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Merge sensor footprint branch #31

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merged 2 commits into from
Oct 16, 2017
Merged

Merge sensor footprint branch #31

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0dbb7e9
added hardcoded support for fixed NADIR camera
SamuelDudley Oct 14, 2017
c561ea2
added toggle for sensor footprint
SamuelDudley Oct 16, 2017
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283 changes: 226 additions & 57 deletions app/static/DST/js/core.js
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Original file line number Diff line number Diff line change
Expand Up @@ -45,45 +45,66 @@ $(function () { // init tool tips and only show on hover

var playback = {value: false}

var top_view = {value: false,
var show_sensor_footprint = {value: false}

var top_view = {value: true,
init_flag: false,
alt: 150}
alt: 1000}

var forward_view = {value: true}
var forward_view = {value: false}
var free_view = {value: false}
var mount_view = {value: false}

var views = [top_view, forward_view, free_view, mount_view]
var hud = {show:true}
var default_camera_settings = {
fov: viewer.camera.frustum.fov,
aspect_ratio: viewer.camera.frustum.aspectRatio
}

var mount_camera_settings = {
fov: 122.6,
aspect_ratio: 122.6/94.4,
yaw: 0,
pitch: -90.,
roll: 0
}

var views = [top_view, forward_view, free_view, mount_view];
var hud = {show:true};

var aircraft = {}
var pos_target = {lat:null, lon:null, alt_wgs84:null, show:true, color:Cesium.Color.FUCHSIA}
var fence = {points:[], show:true, alt_agl:500, color:Cesium.Color.GREEN}
var home_alt_wgs84 = undefined
var data_stream = {}
var flightmode = null
var aircraft = {};
var pos_target = {lat:null, lon:null, alt_wgs84:null, show:true, color:Cesium.Color.FUCHSIA};
var fence = {points:[], show:true, alt_agl:500, color:Cesium.Color.GREEN};
var home_alt_wgs84 = undefined;
var data_stream = {};
var flightmode = null;

var terrain_sample_height;

var pos_target_lines = scene.primitives.add(new Cesium.PolylineCollection);
var sensor_lines = scene.primitives.add(new Cesium.PolylineCollection);
var sensor_footprint = undefined;

function update_data_stream(mav_data){
if (mav_data.mavpackettype){
data_stream[mav_data.mavpackettype]=mav_data
data_stream[mav_data.mavpackettype] = mav_data;
if (mav_data.mavpackettype == 'ATTITUDE' || mav_data.mavpackettype == 'GLOBAL_POSITION_INT') {
update_aircraft_data()
update_aircraft_data();
}
}
}

function update_flightmode(flightmode_data){
flightmode = flightmode_data
flightmode = flightmode_data;
}

function update_defines(defines_data) {
defines = defines_data
defines = defines_data;
}

function update_fence_data(fence_data) {
console.log(fence_data)

fence.points = []
fence.points = [];


for (var point in fence_data){
Expand All @@ -98,7 +119,7 @@ $(function () { // init tool tips and only show on hover
});
fence.points.push(fence_data[point].lng, fence_data[point].lat, fence.alt_agl+terrain_sample_height); //[ lon, lat, alt, lon, lat, alt, etc. ]

draw_fence()
draw_fence();
}
};
}
Expand Down Expand Up @@ -140,7 +161,7 @@ $(function () { // init tool tips and only show on hover
}
};

var terrain_sample_height


function update_aircraft_data() {
if (data_stream.ATTITUDE && data_stream.GLOBAL_POSITION_INT) {
Expand All @@ -160,29 +181,13 @@ $(function () { // init tool tips and only show on hover
entity.position = aircraft.position;
entity.orientation = aircraft.orientation;

draw_pos_target()
draw_pos_target();

if (track_vehicle.value){
scene.screenSpaceCameraController.enableRotate = true;
scene.screenSpaceCameraController.enableTranslate = false;
scene.screenSpaceCameraController.enableZoom = true;
scene.screenSpaceCameraController.enableTilt = true;
scene.screenSpaceCameraController.enableLook = false;
viewer.trackedEntity = entity;
}

if (!track_vehicle.value){
viewer.trackedEntity = undefined
scene.screenSpaceCameraController.enableRotate = true;
scene.screenSpaceCameraController.enableTranslate = true;
scene.screenSpaceCameraController.enableZoom = true;
scene.screenSpaceCameraController.enableTilt = true;
scene.screenSpaceCameraController.enableLook = true;
}
draw_sensor_bounds();

if (top_view.value){

viewer.trackedEntity = undefined
viewer.trackedEntity = undefined;

if (top_view.init_flag){ //if this is the first time the top_view has been called since pushing the button
// 2 Set view with heading, pitch and roll
Expand Down Expand Up @@ -217,11 +222,8 @@ $(function () { // init tool tips and only show on hover
pitch : -Cesium.Math.PI_OVER_TWO,
roll : 0.0
});



