#!/usr/bin/env bash # Advanced geotagging tool by André Kjellstrup ###################################################################### VARIABLES ######################## version="v1.1" mode=1 # 0=geotag, 1=jpg distance(s) , 2=CAM distance in sec loglinenum=1 # last read log line number loglinenummatched=0 # last read log line number used - reverting to this +1 when looking back logline="start" #current line, placeholder for start logtimemsprev=0 logended=0 #true if log ended. logtarget=0 #true if we got log type we wanted logmatch=1 # true if we accepted lo line as matching loggotpos=0 #true if log contains pos messages (enables fallback) typical_offset="notset" #contains time offset of first picture vs log. jpgtot=0 #number of jpg files in folder jpgtagged=0 #number of correctly tagged photos jpgmiss=0 #number of missing photos jpgnotinlog=0 #counting jpg's with timestamp outside log camindex=0 #number of last CAM message used. camtot=0 #number of CAM lines found trigtot=0 #number of TRIG lines found logmiss=0 #missed CAM messages revjumps=0 #count how many time we have backed up difflimit=10 # POS message difflimit 10 gives 0.06sec , 20 has proved useful running=1 cmdarg=$* #save command line parameters FILE=jpglist ML="false" logsdone=0 #counts processed logs SKIPIMG=0 ########################### while [[ $# > 0 ]] do key="$1" case $key in -w|--write) WRITE="true" ;; -r|--readonly) WRITE="false" ;; -f|--find) WRITE="false" FIND="true" ;; -p|--pos) MODE="POS" typical_offset="$2" shift # get past argument ;; -dl|--difflimit) difflimit="$2" shift # get past argument ;; -c|--cam) MODE="CAM" ;; -t|--trig) MODE="TRIG" ;; -ns|--nosubsec) NS="true" ;; -ml|--multilog) ML="true" ;; -del|--delorg) DELORG="true" ;; -sp|--skipphoto) SKIPIMG="$2" shift # get past argument ;; -sc|--skipcam) SKIPCAM="$2" shift # get past argument ;; -st|--skiptrig) SKIPTRIG="$2" shift # get past argument ;; -sl|--skiplog) SKIPLOG="$2" shift # get past argument ;; -h|--help) HELP="true" ;; *) # unknown option ;; esac shift # past argument or value done #echo FILE EXTENSION = "${EXTENSION}" #echo SEARCH PATH = "${SEARCHPATH}" #echo LIBRARY PATH = "${LIBPATH}" if [[ "$HELP" == "true" ]] || [[ "$WRITE" == "" ]] #|| [[ "$MODE" == "" ]] then echo "Geotagging script by André Kjellstrup. $version" echo "execute inside a folder containing .JPG and .BIN" echo "example: geotag.sh -c -sp 2 -r" echo "" echo "-w or --write Enables photo processing" echo "-r or --readonly Enables photo processing" echo "-f or --readonly, finds CAM to exif spacing for +/- 10 skipped photos, and +/- 10 skipped CAM messages" echo "-sp x or --skipphoto x Skips x photos counting from the start" echo "-sc x or --skipcam x Skips x CAM entrys from the start" echo "-sl x or --skiplog x Skips x POS entrys from the start" echo "-st x or --skiptrig x Skips x TRIG entrys from the start" echo "-p x or --pos x Use POS log only (if camera was independendly trigged) x=offset in seconds" echo "-dl x or --difflimit x Acceptable limit in 10ms steps for POS-log vs photo differance 10=0.1s (default)" echo "-c or --cam Use CAM log only (do not fall back to POS pessages)" echo "-t or --trig Use TRIG log only (if camera shutter is sensed)" echo "-ns or --nosubsec Do not look for subsecond EXIF tag." echo "-ml or --multilog Grab and combine all .BIN files (for processing photos from more then one flight." echo "-del or --delorg : Delete JPG_original (backups)." echo "EXAMPLE:" echo "Multiple flights dataset from S100; geotag.sh -p 0 -ns -dl 30 -w -ml -del" echo "simgle CAM flight; geotag.sh -c -w -del" exit 1 fi ##ADD DEPENDENCIES HERE command -v mavlogdump.py >/dev/null 2>&1 || { echo >&2 "I require mavlogdump.py but it's not installed. Aborting."; exit 1; } command -v exiftool >/dev/null 2>&1 || { echo >&2 "I require exiftool but it's not installed. Aborting."; exit 1; } ##command -v foo >/dev/null 2>&1 || { echo >&2 "I require