////////////////////////////////////////////////////////////
//all the work is done in the constructor for this class
public InspectKMLforMissions(String _kmlFilename, String _datasetFolder, StreamWriter _outfile)
{
//instantiate the polygons class -- filled herein
polygons = new List<Polygon>(); //List of polygons from the kml
//class names from input names
kmlFilename = _kmlFilename; //input kml file name with complete path
datasetFolder = _datasetFolder; //folder containing the input kml file
outfile = _outfile; //KMLDebugFile.txt written to the datasetFolder
//filename of the input kml file -- may not be the polygon/path name stored inside the kml file
String kmlName = Path.GetFileNameWithoutExtension(kmlFilename);
XmlTextReader textReader = new XmlTextReader(kmlFilename); //associate the textReader with input file
/////////////////////////////////////////////////////////////////////////////////////////
// top of the loop to read all folders and placemarks in the input kml
// read to a folder or placemark element in the kml
// determine if the "Polygon" tag or "lineString" tag is present
// assume each placemark has a set of coordinates
// read the lat/lon vertices from the coordinates
/////////////////////////////////////////////////////////////////////////////////////////
//these are set to true when we detect a folder or placemark
bool folderElementLocated = false;
bool placemarkElementLocated = false;
String PlacemarkName = "";
String PlacemarkFolderName = "";
//this will become the key exported polygon result from reviewing the input kml
polygons = new List<Polygon>();
while (textReader.Read()) ///read xml elements sequentially in a while loop
{
//generally, there may be no folders -- but multiple placemarks may be inside a folder
if (textReader.IsStartElement() && textReader.Name == "Folder")
{
folderElementLocated = true;
}
//for a single mission plan there will be only a single placemark -- this is most common
//however, we can also allow to plan multiple polygon projects
if (textReader.IsStartElement() && textReader.Name == "Placemark")
{
placemarkElementLocated = true; //found a placemark
numberOfPlaceMarksThisKML++;
}
if (folderElementLocated || placemarkElementLocated)
{
//each placemark should have a "name" element
if (textReader.IsStartElement() && textReader.Name == "name")
{
textReader.Read(); //read the next element -- should be a name
if (folderElementLocated)
{
PlacemarkFolderName = (String)textReader.Value;
outfile.WriteLine();
outfile.WriteLine(PlacemarkFolderName);
folderElementLocated = false;
}
//this where the work occurs --- this placemark name has the coordinates for the client polygons
if (placemarkElementLocated)
{
PlacemarkName = (String)textReader.Value;
Constants.Log(" Polygon name: " + PlacemarkName);
placemarkElementLocated = false;
//at this point we have a placmark and its name
//fill this structure and place into the polygon list
Polygon p = new Polygon();
//coverage type must be set below from info in the kml file
p.polyCoverageType = COVERAGE_TYPE.notSet;
//now locate the polygon Coordinates associated with this Placemark.
//the below coordinate reader also works with a linear feature
//These are contained in a <coordinates> element
while (textReader.Read())
{
/////////////////////////////////////////////////////////////////////////////////////////
//we cycle through subsequent elements for every detected Placemark tag
//below code works for either the polygon coverage or for a linear feature coverage
/////////////////////////////////////////////////////////////////////////////////////////
textReader.MoveToElement();
//we will distinguish a "polygon" coverage using the Google Earth tag Polygon.
if (textReader.IsStartElement() && textReader.Name == "Polygon")
{
p.polyCoverageType = COVERAGE_TYPE.polygon;
outfile.WriteLine("Found a Placemark and Polygon tag in the unut XML file: assume polygon coverage \n");
Constants.Log("Found a Polygon tag in the input kml file -- assuming polygon coverage");
}
if (textReader.IsStartElement() && textReader.Name == "LineString")
{
//set flag for detection of a linear feature coverage
p.polyCoverageType = COVERAGE_TYPE.linearFeature;
outfile.WriteLine("Found a Placemark and lineString tag in the input XML file: assume linestring coverage \n");
Constants.Log("Found a lineString tag in the input kml file -- assuming linearFeature coverage");
}
if (textReader.Name == "coordinates") //this will be the coordinates of the client poygon
{
//outfile.WriteLine(" Found <coordinates> tag for the polygon data ");
textReader.Read(); //here we read the complete set of coordinates as a single string
//textReader.Value contains a string with all the polygon coordinates
char[] delimiterChars = { ',', ' ', '\t', '\n', '\r' }; //these delimiters were determined by looking at a file ...
//the "value" is the text between the <coordinates> and </coordinates>
//below we read the complete string value and split it into separate substrings -- ugly but it works
//the substrings contain the individual coordinate values with some ""s and the heights are "0".
string[] coordinateValues = textReader.Value.ToString().Split(delimiterChars);
p.meanLatDeg = 0.0; p.meanLonDeg = 0.0;
p.Easting = new List<double>(); p.Northing = new List<double>();
p.latitudeDeg = new List<double>(); p.longitudeDeg = new List<double>();
//get the quantitative lat/long values from the text array ... there are a number of ""s in the text file ...
//each Google point has three values : longitude, Latitude, height -- we assume the height is zero here
int k = 0; int i = 0;
while (i < coordinateValues.Count()) //loop through the number of coordinates in the poloygon
{
if (coordinateValues[i] != "")
{
double lat = 0.0;
double lon = 0.0;
try
{
lat = Convert.ToDouble(coordinateValues[i + 1]);
lon = Convert.ToDouble(coordinateValues[i]);
}
catch
{
Constants.Log("Cant convert the lat or long value to decimal values ");
}
//Constants.Log( lat.ToString("F5") + " " + lon.ToString("F5") );
p.latitudeDeg.Add(lat);
p.longitudeDeg.Add(lon);
//String ooo = String.Format("{0,2} {1,13:####.00000000} {2,13:####.00000000}", k.ToString(), latitude[k], longitude[k]);
//outfile.WriteLine(ooo);
//outfile.Flush();
p.meanLatDeg += lat;
p.meanLonDeg += lon;
k++; //index of the storage array
//increment the split array by 3 because the points are: lat,lon,height
i += 3; //increment by 3 to get the next coordinate
}
else i++; //here we skip the ""s in the text array
}
//completed storing the lat/lon array from the kml file
int numLatLonPoints = k; //final number of lat/lon points
if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
Constants.Log("Input kml file contains a linearFeature with " + numLatLonPoints.ToString() + " points");
else if(p.polyCoverageType == COVERAGE_TYPE.polygon)
Constants.Log("Input kml file contains a polygon with " + numLatLonPoints.ToString() + " points");
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//at this point we have the placemark name and the list of geodetic coordinates for the polygon from this placemark.
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
p.meanLatDeg /= numLatLonPoints; //geodetic mean of the polygon
p.meanLonDeg /= numLatLonPoints;
////////////////////////////////////////////////////////////////////////////////////////////////////////////
//we will allow three levels of naming: job, project, polygon
//the original idea was that job = the overall job containing projects and individual polygons in a job
//an example would be
//job: agricultureFieldsForDate
//Project: FarmerJohn, FarmerJoe
//polygon: field#1, field#2, etc
//However, the current setup is that we have a single polygon in the input kml file
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
p.JobName = kmlFilename;
p.ProjectName = PlacemarkFolderName;
p.PolygonName = PlacemarkName;
if (p.polyCoverageType == COVERAGE_TYPE.notSet)
{
MessageBox.Show("There were no Polygon or LinearPath coverages found in this input kml file -- exiting");
Application.Exit();
}
polygons.Add(p);
break;
} //end of parsing the coordinates element value into individual polygon lat/lon indices
}//end of accessing the <coordinates> element of the placemark
} // end of processing Placemark
}//end of if (textReader.IsStartElement() && textReader.Name == "name")
}// end of if (folderElementLocated || placemarkElementLocated)
} //end of while (textReader.Read())
//need to provide a messageBox if there were no polygon or lineString tags in this kml file
//outfile.WriteLine(" Finished reading the polygon points. Number of points = " /*+ numLatLonPoints.ToString()*/);
outfile.Flush();
textReader.Close();
}
public void getGoogleMapToCoverProject(ref Polygon p, bool downloadMap)
{
double maxLat = p.maxLatDeg;
double minLat = p.minLatDeg;
double maxLon = p.maxLonDeg;
double minLon = p.minLonDeg;
if (p.airports[p.selectedAirportIndex].lat > maxLat) maxLat = p.airports[p.selectedAirportIndex].lat;
if (p.airports[p.selectedAirportIndex].lat < minLat) minLat = p.airports[p.selectedAirportIndex].lat;
if (p.airports[p.selectedAirportIndex].lon > maxLon) maxLon = p.airports[p.selectedAirportIndex].lon;
if (p.airports[p.selectedAirportIndex].lon < minLon) minLon = p.airports[p.selectedAirportIndex].lon;
/*
//get the bounding rectangle for the map without any buffer
foreach (airport apt in p.airports) //map covers airports used in the planning
{
if (apt.lat > maxLat) maxLat = apt.lat;
if (apt.lat < minLat) minLat = apt.lat;
if (apt.lon > maxLon) maxLon = apt.lon;
if (apt.lon < minLon) minLon = apt.lon;
}
//make sure the map covers all the polygon
if (p.maxLatDeg > maxLat) maxLat = p.maxLatDeg;
if (p.minLatDeg < minLat) minLat = p.minLatDeg;
if (p.maxLonDeg > maxLon) maxLon = p.maxLonDeg;
if (p.minLonDeg < minLon) minLon = p.minLonDeg;
*/
PointD mapCenter = new PointD( (maxLon + minLon)/2.0, (maxLat + minLat)/2.0 );
//set a buffer around the map size that will contain the project polygon and airports plus a border
double bufferPercent = 0.05;
double latBuffer = bufferPercent * (maxLat - minLat);
double lonBuffer = bufferPercent * (maxLon - minLon);
// get the google maps zoom level that will encompass this map within a 640X480 pixel size
int selectedZoom = 1;
//note: the returned image size is reduced as the zooom is increased
//so increase til the the image no longer fits -- image size assumed to be 640X480
//640 X 480 is larges image that can be retreived frn Google Maps for FGree.
for (int zoom = 5; zoom < 20; zoom++)
{
setMap(zoom, mapCenter);
PointD mapNWCordinates = getNWMapCoordinates();
if (mapNWCordinates.X > (minLon - lonBuffer) || mapNWCordinates.Y < (maxLat + latBuffer))
{
//test to see if the desired boundary rect is no longer contained in the Google Maps image
//set the desired zoom level to the last good zoom level
selectedZoom = zoom - 1;
break;
}
}
//this URL returns a valid image
//http://maps.googleapis.com/maps/api/staticmap?center=40.714728,-73.998672&zoom=12&size=400x400&sensor=false
//bing maps web server example: http://bing.com/maps/default.aspx?cp=43.901683~-69.522416&lvl=12&style=r
//build up the URL to retrieve the Google Map -- see the above model for the syntax
String GoogleMapsURL = "http://maps.googleapis.com/maps/api/staticmap?center=" +
mapCenter.Y.ToString() + "," +
mapCenter.X.ToString() + "&zoom=" + selectedZoom.ToString() + "&size=640x480&sensor=false";
//this downloads a map that can be opened --- need to figure out the scaling...
