lankun/sjy01-image-proc
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计算分辨率

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This commit is contained in:
nuknal
2024-06-07 13:03:01 +08:00
parent cf5012f2a8
commit c046da2321
6 changed files with 240 additions and 105 deletions
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2
cmd/proc.go
View File

@@ -68,7 +68,7 @@ var procCmd = &cobra.Command{
reg.SaveRegisteredMssToGDALGTiff(reg.Params.MssTiffFile)
}
if params.DoPansharpen {
if reg.Params.DoPansharpen {
reg.DoScenePansharpen(panScenes, mssScenes)
}

45
pkg/calculator/intersection.go
View File

@@ -14,7 +14,13 @@ const (
nPixels = 9344 // 像素数
)
func Intersection(q Quaternion, satPos []float64, satTime time.Time, ucam int) (float64, float64) {
type IntersectionPoint struct {
Lat float64
Lon float64
H float64
}
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(nPixels))
direction := []float64{0, math.Tan(alpha), -1.3}
@@ -33,11 +39,42 @@ func Intersection(q Quaternion, satPos []float64, satTime time.Time, ucam int) (
x, y, z := ECItoECEF(eciDirection[0], eciDirection[1], eciDirection[2], satTime)
ecefDirection := []float64{x, y, z}
intersection := intersectWithEllipsoid(satPos, ecefDirection)
lat, lon, _ := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
intersection := intersectWithEllipsoid(satPos84, ecefDirection)
lat, lon, h := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
return IntersectionPoint{Lat: lat, Lon: lon, H: h}
return lat, lon
}
func Intersection2(Qsat2orbit, Qorbit2eci Quaternion, satPos84 []float64, satTime time.Time, ucam int) IntersectionPoint {
alpha := FOV * math.Pi / 180.0
alpha = -alpha/2.0 + float64(ucam)*(alpha/float64(nPixels))
direction := []float64{0, math.Tan(alpha), -1.3} // 卫星（相机）坐标系下CCD成像方向向量
// -------- 转到轨道坐标系 --------
Rsat2orbit := Qsat2orbit.ToRotationMatrix()
Rsat2orbitT := &mat.Dense{}
Rsat2orbitT.Inverse(Rsat2orbit)
var r0 mat.VecDense
r0.MulVec(Rsat2orbit, mat.NewVecDense(3, direction))
dOrbit := r0.RawVector().Data
// -------- 转到ECI坐标系 --------
Rorbit2eci := Qorbit2eci.ToRotationMatrix()
Rorbit2eciT := &mat.Dense{}
Rorbit2eciT.Inverse(Rorbit2eci)
var r1 mat.VecDense
r1.MulVec(Rorbit2eci, mat.NewVecDense(3, dOrbit))
dECI := r1.RawVector().Data
// -------- 转到ECEF坐标系 --------
x, y, z := ECItoECEF(dECI[0], dECI[1], dECI[2], satTime)
dECEF := []float64{x, y, z}
// -------- 计算交点 --------}
intersection := intersectWithEllipsoid(satPos84, dECEF)
lat, lon, h := ECEFToGeodetic(intersection[0], intersection[1], intersection[2])
return IntersectionPoint{Lat: lat, Lon: lon, H: h}
}
// 计算与椭球表面的交点

