2986 lines
140 KiB
Python
2986 lines
140 KiB
Python
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# -*- coding: UTF-8 -*-
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"""
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@Project ：microproduct
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@File ：OneOrthoAlg.py
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@Function ：正射校正算法
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@Author ：KHZ
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@Contact：
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@Date ：2021/8/14
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@Version ：1.0.0
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"""
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# from re import I, T, X, match
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# from types import DynamicClassAttribute
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# from numpy.core.einsumfunc import _parse_possible_contraction
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# from numpy.core.fromnumeric import shape
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# from numpy.core.shape_base import block
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# from numpy.lib import row_stack
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# from numpy.lib.function_base import delete
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import psutil
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import os
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import gc
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# import sys
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# import scipy
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# from scipy.sparse import data
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# from scipy.sparse.construct import random
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import xmltodict
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import numpy as np
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import json
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import datetime, time
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import yaml
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import math
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import time
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#import cv2
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#import cv2 as cv
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from osgeo import gdal, gdalconst
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# from yaml.events import AliasEvent, NodeEvent
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from OrthoAuxData import OrthoAuxData
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# from OrthoImage import ImageHandler
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from tool.algorithm.image.ImageHandle import ImageHandler
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from tool.algorithm.algtools.MetaDataHandler import MetaDataHandler
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# from logHandler import LogHandler
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from osgeo import osr
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from scipy import interpolate
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import scipy.io as scipyio
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import copy
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import scipy.sparse as ss
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import shutil
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import pandas
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import uuid
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from concurrent.futures._base import as_completed, wait
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from concurrent.futures.thread import ThreadPoolExecutor
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from multiprocessing import Pool
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class ScatteringAlg:
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def __init__(self):
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pass
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@staticmethod
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def sar_backscattering_coef(in_sar_tif, meta_file_path, out_sar_tif, replece_VV = False, is_DB = True):
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# 读取原始SAR影像
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proj, geotrans, in_data = ImageHandler.read_img(in_sar_tif)
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# 计算强度信息
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I = np.array(in_data[0], dtype="float32")
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Q = np.array(in_data[1], dtype="float32")
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where_9999_0 = np.where(I == -9999)
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where_9999_1 = np.where(Q == -9999)
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I[where_9999_0] = 1.0
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Q[where_9999_1] = 1.0
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I2 = np.square(I)
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Q2 = np.square(Q)
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intensity_arr = I2 + Q2
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# 获取极化类型
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if 'HH' in os.path.basename(in_sar_tif):
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polarization = 'HH'
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elif 'HV' in os.path.basename(in_sar_tif):
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polarization = 'HV'
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elif 'VH' in os.path.basename(in_sar_tif):
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polarization = 'VH'
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elif 'VV' in os.path.basename(in_sar_tif):
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polarization = 'VV'
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if replece_VV:
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polarization = 'HV' #土壤水分算法中可能会用HV替换VV
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elif 'DH' in os.path.basename(in_sar_tif):
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polarization = 'HH'
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else:
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raise Exception ('there are not HH、HV、VH、VV in path:',in_sar_tif)
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# 获取参数
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QualifyValue = MetaDataHandler.get_QualifyValue(meta_file_path, polarization)
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Kdb = MetaDataHandler.get_Kdb(meta_file_path, polarization)
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# 计算后向散射系数
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#对数形式
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coef_arr = 10 * (np.log10(intensity_arr * ((QualifyValue/32767)**2))) - Kdb
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coef_arr[np.isnan(coef_arr)] = -9999
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coef_arr[np.isinf(coef_arr)] = -9999
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coef_arr[where_9999_0] = -9999
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coef_arr[where_9999_1] = -9999
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## 输出的SAR后向散射系数产品
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# ImageHandler.write_img(out_sar_tif, proj, geotrans, coef_arr, 0)
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tif_array = np.power(10.0, coef_arr / 10.0) # dB --> 线性值 后向散射系数
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tif_array[np.isnan(tif_array)] = 0
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tif_array[np.isinf(tif_array)] = 0
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tif_array[where_9999_0] = 0
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tif_array[where_9999_1] = 0
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ImageHandler.write_img(out_sar_tif, proj, geotrans, tif_array, 0)
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return True
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@staticmethod
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def lin_to_db(lin_path, db_path):
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proj, geotrans, in_data = ImageHandler.read_img(lin_path)
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db_arr = 10 * np.log10(in_data)
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# db_arr[np.isnan(db_arr)] = -9999
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# db_arr[np.isinf(db_arr)] = -9999
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ImageHandler.write_img(db_path, proj, geotrans, db_arr, -9999)
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def FindInfomationFromJson(HeaderFile_dom_json, node_path_list):
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"""
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在Json文件中，按照指定路径解析出制定节点
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"""
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result_node = HeaderFile_dom_json
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for nodename in node_path_list:
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result_node = result_node[nodename]
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return result_node
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def GetVectorNorm(Vecter):
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"""
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得到向量的模
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"""
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Vecter = Vecter.reshape(-1,1)
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Vecter_Norm_pow = np.matmul(Vecter.T,Vecter)
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return np.sqrt(Vecter_Norm_pow)
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def XYZOuterM2(A, B):
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"""
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外积（叉乘）,日后版本换成可以任意维度的外积运算方程
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args:
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A:nx3
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B:nx3
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"""
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cnt = A.shape[0]
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C = np.zeros((cnt, 3))
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C[:, 0] = A[:, 1] * B[:, 2] - A[:, 2] * B[:, 1]
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C[:, 1] = A[:, 2] * B[:, 0] - A[:, 0] * B[:, 2]
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C[:, 2] = A[:, 0] * B[:, 1] - A[:, 1] * B[:, 0]
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return C
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def LinearSampling_raster(source_raster,tar_raster,source_start_row,source_start_col,tar_start_row,tar_start_col):
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''' 双线性重采样
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agrs:
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source_raster:原影像
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tar_raster:目标影像
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source_start_row:原影像的起始行号
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source_start_col:原影像的起始列号
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tar_start_row:目标影像的起始行号
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tar_start_col:目标影像的起始列号
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return:
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tar_raster:目标影像
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'''
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# 根据原影像的起始行列号与目标影像行列号，计算目标影像行列号的校正值
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d_row=tar_start_row-source_start_row #
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d_col=tar_start_col-source_start_col #
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source_height=source_raster.shape[0]
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source_width=source_raster.shape[1]
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tar_height=tar_raster.shape[0]
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tar_width=tar_raster.shape[1]
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source_row=(np.ones((source_width,source_height))*range(source_height)).transpose(1,0)
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source_col=np.ones((source_height,source_width))*range(source_width)
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tar_row=(np.ones((tar_width,tar_height))*range(tar_height)).transpose(1,0)
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tar_col=np.ones((tar_height,tar_width))*range(tar_width)
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tar_row=tar_row+d_row # 坐标系变换
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tar_col=tar_col+d_col # 坐标系变换
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# 确定行列号
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last_source_row=np.floor(tar_row)
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last_source_col=np.floor(tar_col)
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next_source_row=np.ceil(tar_row)
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next_source_col=np.ceil(tar_col)
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# 双线性重采样模型示意图，
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# y1 r1 y2
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#
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# r
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#
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# y3 r2 y4
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# 计算重采样
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r1=source_raster[last_source_row,last_source_col]*(tar_col-last_source_col)+source_raster[last_source_row,next_source_col]*(next_source_col-tar_col)
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r2=source_raster[next_source_row,last_source_col]*(tar_col-last_source_col)+source_raster[next_source_row,next_source_col]*(next_source_col-tar_col)
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tar_raster=r1*(tar_row-last_source_row)+r2*(next_source_row-tar_row)
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tar_raster=tar_raster.reshape(tar_height,tar_width) # 目标影像
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return tar_raster.copy()
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'''-----双线性重采样-----'''
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""" RPC 校正部分 """
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def parse_rpc_file(rpc_file):
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# rpc_file:.rpc文件的绝对路径
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# rpc_dict：符号RPC域下的16个关键字的字典
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# 参考网址：http://geotiff.maptools.org/rpc_prop.html；
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# https://www.osgeo.cn/gdal/development/rfc/rfc22_rpc.html
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rpc_dict = {}
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with open(rpc_file) as f:
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text = f.read()
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# .rpc文件中的RPC关键词
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words = ['errBias', 'errRand', 'lineOffset', 'sampOffset', 'latOffset',
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'longOffset', 'heightOffset', 'lineScale', 'sampScale', 'latScale',
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'longScale', 'heightScale', 'lineNumCoef', 'lineDenCoef','sampNumCoef', 'sampDenCoef',]
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# GDAL库对应的RPC关键词
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keys = ['ERR_BIAS', 'ERR_RAND', 'LINE_OFF', 'SAMP_OFF', 'LAT_OFF', 'LONG_OFF',
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'HEIGHT_OFF', 'LINE_SCALE', 'SAMP_SCALE', 'LAT_SCALE',
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'LONG_SCALE', 'HEIGHT_SCALE', 'LINE_NUM_COEFF', 'LINE_DEN_COEFF',
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'SAMP_NUM_COEFF', 'SAMP_DEN_COEFF']
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for old, new in zip(words, keys):
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text = text.replace(old, new)
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# 以‘;\n’作为分隔符
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text_list = text.split(';\n')
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# 删掉无用的行
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text_list = text_list[3:-2]
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#
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text_list[0] = text_list[0].split('\n')[1]
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# 去掉制表符、换行符、空格
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text_list = [item.strip('\t').replace('\n', '').replace(' ', '') for item in text_list]
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for item in text_list:
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# 去掉‘=’
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key, value = item.split('=')
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# 去掉多余的括号‘(’，‘)’
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if '(' in value:
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value = value.replace('(', '').replace(')', '')
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rpc_dict[key] = value
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for key in keys[:12]:
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# 为正数添加符号‘+’
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if not rpc_dict[key].startswith('-'):
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rpc_dict[key] = '+' + rpc_dict[key]
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# 为归一化项和误差标志添加单位
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if key in ['LAT_OFF', 'LONG_OFF', 'LAT_SCALE', 'LONG_SCALE']:
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rpc_dict[key] = rpc_dict[key] + ' degrees'
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if key in ['LINE_OFF', 'SAMP_OFF', 'LINE_SCALE', 'SAMP_SCALE']:
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rpc_dict[key] = rpc_dict[key] + ' pixels'
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if key in ['ERR_BIAS', 'ERR_RAND', 'HEIGHT_OFF', 'HEIGHT_SCALE']:
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rpc_dict[key] = rpc_dict[key] + ' meters'
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# 处理有理函数项
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for key in keys[-4:]:
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values = []
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for item in rpc_dict[key].split(','):
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#print(item)
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if not item.startswith('-'):
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values.append('+'+item)
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else:
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values.append(item)
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rpc_dict[key] = ' '.join(values)
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return rpc_dict
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def write_rpc_to_tiff(inputpath,rpc_file,ap = True,outpath = None):
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rpc_dict = parse_rpc_file(rpc_file)
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if ap:
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# 可修改读取
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dataset = gdal.Open(inputpath,gdal.GA_Update)
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# 向tif影像写入rpc域信息
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# 注意，这里虽然写入了RPC域信息，但实际影像还没有进行实际的RPC校正
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# 尽管有些RS/GIS能加载RPC域信息，并进行动态校正
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for k in rpc_dict.keys():
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dataset.SetMetadataItem(k, rpc_dict[k], 'RPC')
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dataset.FlushCache()
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del dataset
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else:
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dataset = gdal.Open(inputpath,gdal.GA_Update)
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tiff_driver= gdal.GetDriverByName('Gtiff')
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out_ds = tiff_driver.CreateCopy(outpath, dataset, 1)
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for k in rpc_dict.keys():
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out_ds.SetMetadataItem(k, rpc_dict[k], 'RPC')
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out_ds.FlushCache()
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def rpc_correction(inputpath,rpc_file,corrtiff,dem_tif_file = None):
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## 设置rpc校正的参数
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# 原图像和输出影像缺失值设置为0，输出影像坐标系为WGS84(EPSG:4326), 重采样方法为双线性插值（bilinear，还有最邻近‘near’、三次卷积‘cubic’等可选)
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# 注意DEM的覆盖范围要比原影像的范围大，此外，DEM不能有缺失值，有缺失值会报错
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# 通常DEM在水域是没有值的（即缺失值的情况），因此需要将其填充设置为0，否则在RPC校正时会报错
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# 这里使用的DEM是填充0值后的SRTM V4.1 3秒弧度的DEM(分辨率为90m)
|
|||
|
|
# RPC_DEMINTERPOLATION=bilinear 表示对DEM重采样使用双线性插值算法
|
|||
|
|
# 如果要修改输出的坐标系，则要修改dstSRS参数值，使用该坐标系统的EPSG代码
|
|||
|
|
# 可以在网址https://spatialreference.org/ref/epsg/32650/ 查询得到EPSG代码
|
|||
|
|
|
|||
|
|
write_rpc_to_tiff(inputpath,rpc_file,ap = True,outpath = None)
|
|||
|
|
|
|||
|
|
if dem_tif_file is None:
|
|||
|
|
wo = gdal.WarpOptions(srcNodata=0, dstNodata=0, dstSRS='EPSG:4326', resampleAlg='bilinear',
|
|||
|
|
format='Gtiff',rpc=True, warpOptions=["INIT_DEST=NO_DATA"])
|
|||
|
|
|
|||
|
|
wr = gdal.Warp(corrtiff, inputpath, options=wo)
|
|||
|
|
print("RPC_GEOcorr>>>")
|
|||
|
|
else:
|
|||
|
|
wo = gdal.WarpOptions(srcNodata=0, dstNodata=0, dstSRS='EPSG:4326', resampleAlg='bilinear', format='Gtiff',rpc=True, warpOptions=["INIT_DEST=NO_DATA"],
|
|||
|
|
transformerOptions=["RPC_DEM=%s"%(dem_tif_file), "RPC_DEMINTERPOLATION=bilinear"])
|
|||
|
|
wr = gdal.Warp(corrtiff, inputpath, options=wo)
|
|||
|
|
print("RPC_GEOcorr>>>")
|
|||
|
|
## 对于全海域的影像或者不使用DEM校正的话，可以将transformerOptions有关的RPC DEM关键字删掉
|
|||
|
|
## 即将上面gdal.WarpOptions注释掉，将下面的语句取消注释，无DEM时，影像范围的高程默认全为0
|
|||
|
|
del wr
|
|||
|
|
|
|||
|
|
|
|||
|
|
##########################
|
|||
|
|
# 输出RPC 行列号到 经纬度的变换
|
|||
|
|
##########################
|
|||
|
|
#最大迭代次数超过则报错
|
|||
|
|
class MaxLocalizationIterationsError(Exception):
|
|||
|
|
"""
|
|||
|
|
Custom rpcm Exception.
|
|||
|
|
"""
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def apply_poly(poly, x, y, z):
|
|||
|
|
"""
|
|||
|
|
Evaluates a 3-variables polynom of degree 3 on a triplet of numbers.
|
|||
|
|
将三次多项式的统一模式构建为一个单独的函数
|
|||
|
|
Args:
|
|||
|
|
poly: list of the 20 coefficients of the 3-variate degree 3 polynom,
|
|||
|
|
ordered following the RPC convention.
|
|||
|
|
x, y, z: triplet of floats. They may be numpy arrays of same length.
|
|||
|
|
Returns:
|
|||
|
|
the value(s) of the polynom on the input point(s).
|
|||
|
|
"""
|
|||
|
|
out = 0
|
|||
|
|
out += poly[0]
|
|||
|
|
out += poly[1]*y + poly[2]*x + poly[3]*z
|
|||
|
|
out += poly[4]*y*x + poly[5]*y*z +poly[6]*x*z
|
|||
|
|
out += poly[7]*y*y + poly[8]*x*x + poly[9]*z*z
|
|||
|
|
out += poly[10]*x*y*z
|
|||
|
|
out += poly[11]*y*y*y
|
|||
|
|
out += poly[12]*y*x*x + poly[13]*y*z*z + poly[14]*y*y*x
|
|||
|
|
out += poly[15]*x*x*x
|
|||
|
|
out += poly[16]*x*z*z + poly[17]*y*y*z + poly[18]*x*x*z
|
|||
|
|
out += poly[19]*z*z*z
|
|||
|
|
return out
|
|||
|
|
|
|||
|
|
def apply_rfm(num, den, x, y, z):
|
|||
|
|
"""
|
|||
|
|
Evaluates a Rational Function Model (rfm), on a triplet of numbers.
|
|||
|
|
执行20个参数的分子和20个参数的除法
|
|||
|
|
Args:
|
|||
|
|
num: list of the 20 coefficients of the numerator
|
|||
|
|
den: list of the 20 coefficients of the denominator
|
|||
|
|
All these coefficients are ordered following the RPC convention.
|
|||
|
|
x, y, z: triplet of floats. They may be numpy arrays of same length.
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
the value(s) of the rfm on the input point(s).
|
|||
|
|
"""
|
|||
|
|
return apply_poly(num, x, y, z) / apply_poly(den, x, y, z)
|
|||
|
|
|
|||
|
|
def rpc_from_geotiff(geotiff_path):
|
|||
|
|
"""
|
|||
|
|
Read the RPC coefficients from a GeoTIFF file and return an RPCModel object.
|
|||
|
|
该函数返回影像的Gdal格式的影像和RPCmodel
|
|||
|
|
Args:
|
|||
|
|
geotiff_path (str): path or url to a GeoTIFF file
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
instance of the rpc_model.RPCModel class
|
|||
|
|
"""
|
|||
|
|
# with rasterio.open(geotiff_path, 'r') as src:
|
|||
|
|
#
|
|||
|
|
dataset = gdal.Open(geotiff_path, gdal.GA_ReadOnly)
|
|||
|
|
rpc_dict = dataset.GetMetadata("RPC")
|
|||
|
|
# 同时返回影像与rpc
|
|||
|
|
return dataset, RPCModel(rpc_dict,'geotiff')
|
|||
|
|
|
|||
|
|
|
|||
|
|
def read_rpc_file(rpc_file):
|
|||
|
|
"""
|
|||
|
|
Read RPC from a RPC_txt file and return a RPCmodel
|
|||
|
|
从TXT中直接单独读取RPC模型
|
|||
|
|
Args:
|
|||
|
|
rpc_file: RPC sidecar file path
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
dictionary read from the RPC file, or an empty dict if fail
|
|||
|
|
|
|||
|
|
"""
|
|||
|
|
rpc = parse_rpc_file(rpc_file)
|
|||
|
|
return RPCModel(rpc)
|
|||
|
|
|
|||
|
|
class RPCModel:
|
|||
|
|
def __init__(self, d, dict_format="geotiff"):
|
|||
|
|
"""
|
|||
|
|
Args:
|
|||
|
|
d (dict): dictionary read from a geotiff file with
|
|||
|
|
rasterio.open('/path/to/file.tiff', 'r').tags(ns='RPC'),
|
|||
|
|
or from the .__dict__ of an RPCModel object.
|
|||
|
|
dict_format (str): format of the dictionary passed in `d`.
|
|||
|
|
Either "geotiff" if read from the tags of a geotiff file,
|
|||
|
|
or "rpcm" if read from the .__dict__ of an RPCModel object.
|
|||
|
|
"""
|
|||
|
|
if dict_format == "geotiff":
|
|||
|
|
self.row_offset = float(d['LINE_OFF'][0:d['LINE_OFF'].rfind(' ')])
|
|||
|
|
self.col_offset = float(d['SAMP_OFF'][0:d['SAMP_OFF'].rfind(' ')])
|
|||
|
|
self.lat_offset = float(d['LAT_OFF'][0:d['LAT_OFF'].rfind(' ')])
|
|||
|
|
self.lon_offset = float(d['LONG_OFF'][0:d['LONG_OFF'].rfind(' ')])
|
|||
|
|
self.alt_offset = float(d['HEIGHT_OFF'][0:d['HEIGHT_OFF'].rfind(' ')])
|
|||
|
|
|
|||
|
|
self.row_scale = float(d['LINE_SCALE'][0:d['LINE_SCALE'].rfind(' ')])
|
|||
|
|
self.col_scale = float(d['SAMP_SCALE'][0:d['SAMP_SCALE'].rfind(' ')])
|
|||
|
|
self.lat_scale = float(d['LAT_SCALE'][0:d['LAT_SCALE'].rfind(' ')])
|
|||
|
|
self.lon_scale = float(d['LONG_SCALE'][0:d['LONG_SCALE'].rfind(' ')])
|
|||
|
|
self.alt_scale = float(d['HEIGHT_SCALE'][0:d['HEIGHT_SCALE'].rfind(' ')])
|
|||
|
|
|
|||
|
|
self.row_num = list(map(float, d['LINE_NUM_COEFF'].split()))
|
|||
|
|
self.row_den = list(map(float, d['LINE_DEN_COEFF'].split()))
|
|||
|
|
self.col_num = list(map(float, d['SAMP_NUM_COEFF'].split()))
|
|||
|
|
self.col_den = list(map(float, d['SAMP_DEN_COEFF'].split()))
|
|||
|
|
|
|||
|
|
if 'LON_NUM_COEFF' in d:
|
|||
|
|
self.lon_num = list(map(float, d['LON_NUM_COEFF'].split()))
|
|||
|
|
self.lon_den = list(map(float, d['LON_DEN_COEFF'].split()))
|
|||
|
|
self.lat_num = list(map(float, d['LAT_NUM_COEFF'].split()))
|
|||
|
|
self.lat_den = list(map(float, d['LAT_DEN_COEFF'].split()))
|
|||
|
|
|
|||
|
|
elif dict_format == "rpcm":
|
|||
|
|
self.__dict__ = d
|
|||
|
|
|
|||
|
|
else:
|
|||
|
|
raise ValueError(
|
|||
|
|
"dict_format '{}' not supported. "
|
|||
|
|
"Should be {{'geotiff','rpcm'}}".format(dict_format)
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
|
|||
|
|
def projection(self, lon, lat, alt):
|
|||
|
|
"""
|
|||
|
|
Convert geographic coordinates of 3D points into image coordinates.
|
|||
|
|
正投影：从地理坐标到图像坐标
|
|||
|
|
Args:
|
|||
|
|
lon (float or list): longitude(s) of the input 3D point(s)
|
|||
|
|
lat (float or list): latitude(s) of the input 3D point(s)
|
|||
|
|
alt (float or list): altitude(s) of the input 3D point(s)
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
float or list: horizontal image coordinate(s) (column index, ie x)
|
|||
|
|
float or list: vertical image coordinate(s) (row index, ie y)
|
|||
|
|
"""
|
|||
|
|
nlon = (np.asarray(lon) - self.lon_offset) / self.lon_scale
|
|||
|
|
nlat = (np.asarray(lat) - self.lat_offset) / self.lat_scale
|
|||
|
|
nalt = (np.asarray(alt) - self.alt_offset) / self.alt_scale
|
|||
|
|
|
|||
|
|
col = apply_rfm(self.col_num, self.col_den, nlat, nlon, nalt)
|
|||
|
|
row = apply_rfm(self.row_num, self.row_den, nlat, nlon, nalt)
|
|||
|
|
|
|||
|
|
col = col * self.col_scale + self.col_offset
|
|||
|
|
row = row * self.row_scale + self.row_offset
|
|||
|
|
|
|||
|
|
return col, row
|
|||
|
|
|
|||
|
|
|
|||
|
|
def localization(self, col, row, alt, return_normalized=False):
|
|||
|
|
"""
|
|||
|
|
Convert image coordinates plus altitude into geographic coordinates.
|
|||
|
|
反投影：从图像坐标到地理坐标
|
|||
|
|
Args:
|
|||
|
|
col (float or list): x image coordinate(s) of the input point(s)
|
|||
|
|
row (float or list): y image coordinate(s) of the input point(s)
|
|||
|
|
alt (float or list): altitude(s) of the input point(s)
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
float or list: longitude(s)
|
|||
|
|
float or list: latitude(s)
|
|||
|
|
"""
|
|||
|
|
ncol = (np.asarray(col) - self.col_offset) / self.col_scale
|
|||
|
|
nrow = (np.asarray(row) - self.row_offset) / self.row_scale
|
|||
|
|
nalt = (np.asarray(alt) - self.alt_offset) / self.alt_scale
|
|||
|
|
|
|||
|
|
if not hasattr(self, 'lat_num'):
|
|||
|
|
lon, lat = self.localization_iterative(ncol, nrow, nalt)
|
|||
|
|
else:
|
|||
|
|
lon = apply_rfm(self.lon_num, self.lon_den, nrow, ncol, nalt)
|
|||
|
|
lat = apply_rfm(self.lat_num, self.lat_den, nrow, ncol, nalt)
|
|||
|
|
|
|||
|
|
if not return_normalized:
|
|||
|
|
lon = lon * self.lon_scale + self.lon_offset
|
|||
|
|
lat = lat * self.lat_scale + self.lat_offset
|
|||
|
|
|
|||
|
|
return lon, lat
|
|||
|
|
|
|||
|
|
|
|||
|
|
def localization_iterative(self, col, row, alt):
|
|||
|
|
"""
|
|||
|
|
Iterative estimation of the localization function (image to ground),
|
|||
|
|
for a list of image points expressed in image coordinates.
