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Commit 073ab854 authored by DonLakeFlyer's avatar DonLakeFlyer
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New CameraCalc reusable code for complex items 

Converted Structure Scan to use CameraCalc such that it now works with
camera specs.
parent 97891f2d
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Showing with 1554 additions and 144 deletions
qgroundcontrol.pro
View file @ 073ab854
......@@ -505,7 +505,9 @@ HEADERS += \
src/JsonHelper.h \
src/LogCompressor.h \
src/MG.h \
src/MissionManager/CameraCalc.h \
src/MissionManager/CameraSection.h \
src/MissionManager/CameraSpec.h \
src/MissionManager/ComplexMissionItem.h \
src/MissionManager/FixedWingLandingComplexItem.h \
src/MissionManager/GeoFenceController.h \
......@@ -693,7 +695,9 @@ SOURCES += \
src/Joystick/JoystickManager.cc \
src/JsonHelper.cc \
src/LogCompressor.cc \
src/MissionManager/CameraCalc.cc \
src/MissionManager/CameraSection.cc \
src/MissionManager/CameraSpec.cc \
src/MissionManager/ComplexMissionItem.cc \
src/MissionManager/FixedWingLandingComplexItem.cc \
src/MissionManager/GeoFenceController.cc \
......
qgroundcontrol.qrc
View file @ 073ab854
......@@ -44,6 +44,7 @@
<file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
<file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
<file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
<file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
......@@ -203,6 +204,8 @@
<file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
<file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
<file alias="CameraSection.FactMetaData.json">src/MissionManager/CameraSection.FactMetaData.json</file>
<file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
<file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
<file alias="SpeedSection.FactMetaData.json">src/MissionManager/SpeedSection.FactMetaData.json</file>
<file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
<file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
......
src/FactSystem/Fact.cc
View file @ 073ab854
......@@ -89,7 +89,7 @@ void Fact::forceSetRawValue(const QVariant& value)
emit rawValueChanged(_rawValue);
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -109,7 +109,7 @@ void Fact::setRawValue(const QVariant& value)
}
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -118,7 +118,7 @@ void Fact::setCookedValue(const QVariant& value)
if (_metaData) {
setRawValue(_metaData->cookedTranslator()(value));
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -130,7 +130,7 @@ void Fact::setEnumStringValue(const QString& value)
setCookedValue(_metaData->enumValues()[index]);
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -139,7 +139,7 @@ void Fact::setEnumIndex(int index)
if (_metaData) {
setCookedValue(_metaData->enumValues()[index]);
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -168,7 +168,7 @@ QVariant Fact::cookedValue(void) const
if (_metaData) {
return _metaData->rawTranslator()(_rawValue);
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return _rawValue;
}
}
......@@ -181,7 +181,7 @@ QString Fact::enumStringValue(void)
return _metaData->enumStrings()[enumIndex];
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
return QString();
......@@ -213,7 +213,7 @@ int Fact::enumIndex(void)
return index;
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
return -1;
}
......@@ -223,7 +223,7 @@ QStringList Fact::enumStrings(void) const
if (_metaData) {
return _metaData->enumStrings();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QStringList();
}
}
......@@ -233,7 +233,7 @@ QVariantList Fact::enumValues(void) const
if (_metaData) {
return _metaData->enumValues();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariantList();
}
}
......@@ -243,7 +243,7 @@ void Fact::setEnumInfo(const QStringList& strings, const QVariantList& values)
if (_metaData) {
_metaData->setEnumInfo(strings, values);
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
}
......@@ -252,7 +252,7 @@ QStringList Fact::bitmaskStrings(void) const
if (_metaData) {
return _metaData->bitmaskStrings();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QStringList();
}
}
......@@ -262,7 +262,7 @@ QVariantList Fact::bitmaskValues(void) const
if (_metaData) {
return _metaData->bitmaskValues();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariantList();
}
}
