fitting

cmd/main.go

@@ -0,0 +1,44 @@
+package main
+
+import (
+	"github.com/airbusgeo/godal"
+	"github.com/sirupsen/logrus"
+	imageproc "starwiz.cn/sjy01/image-proc"
+)
+
+func init() {
+	logrus.SetFormatter(&logrus.TextFormatter{
+		ForceColors:     true,
+		DisableColors:   false,
+		TimestampFormat: "2006-01-02 15:04:05",
+		FullTimestamp:   true,
+	})
+}
+
+func main() {
+	reg := imageproc.NewRegistrator()
+
+	if err := reg.LoadMssRaw("/Users/lan/workspace/temp/ccv/ms_image.raw"); err != nil {
+		panic(err)
+	}
+
+	if err := reg.LoadPanRaw("/Users/lan/workspace/temp/ccv/pan_image.raw"); err != nil {
+		panic(err)
+	}
+
+	godal.RegisterAll()
+	if err := reg.CalcDownPhaseCorrelation(); err != nil {
+		panic(err)
+	}
+	// reg.DoCoRegestration()
+
+	// if err := reg.DoUpPhaseCorrelation(); err != nil {
+	// 	panic(err)
+	// }
+
+	// reg.SaveRegisteredMssToRaw("data/registered_mss.RAW")
+	// reg.SavePanToGDALGTiff("data/original_pan.tiff")
+	// reg.SaveRegisteredMssToGDALGTiff("data/registered_mss.tiff")
+
+	reg.Clean()
+}

fit.go

@@ -0,0 +1,61 @@
+package imageproc
+
+import (
+	"fmt"
+
+	"gonum.org/v1/gonum/mat"
+)
+
+// PolynomialFit fits a polynomial of given degree to the data points (x, y).
+func PolynomialFit(x, y []float64, degree int) []float64 {
+	n := len(x)
+	// Create the Vandermonde matrix
+	vander := mat.NewDense(n, degree+1, nil)
+	for i := 0; i < n; i++ {
+		for j := 0; j <= degree; j++ {
+			vander.Set(i, j, pow(x[i], j))
+		}
+	}
+
+	// Create the right-hand side vector
+	yVec := mat.NewVecDense(n, y)
+
+	// Solve the least squares problem
+	var qr mat.QR
+	qr.Factorize(vander)
+	coeffs := mat.NewDense(degree+1, 1, nil)
+	err := qr.SolveTo(coeffs, false, yVec)
+	if err != nil {
+		panic(err)
+	}
+
+	return coeffs.RawMatrix().Data
+}
+
+// pow is a helper function to calculate power of a number.
+func pow(x float64, n int) float64 {
+	if n == 0 {
+		return 1
+	}
+	res := x
+	for i := 1; i < n; i++ {
+		res *= x
+	}
+	return res
+}
+
+func main() {
+	// Input data
+	x := []float64{1.0, 2.0, 3.0, 4.0, 5.0}
+	y := []float64{1.0, 1.5, 2.5, 3.5, 5.0}
+
+	// Fit a second degree polynomial (quadratic)
+	degree := 2
+	coeffs := PolynomialFit(x, y, degree)
+
+	// Print the coefficients
+	fmt.Printf("Fitted polynomial coefficients: %v\n", coeffs)
+	if degree == 2 {
+		fmt.Printf("Fitted quadratic: y = %.4fx^2 + %.4fx + %.4f\n", coeffs[2], coeffs[1], coeffs[0])
+	}
+}

gdal_pansharpen.go

@@ -1,5 +1,5 @@
 package imageproc
 
 const (
-	ProductSuffix = "Pansharpened.tiff"
+	GDALPansharpenCommand = "gdal_pansharpen.py {{.PANGTiff}} {{.MSSGTiff}} {{.FUSGTiff}} -r cubic -of GTiff"
 )

go.mod

@@ -3,13 +3,22 @@ module starwiz.cn/sjy01/image-proc
 go 1.20
 
 require (
-	github.com/chai2010/tiff v0.0.0-20211005095045-4ec2aa243943
+	github.com/airbusgeo/godal v0.0.11
 	github.com/sirupsen/logrus v1.9.3
 	gocv.io/x/gocv v0.36.1
 )
 
 require (
-	github.com/airbusgeo/godal v0.0.11 // indirect
+	github.com/mattn/go-colorable v0.1.13 // indirect
-	github.com/stretchr/testify v1.8.3 // indirect
+	github.com/mattn/go-isatty v0.0.17 // indirect
-	golang.org/x/sys v0.12.0 // indirect
+	golang.org/x/text v0.15.0 // indirect
+)
+
+require (
+	github.com/google/go-cmp v0.6.0 // indirect
+	github.com/k0kubun/pp/v3 v3.2.0
+	golang.org/x/net v0.25.0 // indirect
+	golang.org/x/sync v0.7.0 // indirect
+	golang.org/x/sys v0.20.0 // indirect
+	gonum.org/v1/gonum v0.15.0 // indirect
 )

