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相机在x-y上有角度

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This commit is contained in:
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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54
pkg/calculator/camera.go
View File

@@ -1,8 +1,9 @@
package calculator
import (
"fmt"
"math"
"gonum.org/v1/gonum/mat"
)
const (
@@ -13,25 +14,27 @@ const (
PANCellSize = 3.2 // µm
MSSPixels = 2336.0
MSSCellSize = 12.8 // µm
AngleCamSatX = 0.0 // 相机与卫星本体X轴的安装角度, degree FIXME: 安装矩阵应该由卫星方提供
AngleCamSatY = 0.5 // 相机与卫星本体Y轴的安装角度, degree
)
// 计算过程使用PAN分辨率
func CameraDirectionVec(u, v float64) []float64 {
w := PANPixels * PANCellSize / 1000.0 // 像素宽度, mm
h := w
d := math.Sqrt(math.Pow(w, 2) + math.Pow(h, 2)) // 对角线长度, mm
fov := 2 * math.Atan2(d/2, FocalLength) // 对角线视场角
// w := PANPixels * PANCellSize / 1000.0 // 像素宽度, mm
// h := w
// d := math.Sqrt(math.Pow(w, 2) + math.Pow(h, 2)) // 对角线长度, mm
// fov := 2 * math.Atan2(w/2, FocalLength) // 对角线视场角
fmt.Println("Camera Parameters:")
fmt.Printf("Focal Length: %.6f mm\n", FocalLength)
fmt.Printf("FOV (calculated): %.6f degree\n", fov*180/math.Pi)
fmt.Printf("Width: %.6f mm\n", w)
fmt.Printf("Height: %.6f mm\n", h)
fmt.Printf("Diagonal: %.6f mm\n", d)
// fmt.Println("Camera Parameters:")
// fmt.Printf("Focal Length: %.6f mm\n", FocalLength)
// fmt.Printf("FOV (calculated): %.6f degree\n", fov*180/math.Pi)
// fmt.Printf("Width: %.6f mm\n", w)
// fmt.Printf("Height: %.6f mm\n", h)
// fmt.Printf("Diagonal: %.6f mm\n", d)
// 从给定FOV计算d
dCalcOfFOV := 2 * FocalLength * math.Tan(FOV/2*math.Pi/180)
fmt.Printf("Diagonal (calculated from FOV): %.6f mm\n", dCalcOfFOV)
// dCalcOfFOV := 2 * FocalLength * math.Tan(FOV/2*math.Pi/180)
// fmt.Printf("Diagonal (calculated from FOV): %.6f mm\n", dCalcOfFOV)
directionVec := []float64{0, 0, 0}
directionVec[0] = 0 // x方向, mm，线性CCD每次单行成像
@@ -39,9 +42,9 @@ func CameraDirectionVec(u, v float64) []float64 {
directionVec[2] = -FocalLength // z方向, mm
// 归一化
fmt.Printf("Direction Vector: (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
// fmt.Printf("Direction Vector: (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
directionVec = normalizeVec(directionVec)
fmt.Printf("Direction Vector (normalized): (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
// fmt.Printf("Direction Vector (normalized): (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
return directionVec
}
@@ -57,3 +60,24 @@ func normalizeVec(vec []float64) []float64 {
}
return vec
}
// 假设相机相对卫星本体的安装矩阵只在Y轴方向旋转角度为θ
func CameraRotMatrix(phi, theta, psi float64) *mat.Dense {
Rx := mat.NewDense(3, 3, []float64{
1, 0, 0,
0, math.Cos(phi), -math.Sin(phi),
0, math.Sin(phi), math.Cos(phi),
})
Ry := mat.NewDense(3, 3, []float64{
math.Cos(theta), 0, math.Sin(theta),
0, 1, 0,
-math.Sin(theta), 0, math.Cos(theta),
})
// R = Rz * Ry * Rx
RyRx := mat.NewDense(3, 3, nil)
RyRx.Mul(Ry, Rx)
return RyRx
}

19
pkg/calculator/intersection.go
View File

@@ -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))