......@@ -336,7 +336,7 @@ QVariant Fact::rawDefaultValue(void) const
}
return _metaData->rawDefaultValue();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -349,7 +349,7 @@ QVariant Fact::cookedDefaultValue(void) const
}
return _metaData->cookedDefaultValue();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -369,7 +369,7 @@ QString Fact::shortDescription(void) const
if (_metaData) {
return _metaData->shortDescription();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString();
}
}
......@@ -379,7 +379,7 @@ QString Fact::longDescription(void) const
if (_metaData) {
return _metaData->longDescription();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString();
}
}
......@@ -389,7 +389,7 @@ QString Fact::rawUnits(void) const
if (_metaData) {
return _metaData->rawUnits();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString();
}
}
......@@ -399,7 +399,7 @@ QString Fact::cookedUnits(void) const
if (_metaData) {
return _metaData->cookedUnits();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString();
}
}
......@@ -409,7 +409,7 @@ QVariant Fact::rawMin(void) const
if (_metaData) {
return _metaData->rawMin();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -419,7 +419,7 @@ QVariant Fact::cookedMin(void) const
if (_metaData) {
return _metaData->cookedMin();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -434,7 +434,7 @@ QVariant Fact::rawMax(void) const
if (_metaData) {
return _metaData->rawMax();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -444,7 +444,7 @@ QVariant Fact::cookedMax(void) const
if (_metaData) {
return _metaData->cookedMax();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QVariant(0);
}
}
......@@ -459,7 +459,7 @@ bool Fact::minIsDefaultForType(void) const
if (_metaData) {
return _metaData->minIsDefaultForType();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -469,7 +469,7 @@ bool Fact::maxIsDefaultForType(void) const
if (_metaData) {
return _metaData->maxIsDefaultForType();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -479,7 +479,7 @@ int Fact::decimalPlaces(void) const
if (_metaData) {
return _metaData->decimalPlaces();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return FactMetaData::defaultDecimalPlaces;
}
}
......@@ -489,14 +489,17 @@ QString Fact::group(void) const
if (_metaData) {
return _metaData->group();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString();
}
}
void Fact::setMetaData(FactMetaData* metaData)
void Fact::setMetaData(FactMetaData* metaData, bool setDefaultFromMetaData)
{
_metaData = metaData;
if (setDefaultFromMetaData) {
setRawValue(rawDefaultValue());
}
emit valueChanged(cookedValue());
}
......@@ -509,7 +512,7 @@ bool Fact::valueEqualsDefault(void) const
return false;
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -519,7 +522,7 @@ bool Fact::defaultValueAvailable(void) const
if (_metaData) {
return _metaData->defaultValueAvailable();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -534,7 +537,7 @@ QString Fact::validate(const QString& cookedValue, bool convertOnly)
return errorString;
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return QString("Internal error: Meta data pointer missing");
}
}
......@@ -550,7 +553,7 @@ QVariant Fact::clamp(const QString& cookedValue)
return rawValue();
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
return QVariant();
}
......@@ -560,7 +563,7 @@ bool Fact::rebootRequired(void) const
if (_metaData) {
return _metaData->rebootRequired();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -600,7 +603,7 @@ QString Fact::enumOrValueString(void)
return cookedValueString();
}
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
return QString();
}
......@@ -610,7 +613,7 @@ double Fact::increment(void) const
if (_metaData) {
return _metaData->increment();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
}
return std::numeric_limits<double>::quiet_NaN();
}
......@@ -620,7 +623,7 @@ bool Fact::hasControl(void) const
if (_metaData) {
return _metaData->hasControl();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
......@@ -630,7 +633,7 @@ bool Fact::readOnly(void) const
if (_metaData) {
return _metaData->readOnly();
} else {
qWarning() << kMissingMetadata;
qWarning() << kMissingMetadata << name();
return false;
}
}
src/FactSystem/Fact.h
View file @ 073ab854
......@@ -136,7 +136,9 @@ public:
void forceSetRawValue(const QVariant& value);
/// Sets the meta data associated with the Fact.