}
else{

} else {
// disable the default event handlers but allow panning and zooming
scene.screenSpaceCameraController.enableRotate = true;
scene.screenSpaceCameraController.enableTranslate = true;
Expand All @@ -238,9 +240,10 @@ $(function () { // init tool tips and only show on hover

}

}

if (forward_view.value){
viewer.camera.frustum.fov = default_camera_settings.fov; // this works
viewer.camera.frustum.aspectRatio = default_camera_settings.aspect_ratio; // this works

} else if (forward_view.value) {
viewer.trackedEntity = undefined
// 2 Set view with heading, pitch and roll of aircraft
scene.screenSpaceCameraController.enableRotate = false;
Expand All @@ -249,6 +252,9 @@ $(function () { // init tool tips and only show on hover
scene.screenSpaceCameraController.enableTilt = false;
scene.screenSpaceCameraController.enableLook = false;

viewer.camera.frustum.fov = default_camera_settings.fov; // this works
viewer.camera.frustum.aspectRatio = default_camera_settings.aspect_ratio; // this works

viewer.camera.setView({
destination : aircraft.position,
orientation: {
Expand All @@ -257,9 +263,7 @@ $(function () { // init tool tips and only show on hover
roll : aircraft.roll
}
});
}

if (mount_view.value){
} else if (mount_view.value){
viewer.trackedEntity = undefined
// 3 Set view with heading, pitch and roll of mount (attached to aircraft)
scene.screenSpaceCameraController.enableRotate = false;
Expand All @@ -268,21 +272,63 @@ $(function () { // init tool tips and only show on hover
scene.screenSpaceCameraController.enableTilt = false;
scene.screenSpaceCameraController.enableLook = false;


var hpr = new Cesium.HeadingPitchRoll(aircraft.yaw-Math.PI/2, aircraft.pitch, aircraft.roll);

var hpr_mount = new Cesium.HeadingPitchRoll(0, -Math.PI/2, 0); // this is the actual mount offset

var vehicleQuat = new Cesium.Quaternion
var mountQuat = new Cesium.Quaternion
var vehiclePos = aircraft.position
vehicleQuat = Cesium.Transforms.headingPitchRollQuaternion(vehiclePos, hpr)
mountQuat = Cesium.Quaternion.fromHeadingPitchRoll(hpr_mount)
Cesium.Quaternion.multiply(vehicleQuat, mountQuat, vehicleQuat)
var camRot = Cesium.Matrix3.fromQuaternion(vehicleQuat);

var lookDir = new Cesium.Cartesian3(1, 0, 0);

var upDir = new Cesium.Cartesian3(0.0, 0, 1);

// transform look dir to globe frame
Cesium.Matrix3.multiplyByVector(camRot, lookDir, lookDir);
Cesium.Matrix3.multiplyByVector(camRot, upDir, upDir);

viewer.camera.frustum.fov = Cesium.Math.toRadians(mount_camera_settings.fov); // this works
viewer.camera.frustum.aspectRatio = mount_camera_settings.aspect_ratio; // this works
console.log(Cesium.Math.toDegrees(viewer.camera.frustum.fov), Cesium.Math.toDegrees(viewer.camera.frustum.fovy));

viewer.camera.setView({
destination : aircraft.position,
orientation: {
heading : aircraft.yaw,
pitch : aircraft.pitch,
roll : aircraft.roll
orientation : {
direction : lookDir,
up : upDir
}
});
} else { // free_view

if (track_vehicle.value){
scene.screenSpaceCameraController.enableRotate = true;
scene.screenSpaceCameraController.enableTranslate = false;
scene.screenSpaceCameraController.enableZoom = true;
scene.screenSpaceCameraController.enableTilt = true;
scene.screenSpaceCameraController.enableLook = false;
viewer.trackedEntity = entity;
} else {
viewer.trackedEntity = undefined
scene.screenSpaceCameraController.enableRotate = true;
scene.screenSpaceCameraController.enableTranslate = true;
scene.screenSpaceCameraController.enableZoom = true;
scene.screenSpaceCameraController.enableTilt = true;
scene.screenSpaceCameraController.enableLook = true;
}

viewer.camera.frustum.fov = default_camera_settings.fov; // this works
viewer.camera.frustum.aspectRatio = default_camera_settings.aspect_ratio; // this works
}
}


}
};

var pos_target_lines = scene.primitives.add(new Cesium.PolylineCollection)


function update_pos_target_data(pos_target_data){
pos_target.lon = pos_target_data.lon*Math.pow(10.0, -7)
Expand All @@ -308,11 +354,134 @@ $(function () { // init tool tips and only show on hover
})