|
|||
|
|
逆投影时的迭代函数
|
|||
|
|
Args:
|
|||
|
|
col, row: normalized image coordinates (between -1 and 1)
|
|||
|
|
alt: normalized altitude (between -1 and 1) of the corresponding 3D
|
|||
|
|
point
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
lon, lat: normalized longitude and latitude
|
|||
|
|
|
|||
|
|
Raises:
|
|||
|
|
MaxLocalizationIterationsError: if the while loop exceeds the max
|
|||
|
|
number of iterations, which is set to 100.
|
|||
|
|
"""
|
|||
|
|
# target point: Xf (f for final)
|
|||
|
|
Xf = np.vstack([col, row]).T
|
|||
|
|
|
|||
|
|
# use 3 corners of the lon, lat domain and project them into the image
|
|||
|
|
# to get the first estimation of (lon, lat)
|
|||
|
|
# EPS is 2 for the first iteration, then 0.1.
|
|||
|
|
lon = -col ** 0 # vector of ones
|
|||
|
|
lat = -col ** 0
|
|||
|
|
EPS = 2
|
|||
|
|
x0 = apply_rfm(self.col_num, self.col_den, lat, lon, alt)
|
|||
|
|
y0 = apply_rfm(self.row_num, self.row_den, lat, lon, alt)
|
|||
|
|
x1 = apply_rfm(self.col_num, self.col_den, lat, lon + EPS, alt)
|
|||
|
|
y1 = apply_rfm(self.row_num, self.row_den, lat, lon + EPS, alt)
|
|||
|
|
x2 = apply_rfm(self.col_num, self.col_den, lat + EPS, lon, alt)
|
|||
|
|
y2 = apply_rfm(self.row_num, self.row_den, lat + EPS, lon, alt)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
n = 0
|
|||
|
|
while not np.all((x0 - col) ** 2 + (y0 - row) ** 2 < 1e-18):
|
|||
|
|
|
|||
|
|
if n > 100:
|
|||
|
|
raise MaxLocalizationIterationsError("Max localization iterations (100) exceeded")
|
|||
|
|
|
|||
|
|
X0 = np.vstack([x0, y0]).T
|
|||
|
|
X1 = np.vstack([x1, y1]).T
|
|||
|
|
X2 = np.vstack([x2, y2]).T
|
|||
|
|
e1 = X1 - X0
|
|||
|
|
e2 = X2 - X0
|
|||
|
|
u = Xf - X0
|
|||
|
|
|
|||
|
|
# project u on the base (e1, e2): u = a1*e1 + a2*e2
|
|||
|
|
# the exact computation is given by:
|
|||
|
|
# M = np.vstack((e1, e2)).T
|
|||
|
|
# a = np.dot(np.linalg.inv(M), u)
|
|||
|
|
# but I don't know how to vectorize this.
|
|||
|
|
# Assuming that e1 and e2 are orthogonal, a1 is given by
|
|||
|
|
# <u, e1> / <e1, e1>
|
|||
|
|
num = np.sum(np.multiply(u, e1), axis=1)
|
|||
|
|
den = np.sum(np.multiply(e1, e1), axis=1)
|
|||
|
|
a1 = np.divide(num, den).squeeze()
|
|||
|
|
|
|||
|
|
num = np.sum(np.multiply(u, e2), axis=1)
|
|||
|
|
den = np.sum(np.multiply(e2, e2), axis=1)
|
|||
|
|
a2 = np.divide(num, den).squeeze()
|
|||
|
|
|
|||
|
|
# use the coefficients a1, a2 to compute an approximation of the
|
|||
|
|
# point on the gound which in turn will give us the new X0
|
|||
|
|
lon += a1 * EPS
|
|||
|
|
lat += a2 * EPS
|
|||
|
|
|
|||
|
|
# update X0, X1 and X2
|
|||
|
|
EPS = .1
|
|||
|
|
x0 = apply_rfm(self.col_num, self.col_den, lat, lon, alt)
|
|||
|
|
y0 = apply_rfm(self.row_num, self.row_den, lat, lon, alt)
|
|||
|
|
x1 = apply_rfm(self.col_num, self.col_den, lat, lon + EPS, alt)
|
|||
|
|
y1 = apply_rfm(self.row_num, self.row_den, lat, lon + EPS, alt)
|
|||
|
|
x2 = apply_rfm(self.col_num, self.col_den, lat + EPS, lon, alt)
|
|||
|
|
y2 = apply_rfm(self.row_num, self.row_den, lat + EPS, lon, alt)
|
|||
|
|
n += 1
|
|||
|
|
|
|||
|
|
return lon, lat
|
|||
|
|
#############################################
|
|||
|
|
# 校正影像 输出影像转换表
|
|||
|
|
#############################################
|
|||
|
|
|
|||
|
|
"""
|
|||
|
|
[pool.putRequest(req) for req in requests]等同于
|
|||
|
|
for req in requests:
|
|||
|
|
pool.putRequest(req)
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
def rpc_row_col(params):
|
|||
|
|
rpc_mdl,r_block,c_block,ati_block,i,block_shape=params
|
|||
|
|
r_block ,c_block = rpc_mdl.localization(r_block,c_block,0)
|
|||
|
|
print("\t{}\t".format(i))
|
|||
|
|
return [i,r_block ,c_block,block_shape]
|
|||
|
|
|
|||
|
|
|
|||
|
|
def get_RPC_lon_lat(in_rpc_tiff,out_rpc_rc_path):
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} ".format(exe_path,8,in_rpc_tiff,out_rpc_rc_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
def getRCImageRC2(inputPath,out_rpc_rc_path):
|
|||
|
|
#shutil.copy2(inputPath, out_rpc_rc_path)
|
|||
|
|
# 创建重采样输出文件（设置投影及六参数）
|
|||
|
|
input_rpc_sar=gdal.Open(inputPath)
|
|||
|
|
|
|||
|
|
driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
output = driver.Create(out_rpc_rc_path, input_rpc_sar.RasterXSize,input_rpc_sar.RasterYSize, 2,gdal.GDT_Float32)
|
|||
|
|
output.SetGeoTransform(list(input_rpc_sar.GetGeoTransform()))
|
|||
|
|
output.SetProjection(input_rpc_sar.GetProjection())
|
|||
|
|
# 参数说明 输入数据集、输出文件、输入投影、参考投影、重采样方法(最邻近内插\双线性内插\三次卷积等)、回调函数
|
|||
|
|
|
|||
|
|
rpc_rc_img=output
|
|||
|
|
# 计算行列号
|
|||
|
|
rc_height=rpc_rc_img.RasterYSize
|
|||
|
|
rc_width=rpc_rc_img.RasterXSize
|
|||
|
|
|
|||
|
|
|
|||
|
|
for i in range(0,rc_height,100):
|
|||
|
|
c_block=np.ones((100,rc_width)).astype(np.float32)*(np.array(list(range(rc_width))).reshape(1,rc_width))
|
|||
|
|
r_block=np.ones((100,rc_width)).astype(np.float32)*(np.array(list(range(100))).reshape(100,1))
|
|||
|
|
r_block=r_block+i
|
|||
|
|
if rc_height-i>100:
|
|||
|
|
rpc_rc_img.GetRasterBand(1).WriteArray(r_block.astype(np.float32),0,i)
|
|||
|
|
rpc_rc_img.GetRasterBand(2).WriteArray(c_block.astype(np.float32),0,i)
|
|||
|
|
else:
|
|||
|
|
num=rc_height-i
|
|||
|
|
rpc_rc_img.GetRasterBand(1).WriteArray(r_block[:num,:].astype(np.float32),0,i)
|
|||
|
|
rpc_rc_img.GetRasterBand(2).WriteArray(c_block[:num,:].astype(np.float32),0,i)
|
|||
|
|
|
|||
|
|
del rpc_rc_img,output,input_rpc_sar
|
|||
|
|
|
|||
|
|
def getRCImageRC(inputPath,out_rpc_rc_path,rpc_file_path):
|
|||
|
|
rpc_tool = read_rpc_file(rpc_file_path)
|
|||
|
|
#shutil.copy2(inputPath, out_rpc_rc_path)
|
|||
|
|
# 创建重采样输出文件（设置投影及六参数）
|
|||
|
|
input_rpc_sar=gdal.Open(inputPath)
|
|||
|
|
|
|||
|
|
driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
output = driver.Create(out_rpc_rc_path, input_rpc_sar.RasterXSize,input_rpc_sar.RasterYSize, 2,gdal.GDT_Float32)
|
|||
|
|
output.SetGeoTransform(list(input_rpc_sar.GetGeoTransform()))
|
|||
|
|
output.SetProjection(input_rpc_sar.GetProjection())
|
|||
|
|
# 参数说明 输入数据集、输出文件、输入投影、参考投影、重采样方法(最邻近内插\双线性内插\三次卷积等)、回调函数
|
|||
|
|
|
|||
|
|
rpc_rc_img=output
|
|||
|
|
# 计算行列号
|
|||
|
|
rc_height=rpc_rc_img.RasterYSize
|
|||
|
|
rc_width=rpc_rc_img.RasterXSize
|
|||
|
|
|
|||
|
|
|
|||
|
|
with Pool(8) as t:
|
|||
|
|
plist=[]
|
|||
|
|
for i in range(0,rc_height,1000):
|
|||
|
|
c_block=np.ones((1000,rc_width)).astype(np.float32)*(np.array(list(range(rc_width))).reshape(1,rc_width))
|
|||
|
|
r_block=np.ones((1000,rc_width)).astype(np.float32)*(np.array(list(range(1000))).reshape(1000,1))
|
|||
|
|
r_block=r_block+i
|
|||
|
|
if not rc_height-i>1000:
|
|||
|
|
num=rc_height-i
|
|||
|
|
r_block=r_block[:num,:].astype(np.float32)
|
|||
|
|
c_block=c_block[:num,:].astype(np.float32)
|
|||
|
|
block_shape=r_block.shape
|
|||
|
|
|
|||
|
|
plist.append(t.apply_async(rpc_row_col,args=([rpc_tool,r_block.reshape(-1).astype(np.int32),c_block.reshape(-1).astype(np.int32) ,c_block.reshape(-1)*0+0,i,block_shape],)))
|
|||
|
|
t.close()
|
|||
|
|
t.join()
|
|||
|
|
for future in plist:
|
|||
|
|
data = future.get()
|
|||
|
|
i,r_block ,c_block,block_shape=data
|
|||
|
|
rpc_rc_img.GetRasterBand(1).WriteArray(r_block.reshape(block_shape).astype(np.float32),0,i)
|
|||
|
|
rpc_rc_img.GetRasterBand(2).WriteArray(c_block.reshape(block_shape).astype(np.float32),0,i)
|
|||
|
|
del rpc_rc_img,output,input_rpc_sar
|
|||
|
|
""" RPC 结束 """
|
|||
|
|
|
|||
|
|
|
|||
|
|
class SatelliteOrbit(object):
|
|||
|
|
def __init__(self) -> None:
|
|||
|
|
super().__init__()
|
|||
|
|
self.starttime = 1262275200.0
|
|||
|
|
self.modelName=""
|
|||
|
|
|
|||
|
|
def get_starttime(self):
|
|||
|
|
'''
|
|||
|
|
返回卫星轨道时间起算点
|
|||
|
|
'''
|
|||
|
|
return self.starttime
|
|||
|
|
|
|||
|
|
def ReconstructionSatelliteOrbit(self, GPSPoints_list):
|
|||
|
|
'''
|
|||
|
|
重建卫星轨道，使用多项式拟合法
|
|||
|
|
args:
|
|||
|
|
GPSPoints_list:GPS 卫星轨道点
|
|||
|
|
return：
|
|||
|
|
SatelliteOrbitModel 卫星轨道模型
|
|||
|
|
'''
|
|||
|
|
self.SatelliteOrbitModel = None
|
|||
|
|
|
|||
|
|
def SatelliteSpaceState(self, time_float):
|
|||
|
|
'''
|
|||
|
|
根据时间戳，返回对应时间的卫星的轨迹状态
|
|||
|
|
args:
|
|||
|
|
time_float:时间戳
|
|||
|
|
return：
|
|||
|
|
State_list:[time,Xp,Yp,Zp,Vx,Vy,Vz]
|
|||
|
|
'''
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
|
|||
|
|
class SatelliteOrbitFitPoly(SatelliteOrbit):
|
|||
|
|
'''
|
|||
|
|
继承于SatelliteOribit类，为拟合多项式实现方法
|
|||
|
|
'''
|
|||
|
|
|
|||
|
|
def __init__(self) -> None:
|
|||
|
|
super().__init__()
|
|||
|
|
self.modelName="多项式"
|
|||
|
|
self.polynum=4
|
|||
|
|
|
|||
|
|
def ReconstructionSatelliteOrbit(self, GPSPoints_list, starttime):
|
|||
|
|
if len(GPSPoints_list)==2:
|
|||
|
|
self.polynum=1
|
|||
|
|
self.starttime = starttime
|
|||
|
|
|
|||
|
|
record_count = len(GPSPoints_list)
|
|||
|
|
time_arr = np.zeros((record_count, 1), dtype=np.float64) # 使用np.float64只是为了精度高些；如果32位也能满足需求，请用32位
|
|||
|
|
state_arr = np.zeros((record_count, 6), dtype=np.float64)
|
|||
|
|
A_arr = np.zeros((self.polynum+1, 6), dtype=np.float64) # 四次项
|
|||
|
|
X=np.ones((record_count,self.polynum+1),dtype=np.float64) # 记录时间坐标
|
|||
|
|
# 将点记录转换为自变量矩阵、因变量矩阵
|
|||
|
|
|
|||
|
|
for i in range(record_count):
|
|||
|
|
GPSPoint = GPSPoints_list[i]
|
|||
|
|
time_ = GPSPoint[0] - self.starttime # 为了保证精度，对时间进行缩放
|
|||
|
|
X[i,:]=np.array([1,time_])
|
|||
|
|
state_arr[i, :] = np.array(GPSPoint[1:],dtype=np.float64).reshape(1,6) # 空间坐标
|
|||
|
|
self.model_f=[]
|
|||
|
|
for i in range(6):
|
|||
|
|
Y = state_arr[:, i].reshape(-1,1)
|
|||
|
|
A_arr[:,i]=np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T,X)),X.T),Y)[:,0]
|
|||
|
|
|
|||
|
|
self.A_arr=copy.deepcopy(A_arr.copy())
|
|||
|
|
return self.A_arr
|
|||
|
|
elif len(GPSPoints_list) > 6:
|
|||
|
|
self.polynum=4
|
|||
|
|
# 多项式的节点数，理论上是超过5个可以起算，这里为了精度选择10个点起算。
|
|||
|
|
# 多项式 XA=Y ==> A=(X'X)^X'Y，其中 A 为待求系数，X为变量，Y为因变量
|
|||
|
|
# 这里使用三次项多项式，共有6组参数。
|
|||
|
|
# 声明自变量，因变量，系数矩阵
|
|||
|
|
self.starttime = starttime
|
|||
|
|
|
|||
|
|
record_count = len(GPSPoints_list)
|
|||
|
|
time_arr = np.zeros((record_count, 1), dtype=np.float64) # 使用np.float64只是为了精度高些；如果32位也能满足需求，请用32位
|
|||
|
|
state_arr = np.zeros((record_count, 6), dtype=np.float64)
|
|||
|
|
A_arr = np.zeros((self.polynum+1, 6), dtype=np.float64) # 四次项
|
|||
|
|
X=np.ones((record_count,self.polynum+1),dtype=np.float64) # 记录时间坐标
|
|||
|
|
# 将点记录转换为自变量矩阵、因变量矩阵
|
|||
|
|
|
|||
|
|
for i in range(record_count):
|
|||
|
|
GPSPoint = GPSPoints_list[i]
|
|||
|
|
time_ = GPSPoint[0] - self.starttime # 为了保证精度，对时间进行缩放
|
|||
|
|
X[i,:]=np.array([1,time_,time_**2,time_**3,time_**4])
|
|||
|
|
state_arr[i, :] = np.array(GPSPoint[1:],dtype=np.float64).reshape(1,6) # 空间坐标
|
|||
|
|
self.model_f=[]
|
|||
|
|
for i in range(6):
|
|||
|
|
Y = state_arr[:, i].reshape(-1,1)
|
|||
|
|
A_arr[:,i]=np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T,X)),X.T),Y)[:,0]
|
|||
|
|
|
|||
|
|
self.A_arr=copy.deepcopy(A_arr.copy())
|
|||
|
|
''' 测试误差
|
|||
|
|
from matplotlib import pyplot
|
|||
|
|
label_list=['x','y','z','vx','vy','vz']
|
|||
|
|
color_list=['r','g','b','gold','gray','pink']
|
|||
|
|
pyplot.figure()
|
|||
|
|
for i in range(6):
|
|||
|
|
Y = state_arr[:, i]
|
|||
|
|
Y_predict=self.model_f[i](X)
|
|||
|
|
pyplot.subplot(int("23{}".format(i+1)))
|
|||
|
|
d=Y-Y_predict
|
|||
|
|
pyplot.plot(X,d,label=label_list[i],color=color_list[i])
|
|||
|
|
pyplot.title("max:{}".format(np.max(d)))
|
|||
|
|
#self.model_f.append(interpolate.interp1d(X,Y,kind='cubic',fill_value='extrapolate'))
|
|||
|
|
pyplot.legend()
|
|||
|
|
pyplot.show()
|
|||
|
|
'''
|
|||
|
|
return self.A_arr
|
|||
|
|
else:
|
|||
|
|
self.A_arr = None
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
def SatelliteSpaceState(self, time_float):
|
|||
|
|
'''
|
|||
|
|
逐像素求解
|
|||
|
|
根据时间戳，返回对应时间的卫星的轨迹状态，会自动计算与起算时间之差
|
|||
|
|
args:
|
|||
|
|
time_float:时间戳
|
|||
|
|
return：
|
|||
|
|
State_list:[time,Xp,Yp,Zp,Vx,Vy,Vz]
|
|||
|
|
'''
|
|||
|
|
if self.model_f is None:
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
result_arr=np.zeros((1,7))
|
|||
|
|
|
|||
|
|
time_float = time_float - self.starttime
|
|||
|
|
result_arr[0,0]=time_float
|
|||
|
|
#time_arr[0, 4] = time_arr[0, 3] * time_float ** 4
|
|||
|
|
time_float=np.array([1,time_float,time_float**2,time_float**3,time_float**4]).reshape(1,5)
|
|||
|
|
result_arr=np.matmul(time_float,self.A_arr)
|
|||
|
|
return [time_float,result_arr]
|
|||
|
|
|
|||
|
|
def getSatelliteSpaceState(self, time_array):
|
|||
|
|
'''
|
|||
|
|
矩阵求解
|
|||
|
|
根据时间戳矩阵，返回对应时刻的卫星空间状态（位置，速度），且会自动计算与起算时间之差
|
|||
|
|
args:
|
|||
|
|
time_array:nparray nx1 时间戳
|
|||
|
|
return:
|
|||
|
|
SatellitSpaceStateArray:nparray nx6 状态信息
|
|||
|
|
'''
|
|||
|
|
if self.model_f is None:
|
|||
|
|
return None # 返回None,表示没有结果
|
|||
|
|
if self.polynum==4:
|
|||
|
|
n=time_array.shape[0]
|
|||
|
|
result_arr_=np.zeros((n,6),dtype=np.float64)
|
|||
|
|
time_float = time_array - self.starttime
|
|||
|
|
time_float=time_float.reshape(-1) # nx1
|
|||
|
|
time_arr=np.ones((time_float.shape[0],5)) # nx5
|
|||
|
|
time_arr[:,1]=time_float
|
|||
|
|
time_arr[:,2]=time_float**2
|
|||
|
|
time_arr[:,3]=time_float**3
|
|||
|
|
time_arr[:,4]=time_float**4
|
|||
|
|
result_arr_=np.matmul(time_arr,self.A_arr) # nx5 5x6
|
|||
|
|
#time_arr[0, 4] = time_arr[0, 3] * time_float ** 4
|
|||
|
|
#result_arr=result_arr_
|
|||
|
|
return result_arr_ # 位置矩阵
|
|||
|
|
else:
|
|||
|
|
n=time_array.shape[0]
|
|||
|
|
result_arr_=np.zeros((n,6),dtype=np.float64)
|
|||
|
|
time_float = time_array - self.starttime
|
|||
|
|
time_float=time_float.reshape(-1) # nx1
|
|||
|
|
time_arr=np.ones((time_float.shape[0],self.polynum+1)) # nx5
|
|||
|
|
time_arr[:,1]=time_float
|
|||
|
|
result_arr_=np.matmul(time_arr,self.A_arr) # nx5 5x6
|
|||
|
|
#time_arr[0, 4] = time_arr[0, 3] * time_float ** 4
|
|||
|
|
#result_arr=result_arr_
|
|||
|
|
return result_arr_ # 位置矩阵
|
|||
|
|
|
|||
|
|
|
|||
|
|
def ReconstructionSatelliteOrbit(GPSPoints_list, starttime):
|
|||
|
|
'''
|
|||
|
|
构建卫星轨道
|
|||
|
|
args:
|
|||
|
|
GPSPoints_list:卫星轨道点
|
|||
|
|
starttime:起算时间
|
|||
|
|
'''
|
|||
|
|
if len(GPSPoints_list) > 10:
|
|||
|
|
SatelliteOrbitModel = SatelliteOrbitFitPoly()
|
|||
|
|
if SatelliteOrbitModel.ReconstructionSatelliteOrbit(GPSPoints_list, starttime=starttime) is None:
|
|||
|
|
return None
|
|||
|
|
return SatelliteOrbitModel
|
|||
|
|
elif len(GPSPoints_list)==2:
|
|||
|
|
SatelliteOrbitModel = SatelliteOrbitFitPoly()
|
|||
|
|
if SatelliteOrbitModel.ReconstructionSatelliteOrbit(GPSPoints_list, starttime=starttime) is None:
|
|||
|
|
return None
|
|||
|
|
return SatelliteOrbitModel
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
class DEMProcess(object):
|
|||
|
|
def __init__(self):
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def get_extent(fn):
|
|||
|
|
'''
|
|||
|
|
原文链接：https://blog.csdn.net/XBR_2014/article/details/85255412
|
|||
|
|
'''
|
|||
|
|
ds = gdal.Open(fn)
|
|||
|
|
rows = ds.RasterYSize
|
|||
|
|
cols = ds.RasterXSize
|
|||
|
|
# 获取图像角点坐标
|
|||
|
|
gt = ds.GetGeoTransform()
|
|||
|
|
minx = gt[0]
|
|||
|
|
maxy = gt[3]
|
|||
|
|
maxx = gt[0] + gt[1] * rows
|
|||
|
|
miny = gt[3] + gt[5] * cols
|
|||
|
|
return (minx, maxy, maxx, miny)
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def img_mosaic(in_files, out_dem_path):
|
|||
|
|
# 通过两两比较大小,将最终符合条件的四个角点坐标保存
|
|||
|
|
# 即为拼接图像的四个角点坐标
|
|||
|
|
minX, maxY, maxX, minY = DEMProcess.get_extent(in_files[0])
|
|||
|
|
for fn in in_files[1:]:
|
|||
|
|
minx, maxy, maxx, miny = DEMProcess.get_extent(fn)
|
|||
|
|
minX = min(minX, minx)
|
|||
|
|
maxY = max(maxY, maxy)
|
|||
|
|
maxX = max(maxX, maxx)
|
|||
|
|
minY = min(minY, miny)
|
|||
|
|
|
|||
|
|
# 获取输出图像的行列数
|
|||
|
|
in_ds = gdal.Open(in_files[0])
|
|||
|
|
bands_num = in_ds.RasterCount
|
|||
|
|
gt = in_ds.GetGeoTransform()
|
|||
|
|
rows = int((maxX - minX) / abs(gt[5]))
|
|||
|
|
cols = int((maxY - minY) / gt[1])
|
|||
|
|
|
|||
|
|
# 判断栅格数据的数据类型
|
|||
|
|
datatype = gdal.GDT_UInt16
|
|||
|
|
|
|||
|
|
# 创建输出图像
|
|||
|
|
driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
out_dem = os.path.join(out_dem_path, 'mosaic0.tif')
|
|||
|
|
out_ds = driver.Create(out_dem, cols, rows, bands_num, datatype)
