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

pip install -e ".[dev]"

Optional GPU support:

pip install -e ".[gpu]"

Quick start

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

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

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.