diff --git a/COPYING.txt b/COPYING.txt new file mode 100644 index 00000000..94a9ed02 --- /dev/null +++ b/COPYING.txt @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md index 4e3ad864..5b6b8374 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,18 @@ # cuav -[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/tridge/cuav?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) \ No newline at end of file +[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/tridge/cuav?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) + +The CanberraUAV Image Processing (cuav) tools are designed to quickly and +accurately locate objects of interest from a large set of photos. With the addition +of flight logs of geo-tagging, it can also give the location of the objects. + +It can be run in realtime directly from a camera, or offine from a folder of images. + +The tools can be run on both Linux and Windows platforms. + +Cuav was created by `CanberraUAV `_ as part of the +`UAV Challenge `_, in order to find a missing +bushwalker from photos taken by a Unmanned Aerial System (UAS, commonly known as a "drone") +as it flew over the search area at low altitude. + +Documentation is available at http://canberrauav.github.io/cuav \ No newline at end of file diff --git a/cuav/image/scanner.c b/cuav/image/scanner.c index 7edf1ff5..a817d65e 100644 --- a/cuav/image/scanner.c +++ b/cuav/image/scanner.c @@ -51,6 +51,11 @@ static PyObject *ScannerError; #define MAX_REGIONS 4000 +#ifdef __MINGW32__ + #define __LITTLE_ENDIAN 1 + #define __BYTE_ORDER 1 +#endif + struct scan_params { uint16_t min_region_area; uint16_t max_region_area; diff --git a/cuav/lib/cuav_mosaic.py b/cuav/lib/cuav_mosaic.py index 58a6bba0..f314cdb3 100644 --- a/cuav/lib/cuav_mosaic.py +++ b/cuav/lib/cuav_mosaic.py @@ -157,7 +157,7 @@ def __init__(self, slipmap, self.region_class = lxml.objectify.E.regions() self.add_menus() - + def add_menus(self): '''add menus''' menu = MPMenuTop([]) @@ -422,6 +422,7 @@ def change_page(self, page): if last_page != self.page: print("Page %u/%u" % (self.page, max_page)) self.redisplay_mosaic() + self.image_mosaic.set_title("Mosaic (Page %u of %u)" % (self.page+1, max(max_page+1, 1))) def re_sort(self): '''re sort the mosaic''' @@ -694,6 +695,9 @@ def redisplay_mosaic(self): if self.brightness != 1.0: cv.ConvertScale(self.mosaic, self.mosaic, scale=self.brightness) self.image_mosaic.set_image(self.mosaic, bgr=True) + + max_page = (len(self.regions_sorted)-1) / self.display_regions + self.image_mosaic.set_title("Mosaic (Page %u of %u)" % (self.page+1, max(max_page+1, 1))) def add_regions(self, regions, thumbs, filename, pos=None): '''add some regions''' @@ -732,6 +736,9 @@ def add_regions(self, regions, thumbs, filename, pos=None): ridx = len(self.regions) self.regions.append(MosaicRegion(ridx, r, filename, pos, thumbs[i], thumb, latlon=(lat,lon))) self.regions_sorted.append(self.regions[-1]) + + max_page = (len(self.regions_sorted)-1) / self.display_regions + self.image_mosaic.set_title("Mosaic (Page %u of %u)" % (self.page+1, max(max_page+1, 1))) frame_time = cuav_util.parse_frame_time(filename) if not frame_time in self.ridx_by_frame_time: diff --git a/cuav/tools/geosearch.py b/cuav/tools/geosearch.py index 497907e3..c020abac 100755 --- a/cuav/tools/geosearch.py +++ b/cuav/tools/geosearch.py @@ -1,6 +1,6 @@ #!/usr/bin/python -import numpy, os, time, cv, sys, math, sys, glob +import numpy, os, time, cv, sys, math, sys, glob, argparse import multiprocessing from cuav.lib import cuav_util @@ -10,6 +10,7 @@ from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_image from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting +from gooey import Gooey, GooeyParser slipmap = None mosaic = None @@ -53,26 +54,25 @@ def process(args): global slipmap, mosaic scan_count = 0 files = [] - for a in args: - if os.path.isdir(a): - files.extend(file_list(a, ['jpg', 'pgm', 'png'])) + if os.path.isdir(args.directory): + files.extend(file_list(args.directory, ['jpg', 'pgm', 'png'])) + else: + if args.directory.find('*') != -1: + files.extend(glob.glob(args.directory)) else: - if a.find('*') != -1: - files.extend(glob.glob(a)) - else: - files.append(a) + files.append(args.directory) files.sort() num_files = len(files) print("num_files=%u" % num_files) region_count = 0 - slipmap = mp_slipmap.MPSlipMap(service=opts.service, elevation=True, title='Map') + slipmap = mp_slipmap.MPSlipMap(service=args.service, elevation=True, title='Map') icon = slipmap.icon('redplane.png') slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())) - for flag in opts.flag: + for flag in args.flag: a = flag.split(',') lat = a[0] lon = a[1] @@ -82,62 +82,62 @@ def process(args): icon = slipmap.icon(icon) slipmap.