ITERASI 3

Parameter EO pendekatan
ω ɸ k (rad) Xc Yc Zc f
Foto 1 0 0 0 0 0 153.21904 153.21925
Foto 2 0.053591815 -0.027115406 -0.000679322 96.6405 3.394862279 151.9586487

Matriks rotasi
Foto Kiri
1 0
0 1
0 0
Foto Kanan
0 0.999632169 -0.002130636 0.027036764
0 0.000679072 0.998563085 0.053584544
1 -0.000679322 -0.053546474 0.99819723

Menghitung koordinat titik

OBJEK KOORDINAT
Foto Kiri Foto Kanan
Ttitik X Y Z X Y Z
A 0.979 2.194 -153.21904 -96.27363876 -13.51384607 -148.7841738
B 4.295 2.194 -153.21904 -91.59629137 -9.013299468 -154.2911111
C 91.252 6.768 -153.21904 -4.794558781 -14.08927953 -154.34466
D 87.353 5.175 -153.21904 -10.03598393 -19.00802095 -156.6988816
E -3.438 0.153 -153.21904 -97.29865034 71.17360099 -156.6290658
F -2.614 87.694 -153.21904 -95.88623788 66.66107312 -154.0831794
G 89.914 83.054 -153.21904 -3.605896296 63.9619822 -154.0897414
H 90.897 84.645 -153.21904 -0.953306445 63.31824568 -156.5970272
I 2.181 84.068 -153.21904 -100.5917903 -93.96997089 -156.579243
J -0.79 -74.516 -153.21904 -103.7650423 -98.98998121 -154.468746
K 85.797 -79.254 -153.21904 -10.98909313 -97.58902394 -154.3937293
L 86.453 -75.263 -153.21904 -12.67914793 -95.64021801 -156.5695813

Menghitung selisih koordinat

Objek space foto Kiri foto Kanan
Titik
X Y Z ΔX ΔY ΔZ ΔX ΔY ΔZ
A 0.9379 2.1186 6.4447 0.9379 2.1186 -146.7743 -95.7026 -1.2763 -145.5139
B 4.1667 6.5773 4.5856 4.1667 6.5773 -148.6334 -92.4738 3.1824 -147.3730
C 86.9781 4.9711 7.1760 86.9781 4.9711 -146.0430 -9.6624 1.5762 -144.7827
D 82.0805 0.1824 9.2479 82.0805 0.1824 -143.9711 -14.5600 -3.2124 -142.7107
E -3.4287 87.4810 0.4174 -3.4287 87.4810 -152.8016 -100.0692 84.0862 -151.5412
F -2.6218 83.3235 -0.4549 -2.6218 83.3235 -153.6739 -99.2623 79.9286 -152.4135
G 90.6366 85.3541 -1.2315 90.6366 85.3541 -154.4506 -6.0039 81.9593 -153.1902
H 93.2706 86.2849 -4.0007 93.2706 86.2849 -157.2197 -3.3699 82.8900 -155.9594
I 1.9761 -67.4928 14.3906 1.9761 -67.4928 -138.8284 -94.6644 -70.8877 -137.5680
J -0.7155 -71.7541 14.4542 -0.7155 -71.7541 -138.7649 -97.3560 -75.1489 -137.5045
K 79.0186 -69.2528 12.1053 79.0186 -69.2528 -141.1138 -17.6219 -72.6477 -139.8534
L 77.9834 -66.1534 15.0106 77.9834 -66.1534 -138.2085 -18.6571 -69.5482 -136.9481
 Foto Kiri
Titik
u v w U/W V/W f/W
A 0.9379 2.1186 -146.7743 -0.0064 -0.0144 -1.0439
B 4.1667 6.5773 -148.6334 -0.0280 -0.0443 -1.0309
C 86.9781 4.9711 -146.0430 -0.5956 -0.0340 -1.0491
D 82.0805 0.1824 -143.9711 -0.5701 -0.0013 -1.0642
E -3.4287 87.4810 -152.8016 0.0224 -0.5725 -1.0027

