structure scan does not respect distance to structure

[lvale]

On certain scan of structures the distance to structure is not respected. If one works with fixed focus cameras that invalidates using the structure scan

Example mission

acuteangle.plan.txt

[DonLakeFlyer]

There will be extra images, but the images that actually overlap the actual structure will be correctly distances won't they?

[lvale]

It gets worst, and will have a lot of unusable pictures on each level

It's a problem when you're scanning at high resolutions,with a very narrow depth of field on the camera

[DonLakeFlyer]

That is a hard problem to fix. I question whether any of these cases are reality or just strange boundary cases which nobody would ever fly?

[lvale]

Very easy to fall on this, like on this struct survey of the outside walls of a small castle

bing

google almourol2_ggl.kml.txt

[DonLakeFlyer]

Tricky to fix, but I'll look in 3.4

[ghost]

I suggest a parameter named Offset Resolution. Default is 0 and as you make it higher, it will round the edges more incresing the number of waypoints while minimizing distance to structure

[ghost]

To do it, a resolution parameter would be added to the offset function in src/MissionManager/QGCMapPolygon.cc

[DonLakeFlyer]

Don't you only want to cut the corners if the angle is less than 45 degrees? Not in general.

[DonLakeFlyer]

It seems like you could post-process the polygon:

• Vertex angle less than 45 degrees
• Create new line orthogonal to the center angle of the vertex
• Position it scan distance away from the vertex
• Intersect it with the scan polygon to generate the new points to chop the edge off the sharp corner