|
|||
|
|
out_ds.SetProjection(in_ds.GetProjection())
|
|||
|
|
|
|||
|
|
gt = list(in_ds.GetGeoTransform())
|
|||
|
|
gt[0], gt[3] = minX, maxY
|
|||
|
|
out_ds.SetGeoTransform(gt)
|
|||
|
|
|
|||
|
|
for fn in in_files:
|
|||
|
|
in_ds = gdal.Open(fn)
|
|||
|
|
x_size = in_ds.RasterXSize
|
|||
|
|
y_size = in_ds.RasterYSize
|
|||
|
|
trans = gdal.Transformer(in_ds, out_ds, [])
|
|||
|
|
success, xyz = trans.TransformPoint(False, 0, 0)
|
|||
|
|
x, y, z = map(int, xyz)
|
|||
|
|
for i in range(1, bands_num + 1):
|
|||
|
|
data = in_ds.GetRasterBand(i).ReadAsArray()
|
|||
|
|
out_band = out_ds.GetRasterBand(i)
|
|||
|
|
out_data = out_band.ReadAsArray(x, y, x_size, y_size)
|
|||
|
|
data = np.maximum(data, out_data)
|
|||
|
|
out_band.WriteArray(data, x, y)
|
|||
|
|
|
|||
|
|
del in_ds, out_band, out_ds
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def dem_clip(OutFilePath, DEMFilePath, SelectArea):
|
|||
|
|
'''
|
|||
|
|
根据选择范围裁剪DEM,并输出
|
|||
|
|
agrs:
|
|||
|
|
outFilePath:裁剪DEM输出地址
|
|||
|
|
DEMFilePath:被裁减DEM地址
|
|||
|
|
SelectArea:list [(xmin,ymax),(xmax,ymin)] 框选范围 左上角，右下角
|
|||
|
|
'''
|
|||
|
|
DEM_ptr = gdal.Open(DEMFilePath)
|
|||
|
|
DEM_GeoTransform = DEM_ptr.GetGeoTransform() # 读取影像的投影变换
|
|||
|
|
DEM_InvGeoTransform = gdal.InvGeoTransform(DEM_GeoTransform)
|
|||
|
|
SelectAreaArrayPoints = [gdal.ApplyGeoTransform(DEM_InvGeoTransform, p[0], p[1]) for p in SelectArea]
|
|||
|
|
SelectAreaArrayPoints = list(map(lambda p: (int(p[0]), int(p[1])), SelectAreaArrayPoints)) # 确定坐标
|
|||
|
|
|
|||
|
|
[(ulx, uly), (brx, bry)] = SelectAreaArrayPoints
|
|||
|
|
rowCount, colCount = bry - uly, brx - ulx
|
|||
|
|
|
|||
|
|
# 输出DEM的桌面坐标转换
|
|||
|
|
Out_Transfrom = list(DEM_GeoTransform)
|
|||
|
|
Out_Transfrom[0] = SelectArea[0][0]
|
|||
|
|
Out_Transfrom[3] = SelectArea[0][1]
|
|||
|
|
|
|||
|
|
# 构建输出DEM
|
|||
|
|
Bands_num = DEM_ptr.RasterCount
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
datatype = gdal.GDT_UInt16
|
|||
|
|
out_dem = gtiff_driver.Create(OutFilePath, colCount, rowCount, Bands_num, datatype)
|
|||
|
|
out_dem.SetProjection(DEM_ptr.GetProjection())
|
|||
|
|
out_dem.SetGeoTransform(Out_Transfrom)
|
|||
|
|
|
|||
|
|
for i in range(1, Bands_num + 1):
|
|||
|
|
data_band = DEM_ptr.GetRasterBand(i)
|
|||
|
|
out_band = out_dem.GetRasterBand(i)
|
|||
|
|
data = data_band.ReadAsArray(ulx, uly, colCount, rowCount)
|
|||
|
|
out_band.WriteArray(data)
|
|||
|
|
del out_dem
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def dem_merged(in_dem_path, meta_file_path, out_dem_path):
|
|||
|
|
'''
|
|||
|
|
DEM重采样函数，默认坐标系为WGS84
|
|||
|
|
agrs:
|
|||
|
|
in_dem_path: 输入的DEM文件夹路径
|
|||
|
|
meta_file_path: 输入的xml元文件路径
|
|||
|
|
out_dem_path: 输出的DEM文件夹路径
|
|||
|
|
'''
|
|||
|
|
# 读取文件夹中所有的DEM
|
|||
|
|
dem_file_paths=[os.path.join(in_dem_path,dem_name) for dem_name in os.listdir(in_dem_path) if dem_name.find(".tif")>=0 and dem_name.find(".tif.")==-1]
|
|||
|
|
spatialreference=osr.SpatialReference()
|
|||
|
|
spatialreference.SetWellKnownGeogCS("WGS84") # 设置地理坐标，单位为度 degree # 设置投影坐标，单位为度 degree
|
|||
|
|
spatialproj=spatialreference.ExportToWkt() # 导出投影结果
|
|||
|
|
# 将DEM拼接成一张大图
|
|||
|
|
mergeFile =gdal.BuildVRT(os.path.join(out_dem_path,"mergedDEM_VRT.tif"),dem_file_paths)
|
|||
|
|
out_DEM=os.path.join(out_dem_path,"mergedDEM.tif")
|
|||
|
|
gdal.Warp(out_DEM,
|
|||
|
|
mergeFile,
|
|||
|
|
format="GTiff",
|
|||
|
|
dstSRS=spatialproj,
|
|||
|
|
dstNodata=-9999,
|
|||
|
|
outputType=gdal.GDT_Float32)
|
|||
|
|
time.sleep(3)
|
|||
|
|
#gdal.CloseDir(out_DEM)
|
|||
|
|
return out_DEM
|
|||
|
|
@staticmethod
|
|||
|
|
def dem_resampled(in_dem_path,out_dem_path,samling_f):
|
|||
|
|
in_dem=gdal.Open(in_dem_path,gdalconst.GA_ReadOnly)
|
|||
|
|
width=in_dem.RasterXSize
|
|||
|
|
height=in_dem.RasterYSize
|
|||
|
|
gt=list(in_dem.GetGeoTransform())
|
|||
|
|
width=width*samling_f
|
|||
|
|
height=height*samling_f
|
|||
|
|
gt=[gt[0],gt[1]/samling_f,gt[2]/samling_f,gt[3],gt[4]/samling_f,gt[5]/samling_f]
|
|||
|
|
driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
output = driver.Create(out_dem_path, width,height, 1,in_dem.GetRasterBand(1).DataType)
|
|||
|
|
output.SetGeoTransform(gt)
|
|||
|
|
output.SetProjection(in_dem.GetProjection())
|
|||
|
|
# 参数说明 输入数据集、输出文件、输入投影、参考投影、重采样方法(最邻近内插\双线性内插\三次卷积等)、回调函数
|
|||
|
|
gdal.ReprojectImage(in_dem, output, in_dem.GetProjection(), output.GetProjection(), gdalconst.GRA_CubicSpline,0.0,0.0,)
|
|||
|
|
return out_dem_path
|
|||
|
|
@staticmethod
|
|||
|
|
def dem_resampled_RPC(in_dem_path,refrence_img_path,out_dem_path):
|
|||
|
|
in_dem=gdal.Open(in_dem_path,gdalconst.GA_ReadOnly)
|
|||
|
|
refrence_img=gdal.Open(refrence_img_path,gdalconst.GA_ReadOnly)
|
|||
|
|
width=refrence_img.RasterXSize
|
|||
|
|
height=refrence_img.RasterYSize
|
|||
|
|
gt=list(refrence_img.GetGeoTransform())
|
|||
|
|
driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
output = driver.Create(out_dem_path, width,height, 1,in_dem.GetRasterBand(1).DataType)
|
|||
|
|
output.SetGeoTransform(gt)
|
|||
|
|
output.SetProjection(refrence_img.GetProjection())
|
|||
|
|
# 参数说明 输入数据集、输出文件、输入投影、参考投影、重采样方法(最邻近内插\双线性内插\三次卷积等)、回调函数
|
|||
|
|
gdal.ReprojectImage(in_dem, output, in_dem.GetProjection(), output.GetProjection(), gdalconst.GRA_CubicSpline,0.0,0.0,)
|
|||
|
|
return out_dem_path
|
|||
|
|
# referencefile = gdal.Open(referencefilefilePath, gdal.GA_ReadOnly)
|
|||
|
|
# referencefileProj = referencefile.GetProjection()
|
|||
|
|
# referencefileTrans = referencefile.GetGeoTransform()
|
|||
|
|
# bandreferencefile = referencefile.GetRasterBand(1)
|
|||
|
|
# Width= referencefile.RasterXSize
|
|||
|
|
# Height = referencefile.RasterYSize
|
|||
|
|
# nbands = referencefile.RasterCount
|
|||
|
|
# # 创建重采样输出文件（设置投影及六参数）
|
|||
|
|
# driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
# output = driver.Create(outputfilePath, Width,Height, nbands, bandreferencefile.DataType)
|
|||
|
|
# output.SetGeoTransform(referencefileTrans)
|
|||
|
|
# output.SetProjection(referencefileProj)
|
|||
|
|
# # 参数说明 输入数据集、输出文件、输入投影、参考投影、重采样方法(最邻近内插\双线性内插\三次卷积等)、回调函数
|
|||
|
|
# gdal.ReprojectImage(inputrasfile, output, inputProj, referencefileProj, gdalconst.GRA_Bilinear,0.0,0.0,)
|
|||
|
|
|
|||
|
|
|
|||
|
|
class Orthorectification(object):
|
|||
|
|
"""
|
|||
|
|
正射校正模块类
|
|||
|
|
"""
|
|||
|
|
def __init__(self, configPath="./config.ymal") -> None:
|
|||
|
|
super().__init__()
|
|||
|
|
# 常量声明
|
|||
|
|
# 加载配置文件
|
|||
|
|
d=os.listdir(".")
|
|||
|
|
with open(configPath, 'r', encoding='utf-8') as f:
|
|||
|
|
const = f.read()
|
|||
|
|
self.config = yaml.load(const, Loader=yaml.FullLoader)
|
|||
|
|
self.config['SatelliteOribit']['StartTime'] = datetime.datetime.strptime(
|
|||
|
|
self.config['SatelliteOribit']['StartTime']['Value'],
|
|||
|
|
self.config['SatelliteOribit']['StartTime']['format']).timestamp() # 转化成UTC时间格式
|
|||
|
|
self.R_e = self.config['SatelliteOribit']['ReferenceSpheroid']['Re'] # m
|
|||
|
|
self.R_p = self.config['SatelliteOribit']['ReferenceSpheroid']['Rp'] # m
|
|||
|
|
self.w_e = self.config['SatelliteOribit']['ReferenceSpheroid']['we'] # rad/s
|
|||
|
|
|
|||
|
|
def ParseHearderFile(self, HeaderFilePath_str):
|
|||
|
|
"""
|
|||
|
|
解析头文件，返回计算所需要的必要信息。
|
|||
|
|
args:
|
|||
|
|
HeaderFilePath_str: 头文件地址
|
|||
|
|
return:
|
|||
|
|
HeaderFileInfomation_json: 头文件信息包
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
with open(HeaderFilePath_str, 'r', encoding='utf-8') as fp:
|
|||
|
|
HeaderFile_dom_str = fp.read()
|
|||
|
|
HeaderFile_dom = xmltodict.parse(HeaderFile_dom_str) # 将XML转成json文本
|
|||
|
|
HeaderFile_dom_json = json.loads(json.dumps(HeaderFile_dom)) # 将json字符串，转成json对象（对应于python中的dict）
|
|||
|
|
# 获取头文件
|
|||
|
|
HeaderInformation_json = {}
|
|||
|
|
# 解析轨道节点，假定是GPS节点
|
|||
|
|
LightSpeed = self.config['LightSpeed']
|
|||
|
|
HeaderInformation_json['GPS'] = []
|
|||
|
|
# GPS 解析信息
|
|||
|
|
GPSNode_Path = self.config['GPS']['GPSNode_Path']
|
|||
|
|
GPSNodeNames_list = self.config['GPS']['NodeInfomation_Name']
|
|||
|
|
GPSTime_Format = self.config['GPS']['Time_format']
|
|||
|
|
GPSPoints = FindInfomationFromJson(HeaderFile_dom_json, GPSNode_Path)
|
|||
|
|
|
|||
|
|
for GPSPoint in GPSPoints:
|
|||
|
|
GPSPoint = [
|
|||
|
|
datetime.datetime.strptime(GPSPoint[GPSNodeNames_list[0]], GPSTime_Format).timestamp(), # TimeStamp
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[1]]), # Xp
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[2]]), # Yp
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[3]]), # Zp
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[4]]), # Vx
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[5]]), # Vy
|
|||
|
|
float(GPSPoint[GPSNodeNames_list[6]])] # VZ
|
|||
|
|
HeaderInformation_json['GPS'].append(GPSPoint)
|
|||
|
|
|
|||
|
|
# 提取成像相关信息
|
|||
|
|
HeaderInformation_json['ImageInformation'] = {}
|
|||
|
|
# 1、开始成像时间
|
|||
|
|
HeaderInformation_json['ImageInformation']['StartTime'] = datetime.datetime.strptime(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['StartImageTime']['NodePath']),
|
|||
|
|
self.config['imageinfo']['StartImageTime']['Format']
|
|||
|
|
).timestamp()
|
|||
|
|
# 2、结束成像时间
|
|||
|
|
HeaderInformation_json['ImageInformation']['EndTime'] = datetime.datetime.strptime(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['EndImageTime']['NodePath']),
|
|||
|
|
self.config['imageinfo']['StartImageTime']['Format']
|
|||
|
|
).timestamp()
|
|||
|
|
# 3、影像的宽高
|
|||
|
|
HeaderInformation_json['ImageInformation']['height'] = int(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ImageHeight']['NodePath']))
|
|||
|
|
HeaderInformation_json['ImageInformation']['width'] = int(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ImageWidth']['NodePath']))
|
|||
|
|
# 方位，距离分辨率
|
|||
|
|
HeaderInformation_json['ImageInformation']['Groundspace'] = float(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['Groundspace']['NodePath']))
|
|||
|
|
HeaderInformation_json['ImageInformation']['Azspace'] = float(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['Azspace']['NodePath']))
|
|||
|
|
|
|||
|
|
# 4、影像的近斜距
|
|||
|
|
NearRange = float(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['NearRange']['NodePath']))
|
|||
|
|
NearRange = NearRange * LightSpeed / 2
|
|||
|
|
HeaderInformation_json['ImageInformation']['NearRange'] = float(NearRange)
|
|||
|
|
FarRange = float(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['FarRange']['NodePath']))
|
|||
|
|
FarRange = FarRange * LightSpeed / 2
|
|||
|
|
# 远斜距
|
|||
|
|
HeaderInformation_json['ImageInformation']['FarRange'] = float(FarRange)
|
|||
|
|
# 5、入射角
|
|||
|
|
# HeaderInformation_json['ImageInformation']['incidenceAngle'] = {
|
|||
|
|
# 'NearRange': float(FindInfomationFromJson(HeaderFile_dom_json,
|
|||
|
|
# self.config['imageinfo']['incidenceAngle']['NearRange'][
|
|||
|
|
# 'NodePath'])),
|
|||
|
|
# 'FarRange': float(FindInfomationFromJson(HeaderFile_dom_json,
|
|||
|
|
# self.config['imageinfo']['incidenceAngle']['FarRange'][
|
|||
|
|
# 'NodePath']))
|
|||
|
|
# }
|
|||
|
|
# 6、成像时刻影像带宽
|
|||
|
|
# HeaderInformation_json['ImageInformation']['bandWidth'] = float(
|
|||
|
|
# FindInfomationFromJson(HeaderFile_dom_json, self.config['sensor']['bandWidth']['NodePath']))
|
|||
|
|
# 7、多普勒质心常数
|
|||
|
|
# DopplerCentroidCoefficients_list = FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo'][
|
|||
|
|
# 'DopplerCentroidCoefficients']['NodePath'])
|
|||
|
|
# HeaderInformation_json['ImageInformation']['DopplerCentroidCoefficients'] = [
|
|||
|
|
# float(DopplerCentroidCoefficients_list[
|
|||
|
|
# self.config['imageinfo']['DopplerCentroidCoefficients']['DopplerCentroidCoefficients_Name'][0]]),
|
|||
|
|
# float(DopplerCentroidCoefficients_list[
|
|||
|
|
# self.config['imageinfo']['DopplerCentroidCoefficients']['DopplerCentroidCoefficients_Name'][1]]),
|
|||
|
|
# float(DopplerCentroidCoefficients_list[
|
|||
|
|
# self.config['imageinfo']['DopplerCentroidCoefficients']['DopplerCentroidCoefficients_Name'][2]]),
|
|||
|
|
# float(DopplerCentroidCoefficients_list[
|
|||
|
|
# self.config['imageinfo']['DopplerCentroidCoefficients']['DopplerCentroidCoefficients_Name'][3]]),
|
|||
|
|
# float(DopplerCentroidCoefficients_list[
|
|||
|
|
# self.config['imageinfo']['DopplerCentroidCoefficients']['DopplerCentroidCoefficients_Name'][4]]),
|
|||
|
|
# ]
|
|||
|
|
# 8、波长
|
|||
|
|
CenterFrequency = float(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['CenterFrequency']['NodePath']))
|
|||
|
|
HeaderInformation_json['ImageInformation']['lambda'] = float(LightSpeed / CenterFrequency)
|
|||
|
|
# 9、中心像元对应的中心经纬度
|
|||
|
|
# CenterPoint = FindInfomationFromJson(HeaderFile_dom_json,
|
|||
|
|
# self.config['imageinfo']['CenterImagePositon']['NodePath'])
|
|||
|
|
# HeaderInformation_json['ImageInformation']['centerPosition'] = [
|
|||
|
|
# float(CenterPoint[self.config['imageinfo']['CenterImagePositon']['Value'][0]]), # 纬度
|
|||
|
|
# float(CenterPoint[self.config['imageinfo']['CenterImagePositon']['Value'][1]]), # 经度
|
|||
|
|
# ]
|
|||
|
|
# 10、多普勒参数参考时间
|
|||
|
|
HeaderInformation_json['ImageInformation']['DopplerParametersReferenceTime'] = float(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json,
|
|||
|
|
self.config['imageinfo']['DopplerParametersReferenceTime']['NodePath']))
|
|||
|
|
# 多普勒Rate
|
|||
|
|
DopplerRates = FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['DopplerRate']['NodePath'])
|
|||
|
|
DopplerRate = []
|
|||
|
|
for doppler in DopplerRates:
|
|||
|
|
DopplerRate.append(doppler.get('#text'))
|
|||
|
|
HeaderInformation_json['ImageInformation']['DopplerRate'] = DopplerRate
|
|||
|
|
# 11、参考斜距
|
|||
|
|
# HeaderInformation_json['ImageInformation']['refRange'] = float(
|
|||
|
|
# FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ReferenceRange']['NodePath']))
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
ImageHeight = int(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ImageHeight']['NodePath']))
|
|||
|
|
StartImageTime = datetime.datetime.strptime(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['StartImageTime']['NodePath']),
|
|||
|
|
self.config['imageinfo']['StartImageTime']['Format']).timestamp()
|
|||
|
|
EndImageTime = datetime.datetime.strptime(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['EndImageTime']['NodePath']),
|
|||
|
|
self.config['imageinfo']['StartImageTime']['Format']).timestamp()
|
|||
|
|
lastpixeltime=float(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['FarRange']['NodePath']))
|
|||
|
|
firstpixeltime=float(FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['NearRange']['NodePath']))
|
|||
|
|
eqvFs = ((ImageHeight - 2)/(lastpixeltime - firstpixeltime))/2
|
|||
|
|
|
|||
|
|
# 12、PRF
|
|||
|
|
|
|||
|
|
# HeaderInformation_json['PRF'] = float(
|
|||
|
|
# FindInfomationFromJson(HeaderFile_dom_json, self.config['sensor']['PRF']['NodePath']))
|
|||
|
|
|
|||
|
|
HeaderInformation_json['PRF'] = float((ImageHeight-2)/(EndImageTime-StartImageTime)) # eqvPRF
|
|||
|
|
|
|||
|
|
|
|||
|
|
HeaderInformation_json['Fs'] = float(eqvFs) # FindInfomationFromJson(HeaderFile_dom_json, self.config['sensor']['Fs']['NodePath'])
|
|||
|
|
# 13、中心时间
|
|||
|
|
HeaderInformation_json['ImageInformation']['CenterTime'] = (EndImageTime + StartImageTime)/2
|
|||
|
|
# datetime.datetime.strptime(
|
|||
|
|
# FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['CenterImageTime']['NodePath']),
|
|||
|
|
# self.config['imageinfo']['CenterImageTime']['Format']
|
|||
|
|
# ).timestamp()
|
|||
|
|
#14. 影像的空间间隔分辨率
|
|||
|
|
|
|||
|
|
HeaderInformation_json['ImageInformation']['ImageWidthSpace']=float(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ImageWidthSpace']['NodePath']).get('#text'))
|
|||
|
|
|
|||
|
|
HeaderInformation_json['ImageInformation']['ImageHeightSpace']=float(
|
|||
|
|
FindInfomationFromJson(HeaderFile_dom_json, self.config['imageinfo']['ImageHeightSpace']['NodePath']).get('#text'))
|
|||
|
|
|
|||
|
|
# 部分需要解析
|
|||
|
|
self.lamda=HeaderInformation_json['ImageInformation']['lambda']
|
|||
|
|
self.PRF= HeaderInformation_json['PRF']
|
|||
|
|
