暂时使用星下点坐标作为图像左上角坐标
This commit is contained in:
nuknal
46
pkg/auxilary/aux.go
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46
pkg/auxilary/aux.go
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@@ -0,0 +1,46 @@
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package auxilary
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import (
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"os"
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log "github.com/sirupsen/logrus"
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)
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// 卫星时间起点 北京时间 2000-01-01 20:00:00
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var (
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ReferenceTime2000 = 946728000
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)
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func ExtractAux(auxfile string) ([]*AuxFrameHead, []*AuxFocalBox, []*AuxPlatform, error) {
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data, err := os.ReadFile(auxfile)
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if err != nil {
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log.Println("read aux data from", auxfile, "error:", err.Error())
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return nil, nil, nil, err
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}
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var afh []*AuxFrameHead
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var afb []*AuxFocalBox
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var aps []*AuxPlatform
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for i := 0; i < len(data); i += 24 + 128 + 512 {
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if i+24+128+512 > len(data) {
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break
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}
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var head AuxFrameHead
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head.Decode(data[i : i+24])
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afh = append(afh, &head)
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var box AuxFocalBox
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box.Decode(data[i+24 : i+24+128])
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afb = append(afb, &box)
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var plat AuxPlatform
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plat.Decode(data[i+24+128 : i+24+128+512])
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aps = append(aps, &plat)
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}
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log.Printf("extract %d aux frame heads, %d aux focal boxes, %d aux platforms from %s",
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len(afh), len(afb), len(aps), auxfile)
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return afh, afb, aps, err
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}
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134
pkg/auxilary/aux_ebox.go
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134
pkg/auxilary/aux_ebox.go
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@@ -0,0 +1,134 @@
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package auxilary
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import (
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"fmt"
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"github.com/k0kubun/pp/v3"
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)
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// 焦面电箱辅助数据 128 字节 (每 16 行原始图像数据为一组)
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type AuxFocalBox struct {
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TransferTime float32 // 执行转移时间 0.5us/bit
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TrainingDone byte // 1B成功；0B失败
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WorkMode byte // 工作模式 0B正常；1B故障
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IntegralDirection byte // 积分方向 1B正向；0B反向
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PGAGain byte // PGA增益
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PIntegrationLevel uint8 // [5]P波积分级数
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B1IntegrationLevel uint8 // [6.(7~6)]B1积分级数
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B2IntegrationLevel uint8 // [6.(5~4)]B2积分级数
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B3IntegrationLevel uint8 // [6.(3~2)]B3积分级数
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B4IntegrationLevel uint8 // [6.(1~0)]B4积分级数
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SecPluseState byte // [7.(7)]秒脉冲状态 0x1 成功；0x0 失败
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DarkFieldBias uint16 // [7.(5~0)-8] 暗场偏置 1DN/bit，十六进制无符号整型数
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PWinAddr uint16 // [9-10]全色开窗地址
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B1WinAddr uint16 // [11-12]B1开窗地址
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B2WinAddr uint16 // [13-14]B2开窗地址
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B3WinAddr uint16 // [15-16]B3开窗地址
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B4WinAddr uint16 // [17-18]B4开窗地址
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CCDWorkMode byte // [38]工作模式 00H=TDI推扫;11H=框幅;
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RawDiskAvailableCap uint16 // [39-40]原始磁盘可用存储容量 量纲：2MBytes/bit
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ZipDiskAvailableCap uint16 // [41-42]压缩盘可用存储容量
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CommandCount uint8 // [53]指令计数器
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LastCommandCode uint8 // [54]最后指令代码
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}
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func (ab *AuxFocalBox) Decode(data []byte) error {
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if len(data) < 128 {
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return fmt.Errorf("eletric box aux data length error")
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}
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byte0 := data[0] & 0b00111111
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ab.TransferTime = float32(uint32(byte0)<<16|uint32(data[1])<<8|uint32(data[2])) * 0.5
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ab.TrainingDone = data[3] & 0b10000000
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ab.WorkMode = data[3] & 0b01000000
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ab.IntegralDirection = data[3] & 0b00100000
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ab.PGAGain = data[3] & 0b00011111
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ab.PIntegrationLevel = data[4]
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ab.B1IntegrationLevel = data[5] >> 6 & 0x03
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ab.B2IntegrationLevel = data[5] >> 4 & 0x03
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ab.B3IntegrationLevel = data[5] >> 2 & 0x03
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ab.B4IntegrationLevel = data[5] & 0x03
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ab.SecPluseState = data[6] >> 7 & 0x01
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ab.DarkFieldBias = uint16(data[6]&0x3f)<<8 | uint16(data[7])
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ab.PWinAddr = uint16(data[8])<<8 | uint16(data[9])
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ab.B1WinAddr = uint16(data[10])<<8 | uint16(data[11])
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ab.B2WinAddr = uint16(data[12])<<8 | uint16(data[13])
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ab.B3WinAddr = uint16(data[14])<<8 | uint16(data[15])
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ab.B4WinAddr = uint16(data[16])<<8 | uint16(data[17])
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ab.CCDWorkMode = data[37]
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ab.RawDiskAvailableCap = (uint16(data[38])<<8 | uint16(data[39])) * 2
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ab.ZipDiskAvailableCap = (uint16(data[40])<<8 | uint16(data[41])) * 2
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ab.CommandCount = data[52]
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ab.LastCommandCode = data[53]
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return nil
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}
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func (ab AuxFocalBox) Print() {
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pp.Println(ab)
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}
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func (ab AuxFocalBox) String() string {
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return fmt.Sprintf(
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`执行转移时间：%f us\n
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TrainingDone：%x\n
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工作模式：%x\n
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积分方向：%x\n
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PGA增益：%s
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`,
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ab.TransferTime,
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ab.TrainingDone,
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ab.WorkMode,
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ab.IntegralDirection,
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ab.PGAGainValue(),
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)
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}
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func (ab AuxFocalBox) PGAGainValue() string {
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switch ab.PGAGain {
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case 0b0000:
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return "0.75x"
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case 0b0001:
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return "1.25x"
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case 0b0010:
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return "1.75x"
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case 0b0011:
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return "2.25x"
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case 0b0100:
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return "2.75x"
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case 0b0101:
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return "3.25x"
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case 0b0110:
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return "3.75x"
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case 0b0111:
