diff --git a/pkg/auxilary/att.go b/pkg/auxilary/att.go index 206202b..f292c8e 100644 --- a/pkg/auxilary/att.go +++ b/pkg/auxilary/att.go @@ -18,7 +18,7 @@ func (atts Attitudes) Save(attFile string) error { defer f.Close() for _, att := range atts.Atts { - content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3) + content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f\n", att.UTCTimestampSec, att.Q0, att.Q1, att.Q2, att.Q3) f.WriteString(content) } @@ -112,7 +112,7 @@ func ExtractAttitude(aps []*AuxPlatform) *Attitudes { sec, microsec = ap.UTCTimeSec, ap.Microsecond att := Attitude{ UTCTimestampSec: float64(sec) + float64(ReferenceTime2000) + - float64((microsec))/1e6, + float64(transfromGPSandAttMicrosec(microsec))/1e6, Q0: ap.QuatAttstarQ0, Q1: ap.QuatAttstarQ1, Q2: ap.QuatAttstarQ2, diff --git a/pkg/auxilary/aux.go b/pkg/auxilary/aux.go index 08c575e..d578fcd 100644 --- a/pkg/auxilary/aux.go +++ b/pkg/auxilary/aux.go @@ -48,6 +48,7 @@ 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 diff --git a/pkg/auxilary/gps.go b/pkg/auxilary/gps.go index 0be4a97..353d533 100644 --- a/pkg/auxilary/gps.go +++ b/pkg/auxilary/gps.go @@ -20,7 +20,7 @@ func (g GPSs) Save(gpsFile string) error { defer f.Close() for _, gps := range g.GPSs { - content := fmt.Sprintf("%.8f %.8f %.8f %.8f %.8f %.8f %.8f\n", + content := fmt.Sprintf("%.6f %.8f %.8f %.8f %.8f %.8f %.8f\n", gps.UTCTimestampSec, gps.X84, gps.Y84, gps.Z84, gps.Vx84, gps.Vy84, gps.Vz84) @@ -37,9 +37,9 @@ func (g GPSs) Lagrange(t float64) *GPS { var gps_sample []*GPS var idx int - if t < g.GPSs[0].UTCTimestampSec { + if t-g.GPSs[0].UTCTimestampSec < 1e-7 { return g.GPSs[0] - } else if t > g.GPSs[len(g.GPSs)-1].UTCTimestampSec { + } else if t-g.GPSs[len(g.GPSs)-1].UTCTimestampSec > -1e-7 { return g.GPSs[len(g.GPSs)-1] } @@ -98,7 +98,7 @@ func StoreGPS(aps []*AuxPlatform, gpsFile string) (*GPSs, error) { interGPS.GPSs = append(interGPS.GPSs, gpss.Lagrange(t)) } - return gpss, interGPS.Save(gpsFile) + return gpss, gpss.Save(gpsFile) } func ExtractGPS(aps []*AuxPlatform) *GPSs { diff --git a/pkg/auxilary/image_time.go b/pkg/auxilary/image_time.go index 8179bc9..5739993 100644 --- a/pkg/auxilary/image_time.go +++ b/pkg/auxilary/image_time.go @@ -53,12 +53,15 @@ func (it *ImageTime) Interp(imgrow int, cross int) (float64, float64) { return t, dt } -func (it *ImageTime) Print(n int, cross int) { - f, _ := os.Create("log/image_time.txt") +func (it *ImageTime) Store(imgtimeFile string) error { + f, err := os.Create(imgtimeFile) + if err != nil { + return err + } defer f.Close() - for i := 0; i < n; i++ { - t, dt := it.Interp(i, cross) - s := fmt.Sprintf("%d %f %f\n", i, t, dt) + for _, a := range it.auxT { + s := fmt.Sprintf("%.6f\t%d\n", a.Tutc, a.Row) f.WriteString(s) } + return nil } diff --git a/pkg/calculator/sofa.go b/pkg/calculator/sofa.go index 85b853a..c08c1f9 100644 --- a/pkg/calculator/sofa.go +++ b/pkg/calculator/sofa.go @@ -19,7 +19,7 @@ func ECItoECEF(j2000X, j2000Y, j2000Z float64, utc time.Time) (float64, float64, utc.Day(), utc.Hour(), utc.Minute(), - float64(utc.Second()), + float64(utc.Second()+utc.Nanosecond()/1e9), &tt1, &tt2) var djm0, mjd float64 @@ -59,7 +59,7 @@ func ECEFtoECI(X84, Y84, Z84 float64, utc time.Time) (float64, float64, float64) utc.Day(), utc.Hour(), utc.Minute(), - float64(utc.Second()), + float64(utc.Second()+utc.Nanosecond()/1e9), &tt1, &tt2) var