576 lines
18 KiB
C++
576 lines
18 KiB
C++
#pragma once
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#include <iostream>
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#include <memory>
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#include <vector>
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#include <future>
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#include <complex>
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#include "gdalwarper.h"
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#define PI_180 180/3.141592653589793238462643383279;
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#define T180_PI 3.141592653589793238462643383279/180;
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#define Radians2Degrees(Radians) Radians*PI_180
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#define Degrees2Radians(Degrees) Degrees*T180_PI
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const long double PI=3.141592653589793238462643383279;
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const long double epsilon = 0.000000000000001;
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const long double pi = 3.14159265358979323846;
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const long double d2r = pi / 180;
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const long double r2d = 180 / pi;
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const long double a = 6378137.0; //椭球长半轴
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const long double f_inverse = 298.257223563; //扁率倒数
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const long double b = a - a / f_inverse;
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const long double e = sqrt(a * a - b * b) / a;
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const long double eSquare = e*e;
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int testPP();
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using namespace std;
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///
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/// 内敛函数
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///
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struct point // 点 SAR影像的像素坐标；
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{
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long double x; // 纬度 lat pixel_row
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long double y; // 经度 lon pixel_col
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long double z; // 高程 ati pixel_time
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};
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struct VectorPoint {
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long double x;
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long double y;
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long double z;
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};
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/// <summary>
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/// 将经纬度转换为地固参心坐标系
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/// </summary>
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/// <param name="XYZP">经纬度点--degree</param>
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/// <returns>投影坐标系点</returns>
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inline point LLA2XYZ(point& LLA) {
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long double L = LLA.x * d2r;
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long double B = LLA.y * d2r;
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long double H = LLA.z;
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long double sinB = sin(B);
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long double cosB = cos(B);
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//long double N = a / sqrt(1 - e * e * sin(B) * sin(B));
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long double N = a / sqrt(1 - eSquare * sinB * sinB);
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point result = { 0,0,0 };
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result.x = (N + H) * cosB * cos(L);
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result.y = (N + H) * cosB * sin(L);
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//result.z = (N * (1 - e * e) + H) * sin(B);
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result.z = (N * (1 - eSquare) + H) * sinB;
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return result;
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}
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/// <summary>
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/// 将地固参心坐标系转换为经纬度
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/// </summary>
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/// <param name="XYZ">固参心坐标系</param>
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/// <returns>经纬度--degree</returns>
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point XYZ2LLA(point& XYZ);
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/// <summary>
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/// 计算两个点之间的XY平面欧式距离的平方
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/// </summary>
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/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <returns></returns>
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inline long double caldistanceXY(point& p1, point& p2) {
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//return pow(p1.x - p2.x, 2) + pow(p1.y - p2.y, 2);
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return (p1.x - p2.x)* (p1.x - p2.x) + (p1.y - p2.y)* (p1.y - p2.y);
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}
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/// <summary>
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/// 使用两个点，生成向量 p1-->p2
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/// </summary>
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/// <param name="p1">p1</param>
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/// <param name="p2">p2</param>
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/// <returns>向量</returns>
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inline VectorPoint getVector(point& p1, point& p2) {
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VectorPoint result = { 0,0,0 };
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result.x = p2.x - p1.x;
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result.y = p2.y - p1.y;
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result.z = p2.z - p1.z;
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return result;
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}
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/// <summary>
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/// 获取向量的模
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/// </summary>
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/// <param name="vector1">向量</param>
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/// <returns>向量模</returns>
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inline long double getModule(VectorPoint& vector1) {
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//return sqrt(pow(vector1.x, 2) + pow(vector1.y, 2) + pow(vector1.z, 2));
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return sqrt(vector1.x* vector1.x + vector1.y* vector1.y + vector1.z* vector1.z);