foo but it's not installed. Aborting."; exit 1; } if [[ "$WRITE" == "true" ]] then echo "INFO: will backup and modify photos" | tee geotag.log fi if [[ "$WRITE" == "false" ]] then echo "INFO: dry run only, no photos will be modified" | tee geotag.log fi if [[ "$MODE" == "POS" ]] then echo "INFO: use POS records only, expected offset of $typical_offset , poslimit (time of photo vs log is $poslimit)" | tee geotag.log fi if [[ "$MODE" == "CAM" ]] then echo "INFO: use CAM records only" | tee geotag.log fi if [[ "$MODE" == "TRIG" ]] then echo "INFO: use TRIG records only" | tee geotag.log fi if [[ "$NS" == "true" ]] then echo "INFO: Do not look for subsecond-time in EXIF" | tee geotag.log fi if [[ "$SKIPIMG" -gt "0" ]] then echo "INFO: will skip first $SKIPIMG photos" | tee geotag.log fi if [[ "$SKIPCAM" -gt "0" ]] then echo "INFO: will skip first $SKIPCAM CAM logs" | tee geotag.log fi if [[ "$SKIPTRIG" -gt "0" ]] then echo "INFO: will skip first $SKIPTRIG TRIG logs" | tee geotag.log fi if [[ "$SKIPLOG" -gt "0" ]] then echo "INFO: will skip first $SKIPLOG POS logs" | tee geotag.log loglinenum=$SKIPLOG fi if [ "$difflimit" != 10 ] then echo "INFO: Difflimit is changed to $difflimit (10=0.1s)" | tee geotag.log fi echo "INFO: using arguments $cmdarg " | tee geotag.log jpglistindex=$(( 1 + $SKIPIMG)) #which file to read from jpg list #========================= FUNCTION readexif ====================================================== # get exif data for filename in $jpgname, # return: $jpgdate 20-12-2010 ,$jpgtime 14:10:20.22 ,$jpgtimems 0.22 (220ms) function readexif { if [[ "$NS" == "true" ]] then jpgdatetime=$(exiftool -ee -p '$datetimeoriginal' "$jpgname" -n) jpgdatetime="$jpgdatetime.50" else jpgdatetime=$(exiftool -ee -p '$subsecdatetimeoriginal' "$jpgname" -n) fi jpgdate=$(echo -n "$jpgdatetime" | head -c10) jpgdate=$(echo "$jpgdate" | tr : -) #replace : with - jpgtime=$(echo -n "$jpgdatetime" | tail -c-11) jpgtimems=$(echo -n "$jpgtime" | tail -c-2) jpgtimems=$(echo "scale=2; ($jpgtimems /100)" | bc -l) #echo "DEBUG $jpgname date $jpgdate time $jpgtime " ##read -p "Press any key to continue... " -n1 -s ######browse log until we find CAM message } #========================= FUNCTION readlog ====================================================== # extract needed date from logline string $logline # return: $logdate 20-12-2010 ,$logtime 14:10:20.22 ,$logtimems 0.22 (220ms) # return: $lat $lon $alt(m AMSL) # ###### We Prefer TRIG , then CAM, then fallback to POS # in log they look alike: #1970-01-01 01:01:12.55: CAM {TimeUS : 72553489, GPSTime : 0, GPSWeek : 0, Lat : 0.0, Lng : 0.0, Alt : -0.01, RelAlt : -0.01, GPSAlt : 0.0, Roll : 1.4, Pitch : 0.41, Yaw : 82.49} #1970-01-01 01:01:15.80: TRIG {TimeUS : 75803571, GPSTime : 0, GPSWeek : 0, Lat : 0.0, Lng : 0.0, Alt : -0.01, RelAlt : -0.01, GPSAlt : 0.0, Roll : 1.43, Pitch : 0.43, Yaw : 82.62} function readlog { logdate=$(echo "$logline"| grep -o '^\S*') #till first space logtime=$(echo "$logline"| awk -F" " '{print $2}') logtime=$(echo -n "$logtime" | head -c-1) #remove trailing : logtimems=$(echo -n "$logtime" | tail -c-2) logtimems=$(echo "scale=2; ($logtimems /100)" | bc -l) if [[ "$logline" == *POS* ]] then lat=$(echo "$logline"| grep -o -P '(?<=Lat : ).*(?=, Lng)') lon=$(echo "$logline"| grep -o -P '(?<=Lng : ).*(?=, Alt)') alt=$(echo "$logline"| grep -o -P '(?<= Alt : ).*(?=, RelHomeAlt)') fi if [[ "$logline" == *CAM* ]] then lat=$(echo "$logline"| grep -o -P '(?<=Lat : ).*(?=, Lng)') lon=$(echo "$logline"| grep -o -P '(?<=Lng : ).*(?=, Alt)') alt=$(echo "$logline"| grep -o -P '(?<=Alt : ).*(?=, RelAlt)') fi #rol=$(echo "$logline"| grep -o -P '(?<=Roll : ).*(?=, Pitch)') #pit=$(echo "$logline"| grep -o -P '(?<=Pitch : ).*(?=, Yaw)') #yaw=$(echo "$logline"| grep -o -P '(?<=Yaw : ).*(?