void setMetaData(FactMetaData* metaData);
/// @param metaData FactMetaData for Fact
/// @param setDefaultFromMetaData true: set the fact value to the default specified in the meta data
void setMetaData(FactMetaData* metaData, bool setDefaultFromMetaData = false);
FactMetaData* metaData() { return _metaData; }
......
src/FirmwarePlugin/CameraMetaData.h
View file @ 073ab854
......@@ -7,8 +7,7 @@
*
****************************************************************************/
#ifndef CameraMetaData_H
#define CameraMetaData_H
#pragma once
#include <QObject>
......@@ -29,15 +28,25 @@ public:
double minTriggerInterval,
QObject* parent = NULL);
Q_PROPERTY(QString name MEMBER _name CONSTANT) ///< Camera name
Q_PROPERTY(double sensorWidth MEMBER _sensorWidth CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(double sensorHeight MEMBER _sensorHeight CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(double imageWidth MEMBER _imageWidth CONSTANT) ///< Image size in pixels
Q_PROPERTY(double imageHeight MEMBER _imageHeight CONSTANT) ///< Image size in pixels
Q_PROPERTY(double focalLength MEMBER _focalLength CONSTANT) ///< Focal length in millimeters
Q_PROPERTY(bool landscape MEMBER _landscape CONSTANT) ///< true: camera is in landscape orientation
Q_PROPERTY(bool fixedOrientation MEMBER _fixedOrientation CONSTANT) ///< true: camera is in fixed orientation
Q_PROPERTY(double minTriggerInterval MEMBER _minTriggerInterval CONSTANT) ///< Minimum time in seconds between each photo taken, 0 for not specified
Q_PROPERTY(QString name READ name CONSTANT) ///< Camera name
Q_PROPERTY(double sensorWidth READ sensorWidth CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(double sensorHeight READ sensorHeight CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(double imageWidth READ imageWidth CONSTANT) ///< Image size in pixels
Q_PROPERTY(double imageHeight READ imageHeight CONSTANT) ///< Image size in pixels
Q_PROPERTY(double focalLength READ focalLength CONSTANT) ///< Focal length in millimeters
Q_PROPERTY(bool landscape READ landscape CONSTANT) ///< true: camera is in landscape orientation
Q_PROPERTY(bool fixedOrientation READ fixedOrientation CONSTANT) ///< true: camera is in fixed orientation
Q_PROPERTY(double minTriggerInterval READ minTriggerInterval CONSTANT) ///< Minimum time in seconds between each photo taken, 0 for not specified
QString name (void) const { return _name; }
double sensorWidth (void) const { return _sensorWidth; }
double sensorHeight (void) const { return _sensorHeight; }
double imageWidth (void) const { return _imageWidth; }
double imageHeight (void) const { return _imageHeight; }
double focalLength (void) const { return _focalLength; }
bool landscape (void) const { return _landscape; }
bool fixedOrientation (void) const { return _fixedOrientation; }
double minTriggerInterval (void) const { return _minTriggerInterval; }
private:
QString _name;
......@@ -50,5 +59,3 @@ private:
bool _fixedOrientation;
double _minTriggerInterval;
};
#endif
src/MissionManager/CameraCalc.FactMetaData.json 0 → 100644
View file @ 073ab854
[
{
"name": "ValueSetIsDistance",
"shortDescription": "Value specified is distance to surface.",
"type": "bool",
"defaultValue": 1
},
{
"name": "DistanceToSurface",
"shortDescription": "Distance vehicle is away from surface.",
"type": "double",
"min": 0.1,
"units": "m",
"decimalPlaces": 2,
"defaultValue": 100.0
},
{
"name": "ImageDensity",
"shortDescription": "Image desity at surface.",
"type": "double",
"min": 0,
"units": "cm/px",
"decimalPlaces": 1,
"defaultValue": 25
},
{
"name": "FrontalOverlap",
"shortDescription": "Amount of overlap between images in the forward facing direction.",
"type": "double",
"decimalPlaces": 0,
"min": 0,
"max": 85,
"units": "%",
"defaultValue": 70
},
{
"name": "SideOverlap",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 0,
"min": 0,
"max": 85,
"units": "%",
"defaultValue": 70
},
{
"name": "AdjustedFootprintFrontal",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "AdjustedFootprintSide",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
}
]
src/MissionManager/CameraCalc.cc 0 → 100644
View file @ 073ab854
This diff is collapsed.
