Mirrors_Framework/PX4-Autopilot
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geotagging.py pep8 formatting

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Daniel Agar
2017-04-04 20:28:52 -04:00
committed by Lorenz Meier
parent 7be2eb06a2
commit 6677022622
1 changed files with 49 additions and 30 deletions
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Tools/sdlog2/geotagging.py
+49 -30
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@@ -3,7 +3,7 @@
# __geotagging__ # __geotagging__
# Tag the images recorded during a flight with geo location extracted from # Tag the images recorded during a flight with geo location extracted from
# a PX4 log file. # a PX4 log file.
# #
# This file accepts *.jpg format images and reads position information # This file accepts *.jpg format images and reads position information
# from a *.px4log file # from a *.px4log file
# #
@@ -26,11 +26,13 @@ from optparse import OptionParser
from numpy import genfromtxt from numpy import genfromtxt
import shutil import shutil
import csv import csv
from datetime import datetime,timedelta from datetime import datetime, timedelta
from pytz import timezone from pytz import timezone
class TriggerList( object ):
def __init__( self ): class TriggerList(object):
def __init__(self):
self.CAMT_seq = [] self.CAMT_seq = []
self.CAMT_timestamp = [] self.CAMT_timestamp = []
self.GPOS_Lat = [] self.GPOS_Lat = []
@@ -38,11 +40,14 @@ class TriggerList( object ):
self.GPOS_Alt = [] self.GPOS_Alt = []
self.GPS_GPSTime = [] self.GPS_GPSTime = []
class ImageList( object ):
def __init__( self ): class ImageList(object):
def __init__(self):
self.jpg = [] self.jpg = []
self.raw = [] self.raw = []
def to_degree(value, loc): def to_degree(value, loc):
if value < 0: if value < 0:
loc_value = loc[0] loc_value = loc[0]
@@ -51,12 +56,13 @@ def to_degree(value, loc):
else: else:
loc_value = "" loc_value = ""
absolute_value = abs(value) absolute_value = abs(value)
deg = int(absolute_value) deg = int(absolute_value)
t1 = (absolute_value-deg)*60 t1 = (absolute_value - deg) * 60
min = int(t1) min = int(t1)
sec = round((t1 - min)* 60, 5) sec = round((t1 - min) * 60, 5)
return (deg, min, sec, loc_value) return (deg, min, sec, loc_value)
def SetGpsLocation(file_name, gps_datetime, lat, lng, alt): def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
""" """
Adding GPS tag Adding GPS tag
@@ -65,8 +71,10 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
lat_deg = to_degree(lat, ["S", "N"]) lat_deg = to_degree(lat, ["S", "N"])
lng_deg = to_degree(lng, ["W", "E"]) lng_deg = to_degree(lng, ["W", "E"])
exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1)) exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(
exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1)) lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(
lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
exiv_image = pyexiv2.ImageMetadata(file_name) exiv_image = pyexiv2.ImageMetadata(file_name)
exiv_image.read() exiv_image.read()
@@ -77,7 +85,8 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
date_min = min(date_tag.value, gps_datetime) date_min = min(date_tag.value, gps_datetime)
time_diff = date_max - date_min time_diff = date_max - date_min
if (time_diff > timedelta(seconds=5)): if (time_diff > timedelta(seconds=5)):
print("WARNING, camera trigger and photo time different by {}".format(time_diff)) print(
"WARNING, camera trigger and photo time different by {}".format(time_diff))
print(" Photo tag time: {}".format(date_tag.value)) print(" Photo tag time: {}".format(date_tag.value))
print(" Camera trigger time: {}".format(gps_datetime)) print(" Camera trigger time: {}".format(gps_datetime))
@@ -93,11 +102,13 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
exiv_image.write(True) exiv_image.write(True)
def LoadPX4log(px4_log_file): def LoadPX4log(px4_log_file):
""" """
load px4 log file and extract trigger locations load px4 log file and extract trigger locations
""" """
os.system('python sdlog2_dump.py ' + px4_log_file + ' -t time -m TIME -m CAMT -m GPOS -m GPS -f log.csv') os.system('python sdlog2_dump.py ' + px4_log_file +
' -t time -m TIME -m CAMT -m GPOS -m GPS -f log.csv')
f = open('log.csv', 'rb') f = open('log.csv', 'rb')
reader = csv.reader(f) reader = csv.reader(f)
headers = reader.next() headers = reader.next()
@@ -121,6 +132,7 @@ def LoadPX4log(px4_log_file):
return trigger_list return trigger_list
def LoadImageList(input_folder): def LoadImageList(input_folder):
""" """
load the image list load the image list
@@ -140,25 +152,29 @@ def LoadImageList(input_folder):
image_list.raw = sorted(image_list.raw) image_list.raw = sorted(image_list.raw)
return image_list return image_list
def FilterTrigger(trigger_list, image_list): def FilterTrigger(trigger_list, image_list):
""" """
filter triggers to allow exact matching with recorded images filter triggers to allow exact matching with recorded images