go.sum

@@ -40,6 +40,7 @@ cloud.google.com/go v0.110.0/go.mod h1:SJnCLqQ0FCFGSZMUNUf84MV3Aia54kn7pi8st7tMz
 cloud.google.com/go v0.110.2/go.mod h1:k04UEeEtb6ZBRTv3dZz4CeJC3jKGxyhl0sAiVVquxiw=
 cloud.google.com/go v0.110.4/go.mod h1:+EYjdK8e5RME/VY/qLCAtuyALQ9q67dvuum8i+H5xsI=
 cloud.google.com/go v0.110.6/go.mod h1:+EYjdK8e5RME/VY/qLCAtuyALQ9q67dvuum8i+H5xsI=
+cloud.google.com/go v0.110.7 h1:rJyC7nWRg2jWGZ4wSJ5nY65GTdYJkg0cd/uXb+ACI6o=
 cloud.google.com/go v0.110.7/go.mod h1:+EYjdK8e5RME/VY/qLCAtuyALQ9q67dvuum8i+H5xsI=
 cloud.google.com/go/accessapproval v1.4.0/go.mod h1:zybIuC3KpDOvotz59lFe5qxRZx6C75OtwbisN56xYB4=
 cloud.google.com/go/accessapproval v1.5.0/go.mod h1:HFy3tuiGvMdcd/u+Cu5b9NkO1pEICJ46IR82PoUdplw=
@@ -211,10 +212,12 @@ cloud.google.com/go/compute v1.19.1/go.mod h1:6ylj3a05WF8leseCdIf77NK0g1ey+nj5IK
 cloud.google.com/go/compute v1.19.3/go.mod h1:qxvISKp/gYnXkSAD1ppcSOveRAmzxicEv/JlizULFrI=
 cloud.google.com/go/compute v1.20.1/go.mod h1:4tCnrn48xsqlwSAiLf1HXMQk8CONslYbdiEZc9FEIbM=
 cloud.google.com/go/compute v1.21.0/go.mod h1:4tCnrn48xsqlwSAiLf1HXMQk8CONslYbdiEZc9FEIbM=
+cloud.google.com/go/compute v1.23.0 h1:tP41Zoavr8ptEqaW6j+LQOnyBBhO7OkOMAGrgLopTwY=
 cloud.google.com/go/compute v1.23.0/go.mod h1:4tCnrn48xsqlwSAiLf1HXMQk8CONslYbdiEZc9FEIbM=
 cloud.google.com/go/compute/metadata v0.1.0/go.mod h1:Z1VN+bulIf6bt4P/C37K4DyZYZEXYonfTBHHFPO/4UU=
 cloud.google.com/go/compute/metadata v0.2.0/go.mod h1:zFmK7XCadkQkj6TtorcaGlCW1hT1fIilQDwofLpJ20k=
 cloud.google.com/go/compute/metadata v0.2.1/go.mod h1:jgHgmJd2RKBGzXqF5LR2EZMGxBkeanZ9wwa75XHJgOM=
+cloud.google.com/go/compute/metadata v0.2.3 h1:mg4jlk7mCAj6xXp9UJ4fjI9VUI5rubuGBW5aJ7UnBMY=
 cloud.google.com/go/compute/metadata v0.2.3/go.mod h1:VAV5nSsACxMJvgaAuX6Pk2AawlZn8kiOGuCv6gTkwuA=
 cloud.google.com/go/contactcenterinsights v1.3.0/go.mod h1:Eu2oemoePuEFc/xKFPjbTuPSj0fYJcPls9TFlPNnHHY=
 cloud.google.com/go/contactcenterinsights v1.4.0/go.mod h1:L2YzkGbPsv+vMQMCADxJoT9YiTTnSEd6fEvCeHTYVck=
@@ -398,6 +401,7 @@ cloud.google.com/go/iam v0.13.0/go.mod h1:ljOg+rcNfzZ5d6f1nAUJ8ZIxOaZUVoS14bKCta
 cloud.google.com/go/iam v1.0.1/go.mod h1:yR3tmSL8BcZB4bxByRv2jkSIahVmCtfKZwLYGBalRE8=
 cloud.google.com/go/iam v1.1.0/go.mod h1:nxdHjaKfCr7fNYx/HJMM8LgiMugmveWlkatear5gVyk=
 cloud.google.com/go/iam v1.1.1/go.mod h1:A5avdyVL2tCppe4unb0951eI9jreack+RJ0/d+KUZOU=
+cloud.google.com/go/iam v1.1.2 h1:gacbrBdWcoVmGLozRuStX45YKvJtzIjJdAolzUs1sm4=
 cloud.google.com/go/iam v1.1.2/go.mod h1:A5avdyVL2tCppe4unb0951eI9jreack+RJ0/d+KUZOU=
 cloud.google.com/go/iap v1.4.0/go.mod h1:RGFwRJdihTINIe4wZ2iCP0zF/qu18ZwyKxrhMhygBEc=
 cloud.google.com/go/iap v1.5.0/go.mod h1:UH/CGgKd4KyohZL5Pt0jSKE4m3FR51qg6FKQ/z/Ix9A=
@@ -674,6 +678,7 @@ cloud.google.com/go/storage v1.27.0/go.mod h1:x9DOL8TK/ygDUMieqwfhdpQryTeEkhGKMi
 cloud.google.com/go/storage v1.28.1/go.mod h1:Qnisd4CqDdo6BGs2AD5LLnEsmSQ80wQ5ogcBBKhU86Y=
 cloud.google.com/go/storage v1.29.0/go.mod h1:4puEjyTKnku6gfKoTfNOU/W+a9JyuVNxjpS5GBrB8h4=
 cloud.google.com/go/storage v1.30.1/go.mod h1:NfxhC0UJE1aXSx7CIIbCf7y9HKT7BiccwkR7+P7gN8E=
+cloud.google.com/go/storage v1.32.0 h1:5w6DxEGOnktmJHarxAOUywxVW9lbNWIzlzzUltG/3+o=
 cloud.google.com/go/storage v1.32.0/go.mod h1:Hhh/dogNRGca7IWv1RC2YqEn0c0G77ctA/OxflYkiD8=
 cloud.google.com/go/storagetransfer v1.5.0/go.mod h1:dxNzUopWy7RQevYFHewchb29POFv3/AaBgnhqzqiK0w=
 cloud.google.com/go/storagetransfer v1.6.0/go.mod h1:y77xm4CQV/ZhFZH75PLEXY0ROiS7Gh6pSKrM8dJyg6I=
@@ -767,9 +772,11 @@ github.com/JohnCGriffin/overflow v0.0.0-20211019200055-46fa312c352c/go.mod h1:X0
 github.com/OneOfOne/xxhash v1.2.2/go.mod h1:HSdplMjZKSmBqAxg5vPj2TmRDmfkzw+cTzAElWljhcU=
 github.com/airbusgeo/cogger v0.0.7/go.mod h1:kCWuN4IVKpUiLzGKrqsZHPYbN24nyyrRuAa/vX2eURk=
 github.com/airbusgeo/errs v0.0.2/go.mod h1:w6O7kns8m5o+eQeWsbhU7usUNq2Rhmt4xQO+rVt9/Js=
+github.com/airbusgeo/errs v0.0.3 h1:+lUcbfm45tPLz/DMUC38QT+y9N60aKrPv4MXqVb7Noc=
 github.com/airbusgeo/errs v0.0.3/go.mod h1:/U1fafLfbdxZXtIqdTGeGGzLqnZcnGJXsJ0S7TaP4P0=
 github.com/airbusgeo/godal v0.0.11 h1:9nNh8Em9fqHx4qFJfIro85orojcNy8CNtosEdvWy++s=
 github.com/airbusgeo/godal v0.0.11/go.mod h1:OctoqHTqjtTNm/a6u6ESfG61jcxs9qh7EwvunPn1BRA=
+github.com/airbusgeo/osio v0.1.3 h1:IxNf1co8lxwqJCziV+5qZyZbkT6JYdmR3L0oomNffrk=
 github.com/airbusgeo/osio v0.1.3/go.mod h1:d4qlaDSgsMilFoi+/62vwFZStuYIHIDovYzIRjTK+Jw=
 github.com/ajstarks/deck v0.0.0-20200831202436-30c9fc6549a9/go.mod h1:JynElWSGnm/4RlzPXRlREEwqTHAN3T56Bv2ITsFT3gY=
 github.com/ajstarks/deck/generate v0.0.0-20210309230005-c3f852c02e19/go.mod h1:T13YZdzov6OU0A1+RfKZiZN9ca6VeKdBdyDV+BY97Tk=
@@ -806,8 +813,6 @@ github.com/census-instrumentation/opencensus-proto v0.4.1/go.mod h1:4T9NM4+4Vw91
 github.com/cespare/xxhash v1.1.0/go.mod h1:XrSqR1VqqWfGrhpAt58auRo0WTKS1nRRg3ghfAqPWnc=
 github.com/cespare/xxhash/v2 v2.1.1/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs=
 github.com/cespare/xxhash/v2 v2.2.0/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs=
-github.com/chai2010/tiff v0.0.0-20211005095045-4ec2aa243943 h1:CjuhVIUiyWQZVY4rmcvm/9R+60e/Wi6LkXyHU38MqXI=
-github.com/chai2010/tiff v0.0.0-20211005095045-4ec2aa243943/go.mod h1:FhMMqekobM33oGdTfbi65oQ9P7bnQ5/0EDfmleW35RE=
 github.com/chzyer/logex v1.1.10/go.mod h1:+Ywpsq7O8HXn0nuIou7OrIPyXbp3wmkHB+jjWRnGsAI=
 github.com/chzyer/readline v0.0.0-20180603132655-2972be24d48e/go.mod h1:nSuG5e5PlCu98SY8svDHJxuZscDgtXS6KTTbou5AhLI=
 github.com/chzyer/test v0.0.0-20180213035817-a1ea475d72b1/go.mod h1:Q3SI9o4m/ZMnBNeIyt5eFwwo7qiLfzFZmjNmxjkiQlU=
@@ -884,6 +889,7 @@ github.com/golang/glog v1.1.0/go.mod h1:pfYeQZ3JWZoXTV5sFc986z3HTpwQs9At6P4ImfuP
 github.com/golang/groupcache v0.0.0-20190702054246-869f871628b6/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
 github.com/golang/groupcache v0.0.0-20191227052852-215e87163ea7/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
 github.com/golang/groupcache v0.0.0-20200121045136-8c9f03a8e57e/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
+github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da h1:oI5xCqsCo564l8iNU+DwB5epxmsaqB+rhGL0m5jtYqE=
 github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc=
 github.com/golang/mock v1.1.1/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A=
