def test_export(self):
temp_kapture_dirpath = path.join(self._tempdir.name, 'kapture')
shutil.copytree(self._kapture_dirpath, temp_kapture_dirpath)
kapture_data = kapture.io.csv.kapture_from_dir(temp_kapture_dirpath)
images_filepaths = images_to_filepaths(kapture_data.records_camera,
temp_kapture_dirpath)
# make sure there is no EXIF in images
for image_filepath in images_filepaths.values():
clear_exif(image_filepath)
# insert gps to exif
export_gps_to_exif(kapture_data=kapture_data,
kapture_dirpath=temp_kapture_dirpath)
rebuilt_records = kapture.RecordsGnss()
for timestamp, cam_id, image_name in kapture.flatten(
kapture_data.records_camera):
image_filepath = get_image_fullpath(temp_kapture_dirpath,
image_name)
exif_data = read_exif(image_filepath)
rebuilt_records[timestamp, 'GPS_' +
cam_id] = convert_gps_to_kapture_record(exif_data)
self.assertTrue(
equal_records_gnss(kapture_data.records_gnss, rebuilt_records))
def extract_gps_from_exif(kapture_data: kapture.Kapture, kapture_dirpath: str):
"""
Extract GPS coordinates from kapture dataset, returns the new sensor and gnss records.
Gnss timestamps and sensor ids are guessed from timestamps and camera_id from images.
The GNSS sensor_id are built prefixing 'GPS_'<cam_id>, with cam_id the sensor_id of the corresponding camera.
:param kapture_data: input kapture data, must contains sensors and records_camera.
:param kapture_dirpath: input path to kapture directory.
:return:
"""
# only load sensors + records_data:
disable_tqdm = logger.getEffectiveLevel() != logging.INFO
# make up new gps ids
cam_to_gps_id = { # cam_id -> gps_id
cam_id: 'GPS_' + cam_id
for cam_id, sensor in kapture_data.sensors.items()
if sensor.sensor_type == 'camera'
} # cam_id -> gps_id
# set all gps to EPSG:4326
gps_epsg_codes = {gps_id: 'EPSG:4326' for gps_id in cam_to_gps_id.values()}
# add new gps ids to sensors
gnss_kapture_sensors = kapture.Sensors()
for gps_id, epsg in gps_epsg_codes.items():
gnss_kapture_sensors[gps_id] = kapture.Sensor(sensor_type='gnss',
sensor_params=[epsg])
image_filepaths = images_to_filepaths(kapture_data.records_camera,
kapture_dirpath=kapture_dirpath)
records_gnss = kapture.RecordsGnss()
for timestamp, cam_id, image_name in tqdm(kapture.flatten(
kapture_data.records_camera),
disable=disable_tqdm):
image_filepath = image_filepaths[image_name]
logger.debug(f'extracting GPS tags from {image_filepath}')
gps_id = cam_to_gps_id[cam_id]
exif_data = read_exif(image_filepath)
gps_record = convert_gps_to_kapture_record(exif_data)
records_gnss[timestamp, gps_id] = gps_record
return gnss_kapture_sensors, records_gnss