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False)) - if opts.mission: + if args.mission: from pymavlink import mavwp wp = mavwp.MAVWPLoader() - wp.load(opts.mission) + wp.load(args.mission.name) plist = wp.polygon_list() if len(plist) > 0: for i in range(len(plist)): - slipmap.add_object(mp_slipmap.SlipPolygon('Mission-%s-%u' % (opts.mission,i), plist[i], layer='Mission', + slipmap.add_object(mp_slipmap.SlipPolygon('Mission-%s-%u' % (args.mission.name,i), plist[i], layer='Mission', linewidth=2, colour=(255,255,255))) - if opts.mavlog: + if args.mavlog: mpos = mav_position.MavInterpolator() - mpos.set_logfile(opts.mavlog) + mpos.set_logfile(args.mavlog.name) else: mpos = None - if opts.gammalog is not None: - gamma = parse_gamma_log(opts.gammalog) + if args.gammalog is not None: + gamma = parse_gamma_log(args.gammalog) else: gamma = None - if opts.kmzlog: - kmzpos = mav_position.KmlPosition(opts.kmzlog) + if args.kmzlog: + kmzpos = mav_position.KmlPosition(args.kmzlog.name) else: kmzpos = None - if opts.triggerlog: - triggerpos = mav_position.TriggerPosition(opts.triggerlog) + if args.triggerlog: + triggerpos = mav_position.TriggerPosition(args.triggerlog.name) else: triggerpos = None # create a simple lens model using the focal length - C_params = cam_params.CameraParams(lens=opts.lens, sensorwidth=opts.sensorwidth) + C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth) - if opts.camera_params: - C_params.load(opts.camera_params) + if args.camera_params: + C_params.load(args.camera_params.name) - if opts.target: - target = opts.target.split(',') + if args.target: + target = args.target.split(',') else: target = [0,0,0] camera_settings = MPSettings( - [ MPSetting('roll_stabilised', bool, opts.roll_stabilised, 'Roll Stabilised'), - MPSetting('altitude', int, opts.altitude, 'Altitude', range=(0,10000), increment=1), + [ MPSetting('roll_stabilised', bool, args.roll_stabilised, 'Roll Stabilised'), + MPSetting('altitude', int, args.altitude, 'Altitude', range=(0,10000), increment=1), MPSetting('minalt', int, 30, 'MinAltitude', range=(0,10000), increment=1), MPSetting('mpp100', float, 0.0977, 'MPPat100m', range=(0,10000), increment=0.001), - MPSetting('rotate180', bool, opts.rotate_180, 'rotate180'), + MPSetting('rotate180', bool, args.rotate_180, 'rotate180'), MPSetting('filter_type', str, 'compactness', 'Filter Type', choice=['simple', 'compactness']), MPSetting('target_lattitude', float, float(target[0]), 'target latitude', increment=1.0e-7), MPSetting('target_longitude', float, float(target[1]), 'target longitude', increment=1.0e-7), MPSetting('target_radius', float, float(target[2]), 'target radius', increment=1), MPSetting('quality', int, 75, 'Compression Quality', range=(1,100), increment=1), - MPSetting('thumbsize', int, opts.thumbsize, 'Thumbnail Size', range=(10, 200), increment=1), - MPSetting('minscore', int, opts.minscore, 'Min Score', range=(0,1000), increment=1, tab='Scoring'), + MPSetting('thumbsize', int, args.thumbsize, 'Thumbnail Size', range=(10, 200), increment=1), + MPSetting('minscore', int, args.minscore, 'Min Score', range=(0,1000), increment=1, tab='Scoring'), MPSetting('brightness', float, 1.0, 'Display Brightness', range=(0.1, 10), increment=0.1, digits=2, tab='Display'), ], @@ -151,8 +151,8 @@ def process(args): MPSetting('MaxRegionSize', float, 3.0, range=(0,100), increment=0.1, digits=1), MPSetting('MaxRarityPct', float, 0.02, range=(0,100), increment=0.01, digits=2), MPSetting('RegionMergeSize', float, 1.0, range=(0,100), increment=0.1, digits=1), - MPSetting('BlueEmphasis', bool, opts.blue_emphasis), - MPSetting('SaveIntermediate', bool, opts.debug) + MPSetting('BlueEmphasis', bool, args.blue_emphasis), + MPSetting('SaveIntermediate', bool, args.debug) ], title='Image Settings') @@ -160,12 +160,12 @@ def process(args): camera_settings=camera_settings, image_settings=image_settings, start_menu=True, - classify=opts.categories, - thumb_size=opts.mosaic_thumbsize) + classify=args.categories, + thumb_size=args.mosaic_thumbsize) joelog = cuav_joe.JoeLog(None) - if opts.view: + if args.view: viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True) for