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return "4.25x"
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case 0b1000:
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return "4.75x"
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case 0b1001:
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return "5.25x"
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case 0b1010:
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return "5.75x"
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case 0b10000:
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return "1x"
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case 0b10001:
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return "1.5x"
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case 0b10010:
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return "2x"
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case 0b10011:
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return "2.5x"
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case 0b10100:
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return "3x"
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case 0b10101:
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return "3.5x"
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case 0b10110:
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return "4x"
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case 0b10111:
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return "4.5x"
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case 0b11000:
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return "5x"
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case 0b11001:
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return "5.5x"
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case 0b11010:
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return "6x"
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default:
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return "unknown"
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}
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}
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420
pkg/auxilary/aux_elements.go
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420
pkg/auxilary/aux_elements.go
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@@ -0,0 +1,420 @@
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package auxilary
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var AuxHeader = []interface{}{
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"包头信息",
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"填充位",
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"帧头信息",
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"当前图像模式",
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"B4谱状态",
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"B3谱状态",
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"B2谱状态",
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"B1谱状态",
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"全色状态",
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"当前行流水号",
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"时间秒",
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"秒小数",
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"文件号",
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"执行行转移时间",
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"Trainingdone",
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"工作模式",
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"积分方向",
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"PGA增益",
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"P谱段积分级数",
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"B1积分级数",
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"B2积分级数",
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"B3积分级数",
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"B4积分级数",
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"秒脉冲状态",
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"保留",
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"暗场偏置",
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"全色开窗地址",
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"多光谱1开窗地址",
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"多光谱2开窗地址",
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"多光谱3开窗地址",
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"多光谱4开窗地址",
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"面阵模式Linetime时钟周期数",
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"面阵模式开窗地址",
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"面阵模式开窗大小",
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"面阵曝光时间粗调EXP_C",
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"面阵曝光时间精调EXP_F",
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"面阵模式最小读出行",
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"硬盘1温度",
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"硬盘2温度",
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"保留",
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"传感器温度",
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"FPGA逻辑版本号",
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"工作模式",
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"原始盘可用存储容量",
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"压缩盘可用存储容量",
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"原始盘状态",
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"原始盘Host初始化状态",
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"原始盘SATA控制器状态",
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"原始盘SATA错误计数",
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"压缩盘状态",
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"压缩盘Host初始化状态",
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"压缩盘SATA控制器状态",
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"压缩盘SATA错误计数",
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"保留",
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"DDR初始化状态",
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"原始图像硬盘状态",
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"压缩数据硬盘状态",
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"硬盘1读写状态",
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"硬盘2读写状态",
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"硬盘1初始化状态",
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"硬盘2初始化状态",
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"保留",
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"保留",
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"硬盘1禁用标志",
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"硬盘2禁用标志",
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"保留",
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"B2数据移位",
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"B1数据移位",
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"B4数据移位",
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"B3数据移位",
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"指令计数",
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"最后一条指令编码",
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"指令接收状态",
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"错误指令计数",
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"错误指令帧编号",
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"保留",
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"传感器数字电路温度",
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"卫星UTC时间秒",
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"卫星复波道标志位",
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"卫星秒小数",
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"定姿四元数(J2000)q0",
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"定姿四元数(J2000)q1",
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"定姿四元数(J2000)q2",
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"定姿四元数(J2000)q3",
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"本体相对轨道四元数矢部q1",
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"本体相对轨道四元数矢部q2",
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"本体相对轨道四元数矢部q3",
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"轨道相对惯性系四元数矢部q1",
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"轨道相对惯性系四元数矢部q2",
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"轨道相对惯性系四元数矢部q3",
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"本体相对轨道姿态角1",
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"本体相对轨道姿态角2",
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"本体相对轨道姿态角3",
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"本体相对轨道角速度1",
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"本体相对轨道角速度2",
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"本体相对轨道角速度3",
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"模式运行时间",
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"姿控调用周期",
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"姿轨控部件使用标志",
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"姿轨控算法执行标记",
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"偏差四元数q1",
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"偏差四元数q2",
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"偏差四元数q3",
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"偏差角速度1",
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"偏差角速度2",
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"偏差角速度3",
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"X飞轮估计摩擦力矩",
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"Y飞轮估计摩擦力矩",
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"Z飞轮估计摩擦力矩",
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"三轴陀螺X轴角速度漂移估计",
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"三轴陀螺Y轴角速度漂移估计",
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"三轴陀螺Z轴角速度漂移估计",
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"三轴角速度卡尔曼漂移X",
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"三轴角速度卡尔曼漂移Y",
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"三轴角速度卡尔曼漂移Z",
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"X轴估计环境干扰力矩",
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"Y轴估计环境干扰力矩",
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"Z轴估计环境干扰力矩",
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"X轴计算飞轮控制力矩",
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"Y轴计算飞轮控制力矩",
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"Z轴计算飞轮控制力矩",
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"期望四元数矢部1",
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"期望四元数矢部2",
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"期望四元数矢部3",
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"期望角速度1",
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"期望角速度2",
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"期望角速度3",
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"计算当前J2000位置X",
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"计算当前J2000位置Y",
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"计算当前J2000位置Z",
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"计算当前J2000速度X",