}

function draw_sensor_bounds(){

var hpr = new Cesium.HeadingPitchRoll(aircraft.yaw-Math.PI/2, aircraft.pitch, aircraft.roll);

var hpr_mount1 = new Cesium.HeadingPitchRoll(0, -Math.PI/2, 0); // rotation to correct axis to image
var hpr_mount2 = new Cesium.HeadingPitchRoll(0, 0, -Math.PI/2);

var hpr_mount3 = new Cesium.HeadingPitchRoll(0, -Math.PI/2, 0); // this is the actual mount offset

var vehicleQuat = new Cesium.Quaternion
var mountQuat = new Cesium.Quaternion
var mountQuat1 = new Cesium.Quaternion
var mountQuat2 = new Cesium.Quaternion
var mountQuat3 = new Cesium.Quaternion
var vehiclePos = aircraft.position
vehicleQuat = Cesium.Transforms.headingPitchRollQuaternion(vehiclePos, hpr)
mountQuat1 = Cesium.Quaternion.fromHeadingPitchRoll(hpr_mount1)
mountQuat2 = Cesium.Quaternion.fromHeadingPitchRoll(hpr_mount2)
mountQuat3 = Cesium.Quaternion.fromHeadingPitchRoll(hpr_mount3)
Cesium.Quaternion.multiply(mountQuat2, mountQuat1, mountQuat)
Cesium.Quaternion.multiply(mountQuat3, mountQuat, mountQuat)
Cesium.Quaternion.multiply(vehicleQuat, mountQuat, vehicleQuat)
var camRot = Cesium.Matrix3.fromQuaternion(vehicleQuat);

var camPos = aircraft.position

var camProj = new Cesium.Matrix3(1/1.8, 0.0, 0.5,
0.0, (122.6/94.4)/1.8, 0.5,
0.0, 0.0, 1);

var camDistR = new Cesium.Cartesian3(-2.60e-01, 8.02e-02, 0.0); // not used yet
var camDistT = new Cesium.Cartesian2(-2.42e-04, 2.61e-04); // not used yet

// compute ground footprint on ellipsoid
var coords = [];
var lookDir = new Cesium.Cartesian3();
var invCamProj = Cesium.Matrix3.inverse(camProj, new Cesium.Matrix3());

for (var i = 0; i < 4; i++) {

var corner;
if (i === 0) {
//corner = new Cartesian3(0.0, 0.0, 1.0);
corner = new Cesium.Cartesian3(-0.5, -0.5, 1.0);
}
else if (i === 1) {
//corner = new Cartesian3(1.0, 0.0, 1.0);
corner = new Cesium.Cartesian3(1.5, -0.5, 1.0);
}
else if (i === 2) {
//corner = new Cartesian3(1.0, 1.0, 1.0);
corner = new Cesium.Cartesian3(1.5, 1.5, 1.0);
}
else if (i === 3) {
//corner = new Cartesian3(0.0, 1.0, 1.0);
corner = new Cesium.Cartesian3(-0.5, 1.5, 1.0);
}

// transform normalized coordinates to look direction in camera frame
Cesium.Matrix3.multiplyByVector(invCamProj, corner, lookDir);

// transform look dir to globe frame
Cesium.Matrix3.multiplyByVector(camRot, lookDir, lookDir);

// intersect ray
var ground;
var ray = new Cesium.Ray(camPos, lookDir);
// var intersects = Cesium.IntersectionTests.rayEllipsoid(ray, Cesium.Ellipsoid.WGS84);
var intersects = scene.globe.pick(ray, scene);
if (intersects == null) {
// ground = IntersectionTests.grazingAltitudeLocation(ray, Cesium.Ellipsoid.WGS84);
ground = Cesium.Ray.getPoint(ray, 4000.0);
}
else {
// ground = Cesium.Ray.getPoint(ray, intersects.start); // only valid if Cesium.IntersectionTests.rayEllipsoid(ray, Cesium.Ellipsoid.WGS84); is used
ground = intersects;
}
coords[i] = ground;

}

var sensor_line = get_by_id(sensor_lines, 'sensor_line')
if (sensor_line != null){
sensor_lines.remove(sensor_line)
}

if (sensor_footprint) {
viewer.scene.primitives.remove(sensor_footprint)
sensor_footprint = undefined
}

if (show_sensor_footprint.value){




if (coords) {
sensor_lines.add({
id : 'sensor_line',
show : pos_target.show,
positions : [aircraft.position, coords[0], aircraft.position, coords[1], aircraft.position, coords[2], aircraft.position, coords[3], aircraft.position],
width : 2,
material : Cesium.Material.fromType('Color', {
color : Cesium.Color.SNOW
})
})

var sensor_footprint_geom = new Cesium.GeometryInstance({
id: 'sensor_footprint',
geometry: new Cesium.PolygonGeometry({
polygonHierarchy: {
positions: [coords[0], coords[1], coords[2], coords[3]]
}
}),
attributes: {
color: Cesium.ColorGeometryInstanceAttribute.fromColor(new Cesium.Color(1.0, 0.0, 0.0, 0.4))
}
});


sensor_footprint = new Cesium.GroundPrimitive({geometryInstances : [sensor_footprint_geom],
allowPicking : false,
asynchronous : false
});
scene.primitives.add(sensor_footprint)
}
}
}

function toggle_value(btn_ref, var_to_toggle) {
var_to_toggle.value = !var_to_toggle.value;
Expand Down
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