diff --git a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/AndroidManifest.xml b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/AndroidManifest.xml
index bbaa4053a7f464c67218e125244cdc8d82673b92..ede3ae69deb1187532591f542cde28d64b614427 100644
--- a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/AndroidManifest.xml
+++ b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/AndroidManifest.xml
@@ -46,7 +46,7 @@
<!-- personal key -->
<meta-data
android:name="com.dji.sdk.API_KEY"
- android:value="Please enter your App key here."/>
+ android:value="863a9b1b5f361034ae0ee7ef"/>
<!-- Required for receiving accessory attachment events.
This is necessary for product when connecting over USB. -->
diff --git a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.jar b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.jar
index 05ef575b0cd0173fc735f2857ce4bd594ce4f6bd..7454180f2ae8848c63b8b4dea2cb829da983f2fa 100644
Binary files a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.jar and b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.properties b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.properties
index 31d9d5dbeb6577b8dd22dbdda97aca11774e8f96..db9a6b825d7f4424d226b9146f33b98575b4e1fa 100644
--- a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.properties
+++ b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,5 @@
-#Sat May 09 15:56:42 CST 2020
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.3-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-all.zip
diff --git a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew
index 9d82f78915133e1c35a6ea51252590fb38efac2f..c53aefaa5fc898b78c7265ea99a3bdc09349a7d0 100644
--- a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew
+++ b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew
@@ -1,74 +1,129 @@
-#!/usr/bin/env bash
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
##############################################################################
-##
-## Gradle start up script for UN*X
-##
+#
+# Gradle start up script for POSIX generated by Gradle.
+#
+# Important for running:
+#
+# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+# noncompliant, but you have some other compliant shell such as ksh or
+# bash, then to run this script, type that shell name before the whole
+# command line, like:
+#
+# ksh Gradle
+#
+# Busybox and similar reduced shells will NOT work, because this script
+# requires all of these POSIX shell features:
+# * functions;
+# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+# * compound commands having a testable exit status, especially «case»;
+# * various built-in commands including «command», «set», and «ulimit».
+#
+# Important for patching:
+#
+# (2) This script targets any POSIX shell, so it avoids extensions provided
+# by Bash, Ksh, etc; in particular arrays are avoided.
+#
+# The "traditional" practice of packing multiple parameters into a
+# space-separated string is a well documented source of bugs and security
+# problems, so this is (mostly) avoided, by progressively accumulating
+# options in "$@", and eventually passing that to Java.
+#
+# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+# see the in-line comments for details.
+#
+# There are tweaks for specific operating systems such as AIX, CygWin,
+# Darwin, MinGW, and NonStop.
+#
+# (3) This script is generated from the Groovy template
+# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+# within the Gradle project.
+#
+# You can find Gradle at https://github.com/gradle/gradle/.
+#
##############################################################################
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+ APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
+ [ -h "$app_path" ]
+do
+ ls=$( ls -ld "$app_path" )
+ link=${ls#*' -> '}
+ case $link in #(
+ /*) app_path=$link ;; #(
+ *) app_path=$APP_HOME$link ;;
+ esac
+done
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
-warn ( ) {
+warn () {
echo "$*"
-}
+} >&2
-die ( ) {
+die () {
echo
echo "$*"
echo
exit 1
-}
+} >&2
# OS specific support (must be 'true' or 'false').
cygwin=false
msys=false
darwin=false
-case "`uname`" in
- CYGWIN* )
- cygwin=true
- ;;
- Darwin* )
- darwin=true
- ;;
- MINGW* )
- msys=true
- ;;
+nonstop=false
+case "$( uname )" in #(
+ CYGWIN* ) cygwin=true ;; #(
+ Darwin* ) darwin=true ;; #(
+ MSYS* | MINGW* ) msys=true ;; #(
+ NONSTOP* ) nonstop=true ;;
esac
-# Attempt to set APP_HOME
-# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
- ls=`ls -ld "$PRG"`
- link=`expr "$ls" : '.*-> \(.*\)$'`
- if expr "$link" : '/.*' > /dev/null; then
- PRG="$link"
- else
- PRG=`dirname "$PRG"`"/$link"
- fi
-done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
-
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
# Determine the Java command to use to start the JVM.
if [ -n "$JAVA_HOME" ] ; then
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
# IBM's JDK on AIX uses strange locations for the executables
- JAVACMD="$JAVA_HOME/jre/sh/java"
+ JAVACMD=$JAVA_HOME/jre/sh/java
else
- JAVACMD="$JAVA_HOME/bin/java"
+ JAVACMD=$JAVA_HOME/bin/java
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -77,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
- JAVACMD="java"
+ JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
@@ -85,76 +140,95 @@ location of your Java installation."
