opencoverage 0.2.0__tar.gz

opencoverage-0.2.0/.gitignore

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+__pycache__/
+*.py[cod]
+*$py.class
+*.egg-info/
+.eggs/
+dist/
+build/
+.venv/
+venv/
+.pytest_cache/
+.ruff_cache/
+.mypy_cache/
+.coverage
+htmlcov/
+*.so

opencoverage-0.2.0/LICENSE

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+MIT License
+
+Copyright (c) 2018-2026 J. Irving Vasquez-Gomez
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

opencoverage-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: opencoverage
+Version: 0.2.0
+Summary: Coverage path planning for UAV aerial surveying
+Project-URL: Homepage, https://github.com/irvingvasquez/opencoverage
+Project-URL: Repository, https://github.com/irvingvasquez/opencoverage
+Project-URL: Documentation, https://github.com/irvingvasquez/opencoverage#readme
+Project-URL: Issues, https://github.com/irvingvasquez/opencoverage/issues
+Author-email: Juan Irving Vasquez <jvasquezg@ipn.mx>
+License-Expression: MIT
+License-File: LICENSE
+Keywords: coverage-path-planning,drone,precision-agriculture,survey,uav
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: GIS
+Requires-Python: >=3.10
+Requires-Dist: numpy>=1.24
+Requires-Dist: pyproj>=3.6
+Requires-Dist: shapely>=2.0
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0; extra == 'dev'
+Requires-Dist: ruff>=0.4; extra == 'dev'
+Provides-Extra: gpu
+Requires-Dist: cupy-cuda12x>=13.0; extra == 'gpu'
+Description-Content-Type: text/markdown
+
+# OpenCoverage
+
+Coverage path planning for UAV aerial surveying. OpenCoverage computes waypoint
+flight paths that fully cover a terrain polygon, with support for camera overlap,
+flight constraints, and multiple sweep patterns.
+
+Python reimplementation of the original UAV Planning library, using Shapely
+instead of CGAL. CPU execution is the default; optional GPU acceleration via CuPy
+is available for the optimal sweep search.
+
+## Features
+
+- **Search patterns**: back-and-forth, long-edge, optimal sweep, following-wind
+- **Planning targets**: spatial resolution, cruise velocity, or fixed altitude
+- **Mission splitting** by UAV flight-time limits
+- **Input formats**: KML polygons, Mission Planner `.poly` files, INI configuration
+- **Output**: QGroundControl WPL 120 waypoint files
+- **Optional GPU**: CuPy acceleration for optimal sweep angle search
+
+## Installation
+
+```bash
+pip install -e ".[dev]"
+```
+
+Optional GPU support:
+
+```bash
+pip install -e ".[gpu]"
+```
+
+## Quick start
+
+```python
+from shapely.geometry import Polygon
+
+import opencoverage as oc
+
+polygon = Polygon([(0, 0), (100, 0), (100, 80), (0, 80)])
+
+mission = oc.plan(
+    polygon=polygon,
+    uav=oc.UAV(min_height=70, max_height=500, survey_velocity=17),
+    camera=oc.PinholeCamera(
+        pixel_size_mm=0.0032,
+        focal_length_mm=8.43,
+        sensor_width_mm=6.55,
+        sensor_height_mm=4.92,
+        capture_rate_s=3,
+    ),
+    pattern="optimal_sweep",
+    lateral_overlap=0.8,
+    forward_overlap=0.7,
+    target="velocity",
+    target_value=17.0,
+)
+
+print(len(mission.path), "waypoints at", mission.flight_height, "m")
+```
+
+## Command line
+
+```bash
+opencoverage examples/sample_field.kml config/quad_tetracam.ini mission.txt
+opencoverage examples/sample_field.poly config/quad_tetracam.ini mission.txt --split
+opencoverage examples/sample_field.kml config/quad_tetracam.ini mission.txt --gpu
+```
+
+## Patterns
+
+| Pattern | Description |
+|---------|-------------|
+| `back_forth` | Standard boustrophedon sweep |
+| `long_edge` | Sweep lines perpendicular to the longest polygon edge |
+| `optimal_sweep` | Minimize horizontal sweep width over rotation angles |
+| `following_wind` | Align sweeps with meteorological wind direction |
+
+## Project layout
+
+```
+src/opencoverage/
+├── models.py            # UAV, camera, mission dataclasses
+├── parameters.py        # Survey parameter formulas
+├── planner.py           # High-level plan() API
+├── mission_splitter.py  # Flight-time mission splitting
+├── geometry/            # Shapely map and transforms
+├── patterns/            # Coverage search patterns
+├── io/                  # Config, KML, QGC, coordinate conversion
+└── gpu/                 # Optional CuPy kernels
+```
+
+## License
+
+MIT License. Copyright (c) J. Irving Vasquez-Gomez.

