def __init__(self, data_path):
"""
Create dataset instance. Empty directories (for EXIF, matches, etc) will be created if they don't exist
already.
:param data_path: Path to directory containing dataset
"""
self.data_path = data_path
# Load configuration.
config_file = os.path.join(self.data_path, 'config.yaml')
if os.path.isfile(config_file):
with open(config_file) as fin:
self.config = yaml.load(fin)
else:
self.config = {}
# Load list of images.
image_list_file = os.path.join(self.data_path, 'image_list.txt')
if os.path.isfile(image_list_file):
with open(image_list_file) as fin:
lines = fin.read().splitlines()
self.set_image_list(lines)
else:
self.set_image_path(os.path.join(self.data_path, 'images'))
# Create output folders.
for p in [
self.__exif_path(),
self.__feature_path(),
self.__matches_path()
]:
io.mkdir_p(p)
def save_epipolar(self, im1, im2, R, t, X=[], inliers=[]):
io.mkdir_p(self.__epipolar_path())
np.savez(self.__epipolar_file(im1, im2),
R=R,
t=t,
X=X,
inliers=inliers)
def __init__(self, data_path):
"""
Create dataset instance. Empty directories (for EXIF, matches, etc) will be created if they don't exist
already.
:param data_path: Path to directory containing dataset
"""
self.data_path = data_path
# Load configuration.
config_file = os.path.join(self.data_path, 'config.yaml')
if os.path.isfile(config_file):
with open(config_file) as fin:
self.config = yaml.load(fin)
else:
self.config = {}
# Load list of images.
image_list_file = os.path.join(self.data_path, 'image_list.txt')
if os.path.isfile(image_list_file):
with open(image_list_file) as fin:
lines = fin.read().splitlines()
self.set_image_list(lines)
else:
self.set_image_path(os.path.join(self.data_path, 'images'))
# Create output folders.
for p in [self.__exif_path(),
self.__feature_path(),
self.__matches_path()]:
io.mkdir_p(p)
def import_video_with_gpx(video_file, gpx_file, output_path, dx, dt=None, start_time=None, visual=False, image_description=None):
points = geotag_from_gpx.get_lat_lon_time(gpx_file)
orientation = video_orientation(video_file)
if start_time:
video_start_time = dateutil.parser.parse(start_time)
else:
try:
exifdate = Popen(['exiftool', '-CreateDate', '-b', video_file], stdout=PIPE).stdout.read()
video_start_time = datetime.datetime.strptime(exifdate,'%Y:%m:%d %H:%M:%S')
except:
print 'Video recording timestamp not found. Using first GPS point time.'
video_start_time = points[0][0]
try:
duration = Popen(['exiftool', '-MediaDuration', '-b', video_file], stdout=PIPE).stdout.read()
video_duration = float(duration)
video_end_time = video_start_time + datetime.timedelta(seconds=video_duration)
except:
print 'Video end time not found. Using last GPS point time.'
video_end_time = points[-1][0]
print 'GPS track starts at:', points[0][0]