 github.com/golang/mock v1.2.0/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A=
@@ -911,6 +917,7 @@ github.com/golang/protobuf v1.4.3/go.mod h1:oDoupMAO8OvCJWAcko0GGGIgR6R6ocIYbsSw
 github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
 github.com/golang/protobuf v1.5.1/go.mod h1:DopwsBzvsk0Fs44TXzsVbJyPhcCPeIwnvohx4u74HPM=
 github.com/golang/protobuf v1.5.2/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
+github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg=
 github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
 github.com/golang/snappy v0.0.3/go.mod h1:/XxbfmMg8lxefKM7IXC3fBNl/7bRcc72aCRzEWrmP2Q=
 github.com/golang/snappy v0.0.4/go.mod h1:/XxbfmMg8lxefKM7IXC3fBNl/7bRcc72aCRzEWrmP2Q=
@@ -932,6 +939,8 @@ github.com/google/go-cmp v0.5.6/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/
 github.com/google/go-cmp v0.5.7/go.mod h1:n+brtR0CgQNWTVd5ZUFpTBC8YFBDLK/h/bpaJ8/DtOE=
 github.com/google/go-cmp v0.5.8/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
+github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/go-pkcs11 v0.2.0/go.mod h1:6eQoGcuNJpa7jnd5pMGdkSaQpNDYvPlXWMcjXXThLlY=
 github.com/google/gofuzz v1.0.0/go.mod h1:dBl0BpW6vV/+mYPU4Po3pmUjxk6FQPldtuIdl/M65Eg=
 github.com/google/martian v2.1.0+incompatible/go.mod h1:9I4somxYTbIHy5NJKHRl3wXiIaQGbYVAs8BPL6v8lEs=
@@ -960,10 +969,12 @@ github.com/google/s2a-go v0.1.0/go.mod h1:OJpEgntRZo8ugHpF9hkoLJbS5dSI20XZeXJ9JV
 github.com/google/s2a-go v0.1.3/go.mod h1:Ej+mSEMGRnqRzjc7VtF+jdBwYG5fuJfiZ8ELkjEwM0A=
 github.com/google/s2a-go v0.1.4/go.mod h1:Ej+mSEMGRnqRzjc7VtF+jdBwYG5fuJfiZ8ELkjEwM0A=
 github.com/google/s2a-go v0.1.5/go.mod h1:Ej+mSEMGRnqRzjc7VtF+jdBwYG5fuJfiZ8ELkjEwM0A=
+github.com/google/s2a-go v0.1.7 h1:60BLSyTrOV4/haCDW4zb1guZItoSq8foHCXrAnjBo/o=
 github.com/google/s2a-go v0.1.7/go.mod h1:50CgR4k1jNlWBu4UfS4AcfhVe1r6pdZPygJ3R8F0Qdw=
 github.com/google/tiff v0.0.0-20161109161721-4b31f3041d9a/go.mod h1:gpYY+jaYz1cbbiPKT9p2ReLdpBTvTRqoKwJ21LdEk+4=
 github.com/google/uuid v1.1.2/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
 github.com/google/uuid v1.3.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
+github.com/google/uuid v1.3.1 h1:KjJaJ9iWZ3jOFZIf1Lqf4laDRCasjl0BCmnEGxkdLb4=
 github.com/google/uuid v1.3.1/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
 github.com/googleapis/enterprise-certificate-proxy v0.0.0-20220520183353-fd19c99a87aa/go.mod h1:17drOmN3MwGY7t0e+Ei9b45FFGA3fBs3x36SsCg1hq8=
 github.com/googleapis/enterprise-certificate-proxy v0.1.0/go.mod h1:17drOmN3MwGY7t0e+Ei9b45FFGA3fBs3x36SsCg1hq8=
@@ -971,6 +982,7 @@ github.com/googleapis/enterprise-certificate-proxy v0.2.0/go.mod h1:8C0jb7/mgJe/
 github.com/googleapis/enterprise-certificate-proxy v0.2.1/go.mod h1:AwSRAtLfXpU5Nm3pW+v7rGDHp09LsPtGY9MduiEsR9k=
 github.com/googleapis/enterprise-certificate-proxy v0.2.3/go.mod h1:AwSRAtLfXpU5Nm3pW+v7rGDHp09LsPtGY9MduiEsR9k=
 github.com/googleapis/enterprise-certificate-proxy v0.2.4/go.mod h1:AwSRAtLfXpU5Nm3pW+v7rGDHp09LsPtGY9MduiEsR9k=
+github.com/googleapis/enterprise-certificate-proxy v0.2.5 h1:UR4rDjcgpgEnqpIEvkiqTYKBCKLNmlge2eVjoZfySzM=
 github.com/googleapis/enterprise-certificate-proxy v0.2.5/go.mod h1:RxW0N9901Cko1VOCW3SXCpWP+mlIEkk2tP7jnHy9a3w=
 github.com/googleapis/gax-go/v2 v2.0.4/go.mod h1:0Wqv26UfaUD9n4G6kQubkQ+KchISgw+vpHVxEJEs9eg=
 github.com/googleapis/gax-go/v2 v2.0.5/go.mod h1:DWXyrwAJ9X0FpwwEdw+IPEYBICEFu5mhpdKc/us6bOk=
@@ -986,6 +998,7 @@ github.com/googleapis/gax-go/v2 v2.7.1/go.mod h1:4orTrqY6hXxxaUL4LHIPl6lGo8vAE38
 github.com/googleapis/gax-go/v2 v2.8.0/go.mod h1:4orTrqY6hXxxaUL4LHIPl6lGo8vAE38/qKbhSAKP6QI=
 github.com/googleapis/gax-go/v2 v2.10.0/go.mod h1:4UOEnMCrxsSqQ940WnTiD6qJ63le2ev3xfyagutxiPw=
 github.com/googleapis/gax-go/v2 v2.11.0/go.mod h1:DxmR61SGKkGLa2xigwuZIQpkCI2S5iydzRfb3peWZJI=
+github.com/googleapis/gax-go/v2 v2.12.0 h1:A+gCJKdRfqXkr+BIRGtZLibNXf0m1f9E4HG56etFpas=
 github.com/googleapis/gax-go/v2 v2.12.0/go.mod h1:y+aIqrI5eb1YGMVJfuV3185Ts/D7qKpsEkdD5+I6QGU=
 github.com/googleapis/go-type-adapters v1.0.0/go.mod h1:zHW75FOG2aur7gAO2B+MLby+cLsWGBF62rFAi7WjWO4=
 github.com/googleapis/google-cloud-go-testing v0.0.0-20200911160855-bcd43fbb19e8/go.mod h1:dvDLG8qkwmyD9a/MJJN3XJcT3xFxOKAvTZGvuZmac9g=
@@ -1009,6 +1022,7 @@ github.com/hashicorp/go.net v0.0.1/go.mod h1:hjKkEWcCURg++eb33jQU7oqQcI9XDCnUzHA
 github.com/hashicorp/golang-lru v0.5.0/go.mod h1:/m3WP610KZHVQ1SGc6re/UDhFvYD7pJ4Ao+sR/qLZy8=
 github.com/hashicorp/golang-lru v0.5.1/go.mod h1:/m3WP610KZHVQ1SGc6re/UDhFvYD7pJ4Ao+sR/qLZy8=
 github.com/hashicorp/golang-lru v0.5.4/go.mod h1:iADmTwqILo4mZ8BN3D2Q6+9jd8WM5uGBxy+E8yxSoD4=
+github.com/hashicorp/golang-lru v1.0.2 h1:dV3g9Z/unq5DpblPpw+Oqcv4dU/1omnb4Ok8iPY6p1c=
 github.com/hashicorp/golang-lru v1.0.2/go.mod h1:iADmTwqILo4mZ8BN3D2Q6+9jd8WM5uGBxy+E8yxSoD4=
 github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ=
 github.com/hashicorp/logutils v1.0.0/go.mod h1:QIAnNjmIWmVIIkWDTG1z5v++HQmx9WQRO+LraFDTW64=
@@ -1027,6 +1041,8 @@ github.com/jstemmer/go-junit-report v0.9.1/go.mod h1:Brl9GWCQeLvo8nXZwPNNblvFj/X
 github.com/jtolds/gls v4.20.0+incompatible/go.mod h1:QJZ7F/aHp+rZTRtaJ1ow/lLfFfVYBRgL+9YlvaHOwJU=
 github.com/jung-kurt/gofpdf v1.0.0/go.mod h1:7Id9E/uU8ce6rXgefFLlgrJj/GYY22cpxn+r32jIOes=
 github.com/jung-kurt/gofpdf v1.0.3-0.20190309125859-24315acbbda5/go.mod h1:7Id9E/uU8ce6rXgefFLlgrJj/GYY22cpxn+r32jIOes=
+github.com/k0kubun/pp/v3 v3.2.0 h1:h33hNTZ9nVFNP3u2Fsgz8JXiF5JINoZfFq4SvKJwNcs=
+github.com/k0kubun/pp/v3 v3.2.0/go.mod h1:ODtJQbQcIRfAD3N+theGCV1m/CBxweERz2dapdz1EwA=
 github.com/kballard/go-shellquote v0.0.0-20180428030007-95032a82bc51/go.mod h1:CzGEWj7cYgsdH8dAjBGEr58BoE7ScuLd+fwFZ44+/x8=
 github.com/kisielk/errcheck v1.5.0/go.mod h1:pFxgyoBC7bSaBwPgfKdkLd5X25qrDl4LWUI2bnpBCr8=
 github.com/kisielk/gotool v1.0.0/go.mod h1:XhKaO+MFFWcvkIS/tQcRk01m1F5IRFswLeQ+oQHNcck=
@@ -1046,9 +1062,12 @@ github.com/lyft/protoc-gen-star/v2 v2.0.1/go.mod h1:RcCdONR2ScXaYnQC5tUzxzlpA3WV
 github.com/lyft/protoc-gen-star/v2 v2.0.3/go.mod h1:amey7yeodaJhXSbf/TlLvWiqQfLOSpEk//mLlc+axEk=
 github.com/magiconair/properties v1.8.5/go.mod h1:y3VJvCyxH9uVvJTWEGAELF3aiYNyPKd5NZ3oSwXrF60=
 github.com/mattn/go-colorable v0.0.9/go.mod h1:9vuHe8Xs5qXnSaW/c/ABM9alt+Vo+STaOChaDxuIBZU=