opencoverage-0.2.0/README.md

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+# OpenCoverage
+
+Coverage path planning for UAV aerial surveying. OpenCoverage computes waypoint
+flight paths that fully cover a terrain polygon, with support for camera overlap,
+flight constraints, and multiple sweep patterns.
+
+Python reimplementation of the original UAV Planning library, using Shapely
+instead of CGAL. CPU execution is the default; optional GPU acceleration via CuPy
+is available for the optimal sweep search.
+
+## Features
+
+- **Search patterns**: back-and-forth, long-edge, optimal sweep, following-wind
+- **Planning targets**: spatial resolution, cruise velocity, or fixed altitude
+- **Mission splitting** by UAV flight-time limits
+- **Input formats**: KML polygons, Mission Planner `.poly` files, INI configuration
+- **Output**: QGroundControl WPL 120 waypoint files
+- **Optional GPU**: CuPy acceleration for optimal sweep angle search
+
+## Installation
+
+```bash
+pip install -e ".[dev]"
+```
+
+Optional GPU support:
+
+```bash
+pip install -e ".[gpu]"
+```
+
+## Quick start
+
+```python
+from shapely.geometry import Polygon
+
+import opencoverage as oc
+
+polygon = Polygon([(0, 0), (100, 0), (100, 80), (0, 80)])
+
+mission = oc.plan(
+    polygon=polygon,
+    uav=oc.UAV(min_height=70, max_height=500, survey_velocity=17),
+    camera=oc.PinholeCamera(
+        pixel_size_mm=0.0032,
+        focal_length_mm=8.43,
+        sensor_width_mm=6.55,
+        sensor_height_mm=4.92,
+        capture_rate_s=3,
+    ),
+    pattern="optimal_sweep",
+    lateral_overlap=0.8,
+    forward_overlap=0.7,
+    target="velocity",
+    target_value=17.0,
+)
+
+print(len(mission.path), "waypoints at", mission.flight_height, "m")
+```
+
+## Command line
+
+```bash
+opencoverage examples/sample_field.kml config/quad_tetracam.ini mission.txt
+opencoverage examples/sample_field.poly config/quad_tetracam.ini mission.txt --split
+opencoverage examples/sample_field.kml config/quad_tetracam.ini mission.txt --gpu
+```
+
+## Patterns
+
+| Pattern | Description |
+|---------|-------------|
+| `back_forth` | Standard boustrophedon sweep |
+| `long_edge` | Sweep lines perpendicular to the longest polygon edge |
+| `optimal_sweep` | Minimize horizontal sweep width over rotation angles |
+| `following_wind` | Align sweeps with meteorological wind direction |
+
+## Project layout
+
+```
+src/opencoverage/
+├── models.py            # UAV, camera, mission dataclasses
+├── parameters.py        # Survey parameter formulas
+├── planner.py           # High-level plan() API
+├── mission_splitter.py  # Flight-time mission splitting
+├── geometry/            # Shapely map and transforms
+├── patterns/            # Coverage search patterns
+├── io/                  # Config, KML, QGC, coordinate conversion
+└── gpu/                 # Optional CuPy kernels
+```
+
+## License
+
+MIT License. Copyright (c) J. Irving Vasquez-Gomez.

opencoverage-0.2.0/config/FireFlyTetracam.ini

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+#
+# This is the configuration file for planning a UAV mission
+#
+
+[Planner]
+SearchPattern = 2; 1:back and forth, 2:Long Edge, 3:Optimal,
+AutoTakeOff = false; Autonomous takeoff and landing
+LateralOverlap = 0.5;
+FordwardOVerlap = 0.7;
+SpatialResolution = 40; mm/pixel
+TargetVelocity = 17; m/s
+TargetPlanning = 2; Planning mode, 1 = resolution, 2 = velocity, 3 = altitude;
+
+[UAV]
+FlightTime = 300; Seconds, put 0 to do not consider flight time
+Velocity = 17; m/s
+MinHeight = 70; meters
+MaxHeight = 500; meters
+MinVelocity = 10; m/s
+MaxVelocity = 20; m/s
+
+[Camera]
+PixelSize = 0.0032; mm
+FocalLenght = 8.43; mm
+SensorWidth = 6.55; mm
+SensorHeight = 4.92; mm
+CaptureRate = 3; seg	
+