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"计算当前J2000速度Y",
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"计算当前J2000速度Z",
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"计算当前84位置X",
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"计算当前84位置Y",
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"计算当前84位置Z",
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"计算当前84速度X",
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"计算当前84速度Y",
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"计算当前84速度Z",
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"偏流角",
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"数传点经度",
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"数传点纬度",
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"数传点地程高",
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"定姿方式标志1",
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"定姿方式标志2",
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"定姿方式标志3",
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"X飞轮期望转速",
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"Y飞轮期望转速",
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"Z飞轮期望转速",
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"保留",
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"保留",
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"保留",
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"保留",
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"锂电池温度",
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"相机主镜温度",
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"相机次镜温度",
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"推进模块温度",
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"负X侧相机桁架杆温度",
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"正X正Y侧相机桁架杆温度",
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"正X负Y侧相机桁架杆温度",
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"正X侧相机支撑背板温度",
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||||
"负X侧相机支撑背板温度",
|
||||
"星敏支架温度",
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"成像电箱温度",
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"正Y帆板温度",
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"电源下位机温度",
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"配电热控驱动温度",
|
||||
"电源控制器温度",
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||||
"数字太阳敏矢量数据有效位",
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"数字太阳敏矢量数据X",
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||||
"数字太阳敏矢量数据Y",
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"数字太阳敏位置X1",
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"数字太阳敏位置X2",
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"数字太阳敏位置Y1",
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"数字太阳敏位置Y2",
|
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"太阳敏温度",
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"数字太阳敏当前正在使用的阈值（源码）",
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"数字太阳敏当前正在使用的增益",
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"保留",
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"保留",
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||||
"保留",
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"错误码计数",
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"单粒子错误计数",
|
||||
"配电错误码1",
|
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"配电错误码2",
|
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"配电错误码3",
|
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"配电错误码4",
|
||||
"配电错误码5",
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"GPS天内秒",
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"GPSUTC时间累计秒",
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"太阳阵电流",
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"母线电流",
|
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"负载电流",
|
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"蓄电池电压",
|
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"电源母线电压",
|
||||
"CPU5.2V电压遥测值",
|
||||
"5.2V配电电压遥测值",
|
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"保留",
|
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"蓄电池组当前电量",
|
||||
"模式运行时间秒",
|
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"卫星现运行模式",
|
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"组合业务标识",
|
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"当前业务状态",
|
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"中心机指令接收总计数",
|
||||
"中心机错误指令计数",
|
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"执行指令所在分系统",
|
||||
"执行指令的指令代码",
|
||||
"执行延时指令总计数",
|
||||
"当前延时指令计数",
|
||||
"执行延时指令所在分系统",
|
||||
"执行延时指令的指令代码",
|
||||
"当前延时业务计数",
|
||||
"成功执行业务计数",
|
||||
"异常中止业务计数",
|
||||
"指令执行状态",
|
||||
"业务异常中止状态",
|
||||
"测控数传一体机通信状态",
|
||||
"保留",
|
||||
"北斗短报文通信状态",
|
||||
"GPS接收机通信状态",
|
||||
"数字太阳敏通信状态",
|
||||
"星敏1通信状态",
|
||||
"星敏2通信状态",
|
||||
"光纤陀螺通信状态",
|
||||
"MEMS陀螺通信状态",
|
||||
"飞轮1通信状态",
|
||||
"飞轮2通信状态",
|
||||
"飞轮3通信状态",
|
||||
"飞轮4通信状态",
|
||||
"智能载荷通信状态",
|
||||
"保留",
|
||||
"保留",
|
||||
"电磁阀开关状态",
|
||||
"业务保存状态",
|
||||
"卫星类型标识",
|
||||
"卫星序号标识",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"锂电池加热器通断状态",
|
||||
"相机主镜加热器通断状态",
|
||||
"相机次镜加热器通断状态",
|
||||
"推进模块加热器通断状态",
|
||||
"相机负X侧桁架杆加热器通断状态",
|
||||
"成像电箱加热器通断状态",
|
||||
"相机正X正Y侧桁架杆加热器通断状态",
|
||||
"相机正X负Y侧桁架杆加热器通断状态",
|
||||
"相机正X侧支撑背板加热器通断状态",
|
||||
"相机负X侧支撑背板加热器通断状态",
|
||||
"星敏支架加热器通断状态",
|
||||
"保留",
|
||||
"温度修正系数校验状态",
|
||||
"电源下位机广播帧监视功能",
|
||||
"当前控温码表",
|
||||
"默认控温码表",
|
||||
"飞轮1电源供电状态",
|
||||
"飞轮2电源供电状态",
|
||||
"飞轮3电源供电状态",
|
||||
"SADA1电源供电状态",
|
||||
"SADA2电源供电状态",
|
||||
"测控数传电源供电状态",
|
||||
"保留",
|
||||
"保留",
|
||||
"北斗短报文供电状态",
|
||||
"推进电源供电状态",
|
||||
"焦面电源供电状态",
|
||||
"飞轮4电源供电状态",
|
||||
"星敏1电源供电状态",
|
||||
"星敏2电源供电状态",
|
||||
"数字太阳敏电源供电状态",
|
||||
"导航电源供电状态",
|
||||
"三轴光纤陀螺电源供电状态",
|
||||
"MEMS陀螺电源供电状态",
|
||||
"热控正线状态",
|
||||
"热控1状态",
|
||||
"热控2状态",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"锂电池加热器控温模式",
|
||||
"相机主镜加热器控温模式",
|
||||
"相机次镜加热器控温模式",
|
||||
"推进模块加热器控温模式",
|
||||
"相机负X侧桁架杆加热器控温模式",
|
||||
"相机正X正Y侧桁架杆加热器控温模式",
|
||||
"相机正X负Y侧桁架杆加热器控温模式",
|
||||
"相机正X侧支撑背板加热器控温模式",
|
||||
"相机负X侧支撑背板加热器控温模式",
|
||||
"星敏支架加热器控温模式",
|
||||
"成像电箱加热器控温模式",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"保留",
|
||||
"接收机时间来源",
|
||||
"定位模式",
|
||||
"轨道数据有效标示",
|
||||
"主备机标志",
|
||||
"PPS状态",
|
||||
"GPS最高信噪比",
|
||||
"BD最高信噪比",
|
||||
"参与定位的GPS导航星数",
|
||||
"参与定位的BD导航星数",
|
||||
"GPS几何精度因子",
|
||||
"GPS连续工作时间",
|
||||
"保留",
|
||||
"保留",
|
||||
"WGS-84系X位置",
|
||||
"WGS-84系Y位置",
|
||||
"WGS-84系Z位置",
|
||||
"WGS-84系X速度",
|
||||
"WGS-84系Y速度",
|
||||
"WGS-84系Z速度",
|
||||
"J2000系X位置",
|
||||
"J2000系Y位置",
|
||||
"J2000系Z位置",
|
||||
"J2000系X速度",
|
||||
"J2000系Y速度",
|
||||
"J2000系Z速度",
|
||||
"三轴光纤陀螺X轴角速度",
|
||||
"三轴光纤陀螺Y轴角速度",
|
||||
"三轴光纤陀螺Z轴角速度",
|
||||
"三轴光纤陀螺X轴角速度（1）",
|
||||
"三轴光纤陀螺Y轴角速度（1）",
|
||||
"三轴光纤陀螺Z轴角速度（1）",
|
||||
"星敏AUTC时间",
|
||||
"星敏AUTC秒小数",
|
||||
"星敏A四元数q1",
|
||||
"星敏A四元数q2",
|
||||
"星敏A四元数q3",
|
||||
"星敏A四元数q4",
|
||||
"星敏A曝光时间",
|
||||
"星敏A阈值",
|
||||
"星敏A背景值",
|
||||
"星敏A上电进入boot标志",
|
||||
"星敏AEDAC打开标志",
|
||||
"星敏A程序版本",
|
||||
"星敏A四元数滤波标志",
|
||||
"星敏A系统内部工作进程代号",
|
||||
"星敏A系统工作模式",
|
||||
"星敏A提取星数",
|
||||
"星敏A四元数有效时导航星数",
|
||||
"星敏A图像增益",
|
||||
"星敏A识别星数",
|
||||
"星敏A打开或者关断外部图像",
|
||||
"星敏A姿态数据有效标志",
|
||||
"星敏A内部软件版本号低3位",
|
||||
"星敏A产品设备编号低5位",
|
||||
"星敏A成像传感器温度",
|
||||
"星敏A在轨EDAC错误计数",
|
||||
"星敏A图像帧号",
|
||||
"星敏A四星寻找阈值",
|
||||
"星敏A跟踪阈值",
|
||||
"星敏ASAA阈值",
|
||||
"星敏ASAA工作模式",
|
||||
"星敏A动态模式标志位",
|
||||
"星敏AX方向角速度",
|
||||
"星敏AY方向角速度",
|
||||
"星敏AZ方向角速度",
|
||||
"星敏A星点阈值自适应功能",
|
||||
"保留",
|
||||
"星敏A速率质量",
|
||||
"星敏BUTC时间",
|
||||
"星敏BUTC秒小数",
|
||||
"星敏B四元数q1",
|
||||
"星敏B四元数q2",
|
||||
"星敏B四元数q3",
|
||||
"星敏B四元数q4",
|
||||
"星敏B曝光时间",
|
||||
"星敏B阈值",
|
||||
"星敏B背景值",
|
||||
"星敏B上电进入boot标志",
|
||||
"星敏BEDAC打开标志",
|
||||
"星敏B程序版本",
|
||||
"星敏B四元数滤波标志",
|
||||
"星敏B系统内部工作进程代号",
|
||||
"星敏B系统工作模式",
|
||||
"星敏B提取星数",
|
||||
"星敏B四元数有效时导航星数",
|
||||
"星敏B图像增益",
|
||||
"星敏B识别星数",
|
||||
"星敏B打开或者关断外部图像",
|
||||
"星敏B姿态数据有效标志",
|
||||
"星敏B内部软件版本号低3位",
|
||||
"星敏B产品设备编号低5位",
|
||||
"星敏B成像传感器温度",
|
||||
"星敏B在轨EDAC错误计数",
|
||||
"星敏B图像帧号",
|
||||
"星敏B四星寻找阈值",
|
||||
"星敏B跟踪阈值",
|
||||
"星敏BSAA阈值",
|
||||
"星敏BSAA工作模式",
|
||||
"星敏B动态模式标志位",
|
||||
"保留",
|
||||
"飞轮1转速",
|
||||
"飞轮1当前电流",
|
||||
"飞轮2转速",
|
||||
"飞轮2当前电流",
|
||||
"飞轮3转速",
|
||||
"飞轮3当前电流",
|
||||
"飞轮4转速",
|
||||
"飞轮4当前电流",
|
||||
"MEMS陀螺X方向角速度",
|
||||
"MEMS陀螺Y方向角速度",
|
||||
"MEMS陀螺Z方向角速度",
|
||||
"X方向磁场强度",
|
||||
"Y方向磁场强度",
|
||||
"Z方向磁场强度",
|
||||
"输入姿轨控数据UTC时间秒",
|
||||
"输入姿轨控数据时间秒小数",
|
||||
"保留",
|
||||
"校验和",
|
||||
}
|
||||
111
pkg/auxilary/aux_head.go
Normal file
111
pkg/auxilary/aux_head.go
Normal file
@@ -0,0 +1,111 @@
|
||||
package auxilary
|
||||
|
||||
import (
|
||||
"encoding/binary"
|
||||
"errors"
|
||||
)
|
||||
|
||||
// 每行传感器数据帧头信息长度为24字节
|
||||
type AuxFrameHead struct {
|
||||
PkgHead [4]byte // 包头头标识符，固定为0xD15BD15B
|
||||
FillByte0 byte // 填充字节 0x00
|
||||
FrmHead [6]byte // 帧头标识符，固定为0xEB90EB90EB90
|
||||
// 图像模式
|
||||
// B7 模式标识 000：为线阵模式
|
||||
// B6
|
||||
// B5
|
||||
// B4 B4谱状态 0：不输出1：输出
|
||||
// B3 B3谱状态 0：不输出1：输出
|
||||
// B2 B2谱状态 0：不输出1：输出
|
||||
// B1 B1谱状态 0：不输出1：输出
|
||||
// B0 全色状态 0：不输出1：输出
|
||||
ImgMode byte
|
||||
SerialNo uint32 // 当前流水号
|
||||
TimeSec uint32 // 时间（秒）
|
||||
TimeSecFrac uint32 // 秒小数 量纲：1us/bit，十六进制无符号整型数
|
||||
FileNo uint8 // 文件号
|
||||
|
||||
IsValidFrmHead bool
|
||||
B0 bool
|
||||
B1 bool
|
||||
B2 bool
|
||||
B3 bool
|
||||
B4 bool
|
||||
IsLinerMatrix bool
|
||||
RowLength int
|
||||
}
|
||||
|
||||
func (afh *AuxFrameHead) Decode(data []byte) error {
|
||||
if len(data) < 24 {
|
||||
return errors.New("length of AuxFrameHead is not 24")
|
||||
}
|
||||
|
||||
afh.PkgHead = [4]byte{data[0], data[1], data[2], data[3]}
|
||||
afh.FillByte0 = data[4]
|
||||
afh.FrmHead = [6]byte{data[5], data[6], data[7], data[8], data[9], data[10]}
|
||||
afh.ImgMode = data[11]
|
||||
afh.B0 = (afh.ImgMode&(1<<0) != 0x0)
|
||||
afh.B1 = (afh.ImgMode&(1<<1) != 0x0)
|
||||
afh.B2 = (afh.ImgMode&(1<<2) != 0x0)
|
||||
afh.B3 = (afh.ImgMode&(1<<3) != 0x0)
|
||||
afh.B4 = (afh.ImgMode&(1<<4) != 0x0)
|
||||
afh.IsLinerMatrix = (afh.ImgMode&(1<<5) == 0x0 && afh.ImgMode&(1<<6) == 0x0 && afh.ImgMode&(1<<7) == 0x0)
|
||||
afh.SerialNo = binary.BigEndian.Uint32(data[12:16])
|
||||
afh.TimeSec = binary.BigEndian.Uint32(data[16:20])
|
||||
afh.TimeSecFrac = uint32(uint32(data[20])<<16 | uint32(data[21])<<8 | uint32(data[22]))
|
||||
afh.FileNo = data[23]
|
||||
|
||||
afh.RowLength = afh.LengthOfRow()
|
||||
afh.IsValidFrmHead = afh.CheckFrmHead()
|
||||
|
||||
return nil
|
||||
}
|
||||
|
||||
// 计算一行数据长度：帧头+辅助数据+图像数据
|
||||
func (afh AuxFrameHead) LengthOfRow() int {
|
||||
if !afh.IsLinerMatrix {
|
||||
return 14344
|
||||
}
|
||||
|
||||
length := 64 // 帧头+辅助数据长度
|
||||
if afh.B0 {
|
||||
length += 19040
|
||||
}
|
||||
if afh.B1 {
|
||||
length += 1192
|
||||
}
|
||||
if afh.B2 {
|
||||
length += 1192
|
||||
}
|
||||
if afh.B3 {
|
||||
length += 1192
|
||||
}
|
