def make_kml(x, y, alt, c, type):
ns = '{http://www.opengis.net/kml/2.2}'
if type == "wp":
p= kml.Placemark(ns, name='WP', styleUrl='wp')
s = styles.Style(id='wp')
IS = styles.IconStyle(scale=1.2, icon_href='https://maps.google.com/mapfiles/kml/shapes/capital_big_highlight.png', heading=(int(c) - 90))
s.append_style(IS)
d = kml.Document(ns=ns, name='WP')
elif type == "ac":
p= kml.Placemark(ns, name='AC', styleUrl='ac')
s = styles.Style(id='ac')
IS = styles.IconStyle(scale=1.2, icon_href='https://maps.google.com/mapfiles/kml/shapes/airports.png', heading=(int(c)))
s.append_style(IS)
d = kml.Document(ns=ns, name='AC')
elif type == "solo":
p= kml.Placemark(ns, name='SOLO', styleUrl='solo')
s = styles.Style(id='solo')
IS = styles.IconStyle(scale=1.2, icon_href='https://maps.google.com/mapfiles/kml/shapes/camera.png', heading=(int(c) - 90))
s.append_style(IS)
d = kml.Document(ns=ns, name='SOLO')
else:
return
geom = Geometry()
geom.geometry = Point(float(y), float(x), float(alt))
geom.altitude_mode = 'relativeToGround'
p.geometry = geom
d.append_style(s)
d.append(p)
return d
def kml_write(x, y, c):
#Put coordinates into an xml file
ns = '{http://www.opengis.net/kml/2.2}'
d = kml.Document(ns=ns, name='MOBILE GCS')
k = kml.KML(ns=ns)
p= kml.Placemark(ns, name='MOBILE GCS', styleUrl='sn_van')
s = styles.Style(id='sn_van')
IS = styles.IconStyle(scale=1.2, icon_href='http://maps.google.com/mapfiles/kml/shapes/truck.png', heading=(c - 90))
s.append_style(IS)
#AC Geometry
geom = Geometry()
geom.geometry = Point(x, y, 0)
geom.altitude_mode = 'relativeToGround'
p.geometry = geom
d.append_style(s)
d.append(p)
#Write
k.append(d)
kmlfile = open('TOL_GCS.kml',"w")
kmlfile.write(k.to_string(prettyprint=True))
kmlfile.close()
def _flight_export_kml(
flight: Flight,
styleUrl: Optional[kml.StyleUrl] = None,
color: Optional[str] = None,
alpha: float = 0.5,
**kwargs,
) -> kml.Placemark:
if color is not None:
# the style will be set only if the kml.export context is open
styleUrl = toStyle(color)
params = {
"name": flight.callsign,
"description": flight._info_html(),
"styleUrl": styleUrl,
}
for key, value in kwargs.items():
params[key] = value
placemark = kml.Placemark(**params)
placemark.visibility = 1
# Convert to meters
coords = np.stack(flight.coords) # type: ignore
coords[:, 2] *= 0.3048
placemark.geometry = Geometry(
geometry=LineString(coords),
extrude=True,
altitude_mode="relativeToGround",
)
return placemark
def get_coord_folder(self, coord):
folder = self.coord_cache.get(coord)
if folder:
return folder
folder = fkml.Folder(ns=self.NS, name=coord, id='f-{}'.format(coord))
folder.extended_data = fkml.SchemaData(
ns=self.NS,
schema_url=self.schema_set['coordinate_metadata'],
data=[{
'name': 'coord',
'value': coord
}])
visible_marker = fkml.Placemark(ns=self.NS,
name=coord,
id='pl-{}'.format(coord))
# Dummy data required by QGIS to display all columns
dummy_data = [
{
'name': 'uuid',
'value': None
},
{
'name': 'wrs2_path_row',
'value': None
},
{
'name': 'netcdf_slice',
'value': None
},
]
for band in self.bands:
dummy_data.append({'name': 'band_{}'.format(band), 'value': None})
visible_marker.extended_data = fkml.SchemaData(
ns=self.NS,
schema_url=self.schema_set['placemark_metadata'],
data=dummy_data)
visible_marker.geometry = Geometry(
ns=self.NS,
geometry=Polygon(
get_grid_perimeter(*[int(i) for i in coord.split('_')])))
visible_marker.description = ''
folder.append(visible_marker)
self.coord_container.append(folder)
self.coord_cache[coord] = folder
return folder
def write_to_kml(self,filename):
k = kml.KML()
ns = '{http://www.opengis.net/kml/2.2}'
d = kml.Document(ns=ns, name='SNOPT Stitched Trajectory')
#styles
s = styles.Style(id='yellowLineGreenPoly')
ls = styles.LineStyle(color='7f00ff00',width=4)
ps = styles.PolyStyle(color='7f00ff00')
s.append_style(ls)
s.append_style(ps)
d.append_style(s)
#placemark
pm = kml.Placemark(name='Stitched Trajectory',description='Trajectory for EADDDAS',styleUrl='#yellowLineGreenPoly')
geom = Geometry()
coords = []
for i,x in enumerate(self.east):
coord = [0]*3
coord[1] = self.ka.lat + self.north[i]/111111.0 #lat
coord[0] = self.ka.lon + self.east[i]/(111111.0*cos(coord[1]*pi/180)) #lon
coord[2] = self.ka.alt + self.up[i] #alt
coords.append(tuple(coord))
geom.geometry = LineString(coords)
geom.extrude = True
geom.tessellate = True
geom.altitude_mode = 'absolute'
pm.geometry = geom
d.append(pm)
k.append(d)
kmlfile = open(filename,"w")
kmlfile.write(k.to_string(prettyprint=True))
kmlfile.close()
def main(self):
with open(sys.argv[1], 'r') if len(sys.argv) > 1 else sys.stdin as f:
# read the whole contents and put it in memory
lines = f.readlines()
f.close()
for line in lines:
if self.current_line > 2:
# TODO: establish YUV axis if undef.
components = line.strip().split()
if self.gradient_values is None:
self.gradient_values = self.setup_gradient_and_t(
int(components[1]))
# styles.append(kml.Style(self.name_space, styleid, this_style)
if int(components[1]) > self.threshold:
style = self.gradient_values[int(components[1]) - 1]
# southwest corner
sw_lat_lon = self.mgrs.toLatLon(str.encode(components[0]))
ne_lat_lon = self.offset_corner(sw_lat_lon)
pm_ident = 'mgrs-'
pm_ident += str(self.current_line)
style_identifier = "#style-"
style_identifier += components[1]
# print (f'{components[0]}: lat: {lat_lon[0]:.5f} lon: {lat_lon[1]:.5f} value: {components[1]} {northing} {easting}')
p = kml.Placemark(self.name_space, pm_ident, components[0],
''.join(components), None,
style_identifier)
p.geometry = Geometry(
self.name_space, '',
Polygon([(sw_lat_lon[1], sw_lat_lon[0], 170),
(ne_lat_lon[1], sw_lat_lon[0], 170),
(ne_lat_lon[1], ne_lat_lon[0], 170),
(sw_lat_lon[1], ne_lat_lon[0], 170)]), True,
True, 'relativeToGround')
self.cell_document.append(p)
# process line
self.current_line += 1
self.output_kml.append(self.cell_document)
print(self.output_kml.to_string(prettyprint=True))
def write(self, record_set):
coord_folder = self.get_coord_folder(record_set.get('coordinate_set'))
coord_mark = fkml.Placemark(
ns=self.NS,
name=record_set.get('observation_date')[0].strftime(
self.TS_OUTPUT_FMT))
coord_mark.begin, coord_mark.end = record_set.get('observation_date')
coord_mark.visibility = 0
coord_mark.geometry = Geometry(
ns=self.NS,
geometry=Polygon(
*convert_grid_coords(record_set.get('polygon_point_bounds'))))
coord_data = [{
'name': 'uuid',
'value': record_set.get('uuid')
}, {
'name': 'wrs2_path_row',
'value': record_set.get('wrs2_path_row')
}, {
'name': 'netcdf_slice',
'value': record_set.get('netcdf_slice')
}]
for band in self.bands:
coord_data.append({
'name': 'band_{}'.format(band),
'value': record_set.get('band_{}'.format(band))
})
coord_mark.extended_data = fkml.SchemaData(
ns=self.NS,
schema_url=self.schema_set['placemark_metadata'],
data=coord_data)
coord_folder.append(coord_mark)
def run(self):
while True:
#poison pill check
if self.poison == True:
break
else:
#read gps data (don't block)
msg = self.master.recv_match(type='GLOBAL_POSITION_INT', blocking=False)
if msg:
#print msg
self.aclat = msg.lat/1e7
self.aclon = msg.lon/1e7
self.acalt = msg.alt/1e3
self.achdg = msg.hdg/1e2
#Find position relative to Ka-1 (ENU)
#Convert degrees to radians:
lat1 = self.kalat * pi/180
lon1 = self.kalon * pi/180
lat2 = self.aclat * pi/180
lon2 = self.aclon * pi/180
dlat = lat2-lat1
dlong = lon2-lon1
#Haversine formula
R = 6371000
a = sin(dlat/2)*sin(dlat/2) + cos(lat1)*cos(lat2)*sin(dlong/2.0)*sin(dlong/2.0)
c = 2.0 * atan2( sqrt(a), sqrt(1-a) )
d = R * c; #distance
b = atan2( sin(dlong)*cos(lat2), cos(lat1)*sin(lat2) - sin(lat1)*cos(lat2)*cos(dlong) )
self.east = d*cos(pi/2-b) #x meters offset from Datum (ENU)
self.north = d*sin(pi/2-b) #y meters offset from Datum (ENU)
self.up = self.acalt - self.kaalt #z meters offset from Datum (ENU), should never be negative lol
#write KML for plane
ns = '{http://www.opengis.net/kml/2.2}'
d = kml.Document(ns=ns, name='TOL GCS')
k = kml.KML(ns=ns)
