lankun/sjy01-image-proc
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coordinate frames transformation

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nuknal
2024-08-15 14:01:05 +08:00
parent 7c1240f2db
commit c2480a828b
12 changed files with 19640 additions and 16 deletions
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10
pkg/producer/aux.go
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@@ -114,7 +114,9 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()
startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
startPosECI := []float64{as.J2000PosX, as.J2000PosY, as.J2000PosZ}
endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
endPosECI := []float64{ae.J2000PosX, ae.J2000PosY, ae.J2000PosZ}
// FIXME: GPS 拟合效果不佳
// x0 := float64(r.auxHeads[startPosInAux].TimeSec) + float64(r.auxHeads[startPosInAux].TimeSecFrac)/10e6
@@ -135,12 +137,12 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
// ------------------ 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.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0)
line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPosECI, startPos84, startTime, 0)
line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPosECI, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0)
lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPosECI, endPos84, endTime, 0)
lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPosECI, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
// ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------
// log.Info("using orbit and body quaternion to calculate image boundary...")