src/MissionManager/CameraCalc.h 0 → 100644
View file @ 073ab854
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "CameraSpec.h"
class Vehicle;
class CameraCalc : public CameraSpec
{
Q_OBJECT
public:
CameraCalc(Vehicle* vehicle, QObject* parent = NULL);
Q_ENUMS(CameraSpecType)
Q_PROPERTY(CameraSpecType cameraSpecType MEMBER _cameraSpecType NOTIFY cameraSpecTypeChanged)
Q_PROPERTY(QString knownCameraName MEMBER _knownCameraName NOTIFY knownCameraNameChanged)
Q_PROPERTY(Fact* valueSetIsDistance READ valueSetIsDistance CONSTANT) ///< true: distance specified, resolution calculated
Q_PROPERTY(Fact* distanceToSurface READ distanceToSurface CONSTANT) ///< Distance to surface for image foot print calculation
Q_PROPERTY(Fact* imageDensity READ imageDensity CONSTANT) ///< Image density on surface (cm/px)
Q_PROPERTY(Fact* frontalOverlap READ frontalOverlap CONSTANT)
Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT)
Q_PROPERTY(Fact* adjustedFootprintSide READ adjustedFootprintSide CONSTANT) ///< Side footprint adjusted down for overlap
Q_PROPERTY(Fact* adjustedFootprintFrontal READ adjustedFootprintFrontal CONSTANT) ///< Frontal footprint adjusted down for overlap
// The following values are calculated from the camera properties
Q_PROPERTY(double imageFootprintSide READ imageFootprintSide NOTIFY imageFootprintSideChanged) ///< Size of image size side in meters
Q_PROPERTY(double imageFootprintFrontal READ imageFootprintFrontal NOTIFY imageFootprintFrontalChanged) ///< Size of image size frontal in meters
enum CameraSpecType {
CameraSpecNone,
CameraSpecCustom,
CameraSpecKnown
};
Fact* valueSetIsDistance (void) { return &_valueSetIsDistanceFact; }
Fact* distanceToSurface (void) { return &_distanceToSurfaceFact; }
Fact* imageDensity (void) { return &_imageDensityFact; }
Fact* frontalOverlap (void) { return &_frontalOverlapFact; }
Fact* sideOverlap (void) { return &_sideOverlapFact; }
Fact* adjustedFootprintSide (void) { return &_adjustedFootprintSideFact; }
Fact* adjustedFootprintFrontal (void) { return &_adjustedFootprintFrontalFact; }
double imageFootprintSide (void) const { return _imageFootprintSide; }
double imageFootprintFrontal (void) const { return _imageFootprintFrontal; }
bool dirty (void) const { return _dirty; }
void setDirty (bool dirty);
void save(QJsonObject& json) const;
bool load(const QJsonObject& json, QString& errorString);
signals:
void cameraSpecTypeChanged (CameraSpecType cameraSpecType);
void knownCameraNameChanged (QString knownCameraName);
void dirtyChanged (bool dirty);
void imageFootprintSideChanged (double imageFootprintSide);
void imageFootprintFrontalChanged (double imageFootprintFrontal);
private slots:
void _knownCameraNameChanged(QString knownCameraName);
void _recalcTriggerDistance(void);
private:
Vehicle* _vehicle;
bool _dirty;
CameraSpecType _cameraSpecType;
QString _knownCameraName;
bool _disableRecalc;
QMap<QString, FactMetaData*> _metaDataMap;
Fact _valueSetIsDistanceFact;
Fact _distanceToSurfaceFact;
Fact _imageDensityFact;
Fact _frontalOverlapFact;
Fact _sideOverlapFact;
Fact _adjustedFootprintSideFact;
Fact _adjustedFootprintFrontalFact;
double _imageFootprintSide;
double _imageFootprintFrontal;
QVariantList _knownCameraList;
static const char* _valueSetIsDistanceName;
static const char* _distanceToSurfaceName;
static const char* _imageDensityName;
