MissionPlanner.Georefimage.GenPhotoStationRecord C# (CSharp) Method

        int GenPhotoStationRecord(XmlTextWriter swloctrim, string imgname, double lat, double lng, double alt, double roll, double pitch, double yaw, int imgwidth, int imgheight, int lastRecordN)
        {
            Console.WriteLine("yaw {0}",yaw);

            int photoStationID = lastRecordN++;
            int pointRecordID = lastRecordN++;
            int imageRecordID = lastRecordN++;

            JXL_StationIDs.Add(photoStationID);

            // conver tto rads
            yaw = -yaw * deg2rad;

            swloctrim.WriteStartElement("PhotoStationRecord");
            swloctrim.WriteAttributeString("ID", (photoStationID).ToString("0000000"));

            swloctrim.WriteElementString("StationName", Path.GetFileNameWithoutExtension(imgname));
            swloctrim.WriteElementString("InstrumentHeight", "");

            swloctrim.WriteStartElement("RawInstrumentHeight");
            swloctrim.WriteElementString("MeasurementMethod", "TrueHeight");
            swloctrim.WriteElementString("MeasuredHeight", "0");
            swloctrim.WriteElementString("HorizontalOffset", "0");
            swloctrim.WriteElementString("VerticalOffset", "0");
            swloctrim.WriteEndElement();

            swloctrim.WriteElementString("InstrumentID", "0000000E");
            swloctrim.WriteElementString("AtmosphereID", "0000000F");
            swloctrim.WriteElementString("StationType", "RawSensorValues");

            swloctrim.WriteStartElement("DeviceAxisOrientationData");
            swloctrim.WriteStartElement("DeviceAxisOrientation");
            swloctrim.WriteStartElement("BiVector");
            swloctrim.WriteElementString("XX", roll.ToString());
            swloctrim.WriteElementString("YY", pitch.ToString());
            swloctrim.WriteElementString("ZZ", yaw.ToString());
            swloctrim.WriteEndElement();
            swloctrim.WriteEndElement();
            swloctrim.WriteEndElement();
            swloctrim.WriteEndElement();
            // end PhotoStationRecord

            // pointrecord

            swloctrim.WriteStartElement("PointRecord");
            swloctrim.WriteAttributeString("ID", (pointRecordID).ToString("0000000"));

            swloctrim.WriteElementString("Name", Path.GetFileNameWithoutExtension(imgname));
            swloctrim.WriteElementString("Code", "");
            swloctrim.WriteElementString("Method", "Coordinates");
            swloctrim.WriteElementString("SurveyMethod", "Autonomous");
            swloctrim.WriteElementString("Classification", "Normal");
            swloctrim.WriteElementString("Deleted", "false");
            swloctrim.WriteStartElement("WGS84");
            swloctrim.WriteElementString("Latitude", lat.ToString());
            swloctrim.WriteElementString("Longitude", lng.ToString());
            swloctrim.WriteElementString("Height", alt.ToString());
            swloctrim.WriteEndElement();
            swloctrim.WriteEndElement();

            // end point record

            // imagerecord
            swloctrim.WriteStartElement("ImageRecord");
            swloctrim.WriteAttributeString("ID", (imageRecordID).ToString("0000000"));
            swloctrim.WriteElementString("StationID", (photoStationID).ToString("0000000"));
            swloctrim.WriteElementString("BackBearingID", "");
            swloctrim.WriteElementString("CameraID", "00000002");
            swloctrim.WriteElementString("PointRecordID", "");
            swloctrim.WriteElementString("FileName", Path.GetFileName(imgname));
            swloctrim.WriteElementString("HorizontalAngle", "");
            swloctrim.WriteElementString("VerticalAngle", "");
            swloctrim.WriteElementString("Width", imgwidth.ToString());
            swloctrim.WriteElementString("Height", imgheight.ToString());
            swloctrim.WriteElementString("SourceX", "0");
            swloctrim.WriteElementString("SourceY", "0");
            swloctrim.WriteElementString("SourceWidth", imgwidth.ToString());
            swloctrim.WriteElementString("SourceHeight", imgheight.ToString());
            swloctrim.WriteEndElement();
            /*
    <ImageRecord ID="0000056" TimeStamp="2013-04-12T10:22:21">
      <StationID>0000010</StationID>
      <BackBearingID/>
      <CameraID>00000002</CameraID>
      <PointRecordID/>
      <FileName>R0011726.JPG</FileName>
      <HorizontalAngle/>
      <VerticalAngle/>
      <Width>3648</Width>
      <Height>2736</Height>
      <SourceX>0</SourceX>
      <SourceY>0</SourceY>
      <SourceWidth>3648</SourceWidth>
      <SourceHeight>2736</SourceHeight>
    </ImageRecord>
             * */

            return lastRecordN;

        }