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geo_tag_images.py fix to work with PX4 logs

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Daniel Agar 2017-04-03 14:33:10 -04:00 committed by Lorenz Meier
parent 33b4ec450d
commit 83d7764e9e
1 changed files with 29 additions and 11 deletions
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40
Tools/sdlog2/geo_tag_images.py
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@ -4,10 +4,13 @@
# a PX4 binary log file.
#
# This file accepts *.jpg format images and reads position information
# from a *.bin file
# from a *.px4log file
#
# Example Syntax:
# python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
# python geo_tag_images.py --logfile=log001.px4log --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
#
# Optional: Correct image times first
# jhead -exonly -ft -n%Y-%m-%d\ %H.%M.%S -ta+HH:MM:SS *.JPG
#
# Author: Hector Azpurua hector@azpurua.com
# Based on the script of Andreas Bircher
@ -54,7 +57,7 @@ class Main:
self.kml = args['kml']
self.verbose = args['verbose']
self.offset = args['offset']
self.time_tresh = args['treshold']
self.time_thresh = args['threshold']
self.tdiff_list = []
self.non_processed_files = []
@ -123,6 +126,21 @@ class Main:
return Main.utc_to_local(epoch + elapsed)
@staticmethod
def unix_microseconds_to_datetime(unix_us, offset=0):
"""
Convert unix microseconds to datetime object, using offset milliseconds if necessary
:param unix_us:
:param offset:
:return:
"""
# time in seconds
time_s = int(unix_us) / 1000000 + (offset / 1000)
datetime_from_unix = datetime.datetime.fromtimestamp(time_s)
return datetime_from_unix
@staticmethod
def utc_to_local(utc_dt):
"""
@ -224,7 +242,7 @@ class Main:
date = datetime_list[i]
diff = abs((date - elem).total_seconds())
if diff > self.time_tresh:
if diff > self.time_thresh:
return -1, diff
return i, diff
@ -285,13 +303,13 @@ class Main:
if len(e) == 2:
vdict[e[0]] = float(e[1])
gps_time = vdict['TimeMS']
gps_week = vdict['Week']
# PX4 GPS.GPSTime is unix time in microseconds
gps_time = vdict['GPSTime']
gps_lat = vdict['Lat']
gps_lon = vdict['Lng']
gps_lon = vdict['Lon']
gps_alt = vdict['Alt']
date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
date = self.unix_microseconds_to_datetime(gps_time, offset)
gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
return gps_list
@ -380,12 +398,12 @@ class Main:
'-o', '--output', help='Output folder to contain tagged images.', required=True
)
parser.add_argument(
'-t', '--treshold', help='Time treshold between the GPS time and the local image time.',
'-t', '--threshold', help='Time threshold between the GPS time and the local image time.',
default=1, required=False, type=float
)
parser.add_argument(
'-of', '--offset', help='Time offset in MILLISECONDS between the GPS time and the local time.',
default=-17000, required=False, type=float
default=0, required=False, type=float
)
parser.add_argument(
'-kml', '--kml', help='Save the in KML format the information of all tagged images.',
@ -401,4 +419,4 @@ class Main:
if __name__ == "__main__":
m = Main()
m = Main()