f in files: @@ -182,7 +182,7 @@ def process(args): frame_time = parse_gamma_time(f, gamma) else: frame_time = cuav_util.parse_frame_time(f) - frame_time += opts.time_offset + frame_time += args.time_offset if camera_settings.roll_stabilised: roll = 0 else: @@ -200,7 +200,7 @@ def process(args): else: # get the position using EXIF data pos = mav_position.exif_position(f) - pos.time += opts.time_offset + pos.time += args.time_offset # update the plane icon on the map if pos is not None: @@ -217,7 +217,7 @@ def process(args): continue (w,h) = cuav_util.image_shape(im_orig) - if not opts.camera_params: + if not args.camera_params: C_params.set_resolution(w, h) im_full = im_orig @@ -286,7 +286,7 @@ def process(args): thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) mosaic.add_regions(regions, thumbs, f, pos) - if opts.view: + if args.view: img_view = img_scan (wview,hview) = cuav_util.image_shape(img_view) mat = cv.fromarray(img_view) @@ -295,7 +295,7 @@ def process(args): cv.CvtColor(mat, mat, cv.CV_BGR2RGB) viewer.set_image(mat) viewer.set_title('Image: ' + os.path.basename(f)) - if opts.saveview: + if args.saveview: cv.CvtColor(mat, mat, cv.CV_RGB2BGR) cv.SaveImage('view-' + os.path.basename(f), mat) @@ -308,54 +308,78 @@ def process(args): def parse_args(): '''parse command line arguments''' - if 1 == len(sys.argv): - from MAVProxy.modules.lib.optparse_gui import OptionParser - file_type='file' - directory_type='directory' - else: - from optparse import OptionParser - file_type='str' - directory_type='str' - - parser = OptionParser("geosearch.py [options] ", description='GeoSearch') - - parser.add_option("--directory", default=None, type=directory_type, - help="directory containing image files") - parser.add_option("--mission", default=None, type=file_type, help="mission file to display") - parser.add_option("--mavlog", default=None, type=file_type, help="MAVLink telemetry log file") - parser.add_option("--kmzlog", default=None, type=file_type, help="kmz file for image positions") - parser.add_option("--triggerlog", default=None, type=file_type, help="robota trigger file for image positions") - parser.add_option("--time-offset", type='float', default=0, help="offset between camera and mavlink log times (seconds)") - parser.add_option("--view", action='store_true', default=False, help="show images") - parser.add_option("--saveview", action='store_true', default=False, help="save image view") - parser.add_option("--lens", default=28.0, type='float', help="lens focal length") - parser.add_option("--sensorwidth", default=35.0, type='float', help="sensor width") - parser.add_option("--service", default='MicrosoftSat', help="map service") - parser.add_option("--camera-params", default=None, type=file_type, help="camera calibration json file from OpenCV") - parser.add_option("--debug", default=False, action='store_true', help="enable debug info") - parser.add_option("--roll-stabilised", default=False, action='store_true', help="assume roll stabilised camera") - parser.add_option("--rotate-180", default=False, action='store_true', help="rotate images 180 degrees") - parser.add_option("--altitude", default=0, type='float', help="altitude (0 for auto)") - parser.add_option("--thumbsize", default=60, type='int', help="thumbnail size") - parser.add_option("--mosaic-thumbsize", default=35, type='int', help="mosaic thumbnail size") - parser.add_option("--minscore", default=100, type='int', help="minimum score") - parser.add_option("--gammalog", default=None, type='str', help="gamma.log from flight") - parser.add_option("--target", default=None, type='str', help="lat,lon,radius target") - parser.add_option("--categories", default=None, type=str, help="xml file containing categories for classification") + parser = argparse.ArgumentParser(description='Search images for Joe') + + parser.add_argument("directory", default=None, help="directory containing image files") + parser.add_argument("--mission", default=None, type=file, help="mission file to display") + parser.add_argument("--mavlog", default=None, type=file, help="MAVLink telemetry log file") + parser.add_argument("--kmzlog", default=None, type=file, help="kmz file for image positions") + parser.add_argument("--triggerlog", default=None, type=file, help="robota trigger file for image positions") + parser.add_argument("--time-offset", type=float, default=0, help="offset between camera