self.imgwidth=HeaderInformation_json['ImageInformation']['width']
|
|||
|
|
self.imgheight=HeaderInformation_json['ImageInformation']['height']
|
|||
|
|
self.imgstarttime=HeaderInformation_json['ImageInformation']['StartTime']
|
|||
|
|
self.widthspace=HeaderInformation_json['ImageInformation']['ImageWidthSpace']
|
|||
|
|
self.heightspace=HeaderInformation_json['ImageInformation']['ImageHeightSpace']
|
|||
|
|
# self.refrangerefrange=HeaderInformation_json['ImageInformation']['refRange']
|
|||
|
|
self.refrangerefrange=0
|
|||
|
|
self.nearrange=HeaderInformation_json['ImageInformation']['NearRange']
|
|||
|
|
self.Fs = HeaderInformation_json['Fs'] # Mhz todo
|
|||
|
|
return HeaderInformation_json
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def LLA_to_XYZ(self, latitude, longitude, altitude):
|
|||
|
|
"""
|
|||
|
|
经纬度转大地坐标系
|
|||
|
|
args:
|
|||
|
|
latitude:纬度
|
|||
|
|
longitude:经纬
|
|||
|
|
altitude:海拔高程
|
|||
|
|
refrence: https://blog.csdn.net/dulingwen/article/details/96868530
|
|||
|
|
"""
|
|||
|
|
# 经纬度的余弦值
|
|||
|
|
cosLat = math.cos(latitude * math.pi / 180)
|
|||
|
|
sinLat = math.sin(latitude * math.pi / 180)
|
|||
|
|
cosLon = math.cos(longitude * math.pi / 180)
|
|||
|
|
sinLon = math.sin(longitude * math.pi / 180)
|
|||
|
|
|
|||
|
|
# WGS84坐标系的参数
|
|||
|
|
rad = 6378137.0 # 地球赤道平均半径（椭球长半轴：a）
|
|||
|
|
f = 1.0 / 298.257224 # WGS84椭球扁率 :f = (a-b)/a
|
|||
|
|
C = 1.0 / math.sqrt(cosLat * cosLat + (1 - f) * (1 - f) * sinLat * sinLat)
|
|||
|
|
S = (1 - f) * (1 - f) * C
|
|||
|
|
h = altitude
|
|||
|
|
|
|||
|
|
# 计算XYZ坐标
|
|||
|
|
X = (rad * C + h) * cosLat * cosLon
|
|||
|
|
Y = (rad * C + h) * cosLat * sinLon
|
|||
|
|
Z = (rad * S + h) * sinLat
|
|||
|
|
|
|||
|
|
return np.array([X, Y, Z]).reshape(1, 3)
|
|||
|
|
|
|||
|
|
def XYZ_to_LLA(self, X, Y, Z):
|
|||
|
|
"""
|
|||
|
|
大地坐标系转经纬度
|
|||
|
|
适用于WGS84坐标系
|
|||
|
|
args:
|
|||
|
|
x,y,z
|
|||
|
|
return:
|
|||
|
|
lat,lon,altitude
|
|||
|
|
"""
|
|||
|
|
# WGS84坐标系的参数
|
|||
|
|
a = 6378137.0 # 椭球长半轴
|
|||
|
|
b = 6356752.314245 # 椭球短半轴
|
|||
|
|
ea = np.sqrt((a ** 2 - b ** 2) / a ** 2)
|
|||
|
|
eb = np.sqrt((a ** 2 - b ** 2) / b ** 2)
|
|||
|
|
p = np.sqrt(X ** 2 + Y ** 2)
|
|||
|
|
theta = np.arctan2(Z * a, p * b)
|
|||
|
|
|
|||
|
|
# 计算经纬度及海拔
|
|||
|
|
longitude = np.arctan2(Y, X)
|
|||
|
|
latitude = np.arctan2(Z + eb ** 2 * b * np.sin(theta) ** 3, p - ea ** 2 * a * np.cos(theta) ** 3)
|
|||
|
|
N = a / np.sqrt(1 - ea ** 2 * np.sin(latitude) ** 2)
|
|||
|
|
altitude = p / np.cos(latitude) - N
|
|||
|
|
|
|||
|
|
return np.array([np.degrees(latitude), np.degrees(longitude), altitude])
|
|||
|
|
|
|||
|
|
def getRByColumnCode(self, c):
|
|||
|
|
"""
|
|||
|
|
根据列号计算斜距
|
|||
|
|
args:
|
|||
|
|
c: 列号
|
|||
|
|
"""
|
|||
|
|
return self.R0 + c * self.delta_R
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def getTimeByLineCode(self, r):
|
|||
|
|
"""
|
|||
|
|
根据行号计算成像时间
|
|||
|
|
args:
|
|||
|
|
r: 行号
|
|||
|
|
"""
|
|||
|
|
return np.matmul(
|
|||
|
|
np.concatenate([np.array([r ** i]).reshape(1, 1) for i in range(self.r2t_A_arr.shape[0])], axis=1),
|
|||
|
|
self.r2t_A_arr)
|
|||
|
|
|
|||
|
|
def ReconstuctionTimesOflyDirectionPositionModel(self, timePoints_list):
|
|||
|
|
"""
|
|||
|
|
构建飞行向坐标与时间的转换模型,注意这里没有调整时间的起算点。
|
|||
|
|
args:
|
|||
|
|
timePoints_list:时间点坐标 [r,t]
|
|||
|
|
"""
|
|||
|
|
# 根据点数确定模型，最高为3次项模型
|
|||
|
|
Y = np.zeros((len(timePoints_list), 1))
|
|||
|
|
X = np.zeros((len(timePoints_list), 1))
|
|||
|
|
|
|||
|
|
for i in range(len(timePoints_list)):
|
|||
|
|
Y[i, 0] = timePoints_list[i][1]
|
|||
|
|
X[i, 0] = timePoints_list[i][0]
|
|||
|
|
|
|||
|
|
if len(timePoints_list) == 2: # 一次项
|
|||
|
|
X = np.concatenate([np.ones((len(timePoints_list), 1)), X], axis=1)
|
|||
|
|
A = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), Y)
|
|||
|
|
|
|||
|
|
elif len(timePoints_list) >= 3: # 二次项
|
|||
|
|
X = np.concatenate([np.ones(len(timePoints_list), 1), X, np.power(X, 2)], axis=1)
|
|||
|
|
A = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), Y)
|
|||
|
|
|
|||
|
|
elif len(timePoints_list) >= 8: # 三次项
|
|||
|
|
X = np.concatenate([np.ones(len(timePoints_list), 1), X, np.power(X, 2), np.power(X, 3)], axis=1)
|
|||
|
|
A = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), Y)
|
|||
|
|
|
|||
|
|
self.r2t_A_arr = A
|
|||
|
|
|
|||
|
|
def PrepareConvertSystem(self):
|
|||
|
|
"""
|
|||
|
|
计算常量
|
|||
|
|
在数据计算之前，提前处理部分常量信息
|
|||
|
|
构建r,c到坐标斜距的计算公式
|
|||
|
|
"""
|
|||
|
|
self.R0 = self.header_info['ImageInformation']['NearRange'] # 起始斜距/近斜距
|
|||
|
|
self.ReconstuctionTimesOflyDirectionPositionModel([
|
|||
|
|
[0, self.header_info['ImageInformation']['StartTime']],
|
|||
|
|
[self.header_info['ImageInformation']['height'] - 1, self.header_info['ImageInformation']['EndTime']]
|
|||
|
|
]) # 构建坐标到时间的变换，这里仅用两个数据点构建
|
|||
|
|
self.delta_R = self.widthspace
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
def ConvertCoordinary(self):
|
|||
|
|
"""
|
|||
|
|
批量求解点坐标
|
|||
|
|
"""
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def Orthorectification(self, FilePath_str):
|
|||
|
|
"""
|
|||
|
|
正射校正组件
|
|||
|
|
正射校正整体可以分为两个步骤：
|
|||
|
|
Step 1：计算出栅格坐标对应的真实的大地坐标系坐标
|
|||
|
|
Step 2：根据大地坐标系将影像重采样到大地坐标系空间中
|
|||
|
|
args:
|
|||
|
|
FilePath_str:影像所在文件夹
|
|||
|
|
"""
|
|||
|
|
# 分离需要校正对象
|
|||
|
|
file_name_list = os.listdir(FilePath_str)
|
|||
|
|
header_name = [file_name for file_name in file_name_list if
|
|||
|
|
file_name.rfind(".meta.xml") == len(file_name) - len('.meta.xml')][0] # xml头文件，存储在list中
|
|||
|
|
tiff_name = [file_name for file_name in file_name_list if
|
|||
|
|
file_name.rfind(".tiff") == len(file_name) - len('.tiff')] # tif影像文件，存储在list中
|
|||
|
|
# 解析头文件
|
|||
|
|
self.header_info = self.ParseHearderFile(os.path.join(FilePath_str, header_name))
|
|||
|
|
# 构建轨道模型
|
|||
|
|
self.SatelliteOrbitModel = ReconstructionSatelliteOrbit(self.header_info['GPS'],
|
|||
|
|
starttime=self.config['SatelliteOribit']['StartTime'])
|
|||
|
|
# 求解模型前计算常数变换模型
|
|||
|
|
self.PrepareConvertSystem()
|
|||
|
|
# 批量计算空间坐标
|
|||
|
|
self.ConvertCoordinary()
|
|||
|
|
|
|||
|
|
'''
|
|||
|
|
卫星轨道定位法，修改为静态类
|
|||
|
|
间接定法法，模拟SAR方法的静态方法，与类独立，方便使用多进程
|
|||
|
|
'''
|
|||
|
|
def getSatelliteSpaceState(time_array,SatelliteOrbitModelstarttime,SatelliteOrbitModelParameters=None,SatelliteOrbitModelName="多项式"):
|
|||
|
|
if SatelliteOrbitModelName=="多项式":
|
|||
|
|
if SatelliteOrbitModelParameters is None:
|
|||
|
|
return None # 返回None,表示没有结果
|
|||
|
|
n=time_array.shape[0]
|
|||
|
|
result_arr_=np.zeros((n,6),dtype=np.float64)
|
|||
|
|
time_float = time_array - SatelliteOrbitModelstarttime
|
|||
|
|
time_float=time_float.reshape(-1) # nx1
|
|||
|
|
time_arr=np.ones((time_float.shape[0],5)) # nx5
|
|||
|
|
time_arr[:,1]=time_float
|
|||
|
|
time_arr[:,2]=time_float**2
|
|||
|
|
time_arr[:,3]=time_float**3
|
|||
|
|
time_arr[:,4]=time_float**4
|
|||
|
|
result_arr_=np.matmul(time_arr,SatelliteOrbitModelParameters) # nx5 5x6
|
|||
|
|
#time_arr[0, 4] = time_arr[0, 3] * time_float ** 4
|
|||
|
|
#result_arr=result_arr_
|
|||
|
|
return result_arr_ # 位置矩阵
|
|||
|
|
|
|||
|
|
'''
|
|||
|
|
双线性重采样
|
|||
|
|
'''
|
|||
|
|
def LinearSampling(ori_dem,sampling_f,offset_row=1,offset_col=1):
|
|||
|
|
'''
|
|||
|
|
简化双线性重采样模型
|
|||
|
|
根据重采样率对原始对象进行重采样。
|
|||
|
|
双线性重采样，这里去栅格所涉及的四个角点作为起算点。
|
|||
|
|
模型示意图：
|
|||
|
|
|
|||
|
|
y1 r1 y2
|
|||
|
|
|
|||
|
|
r
|
|||
|
|
|
|||
|
|
y3 r2 y4
|
|||
|
|
args:
|
|||
|
|
ori_dem:原始DEM
|
|||
|
|
sampling_f:采样率 int
|
|||
|
|
return:
|
|||
|
|
new_dem:采样结果
|
|||
|
|
'''
|
|||
|
|
# 原始dem的行列号
|
|||
|
|
ori_height=ori_dem.shape[0]-offset_row
|
|||
|
|
ori_width=ori_dem.shape[1]-offset_col
|
|||
|
|
|
|||
|
|
# 采样之后的影像的范围大小
|
|||
|
|
new_height=int(ori_height*sampling_f)
|
|||
|
|
new_width=int(ori_width*sampling_f)
|
|||
|
|
# 获取采样之后的栅格单元对应的原DEM的行列号
|
|||
|
|
row_index_list=list(range(new_height))
|
|||
|
|
col_index_list=list(range(new_width))
|
|||
|
|
|
|||
|
|
new_dem=np.ones((new_height,new_width))
|
|||
|
|
row_index_arr=(new_dem.transpose(1,0)*row_index_list).transpose(1,0)
|
|||
|
|
col_index_arr=new_dem*col_index_list
|
|||
|
|
row_index_arr=row_index_arr*1.0/sampling_f
|
|||
|
|
col_index_arr=col_index_arr*1.0/sampling_f
|
|||
|
|
# 初始化
|
|||
|
|
new_dem=0
|
|||
|
|
# 计算权重
|
|||
|
|
row_index_arr=row_index_arr.reshape(-1)
|
|||
|
|
col_index_arr=col_index_arr.reshape(-1)
|
|||
|
|
last_row_index_arr=np.floor(row_index_arr).astype(np.int32)
|
|||
|
|
next_row_index_arr=np.ceil(row_index_arr).astype(np.int32)
|
|||
|
|
last_col_index_arr=np.floor(col_index_arr).astype(np.int32)
|
|||
|
|
next_col_index_arr=np.ceil(col_index_arr).astype(np.int32)
|
|||
|
|
# 双线性重采样模型示意图，
|
|||
|
|
# y1 r1 y2
|
|||
|
|
#
|
|||
|
|
# r
|
|||
|
|
#
|
|||
|
|
# y3 r2 y4
|
|||
|
|
# 计算重采样
|
|||
|
|
|
|||
|
|
R1=ori_dem[last_row_index_arr,last_col_index_arr]*(col_index_arr-last_col_index_arr)+ori_dem[last_row_index_arr,next_col_index_arr]*(next_col_index_arr-col_index_arr)
|
|||
|
|
R2=ori_dem[next_row_index_arr,last_col_index_arr]*(col_index_arr-last_col_index_arr)+ori_dem[next_row_index_arr,next_col_index_arr]*(next_col_index_arr-col_index_arr)
|
|||
|
|
new_dem=R1*(row_index_arr-last_row_index_arr)+R2*(next_row_index_arr-row_index_arr) # 双线性重采样
|
|||
|
|
new_dem=new_dem.reshape(new_height,new_width)
|
|||
|
|
del R1,R2,next_row_index_arr,next_col_index_arr,last_row_index_arr,last_col_index_arr,row_index_arr,col_index_arr
|
|||
|
|
result_dem=np.ones((new_height,new_width,3))
|
|||
|
|
result_dem[:,:,2]=new_dem
|
|||
|
|
result_dem[:,:,0]=(np.ones((new_height,new_width)).transpose(1,0)*list(range(new_height))).transpose(1,0)
|
|||
|
|
result_dem[:,:,1]=np.ones((new_height,new_width))*col_index_list
|
|||
|
|
|
|||
|
|
return result_dem
|
|||
|
|
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
|
|||
|
|
class IndirectOrthorectification(Orthorectification):
|
|||
|
|
"""
|
|||
|
|
间接定位法
|
|||
|
|
"""
|
|||
|
|
def outParameterText(self,outparameter_path):
|
|||
|
|
'''
|
|||
|
|
生成配置文件
|
|||
|
|
'''
|
|||
|
|
with open(outparameter_path,"w",encoding='utf-8') as fp:
|
|||
|
|
# 输出文件
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['height']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['width']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['NearRange'])) # 近斜距
|
|||
|
|
# fp.write("{}\n".format(self.header_info['ImageInformation']['incidenceAngle']['NearRange'])) # 近斜距入射角
|
|||
|
|
# fp.write("{}\n".format(self.header_info['ImageInformation']['incidenceAngle']['FarRange'])) # 远距入射角
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['Groundspace']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['Azspace']))
|
|||
|
|
fp.write("{}\n".format(self.config['LightSpeed'])) # 光速
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['lambda']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['StartTime']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['PRF']))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['NearRange'])) # LT
|
|||
|
|
fp.write("{}\n".format(self.Fs/2))
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['DopplerParametersReferenceTime']))
|
|||
|
|
#fp.write("{}\n".format(self.widthspace))
|
|||
|
|
|
|||
|
|
# 多普勒系数
|
|||
|
|
# fp.write("{}\n".format(len(self.header_info['ImageInformation']['DopplerCentroidCoefficients'])))
|
|||
|
|
# for i in range(len(self.header_info['ImageInformation']['DopplerCentroidCoefficients'])):
|
|||
|
|
# fp.write("{}\n".format(self.header_info['ImageInformation']['DopplerCentroidCoefficients'][i]))
|
|||
|
|
fp.write("{}\n".format(len(self.header_info['ImageInformation']['DopplerRate'])))
|
|||
|
|
for i in range(len(self.header_info['ImageInformation']['DopplerRate'])):
|
|||
|
|
fp.write("{}\n".format(self.header_info['ImageInformation']['DopplerRate'][i]))
|
|||
|
|
fp.write("{}\n".format(1))
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.polynum))
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.get_starttime()))
|
|||
|
|
# X
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,0]))
|
|||
|
|
# Y
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,1]))
|
|||
|
|
# Z
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,2]))
|
|||
|
|
# Vx
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,3]))
|
|||
|
|
# Vy
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,4]))
|
|||
|
|
# vz
|
|||
|
|
for i in range(self.SatelliteOrbitModel.polynum+1):
|
|||
|
|
fp.write("{}\n".format(self.SatelliteOrbitModel.A_arr[i,5]))
|
|||
|
|
# UTC参数
|
|||
|
|
startTime=time.localtime(self.header_info['ImageInformation']["StartTime"])
|
|||
|
|
fp.write("{}\n".format(startTime.tm_year))
|
|||
|
|
fp.write("{}\n".format(startTime.tm_mon))
|
|||
|
|
fp.write("{}".format(startTime.tm_mday))
|
|||
|
|
|
|||
|
|
self.paramterFile_path=outparameter_path
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
def IndirectOrthorectification(self, FilePath_str,workspace_dir):
|
|||
|
|
"""
|
|||
|
|
正射校正组件
|
|||
|
|
正射校正整体可以分为两个步骤：
|
|||
|
|
Step 1：计算出栅格坐标对应的真实的大地坐标系坐标
|
|||
|
|
Step 2：根据大地坐标系将影像重采样到大地坐标系空间中
|
|||
|
|
args:
|
|||
|
|
FilePath_str：影像所在文件夹
|
|||
|
|
dem_resampled_path：重采样后的DEM路径
|
|||
|
|
lut_tif_path：输出的r,c,ti数据影像
|
|||
|
|
work_temp_path: 输出的临时文件地址路径，方便存放计算临时文件
|
|||
|
|
"""
|
|||
|
|
# 分离需要校正对象
|
|||
|
|
file_name_list = os.listdir(FilePath_str)
|
|||
|
|
header_name = [file_name for file_name in file_name_list if
|
|||
|
|
file_name.rfind(".meta.xml") == len(file_name) - len('.meta.xml')][0] # 头文件
|
|||
|
|
|
|||
|
|
# 解析头文件
|
|||
|
|
self.header_info = self.ParseHearderFile(os.path.join(FilePath_str, header_name))
|
|||
|
|
# 构建轨道模型
|
|||
|
|
self.SatelliteOrbitModel = ReconstructionSatelliteOrbit(self.header_info['GPS'],
|
|||
|
|
starttime=self.header_info['ImageInformation']['CenterTime']) # 构建卫星轨道模型,取第0个节点的时间
|
|||
|
|
# 获取所有轨道节点时间
|
|||
|
|
gpslist=np.array(self.header_info['GPS']).reshape(-1,7)
|
|||
|
|
# 验证轨道模型
|
|||
|
|
statepoints=self.SatelliteOrbitModel.getSatelliteSpaceState(gpslist[:,0].reshape(-1))
|
|||
|
|
# 计算轨道差距
|
|||
|
|
statepoints_dist=statepoints-gpslist[:,1:]
|
|||
|
|
statepoints_dist_line=statepoints_dist[:,:3]
|
|||
|
|
statepoints_dist_line=np.sum(statepoints_dist_line**2,axis=1)**0.5
|
|||
|
|
|
|||
|
|
statepoints_dist_ver=np.sum(statepoints_dist[:,3:]**2,axis=1)**0.5
|
|||
|
|
print("sata Point distance:\t{}\t -\t{}\t ".format(np.min(statepoints_dist_line),np.max(statepoints_dist_line)))
|
|||
|
|
|
|||
|
|
# 求解模型前计算常数变换模型
|
|||
|
|
self.PrepareConvertSystem()
|
|||
|
|
self.outParameterText(os.path.join(workspace_dir,"orth_para.txt"))
|
|||
|
|
|
|||
|
|
def preCaldem_sar_rc(self,dem_path,ori_sar_path,work_path,taget_path):
|
|||
|
|
#.\SIMOrthoProgram\x64\Release\SIMOrthoProgram.exe 1 parameter_path dem_path ori_sar_path work_path taget_path
|
|||
|
|
# SIMOrthoProgram.exe 1 in_parameter_path in_dem_path in_ori_sar_path in_work_path in_taget_path
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5} {6} {7}".format(exe_path,1,self.paramterFile_path,dem_path,ori_sar_path,work_path ,taget_path,"\\")
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def getRPC_incidenceAngle(self,in_dem_path,in_rpc_rc_path,out_rpc_dem_path,out_incident_angle_path,out_local_incident_angle_path):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 4: get RPC incident and local incident angle sar model:";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 4 in_parameter_path in_dem_path in_rpc_rc_path out_rpc_dem_path out_incident_angle_path out_local_incident_angle_path";
|
|||
|
|
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5} {6} {7}".format(exe_path,4,self.paramterFile_path,in_dem_path,in_rpc_rc_path,out_rpc_dem_path,out_incident_angle_path,out_local_incident_angle_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def getRPC_incidenceAngle_lon_lat(self,in_dem_path,in_gec_lon_lat_path,work_path,taget_path,out_incident_angle_path,out_local_incident_angle_path,out_incangle_geo_path,out_localincangle_geo_path):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 7: get RPC incident and local incident angle sar model:";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 7 in_parameter_path in_dem_path in_gec_lon_lat_path work_path taget_path out_incident_angle_path out_local_incident_angle_path";
