gps image-time attitude 拟合精度

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
 }

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)
 			}

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)