photogrammetry_calculator.h

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/*
 * Copyright (C) 2009  Christophe De Wagter
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */

#ifndef PHOTOGRAMMETRY_CALCULATOR_H
#define PHOTOGRAMMETRY_CALCULATOR_H

#include "std.h"
#include "paparazzi.h"

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


// Flightplan Variables
extern float photogrammetry_sweep_angle;
extern int photogrammetry_sidestep;
extern int photogrammetry_triggerstep;
extern int photogrammetry_height;

extern int photogrammetry_height_min;
extern int photogrammetry_height_max;
extern int photogrammetry_radius_min;


// Photogrammetry Goals
extern int photogrammetry_sidelap;
extern int photogrammetry_overlap;
extern int photogrammetry_resolution;

void init_photogrammetry_calculator(void);
void photogrammetry_calculator_update_camera2flightplan(void);
void photogrammetry_calculator_update_flightplan2camera(void);

// Update Flightplan on Camera Change
#define photogrammetry_calculator_UpdateSideLap(X)  {   \
    photogrammetry_sidelap = X;         \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

#define photogrammetry_calculator_UpdateOverLap(X)  {   \
    photogrammetry_overlap = X;         \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

#define photogrammetry_calculator_UpdateResolution(X) {   \
    photogrammetry_resolution = X;        \
    photogrammetry_calculator_update_camera2flightplan();   \
  }

// Update Camera on Flightplan Change
#define photogrammetry_calculator_UpdateHeight(X) {   \
    photogrammetry_height = X;          \
    photogrammetry_calculator_update_flightplan2camera();   \
  }

#define photogrammetry_calculator_UpdateSideStep(X) {   \
    photogrammetry_sidestep = X;          \
    photogrammetry_calculator_update_flightplan2camera();   \
  }

#define photogrammetry_calculator_UpdateTriggerStep(X)  {   \
    photogrammetry_triggerstep = X;       \
    photogrammetry_calculator_update_flightplan2camera();   \
  }


// Flightplan Routine Wrappers
#define PhotogrammetryCalculatorPolygonSurveyOsam(_WP, _COUNT) {        \
    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);   \
  }

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

#endif