private void PrepareMission(ConfigurableFlightSpecs flightSpecsConfiguration)
{
missionExecution = new MissionExecution(cameraDefinition,
surveyArea,
georeferencing,
flightSpecsConfiguration.BuildMission(surveyArea, cameraDefinition),
transform,
flightSpecsConfiguration.speed,
Path.Combine(folderPath, GetFolderNameForMission(flightSpecsConfiguration)));
}
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;
}