static const char* _frontalOverlapName;
static const char* _sideOverlapName;
static const char* _adjustedFootprintSideName;
static const char* _adjustedFootprintFrontalName;
};
src/MissionManager/CameraSpec.FactMetaData.json 0 → 100644
View file @ 073ab854
[
{
"name": "Name",
"shortDescription": "Camera name.",
"type": "string",
"defaultValue": ""
},
{
"name": "SensorWidth",
"shortDescription": "Width of camera image sensor.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 6.17
},
{
"name": "SensorHeight",
"shortDescription": "Height of camera image sensor.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 4.55
},
{
"name": "ImageWidth",
"shortDescription": "Camera image resolution width.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 4000
},
{
"name": "ImageHeight",
"shortDescription": "Camera image resolution height.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 3000
},
{
"name": "FocalLength",
"shortDescription": "Focal length of camera lens.",
"type": "double",
"decimalPlaces": 1,
"min": 1,
"units": "mm",
"defaultValue": 4.5
},
{
"name": "Landscape",
"shortDescription": "Camera on vehicle is in landscape orientation.",
"type": "bool",
"defaultValue": 1
},
{
"name": "FixedOrientation",
"shortDescription": "Camera orientation ix fixed and cannot be changed.",
"type": "bool",
"defaultValue": 0
},
{
"name": "MinTriggerInterval",
"shortDescription": "Minimum amount of time between each camera trigger.",
"type": "double",
"min": 0.1,
"units": "secs",
"defaultValue": 1.0
}
]
src/MissionManager/CameraSpec.cc 0 → 100644
View file @ 073ab854
This diff is collapsed.
src/MissionManager/CameraSpec.h 0 → 100644
View file @ 073ab854
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "Fact.h"
class CameraSpec : public QObject
{
Q_OBJECT
public:
CameraSpec(QObject* parent = NULL);
CameraSpec(const QString& name,
double sensorWidth,
double sensorHeight,
double imageWidth,
double imageHeight,
double focalLength,
bool landscape,
bool fixedOrientation,
double minTriggerInterval,
QObject* parent = NULL);
CameraSpec(const CameraSpec& other, QObject* parent);
const CameraSpec& operator=(const CameraSpec& other);
// These properties are persisted to Json
Q_PROPERTY(Fact* name READ name CONSTANT) ///< Camera name
Q_PROPERTY(Fact* sensorWidth READ sensorWidth CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(Fact* sensorHeight READ sensorHeight CONSTANT) ///< Sensor size in millimeters
Q_PROPERTY(Fact* imageWidth READ imageWidth CONSTANT) ///< Image size in pixels
Q_PROPERTY(Fact* imageHeight READ imageHeight CONSTANT) ///< Image size in pixels
Q_PROPERTY(Fact* focalLength READ focalLength CONSTANT) ///< Focal length in millimeters
Q_PROPERTY(Fact* landscape READ landscape CONSTANT) ///< true: camera is in landscape orientation
Q_PROPERTY(Fact* fixedOrientation READ fixedOrientation CONSTANT) ///< true: camera is in fixed orientation
Q_PROPERTY(Fact* minTriggerInterval READ minTriggerInterval CONSTANT) ///< Minimum time in seconds between each photo taken, 0 for not specified
Fact* name (void) { return &_nameFact; }
Fact* sensorWidth (void) { return &_sensorWidthFact; }
Fact* sensorHeight (void) { return &_sensorHeightFact; }
Fact* imageWidth (void) { return &_imageWidthFact; }
Fact* imageHeight (void) { return &_imageHeightFact; }
Fact* focalLength (void) { return &_focalLengthFact; }
Fact* landscape (void) { return &_landscapeFact; }
