lankun/sjy01-image-proc
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linux build environment updated

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nuknal
2024-07-12 11:34:02 +08:00
parent 31887a6bfe
commit 2bc6f53acc
8 changed files with 33 additions and 24 deletions
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1
.dockerignore
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@@ -2,3 +2,4 @@ data/
log/
bin/
deployment/
build/

15
Dockerfile.build
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@@ -11,12 +11,17 @@ RUN cd /opt && wget https://go.dev/dl/go1.20.linux-amd64.tar.gz && \
tar -xvf go1.20.linux-amd64.tar.gz && rm go1.20.linux-amd64.tar.gz
ENV GOROOT="/opt/go" \
PATH="/opt/go/bin:${PATH}" \
GOPATH="/src/build/go"
GOPATH="/build/go"
RUN echo 'export PATH="/opt/go/bin:${PATH}"' >> /root/.bashrc
RUN cd /opt && git clone -b v0.36.1 https://github.com/hybridgroup/gocv.git && cd gocv && \
make install
# WORKDIR /src
RUN cd /opt && git clone -b v0.36.1 https://github.com/hybridgroup/gocv.git && \
cd gocv && \
awk '{gsub(/libtbb2/, "libtbbmalloc2"); gsub(/libdc1394-22-dev/, "libdc1394-dev"); print}' Makefile > Makefile.tmp && \
mv Makefile.tmp Makefile && \
make install && \
cd .. && \
rm -rf gocv
# WORKDIR /src
# COPY . .
# RUN cd /sjy01/image-proc && go mod download && make linux
CMD ["/bin/bash", "/src/build/build.sh"]

2
cmd/proc.go
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@@ -35,7 +35,7 @@ var procCmd = &cobra.Command{
if err := reg.LoadAuxData(); err != nil {
logrus.Fatal(err)
}
// reg.AuxPrint()
reg.AuxPrint()
if err := reg.LoadMssRaw(); err != nil {
logrus.Fatal(err)

2
go.mod
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@@ -18,7 +18,6 @@ require (
git.sr.ht/~sbinet/gg v0.5.0 // indirect
github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
github.com/campoy/embedmd v1.0.0 // indirect
github.com/chfenger/goNum v0.0.0-20191211064013-a00d841c1e7b // indirect
github.com/dustin/go-humanize v1.0.1 // indirect
github.com/go-fonts/liberation v0.3.2 // indirect
github.com/go-latex/latex v0.0.0-20231108140139-5c1ce85aa4ea // indirect
@@ -36,6 +35,7 @@ require (
github.com/mgutz/ansi v0.0.0-20200706080929-d51e80ef957d // indirect
github.com/mitchellh/mapstructure v1.5.0 // indirect
github.com/mjibson/go-dsp v0.0.0-20180508042940-11479a337f12 // indirect
github.com/nuknal/goNum v0.0.0-20240712030226-6452806523e8 // indirect
github.com/onsi/ginkgo v1.16.5 // indirect
github.com/onsi/gomega v1.33.1 // indirect
github.com/pelletier/go-toml/v2 v2.1.0 // indirect

2
go.sum
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@@ -1139,6 +1139,8 @@ github.com/modern-go/concurrent v0.0.0-20180228061459-e0a39a4cb421/go.mod h1:6dJ
github.com/modern-go/reflect2 v0.0.0-20180701023420-4b7aa43c6742/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
github.com/modern-go/reflect2 v1.0.1/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
github.com/montanaflynn/stats v0.0.0-20171201202039-1bf9dbcd8cbe/go.mod h1:wL8QJuTMNUDYhXwkmfOly8iTdp5TEcJFWZD2D7SIkUc=
github.com/nuknal/goNum v0.0.0-20240712030226-6452806523e8 h1:60bNUZxoFtsfTSGMofxvS2ptpc8Z7ZEYDV8/gY+T2t4=
github.com/nuknal/goNum v0.0.0-20240712030226-6452806523e8/go.mod h1:so7VgmHzfp+FIBqvjXUrU9mjRxEKIHu2QsPvlt/hdBc=
github.com/nxadm/tail v1.4.4/go.mod h1:kenIhsEOeOJmVchQTgglprH7qJGnHDVpk1VPCcaMI8A=
github.com/nxadm/tail v1.4.8 h1:nPr65rt6Y5JFSKQO7qToXr7pePgD6Gwiw05lkbyAQTE=
github.com/nxadm/tail v1.4.8/go.mod h1:+ncqLTQzXmGhMZNUePPaPqPvBxHAIsmXswZKocGu+AU=

27
pkg/producer/aux.go
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@@ -73,9 +73,9 @@ func (r *Registrator) AuxPrint() {
for _, p := range r.auxHeads {
tp := float64(p.TimeSec) + float64(p.TimeSecFrac)/10e6
X := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, tp)
Y := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, tp)
Z := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, tp)
X := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, tp, 2)
Y := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, tp, 2)
Z := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, tp, 2)
lat, lon, _ := calculator.WGS84XYZtoLatLngH(X, Y, Z)
point := orb.Point{lon, lat}
fcPos84Interp.Features = append(fcPos84Interp.Features, geojson.NewFeature(point))
@@ -116,17 +116,18 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
// FIXME: GPS 拟合效果不佳
// x0 := float64(r.auxHeads[startPosInAux].TimeSec) + float64(r.auxHeads[startPosInAux].TimeSecFrac)/10e6
// x1 := float64(r.auxHeads[endPosInAux].TimeSec) + float64(r.auxHeads[endPosInAux].TimeSecFrac)/10e6
// startPos84 := []float64{r.w84FitPre[0].Predict(x0), r.w84FitPre[1].Predict(x0), r.w84FitPre[2].Predict(x0)}
// endPos84 := []float64{r.w84FitPre[0].Predict(x1), r.w84FitPre[1].Predict(x1), r.w84FitPre[2].Predict(x1)}
// startPos84 := []float64{
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x0),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x0),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x0),
// startPos84 = []float64{r.w84FitPre[0].Predict(x0), r.w84FitPre[1].Predict(x0), r.w84FitPre[2].Predict(x0)}
// endPos84 = []float64{r.w84FitPre[0].Predict(x1), r.w84FitPre[1].Predict(x1), r.w84FitPre[2].Predict(x1)}
// stepN := 2
// startPos84 = []float64{
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x0, stepN),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x0, stepN),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x0, stepN),
// }
// endPos84 := []float64{
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x1),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x1),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x1),
// endPos84 = []float64{
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, x1, stepN),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, x1, stepN),
// utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, x1, stepN),
// }
// ------------------ 使用定姿态四元数计算图像边界 ------------------
log.Info("using attitude quaternion to calculate image boundary...")

2
pkg/utils/interp_lagrange.go
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@@ -4,7 +4,7 @@ import (
"fmt"
"sort"
"github.com/chfenger/goNum"
"github.com/nuknal/goNum"
)
type LagrangeInterpolator struct {

6
pkg/utils/interp_polynomial.go
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@@ -46,13 +46,13 @@ func (p PolynomialInterpolator) Predict(x float64) float64 {
return y
}
func InterpPolynomial(x []float64, y []float64, xq float64) float64 {
func InterpPolynomial(x []float64, y []float64, xq float64, degree int) float64 {
if len(x) != len(y) {
return 0.0
}
start, end := FindClosestSubset(x, xq, 4)
interp := &PolynomialInterpolator{Degree: 3}
start, end := FindClosestSubset(x, xq, degree+1)
interp := &PolynomialInterpolator{Degree: degree}
interp.Fit(x[start:end+1], y[start:end+1])
return interp.Predict(xq)
}