opencoverage-0.2.0/config/RascalTetracam.ini

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+#
+# This is the configuration file for planning a UAV mission
+#
+
+[Planner]
+SearchPattern = 3; 1:back and forth, 2:Long Edge, 3:Optimal,
+LateralOverlap = 0.6;
+FordwardOVerlap = 0.7;
+SpatialResolution = 100; mm/pixel
+TargetVelocity = 10.0; m/s
+TargetPlanning = 2; Planning mode, 1 = resolution, 2 = velocity, 3 = altitude;
+AutoTakeOff = true; Autonomous takeoff and landing
+
+[UAV]
+FlightTime = 300;Seconds, put 0 to do not consider flight time
+MinVelocity = 8.0;
+MaxVelocity = 20.0;
+MinHeight = 50; meters
+MaxHeight = 500; meters
+
+[Camera]
+PixelSize = 0.0032; mm
+FocalLenght = 8.43; mm
+SensorWidth = 6.55; mm
+SensorHeight = 4.92; mm
+
+

opencoverage-0.2.0/config/quad_tetracam.ini

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+#
+# Example configuration for a quadrotor with a Tetracam micro camera.
+#
+
+[Planner]
+SearchPattern = 1
+AutoTakeOff = false
+LateralOverlap = 0.8
+ForwardOverlap = 0.7
+SpatialResolution = 40
+TargetVelocity = 17
+TargetPlanning = 2
+
+[UAV]
+FlightTime = 300
+Velocity = 17
+MinHeight = 70
+MaxHeight = 500
+MinVelocity = 5
+MaxVelocity = 20
+
+[Camera]
+PixelSize = 0.0032
+FocalLenght = 8.43
+SensorWidth = 6.55
+SensorHeight = 4.92
+CaptureRate = 3

opencoverage-0.2.0/pyproject.toml

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+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "opencoverage"
+version = "0.2.0"
+description = "Coverage path planning for UAV aerial surveying"
+readme = "README.md"
+license = "MIT"
+requires-python = ">=3.10"
+authors = [
+    { name = "Juan Irving Vasquez", email = "jvasquezg@ipn.mx" },
+]
+keywords = ["uav", "drone", "coverage-path-planning", "survey", "precision-agriculture"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: MIT License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Topic :: Scientific/Engineering :: GIS",
+]
+dependencies = [
+    "numpy>=1.24",
+    "shapely>=2.0",
+    "pyproj>=3.6",
+]
+
+[project.optional-dependencies]
+gpu = ["cupy-cuda12x>=13.0"]
+dev = ["pytest>=7.0", "ruff>=0.4"]
+
+[project.scripts]
+opencoverage = "opencoverage.cli:main"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/opencoverage"]
+
+[tool.hatch.build.targets.sdist]
+include = ["src/opencoverage", "config", "tests"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.ruff]
+line-length = 100
+target-version = "py310"
+
+[project.urls]
+Homepage = "https://github.com/irvingvasquez/opencoverage"
+Repository = "https://github.com/irvingvasquez/opencoverage"
+Documentation = "https://github.com/irvingvasquez/opencoverage#readme"
+Issues = "https://github.com/irvingvasquez/opencoverage/issues"

opencoverage-0.2.0/src/opencoverage/__init__.py

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+"""OpenCoverage: coverage path planning for UAV aerial surveying."""
+
+from opencoverage.mission_splitter import MissionSplitter
+from opencoverage.models import (
+    FlightMission,
+    GeodeticCoordinate,
+    PinholeCamera,
+    SearchPatternType,
+    TargetPlanning,
+    UAV,
+)
+from opencoverage.planner import plan
+
+__all__ = [
+    "FlightMission",
+    "GeodeticCoordinate",
+    "MissionSplitter",
+    "PinholeCamera",
+    "SearchPatternType",
+    "TargetPlanning",
+    "UAV",
+    "plan",
+    "__version__",
+]
+
+__version__ = "0.2.0"