Fact* fixedOrientation (void) { return &_fixedOrientationFact; }
Fact* minTriggerInterval(void) { return &_minTriggerIntervalFact; }
bool dirty (void) const { return _dirty; }
void setDirty (bool dirty);
void save(QJsonObject& json) const;
bool load(const QJsonObject& json, QString& errorString);
signals:
void dirtyChanged(bool dirty);
private:
void _init(bool setDefaults);
bool _dirty;
QMap<QString, FactMetaData*> _metaDataMap;
Fact _nameFact;
Fact _sensorWidthFact;
Fact _sensorHeightFact;
Fact _imageWidthFact;
Fact _imageHeightFact;
Fact _focalLengthFact;
Fact _landscapeFact;
Fact _fixedOrientationFact;
Fact _minTriggerIntervalFact;
static const char* _nameName;
static const char* _sensorWidthName;
static const char* _sensorHeightName;
static const char* _imageWidthName;
static const char* _imageHeightName;
static const char* _focalLengthName;
static const char* _landscapeName;
static const char* _fixedOrientationName;
static const char* _minTriggerIntervalName;
static const char* _jsonNameKey;
static const char* _jsonSensorWidthKey;
static const char* _jsonSensorHeightKey;
static const char* _jsonImageWidthKey;
static const char* _jsonImageHeightKey;
static const char* _jsonFocalLengthKey;
static const char* _jsonLandscapeKey;
static const char* _jsonFixedOrientationKey;
static const char* _jsonMinTriggerIntervalKey;
};
src/MissionManager/StructureScanComplexItem.cc
View file @ 073ab854
......@@ -25,9 +25,6 @@ const char* StructureScanComplexItem::jsonComplexItemTypeValue = "Stru
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_layerDistanceFactName = "Layer distance";
const char* StructureScanComplexItem::_cameraTriggerDistanceFactName = "Trigger distance";
const char* StructureScanComplexItem::_scanDistanceFactName = "Scan distance";
QMap<QString, FactMetaData*> StructureScanComplexItem::_metaDataMap;
......@@ -41,11 +38,9 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _scanDistance (0.0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _layerDistanceFact (0, _layerDistanceFactName, FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, _cameraTriggerDistanceFactName, FactMetaData::valueTypeDouble)
, _scanDistanceFact (0, _scanDistanceFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
......@@ -53,26 +48,16 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), NULL /* QObject parent */);
}
qDebug() << _metaDataMap[_altitudeFactName];
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_layerDistanceFact.setMetaData (_metaDataMap[_layerDistanceFactName]);
_cameraTriggerDistanceFact.setMetaData (_metaDataMap[_cameraTriggerDistanceFactName]);
_scanDistanceFact.setMetaData (_metaDataMap[_scanDistanceFactName]);
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_layerDistanceFact.setRawValue (_layerDistanceFact.rawDefaultValue());
_cameraTriggerDistanceFact.setRawValue (_cameraTriggerDistanceFact.rawDefaultValue());
_scanDistanceFact.setRawValue (_scanDistanceFact.rawDefaultValue());
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_scanDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
......@@ -86,7 +71,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(&_scanDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
}
void StructureScanComplexItem::_setScanDistance(double scanDistance)
......@@ -395,7 +380,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
