public MissionDebugger(CameraDefinition cameraDefinition, SurveyArea surveyArea, Mission mission, Transform droneTransform)
{
this.cameraDefinition = cameraDefinition;
this.surveyArea = surveyArea;
this.flightPlan = mission.CalculateFlightPlan();
this.droneTransform = droneTransform;
}
public SerializedSurveyArea(SurveyArea surveyArea)
{
this.areaWidth = surveyArea.areaToCover.size.x;
this.areaDistance = surveyArea.areaToCover.size.z;
this.frontalOverlap = surveyArea.frontalOverlap;
this.sideOverlap = surveyArea.sideOverlap;
}
public SerializedDroneFlight(CameraDefinition cameraDefinition, SurveyArea surveyArea, Mission.FlightPlan flightPlan, Georeferencing georeferencing)
{
this.cameraDefinition = new SerializedCameraDefinition(cameraDefinition);
this.surveyArea = new SerializedSurveyArea(surveyArea);
this.flightPlan = new SerializedFlightPlan(flightPlan);
this.georeferencing = new SerializedGeoreferencing(georeferencing);
}
public WaypointProcessor(CameraDefinition cameraDefinition, SurveyArea surveyArea, Georeferencing georeferencing, int totalWaypoints, string folderPath)
{
// Build GameObject
gameObject = new GameObject("Image Capture");
// Build the render texture
renderTexture = new RenderTexture(cameraDefinition.resolutionX, cameraDefinition.resolutionY, 24);
// Set the camera
camera = gameObject.AddComponent <Camera>();
camera.usePhysicalProperties = true;
camera.focalLength = cameraDefinition.focalLength;
camera.sensorSize = new Vector2(cameraDefinition.sensorSizeX, cameraDefinition.sensorSizeY);
camera.targetTexture = renderTexture;
camera.enabled = false; // We don't want to render constantly, so we disable the camera
// Initialize queue
waypointsToProcess = new Queue <WaypointData>();
// Store pertinent values
this.cameraDefinition = cameraDefinition;
this.totalWaypoints = totalWaypoints;
this.folderPath = folderPath;
// Initialize necessary entities
this.gcpManager = new GroundControlPointManager(cameraDefinition, surveyArea);
this.geoTagger = new GeoTagger(cameraDefinition, georeferencing);
this.georeferencing = georeferencing;
// Prepare the folder
PrepareFolder(folderPath);
// Start the waypoint listener
StaticCoroutine.StartCoroutine(ProcessWaypoints());
}
void Start()
{
// Assert an object was selected
if (surveyAreaConfiguration.objectOfInterest == null)
{
throw new System.Exception("You must set an object of interest!");
}
// Build necessary entities
cameraDefinition = cameraDefinitionConfiguration.BuildDomain();
surveyArea = surveyAreaConfiguration.BuildDomain();
georeferencing = georeferencingConfiguration.BuildDomain(surveyArea);
// Set the camera
Camera camera = GetComponent <Camera>();
camera.usePhysicalProperties = true;
camera.focalLength = cameraDefinition.focalLength;
camera.sensorSize = new Vector2(cameraDefinition.sensorSizeX, cameraDefinition.sensorSizeY);
// Prepare the execution
PrepareMission(flightSpecsConfigurations[0]);
// Add event listeners
MissionExecution.OnMissionFinished += MissionFinished;
}
public GridMission(SurveyArea surveyArea, CameraDefinition cameraDefinition, float relativeAltitude, float cameraAngle)
: base(MissionType.Grid, surveyArea, cameraDefinition)
{
this.altitude = surveyArea.areaToCover.center.y - surveyArea.areaToCover.extents.y + relativeAltitude;
this.cameraAngle = cameraAngle;
this.imageWidth = altitude * cameraDefinition.sensorSizeX / cameraDefinition.focalLength;
this.imageHeight = altitude * cameraDefinition.sensorSizeY / cameraDefinition.focalLength;
}
public DoubleGridMission(SurveyArea surveyArea, CameraDefinition cameraDefinition, float relativeAltitude1, float cameraAngle1, float relativeAltitude2, float cameraAngle2)
: base(MissionType.DoubleGrid, surveyArea, cameraDefinition)
{
this.altitude1 = surveyArea.areaToCover.center.y - surveyArea.areaToCover.extents.y + relativeAltitude1;
this.altitude2 = surveyArea.areaToCover.center.y - surveyArea.areaToCover.extents.y + relativeAltitude2;
this.cameraAngle1 = cameraAngle1;
this.cameraAngle2 = cameraAngle2;
}
public static void WriteToXml(CameraDefinition cameraDefinition, SurveyArea surveyArea, Mission.FlightPlan flightPlan, Georeferencing georeferencing, string folderPath)
{
SerializedDroneFlight droneFlight = new SerializedDroneFlight(cameraDefinition, surveyArea, flightPlan, georeferencing);
XmlSerializer serializer = new XmlSerializer(typeof(SerializedDroneFlight));
TextWriter writer = new StreamWriter(Path.Combine(folderPath, "droneFlight.xml"));
serializer.Serialize(writer, droneFlight);
writer.Close();
}
public static List <GroundControlPoint> LocateGCPs(SurveyArea surveyArea)
{
// For now, we are looking for manually placed GCPs. In the future, it might make sense to locate them automatically.