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}
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inline long double getModuleV1V2(VectorPoint& v1, VectorPoint& v2)
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{
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return sqrt((v1.x * v1.x + v1.y * v1.y + v1.z * v1.z) * (v2.x * v2.x + v2.y * v2.y + v2.z * v2.z));
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}
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/// <summary>
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/// 向量夹角的角度( 角度）
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/// </summary>
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/// <param name="vector1">向量</param>
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/// <returns>向量夹角的角度</returns>
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inline long double getVectorAngle(VectorPoint& vector1,VectorPoint& vector2) {
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//return Radians2Degrees( acos((vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z) / (getModule(vector1) * getModule(vector2))));
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return Radians2Degrees(acos((vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z) / (getModuleV1V2(vector1, vector2))));
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}
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/// <summary>
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/// 向量的夹角值
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/// </summary>
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/// <param name="vector1">向量</param>
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/// <returns>向量夹角的角度</returns>
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inline long double getVectorAngleValue(VectorPoint& vector1, VectorPoint& vector2) {
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//return (vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z) / (getModule(vector1) * getModule(vector2));
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return (vector1.x * vector2.x + vector1.y * vector2.y + vector1.z * vector2.z) / (getModuleV1V2(vector1, vector2));
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}
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/// <summary>
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/// 向量点乘
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/// </summary>
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/// <param name="V1">向量1</param>
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/// <param name="v2">向量2</param>
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/// <returns>点乘值</returns>
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inline long double Vectordot(VectorPoint& V1, VectorPoint& v2) {
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return V1.x * v2.x + V1.y * v2.y + V1.z * v2.z;
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}
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/// <summary>
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/// 向量点乘
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/// </summary>
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/// <param name="V1">向量1</param>
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/// <param name="lamda">系数值</param>
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/// <returns>向量与数之间的插值</returns>
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inline VectorPoint VectordotNumber(VectorPoint& V1, long double lamda) {
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V1.x = V1.x * lamda;
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V1.y = V1.y * lamda;
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V1.z = V1.z * lamda;
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return V1;
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}
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/// <summary>
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/// 向量叉乘
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/// 旋转方向：v1->v2
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/// </summary>
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/// <param name="v1">v1</param>
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/// <param name="v2">v2</param>
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/// <returns>叉乘的结果向量</returns>
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inline VectorPoint VectorFork(VectorPoint &v1, VectorPoint& v2) {
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VectorPoint result{ 0,0,0 };
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result.x = v1.y * v2.z - v1.z * v2.y;
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result.y =v1.z*v2.x -v1.x * v2.z;
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result.z = v1.x * v2.y - v1.y * v2.x;
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return result;
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}
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//
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// 参数文件解析
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//
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//参数文件标准格式
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// 文件值 类型 对应的代号
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// DEM文件的路径 str dem_path
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// 模拟影像输出路径 str sar_sim_path
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// 模拟影像的宽 int
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// 模拟影像的高 int
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// 模拟影像的匹配坐标文件输出路径 str sar_sim_match_point_x_path
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// 模拟影像的匹配坐标X输出路径 str sar_sim_match_point_x_path
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// 模拟影像的匹配坐标Y输出路径 str sar_sim_match_point_y_path
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// 模拟影像的匹配坐标Z输出路径 str sar_sim_match_point_z_path
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// 采样率 long double sample_f
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// 近斜距 long double R0
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// 成像起始时间 long double starttime ---UTC 时间
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// 光速 long double
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// 波长 long double
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// 多普勒参考时间 long double TO ---UTC 时间
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// 脉冲重复频率 long double PRF
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// 斜距采样间隔 long double delta_R
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// 多普勒系数个数 int
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// 多普勒系数1 long double
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// 多普勒系数2 long double
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// ....
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// 卫星轨道模型是否为多项式模型 int 1 是。0 不是
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// 卫星轨道模型多项式次数 int 4 5
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// 卫星轨道模型起始时间 long double
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// 卫星轨道模型X值系数1 long double
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// ....
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// 卫星轨道模型Y值系数1 long double
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// ...