|
|||
|
|
|
|||
|
|
'''
|
|||
|
|
cwd_path = os.getcwd()
|
|||
|
|
print("cwd_path:" + cwd_path)
|
|||
|
|
exe_path=r"{}\baseTool\x64\Release\SIMOrthoProgram.exe".format(cwd_path)
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5} {6} {7} {8} {9} {10}".format(exe_path,7,self.paramterFile_path,in_dem_path,in_gec_lon_lat_path,work_path,taget_path,out_incident_angle_path,out_local_incident_angle_path,out_incangle_geo_path,out_localincangle_geo_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def get_incidenceAngle(self,in_dem_path,in_rc_wgs84_path,out_incident_angle_path,out_local_incident_angle_path):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 2: get incident angle and local incident angle by rc_wgs84 and dem and statellite model:\n";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 2 in_parameter_path in_dem_path in_rc_wgs84_path out_incident_angle_path out_local_incident_angle_path";
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5} {6}".format(exe_path,2,self.paramterFile_path,in_dem_path,in_rc_wgs84_path,out_incident_angle_path,out_local_incident_angle_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
def get_GEC_incidenceAngle(self,in_dem_path,in_gec_lon_lat_path,out_incident_angle_path,out_local_incident_angle_path):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 6: get gec incident and local incident angle sar model:";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 6 in_parameter_path in_dem_path in_gec_lon_lat_path out_incident_angle_path out_local_incident_angle_path";
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5} {6}".format(exe_path,6,self.paramterFile_path,in_dem_path,in_gec_lon_lat_path,out_incident_angle_path,out_local_incident_angle_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
def get_GTC_SAR(self,in_rc_wgs84_path,in_ori_sar_path,out_orth_sar_path,modecode=3):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 3: interpolation(cubic convolution) orth sar value by rc_wgs84 and ori_sar image and model:\n ";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 3 in_parameter_path in_rc_wgs84_path in_ori_sar_path out_orth_sar_path";
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5}".format(exe_path,modecode,self.paramterFile_path,in_rc_wgs84_path,in_ori_sar_path,out_orth_sar_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def inter_Range2Geo(self,lon_lat_path , data_tiff , grid_path , space):
|
|||
|
|
'''
|
|||
|
|
# std::cout << "mode 10";
|
|||
|
|
# std::cout << "SIMOrthoProgram.exe 10 lon_lat_path data_tiff grid_path space";
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5}".format(exe_path,10,lon_lat_path , data_tiff , grid_path , space)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def calInterpolation_cubic_Wgs84_rc_sar_sigma(self, parameter_path, dem_rc, in_sar, out_sar):
|
|||
|
|
'''
|
|||
|
|
# std::cout << "mode 10";
|
|||
|
|
# std::cout << "SIMOrthoProgram.exe 9 in_parameter_path in_rc_wgs84_path in_ori_sar_path out_orth_sar_path";
|
|||
|
|
'''
|
|||
|
|
exe_path = r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd = r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5}".format(exe_path, 9, parameter_path,
|
|||
|
|
dem_rc, in_sar, out_sar)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def calInterpolation_bil_Wgs84_rc_sar_sigma(self, parameter_path, dem_rc, in_sar, out_sar):
|
|||
|
|
'''
|
|||
|
|
# std::cout << "mode 11";
|
|||
|
|
# std::cout << "SIMOrthoProgram.exe 11 in_parameter_path in_rc_wgs84_path in_ori_sar_path out_orth_sar_path";
|
|||
|
|
'''
|
|||
|
|
exe_path = r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd = r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5}".format(exe_path, 11, parameter_path,
|
|||
|
|
dem_rc, in_sar, out_sar)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def lee_process_sar(self,in_sar, out_sar, win_size, noise_var):
|
|||
|
|
'''
|
|||
|
|
# std::cout << "mode 12"
|
|||
|
|
# std::cout << "SIMOrthoProgram.exe 12 in_sar_path out_sar_path win_size noise_var"
|
|||
|
|
'''
|
|||
|
|
exe_path = r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd = r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} {4} {5}".format(exe_path, 12, in_sar,
|
|||
|
|
out_sar, win_size, noise_var)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
|
|||
|
|
def getPowerTif(self,in_ori_path,out_power_path):
|
|||
|
|
'''
|
|||
|
|
std::cout << "mode 5: convert ori tiff to power tiff:";
|
|||
|
|
std::cout << "SIMOrthoProgram.exe 5 in_ori_path out_power_path";
|
|||
|
|
'''
|
|||
|
|
exe_path=r".\baseTool\x64\Release\SIMOrthoProgram.exe"
|
|||
|
|
exe_cmd=r"set PROJ_LIB=.\baseTool\x64\Release; & {0} {1} {2} {3} ".format(exe_path,5,in_ori_path,out_power_path)
|
|||
|
|
print(exe_cmd)
|
|||
|
|
print(os.system(exe_cmd))
|
|||
|
|
print("==========================================================================")
|
|||
|
|
|
|||
|
|
def test_PSTN(self):
|
|||
|
|
landpoint=np.array([-1945072.5,5344083.0,2878316.0]).reshape(1,3)
|
|||
|
|
# 间接定位法所需的参数
|
|||
|
|
Doppler_d = np.array(self.header_info['ImageInformation']['DopplerCentroidCoefficients']).reshape(-1, 1)
|
|||
|
|
LightSpeed = self.config['LightSpeed']
|
|||
|
|
T0 = self.header_info['ImageInformation']['refRange'] * 2 / LightSpeed
|
|||
|
|
lamda = self.header_info['ImageInformation']['lambda']
|
|||
|
|
StartTime = self.header_info['ImageInformation']['StartTime']
|
|||
|
|
PRF = self.header_info['PRF']
|
|||
|
|
R0 = self.header_info['ImageInformation']['NearRange']
|
|||
|
|
r,c,ti=self.PSTN_block(landpoint, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0)
|
|||
|
|
|
|||
|
|
pass
|
|||
|
|
def findInitPoint(self,sim_mask,dem_gt,sim_r_tif,sim_c_tif,sampling_f):
|
|||
|
|
|
|||
|
|
# 根据采样点，大致计算出影像的仿射矩阵，并以此进行外扩
|
|||
|
|
sampling_f=sampling_f//10
|
|||
|
|
[r_ids,c_ids]=np.where(sim_mask==1)
|
|||
|
|
sim_r_ids=sim_r_tif[r_ids,c_ids]
|
|||
|
|
sim_c_ids=sim_c_tif[r_ids,c_ids]
|
|||
|
|
X=dem_gt[0]+dem_gt[1]*c_ids+dem_gt[2]*r_ids
|
|||
|
|
Y=dem_gt[3]+dem_gt[4]*c_ids+dem_gt[5]*r_ids
|
|||
|
|
# 首先计算X 变换式
|
|||
|
|
sim_r_ids=sim_r_ids.reshape(-1,1)
|
|||
|
|
sim_c_ids=sim_c_ids.reshape(-1,1)
|
|||
|
|
X=X.reshape(-1,1)
|
|||
|
|
Y=Y.reshape(-1,1)
|
|||
|
|
point_count=sim_c_ids.shape[0]
|
|||
|
|
X_input=np.ones((point_count,3))
|
|||
|
|
X_input[:,1]=sim_c_ids[:,0]
|
|||
|
|
X_input[:,2]=sim_r_ids[:,0]
|
|||
|
|
A_X=np.matmul(np.matmul(np.linalg.inv(np.matmul(X_input.T,X_input)), X_input.T), X).reshape(-1,1)
|
|||
|
|
A_Y=np.matmul(np.matmul(np.linalg.inv(np.matmul(X_input.T,X_input)), X_input.T), Y).reshape(-1,1)
|
|||
|
|
|
|||
|
|
sar_gt=[A_X[0,0],A_X[1,0],A_X[2,0],A_Y[0,0],A_Y[1,0],A_Y[2,0]]
|
|||
|
|
width=self.header_info['ImageInformation']['width']
|
|||
|
|
height=self.header_info['ImageInformation']['height']
|
|||
|
|
width_f=self.header_info['ImageInformation']['width']/width
|
|||
|
|
height_f=self.header_info['ImageInformation']['height']/height
|
|||
|
|
sar_gt[1]=sar_gt[1]*width_f
|
|||
|
|
sar_gt[2]=sar_gt[2]*height_f
|
|||
|
|
sar_gt[4]=sar_gt[4]*width_f
|
|||
|
|
sar_gt[5]=sar_gt[5]*height_f
|
|||
|
|
# 外扩
|
|||
|
|
sar_gt[0]=sar_gt[0]+sar_gt[1]*-60+sar_gt[2]*-60
|
|||
|
|
sar_gt[3]=sar_gt[3]+sar_gt[4]*-60+sar_gt[5]*-60
|
|||
|
|
|
|||
|
|
inv_sar_gt=gdal.InvGeoTransform(sar_gt)
|
|||
|
|
for dem_height in [0,sim_mask.shape[0]-1]:
|
|||
|
|
for dem_width in [0,sim_mask.shape[1]-1]:
|
|||
|
|
dem_edge_x=dem_gt[0]+dem_gt[1]*dem_width+dem_gt[2]*dem_height
|
|||
|
|
dem_edge_y=dem_gt[3]+dem_gt[4]*dem_width+dem_gt[5]*dem_height
|
|||
|
|
c_width=inv_sar_gt[0]+inv_sar_gt[1]*dem_edge_x+inv_sar_gt[2]*dem_edge_y
|
|||
|
|
r_height=inv_sar_gt[3]+inv_sar_gt[4]*dem_edge_x+inv_sar_gt[5]*dem_edge_y
|
|||
|
|
if c_width<=0 or r_height<=0:
|
|||
|
|
continue
|
|||
|
|
width=width+120 if width+120<c_width else c_width
|
|||
|
|
height=height+120 if height+120<r_height else r_height
|
|||
|
|
return sar_gt,int(width),int(height)
|
|||
|
|
|
|||
|
|
def clipDEMForSimSAR(self,dem_merged_path,sim_out_path,dem_clip_path,sampling_f):
|
|||
|
|
sim_rc_tif=gdal.Open(sim_out_path)
|
|||
|
|
sim_width=sim_rc_tif.RasterXSize
|
|||
|
|
sim_height=sim_rc_tif.RasterYSize
|
|||
|
|
sim_r_tif=sim_rc_tif.GetRasterBand(1).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
sim_c_tif=sim_rc_tif.GetRasterBand(2).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
# 构建掩膜
|
|||
|
|
sim_mask=(sim_r_tif>=-3000)&(sim_r_tif<self.header_info['ImageInformation']['height'])&(sim_c_tif>=0)&(sim_c_tif<self.header_info['ImageInformation']['width'])
|
|||
|
|
sim_mask=sim_mask.astype(np.uint8)
|
|||
|
|
dem_tif=gdal.Open(dem_merged_path)
|
|||
|
|
[r_ids,c_ids]=np.where(sim_mask==1)
|
|||
|
|
r_min=np.min(r_ids)
|
|||
|
|
r_max=np.max(r_ids)
|
|||
|
|
c_min=np.min(c_ids)
|
|||
|
|
c_max=np.max(c_ids)
|
|||
|
|
len_row=3#r_max-r_min
|
|||
|
|
len_col=3#c_max-c_min
|
|||
|
|
r_min=r_min-len_row if r_min-len_row>=0 else 0
|
|||
|
|
c_min=c_min-len_col if c_min-len_col>=0 else 0
|
|||
|
|
r_max=r_max+len_row if r_max+len_row<sim_height else sim_height
|
|||
|
|
c_max=c_max+len_col if c_max+len_col<sim_width else sim_width
|
|||
|
|
dem_gt=list(dem_tif.GetGeoTransform())
|
|||
|
|
sar_gt=[i for i in dem_gt]
|
|||
|
|
sar_gt[0]=dem_gt[0]+dem_gt[1]*c_min+dem_gt[2]*r_min
|
|||
|
|
sar_gt[3]=dem_gt[3]+dem_gt[4]*c_min+dem_gt[5]*r_min
|
|||
|
|
len_row=int(r_max-r_min)
|
|||
|
|
len_col=int(c_max-c_min)
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
out_sim_dem=gtiff_driver.Create(dem_clip_path, len_col, len_row, 1,gdal.GDT_Float32 )
|
|||
|
|
out_sim_dem.SetGeoTransform(sar_gt)
|
|||
|
|
out_sim_dem.SetProjection(dem_tif.GetProjection())
|
|||
|
|
options = gdal.WarpOptions(dem_tif.GetProjection(), dstSRS=dem_tif.GetProjection(), resampleAlg=gdalconst.GRA_Cubic)
|
|||
|
|
gdal.Warp(out_sim_dem, dem_merged_path, options=options)
|
|||
|
|
time.sleep(10)
|
|||
|
|
out_sim_dem.SetProjection(dem_tif.GetProjection())
|
|||
|
|
return dem_clip_path,sar_gt
|
|||
|
|
|
|||
|
|
def ConvertCoordinary(self, dem_merged_path, sim_out_path,work_temp_path, flag=1):
|
|||
|
|
''' 求解坐标，
|
|||
|
|
为了节省内存和处理数据方便，基本所有方法都写在这一个类中，后续会进行拆分。保证内存的消耗
|
|||
|
|
'''
|
|||
|
|
# 间接定位法所需的参数
|
|||
|
|
Doppler_d = np.array(self.header_info['ImageInformation']['DopplerCentroidCoefficients']).reshape(-1, 1)
|
|||
|
|
LightSpeed = self.config['LightSpeed']
|
|||
|
|
T0 = self.header_info['ImageInformation']['refRange'] * 2 / LightSpeed
|
|||
|
|
lamda = self.header_info['ImageInformation']['lambda']
|
|||
|
|
StartTime = self.header_info['ImageInformation']['StartTime']
|
|||
|
|
PRF = self.header_info['PRF']
|
|||
|
|
R0 = self.header_info['ImageInformation']['NearRange']
|
|||
|
|
# 创建存放坐标映射文件
|
|||
|
|
temp_point_refrence_path=os.path.join(work_temp_path,"temp_point_refrence")
|
|||
|
|
if os.path.exists(temp_point_refrence_path):
|
|||
|
|
shutil.rmtree(temp_point_refrence_path)
|
|||
|
|
os.makedirs(temp_point_refrence_path)
|
|||
|
|
# 读取影像
|
|||
|
|
|
|||
|
|
dem_clip_tiff = gdal.Open(dem_merged_path)
|
|||
|
|
row_count = dem_clip_tiff.RasterYSize # 读取图像的行数
|
|||
|
|
col_count = dem_clip_tiff.RasterXSize # 读取图像的列数
|
|||
|
|
im_proj = dem_clip_tiff.GetProjection()
|
|||
|
|
im_geotrans = list(dem_clip_tiff.GetGeoTransform())
|
|||
|
|
gt = im_geotrans # 坐标变换参数
|
|||
|
|
# 计算采样率
|
|||
|
|
sampling_f=self.CalSamplingRateOfDEM(dem_clip_tiff)
|
|||
|
|
if sampling_f%10!=0:
|
|||
|
|
sampling_f=int(sampling_f/10)+1
|
|||
|
|
sampling_f=int(sampling_f*10) # 保证抽样为10的倍数
|
|||
|
|
|
|||
|
|
#dem_resampled_path=os.path.join(work_temp_path,"TestDEM","resampled.tif")
|
|||
|
|
dem_resampled_path=os.path.join(work_temp_path,"TestDEM","resampled.tif")
|
|||
|
|
sim_out_rc_path=sim_out_path.replace(".tif","rc.tif")
|
|||
|
|
dem_clip_path,sar_gt=self.clipDEMForSimSAR(dem_merged_path,sim_out_rc_path,dem_resampled_path,sampling_f)
|
|||
|
|
#dem_resampled_path=dem_merged_path
|
|||
|
|
# 参数输出计算
|
|||
|
|
self.outParameter(os.path.join(work_temp_path,"sim_sar_paras.txt"),sim_out_path,work_temp_path,dem_merged_path,sampling_f)
|
|||
|
|
return os.path.join(work_temp_path,"sim_sar_paras.txt"), sampling_f
|
|||
|
|
|
|||
|
|
def SimSARProcess(self,mask,r,c,TargetPosition,SAR_smi):
|
|||
|
|
''' 模拟SAR 累加法,并返回距离整数坐标最近的点，作为匹配点，方便后期构建坐标变换模型
|
|||
|
|
args:
|
|||
|
|
mask: 参与计算的范围
|
|||
|
|
r: 行号
|
|||
|
|
c: 列号
|
|||
|
|
|
|||
|
|
TargetPosition:对应的地面坐标
|
|||
|
|
SAR_smi: 模拟SAR 影像
|
|||
|
|
return:
|
|||
|
|
SAR_smi: 模拟计算计算结果
|
|||
|
|
PointRefrence:nx5 r,c,x,y,z 记录核心的映射坐标时间
|
|||
|
|
'''
|
|||
|
|
# 根据入射角的cos 筛选出（0,1）
|
|||
|
|
mask=mask.astype(bool)
|
|||
|
|
r_int=np.round(r).astype(np.int32)
|
|||
|
|
c_int=np.round(c).astype(np.int32)
|
|||
|
|
# 满足条件：1.入射角（0,90）；2.r(0,SAR_height) 3.(c,SAR_width)
|
|||
|
|
# 满足条件为1，不满足条件为0
|
|||
|
|
mask=mask&(r_int>=0)&(r_int<SAR_smi.shape[0])&(c_int>=0)&(c_int<SAR_smi.shape[1])
|
|||
|
|
mask=mask.astype(np.uint8)
|
|||
|
|
# 获取满足条件的，行列号
|
|||
|
|
[row_ids,col_ids]=np.where(mask==1)
|
|||
|
|
# 利用稀疏矩阵coo_matrix，同一行列号累加求和的特性
|
|||
|
|
SAR_smi=SAR_smi+ss.coo_matrix((mask[row_ids,col_ids],(r_int[row_ids,col_ids],c_int[row_ids,col_ids])),
|
|||
|
|
shape=SAR_smi.shape,dtype=np.uint16) # 计算 累加求和方法
|
|||
|
|
SAR_smi=SAR_smi.astype(np.uint16)
|
|||
|
|
# 构建累加匹配
|
|||
|
|
d_r=np.abs(r[row_ids,col_ids]-r_int[row_ids,col_ids])
|
|||
|
|
d_c=np.abs(c[row_ids,col_ids]-c_int[row_ids,col_ids])
|
|||
|
|
# 查找最小值
|
|||
|
|
t_mask=(d_r<0.01)*(d_c<0.01)
|
|||
|
|
[ids_mask]=np.where(t_mask==1)
|
|||
|
|
row_ids_0=row_ids[ids_mask]
|
|||
|
|
col_ids_0=col_ids[ids_mask]
|
|||
|
|
rcxyz=np.zeros((row_ids_0.shape[0],5))
|
|||
|
|
rcxyz[:,0]=r[row_ids_0,col_ids_0]
|
|||
|
|
rcxyz[:,1]=c[row_ids_0,col_ids_0]
|
|||
|
|
rcxyz[:,2]=TargetPosition[row_ids_0,col_ids_0,0]
|
|||
|
|
rcxyz[:,3]=TargetPosition[row_ids_0,col_ids_0,1]
|
|||
|
|
rcxyz[:,4]=TargetPosition[row_ids_0,col_ids_0,2]
|
|||
|
|
return SAR_smi,rcxyz.copy()
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def EstimationRegionOfTargetPostion(self,i,j,block_height_width,row_count,block_row_count,col_count,block_col_count):
|
|||
|
|
# 确定目标区域
|
|||
|
|
# 前面通过重采样方法，比目标区域多了扩展边缘，因此需要确定真实计算的目标区域
|
|||
|
|
# 还原目标块的起始行列与块宽高
|
|||
|
|
start_row=0
|
|||
|
|
start_col=0
|
|||
|
|
end_row=0
|
|||
|
|
end_col=0
|
|||
|
|
# 确定行的范围
|
|||
|
|
if i>0: # 可以进行行前推
|
|||
|
|
start_row=1 # 因为外推了一行
|
|||
|
|
else: # 不可以进行行前推
|
|||
|
|
start_row=0 # 此时没有外推一行
|
|||
|
|
if i+block_height_width>=row_count: # 不存在行后推
|
|||
|
|
if i>0: # 存在行前推，
|
|||
|
|
end_row=start_row+block_row_count-1
|
|||
|
|
else: # 不存在行前推
|
|||
|
|
end_row=start_row+block_row_count
|
|||
|
|
else: # 存在行后推
|
|||
|
|
if i>0: # 存在行前推
|
|||
|
|
end_row=start_row+block_row_count-2
|
|||
|
|
else: # 不存在行前推
|
|||
|
|
end_row=start_row+block_row_count-1
|
|||
|
|
pass
|
|||
|
|
# 确定列的范围
|
|||
|
|
if j>0: # 存在列前推
|
|||
|
|
start_col=1
|
|||
|
|
else: # 不存在列前推
|
|||
|
|
start_col=0
|
|||
|
|
if j+block_height_width>=col_count: # 不存在列后推
|
|||
|
|
if j>0: # 存在列前推
|
|||
|
|
end_col=start_col+block_col_count-1
|
|||
|
|
else: # 不存在列前推
|
|||
|
|
end_col=start_col+block_col_count
|
|||
|
|
else: # 存在列后推
|
|||
|
|
if j>0: # 存在列前推
|
|||
|
|
end_col=start_col+block_col_count-2
|
|||
|
|
else: # 不存在列前推
|
|||
|
|
end_col=start_col+block_col_count-1
|
|||
|
|
pass
|
|||
|
|
return [start_row,start_col,end_row,end_col]
|
|||
|
|
|
|||
|
|
def CalIntensityResampled(self,TargetPosition,ti,min_theta=0,max_theta=1):
|
|||
|
|
'''计算入射角
|
|||
|
|
agrs:
|
|||
|
|
TargetPosition: 地面坐标 nxmx3
|
|||
|
|
ti:对应的卫星空间位置 nxm
|
|||
|
|
return:
|
|||
|
|
Intensity:入射角阵，-9999 不参与运算
|
|||
|
|
'''
|
|||
|
|
# 1
|
|||
|
|
# 2 0 4
|
|||
|
|
# 3
|
|||
|
|
# n=(n12+n23+n34+n41)/4
|
|||
|
|
# n=(n24xn31)/4
|
|||
|
|
# 计算 n24=n4-n2
|
|||
|
|
n24=TargetPosition[:,2:,:]-TargetPosition[:,:-2,:] # 4-2 2: 5070x5068
|
|||
|
|
n24=n24[1:-1,:,:]
|
|||
|
|
# 计算 n31=n1-n3
|
|||
|
|
n31=TargetPosition[:-2,:,:]-TargetPosition[2:,:,:] # 1-3 5068x5070
|
|||
|
|
n31=n31[:,1:-1,:]
|
|||
|
|
# 计算坡度平面向量
|
|||
|
|
N=np.zeros((n31.shape[0],n31.shape[1],n31.shape[2]))
|
|||
|
|
# n24=[a,b,c]
|
|||
|
|
# n31=[d,f,g]
|
|||
|
|
N[:,:,0]=n24[:,:,1]*n31[:,:,2]-n24[:,:,2]*n31[:,:,1] # bg-cf
|
|||
|
|
