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public static CreateGrid ( List |
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| polygon | List |
|
| altitude | double | |
| distance | double | |
| spacing | double | |
| angle | double | |
| overshoot1 | double | |
| overshoot2 | double | |
| startpos | StartPosition | |
| shutter | bool | |
| minLaneSeparation | float | |
| leadin | float | |
| return | List |
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public static List<PointLatLngAlt> CreateGrid(List<PointLatLngAlt> polygon, double altitude, double distance, double spacing, double angle, double overshoot1,double overshoot2, StartPosition startpos, bool shutter, float minLaneSeparation, float leadin = 0)
{
//DoDebug();
if (spacing < 4 && spacing != 0)
spacing = 4;
if (distance < 0.1)
distance = 0.1;
if (polygon.Count == 0)
return new List<PointLatLngAlt>();
// Make a non round number in case of corner cases
if (minLaneSeparation != 0)
minLaneSeparation += 0.5F;
// Lane Separation in meters
double minLaneSeparationINMeters = minLaneSeparation * distance;
List<PointLatLngAlt> ans = new List<PointLatLngAlt>();
// utm zone distance calcs will be done in
int utmzone = polygon[0].GetUTMZone();
// utm position list
List<utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
// close the loop if its not already
if (utmpositions[0] != utmpositions[utmpositions.Count - 1])
utmpositions.Add(utmpositions[0]); // make a full loop
// get mins/maxs of coverage area
Rect area = getPolyMinMax(utmpositions);
// get initial grid
// used to determine the size of the outer grid area
double diagdist = area.DiagDistance();
// somewhere to store out generated lines
List<linelatlng> grid = new List<linelatlng>();
// number of lines we need
int lines = 0;
// get start point middle
double x = area.MidWidth;
double y = area.MidHeight;
addtomap(new utmpos(x, y, utmzone),"Base");
// get left extent
double xb1 = x;
double yb1 = y;
// to the left
newpos(ref xb1, ref yb1, angle - 90, diagdist / 2 + distance);
// backwards
newpos(ref xb1, ref yb1, angle + 180, diagdist / 2 + distance);
utmpos left = new utmpos(xb1, yb1, utmzone);
addtomap(left, "left");
// get right extent
double xb2 = x;
double yb2 = y;
// to the right
newpos(ref xb2, ref yb2, angle + 90, diagdist / 2 + distance);
// backwards
newpos(ref xb2, ref yb2, angle + 180, diagdist / 2 + distance);
utmpos right = new utmpos(xb2, yb2, utmzone);
addtomap(right,"right");
// set start point to left hand side
x = xb1;
y = yb1;
// draw the outergrid, this is a grid that cover the entire area of the rectangle plus more.
while (lines < ((diagdist + distance * 2) / distance))
{
// copy the start point to generate the end point
double nx = x;
double ny = y;
newpos(ref nx, ref ny, angle, diagdist + distance*2);
linelatlng line = new linelatlng();
line.p1 = new utmpos(x, y, utmzone);
line.p2 = new utmpos(nx, ny, utmzone);
line.basepnt = new utmpos(x, y, utmzone);
grid.Add(line);
// addtomap(line);
newpos(ref x, ref y, angle + 90, distance);
lines++;
}
// find intersections with our polygon
// store lines that dont have any intersections
List<linelatlng> remove = new List<linelatlng>();
int gridno = grid.Count;
// cycle through our grid
for (int a = 0; a < gridno; a++)
{
double closestdistance = double.MaxValue;
double farestdistance = double.MinValue;
utmpos closestpoint = utmpos.Zero;
utmpos farestpoint = utmpos.Zero;
// somewhere to store our intersections
List<utmpos> matchs = new List<utmpos>();
int b = -1;
int crosses = 0;
utmpos newutmpos = utmpos.Zero;
foreach (utmpos pnt in utmpositions)
{
b++;
if (b == 0)
{
continue;
}
newutmpos = FindLineIntersection(utmpositions[b - 1], utmpositions[b], grid[a].p1, grid[a].p2);
if (!newutmpos.IsZero)
{
crosses++;
matchs.Add(newutmpos);
if (closestdistance > grid[a].p1.GetDistance(newutmpos))
