75 #ifndef PHOTOGRAMMETRY_CALCULATOR_H
76 #define PHOTOGRAMMETRY_CALCULATOR_H
106 #define photogrammetry_calculator_UpdateSideLap(X) { \
107 photogrammetry_sidelap = X; \
108 photogrammetry_calculator_update_camera2flightplan(); \
111 #define photogrammetry_calculator_UpdateOverLap(X) { \
112 photogrammetry_overlap = X; \
113 photogrammetry_calculator_update_camera2flightplan(); \
116 #define photogrammetry_calculator_UpdateResolution(X) { \
117 photogrammetry_resolution = X; \
118 photogrammetry_calculator_update_camera2flightplan(); \
122 #define photogrammetry_calculator_UpdateHeight(X) { \
123 photogrammetry_height = X; \
124 photogrammetry_calculator_update_flightplan2camera(); \
127 #define photogrammetry_calculator_UpdateSideStep(X) { \
128 photogrammetry_sidestep = X; \
129 photogrammetry_calculator_update_flightplan2camera(); \
132 #define photogrammetry_calculator_UpdateTriggerStep(X) { \
133 photogrammetry_triggerstep = X; \
134 photogrammetry_calculator_update_flightplan2camera(); \
139 #define PhotogrammetryCalculatorPolygonSurveyOsam(_WP, _COUNT) { \
140 WaypointAlt(_WP) = photogrammetry_height + GROUND_ALT; \
141 int _ang = 90 - DegOfRad(photogrammetry_sweep_angle); \
142 while (_ang > 90) _ang -= 180; while (_ang < -90) _ang += 180; \
143 nav_survey_poly_osam_setup((_WP), (_COUNT), 2*photogrammetry_sidestep, _ang); \
146 #define PhotogrammetryCalculatorPolygonSurvey(_WP, _COUNT) { \
147 nav_survey_polygon_setup((_WP), (_COUNT), DegOfRad(photogrammetry_sweep_angle), \
148 photogrammetry_sidestep, photogrammetry_triggerstep, \
149 photogrammetry_radius_min, photogrammetry_height + GROUND_ALT); \
Advanced polygon survey for fixedwings from Uni Stuttgart.
int photogrammetry_height_max
int photogrammetry_sidestep
float photogrammetry_sweep_angle
int photogrammetry_radius_min
int photogrammetry_height
int photogrammetry_height_min
void photogrammetry_calculator_update_camera2flightplan(void)
void init_photogrammetry_calculator(void)
int photogrammetry_resolution
void photogrammetry_calculator_update_flightplan2camera(void)
int photogrammetry_triggerstep
int photogrammetry_sidelap
int photogrammetry_overlap