atitude interp

config/config.yaml

@@ -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"

pkg/auxilary/att.go

@@ -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,

pkg/calculator/camera.go

@@ -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
+	CameraPitch = 0.150  // 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
+	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

pkg/config/config.go

@@ -58,6 +58,7 @@ type RPCConfig struct {
 	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

pkg/producer/aux.go

@@ -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]
+	aux0 := r.AuxPlatforms[r.sceneOffsetInAuxIndex(scene, 0)]
-	// scene.Meta.SatPosY = startPos84[1]
+	scene.Meta.SatPosX, scene.Meta.SatPosY, scene.Meta.SatPosZ = calculator.ECEFGeocentricToGeodetic(aux0.W84PosX, aux0.W84PosY, aux0.W84PosZ)
-	// scene.Meta.SatPosZ = startPos84[2]
+	scene.Meta.Yaw = aux0.Eular3 * 180 / math.Pi
-	// scene.Meta.Yaw = ae.Eular3 * 180 / math.Pi
+	scene.Meta.Pitch = aux0.Eular2 * 180 / math.Pi
-	// scene.Meta.Pitch = ae.Eular2 * 180 / math.Pi
+	scene.Meta.Roll = aux0.Eular1 * 180 / math.Pi
-	// scene.Meta.Roll = ae.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)
 	}

pkg/producer/rpc.go

@@ -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 {