117
pkg/calculator/quaternion.go
View File

@@ -1,6 +1,8 @@
package calculator
import (
"math"
"gonum.org/v1/gonum/mat"
)
@@ -18,3 +20,118 @@ func (q Quaternion) ToRotationMatrix() *mat.Dense {
2*x*z - 2*w*y, 2*y*z + 2*w*x, 1 - 2*x*x - 2*y*y,
})
}
// EulerToQuaternion converts Euler angles (yaw, pitch, roll) to a quaternion.
// Assuming the order of rotations is ZYX (yaw-pitch-roll).
func EulerToQuaternion(yaw, pitch, roll float64) Quaternion {
halfYaw := yaw / 2
halfPitch := pitch / 2
halfRoll := roll / 2
cy := math.Cos(halfYaw)
sy := math.Sin(halfYaw)
cp := math.Cos(halfPitch)
sp := math.Sin(halfPitch)
cr := math.Cos(halfRoll)
sr := math.Sin(halfRoll)
q := Quaternion{
W: cy*cp*cr + sy*sp*sr,
X: cy*cp*sr - sy*sp*cr,
Y: sy*cp*sr + cy*sp*cr,
Z: sy*cp*cr - cy*sp*sr,
}
return q
}
// EulerToRotMatrix converts Euler angles (roll, pitch, yaw) to a rotation matrix.
func EulerToRotMatrix(phi, theta, psi float64) *mat.Dense {
// Calculate individual rotation matrices
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),
})
Rz := mat.NewDense(3, 3, []float64{
math.Cos(psi), -math.Sin(psi), 0,
math.Sin(psi), math.Cos(psi), 0,
0, 0, 1,
})
// R = Rz * Ry * Rx
RyRx := mat.NewDense(3, 3, nil)
RyRx.Mul(Ry, Rx)
R := mat.NewDense(3, 3, nil)
R.Mul(Rz, RyRx)
return R
}
// RotMatrixToQuaternion converts a rotation matrix to a quaternion.
func RotMatrixToQuaternion(R *mat.Dense) Quaternion {
m := R.RawMatrix().Data
trace := m[0] + m[4] + m[8]
var q Quaternion
if trace > 0 {
S := 0.5 / math.Sqrt(trace+1.0)
q.W = 0.25 / S
q.X = (m[7] - m[5]) * S
q.Y = (m[2] - m[6]) * S
q.Z = (m[3] - m[1]) * S
} else {
if m[0] > m[4] && m[0] > m[8] {
S := 2.0 * math.Sqrt(1.0+m[0]-m[4]-m[8])
q.W = (m[7] - m[5]) / S
q.X = 0.25 * S
q.Y = (m[1] + m[3]) / S
q.Z = (m[2] + m[6]) / S
} else if m[4] > m[8] {
S := 2.0 * math.Sqrt(1.0+m[4]-m[0]-m[8])
q.W = (m[2] - m[6]) / S
q.X = (m[1] + m[3]) / S
q.Y = 0.25 * S
q.Z = (m[5] + m[7]) / S
} else {
S := 2.0 * math.Sqrt(1.0+m[8]-m[0]-m[4])
q.W = (m[3] - m[1]) / S
q.X = (m[2] + m[6]) / S
q.Y = (m[5] + m[7]) / S
q.Z = 0.25 * S
}
}
return q
}
func RotMatrixToEuler(R *mat.Dense) (yaw, pitch, roll float64) {
m := R.RawMatrix().Data
if m[6] < 1 {
if m[6] > -1 {
pitch = math.Asin(-m[6])
roll = math.Atan2(m[7], m[8])
yaw = math.Atan2(m[3], m[0])
} else {
pitch = math.Pi / 2
roll = -math.Atan2(-m[1], m[4])
yaw = 0
}
} else {
pitch = -math.Pi / 2
roll = math.Atan2(-m[1], m[4])
yaw = 0
}
return yaw, pitch, roll
}