+github.com/mattn/go-colorable v0.1.13 h1:fFA4WZxdEF4tXPZVKMLwD8oUnCTTo08duU7wxecdEvA=
+github.com/mattn/go-colorable v0.1.13/go.mod h1:7S9/ev0klgBDR4GtXTXX8a3vIGJpMovkB8vQcUbaXHg=
 github.com/mattn/go-isatty v0.0.3/go.mod h1:M+lRXTBqGeGNdLjl/ufCoiOlB5xdOkqRJdNxMWT7Zi4=
 github.com/mattn/go-isatty v0.0.12/go.mod h1:cbi8OIDigv2wuxKPP5vlRcQ1OAZbq2CE4Kysco4FUpU=
 github.com/mattn/go-isatty v0.0.16/go.mod h1:kYGgaQfpe5nmfYZH+SKPsOc2e4SrIfOl2e/yFXSvRLM=
+github.com/mattn/go-isatty v0.0.17 h1:BTarxUcIeDqL27Mc+vyvdWYSL28zpIhv3RoTdsLMPng=
 github.com/mattn/go-isatty v0.0.17/go.mod h1:kYGgaQfpe5nmfYZH+SKPsOc2e4SrIfOl2e/yFXSvRLM=
 github.com/mattn/go-sqlite3 v1.14.14/go.mod h1:NyWgC/yNuGj7Q9rpYnZvas74GogHl5/Z4A/KQRfk6bU=
 github.com/mattn/go-sqlite3 v1.14.15/go.mod h1:2eHXhiwb8IkHr+BDWZGa96P6+rkvnG63S2DGjv9HUNg=
@@ -1144,6 +1163,7 @@ go.opencensus.io v0.22.3/go.mod h1:yxeiOL68Rb0Xd1ddK5vPZ/oVn4vY4Ynel7k9FzqtOIw=
 go.opencensus.io v0.22.4/go.mod h1:yxeiOL68Rb0Xd1ddK5vPZ/oVn4vY4Ynel7k9FzqtOIw=
 go.opencensus.io v0.22.5/go.mod h1:5pWMHQbX5EPX2/62yrJeAkowc+lfs/XD7Uxpq3pI6kk=
 go.opencensus.io v0.23.0/go.mod h1:XItmlyltB5F7CS4xOC1DcqMoFqwtC6OG2xF7mCv7P7E=
+go.opencensus.io v0.24.0 h1:y73uSU6J157QMP2kn2r30vwW1A2W2WFwSCGnAVxeaD0=
 go.opencensus.io v0.24.0/go.mod h1:vNK8G9p7aAivkbmorf4v+7Hgx+Zs0yY+0fOtgBfjQKo=
 go.opentelemetry.io/proto/otlp v0.7.0/go.mod h1:PqfVotwruBrMGOCsRd/89rSnXhoiJIqeYNgFYFoEGnI=
 go.opentelemetry.io/proto/otlp v0.15.0/go.mod h1:H7XAot3MsfNsj7EXtrA2q5xSNQ10UqI405h3+duxN4U=
@@ -1171,6 +1191,7 @@ golang.org/x/crypto v0.10.0/go.mod h1:o4eNf7Ede1fv+hwOwZsTHl9EsPFO6q6ZvYR8vYfY45
 golang.org/x/crypto v0.11.0/go.mod h1:xgJhtzW8F9jGdVFWZESrid1U1bjeNy4zgy5cRr/CIio=
 golang.org/x/crypto v0.12.0/go.mod h1:NF0Gs7EO5K4qLn+Ylc+fih8BSTeIjAP05siRnAh98yw=
 golang.org/x/crypto v0.13.0/go.mod h1:y6Z2r+Rw4iayiXXAIxJIDAJ1zMW4yaTpebo8fPOliYc=
+golang.org/x/crypto v0.23.0 h1:dIJU/v2J8Mdglj/8rJ6UUOM3Zc9zLZxVZwwxMooUSAI=
 golang.org/x/exp v0.0.0-20180321215751-8460e604b9de/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
 golang.org/x/exp v0.0.0-20180807140117-3d87b88a115f/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
 golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
@@ -1296,6 +1317,8 @@ golang.org/x/net v0.11.0/go.mod h1:2L/ixqYpgIVXmeoSA/4Lu7BzTG4KIyPIryS4IsOd1oQ=
 golang.org/x/net v0.12.0/go.mod h1:zEVYFnQC7m/vmpQFELhcD1EWkZlX69l4oqgmer6hfKA=
 golang.org/x/net v0.14.0/go.mod h1:PpSgVXXLK0OxS0F31C1/tv6XNguvCrnXIDrFMspZIUI=
 golang.org/x/net v0.15.0/go.mod h1:idbUs1IY1+zTqbi8yxTbhexhEEk5ur9LInksu6HrEpk=
+golang.org/x/net v0.25.0 h1:d/OCCoBEUq33pjydKrGQhw7IlUPI2Oylr+8qLx49kac=
+golang.org/x/net v0.25.0/go.mod h1:JkAGAh7GEvH74S6FOH42FLoXpXbE/aqXSrIQjXgsiwM=
 golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U=
 golang.org/x/oauth2 v0.0.0-20190226205417-e64efc72b421/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw=
 golang.org/x/oauth2 v0.0.0-20190604053449-0f29369cfe45/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw=
@@ -1330,6 +1353,7 @@ golang.org/x/oauth2 v0.7.0/go.mod h1:hPLQkd9LyjfXTiRohC/41GhcFqxisoUQ99sCUOHO9x4
 golang.org/x/oauth2 v0.8.0/go.mod h1:yr7u4HXZRm1R1kBWqr/xKNqewf0plRYoB7sla+BCIXE=
 golang.org/x/oauth2 v0.10.0/go.mod h1:kTpgurOux7LqtuxjuyZa4Gj2gdezIt/jQtGnNFfypQI=
 golang.org/x/oauth2 v0.11.0/go.mod h1:LdF7O/8bLR/qWK9DrpXmbHLTouvRHK0SgJl0GmDBchk=
+golang.org/x/oauth2 v0.12.0 h1:smVPGxink+n1ZI5pkQa8y6fZT0RW0MgCO5bFpepy4B4=
 golang.org/x/oauth2 v0.12.0/go.mod h1:A74bZ3aGXgCY0qaIC9Ahg6Lglin4AMAco8cIv9baba4=
 golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20181108010431-42b317875d0f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
@@ -1349,6 +1373,8 @@ golang.org/x/sync v0.0.0-20220929204114-8fcdb60fdcc0/go.mod h1:RxMgew5VJxzue5/jJ
 golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.2.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.3.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y=
+golang.org/x/sync v0.7.0 h1:YsImfSBoP9QPYL0xyKJPq0gcaJdG3rInoqxTWbfQu9M=
+golang.org/x/sync v0.7.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk=
 golang.org/x/sys v0.0.0-20180823144017-11551d06cbcc/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20181026203630-95b1ffbd15a5/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -1437,8 +1463,9 @@ golang.org/x/sys v0.8.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.9.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.10.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.12.0 h1:CM0HF96J0hcLAwsHPJZjfdNzs0gftsLfgKt57wWHJ0o=
 golang.org/x/sys v0.12.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.20.0 h1:Od9JTbYCk261bKm4M/mw7AklTlFYIa0bIp9BgSm1S8Y=
+golang.org/x/sys v0.20.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
 golang.org/x/term v0.1.0/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8=
@@ -1473,6 +1500,8 @@ golang.org/x/text v0.10.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/text v0.11.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/text v0.13.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
+golang.org/x/text v0.15.0 h1:h1V/4gjBv8v9cjcR6+AR5+/cIYK5N/WAgiv4xlsEtAk=
+golang.org/x/text v0.15.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
 golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
 golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
 golang.org/x/time v0.0.0-20191024005414-555d28b269f0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
@@ -1554,11 +1583,14 @@ golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8T
 golang.org/x/xerrors v0.0.0-20220411194840-2f41105eb62f/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20220517211312-f3a8303e98df/go.mod h1:K8+ghG5WaK9qNqU5K3HdILfMLy1f3aNYFI/wnl100a8=
 golang.org/x/xerrors v0.0.0-20220609144429-65e65417b02f/go.mod h1:K8+ghG5WaK9qNqU5K3HdILfMLy1f3aNYFI/wnl100a8=
+golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 h1:H2TDz8ibqkAF6YGhCdN3jS9O0/s90v0rJh3X/OLHEUk=
 golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2/go.mod h1:K8+ghG5WaK9qNqU5K3HdILfMLy1f3aNYFI/wnl100a8=
 gonum.org/v1/gonum v0.0.0-20180816165407-929014505bf4/go.mod h1:Y+Yx5eoAFn32cQvJDxZx5Dpnq+c3wtXuadVZAcxbbBo=
 gonum.org/v1/gonum v0.8.2/go.mod h1:oe/vMfY3deqTw+1EZJhuvEW2iwGF1bW9wwu7XCu0+v0=