items.append(item);
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
double layerAltitude = baseAltitude + (layer * _layerDistanceFact.rawValue().toDouble());
double layerAltitude = baseAltitude + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
for (int i=0; i<_flightPolygon.count(); i++) {
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i);
......@@ -466,9 +451,9 @@ void StructureScanComplexItem::_polygonDirtyChanged(bool dirty)
}
}
double StructureScanComplexItem::timeBetweenShots(void) const
double StructureScanComplexItem::timeBetweenShots(void)
{
return _cruiseSpeed == 0 ? 0 :_cameraTriggerDistanceFact.rawValue().toDouble() / _cruiseSpeed;
return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed;
}
QGeoCoordinate StructureScanComplexItem::coordinate(void) const
......@@ -505,5 +490,5 @@ void StructureScanComplexItem::rotateEntryPoint(void)
void StructureScanComplexItem::_rebuildFlightPolygon(void)
{
_flightPolygon = _structurePolygon;
_flightPolygon.offset(_scanDistanceFact.rawValue().toDouble());
_flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble());
}
src/MissionManager/StructureScanComplexItem.h
View file @ 073ab854
......@@ -16,6 +16,7 @@
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
#include "QGCMapPolygon.h"
#include "CameraCalc.h"
Q_DECLARE_LOGGING_CATEGORY(StructureScanComplexItemLog)
......@@ -26,11 +27,9 @@ class StructureScanComplexItem : public ComplexMissionItem
public:
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(Fact* layerDistance READ layerDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(Fact* scanDistance READ scanDistance CONSTANT)
Q_PROPERTY(bool altitudeRelative MEMBER _altitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
......@@ -38,14 +37,12 @@ public:
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
Fact* altitude (void) { return &_altitudeFact; }
Fact* layers (void) { return &_layersFact; }
Fact* layerDistance (void) { return &_layerDistanceFact; }
Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
Fact* scanDistance (void) { return &_scanDistanceFact; }
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
Fact* altitude (void) { return &_altitudeFact; }
Fact* layers (void) { return &_layersFact; }
int cameraShots (void) const;
double timeBetweenShots(void) const;
double timeBetweenShots(void);
QGCMapPolygon* structurePolygon(void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
......@@ -123,20 +120,15 @@ private:
double _timeBetweenShots;
double _cameraMinTriggerInterval;
double _cruiseSpeed;
CameraCalc _cameraCalc;
static QMap<QString, FactMetaData*> _metaDataMap;
Fact _altitudeFact;
Fact _layersFact;
Fact _layerDistanceFact;
Fact _cameraTriggerDistanceFact;
Fact _scanDistanceFact;
static const char* _altitudeFactName;
static const char* _layersFactName;
static const char* _layerDistanceFactName;
static const char* _cameraTriggerDistanceFactName;
static const char* _scanDistanceFactName;
};
#endif
src/PlanView/CameraCalc.qml 0 → 100644
View file @ 073ab854
This diff is collapsed.
src/PlanView/StructureScanEditor.qml
View file @ 073ab854
......@@ -60,7 +60,7 @@ Rectangle {
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("WARNING: WORK IN PROGRESS. USE AT YOUR OWN RISK. MEANT FOR DISCUSSION ONLY. DO NOT REPORT BUGS.")
text: qsTr("WARNING: WORK IN PROGRESS. DO NOT FLY. NO BUG REPORTS.")
