photogrammetry_calculator.h File Reference

Add to airframe file: More...

#include "std.h"
#include "paparazzi.h"
#include "modules/nav/nav_survey_poly_osam.h"
#include "modules/nav/nav_survey_polygon.h"

Include dependency graph for photogrammetry_calculator.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	photogrammetry_calculator_UpdateSideLap(X)
#define	photogrammetry_calculator_UpdateOverLap(X)
#define	photogrammetry_calculator_UpdateResolution(X)
#define	photogrammetry_calculator_UpdateHeight(X)
#define	photogrammetry_calculator_UpdateSideStep(X)
#define	photogrammetry_calculator_UpdateTriggerStep(X)
#define	PhotogrammetryCalculatorPolygonSurveyOsam(_WP, _COUNT)
#define	PhotogrammetryCalculatorPolygonSurvey(_WP, _COUNT)

Functions
void	init_photogrammetry_calculator (void)
void	photogrammetry_calculator_update_camera2flightplan (void)
void	photogrammetry_calculator_update_flightplan2camera (void)

Variables
float	photogrammetry_sweep_angle
int	photogrammetry_sidestep
int	photogrammetry_triggerstep
int	photogrammetry_height
int	photogrammetry_height_min
int	photogrammetry_height_max
int	photogrammetry_radius_min
int	photogrammetry_sidelap
int	photogrammetry_overlap
int	photogrammetry_resolution

Detailed Description

Add to airframe file:

  <section name="Photogrammetry" prefix="PHOTOGRAMMETRY_">
    <!-- Camera Parameters -->
    <define name="FOCAL_LENGTH" value="35" unit="mm"/>
    <define name="SENSOR_WIDTH" value="24" unit="mm"/>    <!-- In direction of the plane's wings -->
    <define name="SENSOR_HEIGHT" value="13.5" unit="mm"/> <!-- In direction of the plane's nose -->
    <define name="PIXELS_WIDTH" value="1024" unit=""/>

    <!-- Flight Safety Parameters -->
    <define name="HEIGHT_MIN" value="35" unit="m"/>
    <define name="HEIGHT_MAX" value="500" unit="m"/>
    <define name="RADIUS_MIN" value="70" unit="m"/>
  </section>

  <modules>
    <load name="photogrammetry_calculator.xml" />
  </modules>

Add to flightplan or airframe file:

    <!-- Photogrammetry Parameters: define these in the flightplan-->
    <define name="OVERLAP" value="0.5" unit="PROCENT"/>
    <define name="SIDELAP" value="0.5" unit="PROCENT"/>
    <define name="RESOLUTION" value="50" unit="mm pixel projection"/>

Add to flightplan

  <header>
#define PHOTOGRAMMETRY_SWEEP_ANGLE RadOfDeg(53)  // angle in radians from the North
#define PHOTOGRAMMETRY_OVERLAP 50              // 1-99 Procent
#define PHOTOGRAMMETRY_SIDELAP 50              // 1-99 Procent
#define PHOTOGRAMMETRY_RESOLUTION 80             // mm pixel projection size
</header>

    <block group="survey" name="Initialize Poly Survey 56789" strip_button="Survey5678" strip_icon="survey.png">
      <call fun="PhotogrammetryCalculatorPolygonSurvey(WP_5, 5)"/>
      <call fun="PolygonSurvey()"/>
    </block>
    <block group="survey" name="Initialize ADV Poly 1234 Survey" strip_button="SurveyADV" strip_icon="survey.png">
      <call fun="PhotogrammetryCalculatorPolygonSurveyADV(WP_1, 4)"/>
      <call fun="poly_survey_adv()"/>
    </block>

Definition in file photogrammetry_calculator.h.

Macro Definition Documentation

photogrammetry_calculator_UpdateHeight

#define photogrammetry_calculator_UpdateHeight

(

X

)

Value:

    {   \
    photogrammetry_height = X;          \
    photogrammetry_calculator_update_flightplan2camera();   \
  }

Definition at line 122 of file photogrammetry_calculator.h.

photogrammetry_calculator_UpdateOverLap

#define photogrammetry_calculator_UpdateOverLap

(

X

)

Value:

    {   \
    photogrammetry_overlap = X;         \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

Definition at line 111 of file photogrammetry_calculator.h.

photogrammetry_calculator_UpdateResolution

#define photogrammetry_calculator_UpdateResolution

(

X

)

Value:

    {   \
    photogrammetry_resolution = X;        \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

Definition at line 116 of file photogrammetry_calculator.h.

photogrammetry_calculator_UpdateSideLap

#define photogrammetry_calculator_UpdateSideLap

(

X

)

Value:

    {   \
    photogrammetry_sidelap = X;         \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

Definition at line 106 of file photogrammetry_calculator.h.

photogrammetry_calculator_UpdateSideStep

#define photogrammetry_calculator_UpdateSideStep

(

X

)

Value:

    {   \
    photogrammetry_sidestep = X;          \
    photogrammetry_calculator_update_flightplan2camera();   \
  }

Definition at line 127 of file photogrammetry_calculator.h.

photogrammetry_calculator_UpdateTriggerStep

#define photogrammetry_calculator_UpdateTriggerStep

(

X

)

Value:

    {   \
    photogrammetry_triggerstep = X;       \
    photogrammetry_calculator_update_flightplan2camera();   \
  }

Definition at line 132 of file photogrammetry_calculator.h.

