// Constructor. CameraProperties remain constant during the mission
public CAMFrame(CAMProperties camera)
{
zeroCamDistance = RTDPSettings.geolocationSettings.zeroCamDistance;
zeroCamPanRoll = RTDPSettings.geolocationSettings.zeroCamPanRoll;
camPosition = camera.camPosition;
scaleFactor = camera.pixelPitch;
offsetX = (camera.imageHeight - 1) * scaleFactor / 2;
offsetY = (camera.imageWidth - 1) * scaleFactor / 2;
focalLength = camera.focalLength;
camAngles = camera.camAngles;
cosPitch = Math.Cos(camAngles.Pitch);
sinPitch = Math.Sin(camAngles.Pitch);
if (zeroCamPanRoll)
{
cosYaw = cosRoll = 1;
sinYaw = sinRoll = 0;
}
else
{
cosYaw = Math.Cos(camAngles.Yaw);
sinYaw = Math.Sin(camAngles.Yaw);
cosRoll = Math.Cos(camAngles.Roll);
sinRoll = Math.Sin(camAngles.Roll);
}
R_BODY_CAM = null;
R_CAM_BODY = null;
}
// Constructor. CameraProperties remain constant during the mission
public CAMFrame(CAMProperties camera)
{
zeroCamDistance = RTDPSettings.geolocationSettings.zeroCamDistance;
zeroCamPanRoll = RTDPSettings.geolocationSettings.zeroCamPanRoll;
camPosition = camera.camPosition;
scaleFactor = camera.pixelPitch;
offsetX = (camera.imageHeight - 1) * scaleFactor / 2;
offsetY = (camera.imageWidth - 1) * scaleFactor / 2;
focalLength = camera.focalLength;
camAngles = camera.camAngles;
cosPitch = Math.Cos(camAngles.Pitch);
sinPitch = Math.Sin(camAngles.Pitch);
if (zeroCamPanRoll)
{
cosYaw = cosRoll = 1;
sinYaw = sinRoll = 0;
}
else
{
cosYaw = Math.Cos(camAngles.Yaw);
sinYaw = Math.Sin(camAngles.Yaw);
cosRoll = Math.Cos(camAngles.Roll);
sinRoll = Math.Sin(camAngles.Roll);
}
R_BODY_CAM = null;
R_CAM_BODY = null;
}
public Geolocation(CAMProperties camera, GPSProperties gps)
{
this.camera = camera;
this.gps = gps;
this.nedFrame = new LNEDFrame(gps);
this.camFrame = new CAMFrame(camera);
}
public Geolocation(CAMProperties camera, GPSProperties gps)
{
this.camera = camera;
this.gps = gps;
this.nedFrame = new LNEDFrame(gps);
this.camFrame = new CAMFrame(camera);
}
Rectangle viLockRectangle; // VI rectangle corresponding to the IR image
public IrViMapper(CAMProperties irCam, CAMProperties viCam)
{
// Camera properties remain constant during the flight
irCamera = irCam;
viCamera = viCam;
// IR and VI image size
M_ir = irCamera.imageHeight;
N_ir = irCamera.imageWidth;
M_vi = viCamera.imageHeight;
N_vi = viCamera.imageWidth;
}
Rectangle viLockRectangle; // VI rectangle corresponding to the IR image
public IrViMapper(CAMProperties irCam, CAMProperties viCam)
{
// Camera properties remain constant during the flight
irCamera = irCam;
viCamera = viCam;
// IR and VI image size
M_ir = irCamera.imageHeight;
N_ir = irCamera.imageWidth;
M_vi = viCamera.imageHeight;
N_vi = viCamera.imageWidth;
}
static UASProperties()
{
irCamProperties = new CAMProperties();
viCamProperties = new CAMProperties();
gpsProperties = new GPSProperties();
}
float refArea; // Reference area for estimation of the hot spot magnitude
public Segmentation(CAMProperties camera)
{
this.camera = camera;
}
public Fusion(CAMProperties irCam, CAMProperties viCam)
{
this.map = new IrViMapper(irCam, viCam);
}
static UASProperties()
{
irCamProperties = new CAMProperties();
viCamProperties = new CAMProperties();
gpsProperties = new GPSProperties();
}
float refArea; // Reference area for estimation of the hot spot magnitude
public Segmentation(CAMProperties camera)
{
this.camera = camera;
}
public Fusion(CAMProperties irCam, CAMProperties viCam)
{
this.map = new IrViMapper(irCam, viCam);
}