//GoogleMapsURL = "http://dev.virtualearth.net/REST/v1/Imagery/Map/Road/Routes?wp.0=Seattle,WA;64;1&wp.1=Redmond,WA;66;2&key=" +
// Constants.bingKey;
//set the file storage location
String backgroundImageFolder = datasetFolder + "\\" + polygonName + "_Background";
if (!Directory.Exists(backgroundImageFolder)) Directory.CreateDirectory(backgroundImageFolder);
String SaveToFile = backgroundImageFolder + "\\ProjectMap.png";
if (downloadMap)
{
//get the file from the web using a webClient
getFileFromWeb(GoogleMapsURL, SaveToFile);
Image img = Image.FromFile(SaveToFile); //get an image object from the stored file
//must convert this image into a non-indexed image in order to draw on it -- saved file PixelFormat is "Format8bppindexed"
Bitmap bm = new Bitmap(img.Width, img.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Graphics g = Graphics.FromImage(bm); //create a graphics object
g.DrawImage(img, 0, 0); //now draw the original indexed image (from the file) to the non-indexed image
}
setMap(selectedZoom, mapCenter);
p.NWMapCorner = getNWMapCoordinates();
p.SEMapCorner = getSEMapCoordinates();
p.mapName = polygonName + "_Background\\ProjectMap.png";
////draw the overall polygon onto the map
//for (int j = 0; j < p.latitudeDeg.Count; j++ )
//{
// int jp1 = (j+1) % p.latitudeDeg.Count;
// Point startPix = FromCoordinatesToLocalMapPixels(new PointD(p.longitudeDeg[j], p.latitudeDeg[j] )); //first convert center to Google Map pixels
// Point endPix = FromCoordinatesToLocalMapPixels(new PointD(p.longitudeDeg[jp1], p.latitudeDeg[jp1])); //first convert center to Google Map pixels
// //startPix.X = 0; startPix.Y = 0; endPix.X = 640; endPix.Y = 480;
// g.DrawLine(new Pen(Color.Red, 3), startPix, endPix);
//}
//String missionImageFolder = datasetFolder + "\\" + polygonName + "_Summary";
//if (!Directory.Exists(missionImageFolder)) Directory.CreateDirectory(missionImageFolder);
//bm.Save(datasetFolder + "\\" + p.mapName);
}
public List<airport> airportsNearPolygon(Polygon p)
{
////////////////////////////////////////////////////////////////////////////////////
//this procedure gets a List of airports close to a client polygon
//we break the polygpon rectangular boundary into rectangular chunks 50kmx50km
//the Google "Places" API will return airports within a 50km radius of a point
//so we call the API using the 50 mi squares ..
// this is only approximate and should be rethought !!!
///////////////////////////////////////////////////////////////////////////////////
//this will become the returned airports list
airports = new List<airport>();
//we will also get the elevation at the airport lat/lon using the Google Elevation API
//below is the prefix and postfix where the lat/lon of the request is in the middle
String elevationAPIPrefix = "http://maps.googleapis.com/maps/api/elevation/xml?locations=";
String elevationAPIPostfix = "&sensor=false";
//get poly NS and EW height/width for the poly bounding rectangle
double NSPolyHeightMeters = p.maxNorthing - p.minNorthing;
double EWPolyWidthMeters = p.maxEasting - p.minEasting;
//find number of 50km boxes to cover the NS height + 100km added to top and bottom
int numberNSDivisions = Convert.ToInt32((NSPolyHeightMeters + 100000.0) / 50000.0) + 1;
int numberEWDivisions = Convert.ToInt32((EWPolyWidthMeters + 100000.0) / 50000.0) + 1;
double aptLat = 0.0, aptLon = 0.0;
//start 100km below the S edge but by 25km
//we will step in 50km chunks cause the Places API only gives us places within 50km of a point
double northing = p.minNorthing - 75000.0; //start at the south edge and move north
try
{
//cycle through all the 50km square regions covering the polygon
for (int i = 0; i < numberNSDivisions; i++)
{
double easting = p.minEasting - 75000.0; //start at the westmost and move east (+)
for (int j = 0; j < numberEWDivisions; j++)
{
List<airport> localAirports = new List<airport>(); //local airports for this 50km square
utm.UTMtoLL(northing, easting, p.UTMZone, ref aptLat, ref aptLon);
localAirports = airportsWitin50kmRadius(aptLat, aptLon, p.meanLatDeg, p.meanLonDeg); //get local list for 50km square
//Console.WriteLine("new code " + i.ToString() + " " + j.ToString() + " " + localAirports.Count.ToString());
//localAirports = airportsWitin50kmRadius(meanLatDeg, meanLonDeg, meanLatDeg, meanLonDeg);
easting += 50000.0; // move east by 50km
if (localAirports.Count == 0) continue; //if this 50km square has NO airports -- go to the next box to the east
//check the new airports from the local list against the complete list --- dont add airports twice
for (int iap = 0; iap < localAirports.Count; iap++) //not using a foreach cause we want to add the altitude to the airport struct
{
bool repeated = false;
foreach (airport ap in airports) //cycle through the local airports
{
//if the airport name in the local list is same as airport name in total list break and label as a repeat
if (ap.name == localAirports[iap].name)
{
//Console.WriteLine("repeated airport: " + ap.name);
repeated = true; break;
}
}
if (!repeated) //use this airport in the exported list
{
//form the Google Elevation API request for the elevation at this airport
XmlTextReader tr = new XmlTextReader(elevationAPIPrefix + localAirports[iap].lat + "," + localAirports[iap].lon + elevationAPIPostfix);
while (tr.Read()) //read the response xml reply from the elevation API to get the elevation
{
if (tr.IsStartElement() && tr.Name == "elevation")
{
tr.Read();
airport temp = localAirports[iap]; //cannot modify localAirports[iap].altitude directly!!!!
temp.altitude = Convert.ToDouble(tr.Value); //modify a temp version of the airport struct and then re-insert to the list
localAirports[iap] = temp;
}
}
String lcName = localAirports[iap].name.ToLower();
//Console.WriteLine("new non-repeated airport: " + lcName);
if ((lcName.Contains("air") || lcName.Contains("field") || lcName.Contains("aero")))
{
airports.Add(localAirports[iap]);
Console.WriteLine("adding new airport: " + lcName);
}
else
{
//Console.WriteLine("rejected non-repeated airport: " + lcName);
}
}
}
}
northing += 50000.0; //move to the north by 50km
}
}
catch
{
//int a = 0;
}
airports.Sort( (apt1, apt2) => string.Compare(apt1.name, apt2.name));
return airports;
}
public ReflyPlanner(String _reflyKmlPathFilename, Polygon _p)
{
reflyKmlPathFilename = _reflyKmlPathFilename;
p = _p;
UTM2Geodetic utm = new UTM2Geodetic();
XmlTextReader textReader = new XmlTextReader(reflyKmlPathFilename); //associate the textReader with input file
while (textReader.Read())
{
textReader.MoveToElement();
if (textReader.IsStartElement() && textReader.Name == "coordinates")
{
/////////////////////////////////////////////////////////////////////
//read in and process the coordinates into refly line segments
/////////////////////////////////////////////////////////////////////
textReader.Read(); //here we read the complete set of coordinates as a single string
//textReader.Value contains a string with all the polygon coordinates
char[] delimiterChars = { ',', ' ', '\t', '\n', '\r' }; //these delimiters were determined by looking at a file ...
//the "value" is the text between the <coordinates> and </coordinates>
//below we read the complete string value and split it into separate substrings -- ugly but it works
//the substrings contain the individual coordinate values with some ""s and the heigts are "0".
string[] coordinateValues = textReader.Value.ToString().Split(delimiterChars);
//get the quantitative lat/long values from the text array ... there are a number of ""s in the text file ...
//each Google point has three values : longitude, Latitude, height -- we assume the height is zero here
int k = 0; int i = 0;
double lat1=0.0, lat2=0.0, lon1=0.0, lon2=0.0;
while (i < coordinateValues.Count())
{
if (coordinateValues[i] != "")
{
lat1 = Convert.ToDouble(coordinateValues[i + 1]);
lon1 = Convert.ToDouble(coordinateValues[i]);
//odd-even numbered (k) points are the endpoints
if ( (k+1) % 2 == 0)
{
//have found a segment pair of lat/lon points
//order the start/end points so the start end is to the south
endPoints ep = new endPoints();
if (lat1 > lat2)
{
ep.endLat = lat1;
ep.endLon = lon1;
ep.startLat = lat2;
ep.startLon = lon2;
}
else
{
ep.endLat = lat2;
ep.endLon = lon2;
ep.startLat = lat1;
ep.startLon = lon1;
}
utm.LLtoUTM(ep.startLat * Deg2Rad, ep.startLon * Deg2Rad, ref ep.startUTMY, ref ep.startUTMX, ref p.UTMZone, true);
utm.LLtoUTM(ep.endLat * Deg2Rad, ep.endLon * Deg2Rad, ref ep.endUTMY, ref ep.endUTMX, ref p.UTMZone, true);
reflySegments.Add(ep);
}
lat2 = lat1;
lon2 = lon1;
k++; //index of the storage array
//increment the split array by 3 because the points are lat,lon,height
i += 3; //increment by 3 to get the next coordinate
}
else i++; //here we skip the ""s in the text array
}
}
}
}
private COVERAGE_SUMMARY getPolygonFlightPathCoverage(double rotationRad,
Polygon p, double swathWidthKm, double maxFLLengthKm, double minLineLength, double DRImageHeightKm,
ref int numSets, ref int numFlightLines, ref double[,,] XAllSets, ref double[,,] YAllSets)
{
/////////////////////////////////////////////////////////////////////////
//this procedure defines a set of flight lines that cover a polygon
//The flight lines are returned on the arrays XallSets, YAllSets
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//For coverages other than North-South,
//rotate the input easting, Northing polygon vertices by angle about the polygon centroid
//cover the rotated polygon with a North-South set of flight lines
//This will result in a YAllSets[i,k,j], XAllsets[i,k,j] set of flight line endpoints
//where i=0,1 to represent the start or end
// j= the set number
// k= flightline number within the set
//now rotate the flight line endpoints by -theta about the polygon centroid.
