forked from Archive/PX4-Autopilot
adding geotagging python script
This commit is contained in:
Andreas Bircher
Lorenz Meier
parent
e2be45e8e7
commit
b63701bfdb
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#!/usr/bin/env python
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#
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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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# 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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# Example Syntax:
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# python geotagging.py --logfile=log001.px4log --input=images/
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# --output=imagesWithTag/
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#
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# Author: Andreas Bircher, Wingtra, http://wingtra.com, in 2016
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#
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#
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__author__ = "Andreas Bircher"
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import glob
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import os
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import pyexiv2
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import fractions
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from PIL import Image
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from PIL.ExifTags import TAGS
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import sys
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from shutil import copyfile
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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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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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self.GPOS_Lon = []
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self.GPOS_Alt = []
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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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elif value > 0:
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loc_value = loc[1]
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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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min = int(t1)
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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, lat, lng):
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"""
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Adding GPS tag
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"""
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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_image = pyexiv2.ImageMetadata(file_name)
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exiv_image.read()
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exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
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exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
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exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
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exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
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exiv_image["Exif.Image.GPSTag"] = 654
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exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
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exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
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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 + ' -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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line = {}
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for h in headers:
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line[h] = []
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for row in reader:
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for h, v in zip(headers, row):
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line[h].append(v)
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trigger_list = TriggerList()
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for seq in range(0, len(line['CAMT_seq']) - 1):
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if line['CAMT_seq'][seq] != line['CAMT_seq'][seq + 1]:
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trigger_list.CAMT_seq.append(line['CAMT_seq'][seq + 1])
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trigger_list.CAMT_timestamp.append(line['CAMT_timestamp'][seq + 1])
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trigger_list.GPOS_Lat.append(line['GPOS_Lat'][seq + 1])
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trigger_list.GPOS_Lon.append(line['GPOS_Lon'][seq + 1])
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trigger_list.GPOS_Alt.append(line['GPOS_Alt'][seq + 1])
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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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"""
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image_list = ImageList()
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for jpg_image in glob.glob(input_folder + "/*.jpg"):
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image_list.jpg.append(jpg_image)
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for jpg_image in glob.glob(input_folder + "/*.JPG"):
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image_list.jpg.append(jpg_image)
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for raw_image in glob.glob(input_folder + "/*.RC"):
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image_list.raw.append(raw_image)
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if len(image_list.jpg) != len(image_list.raw) and len(image_list.jpg) * len(image_list.raw) != 0:
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print("Unequal number of jpg and raw images")
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if len(image_list.jpg) == 0 and len(image_list.raw) == 0:
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print("No images found")
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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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if len(image_list.jpg) != len(trigger_list.CAMT_seq) and len(image_list.raw) != len(trigger_list.CAMT_seq):
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# filter trigger list to match the number of pics
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print("No trigger filter implemented yet.")
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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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"""
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print len(image_list.jpg)
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print len(trigger_list.GPOS_Lat)
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print len(trigger_list.GPOS_Lon)
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for image in range(len(image_list.jpg)):
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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, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[image]))
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for image in range(len(image_list.raw)):
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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, float(trigger_list.GPOS_Lat[image]), float(trigger_list.GPOS_Lon[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",
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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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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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else:
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trigger_list = LoadPX4log(options.LogFile)
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image_list = LoadImageList(options.InputFolder)
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if not options.OutputFolder:
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options.OutputFolder = "imagesWithTag"
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if not os.path.exists(options.OutputFolder):
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os.makedirs(options.OutputFolder)
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trigger_list = FilterTrigger(trigger_list, image_list)
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TagImages(trigger_list, image_list, options.OutputFolder)
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if __name__ == "__main__":
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main()
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