F -2.6218 83.3235 -153.6739 0.0171 -0.5422 -0.9970

G 90.6366 85.3541 -154.4506 -0.5868 -0.5526 -0.9920
H 93.2706 86.2849 -157.2197 -0.5932 -0.5488 -0.9746
I 1.9761 -67.4928 -138.8284 -0.0142 0.4862 -1.1037
J -0.7155 -71.7541 -138.7649 0.0052 0.5171 -1.1042
K 79.0186 -69.2528 -141.1138 -0.5600 0.4908 -1.0858
L 77.9834 -66.1534 -138.2085 -0.5642 0.4786 -1.1086

Foto Kanan
Titik
u v w U/W V/W f/W
A -99.59894707 -9.136750077 -145.1182449 0.686329601 0.062960726 -1.055822031
B -96.43105316 -4.781847729 -147.2149404 0.655035779 0.032482082 -1.04078458
C -13.57662966 -6.190730129 -144.5994795 0.093891276 0.042812949 -1.0596099
D -18.4062796 -10.8648084 -142.2715602 0.129374273 0.076366692 -1.076947774
E -104.3087654 75.77711956 -155.7025556 0.669923272 -0.486678714 -0.984049616
F -103.5168258 71.57936804 -156.3512448 0.66207868 -0.457811309 -0.97996687
G -10.31803597 73.62878226 -157.2985809 0.065595226 -0.46808294 -0.974064986
H -7.761932714 74.41163365 -160.1143787 0.048477425 -0.464740483 -0.956934919
I -98.1979683 -78.22161894 -133.4599093 0.735786266 0.58610574 -1.14805293
J -100.8777789 -82.47518632 -133.1664962 0.757531224 0.619338863 -1.150582499
K -21.24178736 -80.04921363 -135.6992745 0.156535747 0.589901559 -1.129107289
L -22.20471339 -76.79927942 -132.9644458 0.166997375 0.577592596 -1.152330904

FOTO Kiri FOTO Kanan

No FX FY FX FY
A 0 -0.01758892 8.956762543 4.05678202
B -0.000253071 -0.012222494 8.837953206 3.903873383
C 9.89441E-05 -0.040330349 9.696931191 0.588758932
D 0.000149577 -0.041132567 9.893601838 0.792831216
E 9.99915E-05 -0.02601624 5.360000536 4.648554625
F 8.85108E-06 -0.022848 5.574059805 4.555590719
G 6.46631E-05 -0.028525681 6.497437564 0.475781252
H -0.000153154 -0.02124362 6.528664454 0.348909375
I 9.60906E-05 -0.027031589 12.26946527 3.631558852
J 5.99422E-05 -0.025799359 12.43020699 3.689506005
K -0.000133597 -0.069450613 13.15525695 0.780150625
L -1.25658E-05 -0.066814073 13.06617744 0.842183046
Menghitung komponen matriks A masing masing foto
Menyusun matriks A
Menghitung matriks (AT.A)-1
Menghitung Matriks AT.L Menghitung nilai X = (AT.A)-1AT.L
-5145.224746

-12679.22642
-22279.92536
-32.34302626
45.79745836
9.454547093
3.945772553
-6.263004471
9.196005404
3.748685969
-5.680313056
10.27150222
0.552310863
-0.679798893
10.65144477
0.76121726
-1.107209511
5.273472997
4.244570089
-0.93210519
AT. L 5.461207132
4.143679106
-1.195326945
6.326777276
0.414116875
-0.017514603
6.245144129
0.301485913
0.027925054
14.08346983
3.739285134
-12.16604621

14.29947525
3.801615247
-12.81018791
14.84871616
0.73916904
-2.353911679
15.05167615
0.822465759
-2.57487189
ITERASI 2

Parameter EO pendekatan
ω ɸ k (rad) Xc Yc Zc f
Foto 1 0 0 0 0 0 153.21925 153.21925
Foto 2 0.053317532 -0.01491323 -0.000665842 96.6405 3.150173244 152.2974784

Matriks rotasi
Foto Kiri
1 0
0 1
0 0
Foto Kanan
0 0.999888578 -0.001459626 0.014855998
0 0.000665768 0.998578207 0.053302177
1 -0.000665842 -0.053286348 0.998467915