N[:,:,1]=n24[:,:,2]*n31[:,:,0]-n24[:,:,0]*n31[:,:,2] # cd-ag
|
|||
|
|
N[:,:,2]=n24[:,:,0]*n31[:,:,1]-n24[:,:,1]*n31[:,:,0] # af-bd
|
|||
|
|
N=N*0.25 # 平面坡度向量
|
|||
|
|
N=N.reshape(-1,3)
|
|||
|
|
del n24,n31
|
|||
|
|
n=ti.shape[0]
|
|||
|
|
m=ti.shape[1]
|
|||
|
|
# 分块计算
|
|||
|
|
theta=np.ones((n-2,m-2)).astype(bool)
|
|||
|
|
ti=ti[1:-1,1:-1]
|
|||
|
|
TargetPosition=TargetPosition[1:-1,1:-1]
|
|||
|
|
TargetPosition=TargetPosition.reshape(-1,3)
|
|||
|
|
ti=ti.reshape(-1)
|
|||
|
|
theta=theta.reshape(-1)
|
|||
|
|
# 分块计算
|
|||
|
|
le_iter=4000
|
|||
|
|
for i in range(0,theta.shape[0],le_iter):
|
|||
|
|
len_ti=le_iter
|
|||
|
|
if len_ti+i>theta.shape[0]:
|
|||
|
|
len_ti=theta.shape[0]-i
|
|||
|
|
end_i=i+len_ti
|
|||
|
|
# 计算卫星空间坐标
|
|||
|
|
R_sp = self.SatelliteOrbitModel.getSatelliteSpaceState(ti[i:end_i])[:, :3]-TargetPosition[i:end_i]
|
|||
|
|
# 夹角=arccos((R_sp*N)/(|R_sp|*|N|))
|
|||
|
|
theta_=np.sum(R_sp*N[i:end_i],axis=1)/(np.sum(R_sp**2,axis=1)*np.sum(N[i:end_i],axis=1))
|
|||
|
|
theta[i:end_i]=(theta_>min_theta)&(theta_<max_theta)
|
|||
|
|
result_theta_mask=np.ones((n,m),dtype=bool)
|
|||
|
|
result_theta_mask[1:-1,1:-1]=theta.reshape(n-2,m-2)
|
|||
|
|
return result_theta_mask
|
|||
|
|
|
|||
|
|
def ResamplingDEMBlock(self,dem_resampled_tiff,start_row,start_col,block_row_count,block_col_count,sampling_f,gt):
|
|||
|
|
''' 根据DEM获取插值之后的规则格网块
|
|||
|
|
agrs:
|
|||
|
|
dem_resampled_tiff：原始DEM
|
|||
|
|
start_row: 起始行号
|
|||
|
|
start_col：终止行号
|
|||
|
|
block_row_count：获取块的行数
|
|||
|
|
block_col_count：获取块的列数
|
|||
|
|
sampling_f：采样率
|
|||
|
|
gt：dem_resampled_tiff 的仿射矩阵
|
|||
|
|
return:
|
|||
|
|
block_resampled:最终插值结果 经度(lon)，纬度(lat)，高程(ati)
|
|||
|
|
'''
|
|||
|
|
altii_block=dem_resampled_tiff.GetRasterBand(1).ReadAsArray(start_col,start_row , block_col_count, block_row_count) # 块 高程文件
|
|||
|
|
block_resampled = LinearSampling(altii_block,sampling_f) # 双线性插值
|
|||
|
|
# 直接根据仿射矩阵计算对应的X,Y
|
|||
|
|
gt_resample=[gt[0]+gt[1]*start_col+gt[2]*start_row, gt[1]/sampling_f, gt[2]/sampling_f,
|
|||
|
|
gt[3]+gt[4]*start_col+gt[5]*start_row, gt[4]/sampling_f, gt[5]/sampling_f]
|
|||
|
|
X=gt_resample[0]+gt_resample[1]*block_resampled[:,:,1]+gt_resample[2]*block_resampled[:,:,0] # 经度 lon
|
|||
|
|
Y=gt_resample[3]+gt_resample[4]*block_resampled[:,:,1]+gt_resample[5]*block_resampled[:,:,0] # 纬度 lat
|
|||
|
|
block_resampled[:,:,0]=X
|
|||
|
|
block_resampled[:,:,1]=Y
|
|||
|
|
|
|||
|
|
# 根据的情况计算最终的投影坐标系值
|
|||
|
|
Land_point= OrthoAuxData.LLA2XYZM(block_resampled[:,:,0].reshape(-1,1),block_resampled[:,:,1].reshape(-1,1),block_resampled[:,:,2].reshape(-1,1))
|
|||
|
|
block_resampled=np.ones((block_resampled.shape[0],block_resampled.shape[1],3))
|
|||
|
|
block_resampled[:,:,0]=Land_point[0].reshape(block_resampled.shape[0],block_resampled.shape[1]).copy()
|
|||
|
|
block_resampled[:,:,1]=Land_point[1].reshape(block_resampled.shape[0],block_resampled.shape[1]).copy()
|
|||
|
|
block_resampled[:,:,2]=Land_point[2].reshape(block_resampled.shape[0],block_resampled.shape[1]).copy()
|
|||
|
|
result=copy.deepcopy(block_resampled)
|
|||
|
|
del block_resampled
|
|||
|
|
return result
|
|||
|
|
|
|||
|
|
def EstimateDEMCoordinate(self,dem_resampled_tiff,start_row,start_col,block_row_count,block_col_count,sampling_f,gt,Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0):
|
|||
|
|
''' 粗估当前区域有无重采样的必要'''
|
|||
|
|
altii=dem_resampled_tiff.GetRasterBand(1).ReadAsArray(start_col,start_row , block_col_count, block_row_count) # 块 高程文件
|
|||
|
|
h=int(altii.shape[0])
|
|||
|
|
w=int(altii.shape[1])
|
|||
|
|
y_pixel=(np.ones((w,h))*range(h)+start_row).transpose(1,0)
|
|||
|
|
x_pixel=np.ones((h,w))*range(w)+start_col
|
|||
|
|
lat=gt[0]+gt[1]*x_pixel+gt[2]*y_pixel # 经度
|
|||
|
|
lon=gt[3]+gt[4]*x_pixel+gt[5]*y_pixel # 纬度
|
|||
|
|
#del x_pixel,y_pixel
|
|||
|
|
#gc.collect()
|
|||
|
|
[X, Y, Z] = OrthoAuxData.LLA2XYZM(lat.reshape(-1,1), lon.reshape(-1,1), altii.reshape(-1,1)) # 计算错误
|
|||
|
|
TargetPosition = np.ones((int(h*w), 3), dtype=np.float32)
|
|||
|
|
TargetPosition[:, 0] = X.reshape(-1)
|
|||
|
|
TargetPosition[:, 1] = Y.reshape(-1)
|
|||
|
|
TargetPosition[:, 2] = Z.reshape(-1)
|
|||
|
|
r, c, ti = self.PSTN_block(TargetPosition, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0) # 间接定位法，核心求解代码
|
|||
|
|
if np.max(r) < -1*sampling_f*2 or np.min(r) > self.header_info['ImageInformation']['height']+sampling_f*2:
|
|||
|
|
return False,ti[-1,0]
|
|||
|
|
if np.max(c)<-1*sampling_f*2 or np.min(c) > self.header_info['ImageInformation']['width']+sampling_f*2:
|
|||
|
|
return False,ti[-1,0]
|
|||
|
|
return True
|
|||
|
|
|
|||
|
|
def ConvertCoordinary_test(self, dem_merged_path, sim_out_path,work_temp_path, flag=1):
|
|||
|
|
|
|||
|
|
print("当前python程序，内存占用 {}G".format(psutil.Process(os.getpid()).memory_info().rss / 1024 / 1024 / 1024))
|
|||
|
|
"""
|
|||
|
|
批量求解点坐标的性能改进：
|
|||
|
|
主要针对数据频繁开关文件读写
|
|||
|
|
flag:是否想要经纬度转大地坐标系
|
|||
|
|
"""
|
|||
|
|
start = time.time()
|
|||
|
|
# 间接定位法所需的参数
|
|||
|
|
Doppler_d = np.array(self.header_info['ImageInformation']['DopplerCentroidCoefficients']).reshape(-1, 1)
|
|||
|
|
LightSpeed = self.config['LightSpeed']
|
|||
|
|
T0 = self.header_info['ImageInformation']['refRange'] * 2 / LightSpeed
|
|||
|
|
lamda = self.header_info['ImageInformation']['lambda']
|
|||
|
|
StartTime = self.header_info['ImageInformation']['StartTime']
|
|||
|
|
PRF = self.header_info['PRF']
|
|||
|
|
R0 = self.header_info['ImageInformation']['NearRange']
|
|||
|
|
# 计算采样率
|
|||
|
|
|
|||
|
|
# 读取影像
|
|||
|
|
dem_resampled_tiff = gdal.Open(dem_merged_path)
|
|||
|
|
row_count = dem_resampled_tiff.RasterYSize # 读取图像的行数
|
|||
|
|
col_count = dem_resampled_tiff.RasterXSize # 读取图像的列数
|
|||
|
|
im_proj = dem_resampled_tiff.GetProjection()
|
|||
|
|
im_geotrans = list(dem_resampled_tiff.GetGeoTransform())
|
|||
|
|
gt = im_geotrans # 坐标变换参数
|
|||
|
|
# 计算采样率
|
|||
|
|
sampling_f=self.CalSamplingRateOfDEM(dem_resampled_tiff)
|
|||
|
|
|
|||
|
|
# 创建目标虚拟影像
|
|||
|
|
SAR_width=self.header_info['ImageInformation']['width']
|
|||
|
|
SAR_height=self.header_info['ImageInformation']['height']
|
|||
|
|
|
|||
|
|
SAR_row_col_array=np.zeros((row_count,col_count,2),np.float32)
|
|||
|
|
|
|||
|
|
for ii in range(0,row_count,3000):
|
|||
|
|
if ii==row_count:
|
|||
|
|
continue
|
|||
|
|
altii=dem_resampled_tiff.GetRasterBand(1).ReadAsArray(0, ii, col_count, 3000)
|
|||
|
|
if altii is None:
|
|||
|
|
# 长度过长，设置行数
|
|||
|
|
altii=dem_resampled_tiff.GetRasterBand(1).ReadAsArray(0, ii, col_count, int(row_count-ii))
|
|||
|
|
pass
|
|||
|
|
h=int(altii.shape[0])
|
|||
|
|
w=int(altii.shape[1])
|
|||
|
|
y_pixel=(np.ones((w,h))*range(h)+ii).transpose(1,0)
|
|||
|
|
x_pixel=np.ones((h,w))*range(w)
|
|||
|
|
lat=gt[0]+gt[1]*x_pixel+gt[2]*y_pixel # 经度
|
|||
|
|
lon=gt[3]+gt[4]*x_pixel+gt[5]*y_pixel # 纬度
|
|||
|
|
#del x_pixel,y_pixel
|
|||
|
|
#gc.collect()
|
|||
|
|
[X, Y, Z] = OrthoAuxData.LLA2XYZM(lat.reshape(-1,1), lon.reshape(-1,1), altii.reshape(-1,1)) # 计算错误
|
|||
|
|
TargetPosition = np.ones((int(h*w), 3), dtype=np.float32)
|
|||
|
|
TargetPosition[:, 0] = X.reshape(-1)
|
|||
|
|
TargetPosition[:, 1] = Y.reshape(-1)
|
|||
|
|
TargetPosition[:, 2] = Z.reshape(-1)
|
|||
|
|
r, c, ti = self.PSTN_M(TargetPosition, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0) # 间接定位法，核心求解代码
|
|||
|
|
|
|||
|
|
SAR_row_col_array[ii:ii+h,:,0]=r.reshape(-1,col_count)
|
|||
|
|
SAR_row_col_array[ii:ii+h,:,1]=c.reshape(-1,col_count)
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
SAR_row_col=gtiff_driver.Create(sim_out_path.replace(".tif","rc.tif"),col_count,row_count,2,gdal.GDT_Float32)
|
|||
|
|
SAR_row_col.SetGeoTransform(im_geotrans) # 写入仿射变换参数
|
|||
|
|
SAR_row_col.SetProjection(im_proj) # 写入投影
|
|||
|
|
# 写入tiff
|
|||
|
|
SAR_row_col.GetRasterBand(1).WriteArray(SAR_row_col_array[:,:,0])
|
|||
|
|
SAR_row_col.GetRasterBand(2).WriteArray(SAR_row_col_array[:,:,1])
|
|||
|
|
print(sim_out_path.replace(".tif","rc.tif"))
|
|||
|
|
return sim_out_path.replace(".tif","rc.tif")
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def CalSamplingRateOfDEM(self,DEM_tiff):
|
|||
|
|
'''计算DEM的重采样率f，必须在解析头文件之后，参考陈尔学 博士学位论文 《 星载合成孔径雷达影像正射校正方法研究 》
|
|||
|
|
args:
|
|||
|
|
DEM_tiff:tif DEM的影像
|
|||
|
|
return:
|
|||
|
|
f:采样率，向上取整
|
|||
|
|
'''
|
|||
|
|
# 获取DEM_tiff的高宽、投影、仿射矩阵
|
|||
|
|
Trans_array=list(DEM_tiff.GetGeoTransform()) # 仿射变换矩阵
|
|||
|
|
width=DEM_tiff.RasterXSize
|
|||
|
|
height=DEM_tiff.RasterYSize
|
|||
|
|
# x=trans[0]+trans[1]*c+trans[2]*r
|
|||
|
|
# y=trans[3]+trans[4]*c+trans[5]*r
|
|||
|
|
# 获得其高宽分辨率
|
|||
|
|
delta_x=Trans_array[1]+Trans_array[2] # x轴上的分辨率 经度
|
|||
|
|
delta_y=Trans_array[4]+Trans_array[5] # y轴上的分辨率 纬度
|
|||
|
|
# 因为单位为度，所以需要转换为 米
|
|||
|
|
y_resultion=abs(111194.926644558737*delta_y)
|
|||
|
|
x_resultion=abs(111194.926644*math.cos(Trans_array[3])*delta_x)
|
|||
|
|
resultion=x_resultion if x_resultion>y_resultion else y_resultion
|
|||
|
|
delta_R=self.delta_R # 斜距分辨率
|
|||
|
|
incidenceAngle=self.header_info['ImageInformation']['incidenceAngle']["NearRange"] # 入射角
|
|||
|
|
f=math.sin(incidenceAngle*math.pi/180)*1.4142135623730951*resultion/delta_R
|
|||
|
|
f=math.ceil(f)
|
|||
|
|
return f
|
|||
|
|
|
|||
|
|
def PSTN_M2(self, TargetPostion, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0):
|
|||
|
|
"""
|
|||
|
|
间接求解方法，使用矩阵方法,分段计算，方便加速
|
|||
|
|
args:
|
|||
|
|
TargetPosition：nparray,nx3 地面坐标
|
|||
|
|
Doppler_d:多普勒系数 -1，1
|
|||
|
|
lamda:波长
|
|||
|
|
T0:多普勒参考时间
|
|||
|
|
LightSpeed:光速
|
|||
|
|
return:
|
|||
|
|
rc:nparray shape nx2 行列号
|
|||
|
|
"""
|
|||
|
|
#
|
|||
|
|
|
|||
|
|
n = int(TargetPostion.shape[0]) # 坐标点数据 nx3
|
|||
|
|
r=np.zeros((n,1))
|
|||
|
|
c=np.zeros((n,1))
|
|||
|
|
ti=np.zeros((n,1),dtype=np.float64)
|
|||
|
|
len_iter=2000
|
|||
|
|
pool= ThreadPoolExecutor()
|
|||
|
|
pool_ls=[]
|
|||
|
|
SatelliteOrbitModelstarttime=self.SatelliteOrbitModel.get_starttime()
|
|||
|
|
SatelliteOrbitModelParameters=self.SatelliteOrbitModel.A_arr
|
|||
|
|
SatelliteOrbitModelName=self.SatelliteOrbitModel.modelName
|
|||
|
|
delta_R=self.delta_R
|
|||
|
|
for i in range(0, n, len_iter):
|
|||
|
|
start_i=i
|
|||
|
|
len_block=len_iter
|
|||
|
|
if start_i+len_block>n:
|
|||
|
|
len_block=n-start_i
|
|||
|
|
end_i=start_i+len_block
|
|||
|
|
temp_TargetPosition=TargetPostion[start_i:end_i,:]
|
|||
|
|
pool_ls.append( pool.submit(PSTN_block_MuilThread,copy.deepcopy(start_i),copy.deepcopy(end_i),
|
|||
|
|
temp_TargetPosition.copy(),
|
|||
|
|
copy.deepcopy(Doppler_d),
|
|||
|
|
copy.deepcopy(StartTime),
|
|||
|
|
copy.deepcopy(lamda),
|
|||
|
|
copy.deepcopy(T0), copy.deepcopy(LightSpeed),
|
|||
|
|
copy.deepcopy(PRF),copy.deepcopy(R0),
|
|||
|
|
copy.deepcopy(delta_R),
|
|||
|
|
copy.deepcopy(SatelliteOrbitModelstarttime),
|
|||
|
|
SatelliteOrbitModelParameters.copy(),
|
|||
|
|
copy.deepcopy(SatelliteOrbitModelName),))
|
|||
|
|
pool.close()
|
|||
|
|
pool.join()
|
|||
|
|
for p in pool_ls:
|
|||
|
|
r_temp, c_temp, ti_temp,start_i,end_i=p.get()
|
|||
|
|
r[start_i:end_i,:]=r_temp
|
|||
|
|
c[start_i:end_i,:]=c_temp
|
|||
|
|
ti[start_i:end_i,:]=ti_temp
|
|||
|
|
|
|||
|
|
return r,c,ti
|
|||
|
|
|
|||
|
|
def PSTN_M(self, TargetPostion, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0):
|
|||
|
|
"""
|
|||
|
|
间接求解方法，使用矩阵方法,分段计算，方便加速
|
|||
|
|
args:
|
|||
|
|
TargetPosition：nparray,nx3 地面坐标
|
|||
|
|
Doppler_d:多普勒系数 -1，1
|
|||
|
|
lamda:波长
|
|||
|
|
T0:多普勒参考时间
|
|||
|
|
LightSpeed:光速
|
|||
|
|
return:
|
|||
|
|
rc:nparray shape nx2 行列号
|
|||
|
|
"""
|
|||
|
|
#
|
|||
|
|
n = int(TargetPostion.shape[0]) # 坐标点数据 nx3
|
|||
|
|
r=np.zeros((n,1))
|
|||
|
|
c=np.zeros((n,1))
|
|||
|
|
ti=np.zeros((n,1),dtype=np.float64)
|
|||
|
|
init_size=3000
|
|||
|
|
for i in range(0,n,init_size):
|
|||
|
|
start_i=i
|
|||
|
|
len_block=init_size
|
|||
|
|
if start_i+len_block>n:
|
|||
|
|
len_block=n-start_i
|
|||
|
|
end_i=start_i+len_block
|
|||
|
|
temp_TargetPosition=TargetPostion[start_i:end_i,:]
|
|||
|
|
r_temp, c_temp, ti_temp=self.PSTN_block(temp_TargetPosition, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0)
|
|||
|
|
|
|||
|
|
r[start_i:end_i,:]=r_temp.copy()
|
|||
|
|
c[start_i:end_i,:]=c_temp.copy()
|
|||
|
|
ti[start_i:end_i,:]=ti_temp.copy()
|
|||
|
|
return r,c,ti
|
|||
|
|
|
|||
|
|
def PSTN_block(self, TargetPostion, Doppler_d, StartTime, lamda, T0, LightSpeed, PRF, R0):
|
|||
|
|
'''
|
|||
|
|
间接求解方法，使用矩阵方法
|
|||
|
|
args:
|
|||
|
|
TargetPosition：nparray,nx3 地面坐标
|
|||
|
|
Doppler_d:多普勒系数 -1，1
|
|||
|
|
lamda:波长
|
|||
|
|
T0:多普勒参考时间
|
|||
|
|
LightSpeed:光速
|
|||
|
|
return:
|
|||
|
|
rc:nparray shape nx2 行列号
|
|||
|
|
'''
|
|||
|
|
n = TargetPostion.shape[0] # 坐标点数据 nx3
|
|||
|
|
ti = np.ones((n, 1),dtype=np.float64) * StartTime # 初始值
|
|||
|
|
delta_R = self.delta_R
|
|||
|
|
delta_t = 1 / PRF
|
|||
|
|
R=np.zeros((n,1))
|
|||
|
|
Rs = np.zeros((n, 3))
|
|||
|
|
R_sc = np.zeros((n, 3)) # 地面-卫星空间位置矢量
|
|||
|
|
V_sc = np.zeros((n, 3)) # 地面-卫星空间速率矢量
|
|||
|
|
FdNumerical = np.ones((n, 1)) # 多普勒公式的数值解法
|
|||
|
|
FdTheory = np.ones((n, 1)) # 多普勒公式的理论解法
|
|||
|
|
FdTheory_grad = np.ones((n, 1)) # 多普勒公式的导数
|
|||
|
|
# 多普勒参数系数
|
|||
|
|
Doppler_d = Doppler_d.reshape(-1, 1) # 5x1
|
|||
|
|
TSR=np.ones((n, 1)) # nx1
|
|||
|
|
TSRx = np.ones((n, Doppler_d.shape[0])) # nx5
|
|||
|
|
inc_t = np.ones((n, 1)) # 计算增加的导数
|
|||
|
|
dt = 0.0001 # 数值法求解多普勒距离公式的导数
|
|||
|
|
dt_rec=1/dt
|
|||
|
|
# 默认最高迭代100次，如果还未求解出结果，就将所有的未收敛的时间值记录为0 ，注意时间不能为0
|
|||
|
|
for i in range(100):
|
|||
|
|
tempT = ti + dt # 计算增加时间
|
|||
|
|
# ------- 求解导数 ----------------
|
|||
|
|
#del Rs,R_sc,V_sc,TSR,TSRx,satelliteSpaceState,R
|
|||
|
|
satelliteSpaceState = self.SatelliteOrbitModel.getSatelliteSpaceState(tempT) # 卫星坐标与速度 nx6
|
|||
|
|
Rs = satelliteSpaceState[:, :3]
|
|||
|
|
R_sc = satelliteSpaceState[:, :3] - TargetPostion # 地面-卫星空间位置矢量
|
|||
|
|
V_sc = satelliteSpaceState[:, 3:] # 地面-卫星空间位置矢量
|
|||
|
|
R =np.sqrt(np.sum(R_sc ** 2, axis=1)).reshape(-1, 1) # nx1
|
|||
|
|
#FdTheory_grad = (-2 / lamda) * (1 / R) * np.sum(R_sc * V_sc, axis=1).reshape(-1, 1) # nx1
|
|||
|
|
FdTheory_grad = -2*np.reciprocal(R*lamda) * np.sum(R_sc * V_sc, axis=1).reshape(-1, 1) # nx1
|
|||
|
|
|
|||
|
|
# 获取卫星轨道状态信息
|
|||
|
|
satelliteSpaceState = self.SatelliteOrbitModel.getSatelliteSpaceState(ti) # 卫星坐标与速度 nx6
|
|||
|
|
# 卫星轨道坐标
|
|||
|
|
Rs =satelliteSpaceState[:, :3]
|
|||
|
|
# 卫星相对地面的位置向量、卫星速度向量
|
|||
|
|
R_sc=Rs - TargetPostion # 地面-卫星空间位置矢量
|
|||
|
|
V_sc =satelliteSpaceState[:, 3:] # 地面-卫星空间位置矢量
|
|||
|
|
# 斜距
|
|||
|
|
R = np.sqrt(np.sum(R_sc ** 2, axis=1)).reshape(-1, 1) # nx1
|
|||
|
|
# 根据多普勒数值求解公式求解多普勒频移值
|
|||
|
|
TSR= R * (2 / LightSpeed) - T0 # nx1
|
|||
|
|
TSRx[:,0]=TSR[:,0]**0 # nx5
|
|||
|
|
TSRx[:,1]=TSR[:,0]**1
|
|||
|
|
TSRx[:,2]=TSR[:,0]**2
|
|||
|
|
TSRx[:,3]=TSR[:,0]**3
|
|||
|
|
TSRx[:,4]=TSR[:,0]**4
|
|||
|
|
# 根据多普勒物理公式求解求解多普勒频移值
|
|||
|
|
FdTheory=-2*np.reciprocal(lamda*R)*np.sum(R_sc * V_sc, axis=1).reshape(-1, 1) # nx1
|
|||
|
|
FdNumerical= np.matmul(TSRx, Doppler_d) # nx1
|
|||
|
|
|
|||
|
|
FdTheory_grad = np.reciprocal((FdTheory_grad - FdTheory) * dt_rec) # nx1
|
|||
|
|
inc_t = (FdTheory - FdNumerical) * FdTheory_grad #(FdTheory - FdNumerical) * (1 / FdTheory_grad) # nx1
|
|||
|
|
# inc_t = inc_t - inc_t * ti_mask # 允许继续迭代 nx1
|
|||
|
|
if np.max(np.abs(inc_t)) < delta_t * 0.001:
|
|||
|
|
break
|
|||
|
|
ti = ti - inc_t # 更新坐标
|
|||
|
|
#del Rs,R_sc,V_sc,R,satelliteSpaceState,FdTheory_grad,FdNumerical,inc_t
|
|||
|
|
#print("当前python程序，{} step， inc_t {} 求解内存占用 {}G".format(i,np.max(inc_t),psutil.Process(os.getpid()).memory_info().rss / 1024 / 1024 / 1024))
|
|||
|
|
# 计算行号
|
|||
|
|
ti_=copy.deepcopy(ti.copy())
|
|||
|
|
r_ = (ti_ - StartTime)*PRF
|
|||
|
|
delta_t_light=delta_t*LightSpeed
|
|||
|
|
r=copy.deepcopy(r_.copy())
|
|||
|
|
del r_
|
|||
|
|
c_ = (R - R0) * (1 / delta_R)
|
|||
|
|
c=copy.deepcopy(c_.copy())
|
|||
|
|
del c_
|
|||
|
|
ti = copy.deepcopy(ti_.copy())
|
|||
|
|
del ti_
|
|||
|
|
return r, c, ti
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def sim_intensity(self, in_tif_path, dem_resampled_path, lut_tif_path, incidence_tif_path, sim_out_path):
|
|||
|
|
"""
|
|||
|
|
局部入射角计算
|
|||
|
|
原方法存在的问题：多次文件读写
|
|||
|