wrapMode: Text.WordWrap
color: qgcPal.warningText
}
......@@ -82,59 +82,61 @@ Rectangle {
visible: missionItem.cameraShots > 0 && missionItem.cameraMinTriggerInterval !== 0 && missionItem.cameraMinTriggerInterval > missionItem.timeBetweenShots
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: _margin
rowSpacing: _margin
columns: 2
QGCLabel { text: qsTr("Altitude") }
FactTextField {
fact: missionItem.altitude
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Layers") }
FactTextField {
fact: missionItem.layers
Layout.fillWidth: true
}
CameraCalc {
cameraCalc: missionItem.cameraCalc
vehicleFlightIsFrontal: false
distanceToSurfaceLabel: qsTr("Scan Distance")
frontalDistanceLabel: qsTr("Layer Height")
sideDistanceLabel: qsTr("Trigger Distance")
}
QGCLabel { text: qsTr("Layer distance") }
FactTextField {
fact: missionItem.layerDistance
Layout.fillWidth: true
}
SectionHeader {
id: scanHeader
text: qsTr("Scan")
}
QGCLabel { text: qsTr("Scan distance") }
FactTextField {
fact: missionItem.scanDistance
Layout.fillWidth: true
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: scanHeader.checked
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: _margin
rowSpacing: _margin
columns: 2
QGCLabel { text: qsTr("Layers") }
FactTextField {
fact: missionItem.layers
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Altitude") }
FactTextField {
fact: missionItem.altitude
Layout.fillWidth: true
}
QGCCheckBox {
text: qsTr("Relative altitude")
checked: missionItem.altitudeRelative
Layout.columnSpan: 2
onClicked: missionItem.altitudeRelative = checked
}
}
QGCLabel { text: qsTr("Trigger Distance") }
FactTextField {
fact: missionItem.cameraTriggerDistance
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Point camera to structure using:") }
QGCRadioButton { text: qsTr("Vehicle yaw"); enabled: false }
QGCRadioButton { text: qsTr("Gimbal yaw"); checked: true; enabled: false }
QGCCheckBox {
text: qsTr("Relative altitude")
checked: missionItem.altitudeRelative
Layout.columnSpan: 2
onClicked: missionItem.altitudeRelative = checked
QGCButton {
text: qsTr("Rotate entry point")
onClicked: missionItem.rotateEntryPoint()
}
}
QGCLabel { text: qsTr("Point camera to structure using:") }
QGCRadioButton { text: qsTr("Vehicle yaw"); enabled: false }
QGCRadioButton { text: qsTr("Gimbal yaw"); checked: true; enabled: false }
QGCButton {
text: qsTr("Rotate entry point")
onClicked: missionItem.rotateEntryPoint()
}
} // Column - Scan
SectionHeader {
id: statsHeader
......@@ -152,6 +154,5 @@ Rectangle {
QGCLabel { text: qsTr("Photo interval") }
QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") }
}
}
}
} // Column
} // Rectangle
src/QGCApplication.cc
View file @ 073ab854
......@@ -81,6 +81,7 @@
#include "SettingsManager.h"
#include "QGCCorePlugin.h"
#include "QGCCameraManager.h"
#include "CameraCalc.h"
#ifndef NO_SERIAL_LINK
#include "SerialLink.h"
......@@ -348,6 +349,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType<CoordinateVector> ("QGroundControl", 1, 0, "CoordinateVector", "Reference only");
qmlRegisterUncreatableType<QmlObjectListModel> ("QGroundControl", 1, 0, "QmlObjectListModel", "Reference only");
qmlRegisterUncreatableType<MissionCommandTree> ("QGroundControl", 1, 0, "MissionCommandTree", "Reference only");
qmlRegisterUncreatableType<CameraCalc> ("QGroundControl", 1, 0, "CameraCalc", "Reference only");
qmlRegisterUncreatableType<AutoPilotPlugin> ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Reference only");
qmlRegisterUncreatableType<VehicleComponent> ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Reference only");
......
src/QmlControls/QGroundControl.Controls.qmldir
View file @ 073ab854
......@@ -2,6 +2,7 @@ Module QGroundControl.Controls
AnalyzePage 1.0 AnalyzePage.qml
AppMessages 1.0 AppMessages.qml
CameraCalc 1.0 CameraCalc.qml
CameraSection 1.0 CameraSection.qml
ClickableColor 1.0 ClickableColor.qml
DropButton 1.0 DropButton.qml
......
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