347 lines
9.7 KiB
Python
347 lines
9.7 KiB
Python
import numpy as np
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import math
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from touying.ImageReproject_python.common_types import POS, ImgEO
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# from common_types import POS, ImgEO
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class DPAL:
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"""数字摄影测量算法库(Digital Photogrammetry Algorithm Library)"""
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@staticmethod
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def convert_pos_r2_map_r(pos, north_angle, r=None):
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"""将导航坐标系下的旋转矩阵转换为投影坐标系下的旋转矩阵
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Args:
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pos: POS对象，包含位置和姿态信息
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north_angle: 子午线收敛角(弧度)
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r: 输出旋转矩阵
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Returns:
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旋转矩阵
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"""
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# 计算导航坐标系下的旋转矩阵
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r_pos = DPAL.computing_r_mat_pos(pos)
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# 子午线收敛角旋转矩阵
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mt = np.array([
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[math.cos(-north_angle), math.sin(-north_angle), 0.0],
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[-math.sin(-north_angle), math.cos(-north_angle), 0.0],
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[0.0, 0.0, 1.0]
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])
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# 应用子午线收敛角旋转
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r_pos = np.matmul(r_pos, mt)
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# 坐标系转换矩阵
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t = np.array([
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[0.0, 1.0, 0.0],
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[1.0, 0.0, 0.0],
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[0.0, 0.0, -1.0]
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])
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# 计算最终旋转矩阵
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if r is None:
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r = np.matmul(t, np.matmul(r_pos, t))
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else:
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r[:] = np.matmul(t, np.matmul(r_pos, t))
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return r
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@staticmethod
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def pos2map_eo(pos, north_angle, sys_er_r, eo, angle_type=0):
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"""将POS转换为投影坐标系下的EO
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Args:
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pos: POS对象，包含位置和姿态信息
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north_angle: 子午线收敛角(弧度)
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sys_er_r: 系统误差旋转矩阵
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eo: 输出的EO对象
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angle_type: 角度类型，0为国际转角，1为中国转角
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Returns:
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None
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"""
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eo.name = pos.name
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eo.Xs = pos.L
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eo.Ys = pos.B
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eo.Zs = pos.H
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# 计算旋转矩阵
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r = DPAL.convert_pos_r2_map_r(pos, north_angle)
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# 应用系统误差
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r = np.matmul(sys_er_r, r)
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# 根据角度类型计算外方位元素
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if angle_type == 0:
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DPAL.rotation2_angle(eo, r)
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else:
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DPAL.rotation2_angle_cn(eo, r)
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@staticmethod
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def rotation2_angle(eo, r):
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"""从旋转矩阵分解出外方位角元素(国际转角系统)
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Args:
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eo: 输出的EO对象
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r: 旋转矩阵
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Returns:
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None
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"""
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eo.omega = math.atan2(-r[2, 1], r[2, 2])
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eo.phi = math.asin(r[2, 0])
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eo.kappa = math.atan2(-r[1, 0], r[0, 0])
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@staticmethod
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def rotation2_angle_cn(eo_cn, r):
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"""从旋转矩阵分解出外方位角元素(中国转角系统)
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Args:
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eo_cn: 输出的EO对象
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r: 旋转矩阵
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Returns:
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None
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"""
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eo_cn.phi = math.atan2(-r[2, 0], r[2, 2])
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eo_cn.omega = math.asin(-r[2, 1])
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eo_cn.kappa = math.atan2(r[0, 1], r[1, 1])
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@staticmethod
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def eo2eo_cn(eo, eo_cn):
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"""国际转角系统的EO转换为中国转角系统的EO
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Args:
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eo: 国际转角系统的EO对象
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eo_cn: 输出的中国转角系统的EO对象
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Returns:
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None
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"""
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eo_cn.Xs = eo.Xs
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eo_cn.Ys = eo.Ys
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eo_cn.Zs = eo.Zs
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# 计算旋转矩阵
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r = DPAL.computing_r_mat(eo)
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# 分解为中国转角
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DPAL.rotation2_angle_cn(eo_cn, r)
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@staticmethod
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def eo_cn2eo(eo_cn, eo):
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"""中国转角系统的EO转换为国际转角系统的EO
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Args:
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eo_cn: 中国转角系统的EO对象
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eo: 输出的国际转角系统的EO对象
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Returns:
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None
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"""
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eo.Xs = eo_cn.Xs
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eo.Ys = eo_cn.Ys
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eo.Zs = eo_cn.Zs
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# 计算旋转矩阵
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r = DPAL.computing_r_mat_cn(eo_cn)
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# 分解为国际转角
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DPAL.rotation2_angle(eo, r)
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@staticmethod
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def eo_cn2eo_zyx(eo_cn, eo_zyx):
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"""中国转角系统的EO转换为顺序为zyx转角的EO
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Args:
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eo_cn: 中国转角系统的EO对象
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eo_zyx: 输出的zyx转角系统的EO对象
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Returns:
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None
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"""
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eo_zyx.Xs = eo_cn.Xs
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eo_zyx.Ys = eo_cn.Ys
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eo_zyx.Zs = eo_cn.Zs
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# 计算旋转矩阵
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r = DPAL.computing_r_mat_cn(eo_cn)
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rt = r.T
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# 分解为zyx转角
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eo_temp = ImgEO()
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DPAL.rotation2_angle(eo_temp, rt)
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eo_zyx.kappa = -eo_temp.kappa
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eo_zyx.phi = -eo_temp.phi
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eo_zyx.omega = -eo_temp.omega
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@staticmethod