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// 卫星轨道模型Z值系数1 long double
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// ...
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// 卫星轨道模型Vx值系数1 long double
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// ...
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// 卫星轨道模型Vy值系数1 long double
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// ...
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// 卫星轨道模型Vz值系数1 long double
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// ...
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//
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//
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class ParameterInFile
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{
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public:
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ParameterInFile(std::string infile_path);
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ParameterInFile(const ParameterInFile& paras);
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~ParameterInFile();
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public:
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//参数组
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std::string dem_path; //dem 路径
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std::string out_sar_sim_path; // 输出模拟sar
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std::string out_sar_sim_dem_path; // 输出模拟sar
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std::string out_sar_sim_resampling_path; // 输出模拟sar
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std::string out_sar_sim_resampling_rc;
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int sim_height; // 模拟影像的高
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int sim_width;
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long double widthspace;// 距离向分辨率
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std::string sar_sim_match_point_path; //输出模拟影像的地点x
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std::string sar_sim_match_point_xyz_path; //输出模拟影像的地点x
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int sample_f; //采样率
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long double R0; //近斜距
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long double LightSpeed;//光速
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long double lamda;//波长
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long double refrange;// 参考斜距
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long double delta_R; // 斜距间隔
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long double imgStartTime; //成像起始时间
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long double PRF;// 脉冲重复率
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long double delta_t;// 时间间隔
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// 多普勒
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int doppler_paramenter_number;// 多普勒系数个数
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long double* doppler_para;//多普勒系数
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//卫星轨道模型
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int polySatelliteModel;// 是否为卫星多轨道模型
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int polynum;// 多项数
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long double SatelliteModelStartTime;
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long double* polySatellitePara;
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};
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// 根据轨道模型计算卫星空间位置
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struct SatelliteSpacePoint {
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long double x=0;
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long double y=0;
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long double z=0;
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long double vx=0;
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long double vy=0;
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long double vz=0;
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};
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/// <summary>
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/// 根据卫星轨道模型计算卫星
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/// </summary>
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/// <param name="satelliteTime">卫星轨道点时间</param>
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/// <param name="SatelliteModelStartTime">卫星轨道模型起始时间</param>
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/// <param name="polySatellitePara">卫星轨道坐标模型参数</param>
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/// <param name="polynum">多项式项数</param>
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/// <returns></returns>
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inline SatelliteSpacePoint getSatellitePostion(long double satelliteTime,long double SatelliteModelStartTime,long double* polySatellitePara,int polynum);
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/// <summary>
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/// 数值模拟法计算多普勒频移值
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/// </summary>
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/// <param name="R">斜距</param>
