private void btnOutputCVS_Click(object sender, EventArgs e)
{
LinkedList <WayPoints> wp_list = _path.waypoints;
WayPoints point = new WayPoints();
string str = "";
string filename = txtCSVFilePath.Text;
int pcount = 0;
int point_count = wp_list.Count;
if (point_count > 0)
{
do
{
point = wp_list.ElementAt(pcount);
double lat = point.lat;
double lon = point.lon;
double altitude = point.alt;
double head = point.head;
double curvesize = point.curvesize;
double rotationdir = point.rotationdir;
int gimblemode = point.gimblemode;
double gimblepitch = point.gimblepitch;
if (!_options.units_metric)
{
altitude = GPS.FeetToMeters(altitude);
curvesize = GPS.FeetToMeters(curvesize);
}
str = str + Convert.ToString(lat) + "," + Convert.ToString(lon);
str = str + ", " + Convert.ToString(altitude);
str = str + ", " + Convert.ToString(head);
str = str + ", " + Convert.ToString(curvesize);
str = str + ", " + Convert.ToString(rotationdir);
str = str + ", " + Convert.ToString(gimblemode);
str = str + ", " + Convert.ToString(gimblepitch);
for (int i = 0; i < 15; i++)
{
str = str + ", " + Convert.ToString(point.actions[i, 0]);
str = str + ", " + Convert.ToString(point.actions[i, 1]);
}
str = str + "\r\n";
pcount++;
} while (pcount < point_count);
// Write to File
System.IO.File.WriteAllText(filename, str);
}
this.Close();
}
private void btnOutputKML_Click(object sender, EventArgs e)
{
LinkedList <WayPoints> wp_list = _path.waypoints;
int pcount = 0;
int point_count = wp_list.Count;
if (point_count > 0)
{
//double lat_center = Convert.ToDouble(txtCenterLat.Text);
//double lon_center = Convert.ToDouble(txtCenterLon.Text);
double lat, new_lat, start_lat;
double lon, new_lon, start_lon;
double image_len;
double image_wid;
image_len = (Math.Tan(GPS.DegreesToRadians(_options.focal_angle_hor / 2)) * 30.0);
image_wid = (Math.Tan(GPS.DegreesToRadians(_options.focal_angle_ver / 2)) * 30.0);
double alt;
double bear;
string location_name = txtKMLPath.Text;
string filename = txtKMLFilePath.Text;
Kml kml = new Kml();
Folder folder = new Folder();
SharpKml.Dom.Placemark placemark = new SharpKml.Dom.Placemark();
LineString linestring = new LineString();
var vector = new Vector();
CoordinateCollection coordinates = new CoordinateCollection();
Style path_style = new Style();
path_style.Polygon = new PolygonStyle();
path_style.Line = new LineStyle();
// Color32( alpha, blue, green, red
path_style.Polygon.Color = new Color32(128, 255, 255, 0);
path_style.Line.Color = new Color32(255, 255, 255, 0);
linestring.AltitudeMode = AltitudeMode.RelativeToGround;
linestring.Extrude = true;
WayPoints point = new WayPoints();
do
{
point = wp_list.ElementAt(pcount);
lat = point.lat;
lon = point.lon;
alt = point.alt;
if (!_options.units_metric)
{
alt = GPS.FeetToMeters(alt);
}
vector = new Vector(lat, lon, alt);
coordinates.Add(vector);
pcount++;
} while (pcount < point_count);
linestring.Coordinates = coordinates;
placemark.Geometry = linestring;
placemark.AddStyle(path_style);
placemark.Name = location_name;
folder.AddFeature(placemark);
// kml.Feature = placemark;
/* Generate camera rectangles */
if (chkGenCamRect.Checked)
{
//image_len = 25;
//image_wid = 50;
double diag_ang = GPS.RadiansToDegrees(Math.Atan(image_len / image_wid));
double diag_len = Math.Sqrt((image_len * image_len) + (image_wid * image_wid));
double gps_radius;
for (int i = 0; i < wp_list.Count; i++)
{
Style poly_style = new Style();
poly_style.Polygon = new PolygonStyle();
poly_style.Line = new LineStyle();
// Color32( alpha, blue, green, red
poly_style.Polygon.Color = new Color32(128, 0, 255, 255);
poly_style.Line.Color = new Color32(255, 0, 255, 255);
Kml kml_rect = new Kml();
SharpKml.Dom.Placemark rect_placemark = new SharpKml.Dom.Placemark();
Polygon poly = new Polygon();
OuterBoundary outer = new OuterBoundary();
LinearRing line = new LinearRing();
CoordinateCollection coor = new CoordinateCollection();
poly.AltitudeMode = AltitudeMode.RelativeToGround;
poly.Extrude = false;
point = wp_list.ElementAt(i);
lat = point.lat;
lon = point.lon;
alt = point.alt;
gps_radius = _options.earth_radius + _options.def_elevation + alt;
alt = 2;
bear = point.head;
coor.Clear();
new_lat = GPS.GPS_Lat_BearDist(lat, lon, diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, diag_ang + bear, diag_len, gps_radius);
start_lat = new_lat;
start_lon = new_lon;
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 180 - diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 180 - diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 180 + diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 180 + diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
new_lat = GPS.GPS_Lat_BearDist(lat, lon, 360 - diag_ang + bear, diag_len, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat, lon, new_lat, 360 - diag_ang + bear, diag_len, gps_radius);
vector = new Vector(new_lat, new_lon, alt);
coor.Add(vector);
vector = new Vector(start_lat, start_lon, alt);
coor.Add(vector);
line.Coordinates = coor;
outer.LinearRing = line;
poly.OuterBoundary = outer;
rect_placemark.Geometry = poly;
rect_placemark.AddStyle(poly_style);
rect_placemark.Name = "WP " + Convert.ToString(i);
folder.AddFeature(rect_placemark);
}
}
kml.Feature = folder;
Serializer serializer = new Serializer();
serializer.Serialize(kml);
System.IO.File.WriteAllText(filename, serializer.Xml);
}
this.Close();
}
