mirror of https://github.com/ArduPilot/ardupilot
414 lines
15 KiB
C#
414 lines
15 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Windows.Forms;
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using com.drew.imaging.jpg;
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using com.drew.metadata;
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using SharpKml.Base;
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using SharpKml.Dom;
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using SharpKml.Dom.GX;
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namespace ArdupilotMega
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{
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class georefimage : Form
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{
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private OpenFileDialog openFileDialog1;
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private MyButton BUT_browselog;
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private MyButton BUT_browsedir;
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private TextBox TXT_logfile;
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private TextBox TXT_jpgdir;
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private TextBox TXT_offsetseconds;
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private MyButton BUT_doit;
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private FolderBrowserDialog folderBrowserDialog1;
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private Label label1;
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private TextBox TXT_outputlog;
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private MyButton BUT_estoffset;
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int latpos = 5, lngpos = 4, altpos = 7;
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internal georefimage() {
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InitializeComponent();
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}
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DateTime getPhotoTime(string fn)
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{
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DateTime dtaken = DateTime.MinValue;
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try
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{
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Metadata lcMetadata = null;
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try
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{
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FileInfo lcImgFile = new FileInfo(fn);
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// Loading all meta data
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lcMetadata = JpegMetadataReader.ReadMetadata(lcImgFile);
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}
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catch (JpegProcessingException e)
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{
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Console.Error.WriteLine(e.Message);
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return dtaken;
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}
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foreach (AbstractDirectory lcDirectory in lcMetadata)
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{
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if (lcDirectory.ContainsTag(0x9003))
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{
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dtaken = lcDirectory.GetDate(0x9003);
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Console.WriteLine("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken);
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break;
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}
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}
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////// old method, works, just slow
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/*
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Image myImage = Image.FromFile(fn);
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PropertyItem propItem = myImage.GetPropertyItem(36867); // 36867 // 306
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//Convert date taken metadata to a DateTime object
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string sdate = Encoding.UTF8.GetString(propItem.Value).Trim();
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string secondhalf = sdate.Substring(sdate.IndexOf(" "), (sdate.Length - sdate.IndexOf(" ")));
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string firsthalf = sdate.Substring(0, 10);
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firsthalf = firsthalf.Replace(":", "-");
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sdate = firsthalf + secondhalf;
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dtaken = DateTime.Parse(sdate);
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myImage.Dispose();
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*/
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}
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catch { }
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return dtaken;
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}
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List<string[]> readLog(string fn)
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{
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List<string[]> list = new List<string[]>();
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StreamReader sr = new StreamReader(fn);
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string lasttime = "0";
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while (!sr.EndOfStream)
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{
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string line = sr.ReadLine();
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if (line.ToLower().StartsWith("gps"))
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{
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string[] vals = line.Split(new char[] {',',':'});
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if (lasttime == vals[1])
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continue;
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lasttime = vals[1];
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list.Add(vals);
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}
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}
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sr.Close();
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sr.Dispose();
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return list;
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}
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public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
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{
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DateTime localmin = DateTime.MaxValue;
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DateTime localmax = DateTime.MinValue;
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DateTime startTime = DateTime.MinValue;
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//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
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List<string[]> list = readLog(logFile);
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//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
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string[] files = Directory.GetFiles(dirWithImages);
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Document kml = new Document();
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StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
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StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
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StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
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sw.WriteLine("version=1");
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sw.WriteLine("#longitude and latitude - in degrees");
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sw.WriteLine("#name utc longitude latitude height");
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int first = 0;
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int matchs = 0;
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foreach (string file in files)
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{
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if (file.ToLower().EndsWith(".jpg"))
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{
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DateTime dt = getPhotoTime(file);
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if (startTime == DateTime.MinValue)
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{
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startTime = new DateTime(dt.Year, dt.Month, dt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
