gocv v0.36.1 opencv 4.9.0

pkg/calculator/camera.go

@@ -0,0 +1,59 @@
+package calculator
+
+import (
+	"fmt"
+	"math"
+)
+
+const (
+	FocalLength = 1300.0 // 焦距, mm
+	FOV         = 1.7    // 对角线视场角,degree
+	FOVCALC     = 1.86   // 对角线视场角,degree
+	PANPixels   = 9344.0
+	PANCellSize = 3.2 // µm
+	MSSPixels   = 2336.0
+	MSSCellSize = 12.8 // µm
+)
+
+// 计算过程使用PAN分辨率
+func CameraDirectionVec(u, v float64) []float64 {
+	w := PANPixels * PANCellSize / 1000.0 // 像素宽度, mm
+	h := w
+	d := math.Sqrt(math.Pow(w, 2) + math.Pow(h, 2)) // 对角线长度, mm
+	fov := 2 * math.Atan2(d/2, FocalLength)         // 对角线视场角
+
+	fmt.Println("Camera Parameters:")
+	fmt.Printf("Focal Length: %.6f mm\n", FocalLength)
+	fmt.Printf("FOV (calculated): %.6f degree\n", fov*180/math.Pi)
+	fmt.Printf("Width: %.6f mm\n", w)
+	fmt.Printf("Height: %.6f mm\n", h)
+	fmt.Printf("Diagonal: %.6f mm\n", d)
+
+	// 从给定FOV计算d
+	dCalcOfFOV := 2 * FocalLength * math.Tan(FOV/2*math.Pi/180)
+	fmt.Printf("Diagonal (calculated from FOV): %.6f mm\n", dCalcOfFOV)
+
+	directionVec := []float64{0, 0, 0}
+	directionVec[0] = 0                                        // x方向, mm，线性CCD每次单行成像
+	directionVec[1] = (v - PANPixels/2) * PANCellSize / 1000.0 // y方向, mm
+	directionVec[2] = -FocalLength                             // z方向, mm
+
+	// 归一化
+	fmt.Printf("Direction Vector: (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
+	directionVec = normalizeVec(directionVec)
+	fmt.Printf("Direction Vector (normalized): (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
+
+	return directionVec
+}
+
+func normalizeVec(vec []float64) []float64 {
+	var norm float64
+	for i := 0; i < len(vec); i++ {
+		norm += vec[i] * vec[i]
+	}
+
+	for i := 0; i < len(vec); i++ {
+		vec[i] /= math.Sqrt(norm)
+	}
+	return vec
+}