lankun/sjy01-image-proc
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This commit is contained in:
nuknal
2024-09-10 14:13:30 +08:00
parent 52638b5ffe
commit 2fcbc389c6
8 changed files with 82 additions and 32 deletions
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5
config/config.yaml
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@@ -19,5 +19,10 @@ radiation:
hf_band_stop_width: 24 # 带阻滤波器宽度
scene_moment_matching: false
rpc:
grid_size: 3
altitude_layer: 5
altitude_range: 1000
dem:
dem_1km: "dem/gdlebm.tif"

3
pkg/auxilary/aux.go
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@@ -48,9 +48,6 @@ func ExtractAux(auxfile string) ([]*AuxFrameHead, []*AuxFocalBox, []*AuxPlatform
// 长光卫星姿态和GPS数据更新频率为 4 次/秒
func transfromGPSandAttMicrosec(microsec uint32) uint32 {
unit := uint32(250000)
// return microsec
microsec = (microsec / unit) * unit
return microsec
}

10
pkg/auxilary/image_time.go
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@@ -37,7 +37,7 @@ func (it *ImageTime) Extract(aps []*AuxPlatform) {
// Interp 内插出成像时刻
// 参数: imgrow 图像行号 cross 图像跨度 aps 辅助平台列表
// 返回值: 成像时刻(UTC seconds)
func (it *ImageTime) Interp(imgrow int, cross int) (float64, float64) {
func (it *ImageTime) Interp0(imgrow int, cross int) (float64, float64) {
// 内插出成像时刻
u := int(imgrow / cross)
var u1, u2 *auxT
@@ -53,6 +53,14 @@ func (it *ImageTime) Interp(imgrow int, cross int) (float64, float64) {
return t, dt
}
func (it *ImageTime) Interp(imgrow int, cross int) (float64, float64) {
n := len(it.auxT)
rCnt := (it.auxT[n-1].Row-it.auxT[0].Row)*cross + 1
dt := (it.auxT[n-1].Tutc - it.auxT[0].Tutc) / float64(rCnt)
t := it.auxT[0].Tutc + dt*float64(imgrow)
return t, dt
}
func (it *ImageTime) Store(imgtimeFile string) error {
f, err := os.Create(imgtimeFile)
if err != nil {

12
pkg/config/config.go
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@@ -11,6 +11,7 @@ type Config struct {
BrowserImg BrowserImgConfig `yaml:"browser_img" mapstructure:"browser_img"`
Log LogConfig `yaml:"log" mapstructure:"log"`
Dem DemConfig `yaml:"dem" mapstructure:"dem"`
RPC RPCConfig `yaml:"rpc" mapstructure:"rpc"`
}
type LogConfig struct {
@@ -52,6 +53,12 @@ type BrowserImgConfig struct {
CumulativeCutUpper float64 `yaml:"cumulative_cut_upper" mapstructure:"cumulative_cut_upper"`
}
type RPCConfig struct {
GridSize int `yaml:"grid_size" mapstructure:"grid_size"`
AltitudeRange int `yaml:"altitude_range" mapstructure:"altitude_range"`
AltitudeLayer int `yaml:"altitude_layer" mapstructure:"altitude_layer"`
}
var GCONFIG Config
func init() {
@@ -94,5 +101,10 @@ func init() {
DemDir: "dem/SRTM",
Dem1Km: "dem/gdlebm.tif",
},
RPC: RPCConfig{
GridSize: 3,
AltitudeRange: 1000,
AltitudeLayer: 5,
},
}
}

14
pkg/producer/grid_img.go
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@@ -1,25 +1,27 @@
package producer
import "starwiz.cn/sjy01/image-proc/pkg/config"
type GridPoint struct {
Row, Col, H int
}
// 网格点要覆盖边界，甚至大于边界
func gridImage2(m, n, height, width, k, hmin, hmax int) []*GridPoint {
a := int((height) / (m + 1))
a := int((height) / (m))
var lines []int
for i := 1; i <= m; i++ {
for i := 0; i <= m; i++ {
lines = append(lines, a*i)
}
b := int((width) / (n + 1))
b := int((width) / (n))
var samples []int
for i := 1; i <= n; i++ {
for i := 0; i <= n; i++ {
samples = append(samples, b*i)
}
hmax = hmax + 500
hmin = hmin - 500
hmax = (hmax+hmin)/2.0 + config.GCONFIG.RPC.AltitudeRange/2
hmin = (hmax+hmin)/2.0 - config.GCONFIG.RPC.AltitudeRange/2
dh := (hmax - hmin) / (k)
var h []int

