辅助数据拟合
This commit is contained in:
nuknal
@@ -10,7 +10,6 @@ import (
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"time"
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log "github.com/sirupsen/logrus"
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"gonum.org/v1/gonum/spatial/r3"
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"github.com/duke-git/lancet/v2/mathutil"
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"github.com/paulmach/orb"
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@@ -21,69 +20,45 @@ import (
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"starwiz.cn/sjy01/image-proc/pkg/calculator"
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"starwiz.cn/sjy01/image-proc/pkg/config"
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"starwiz.cn/sjy01/image-proc/pkg/payload"
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"starwiz.cn/sjy01/image-proc/pkg/utils"
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)
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func (r *Registrator) LoadAuxData() error {
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var err error
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r.auxHeads, r.auxBoxes, r.AuxPlatforms, err = auxilary.ExtractAux(r.Params.AuxRawFile)
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r.setW84Positions()
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attFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".att.txt", 1)
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gpsFile := strings.Replace(r.Params.AuxRawFile, ".AUX", ".gps.txt", 1)
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r.AttQuaternion, _ = auxilary.StoreAtt(r.AuxPlatforms, attFile)
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r.GPSs, _ = auxilary.StoreGPS(r.AuxPlatforms, gpsFile)
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imgtime := auxilary.NewImageTime()
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imgtime.Extract(r.AuxPlatforms)
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imgtime.Print(100, 16)
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return err
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}
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// GPS 点按秒更新，从辅助数据按秒提取
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func (r *Registrator) setW84Positions() {
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sec := uint32(0)
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var x, y, z, t []float64
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for _, p := range r.AuxPlatforms {
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if p.UTCTimeSec != sec {
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r.w84Positions = append(r.w84Positions, r3.Vec{X: p.W84PosX, Y: p.W84PosY, Z: p.W84PosZ})
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x = append(x, p.W84PosX)
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y = append(y, p.W84PosY)
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z = append(z, p.W84PosZ)
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sec = p.UTCTimeSec
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t = append(t, float64(p.UTCTimeSec))
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}
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}
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r.w84PositionTime = t
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r.w84PositionX = x
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r.w84PositionY = y
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r.w84PositionZ = z
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r.w84FitPre[0] = &utils.PolynomialInterpolator{}
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r.w84FitPre[1] = &utils.PolynomialInterpolator{}
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r.w84FitPre[2] = &utils.PolynomialInterpolator{}
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r.w84FitPre[0].Fit(t, x)
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r.w84FitPre[1].Fit(t, y)
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r.w84FitPre[2].Fit(t, z)
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log.Println("set w84 positions:", len(r.w84Positions), "points")
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}
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// 数据校验和测试
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func (r *Registrator) AuxPrint() {
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var fcPos84 geojson.FeatureCollection
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var fcPos84Interp geojson.FeatureCollection
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for _, p := range r.AuxPlatforms {
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lat, lon, _ := calculator.WGS84XYZtoLatLngH(p.W84PosX, p.W84PosY, p.W84PosZ)
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lat, lon, _ := calculator.ECEFGeocentricToGeodetic(p.W84PosX, p.W84PosY, p.W84PosZ)
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point := orb.Point{lon, lat}
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fcPos84.Features = append(fcPos84.Features, geojson.NewFeature(point))
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tp := float64(p.UTCTimeSec) + float64(auxilary.ReferenceTime2000) + float64(p.Microsecond)/1e6
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interp := r.GPSs.Lagrange(tp)
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lat, lon, _ = calculator.ECEFGeocentricToGeodetic(interp.X84, interp.Y84, interp.Z84)
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point = orb.Point{lon, lat}
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fcPos84Interp.Features = append(fcPos84Interp.Features, geojson.NewFeature(point))
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}
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data, _ := json.Marshal(fcPos84)
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f, _ := os.Create(filepath.Join(config.GCONFIG.Log.LogDir, fmt.Sprintf("%s_aux_pos_84.geojson", r.Params.DataId)))
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defer f.Close()
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f.Write(data)
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var fcPos84Interp geojson.FeatureCollection
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for _, p := range r.auxHeads {
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tp := float64(p.TimeSec) + float64(p.TimeSecFrac)/10e6
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X := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionX, tp, 2)
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Y := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionY, tp, 2)
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Z := utils.InterpPolynomial(r.w84PositionTime, r.w84PositionZ, tp, 2)
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lat, lon, _ := calculator.WGS84XYZtoLatLngH(X, Y, Z)
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point := orb.Point{lon, lat}
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fcPos84Interp.Features = append(fcPos84Interp.Features, geojson.NewFeature(point))
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}
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data, _ = json.Marshal(fcPos84Interp)
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f, _ = os.Create(filepath.Join(config.GCONFIG.Log.LogDir, fmt.Sprintf("%s_aux_pos_84_interp.geojson", r.Params.DataId)))
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defer f.Close()
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@@ -115,17 +90,7 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
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endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()
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startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
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startPosECI := []float64{