//now YAllSets, XAlSets are rotated vectors
//go through the set-based flight lines, tossing zero-length lines
//and to produce a 1D (non-set-based) list of flight lines
//The flightline-length computation must use the generalized UTM flight line endpoints.
//////////////////////////////////////////////////////////////////////////////////////////////////////////
//
//rotate the input polygon
List<double> originalPolygonEasting = new List<double>();
List<double> originalPolygonNorthing = new List<double>();
for (int i = 0; i < p.Northing.Count; i++)
{
originalPolygonNorthing.Add(p.Northing[i]);
originalPolygonEasting.Add(p.Easting[i]);
}
//rotate the original coordinates
p.maxEasting = -999999999999.0; p.maxNorthing = -9999999999999.0;
p.minEasting = 999999999999.0; p.minNorthing = 9999999999999.0;
//double rotation = (-p.rotationAngleDeg) * Constants.Deg2Rad;
for (int i = 0; i < p.Northing.Count; i++)
{
double delEasting = originalPolygonEasting[i] - p.meanEasting;
double delNorthing = originalPolygonNorthing[i] - p.meanNorthing;
p.Easting[i] = p.meanEasting + Math.Cos(rotationRad) * delEasting + Math.Sin(rotationRad) * delNorthing;
p.Northing[i] = p.meanNorthing - Math.Sin(rotationRad) * delEasting + Math.Cos(rotationRad) * delNorthing;
//recompute the maximums for the rotated vertices
if (p.Easting[i] > p.maxEasting) p.maxEasting = p.Easting[i];
if (p.Northing[i] > p.maxNorthing) p.maxNorthing = p.Northing[i];
if (p.Easting[i] < p.minEasting) p.minEasting = p.Easting[i];
if (p.Northing[i] < p.minNorthing) p.minNorthing = p.Northing[i];
}
//compute the north-to-south distance wherein we will space the flightlines
double NSDstanceKm = (p.maxNorthing - p.minNorthing) / 1000.0;
double EWDstanceKm = (p.maxEasting - p.minEasting) / 1000.0;
double NSDstanceMi = (p.maxNorthing - p.minNorthing) / 0.3048 / 5280.0;
double EWDstanceMi = (p.maxEasting - p.minEasting) / 0.3048 / 5280.0;
//must also recompute the maxNorthing and maxEasting for the rotated vertices
//int numFlightLines = 0, numSets = 0;
double maxFLLengthMet = 0.0;
double E2WKm = 0.0;
numFlightLines = Convert.ToInt32(Math.Floor(EWDstanceKm / swathWidthKm)); //flight lines should always be inside the polygon
//input flight line length is reduced to cause an integer number of equal-length flight lines to span the NS extent
numSets = Convert.ToInt32(Math.Floor(NSDstanceKm / maxFLLengthKm)) + 1;
maxFLLengthKm = NSDstanceKm / numSets; //make maxFLLength equal-to or smaller-than max so each set has constant NS length
double maxFLLengthMi = maxFLLengthKm * 1000.0 / 0.3048 / 5280.0;
maxFLLengthMet = maxFLLengthKm * 1000.0;
E2WKm = swathWidthKm * numFlightLines; //redefine the E2W coverage distance so that flightline spacing fixed by camera FOV and sidelap
//this is the final UTM set of flight line endpointd
//XAllSets[k,i,j], YAllSets[k,i,j] whete k=0,1 (start,end of flight line), i=Set, j=FlightlineInSet
//X is the Easting and Y is the Northing
//the Start is always below (to the south) from the end for a flight line
//double[, ,] XAllSets;
//double[, ,] YAllSets;
//set up for the polygon math
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
//these arrays store the endpoints of the flight lines not-terminated by max line length constraint
double[,] XintAllFL = new double[2, numFlightLines + 1]; //beginning and end of each flight line
double[,] YintAllFL = new double[2, numFlightLines + 1];
double EastingStart = 0, EastingEnd = 0, NorthingStart = 0, NorthingEnd = 0;
//set the first NS flight line on the eastmost side -- no more than 1/2 swathwidth inside the polygon
//because the flight lines are N-S, the eastings for the endpoints will be the same
//NOTE: EWDstanceKm is the max extent of the polygon rectangular boundary
//E2WKm will be <= EWDstanceKm
EastingStart = p.minEasting + 1000.0 * (EWDstanceKm - E2WKm) / 2.0; //fight lines will always be inside the polygon
EastingEnd = EastingStart; // all NS flight lines have the same EW coordinates (they are exactly NS)
//initialize the initial flight line ends as the max of the polygon rectangular envelope
NorthingStart = p.maxNorthing;
NorthingEnd = p.minNorthing;
outfile.WriteLine();
outfile.WriteLine(" Precompute the flight line lengths without maxLength consideration");
/////////////////////////////////////////////////////////////////////////////////////////////////////
//without the below statement, the last flight line will be too far inside the right max extent
//something fishy about the above integer math!!!!!
/////////////////////////////////////////////////////////////////////////////////////////////////////
numFlightLines++;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//pre compute all the flightline intersections with the polygon without consideration of Sets that will act to reduce the flight line length
//this initial step computes the flightlines as though they can have infinite length
// Sets: vertically divide the Project polygon into equal-distance regions where we will look for non-zero flight lines
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
double maxUnterminatedLineLength = -999.0;
for (int i = 0; i < numFlightLines; i++)
{
//flight line intersections wthout consideration of line length
double[] Xint = new double[2];
double[] Yint = new double[2];
//compute the north-most and south-most flightline ends by the intersection of the flightline with the polygon
//here we only return two intersections -- internal to this procedure, we compute the most-north and most-south of all intersections
//note the polygons may contain concave areas that would cause more than two intersections
int intersectionCounter =
polyMath.intersectionOfLineWithPolygon(EastingStart, NorthingStart, EastingEnd, NorthingEnd, ref Xint, ref Yint);
XintAllFL[0, i] = Xint[0]; //west-most line intersection with poly for Flightline i
XintAllFL[1, i] = Xint[1]; //east-most line intersection with poly
YintAllFL[0, i] = Yint[0]; //south-most line intersection with poly
YintAllFL[1, i] = Yint[1]; //north-most line intersection with poly
double lineLength = 0.0;
lineLength = (YintAllFL[1, i] - YintAllFL[0, i]);
outfile.WriteLine(String.Format("line number: {0,2} non-terminated linelength = {1,12:#.00} (km) {2,12:#.00} (Mi)",
i, lineLength / 1000.0, lineLength / 0.3048 / 5280.0));
outfile.Flush();
//
if (lineLength > maxUnterminatedLineLength) maxUnterminatedLineLength = lineLength;
//increment the NS flight line by the swath width -- assume North-South flightline that moves to the east
EastingStart += (swathWidthKm * 1000.0);
EastingEnd = EastingStart;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
//completed locating the coverage flight lines without consideration of maximum flight line length
/////////////////////////////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine();
//input flight line length is reduced to cause an integer number of equal-length flight lines to span the NS extent
outfile.WriteLine(" Break up the non-terminated lines using the adjusted flightline maxLength: " + maxFLLengthMi.ToString("F2") + " (mi)");
outfile.WriteLine(" Number of Sets: " + numSets.ToString());
outfile.WriteLine();
outfile.WriteLine();
outfile.Flush();
//these will hold the flight line endpoints that are broken into sets to reduce flight line length
XAllSets = new double[2, numSets, numFlightLines + 1];
YAllSets = new double[2, numSets, numFlightLines + 1];
/////////////////////////////////////////////////////////////
//takes care of the case when there is only a single set
/////////////////////////////////////////////////////////////
//handle the case where the non-terminated line length is less than the client-requested max line length
//if (maxUnterminatedLineLength < maxFLLengthMet) numSets = 1;
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++)
{
XAllSets[k, i, j] = XintAllFL[k, j];
YAllSets[k, i, j] = YintAllFL[k, j];
}
FLSum = new FlightlineSummary[numSets * numFlightLines + 1];
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//now break up the non-terminated (too long) NS flight lines into the subsets defined by the user-set max flight line length
// the subset regions will have equal vertical (NS) height if lines end at a set boundary
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//cycle through the number of sets as determined by the max flight line length
for (int i = 0; i < numSets; i++) //numsets breaks the too-long flight lines to be less than the max flight line
{
outfile.WriteLine();
outfile.WriteLine(" Set: " + i.ToString());
outfile.WriteLine();
//define flight line candidate endpoints based on only the set start points
//these are adjusted based on line-end intersections with the client polygon
double startSetY = 0, endSetY = 0, startSetX = 0, endSetX = 0;
//define the vertical locations of the Set endpoints -- starts at the north-most set and moves south
startSetY = p.maxNorthing - i * maxFLLengthKm * 1000.0; //test subset flight line Ystart at the Set start
endSetY = startSetY - maxFLLengthKm * 1000.0; //test subset flight line Yend at the Set end
//cycle through the number of flight lines spaced across the plan pattern for each along-line set
for (int j = 0; j < numFlightLines; j++)
{
//start & end X (easting) values are equal and increment to the east with flight line counter
startSetX = p.minEasting + 1000.0 * (EWDstanceKm - E2WKm) / 2.0 + j * swathWidthKm * 1000.0;
//EW coordinates of NS flightlines are identical
endSetX = startSetX;
//at this point we have a set of flight lines defined by the along-line set and across-line FL spacing
//based solely on a rectangular region defined by the max/min coverage boundaries
//we need to terminate these lines based on their intersections with the client polygon
//the below arrays are the intersections of the flight line with the client polygon
double[] Xint = new double[2];
double[] Yint = new double[2];
//compute the number of intersections of the per-set line segment with the client polygon
//this can be zero, 1, 2, ....