160
pkg/producer/aux.go
View File

@@ -1,10 +1,11 @@
package producer
import (
"fmt"
"math"
"time"
log "github.com/sirupsen/logrus"
"github.com/duke-git/lancet/v2/mathutil"
"github.com/paulmach/orb"
"github.com/paulmach/orb/geo"
@@ -33,118 +34,97 @@ func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time
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)
// 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},
// },
// }
// FIXME: This function is not accurate enough.
func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.Point) {
startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
as := r.AuxPlatforms[startPosInAux]
startPos := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec),
int64(as.Microsecond)*1000).UTC()
lat0, lng0 := calculator.Intersection(
calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3},
startPos,
startTime,
0,
)
lat01, lng01 := calculator.Intersection(
calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3},
startPos,
startTime,
9344,
)
fmt.Println("distance 0: ", geo.Distance(orb.Point{lng0, lat0}, orb.Point{lng01, lat01}))
startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
ae := r.AuxPlatforms[endPosInAux]
endPos := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec),
int64(ae.Microsecond)*1000).UTC()
lat2, lng2 := calculator.Intersection(
calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3},
endPos,
endTime,
0,
)
lat3, lng3 := calculator.Intersection(
calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3},
endPos,
endTime,
9344,
)
endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()
fmt.Println("distance 1: ", geo.Distance(orb.Point{lng2, lat2}, orb.Point{lng3, lat3}))
// ------------------ 使用定姿态四元数计算图像边界 ------------------
log.Info("using attitude quaternion to calculate image boundary...")
Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
line0Start := calculator.Intersection(Qsat2eci, startPos84, startTime, 0)
line0End := calculator.Intersection(Qsat2eci, startPos84, startTime, 9344)
Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
lineNStart := calculator.Intersection(Qsat2eci, endPos84, endTime, 0)
lineNEnd := calculator.Intersection(Qsat2eci, endPos84, endTime, 9344)
// ------------------ 使用本体和轨道四元数计算图像边界 ------------------
// log.Info("using orbit and body quaternion to calculate image boundary...")
// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// line0Start = calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
// line0End = calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344)
// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// lineNStart = calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
// lineNEnd = calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344)
// ------------------ 计算图像边界距离和分辨率 ------------------
W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat})
// WN := geo.Distance(orb.Point{lineNStart.Lon, lineNStart.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
H0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{lineNStart.Lon, lineNStart.Lat})
// HN := geo.Distance(orb.Point{line0End.Lon, line0End.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
xResolution := W0 / float64(scene.Width)
yResolution := H0 / float64(scene.Height)
scene.Meta.Gsd = math.Max(xResolution, yResolution)
// log.Debug("distance 0: ", W0)
// log.Debug("distance N: ", WN)
// log.Debug("distance 0-0: ", H0)
// log.Debug("distance N-N: ", HN)
log.Debug("resolution x: ", xResolution)
log.Debug("resolution y: ", yResolution)
// 求外接矩形
lat := mathutil.Min(lat0, lat01, lat2, lat3)
lng := mathutil.Min(lng0, lng01, lng2, lng3)
lat1 := mathutil.Max(lat0, lat01, lat2, lat3)
lng1 := mathutil.Max(lng0, lng01, lng2, lng3)
latMin := mathutil.Min(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
lngMin := mathutil.Min(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)
latMax := mathutil.Max(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
lngMax := mathutil.Max(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)
poly := orb.Polygon{
{
{lng, lat},
{lng1, lat},
{lng1, lat1},
{lng, lat1},
{lng, lat},
{lngMin, latMin},
{lngMax, latMin},
{lngMax, latMax},
{lngMin, latMax},
{lngMin, latMin},
},
}
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.Corners.UpperLeft.Latitude = lat0
scene.Meta.Corners.UpperLeft.Longitude = lng0
scene.Meta.Corners.UpperRight.Latitude = lat01
scene.Meta.Corners.UpperRight.Longitude = lng01
scene.Meta.Corners.LowerLeft.Latitude = lat2
scene.Meta.Corners.LowerLeft.Longitude = lng2
scene.Meta.Corners.LowerRight.Latitude = lat3
scene.Meta.Corners.LowerRight.Longitude = lng3
// 暂定存储四角点
scene.Meta.Corners.UpperLeft.Latitude = line0Start.Lat
scene.Meta.Corners.UpperLeft.Longitude = line0Start.Lon
scene.Meta.Corners.UpperRight.Latitude = line0End.Lat
scene.Meta.Corners.UpperRight.Longitude = line0End.Lon
scene.Meta.Corners.LowerLeft.Latitude = lineNStart.Lat
scene.Meta.Corners.LowerLeft.Longitude = lineNStart.Lon
scene.Meta.Corners.LowerRight.Latitude = lineNEnd.Lat
scene.Meta.Corners.LowerRight.Longitude = lineNEnd.Lon
scene.Meta.SatPosX = ae.WGS84PosX
scene.Meta.SatPosY = ae.WGS84PosY
scene.Meta.SatPosZ = ae.WGS84PosZ
scene.Meta.SatPosX = startPos84[0]
scene.Meta.SatPosY = startPos84[1]
scene.Meta.SatPosZ = startPos84[2]
scene.Meta.Yaw = ae.Eular3 * 180 / math.Pi
scene.Meta.Pitch = ae.Eular2 * 180 / math.Pi
scene.Meta.Roll = ae.Eular1 * 180 / math.Pi
// feature := geojson.NewFeature(poly)
// fcs.Features = append(fcs.Features, feature)
// fd, _ := fcs.MarshalJSON()
// fmt.Println(string(fd))
return
}