||||
if afh.B4 {
|
||||
length += 1192
|
||||
}
|
||||
|
||||
return length
|
||||
}
|
||||
|
||||
func (afh AuxFrameHead) CheckFrmHead() bool {
|
||||
if afh.FrmHead[0] == 0xEB && afh.FrmHead[1] == 0x90 &&
|
||||
afh.FrmHead[2] == 0xEB && afh.FrmHead[3] == 0x90 &&
|
||||
afh.FrmHead[4] == 0xEB && afh.FrmHead[5] == 0x90 {
|
||||
return true
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
func (afh AuxFrameHead) ImageMode() string {
|
||||
if afh.IsLinerMatrix {
|
||||
return "线阵模式"
|
||||
}
|
||||
return "面阵模式"
|
||||
}
|
||||
|
||||
func (afh AuxFrameHead) BandStatus(b bool) string {
|
||||
if b {
|
||||
return "输出"
|
||||
}
|
||||
return "不输出"
|
||||
}
|
||||
390
pkg/auxilary/aux_platform.go
Normal file
390
pkg/auxilary/aux_platform.go
Normal file
@@ -0,0 +1,390 @@
|
||||
package auxilary
|
||||
|
||||
import (
|
||||
"encoding/binary"
|
||||
"fmt"
|
||||
"os"
|
||||
"time"
|
||||
|
||||
"github.com/k0kubun/pp/v3"
|
||||
"starwiz.cn/sjy01/image-proc/pkg/calculator"
|
||||
|
||||
log "github.com/sirupsen/logrus"
|
||||
)
|
||||
|
||||
const AuxPlatformFrmSize = 512 // 512 bytes
|
||||
|
||||
// 中心机辅助数据 512 字节 (每 16 行原始图像数据为一组)
|
||||
type AuxPlatform struct {
|
||||
// 结构中标注的字节序号从 1 开始计数
|
||||
UTCTimeSec uint32 // [1-4] 卫星 UTC 时间戳（秒）
|
||||
Waveway uint8 // [5] 波道 0x00：波道1（241.0~311.0）0x01：波道2（241.1~311.1）
|
||||
Microsecond uint32 // [6-8]卫星秒小数（微秒）
|
||||
QuatAttstarQ0 float64 // [9-12]定姿四元数(J2000) 的 Q0 值，量纲 1/0x40000000
|
||||
QuatAttstarQ1 float64 // [13-16]Q1 值
|
||||
QuatAttstarQ2 float64 // [17-20]Q2 值
|
||||
QuatAttstarQ3 float64 // [21-24]Q3 值
|
||||
QuatOrbitQ1 float64 // [25-28]本体相对轨道四元数矢部 的 Q1 值，量纲 1/0x40000000
|
||||
QuatOrbitQ2 float64 // [29-32]Q2 值
|
||||
QuatOrbitQ3 float64 // [33-36]Q3 值Q3 值
|
||||
QuatOrbJQ1 float64 // [37-40]轨道相对惯性系四元数矢部 的 Q1 值，量纲 1/0x40000000
|
||||
QuatOrbJQ2 float64 // [41-44]Q2 值
|
||||
QuatOrbJQ3 float64 // [45-48]Q3 值
|
||||
Eular1 float64 // [49-52]本体相对轨道姿态角，[Z]Yaw 测摆角，量纲：1/1000000 单位：rad
|
||||
Eular2 float64 // [53-56] Pitch [Y]
|
||||
Eular3 float64 // [57-60] Roll [X]
|
||||
DotEular1 float64 // [61-62]本体相对轨道角速度，量纲：1/100000 单位：rad
|
||||
DotEular2 float64 // [63-64]
|
||||
DotEular3 float64 // [65-66]
|
||||
ModTime uint32 // [67-70]模式运行时间 秒
|
||||
DTime float64 // [71-72]姿控调用周期，量纲：1/1000 单位：秒
|
||||
AutoState [3]uint8 // [73-75]姿轨控部件使用标志
|
||||
ProTrack [16]uint8 // [76-91]姿轨控算法执行标记
|
||||
QeQ1 float64 // [92-95]偏差四元数 double 量纲：1/0x40000000 /bit
|
||||
QeQ2 float64 // [96-99]
|
||||
QeQ3 float64 // [100-103]
|
||||
We1 float64 // [104-105]偏差角速度 量纲：1/0x100000 单位：rad
|
||||
We2 float64 // [106-107]
|
||||
We3 float64 // [108-109]
|
||||
WTFX float64 // [110-111]X飞轮估计摩擦力矩 量纲：1/0x400000
|
||||
WTFY float64 // [112-113]
|
||||
WTFZ float64 // [114-115]
|
||||
FbdriftX float64 // [116-117]三轴陀螺X轴角速度漂移估计 1/0x4000000 rad/s
|
||||
FbdriftY float64 // [118-119]
|
||||
FbdriftZ float64 // [120-121]
|
||||
KalbX float64 // [122-123]三轴角速度卡尔曼漂移X 量纲：1/0x4000000 单位：rad/s
|
||||
KalbY float64 // [124-125]
|
||||
KalbZ float64 // [126-127]
|
||||
HTDX float64 // [128-129]X轴估计环境干扰力矩 量纲：1/0x200000
|
||||
HTDY float64 // [130-131]
|
||||
HTDZ float64 // [132-133]
|
||||
CommandWheelX float64 // [134-135]X轴计算飞轮控制力矩 量纲：1/0x40000
|
||||
CommandWheelY float64 // [136-137]
|
||||
CommandWheelZ float64 // [138-139]
|
||||
QuatG1 float64 // [140-143]期望四元数矢部1 量纲：1/0x40000000 /bit
|
||||
QuatG2 float64 // [144-147]
|
||||
QuatG3 float64 // [148-151]
|
||||
WG1 float64 // [152-153]期望角速度1 量纲：1/0x40000
|
||||
WG2 float64 // [154-155]
|
||||
WG3 float64 // [156-157]
|
||||
J2000PosX float64 // [158-161]计算当前J2000位置X 1/0x100 单位：m
|
||||
J2000PosY float64 // [162-165]
|
||||
J2000PosZ float64 // [166-169]
|
||||
J2000VelX float64 // [170-173]计算当前J2000速度X 量纲：1/0x100 单位：m/s
|
||||
J2000VelY float64 // [174-177]
|
||||
J2000VelZ float64 // [178-181]
|
||||
W84PosX float64 // [182-185]计算当前WGS 84位置X 1/0x100 单位：m
|
||||
W84PosY float64 // [186-189]
|
||||
W84PosZ float64 // [190-193]
|
||||
W84VelX float64 // [194-197]计算当前WGS 84速度X 量纲：1/0x100 单位：m/s
|
||||
W84VelY float64 // [198-201]
|
||||
W84VelZ float64 // [202-205]
|
||||
AngleDraft float64 // [206-209]偏流角 量纲：1/10000000 单位：rad
|
||||
DataTransLong float64 // [210-211]数传点经度 量纲：1/1000
|
||||
DataTransLat float64 // [212-213]数传点纬度 量纲：1/1000
|
||||
DataTransH float64 // [214-215]数传点地程高 量纲：1
|
||||
StarPrio [3]byte // [216-218] 星敏1定姿方式标志1 0x00：星敏1定姿；0xA0:星敏1滤波;0x01星敏2定姿；0xA1:星敏2滤波;0xff:未使用星敏定姿
|
||||
WheelspeedcalX float64 // [219-222]X飞轮期望转速 量纲：1/10000 单位：rpm
|
||||
WheelspeedcalY float64 // [223-226]
|
||||
WheelspeedcalZ float64 // [227-230]
|
||||
Reserved0 [2]byte // 预留字节
|
||||
Reserved1 [4]byte // 预留字节
|
||||
Reserved2 [2]byte // 预留字节
|
||||
Reserved3 [2]byte // 预留字节
|
||||
// 241.0 - 311.0 波道1参数
|
||||
// 241.1 - 311.1 波道2参数
|
||||
WGS84PosX float64 // [312-315]计算当前WGS 84位置X 单位：0.01米
|
||||
WGS84PosY float64 // [316-319]
|
||||
WGS84PosZ float64 // [320-323]
|
||||
WGS84VelX float64 // [324-327]计算当前WGS 84速度X 单位：0.01米/秒
|
||||
WGS84VelY float64 // [328-331]
|
||||
WGS84VelZ float64 // [332-335]
|
||||
J2000Pos_X float64 // [336-339]计算当前J2000位置X 单位：0.01米
|
||||
J2000Pos_Y float64 // [340-343]
|
||||
J2000Pos_Z float64 // [344-347]
|
||||
J2000Vel_X float64 // [348-351]计算当前J2000速度X 单位：0.01米/秒
|
||||
J2000Vel_Y float64 // [352-355]
|
||||
J2000Vel_Z float64 // [356-359]
|
||||
FOGyroXAV float64 // [360-362]三轴光纤陀螺X轴角速度 陀螺速度共3字节单位°/s量纲：1/72359
|
||||
FOGyroYAV float64 // [363-365]
|
||||
FOGyroZAV float64 // [366-368]
|
||||
FOGyroXAV1 float64 // [369-371]
|
||||
FOGyroYAV1 float64 // [372-374]
|
||||
FOGyroZAV1 float64 // [375-377]
|
||||
SS1_UTCTime uint32 // [378-381] 星敏1 UTC时间
|
||||
SS1_UTCTimeFrac float32 // [382-384] 星敏1 UTC秒小数 单位为40.96 us，高字节在前
|
||||
SS1_Q1 float64 // [385-388] 星敏1四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系）
|
||||
SS1_Q2 float64 // [389-392] 星敏1四元数q2
|
||||
SS1_Q3 float64 // [393-396] 星敏1四元数q3
|
||||
SS1_Q4 float64 // [397-400] 星敏1四元数q4
|
||||
SS1_ExposureTime uint8 // [401] 星敏1曝光时间 无符号数，单位ms
|
||||
SS1_Threshold uint8 // [402] 星敏1阈值 无符号数
|
||||
SS1_BackgroudV uint8 // [403] 星敏1背景值 无符号数
|
||||
SS1_Flags byte // [404] 星敏1标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效
|
||||
SS1_WorkMode uint8 // [405.(7~6)] 星敏1工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留）
|
||||
SS1_ExtractStars uint8 // [405.(5~0)]
|
||||
SS1_NavStars uint8 // [406.(7~5)] 星敏1导航星数
|
||||
SS1_Gain uint8 // [406.(4~0)] 星敏1增益
|
||||
SS1_RegonizedStars uint8 // [407.(7~2)] 星敏1识别星数
|
||||
SS1_ExtenalImage bool // [407.(1)] 星敏1外部图像标志位 0x01：外部图像；0x00：关闭
|
||||
SS1_AttitudeActive bool // [407.(0)] 星敏1姿态有效标志位 0x01：激活；0x00：关闭
|
||||
SS1_ImgFrmNo uint32 // [411-413] 星敏1图像帧号
|
||||
SS1_XAV float64 // [417-418] 星敏1X方向角速度 单位：2e-11 °/s
|
||||
SS1_YAV float64 // [419-420]
|
||||
SS1_ZAV float64 // [421-422]
|
||||
SS2_UTCTime uint32 // [424-427] 星敏2 UTC时间
|
||||
SS2_UTCTimeFrac float32 // [428-430] 星敏2 UTC秒小数 单位为40.96 us，高字节在前
|
||||
SS2_Q1 float64 // [431-434] 星敏2四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系）
|
||||
SS2_Q2 float64 // [435-438] 星敏2四元数q2
|
||||
SS2_Q3 float64 // [439-442] 星敏2四元数q3
|
||||
SS2_Q4 float64 // [443-446] 星敏2四元数q4
|
||||
SS2_ExposureTime uint8 // [447] 星敏2曝光时间 无符号数，单位ms
|
||||
SS2_Threshold uint8 // [448] 星敏2阈值 无符号数
|
||||
SS2_BackgroudV uint8 // [449] 星敏2背景值 无符号数
|
||||
SS2_Flags byte // [450] 星敏2标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效
|
||||
SS2_WorkMode uint8 // [451.(7~6)] 星敏2工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留）
|
||||
SS2_ExtractStars uint8 // [451.(5~0)]
|
||||
SS2_NavStars uint8 // [452.(7~5)] 星敏2导航星数
|
||||
SS2_Gain uint8 // [452.(4~0)] 星敏2增益
|
||||
SS2_RegonizedStars uint8 // [453.(7~2)] 星敏2识别星数
|
||||
SS2_ExtenalImage bool // [453.(1)] 星敏2外部图像标志位 0x01：外部图像；0x00：关闭
|
||||
SS2_AttitudeActive bool // [453.(0)] 星敏2姿态有效标志位 0x01：激活；0x00：关闭
|
||||
SS2_ImgFrmNo uint32 // [457-459] 星敏2图像帧号
|
||||
FlyWheel1_Vel float64 // [464-466] 飞轮1速度 单位：0.1rpm
|
||||
FlyWheel1_Amps float64 // [467] 飞轮1电流 单位：0.009A
|
||||
FlyWheel2_Vel float64 // [468-470] 飞轮2速度 单位：0.1rpm
|
||||
FlyWheel2_Amps float64 // [471] 飞轮2电流 单位：0.009A
|
||||
FlyWheel3_Vel float64 // [472-474] 飞轮3速度 单位：0.1rpm
|
||||
FlyWheel3_Amps float64 // [475] 飞轮3电流 单位：0.009A
|
||||
FlyWheel4_Vel float64 // [476-478] 飞轮4速度 单位：0.1rpm
|
||||
FlyWheel4_Amps float64 // [479] 飞轮4电流 单位：0.009A
|
||||
MemsGyroXAV float64 // [480-483] MEMS陀螺X轴角速度 0.000001°/s
|
||||
MemsGyroYAV float64 // [484-487] MEMS陀螺Y轴角速度 0.000001°/s
|
||||
MemsGyroZAV float64 // [488-491] MEMS陀螺Z轴角速度 0.000001°/s
|
||||
MagnetictrengthX float64 // [492-495] 磁场强度X 量纲19200,单位uT
|
||||
MagnetictrengthY float64 // [496-499] 磁场强度Y 量纲19200,单位uT
|
||||
MagnetictrengthZ float64 // [500-503] 磁场强度Z 量纲19200,单位uT
|
||||
ASSTimeInt uint32 // [504-507] 输入姿轨控数据UTC时间秒
|
||||
ASSTimeDec uint32 // [508-510] 输入姿轨控数据UTC时间秒小数 单位为μs
|
||||
Reserved4 byte // [511] 保留字节
|
||||
CheckSum byte // [512] 校验和
|
||||
}
|
||||
|
||||
func (ap *AuxPlatform) Decode(data []byte) error {
|
||||
if len(data) < 512 {
|
||||
return fmt.Errorf("data length less than 512")
|
||||
}
|
||||
|
||||
// 按需解析数据
|
||||
ap.UTCTimeSec = binary.BigEndian.Uint32(data[0:4])
|
||||
ap.Waveway = data[4]
|
||||
ap.Microsecond = uint32(data[5])<<16 | uint32(data[6])<<8 | uint32(data[7])
|
||||
ap.QuatAttstarQ0 = float64(bigEndianToInt32(data[8:12])) / 0x40000000
|
||||
ap.QuatAttstarQ1 = float64(bigEndianToInt32(data[12:16])) / 0x40000000
|
||||
ap.QuatAttstarQ2 = float64(bigEndianToInt32(data[16:20])) / 0x40000000
|
||||
ap.QuatAttstarQ3 = float64(bigEndianToInt32(data[20:24])) / 0x40000000
|
||||
ap.QuatOrbitQ1 = float64(bigEndianToInt32(data[24:28])) / 0x40000000
|
||||
ap.QuatOrbitQ2 = float64(bigEndianToInt32(data[28:32])) / 0x40000000
|
||||
ap.QuatOrbitQ3 = float64(bigEndianToInt32(data[32:36])) / 0x40000000
|
||||
ap.QuatOrbJQ1 = float64(bigEndianToInt32(data[36:40])) / 0x40000000
|
||||
ap.QuatOrbJQ2 = float64(bigEndianToInt32(data[40:44])) / 0x40000000
|
||||
ap.QuatOrbJQ3 = float64(bigEndianToInt32(data[44:48])) / 0x40000000
|
||||
ap.Eular1 = float64(bigEndianToInt32(data[48:52])) / 1000000
|
||||
ap.Eular2 = float64(bigEndianToInt32(data[52:56])) / 1000000
|
||||
ap.Eular3 = float64(bigEndianToInt32(data[56:60])) / 1000000
|
||||
ap.DotEular1 = float64(bigEndianToInt16(data[60:62])) / 100000
|
||||
ap.DotEular2 = float64(bigEndianToInt16(data[62:64])) / 100000
|
||||
ap.DotEular3 = float64(bigEndianToInt16(data[64:66])) / 100000
|
||||
ap.ModTime = binary.BigEndian.Uint32(data[66:70])
|
||||
ap.DTime = float64(bigEndianToInt16(data[70:72])) / 1000
|
||||
ap.AutoState[0] = uint8(data[72])
|
||||
ap.AutoState[1] = uint8(data[73])
|
||||
ap.AutoState[2] = uint8(data[74])
|
||||
for i := 0; i < 16; i++ {
|
||||
ap.ProTrack[i] = uint8(data[75+i])
|
||||
}
|
||||
ap.QeQ1 = float64(bigEndianToInt32(data[91:95])) / 0x40000000
|
||||
ap.QeQ2 = float64(bigEndianToInt32(data[95:99])) / 0x40000000
|
||||
ap.QeQ3 = float64(bigEndianToInt32(data[99:103])) / 0x40000000
|
||||
ap.We1 = float64(bigEndianToInt16(data[103:105])) / 0x100000
