zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge pull request #7007 from DonLakeFlyer/TransectEntryCameraStart 

Survey, CorridorScan: Add camera start to transect entry even when taking images throughout…
QGC4.4
Don Gagne 7 years ago committed by GitHub
parent
dfa866fa1d 373fbed3f9
commit
41a20fcc8b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 33 additions and 360 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 17
      src/MissionManager/CorridorScanComplexItem.cc
  2. 368
      src/MissionManager/SurveyComplexItem.cc
  3. 2
      src/MissionManager/SurveyComplexItem.h
  4. 6
      src/MissionManager/TransectStyleComplexItem.cc

17
src/MissionManager/CorridorScanComplexItem.cc
Unescape View File

@ -172,7 +172,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i @@ -172,7 +172,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
//qDebug() << "_buildAndAppendMissionItems";
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
bool entryPoint = true;
bool transectEntry = true;
//qDebug() << "start transect";
for (const CoordInfo_t& transectCoordInfo: transect) {
@ -193,7 +193,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i @@ -193,7 +193,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
missionItemParent);
items.append(item);
if (firstOverallPoint && addTriggerAtBeginning) {
if (triggerCamera() && firstOverallPoint && addTriggerAtBeginning) {
// Start triggering
addTriggerAtBeginning = false;
item = new MissionItem(seqNum++,
@ -210,9 +210,12 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i @@ -210,9 +210,12 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
}
firstOverallPoint = false;
if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && !imagesEverywhere) {
if (entryPoint) {
// Start of transect, start triggering
// Possibly add trigger start/stop to survey area entrance/exit
if (triggerCamera() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
if (transectEntry) {
// Start of transect, always start triggering. We do this even if we are taking images everywhere.
// This allows a restart of the mission in mid-air without losing images from the entire mission.
// At most you may lose part of a transect.
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
@ -224,7 +227,8 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i @@ -224,7 +227,8 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
transectEntry = false;
} else if (!imagesEverywhere && !transectEntry){
// End of transect, stop triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
@ -238,7 +242,6 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i @@ -238,7 +242,6 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
missionItemParent);
items.append(item);
}
entryPoint = !entryPoint;
}
}
}