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foreach (string[] arr in list)
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{
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DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
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if (localmin > crap)
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localmin = crap;
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if (localmax < crap)
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localmax = crap;
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}
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Console.WriteLine("min " + localmin + " max " + localmax);
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TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
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}
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TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " time " + dt + "\r\n");
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foreach (string[] arr in list)
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{
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//Application.DoEvents();
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DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
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if (first == 0)
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{
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TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
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TXT_outputlog.AppendText("offset should be about " + (dt - crap).TotalSeconds + "\r\n");
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if (dooffset)
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return;
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first++;
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}
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//Console.Write("ph " + dt + " log " + crap + " \r");
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if (dt.Equals(crap))
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{
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TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
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matchs++;
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kml.AddFeature(
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new Placemark()
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{
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Name = Path.GetFileNameWithoutExtension(file),
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Geometry = new SharpKml.Dom.Point()
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{
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Coordinate = new Vector(double.Parse(arr[lngpos]), double.Parse(arr[latpos]), double.Parse(arr[altpos]))
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}
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}
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);
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sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
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sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
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sw.Flush();
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sw2.Flush();
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Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
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break;
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}
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//Console.WriteLine(crap);
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}
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}
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}
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Serializer serializer = new Serializer();
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serializer.Serialize(kml);
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sw3.Write(serializer.Xml);
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sw3.Close();
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sw2.Close();
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sw.Close();
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MessageBox.Show("Done " + matchs + " matchs");
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}
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private void InitializeComponent()
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{
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this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
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this.BUT_browselog = new ArdupilotMega.MyButton();
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this.BUT_browsedir = new ArdupilotMega.MyButton();
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this.TXT_logfile = new System.Windows.Forms.TextBox();
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this.TXT_jpgdir = new System.Windows.Forms.TextBox();
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this.TXT_offsetseconds = new System.Windows.Forms.TextBox();
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this.BUT_doit = new ArdupilotMega.MyButton();
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this.folderBrowserDialog1 = new System.Windows.Forms.FolderBrowserDialog();
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this.TXT_outputlog = new System.Windows.Forms.TextBox();
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this.label1 = new System.Windows.Forms.Label();
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this.BUT_estoffset = new ArdupilotMega.MyButton();
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this.SuspendLayout();
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//
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// openFileDialog1
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//
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this.openFileDialog1.FileName = "openFileDialog1";
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//
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// BUT_browselog
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//
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this.BUT_browselog.Location = new System.Drawing.Point(351, 12);
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this.BUT_browselog.Name = "BUT_browselog";
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this.BUT_browselog.Size = new System.Drawing.Size(75, 23);
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this.BUT_browselog.TabIndex = 0;
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this.BUT_browselog.Text = "Browse Log";
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this.BUT_browselog.UseVisualStyleBackColor = true;
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this.BUT_browselog.Click += new System.EventHandler(this.BUT_browselog_Click);
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//
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// BUT_browsedir
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//
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this.BUT_browsedir.Location = new System.Drawing.Point(351, 41);
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this.BUT_browsedir.Name = "BUT_browsedir";
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this.BUT_browsedir.Size = new System.Drawing.Size(75, 23);
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this.BUT_browsedir.TabIndex = 1;
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this.BUT_browsedir.Text = "Browse Directory";
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this.BUT_browsedir.UseVisualStyleBackColor = true;
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this.BUT_browsedir.Click += new System.EventHandler(this.BUT_browsedir_Click);
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//
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// TXT_logfile
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//
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this.TXT_logfile.Location = new System.Drawing.Point(28, 14);
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this.TXT_logfile.Name = "TXT_logfile";
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this.TXT_logfile.Size = new System.Drawing.Size(317, 20);
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this.TXT_logfile.TabIndex = 2;
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this.TXT_logfile.Text = "C:\\Users\\hog\\Pictures\\farm 1-10-2011\\100SSCAM\\2011-10-01 11-48 1.log";
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//
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// TXT_jpgdir
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//
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this.TXT_jpgdir.Location = new System.Drawing.Point(28, 43);
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this.TXT_jpgdir.Name = "TXT_jpgdir";