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/// <param name="LightSpeed">光速</param>
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/// <param name="T0">多普勒参考时间</param>
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/// <param name="doppler_para">多普勒参数</param>
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/// <returns>多普勒频移值</returns>
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inline long double calNumericalDopplerValue(long double R,long double LightSpeed,long double T0, long double* doppler_para,int doppler_paramenter_number);
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/// <summary>
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/// 根据理论模型计算多普勒频移值
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/// </summary>
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/// <param name="R">斜距</param>
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/// <param name="lamda">波长</param>
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/// <param name="R_sl">地面->卫星的空间向量</param>
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/// <param name="V_sl">地面->卫星之间的速度向量</param>
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/// <returns>多普勒频移值</returns>
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inline long double calTheoryDopplerValue(long double R, long double lamda, VectorPoint R_sl, VectorPoint V_sl);
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/// <summary>
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/// 根据地面点求解对应的sar影像坐标
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/// </summary>
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/// <param name="landpoint">地面点的坐标--地固坐标系</param>
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/// <param name="Starttime">影片开始成像时间</param>
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/// <param name="lamda">波长</param>
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/// <param name="T0">多普勒参考时间</param>
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/// <param name="LightSpeed">光速</param>
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/// <param name="delta_t">时间间隔</param>
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/// <param name="R0">近斜距</param>
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/// <param name="delta_R">斜距间隔</param>
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/// <param name="SatelliteModelStartTime">卫星轨道模型时间</param>
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/// <param name="polySatellitePara">卫星轨道坐标模型参数</param>
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/// <param name="polynum">卫星轨道模型项数</param>
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/// <param name="doppler_paramenter_number">多普勒模型数</param>
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/// <returns>影像坐标（x:行号，y:列号，z：成像时刻）</returns>
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inline point PSTN(point& landpoint, long double Starttime, long double lamda, long double T0, long double* doppler_para, long double LightSpeed, long double delta_t, long double R0, long double delta_R, long double SatelliteModelStartTime, long double* polySatellitePara, int polynum = 4, int doppler_paramenter_number = 5);
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struct translateArray {
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long double a0, a1, a2;
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long double b0, b1, b2;
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};
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/// <summary>
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/// 转换影像
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/// </summary>
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/// <param name="row_ids"></param>
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/// <param name="col_ids"></param>
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/// <param name="value"></param>
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/// <param name="gt"></param>
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/// <returns></returns>
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inline point Translation(long double row_ids,long double col_ids,long double value,translateArray& gt) {
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point result{ 0,0,0 };
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result.x = gt.a0 + gt.a1 * col_ids + gt.a2 * row_ids;
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result.y = gt.b0 + gt.b1 * col_ids + gt.b2 * row_ids;
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result.z = value;
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return result;
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}
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inline int Translation(long double& x, long double& y, long double& r, long double& c, translateArray& gt) {
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c = gt.a0 + gt.a1 * x + gt.a2 * y;
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r = gt.b0 + gt.b1 * x + gt.b2 * y;
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return 0;
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}
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/// <summary>
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/// dem块