int numIntersects = polyMath.intersectionOfLineWithPolygon(startSetX, startSetY, endSetX, endSetY, ref Xint, ref Yint);
//test to see if both ends of the test flight line are outside the total Project polygon external hull -- if so skip remainder of this loop --
//NOTE: endSetY will always be to the North of startSetY -- End and Start have a geographic order
//endsetY is south of startSetY -- YintAllFL[1, j] is south of YintAllFL[0, j]
//YintAllFL[0, i] south-most line intersection with poly
//YintAllFL[1, i] north-most line intersection with poly
if (endSetY > YintAllFL[1, j] || startSetY < YintAllFL[0, j])
{
outfile.WriteLine("both ends of FL= " + j.ToString() + " outside set " + i.ToString());
//force this line length for this set to zero -- else it will be counted again on another set
YAllSets[1, i, j] = YintAllFL[0, j];
YAllSets[0, i, j] = YintAllFL[0, j];
continue;
}
//if we get here -- at least one line end is inside the current set boundary extent
// numIntersects is the number of intersections of the set-terminated flight line with the client polygon
//there can be zero intersects even with both ends outside or inside the polygon
if (numIntersects == 0)
{
//test to see if one end is inside the polygon -- since there are zero intersects, this is the case where both ends are inside the polygon
if (polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing)) //both endpoints are inside the polygon
{
// set the desired flight line ends to fall on the set boundaries
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = endSetY;
outfile.WriteLine(" both line ends are inside the client poly ");
}
//the below "continue" is redundant with the first test above -- should never get here
//there are zero set-line intersections and neither end is inside the client poly
else
{
outfile.WriteLine("set line has at least one intersections with client poly -- but neither end is inside the poly");
continue; //this is the case where the poly is concave so that the complete terminated line is outside the polygon
}
}
else if (numIntersects % 2 == 1) //one of the set-boundary-terminated flight lines is outside the client polygon
{
outfile.WriteLine(" one line end is inside the client poly ");
//test to see if the endpoint is inside the client polygon
//if so, then this end is on the desired flight line
//the other end is at the set boundary
if (polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing))
{
YAllSets[1, i, j] = Yint[1];
YAllSets[0, i, j] = endSetY;
}
else //the startpoint is inside the client polygon
{
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = Yint[0];
}
}
//here we have an even number of intersctions
else //either both of the unterminated lines are outside the polygon or there is a concave polygon section
// must also consider a jut-out where both ends are outside ---
{
if (!polyMath.pointInsidePolygon(p.Easting.Count, endSetX, endSetY, p.Easting, p.Northing))
{
outfile.WriteLine("even number of intersections -- both ends are outside the client poly ");
//both ends must be outside the polygon
YAllSets[1, i, j] = Yint[1];
YAllSets[0, i, j] = Yint[0];
}
else //both ends must be inside the polygon
{
outfile.WriteLine("even number of intersections -- both ends are inside the client poly ");
YAllSets[1, i, j] = startSetY;
YAllSets[0, i, j] = endSetY;
}
}
double lineLengthKm = 0, lineLengthMi = 0;
//this becomes a list of the flight lines on a Set grouping that cover the polygon
//need to keep the order of the line within the set ... e.g., track those on the ends
XAllSets[0, i, j] = startSetX; //start of the line (this is to the South for a NS flightline)
XAllSets[1, i, j] = endSetX; //end of the line
lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
lineLengthMi = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 0.3048 / 5280.0;
outfile.WriteLine(String.Format("lines terminated at Set boundaries: set= {0,2} FL= {1,2} length: {2,10:#.00} Km {3,10:#.00} Mi intersects = {4}",
i, j, lineLengthKm, lineLengthMi, numIntersects));
outfile.Flush();
//below we do the following:
//if a line is too short, add the segment to either the next or last extension of the line
//if the short line is at the bottom of this Set, add to the top of the next set
//if the short line is at the top of this Set, add to the bottom of the last set
}
}
outfile.WriteLine();
outfile.WriteLine();
outfile.WriteLine("Extend the flight lines slightly to account for the descretization resulting from the swath width");
///////////////////////////////////////////////////////////////////////////////////////////
//we have a set of flight lines that cover the polygon spaced per the swath width
//However, if we use these flight lines, we will end up with gaps at the polygon edges
//due to the discretization of the flight lines. A short flight line prior to a
//longer flight line must be extended so that its edge covers the polygon.
//this should really be done by locating the polygon intersections at the halfway points between
//each of the flightline. We use the 0.75 below to account for this approximation.
//if the polygon edges were linear between the endpoints, we would use 0.5
//if the edge bewteen the endpoint has a vertices with convex shape it should be bigger than 0.5
//////////////////////////////////////////////////////////////////////////////////////////
//save the old endpoints
double[, ,] YAllSetsTemp = new double[2, numSets, numFlightLines];
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++) YAllSetsTemp[k, i, j] = YAllSets[k, i, j];
double[, ,] XAllSetsTemp = new double[2, numSets, numFlightLines];
for (int i = 0; i < numSets; i++) for (int j = 0; j < numFlightLines; j++) for (int k = 0; k < 2; k++) XAllSetsTemp[k, i, j] = XAllSets[k, i, j];
for (int i = 0; i < numSets; i++)
{
for (int j = 0; j < numFlightLines; j++)
{
double lineLengthKm = lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
//discard zero-length lines
if (lineLengthKm == 0.0)
{
outfile.WriteLine(" discard set {0} FL {1} due to zero length", i, j);
continue;
}
else
{
outfile.WriteLine(" keep set {0,2} FL {1,2} length = {2,8:#.00} (km) {3,8:#.00} (mi) ", i, j, lineLengthKm, lineLengthKm * 1000.0 / 0.3048 / 5280.0);
}
if (j < (numFlightLines - 2))
{
double lineLengthKm2 = 0;
lineLengthKm2 = (YAllSetsTemp[1, i, j + 1] - YAllSetsTemp[0, i, j + 1]) / 1000.0;
if (lineLengthKm2 == 0.0) continue;
//test to see if the next flight line end is above the current flight line end
//if so, then extend this flight line halfway to the next line end
if (YAllSetsTemp[1, i, j] < YAllSetsTemp[1, i, j + 1]) YAllSets[1, i, j] += 0.75 * (YAllSetsTemp[1, i, j + 1] - YAllSets[1, i, j]);
//test to see if the next flight line start is below the current flight line start
//if so, then extend this flight line start point halfway to the next line startpoint
if (YAllSetsTemp[0, i, j] > YAllSetsTemp[0, i, j + 1]) YAllSets[0, i, j] -= 0.75 * (YAllSetsTemp[0, i, j] - YAllSetsTemp[0, i, j + 1]);
}
if (j > 0)
{
double lineLengthKm2 = lineLengthKm2 = (YAllSetsTemp[1, i, j - 1] - YAllSetsTemp[0, i, j - 1]) / 1000.0;
if (lineLengthKm2 == 0.0) continue;
//test to see if the prior flight line end is above the current flight line end
//if so, then extend this flight line end point halfway to the prior line end point
if (YAllSetsTemp[1, i, j] < YAllSetsTemp[1, i, j - 1]) YAllSets[1, i, j] += 0.75 * (YAllSetsTemp[1, i, j - 1] - YAllSetsTemp[1, i, j]);
//test to see if the prior flight line start is below the current flight line start
//if so, then extend this flight line start point halfway to the prior line start point
if (YAllSetsTemp[0, i, j] > YAllSetsTemp[0, i, j - 1]) YAllSets[0, i, j] -= 0.75 * (YAllSetsTemp[0, i, j] - YAllSetsTemp[0, i, j - 1]);
}
}
}
//output a summary of the above computations
for (int i = 0; i < numSets; i++)
{
outfile.WriteLine("Set = " + i.ToString("D2"));
for (int j = 0; j < numFlightLines; j++)
{
double newlineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
double oldlineLengthKm = (YAllSetsTemp[1, i, j] - YAllSetsTemp[0, i, j]) / 1000.0;
outfile.WriteLine("FL = {0,2} oldLength = {1,8:#.00} (km) newLength = {2,8:#.00} ", j, oldlineLengthKm, newlineLengthKm);
}
}
outfile.WriteLine();
outfile.WriteLine();
outfile.WriteLine("Go back through the terminated flight lines and add too short lines to prior set ");
outfile.Flush();
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
//go back through the flight line segments, ordered by set & flightline, and cull the "zero-length" segments
//also add the too-short segments to the adjoining (to the South) Set
//Caveat: adding the too-short segments to the South Set can result in some odd outlier flightline groupings!!!
//Resolution: at the start of a set: once we "keep" a segment, dont adjoin anymore short lines to the south
// but at the end of a Set, once we adjoin a segment, must also adjoin the remainder
// thus we have to look for short flightlines going forward -- terminating after we find a sufficiently long line
// and then go backward, again stopping after we have found a sufficiently long line
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
int numTooShortLines = 0;
for (int i = 0; i < numSets - 2; i++) //TEMPORARY ???
{
//define the vertical locations of the Set endpoints
double startSetY = p.maxNorthing - i * maxFLLengthKm * 1000.0; //test subset flight line Ystart at the Set start
double endSetY = startSetY - maxFLLengthKm * 1000.0; //test subset flight line Yend at the Set end
int jStart = 0, jEnd = numFlightLines, jDelta = 1; //conditions that cause going forward for each set
for (int k = 0; k < 2; k++) //causes going backward and forward through the flightlines in a Set -- see above Caveat.