368
src/MissionManager/SurveyComplexItem.cc
Unescape View File

@ -604,212 +604,6 @@ double SurveyComplexItem::_clampGridAngle90(double gridAngle) @@ -604,212 +604,6 @@ double SurveyComplexItem::_clampGridAngle90(double gridAngle)
return gridAngle;
}
#if 0
int SurveyComplexItem::_gridGenerator(const QList<QPointF>& polygonPoints, QList<QList<QPointF>>& transectSegments, bool refly)
{
int cameraShots = 0;
double gridAngle = _gridAngleFact.rawValue().toDouble();
double gridSpacing = _gridSpacingFact.rawValue().toDouble();
gridAngle = _clampGridAngle90(gridAngle);
gridAngle += refly ? 90 : 0;
qCDebug(SurveyComplexItemLog) << "Clamped grid angle" << gridAngle;
qCDebug(SurveyComplexItemLog) << "SurveyComplexItem::_gridGenerator gridSpacing:gridAngle:refly" << gridSpacing << gridAngle << refly;
transectSegments.clear();
// Convert polygon to bounding rect
qCDebug(SurveyComplexItemLog) << "Polygon";
QPolygonF polygon;
for (int i=0; i<polygonPoints.count(); i++) {
qCDebug(SurveyComplexItemLog) << polygonPoints[i];
polygon << polygonPoints[i];
}
polygon << polygonPoints[0];
QRectF boundingRect = polygon.boundingRect();
QPointF boundingCenter = boundingRect.center();
qCDebug(SurveyComplexItemLog) << "Bounding rect" << boundingRect.topLeft().x() << boundingRect.topLeft().y() << boundingRect.bottomRight().x() << boundingRect.bottomRight().y();
// Create set of rotated parallel lines within the expanded bounding rect. Make the lines larger than the
// bounding box to guarantee intersection.
QList<QLineF> lineList;
// Transects are generated to be as long as the largest width/height of the bounding rect plus some fudge factor.
// This way they will always be guaranteed to intersect with a polygon edge no matter what angle they are rotated to.
// They are initially generated with the transects flowing from west to east and then points within the transect north to south.
double maxWidth = qMax(boundingRect.width(), boundingRect.height()) + 2000.0;
double halfWidth = maxWidth / 2.0;
double transectX = boundingCenter.x() - halfWidth;
double transectXMax = transectX + maxWidth;
while (transectX < transectXMax) {
double transectYTop = boundingCenter.y() - halfWidth;
double transectYBottom = boundingCenter.y() + halfWidth;
lineList += QLineF(_rotatePoint(QPointF(transectX, transectYTop), boundingCenter, gridAngle), _rotatePoint(QPointF(transectX, transectYBottom), boundingCenter, gridAngle));
transectX += gridSpacing;
}
// Now intersect the lines with the polygon
QList<QLineF> intersectLines;
#if 1
_intersectLinesWithPolygon(lineList, polygon, intersectLines);
#else
// This is handy for debugging grid problems, not for release
intersectLines = lineList;
#endif
// Less than two transects intersected with the polygon:
// Create a single transect which goes through the center of the polygon
// Intersect it with the polygon
if (intersectLines.count() < 2) {
_mapPolygon.center();
QLineF firstLine = lineList.first();
QPointF lineCenter = firstLine.pointAt(0.5);
QPointF centerOffset = boundingCenter - lineCenter;
firstLine.translate(centerOffset);
lineList.clear();
lineList.append(firstLine);
intersectLines = lineList;
_intersectLinesWithPolygon(lineList, polygon, intersectLines);
}
// Make sure all lines are going to same direction. Polygon intersection leads to line which
// can be in varied directions depending on the order of the intesecting sides.
QList<QLineF> resultLines;
_adjustLineDirection(intersectLines, resultLines);
// Calc camera shots here if there are no images in turnaround
if (_triggerCamera() && !_imagesEverywhere()) {
for (int i=0; i<resultLines.count(); i++) {
cameraShots += (int)floor(resultLines[i].length() / _triggerDistance());
// Take into account immediate camera trigger at waypoint entry
cameraShots++;
}
}
// Turn into a path
for (int i=0; i<resultLines.count(); i++) {
QLineF transectLine;
QList<QPointF> transectPoints;
const QLineF& line = resultLines[i];
float turnaroundPosition = _turnaroundDistance() / line.length();
if (i & 1) {
transectLine = QLineF(line.p2(), line.p1());
} else {
transectLine = QLineF(line.p1(), line.p2());
}
// Build the points along the transect
if (_hasTurnaround()) {
transectPoints.append(transectLine.pointAt(-turnaroundPosition));
}
// Polygon entry point
transectPoints.append(transectLine.p1());
// For hover and capture we need points for each camera location
if (_triggerCamera() && _hoverAndCaptureEnabled()) {
if (_triggerDistance() < transectLine.length()) {
int innerPoints = floor(transectLine.length() / _triggerDistance());
qCDebug(SurveyComplexItemLog) << "innerPoints" << innerPoints;
float transectPositionIncrement = _triggerDistance() / transectLine.length();
for (int i=0; i<innerPoints; i++) {
transectPoints.append(transectLine.pointAt(transectPositionIncrement * (i + 1)));
}
}
}
// Polygon exit point
transectPoints.append(transectLine.p2());
if (_hasTurnaround()) {
transectPoints.append(transectLine.pointAt(1 + turnaroundPosition));
}
transectSegments.append(transectPoints);
}
return cameraShots;
}
#endif
#if 0
int SurveyComplexItem::_appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent)