|
||||
ap.We2 = float64(bigEndianToInt16(data[105:107])) / 0x100000
|
||||
ap.We3 = float64(bigEndianToInt16(data[107:109])) / 0x100000
|
||||
ap.WTFX = float64(bigEndianToInt16(data[109:111])) / 0x400000
|
||||
ap.WTFY = float64(bigEndianToInt16(data[111:113])) / 0x400000
|
||||
ap.WTFZ = float64(bigEndianToInt16(data[113:115])) / 0x400000
|
||||
ap.FbdriftX = float64(bigEndianToInt16(data[115:117])) / 0x4000000
|
||||
ap.FbdriftY = float64(bigEndianToInt16(data[117:119])) / 0x4000000
|
||||
ap.FbdriftZ = float64(bigEndianToInt16(data[119:121])) / 0x4000000
|
||||
ap.KalbY = float64(bigEndianToInt16(data[121:123])) / 0x4000000
|
||||
ap.KalbZ = float64(bigEndianToInt16(data[123:125])) / 0x4000000
|
||||
ap.KalbX = float64(bigEndianToInt16(data[125:127])) / 0x4000000
|
||||
ap.HTDX = float64(bigEndianToInt16(data[127:129])) / 0x200000
|
||||
ap.HTDY = float64(bigEndianToInt16(data[129:131])) / 0x200000
|
||||
ap.HTDZ = float64(bigEndianToInt16(data[131:133])) / 0x200000
|
||||
ap.CommandWheelX = float64(bigEndianToInt16(data[133:135])) / 0x40000
|
||||
ap.CommandWheelY = float64(bigEndianToInt16(data[135:137])) / 0x40000
|
||||
ap.CommandWheelZ = float64(bigEndianToInt16(data[137:139])) / 0x40000
|
||||
ap.QuatG1 = float64(bigEndianToInt32(data[139:143])) / 0x40000000
|
||||
ap.QuatG2 = float64(bigEndianToInt32(data[143:147])) / 0x40000000
|
||||
ap.QuatG3 = float64(bigEndianToInt32(data[147:151])) / 0x40000000
|
||||
ap.WG1 = float64(bigEndianToInt16(data[151:153])) / 0x40000
|
||||
ap.WG2 = float64(bigEndianToInt16(data[153:155])) / 0x40000
|
||||
ap.WG3 = float64(bigEndianToInt16(data[155:157])) / 0x40000
|
||||
ap.J2000PosX = float64(bigEndianToInt32(data[157:161])) / 0x100
|
||||
ap.J2000PosY = float64(bigEndianToInt32(data[161:165])) / 0x100
|
||||
ap.J2000PosZ = float64(bigEndianToInt32(data[165:169])) / 0x100
|
||||
ap.J2000VelX = float64(bigEndianToInt32(data[169:173])) / 0x100
|
||||
ap.J2000VelY = float64(bigEndianToInt32(data[173:177])) / 0x100
|
||||
ap.J2000VelZ = float64(bigEndianToInt32(data[177:181])) / 0x100
|
||||
ap.W84PosX = float64(bigEndianToInt32(data[181:185])) / 0x100
|
||||
ap.W84PosY = float64(bigEndianToInt32(data[185:189])) / 0x100
|
||||
ap.W84PosZ = float64(bigEndianToInt32(data[189:193])) / 0x100
|
||||
ap.W84VelX = float64(bigEndianToInt32(data[193:197])) / 0x100
|
||||
ap.W84VelY = float64(bigEndianToInt32(data[197:201])) / 0x100
|
||||
ap.W84VelZ = float64(bigEndianToInt32(data[201:205])) / 0x100
|
||||
ap.AngleDraft = float64(bigEndianToInt32(data[205:209])) / 10000000
|
||||
ap.DataTransLong = float64(bigEndianToInt16(data[209:211])) / 1000
|
||||
ap.DataTransLat = float64(bigEndianToInt16(data[211:213])) / 1000
|
||||
ap.DataTransH = float64(bigEndianToInt16(data[213:215]))
|
||||
copy(ap.StarPrio[:], data[215:218])
|
||||
ap.WheelspeedcalX = float64(bigEndianToInt32(data[218:222])) / 10000
|
||||
ap.WheelspeedcalY = float64(bigEndianToInt32(data[222:226])) / 10000
|
||||
ap.WheelspeedcalZ = float64(bigEndianToInt32(data[226:230])) / 10000
|
||||
if ap.Waveway == 0x0 {
|
||||
// 241.0 - 311.0 波道1参数
|
||||
} else {
|
||||
// 241.1 - 311.1 波道2参数
|
||||
}
|
||||
ap.WGS84PosX = float64(bigEndianToInt32(data[311:315])) / 100
|
||||
ap.WGS84PosY = float64(bigEndianToInt32(data[315:319])) / 100
|
||||
ap.WGS84PosZ = float64(bigEndianToInt32(data[319:323])) / 100
|
||||
ap.WGS84VelX = float64(bigEndianToInt32(data[323:327])) / 100
|
||||
ap.WGS84VelY = float64(bigEndianToInt32(data[327:331])) / 100
|
||||
ap.WGS84VelZ = float64(bigEndianToInt32(data[331:335])) / 100
|
||||
ap.J2000Pos_X = float64(bigEndianToInt32(data[335:339])) / 100
|
||||
ap.J2000Pos_Y = float64(bigEndianToInt32(data[339:343])) / 100
|
||||
ap.J2000Pos_Z = float64(bigEndianToInt32(data[343:347])) / 100
|
||||
ap.J2000Vel_X = float64(bigEndianToInt32(data[347:351])) / 100
|
||||
ap.J2000Vel_Y = float64(bigEndianToInt32(data[351:355])) / 100
|
||||
ap.J2000Vel_Z = float64(bigEndianToInt32(data[355:359])) / 100
|
||||
ap.FOGyroXAV = float64(bigEndianToInt24(data[359:362])) / 72359
|
||||
ap.FOGyroYAV = float64(bigEndianToInt24(data[362:365])) / 72359
|
||||
ap.FOGyroZAV = float64(bigEndianToInt24(data[365:368])) / 72359
|
||||
ap.FOGyroXAV1 = float64(bigEndianToInt24(data[368:371])) / 72359
|
||||
ap.FOGyroYAV1 = float64(bigEndianToInt24(data[371:374])) / 72359
|
||||
ap.FOGyroZAV1 = float64(bigEndianToInt24(data[374:377])) / 72359
|
||||
ap.SS1_UTCTime = binary.BigEndian.Uint32(data[377:381])
|
||||
ap.SS1_UTCTimeFrac = float32(uint32(data[381])<<16|uint32(data[382])<<8|uint32(data[383])) * 40.96
|
||||
ap.SS1_Q1 = float64(bigEndianToInt32(data[384:388])) / 2147483647
|
||||
ap.SS1_Q2 = float64(bigEndianToInt32(data[388:392])) / 2147483647
|
||||
ap.SS1_Q3 = float64(bigEndianToInt32(data[392:396])) / 2147483647
|
||||
ap.SS1_Q4 = float64(bigEndianToInt32(data[396:400])) / 2147483647
|
||||
ap.SS1_ExposureTime = uint8(data[400])
|
||||
ap.SS1_Threshold = uint8(data[401])
|
||||
ap.SS1_BackgroudV = uint8(data[402])
|
||||
ap.SS1_Flags = data[403]
|
||||
ap.SS1_WorkMode = uint8(data[404] >> 6)
|
||||
ap.SS1_ExtractStars = uint8(data[404] & 0x3F)
|
||||
ap.SS1_NavStars = uint8(data[405] >> 5)
|
||||
ap.SS1_Gain = uint8(data[405] & 0x1F)
|
||||
ap.SS1_RegonizedStars = uint8(data[406] >> 2)
|
||||
ap.SS1_ExtenalImage = data[406]&0x02 == 0x02
|
||||
ap.SS1_AttitudeActive = data[406]&0x01 == 0x01
|
||||
ap.SS1_ImgFrmNo = uint32(data[410])<<16 | uint32(data[411])<<8 | uint32(data[412])
|
||||
ap.SS1_XAV = float64(bigEndianToInt16(data[416:418])) * 2e-11
|
||||
ap.SS1_YAV = float64(bigEndianToInt16(data[418:420])) * 2e-11
|
||||
ap.SS1_ZAV = float64(bigEndianToInt16(data[420:422])) * 2e-11
|
||||
ap.SS2_UTCTime = binary.BigEndian.Uint32(data[423:427])
|
||||
ap.SS2_UTCTimeFrac = float32(uint32(data[427])<<16|uint32(data[428])<<8|uint32(data[429])) * 40.96
|
||||
ap.SS2_Q1 = float64(bigEndianToInt32(data[430:434])) / 2147483647
|
||||
ap.SS2_Q2 = float64(bigEndianToInt32(data[434:438])) / 2147483647
|
||||
ap.SS2_Q3 = float64(bigEndianToInt32(data[438:442])) / 2147483647
|
||||
ap.SS2_Q4 = float64(bigEndianToInt32(data[442:446])) / 2147483647
|
||||
ap.SS2_ExposureTime = uint8(data[446])
|
||||
ap.SS2_Threshold = uint8(data[447])
|
||||
ap.SS2_BackgroudV = uint8(data[448])
|
||||
ap.SS2_Flags = data[449]
|
||||
ap.SS2_WorkMode = uint8(data[450] >> 6)
|
||||
ap.SS2_ExtractStars = uint8(data[450] & 0x3F)
|
||||
ap.SS2_NavStars = uint8(data[451] >> 5)
|
||||
ap.SS2_Gain = uint8(data[451] & 0x1F)
|
||||
ap.SS2_RegonizedStars = uint8(data[452] >> 2)
|
||||
ap.SS2_ExtenalImage = data[452]&0x02 == 0x02
|
||||
ap.SS2_AttitudeActive = data[452]&0x01 == 0x01
|
||||
ap.SS2_ImgFrmNo = uint32(data[456])<<16 | uint32(data[457])<<8 | uint32(data[458])
|
||||
ap.FlyWheel1_Vel = float64(bigEndianToInt16(data[463:466])) * 0.1
|
||||
ap.FlyWheel1_Amps = float64(uint8(data[466])) * 0.009
|
||||
ap.FlyWheel2_Vel = float64(bigEndianToInt16(data[467:470])) * 0.1
|
||||
ap.FlyWheel2_Amps = float64(uint8(data[470])) * 0.009
|
||||
ap.FlyWheel3_Vel = float64(bigEndianToInt16(data[471:474])) * 0.1
|
||||
ap.FlyWheel3_Amps = float64(uint8(data[474])) * 0.009
|
||||
ap.FlyWheel4_Vel = float64(bigEndianToInt16(data[475:478])) * 0.1
|
||||
ap.FlyWheel4_Amps = float64(uint8(data[478])) * 0.009
|
||||
ap.MemsGyroXAV = float64(bigEndianToInt32(data[479:483])) * 0.000001
|
||||
ap.MemsGyroYAV = float64(bigEndianToInt32(data[483:487])) * 0.000001
|
||||
ap.MemsGyroZAV = float64(bigEndianToInt32(data[487:491])) * 0.000001
|
||||
ap.MagnetictrengthX = float64(bigEndianToInt32(data[491:495])) / 19200
|
||||
ap.MagnetictrengthY = float64(bigEndianToInt32(data[495:499])) / 19200
|
||||
ap.MagnetictrengthZ = float64(bigEndianToInt32(data[499:503])) / 19200
|
||||
ap.ASSTimeInt = binary.BigEndian.Uint32(data[503:507])
|
||||
ap.ASSTimeDec = uint32(data[507])<<16 | uint32(data[508])<<8 | uint32(data[509])
|
||||
ap.CheckSum = data[511]
|
||||
|
||||
return nil
|
||||
}
|
||||
|
||||
func (ap AuxPlatform) Print() {
|
||||
pp.Println(ap)
|
||||
}
|
||||
|
||||
// Extractor 辅助数据提取器
|
||||
// auxfile 辅助数据文件路径
|
||||
func ParseAuxPlatform(auxfile string) ([]*AuxPlatform, error) {
|
||||
data, err := os.ReadFile(auxfile)
|
||||
if err != nil {
|
||||
log.Println("read aux data from", auxfile, "error:", err.Error())
|
||||
return nil, err
|
||||
}
|
||||
|
||||
var aps []*AuxPlatform
|
||||
for i := 0; i < len(data); i += 24 + 128 + 512 {
|
||||
ap := AuxPlatform{}
|
||||
if err := ap.Decode(data[i+24+128 : i+24+128+512]); err != nil {
|
||||
return nil, err
|
||||
}
|
||||
|
||||
aps = append(aps, &ap)
|
||||
// ap.Print()
|
||||
// Calculate(
|
||||
// Vector3{ap.J2000Pos_X, ap.J2000Pos_Y, ap.J2000Pos_Y},
|
||||
// Vector3{ap.J2000Vel_X, ap.J2000Vel_Y, ap.J2000Vel_Z},
|
||||
// Quaternion{ap.SS1_Q1, ap.SS1_Q2, ap.SS1_Q3, ap.SS1_Q4},
|
||||
// )
|
||||
|
||||
pp.Println(calculator.WGS84XYZtoLatLngH(ap.W84PosX, ap.W84PosY, ap.W84PosZ))
|
||||
pp.Println(calculator.WGS84XYZtoLatLngH(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ))
|
||||
|
||||
pp.Println(calculator.J2000ToWGS84(
|
||||
ap.J2000PosX,
|
||||
ap.J2000PosY,
|
||||
ap.J2000PosZ,
|
||||
time.Unix(
|
||||
int64(ap.UTCTimeSec+uint32(ReferenceTime2000)),
|
||||
int64(ap.Microsecond)*1000).UTC()))
|
||||
|
||||
pp.Println(calculator.J2000ToWGS84(
|
||||
ap.J2000Pos_X,
|
||||
ap.J2000Pos_Y,
|
||||
ap.J2000Pos_Z,
|
||||
time.Unix(
|
||||
int64(ap.UTCTimeSec+uint32(ReferenceTime2000)),
|
||||
int64(ap.Microsecond)*1000).UTC()))
|
||||
break
|
||||
}
|
||||
return aps, nil
|
||||
}
|
||||
|
||||
func Time2000UTCSec() int64 {
|
||||
t, _ := time.ParseInLocation("2006-01-02 15:04:05", "2000-01-01 12:00:00", time.UTC)
|
||||
return t.Unix()
|
||||
}
|
||||
51
pkg/auxilary/util.go
Normal file
51
pkg/auxilary/util.go
Normal file
@@ -0,0 +1,51 @@
|
||||
package auxilary
|
||||
|
||||
import (
|
||||
"bytes"
|
||||
"encoding/binary"
|
||||
)
|
||||
|
||||
// int32ToBigEndian converts an int32 to a big-endian byte array.
|
||||
func int32ToBigEndian(num int32) ([]byte, error) {
|
||||
buf := new(bytes.Buffer)
|
||||
err := binary.Write(buf, binary.BigEndian, num)
|
||||
if err != nil {
|
||||
return nil, err
|
||||
}
|
||||
return buf.Bytes(), nil
|
||||
}
|
||||
|
||||
// bigEndianToInt32 converts a big-endian byte array to an int32.
|
||||
func bigEndianToInt32(data []byte) int32 {
|
||||
var num int32
|
||||
buf := bytes.NewReader(data)
|
||||
err := binary.Read(buf, binary.BigEndian, &num)
|
||||
if err != nil {
|
||||
return 0
|
||||
}
|
||||
return num
|
||||
}
|
||||
|
||||
// bigEndianToInt24 converts a big-endian 3-byte array to an int32 (simulating int24).
|
||||
func bigEndianToInt24(data []byte) int32 {
|
||||
if len(data) != 3 {
|
||||
return 0
|
||||
}
|
||||
num := int32(data[0])<<16 | int32(data[1])<<8 | int32(data[2])
|
||||
// Adjust for negative values
|
||||
if num&0x800000 != 0 {
|
||||
num |= ^0xFFFFFF
|
||||
}
|
||||
return num
|
||||
}
|
||||
|
||||
// bigEndianToInt16 converts a big-endian byte array to an int16.