{
if (k == 1) //going backward -- lines go from largest to smallest
{ jStart = numFlightLines - 1; jEnd = 0; jDelta = -1; } //conditions that cause going backward
//multiplying by "-1" on the back pass flips the equality!! -- so start at the end going down to "0" (j>-1)
for (int j = jStart; (jDelta * j) < (jDelta * jEnd - 1); j += jDelta)
{
//test to see if both ends of the test flight line are outside the polygon -- if so skip remainder of this loop --
if (endSetY > YintAllFL[1, j] || startSetY < YintAllFL[0, j]) continue;
double lineLengthKm = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 1000.0;
double lineLengthMi = (YAllSets[1, i, j] - YAllSets[0, i, j]) / 0.3048 / 5280.0;
outfile.WriteLine(String.Format("set {0} FL {1} linelength = {2,15:#.00} Km {3,15:#.00} Mi", i, j, lineLengthKm, lineLengthMi));
outfile.Flush();
if (lineLengthKm == 0) continue;
//if zero length -- continue
//if a line is too short, add the segment to either the next or last extension of the line
if (lineLengthKm < minLineLength)
{
numTooShortLines++;
//if the short line is at the bottom of this Set, add to the top of the next set
if (YAllSets[0, i, j] == endSetY && i < (numSets - 1)) //bottom of this short line is at the bottom of the Set
{
outfile.WriteLine(String.Format("remove and add to top of next set:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
YAllSets[1, i + 1, j] += lineLengthKm * 1000.0; //bottom this segment added to top of next segment
YAllSets[0, i, j] = 0; //set old short segment to zero
YAllSets[1, i, j] = 0; //set old short segment to zero
}
//if the short line is at the top of this Set, add to the bottom of the last set
else if (YAllSets[1, i, j] == startSetY && i > 0) ////top of this short line is at the top of the Set
{
outfile.WriteLine(String.Format("remove and add to bottom of last set:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
YAllSets[0, i - 1, j] -= lineLengthKm * 1000.0; //top this segment added to bottom of last segment
YAllSets[0, i, j] = 0; //set old short segment to zero
YAllSets[1, i, j] = 0; //set old short segment to zero
}
else
{
//if both ends of the short line are on the polygon, then do nothing.
if (k == 0) outfile.WriteLine(String.Format("forward Pass: short line contained within the polygon:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
if (k == 1) outfile.WriteLine(String.Format("backward Pass: short line contained within the polygon:: {0} {1} {2,15:#.00} Km", i, j, lineLengthKm));
outfile.Flush();
}
}
//below break causes the short flight lies to be merged with the Southern set either at the start or end of a Set
else break; //this breaks after we have found the first occurrence of a sufficient long fliight line
}
} //end of the k-look --- k=0 is forward and k=1 is backward
}
outfile.WriteLine("Number of moved too-short flight lines = {0,2}", numTooShortLines);
/////////////////////////////////////////////////////////////////////////////////////////
//adjust the photocenters so that they fall on a rectangular grid
//grid origin is always the NW corner of the bounding rectangle
//note that the rotated flight lines are still North-South
//make adjustments to the UTM north and south flight line endpoints
///////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine("Adjust the flight line endoints so they fall on a rectangular grid");
COVERAGE_SUMMARY covSummary = new COVERAGE_SUMMARY();
covSummary.numTotalFlightLines = 0;
covSummary.totalFlightLineLength = 0.0;
for (int i = 0; i < numSets; i++)
{
outfile.WriteLine("Set= {0,2} ", i);
for (int j = 0; j < numFlightLines; j++)
{
double distanceBetweenTriggersMeters = DRImageHeightKm * 1000.0;
double originalFLlength = YAllSets[1, i, j] - YAllSets[0, i, j];
//make FL start fall on a grid with downrange spacing of distanceBetweenTriggers
//the start end is always below the end (to the south for a NS flightline)
//compute the number of grid cells from the origin -- the "+1" ensures it covers (is above) the non-gridded flight line
int numGridsFromMaxNorthingS = (int)((p.maxNorthing - YAllSets[0, i, j]) / distanceBetweenTriggersMeters);
//the "+1" below always ensures the quantized start points are outside (below) the polygon.
//this will result in a single frame duplication between sets.
YAllSets[0, i, j] = p.maxNorthing - (numGridsFromMaxNorthingS + 1) * distanceBetweenTriggersMeters;
//make FL end latitude fall on a grid with downrange spacing of distanceBetweenTriggers
//compute the number of grid cells from the origin -- the "-1" ensures it covers the non-gridded flight line
int numGridsFromMaxNorthingE = (int)((p.maxNorthing - YAllSets[1, i, j]) / distanceBetweenTriggersMeters) + 1;
//the "-1" below always ensures the quantized endponts points are outside (above) the polygon (note the double negative.
//this will result in a songle frame duplication between sets.
YAllSets[1, i, j] = p.maxNorthing - (numGridsFromMaxNorthingE - 1) * distanceBetweenTriggersMeters;
double finalFLlength = YAllSets[1, i, j] - YAllSets[0, i, j];
outfile.WriteLine("FL = {0,2} original length = {1,8:#.00} (km) adjusted length = {2,8:#.00} ",
j, originalFLlength, finalFLlength);
if (finalFLlength > 0)
{
covSummary.numTotalFlightLines++;
covSummary.totalFlightLineLength += finalFLlength;
}
}
}
covSummary.totalFlightLineLength /= 1000.0;
covSummary.averageFlightLineLength = covSummary.totalFlightLineLength / covSummary.numTotalFlightLines;
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//all the above was performed assuming the input polygon was rotated to a North-South orientation
//NS flightlines were computer to cover the polygon
//we must now counter-rotate the resulting flight lines back to their original geometry
//this approach preseves the flightline relationship with the original polygon
//The resulting flight lines are now arbitrarily rotated relative to north
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//retrieve the original non-rotated UTM input coordinates
for (int i = 0; i < p.Northing.Count; i++)
{
p.Easting[i] = originalPolygonEasting[i];
p.Northing[i] = originalPolygonNorthing[i];
}
//rotate the flight line endpoints back to the original non-rotated coordinate frame
//X corresponds to Eastng, Y to Northing --
//note that in the initial rotation, the variable "rotation" was set to p.rotationDeg
//below we rotation with -rotation to get back to the original coordinates
for (int i = 0; i < numSets; i++)
{
for (int j = 0; j < numFlightLines; j++)
{
for (int k = 0; k < 2; k++)
{
double delEasting = XAllSets[k, i, j] - p.meanEasting;
double delNorthing = YAllSets[k, i, j] - p.meanNorthing;
XAllSets[k, i, j] = p.meanEasting + Math.Cos(-rotationRad) * delEasting + Math.Sin(-rotationRad) * delNorthing;
YAllSets[k, i, j] = p.meanNorthing - Math.Sin(-rotationRad) * delEasting + Math.Cos(-rotationRad) * delNorthing;
XAllSets[k, i, j] = p.meanEasting + Math.Cos(-rotationRad) * delEasting + Math.Sin(-rotationRad) * delNorthing;
YAllSets[k, i, j] = p.meanNorthing - Math.Sin(-rotationRad) * delEasting + Math.Cos(-rotationRad) * delNorthing;
}
}
}
//return sufficient information to compare various coverage options
return covSummary;
}
//individual mission (collection of flight lines) parameters
private void writeKmlPolygonMissonPlan(Polygon p,
double DRImageHeightKm, //the downrange distance between camera triggers to achieve overlap
int missionNumber, //Total number of missions for this project
double flightAlt, //flight altitude agll to achieve the requested resoltion
double swathWidthKm, //swath width constant over the project
double totalFlightlineDistance, //total flight line distance over the project
double totalFerryTime, //total ferry time for the project
double aircraftSpeedKPH, //average airspeed
double totalTimeOverTarget, //total time over the target
int numFL, //total number of flight lines for the project
int totalImages, //total images for the project
List<MissionSummary> MissionSumA)
{
/////////////////////////////kml header and re-write the polygon points/////////////////////////////////////////
// PolygonName is the Placemark name from the input kml file
writekmlHeader("Polygon");
kmlFlightLines.WriteLine();
//write the placemark for the original polygon
kmlFlightLines.WriteLine("<Placemark> <name>" + p.PolygonName + "</name> <styleUrl>#redLine</styleUrl> <LineString> <tessellate>1</tessellate>");
kmlFlightLines.WriteLine("<coordinates>");
for (int i = 0; i < p.longitudeDeg.Count; i++) //write out the original polygon from the initial input .kml
kmlFlightLines.WriteLine(String.Format("{0:#.000000000},{1:#.000000000},{2,1}", p.longitudeDeg[i], p.latitudeDeg[i], 0));
kmlFlightLines.WriteLine("</coordinates> </LineString> </Placemark>");
kmlFlightLines.WriteLine();
//show the summary image for this Project that was extracted from Google Maps
kmlFlightLines.WriteLine("<GroundOverlay> <name>Project Map</name> <visibility>0</visibility> <drawOrder> 10 </drawOrder> <LatLonAltBox>");
kmlFlightLines.WriteLine("<north>{0}</north> <south>{1}</south>", p.NWMapCorner.Y, p.SEMapCorner.Y);
kmlFlightLines.WriteLine("<east>{0} </east> <west>{1} </west>", p.SEMapCorner.X, p.NWMapCorner.X);
kmlFlightLines.WriteLine("</LatLonAltBox> <Lod> <minLodPixels>128</minLodPixels>");
kmlFlightLines.WriteLine("<maxLodPixels>-1</maxLodPixels> </Lod> <Icon> <href>{0}</href> </Icon>", p.mapName);
kmlFlightLines.WriteLine(" </GroundOverlay>");
/////////////////////////////end of the initial kml material///////////////////////////////////////////////////////
//below we first write the top folder that will contain the missions
