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This commit is contained in:
nuknal
2024-07-12 15:59:21 +08:00
parent b8ac9cf4d4
commit 783b83b30d
8 changed files with 34 additions and 24 deletions
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5
pkg/calculator/camera.go
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@@ -4,15 +4,16 @@ import (
"math" "math"
"gonum.org/v1/gonum/mat" "gonum.org/v1/gonum/mat"
"starwiz.cn/sjy01/image-proc/pkg/payload"
) )
const ( const (
FocalLength = 1300.0 // 焦距, mm FocalLength = 1300.0 // 焦距, mm
FOV = 1.7 // 对角线视场角,degree FOV = 1.7 // 对角线视场角,degree
FOVCALC = 1.86 // 对角线视场角,degree FOVCALC = 1.86 // 对角线视场角,degree
PANPixels = 9344.0 PANPixels = float64(payload.PAN_PIXEL_WIDTH)
PANCellSize = 3.2 // µm PANCellSize = 3.2 // µm
MSSPixels = 2336.0 MSSPixels = float64(payload.MSS_PIXEL_WIDTH)
MSSCellSize = 12.8 // µm MSSCellSize = 12.8 // µm
CameraRoll = 0.0 // 相机与卫星本体X轴的安装角度, degree FIXME: 安装矩阵应该由卫星方提供 CameraRoll = 0.0 // 相机与卫星本体X轴的安装角度, degree FIXME: 安装矩阵应该由卫星方提供
CameraPitch = 0.5 // 相机与卫星本体Y轴的安装角度, degree CameraPitch = 0.5 // 相机与卫星本体Y轴的安装角度, degree

9
pkg/config/config.go
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@@ -1,6 +1,9 @@
package config package config
import "github.com/sirupsen/logrus" import (
"github.com/sirupsen/logrus"
"starwiz.cn/sjy01/image-proc/pkg/payload"
)
type Config struct { type Config struct {
CoRegistration CoRegistrationConfig `yaml:"coregistration" mapstructure:"coregistration"` CoRegistration CoRegistrationConfig `yaml:"coregistration" mapstructure:"coregistration"`
@@ -38,8 +41,8 @@ func init() {
CoRegistration: CoRegistrationConfig{ CoRegistration: CoRegistrationConfig{
MssBands: 4, MssBands: 4,
PixelBytes: 2, PixelBytes: 2,
PanWidth: 9344, PanWidth: payload.PAN_PIXEL_WIDTH,
MssWidth: 2336, MssWidth: payload.MSS_PIXEL_WIDTH,
OverlappedBlockLines: 3000, OverlappedBlockLines: 3000,
CRBlockNW: 8, CRBlockNW: 8,
CRBlockNH: 4, CRBlockNH: 4,

13
pkg/producer/aux.go
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@@ -17,6 +17,7 @@ import (
"github.com/paulmach/orb/planar" "github.com/paulmach/orb/planar"
"starwiz.cn/sjy01/image-proc/pkg/auxilary" "starwiz.cn/sjy01/image-proc/pkg/auxilary"
"starwiz.cn/sjy01/image-proc/pkg/calculator" "starwiz.cn/sjy01/image-proc/pkg/calculator"
"starwiz.cn/sjy01/image-proc/pkg/payload"
"starwiz.cn/sjy01/image-proc/pkg/utils" "starwiz.cn/sjy01/image-proc/pkg/utils"
) )
@@ -133,11 +134,11 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
log.Info("using attitude quaternion to calculate image boundary...") log.Info("using attitude quaternion to calculate image boundary...")
Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3} Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0) line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0)
line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 9344) line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3} Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0) lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0)
lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 9344) lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
// ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------ // ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------
// log.Info("using orbit and body quaternion to calculate image boundary...") // log.Info("using orbit and body quaternion to calculate image boundary...")
@@ -146,14 +147,14 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
// Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3} // Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z) // Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// line0Start,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0) // line0Start,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
// line0End,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344) // line0End,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3} // Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z) // Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3} // Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z) // Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// lineNStart,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0) // lineNStart,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
// lineNEnd,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344) // lineNEnd,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
// ------------------ 使用本体和轨道四元数计算图像边界 ECEF------------------ // ------------------ 使用本体和轨道四元数计算图像边界 ECEF------------------
// log.Info("using orbit and body quaternion to calculate image boundary...") // log.Info("using orbit and body quaternion to calculate image boundary...")
@@ -161,13 +162,13 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z) // Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// vec84 := []float64{as.W84VelX, as.W84VelY, as.W84VelZ} // vec84 := []float64{as.W84VelX, as.W84VelY, as.W84VelZ}
// line0Start, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 0) // line0Start, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 0)
// line0End, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 9344) // line0End, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, payload.PAN_PIXEL_WIDTH)
// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3} // Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z) // Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// vec84 = []float64{ae.W84VelX, ae.W84VelY, ae.W84VelZ} // vec84 = []float64{ae.W84VelX, ae.W84VelY, ae.W84VelZ}
// lineNStart, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 0) // lineNStart, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 0)
// lineNEnd, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 9344) // lineNEnd, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, payload.PAN_PIXEL_WIDTH)
// ------------------ 计算图像边界距离和分辨率 ------------------ // ------------------ 计算图像边界距离和分辨率 ------------------
W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat}) W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat})

