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使用定姿四元数计算图像位置

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This commit is contained in:
nuknal
2024-06-07 10:51:20 +08:00
parent f7c4237c77
commit cf5012f2a8
8 changed files with 192 additions and 82 deletions
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96
pkg/producer/aux.go
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@@ -1,10 +1,13 @@
package producer
import (
"fmt"
"math"
"time"
"github.com/duke-git/lancet/v2/mathutil"
"github.com/paulmach/orb"
"github.com/paulmach/orb/geo"
"github.com/paulmach/orb/planar"
"starwiz.cn/sjy01/image-proc/pkg/auxilary"
"starwiz.cn/sjy01/image-proc/pkg/calculator"
@@ -32,15 +35,71 @@ func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time
// 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)
// // 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)
// 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},
// },
// }
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}))
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,
)
fmt.Println("distance 1: ", geo.Distance(orb.Point{lng2, lat2}, orb.Point{lng3, lat3}))
// 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)
poly := orb.Polygon{
{
@@ -64,12 +123,21 @@ func (r *Registrator) ScenePosition(scene *Scene) (topLeft, bottomRight orb.Poin
scene.Meta.Corners.LowerRight.Latitude = lat1
scene.Meta.Corners.LowerRight.Longitude = lng1
scene.Meta.SatPosX = ap.WGS84PosX
scene.Meta.SatPosY = ap.WGS84PosY
scene.Meta.SatPosZ = ap.WGS84PosZ
scene.Meta.Yaw = ap.Eular3 * 180 / math.Pi
scene.Meta.Pitch = ap.Eular2 * 180 / math.Pi
scene.Meta.Roll = ap.Eular1 * 180 / math.Pi
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
scene.Meta.SatPosX = ae.WGS84PosX
scene.Meta.SatPosY = ae.WGS84PosY
scene.Meta.SatPosZ = ae.WGS84PosZ
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)