|
"""
|
|||
|
|
dem_resampled_tiff = gdal.Open(dem_resampled_path) # 获取重采样的DEM 数据，为了减少文件读写操作，这里做了持久化
|
|||
|
|
im_proj = dem_resampled_tiff.GetProjection() # 构建投影
|
|||
|
|
im_geotrans = list(dem_resampled_tiff.GetGeoTransform()) # 构建投影变换对象
|
|||
|
|
[a1, b1, c1, a2, b2, c2] = im_geotrans # 坐标变换参数：c1=0,b2=0
|
|||
|
|
start = time.time() # 度量算法
|
|||
|
|
dem_resampled = dem_resampled_tiff.GetRasterBand(1).ReadAsArray(0, 0, dem_resampled_tiff.RasterXSize,
|
|||
|
|
dem_resampled_tiff.RasterYSize)
|
|||
|
|
del dem_resampled_tiff # 释放内存
|
|||
|
|
incidence = dem_resampled * 0.0 + 1.8
|
|||
|
|
# 读取时间
|
|||
|
|
in_ds = gdal.Open(lut_tif_path) # 读取间接法
|
|||
|
|
row_cnt = in_ds.RasterYSize
|
|||
|
|
col_cnt = in_ds.RasterXSize
|
|||
|
|
t_arr = in_ds.GetRasterBand(3).ReadAsArray(0, 0, col_cnt, row_cnt).astype(np.float64) # 获取时间阵列
|
|||
|
|
t_arr = t_arr[1:-1, 1:-1] + self.header_info['ImageInformation']['StartTime'] # 去除最外围一圈时间数据
|
|||
|
|
row_data = in_ds.GetRasterBand(1).ReadAsArray(0, 0, col_cnt, row_cnt) # 读取行号
|
|||
|
|
col_data = in_ds.GetRasterBand(2).ReadAsArray(0, 0, col_cnt, row_cnt) # 读取列号
|
|||
|
|
row_data = np.round(row_data)
|
|||
|
|
col_data = np.round(col_data)
|
|||
|
|
row_data = row_data.astype(np.int16)
|
|||
|
|
col_data = col_data.astype(np.int16)
|
|||
|
|
del in_ds # 释放内存
|
|||
|
|
c = range(0, col_cnt)
|
|||
|
|
c = np.array(c).reshape(-1, 1)
|
|||
|
|
|
|||
|
|
for r0 in range(1, row_cnt - 1):
|
|||
|
|
T0 = np.zeros((col_cnt, 3)) # colcount-2 ，3
|
|||
|
|
T0[:, 0] = a1 + b1 * c[:, 0] + c1 * r0
|
|||
|
|
T0[:, 1] = a2 + b2 * c[:, 0] + c2 * r0
|
|||
|
|
T0[:, 2] = dem_resampled[r0, :]
|
|||
|
|
|
|||
|
|
T0 = np.concatenate(OrthoAuxData.LLA2XYZM(T0[:, 0].reshape(-1, 1), T0[:, 1].reshape(-1, 1), T0[:, 2].reshape(-1, 1)), axis=1)
|
|||
|
|
n1 = np.concatenate(OrthoAuxData.LLA2XYZM(a1 + b1 * c + c1 * (r0 - 1), a2 + b2 * c + c2 * (r0 - 1),
|
|||
|
|
dem_resampled[r0 - 1, :]), axis=1)[1:-1, :] - T0[1:-1, :] # colcount-2 ，3
|
|||
|
|
n3 = np.concatenate(OrthoAuxData.LLA2XYZM(a1 + b1 * c + c1 * (r0 + 1), a2 + b2 * c + c2 * (r0 + 1),
|
|||
|
|
dem_resampled[r0 + 1, :]), axis=1)[1:-1, :] - T0[1:-1, :] # colcount-2 ，3
|
|||
|
|
n2 = T0[:-2, :] - T0[1:-1, :]
|
|||
|
|
n4 = T0[2:, :] - T0[1:-1, :]
|
|||
|
|
T0 = T0[1:-1, :]
|
|||
|
|
n31 = n1 - n3
|
|||
|
|
n42 = n2 - n4
|
|||
|
|
|
|||
|
|
N = XYZOuterM2(n31, n42) / 4
|
|||
|
|
ti = t_arr[r0 - 1, :].reshape(-1, 1) # rowcount-2,colcount-2
|
|||
|
|
satelliteSpaceState = self.SatelliteOrbitModel.getSatelliteSpaceState(ti)
|
|||
|
|
Rps = satelliteSpaceState[:, :3] - T0 # nx3
|
|||
|
|
# 计算向量模之积
|
|||
|
|
N_Norm = np.sqrt(np.sum(N * N, axis=1)).reshape(-1, 1)
|
|||
|
|
Rps_Norm = np.sqrt(np.sum(Rps * Rps, axis=1)).reshape(-1, 1)
|
|||
|
|
N_Norm = np.concatenate((N_Norm, N_Norm, N_Norm), axis=1)
|
|||
|
|
Rps_Norm = np.concatenate((Rps_Norm, Rps_Norm, Rps_Norm), axis=1)
|
|||
|
|
N = N / N_Norm
|
|||
|
|
Rps = Rps / Rps_Norm
|
|||
|
|
# 计算向量相乘
|
|||
|
|
N_Rps = np.sum(N * Rps, axis=1) # col_count-2
|
|||
|
|
theta = np.arccos(N_Rps) # 入射角
|
|||
|
|
incidence[r0, 1:-1] = theta
|
|||
|
|
|
|||
|
|
incidence = np.degrees(incidence)
|
|||
|
|
print('整张图入射角计算完成，耗时{}秒'.format(time.time() - start))
|
|||
|
|
ImageHandler.write_img(incidence_tif_path, im_proj, im_geotrans, incidence)
|
|||
|
|
|
|||
|
|
# 读取原始影像相关信息
|
|||
|
|
in_tif = gdal.Open(in_tif_path)
|
|||
|
|
col_num = in_tif.RasterXSize
|
|||
|
|
row_num = in_tif.RasterYSize
|
|||
|
|
im_proj1 = in_tif.GetProjection() # 构建投影
|
|||
|
|
im_geotrans1 = in_tif.GetGeoTransform()
|
|||
|
|
out_arr = np.zeros((row_num, col_num), dtype=np.float32)
|
|||
|
|
for h in range(row_cnt):
|
|||
|
|
r_min = min(row_data[h])
|
|||
|
|
r_max = max(row_data[h])
|
|||
|
|
c_min = min(col_data[h])
|
|||
|
|
c_max = max(col_data[h])
|
|||
|
|
if 0 <= r_min < row_num or 0 <= r_max < row_num or (r_min < 0 and r_max >= row_num):
|
|||
|
|
if 0 <= c_min < col_num or 0 <= c_max < col_num or (c_min < 0 and c_max >= col_num):
|
|||
|
|
for w in range(col_cnt):
|
|||
|
|
r = row_data[h, w]
|
|||
|
|
c = col_data[h, w]
|
|||
|
|
if 0 <= r < row_num and 0 <= c < col_num:
|
|||
|
|
if 0 <= incidence[h, w] < 90:
|
|||
|
|
out_arr[r, c] += 1
|
|||
|
|
K = 10
|
|||
|
|
out_arr = K * out_arr
|
|||
|
|
max_delta = np.max(out_arr)
|
|||
|
|
min_delta = np.min(out_arr)
|
|||
|
|
out_arr = (out_arr - min_delta) / (max_delta - min_delta)
|
|||
|
|
ImageHandler.write_img(sim_out_path, im_proj1, im_geotrans1, out_arr)
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def sar_intensity_synthesis(sar_in_tif, sar_out_tif):
|
|||
|
|
# 获取SLC格式SAR影像的相关信息
|
|||
|
|
in_ds = gdal.Open(sar_in_tif)
|
|||
|
|
bands_num = in_ds.RasterCount
|
|||
|
|
rows = in_ds.RasterYSize
|
|||
|
|
columns = in_ds.RasterXSize
|
|||
|
|
proj = in_ds.GetProjection()
|
|||
|
|
geotrans = in_ds.GetGeoTransform()
|
|||
|
|
|
|||
|
|
datatype = gdal.GDT_Float32
|
|||
|
|
|
|||
|
|
# 创建输出的SAR强度图
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
out_ds = gtiff_driver.Create(sar_out_tif, columns, rows, 1, datatype)
|
|||
|
|
|
|||
|
|
# 输出SAR强度图
|
|||
|
|
out_data=np.zeros((rows,columns))
|
|||
|
|
for i in range(0,rows,10000):
|
|||
|
|
for j in range(0,columns,10000):
|
|||
|
|
len_row=10000
|
|||
|
|
len_col=10000
|
|||
|
|
if i+len_row>rows:
|
|||
|
|
len_row=rows-i
|
|||
|
|
if j+len_col>columns:
|
|||
|
|
len_col=columns-j
|
|||
|
|
end_i=i+len_row
|
|||
|
|
end_j=j+len_col
|
|||
|
|
in_data1 = in_ds.GetRasterBand(1).ReadAsArray(j, i, len_col, len_row).astype(np.float32)
|
|||
|
|
in_data2 = in_ds.GetRasterBand(2).ReadAsArray(j, i, len_col, len_row).astype(np.float32)
|
|||
|
|
out_data[i:end_i,j:end_j] = np.log10((in_data1**2 + in_data2**2)+1)*10
|
|||
|
|
out_ds.GetRasterBand(1).WriteArray(out_data)
|
|||
|
|
del in_ds, out_ds
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def img_match(sim_sar_path, ori_sar_path,work_sapce_path):
|
|||
|
|
''' 影像匹配并根据配准点
|
|||
|
|
args:
|
|||
|
|
sim_sar_path:模拟SAR强度图
|
|||
|
|
orig_sar_path: 原始SAR强度图
|
|||
|
|
out_path:配准结果输出点
|
|||
|
|
work_space_path: 工作目录
|
|||
|
|
return:
|
|||
|
|
point_correct: 点集映射结果
|
|||
|
|
raise：
|
|||
|
|
None: 出现错误
|
|||
|
|
'''
|
|||
|
|
match_points_path=ImageMatchClass.ImageMatch(ori_sar_path,sim_sar_path,work_sapce_path)
|
|||
|
|
match_points_path=os.path.join(work_sapce_path,"GridMatch.npy")
|
|||
|
|
match_result_path=os.path.join(work_sapce_path,"match_result.npy")
|
|||
|
|
match_result_image_path=os.path.join(work_sapce_path,"match_result_show.tif")
|
|||
|
|
ImageMatchClass.DeNoiseMatch(match_points_path,match_result_path)
|
|||
|
|
ImageMatchClass.DrawMatchResult(ori_sar_path,sim_sar_path,match_result_path,match_result_image_path)
|
|||
|
|
return match_result_path
|
|||
|
|
|
|||
|
|
def IndireOrtho_smi(self,sim_SAR_rc_path,ori_SAR_path,tar_sar_path):
|
|||
|
|
'''
|
|||
|
|
测试间接定位法计算的影像坐标是否有问题。
|
|||
|
|
方法核心，插值出间接定位法坐标处的 实部和虚部，不考虑其他区域
|
|||
|
|
使用插值方法：等权反距离权重法
|
|||
|
|
考虑实际的数据量较大，为节省内存，使用分块处理方法。
|
|||
|
|
块大小为1000。
|
|||
|
|
'''
|
|||
|
|
sim_rc_tif=gdal.Open(sim_SAR_rc_path)
|
|||
|
|
sim_width=sim_rc_tif.RasterXSize
|
|||
|
|
sim_height=sim_rc_tif.RasterYSize
|
|||
|
|
sim_r_tif=sim_rc_tif.GetRasterBand(1).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
sim_c_tif=sim_rc_tif.GetRasterBand(2).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
# 构建掩膜
|
|||
|
|
sim_mask=(sim_r_tif>0)&(sim_r_tif<self.header_info['ImageInformation']['height'])&(sim_c_tif>0)&(sim_c_tif<self.header_info['ImageInformation']['width'])
|
|||
|
|
sim_mask=sim_mask.astype(np.uint8)
|
|||
|
|
dem_gt=list(sim_rc_tif.GetGeoTransform())
|
|||
|
|
# 根据采样点，大致计算出影像的仿射矩阵，并以此进行外扩
|
|||
|
|
[r_ids,c_ids]=np.where(sim_mask==1)
|
|||
|
|
sim_r_ids=sim_r_tif[r_ids,c_ids]
|
|||
|
|
sim_c_ids=sim_c_tif[r_ids,c_ids]
|
|||
|
|
X=dem_gt[0]+dem_gt[1]*c_ids+dem_gt[2]*r_ids
|
|||
|
|
Y=dem_gt[3]+dem_gt[4]*c_ids+dem_gt[5]*r_ids
|
|||
|
|
# 首先计算X 变换式
|
|||
|
|
sim_r_ids=sim_r_ids.reshape(-1,1)
|
|||
|
|
sim_c_ids=sim_c_ids.reshape(-1,1)
|
|||
|
|
X=X.reshape(-1,1)
|
|||
|
|
Y=Y.reshape(-1,1)
|
|||
|
|
point_count=sim_c_ids.shape[0]
|
|||
|
|
X_input=np.ones((point_count,3))
|
|||
|
|
X_input[:,1]=sim_c_ids[:,0]
|
|||
|
|
X_input[:,2]=sim_r_ids[:,0]
|
|||
|
|
A_X=np.matmul(np.matmul(np.linalg.inv(np.matmul(X_input.T,X_input)), X_input.T), X).reshape(-1,1)
|
|||
|
|
A_Y=np.matmul(np.matmul(np.linalg.inv(np.matmul(X_input.T,X_input)), X_input.T), Y).reshape(-1,1)
|
|||
|
|
|
|||
|
|
sar_gt=[A_X[0,0],A_X[1,0],A_X[2,0],A_Y[0,0],A_Y[1,0],A_Y[2,0]]
|
|||
|
|
|
|||
|
|
# 根据行列号获取对应的值
|
|||
|
|
ori_sar=gdal.Open(ori_SAR_path)
|
|||
|
|
ori_width=ori_sar.RasterXSize
|
|||
|
|
ori_height=ori_sar.RasterYSize
|
|||
|
|
|
|||
|
|
# 创建存储栅格
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
out_sar=gtiff_driver.Create(tar_sar_path, ori_width, ori_height, 2, gdal.GDT_Float32)
|
|||
|
|
|
|||
|
|
ori_sar=gdal.Open(ori_SAR_path)
|
|||
|
|
ori_width=ori_sar.RasterXSize
|
|||
|
|
ori_height=ori_sar.RasterYSize
|
|||
|
|
out_sar.SetProjection(sim_rc_tif.GetProjection()) # 写入坐标系
|
|||
|
|
out_sar.SetGeoTransform(sar_gt) # 写入仿射变换参数
|
|||
|
|
out_sar.GetRasterBand(1).WriteArray(ori_sar.GetRasterBand(1).ReadAsArray(0,0,ori_width,ori_height).astype(np.float32))
|
|||
|
|
out_sar.GetRasterBand(2).WriteArray(ori_sar.GetRasterBand(2).ReadAsArray(0,0,ori_width,ori_height).astype(np.float32))
|
|||
|
|
# print(tar_sar_path)
|
|||
|
|
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def CoordinateTransformation(point_arr):
|
|||
|
|
'''
|
|||
|
|
原始->模拟
|
|||
|
|
args:
|
|||
|
|
point_arr:[模拟row,模拟col，原始row,原始col]
|
|||
|
|
'''
|
|||
|
|
# 由模拟->原始
|
|||
|
|
point_cnt = point_arr.shape[0] #
|
|||
|
|
rs_arr = point_arr[:,2].reshape(point_cnt, 1) # 原始 行
|
|||
|
|
cs_arr = point_arr[:,3].reshape(point_cnt, 1)
|
|||
|
|
|
|||
|
|
rm_arr = point_arr[:,0].reshape(point_cnt, 1)-3000 # 模拟 行 还原偏移
|
|||
|
|
cm_arr = point_arr[:,1].reshape(point_cnt, 1)
|
|||
|
|
X = np.concatenate(
|
|||
|
|
[np.ones((point_cnt, 1), dtype=np.float64), rm_arr, cm_arr, rm_arr ** 2, cm_arr ** 2, rm_arr * cm_arr],
|
|||
|
|
axis=1)
|
|||
|
|
sim2orirc_arr=np.ones((2,6))
|
|||
|
|
sim2orirc_arr[0,:] = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), rs_arr).reshape(1, 6)
|
|||
|
|
sim2orirc_arr[1,:] = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), cs_arr).reshape(1, 6)
|
|||
|
|
|
|||
|
|
# 翻转 sim->ori
|
|||
|
|
X = np.concatenate(
|
|||
|
|
[np.ones((point_cnt, 1), dtype=np.float64), rs_arr, cs_arr, rs_arr ** 2, cs_arr ** 2, rs_arr * cs_arr],
|
|||
|
|
axis=1)
|
|||
|
|
ori2simrc_arr=np.ones((2,6))
|
|||
|
|
ori2simrc_arr[0,:] = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), rm_arr).reshape(1, 6)
|
|||
|
|
ori2simrc_arr[1,:] = np.matmul(np.matmul(np.linalg.inv(np.matmul(X.T, X)), X.T), cm_arr).reshape(1, 6)
|
|||
|
|
return ori2simrc_arr.copy(),sim2orirc_arr.copy()
|
|||
|
|
|
|||
|
|
@staticmethod
|
|||
|
|
def ReSamplingSAR(ori_sar_path,out_sar_path,lon_lat_point_match_path,gt):
|
|||
|
|
''' 根据影像点匹配点，插值得到正射图像
|
|||
|
|
args:
|
|||
|
|
ori_sar_path: 输入sar地址
|
|||
|
|
out_sar_path: 正射结果地址
|
|||
|
|
lon_lat_point_match_path: CoordinateCorrection计算结果的路径
|
|||
|
|
gt: 仿射矩阵
|
|||
|
|
return:
|
|||
|
|
out_sar_path
|
|||
|
|
'''
|
|||
|
|
|
|||
|
|
ori_sar=gdal.Open(ori_sar_path)
|
|||
|
|
ori_height=ori_sar.RasterYSize # 获得高度
|
|||
|
|
ori_width=ori_sar.RasterXSize # 获得宽度
|
|||
|
|
# 开始插值
|
|||
|
|
spatialreference=osr.SpatialReference()
|
|||
|
|
spatialreference.SetWellKnownGeogCS("WGS84") # 设置地理坐标，单位为度 degree # 设置投影坐标，单位为度 degree
|
|||
|
|
spatialproj=spatialreference.ExportToWkt() # 导出投影结果
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
out_sar=gtiff_driver.Create(out_sar_path, ori_width, ori_height, 2, gdal.GDT_Float32)
|
|||
|
|
out_sar.SetGeoTransform(gt) # 写入仿射变换参数
|
|||
|
|
out_sar.SetProjection(spatialproj) # 写入投影
|
|||
|
|
|
|||
|
|
ab=np.array([gt[1],gt[2],gt[4],gt[5]]).reshape(2,2)
|
|||
|
|
ab=np.np.matmul(np.linalg.inv(np.np.matmul(ab.T,ab)),ab.T)
|
|||
|
|
# 解算仿射矩阵，为后面的插值做准备
|
|||
|
|
lon_lat_file_list=os.listdir(lon_lat_point_match_path)
|
|||
|
|
block_info_json=[]
|
|||
|
|
for lon_lat_file_name in lon_lat_file_list:
|
|||
|
|
lon_lat=np.load(os.path.join(lon_lat_point_match_path,lon_lat_file_name))
|
|||
|
|
ori_r=lon_lat[:,0] # 原始影像的行坐标
|
|||
|
|
ori_c=lon_lat[:,1] # 原始影像的列坐标
|
|||
|
|
lon=lon_lat[:,2].copy()
|
|||
|
|
lat=lon_lat[:,3].copy()
|
|||
|
|
# 根据仿射矩阵阶段投影变换结果
|
|||
|
|
lon=lon-gt[0]
|
|||
|
|
lat=lat-gt[3]
|
|||
|
|
lon_lat[:,2]=ab[0,0]*lon+ab[0,1]*lat # 行
|
|||
|
|
lon_lat[:,3]=ab[1,0]*lon+ab[1,1]*lat # 列
|
|||
|
|
block_info_json.append({
|
|||
|
|
'ori':[np.min(lon_lat[:,0]),np.max(lon_lat[:,0]),np.min(lon_lat[:,1]),np.max(lon_lat[:,1])],# r0 r1 c0 c1
|
|||
|
|
'ortho':[np.min(lon_lat[:,2]),np.max(lon_lat[:,2]),np.min(lon_lat[:,3]),np.max(lon_lat[:,3])],
|
|||
|
|
'path':os.path.join(lon_lat_point_match_path,lon_lat_file_name)
|
|||
|
|
})
|
|||
|
|
|
|||
|
|
for i in range(0,ori_height,6000):
|
|||
|
|
for j in range(0,ori_width,6000):
|
|||
|
|
# 判断需要检索的行列
|
|||
|
|
len_row=6000
|
|||
|
|
len_col=6000
|
|||
|
|
if i+len_row>ori_height:
|
|||
|
|
len_row=ori_height-i
|
|||
|
|
if j+len_col>ori_width:
|
|||
|
|
len_col=ori_width-j
|
|||
|
|
end_i=i+len_row
|
|||
|
|
end_j=j+len_col
|
|||
|
|
select_region=[i-1000,end_i+1000,j-1000,end_i+1000]
|
|||
|
|
# 根据求交原则，解出需要可以参与插值计算的 方块
|
|||
|
|
inter_block=[]
|
|||
|
|
for block in block_info_json:
|
|||
|
|
block_ortho =block['ortho']
|
|||
|
|
if block_ortho[0]>select_region[0] and block_ortho[1]<select_region[1]:
|
|||
|
|
if block_ortho[2]>select_region[2] and block_ortho[3]<select_region[3]:
|
|||
|
|
inter_block.append(block)
|
|||
|
|
# 读取对应的块，进行全局插值
|
|||
|
|
block_ori=np.zeros((1,5))
|
|||
|
|
for block in inter_block:
|
|||
|
|
block_ori=np.row_stack((block_ori,np.load(block['path'])))
|
|||
|
|
block_ori=block_ori[1:,:]
|
|||
|
|
# 计算 ori的范围
|
|||
|
|
ori_r_min=np.min(block_ori[:,0])
|
|||
|
|
ori_r_max=np.max(block_ori[:,0])
|
|||
|
|
r_count=ori_r_max-ori_c_min+1
|
|||
|
|
ori_c_min=np.min(block_ori[:,1])
|
|||
|
|
ori_c_max=np.max(block_ori[:,1])
|
|||
|
|
c_count=ori_c_max-ori_c_min+1
|
|||
|
|
|
|||
|
|
# 更新块的坐标
|
|||
|
|
block_ori[:,0]=block_ori[:,0]-ori_r_min
|
|||
|
|
block_ori[:,1]=block_ori[:,1]-ori_c_min
|
|||
|
|
|
|||
|
|
offset_i=i
|
|||
|
|
offset_j=j
|
|||
|
|
|
|||
|
|
block_ori[:,2]=block_ori[:,2]-offset_i
|
|||
|
|
block_ori[:,3]=block_ori[:,3]-offset_j
|
|||
|
|
|
|||
|
|
|
|||
|
|
r=((np.ones((len_col,len_row))*range(len_row)).transpose(1,0)).shape(-1) # 行对应的x
|
|||
|
|
c=(np.ones((len_row,len_col))*range(len_col)).shape(-1)
|
|||
|
|
# 实部
|
|||
|
|
sar_ab=out_sar.GetRasterBand(1).ReadAsArray(ori_c_min,ori_r_min,c_count, r_count)
|
|||
|
|
resampling_result=interpolate.griddata(block_ori[:,2:],sar_ab[block_ori[:,0],block_ori[:,1]],(r,c), method='cubic').reshape(len_row,len_col)
|
|||
|
|
out_sar.GetRasterBand(1).WriteRaster(offset_j, offset_i, len_col, len_row, resampling_result,len_col,len_row)
|
|||
|
|
del resampling_result,sar_ab
|
|||
|
|
# 虚部
|
|||
|
|
sar_ab=out_sar.GetRasterBand(2).ReadAsArray(ori_c_min,ori_r_min,c_count, r_count)
|
|||
|
|
resampling_result=interpolate.griddata(block_ori[:,2:],sar_ab[block_ori[:,0],block_ori[:,1]],(r,c), method='cubic').reshape(len_row,len_col)
|
|||
|
|
out_sar.GetRasterBand(2).WriteRaster(offset_j, offset_i, len_col, len_row, resampling_result,len_col,len_row)
|
|||
|
|
del resampling_result,sar_ab,r,c,block_ori
|
|||
|
|
'''
|
|||
|
|
sar_ab=ori_sar.GetRasterBand(1).ReadAsArray(0,0 , ori_width, ori_height)
|
|||
|
|
resampling_result=interpolate.griddata(target_rc.reshape(-1,2),sar_ab.reshape(-1), (r.shape(-1), c.reshape(-1)), method='cubic').reshape(-1)
|
|||
|
|
out_sar.GetRasterBand(1).WriteArray(resampling_result)
|
|||
|
|
sar_ab=ori_sar.GetRasterBand(2).ReadAsArray(0,0, ori_width, ori_height)
|
|||
|
|
resampling_result=interpolate.griddata(target_rc.reshape(-1,2),sar_ab.reshape(-1), (r.shape(-1), c.reshape(-1)), method='cubic').reshape(-1)
|
|||
|
|
out_sar.GetRasterBand(2).WriteArray(resampling_result)
|
|||
|
|
'''
|
|||
|
|
return out_sar_path
|
|||
|
|
|
|||
|
|
|
|||
|
|
def CoordinateCorrection(self,sim_out_path,dem_merged_path,dem_clip_path,point_match_path):