opencoverage-0.2.0/src/opencoverage/cli.py

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+"""Command-line interface for OpenCoverage."""
+
+from __future__ import annotations
+
+import argparse
+
+from opencoverage.io.config import load_planner_config
+from opencoverage.mission_splitter import MissionSplitter
+from opencoverage.planner import plan
+
+
+def main() -> int:
+    """Run mission planning from the command line."""
+    parser = argparse.ArgumentParser(
+        description="Plan a UAV coverage mission from a polygon and configuration file.",
+    )
+    parser.add_argument("polygon", help="Path to input polygon file (KML or Mission Planner)")
+    parser.add_argument("config", help="Path to INI configuration file")
+    parser.add_argument("output", help="Path to output QGroundControl waypoint file")
+    parser.add_argument(
+        "--gpu",
+        action="store_true",
+        help="Use CuPy for optimal sweep angle search when available",
+    )
+    parser.add_argument(
+        "--split",
+        action="store_true",
+        help="Split the mission according to UAV flight time limits",
+    )
+    args = parser.parse_args()
+
+    parsed_config = load_planner_config(args.config)
+    result = plan(
+        polygon=args.polygon,
+        config=args.config,
+        gpu=args.gpu,
+        split=args.split,
+    )
+    missions = result if isinstance(result, list) else [result]
+
+    reference = missions[0].reference
+    if reference is None:
+        raise SystemExit("Mission is missing a geodetic reference point.")
+
+    if len(missions) == 1:
+        mission = missions[0]
+        mission.save_qgc(args.output, reference=reference)
+        print(f"Saved {len(mission.path)} waypoints to {args.output}")
+        print(f"Flight height: {mission.flight_height:.2f} m")
+        return 0
+
+    splitter = MissionSplitter(parsed_config["uav_model"])
+    saved = splitter.save_qgc_files(missions, args.output, reference=reference)
+    for path in saved:
+        print(f"Saved mission segment to {path}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

opencoverage-0.2.0/src/opencoverage/geometry/__init__.py

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+"""Geometry helpers for survey maps and coordinate transforms."""
+
+from opencoverage.geometry.map import SurveyMap
+from opencoverage.geometry.transforms import rotate_points, rotate_polygon
+
+__all__ = ["SurveyMap", "rotate_points", "rotate_polygon"]

opencoverage-0.2.0/src/opencoverage/geometry/map.py

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+"""Polygon map representation backed by Shapely."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+
+import numpy as np
+from shapely.geometry import LineString, Point, Polygon
+
+from opencoverage.geometry.transforms import rotate_polygon
+from opencoverage.models import GeodeticCoordinate
+
+
+@dataclass
+class SurveyMap:
+    """Survey area defined as a local-meter polygon."""
+
+    polygon: Polygon
+    reference: GeodeticCoordinate | None = None
+    home: GeodeticCoordinate | None = None
+    takeoff: GeodeticCoordinate | None = None
+    _home_local: tuple[float, float] | None = field(default=None, repr=False)
+
+    @classmethod
+    def from_polygon(cls, polygon: Polygon, **kwargs) -> SurveyMap:
+        """Create a map from an existing Shapely polygon."""
+        if polygon.is_empty or not polygon.is_valid:
+            raise ValueError("Survey polygon must be non-empty and valid")
+        return cls(polygon=polygon, **kwargs)
+
+    def copy(self) -> SurveyMap:
+        """Return a shallow copy of the map."""
+        return SurveyMap(
+            polygon=Polygon(self.polygon),
+            reference=self.reference,
+            home=self.home,
+            takeoff=self.takeoff,
+            _home_local=self._home_local,
+        )
+
+    def rotated_copy(self, angle_rad: float) -> SurveyMap:
+        """Return a new map with the polygon rotated by angle_rad."""
+        rotated = rotate_polygon(self.polygon, angle_rad)
+        return SurveyMap(
+            polygon=rotated,
+            reference=self.reference,
+            home=self.home,
+            takeoff=self.takeoff,
+            _home_local=self._home_local,
+        )
+
+    @property
+    def bounds(self) -> tuple[float, float, float, float]:
+        """Return polygon axis-aligned bounds (minx, miny, maxx, maxy)."""
+        return self.polygon.bounds
+
+    @property
+    def vertices(self) -> np.ndarray:
+        """Return exterior vertices as an (N, 2) array."""
+        coords = list(self.polygon.exterior.coords[:-1])
+        return np.asarray(coords, dtype=float)
+
+    def extreme_vertices(self) -> dict[str, tuple[float, float]]:
+        """Return left, right, top, and bottom vertices of the polygon."""
+        coords = list(self.polygon.exterior.coords[:-1])
+        left = min(coords, key=lambda p: p[0])
+        right = max(coords, key=lambda p: p[0])
+        bottom = min(coords, key=lambda p: p[1])
+        top = max(coords, key=lambda p: p[1])
+        return {"left": left, "right": right, "bottom": bottom, "top": top}
+
+    def sweep_width(self) -> float:
+        """Return horizontal extent used for back-and-forth sweep planning."""
+        extremes = self.extreme_vertices()
+        return extremes["right"][0] - extremes["left"][0]
+
+    def sweep_height(self) -> float:
+        """Return vertical extent of the polygon."""
+        extremes = self.extreme_vertices()
+        return extremes["top"][1] - extremes["bottom"][1]
+
+    def intersect_vertical_line(self, x: float) -> list[tuple[float, float]]:
+        """
+        Intersect the polygon with a vertical line at coordinate x.
+
+        Returns intersection points sorted by ascending y.
+        """
+        minx, miny, maxx, maxy = self.bounds
+        line = LineString([(x, miny - 1.0), (x, maxy + 1.0)])
+        intersection = self.polygon.intersection(line)
+
+        points: list[tuple[float, float]] = []
+        if intersection.is_empty:
+            return points
+
+        if isinstance(intersection, Point):
+            points.append((intersection.x, intersection.y))
+        elif intersection.geom_type == "MultiPoint":
+            points.extend((point.x, point.y) for point in intersection.geoms)
+        elif intersection.geom_type == "LineString":
+            points.extend(intersection.coords)
+        elif intersection.geom_type == "MultiLineString":
+            for segment in intersection.geoms:
+                points.extend(segment.coords)
+
+        unique: list[tuple[float, float]] = []
+        seen: set[tuple[float, float]] = set()
+        for point in sorted(points, key=lambda p: p[1]):
+            key = (round(point[0], 9), round(point[1], 9))
+            if key not in seen:
+                seen.add(key)
+                unique.append(point)
+        return unique
+
+    def replace_polygon(self, polygon: Polygon) -> None:
+        """Replace the internal polygon, for example after rotation."""
+        self.polygon = polygon

opencoverage-0.2.0/src/opencoverage/geometry/transforms.py

@@ -0,0 +1,43 @@
+"""Coordinate transforms for polygons and waypoint paths."""
+
+from __future__ import annotations
+
+import math
+
+import numpy as np
+from shapely.affinity import rotate as shapely_rotate
+from shapely.geometry import Polygon
+
+
+def rotate_polygon(polygon: Polygon, angle_rad: float, origin: tuple[float, float] = (0.0, 0.0)) -> Polygon:
+    """Rotate a polygon by angle_rad around origin."""
+    return shapely_rotate(polygon, angle_rad, origin=origin, use_radians=True)
+
+
+def rotate_points(
+    points: list[tuple[float, float]],
+    angle_rad: float,
+    origin: tuple[float, float] = (0.0, 0.0),
+) -> list[tuple[float, float]]:
+    """Rotate a list of 2D points by angle_rad around origin."""
+    if not points:
+        return []
+
+    ox, oy = origin
+    cos_a = math.cos(angle_rad)
+    sin_a = math.sin(angle_rad)
+    rotated: list[tuple[float, float]] = []
+
+    for x, y in points:
+        dx = x - ox
+        dy = y - oy
+        rotated.append((ox + cos_a * dx - sin_a * dy, oy + sin_a * dx + cos_a * dy))
+
+    return rotated
+
+
+def rotation_matrix(angle_rad: float) -> np.ndarray:
+    """Return a 2x2 rotation matrix for angle_rad."""
+    cos_a = math.cos(angle_rad)
+    sin_a = math.sin(angle_rad)
+    return np.array([[cos_a, -sin_a], [sin_a, cos_a]], dtype=float)

opencoverage-0.2.0/src/opencoverage/gpu/__init__.py

@@ -0,0 +1,5 @@
+"""Optional GPU acceleration backends."""
+
+from opencoverage.gpu._backend import cupy_available, get_array_module
+
+__all__ = ["cupy_available", "get_array_module"]