 gonum.org/v1/gonum v0.9.3/go.mod h1:TZumC3NeyVQskjXqmyWt4S3bINhy7B4eYwW69EbyX+0=
 gonum.org/v1/gonum v0.11.0/go.mod h1:fSG4YDCxxUZQJ7rKsQrj0gMOg00Il0Z96/qMA4bVQhA=
+gonum.org/v1/gonum v0.15.0 h1:2lYxjRbTYyxkJxlhC+LvJIx3SsANPdRybu1tGj9/OrQ=
+gonum.org/v1/gonum v0.15.0/go.mod h1:xzZVBJBtS+Mz4q0Yl2LJTk+OxOg4jiXZ7qBoM0uISGo=
 gonum.org/v1/netlib v0.0.0-20190313105609-8cb42192e0e0/go.mod h1:wa6Ws7BG/ESfp6dHfk7C6KdzKA7wR7u/rKwOGE66zvw=
 gonum.org/v1/plot v0.0.0-20190515093506-e2840ee46a6b/go.mod h1:Wt8AAjI+ypCyYX3nZBvf6cAIx93T+c/OS2HFAYskSZc=
 gonum.org/v1/plot v0.9.0/go.mod h1:3Pcqqmp6RHvJI72kgb8fThyUnav364FOsdDo2aGW5lY=
@@ -1630,6 +1662,7 @@ google.golang.org/api v0.125.0/go.mod h1:mBwVAtz+87bEN6CbA1GtZPDOqY2R5ONPqJeIlvy
 google.golang.org/api v0.126.0/go.mod h1:mBwVAtz+87bEN6CbA1GtZPDOqY2R5ONPqJeIlvyo4Aw=
 google.golang.org/api v0.128.0/go.mod h1:Y611qgqaE92On/7g65MQgxYul3c0rEB894kniWLY750=
 google.golang.org/api v0.132.0/go.mod h1:AeTBC6GpJnJSRJjktDcPX0QwtS8pGYZOV6MSuSCusw0=
+google.golang.org/api v0.138.0 h1:K/tVp05MxNVbHShRw9m7e9VJGdagNeTdMzqPH7AUqr0=
 google.golang.org/api v0.138.0/go.mod h1:4xyob8CxC+0GChNBvEUAk8VBKNvYOTWM9T3v3UfRxuY=
 google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM=
 google.golang.org/appengine v1.4.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4=
@@ -1638,6 +1671,7 @@ google.golang.org/appengine v1.6.1/go.mod h1:i06prIuMbXzDqacNJfV5OdTW448YApPu5ww
 google.golang.org/appengine v1.6.5/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
 google.golang.org/appengine v1.6.6/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
 google.golang.org/appengine v1.6.7/go.mod h1:8WjMMxjGQR8xUklV/ARdw2HLXBOI7O7uCIDZVag1xfc=
+google.golang.org/appengine v1.6.8 h1:IhEN5q69dyKagZPYMSdIjS2HqprW324FRQZJcGqPAsM=
 google.golang.org/appengine v1.6.8/go.mod h1:1jJ3jBArFh5pcgW8gCtRJnepW8FzD1V44FJffLiz/Ds=
 google.golang.org/genproto v0.0.0-20180817151627-c66870c02cf8/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc=
 google.golang.org/genproto v0.0.0-20190307195333-5fe7a883aa19/go.mod h1:VzzqZJRnGkLBvHegQrXjBqPurQTc5/KpmUdxsrq26oE=
@@ -1785,6 +1819,7 @@ google.golang.org/genproto v0.0.0-20230706204954-ccb25ca9f130/go.mod h1:O9kGHb51
 google.golang.org/genproto v0.0.0-20230711160842-782d3b101e98/go.mod h1:S7mY02OqCJTD0E1OiQy1F72PWFB4bZJ87cAtLPYgDR0=
 google.golang.org/genproto v0.0.0-20230726155614-23370e0ffb3e/go.mod h1:0ggbjUrZYpy1q+ANUS30SEoGZ53cdfwtbuG7Ptgy108=
 google.golang.org/genproto v0.0.0-20230803162519-f966b187b2e5/go.mod h1:oH/ZOT02u4kWEp7oYBGYFFkCdKS/uYR9Z7+0/xuuFp8=
+google.golang.org/genproto v0.0.0-20230822172742-b8732ec3820d h1:VBu5YqKPv6XiJ199exd8Br+Aetz+o08F+PLMnwJQHAY=
 google.golang.org/genproto v0.0.0-20230822172742-b8732ec3820d/go.mod h1:yZTlhN0tQnXo3h00fuXNCxJdLdIdnVFVBaRJ5LWBbw4=
 google.golang.org/genproto/googleapis/api v0.0.0-20230525234020-1aefcd67740a/go.mod h1:ts19tUU+Z0ZShN1y3aPyq2+O3d5FUNNgT6FtOzmrNn8=
 google.golang.org/genproto/googleapis/api v0.0.0-20230525234035-dd9d682886f9/go.mod h1:vHYtlOoi6TsQ3Uk2yxR7NI5z8uoV+3pZtR4jmHIkRig=
@@ -1795,6 +1830,7 @@ google.golang.org/genproto/googleapis/api v0.0.0-20230706204954-ccb25ca9f130/go.
 google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98/go.mod h1:rsr7RhLuwsDKL7RmgDDCUc6yaGr1iqceVb5Wv6f6YvQ=
 google.golang.org/genproto/googleapis/api v0.0.0-20230726155614-23370e0ffb3e/go.mod h1:rsr7RhLuwsDKL7RmgDDCUc6yaGr1iqceVb5Wv6f6YvQ=
 google.golang.org/genproto/googleapis/api v0.0.0-20230803162519-f966b187b2e5/go.mod h1:5DZzOUPCLYL3mNkQ0ms0F3EuUNZ7py1Bqeq6sxzI7/Q=
+google.golang.org/genproto/googleapis/api v0.0.0-20230822172742-b8732ec3820d h1:DoPTO70H+bcDXcd39vOqb2viZxgqeBeSGtZ55yZU4/Q=
 google.golang.org/genproto/googleapis/api v0.0.0-20230822172742-b8732ec3820d/go.mod h1:KjSP20unUpOx5kyQUFa7k4OJg0qeJ7DEZflGDu2p6Bk=
 google.golang.org/genproto/googleapis/bytestream v0.0.0-20230530153820-e85fd2cbaebc/go.mod h1:ylj+BE99M198VPbBh6A8d9n3w8fChvyLK3wwBOjXBFA=
 google.golang.org/genproto/googleapis/bytestream v0.0.0-20230711160842-782d3b101e98/go.mod h1:3QoBVwTHkXbY1oRGzlhwhOykfcATQN43LJ6iT8Wy8kE=
@@ -1809,6 +1845,7 @@ google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98/go.
 google.golang.org/genproto/googleapis/rpc v0.0.0-20230731190214-cbb8c96f2d6d/go.mod h1:TUfxEVdsvPg18p6AslUXFoLdpED4oBnGwyqk3dV1XzM=
 google.golang.org/genproto/googleapis/rpc v0.0.0-20230803162519-f966b187b2e5/go.mod h1:zBEcrKX2ZOcEkHWxBPAIvYUWOKKMIhYcmNiUIu2ji3I=
 google.golang.org/genproto/googleapis/rpc v0.0.0-20230807174057-1744710a1577/go.mod h1:+Bk1OCOj40wS2hwAMA+aCW9ypzm63QTBBHp6lQ3p+9M=
+google.golang.org/genproto/googleapis/rpc v0.0.0-20230822172742-b8732ec3820d h1:uvYuEyMHKNt+lT4K3bN6fGswmK8qSvcreM3BwjDh+y4=
 google.golang.org/genproto/googleapis/rpc v0.0.0-20230822172742-b8732ec3820d/go.mod h1:+Bk1OCOj40wS2hwAMA+aCW9ypzm63QTBBHp6lQ3p+9M=
 google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c=
 google.golang.org/grpc v1.20.1/go.mod h1:10oTOabMzJvdu6/UiuZezV6QK5dSlG84ov/aaiqXj38=
@@ -1855,6 +1892,7 @@ google.golang.org/grpc v1.55.0/go.mod h1:iYEXKGkEBhg1PjZQvoYEVPTDkHo1/bjTnfwTeGO
 google.golang.org/grpc v1.56.1/go.mod h1:I9bI3vqKfayGqPUAwGdOSu7kt6oIJLixfffKrpXqQ9s=
 google.golang.org/grpc v1.56.2/go.mod h1:I9bI3vqKfayGqPUAwGdOSu7kt6oIJLixfffKrpXqQ9s=
 google.golang.org/grpc v1.57.0/go.mod h1:Sd+9RMTACXwmub0zcNY2c4arhtrbBYD1AUHI/dt16Mo=
+google.golang.org/grpc v1.58.0 h1:32JY8YpPMSR45K+c3o6b8VL73V+rR8k+DeMIr4vRH8o=
 google.golang.org/grpc v1.58.0/go.mod h1:tgX3ZQDlNJGU96V6yHh1T/JeoBQ2TXdr43YbYSsCJk0=
 google.golang.org/grpc/cmd/protoc-gen-go-grpc v1.1.0/go.mod h1:6Kw0yEErY5E/yWrBtf03jp27GLLJujG4z/JK95pnjjw=
 google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8=
@@ -1874,6 +1912,7 @@ google.golang.org/protobuf v1.28.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqw
 google.golang.org/protobuf v1.28.1/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 google.golang.org/protobuf v1.29.1/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 google.golang.org/protobuf v1.30.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
+google.golang.org/protobuf v1.31.0 h1:g0LDEJHgrBl9N9r17Ru3sqWhkIx2NB67okBHPwC7hs8=
 google.golang.org/protobuf v1.31.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=