{
double altitude = _gridAltitudeFact.rawValue().toDouble();
bool altitudeRelative = _gridAltitudeRelativeFact.rawValue().toBool();
qCDebug(SurveyComplexItemLog) << "_appendWaypointToMission seq:trigger" << seqNum << (cameraTrigger != CameraTriggerNone);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
cameraTrigger == CameraTriggerHoverAndCapture ? _hoverAndCaptureDelaySeconds : 0, // Hold time (delay for hover and capture to settle vehicle before image is taken)
0.0, 0.0,
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
coord.latitude(),
coord.longitude(),
altitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
switch (cameraTrigger) {
case CameraTriggerOff:
case CameraTriggerOn:
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
cameraTrigger == CameraTriggerOn ? _triggerDistance() : 0,
0, // shutter integration (ignore)
cameraTrigger == CameraTriggerOn ? 1 : 0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
break;
case CameraTriggerHoverAndCapture:
item = new MissionItem(seqNum++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
#if 0
// This generates too many commands. Pulling out for now, to see if image quality is still high enough.
item = new MissionItem(seqNum++,
MAV_CMD_NAV_DELAY,
MAV_FRAME_MISSION,
0.5, // Delay in seconds, give some time for image to be taken
-1, -1, -1, // No time
0, 0, 0, // Param 5-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
#endif
default:
break;
}
return seqNum;
}
#endif
bool SurveyComplexItem::_nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord)
{
if (pointIndex > transectPoints.count()) {
@ -836,7 +630,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -836,7 +630,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
bool entryPoint = true;
bool transectEntry = true;
for (const CoordInfo_t& transectCoordInfo: transect) {
item = new MissionItem(seqNum++,
@ -858,12 +652,12 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -858,12 +652,12 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
item = new MissionItem(seqNum++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
true, // autoContinue
false, // isCurrentItem
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
qQNaN(), qQNaN(), qQNaN(), qQNaN(), // param 4-7 reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
@ -885,9 +679,12 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -885,9 +679,12 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
}
firstOverallPoint = false;
if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && triggerCamera() && !hoverAndCaptureEnabled() && !imagesEverywhere) {
if (entryPoint) {
// Start of transect, start triggering
// Possibly add trigger start/stop to survey area entrance/exit
if (triggerCamera() && !hoverAndCaptureEnabled() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
if (transectEntry) {
// Start of transect, always start triggering. We do this even if we are taking images everywhere.
// This allows a restart of the mission in mid-air without losing images from the entire mission.
// At most you may lose part of a transect.
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
@ -899,7 +696,8 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -899,7 +696,8 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
transectEntry = false;
} else if (!imagesEverywhere && !transectEntry){
// End of transect, stop triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
@ -913,12 +711,11 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -913,12 +711,11 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
missionItemParent);
items.append(item);
}
entryPoint = !entryPoint;
}
}
}
if (triggerCamera() && !hoverAndCaptureEnabled() && imagesEverywhere) {
if (triggerCamera() && !hoverAndCaptureEnabled() && imagesEverywhere) {
// Stop triggering
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
@ -934,118 +731,6 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, @@ -934,118 +731,6 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
}
}
#if 0
bool SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
bool firstWaypointTrigger = false;
#if 1
// FIXME: Hack
bool hasRefly = false;
bool buildRefly = false;
#endif
qCDebug(SurveyComplexItemLog) << QStringLiteral("hasTurnaround(%1) triggerCamera(%2) hoverAndCapture(%3) imagesEverywhere(%4) hasRefly(%5) buildRefly(%6) ").arg(_hasTurnaround()).arg(_triggerCamera()).arg(_hoverAndCaptureEnabled()).arg(_imagesEverywhere()).arg(hasRefly).arg(buildRefly);
#if 0
QList<QList<QGeoCoordinate>>& transectSegments = buildRefly ? _reflyTransectSegments : _transectSegments;
#endif
if (!buildRefly && _imagesEverywhere()) {
firstWaypointTrigger = true;
}
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
int pointIndex = 0;
QGeoCoordinate coord;
CameraTriggerCode cameraTrigger;
qCDebug(SurveyComplexItemLog) << "transect.count" << transect.count();
if (_hasTurnaround()) {
// Add entry turnaround point
if (!_nextTransectCoord(segment, pointIndex++, coord)) {
return false;
}
seqNum = _appendWaypointToMission(items, seqNum, coord, firstWaypointTrigger ? CameraTriggerOn : CameraTriggerNone, missionItemParent);