""" """
# filter trigger list to match the number of pics # filter trigger list to match the number of pics
if len(image_list.jpg) != len(trigger_list.CAMT_seq): if len(image_list.jpg) != len(trigger_list.CAMT_seq):
print('WARNING! differ number of jpg images ({}) and camera triggers ({})'.format(len(image_list.jpg), len(trigger_list.CAMT_seq))) print('WARNING! differ number of jpg images ({}) and camera triggers ({})'.format(
len(image_list.jpg), len(trigger_list.CAMT_seq)))
n_overlap = min(len(image_list.jpg), len(trigger_list.CAMT_seq)) n_overlap = min(len(image_list.jpg), len(trigger_list.CAMT_seq))
del image_list.jpg[n_overlap:] del image_list.jpg[n_overlap:]
if len(image_list.raw) != len(trigger_list.CAMT_seq): if len(image_list.raw) != len(trigger_list.CAMT_seq):
print('WARNING! differ number of raw images ({}) and camera triggers ({})'.format(len(image_list.raw), len(trigger_list.CAMT_seq))) print('WARNING! differ number of raw images ({}) and camera triggers ({})'.format(
len(image_list.raw), len(trigger_list.CAMT_seq)))
n_overlap = min(len(image_list.raw), len(trigger_list.CAMT_seq)) n_overlap = min(len(image_list.raw), len(trigger_list.CAMT_seq))
del image_list.raw[n_overlap:] del image_list.raw[n_overlap:]
return trigger_list return trigger_list
def TagImages(trigger_list, image_list, output_folder): def TagImages(trigger_list, image_list, output_folder):
""" """
load px4 log file and extract trigger locations load px4 log file and extract trigger locations
@@ -166,46 +182,49 @@ def TagImages(trigger_list, image_list, output_folder):
for image in range(len(image_list.jpg)): for image in range(len(image_list.jpg)):
print("############################################################") print("############################################################")
print('Photo {}: {}'.format(image, image_list.jpg[image])) print('Photo {}: {}'.format(image, image_list.jpg[image]))
cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000 cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000
gps_datetime = datetime.fromtimestamp(cam_time) gps_datetime = datetime.fromtimestamp(cam_time)
base_path, filename = os.path.split(image_list.jpg[image]) base_path, filename = os.path.split(image_list.jpg[image])
copyfile(image_list.jpg[image], output_folder + "/" + filename) copyfile(image_list.jpg[image], output_folder + "/" + filename)
SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image])) SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(
trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
for image in range(len(image_list.raw)): for image in range(len(image_list.raw)):
print("############################################################") print("############################################################")
print('Photo {}: {}'.format(image, image_list.raw[image])) print('Photo {}: {}'.format(image, image_list.raw[image]))
cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000 cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000
gps_datetime = datetime.fromtimestamp(cam_time) gps_datetime = datetime.fromtimestamp(cam_time)
base_path, filename = os.path.split(image_list.raw[image]) base_path, filename = os.path.split(image_list.raw[image])
copyfile(image_list.raw[image], output_folder + "/" + filename) copyfile(image_list.raw[image], output_folder + "/" + filename)
SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image])) SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(
trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
def main(): def main():
""" """
Main method Main method
""" """
parser = OptionParser() parser = OptionParser()
parser.add_option("-l", "--logfile", dest = "LogFile", parser.add_option("-l", "--logfile", dest="LogFile",
help = "PX4 log file containing recorded positions", help="PX4 log file containing recorded positions",
metavar = "string") metavar="string")
parser.add_option("-i", "--input", dest = "InputFolder", parser.add_option("-i", "--input", dest="InputFolder",
help = "Input folder containing untagged images in alphabetical order", help="Input folder containing untagged images in alphabetical order",
type = "string") type="string")
parser.add_option("-o", "--output", dest = "OutputFolder", parser.add_option("-o", "--output", dest="OutputFolder",
help = "Output folder to contain tagged images", help="Output folder to contain tagged images",
type = "string") type="string")
(options, args) = parser.parse_args() (options, args) = parser.parse_args()
if not options.LogFile: if not options.LogFile:
print "please type python " \ print "please type python " \
"geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]" "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]"
elif not options.InputFolder: elif not options.InputFolder:
print "please type python " \ print "please type python " \
"geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]s" "geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]s"