//we also summarize the complete coverage of the Client polygon here
kmlFlightLines.WriteLine("<Folder> <name> {0}MissionPlan </name>", p.PolygonName); //PlaceMarkName is from the original input kml
kmlFlightLines.WriteLine("<downRangePhotoSpacingMeters> {0} </downRangePhotoSpacingMeters>", DRImageHeightKm * 1000.0); //photoSpacing in meters
kmlFlightLines.WriteLine("<crossRangeSwathWidth> {0} </crossRangeSwathWidth>", swathWidthKm * 1000.0); //photoSpacing in meters
kmlFlightLines.WriteLine("<numberOfMissons> {0} </numberOfMissons>", missionNumber); //total number of missions
kmlFlightLines.WriteLine("<UTMZone>{0}</UTMZone>", p.UTMZone); //UTM zone
kmlFlightLines.WriteLine("<gridOriginUTMNorthing> {0} </gridOriginUTMNorthing>", p.maxNorthing); //grid origin NW corner: maximum northing
kmlFlightLines.WriteLine("<gridOriginUTMEasting> {0} </gridOriginUTMEasting>", p.minEasting); //grid origin NW corner: minEasting
////////////////////////////////START OF SUMMARY TABLE/////////////////////////////////////////////////////////////
kmlFlightLines.WriteLine("<description> <![CDATA["); //open of the html segment
kmlFlightLines.WriteLine(String.Format("Area of Polygon: {0:#.0} sqKm ({1:#.0} sqMi) <br>", p.areasqkm, p.areasqmi));
kmlFlightLines.WriteLine(String.Format("Flight Altitude: {0:#} ft (AGL) <br>", flightAlt));
kmlFlightLines.WriteLine(String.Format("Ground Sample Distance: {0:#.0}cm ({1:#.0}in) <br>", resolutionCm, resolutionCm / 100.0 / 0.3048 * 12.0));
kmlFlightLines.WriteLine(String.Format("Crossrange Swath: {0:0.00}km ({1:0.00}mi) <br>",
swathWidthKm, swathWidthKm * 1000.0 / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Total # Missions: {0} <br>", missionNumber));
kmlFlightLines.WriteLine("______________________________________________<br>");
kmlFlightLines.WriteLine(String.Format("Total Distance over target {0:#.0}km ({1:#.0}mi) <br>",
totalFlightlineDistance, totalFlightlineDistance * 1000.0 / 0.3048 / 5280.0));
//TODO: this isnt right!! speed isnt constant due to the forward speed during climb
kmlFlightLines.WriteLine(String.Format("Total Flight Distance with Ferry {0:#.0}km ({1:#.0}mi) <br>",
totalFlightlineDistance + totalFerryTime * aircraftSpeedKPH, (totalFlightlineDistance + totalFerryTime * aircraftSpeedKPH) * 1000.0 / 0.3048 / 5280.0));
//TODO: same comment as above
kmlFlightLines.WriteLine(String.Format("Average 2-way Ferry Distance {0:#.0}km ({1:#.0}mi) <br>",
totalFerryTime * aircraftSpeedKPH / missionNumber, (totalFerryTime * aircraftSpeedKPH / missionNumber) * 1000.0 / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Total Flight Time with Ferry (hr): {0:0.0} <br>", totalTimeOverTarget + totalFerryTime));
kmlFlightLines.WriteLine(String.Format("Total Number of Flightlines: {0} <br>", numFL));
kmlFlightLines.WriteLine(String.Format("Average Flightline Length: {0:0.0}km ({1:0.0}mi) <br>",
totalFlightlineDistance / numFL, (totalFlightlineDistance / numFL) * 1000.0 / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Total Images: {0} <br>", totalImages));
kmlFlightLines.WriteLine("______________________________________________<br> <br>");
kmlFlightLines.WriteLine("<b> <center>Flight Line Summary </center></b> <br>");
kmlFlightLines.WriteLine(@"<table border=""1"" padding=""2"">");
kmlFlightLines.WriteLine("<tr> <td><center> Mission </center> </td> <td><center> Total Time (hr) </center> </td> <td><center> Time at Site (hr) </center> </td> <td><center> images </center> </td><td><center> alt (ft MSL) </center> </td></tr>");
//form an html table to show the summary of each mission
foreach (MissionSummary msn in MissionSumA)
{
String frmt = "<tr>"; frmt += "<td><center> {0} </center></td> <td><center> {1,10:####0.0} </center></td>";
frmt += "<td><center> {2,10:####0.0} </center></td> <td><center> {3} </center> </td>";
frmt += "<td><center> {4,10:#####0}</center></td> </tr>";
kmlFlightLines.WriteLine(frmt,
msn.missionNumber, msn.TimeOverTarget + msn.FerryTime, msn.TimeOverTarget, msn.totalImages, msn.ts.terrain90percentileHeight / 0.3048 + flightAlt);
}
kmlFlightLines.WriteLine("</table>");
outfile.Flush();
// <table border="1" padding="2">
//<tr><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td></tr>
//<tr><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td></tr>
//</table>
//end of the html summary information///////////////////////////////////
kmlFlightLines.WriteLine("]]> </description>");
////////////////////////END OF SUMMARY TABLE/////////////////////////////////
//we also write a placemark in the polygon project folder that will contain the airports that we have used for the overall polygon
kmlFlightLines.WriteLine("<Folder> <name> Airports Used for This Plan</name>");
//for (int j = 0; j < p.airports.Count; j++)
{
kmlFlightLines.WriteLine(String.Format("<Placemark> <name>{0}</name> <styleUrl>#airports</styleUrl>", p.airports[p.selectedAirportIndex].name));
kmlFlightLines.WriteLine(String.Format("<Point> <coordinates>{0},{1},{2} </coordinates> </Point> </Placemark>",
p.airports[p.selectedAirportIndex].lon, p.airports[p.selectedAirportIndex].lat, 0));
}
kmlFlightLines.WriteLine("</Folder>");
//write a folder to contain the summary background images for the flight system
kmlFlightLines.WriteLine("<Folder> <name> Summary Images</name>");
foreach (MissionSummary msn in MissionSumA)
{
//show the summary image for this mission that was extracted from Google Maps
kmlFlightLines.WriteLine("<GroundOverlay> <name> Summary_{0:000} </name> <visibility>0</visibility> <drawOrder> 10 </drawOrder> <LatLonAltBox>", msn.missionNumber);
kmlFlightLines.WriteLine("<north>{0}</north> <south>{1}</south>", msn.backgroundImageNWCorner.Y, msn.backgroundImageSECorner.Y);
kmlFlightLines.WriteLine("<east>{0}</east> <west>{1}</west>", msn.backgroundImageSECorner.X, msn.backgroundImageNWCorner.X);
kmlFlightLines.WriteLine("</LatLonAltBox> <Lod> <minLodPixels>128</minLodPixels>");
kmlFlightLines.WriteLine("<maxLodPixels>-1</maxLodPixels> </Lod> <Icon> <href>{0}</href> </Icon>", msn.backgroundImageFilename);
kmlFlightLines.WriteLine(" </GroundOverlay>");
}
kmlFlightLines.WriteLine("</Folder>");
//next write the folders that represent the missions
foreach (MissionSummary msn in MissionSumA)
{
//write the kml folder information for this mission
kmlFlightLines.WriteLine(String.Format("<Folder> <name>Mission Number {0}</name> <missionNumber>{1}</missionNumber><numFLs>{2}</numFLs> <flightAltMSL> {3:#####} </flightAltMSL>",
msn.missionNumber, msn.missionNumber, msn.numberFlightlines, msn.FlightAltMSLft));
kmlFlightLines.WriteLine("<description> <![CDATA[");
kmlFlightLines.WriteLine(String.Format("Airport: {0} ({1}) <br>", msn.takeoffAirport.name, msn.takeoffAirport.ICAO_designator));
kmlFlightLines.WriteLine(String.Format("Ferry Time: {0:0.00} <br>", msn.FerryTime));
kmlFlightLines.WriteLine(String.Format("number of Flightlines: {0} <br>", msn.numberFlightlines));
kmlFlightLines.WriteLine(String.Format("Total Flightline Length (mi): {0:###.00} <br>", msn.LengthMi));
kmlFlightLines.WriteLine(String.Format("Total Time-Over-Target (hr): {0:#.00} <br>", msn.TimeOverTarget));
kmlFlightLines.WriteLine(String.Format("Total Flight Time (hr): {0:#.00} <br>", msn.TimeOverTarget + msn.FerryTime));
kmlFlightLines.WriteLine(String.Format("Total Images: {0} <br>", msn.totalImages));
kmlFlightLines.WriteLine("]]> </description>");
//write a Placemark for each mission that is the mission-specific polygon boundary
kmlFlightLines.WriteLine(String.Format("<Placemark> <name> MissionPolygon_{0:00} </name> <styleUrl>#blueLine</styleUrl> <LineString> <tessellate>1</tessellate>", msn.missionNumber));
kmlFlightLines.WriteLine("<coordinates>");
foreach (PointD pt in msn.missionPolygon)
kmlFlightLines.WriteLine(String.Format("{0:#.00000000},{1:#.00000000},{2,1}", pt.X, pt.Y, 0));
kmlFlightLines.WriteLine("</coordinates> </LineString> </Placemark>");
kmlFlightLines.WriteLine();
String flightLineStyle;
if (msn.missionNumber % 2 == 0)
{
if (msn.setNumber % 2 == 0) flightLineStyle = "evenMsnNumberEvenSet";
else flightLineStyle = "evenMsnNumberOddSet";
}
else
{
if (msn.setNumber % 2 == 0) flightLineStyle = "oddMsnNumberEvenSet";
else flightLineStyle = "oddMsnNumberOddSet";
}
flightLineStyle = "whiteLine";
//write out the flightline information as separate placemarks within the mission folder
for (int j = msn.startFlightLine; j < (msn.startFlightLine + msn.numberFlightlines); j++)
{
kmlFlightLines.WriteLine(String.Format("<Placemark> <name> FlightlineNumber_{0:000} </name> <styleUrl>#{1}</styleUrl> <lengthMeters>{2:#.000}</lengthMeters>",
FLSum[j].lineNumberInPolygon, flightLineStyle, FLSum[j].flightlineLengthMi * 5280.0 * 0.3048));
kmlFlightLines.WriteLine("<description> <![CDATA[");
kmlFlightLines.WriteLine(String.Format(" FlightLine Number {0} <br> ", FLSum[j].lineNumberInPolygon));
kmlFlightLines.WriteLine(String.Format(" FlightLine Length {0:##.00} mi <br> ", FLSum[j].flightlineLengthMi));
kmlFlightLines.WriteLine(String.Format(" NumberImages {0} <br> ", FLSum[j].numImages));
kmlFlightLines.WriteLine("]]> </description>");
kmlFlightLines.WriteLine("<LineString> <coordinates>");
kmlFlightLines.WriteLine(String.Format("{0:#.00000000},{1:#.00000000},{2,1} {3:#.00000000},{4:#.00000000},{5,1}",
FLSum[j].planned.startLon, FLSum[j].planned.startLat, 0, FLSum[j].planned.endLon, FLSum[j].planned.endLat, 0));
kmlFlightLines.WriteLine("</coordinates></LineString> </Placemark>");
outfile.WriteLine(String.Format(" {0,5} {1:#.00000000},{2:#.00000000},{3,3} {4:#.00000000},{5:#.00000000},{6,3}",
j, FLSum[j].planned.startLon, FLSum[j].planned.startLat, 0, FLSum[j].planned.endLon, FLSum[j].planned.endLat, 0)); outfile.Flush();