Menghitung koordinat titik

OBJEK KOORDINAT
Foto Kiri Foto Kanan
Ttitik X Y Z X Y Z
A 0.979 2.194 -153.21904 -96.29640868 -13.55700964 -150.3370098
B 4.295 2.194 -153.21904 -91.61792242 -9.053257093 -155.8149279
C 91.252 6.768 -153.21904 -4.793858881 -14.07104269 -155.8119036
D 87.353 5.175 -153.21904 -10.03656193 -18.99337485 -157.1083501
E -3.438 0.153 -153.21904 -97.32282623 71.1309931 -157.1019829
F -2.614 87.694 -153.21904 -95.90999062 66.61934709 -155.6211294
G 89.914 83.054 -153.21904 -3.605945044 63.98216327 -155.6106106
H 90.897 84.645 -153.21904 -0.952666184 63.34019795 -156.9933569
I 2.181 84.068 -153.21904 -100.6145817 -94.0172148 -156.9437168
J -0.79 -74.516 -153.21904 -103.7885799 -99.03942902 -156.04297
K 85.797 -79.254 -153.21904 -10.98885492 -97.57617174 -156.0065221
L 86.453 -75.263 -153.21904 -12.67936948 -95.6284717 -157.0536463

Menghitung selisih koordinat

Objek space foto Kiri foto Kanan
Titik
X Y Z ΔX ΔY ΔZ ΔX ΔY ΔZ
A 0.9067 2.5536 11.3157 0.9067 2.5536 -141.9033 -95.7338 -0.5966 -140.9817
B 4.0254 6.8905 9.6170 4.0254 6.8905 -143.6021 -92.6151 3.7403 -142.6805
C 83.9480 5.7455 12.2640 83.9480 5.7455 -140.9550 -12.6925 2.5954 -140.0335
D 79.2492 1.1012 14.2142 79.2492 1.1012 -139.0049 -17.3913 -2.0490 -138.0833
E -3.3027 84.8333 6.0319 -3.3027 84.8333 -147.1871 -99.9432 81.6831 -146.2656
F -2.5253 80.8267 5.2010 -2.5253 80.8267 -148.0180 -99.1658 77.6765 -147.0965
G 87.5526 83.1713 4.0240 87.5526 83.1713 -149.1950 -9.0879 80.0211 -148.2735
H 90.0464 84.0492 1.4338 90.0464 84.0492 -151.7852 -6.5941 80.8990 -150.8637
I 1.9177 -64.7936 18.4963 1.9177 -64.7936 -134.7227 -94.7228 -67.9438 -133.8012
J -0.6946 -68.9539 18.5030 -0.6946 -68.9539 -134.7160 -97.3351 -72.1041 -133.7944
K 75.9218 -64.9514 17.6355 75.9218 -64.9514 -135.5835 -20.7187 -68.1016 -134.6620
L 75.0328 -62.1680 20.2398 75.0328 -62.1680 -132.9792 -21.6077 -65.3182 -132.0577
 Foto Kiri
Titik
u v w U/W V/W f/W
A 0.9067 2.5536 -141.9033 -0.0064 -0.0180 -1.0797
B 4.0254 6.8905 -143.6021 -0.0280 -0.0480 -1.0670
C 83.9480 5.7455 -140.9550 -0.5956 -0.0408 -1.0870
D 79.2492 1.1012 -139.0049 -0.5701 -0.0079 -1.1023
E -3.3027 84.8333 -147.1871 0.0224 -0.5764 -1.0410
F -2.5253 80.8267 -148.0180 0.0171 -0.5461 -1.0351
G 87.5526 83.1713 -149.1950 -0.5868 -0.5575 -1.0270
H 90.0464 84.0492 -151.7852 -0.5932 -0.5537 -1.0094
I 1.9177 -64.7936 -134.7227 -0.0142 0.4809 -1.1373
J -0.6946 -68.9539 -134.7160 0.0052 0.5118 -1.1373
K 75.9218 -64.9514 -135.5835 -0.5600 0.4791 -1.1301
L 75.0328 -62.1680 -132.9792 -0.5642 0.4675 -1.1522

