forked from Archive/PX4-Autopilot
geotagging.py pep8 formatting
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
7be2eb06a2
commit
6677022622
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@ -3,7 +3,7 @@
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# __geotagging__
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# Tag the images recorded during a flight with geo location extracted from
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# a PX4 log file.
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#
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#
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# This file accepts *.jpg format images and reads position information
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# from a *.px4log file
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#
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@ -26,11 +26,13 @@ from optparse import OptionParser
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from numpy import genfromtxt
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import shutil
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import csv
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from datetime import datetime,timedelta
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from datetime import datetime, timedelta
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from pytz import timezone
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class TriggerList( object ):
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def __init__( self ):
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class TriggerList(object):
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def __init__(self):
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self.CAMT_seq = []
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self.CAMT_timestamp = []
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self.GPOS_Lat = []
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@ -38,11 +40,14 @@ class TriggerList( object ):
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self.GPOS_Alt = []
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self.GPS_GPSTime = []
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class ImageList( object ):
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def __init__( self ):
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class ImageList(object):
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def __init__(self):
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self.jpg = []
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self.raw = []
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def to_degree(value, loc):
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if value < 0:
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loc_value = loc[0]
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@ -51,12 +56,13 @@ def to_degree(value, loc):
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else:
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loc_value = ""
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absolute_value = abs(value)
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deg = int(absolute_value)
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t1 = (absolute_value-deg)*60
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deg = int(absolute_value)
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t1 = (absolute_value - deg) * 60
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min = int(t1)
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sec = round((t1 - min)* 60, 5)
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sec = round((t1 - min) * 60, 5)
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return (deg, min, sec, loc_value)
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def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
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"""
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Adding GPS tag
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@ -65,8 +71,10 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
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lat_deg = to_degree(lat, ["S", "N"])
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lng_deg = to_degree(lng, ["W", "E"])
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exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
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exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
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exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60), pyexiv2.Rational(
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lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
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exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60), pyexiv2.Rational(
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lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
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exiv_image = pyexiv2.ImageMetadata(file_name)
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exiv_image.read()
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@ -77,7 +85,8 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
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date_min = min(date_tag.value, gps_datetime)
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time_diff = date_max - date_min
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if (time_diff > timedelta(seconds=5)):
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print("WARNING, camera trigger and photo time different by {}".format(time_diff))
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print(
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"WARNING, camera trigger and photo time different by {}".format(time_diff))
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print(" Photo tag time: {}".format(date_tag.value))
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print(" Camera trigger time: {}".format(gps_datetime))
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@ -93,11 +102,13 @@ def SetGpsLocation(file_name, gps_datetime, lat, lng, alt):
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exiv_image.write(True)
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def LoadPX4log(px4_log_file):
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"""
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load px4 log file and extract trigger locations
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"""
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os.system('python sdlog2_dump.py ' + px4_log_file + ' -t time -m TIME -m CAMT -m GPOS -m GPS -f log.csv')
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os.system('python sdlog2_dump.py ' + px4_log_file +
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' -t time -m TIME -m CAMT -m GPOS -m GPS -f log.csv')
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f = open('log.csv', 'rb')
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reader = csv.reader(f)
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headers = reader.next()
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@ -121,6 +132,7 @@ def LoadPX4log(px4_log_file):
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return trigger_list
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def LoadImageList(input_folder):
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"""
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load the image list
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@ -140,25 +152,29 @@ def LoadImageList(input_folder):
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image_list.raw = sorted(image_list.raw)
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return image_list
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def FilterTrigger(trigger_list, image_list):
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"""
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filter triggers to allow exact matching with recorded images
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"""
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# filter trigger list to match the number of pics
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if len(image_list.jpg) != len(trigger_list.CAMT_seq):
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print('WARNING! differ number of jpg images ({}) and camera triggers ({})'.format(len(image_list.jpg), len(trigger_list.CAMT_seq)))
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print('WARNING! differ number of jpg images ({}) and camera triggers ({})'.format(
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len(image_list.jpg), len(trigger_list.CAMT_seq)))
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n_overlap = min(len(image_list.jpg), len(trigger_list.CAMT_seq))
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del image_list.jpg[n_overlap:]
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if len(image_list.raw) != len(trigger_list.CAMT_seq):
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print('WARNING! differ number of raw images ({}) and camera triggers ({})'.format(len(image_list.raw), len(trigger_list.CAMT_seq)))
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print('WARNING! differ number of raw images ({}) and camera triggers ({})'.format(
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len(image_list.raw), len(trigger_list.CAMT_seq)))
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n_overlap = min(len(image_list.raw), len(trigger_list.CAMT_seq))
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del image_list.raw[n_overlap:]
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return trigger_list
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def TagImages(trigger_list, image_list, output_folder):
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"""
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load px4 log file and extract trigger locations
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@ -166,46 +182,49 @@ def TagImages(trigger_list, image_list, output_folder):
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for image in range(len(image_list.jpg)):
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print("############################################################")
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print('Photo {}: {}'.format(image, image_list.jpg[image]))
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print('Photo {}: {}'.format(image, image_list.jpg[image]))
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cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000
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gps_datetime = datetime.fromtimestamp(cam_time)
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base_path, filename = os.path.split(image_list.jpg[image])
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copyfile(image_list.jpg[image], output_folder + "/" + filename)
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SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
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SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(
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trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
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for image in range(len(image_list.raw)):
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print("############################################################")
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print('Photo {}: {}'.format(image, image_list.raw[image]))
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print('Photo {}: {}'.format(image, image_list.raw[image]))
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cam_time = int(trigger_list.GPS_GPSTime[image]) / 1000000
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gps_datetime = datetime.fromtimestamp(cam_time)
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base_path, filename = os.path.split(image_list.raw[image])
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copyfile(image_list.raw[image], output_folder + "/" + filename)
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SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
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SetGpsLocation(output_folder + "/" + filename, gps_datetime, float(
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trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]), float(trigger_list.GPOS_Alt[image]))
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def main():
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"""
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Main method
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"""
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parser = OptionParser()
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parser.add_option("-l", "--logfile", dest = "LogFile",
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help = "PX4 log file containing recorded positions",
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metavar = "string")
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parser.add_option("-i", "--input", dest = "InputFolder",
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help = "Input folder containing untagged images in alphabetical order",
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type = "string")
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parser.add_option("-o", "--output", dest = "OutputFolder",
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help = "Output folder to contain tagged images",
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type = "string")
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parser.add_option("-l", "--logfile", dest="LogFile",
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help="PX4 log file containing recorded positions",
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metavar="string")
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parser.add_option("-i", "--input", dest="InputFolder",
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help="Input folder containing untagged images in alphabetical order",
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type="string")
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parser.add_option("-o", "--output", dest="OutputFolder",
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help="Output folder to contain tagged images",
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type="string")
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(options, args) = parser.parse_args()
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if not options.LogFile:
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print "please type python " \
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"geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]"
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"geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]"
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elif not options.InputFolder:
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print "please type python " \
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"geotagging.py --logfile=[filename] --intput=[folder] [--output=[folder]]s"
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