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this.TXT_jpgdir.Size = new System.Drawing.Size(317, 20);
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this.TXT_jpgdir.TabIndex = 3;
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this.TXT_jpgdir.Text = "C:\\Users\\hog\\Pictures\\farm 1-10-2011\\100SSCAM";
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//
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// TXT_offsetseconds
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//
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this.TXT_offsetseconds.Location = new System.Drawing.Point(180, 69);
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this.TXT_offsetseconds.Name = "TXT_offsetseconds";
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this.TXT_offsetseconds.Size = new System.Drawing.Size(100, 20);
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this.TXT_offsetseconds.TabIndex = 4;
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this.TXT_offsetseconds.Text = "0";
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//
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// BUT_doit
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//
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this.BUT_doit.Location = new System.Drawing.Point(194, 105);
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this.BUT_doit.Name = "BUT_doit";
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this.BUT_doit.Size = new System.Drawing.Size(75, 23);
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this.BUT_doit.TabIndex = 5;
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this.BUT_doit.Text = "Do It";
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this.BUT_doit.UseVisualStyleBackColor = true;
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this.BUT_doit.Click += new System.EventHandler(this.BUT_doit_Click);
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//
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// TXT_outputlog
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//
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this.TXT_outputlog.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
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| System.Windows.Forms.AnchorStyles.Left)
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| System.Windows.Forms.AnchorStyles.Right)));
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this.TXT_outputlog.Location = new System.Drawing.Point(28, 144);
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this.TXT_outputlog.Multiline = true;
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this.TXT_outputlog.Name = "TXT_outputlog";
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this.TXT_outputlog.ReadOnly = true;
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this.TXT_outputlog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
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this.TXT_outputlog.Size = new System.Drawing.Size(398, 143);
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this.TXT_outputlog.TabIndex = 6;
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//
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// label1
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//
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this.label1.AutoSize = true;
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this.label1.Location = new System.Drawing.Point(94, 75);
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this.label1.Name = "label1";
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this.label1.Size = new System.Drawing.Size(78, 13);
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this.label1.TabIndex = 7;
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this.label1.Text = "Seconds offset";
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//
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// BUT_estoffset
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//
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this.BUT_estoffset.Location = new System.Drawing.Point(286, 67);
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this.BUT_estoffset.Name = "BUT_estoffset";
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this.BUT_estoffset.Size = new System.Drawing.Size(75, 23);
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this.BUT_estoffset.TabIndex = 8;
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this.BUT_estoffset.Text = "Estimate Offset";
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this.BUT_estoffset.UseVisualStyleBackColor = true;
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this.BUT_estoffset.Click += new System.EventHandler(this.BUT_estoffset_Click);
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//
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// georefimage
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//
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this.ClientSize = new System.Drawing.Size(453, 299);
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this.Controls.Add(this.BUT_estoffset);
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this.Controls.Add(this.label1);
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this.Controls.Add(this.TXT_outputlog);
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this.Controls.Add(this.BUT_doit);
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this.Controls.Add(this.TXT_offsetseconds);
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this.Controls.Add(this.TXT_jpgdir);
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this.Controls.Add(this.TXT_logfile);
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this.Controls.Add(this.BUT_browsedir);
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this.Controls.Add(this.BUT_browselog);
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this.Name = "georefimage";
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this.ResumeLayout(false);
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this.PerformLayout();
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}
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private void BUT_browselog_Click(object sender, EventArgs e)
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{
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openFileDialog1.Filter = "Logs|*.log";
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openFileDialog1.ShowDialog();
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if (File.Exists(openFileDialog1.FileName))
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{
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TXT_logfile.Text = openFileDialog1.FileName;
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}
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}
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private void BUT_browsedir_Click(object sender, EventArgs e)
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{
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folderBrowserDialog1.ShowDialog();
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if (folderBrowserDialog1.SelectedPath != "")
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{
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TXT_jpgdir.Text = folderBrowserDialog1.SelectedPath;
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}
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}
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private void BUT_doit_Click(object sender, EventArgs e)
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{
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if (!File.Exists(TXT_logfile.Text))
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return;
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if (!Directory.Exists(TXT_jpgdir.Text))
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return;
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float seconds;
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if (float.TryParse(TXT_offsetseconds.Text, out seconds) == false)
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return;
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BUT_doit.Enabled = false;
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try
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{
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dowork(TXT_logfile.Text, TXT_jpgdir.Text, seconds, false);
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}
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catch { }
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BUT_doit.Enabled = true;
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}
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private void BUT_estoffset_Click(object sender, EventArgs e)
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{
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dowork(TXT_logfile.Text, TXT_jpgdir.Text, 0, true);
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}
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}
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}
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