Foto Kanan
Titik
u v w U/W V/W f/W
A -97.81668931 -8.174103423 -140.6702201 0.695361742 0.058108272 -1.089207367
B -94.72988196 -3.931842811 -142.5995606 0.664306969 0.027572615 -1.074470632
C -14.77523807 -4.880855494 -139.9487654 0.105576052 0.034876017 -1.094822377
D -19.43769806 -9.417769292 -137.75099 0.141107502 0.06836807 -1.112289937
E -102.2241649 73.70419468 -150.3275205 0.680009652 -0.490290763 -1.019234798
F -101.4533623 69.6594578 -150.9441773 0.672125047 -0.46149152 -1.015070887
G -11.40646261 71.99795593 -152.3042774 0.074892595 -0.472724451 -1.006006152
H -8.952677909 72.7382369 -154.9389649 0.057781965 -0.469463811 -0.988899339
I -96.60080937 -75.04210887 -129.9126246 0.743582925 0.577635231 -1.179400697
J -99.20665743 -79.19794068 -129.6824704 0.764996666 0.610706601 -1.181493841
K -22.61756086 -75.19632263 -130.8129741 0.172899982 0.574838414 -1.171283208
L -23.47180809 -72.2786997 -128.360377 0.182858672 0.563091987 -1.193663057

FOTO Kiri FOTO Kanan

No FX FY FX FY
A 0 -0.563222234 10.34065857 3.313293663
B -3.4639E-14 -0.583943603 10.25847613 3.15164963
C 0 -1.070446985 11.48726126 -0.627330186
D 0 -1.06081629 11.69135596 -0.432709985
E -1.59872E-14 -0.615894187 6.905426079 4.095120021
F 2.35367E-14 -0.612712375 7.113354518 3.991712366
G 0 -0.769504814 7.921971555 -0.235386567
H 0 -0.77513326 7.954297268 -0.374794408
I 6.66134E-15 -0.826797327 13.46406195 2.333715535
J -3.75255E-14 -0.829326501 13.57405469 2.366879093
K -1.27898E-13 -1.863287637 15.66256924 -1.527809995
L 0 -1.774794451 15.49643019 -1.379586393
Menghitung komponen matriks A masing masing foto
Menyusun matriks A
Menghitung matriks (AT.A)-1
Menghitung Matriks AT.L Menghitung nilai X = (AT.A)-1AT.L
-2619.384882

-15166.20737
-24524.48161
-18.39081065
54.49876439
11.26453908
2.605876476
-7.680586495
11.02376198
2.389376816
-7.089933851
12.57646668
-1.903093392
-1.199028974
13.00429279
-1.730458393
-1.641048082
7.039236862
3.173014479
-2.777950739
AT. L 7.221533418
3.064162438
-3.001735479
7.969144669
-1.040930169
-1.042485451
7.865556402
-1.156028465
-0.963722414
15.88272576
1.286867953
-12.54224449
16.0410452

1.30989855
-13.08505356
18.34724859
-4.089657593
-0.954080901
18.49942115
-3.891992461
-1.308362855
ITERASI 4

Parameter EO pendekatan
ω ɸ k (rad) Xc Yc Zc f
Foto 1 0 0 0 0 0 153.21904 153.21925
Foto 2 0.053514551 -0.039789297 -0.000677823 96.6405 3.39938386 151.9857303

Matriks rotasi
Foto Kiri
1 0
0 1
0 0
Foto Kanan
0 0.999208281 -0.002804581 0.039685588
0 0.000677287 0.998566766 0.053515924
1 -0.000677823 -0.053446676 0.997778082

Menghitung koordinat titik

OBJEK KOORDINAT
Foto Kiri Foto Kanan
Ttitik X Y Z X Y Z
A 0.979 2.194 -153.21925 -96.23264052 -13.43531402 -147.5310435
B 4.295 2.194 -153.21925 -91.55728329 -8.937902152 -153.0309285
C 91.252 6.768 -153.21925 -4.792351162 -14.07242357 -153.1437167
D 87.353 5.175 -153.21925 -10.03154632 -18.9876517 -156.596316
E -3.438 0.153 -153.21925 -97.25734443 71.25317511 -156.4601283
F -2.614 87.694 -153.21925 -95.84552413 66.73967631 -152.8095269
G 89.914 83.054 -153.21925 -3.604309758 63.97836029 -152.8340403
H 90.897 84.645 -153.21925 -0.952843767 63.33283277 -156.5090004
I 2.181 84.068 -153.21925 -100.5488403 -93.88886109 -156.5249008
J -0.79 -74.516 -153.21925 -103.7207392 -98.90675286 -153.154241
K 85.797 -79.254 -153.21925 -10.98413353 -97.56833783 -153.0391012
L 86.453 -75.263 -153.21925 -12.67347459 -95.61838442 -156.3893049