5
pkg/producer/image_registration.go
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@@ -14,6 +14,7 @@ import (
"gonum.org/v1/gonum/interp" "gonum.org/v1/gonum/interp"
"gonum.org/v1/gonum/spatial/r3" "gonum.org/v1/gonum/spatial/r3"
"starwiz.cn/sjy01/image-proc/pkg/auxilary" "starwiz.cn/sjy01/image-proc/pkg/auxilary"
"starwiz.cn/sjy01/image-proc/pkg/payload"
) )
type Registrate interface{} type Registrate interface{}
@@ -21,8 +22,8 @@ type Registrate interface{}
const ( const (
MssBands = 4 MssBands = 4
PixelBytes = 2 PixelBytes = 2
PanWidth = 9344 // 像素宽度 PanWidth = payload.PAN_PIXEL_WIDTH // 像素宽度
MssWidth = 2336 MssWidth = payload.MSS_PIXEL_WIDTH
BlockNH = 4 BlockNH = 4
BlockNW = 8 BlockNW = 8
OverlappedBlockLines = 3000 // 重叠块的行数 OverlappedBlockLines = 3000 // 重叠块的行数

3
pkg/producer/rrc.go
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@@ -5,6 +5,7 @@ import (
"path/filepath" "path/filepath"
"github.com/sirupsen/logrus" "github.com/sirupsen/logrus"
"starwiz.cn/sjy01/image-proc/pkg/payload"
"starwiz.cn/sjy01/image-proc/pkg/rrc" "starwiz.cn/sjy01/image-proc/pkg/rrc"
) )
@@ -24,7 +25,7 @@ func (r *Registrator) DoRRCbyLUT(lutDir string) error {
} }
for i := 0; i < 4; i++ { for i := 0; i < 4; i++ {
lutMSS, err := rrc.LoadLUT(filepath.Join(lutDir, fmt.Sprintf("B%d.LUT", i+1)), 2336) lutMSS, err := rrc.LoadLUT(filepath.Join(lutDir, fmt.Sprintf("B%d.LUT", i+1)), payload.MSS_PIXEL_WIDTH)
if err != nil { if err != nil {
logrus.Error("load mss gray table failed") logrus.Error("load mss gray table failed")
return err return err

