand bundle adjustment program organization andmethodology. The programming language you choose for the implementation is not important. Thus, theuse of interpreted languages such as MATLAB scripts and Python is permitted and encouraged.Basic program FunctionalityYour program Should be able to read the following inputs from text files: Interior orientation parameters (IOPs). Only the basic set of IOPs (principal point and principaldistance) are required. For now, these will be treated as constants, but they will be estimated ina future lab assignment. Exterior orientation parameters (EOPs). For now, these will be treated approximate values ratherthan observed values, but this will change in another future lab assignment. Ground control points (GCPs). For now, these will be treated as constants, but they will beconsidered as observations in a future lab assignment. Tie points. These are approximate values. 辅导ENGO 531作业、写作MATLAB程序语言 Check points. These are treated as constants but NOT used directly in the bundle adjustment.They will be used for post‐adjustment accuracy assessment. Image point coordinates. These are observed values.ENGO 531 Lab 1 Fall 2020 Page 2 of 3 Other important adjustment data:o The standard deviations for observation groups: there is only one group now, the imagepoint coordinates, but this will change in a later lab assignmento Convergence tolerances. For now, only tolerancesfor object point coordinates and anglesare required but, again, this will change later.o Operation mode options of the program. For now, these comprise the following, but atleast one more will be required for a later lab assignment:1. Observed or unknown EOPs2. Observed or unknown GCPsYour program must correlate all the input data. That is, it must identify all the required point matches(e.g. homologies) as described in the lecture notes. Moreover, your program must not only perform thebundle adjustment computations (specified below), but also provide formatted, text‐file output tofacilitate the Analyses of results. Some examples of this have been provided in the lecture notes, but theexact formatting is left to your own creativityyou certainly dont need to follow the example in theoutput file. The main principle you might consider is that the data should be easy to plot from the outputfile(s).Numerical program functionalityYour program must perform the least‐squares bundle adjustment solution once all the input data havebeen read. This entails the following general steps: Determination of the dimensions of the relevant matrices n, u, r. Note that these, like any otheradjustment quantities, should be derived from the input data and not hard coded. Computation of the partial derivatives and misclosures Formation of the normal equations by the optimized summation of normal methodthis ismandatory Iterative solution of the normal equations Computation of all parameters, residuals, covariance matrices and other relevant quantities.Test dataset descriptionA small aerial dataset is provided for testing your program. The test dataset was derived from imagery ofthe University of Calgary campus. The imagery was captured with a Leica RC 30 metric camera (6 focallength and 9 9 image format) at a nominal scale of 1:5000 and scanned with a resolution of 12 m. Allimage point coordinates were measured manually in the Irfanview software. Control points and tie pointswere post‐identified features. The standard deviation of the image point observations was 5 m.All input data are provided in ASCII text files having the same prefix (engo531_lab1). The format and suffixof each file is Given below:Suffix Description Format UnitsPHO Image (photo) point observations point_id image_id x y mmINT Interior orientation parameters camera_id xp yp c mmEXT Exterior orientation parameters image_id camera_id XcENGO 531 Lab 1 Fall 2020 Page 3 of 3A file of configuration data (convergence tolerances, observation group standard deviations,adjustment modes, etc.the other important adjustment data mentioned above) is NOT provided. Theformat of this file is left to your creativity.Adjustment results are also provided in a text file (OUT suffix). These were generated with fixed controlpoints and unknown (i.e., not observed) EOPs.SubmissionsYour bundle adjustment program will be validated and verified. Validation is performed to confirm thatthe program meets the user needs. That is, does it generate the required outputs? In this regard, both thecompleteness of the output file and the formatting will be assessed. Verification is performed to confirmthat you have built the program correctly. You must make statements, justified with numerical results,that your program has correctly computed the bundle adjustment quantities. The choice of whichquantities to analyze and the quality of the presentation are your responsibility. Note that detailedanalyses of the Results in terms of network quality are NOT required. Your code will be assessed in termsits modularity, documentation and overall design. Modularity is particularly important since you will addfunctionality to your program For future lab assignments.In summary, you are required to submit Formatted bundle adjustment output file Adjustment Configuration input file Source code Verification reportSubmissions are to be uploaded as a single PDF file to the D2L Dropbox by the specified date and time.As a final note, writing a bundle adjustment program is a big job, but it can be done in the three weeksallocated to this assignment. The following benchmarks are suggested as a guide to help you monitorprogress: End of week 1: demonstration of basic program functionalityread all input data and correlateall data. End of week 2: demonstration of program functionalityleast‐squares computationsimplemented End of week 3: lab completed.END OF LAB 1如有需要，请加QQ：99515681 或邮箱：99515681@qq.com

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