Menghitung selisih koordinat

Objek space foto Kiri foto Kanan
Titik
X Y Z ΔX ΔY ΔZ ΔX ΔY ΔZ
A 0.9555 2.1403 3.6860 0.9555 2.1403 -149.5332 -95.6850 -1.2591 -148.2997
B 4.2460 6.6831 1.7569 4.2460 6.6831 -151.4624 -92.3945 3.2838 -150.2289
C 88.5842 5.0273 4.4792 88.5842 5.0273 -148.7400 -8.0563 1.6279 -147.5065
D 83.5728 0.1515 6.6304 83.5728 0.1515 -146.5889 -13.0677 -3.2479 -145.3554
E -3.4947 89.1408 -2.5209 -3.4947 89.1408 -155.7401 -100.1352 85.7414 -154.5066
F -2.6726 84.9159 -3.4333 -2.6726 84.9159 -156.6526 -99.3131 81.5165 -155.4191
G 92.4479 87.0336 -4.3180 92.4479 87.0336 -157.5373 -4.1926 83.6342 -156.3038
H 95.1712 88.0154 -7.2044 95.1712 88.0154 -160.4237 -1.4693 84.6160 -159.1902
I 2.0114 -68.7216 11.9087 2.0114 -68.7216 -141.3106 -94.6291 -72.1210 -140.0770
J -0.7283 -73.0591 11.9726 -0.7283 -73.0591 -141.2467 -97.3688 -76.4585 -140.0131
K 80.4230 -70.5507 9.5972 80.4230 -70.5507 -143.6220 -16.2175 -73.9501 -142.3885
L 79.3370 -67.3624 12.6116 79.3370 -67.3624 -140.6077 -17.3035 -70.7618 -139.3741
 Foto Kiri
Titik
u v w U/W V/W f/W
A 0.9555 2.1403 -149.5332 -0.0064 -0.0143 -1.0247
B 4.2460 6.6831 -151.4624 -0.0280 -0.0441 -1.0116
C 88.5842 5.0273 -148.7400 -0.5956 -0.0338 -1.0301
D 83.5728 0.1515 -146.5889 -0.5701 -0.0010 -1.0452
E -3.4947 89.1408 -155.7401 0.0224 -0.5724 -0.9838
F -2.6726 84.9159 -156.6526 0.0171 -0.5421 -0.9781
G 92.4479 87.0336 -157.5373 -0.5868 -0.5525 -0.9726
H 95.1712 88.0154 -160.4237 -0.5932 -0.5486 -0.9551
I 2.0114 -68.7216 -141.3106 -0.0142 0.4863 -1.0843
J -0.7283 -73.0591 -141.2467 0.0052 0.5172 -1.0848
K 80.4230 -70.5507 -143.6220 -0.5600 0.4912 -1.0668
L 79.3370 -67.3624 -140.6077 -0.5642 0.4791 -1.0897

Foto Kanan
Titik
u v w U/W V/W f/W
A -101.4910808 -9.258468635 -147.8380383 0.68650181 0.062625754 -1.036399372
B -98.29245442 -4.823157575 -150.0079582 0.655248265 0.032152678 -1.021407476
C -13.90834324 -6.273799336 -147.2603096 0.094447331 0.042603464 -1.040465353
D -18.8168053 -11.03092839 -144.8499598 0.129905492 0.07615417 -1.05777903
E -106.4280477 77.28214058 -158.6780417 0.670716922 -0.487037398 -0.965598317
F -105.630975 73.01501878 -159.3632157 0.662831598 -0.458167328 -0.961446776
G -10.6268581 75.14674783 -160.4235904 0.06624249 -0.468427041 -0.955091764
H -8.023015586 75.97456594 -163.3579015 0.049113116 -0.465080447 -0.937935959
I -99.91096448 -79.57803295 -135.8470326 0.735466669 0.58579147 -1.127880728
J -102.633814 -83.90779986 -135.5495838 0.75716805 0.619019236 -1.130355739
K -21.64799844 -81.47517376 -138.1087319 0.156746052 0.589934993 -1.109410302
L -22.62248574 -78.13085924 -135.270751 0.167238561 0.577588715 -1.132685735