// Maybe using Voronoi diagrams?
return(GameObject.FindGameObjectsWithTag("GCP")
.Select(GroundControlPoint.FromGameObject)
.Where(gcp => gcp.IsContainedByBound(surveyArea.areaToCover))
.ToList());
}
public Mission BuildMission(SurveyArea surveyArea, CameraDefinition cameraDefinition)
{
switch (missionType)
{
case MissionType.Grid:
return(new GridMission(surveyArea, cameraDefinition, altitude1, cameraAngle1));
case MissionType.DoubleGrid:
return(new DoubleGridMission(surveyArea, cameraDefinition, altitude1, cameraAngle1, altitude2, cameraAngle2));
default:
throw new System.Exception("Couldn't fin a mission for the selected mission type");
}
}
public MissionExecution(CameraDefinition cameraDefinition, SurveyArea surveyArea, Georeferencing georeferencing, Mission mission, Transform droneTransform, float flightSpeed, string folderPath)
{
// Calculate the flight plan
FlightPlan flightPlan = mission.CalculateFlightPlan();
Debug.Log(string.Format("Mission calculated. Will take {0} images.", flightPlan.waypoints.Count));
// Build helpers that will move the drone, take the images, and log everything to later geotag the images
droneMovement = new DroneMovement(droneTransform, flightPlan, flightSpeed);
waypointProcessor = new WaypointProcessor(cameraDefinition, surveyArea, georeferencing, flightPlan.waypoints.Count, folderPath);
// Save all configuration as XML
SaveXML(cameraDefinition, surveyArea, flightPlan, georeferencing, folderPath);
// Add event listeners
droneMovement.OnReachedWaypoint += ReachedWaypoint;
waypointProcessor.OnProcessedAllWaypoints += () => OnMissionFinished?.Invoke();
}
private int currentWaypointInMission; // Starts with 1
void Start()
{
// Assert an object was selected
if (surveyAreaConfiguration.objectOfInterest == null)
{
throw new System.Exception("You must set an object of interest!");
}
// Build necessary entities
CameraDefinition cameraDefinition = cameraDefinitionConfiguration.BuildDomain();
SurveyArea surveyArea = surveyAreaConfiguration.BuildDomain();
Georeferencing georeferencing = georeferencingConfiguration.BuildDomain(surveyArea);
// Set the camera
Camera camera = GetComponent <Camera>();
camera.usePhysicalProperties = true;
camera.focalLength = cameraDefinition.focalLength;
camera.sensorSize = new Vector2(cameraDefinition.sensorSizeX, cameraDefinition.sensorSizeY);
Mission mission = flightSpecsConfiguration.BuildMission(surveyArea, cameraDefinition);
// Prepare the execution
missionExecution = new MissionExecution(cameraDefinition,
surveyArea,
georeferencing,
mission,
transform,
flightSpecsConfiguration.speed,
folderPath);
missionDebugger = new MissionDebugger(cameraDefinition, surveyArea, mission, transform);
// Add event listeners
MissionExecution.OnWaypointReached += ReachedWaypoint;
MissionExecution.OnMissionFinished += Quit;
}
protected Mission(MissionType missionType, SurveyArea surveyArea, CameraDefinition cameraDefinition)
{
this.missionType = missionType;
this.surveyArea = surveyArea;
this.cameraDefinition = cameraDefinition;
}
public Georeferencing BuildDomain(SurveyArea surveyArea)
{
return(new Georeferencing(centerEasting, centerNorthing, utmZone, utmHemisphere == Hemisphere.North ? Georeferencing.Hemisphere.North : Georeferencing.Hemisphere.South, dilutionOfPrecision, noiseRandomSeed, noise, surveyArea));
}
public Georeferencing(double centerEasting, double centerNorthing, int utmZone, Hemisphere hemisphere, float dilutionOfPrecision, int noiseRandomSeed, int maxNoise, SurveyArea surveyArea)
{
this.centerEasting = centerEasting;
this.centerNorthing = centerNorthing;
this.utmZone = utmZone;
this.hemisphere = hemisphere;
this.dilutionOfPrecision = dilutionOfPrecision;
Random.InitState(noiseRandomSeed);
this.noise = maxNoise;
this.center = surveyArea.areaToCover.center;
}
private void SaveXML(CameraDefinition cameraDefinition, SurveyArea surveyArea, FlightPlan flightPlan, Georeferencing georeferencing, string folderPath)
{
Debug.Log("Writing an XML that details the mission");
XMLWriter.WriteToXml(cameraDefinition, surveyArea, flightPlan, georeferencing, folderPath);
}
public GroundControlPointManager(CameraDefinition cameraDefinition, SurveyArea surveyArea)
{
this.cameraDefinition = cameraDefinition;
this.gcps = LocateGCPs(surveyArea);
this.associations = new List <ImageAssociation>();
}