23
pkg/producer/rpc.go
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@@ -11,6 +11,7 @@ import (
log "github.com/sirupsen/logrus"
"gonum.org/v1/gonum/mat"
"starwiz.cn/sjy01/image-proc/pkg/config"
"starwiz.cn/sjy01/image-proc/pkg/dem"
)
@@ -56,8 +57,8 @@ type RPCModel struct {
// rational polynomial coeffients
func NewRPC(r *Registrator, scene *Scene, rpb string) *RPC {
rpc := RPC{
elevationLayer: 5,
gridsize: 20,
elevationLayer: config.GCONFIG.RPC.AltitudeLayer,
gridsize: config.GCONFIG.RPC.GridSize,
registrator: r,
scene: scene,
rpb: rpb,
@@ -140,22 +141,28 @@ func (rpc *RPC) RPC() error {
rpc.saveVec(strings.Replace(rpc.scene.Tiff, ".tiff", ".vec.txt", -1),
rowVec, colVec, latVec, lonVec, heightVec)
rpc.lineOffset = float64(rpc.scene.Height) / 2.0
rpc.lineScale = float64(rpc.scene.Height) / 2.0
rpc.sampOffset = float64(rpc.scene.Width) / 2.0
rpc.sampScale = float64(rpc.scene.Width) / 2.0
rowVec = normalize2(rowVec, rpc.lineOffset, rpc.lineScale)
colVec = normalize2(colVec, rpc.sampOffset, rpc.sampScale)
// rpc.lineOffset = float64(rpc.scene.Height) / 2.0
// rpc.lineScale = float64(rpc.scene.Height)
// rowVec = normalize2(rowVec, rpc.lineOffset, rpc.lineScale)
// rpc.sampOffset = float64(rpc.scene.Width) / 2.0
// rpc.sampScale = float64(rpc.scene.Width)
// colVec = normalize2(colVec, rpc.sampOffset, rpc.sampScale)
// rpc.heightOffset = (rpc.minH + rpc.maxH) / 2.0
// rpc.heightScale = 1000.0
// heightVec = normalize2(heightVec, rpc.heightOffset, rpc.heightScale)
latVec, rpc.latOffset, rpc.latScale = normalize(latVec)
lonVec, rpc.longOffset, rpc.longScale = normalize(lonVec)
heightVec, rpc.heightOffset, rpc.heightScale = normalize(heightVec)
rowVec, rpc.lineOffset, rpc.lineScale = normalize(rowVec)
colVec, rpc.sampOffset, rpc.sampScale = normalize(colVec)
rpc.saveVec(strings.Replace(rpc.scene.Tiff, ".tiff", ".vec_norm.txt", -1),
rowVec, colVec, latVec, lonVec, heightVec)
// 设计矩阵 B = [ 20个分子系数 19个分母系数 ] W = 权矩阵 R = 观测结果
method := SolveMethodNelderMead
// x = (B^T * W^2 * B)^-1 * (B^T * W^2 * R), 其中 x = [a1..a20 b2..b20]^T
// 行参数
// B := setupSystemOfEquations(rowVec, latVec, lonVec, heightVec)

41
pkg/producer/rpc_helper.go
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@@ -58,6 +58,7 @@ func solveCoefficients(f, latVec, lonVec, heightVec *mat.VecDense, method SolveM
var MtF mat.VecDense
MtF.MulVec(M.T(), f)
x0.MulVec(invMtM, &MtF)
// return mat.Col(nil, 0, &x0), nil
if method == SolveMethodNelderMead {
numerator := mat.NewVecDense(20, nil)
@@ -83,12 +84,10 @@ func solveCoefficients(f, latVec, lonVec, heightVec *mat.VecDense, method SolveM
}
// 迭代
var wm mat.Dense
var wmx, wf mat.VecDense
var x1 mat.VecDense
var vx []*VX
v0 := 0.0
iterations := 0
maxIterations := 10
denominator := mat.NewVecDense(20, nil)
@@ -113,22 +112,36 @@ func solveCoefficients(f, latVec, lonVec, heightVec *mat.VecDense, method SolveM
MtW2F.MulVec(&MtW2, f)
x1.MulVec(invMtW2M, &MtW2F)
wm.Mul(weights, M)
wmx.MulVec(&wm, &x1)
wf.MulVec(weights, f)
wmx.SubVec(&wmx, &wf)
wmx.MulElemVec(&wmx, &wmx)
v := math.Sqrt(mat.Max(&wmx))
log.Println("iteration:", iterations, "v-err:", v)
numerator1 := mat.NewVecDense(20, nil)
denominator1 := mat.NewVecDense(20, nil)
denominator1.SetVec(0, 1.0)
numerator1.SetVec(0, x0.AtVec(0))
for i := 1; i < 20; i++ {
numerator1.SetVec(i, x1.AtVec(i))
denominator1.SetVec(i, x1.AtVec(i+19))
}
vx = append(vx, &VX{v: v, x: x1})
if math.Abs(v-v0) < epsilon {
break
errorSquared := 0.0
lambda := 1e-4
for i := 0; i < n; i++ {
predictedV := project(numerator1, denominator1, latVec.AtVec(i), lonVec.AtVec(i), heightVec.AtVec(i))
errorV := predictedV - f.AtVec(i)
errorSquared += errorV * errorV
}
fmt.Printf("squared error: %.8f\n", errorSquared)
var coeffsSquared float64
for i := 0; i < 20; i++ {
coeffsSquared += lambda * (numerator1.AtVec(i)*numerator1.AtVec(i) + denominator1.AtVec(i)*denominator1.AtVec(i))
}
x0 = x1
v0 = v
iterations++
fmt.Printf("squared error+lambda*coeffs: %.8f\n", coeffsSquared)
vx = append(vx, &VX{v: errorSquared, x: x1})
if errorSquared < 0.001 {
break
}
}
log.Println("iterations:", iterations)

6
pkg/producer/rpc_optimize.go
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@@ -19,6 +19,12 @@ func objectiveFunc(numerator, denominator, f, latVec, lonVec, heightVec *mat.Vec
errorV := predictedV - f.AtVec(i)
errorSquared += errorV * errorV
}
// lambda := 1e-2
// coeffsSquaredError := 0.0
// for i := 0; i < 20; i++ {
// coeffsSquaredError += lambda * (numerator.AtVec(i)*numerator.AtVec(i) + denominator.AtVec(i)*denominator.AtVec(i))
// }
return errorSquared
}