image_registration.go

@@ -4,7 +4,10 @@ import (
 	"bufio"
 	"fmt"
 	"image"
+	"image/color"
+	"math"
 	"os"
+	"sync"
 
 	"github.com/airbusgeo/godal"
 	log "github.com/sirupsen/logrus"
@@ -18,8 +21,9 @@ const (
 	PixelBytes                          = 2
 	PanWidth                            = 9344 // 像素宽度
 	MssWidth                            = 2336
-	BlockNH                    = 5
+	BlockNH                             = 8
-	BlockNW                    = 10
+	BlockNW                             = 4
+	OverlappedBlockLines                = 2000 // 重叠块的行数
 	DownSampled          ResampleMethod = "down_sample_pan"
 	UpSampled            ResampleMethod = "up_sample_mss"
 )
@@ -35,9 +39,12 @@ type Registrator struct {
 	MssHeight int
 	MssWidth  int
 
-	phaseShifts [4][]*PhaseShiftM
+	shiftMutex   sync.Mutex
+	phaseShifts  [4][]PhaseShiftM
+	deltaXCoeffs [4][]float64 // Polynomial fitting coefficients: 图像内畸变（非线性变换），捕捉图像在水平方向上引起的垂直方向的变形
+	deltaYCoeffs [4][]float64 // Polynomial fitting coefficients: 图像内畸变（非线性变换），捕捉图像在垂直方向上引起的水平方向的变形
 
-	registeredMssImages [4]gocv.Mat // 平移处理后升采样到PAN分辨率的MSS图像
+	registeredMssImages [4]gocv.Mat // 配准后的MSS图像
 	rgbirImage          gocv.Mat
 
 	resampleMethod ResampleMethod
@@ -115,7 +122,7 @@ func (r *Registrator) LoadMssRaw(raw string) error {
 }
 
