Skip to content

Q
qgroundcontrol
Commit 16b0be83 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #3963 from DonLakeFlyer/SurveyCamera 

Survey camera
parents 5bc6896c cc460874
Hide whitespace changes
Inline Side-by-side
Showing with 131 additions and 15 deletions
src/FactSystem/Fact.cc
View file @ 16b0be83
......@@ -77,6 +77,7 @@ void Fact::forceSetRawValue(const QVariant& value)
_rawValue.setValue(typedValue);
_sendValueChangedSignal(cookedValue());
emit _containerRawValueChanged(rawValue());
emit rawValueChanged(_rawValue);
}
} else {
qWarning() << "Meta data pointer missing";
......@@ -94,6 +95,7 @@ void Fact::setRawValue(const QVariant& value)
_rawValue.setValue(typedValue);
_sendValueChangedSignal(cookedValue());
emit _containerRawValueChanged(rawValue());
emit rawValueChanged(_rawValue);
}
}
} else {
......@@ -136,6 +138,7 @@ void Fact::_containerSetRawValue(const QVariant& value)
_rawValue = value;
_sendValueChangedSignal(cookedValue());
emit vehicleUpdated(_rawValue);
emit rawValueChanged(_rawValue);
}
QString Fact::name(void) const
......
src/FactSystem/Fact.h
View file @ 16b0be83
......@@ -58,6 +58,7 @@ public:
Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT)
Q_PROPERTY(QString units READ cookedUnits CONSTANT)
Q_PROPERTY(QVariant value READ cookedValue WRITE setCookedValue NOTIFY valueChanged)
Q_PROPERTY(QVariant rawValue READ rawValue WRITE setRawValue NOTIFY rawValueChanged)
Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged)
Q_PROPERTY(QString valueString READ cookedValueString NOTIFY valueChanged)
Q_PROPERTY(QString enumOrValueString READ enumOrValueString NOTIFY valueChanged)
......@@ -145,6 +146,7 @@ signals:
///
/// This signal is only meant for use by the QT property system. It should not be connected to by client code.
void valueChanged(QVariant value);
void rawValueChanged(QVariant value);
/// Signalled when the param write ack comes back from the vehicle
void vehicleUpdated(QVariant value);
......
src/MissionEditor/SurveyItemEditor.qml
View file @ 16b0be83
......@@ -22,8 +22,45 @@ Rectangle {
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property var _cameraInfoCanonSX260: { "focalLength": 4.5, "sensorHeight": 4.55, "sensorWidth": 6.17 }
function recalcFromCameraValues() {
var focalLength = Number(focalLengthField.text)
var sensorWidth = Number(sensorWidthField.text)
var sensorHeight = Number(sensorHeightField.text)
var overlap = Number(imageOverlapField.text)
if (focalLength <= 0.0 || sensorWidth <= 0.0 || sensorHeight <= 0.0) {
return
}
var scaledFocalLengthMM = (1000.0 * missionItem.gridAltitude.rawValue) / focalLength
var imageWidthM = (sensorWidth * scaledFocalLengthMM) / 1000.0;
var imageHeightM = (sensorHeight * scaledFocalLengthMM) / 1000.0;
var gridSpacing
var cameraTriggerDistance
if (cameraOrientationLandscape.checked) {
gridSpacing = imageWidthM
cameraTriggerDistance = imageHeightM
} else {
gridSpacing = imageHeightM
cameraTriggerDistance = imageWidthM
}
gridSpacing = (1.0 - (overlap / 100.0)) * gridSpacing
cameraTriggerDistance = (1.0 - (overlap / 100.0)) * cameraTriggerDistance
missionItem.gridSpacing.rawValue = gridSpacing
missionItem.cameraTriggerDistance.rawValue = cameraTriggerDistance
}
QGCPalette { id: qgcPal; colorGroupEnabled: true }
ExclusiveGroup {
id: cameraOrientationGroup
onCurrentChanged: recalcFromCameraValues()
}
Column {
id: editorColumn
anchors.margins: _margin
......@@ -115,6 +152,79 @@ Rectangle {
onPolygonAdjustVertex: missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
}
QGCLabel { text: qsTr("Camera:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCRadioButton {
id: cameraOrientationLandscape
text: "Landscape"
checked: true
exclusiveGroup: cameraOrientationGroup
}
QGCRadioButton {
id: cameraOrientationPortrait
text: "Portrait"
exclusiveGroup: cameraOrientationGroup
}
}
Grid {
columns: 2
spacing: ScreenTools.defaultFontPixelWidth
verticalItemAlignment: Grid.AlignVCenter
QGCLabel { text: qsTr("Focal length:") }
QGCTextField {
id: focalLengthField
unitsLabel: "mm"
showUnits: true
text: _cameraInfoCanonSX260.focalLength.toString()
onEditingFinished: recalcFromCameraValues()
}
QGCLabel { text: qsTr("Sensor Width:") }
QGCTextField {
id: sensorWidthField
unitsLabel: "mm"
showUnits: true
text: _cameraInfoCanonSX260.sensorWidth.toString()
onEditingFinished: recalcFromCameraValues()
}
QGCLabel { text: qsTr("Sensor height:") }
QGCTextField {
id: sensorHeightField
unitsLabel: "mm"
showUnits: true
text: _cameraInfoCanonSX260.sensorHeight.toString()
onEditingFinished: recalcFromCameraValues()
}
QGCLabel { text: qsTr("Image overlap:") }
QGCTextField {
id: imageOverlapField
unitsLabel: "%"
showUnits: true
text: "0"
onEditingFinished: recalcFromCameraValues()
}
}
QGCLabel { text: qsTr("Polygon:") }
Rectangle {
......
