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gocv v0.36.1 opencv 4.9.0

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nuknal
2024-06-09 20:08:32 +08:00
parent c046da2321
commit 031b76be39
8 changed files with 377 additions and 77 deletions
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55
pkg/calculator/intersection.go
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@@ -7,13 +7,6 @@ import (
"gonum.org/v1/gonum/mat"
)
// 常量
const (
focal = 1.3 // 焦距, m
FOV = 1.7 // 视场角,degree
nPixels = 9344 // 像素数
)
type IntersectionPoint struct {
Lat float64
Lon float64
@@ -22,46 +15,56 @@ type IntersectionPoint struct {
func Intersection(q Quaternion, satPos84 []float64, satTime time.Time, ucam int) IntersectionPoint {
alpha := FOV * math.Pi / 180.0
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(nPixels))
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(PANPixels))
direction := []float64{0, math.Tan(alpha), -1.3}
// -------- 相机坐标系下CCD成像方向向量转到卫星坐标系 --------
Rcam := mat.NewDense(3, 3, []float64{
1, 0, 0,
0, 1, 0,
0, 0, 1,
})
var dCam mat.VecDense
dCam.MulVec(Rcam, mat.NewVecDense(3, direction))
// -------- 转到ECI坐标系 --------
Ratt := q.ToRotationMatrix()
RattT := &mat.Dense{}
RattT.Inverse(Ratt)
v := mat.NewVecDense(3, direction)
var result mat.VecDense
result.MulVec(Ratt, v)
eciDirection := result.RawVector().Data
result.MulVec(Ratt, &dCam)
dECI := result.RawVector().Data
// intersection := intersectWithEllipsoid(satPos, eciDirection)
// lat, lon, _ := J2000ToWGS84(intersection[0], intersection[1], intersection[2], satTime)
// -------- 转到ECEF坐标系 --------
x, y, z := ECItoECEF(dECI[0], dECI[1], dECI[2], satTime)
dECEF := []float64{x, y, z}
x, y, z := ECItoECEF(eciDirection[0], eciDirection[1], eciDirection[2], satTime)
ecefDirection := []float64{x, y, z}
intersection := intersectWithEllipsoid(satPos84, ecefDirection)
// -------- 计算与地球表面的交点 --------
intersection := intersectWithEllipsoid(satPos84, dECEF)
lat, lon, h := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
return IntersectionPoint{Lat: lat, Lon: lon, H: h}
}
func Intersection2(Qsat2orbit, Qorbit2eci Quaternion, satPos84 []float64, satTime time.Time, ucam int) IntersectionPoint {
alpha := FOV * math.Pi / 180.0
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(nPixels))
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(PANPixels))
direction := []float64{0, math.Tan(alpha), -1.3} // 卫星（相机）坐标系下CCD成像方向向量
// -------- 相机坐标系下CCD成像方向向量转到卫星坐标系 --------
Rcam := mat.NewDense(3, 3, []float64{
1, 0, 0,
0, 1, 0,
0, 0, 1,
})
var dCam mat.VecDense
dCam.MulVec(Rcam, mat.NewVecDense(3, direction))
// -------- 转到轨道坐标系 --------
Rsat2orbit := Qsat2orbit.ToRotationMatrix()
Rsat2orbitT := &mat.Dense{}
Rsat2orbitT.Inverse(Rsat2orbit)
var r0 mat.VecDense
r0.MulVec(Rsat2orbit, mat.NewVecDense(3, direction))
r0.MulVec(Rsat2orbit, &dCam)
dOrbit := r0.RawVector().Data
// -------- 转到ECI坐标系 --------
Rorbit2eci := Qorbit2eci.ToRotationMatrix()
Rorbit2eciT := &mat.Dense{}
Rorbit2eciT.Inverse(Rorbit2eci)
var r1 mat.VecDense
r1.MulVec(Rorbit2eci, mat.NewVecDense(3, dOrbit))
dECI := r1.RawVector().Data