{
closestpoint.y = newutmpos.y;
closestpoint.x = newutmpos.x;
closestpoint.zone = newutmpos.zone;
closestdistance = grid[a].p1.GetDistance(newutmpos);
}
if (farestdistance < grid[a].p1.GetDistance(newutmpos))
{
farestpoint.y = newutmpos.y;
farestpoint.x = newutmpos.x;
farestpoint.zone = newutmpos.zone;
farestdistance = grid[a].p1.GetDistance(newutmpos);
}
}
}
if (crosses == 0) // outside our polygon
{
if (!PointInPolygon(grid[a].p1, utmpositions) && !PointInPolygon(grid[a].p2, utmpositions))
remove.Add(grid[a]);
}
else if (crosses == 1) // bad - shouldnt happen
{
}
else if (crosses == 2) // simple start and finish
{
linelatlng line = grid[a];
line.p1 = closestpoint;
line.p2 = farestpoint;
grid[a] = line;
}
else // multiple intersections
{
linelatlng line = grid[a];
remove.Add(line);
while (matchs.Count > 1)
{
linelatlng newline = new linelatlng();
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p1 = closestpoint;
matchs.Remove(closestpoint);
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p2 = closestpoint;
matchs.Remove(closestpoint);
newline.basepnt = line.basepnt;
grid.Add(newline);
}
}
}
// cleanup and keep only lines that pass though our polygon
foreach (linelatlng line in remove)
{
grid.Remove(line);
}
// debug
foreach (linelatlng line in grid)
{
addtomap(line);
}
if (grid.Count == 0)
return ans;
// pick start positon based on initial point rectangle
utmpos startposutm;
switch (startpos)
{
default:
case StartPosition.Home:
startposutm = new utmpos(Host2.cs.HomeLocation);
break;
case StartPosition.BottomLeft:
startposutm = new utmpos(area.Left, area.Bottom, utmzone);
break;
case StartPosition.BottomRight:
startposutm = new utmpos(area.Right, area.Bottom, utmzone);
break;
case StartPosition.TopLeft:
startposutm = new utmpos(area.Left, area.Top, utmzone);
break;
case StartPosition.TopRight:
startposutm = new utmpos(area.Right, area.Top, utmzone);
break;
case StartPosition.Point:
startposutm = new utmpos(StartPointLatLngAlt);
break;
}
// find the closes polygon point based from our startpos selection
startposutm = findClosestPoint(startposutm, utmpositions);
// find closest line point to startpos
linelatlng closest = findClosestLine(startposutm, grid, 0 /*Lane separation does not apply to starting point*/, angle);
utmpos lastpnt;
// get the closes point from the line we picked
if (closest.p1.GetDistance(startposutm) < closest.p2.GetDistance(startposutm))
{
lastpnt = closest.p1;
}
else
{
lastpnt = closest.p2;
}
// S = start
// E = end
// ME = middle end
// SM = start middle
while (grid.Count > 0)
{
// for each line, check which end of the line is the next closest
if (closest.p1.GetDistance(lastpnt) < closest.p2.GetDistance(lastpnt))
{
utmpos newstart = newpos(closest.p1, angle, -leadin);
newstart.Tag = "S";
addtomap(newstart, "S");
ans.Add(newstart);
closest.p1.Tag = "SM";
addtomap(closest.p1, "SM");
ans.Add(closest.p1);
if (spacing > 0)
{
for (int d = (int)(spacing - ((closest.basepnt.GetDistance(closest.p1)) % spacing));
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p1.x;
double ay = closest.p1.y;
newpos(ref ax, ref ay, angle, d);
var utmpos1 = new utmpos(ax, ay, utmzone) {Tag = "M"};
addtomap(utmpos1, "M");
ans.Add(utmpos1);
}
}
closest.p2.Tag = "ME";
addtomap(closest.p2, "ME");
ans.Add(closest.p2);
utmpos newend = newpos(closest.p2, angle, overshoot1);
newend.Tag = "E";
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p2;
grid.Remove(closest);
if (grid.Count == 0)
break;
closest = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
}
else
{
utmpos newstart = newpos(closest.p2, angle, leadin);
newstart.Tag = "S";
addtomap(newstart, "S");
ans.Add(newstart);
closest.p2.Tag = "SM";
addtomap(closest.p2, "SM");
ans.Add(closest.p2);
if (spacing > 0)
{
for (int d = (int)((closest.basepnt.GetDistance(closest.p2)) % spacing);