fi
# Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
- MAX_FD_LIMIT=`ulimit -H -n`
- if [ $? -eq 0 ] ; then
- if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
- MAX_FD="$MAX_FD_LIMIT"
- fi
- ulimit -n $MAX_FD
- if [ $? -ne 0 ] ; then
- warn "Could not set maximum file descriptor limit: $MAX_FD"
- fi
- else
- warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
- fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+ case $MAX_FD in #(
+ max*)
+ MAX_FD=$( ulimit -H -n ) ||
+ warn "Could not query maximum file descriptor limit"
+ esac
+ case $MAX_FD in #(
+ '' | soft) :;; #(
+ *)
+ ulimit -n "$MAX_FD" ||
+ warn "Could not set maximum file descriptor limit to $MAX_FD"
+ esac
fi
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
- GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+# * args from the command line
+# * the main class name
+# * -classpath
+# * -D...appname settings
+# * --module-path (only if needed)
+# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+ APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+ CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+ JAVACMD=$( cygpath --unix "$JAVACMD" )
-# For Cygwin, switch paths to Windows format before running java
-if $cygwin ; then
- APP_HOME=`cygpath --path --mixed "$APP_HOME"`
- CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
- JAVACMD=`cygpath --unix "$JAVACMD"`
-
- # We build the pattern for arguments to be converted via cygpath
- ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
- SEP=""
- for dir in $ROOTDIRSRAW ; do
- ROOTDIRS="$ROOTDIRS$SEP$dir"
- SEP="|"
- done
- OURCYGPATTERN="(^($ROOTDIRS))"
- # Add a user-defined pattern to the cygpath arguments
- if [ "$GRADLE_CYGPATTERN" != "" ] ; then
- OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
- fi
# Now convert the arguments - kludge to limit ourselves to /bin/sh
- i=0
- for arg in "$@" ; do
- CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
- CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
-
- if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
- eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
- else
- eval `echo args$i`="\"$arg\""
+ for arg do
+ if
+ case $arg in #(
+ -*) false ;; # don't mess with options #(
+ /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
+ [ -e "$t" ] ;; #(
+ *) false ;;
+ esac
+ then
+ arg=$( cygpath --path --ignore --mixed "$arg" )
fi
- i=$((i+1))
+ # Roll the args list around exactly as many times as the number of
+ # args, so each arg winds up back in the position where it started, but
+ # possibly modified.
+ #
+ # NB: a `for` loop captures its iteration list before it begins, so
+ # changing the positional parameters here affects neither the number of
+ # iterations, nor the values presented in `arg`.
+ shift # remove old arg
+ set -- "$@" "$arg" # push replacement arg
done
- case $i in
- (0) set -- ;;
- (1) set -- "$args0" ;;
- (2) set -- "$args0" "$args1" ;;
- (3) set -- "$args0" "$args1" "$args2" ;;
- (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
- (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
- (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
- (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
- (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
- (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
- esac
fi
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
- JVM_OPTS=("$@")
-}
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
-
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+# Collect all arguments for the java command;
+# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# shell script including quotes and variable substitutions, so put them in
+# double quotes to make sure that they get re-expanded; and
+# * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+ "-Dorg.gradle.appname=$APP_BASE_NAME" \
+ -classpath "$CLASSPATH" \
+ org.gradle.wrapper.GradleWrapperMain \
+ "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+# set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+ printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+ xargs -n1 |
+ sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+ tr '\n' ' '
+ )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew.bat b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew.bat
index 8a0b282aa6885fb573c106b3551f7275c5f17e8e..107acd32c4e687021ef32db511e8a206129b88ec 100644
--- a/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew.bat
+++ b/droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/gradlew.bat
@@ -1,3 +1,19 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
@if "%DEBUG%" == "" @echo off
@rem ##########################################################################
@rem
@@ -8,20 +24,23 @@
@rem Set local scope for the variables with windows NT shell
if "%OS%"=="Windows_NT" setlocal
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS=
-
set DIRNAME=%~dp0
if "%DIRNAME%" == "" set DIRNAME=.
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
@rem Find java.exe
if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -35,7 +54,7 @@ goto fail
set JAVA_HOME=%JAVA_HOME:"=%
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -45,34 +64,14 @@ echo location of your Java installation.
