sjy01-image-proc/pkg/producer/aux.go

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"
)

func (r *Registrator) LoadAuxData() error {
	var err error
	r.auxHeads, r.auxBoxes, r.AuxPlatforms, err = auxilary.ExtractAux(r.Params.AuxRawFile)
	return err
}

func (r *Registrator) SceneImageTime(scene *Scene) (start, center, end time.Time) {
	startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
	centerPosInAux := (startPosInAux + endPosInAux) / 2

	start = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[startPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[startPosInAux].Microsecond)*1000)
	center = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[centerPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[centerPosInAux].Microsecond)*1000)
	end = time.Unix(int64(auxilary.ReferenceTime2000)+int64(r.AuxPlatforms[endPosInAux].UTCTimeSec),
		int64(r.AuxPlatforms[endPosInAux].Microsecond)*1000)

	return
}

// 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)

	// 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{
		{
			{lng, lat},
			{lng1, lat},
			{lng1, lat1},
			{lng, lat1},
			{lng, lat},
		},
	}

	centroid, _ := planar.CentroidArea(poly)
	scene.Meta.CentreLocation.Latitude = centroid.Y()
	scene.Meta.CentreLocation.Longitude = centroid.X()
	scene.Meta.Corners.UpperLeft.Latitude = lat
	scene.Meta.Corners.UpperLeft.Longitude = lng
	scene.Meta.Corners.UpperRight.Latitude = lat
	scene.Meta.Corners.UpperRight.Longitude = lng1
	scene.Meta.Corners.LowerLeft.Latitude = lat1
	scene.Meta.Corners.LowerLeft.Longitude = lng
	scene.Meta.Corners.LowerRight.Latitude = lat1
	scene.Meta.Corners.LowerRight.Longitude = lng1

	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)

	// fd, _ := fcs.MarshalJSON()
	// fmt.Println(string(fd))

	return
}

func (r *Registrator) SceneInAuxIndex(scene *Scene) (int, int) {
	var auxForImageRow int
	switch scene.Type {
	case "MSS":
		auxForImageRow = 4
	case "PAN":
		auxForImageRow = 16
	case "FUS":
		auxForImageRow = 16
	}

	startPosInAux := scene.Y / auxForImageRow
	if startPosInAux >= len(r.AuxPlatforms) {
		startPosInAux = len(r.AuxPlatforms) - 1
	}

	endPosInAux := (scene.Y + scene.Height) / auxForImageRow
	if endPosInAux >= len(r.AuxPlatforms) {
		endPosInAux = len(r.AuxPlatforms) - 1
	}

	return startPosInAux, endPosInAux
}