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 SerializedGeoreferencing(Georeferencing georeferencing)
{
this.eastingCenter = georeferencing.centerEasting;
this.northingCenter = georeferencing.centerNorthing;
this.utmZone = georeferencing.utmZone;
this.utmHemisphere = georeferencing.hemisphere.Value;
}
public void WriteToFile(Georeferencing georeferencing, string folderPath)
{
if (associations.Count > 0)
{
using (StreamWriter file = new StreamWriter(Path.Combine(folderPath, FILE_NAME))) {
file.WriteLine(georeferencing.GetDefinition());
associations.Select(association => association.MapToUTMAndPrint(georeferencing))
.ToList()
.ForEach(file.WriteLine);
}
}
}
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;
}
public GeoTagger(CameraDefinition cameraDefinition, Georeferencing georeferencing)
{
this.cameraDefinition = cameraDefinition;
this.georeferencing = georeferencing;
}
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 string MapToUTMAndPrint(Georeferencing georeferencing)
{
UTMCoordinate coordinate = georeferencing.MapUnityToUTM(gcp);
return(string.Format("{0} {1} {2} {3} {4} {5}", coordinate.Easting, coordinate.Northing, coordinate.Altitude, pixel.x, pixel.y, imageName));
}
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 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();
}
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);
}