 // 将PAN降采样后计算相位相关的偏移量
-func (r *Registrator) DoDownPhaseCorrelation() error {
+func (r *Registrator) CalcDownPhaseCorrelation() error {
 	// 确保 MSS 高度是 PAN 高度的 1/4
 	if r.MssHeight*4 != r.PanHeight {
 		err := fmt.Errorf("MSS height is not 1/4 of PAN height, invalid raw file")
@@ -126,7 +133,7 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
 	// 将PAN将采样作为轮廓匹配基准图像
 	downsampledPanImage := gocv.NewMat()
 	gocv.Resize(r.PanImage, &downsampledPanImage,
-		image.Point{X: r.MssWidth, Y: r.MssHeight}, 0, 0, gocv.InterpolationLinear)
+		image.Point{X: r.MssWidth, Y: r.MssHeight}, 0, 0, gocv.InterpolationCubic)
 	fmt.Println("down sampled PAN images size:", downsampledPanImage.Size())
 
 	// 分块高度
@@ -134,8 +141,8 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
 	for band := 0; band < MssBands; band++ {
 		for bh := 0; bh < BlockNH; bh++ {
 			// 读取 PAN 和 MSS 分块数据
-			y1 := (bh + 1) * blockHeight
+			y1 := (bh+1)*blockHeight + 800
-			if bh == BlockNH-1 {
+			if y1 > r.MssHeight {
 				y1 = r.MssHeight
 			}
 
@@ -155,22 +162,127 @@ func (r *Registrator) DoDownPhaseCorrelation() error {
 			mssBlock := r.MssImages[band].Region(rect)
 
 			// 处理每个分块
-			phaseShift := r.calculateBlockPhaseShift(panBlock, mssBlock)
+			phaseShift, response := r.calculateBlockPhaseShift(panBlock, mssBlock)
 			shiftM.dx = phaseShift.X
 			shiftM.dy = phaseShift.Y
+			shiftM.response = response
 
-			r.phaseShifts[band] = append(r.phaseShifts[band], &shiftM)
+			r.phaseShifts[band] = append(r.phaseShifts[band], shiftM)
 
 			panBlock.Close()
 			mssBlock.Close()
 		}
 	}
 
-	if err := r.DoMssPhaseShift(); err != nil {
+	// if err := r.DoMssPhaseShift(); err != nil {
-		log.Error("Error calculating MSS phase shift: ", err)
+	// 	log.Error("Error calculating MSS phase shift: ", err)
+	// 	return err
+	// }
+
+	for i := 0; i < MssBands; i++ {
+		for j, shift := range r.phaseShifts[i] {
+			if shift.response > 0.4 || shift.dy > 8 {
+				fmt.Printf("Band %d, block %d, dx=%f, dy=%f, response=%f\n",
+					i, j, shift.dx, shift.dy, shift.response)
+			}
+		}
+	}
+
+	r.calcDeltaCoeffs()
+
+	return nil
+}
+
+// 将MSS升采样采样后计算相位相关的偏移量
+func (r *Registrator) CalcUpPhaseCorrelation() error {
+	// 确保 MSS 高度是 PAN 高度的 1/4
+	if r.MssHeight*4 != r.PanHeight {
+		err := fmt.Errorf("MSS height is not 1/4 of PAN height, invalid raw file")
+		log.Error(err)
 		return err
 	}
 
+	// 将PAN将采样作为轮廓匹配基准图像
+	var upsampledMssImages [MssBands]gocv.Mat
+	for i := 0; i < MssBands; i++ {
+		upsampledMssImages[i] = gocv.NewMat()
+		gocv.Resize(r.MssImages[i], &upsampledMssImages[i],
+			image.Point{X: r.PanWidth, Y: r.PanHeight}, 0, 0, gocv.InterpolationCubic)
+	}
+
+	fmt.Println("up sampled MSS images size:", upsampledMssImages[0].Size())
+
+	// 分块高度 - BlockNH, BlockNW % 4 == 0
+	blockHeight := r.PanHeight / BlockNH
+	blockWidth := r.PanWidth / BlockNW
+
+	log.Infof("blockHeight=%d, blockWidth=%d", blockHeight, blockWidth)
+
+	var wg sync.WaitGroup
+
+	for bh := 0; bh < BlockNH; bh++ {
+		for bw := 0; bw < BlockNW; bw++ {
+			wg.Add(1)
+			go func(bh, bw int) {
+				defer wg.Done()
+				x0 := bw * blockWidth
+				y0 := bh * blockHeight
+				x1 := (bw + 1) * blockWidth
+				y1 := (bh + 1) * blockHeight
+				y1 += OverlappedBlockLines // Y偏移量过大，需要将重叠块的行数加上，以避免边界影响
+
+				if x1 > r.PanWidth || y1 > r.PanHeight {
+					log.Warnf("Block out of range. x0=%d, y0=%d, x1=%d, y1=%d", x0, y0, x1, y1)
+				}
+
+				if y1 > r.PanHeight {
+					y1 = r.PanHeight
+				}
+
+				var shiftM PhaseShiftM
+				shiftM.Block.width = x1 - x0
+				shiftM.Block.height = y1 - y0
+				shiftM.Block.coord.X = x0 // 块左上角x坐标
+				shiftM.Block.coord.Y = y0 // 块左上角y坐标
+
+				rect := image.Rect(
+					x0, y0,
+					x1, y1,
+				)
+
+				panBlock := r.PanImage.Region(rect)
+				for band := 0; band < MssBands; band++ {
+					log.Println("Band", band+1, ", processing block", bh, rect)
+					mssBlock := upsampledMssImages[band].Region(rect)
+
+					// 处理每个分块
+					phaseShift, response := r.calculateBlockPhaseShift(panBlock, mssBlock)
+					shiftM.dx = phaseShift.X
+					shiftM.dy = phaseShift.Y
+					shiftM.response = response
+
+					r.shiftMutex.Lock()
+					r.phaseShifts[band] = append(r.phaseShifts[band], shiftM)
+					r.shiftMutex.Unlock()
+
+					mssBlock.Close()
+				}
+				panBlock.Close()
+			}(bh, bw)
+		}
+	}
+
+	wg.Wait()
+
+	for i := 0; i < MssBands; i++ {
+		for _, shift := range r.phaseShifts[i] {
+			if shift.response > 0.4 || shift.dx > 8 || shift.dy > 8 {
+				fmt.Printf("Band %d, block %d, dx=%f, dy=%f, response=%f\n",
+					i, shift.Block.coord.X, shift.dx, shift.dy, shift.response)
+			}
+		}
+	}
+
 	return nil
 }
 
@@ -260,6 +372,8 @@ func (r *Registrator) SaveRegisteredMssToGDALGTiff(tiffFile string) error {
 	}
 	defer ds.Close()
 
+	setGeoTransform(ds, 0, 0, float64(width), float64(height), 1.2*4)
+
 	for b := 0; b < MssBands; b++ {
 		band := ds.Bands()[b]
 		err := band.IO(godal.IOWrite,
@@ -292,7 +406,10 @@ func (r *Registrator) SavePanToGDALGTiff(tiffFile string) error {
 	}
 	defer ds.Close()
 
