lankun/sjy01-image-proc
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相机在x-y上有角度

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nuknal
2024-06-11 10:24:30 +08:00
parent 031b76be39
commit 9ef23d9b4f
2 changed files with 52 additions and 35 deletions
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19
pkg/calculator/intersection.go
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@@ -14,16 +14,13 @@ type IntersectionPoint struct {
}
func Intersection(q Quaternion, satPos84 []float64, satTime time.Time, ucam int) IntersectionPoint {
alpha := FOV * math.Pi / 180.0
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(PANPixels))
direction := []float64{0, math.Tan(alpha), -1.3}
// alpha := FOV * math.Pi / 180.0
// alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(PANPixels))
// direction := []float64{0, math.Tan(alpha), -1.3}
direction := CameraDirectionVec(0, float64(ucam))
// -------- 相机坐标系下CCD成像方向向量转到卫星坐标系 --------
Rcam := mat.NewDense(3, 3, []float64{
1, 0, 0,
0, 1, 0,
0, 0, 1,
})
Rcam := CameraRotMatrix(AngleCamSatX*math.Pi/180.0, AngleCamSatY*math.Pi/180.0, 0)
var dCam mat.VecDense
dCam.MulVec(Rcam, mat.NewVecDense(3, direction))
@@ -49,11 +46,7 @@ func Intersection2(Qsat2orbit, Qorbit2eci Quaternion, satPos84 []float64, satTim
direction := []float64{0, math.Tan(alpha), -1.3} // 卫星（相机）坐标系下CCD成像方向向量
// -------- 相机坐标系下CCD成像方向向量转到卫星坐标系 --------
Rcam := mat.NewDense(3, 3, []float64{
1, 0, 0,
0, 1, 0,
0, 0, 1,
})
Rcam := CameraRotMatrix(AngleCamSatX*math.Pi/180.0, AngleCamSatY*math.Pi/180.0, 0)
var dCam mat.VecDense
dCam.MulVec(Rcam, mat.NewVecDense(3, direction))