计算分辨率
This commit is contained in:
nuknal
@@ -1,10 +1,11 @@
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package producer
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import (
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"fmt"
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"math"
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"time"
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log "github.com/sirupsen/logrus"
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"github.com/duke-git/lancet/v2/mathutil"
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"github.com/paulmach/orb"
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"github.com/paulmach/orb/geo"
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@@ -33,118 +34,97 @@ func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time
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return
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}
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// FIXME: 位置像元经纬度计算方法，暂时使用星下点替代
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func (r *Registrator) ScenePosition(scene *Scene) (topLeft, bottomRight orb.Point) {
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// // startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
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// ap := r.AuxPlatforms[0]
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// // ap1 := r.AuxPlatforms[endPosInAux]
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// lat0, lng0, _ := calculator.WGS84XYZtoLatLngH(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ)
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// lat, lng := calculator.CalculateDestination(lat0, lng0,
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// float64(scene.Width)*scene.Meta.Gsd, float64(-scene.Y)*scene.Meta.Gsd)
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// lat1, lng1 := calculator.CalculateDestination(lat, lng,
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// float64(scene.Width)*scene.Meta.Gsd, float64(-scene.Height)*scene.Meta.Gsd)
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// poly := orb.Polygon{
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// {
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// {lng, lat},
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// {lng1, lat},
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// {lng1, lat1},
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// {lng, lat1},
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// {lng, lat},
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// },
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// }
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// FIXME: This function is not accurate enough.
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func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.Point) {
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startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
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as := r.AuxPlatforms[startPosInAux]
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startPos := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
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startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec),
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int64(as.Microsecond)*1000).UTC()
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lat0, lng0 := calculator.Intersection(
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calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3},
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startPos,
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startTime,
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0,
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)
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lat01, lng01 := calculator.Intersection(
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calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3},
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startPos,
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startTime,
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9344,
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)
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fmt.Println("distance 0: ", geo.Distance(orb.Point{lng0, lat0}, orb.Point{lng01, lat01}))
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startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
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startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
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ae := r.AuxPlatforms[endPosInAux]
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endPos := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
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endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec),
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int64(ae.Microsecond)*1000).UTC()
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lat2, lng2 := calculator.Intersection(
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calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3},
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endPos,
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endTime,
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0,
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)
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lat3, lng3 := calculator.Intersection(
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calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3},
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endPos,
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endTime,
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9344,
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)
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endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
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endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()
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fmt.Println("distance 1: ", geo.Distance(orb.Point{lng2, lat2}, orb.Point{lng3, lat3}))
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// ------------------ 使用定姿态四元数计算图像边界 ------------------
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log.Info("using attitude quaternion to calculate image boundary...")
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Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
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line0Start := calculator.Intersection(Qsat2eci, startPos84, startTime, 0)
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line0End := calculator.Intersection(Qsat2eci, startPos84, startTime, 9344)
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Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
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lineNStart := calculator.Intersection(Qsat2eci, endPos84, endTime, 0)
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lineNEnd := calculator.Intersection(Qsat2eci, endPos84, endTime, 9344)
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// ------------------ 使用本体和轨道四元数计算图像边界 ------------------
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// log.Info("using orbit and body quaternion to calculate image boundary...")