=})') #echo "$logdate $logtime CAM=$cam Lat=$lat Lng=$lng Alt= $alt" } #========================= FUNCTION geotag ====================================================== # converts to WGS84 and tags photos with data found in lat,lon,alt. function geotag { #jpgname="test.JPG" #lat=69.6041115 #lon=23.2757452 #alt=122.8374 posWGS84=( $(echo "$lon $lat $alt" | cs2cs +proj=latlong +datum=WGS84)) # returns position as 22d16'32.683"E 69d36'14.801"N 123.837 in {posWGS84[0...2]} lonWGS84ref=$(echo -n "${posWGS84[0]}" | tail -c-1) lonWGS84pos=$(echo -n "${posWGS84[0]}" | head -c-1) latWGS84ref=$(echo -n "${posWGS84[1]}" | tail -c-1) latWGS84pos=$(echo -n "${posWGS84[1]}" | head -c-1) #echo $lonWGS84pos #echo $lonWGS84ref #echo $latWGS84pos #echo $latWGS84ref #echo "original:" #echo ${posWGS84[0]} #echo ${posWGS84[1]} #echo ${posWGS84[2]} if [[ "$WRITE" == "true" ]] then exiftool -exif:gpsmapdatum="WGS-84" -exif:gpsaltitude="$alt" -exif:gpsaltituderef="Above Sea Level" -exif:gpslongitude="$lonWGS84pos" -exif:gpslongituderef="$lonWGS84ref" -exif:gpslatitude="$latWGS84pos" -exif:gpslatituderef="$latWGS84ref" "$jpgname" >/dev/null & fi let "jpgtagged++" echo "ALT= "$alt" LON= "$lonWGS84pos" LATref= "$lonWGS84ref" LAT= "$latWGS84pos" LATref= "$latWGS84ref"" } #========================= FUNCTION report ====================================================== function report { echo "Report:" | tee -a geotag.log echo "Found $jpgtot photos" | tee -a geotag.log echo "Found $camtot CAM log lines" | tee -a geotag.log echo "Found $trigtot TRIG log lines" | tee -a geotag.log echo "Time between first photo and log was ""$typical_offset""s" | tee -a geotag.log if [[ "$WRITE" == "true" ]] then echo "Tagged $jpgtagged photos" | tee -a geotag.log else echo "Could have tagged $jpgtagged photos" | tee -a geotag.log fi if [[ "$MODE" != "POS" ]] then echo "Detected $jpgmiss missing photos" | tee -a geotag.log echo "Detected $logmiss missing $MODE messages" | tee -a geotag.log else echo "(Unable to detect and report missing pictures and CAM messages in POS mode)" | tee -a geotag.log fi if [[ "$jpgnotinlog" -gt 0 ]] then echo "FAILED: to tag $jpgnotinlog jpg file(s) where no POS log matched (maybe increase difflimit?)" | tee -a geotag.log fi if [[ "$DELORG" == "true" ]] then echo "INFO: Deleting original .JPG that were cloned by EXIF" | tee -a geotag.log sleep 1s rm *.JPG_original fi if [[ "$WRITE" == "true" ]] then mv geotag.log geotagwrite.log fi } #========================= FUNCTION load log to memory ====================================================== function loadlogdump { echo "INFO: Loading logdump into memory..." | tee -a geotag.log OLDIFS=$IFS IFS=$'\012' # \012 is a linefeed logarray=( $( 1 sec behind, jumping ahead" fi if [[ "$diffeee" -lt -25 ]] # are we more than 0.5 sec ahead ? then let "loglinenum=loglinenum-30" let "revjumps++" #echo "DEBUG: > 0.5 sec ahead, jumping back" if [[ "$revjumps" -gt 30 ]] ## we have backed up too many times, the image must be invalid for this log ! then echo "ERROR: Failed to find log time for image $jpgname, it's not in log or does not belong to this dataset.( maybe try higher difflimit ?)" | tee -a geotag.log let "jpgnotinlog++" let "jpglistindex++" #move on to next let "revjumps=0" logmatch=1 #trigger lookup of next picture fi fi ##do CAM mode analysis fi #logmatch=1 ###############################################################ACCEPT ANYTHING #let "jpglistindex=jpglistindex+1" ###############################################################ACCEPT ANYTHING else ## PHOTO AND LOG MATCHING percent=$(echo "scale=2; (($jpglistindex/$jpgtot)*100)" | bc -l | cut -f1 -d".") echo "MATCHED: ""$percent""% Done, time diff.: ""$difftotoff""s between $jpgname $jpgdate $jpgtime & $logtype log $loglinenum $logdate $logtime" | tee -a geotag.log let "revjumps=0" geotag logmatch=1 #logmatcgfailinrow=0 let "jpglistindex++" let "loglinenummatched = loglinenum + 1" # if we need to go back for POS message, go here #loglinereverse=0 fi #save first image camera vs log