11
pkg/producer/scenes.go
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@@ -14,6 +14,7 @@ import (
log "github.com/sirupsen/logrus" log "github.com/sirupsen/logrus"
"gocv.io/x/gocv" "gocv.io/x/gocv"
"starwiz.cn/sjy01/image-proc/pkg/config" "starwiz.cn/sjy01/image-proc/pkg/config"
"starwiz.cn/sjy01/image-proc/pkg/payload"
"starwiz.cn/sjy01/image-proc/pkg/rrc" "starwiz.cn/sjy01/image-proc/pkg/rrc"
"starwiz.cn/sjy01/image-proc/pkg/utils" "starwiz.cn/sjy01/image-proc/pkg/utils"
) )
@@ -47,8 +48,8 @@ func CleanScenes(scenes []*Scene) {
// MSS 2336 * 2336 - 1764 // MSS 2336 * 2336 - 1764
// PAN 9344 * 9344 - 7056 // PAN 9344 * 9344 - 7056
func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err error) { func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err error) {
hPAN := (9344 - 2336) hPAN := (payload.PAN_PIXEL_WIDTH - payload.MSS_PIXEL_WIDTH)
hPANOverlap := 2336 hPANOverlap := payload.MSS_PIXEL_WIDTH
panScenesCnt := r.PanHeight / hPAN panScenesCnt := r.PanHeight / hPAN
for i := 0; i <= panScenesCnt; i++ { for i := 0; i <= panScenesCnt; i++ {
@@ -59,7 +60,7 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
scene := &Scene{ scene := &Scene{
Type: "PAN", Type: "PAN",
Width: 9344, Width: payload.PAN_PIXEL_WIDTH,
Height: y1 - i*hPAN, Height: y1 - i*hPAN,
X: 0, X: 0,
Y: i * hPAN, Y: i * hPAN,
@@ -74,7 +75,7 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
name = strings.TrimSuffix(name, ".tiff") name = strings.TrimSuffix(name, ".tiff")
scene.SceneId = fmt.Sprintf("%s_%03d", name, i+1) scene.SceneId = fmt.Sprintf("%s_%03d", name, i+1)
mat := r.PanImage.Region(image.Rect(0, i*hPAN, 9344, y1)) mat := r.PanImage.Region(image.Rect(0, i*hPAN, payload.PAN_PIXEL_WIDTH, y1))
if config.GCONFIG.Radiation.PANRemoveHfNoise { if config.GCONFIG.Radiation.PANRemoveHfNoise {
log.Println("applying hf noise filter on", scene.SceneId) log.Println("applying hf noise filter on", scene.SceneId)
matFiltered := rrc.HFNoiseFilter(mat, float64(mat.Cols())*config.GCONFIG.Radiation.HfRadiusRatio) matFiltered := rrc.HFNoiseFilter(mat, float64(mat.Cols())*config.GCONFIG.Radiation.HfRadiusRatio)
@@ -101,7 +102,7 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
scene := &Scene{ scene := &Scene{
Type: "MSS", Type: "MSS",
Width: 2336, Width: payload.MSS_PIXEL_WIDTH,
Height: y1 - i*hMSS, Height: y1 - i*hMSS,
X: 0, X: 0,
Y: i * hMSS, Y: i * hMSS,

5
pkg/rrc/filter_test.go
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@@ -6,6 +6,7 @@ import (
"github.com/airbusgeo/godal" "github.com/airbusgeo/godal"
"gocv.io/x/gocv" "gocv.io/x/gocv"
"starwiz.cn/sjy01/image-proc/pkg/payload"
"starwiz.cn/sjy01/image-proc/pkg/utils" "starwiz.cn/sjy01/image-proc/pkg/utils"
) )
@@ -53,8 +54,8 @@ func TestMomentMatching(t *testing.T) {
t.Error(err) t.Error(err)
} }
height := len(data) / (9344 * 2) height := len(data) / (payload.PAN_PIXEL_WIDTH * 2)
img, err := gocv.NewMatFromBytes(height, 9344, gocv.MatTypeCV16U, data) img, err := gocv.NewMatFromBytes(height, payload.PAN_PIXEL_WIDTH, gocv.MatTypeCV16U, data)
if err != nil { if err != nil {
t.Error(err) t.Error(err)
} }

7
pkg/rrc/rrc.go
View File

@@ -10,6 +10,7 @@ import (
log "github.com/sirupsen/logrus" log "github.com/sirupsen/logrus"
"gocv.io/x/gocv" "gocv.io/x/gocv"
"starwiz.cn/sjy01/image-proc/pkg/payload"
"starwiz.cn/sjy01/image-proc/pkg/utils" "starwiz.cn/sjy01/image-proc/pkg/utils"
) )
@@ -17,9 +18,9 @@ import (
// 采用在轨统计定标方法。利用卫星在轨后获取的常规影像数据，统计每个探元出现的灰度频次。 // 采用在轨统计定标方法。利用卫星在轨后获取的常规影像数据，统计每个探元出现的灰度频次。
const ( const (
PANCameraProbeNum = 9344 // 全色探元数 PANCameraProbeNum = payload.PAN_PIXEL_WIDTH // 全色探元数
MSSCameraProbeNum = 2336 // 多光谱探元数 MSSCameraProbeNum = payload.MSS_PIXEL_WIDTH // 多光谱探元数
MaxGrayLevel = 65536 // 16bit像素值 MaxGrayLevel = 65536 // 16bit像素值
) )
type RRC struct { type RRC struct {