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atitude interp

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This commit is contained in:
nuknal
2024-09-10 16:02:10 +08:00
parent e44bd318ae
commit 7bd0896f05
6 changed files with 26 additions and 22 deletions
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1
config/config.yaml
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@@ -24,6 +24,7 @@ rpc:
altitude_layer: 5
altitude_range: 1000
method: 2 # 1-最小二乘法 2-NelderMead
debug: true
dem:
dem_1km: "dem/gdlebm.tif"

2
pkg/auxilary/att.go
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@@ -112,7 +112,7 @@ func ExtractAttitude(aps []*AuxPlatform) *Attitudes {
sec, microsec = ap.UTCTimeSec, ap.Microsecond
att := Attitude{
UTCTimestampSec: float64(sec) + float64(ReferenceTime2000) +
float64(transfromGPSandAttMicrosec(microsec))/1e6,
float64((microsec))/1e6,
Q0: ap.QuatAttstarQ0,
Q1: ap.QuatAttstarQ1,
Q2: ap.QuatAttstarQ2,

4
pkg/calculator/camera.go
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@@ -16,8 +16,8 @@ const (
MSSPixels = float64(payload.MSS_PIXEL_WIDTH)
MSSCellSize = 12.8 // µm
CameraRoll = -0.010 // 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 = 0.213 // 相机与卫星本体Y轴的安装角度, degree
CameraYaw = 0.012 // 相机与卫星本体Z轴的安装角度, degree
CameraPitch = 0.150 // 相机与卫星本体Y轴的安装角度, degree
CameraYaw = 0.010 // 相机与卫星本体Z轴的安装角度, degree
)
// 计算过程使用PAN分辨率

9
pkg/config/config.go
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@@ -54,10 +54,11 @@ type BrowserImgConfig struct {
}
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"`
Method int `yaml:"method" mapstructure:"method"`
GridSize int `yaml:"grid_size" mapstructure:"grid_size"`
AltitudeRange int `yaml:"altitude_range" mapstructure:"altitude_range"`
AltitudeLayer int `yaml:"altitude_layer" mapstructure:"altitude_layer"`
Method int `yaml:"method" mapstructure:"method"`
Debug bool `yaml:"debug" mapstructure:"debug"`
}
var GCONFIG Config

14
pkg/producer/aux.go
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@@ -102,6 +102,7 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
}
log.Debug("resolution x: ", xResolution)
log.Debug("resolution y: ", yResolution)
scene.Meta.Gsd = math.Max(xResolution, yResolution)
// 求外接矩形
latMin := mathutil.Min(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
@@ -133,15 +134,14 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
scene.Meta.Corners.LowerRight.Latitude = lineNEnd.Lat
scene.Meta.Corners.LowerRight.Longitude = lineNEnd.Lon
// scene.Meta.SatPosX = startPos84[0]
// scene.Meta.SatPosY = startPos84[1]
// scene.Meta.SatPosZ = startPos84[2]
// scene.Meta.Yaw = ae.Eular3 * 180 / math.Pi
// scene.Meta.Pitch = ae.Eular2 * 180 / math.Pi
// scene.Meta.Roll = ae.Eular1 * 180 / math.Pi
aux0 := r.AuxPlatforms[r.sceneOffsetInAuxIndex(scene, 0)]
scene.Meta.SatPosX, scene.Meta.SatPosY, scene.Meta.SatPosZ = calculator.ECEFGeocentricToGeodetic(aux0.W84PosX, aux0.W84PosY, aux0.W84PosZ)
scene.Meta.Yaw = aux0.Eular3 * 180 / math.Pi
scene.Meta.Pitch = aux0.Eular2 * 180 / math.Pi
scene.Meta.Roll = aux0.Eular1 * 180 / math.Pi
// 计算RPC
rpc := NewRPC(r, scene, strings.Replace(scene.Tiff, ".tiff", ".rpb", 1))
rpc := NewRPC(r, scene)
if err := rpc.RPC(); err != nil {
log.Error("calculate RPC failed: ", err)
}

18
pkg/producer/rpc.go
View File

@@ -33,8 +33,6 @@ type RPC struct {
scene *Scene
registrator *Registrator
rpb string
}
// GroundPoint 表示地面点的三维坐标
@@ -55,13 +53,12 @@ type RPCModel struct {
}
// rational polynomial coeffients
func NewRPC(r *Registrator, scene *Scene, rpb string) *RPC {
func NewRPC(r *Registrator, scene *Scene) *RPC {
rpc := RPC{
elevationLayer: config.GCONFIG.RPC.AltitudeLayer,
gridsize: config.GCONFIG.RPC.GridSize,
registrator: r,
scene: scene,
rpb: rpb,
}
log.Info("start RPC initialization for scene: ", scene.Tiff)
@@ -98,8 +95,6 @@ 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{
@@ -109,8 +104,6 @@ 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)
@@ -278,6 +271,9 @@ func (rpc *RPC) saveRPB(name string) error {
}
func (rpc *RPC) saveGCP(gcps []*GroundPoint, name string) error {
if !config.GCONFIG.RPC.Debug {
return nil
}
log.Infof("save gcp to %s", name)
f, err := os.Create(name)
if err != nil {
@@ -305,6 +301,9 @@ func (rpc *RPC) saveGCP(gcps []*GroundPoint, name string) error {
}
func (rpc *RPC) saveGCP2(gcps []*GroundPoint, name string) error {
if !config.GCONFIG.RPC.Debug {
return nil
}
log.Infof("save gcp to %s", name)
f, err := os.Create(name)
if err != nil {
@@ -322,6 +321,9 @@ func (rpc *RPC) saveGCP2(gcps []*GroundPoint, name string) error {
}
func (rpc *RPC) saveVec(name string, rowVec, colVec, latVec, lonVec, heightVec *mat.VecDense) error {
if !config.GCONFIG.RPC.Debug {
return nil
}
f, err := os.Create(name)
if err != nil {