Figure 1
An image showing the graphical user interface of the Fire ROS Calculator where the activated tab is the “New Session” tab.
Figure 2
The flow chart of the program that detects the fire front pixel- coordinates on the images and convert them to real-world coordinates.
Figure 3
The flow chart of the program that calculates the ROS of the fire.
Figure 4
Image showing the window where the user can evaluate the automatic detection of the fire front. On the image, the green line is the detected fire front on an IR image and the blue line is the detection of the surface of the fire propagation (the fuel bed).
Figure 5
Image showing the window of the program that calculates the average ROS.
Table 1
The performed tests’ camera and calibration parameters.
| Test | Camera’s altitude from the table | Used lens | Calibration Object |
|---|---|---|---|
| A | 8 m | 42 mm lens | 2 × 1 m with 25 cm square size |
| B | 4 m | 19 mm lens | 2 × 1 m with 25 cm square size |
| C | 4 m | 19 mm lens | 0.45 × 0.9 m with 15 cm square size |
Table 2
The average fire ROS results obtained from the software and the reference measurement for each test are reported along with the residual errors.
| Test | Test A | Test B | Test C | Test C (Automatic Detection) | ||||
|---|---|---|---|---|---|---|---|---|
| Reference ROS (mm/s) | 3.15 | 3.61 | 3.64 | 3.64 | ||||
| Quantity | ROS (mm/s) | Error (%) | ROS (mm/s) | Error (%) | ROS (mm/s) | Error (%) | ROS (mm/s) | Error (%) |
| Line 1 | 3.2 | 2.9 | 3.5 | 2.2 | 3.6 | 0.5 | 3.6 | 1.9 |
| Line 2 | 3.3 | 4.4 | 3.6 | 0.3 | 3.5 | 4.4 | 3.5 | 4.9 |
| Line 3 | 3.2 | 2.9 | 3.8 | 4.4 | 3.5 | 4.7 | 3.6 | 1.7 |
| Average | 3.3 | 3.4 | 3.6 | 0.6 | 3.5 | 3.2 | 3.5 | 2.8 |