public void Init(FPFImage img, Metadata mt)
{
this.irImage = img;
this.metadata = mt;
this.refArea = 1;
}
public RTDP(RTDPService service)
{
this.service = service;
hotSpots = new ArrayList();
if (RTDPSettings.doSegmentation)
segmentation = new Segmentation(UASProperties.irCamProperties);
if (RTDPSettings.doImageFusion)
fusion = new Fusion(UASProperties.irCamProperties, UASProperties.viCamProperties);
if (RTDPSettings.doGeolocation)
{
if (RTDPSettings.geolocationSettings.geolocateVIimage)
viGeolocation = new Geolocation(UASProperties.viCamProperties, UASProperties.gpsProperties);
if (RTDPSettings.geolocationSettings.geolocateHotspots || RTDPSettings.geolocationSettings.geolocateIRimage)
irGeolocation = new Geolocation(UASProperties.irCamProperties, UASProperties.gpsProperties);
}
DemManager.DemManagerService.GetInstance().FunctionCall("SetPrecision", new object[] { RTDPSettings.terrainModelSettings.demPrecision });
metadata = new Metadata();
this.DeleteTempFiles();
// RTDP is now ready to process a package
ready = true;
}
public void Init(Metadata mt)
{
double cosYaw = Math.Cos(mt.uavTelemetry.uavAngles.Yaw);
double sinYaw = Math.Sin(mt.uavTelemetry.uavAngles.Yaw);
double speed_x = mt.uavTelemetry.uavSpeed.North * cosYaw + mt.uavTelemetry.uavSpeed.East * sinYaw; // to the nose
double speed_y = -mt.uavTelemetry.uavSpeed.North * sinYaw + mt.uavTelemetry.uavSpeed.East * cosYaw; // to the right wing
double delay_ir = mt.camDelay.irDelay;
double delay_vi = mt.camDelay.viAverage;
double height = mt.AGL - (irCamera.camPosition.z + viCamera.camPosition.z) / 2;
double tilt_ir = mt.uavTelemetry.uavAngles.Pitch + irCamera.camAngles.Pitch;
double tilt_vi = mt.uavTelemetry.uavAngles.Pitch + viCamera.camAngles.Pitch;
// Scale factor and offsets between IR and VI for three IR pixels
double S_ir_vi = (irCamera.pixelPitch * viCamera.focalLength) / (irCamera.focalLength * viCamera.pixelPitch);
double ydif = ((irCamera.camPosition.y - viCamera.camPosition.y) +0.8 + speed_y * (delay_ir - delay_vi)) * viCamera.focalLength / (height * viCamera.pixelPitch);
double xdif = ((irCamera.camPosition.x - viCamera.camPosition.x) -1.2 + speed_x * (delay_ir - delay_vi)) / height;
double tao_ir, tao_vi, sm_ir_vi, sm_vi;
// Top-left and top-right pixels
tao_ir = tilt_ir + Math.Atan2((M_ir - 1) * irCamera.pixelPitch, 2 * irCamera.focalLength);
tao_vi = Math.Atan(xdif + Math.Tan(tao_ir));
int y_tl_vi = (int)(M_vi / 2 - viCamera.focalLength * Math.Tan(tao_vi - tilt_vi) / viCamera.pixelPitch);
int y_tr_vi = y_tl_vi;
sm_ir_vi = S_ir_vi * (Math.Cos(tao_vi) * Math.Cos(tao_ir - tilt_ir)) / (Math.Cos(tao_ir) * Math.Cos(tao_vi - tilt_vi));
sm_vi = Math.Cos(tao_vi) / Math.Cos(tao_vi - tilt_vi);
int x_tl_vi = (int)((N_vi - sm_ir_vi * N_ir) / 2 + ydif * sm_vi);
int x_tr_vi = (int)(x_tl_vi + N_ir * sm_ir_vi);
// Bottom-left and bottom-right pixels
tao_ir = tilt_ir - Math.Atan2((M_ir - 1) * irCamera.pixelPitch, 2 * irCamera.focalLength);
tao_vi = Math.Atan(xdif + Math.Tan(tao_ir));
int y_bl_vi = (int)(M_vi / 2 - viCamera.focalLength * Math.Tan(tao_vi - tilt_vi) / viCamera.pixelPitch);
int y_br_vi = y_bl_vi;
sm_ir_vi = S_ir_vi * (Math.Cos(tao_vi) * Math.Cos(tao_ir - tilt_ir)) / (Math.Cos(tao_ir) * Math.Cos(tao_vi - tilt_vi));
sm_vi = Math.Cos(tao_vi) / Math.Cos(tao_vi - tilt_vi);
int x_bl_vi = (int)((N_vi - sm_ir_vi * N_ir) / 2 + ydif * sm_vi);
int x_br_vi = (int)(x_bl_vi + N_ir * sm_ir_vi);
// Compute affine matrix
this.ComputeAffineMatrix(x_tl_vi, y_tl_vi, x_tr_vi, y_tr_vi, x_bl_vi, y_bl_vi, x_br_vi, y_br_vi);
//// Rectangle enclosing the IR image in the VI image
int top = y_tl_vi;
int bottom = y_bl_vi;
int left = (x_tl_vi < x_bl_vi) ? x_tl_vi : x_bl_vi;
int right = (x_tr_vi > x_br_vi) ? x_tr_vi : x_br_vi;
if (top < 0) top = 0;
if (top > M_vi - 1) top = M_vi - 1;
if (left < 0) left = 0;
if (left > N_vi - 1) left = N_vi - 1;
if (bottom < top) bottom = top;
if (bottom > M_vi - 1) bottom = M_vi - 1;
if (right < left) right = left;
if (right > N_vi - 1) right = N_vi -1;
viLockRectangle = new Rectangle(left, top, right - left + 1, bottom - top + 1);
}
public void Init(FPFImage ir_img, ViImage vi_img, Metadata mt)
{
this.irImage = ir_img;
this.viImage = vi_img;
map.Init(mt);
}
public void Init(FPFImage ir_img, ViImage vi_img, Metadata mt)
{
this.irImage = ir_img;
this.viImage = vi_img;
map.Init(mt);
}