|
||||
func bigEndianToInt16(data []byte) int16 {
|
||||
var num int16
|
||||
buf := bytes.NewReader(data)
|
||||
err := binary.Read(buf, binary.BigEndian, &num)
|
||||
if err != nil {
|
||||
return 0
|
||||
}
|
||||
return num
|
||||
}
|
||||
10
pkg/calculator/const.go
Normal file
10
pkg/calculator/const.go
Normal file
@@ -0,0 +1,10 @@
|
||||
package calculator
|
||||
|
||||
// WGS84 ellipsoid constants
|
||||
const (
|
||||
EarthRadius = 6378137.0 // 地球半径，单位米
|
||||
a = 6378137.0 // semi-major axis in meters
|
||||
f = 1 / 298.257223563 // flattening
|
||||
e2 = 2*f - f*f // square of eccentricity
|
||||
J2000Epoch = 2451545.0 // Julian date of J2000 epoch
|
||||
)
|
||||
78
pkg/calculator/j2000.go
Normal file
78
pkg/calculator/j2000.go
Normal file
@@ -0,0 +1,78 @@
|
||||
package calculator
|
||||
|
||||
import (
|
||||
"math"
|
||||
"time"
|
||||
)
|
||||
|
||||
// Function to convert current J2000 position to WGS84
|
||||
func J2000ToWGS84(j2000X, j2000Y, j2000Z float64, utc time.Time) (float64, float64, float64) {
|
||||
julianDate := UTCToJulianDate(utc)
|
||||
gast := CalculateGAST(julianDate, utc)
|
||||
|
||||
// Calculate rotation matrix from J2000 to ITRS
|
||||
rotationMatrix := CreateRotationMatrix(gast)
|
||||
|
||||
// Rotate J2000 position to ITRS
|
||||
itrsX := rotationMatrix[0][0]*j2000X + rotationMatrix[0][1]*j2000Y + rotationMatrix[0][2]*j2000Z
|
||||
itrsY := rotationMatrix[1][0]*j2000X + rotationMatrix[1][1]*j2000Y + rotationMatrix[1][2]*j2000Z
|
||||
itrsZ := rotationMatrix[2][0]*j2000X + rotationMatrix[2][1]*j2000Y + rotationMatrix[2][2]*j2000Z
|
||||
|
||||
// Convert ITRS to geodetic coordinates (WGS84)
|
||||
latitude, longitude, height := ECEFToGeodetic(itrsX, itrsY, itrsZ)
|
||||
return latitude, longitude, height
|
||||
}
|
||||
|
||||
// Function to convert UTC to Julian Date
|
||||
func UTCToJulianDate(t time.Time) float64 {
|
||||
year, month, day := t.Date()
|
||||
hour, minute, second := t.Clock()
|
||||
fracOfDay := float64(hour)/24 + float64(minute)/(24*60) + float64(second)/(24*60*60)
|
||||
|
||||
if month <= 2 {
|
||||
year -= 1
|
||||
month += 12
|
||||
}
|
||||
|
||||
A := year / 100
|
||||
B := 2 - A + A/4
|
||||
julianDate := float64(int(365.25*float64(year))) + float64(int(30.6001*float64(month+1))) + float64(day) + 1720994.5 + fracOfDay + float64(B)
|
||||
return julianDate
|
||||
}
|
||||
|
||||
// Function to calculate GAST (Greenwich Apparent Sidereal Time)
|
||||
func CalculateGAST(julianDate float64, utc time.Time) float64 {
|
||||
// Calculate Julian centuries since J2000.0
|
||||
T := (julianDate - J2000Epoch) / 36525.0
|
||||
|
||||
// Calculate Greenwich Mean Sidereal Time (GMST) in degrees
|
||||
GMST := 280.46061837 + 360.98564736629*(julianDate-J2000Epoch) + 0.000387933*T*T - T*T*T/38710000
|
||||
GMST = math.Mod(GMST, 360.0)
|
||||
if GMST < 0 {
|
||||
GMST += 360.0
|
||||
}
|
||||
|
||||
// Calculate the equation of the equinoxes (simplified)
|
||||
omega := 125.04 - 0.052954*T
|
||||
L := 280.47 + 0.98565*T
|
||||
epsilon := 23.4393 - 0.0000004*T
|
||||
deltaPsi := -0.000319*math.Sin(math.Pi/180.0*omega) - 0.000024*math.Sin(math.Pi/180.0*2*L)
|
||||
|
||||
// Greenwich Apparent Sidereal Time (GAST)
|
||||
GAST := GMST + deltaPsi*math.Cos(math.Pi/180.0*epsilon)
|
||||
GAST = math.Mod(GAST, 360.0)
|
||||
if GAST < 0 {
|
||||
GAST += 360.0
|
||||
}
|
||||
|
||||
return GAST * math.Pi / 180.0 // Convert to radians
|
||||
}
|
||||
|
||||
// Function to create the rotation matrix for the given GAST
|
||||
func CreateRotationMatrix(gast float64) [3][3]float64 {
|
||||
return [3][3]float64{
|
||||
{math.Cos(gast), math.Sin(gast), 0},
|
||||
{-math.Sin(gast), math.Cos(gast), 0},
|
||||
{0, 0, 1},
|
||||
}
|
||||
}
|
||||
70
pkg/calculator/quaternion.go
Normal file
70
pkg/calculator/quaternion.go
Normal file
@@ -0,0 +1,70 @@
|
||||
package calculator
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"math"
|
||||
)
|
||||
|
||||
// Quaternion represents a quaternion with scalar (w) and vector (x, y, z) parts
|
||||
type Quaternion struct {
|
||||
w, x, y, z float64
|
||||
}
|
||||
|
||||
// Quaternion multiplication
|
||||
func (q1 Quaternion) Mul(q2 Quaternion) Quaternion {
|
||||
return Quaternion{
|
||||
w: q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z,
|
||||
x: q1.w*q2.x + q1.x*q2.w + q1.y*q2.z - q1.z*q2.y,
|
||||
y: q1.w*q2.y - q1.x*q2.z + q1.y*q2.w + q1.z*q2.x,
|
||||
z: q1.w*q2.z + q1.x*q2.y - q1.y*q2.x + q1.z*q2.w,
|
||||
}
|
||||
}
|
||||
|
||||
// Quaternion conjugate
|
||||
func (q Quaternion) Conjugate() Quaternion {
|
||||
return Quaternion{w: q.w, x: -q.x, y: -q.y, z: -q.z}
|
||||
}
|
||||
|
||||
// Rotate vector by quaternion
|
||||
func (q Quaternion) Rotate(v [3]float64) [3]float64 {
|
||||
qv := Quaternion{w: 0, x: v[0], y: v[1], z: v[2]}
|
||||
qConj := q.Conjugate()
|
||||
qvRotated := q.Mul(qv).Mul(qConj)
|
||||
return [3]float64{qvRotated.x, qvRotated.y, qvRotated.z}
|
||||
}
|
||||
|
||||
func main() {
|
||||
// 示例数据
|
||||
qBI := Quaternion{w: 1, x: 0, y: 0, z: 0} // 本体相对惯性系四元数
|
||||
posJ2000 := [3]float64{7000, 0, 0} // J2000位置
|
||||
// velJ2000 := [3]float64{0, 7.5, 0} // J2000速度
|
||||
|
||||
// 相机参数
|
||||
const numPixels = 9520
|
||||
const fov = 10.0 * math.Pi / 180 // 假设视场角为10度
|
||||
|
||||
// 逐像素计算地面交点
|
||||
for i := 0; i < numPixels; i++ {
|
||||
// 计算像素点相对光轴的偏角
|
||||
pixelOffset := (float64(i) - float64(numPixels)/2) / float64(numPixels)
|
||||
angle := pixelOffset * fov
|
||||
|
||||
// 假设光轴在本体坐标系中指向-z方向，计算视线方向
|
||||
dBody := [3]float64{-math.Sin(angle), 0, -math.Cos(angle)}
|
||||
|
||||
// 转换到惯性系
|
||||
dInertial := qBI.Rotate(dBody)
|
||||
|
||||
// 计算地面交点（假设dInertial已经标准化）
|
||||
k := -posJ2000[2] / dInertial[2] // 简化的交点计算
|
||||
groundPoint := [3]float64{
|
||||
posJ2000[0] + k*dInertial[0],
|
||||
posJ2000[1] + k*dInertial[1],
|
||||
posJ2000[2] + k*dInertial[2],
|
||||
}
|
||||
|
||||
// 转换到地理坐标
|
||||
lat, lon, _ := ECEFToGeodetic(groundPoint[0], groundPoint[1], groundPoint[2])
|
||||
fmt.Printf("Pixel %d: Latitude: %f, Longitude: %f\n", i, lat, lon)
|
||||
}
|
||||
}
|
||||
77
pkg/calculator/wgs84.go
Normal file
77
pkg/calculator/wgs84.go
Normal file
@@ -0,0 +1,77 @@
|
||||
package calculator
|
||||
|
||||
import "math"
|
||||
|
||||
func WGS84XYZtoLatLngH(X, Y, Z float64) (float64, float64, float64) {
|
||||
return ECEFToGeodetic(X, Y, Z)
|
||||
}
|
||||
|
||||
// Function to convert ECEF (ITRS) coordinates to geodetic coordinates (latitude, longitude, height)
|
||||
func ECEFToGeodetic(X, Y, Z float64) (float64, float64, float64) {
|
||||
b := a * (1 - f)
|
||||
e2Prime := e2 * (a * a) / (b * b)
|
||||
p := math.Sqrt(X*X + Y*Y)
|
||||
theta := math.Atan2(Z*a, p*b)
|
||||
|
||||
// Calculate Longitude
|
||||
longitude := math.Atan2(Y, X)
|
||||
|
||||
// Calculate Latitude
|
||||
latitude := math.Atan2(Z+e2Prime*b*math.Pow(math.Sin(theta), 3), p-e2*a*math.Pow(math.Cos(theta), 3))
|
||||
|
||||
// Calculate Height
|
||||
N := a / math.Sqrt(1-e2*math.Pow(math.Sin(latitude), 2))
|
||||
height := p/math.Cos(latitude) - N
|
||||
|
||||
// Convert radians to degrees for latitude and longitude
|
||||
latitudeDeg := latitude * 180 / math.Pi
|
||||
longitudeDeg := longitude * 180 / math.Pi
|
||||
|
||||
return latitudeDeg, longitudeDeg, height
|
||||
}
|
||||
|
||||
// Converts degrees to radians.
|
||||
func degreesToRadians(degrees float64) float64 {
|
||||
return degrees * math.Pi / 180
|
||||
}
|
||||
|
||||
// Converts radians to degrees.
|
||||
func radiansToDegrees(radians float64) float64 {
|
||||
return radians * 180 / math.Pi
|
||||
}
|
||||
|
||||
// Calculate destination point given a start point (lat1, lng1), distance dx, dy (in meters).
|
||||
func CalculateDestination(lat1, lng1, dx, dy float64) (float64, float64) {
|
||||
// Convert latitude and longitude from degrees to radians.
|
||||
lat1Rad := degreesToRadians(lat1)
|
||||
lng1Rad := degreesToRadians(lng1)
|
||||
|
||||
// Radius of the Earth at the given latitude.
|
||||
radius := EarthRadius * math.Cos(lat1Rad)
|
||||
|
||||
// Calculate the new latitude in radians.
|
||||
newLatRad := lat1Rad + dy/EarthRadius
|
||||
|
||||
// Calculate the new longitude in radians.
|
||||
newLngRad := lng1Rad + dx/radius
|
||||
|
||||
// Convert the new latitude and longitude back to degrees.