}
// 152.130789946619,-32.8074906634451,0 152.132154176824, -32.6668497,0
//closing tag for this mission Folder
kmlFlightLines.WriteLine("</Folder>");
}
//closing tag for the overall Client Polygon Mission plan
kmlFlightLines.WriteLine("</Folder>");
//closing tag for the overall kml document
kmlFlightLines.WriteLine("</Document> </kml>");
}
//individual mission (collection of paths) parameters
private void writeKmlLinearFeatureMissonPlan(
Polygon p, //contains general information regarding the geometric path (prior used for polygon mission)
double DRImageHeightKm, //the downrange distance between camera triggers to achieve overlap
int parallelPaths, //Total number of paths for this project
double flightAlt, //flight altitude agl to achieve the requested resolution
double swathWidthKm, //swath width that is constant over the project
double totalPathDistance, //total flight line distance over the project
double totalFerryDistance, //total ferry time for the project
double aircraftSpeedKPH, //average airspeed
double totalTimeOverTarget, //total time over the target
int totalImages, //total images for the project
List<LINEAR_FEATURE> linearFeatures)
{
//////////////////////////////////////////////////////////////////////////////////////////////
//open the file to write the kml Project results
//////////////////////////////////////////////////////////////////////////////////////////////
kmlOutputFilename = datasetFolder + "\\" + p.PolygonName + ".kml";
FileStream fs2 = null;
try { fs2 = new FileStream(kmlOutputFilename, FileMode.Create, FileAccess.Write, FileShare.None); }
catch { MessageBox.Show("cant open the kml Project results file -- input file cannot be same as output file "); }
kmlFlightLines = new StreamWriter(fs2); //kml file where we will write
kmlFlightLines.AutoFlush = true;
/////////////////////////////kml header /////////////////////////////////////////
writekmlHeader("LinearFeature"); ///////////////////////// header denotes that this is a LinearFeature coverage
kmlFlightLines.WriteLine();
//write the placemark for the original linear Feature input file (linearFeature name)
kmlFlightLines.WriteLine("<Placemark> <name>" + p.PolygonName + "</name> <styleUrl>#redLine</styleUrl> <LineString> <tessellate>1</tessellate>");
kmlFlightLines.WriteLine("<coordinates>");
for (int i = 0; i < p.longitudeDeg.Count; i++) //write out the original path from the initial input .kml
kmlFlightLines.WriteLine(String.Format("{0:#.000000000},{1:#.000000000},{2,1}", p.longitudeDeg[i], p.latitudeDeg[i], 0));
kmlFlightLines.WriteLine("</coordinates> </LineString> </Placemark>");
kmlFlightLines.WriteLine();
//show the summary image bounds for this Project that was extracted from Google Maps
kmlFlightLines.WriteLine("<GroundOverlay> <name>Project Map</name> <visibility>0</visibility> <drawOrder> 10 </drawOrder> <LatLonAltBox>");
kmlFlightLines.WriteLine("<north>{0}</north> <south>{1}</south>", p.NWMapCorner.Y, p.SEMapCorner.Y); //lat for the NW and SE corners
kmlFlightLines.WriteLine("<east>{0} </east> <west>{1} </west>", p.SEMapCorner.X, p.NWMapCorner.X);
kmlFlightLines.WriteLine("</LatLonAltBox> <Lod> <minLodPixels>128</minLodPixels>");
kmlFlightLines.WriteLine("<maxLodPixels>-1</maxLodPixels> </Lod> <Icon> <href>{0}</href> </Icon>", p.mapName);
kmlFlightLines.WriteLine(" </GroundOverlay>");
/////////////////////////////end of the initial kml material///////////////////////////////////////////////////////
//folder containing the individual path data
//first write some misc data that will be read by the Waldo_FCS
kmlFlightLines.WriteLine("<Folder> <name> {0} Mission Plan </name>", p.PolygonName); //PlaceMarkName is from the original input kml
kmlFlightLines.WriteLine("<downRangePhotoSpacingMeters> {0} </downRangePhotoSpacingMeters>", DRImageHeightKm * 1000.0); //photoSpacing in meters
kmlFlightLines.WriteLine("<numberOfPaths> {0} </numberOfPaths>", parallelPaths); //total number of parallel Paths for a linear feature
kmlFlightLines.WriteLine("<UTMZone>{0}</UTMZone>", p.UTMZone); //UTM zone
kmlFlightLines.WriteLine("<gridOriginUTMNorthing> {0} </gridOriginUTMNorthing>", p.maxNorthing); //grid origin NW corner: maximum northing
kmlFlightLines.WriteLine("<gridOriginUTMEasting> {0} </gridOriginUTMEasting>", p.minEasting); //grid origin NW corner: minEasting
kmlFlightLines.WriteLine("<proNavGain> {0:#.} </proNavGain>", linearFeatures[0].proNavGain); //pronav gain constant for all paths
kmlFlightLines.WriteLine("<rabbitAheadDistance> {0:#.0} </rabbitAheadDistance>", linearFeatures[0].rabbitAheadDistance); //target ahead distance for all paths
kmlFlightLines.WriteLine("<flightAltAGLft> {0:#.0} </flightAltAGLft>", flightAlt); //agl flight alt in ft
//next prepare the html table summarizing the mission
////////////////////////////////START OF SUMMARY TABLE/////////////////////////////////////////////////////////////
kmlFlightLines.WriteLine("<description> <![CDATA["); //open of the html segment
kmlFlightLines.WriteLine(String.Format("Total Path Length: {0:#.0} Km ({1:#.0} Mi) <br>", totalPathDistance / 1000.0, totalPathDistance / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Flight Altitude: {0:#} ft (AGL) <br>", flightAlt));
kmlFlightLines.WriteLine(String.Format("Ground Sample Distance: {0:#.0}cm ({1:#.0}in) <br>", resolutionCm, resolutionCm / 100.0 / 0.3048 * 12.0));
kmlFlightLines.WriteLine(String.Format("Crossrange Swath: {0:0.00}km ({1:0.00}mi) <br>",
swathWidthKm, swathWidthKm * 1000.0 / 0.3048 / 5280.0));
kmlFlightLines.WriteLine("Takeoff Airport: " + airport.Name);
//TODO: this isnt right!! speed isnt constant due to the forward speed during climb
kmlFlightLines.WriteLine(String.Format("Total Flight Distance with Ferry {0:#.0}km ({1:#.0}mi) <br>",
(totalPathDistance + totalFerryDistance)/1000.0, (totalPathDistance + totalFerryDistance) / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Total Flight Time with Ferry (hr): {0:0.00} <br>", totalTimeOverTarget + totalFerryDistance/1000.0/aircraftSpeedKPH));
//kmlFlightLines.WriteLine(String.Format("Total Number of Flightlines: {0} <br>", numFL));
//kmlFlightLines.WriteLine(String.Format("Average Flightline Length: {0:0.0}km ({1:0.0}mi) <br>",
// totalFlightlineDistance / numFL, (totalFlightlineDistance / numFL) * 1000.0 / 0.3048 / 5280.0));
kmlFlightLines.WriteLine(String.Format("Total Images: {0} <br>", totalImages));
kmlFlightLines.WriteLine("______________________________________________<br> <br>");
kmlFlightLines.WriteLine("<b> <center>Path Summary </center></b> <br>");
kmlFlightLines.WriteLine(@"<table border=""1"" padding=""2"">");
String tableHeader = "<tr> <td><center> path </center> </td> <td><center> length (mi) </center> </td> <td><center> Path Time (hr) ";
tableHeader += "</center> </td> <td><center> images </center> </td><td><center> maxBank (deg) </center> </td> <td><center> delAlt (ft) </center> </td></tr>";
kmlFlightLines.WriteLine(tableHeader);
//form an html table to show the summary of each parallel path
//List<> linearFeatures will contain description of each parallel path
foreach (LINEAR_FEATURE linearFeature in linearFeatures)
{
//table Column Headers: path, length (mi), Path Time (hr), images, del-alt (ft)
String frmt = "<tr>"; frmt += "<td><center> {0} </center></td> <td><center> {1,10:####0.0} </center></td>";
frmt += "<td><center> {2,10:####0.0} </center></td> <td><center> {3} </center> </td>";
frmt += "<td><center> {4,10:####0.0} </center></td>";
frmt += "<td><center> {5,10:####0.0} </center></td> </tr>";
kmlFlightLines.WriteLine(frmt,
linearFeature.pathNumber,
linearFeature.pathLength/0.3048 / 5280.0,
linearFeature.pathLength /1000.0 / aircraftSpeedKPH,
linearFeature.numImages,
linearFeature.maximumMeasuredBank,
linearFeature.maxAltitude - linearFeature.minAltitude);
}
kmlFlightLines.WriteLine("</table>");
outfile.Flush();
// <table border="1" padding="2">
//<tr><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td></tr>
//<tr><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td><td>234.1</td></tr>
//</table>
//end of the html summary information///////////////////////////////////
kmlFlightLines.WriteLine("]]> </description>");
////////////////////////END OF SUMMARY TABLE FOR LINEAR FEATURE/////////////////////////////////
//Write a placemark in the project folder that will contain the airport that we have used for the overall project
kmlFlightLines.WriteLine("<Placemark> <name> Airports Used for This Plan</name>");
//for (int j = 0; j < p.airports.Count; j++) //uncomment to show all airports
{
kmlFlightLines.WriteLine(String.Format("<name>{0}</name> <styleUrl>#airports</styleUrl>", p.airports[p.selectedAirportIndex].name));
kmlFlightLines.WriteLine(String.Format("<Point> <coordinates>{0},{1},{2} </coordinates> </Point> ",
p.airports[p.selectedAirportIndex].lon, p.airports[p.selectedAirportIndex].lat, 0));
}
kmlFlightLines.WriteLine("</Placemark>");
//write a folder to contain the summary background image bounds for the flight system
//we will have numerous background images spaced along the path for each parallel path
kmlFlightLines.WriteLine("<Folder> <name> Summary Images</name>");
foreach (LINEAR_FEATURE linearFeature in linearFeatures)
{
kmlFlightLines.WriteLine(String.Format("<numBGImagesThisPath> {0} </numBGImagesThisPath>", linearFeature.NWMapCorner.Count));
for (int i=0; i<linearFeature.NWMapCorner.Count; i++)
{
//show the summary image for this mission that was extracted from Google Maps
kmlFlightLines.WriteLine("<GroundOverlay> <name> BG_{0:00}_{1:00} </name> <visibility>0</visibility> <drawOrder> 10 </drawOrder> <LatLonAltBox>",