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def eo2eo_zyx(eo, eo_zyx):
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"""国际转角系统的EO转换为顺序为zyx转角的EO
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Args:
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eo: 国际转角系统的EO对象
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eo_zyx: 输出的zyx转角系统的EO对象
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Returns:
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None
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"""
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eo_zyx.Xs = eo.Xs
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eo_zyx.Ys = eo.Ys
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eo_zyx.Zs = eo.Zs
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# 计算旋转矩阵
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r = DPAL.computing_r_mat(eo)
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rt = r.T
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# 分解为zyx转角
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eo_temp = ImgEO()
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DPAL.rotation2_angle(eo_temp, rt)
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eo_zyx.kappa = -eo_temp.kappa
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eo_zyx.phi = -eo_temp.phi
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eo_zyx.omega = -eo_temp.omega
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@staticmethod
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def computing_k_mat(io, k=None, k_type=0):
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"""根据内方位元素计算内参矩阵
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Args:
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io: 内方位元素对象
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k: 输出内参矩阵
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k_type: 内参类型，0为左上角为原点，向右X向下Y；非0为中心为原点，向右X向下Y
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Returns:
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内参矩阵
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"""
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if k_type != 0:
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k_mat = np.array([
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[-io.f, 0.0, 0.0],
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[0.0, -io.f, 0.0],
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[0.0, 0.0, 1.0]
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])
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else:
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k_mat = np.array([
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[-io.f, 0.0, io.cx],
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[0.0, io.f, io.cy],
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[0.0, 0.0, 1.0]
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])
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if k is None:
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return k_mat
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else:
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k[:] = k_mat
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return k
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@staticmethod
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def computing_r_mat_pos(pos, r_pos=None):
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"""根据POS元素计算导航坐标系下的旋转矩阵
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Args:
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pos: POS对象
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r_pos: 输出旋转矩阵
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Returns:
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旋转矩阵
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"""
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# 计算各轴旋转矩阵
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r_roll = np.array([
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[1.0, 0.0, 0.0],
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[0.0, math.cos(pos.roll), math.sin(pos.roll)],
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[0.0, -math.sin(pos.roll), math.cos(pos.roll)]
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])
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r_pitch = np.array([
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[math.cos(pos.pitch), 0.0, -math.sin(pos.pitch)],
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[0.0, 1.0, 0.0],
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[math.sin(pos.pitch), 0.0, math.cos(pos.pitch)]
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])
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r_yaw = np.array([
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[math.cos(pos.yaw), math.sin(pos.yaw), 0.0],
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[-math.sin(pos.yaw), math.cos(pos.yaw), 0.0],
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[0.0, 0.0, 1.0]
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])
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# 计算最终旋转矩阵
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if r_pos is None:
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return np.matmul(r_roll, np.matmul(r_pitch, r_yaw))
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else:
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r_pos[:] = np.matmul(r_roll, np.matmul(r_pitch, r_yaw))
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return r_pos
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@staticmethod
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def computing_r_mat(eo, r=None):
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"""根据外方位元素(国际转角)计算旋转矩阵
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Args:
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eo: 外方位元素对象
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r: 输出旋转矩阵
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Returns:
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旋转矩阵
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"""
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# 计算各轴旋转矩阵
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r_omega = np.array([
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[1.0, 0.0, 0.0],
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[0.0, math.cos(eo.omega), math.sin(eo.omega)],
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[0.0, -math.sin(eo.omega), math.cos(eo.omega)]
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])
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r_phi = np.array([
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[math.cos(eo.phi), 0.0, -math.sin(eo.phi)],
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[0.0, 1.0, 0.0],
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[math.sin(eo.phi), 0.0, math.cos(eo.phi)]
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])
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r_kappa = np.array([
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[math.cos(eo.kappa), math.sin(eo.kappa), 0.0],
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[-math.sin(eo.kappa), math.cos(eo.kappa), 0.0],
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[0.0, 0.0, 1.0]
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])
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# 计算最终旋转矩阵
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if r is None:
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return np.matmul(r_kappa, np.matmul(r_phi, r_omega))
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else:
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r[:] = np.matmul(r_kappa, np.matmul(r_phi, r_omega))
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return r
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@staticmethod
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def computing_r_mat_cn(eo_cn, r=None):
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"""根据外方位元素(中国转角)计算旋转矩阵
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Args:
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eo_cn: 外方位元素对象
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r: 输出旋转矩阵
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Returns:
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旋转矩阵
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"""
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# 计算各轴旋转矩阵
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r_phi = np.array([
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[math.cos(eo_cn.phi), 0.0, math.sin(eo_cn.phi)],
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[0.0, 1.0, 0.0],
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[-math.sin(eo_cn.phi), 0.0, math.cos(eo_cn.phi)]
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])
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r_omega = np.array([
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[1.0, 0.0, 0.0],
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[0.0, math.cos(eo_cn.omega), math.sin(eo_cn.omega)],
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[0.0, -math.sin(eo_cn.omega), math.cos(eo_cn.omega)]
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])
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r_kappa = np.array([
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[math.cos(eo_cn.kappa), math.sin(eo_cn.kappa), 0.0],
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[-math.sin(eo_cn.kappa), math.cos(eo_cn.kappa), 0.0],
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[0.0, 0.0, 1.0]
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])
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# 计算最终旋转矩阵
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if r is None:
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return np.matmul(r_kappa, np.matmul(r_omega, r_phi))
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else:
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r[:] = np.matmul(r_kappa, np.matmul(r_omega, r_phi))
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return r |