offset logdateprev=$logdate #for calculation of picture spacing logtimeprev=$logtime #for calculation of picture spacing logtimemsprev=$logtimems #for calculation of picture spacing logtarget=0 #reset so we are looking for next logline next time done #running } ##### END POS loop ########################################################################################### ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## #========================= FUNCTION CAM only loop ====================================================== # In case of missing photo: try next log entry # in case of missing log entry: do not tag photo function camloop { echo "INFO: Searching for CAM only..." | tee -a geotag.log loggotpos=0 ###############get JPG file######### while [[ "$running" == 1 ]] ; do if [ "$logmatch" == 1 ] then #read next picture only if log line accepted jpgname=$(awk 'NR=="'"$jpglistindex"'"{print;exit}' jpglist) if [ "$jpgname" == "" ] ; then echo "END: Last photo processed" | tee -a geotag.log running=0 report exit 1 fi readexif fi ###############lookup LOG######### logtarget=0 #reset, for new search while [ "$logtarget" -eq 0 ] ; do let "loglinenum++" logline=${logarray["$loglinenum"]} if [[ "$logline" == *"$MODE"* ]] ; then logtype="$MODE" logtarget=1 readlog #echo "DEBUG: at $loglinenum $logline" fi #skip CAM lines if needded if [[ "$MODE" == "CAM" && "$SKIPCAM" -gt 0 ]] && [[ "$logtarget" -eq 1 ]] ; then let "SKIPCAM--" echo "INFO: Skipped a CAM log line." | tee -a geotag.log logtarget=0 fi #skip TRIG lines if needded if [[ "$MODE" == "TRIG" && "$SKIPTRIG" -gt 0 ]] && [[ "$logtarget" -eq 1 ]] ; then let "SKIPTRIG--" logtarget=0 fi done #### check if we are out of suitable log messages. if [[ "$loglinenum" -gt "$logarraysize" ]] ; then echo "ERROR: Log ended at $loglinenum of $logarraysize while looking for $MODE message for filename $jpgname maybe there are too many photos" | tee -a geotag.log running=0 report exit 1 fi ######## Calculate offset diff=$(( ( $(date -ud "$jpgdate $jpgtime" +'%s') - $(date -ud "$logdate $logtime" +'%s') ) )) #get differance in seconds (integer) difftot=$(echo "scale=2; ($diff+($jpgtimems - $logtimems))" | bc -l) # return floting point ######## Calculate time since last trigger command differr=$(( ( $(date -ud "$logdate $logtime" +'%s') - $(date -ud "$logdateprev $logtimeprev" +'%s') ) )) #get differance in seconds (integer) difftoterr=$(echo "scale=2; ($differr+($logtimems - $logtimemsprev))" | bc -l) # return floting point difftotoff=$(echo "scale=2; ($difftot - $typical_offset)" | bc -l) difftoterroff=$(echo "scale=2; ($differr - $typical_offset)" | bc -l) # return floting point if [ "$typical_offset" == "notset" ] ; then typical_offset=$difftot echo "INFO: Expected time offset between camera and log is ""$typical_offset""s (positive = camera is ahead)" | tee -a geotag.log fi difflimit=100 # CAM difflimit 1sec variation between command and exif ###############compare offset to previous offset to detect skipped photos diffeee=$(echo "(($difftot - $typical_offset)*100)" | bc -l | cut -f1 -d"." ) #keep integer if [[ "$diffeee" -gt "$difflimit" ]] || [[ "$diffeee" -lt -"$difflimit" ]] then ##TOO MUCH DIFFERENCE logmatch=0 if [[ "$diffeee" -lt -100 ]] ; then # are we more than 1 sec ahead ? #let "loglinenum=loglinenum-10" echo "WARNING: Found extra photo for which there is no $MODE event. I am at logline $loglinenum (Details below)" echo "WARNING: Big Time diff.: ""$difftotoff""s between $jpgname date $jpgtime and $logtype logline $loglinenum $logdate $logtime Time since last $MODE event was ""$difftoterr""s" | tee -a geotag.log logmatch=1 #make the log-fetcher get next picture let "loglinenum=loglinenummatched" #make log-fetcher keep the log line for next picture let "jpglistindex++" #move on to next picture let "logmiss++" #count missing log items fi else ## PHOTO AND LOG MATCHING if [[ $logmatch -eq 0 ]] && [[ "$logmatcgfailinrow" -lt 5 ]] ; then let "jpgmiss++" echo "ERROR: MISSING PHOTO #$jpgmiss detected, matched current photo with next logged $logtype logline" | tee -a geotag.log fi if [[ $logmatch -eq 0 ]] && [[ "$logmatcgfailinrow" -gt 4 ]] ; then let "logmiss++" echo "ERROR: MISSING $MODE log entry detected, matched current photo with logged $logtype logline" | tee -a geotag.log fi percent=$(echo "scale=2; (($jpglistindex/$jpgtot)*100)" | bc -l | cut -f1 -d".") echo "MATCHED: ""$percent""% Done, time diff.: ""$difftotoff""s between $jpgname $jpgdate $jpgtime & $logtype log $loglinenum $logdate $logtime Time since last $MODE command ""$difftoterr""s" | tee -a geotag.log geotag logmatch=1 logmatcgfailinrow=0 let "jpglistindex++" let "loglinenummatched = loglinenum + 1" # if we need to go back for POS message, go here loglinereverse=0 fi #save first image camera vs log offset logdateprev=$logdate #for calculation of picture spacing logtimeprev=$logtime #for calculation of picture spacing logtimemsprev=$logtimems #for calculation of picture spacing logtarget=0 #reset so we are looking for next logline next time done #running } ##### END CAM only loop ###################################################################################### ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ############################################################################################################## ###################################################################### List JPG's find . -maxdepth 1 -name "*.[Jj][Pp][Gg]" | sort >jpglist jpgtot=$(wc -l < jpglist) echo "INFO: Found $jpgtot photos" | tee -a geotag.log ###################################################################### look for logdump, create if needed if [ -f ./logdump ]; then echo "INFO: found logdump" else binname=$(find . -maxdepth 1 -name "*.[Bb][Ii][Nn]") if [[ "$binname" == "" ]]; then echo "ERROR: .BIN log not found, make sure directory contain a .BIN or .bin log or logdump file." | tee -a geotag.log exit 1 fi for binname in $(find . -maxdepth 1 -name "*.[Bb][Ii][Nn]"); do if [[ "$ML" == "true" ]]; then echo "INFO: adding $binname to logdump..." | tee -a geotag.log mavlogdump.py --types POS,CAM,TRIG --format standard "$binname" >> logdump else if [[ "$logsdone" < 1 ]]; then echo "INFO: dumping $binname to logdump..." | tee -a geotag.log mavlogdump.py --types POS,CAM,TRIG --format standard "$binname" > logdump fi fi let "logsdone ++" done fi echo "INFO: done" | tee -a geotag.log ###################################################################### DUMP camdump if [ ! -f ./camdump ] && [[ "$MODE" != "POS" ]]; then echo "INFO: no camdump found, exporting loglines from .bin to camdump..." | tee -a geotag.log mavlogdump.py --types CAM,TRIG --format standard "$binname" > camdump echo "INFO: done" | tee -a geotag.log else echo "INFO: camdump found" | tee -a geotag.log fi ###################################################################### DUMP exiflog #if [ ! -f ./exifdump ]; then # echo "INFO: no exifdump found, exporting exif names and timestamps exifdump..." | tee -a geotag.log # #mavlogdump.py --types POS,CAM,TRIG --format standard "$binname" > logdump # echo "INFO: done" | tee -a geotag.log #else # echo "INFO: exifdump found" | tee -a geotag.log #fi ###################################################################### Count CAM events camtot=$(grep CAM logdump | wc -l) echo "INFO: Found $camtot CAM log lines (camera shutter sensed)" | tee -a geotag.log ###################################################################### Count TRIG events trigtot=$(grep TRIG logdump | wc -l) echo "INFO: Found $trigtot TRIG log lines (commands to shoot)" | tee -a geotag.log ###################################################################### LOAD exifs to memory #echo "INFO: Loading Photo data into memory..." | tee -a geotag.log #OLDIFS=$IFS #IFS=$'\012' # \012 is a linefeed #logarray=( $(