-	// 将通道的数据转换为字节数组
+	setGeoTransform(ds, 0, 0, float64(width), float64(height), 1.2)
+	ds.SetMetadata("NBITS", "16")
+
+	// 将通道的数据转换为uint16数组
 	data := make([]uint16, width*height)
 	for y := 0; y < height; y++ {
 		for x := 0; x < width; x++ {
@@ -316,3 +433,77 @@ func (r *Registrator) SavePanToGDALGTiff(tiffFile string) error {
 
 	return nil
 }
+
+func (r *Registrator) Clean() {
+	r.PanImage.Close()
+	for i := 0; i < MssBands; i++ {
+		r.MssImages[i].Close()
+	}
+
+	for i := 0; i < MssBands; i++ {
+		r.registeredMssImages[i].Close()
+	}
+
+	r.rgbirImage.Close()
+}
+
+func (r *Registrator) calcDeltaCoeffs() error {
+	// 计算每个通道的delta多项式拟合系数
+	for i := 0; i < MssBands; i++ {
+		var cx []float64
+		var dx []float64
+		var dy []float64
+		effectShift := 0
+		for j, shift := range r.phaseShifts[i] {
+			if math.IsNaN(float64(shift.dx)) || math.IsNaN(float64(shift.dy)) {
+				continue
+			}
+
+			effectShift++
+			cx = append(cx, float64(shift.Block.coord.X+j)) // MSS 块在X方向没有分块
+			fmt.Println("effectShift:", effectShift, "cx:", shift.Block.coord.X, "dy:", shift.dy)
+			dx = append(dx, float64(shift.dx))
+			dy = append(dy, float64(shift.dy))
+
+		}
+
+		r.deltaXCoeffs[i] = PolynomialFit(cx, dx, 1)
+		r.deltaYCoeffs[i] = PolynomialFit(cx, dy, 2)
+	}
+
+	for i := 0; i < MssBands; i++ {
+		log.Printf("Band %d:\n  delta_x = %.6f*x + %.6f, \n  delta_y = %.6f*x^2 + %.6f*x + %.6f\n",
+			i+1,
+			r.deltaXCoeffs[i][1], r.deltaXCoeffs[i][0],
+			r.deltaYCoeffs[i][2], r.deltaYCoeffs[i][1], r.deltaYCoeffs[i][0])
+	}
+
+	return nil
+}
+
+func (r *Registrator) DoCoRegestration() error {
+	for band := 0; band < MssBands; band++ {
+		mapX := gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV32FC1)
+		mapY := gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV32FC1)
+		for y := 0; y < r.MssHeight; y++ {
+			for x := 0; x < r.MssWidth; x++ {
+				// dx := r.deltaXCoeffs[band][1]*float64(x) + r.deltaXCoeffs[band][0] + float64(x)
+				// dy := r.deltaYCoeffs[band][2]*float64(x*x) + r.deltaYCoeffs[band][1]*float64(x) + r.deltaYCoeffs[band][0] + float64(y)
+				// fmt.Println("x:", x, "dx:", dx, "y:", y, "dy:", dy)
+				mapX.SetFloatAt(y, x, float32(x)+float32(r.deltaXCoeffs[band][0]))
+				mapY.SetFloatAt(y, x, float32(y)+float32(r.deltaYCoeffs[band][0]))
+			}
+		}
+
+		log.Println("co-registration for band", band+1)
+		r.registeredMssImages[band] = gocv.NewMatWithSize(r.MssHeight, r.MssWidth, gocv.MatTypeCV16UC1)
+		gocv.Remap(r.MssImages[band],
+			&r.registeredMssImages[band],
+			&mapX, &mapY,
+			gocv.InterpolationCubic,
+			gocv.BorderConstant,
+			color.RGBA{0, 0, 0, 0})
+	}
+
+	return nil
+}

phase_correlation.go

@@ -11,6 +11,7 @@ import (
 type PhaseShiftM struct {
 	dx       float32
 	dy       float32
+	response float64
 	Block    Block
 }
 
@@ -20,7 +21,7 @@ type Block struct {
 	coord  image.Point // top-left corner of the block in the original image
 }
 
-func (r *Registrator) calculateBlockPhaseShift(panBlock, mssBlock gocv.Mat) gocv.Point2f {
+func (r *Registrator) calculateBlockPhaseShift(panBlock, mssBlock gocv.Mat) (gocv.Point2f, float64) {
 	pan := gocv.NewMat()
 	mss := gocv.NewMat()
 
@@ -38,7 +39,7 @@ func (r *Registrator) calculateBlockPhaseShift(panBlock, mssBlock gocv.Mat) gocv
 	dy := shift.Y
 	log.Printf("Block shift: dx = %f, dy = %f. response = %f \n", dx, dy, response)
 
-	return shift
+	return shift, response
 }
 
 func (r *Registrator) DoMssPhaseShift() error {

util.go

@@ -0,0 +1,92 @@
+package imageproc
+
+import (
+	"fmt"
+	"time"
+
+	"github.com/airbusgeo/godal"
+	log "github.com/sirupsen/logrus"
+)
+
+func calculateProj(topLeftX, topLeftY, width, height, resolution float64) string {
+	// 计算图像的地理范围
+	bottomRightX := topLeftX + float64(width)*resolution
+	bottomRightY := topLeftY + float64(height)*resolution
+
+	// 根据地理范围和分辨率选择适当的投影信息
+	// 这里只是一个示例，你需要根据实际情况选择合适的投影系统和参数
+	projection := fmt.Sprintf(`PROJCS["Custom Projection",
+	GEOGCS["WGS 84",
+		DATUM["WGS_1984",
+			SPHEROID["WGS 84",6378137,298.257223563,
+				AUTHORITY["EPSG","7030"]],
+			AUTHORITY["EPSG","6326"]],
+		PRIMEM["Greenwich",0,
+			AUTHORITY["EPSG","8901"]],
+		UNIT["degree",0.0174532925199433,
+			AUTHORITY["EPSG","9122"]],
+		AUTHORITY["EPSG","4326"]],
+	PROJECTION["Transverse_Mercator"],
+	PARAMETER["latitude_of_origin",0],
+	PARAMETER["central_meridian",%f],
+	PARAMETER["scale_factor",0.9996],
+	PARAMETER["false_easting",%f],
+	PARAMETER["false_northing",0],
+	UNIT["metre",1,
+		AUTHORITY["EPSG","9001"]],
+	AXIS["Easting",EAST],
+	AXIS["Northing",NORTH]]`,
+		(topLeftX+bottomRightX)/2, (topLeftY+bottomRightY)/2)
+
+	projection = `PROJCS["WGS 84 / UTM zone 51N",
+	GEOGCS["WGS 84",
+		DATUM["WGS_1984",
+			SPHEROID["WGS 84",6378137,298.257223563,
+				AUTHORITY["EPSG","7030"]],
+			AUTHORITY["EPSG","6326"]],
+		PRIMEM["Greenwich",0,
+			AUTHORITY["EPSG","8901"]],
+		UNIT["degree",0.0174532925199433,
+			AUTHORITY["EPSG","9122"]],
+		AUTHORITY["EPSG","4326"]],
+	PROJECTION["Transverse_Mercator"],
+	PARAMETER["latitude_of_origin",0],
+	PARAMETER["central_meridian",123],
+	PARAMETER["scale_factor",0.9996],
+	PARAMETER["false_easting",500000],
+	PARAMETER["false_northing",0],
+	UNIT["metre",1,
+		AUTHORITY["EPSG","9001"]],
+	AXIS["Easting",EAST],
+	AXIS["Northing",NORTH],
+	AUTHORITY["EPSG","32651"]]`
+
+	// 输出投影信息
+	return projection
+}
+
+func setGeoTransform(ds *godal.Dataset, topLeftX, topLeftY, width, height, resolution float64) {
+	// 设置地理变换（假设左上角坐标为(0,0)，PAN每个像素分辨率为1.2米）
+	geotransform := [6]float64{
+		0,           // top left x
+		resolution,  // w-e pixel resolution
+		0,           // rotation, 0 if image is "north up"
+		0,           // top left y
+		0,           // rotation, 0 if image is "north up"
+		-resolution, // n-s pixel resolution (negative value)
+	}
+	err := ds.SetGeoTransform(geotransform)
+	if err != nil {
+		log.Errorf("Failed to set GeoTransform: %v", err)
+	}
+
+	// 设置投影信息（WGS84）
+	err = ds.SetProjection(calculateProj(topLeftX, topLeftY, width, height, resolution))
+	if err != nil {
+		log.Errorf("Failed to set projection: %v", err)
+	}
+
+	// 设置一些常见的元数据（可选）
+	ds.SetMetadata("TIFFTAG_DATETIME", time.Now().String())
+	ds.SetMetadata("TIFFTAG_SOFTWARE", "StarWiz-SJY01-IMAGE-PROC")
+}