linearFeature.pathNumber, i);
kmlFlightLines.WriteLine("<north>{0}</north> <south>{1}</south>", linearFeature.NWMapCorner[i].Y, linearFeature.SEMapCorner[i].Y);
kmlFlightLines.WriteLine("<east>{0}</east> <west>{1}</west>", linearFeature.SEMapCorner[i].X, linearFeature.NWMapCorner[i].X);
kmlFlightLines.WriteLine("</LatLonAltBox> <Lod> <minLodPixels>128</minLodPixels>");
kmlFlightLines.WriteLine("<maxLodPixels>-1</maxLodPixels> </Lod> <Icon> <href>{0}</href> </Icon>", linearFeature.mapNames[i]);
kmlFlightLines.WriteLine(" </GroundOverlay>");
}
}
kmlFlightLines.WriteLine("</Folder>");
//next write the folders that represent the data for eath path
foreach (LINEAR_FEATURE linearFeature in linearFeatures)
{
//write the kml folder containing information for this path
kmlFlightLines.WriteLine(String.Format("<Folder> <name>Path Number {0}</name> <pathNumber>{1}</pathNumber><numPaths>{2}</numPaths> <flightAltMSL> {3:#####} </flightAltMSL>",
linearFeature.pathNumber, linearFeature.pathNumber,
parallelPaths, linearFeature.meanAltitude + flightAlt));
airport myAirport = p.airports[p.selectedAirportIndex];
kmlFlightLines.WriteLine("<description> <![CDATA[");
kmlFlightLines.WriteLine(String.Format("Airport: {0} ({1}) <br>", myAirport.name, myAirport.ICAO_designator));
kmlFlightLines.WriteLine(String.Format("Ferry Time: {0:0.00} <br>", totalFerryDistance/1000.0/aircraftSpeedKPH));
kmlFlightLines.WriteLine(String.Format("Path Length (mi): {0:###.00} <br>", linearFeature.pathLength/0.3048/5280.0));
kmlFlightLines.WriteLine(String.Format("Total Path (hr): {0:#.00} <br>", linearFeature.pathLength/1000.0/aircraftSpeedKPH));
kmlFlightLines.WriteLine(String.Format("Number Images: {0} <br>", linearFeature.pathLength/DRImageHeightKm/1000.0));
kmlFlightLines.WriteLine("]]> </description>");
//write a Placemark for each Path that is the smoothed trajectory that will be followed (red line)
kmlFlightLines.WriteLine(@" <Placemark> <name>Smoothed Linear Feature Trajectory</name> <styleUrl>#redLine</styleUrl> ");
kmlFlightLines.WriteLine(@" <LineString> <tessellate>1</tessellate> <coordinates>");
for (int i = 0; i < linearFeature.NorthingProNavS.Count; i++)
{
double latitude0 = 0.0, longitude0 = 0.0;
utm.UTMtoLL(linearFeature.NorthingProNavS[i], linearFeature.EastingProNavS[i], p.UTMZone, ref latitude0, ref longitude0);
//store the X, Y in a kml lineString file
kmlFlightLines.WriteLine(String.Format(" {0:#.00000000},{1:#.00000000},{2:#.00} ",
longitude0, latitude0, linearFeature.alongPathAltitude[i] + flightAlt)); kmlFlightLines.Flush();
}
kmlFlightLines.WriteLine(@" </coordinates> </LineString> </Placemark>");
//write a Placemark for each projected image point along the path (blue line)
kmlFlightLines.WriteLine(@" <Placemark> <name>Image Center Projection</name> <styleUrl>#blueLine</styleUrl> ");
kmlFlightLines.WriteLine(@" <LineString> <tessellate>1</tessellate> <coordinates>");
for (int i = 0; i < linearFeature.NorthingProjection.Count; i++)
{
double latitude0 = 0.0, longitude0 = 0.0;
utm.UTMtoLL(linearFeature.NorthingProjection[i], linearFeature.EastingProjection[i], p.UTMZone, ref latitude0, ref longitude0);
//store the X, Y in a kml lineString file
kmlFlightLines.WriteLine(String.Format(" {0:#.00000000},{1:#.00000000},{2:#.00} ",
longitude0, latitude0, 0)); kmlFlightLines.Flush();
}
kmlFlightLines.WriteLine(@" </coordinates> </LineString> </Placemark>");
//write a Placemark containing line segments showing the right-left edge extent of each image (white lines)
kmlFlightLines.WriteLine(@" <Placemark> <name>Linear Feature Image Extents</name> <MultiGeometry>");
for (int i = 0; i < linearFeature.NorthingImage1.Count; i++)
{
kmlFlightLines.WriteLine(@" <LineString> <coordinates>");
kmlFlightLines.WriteLine(@" ");
double latitude1 = 0.0, longitude1 = 0.0, latitude2 = 0.0, longitude2 = 0.0;
utm.UTMtoLL(linearFeature.NorthingImage1[i], linearFeature.EastingImage1[i], p.UTMZone, ref latitude1, ref longitude1);
utm.UTMtoLL(linearFeature.NorthingImage2[i], linearFeature.EastingImage2[i], p.UTMZone, ref latitude2, ref longitude2);
//correct format for point pair: 152.130789946619,-32.8074906634451,0 152.132154176824, -32.6668497,0
kmlFlightLines.WriteLine(String.Format(" {0:#.00000000},{1:#.00000000},{2:#.00} {3:#.00000000},{4:#.00000000},{5:#.00}",
longitude1, latitude1, 0, longitude2, latitude2, 0));
kmlFlightLines.WriteLine(@" </coordinates> </LineString>");
}
kmlFlightLines.WriteLine(@" </MultiGeometry> </Placemark>");
//closing tag for this paths Folder
kmlFlightLines.WriteLine("</Folder>");
}
//closing tag for the overall Mission plan
kmlFlightLines.WriteLine("</Folder>");
//closing tag for the overall kml document
kmlFlightLines.WriteLine("</Document> </kml>");
}
void LinearFeaturePlanner(Polygon p, double flightAlt, double swathWidthKm,
double aircraftSpeedKnots, double aircraftSpeedKPH, double DRImageHeightKm)
{
//if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
//{
//show the "PLAN" button
button3.Visible = true;
button3.Enabled = true;
///////////////////////////////////////////////////////////////////////////////////
// wait here til user clicks considers the coverage options and clicks: "PLAN"
///////////////////////////////////////////////////////////////////////////////////
while (!MissionPlanningInitiated)
{
Application.DoEvents(); //wait for user inputs
}
//TODO
//get the flyable aircraft paths that will cover the input linear feature path
//there will be one linearFeature object for each of the parallel paths
List<LINEAR_FEATURE> linearFeatures =
linearFeatureCoverage(numParallelPaths, linearPathCentering,
flightAlt, swathWidthKm * 1000.0, aircraftSpeedKnots * 0.514);
//the above procedure writes kml files for forward, backward, & smoothed trajectory
//also writes out the image boresight projection and the image endpoints as kml files
GoogleMaps ggl = new GoogleMaps(datasetFolder, p.PolygonName);
//get the project map for the path -- shows complete extent of the path and takeoff airport
ggl.getGoogleMapToCoverProject(ref p, downloadMap);
//get the path-segment maps that will be used to form a aircraft-centered sliding window map
//get rectangular maps sized 10mi x 10mi at 5mi intervals along the path
ggl.createBackgroundMapsForLinearFeature(linearFeatures, p.UTMZone, downloadMap);
double totalPathDistance = 0.0;
polygonMath polymath = new polygonMath(linearFeatures[0].EastingProNavS, linearFeatures[0].NorthingProNavS, datasetFolder);
//get the along-path altitudes
for (int iLF = 0; iLF < linearFeatures.Count; iLF++)
{
totalPathDistance += linearFeatures[iLF].pathLength;
List<PointD> pointsAlongPath = new List<PointD>();
UTM2Geodetic utm = new UTM2Geodetic();
//create a sequence of points along path based on the smoothed trajectory
for (int i = 0; i < linearFeatures[iLF].NorthingProNavS.Count; i++)
{
double lat = 0.0, lon = 0.0;
utm.UTMtoLL(linearFeatures[iLF].NorthingProNavS[i], linearFeatures[iLF].EastingProNavS[i], p.UTMZone, ref lat, ref lon);
pointsAlongPath.Add(new PointD(lon, lat));
}
//get the terrain heights using the Google Elevation API
linearFeatures[iLF].alongPathAltitude = polymath.getTerrainHeightsFromPointList(pointsAlongPath);
//number of triggered images along the path
linearFeatures[iLF].numImages = (int)(linearFeatures[iLF].pathLength / (DRImageHeightKm * 1000.0));
//get stats of the along-path altitudes
double maxAlt = -99999.0, minAlt = 99999.0, meanAlt = 0.0;
foreach (double alt in linearFeatures[iLF].alongPathAltitude)
{
if (alt > maxAlt) maxAlt = alt;
if (alt < minAlt) minAlt = alt;
meanAlt += alt;
}
meanAlt /= linearFeatures[iLF].alongPathAltitude.Count;
linearFeatures[iLF].maxAltitude = maxAlt;
linearFeatures[iLF].minAltitude = minAlt;
linearFeatures[iLF].meanAltitude = meanAlt;
linearFeatures[iLF].pathNumber = iLF;
}
//get the 2way ferry distance
double total2WayFerryDistance = 0.0;
//start: always start for 0th path to the selected airport
//distance from selected airport to start of first line
double delNS = linearFeatures[0].NorthingProNavS[0] - p.airports[selectedAirportIndex].northing;
double delES = linearFeatures[0].EastingProNavS[0] - p.airports[selectedAirportIndex].easting;
double distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
total2WayFerryDistance += distanceToAptS;
//always return to the airport from the end of the last path
int endIndex = linearFeatures[linearFeatures.Count - 1].NorthingProNavS.Count - 1;
//distance from selected airport to start of first line
delNS = linearFeatures[linearFeatures.Count - 1].NorthingProNavS[endIndex] - p.airports[selectedAirportIndex].northing;
delES = linearFeatures[linearFeatures.Count - 1].EastingProNavS[endIndex] - p.airports[selectedAirportIndex].easting;
distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
//final 2-way ferry distance is the sum of the to- and from- ferry distances
total2WayFerryDistance += distanceToAptS;
double totalPathTime = totalPathDistance / (aircraftSpeedKPH * 1000.0);
int totalLFImages = (int)(totalPathDistance / (DRImageHeightKm * 1000.0));
writeKmlLinearFeatureMissonPlan(p,
DRImageHeightKm, numParallelPaths, flightAlt, swathWidthKm,
totalPathDistance, total2WayFerryDistance, aircraftSpeedKPH,
totalPathTime, totalLFImages, linearFeatures);
//////////////////////////////////////////////
//show the END button
button2.Visible = true;
button2.Enabled = true;
//////////////////////////////////////////////
//wait here to see if the user clicks the "END" button
while (true)
{
Application.DoEvents();
}
//Environment.Exit(-1);
//}
//////////////////////// end of linear feature Planner //////////////////
}
