84 lines
2.5 KiB
Go
84 lines
2.5 KiB
Go
package calculator
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import (
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"math"
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"gonum.org/v1/gonum/mat"
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)
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const (
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FocalLength = 1300.0 // 焦距, mm
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FOV = 1.7 // 对角线视场角,degree
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FOVCALC = 1.86 // 对角线视场角,degree
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PANPixels = 9344.0
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PANCellSize = 3.2 // µm
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MSSPixels = 2336.0
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MSSCellSize = 12.8 // µm
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CameraRoll = 0.0 // 相机与卫星本体X轴的安装角度, degree FIXME: 安装矩阵应该由卫星方提供
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CameraPitch = 0.5 // 相机与卫星本体Y轴的安装角度, degree
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)
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// 计算过程使用PAN分辨率
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func CameraDirectionVec(u, v float64) []float64 {
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// w := PANPixels * PANCellSize / 1000.0 // 像素宽度, mm
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// h := w
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// d := math.Sqrt(math.Pow(w, 2) + math.Pow(h, 2)) // 对角线长度, mm
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// fov := 2 * math.Atan2(w/2, FocalLength) // 对角线视场角
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// fmt.Println("Camera Parameters:")
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// fmt.Printf("Focal Length: %.6f mm\n", FocalLength)
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// fmt.Printf("FOV (calculated): %.6f degree\n", fov*180/math.Pi)
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// fmt.Printf("Width: %.6f mm\n", w)
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// fmt.Printf("Height: %.6f mm\n", h)
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// fmt.Printf("Diagonal: %.6f mm\n", d)
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// 从给定FOV计算d
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// dCalcOfFOV := 2 * FocalLength * math.Tan(FOV/2*math.Pi/180)
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// fmt.Printf("Diagonal (calculated from FOV): %.6f mm\n", dCalcOfFOV)
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directionVec := []float64{0, 0, 0}
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directionVec[0] = 0 // x方向, mm，线性CCD每次单行成像
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directionVec[1] = (v - PANPixels/2) * PANCellSize / 1000.0 // y方向, mm
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directionVec[2] = -FocalLength // z方向, mm
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// 归一化
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// fmt.Printf("Direction Vector: (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
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directionVec = normalizeVec(directionVec)
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// fmt.Printf("Direction Vector (normalized): (%.6f, %.6f, %.6f) \n", directionVec[0], directionVec[1], directionVec[2])
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return directionVec
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}
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func normalizeVec(vec []float64) []float64 {
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var norm float64
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for i := 0; i < len(vec); i++ {
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norm += vec[i] * vec[i]
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}
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for i := 0; i < len(vec); i++ {
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vec[i] /= math.Sqrt(norm)
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}
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return vec
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}
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// 假设相机相对卫星本体的安装矩阵只在Y轴方向旋转角度为θ
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func CameraRotMatrix(phi, theta, psi float64) *mat.Dense {
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Rx := mat.NewDense(3, 3, []float64{
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1, 0, 0,
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0, math.Cos(phi), -math.Sin(phi),
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0, math.Sin(phi), math.Cos(phi),
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})
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Ry := mat.NewDense(3, 3, []float64{
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math.Cos(theta), 0, math.Sin(theta),
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0, 1, 0,
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-math.Sin(theta), 0, math.Cos(theta),
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})
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// R = Rz * Ry * Rx
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RyRx := mat.NewDense(3, 3, nil)
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RyRx.Mul(Ry, Rx)
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return RyRx
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}
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