Emlid rover grid scripts

This repo contains scripts to generate a scanning grid using an Emlid Reach rover. Detailed instructions on the entire Emlid workflow can be found in the attached Manual or on Teams.

1. Install dependencies: Python 3 + pip/conda install pandas (already installed if running on fieldwork phone)
2. Export Rover project to csv after registering 1/2/3/4 corners.
3. Run grid generation script
4. Import grid_generated.csv/custom_output_name.csv into Rover project

Create grid from single (SW) point:

python create_grid.py --csv /path/to/csvfile --gridsize GRIDSIZE --ew_points EW_POINTS --ns_points NS_POINTS [--out_file /path/to/outfile] [--angle ANGLE] [--keep_corner] 

• -c/--csv: path to exported csv file
• -g/--gridsize: desired grid size in meters
• -e/--ew_points: desired number of points in East/West direction
• -n/--ns_points: desired number of points in North/South direction
• (optional) -a/--angle: angle with NS axis, rotated clockwise around SW corner
• (optional) --keep_corner: also keeps the first sw point the grid is based on in the new csv file
• (optional) -o/--out_file: path of output file

NOTE: SW corner is assumed in the script, however it will still work for other corners. Make sure to set ew_points, ns_points and angle accordingly and double check results.

Create grid from 4 corner points:

python create_grid_4_corners.py --csv /path/to/csvfile  --ew_points EW_POINTS --ns_points NS_POINTS [--out_file /path/to/outfile]

• -c/--csv: path to exported csv file
• -e/--ew_points: desired number of points in East/West direction
• -n/--ns_points: desired number of points in North/South direction
• (optional) -o/--out_file: path of output file

NOTE: ew direction is determined automatically as the edge from the most sw corner to the most se corner. If this does not give the desired result, just switch around the ew_points and ns_points args.

Create grid from 2 corner points:

python create_grid_2_corners.py --csv /path/to/csvfile --gridsize GRIDSIZE --n_points_along N_POINTS_ALONG --n_points_projected N_POINTS_PROJECTED [--project_inverse] [--out_file /path/to/outfile]

• -c/--csv: path to exported csv file
• -g/--gridsize: desired grid size in meters
• -a/--n_points_along: desired number of points in East/West direction
• -p/--n_points_projected: desired number of points in North/South direction
• (optional) --project_inverse: if set, projects to inverse side
• (optional) -o/--out_file: path of output file

NOTE: This method generates the grid by using the two first points as one axis and projecting a second axis pependicular to this edge. Note that the gridsize is only used for the perpendicular edge, the points along the given edge will be spaced equally along the edge. Actual gridsize along this edge will be printed out.

NOTE: By default, projects to right side of vector from first to second corner. To project to other side, use --project_inverse option.

Create grid from 3 corner points:

python create_grid_3_corners.py --csv /path/to/csvfile --ew_points EW_POINTS --ns_points NS_POINTS [--out_file /path/to/outfile]

• -c/--csv: path to exported csv file
• -e/--ew_points: desired number of points in East/West direction
• -n/--ns_points: desired number of points in North/South direction
• (optional) -i/--inner_index: index of inner corner point
• (optional) -o/--out_file: path of output file

NOTE: This method generates the fourth corner by summing the vectors of both edges, then calls the 4 corner grid generation.

NOTE: The inner crom from which to project will be determined as the corner with the largest angle in the triangle formed by the 3 corners. In a very parallelogram-shaped plot, this might not give the desired plot, in which case you can give the index (1,2 or 3) of the inner corner point using the -i/--inner_index parameter.