print('velocity is %f' % velocity)
#Read png image
os.chdir(directory_image)
initial = 0
ndvi = cv2.imread('%s.png' % initial)
ndvi = cv2.rotate(
ndvi, cv2.ROTATE_180
) #I don't know why but completed images are opposite so modify here
#Give rotation angle to the png image
rotated_ndvi = ip.rotation(ndvi, initial_degree, scanrate, velocity, width)
os.chdir(directory_image_rotated)
#cv2.namedWindow('img', cv2.WINDOW_NORMAL)
#cv2.imshow('img',rotated_ndvi)
#cv2.waitKey(0)
cv2.imwrite('0.png', rotated_ndvi)
#cv2.destroyAllWindows()
for i in range(flen - 1):
t = i + 1
os.chdir(directory_all_HS) #Move to directory of HS files
degree = ip.Yaw(HS_files[t], imu, initial_degree, initial_yaw)
os.chdir(directory_image) #Move to directory of images
ndvi = cv2.imread('%s.png' % t)
rotated_ndvi = ip.rotation(ndvi, degree, scanrate, velocity, width)
os.chdir(directory_image_rotated) #Move to directory of rotated images
cv2.imwrite('%s.png' % t, rotated_ndvi)
print('%d done' % t)
all_norm_image_RGB = np.append(initial_norm_image_RGB,norm_image_RGB, axis=0)
print(all_norm_image_RGB.shape)
else:
all_norm_image_RGB = np.append(all_norm_image_RGB,norm_image_RGB, axis=0)
print(norm_image_RGB.shape)
'''
j = j + 1
print('j = %d' % j)
#Confirm line working or turning. If turning then break
os.chdir(directory_all_HS) #Move to directory of HS files
initial_degree = ip.FirstDirection(
HS_files[0], gps) #initial degree means initial yaw using rotation
initial_yaw = ip.firstYaw(HS_files[0],
imu) #This is for yaw angle from second image on
degree = ip.Yaw(HS_files[j], imu, initial_degree, initial_yaw)
past_degree = ip.Yaw(HS_files[j - 1], imu, initial_degree, initial_yaw)
diference = abs(degree - past_degree)
print('Degree deviation = %f' % diference)
if diference > 10:
print('Finish the first row')
break
'''
os.chdir(directory_image)
#cv2.namedWindow('img', cv2.WINDOW_NORMAL)
#cv2.imshow('img',norm_image_RGB)
#cv2.waitKey(0)
cv2.imwrite('big0.png' , all_norm_image_RGB)
#cv2.destroyAllWindows()
'''
for i in range(number - 1):
os.chdir(directory_image)
j = j + 1
print('j = %d' % j)
image = cv2.imread('%s.png' % j)
if i == 0: #The first append is initial and next image, the second one is all_images and next image
all_images = np.append(initial_image, image, axis=0)
print(all_images.shape)
else:
all_images = np.append(all_images, image, axis=0)
print(all_images.shape)
#Confirm line working or turning. If turning, then check the number by the end and concatenate the number of images
os.chdir(directory_all_HS)
degree = ip.Yaw(HS_files[j], imu, initial_degree, initial_yaw)
next_degree = ip.Yaw(
HS_files[j + number - 1], imu, initial_degree, initial_yaw
) #next_degree means the last image in concatenated images
difference = abs(degree - next_degree)
print('Degree deviation = %f' % difference)
#The process of the end of the row
if difference > 10:
del all_images
last_number = j
os.chdir(directory_image)
initial_image = cv2.imread('%d.png' % j)
print('Last initial image is %d' % j)
#Detect the number of remain images
while True:
os.chdir(directory_all_HS) #Move to directory of HS files
os.chdir(directory_all_HS)
velocity = ip.speed(HS_files[0], HS_files[1], gps)
rotated_ndvi = ip.rotation(ndvi, initial_degree, scanrate, velocity, width)
os.chdir(directory_image_rotated)
#cv2.namedWindow('img', cv2.WINDOW_NORMAL)
#cv2.imshow('img',rotated_ndvi)
#cv2.waitKey(0)
cv2.imwrite('0.png', rotated_ndvi)
#cv2.destroyAllWindows()
print('0 done')
for i in range(flen - 1):
t = i + 1
os.chdir(directory_all_HS) #Move to directory of HS files
degree = ip.Yaw(HS_files[t], imu, initial_degree, initial_yaw)
past_degree = ip.Yaw(HS_files[t - 1], imu, initial_degree, initial_yaw)
#print(degree)
#print(past_degree)
#Initialize yaw direction if the difference between past and current degree is larger than 20
if abs(degree - past_degree) > 10:
initial_degree = ip.FirstDirection(
HS_files[t], gps) #initial degree means initial yaw using rotation
initial_yaw = ip.firstYaw(
HS_files[t], imu) #This is for yaw angle from second image on
degree = ip.Yaw(HS_files[t], imu, initial_degree, initial_yaw)
print('IMU Initialized!')
os.chdir(directory_image) #Move to directory of images
ndvi = cv2.imread('%s.png' % t)
rotated_ndvi = ip.rotation(ndvi, degree, scanrate, velocity, width)
os.chdir(directory_image_rotated) #Move to directory of rotated images