firstWaypointTrigger = false;
}
// Add polygon entry point
if (!_nextTransectCoord(segment, pointIndex++, coord)) {
return false;
}
if (firstWaypointTrigger) {
cameraTrigger = CameraTriggerOn;
} else {
cameraTrigger = _imagesEverywhere() || !_triggerCamera() ? CameraTriggerNone : (_hoverAndCaptureEnabled() ? CameraTriggerHoverAndCapture : CameraTriggerOn);
}
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
firstWaypointTrigger = false;
// Add internal hover and capture points
if (_hoverAndCaptureEnabled()) {
int lastHoverAndCaptureIndex = segment.count() - 1 - (_hasTurnaround() ? 1 : 0);
qCDebug(SurveyComplexItemLog) << "lastHoverAndCaptureIndex" << lastHoverAndCaptureIndex;
for (; pointIndex < lastHoverAndCaptureIndex; pointIndex++) {
if (!_nextTransectCoord(segment, pointIndex, coord)) {
return false;
}
seqNum = _appendWaypointToMission(items, seqNum, coord, CameraTriggerHoverAndCapture, missionItemParent);
}
}
// Add polygon exit point
if (!_nextTransectCoord(segment, pointIndex++, coord)) {
return false;
}
cameraTrigger = _imagesEverywhere() || !_triggerCamera() ? CameraTriggerNone : (_hoverAndCaptureEnabled() ? CameraTriggerNone : CameraTriggerOff);
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
if (_hasTurnaround()) {
// Add exit turnaround point
if (!_nextTransectCoord(segment, pointIndex++, coord)) {
return false;
}
seqNum = _appendWaypointToMission(items, seqNum, coord, CameraTriggerNone, missionItemParent);
}
qCDebug(SurveyComplexItemLog) << "last PointIndex" << pointIndex;
}
if (((hasRefly && buildRefly) || !hasRefly) && _imagesEverywhere()) {
// Turn off camera at end of survey
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0.0, // trigger distance (off)
0, 0, 0, 0, 0, 0, // param 2-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
return true;
}
#endif
#if 0
void SurveyComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
bool refly = refly90Degrees()->rawValue().toBool();
if (!_appendMissionItemsWorker(items, missionItemParent, seqNum, refly, false /* buildRefly */)) {
return;
}
if (refly) {
_appendMissionItemsWorker(items, missionItemParent, seqNum, refly, true /* buildRefly */);
}
}
#endif
bool SurveyComplexItem::_hasTurnaround(void) const
{
@ -1057,23 +742,6 @@ double SurveyComplexItem::_turnaroundDistance(void) const @@ -1057,23 +742,6 @@ double SurveyComplexItem::_turnaroundDistance(void) const
return _turnAroundDistanceFact.rawValue().toDouble();
}
#if 0
bool SurveyComplexItem::_triggerCamera(void) const
{
return _triggerDistance() > 0;
}
bool SurveyComplexItem::_imagesEverywhere(void) const
{
return _triggerCamera() && _cameraTriggerInTurnaroundFact.rawValue().toBool();
}
bool SurveyComplexItem::_hoverAndCaptureEnabled(void) const
{
return hoverAndCaptureAllowed() && !_imagesEverywhere() && _triggerCamera() && _hoverAndCaptureFact.rawValue().toBool();
}
#endif
void SurveyComplexItem::_rebuildTransectsPhase1(void)
{
bool split = splitConcavePolygons()->rawValue().toBool();
@ -1384,7 +1052,7 @@ void SurveyComplexItem::_rebuildTransectsPhase1WorkerSplitPolygons(bool refly) @@ -1384,7 +1052,7 @@ void SurveyComplexItem::_rebuildTransectsPhase1WorkerSplitPolygons(bool refly)
// TODO figure out tangent origin
// TODO improve selection of entry points
// qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
_rebuildTranscetsFromPolygon(refly, *p, tangentOrigin, vMatch);
_rebuildTransectsFromPolygon(refly, *p, tangentOrigin, vMatch);
}
}
@ -1535,7 +1203,7 @@ bool SurveyComplexItem::_VertexIsReflex(const QPolygonF& polygon, const QPointF* @@ -1535,7 +1203,7 @@ bool SurveyComplexItem::_VertexIsReflex(const QPolygonF& polygon, const QPointF*
}
void SurveyComplexItem::_rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint)
void SurveyComplexItem::_rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint)
{
// Generate transects

2
src/MissionManager/SurveyComplexItem.h
Unescape View File

@ -117,7 +117,7 @@ private: @@ -117,7 +117,7 @@ private:
void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
/// Adds to the _transects array from one polygon
void _rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
void _rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
// Decompose polygon into list of convex sub polygons
void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
// return true if vertex a can see vertex b

6
src/MissionManager/TransectStyleComplexItem.cc
Unescape View File

@ -719,10 +719,12 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const @@ -719,10 +719,12 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
}
if (!hoverAndCaptureEnabled()) {
if (!hoverAndCaptureEnabled() && triggerCamera()) {
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
// Only one camera start and on camera stop
// One camera start/stop for beginning/end of entire survey
itemCount += 2;
// One camera start for each transect
itemCount += _transects.count();
} else {
// Each transect will have a camera start and stop in it
itemCount += _transects.count() * 2;

Write Preview
Loading…
Cancel
Save