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/// </summary>
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class dem_block {
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public:
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dem_block(int all_start_row,int all_start_col,int start_row, int end_row, int start_col, int end_col, int height, int width,int sample_f);
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dem_block(const dem_block& demblocks);
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~dem_block();
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dem_block resample_dem();
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//dem_block resample_dem_cudic();
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int rowcol2blockids(int row_ids, int col_ids);
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point getpointblock(int row_ids, int col_ids);
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int setpointblock(int row_ids, int col_ids, point& value);
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point getpointblock(int ids);
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int setpointblock(int ids, point& value);
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int UpdatePointCoodinarary();
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VectorPoint getslopeVector(int row_ids, int col_ids);
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public:
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int all_start_row;
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int all_start_col;
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int start_row; // 目标区域的起始行号
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int end_row; //
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int start_col; // 目标区域的起始列号
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int end_col;
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int height;
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int width;
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int size;
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int sample_f;
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point* pointblock; // 原始块
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};
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inline point bilineadInterpolation(point& p,point& p11,point& p12,point& p21,point& p22);
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inline point cubicInterpolation(point& p, point& p11, point& p12,point& p13,point& p14, point& p21, point& p22,point& p23,point& p24,point& p31,point& p32,point& p33,point& p34,point& p41,point& p42,point& p43,point& p44);
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/// <summary>
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/// 双线性插值方法
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/// </summary>
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/// <param name="p"></param>
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/// <param name="p11"></param>
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/// <param name="p12"></param>
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/// <param name="p21"></param>
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/// <param name="p22"></param>
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/// <returns></returns>
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inline point SARbilineadInterpolation(point& p, point& p11, point& p12, point& p21, point& p22) {
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}
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/// <summary>
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/// 入射角 -- 弧度制
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/// </summary>
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struct IncidenceAngle
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{
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long double incidenceAngle; // 雷达入射角
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long double localincidenceAngle; // 局地入射角
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};
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struct matchPoint {
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long double r, c, ti;
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long double land_x, land_y, land_z;
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long double distance;
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long double incidenceAngle, localincidenceAngle;
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};
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/// <summary>
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/// 模拟sar 的矩阵块，累加模块默认使用short 类型(累加上限：
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/// </summary>
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class sim_block {
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public:
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sim_block(int start_row,int end_row,int start_col,int end_col,int height,int width);
|
||
sim_block(const sim_block& sim_blocks);
|
||
~sim_block();
|
||
|
||
int rowcol2blockids(int row_ids, int col_ids);
|
||
short getsimblock(int row_ids, int col_ids);
|
||
int setsimblock(int row_ids,int col_ids, short value);
|
||