and mavlink log times (seconds)") + parser.add_argument("--view", action='store_true', default=False, help="show images") + parser.add_argument("--saveview", action='store_true', default=False, help="save image view") + parser.add_argument("--lens", default=28.0, type=float, help="lens focal length") + parser.add_argument("--sensorwidth", default=35.0, type=float, help="sensor width") + parser.add_argument("--service", default='MicrosoftSat', + choices=('GoogleSat', 'MicrosoftSat', 'OviSat', 'OpenStreetMap', 'MicrosoftHyb', 'OviHybrid', 'GoogleMap'), help="map service") + parser.add_argument("--camera-params", default=None, type=file, help="camera calibration json file from OpenCV") + parser.add_argument("--debug", default=False, action='store_true', help="enable debug info") + parser.add_argument("--roll-stabilised", default=False, action='store_true', help="assume roll stabilised camera") + parser.add_argument("--rotate-180", default=False, action='store_true', help="rotate images 180 degrees") + parser.add_argument("--altitude", default=0, type=float, help="altitude (0 for auto)") + parser.add_argument("--thumbsize", default=60, type=int, help="thumbnail size") + parser.add_argument("--mosaic-thumbsize", default=35, type=int, help="mosaic thumbnail size") + parser.add_argument("--minscore", default=100, type=int, help="minimum score") + parser.add_argument("--gammalog", default=None, type=str, help="gamma.log from flight") + parser.add_argument("--target", default=None, type=str, help="lat,lon,radius target") + parser.add_argument("--categories", default=None, type=str, help="xml file containing categories for classification") if 1 != len(sys.argv): - parser.add_option("--flag", default=[], type='str', action='append', help="flag positions"), - parser.add_option("--blue-emphasis", default=False, action='store_true', help="enable blue emphasis in scanner") + parser.add_argument("--flag", default=[], type=str, action='append', help="flag positions"), + parser.add_argument("--blue-emphasis", default=False, action='store_true', help="enable blue emphasis in scanner") return parser.parse_args() +@Gooey +def parse_args_gooey(): + '''parse command line arguments''' + parser = GooeyParser(description='Search images for Joe') + + parser.add_argument("directory", default=None, help="directory containing image files", widget='DirChooser') + parser.add_argument("--mission", default=None, type=file, help="mission file to display", widget='FileChooser') + parser.add_argument("--mavlog", default=None, type=file, help="MAVLink telemetry log file", widget='FileChooser') + parser.add_argument("--kmzlog", default=None, type=file, help="kmz file for image positions", widget='FileChooser') + parser.add_argument("--triggerlog", default=None, type=file, help="robota trigger file for image positions", widget='FileChooser') + parser.add_argument("--time-offset", type=float, default=0, help="offset between camera and mavlink log times (seconds)") + parser.add_argument("--view", action='store_true', default=False, help="show images") + parser.add_argument("--saveview", action='store_true', default=False, help="save image view") + parser.add_argument("--lens", default=28.0, type=float, help="lens focal length") + parser.add_argument("--sensorwidth", default=35.0, type=float, help="sensor width") + parser.add_argument("--service", default='MicrosoftSat', + choices=['GoogleSat', 'MicrosoftSat', 'OviSat', 'OpenStreetMap', 'MicrosoftHyb', 'OviHybrid', 'GoogleMap'], help="map service") + parser.add_argument("--camera-params", default=None, type=file, help="camera calibration json file from OpenCV", widget='FileChooser') + parser.add_argument("--debug", default=False, action='store_true', help="enable debug info") + parser.add_argument("--roll-stabilised", default=False, action='store_true', help="assume roll stabilised camera") + parser.add_argument("--rotate-180", default=False, action='store_true', help="rotate images 180 degrees") + parser.add_argument("--altitude", default=0, type=float, help="altitude (0 for auto)") + parser.add_argument("--thumbsize", default=60, type=int, help="thumbnail size") + parser.add_argument("--mosaic-thumbsize", default=35, type=int, help="mosaic thumbnail size") + parser.add_argument("--minscore", default=100, type=int, help="minimum score") + parser.add_argument("--gammalog", default=None, type=str, help="gamma.log from