#AIRCRAFT
p= kml.Placemark(ns, name='sUAS(' + '{0:.2f}'.format(self.east) +','+ '{0:.2f}'.format(self.north) +','+ '{0:.2f}'.format(self.up) + ')', styleUrl='sn_airports')
#AC Style
s = styles.Style(id='sn_airports')
IS = styles.IconStyle(scale=1.2, icon_href='http://maps.google.com/mapfiles/kml/shapes/airports.png', heading=self.achdg)
s.append_style(IS)
#AC Geometry
geom = Geometry()
geom.geometry = Point(self.aclon, self.aclat, self.acalt)
geom.altitude_mode = 'absolute'
p.geometry = geom
d.append_style(s)
d.append(p)
#MGS
p = kml.Placemark(ns, name='MGS (0,0,0)',styleUrl='sn_truck')
s = styles.Style(id='sn_truck')
IS = styles.IconStyle(scale=1.2, icon_href='http://maps.google.com/mapfiles/kml/shapes/truck.png')
s.append_style(IS)
#MGS Geometry
geom = Geometry()
geom.geometry = Point(self.kalon, self.kalat, self.kaalt)
geom.altitude_mode = 'absolute'
p.geometry = geom
d.append_style(s)
d.append(p)
#WRITE
k.append(d)
kmlfile = open('TOL_GCS.kml',"w")
kmlfile.write(k.to_string(prettyprint=True))
kmlfile.close()
def run(self):
while True:
#poison pill check
if self.poison == True:
break
else:
#read gps data (don't block)
msg = self.master.recv_match(type='GLOBAL_POSITION_INT',
blocking=False)
if msg:
#print msg
self.aclat = msg.lat / 1e7
self.aclon = msg.lon / 1e7
self.acalt = msg.alt / 1e3
self.achdg = msg.hdg / 1e2
#Find position relative to Ka-1 (ENU)
#Convert degrees to radians:
lat1 = self.kalat * pi / 180
lon1 = self.kalon * pi / 180
lat2 = self.aclat * pi / 180
lon2 = self.aclon * pi / 180
dlat = lat2 - lat1
dlong = lon2 - lon1
#Haversine formula
R = 6371000
a = sin(dlat / 2) * sin(dlat / 2) + cos(lat1) * cos(
lat2) * sin(dlong / 2.0) * sin(dlong / 2.0)
c = 2.0 * atan2(sqrt(a), sqrt(1 - a))
d = R * c
#distance
b = atan2(
sin(dlong) * cos(lat2),
cos(lat1) * sin(lat2) -
sin(lat1) * cos(lat2) * cos(dlong))
self.east = d * cos(
pi / 2 - b) #x meters offset from Datum (ENU)
self.north = d * sin(
pi / 2 - b) #y meters offset from Datum (ENU)
self.up = self.acalt - self.kaalt #z meters offset from Datum (ENU), should never be negative lol
#write KML for plane
ns = '{http://www.opengis.net/kml/2.2}'
d = kml.Document(ns=ns, name='TOL GCS')
k = kml.KML(ns=ns)
#AIRCRAFT
p = kml.Placemark(ns,
name='sUAS(' +
'{0:.2f}'.format(self.east) + ',' +
'{0:.2f}'.format(self.north) + ',' +
'{0:.2f}'.format(self.up) + ')',
styleUrl='sn_airports')
#AC Style
s = styles.Style(id='sn_airports')
IS = styles.IconStyle(
scale=1.2,
icon_href=
'http://maps.google.com/mapfiles/kml/shapes/airports.png',
heading=self.achdg)
s.append_style(IS)
#AC Geometry
geom = Geometry()
geom.geometry = Point(self.aclon, self.aclat, self.acalt)
geom.altitude_mode = 'absolute'
p.geometry = geom
d.append_style(s)
d.append(p)
#MGS
p = kml.Placemark(ns,
name='MGS (0,0,0)',
styleUrl='sn_truck')
s = styles.Style(id='sn_truck')
IS = styles.IconStyle(
scale=1.2,
icon_href=
'http://maps.google.com/mapfiles/kml/shapes/truck.png')
s.append_style(IS)
#MGS Geometry
geom = Geometry()
geom.geometry = Point(self.kalon, self.kalat, self.kaalt)
geom.altitude_mode = 'absolute'
p.geometry = geom
d.append_style(s)
d.append(p)
#WRITE
k.append(d)
kmlfile = open('TOL_GCS.kml', "w")
kmlfile.write(k.to_string(prettyprint=True))
kmlfile.close()