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// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
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// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
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// Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3}
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// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
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// line0Start = calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
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// line0End = calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344)
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// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
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// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
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// Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3}
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// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
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// lineNStart = calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
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// lineNEnd = calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344)
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// ------------------ 计算图像边界距离和分辨率 ------------------
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W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat})
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// WN := geo.Distance(orb.Point{lineNStart.Lon, lineNStart.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
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H0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{lineNStart.Lon, lineNStart.Lat})
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// HN := geo.Distance(orb.Point{line0End.Lon, line0End.Lat}, orb.Point{lineNEnd.Lon, lineNEnd.Lat})
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xResolution := W0 / float64(scene.Width)
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yResolution := H0 / float64(scene.Height)
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scene.Meta.Gsd = math.Max(xResolution, yResolution)
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// log.Debug("distance 0: ", W0)
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// log.Debug("distance N: ", WN)
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// log.Debug("distance 0-0: ", H0)
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// log.Debug("distance N-N: ", HN)
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log.Debug("resolution x: ", xResolution)
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log.Debug("resolution y: ", yResolution)
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// 求外接矩形
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lat := mathutil.Min(lat0, lat01, lat2, lat3)
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lng := mathutil.Min(lng0, lng01, lng2, lng3)
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lat1 := mathutil.Max(lat0, lat01, lat2, lat3)
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lng1 := mathutil.Max(lng0, lng01, lng2, lng3)
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latMin := mathutil.Min(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
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lngMin := mathutil.Min(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)
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latMax := mathutil.Max(line0Start.Lat, line0End.Lat, lineNStart.Lat, lineNEnd.Lat)
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lngMax := mathutil.Max(line0Start.Lon, line0End.Lon, lineNStart.Lon, lineNEnd.Lon)
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poly := orb.Polygon{
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{
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{lng, lat},
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{lng1, lat},
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{lng1, lat1},
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{lng, lat1},
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{lng, lat},
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{lngMin, latMin},
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{lngMax, latMin},
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{lngMax, latMax},
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{lngMin, latMax},
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{lngMin, latMin},
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},
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}
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centroid, _ := planar.CentroidArea(poly)
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scene.Meta.CentreLocation.Latitude = centroid.Y()
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scene.Meta.CentreLocation.Longitude = centroid.X()
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scene.Meta.Corners.UpperLeft.Latitude = lat
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scene.Meta.Corners.UpperLeft.Longitude = lng
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scene.Meta.Corners.UpperRight.Latitude = lat
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scene.Meta.Corners.UpperRight.Longitude = lng1
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scene.Meta.Corners.LowerLeft.Latitude = lat1
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scene.Meta.Corners.LowerLeft.Longitude = lng
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scene.Meta.Corners.LowerRight.Latitude = lat1
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scene.Meta.Corners.LowerRight.Longitude = lng1
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scene.Meta.Corners.UpperLeft.Latitude = lat0
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scene.Meta.Corners.UpperLeft.Longitude = lng0
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scene.Meta.Corners.UpperRight.Latitude = lat01
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scene.Meta.Corners.UpperRight.Longitude = lng01
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scene.Meta.Corners.LowerLeft.Latitude = lat2
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scene.Meta.Corners.LowerLeft.Longitude = lng2
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scene.Meta.Corners.LowerRight.Latitude = lat3
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scene.Meta.Corners.LowerRight.Longitude = lng3
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// 暂定存储四角点
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scene.Meta.Corners.UpperLeft.Latitude = line0Start.Lat
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scene.Meta.Corners.UpperLeft.Longitude = line0Start.Lon
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scene.Meta.Corners.UpperRight.Latitude = line0End.Lat
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scene.Meta.Corners.UpperRight.Longitude = line0End.Lon
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scene.Meta.Corners.LowerLeft.Latitude = lineNStart.Lat
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scene.Meta.Corners.LowerLeft.Longitude = lineNStart.Lon
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scene.Meta.Corners.LowerRight.Latitude = lineNEnd.Lat
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scene.Meta.Corners.LowerRight.Longitude = lineNEnd.Lon
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scene.Meta.SatPosX = ae.WGS84PosX
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scene.Meta.SatPosY = ae.WGS84PosY
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scene.Meta.SatPosZ = ae.WGS84PosZ
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scene.Meta.SatPosX = startPos84[0]
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scene.Meta.SatPosY = startPos84[1]
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scene.Meta.SatPosZ = startPos84[2]
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scene.Meta.Yaw = ae.Eular3 * 180 / math.Pi
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scene.Meta.Pitch = ae.Eular2 * 180 / math.Pi
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scene.Meta.Roll = ae.Eular1 * 180 / math.Pi
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// feature := geojson.NewFeature(poly)
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// fcs.Features = append(fcs.Features, feature)
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// fd, _ := fcs.MarshalJSON()
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// fmt.Println(string(fd))
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return
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}
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