src/MissionManager/ComplexMissionItemTest.cc
View file @ 16b0be83
......@@ -170,7 +170,7 @@ void ComplexMissionItemTest::_testClearPolygon(void)
void ComplexMissionItemTest::_testCameraTrigger(void)
{
QVERIFY(!_complexItem->property("cameraTrigger").toBool());
QCOMPARE(_complexItem->property("cameraTrigger").toBool(), true);
// Turning on/off camera triggering while there is no grid should trigger:
// cameraTriggerChanged
......@@ -178,17 +178,18 @@ void ComplexMissionItemTest::_testCameraTrigger(void)
// lastSequenceNumber should not change
int lastSeq = _complexItem->lastSequenceNumber();
_complexItem->setProperty("cameraTrigger", true);
_complexItem->setProperty("cameraTrigger", false);
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask | cameraTriggerChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(cameraTriggerChangedIndex));
QVERIFY(!_multiSpy->pullBoolFromSignalIndex(cameraTriggerChangedIndex));
QCOMPARE(_complexItem->lastSequenceNumber(), lastSeq);
_complexItem->setDirty(false);
_multiSpy->clearAllSignals();
_complexItem->setProperty("cameraTrigger", false);
_complexItem->setProperty("cameraTrigger", true);
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask | cameraTriggerChangedMask));
QVERIFY(!_multiSpy->pullBoolFromSignalIndex(cameraTriggerChangedIndex));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(cameraTriggerChangedIndex));
QCOMPARE(_complexItem->lastSequenceNumber(), lastSeq);
// Set up a grid
......@@ -203,20 +204,20 @@ void ComplexMissionItemTest::_testCameraTrigger(void)
lastSeq = _complexItem->lastSequenceNumber();
QVERIFY(lastSeq > 0);
// Turning on camera triggering should add two more mission items, this should trigger:
// Turning off camera triggering should remove two camera trigger mission items, this should trigger:
// lastSequenceNumberChanged
// dirtyChanged
_complexItem->setProperty("cameraTrigger", true);
_complexItem->setProperty("cameraTrigger", false);
QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq + 2);
QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq - 2);
_complexItem->setDirty(false);
_multiSpy->clearAllSignals();
// Turn off camera triggering and make sure things go back to previous count
// Turn on camera triggering and make sure things go back to previous count
_complexItem->setProperty("cameraTrigger", false);
_complexItem->setProperty("cameraTrigger", true);
QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq);
}
src/MissionManager/SurveyMissionItem.cc
View file @ 16b0be83
......@@ -34,16 +34,16 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
, _cameraTrigger(false)
, _cameraTrigger(true)
, _gridAltitudeRelative(true)
, _surveyDistance(0.0)
, _cameraShots(0)
, _coveredArea(0.0)
, _gridAltitudeFact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _gridAngleFact (0, "Grid angle:", FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, "Grid spacing:", FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, "Camera trigger distance", FactMetaData::valueTypeDouble)
, _gridAltitudeFact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _gridAngleFact (0, "Grid angle:", FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, "Grid spacing:", FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, "Camera trigger distance", FactMetaData::valueTypeDouble)
, _gridAltitudeMetaData (FactMetaData::valueTypeDouble)
, _gridAngleMetaData (FactMetaData::valueTypeDouble)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment