Added functionality to calculate target location.

Added functionality to capture camera frame from RTSP stream.
Refactored code.
Fixed some minor issues.

misc/camera/a8/utilsTargetLocation.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include "serialCommand.h"
+#include "serialPort.h"
+
+#include <cstdint>
+
+struct GPSData
+{
+    float latitude;  // Decimal degrees
+    float longitude; // Decimal degrees
+    float altitude;  // Meters
+};
+
+struct CameraData
+{
+    uint16_t height; // Pixels
+    uint16_t width;  // Pixels
+    float pitch;     // Degrees
+    float yaw;       // Degrees
+    float fow;       // Degrees
+};
+
+struct DroneData
+{
+    GPSData gps;
+    float yaw;   // Degrees
+    float pitch; // Degrees
+    float roll;  // Degrees
+};
+
+class UtilsTargetLocation
+{
+public:
+    UtilsTargetLocation(SerialPort *serial, SerialCommand *command);
+    GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
+
+private:
+    CameraData getCameraData();
+    float calculateTargetDistance(float targetSize, uint16_t targetPixelSize, uint16_t imageWidth, float fov);
+    float degreesToRadians(float degrees);
+    GPSData calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing);
+    void captureImageFromStream();
+
+    SerialPort *mSerial;
+    SerialCommand *mCommand;
+};