Photogrammetry corridor

Photogrammetry corridor or corridor mapping tool is intended to support liner object inspection, like power lines, roads, and rivers. On such missions, drones can be equipped with photos or video cameras. It covers a specified corridor with a sensor footprint with a certain overlap (both forward and side). Altitude is calculated automatically depending on the specified GSD. A corridor is defined by specifying the following parameters:

Basic

Camera - drop-down list with cameras attached to the vehicle profile. The default is 1st camera in the profile or a previously selected value.

GSD - Ground sample distance. The default is 2cm or the previously entered value.

Width - corridor width in meters. This means adding a Width/2 margin to the
left and right from the center line. Integer entered in the inspector. By default, 30 or previously
entered values.

Forward overlap - the percentage of forwarding overlap. The default is 30% or the previously entered value.

Side overlap - the percentage of side overlap. The default is 30% or the previously entered value.

Altitude mode - AMSL, AGL, Smart AGL, or Rangefinder. The default is AGL or a previously entered value.

Advanced

AGL Tolerance - Allowable height difference, when it’s impossible to put additional waypoints. An additional point is placed if it goes beyond this boundary. If not set should be treated as 0 (zero).

Camera top facing forward – concerns the camera orientation to the motion vector. The flag assumes the camera is oriented so that the frames overlap over the upper frame boundary motion vector. If the flag is removed, the frames overlap along the lateral frame boundary.

No actions at last point - Do not perform actions at the last point.

The tool supports the same list of actions as the photogrammetry tool. The default action is camera attitude, the camera facing down and automatically triggered by distance. Automatic action parameters are being calculated the same way as for the photogrammetry tool.
Route calculator may generate several passes if it is required to fulfill coverage and overlap constraints. The following rules should be applied:

• passes are always parallel to the corridor center line
• if the corridor can be covered by a single pass then one pass coinciding center line is enough
• if one pass is not enough, the calculator will try to cover the corridor with a minimum possible number of passes balancing several passes on the left and right sides from the centerline
• It always keeps the drone trajectory inside the corridor
  Obstacle avoidance behavior is the same as in the photogrammetry tool.
  Altitude calculation from GSD is the same as for the photogrammetry tool.

Photogrammetry corridor split

The new option to split the corridor is now available.

To split the corridor choose the waypoint, where the first part should end, click the mouse right button, and choose "Split".

The corridor will be split into 2 new routes with the same parameters.

Note: Camera actions will be added automatically, such as:

• Set camera attitude - tilt 90
• Set camera by distance - Auto