print 'Video starts at:', video_start_time
# Extract video frames.
io.mkdir_p(output_path)
key_points = geotag_from_gpx.sample_gpx(points, dx, dt)
cap = cv2.VideoCapture(video_file)
image_files = []
for p in key_points:
dt = (p[0] - video_start_time).total_seconds()
if dt > 0:
CAP_PROP_POS_MSEC = cv2.CAP_PROP_POS_MSEC if context.OPENCV3 else cv2.cv.CV_CAP_PROP_POS_MSEC
cap.set(CAP_PROP_POS_MSEC, int(dt * 1000))
ret, frame = cap.read()
if ret:
print 'Grabbing frame for time', p[0]
filepath = os.path.join(output_path, p[0].strftime("%Y_%m_%d_%H_%M_%S_%f")[:-3] + '.jpg')
cv2.imwrite(filepath, frame)
geotag_from_gpx.add_exif_using_timestamp(filepath, points, timestamp=p[0], orientation=orientation)
# Display the resulting frame
if visual:
# Display the resulting frame
max_display_size = 800
resize_ratio = float(max_display_size) / max(frame.shape[0], frame.shape[1])
frame = cv2.resize(frame, dsize=(0, 0), fx=resize_ratio, fy=resize_ratio)
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == 27:
break
image_files.append(filepath)
# When everything done, release the capture
cap.release()
if visual:
cv2.destroyAllWindows()
return image_files
def import_video_with_gpx(video_file,
gpx_file,
output_path,
dx,
dt=None,
start_time=None,
visual=False,
image_description=None):
points = geotag_from_gpx.get_lat_lon_time(gpx_file)
orientation = video_orientation(video_file)
if start_time:
video_start_time = dateutil.parser.parse(start_time)
else:
try:
exifdate = Popen(['exiftool', '-CreateDate', '-b', video_file],
stdout=PIPE).stdout.read()
video_start_time = datetime.datetime.strptime(
exifdate, '%Y:%m:%d %H:%M:%S')
except:
print 'Video recording timestamp not found. Using first GPS point time.'
video_start_time = points[0][0]
try:
duration = Popen(['exiftool', '-MediaDuration', '-b', video_file],
stdout=PIPE).stdout.read()
video_duration = float(duration)
video_end_time = video_start_time + datetime.timedelta(
seconds=video_duration)
except:
print 'Video end time not found. Using last GPS point time.'
video_end_time = points[-1][0]
print 'GPS track starts at:', points[0][0]
print 'Video starts at:', video_start_time
# Extract video frames.
io.mkdir_p(output_path)
key_points = geotag_from_gpx.sample_gpx(points, dx, dt)
cap = cv2.VideoCapture(video_file)
image_files = []
for p in key_points:
dt = (p[0] - video_start_time).total_seconds()
if dt > 0:
CAP_PROP_POS_MSEC = cv2.CAP_PROP_POS_MSEC if context.OPENCV3 else cv2.cv.CV_CAP_PROP_POS_MSEC
cap.set(CAP_PROP_POS_MSEC, int(dt * 1000))
ret, frame = cap.read()
if ret:
print 'Grabbing frame for time', p[0]
filepath = os.path.join(
output_path,
p[0].strftime("%Y_%m_%d_%H_%M_%S_%f")[:-3] + '.jpg')
cv2.imwrite(filepath, frame)
geotag_from_gpx.add_exif_using_timestamp(
filepath, points, timestamp=p[0], orientation=orientation)
# Display the resulting frame
if visual:
# Display the resulting frame
max_display_size = 800
resize_ratio = float(max_display_size) / max(
frame.shape[0], frame.shape[1])
frame = cv2.resize(frame,
dsize=(0, 0),
fx=resize_ratio,
fy=resize_ratio)
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == 27:
break
image_files.append(filepath)
# When everything done, release the capture
cap.release()
if visual:
cv2.destroyAllWindows()
return image_files
def save_epipolar(self, im1, im2, R, t, X=[], inliers=[]):
io.mkdir_p(self.__epipolar_path())
np.savez(self.__epipolar_file(im1, im2), R=R, t=t, X=X, inliers=inliers)
def save_report(self, report_str, path):
"""Save report string to a file."""
filepath = os.path.join(self._report_path(), path)
io.mkdir_p(os.path.dirname(filepath))
with io.open_wt(filepath) as fout:
return fout.write(report_str)
def save_matches(self, image, matches):
io.mkdir_p(self._matches_path())
with gzip.open(self._matches_file(image), 'wb') as fout:
pickle.dump(matches, fout)
def _save_features(self, filepath, points, descriptors, colors=None):
io.mkdir_p(self._feature_path())
features.save_features(filepath, points, descriptors, colors,
self.config)