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p2.x;
double ay = closest.p2.y;
newpos(ref ax, ref ay, angle, -d);
var utmpos2 = new utmpos(ax, ay, utmzone) {Tag = "M"};
addtomap(utmpos2, "M");
ans.Add(utmpos2);
}
}
closest.p1.Tag = "ME";
addtomap(closest.p1, "ME");
ans.Add(closest.p1);
utmpos newend = newpos(closest.p1, angle, -overshoot2);
newend.Tag = "E";
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p1;
grid.Remove(closest);
if (grid.Count == 0)
break;
closest = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
}
}
// set the altitude on all points
ans.ForEach(plla => { plla.Alt = altitude; });
return ans;
}
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
if (CMB_camera.Text != "")
{
doCalc();
}
// new grid system test
List <PointLatLngAlt> list = new List <PointLatLngAlt>();
plugin.Host.FPDrawnPolygon.Points.ForEach(x => { list.Add(x); });
grid = Grid.CreateGrid(list, (double)NUM_altitude.Value, (double)NUM_Distance.Value, (double)NUM_spacing.Value, (double)NUM_angle.Value, (double)NUM_overshoot.Value, (double)NUM_overshoot2.Value, (Grid.StartPosition)Enum.Parse(typeof(Grid.StartPosition), CMB_startfrom.Text), false);
List <PointLatLng> list2 = new List <PointLatLng>();
grid.ForEach(x => { list2.Add(x); });
map.HoldInvalidation = true;
layerpolygons.Polygons.Clear();
layerpolygons.Markers.Clear();
if (grid.Count == 0)
{
return;
}
if (chk_boundary.Checked)
{
AddDrawPolygon();
}
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
foreach (var item in grid)
{
if (item.Tag == "M")
{
images++;
if (chk_internals.Checked)
{
layerpolygons.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.green)
{
ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver
});
a++;
}
try
{
if (TXT_fovH.Text != "")
{
double fovh = double.Parse(TXT_fovH.Text);
double fovv = double.Parse(TXT_fovV.Text);
double startangle = 0;
if (!CHK_camdirection.Checked)
{
startangle = 90;
}
double angle1 = startangle - (Math.Tan((fovv / 2.0) / (fovh / 2.0)) * rad2deg);
double dist1 = Math.Sqrt(Math.Pow(fovh / 2.0, 2) + Math.Pow(fovv / 2.0, 2));
double bearing = (double)NUM_angle.Value;// (prevpoint.GetBearing(item) + 360.0) % 360;
List <PointLatLng> footprint = new List <PointLatLng>();
footprint.Add(item.newpos(bearing + angle1, dist1));
footprint.Add(item.newpos(bearing + 180 - angle1, dist1));
footprint.Add(item.newpos(bearing + 180 + angle1, dist1));
footprint.Add(item.newpos(bearing - angle1, dist1));
GMapPolygon poly = new GMapPolygon(footprint, a.ToString());
poly.Stroke.Color = Color.FromArgb(250 - ((a * 5) % 240), 250 - ((a * 3) % 240), 250 - ((a * 9) % 240));
poly.Stroke.Width = 1;
poly.Fill = new SolidBrush(Color.FromArgb(40, Color.Purple));
if (chk_footprints.Checked)
{
layerpolygons.Polygons.Add(poly);
}
}
}
catch { }
}
else
{
strips++;
if (chk_markers.Checked)
{
layerpolygons.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.green)
{
ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.Always
});
}
a++;
}
prevpoint = item;
}
// add wp polygon
wppoly = new GMapPolygon(list2, "Grid");
wppoly.Stroke.Color = Color.Yellow;
wppoly.Fill = Brushes.Transparent;
wppoly.Stroke.Width = 4;
if (chk_grid.Checked)
{
layerpolygons.Polygons.Add(wppoly);
}
Console.WriteLine("Poly Dist " + wppoly.Distance);
lbl_area.Text = calcpolygonarea(plugin.Host.FPDrawnPolygon.Points).ToString("#") + " m^2";
lbl_distance.Text = wppoly.Distance.ToString("0.##") + " km";
lbl_spacing.Text = NUM_spacing.Value.ToString("#") + " m";
lbl_grndres.Text = TXT_cmpixel.Text;
lbl_pictures.Text = images.ToString();
lbl_strips.Text = ((int)(strips / 2)).ToString();
lbl_distbetweenlines.Text = NUM_Distance.Value.ToString("0.##") + " m";
lbl_footprint.Text = TXT_fovH.Text + " x " + TXT_fovV.Text + " m";
map.HoldInvalidation = false;
map.ZoomAndCenterMarkers("polygons");
}