|
|||
|
|
'''
|
|||
|
|
构建转换矩阵，以及重采样所需的坐标系变换坐标
|
|||
|
|
args:
|
|||
|
|
ori_sar_path：原始SAR文件地址
|
|||
|
|
point_arr: 影像匹配目标
|
|||
|
|
work_sapce_file:文件输出目标
|
|||
|
|
return：
|
|||
|
|
lon：SAR点对应的经度
|
|||
|
|
lat: SAR点对应的纬度
|
|||
|
|
'''
|
|||
|
|
# 计算转换模型 原始SAR->模拟SAR
|
|||
|
|
# X=a0+a1*r+a2*c+a5*r*c+a3*r^2+a4*c^2
|
|||
|
|
# Y=b0+b1*r+b2*c+b5*r*c+b3*r^2+b4*r^2
|
|||
|
|
point_arr=np.load(point_match_path)
|
|||
|
|
rcori2simrc_arr,sim2orirc_arr=IndirectOrthorectification.CoordinateTransformation(point_arr)
|
|||
|
|
# 根据行列号裁剪DEM
|
|||
|
|
sim_rc_tif=gdal.Open(sim_out_path)
|
|||
|
|
sim_width=sim_rc_tif.RasterXSize
|
|||
|
|
sim_height=sim_rc_tif.RasterYSize
|
|||
|
|
sim_r_tif=sim_rc_tif.GetRasterBand(1).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
sim_c_tif=sim_rc_tif.GetRasterBand(2).ReadAsArray(0,0,sim_width,sim_height)
|
|||
|
|
|
|||
|
|
# 计算实际行列号
|
|||
|
|
r=sim2orirc_arr[0,0]+sim2orirc_arr[0,1]*sim_r_tif+sim2orirc_arr[0,2]*sim_c_tif+sim2orirc_arr[0,3]*sim_r_tif*sim_r_tif+sim2orirc_arr[0,4]*sim_c_tif*sim_c_tif+sim2orirc_arr[0,5]*sim_r_tif*sim_c_tif
|
|||
|
|
c=sim2orirc_arr[1,0]+sim2orirc_arr[1,1]*sim_r_tif+sim2orirc_arr[1,2]*sim_c_tif+sim2orirc_arr[1,3]*sim_r_tif*sim_r_tif+sim2orirc_arr[1,4]*sim_c_tif*sim_c_tif+sim2orirc_arr[1,5]*sim_r_tif*sim_c_tif
|
|||
|
|
sim_r_tif=r
|
|||
|
|
sim_c_tif=c
|
|||
|
|
del r,c
|
|||
|
|
|
|||
|
|
#
|
|||
|
|
sim_mask=(sim_r_tif>=-1)&(sim_r_tif<self.header_info['ImageInformation']['height']+1)&(sim_c_tif>=-1)&(sim_c_tif<self.header_info['ImageInformation']['width']+1)
|
|||
|
|
sim_mask=sim_mask.astype(np.uint8)
|
|||
|
|
dem_tif=gdal.Open(dem_merged_path)
|
|||
|
|
dem_gt=list(dem_tif.GetGeoTransform())
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
ori_path=sim_out_path.replace(".tif","_ori.tif")
|
|||
|
|
sar_gt,len_col,len_row=self.findInitPoint(sim_mask,list(dem_tif.GetGeoTransform()),sim_r_tif,sim_c_tif,100)
|
|||
|
|
out_sim_dem=gtiff_driver.Create(dem_clip_path, len_col, len_row, 1,gdal.GDT_Float32 )
|
|||
|
|
out_sim_dem.SetGeoTransform(sar_gt)
|
|||
|
|
out_sim_dem.SetProjection(dem_tif.GetProjection())
|
|||
|
|
options = gdal.WarpOptions(dem_tif.GetProjection(), dstSRS=dem_tif.GetProjection(), resampleAlg=gdalconst.GRA_Cubic)
|
|||
|
|
gdal.Warp(out_sim_dem, dem_merged_path, options=options) # 重采样结果
|
|||
|
|
time.sleep(3)
|
|||
|
|
return rcori2simrc_arr,sim2orirc_arr
|
|||
|
|
|
|||
|
|
def calxyzOFOut_sar(self,ori_xyz_path,sim_sar_x_path,sim_sar_y_path,sim_sar_z_path,r_arr_trans,c_arr_trans,distance_sim_path):
|
|||
|
|
'''
|
|||
|
|
根据行列号，求解对应的插值情况
|
|||
|
|
'''
|
|||
|
|
# 首先读取distance_sim_path,获取对应的行列号
|
|||
|
|
distance_dataset=gdal.Open(distance_sim_path)
|
|||
|
|
distance_arr=distance_dataset.GetRasterBand(1).ReadAsArray(0,0 , distance_dataset.RasterXSize, distance_dataset.RasterYSize) # 块 高程文件
|
|||
|
|
[r_ids,c_ids]=np.where(distance_arr<0.00001) # 构建插值点 模拟
|
|||
|
|
|
|||
|
|
width=distance_dataset.RasterXSize
|
|||
|
|
height=distance_dataset.RasterYSize
|
|||
|
|
del distance_arr,distance_dataset
|
|||
|
|
gc.collect()
|
|||
|
|
|
|||
|
|
# 模拟->原始
|
|||
|
|
ori_rc=np.ones((r_ids.size,2))
|
|||
|
|
ori_rc[:,0]=r_arr_trans[0,0]+r_ids*r_arr_trans[0,1]+c_ids*r_arr_trans[0,2]+r_arr_trans[0,3]*r_ids ** 2+r_arr_trans[0,4]*c_ids ** 2+r_arr_trans[0,5]*r_ids * c_ids
|
|||
|
|
ori_rc[:,1]=c_arr_trans[0,0]+r_ids*c_arr_trans[0,1]+c_ids*c_arr_trans[0,2]+c_arr_trans[0,3]*r_ids ** 2+c_arr_trans[0,4]*c_ids ** 2+c_arr_trans[0,5]*r_ids * c_ids
|
|||
|
|
# 插值x坐标
|
|||
|
|
sim_x_data=gdal.Open(sim_sar_x_path)
|
|||
|
|
sim_x_arr=sim_x_data.GetRasterBand(1).ReadAsArray(0,0 , sim_x_data.RasterXSize, sim_x_data.RasterYSize) # 块 高程文件
|
|||
|
|
sim_x=sim_x_arr[r_ids,c_ids]
|
|||
|
|
del sim_x_arr,sim_x_data
|
|||
|
|
tree=KDTree(ori_rc) # 原始sar点对应的坐标
|
|||
|
|
|
|||
|
|
gtiff_driver = gdal.GetDriverByName('GTiff')
|
|||
|
|
SAR_row_col=gtiff_driver.Create(ori_xyz_path,width,height,3,gdal.GDT_Float32)
|
|||
|
|
# 准备插值--分块插值
|
|||
|
|
blocksize=5000
|
|||
|
|
SAR_ori=np.zeros((height,width))
|
|||
|
|
for i in range(0,height,blocksize):
|
|||
|
|
for j in range(0,width,blocksize):
|
|||
|
|
start_row=i
|
|||
|
|
start_col=j
|
|||
|
|
len_row=blocksize
|
|||
|
|
len_col=blocksize
|
|||
|
|
if(start_row+len_row>height):
|
|||
|
|
len_row=height-start_row
|
|||
|
|
if(start_col+len_col>width):
|
|||
|
|
len_col=width-start_col
|
|||
|
|
end_row=start_row+len_row
|
|||
|
|
end_col=start_col+len_col
|
|||
|
|
grid_xy= np.mgrid[start_row:end_row:1, start_col:end_col:1]
|
|||
|
|
grid_xy=grid_xy.reshape(2,-1).transpose(1,0)
|
|||
|
|
distance_weight,ori_select=tree.query(grid_xy,k=10)
|
|||
|
|
distance_weight=np.reciprocal(distance_weight)
|
|||
|
|
distance_weight=np.multiply(distance_weight.transpose(1,0),np.reciprocal(np.sum(distance_weight,axis=1)))
|
|||
|
|
distance_weight=distance_weight.transpose(1,0)
|
|||
|
|
SAR_ori[start_row:end_row,start_col:end_col]=np.sum( np.multiply(distance_weight,sim_x[ori_select]),axis=1).reshape(len_row,len_col)
|
|||
|
|
|
|||
|
|
SAR_row_col.GetRasterBand(1).WriteArray(SAR_ori)
|
|||
|
|
|
|||
|
|
# 插值y坐标
|
|||
|
|
sim_y_data=gdal.Open(sim_sar_y_path)
|
|||
|
|
sim_y_arr=sim_y_data.GetRasterBand(1).ReadAsArray(0,0 , sim_y_data.RasterXSize, sim_y_data.RasterYSize) # 块 高程文件
|
|||
|
|
sim_y=sim_y_arr[r_ids,c_ids]
|
|||
|
|
del sim_y_arr,sim_y_data,sim_x
|
|||
|
|
# 准备插值--分块插值
|
|||
|
|
blocksize=5000
|
|||
|
|
SAR_ori=np.zeros((height,width))
|
|||
|
|
for i in range(0,height,blocksize):
|
|||
|
|
for j in range(0,width,blocksize):
|
|||
|
|
start_row=i
|
|||
|
|
start_col=j
|
|||
|
|
len_row=blocksize
|
|||
|
|
len_col=blocksize
|
|||
|
|
if(start_row+len_row>height):
|
|||
|
|
len_row=height-start_row
|
|||
|
|
if(start_col+len_col>width):
|
|||
|
|
len_col=width-start_col
|
|||
|
|
end_row=start_row+len_row
|
|||
|
|
end_col=start_col+len_col
|
|||
|
|
grid_xy= np.mgrid[start_row:end_row:1, start_col:end_col:1]
|
|||
|
|
grid_xy=grid_xy.reshape(2,-1).transpose(1,0)
|
|||
|
|
distance_weight,ori_select=tree.query(grid_xy,k=10)
|
|||
|
|
distance_weight=np.reciprocal(distance_weight)
|
|||
|
|
distance_weight=np.multiply(distance_weight.transpose(1,0),np.reciprocal(np.sum(distance_weight,axis=1)))
|
|||
|
|
distance_weight=distance_weight.transpose(1,0)
|
|||
|
|
SAR_ori[start_row:end_row,start_col:end_col]=np.sum(np.multiply(distance_weight,sim_y[ori_select]),axis=1).reshape(len_row,len_col)
|
|||
|
|
|
|||
|
|
SAR_row_col.GetRasterBand(2).WriteArray(SAR_ori)
|
|||
|
|
# 插值z坐标
|
|||
|
|
sim_z_data=gdal.Open(sim_sar_z_path)
|
|||
|
|
sim_z_arr=sim_z_data.GetRasterBand(1).ReadAsArray(0,0 , sim_z_data.RasterXSize, sim_z_data.RasterYSize) # 块 高程文件
|
|||
|
|
sim_z=sim_z_arr[r_ids,c_ids]
|
|||
|
|
del sim_z_arr,sim_z_data,sim_y
|
|||
|
|
# 准备插值--分块插值
|
|||
|
|
blocksize=5000
|
|||
|
|
SAR_ori=np.zeros((height,width))
|
|||
|
|
for i in range(0,height,blocksize):
|
|||
|
|
for j in range(0,width,blocksize):
|
|||
|
|
start_row=i
|
|||
|
|
start_col=j
|
|||
|
|
len_row=blocksize
|
|||
|
|
len_col=blocksize
|
|||
|
|
if(start_row+len_row>height):
|
|||
|
|
len_row=height-start_row
|
|||
|
|
if(start_col+len_col>width):
|
|||
|
|
len_col=width-start_col
|
|||
|
|
end_row=start_row+len_row
|
|||
|
|
end_col=start_col+len_col
|
|||
|
|
grid_xy= np.mgrid[start_row:end_row:1, start_col:end_col:1]
|
|||
|
|
grid_xy=grid_xy.reshape(2,-1).transpose(1,0)
|
|||
|
|
distance_weight,ori_select=tree.query(grid_xy,k=10)
|
|||
|
|
distance_weight=np.reciprocal(distance_weight)
|
|||
|
|
distance_weight=np.multiply(distance_weight.transpose(1,0),np.reciprocal(np.sum(distance_weight,axis=1)))
|
|||
|
|
distance_weight=distance_weight.transpose(1,0)
|
|||
|
|
SAR_ori[start_row:end_row,start_col:end_col]=np.sum(np.multiply(distance_weight,sim_z[ori_select]),axis=1).reshape(len_row,len_col)
|
|||
|
|
SAR_row_col.GetRasterBand(3).WriteArray(SAR_ori)
|
|||
|
|
return ori_xyz_path
|
|||
|
|
|
|||
|
|
def outResamplingParas(self,work_space_file,ortho_sar_xyz_pow_path,sar_xyz_path,sar_incidence_path,ortho_sar_xyz_path,ortho_sar_incidence_path,out_sar_file_list,dem_clip_path,ori2sim,sim2ori):
|
|||
|
|
'''
|
|||
|
|
sar_xyz_path:xyz插值结果
|
|||
|
|
sar_incidence_path: 入射角
|
|||
|
|
ortho_sar_xyz_path： 重采样结果文件夹
|
|||
|
|
out_sar_file_list：需要重采样的文件
|
|||
|
|
rc_trans_arr：变换结果
|
|||
|
|
|
|||
|
|
'''
|
|||
|
|
with open(os.path.join(work_space_file,"resample_para.txt"),'w',encoding='utf-8') as fp:
|
|||
|
|
fp.write("{}\n".format(dem_clip_path))
|
|||
|
|
fp.write("{}\n".format(os.path.join(work_space_file,"ori_sim.tif")))
|
|||
|
|
fp.write("{}\n".format(sar_xyz_path))
|
|||
|
|
fp.write("{}\n".format(sar_incidence_path))
|
|||
|
|
fp.write("{}\n".format(ortho_sar_incidence_path))
|
|||
|
|
fp.write("{}\n".format(ortho_sar_incidence_path.replace("orth_sar_incidence.tif","orth_sar_local_incidence.tif")))
|
|||
|
|
fp.write("{}\n".format(ortho_sar_xyz_path))
|
|||
|
|
fp.write("{}\n".format(len(out_sar_file_list)))
|
|||
|
|
for i in range(len(out_sar_file_list)):
|
|||
|
|
file_name=os.path.split(out_sar_file_list[i])[1]
|
|||
|
|
fp.write("{}\n".format(out_sar_file_list[i]))
|
|||
|
|
fp.write("{}\n".format(os.path.join(ortho_sar_xyz_path,file_name)))
|
|||
|
|
fp.write("{}\n".format(os.path.join(ortho_sar_xyz_pow_path,file_name)))
|
|||
|
|
#os.path.split(in_tif_path)[1]
|
|||
|
|
|
|||
|
|
fp.write("{}\n".format(12))
|
|||
|
|
for i in range(6):
|
|||
|
|
fp.write("{}\n".format(ori2sim[0,i]))
|
|||
|
|
for i in range(6):
|
|||
|
|
fp.write("{}\n".format(ori2sim[1,i]))
|
|||
|
|
fp.write("{}\n".format(12))
|
|||
|
|
for i in range(6):
|
|||
|
|
fp.write("{}\n".format(sim2ori[0,i]))
|
|||
|
|
for i in range(6):
|
|||
|
|
fp.write("{}\n".format(sim2ori[1,i]))
|
|||
|
|
return os.path.join(work_space_file,"resample_para.txt")
|
|||
|
|
|
|||
|
|
def Resampling(self,out_sar_xyz_path,inv_gt,gt,ori_resampling_file_path):
|
|||
|
|
out_xyz=gdal.Open(out_sar_xyz_path)
|
|||
|
|
ori_height=out_xyz.RasterYSize # 获得高度
|
|||
|
|
ori_width=out_xyz.RasterXSize # 获得宽度
|
|||
|
|
out_xyz_x=out_xyz.GetRasterBand(1).ReadAsArray(0,0 , ori_width, ori_height)
|
|||
|
|
out_xyz_y=out_xyz.GetRasterBand(2).ReadAsArray(0,0 , ori_width, ori_height)
|
|||
|
|
|
|||
|
|
# 计算对应的行列号
|
|||
|
|
out_xyz_rc=np.ones((ori_height,ori_width,2))
|
|||
|
|
out_xyz_rc[:,:,1]=inv_gt[0]+inv_gt[1]*out_xyz_x+inv_gt[2]*out_xyz_y
|
|||
|
|
out_xyz_rc[:,:,0]=inv_gt[3]+inv_gt[4]*out_xyz_x+inv_gt[5]*out_xyz_y
|
|||
|
|
del out_xyz_x,out_xyz_y,out_xyz
|
|||
|
|
out_xyz_rc=out_xyz_rc.reshape(-1,2)
|
|||
|
|
|
|||
|
|
blocksize=2000
|
|||
|
|
ori_data=gdal.Open(ori_resampling_file_path[0][0][0])
|
|||
|
|
width=ori_data.RasterXSize
|
|||
|
|
height=ori_data.RasterYSize
|
|||
|
|
SAR_ori=np.ones((width,height))
|
|||
|
|
sim_x=ori_data.GetRasterBand(1).ReadAsArray(0,0 , width, height).reshape(-1)
|
|||
|
|
tree=KDTree(out_xyz_rc)
|
|||
|
|
for i in range(0,height,blocksize):
|
|||
|
|
for j in range(0,width,blocksize):
|
|||
|
|
start_row=i
|
|||
|
|
start_col=j
|
|||
|
|
len_row=blocksize
|
|||
|
|
len_col=blocksize
|
|||
|
|
if(start_row+len_row>height):
|
|||
|
|
len_row=height-start_row
|
|||
|
|
if(start_col+len_col>width):
|
|||
|
|
len_col=width-start_col
|
|||
|
|
end_row=start_row+len_row
|
|||
|
|
end_col=start_col+len_col
|
|||
|
|
grid_xy= np.mgrid[start_row:end_row:1, start_col:end_col:1]
|
|||
|
|
grid_xy=grid_xy.reshape(2,-1).transpose(1,0)
|
|||
|
|
distance_weight,ori_select=tree.query(grid_xy,k=4)
|
|||
|
|
distance_weight=np.reciprocal(distance_weight)
|
|||
|
|
distance_weight=np.multiply(distance_weight.transpose(1,0),np.reciprocal(np.sum(distance_weight,axis=1)))
|
|||
|
|
distance_weight=distance_weight.transpose(1,0)
|
|||
|
|
SAR_ori[start_row:end_row,start_col:end_col]=np.sum( np.multiply(distance_weight,sim_x[ori_select]),axis=1).reshape(len_row,len_col)
|
|||
|
|
pass
|
|||
|
|
'''
|
|||
|
|
# 获得所有点集
|
|||
|
|
del point_arr
|
|||
|
|
# 构建查询表
|
|||
|
|
ori_sar=gdal.Open(ori_sar_path)
|
|||
|
|
ori_height=ori_sar.RasterYSize # 获得高度
|
|||
|
|
ori_width=ori_sar.RasterXSize # 获得宽度
|
|||
|
|
point_arr_path=[os.path.join(work_space_file,"point_refrence.npy")]
|
|||
|
|
for point_match_arr_filename in os.listdir(os.path.join(work_space_file,'temp_point_refrence')):
|
|||
|
|
point_arr_path.append(os.path.join(work_space_file,'temp_point_refrence',point_match_arr_filename))
|
|||
|
|
point_arr=np.ones((1,5))
|
|||
|
|
for point_path in point_arr_path:
|
|||
|
|
point_temp_arr=np.load(point_path)
|
|||
|
|
point_arr=np.row_stack((point_arr,point_temp_arr))
|
|||
|
|
point_arr=point_arr[1:,:]
|
|||
|
|
ori_points=np.zeros((point_arr.shape[0],2))
|
|||
|
|
# 求解对应的行列号
|
|||
|
|
for i in range(r_arr_trans.shape[1]):
|
|||
|
|
ori_points[:,0]=ori_points[:,0]+r_arr_trans[0,i]*point_arr[:,1]**i
|
|||
|
|
ori_points[:,1]=ori_points[:,1]+c_arr_trans[0,i]*point_arr[:,1]**i
|
|||
|
|
point_arr[:,0]=ori_points[:,0].copy()
|
|||
|
|
point_arr[:,1]=ori_points[:,1].copy()
|
|||
|
|
del ori_points
|
|||
|
|
gc.collect()
|
|||
|
|
# 根据此进行散点插值，确定
|
|||
|
|
lon_lat_point_match_path=os.path.join(work_space_file,"lon_lat_point_match")
|
|||
|
|
if os.path.exists(lon_lat_point_match_path):
|
|||
|
|
shutil.rmtree(lon_lat_point_match_path)
|
|||
|
|
os.makedirs(lon_lat_point_match_path)
|
|||
|
|
lon_lat=np.zeros((4,2))
|
|||
|
|
block_info_json={"ori_rc":[]}
|
|||
|
|
#
|
|||
|
|
block_size=5000
|
|||
|
|
for i in range(0,ori_height,block_size):
|
|||
|
|
for j in range(0,ori_width,block_size):
|
|||
|
|
len_row=block_size
|
|||
|
|
len_col=block_size
|
|||
|
|
if i+len_row>ori_height:
|
|||
|
|
len_row=ori_height-i
|
|||
|
|
if j+len_col>ori_width:
|
|||
|
|
len_col=ori_width-j
|
|||
|
|
end_i=i+len_row
|
|||
|
|
end_j=j+len_col
|
|||
|
|
|
|||
|
|
r=(np.ones((len_col,len_row))*range(len_row)).transpose(1,0)+i
|
|||
|
|
c=np.ones((len_row,len_col))*range(len_col)+j
|
|||
|
|
# 格网插值
|
|||
|
|
# scipy 规则格网插值
|
|||
|
|
lon_lat_r_c=np.ones((len_col*len_row,5))
|
|||
|
|
lon_lat_r_c[:,0]=r.reshape(-1)
|
|||
|
|
lon_lat_r_c[:,1]=c.reshape(-1)
|
|||
|
|
|
|||
|
|
SAR_ori_X=interpolate.griddata(point_arr[:,:2], point_arr[:,2], (lon_lat_r_c[:,0], lon_lat_r_c[:,1]), method='linear').reshape(-1)
|
|||
|
|
SAR_ori_Y=interpolate.griddata(point_arr[:,:2], point_arr[:,3], (lon_lat_r_c[:,0], lon_lat_r_c[:,1]), method='linear').reshape(-1)
|
|||
|
|
SAR_ori_Z=interpolate.griddata(point_arr[:,:2], point_arr[:,4], (lon_lat_r_c[:,0], lon_lat_r_c[:,1]), method='linear').reshape(-1)
|
|||
|
|
[lon_lat_r_c[:,2],lon_lat_r_c[:,3],lon_lat_r_c[:,4]]=OrthoAuxData.XYZ2LLAM(SAR_ori_X,SAR_ori_Y,SAR_ori_Z)
|
|||
|
|
temp_path=os.path.join(lon_lat_point_match_path,"r_c_{}_{}.npy".format(i,j))
|
|||
|
|
np.save(temp_path,lon_lat_r_c)
|
|||
|
|
block_info_json['ori_rc'].append({'ori':[i,j,end_i,end_j],"path":temp_path})
|
|||
|
|
if i==0 and j==0:
|
|||
|
|
lon_lat[0,0]=lon_lat_r_c[:,2].reshape(len_row,len_col)[0,0] # 经度
|
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|
|
lon_lat[0,1]=lon_lat_r_c[:,3].reshape(len_row,len_col)[0,0] # 纬度
|
|||
|
|
|
|||
|
|
if i+len_row==ori_height and j==0:
|
|||
|
|
lon_lat[1,0]=lon_lat_r_c[:,2].reshape(len_row,len_col)[-1,0]
|
|||
|
|
lon_lat[1,1]=lon_lat_r_c[:,3].reshape(len_row,len_col)[-1,0]
|
|||
|
|
|
|||
|
|
if j+len_col==ori_width and i==0:
|
|||
|
|
lon_lat[2,0]=lon_lat_r_c[:,2].reshape(len_row,len_col)[0,-1]
|
|||
|
|
lon_lat[2,1]=lon_lat_r_c[:,3].reshape(len_row,len_col)[0,-1]
|
|||
|
|
if j+len_col==ori_width and i+len_row==ori_height:
|
|||
|
|
lon_lat[3,0]=lon_lat_r_c[:,2].reshape(len_row,len_col)[-1,-1]
|
|||
|
|
lon_lat[3,1]=lon_lat_r_c[:,3].reshape(len_row,len_col)[-1,-1]
|
|||
|
|
# 1 3
|
|||
|
|
# 2 4
|
|||
|
|
gt=[0,1,2,3,4,5]
|
|||
|
|
# 计算 经度
|
|||
|
|
gt[0]= lon_lat[0,0]
|
|||
|
|
gt[1]=(lon_lat[2,0]-gt[0])/(ori_width-1)
|
|||
|
|
gt[2]=(lon_lat[3,0]-gt[0]-gt[1]*(ori_width-1))/(ori_height-1)
|
|||
|
|
# 计算 纬度
|
|||
|
|
gt[3]= lon_lat[0,1]
|
|||
|
|
gt[5]=(lon_lat[1,1]-gt[3])/(ori_height-1)
|
|||
|
|
gt[4]=(lon_lat[3,1]-gt[3]-gt[5]*(ori_height-1))/(ori_width-1)
|
|||
|
|
|
|||
|
|
|
|||
|
|
return lon_lat_point_match_path,gt
|
|||
|
|
#return lon_lat_point_match_path
|
|||
|
|
|
|||
|
|
return None
|
|||
|
|
pass
|
|||
|
|
'''
|