6
pkg/producer/output.go
View File

@@ -13,7 +13,7 @@ import (
)
func (r *Registrator) SaveOriginalPanToGDALGTiff(tiffFile string) error {
err := savePanToGDALGTiff(r.PanImage, 0, 0, tiffFile)
err := savePanToGDALGTiff(r.PanImage, 0, 0, tiffFile, PanResolution)
if err != nil {
return err
}
@@ -21,7 +21,7 @@ func (r *Registrator) SaveOriginalPanToGDALGTiff(tiffFile string) error {
return nil
}
func savePanToGDALGTiff(pan gocv.Mat, topLeftX, topLeftY float64, tiffFile string) error {
func savePanToGDALGTiff(pan gocv.Mat, topLeftX, topLeftY float64, tiffFile string, resolution float64) error {
// log.Println("Saving PAN image to TIFF file:", tiffFile)
width := pan.Cols()
@@ -34,7 +34,7 @@ func savePanToGDALGTiff(pan gocv.Mat, topLeftX, topLeftY float64, tiffFile strin
}
defer ds.Close()
setGeoTransform(ds, topLeftX, topLeftY, PanResolution)
setGeoTransform(ds, topLeftX, topLeftY, resolution)
ds.SetMetadata("NBITS", "16")
// 将通道的数据转换为uint16数组

15
pkg/producer/scenes.go
View File

@@ -38,8 +38,8 @@ func (s *Scene) Cleanup() {
// MSS 2336 * 2336 - 1764
// PAN 9344 * 9344 - 7056
func (r *Registrator) SubScenes() (panScenes []*Scene, mssScenes []*Scene, err error) {
hPAN := (7056 - 1764)
hPANOverlap := 1764
hPAN := (9344 - 2336)
hPANOverlap := 2336
panScenesCnt := r.PanHeight / hPAN
for i := 0; i < panScenesCnt; i++ {
@@ -110,12 +110,13 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
filename := fmt.Sprintf("%s_L1A.tiff", scene.SceneId)
scene.Tiff = filepath.Join(dir, filename)
scene.Meta = r.makeProductMeta(scene)
r.ScenePosition(scene)
r.SetSceneBoundary(scene)
err := savePanToGDALGTiff(scene.Mat[0],
scene.Meta.Corners.UpperLeft.Longitude,
scene.Meta.Corners.UpperLeft.Latitude,
scene.Tiff)
scene.Tiff,
scene.Meta.Gsd)
if err != nil {
log.Errorf("save pan scene %d to tiff failed: %v", i+1, err)
return err
@@ -147,7 +148,7 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
data, _ := json.Marshal(fc)
// 输出 GeoJSON 数据
fmt.Println(string(data))
log.Debug(string(data))
for i, scene := range mssScenes {
dir := filepath.Join(r.Params.OutputDir, fmt.Sprintf("%03d", i+1), "MSS")
@@ -156,14 +157,14 @@ func (r *Registrator) SaveScenesToTiff(panScenes []*Scene, mssScenes []*Scene) e
filename := fmt.Sprintf("%s_L1A.tiff", scene.SceneId)
scene.Tiff = filepath.Join(dir, filename)
scene.Meta = r.makeProductMeta(scene)
r.ScenePosition(scene)
r.SetSceneBoundary(scene)
rgbirImage, _ := r.MergeMSSToBGRNIR(scene.Mat)
err := SaveBGRToGDALGTiff(rgbirImage,
4,
scene.Meta.Corners.UpperLeft.Longitude,
scene.Meta.Corners.UpperLeft.Latitude,
MssResolution,
scene.Meta.Gsd,
[]godal.ColorInterp{godal.CIBlue, godal.CIGreen, godal.CIRed, godal.CIUndefined},
scene.Tiff)
if err != nil {