goto fail
-:init
-@rem Get command-line arguments, handling Windowz variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-if "%@eval[2+2]" == "4" goto 4NT_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-goto execute
-
-:4NT_args
-@rem Get arguments from the 4NT Shell from JP Software
-set CMD_LINE_ARGS=%$
-
:execute
@rem Setup the command line
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
:end
@rem End local scope for the variables with windows NT shell
diff --git a/server/data_processing/__pycache__/area_processing.cpython-39.pyc b/server/data_processing/__pycache__/area_processing.cpython-39.pyc
index 060a351746760c034eed0be8d8c3c809bb0197a4..f4bddf70c52a611a79882083f35d16cd83030e1e 100644
Binary files a/server/data_processing/__pycache__/area_processing.cpython-39.pyc and b/server/data_processing/__pycache__/area_processing.cpython-39.pyc differ
diff --git a/server/data_processing/__pycache__/process_lidar_data.cpython-39.pyc b/server/data_processing/__pycache__/process_lidar_data.cpython-39.pyc
index 1a78b344858a23fe02c792ee9d9a6b01ad123d37..9070132a7d3582ef49167d1f01b94625cd9324e5 100644
Binary files a/server/data_processing/__pycache__/process_lidar_data.cpython-39.pyc and b/server/data_processing/__pycache__/process_lidar_data.cpython-39.pyc differ
diff --git a/server/data_processing/area_processing.py b/server/data_processing/area_processing.py
index 9345db1ce9820894eb0c54ebad68a73a99033584..646ccd8a0f5bf547a5240f93a6851c7122af99a2 100644
--- a/server/data_processing/area_processing.py
+++ b/server/data_processing/area_processing.py
@@ -5,18 +5,30 @@ from math import pi, cos
EARTH = 6378.137 # Radius of the earth in kilometer
METER = (1 / ((2 * pi / 360) * EARTH)) / 1000 # 1 meter in degree
-def position_relative_to_pointcloud(min, max, start, end, center, limit):
- return [(((min[0] - max[0]) * ((start[0] - center[0]) / (limit[1][0] - limit[3][0]))) + (min[0] - max[0]) / 2 + max[0],
- (((min[1] - max[1]) * ((start[1] - center[1]) / (limit[1][1] - limit[3][1]))) + (min[1] - max[1]) / 2 + min[1])),
- ((((min[0] - max[0]) * ((end[0] - center[0]) / (limit[1][0] - limit[3][0]))) + (min[0] - max[0]) / 2 + max[0],
- (((min[1] - max[1]) * ((end[1] - center[1]) / (limit[1][1] - limit[3][1])))) + (min[1] - max[1]) / 2 + min[1]))]
+# find real world coordinates to lidar
+#
+# p - area using real world coordinate
+# l - area using lidar coordinate(pointcloud)
+# max_limit - maximum area limit of a lidar scann in real world coordinates
+def position_relative_to_pointcloud(l1, l2, p1, p2, center_l, center_p, max_lim):
+ return [
+ ((center_p[0] - p1[0]) * ((l1[0] - l2[0]) / (max_lim[1][0] - max_lim[3][0])) + center_l[0],
+ (center_p[1] - p1[1]) * ((l1[1] - l2[1]) / (max_lim[1][1] - max_lim[3][1])) + center_l[1]),
+ ((center_p[0] - p2[0]) * ((l1[0] - l2[0]) / (max_lim[1][0] - max_lim[3][0])) + center_l[0],
+ (center_p[1] - p2[1]) * ((l1[1] - l2[1]) / (max_lim[1][1] - max_lim[3][1])) + center_l[1])
+ ]
+ #return [(((min[0] - max[0]) * ((start[0] - limit[1][0]) / (limit[1][0] - limit[3][0]))) + center[0],
+ # (((min[1] - max[1]) * ((start[1] - limit[1][0]) / (limit[1][1] - limit[3][1]))) + center[1])),
+ # ((((min[0] - max[0]) * ((end[0] - limit[1][0]) / (limit[1][0] - limit[3][0]))) + center[0],
+ # (((min[1] - max[1]) * ((end[1] - limit[1][0]) / (limit[1][1] - limit[3][1])))) + center[1]))]
+print(position_relative_to_pointcloud((-5,5), (-2,2), (1.2,1.6), (1.8,1.4), (-3.5,3.5), (1.5,1.5), [(0,0),(1,2),(0,0),(2,1)]))
# check if lidar points is within range of the area selected
def inArea(position, areaRange):
x, y, _ = position # position to be checked
- #print(abs(areaRange[0][0])," < ",x," < ",abs(areaRange[1][0])," and ",abs(areaRange[0][1])," > ",abs(y)," > ",abs(areaRange[1][1])," ",(abs(areaRange[0][0]) < x < abs(areaRange[1][0])) and (abs(areaRange[0][1]) > abs(y) > abs(areaRange[1][1])))
- if ((areaRange[0][0]) < x < (areaRange[1][0])) and ((areaRange[0][1]) > (y) > (areaRange[1][1])):
+ #print((areaRange[0][0])," < ",x," < ",(areaRange[1][0])," and ",(areaRange[0][1])," > ",(y)," > ",(areaRange[1][1])," ",((areaRange[0][0]) < x < (areaRange[1][0])) and ((areaRange[0][1]) > (y) > (areaRange[1][1])))
+ if ((areaRange[0][0]) < x < (areaRange[1][0])) and ((areaRange[0][1]) > y > (areaRange[1][1])):
return True