int addsimblock(int row_ids, int col_ids,short value);
|
||
matchPoint getpointblock(int row_ids,int col_ids);
|
||
int setpointblock(int row_ids, int col_ids, matchPoint value);
|
||
//
|
||
long double getdistanceblock(int row_ids, int col_ids);
|
||
int setdistanceblock(int row_ids, int col_ids, long double value);
|
||
|
||
public:
|
||
int start_row;
|
||
int end_row;
|
||
int start_col;
|
||
int end_col;
|
||
int height;
|
||
int width;
|
||
int size;
|
||
short* block;
|
||
long double* distanceblock;
|
||
matchPoint* pointblock;
|
||
};
|
||
|
||
|
||
/// <summary>
|
||
/// 根据卫星坐标，地面坐标，地面法向量，求解对应的雷达入射角和局地入射角
|
||
/// </summary>
|
||
/// <param name="satellitepoint">卫星空间坐标</param>
|
||
/// <param name="landpoint">地面坐标</param>
|
||
/// <param name="slopvector">地面坡度</param>
|
||
/// <returns>入射角文件</returns>
|
||
inline IncidenceAngle calIncidence(point satellitepoint,point landpoint,VectorPoint slopvector) {
|
||
|
||
IncidenceAngle result;
|
||
VectorPoint R_ls = getVector(landpoint, satellitepoint);
|
||
result.localincidenceAngle = getVectorAngleValue(R_ls, slopvector);
|
||
VectorPoint R_s{ satellitepoint.x,satellitepoint.y,satellitepoint.z };
|
||
result.incidenceAngle = getVectorAngleValue(R_s, R_ls);
|
||
return result;
|
||
}
|
||
|
||
|
||
int SimProcessBlock(dem_block demblock, ParameterInFile paras, matchPoint* result_shared, int* Pcount);
|
||
|
||
int ResamplingSim(ParameterInFile paras);
|
||
int ResampleGDAL(const char* pszSrcFile, const char* pszOutFile, float fResX, float fResY, GDALResampleAlg eResample);
|
||
|
||
/// <summary>
|
||
/// 模拟sar的处理算法模块。
|
||
/// 为了控制内存的取用
|
||
/// 线程数：8 --以进程类的方式进行管理--使用队列的方法
|
||
/// 线程内存：dem_block_size*sample_f*sample_f< 1 G
|
||
/// </summary>
|
||
/// <param name="paras">参数文件项</param>
|
||
/// <param name="thread_num">线程数默认为8</param>
|
||
/// <returns>执行情况</returns>
|
||
int SimProcess(ParameterInFile paras, int thread_num);
|
||
int SimProcess_LVY(ParameterInFile paras, int thread_num);
|
||
int WriteMatchPoint(string path, std::vector<matchPoint>* matchps);
|
||
// 测试函数接口
|
||
|
||
int testPTSN(ParameterInFile paras);
|
||
|
||
|
||
///
|
||
///
|
||
/// 考虑影像的插值方案
|
||
///
|
||
///
|
||
|
||
class ConvertResampleParameter {
|
||
public:
|
||
ConvertResampleParameter(string path);
|
||
ConvertResampleParameter(const ConvertResampleParameter& para);
|
||
~ConvertResampleParameter();
|
||
public:
|
||
string in_ori_dem_path;
|
||
string ori_sim;
|
||
string out_sar_xyz_path;
|
||
string out_sar_xyz_incidence_path;
|
||
string out_orth_sar_incidence_path;
|
||
string out_orth_sar_local_incidence_path;
|
||
string outFolder_path;
|
||
int file_count;
|
||
std::vector<string> inputFile_paths;
|
||
std::vector<string> outFile_paths;
|
||
std::vector<string> outFile_pow_paths;
|
||
int ori2sim_num;
|
||
long double* ori2sim_paras;
|
||
int sim2ori_num;
|
||
long double* sim2ori_paras;
|
||
};
|
||
|
||
inline int ori2sim(long double ori_x,long double ori_y,long double& sim_x,long double& sim_y,long double* conver_paras) {
|
||
long double xy = ori_x * ori_y;
|
||
long double x2 = ori_x * ori_x;
|
||
long double y2 = ori_y * ori_y;
|
||
|
||
sim_x = conver_paras[0] + ori_x * conver_paras[1] + ori_y * conver_paras[2] + x2 * conver_paras[3] + y2 * conver_paras[4] + xy * conver_paras[5];
|
||
sim_y = conver_paras[6] + ori_x * conver_paras[7] + ori_y * conver_paras[8] + x2 * conver_paras[9] + y2 * conver_paras[10] + xy * conver_paras[11];
|
||
return 1;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 将模拟的行列号转换为目标行列号
|
||
/// </summary>
|
||
/// <param name="sim_r">模拟的行号</param>
|
||
/// <param name="sim_c">模拟的列号</param>
|
||
/// <param name="ori_r">待计算的目标行号</param>
|
||
/// <param name="ori_c">待计算的目标列号</param>
|
||
/// <param name="conver_paras">变换矩阵</param>
|
||
/// <returns>默认：0 表示计算结束</returns>
|
||
inline int sim2ori(long double sim_r,long double sim_c,long double& ori_r,long double& ori_c, long double* conver_paras) {
|
||
long double xy = sim_r * sim_c;
|
||
long double x2 = sim_r * sim_r;
|
||
long double y2 = sim_c * sim_c;
|
||
ori_r = conver_paras[0] + sim_r * conver_paras[1] + sim_c * conver_paras[2] + x2 * conver_paras[3] + y2 * conver_paras[4] + xy * conver_paras[5];
|
||
ori_c = conver_paras[6] + sim_r * conver_paras[7] + sim_c * conver_paras[8] + x2 * conver_paras[9] + y2 * conver_paras[10] + xy * conver_paras[11];
|
||
return 0;
|
||
}
|
||
|
||
// 查询精确坐标
|
||
|
||
point GetOriRC(point& landp, ParameterInFile& paras, ConvertResampleParameter& convparas);
|
||
|
||
int SimProcessBlock_CalXYZ(dem_block demblock, ParameterInFile paras, ConvertResampleParameter converParas, matchPoint* result_shared, int* Pcount);
|
||
int SimProcess_CalXYZ(ParameterInFile paras, ConvertResampleParameter conveparas, int thread_num);
|
||
|
||
|
||
/*
|
||
正射模块思路
|
||
dem->sim->ori(r,c) <-重采样-> ori
|
||
step1: 计算dem 对应的 ori 坐标，并保存-> ori_sim.tif (r,c,incidence,localincidence)
|
||
step2: 根据结果插值计算对应的a,b
|
||
|
||
*/
|
||
int SimProcess_Calsim2ori(ParameterInFile paras, ConvertResampleParameter conveparas, int thread_num); // 正射模块
|
||
|
||
|
||
/*
|
||
重采样：
|
||
step1：读取目标栅格，并根据目标栅格创建对象
|
||
step2:
|
||
*/
|
||
int SimProcess_ResamplingOri2Orth(ParameterInFile paras, ConvertResampleParameter conveparas, int thread_num);
|
||
|
||
/*
|
||
生成强度图
|
||
*/
|
||
int SimProcess_Calspow(ParameterInFile paras, ConvertResampleParameter conveparas, int thread_num); // 正射模块
|