djm0, mjd float64 diff --git a/pkg/producer/aux.go b/pkg/producer/aux.go index 069c329..cec167f 100644 --- a/pkg/producer/aux.go +++ b/pkg/producer/aux.go @@ -27,9 +27,11 @@ func (r *Registrator) LoadAuxData() error { attFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".att.txt", 1) gpsFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".gps.txt", 1) + timeFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".imgtime.txt", 1) r.AttQuaternion, _ = auxilary.StoreAtt(r.AuxPlatforms, attFile) r.GPSs, _ = auxilary.StoreGPS(r.AuxPlatforms, gpsFile) r.ImageTime = auxilary.NewImageTime(r.AuxPlatforms) + r.ImageTime.Store(timeFile) return err } @@ -183,7 +185,7 @@ func (r *Registrator) calculateLatLonH(scene *Scene, row, col, H int) calculator imgrow := row + scene.Y imgtime, _ := r.ImageTime.Interp(imgrow, cross) - nanosecond := (imgtime - math.Floor(imgtime)) * 1000000000 + nanosecond := (imgtime - math.Floor(imgtime)) * 1e9 sattime := time.Unix(int64(imgtime), int64(nanosecond)).UTC() // 球面线性插值得到姿态四元数 @@ -195,5 +197,6 @@ func (r *Registrator) calculateLatLonH(scene *Scene, row, col, H int) calculator groudPoint84, _ := calculator.Camera2GroundPoint(cECI, []float64{p84.X84, p84.Y84, p84.Z84}, sattime, ucam, H) + return groudPoint84 } diff --git a/pkg/producer/grid_img.go b/pkg/producer/grid_img.go index a27f12c..093e4ab 100644 --- a/pkg/producer/grid_img.go +++ b/pkg/producer/grid_img.go @@ -6,15 +6,15 @@ type GridPoint struct { // 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)) + a := int((height) / (m + 1)) var lines []int - for i := 0; i <= m; i++ { + for i := 1; i <= m; i++ { lines = append(lines, a*i) } - b := int((width) / (n)) + b := int((width) / (n + 1)) var samples []int - for i := 0; i <= n; i++ { + for i := 1; i <= n; i++ { samples = append(samples, b*i) } @@ -23,14 +23,14 @@ func gridImage2(m, n, height, width, k, hmin, hmax int) []*GridPoint { dh := (hmax - hmin) / (k) var h []int - for i := 0; i <= k; i++ { + for i := 1; i <= k; i++ { h = append(h, hmin+dh*i) } var points []*GridPoint - for i := 0; i < len(lines); i++ { - for j := 0; j < len(samples); j++ { - for l := 0; l < len(h); l++ { + for l := 0; l < len(h); l++ { + for i := 0; i < len(lines); i++ { + for j := 0; j < len(samples); j++ { p := GridPoint{lines[i], samples[j], h[l]} points = append(points, &p) } diff --git a/pkg/producer/rpc.go b/pkg/producer/rpc.go index a107b8c..5491b05 100644 --- a/pkg/producer/rpc.go +++ b/pkg/producer/rpc.go @@ -56,8 +56,8 @@ type RPCModel struct { // rational polynomial coeffients func NewRPC(r *Registrator, scene *Scene, rpb string) *RPC { rpc := RPC{ - elevationLayer: 3, - gridsize: 19, + elevationLayer: 5, + gridsize: 20, registrator: r, scene: scene, rpb: rpb, @@ -97,6 +97,8 @@ func (rpc *RPC) generateVirtualGCP() { rpc.scene.Height, rpc.scene.Width, rpc.elevationLayer, int(rpc.minH), int(rpc.maxH)) + ft, _ := os.Create("log/scene/" + rpc.scene.SceneId + ".time.txt") + defer ft.Close() for _, p := range points { p84 := rpc.registrator.calculateLatLonH(rpc.scene, p.Row, p.Col, p.H) rpc.GCPs = append(rpc.GCPs, &GroundPoint{ @@ -106,6 +108,8 @@ func (rpc *RPC) generateVirtualGCP() { Y: float64(p.Row), X: float64(p.Col), }) + t, dt := rpc.registrator.ImageTime.Interp(p.Row+rpc.scene.Y, 16) + ft.WriteString(fmt.Sprintf("%d\t%.9f\t%.9f\n", p.Row, t, dt)) } name := strings.Replace(rpc.scene.Tiff, ".tiff", ".gcp.geojson", -1)