PhotogrammetryCalculatorPolygonSurvey

#define PhotogrammetryCalculatorPolygonSurvey	(		_WP,
			_COUNT
	)

Value:

    {      \
    nav_survey_polygon_setup((_WP), (_COUNT), DegOfRad(photogrammetry_sweep_angle), \
                             photogrammetry_sidestep, photogrammetry_triggerstep,      \
                             photogrammetry_radius_min,  photogrammetry_height + GROUND_ALT);    \
  }

Definition at line 146 of file photogrammetry_calculator.h.

PhotogrammetryCalculatorPolygonSurveyOsam

#define PhotogrammetryCalculatorPolygonSurveyOsam	(		_WP,
			_COUNT
	)

Value:

    {        \
    WaypointAlt(_WP) = photogrammetry_height + GROUND_ALT;      \
    int _ang = 90 - DegOfRad(photogrammetry_sweep_angle);       \
    while (_ang > 90) _ang -= 180; while (_ang < -90) _ang += 180;      \
    nav_survey_poly_osam_setup((_WP), (_COUNT), 2*photogrammetry_sidestep, _ang);   \
  }

Definition at line 139 of file photogrammetry_calculator.h.

Function Documentation

init_photogrammetry_calculator()

void init_photogrammetry_calculator

(

void

)

Definition at line 67 of file photogrammetry_calculator.c.

References foo, photogrammetry_calculator_update_camera2flightplan(), photogrammetry_height_max, photogrammetry_height_min, PHOTOGRAMMETRY_OVERLAP, photogrammetry_overlap, photogrammetry_radius_min, PHOTOGRAMMETRY_RESOLUTION, photogrammetry_resolution, PHOTOGRAMMETRY_SIDELAP, photogrammetry_sidelap, PHOTOGRAMMETRY_SWEEP_ANGLE, and photogrammetry_sweep_angle.

Here is the call graph for this function:

photogrammetry_calculator_update_camera2flightplan()

void photogrammetry_calculator_update_camera2flightplan

(

void

)

Definition at line 82 of file photogrammetry_calculator.c.

References foo, photogrammetry_height, photogrammetry_height_max, photogrammetry_height_min, photogrammetry_overlap, photogrammetry_resolution, photogrammetry_sidelap, photogrammetry_sidestep, and photogrammetry_triggerstep.

Referenced by init_photogrammetry_calculator().

Here is the caller graph for this function:

photogrammetry_calculator_update_flightplan2camera()

void photogrammetry_calculator_update_flightplan2camera

(

void

)

Definition at line 107 of file photogrammetry_calculator.c.

References foo, photogrammetry_height, photogrammetry_overlap, photogrammetry_resolution, photogrammetry_sidelap, photogrammetry_sidestep, and photogrammetry_triggerstep.

Variable Documentation

photogrammetry_height

int photogrammetry_height

extern

Definition at line 54 of file photogrammetry_calculator.c.

Referenced by photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().

photogrammetry_height_max

int photogrammetry_height_max

extern

Definition at line 63 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator(), and photogrammetry_calculator_update_camera2flightplan().

photogrammetry_height_min

int photogrammetry_height_min

extern

Definition at line 62 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator(), and photogrammetry_calculator_update_camera2flightplan().

photogrammetry_overlap

int photogrammetry_overlap

extern

Definition at line 58 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator(), photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().

photogrammetry_radius_min

int photogrammetry_radius_min

extern

Definition at line 64 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator().

photogrammetry_resolution

int photogrammetry_resolution

extern

Definition at line 59 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator(), photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().

photogrammetry_sidelap

int photogrammetry_sidelap

extern

Definition at line 57 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator(), photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().

photogrammetry_sidestep

int photogrammetry_sidestep

extern

Definition at line 52 of file photogrammetry_calculator.c.

Referenced by photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().

photogrammetry_sweep_angle

float photogrammetry_sweep_angle

extern

Definition at line 50 of file photogrammetry_calculator.c.

Referenced by init_photogrammetry_calculator().

photogrammetry_triggerstep

int photogrammetry_triggerstep

extern

Definition at line 53 of file photogrammetry_calculator.c.

Referenced by photogrammetry_calculator_update_camera2flightplan(), and photogrammetry_calculator_update_flightplan2camera().