FOTO Kiri FOTO Kanan

No FX FY FX FY
A 0 0.000928458 8.983292428 4.005471079
B -0.000276716 0.007332954 8.870647791 3.853409206
C 0.000110348 -0.003716233 9.782149254 0.55667084
D 0.000171613 -0.005329804 9.975022064 0.760284737
E 0.000105161 -0.003916397 5.481743715 4.593495152
F 1.12504E-05 -0.000797855 5.689560384 4.500945581
G 6.75227E-05 -0.003027055 6.596624648 0.422960036
H -0.000168625 0.005235746 6.626074817 0.296722647
I 0.000107678 -0.003042316 12.22065136 3.583529738
J 6.96711E-05 -0.002114463 12.37472071 3.64066313
K -0.000135389 0.002148754 13.18751249 0.785397118
L -1.28289E-05 -0.000591358 13.10316688 0.841709681
Menghitung komponen matriks A masing masing foto
Menyusun matriks A
Menghitung matriks (AT.A)-1
Menghitung Matriks AT.L Menghitung nilai X = (AT.A)-1AT.L
-4999.82621

-12690.91965
-22298.68762
-31.19578206
43.64844024
9.304204693
3.844669951
-6.045064191
9.054365299
3.652544669
-5.479458347
10.17028551
0.553024861
-0.548914843
10.5435377
0.757096886
-0.966871367
5.289941857
4.134901434
-0.941661965
AT. L 5.466760297
4.036022477
-1.191243339
6.295596967
0.385692756
0.042447314
6.209858513
0.277107187
0.088777007
13.77517026
3.656099526
-11.71221222

13.97950273
3.716372189
-12.33283298
14.6192505
0.818309561
-2.175003151
14.83066917
0.889777212
-2.38571958
ITERASI 5
ω ɸ k Yc Zc TITIK X Y Z
0.053672265 -0.065048915 -0.03886998 3.505546886 152.1085719 A 0.993020917 2.224278045 -2.188225503
B 4.415628089 6.949354086 -4.292447037
C 92.11952937 5.227003528 -1.456818092
D 86.84732168 0.157121273 0.886653164
E -3.642827198 92.91985611 -9.119340974
F -2.795728251 88.82803525 -10.65664748
G 96.48581285 90.83528981 -11.1989672
H 99.40985061 91.93396536 -14.34921366
I 2.083673768 -71.19184359 6.829798244
J -0.754437693 -75.67797594 6.910306146
K 83.4197959 -73.18112696 4.245563731
L 82.22862857 -69.81852229 7.48680997

ITERASI 6
ω ɸ k Yc Zc TITIK X Y Z
0.052865595 -0.032106431 -0.074894693 3.465518006 152.1128327 A 1.011152207 2.216835569 -4.304957691
B 4.502102001 7.042877376 -7.210877427
C 95.12971659 5.432743491 -6.513520903
D 89.23628225 0.192071086 -3.306145845
E -3.947946772 100.6801647 -22.64524088
F -3.022367713 96.00819688 -23.87086264
G 105.8400857 99.62524751 -27.1384592
H 109.211753 100.9811271 -30.87080657
I 1.987770141 -67.98566852 13.39550023
J -0.721435729 -71.95950652 14.05744558
K 80.60112786 -70.72534049 9.281211463
L 79.61906755 -67.61794148 12.11340003

ITERASI 7
ω ɸ k Yc Zc TITIK X Y Z
0.051710819 0.05119464 -0.115991 2.878164429 151.3408859 A 0.965796213 2.076539712 3.992767108
B 4.290048949 6.694800139 0.521990001
C 91.4936968 5.239128139 -0.409056042
D 85.44345316 0.199074117 3.345192525
E -4.054368928 103.3513302 -27.29361584
F -3.092725943 98.19259078 -27.87728529
G 110.3158621 103.8239371 -34.76497155
H 113.9004674 105.3090198 -38.77421738
I 1.767380776 -60.56446094 28.64712336
J -0.645467528 -63.82969065 29.76451693
K 72.01656755 -63.19781923 24.6130504
L 71.45028882 -60.68672625 26.59213467

Karena tidak didapat nilai X yang memenuhi syarat sampai iterasi ke tujuh maka iterasi ke 7 dijadikan sebagai hasil