|
||||
newLat := radiansToDegrees(newLatRad)
|
||||
newLng := radiansToDegrees(newLngRad)
|
||||
|
||||
return newLat, newLng
|
||||
}
|
||||
|
||||
const (
|
||||
MetersPerDegreeLatitude = 111320.0 // 1度纬度约等于111,320米
|
||||
)
|
||||
|
||||
// Converts a distance in meters to degrees longitude at a specific latitude
|
||||
func MetersToDegreesLongitude(meters float64, latitude float64) float64 {
|
||||
return meters / (111320.0 * cosLatitude(latitude))
|
||||
}
|
||||
|
||||
// Approximates the cosine of the latitude in radians
|
||||
func cosLatitude(latitude float64) float64 {
|
||||
return 1.0 / (1.0 + (latitude/90.0)*(latitude/90.0))
|
||||
}
|
||||
@@ -1,7 +1,10 @@
|
||||
package config
|
||||
|
||||
import "github.com/sirupsen/logrus"
|
||||
|
||||
type Config struct {
|
||||
CRConfig CoRegistrationConfig `yaml:"cr_config" mapstructure:"cr_config"`
|
||||
LogLevel logrus.Level `yaml:"log_level" mapstructure:"log_level"`
|
||||
}
|
||||
|
||||
type CoRegistrationConfig struct {
|
||||
@@ -20,6 +23,7 @@ var GCONFIG Config
|
||||
|
||||
func init() {
|
||||
GCONFIG = Config{
|
||||
LogLevel: logrus.DebugLevel,
|
||||
CRConfig: CoRegistrationConfig{
|
||||
MssBands: 4,
|
||||
PixelBytes: 2,
|
||||
|
||||
@@ -10,7 +10,7 @@ import (
|
||||
"github.com/spf13/viper"
|
||||
)
|
||||
|
||||
var viperInst *viper.Viper
|
||||
var GViper *viper.Viper
|
||||
|
||||
func InitViper(cfg string) *viper.Viper {
|
||||
v := viper.New()
|
||||
@@ -22,7 +22,7 @@ func InitViper(cfg string) *viper.Viper {
|
||||
v.SetConfigType("yaml")
|
||||
err := v.ReadInConfig()
|
||||
if err != nil {
|
||||
log.Println(fmt.Errorf("fatal error config file: %s", err.Error()))
|
||||
log.Println(fmt.Errorf("cannot read config file: %s, use default config", err.Error()))
|
||||
return nil
|
||||
}
|
||||
|
||||
|
||||
109
pkg/producer/aux.go
Normal file
109
pkg/producer/aux.go
Normal file
@@ -0,0 +1,109 @@
|
||||
package imageproc
|
||||
|
||||
import (
|
||||
"math"
|
||||
"time"
|
||||
|
||||
"github.com/paulmach/orb"
|
||||
"github.com/paulmach/orb/planar"
|
||||
"starwiz.cn/sjy01/image-proc/pkg/auxilary"
|
||||
"starwiz.cn/sjy01/image-proc/pkg/calculator"
|
||||
)
|
||||
|
||||
func (r *Registrator) LoadAuxData() error {
|
||||
var err error
|
||||
r.auxHeads, r.auxBoxes, r.AuxPlatforms, err = auxilary.ExtractAux(r.Params.AuxRawFile)
|
||||
return err
|
||||
}
|
||||
|
||||
func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time) {
|
||||
startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
|
||||
centerPosInAux := (startPosInAux + endPosInAux) / 2
|
||||
|
||||
start = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[startPosInAux].UTCTimeSec),
|
||||
int64(r.AuxPlatforms[startPosInAux].Microsecond)*1000)
|
||||
center = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[centerPosInAux].UTCTimeSec),
|
||||
int64(r.AuxPlatforms[centerPosInAux].Microsecond)*1000)
|
||||
end = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[endPosInAux].UTCTimeSec),
|
||||
int64(r.AuxPlatforms[endPosInAux].Microsecond)*1000)
|
||||
|
||||
return
|
||||
}
|
||||
|
||||
// FIXME: 位置像元经纬度计算方法，暂时使用星下点替代
|
||||
func (r *Registrator) ScenePosition(scene *Scene) (topLeft, bottomRight orb.Point) {
|
||||
// startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
|
||||
ap := r.AuxPlatforms[0]
|
||||
// ap1 := r.AuxPlatforms[endPosInAux]
|
||||
lat0, lng0, _ := calculator.WGS84XYZtoLatLngH(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ)
|
||||
|
||||
lat, lng := calculator.CalculateDestination(lat0, lng0,
|
||||
float64(scene.Width)*scene.Meta.Gsd, float64(-scene.Y)*scene.Meta.Gsd)
|
||||
|
||||
// lat0, lng0, h0 := calculator.WGS84XYZtoLatLngH(ap1.WGS84PosX, ap1.WGS84PosY, ap1.WGS84PosZ)
|
||||
// fmt.Println("Scene Position End:", lat0, lng0, h0)
|
||||
|
||||
lat1, lng1 := calculator.CalculateDestination(lat, lng,
|
||||
float64(scene.Width)*scene.Meta.Gsd, float64(-scene.Height)*scene.Meta.Gsd)
|
||||
|
||||
poly := orb.Polygon{
|
||||
{
|
||||
{lng, lat},
|
||||
{lng1, lat},
|
||||
{lng1, lat1},
|
||||
{lng, lat1},
|
||||
{lng, lat},
|
||||
},
|
||||
}
|
||||
|
||||
centroid, _ := planar.CentroidArea(poly)
|
||||
scene.Meta.CentreLocation.Latitude = centroid.Y()
|
||||
scene.Meta.CentreLocation.Longitude = centroid.X()
|
||||
scene.Meta.Corners.UpperLeft.Latitude = lat
|
||||
scene.Meta.Corners.UpperLeft.Longitude = lng
|
||||
scene.Meta.Corners.UpperRight.Latitude = lat
|
||||
scene.Meta.Corners.UpperRight.Longitude = lng1
|
||||
scene.Meta.Corners.LowerLeft.Latitude = lat1
|
||||
scene.Meta.Corners.LowerLeft.Longitude = lng
|
||||
scene.Meta.Corners.LowerRight.Latitude = lat1
|
||||
scene.Meta.Corners.LowerRight.Longitude = lng1
|
||||
|
||||
scene.Meta.SatPosX = ap.WGS84PosX
|
||||
scene.Meta.SatPosY = ap.WGS84PosY
|
||||
scene.Meta.SatPosZ = ap.WGS84PosZ
|
||||
scene.Meta.Yaw = ap.Eular1 * 180 / math.Pi
|
||||
scene.Meta.Pitch = ap.Eular2 * 180 / math.Pi
|
||||
scene.Meta.Roll = ap.Eular3 * 180 / math.Pi
|
||||
|
||||
// feature := geojson.NewFeature(poly)
|
||||
// fcs.Features = append(fcs.Features, feature)
|
||||
|
||||
// fd, _ := fcs.MarshalJSON()
|
||||
// fmt.Println(string(fd))
|
||||
|
||||
return
|
||||
}
|
||||
|
||||
func (r *Registrator) SceneInAuxIndex(scene *Scene) (int, int) {
|
||||
var auxForImageRow int
|
||||
switch scene.Type {
|
||||
case "MSS":
|
||||
auxForImageRow = 4
|
||||
case "PAN":
|
||||
auxForImageRow = 16
|
||||
case "FUS":
|
||||
auxForImageRow = 16
|
||||
}
|
||||
|
||||
startPosInAux := scene.Y / auxForImageRow
|
||||
if startPosInAux >= len(r.AuxPlatforms) {
|
||||
startPosInAux = len(r.AuxPlatforms) - 1
|
||||
}
|
||||
|
||||
endPosInAux := (scene.Y + scene.Height) / auxForImageRow
|
||||
if endPosInAux >= len(r.AuxPlatforms) {
|
||||
endPosInAux = len(r.AuxPlatforms) - 1
|
||||
}
|
||||
|
||||
return startPosInAux, endPosInAux
|
||||
}
|
||||
@@ -11,6 +11,7 @@ import (
|
||||
"github.com/airbusgeo/godal"
|
||||
log "github.com/sirupsen/logrus"
|
||||
"gocv.io/x/gocv"
|
||||
"starwiz.cn/sjy01/image-proc/pkg/auxilary"
|
||||
)
|
||||
|
||||
type Registrate interface{}
|
||||
@@ -49,6 +50,10 @@ type Registrator struct {
|
||||
rgbirImage gocv.Mat
|
||||
|
||||
resampleMethod ResampleMethod
|
||||
|
||||
auxHeads []*auxilary.AuxFrameHead
|
||||
auxBoxes []*auxilary.AuxFocalBox
|
||||
AuxPlatforms []*auxilary.AuxPlatform
|
||||
}
|
||||
|
||||
func NewRegistrator(rsmethod ResampleMethod) *Registrator {
|
||||
|
||||
@@ -59,9 +59,7 @@ func GTiffToJPG(ftiff, fjpg string, reversed bool) error {
|
||||
channels := gocv.Split(img)
|
||||
for i, ch := range channels {
|
||||
// 2. 计算图像的最小值和最大值
|
||||
minVal, maxVal, minLoc, maxLoc := gocv.MinMaxLoc(ch)
|
||||
log.Printf("Min value: %f, Max value: %f, min location: %v, max location: %v", minVal, maxVal, minLoc, maxLoc)
|
||||
|
||||
minVal, maxVal, _, _ := gocv.MinMaxLoc(ch)
|
||||
// 3. 将16位图像线性拉伸到8位图像
|
||||
scale := 255.0 / (maxVal - minVal)
|
||||
shift := -minVal * scale
|
||||
@@ -85,10 +83,6 @@ func GTiffToJPG(ftiff, fjpg string, reversed bool) error {
|
||||
0, 0, gocv.InterpolationCubic)
|
||||
|
||||
// 7. 应用伽玛校正提升亮度
|
||||
// avgBrightness := calculateAverageBrightness(img8bit)
|
||||
// gamma := determineGammaValue(avgBrightness)
|
||||
// log.Printf("Average Brightness: %f, Determined Gamma: %f", avgBrightness, gamma)
|
||||
|
||||
gammaCorrected := applyGammaCorrection(img8bit, 1.6) // 伽玛值
|
||||
defer gammaCorrected.Close()
|
||||
ok := gocv.IMWriteWithParams(fjpg, gammaCorrected, []int{gocv.IMWriteJpegOptimize, 1})
|
||||
@@ -96,9 +90,6 @@ func GTiffToJPG(ftiff, fjpg string, reversed bool) error {
|
||||
err = fmt.Errorf("error saving %s", fjpg)
|
||||
return err
|
||||
}
|
||||
|
||||
// gocv.IMWrite(strings.Replace(fjpg, ".jpg", "_8.jpg", 1), img8bit)
|
||||
|
||||
return nil
|
||||
}
|
||||
|
||||
@@ -121,24 +112,3 @@ func applyGammaCorrection(src gocv.Mat, gamma float64) gocv.Mat {
|
||||
gocv.LUT(src, gammaMat, &dst)
|
||||
return dst
|
||||
}
|
||||
|
||||
// calculateAverageBrightness calculates the average brightness of the image
|
||||
func calculateAverageBrightness(img gocv.Mat) float64 {
|
||||
if img.Channels() == 1 {
|
||||
return img.Mean().Val1
|
||||
}
|
||||
gray := gocv.NewMat()
|
||||
defer gray.Close()
|
||||
gocv.CvtColor(img, &gray, gocv.ColorBGRToGray)
|
||||
return gray.Mean().Val1
|
||||
}
|
||||
|
||||
// determineGammaValue determines an appropriate gamma value based on the average brightness
|
||||
func determineGammaValue(avgBrightness float64) float64 {
|
||||
targetBrightness := 180.0
|
||||
if avgBrightness < 0.1 {
|
||||
return 1.0
|
||||
}
|
||||
gamma := math.Log(targetBrightness/255.0) / math.Log(avgBrightness/255.0)
|
||||
return gamma
|
||||
}
|
||||
|
||||
@@ -3,6 +3,9 @@ package imageproc
|
||||
import (
|
||||
"encoding/xml"
|
||||
"os"
|
||||
"path/filepath"
|
||||
"strings"
|
||||
"time"
|
||||
)
|
||||
|
||||
// 定义与XML结构对应的Go结构体
|
||||
@@ -55,7 +58,38 @@ type Corners struct {
|
||||
LowerLeft Location `xml:"LowerLeft"`
|
||||
}
|
||||
|
||||
func WriteProductMeta(productMeta *ProductMeta, filename string) error {
|
||||
func (r *Registrator) makeProductMeta(scene *Scene) *ProductMeta {
|
||||
meta := &ProductMeta{
|
||||
Satellite: "SJY01",
|
||||
Sensor: "PMS",
|
||||
OutputFormat: "GTiff",
|
||||
ProductGenTime: time.Now().Format("2006-01-02T15:04:05"),
|
||||
Width: scene.Width,
|
||||
Height: scene.Height,
|
||||
MapProjection: "GEOGRAPHIC",
|
||||
EarthEllipsoid: "WGS_84",
|
||||
ProductLevel: "L1A",
|
||||
}
|
||||
|
||||
switch scene.Type {
|
||||
case "PAN":
|
||||
meta.Gsd = 1.25
|
||||
meta.Bands = 1
|
||||
case "MSS":
|
||||
meta.Gsd = 5
|
||||
meta.Bands = 4
|
||||
}
|
||||
|
||||
meta.ProductID = filepath.Base(strings.TrimSuffix(scene.Tiff, ".tiff"))
|
||||
startTime, centerTime, endTime := r.SceneImageTime(scene)
|
||||
meta.StartTime = startTime.Format("2006-01-02T15:04:05.000")
|
||||
meta.EndTime = endTime.Format("2006-01-02T15:04:05.000")
|
||||
meta.CentreTime = centerTime.Format("2006-01-02T15:04:05.000")