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as.J2000PosX + as.J2000VelX*float64(as.Microsecond)/10e6,
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as.J2000PosY + as.J2000VelY*float64(as.Microsecond)/10e6,
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as.J2000PosZ + as.J2000VelZ*float64(as.Microsecond)/10e6,
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}
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endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
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endPosECI := []float64{
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ae.J2000PosX + ae.J2000VelX*float64(ae.Microsecond)/10e6,
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ae.J2000PosY + ae.J2000VelY*float64(ae.Microsecond)/10e6,
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ae.J2000PosZ + ae.J2000VelZ*float64(ae.Microsecond)/10e6,
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}
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// FIXME: GPS 拟合效果不佳
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// x0 := float64(r.auxHeads[startPosInAux].TimeSec) + float64(r.auxHeads[startPosInAux].TimeSecFrac)/10e6
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@@ -146,42 +111,12 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
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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.IntersectionAttitude(Qsat2eci, startPosECI, startPos84, startTime, 0)
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line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPosECI, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
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line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0)
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line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
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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.IntersectionAttitude(Qsat2eci, endPosECI, endPos84, endTime, 0)
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lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPosECI, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
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// ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------
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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.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
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// line0End,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, payload.PAN_PIXEL_WIDTH)
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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.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
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// lineNEnd,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
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// ------------------ 使用本体和轨道四元数计算图像边界 ECEF------------------
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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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// vec84 := []float64{as.W84VelX, as.W84VelY, as.W84VelZ}
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// line0Start, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 0)
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// line0End, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, payload.PAN_PIXEL_WIDTH)
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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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// vec84 = []float64{ae.W84VelX, ae.W84VelY, ae.W84VelZ}
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// lineNStart, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 0)
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// lineNEnd, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, payload.PAN_PIXEL_WIDTH)
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lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0)
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lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, payload.PAN_PIXEL_WIDTH)
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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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@@ -11,8 +11,6 @@ import (
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"github.com/airbusgeo/godal"
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log "github.com/sirupsen/logrus"
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"gocv.io/x/gocv"
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"gonum.org/v1/gonum/interp"
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"gonum.org/v1/gonum/spatial/r3"
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"starwiz.cn/sjy01/image-proc/pkg/auxilary"
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"starwiz.cn/sjy01/image-proc/pkg/payload"
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)
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@@ -60,15 +58,12 @@ type Registrator struct {
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resampleMethod ResampleMethod
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auxHeads []*auxilary.AuxFrameHead
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auxBoxes []*auxilary.AuxFocalBox
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AuxPlatforms []*auxilary.AuxPlatform
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w84Positions []r3.Vec
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w84PositionX []float64
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w84PositionY []float64
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w84PositionZ []float64
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w84PositionTime []float64
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w84FitPre [3]interp.FittablePredictor
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auxHeads []*auxilary.AuxFrameHead
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auxBoxes []*auxilary.AuxFocalBox
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AuxPlatforms []*auxilary.AuxPlatform
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GPSs *auxilary.GPSs
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AttQuaternion *auxilary.Attitudes
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report Report
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}
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@@ -207,14 +207,9 @@ func (rpc *RPC) calculateLatLonH(row, col int) GroundPoint {
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as := rpc.registrator.AuxPlatforms[auxIdx]
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t := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
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p84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
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pECI := []float64{
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as.J2000PosX + as.J2000VelX*float64(as.Microsecond)/10e6,
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as.J2000PosY + as.J2000VelY*float64(as.Microsecond)/10e6,
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as.J2000PosZ + as.J2000VelZ*float64(as.Microsecond)/10e6,
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}
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Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
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groudPoint84, _ := calculator.IntersectionAttitude(Qsat2eci, pECI, p84, t, col)
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groudPoint84, _ := calculator.IntersectionAttitude(Qsat2eci, p84, t, col)
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elv := dem.Dem1KmLT.Elevation(groudPoint84.Lon, groudPoint84.Lat)
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if elv < 0.0 {
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