else:
return False
diff --git a/server/data_processing/process_lidar_data.py b/server/data_processing/process_lidar_data.py
index 9db5e2948f608106b90f6b2419eac99bb3774b80..b0f3bb1bbe841dd8d2fc0c902f0b553d76a9ca42 100644
--- a/server/data_processing/process_lidar_data.py
+++ b/server/data_processing/process_lidar_data.py
@@ -90,46 +90,49 @@ def calculate_area_data(center, body_of_water):
# define all the sub-areas within the area, local coordinates
grid_area_heights = define_gridareas(center[0], center[1], (cell_x, cell_y),4)
# find the heights of each sub-area => area-heights
- for sub_area in grid_area_heights:
- start = (sub_area[1][1])
- end = (sub_area[1][3])
-
- #test data
- # zone coordinates sett to be relative to the lidar data's point cloud
- areazone = position_relative_to_pointcloud(min_point, max_point, start, end, center, area_limit)
-
- # calculate map zones height
- ys, xs = start
- ye, xe = end
- sub_center = ((xs + xe)/2, (ys + ye)/2)
- if len(map_data) > 0:
+ if len(map_data) > 0:
+ for sub_area in grid_area_heights:
+ start = (sub_area[1][1])
+ end = (sub_area[1][3])
+
+ #test data
+ # zone coordinates sett to be relative to the lidar data's point cloud
+ areazone = position_relative_to_pointcloud(min_point, max_point, start, end, center, area_limit)
+
+ # calculate map zones height
+ ys, xs = start
+ ye, xe = end
+ sub_center = ((xs + xe)/2, (ys + ye)/2)
# check if area is part of water body
part_of_subarea_of_waterbody = list(filter(lambda pos: inArea((pos['properties']['sub_div_center'][0], pos['properties']['sub_div_center'][1], 0.0), [start,end]), map_data))
if(len(part_of_subarea_of_waterbody) > 0):
current_map_zone = closest_points(sub_center, part_of_subarea_of_waterbody, taken_coords)
sub_center = current_map_zone['properties']['sub_div_center']
- print("item added")
taken_coords.append(sub_center)
+ print("item added", sub_center, " len ", len(taken_coords))
else:
print("nothing here")
continue
- else:
- return [] # return [0] if no data collected from lidar
- current_zone_id = current_map_zone['properties']['sub_div_id']
+ current_zone_id = current_map_zone['properties']['sub_div_id']
- # filter data within sub-area zones
- points_in_area = list(filter(lambda point_position: inArea(point_position, areazone), ice_points))
- if(len(points_in_area) > 0):
- heights = find_height(points_in_area)
- else:
- print("no points in area")
+ # filter data within sub-area zones
+ print(areazone[0][0]," < ",ice_points[0][0]," < ",areazone[1][0])
+ print(areazone[0][1]," > ",ice_points[0][1]," > ",areazone[1][1])
+ points_in_area = list(filter(lambda point_position: inArea(point_position, areazone), ice_points))
- if current_map_zone is not None:
- area_heights.append((current_zone_id, sub_area[0], sub_center, heights))
+ if(len(points_in_area) > 0):
+ heights = find_height(points_in_area)
+
+ if current_map_zone is not None:
+ area_heights.append((current_zone_id, sub_area[0], sub_center, heights))
+ else:
+ print("no points in area")
+ return area_heights
+ else:
+ return [] # return [0] if no data collected from lidar
- return area_heights
-#print(calculate_area_data((61, 11), 'mjosa'))
+print(calculate_area_data((61, 11), 'mj\u00f8sa'))
diff --git a/server/database/icedb b/server/database/icedb
index da2bcdd3569b91f37c3f585176a962762f353ea8..9899c85af85010df1c1ae0f95597288fb558880a 100644
Binary files a/server/database/icedb and b/server/database/icedb differ
diff --git a/server/map_handler/input_new_data.py b/server/map_handler/input_new_data.py
index ebbd4a16d41efc4fa411e41215381efd9ddffc5d..2ce5621e5089750f51ffa1a069d96812c58d8ebf 100644
--- a/server/map_handler/input_new_data.py
+++ b/server/map_handler/input_new_data.py
@@ -76,7 +76,7 @@ def input_new_Lidar_data(self, cursor, sensorId, bodyOfWater):
WHERE MeasurementID IS NULL AND WholeAverageThickness = 0;
''', (int(measurement_id), total_measurement_average), )
else:
- print('No data found')
+ print('No data found, line 79')
# send the changes to the database
cursor.connection.commit()
@@ -98,7 +98,7 @@ def input_new_Lidar_data(self, cursor, sensorId, bodyOfWater):
with open(file_path, "w") as file:
file.write(content)
else:
- print('No data found')
+ print('No data found, line 101')
content = json.dumps([])
# Write content data to response object