In order to calculate the viewing footprint, we will calculate a rectangular pyramid descending from the viewpoint to the ground. This pyramid will need to point to the left and right of the nadir according to the UAS's roll, forward or backward from the craft according to its pitch, and be oriented relative to the direction of movement of the craft according to its bearing.
The pyramidMaker function will construct our pyramid for us and ST_RotateXYZ will rotate the pyramid in the direction we need to compensate for roll, pitch, and bearing.
The following image is an example map of such a calculated footprint for a single image. Note the slight roll to the left for this example, resulting in an asymmetric-looking pyramid when ...