|
||||
|
||||
return meta
|
||||
}
|
||||
|
||||
func (r *Registrator) writeProductMeta(productMeta *ProductMeta, filename string) error {
|
||||
output, err := xml.MarshalIndent(productMeta, "", " ")
|
||||
if err != nil {
|
||||
return err
|
||||
|
||||
@@ -13,7 +13,7 @@ import (
|
||||
)
|
||||
|
||||
func (r *Registrator) SaveOriginalPanToGDALGTiff(tiffFile string) error {
|
||||
err := savePanToGDALGTiff(r.PanImage, tiffFile)
|
||||
err := savePanToGDALGTiff(r.PanImage, 0, 0, tiffFile)
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
@@ -21,13 +21,7 @@ func (r *Registrator) SaveOriginalPanToGDALGTiff(tiffFile string) error {
|
||||
return nil
|
||||
}
|
||||
|
||||
func (r *Registrator) SaveFilteredPanToGDALGTiff(tiffFile string) error {
|
||||
img := PANFilter(r.PanImage)
|
||||
img.ConvertTo(&img, gocv.MatTypeCV16U)
|
||||
return savePanToGDALGTiff(img, tiffFile)
|
||||
}
|
||||
|
||||
func savePanToGDALGTiff(pan gocv.Mat, tiffFile string) error {
|
||||
func savePanToGDALGTiff(pan gocv.Mat, topLeftX, topLeftY float64, tiffFile string) error {
|
||||
// log.Println("Saving PAN image to TIFF file:", tiffFile)
|
||||
|
||||
width := pan.Cols()
|
||||
@@ -40,7 +34,7 @@ func savePanToGDALGTiff(pan gocv.Mat, tiffFile string) error {
|
||||
}
|
||||
defer ds.Close()
|
||||
|
||||
setGeoTransform(ds, 0, 0, float64(width), float64(height), 1.25)
|
||||
setGeoTransform(ds, topLeftX, topLeftY, 1.25)
|
||||
ds.SetMetadata("NBITS", "16")
|
||||
|
||||
// 将通道的数据转换为uint16数组
|
||||
@@ -74,7 +68,7 @@ func (r *Registrator) SaveRegisteredMssToGDALGTiff(tiffFile string) error {
|
||||
gocv.Merge(r.registeredMssImages[:], &r.rgbirImage)
|
||||
|
||||
err := SaveBGRToGDALGTiff(r.rgbirImage,
|
||||
4, 5,
|
||||
4, 0, 0, 5,
|
||||
[]godal.ColorInterp{godal.CIBlue, godal.CIGreen, godal.CIRed, godal.CIUndefined},
|
||||
tiffFile)
|
||||
if err != nil {
|
||||
@@ -84,15 +78,11 @@ func (r *Registrator) SaveRegisteredMssToGDALGTiff(tiffFile string) error {
|
||||
return nil
|
||||
}
|
||||
|
||||
func (r *Registrator) SavePansharpenedToGDALGTiff(tiffFile string) error {
|
||||
ihsImage := PansharpenIHS(r.PanImage, r.rgbirImage)
|
||||
return SaveBGRToGDALGTiff(ihsImage,
|
||||
3, 1.25,
|
||||
[]godal.ColorInterp{godal.CIRed, godal.CIGreen, godal.CIBlue},
|
||||
tiffFile)
|
||||
}
|
||||
|
||||
func SaveBGRToGDALGTiff(bgr gocv.Mat, bands int, resolution float64, colorInterps []godal.ColorInterp, tiffFile string) error {
|
||||
func SaveBGRToGDALGTiff(bgr gocv.Mat,
|
||||
bands int,
|
||||
topLeftX, topLeftY float64,
|
||||
resolution float64,
|
||||
colorInterps []godal.ColorInterp, tiffFile string) error {
|
||||
width := bgr.Cols()
|
||||
height := bgr.Rows()
|
||||
|
||||
@@ -123,8 +113,7 @@ func SaveBGRToGDALGTiff(bgr gocv.Mat, bands int, resolution float64, colorInterp
|
||||
defer ds.Close()
|
||||
|
||||
// ds.SetMetadata("NBITS", "16")
|
||||
|
||||
setGeoTransform(ds, 0, 0, float64(width), float64(height), resolution)
|
||||
setGeoTransform(ds, topLeftX, topLeftY, resolution)
|
||||
|
||||
for b := 0; b < bands; b++ {
|
||||
band := ds.Bands()[b]
|
||||
|
||||
@@ -75,6 +75,8 @@ func calculateProj(topLeftX, topLeftY, width, height, resolution float64) string
|
||||
EXTENSION["PROJ4","+proj=merc +a=6378137 +b=6378137 +lat_ts=0.0 +lon_0=0.0 +x_0=0.0 +y_0=0 +k=1.0 +units=m +nadgrids=@null +wktext +no_defs"],
|
||||
AUTHORITY["EPSG","3857"]]`)
|
||||
|
||||
projections = append(projections, `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"]],AXIS["Latitude",NORTH],AXIS["Longitude",EAST],AUTHORITY["EPSG","4326"]]`)
|
||||
|
||||
// 输出投影信息
|
||||
return projections[0]
|
||||
return projections[4]
|
||||
}
|
||||
|
||||
@@ -13,12 +13,15 @@ import (
|
||||
)
|
||||
|
||||
type Scene struct {
|
||||
Width int
|
||||
Height int
|
||||
X int // coordinate of the left top corner of the scene
|
||||
Y int
|
||||
Mat []gocv.Mat
|
||||
Tiff string
|
||||
Type string
|
||||
Width int
|
||||
Height int
|
||||
X int // coordinate of the left top corner of the scene
|
||||
Y int
|
||||
Mat []gocv.Mat
|
||||
Tiff string
|
||||
Meta *ProductMeta
|
||||
SceneId string
|
||||
}
|
||||
|
||||
func (s *Scene) Cleanup() {
|
||||
@@ -43,12 +46,17 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
|
||||
}
|
||||
|
||||
scene := &Scene{
|
||||
Type: "PAN",
|
||||
Width: 9344,
|
||||
Height: y1 - i*hPAN,
|
||||
X: 0,
|
||||
Y: i * hPAN,
|
||||
}
|
||||
|
||||
name := filepath.Base(r.Params.PanTiffFile)
|
||||
name = strings.TrimSuffix(name, ".tiff")
|
||||
scene.SceneId = fmt.Sprintf("%s_%03d", name, i+1)
|
||||
|
||||
mat := r.PanImage.Region(image.Rect(0, i*hPAN, 9344, y1))
|
||||
scene.Mat = append(scene.Mat, mat)
|
||||
panScenes = append(panScenes, scene)
|
||||
@@ -64,6 +72,7 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
|
||||
}
|
||||
|
||||
scene := &Scene{
|
||||
Type: "MSS",
|
||||
Width: 2336,
|
||||
Height: y1 - i*hMSS,
|
||||
X: 0,
|
||||
@@ -75,6 +84,9 @@ func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err e
|
||||
scene.Mat = append(scene.Mat, mat)
|
||||
}
|
||||
|
||||
name := filepath.Base(r.Params.MssTiffFile)
|
||||
name = strings.TrimSuffix(name, ".tiff")
|
||||
scene.SceneId = fmt.Sprintf("%s_%03d", name, i+1)
|
||||
mssScenes = append(mssScenes, scene)
|
||||
}
|
||||
|
||||
@@ -91,16 +103,23 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
|
||||
dir := filepath.Join(r.Params.OutputDir, fmt.Sprintf("%03d", i+1), "PAN")
|
||||
os.MkdirAll(dir, 0755)
|
||||
|
||||
tiff := filepath.Base(r.Params.PanTiffFile)
|
||||
tiff = strings.TrimSuffix(tiff, ".tiff")
|
||||
filename := fmt.Sprintf("%s_%03d.tiff", tiff, i+1)
|
||||
filename := fmt.Sprintf("%s_L1A.tiff", scene.SceneId)
|
||||
scene.Tiff = filepath.Join(dir, filename)
|
||||
err := savePanToGDALGTiff(scene.Mat[0], scene.Tiff)
|
||||
scene.Meta = r.makeProductMeta(scene)
|
||||
r.ScenePosition(scene)
|
||||
|
||||
err := savePanToGDALGTiff(scene.Mat[0],
|
||||
scene.Meta.Corners.UpperLeft.Longitude,
|
||||
scene.Meta.Corners.UpperLeft.Latitude,
|
||||
scene.Tiff)
|
||||
if err != nil {
|
||||
log.Errorf("save pan scene %d to tiff failed: %v", i+1, err)
|
||||
return err
|
||||
}
|
||||
|
||||
scene.Meta.DataSize = sizeOfFile(scene.Tiff)
|
||||
metaFile := strings.Replace(scene.Tiff, ".tiff", ".meta.xml", 1)
|
||||
r.writeProductMeta(scene.Meta, metaFile)
|
||||
GTiffToJPG(scene.Tiff, strings.Replace(scene.Tiff, ".tiff", ".jpg", 1), false)
|
||||
}
|
||||
|
||||
@@ -108,14 +127,17 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
|
||||
dir := filepath.Join(r.Params.OutputDir, fmt.Sprintf("%03d", i+1), "MSS")
|
||||
os.MkdirAll(dir, 0755)
|
||||
|
||||
tiff := filepath.Base(r.Params.MssTiffFile)
|
||||
tiff = strings.TrimSuffix(tiff, ".tiff")
|
||||
filename := fmt.Sprintf("%s_%03d.tiff", tiff, i+1)
|
||||
filename := fmt.Sprintf("%s_L1A.tiff", scene.SceneId)
|
||||
scene.Tiff = filepath.Join(dir, filename)
|
||||
scene.Meta = r.makeProductMeta(scene)
|
||||
r.ScenePosition(scene)
|
||||
|
||||
rgbirImage, _ := r.MergeMSSToBGRNIR(scene.Mat)
|
||||
err := SaveBGRToGDALGTiff(rgbirImage,
|
||||
4, 5,
|
||||
4,
|
||||
scene.Meta.Corners.UpperLeft.Longitude,
|
||||
scene.Meta.Corners.UpperLeft.Latitude,
|
||||
5,
|
||||
[]godal.ColorInterp{godal.CIBlue, godal.CIGreen, godal.CIRed, godal.CIUndefined},
|
||||
scene.Tiff)
|
||||
if err != nil {
|
||||
@@ -123,6 +145,9 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
|
||||
return err
|
||||
}
|
||||
|
||||
scene.Meta.DataSize = sizeOfFile(scene.Tiff)
|
||||
metaFile := strings.Replace(scene.Tiff, ".tiff", ".meta.xml", 1)
|
||||
r.writeProductMeta(scene.Meta, metaFile)
|
||||
GTiffToJPG(scene.Tiff, strings.Replace(scene.Tiff, ".tiff", ".jpg", 1), false)
|
||||
}
|
||||
|
||||
|
||||
@@ -1,29 +1,47 @@
|
||||
package imageproc
|
||||
|
||||
import (
|
||||
"os"
|
||||
"time"
|
||||
|
||||
"github.com/airbusgeo/godal"
|
||||
log "github.com/sirupsen/logrus"
|
||||
"starwiz.cn/sjy01/image-proc/pkg/calculator"
|
||||
)
|
||||
|
||||
func setGeoTransform(ds *godal.Dataset, topLeftX, topLeftY, width, height, resolution float64) {
|
||||
func setGeoTransform(ds *godal.Dataset, topLeftLng, topLeftLat, resolution float64) {
|
||||
// 转换分辨率（米到度）
|
||||
resLat := resolution / calculator.MetersPerDegreeLatitude
|
||||
resLng := calculator.MetersToDegreesLongitude(resolution, topLeftLat)
|
||||
// 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)
|
||||
topLeftLng, // top left x
|
||||
resLng, // w-e pixel resolution
|
||||
0, // rotation, 0 if image is "north up"
|
||||
topLeftLat, // top left y
|
||||
0, // rotation, 0 if image is "north up"
|
||||
-resLat, // n-s pixel resolution (negative value)
|
||||
}
|
||||
err := ds.SetGeoTransform(geotransform)
|
||||
if err != nil {
|
||||
log.Errorf("Failed to set GeoTransform: %v", err)
|
||||
return
|
||||
}
|
||||
|
||||
// 设置投影信息（WGS84）
|
||||
err = ds.SetProjection(calculateProj(topLeftX, topLeftY, width, height, resolution))
|
||||
// 设置投影为 WGS84
|
||||
srs, err := godal.NewSpatialRefFromEPSG(4326) // gdal.CreateSpatialReference("")
|
||||
if err != nil {
|
||||
log.Errorf("Failed to set spatial reference: %v", err)
|
||||
return
|
||||
}
|
||||
|
||||
projWKT, err := srs.WKT()
|
||||
if err != nil {
|
||||
log.Errorf("Failed to convert spatial reference to WKT: %v", err)
|
||||
return
|
||||
}
|
||||
|
||||
err = ds.SetProjection(projWKT)
|
||||
if err != nil {
|
||||
log.Errorf("Failed to set projection: %v", err)
|
||||
}
|
||||
@@ -32,3 +50,12 @@ func setGeoTransform(ds *godal.Dataset, topLeftX, topLeftY, width, height, resol
|
||||
ds.SetMetadata("TIFFTAG_DATETIME", time.Now().String())
|
||||
ds.SetMetadata("TIFFTAG_SOFTWARE", "StarWiz-SJY01-IMAGE-PROC")
|
||||
}
|
||||
|
||||
func sizeOfFile(file string) int64 {
|
||||
fileInfo, err := os.Stat(file)
|
||||
if err != nil {
|
||||
log.Errorf("Failed to get file size: %v", err)
|
||||
return 0
|
||||
}
|
||||
return fileInfo.Size()
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user