flight", widget='FileChooser') + parser.add_argument("--target", default=None, type=str, help="lat,lon,radius target") + parser.add_argument("--categories", default=None, type=str, help="xml file containing categories for classification", widget='FileChooser') + if 1 != len(sys.argv): + parser.add_argument("--flag", default=[], type=str, action='append', help="flag positions"), + parser.add_argument("--blue-emphasis", default=False, action='store_true', help="enable blue emphasis in scanner") + return parser.parse_args() + if __name__ == '__main__': multiprocessing.freeze_support() - (opts, args) = parse_args() + if not len(sys.argv) > 1: + args = parse_args_gooey() + else: + args = parse_args() # main program - if opts.directory is not None: - process([opts.directory]) - else: - process(args) + process(args) while True: slipmap.check_events() mosaic.check_events() diff --git a/cuav/tools/geotag.py b/cuav/tools/geotag.py index 8714e5b4..29d7d278 100755 --- a/cuav/tools/geotag.py +++ b/cuav/tools/geotag.py @@ -1,24 +1,44 @@ #!/usr/bin/python import numpy, os, time, cv, sys, math, sys, glob -import pyexiv2, datetime +import pyexiv2, datetime, argparse from cuav.lib import cuav_util, cuav_mosaic, mav_position, cuav_joe, cuav_region from MAVProxy.modules.mavproxy_map import mp_slipmap from MAVProxy.modules.lib import mp_image - -from optparse import OptionParser -parser = OptionParser("geotag.py [options] ") -parser.add_option("--mavlog", default=None, help="flight log for geo-referencing") -parser.add_option("--max-deltat", default=0.0, type='float', help="max deltat for interpolation") -parser.add_option("--max-attitude", default=45, type='float', help="max attitude geo-referencing") -parser.add_option("--lens", default=4.0, type='float', help="lens focal length") -parser.add_option("--roll-stabilised", default=False, action='store_true', help="roll is stabilised") -parser.add_option("--gps-lag", default=0.0, type='float', help="GPS lag in seconds") -parser.add_option("--destdir", default=None, help="destination directory") -parser.add_option("--inplace", default=False, action='store_true', help="in-place modify") -(opts, args) = parser.parse_args() - +from gooey import Gooey, GooeyParser + +@Gooey +def parse_args_gooey(): + '''parse command line arguments''' + parser = GooeyParser(description="Geotag images from flight log") + + parser.add_argument("files", default=None, help="Image folder", widget='DirChooser') + parser.add_argument("mavlog", default=None, help="flight log for geo-referencing", widget='FileChooser') + parser.add_argument("--max-deltat", default=0.0, type=float, help="max deltat for interpolation") + parser.add_argument("--max-attitude", default=45, type=float, help="max attitude geo-referencing") + parser.add_argument("--lens", default=4.0, type=float, help="lens focal length") + parser.add_argument("--roll-stabilised", default=False, action='store_true', help="Is camera roll stabilised?") + parser.add_argument("--gps-lag", default=0.0, type=float, help="GPS lag in seconds") + parser.add_argument("--destdir", default=None, help="destination directory", widget='DirChooser') + parser.add_argument("--inplace", default=False, action='store_true', help="modify images in-place?") + return parser.parse_args() + +def parse_args(): + '''parse command line arguments''' + parser = argparse.ArgumentParser("Geotag images from flight log") + + parser.add_argument("files", default=None, help="Image directory or files") + parser.add_argument("mavlog", default=None, help="flight log for geo-referencing") + parser.add_argument("--max-deltat", default=0.0, type=float, help="max deltat for interpolation") + parser.add_argument("--max-attitude", default=45, type=float, help="max attitude geo-referencing") + parser.add_argument("--lens", default=4.0, type=float, help="lens focal length") + parser.add_argument("--roll-stabilised", default=False, action='store_true', help="Is camera roll stabilised?") + parser.add_argument("--gps-lag", default=0.0, type=float, help="GPS lag in seconds") + parser.add_argument("--destdir", default=None, help="destination directory") + parser.add_argument("--inplace", default=False, action='store_true', help="modify images in-place?") + return parser.parse_args() + def to_deg(value, loc): if value < 0: loc_value = loc[0] @@ -82,35 +102,30 @@ def process(args): count = 0 files = [] - for a in args: - if os.path.isdir(a): - files.extend(glob.glob(os.path.join(a, '*.png'))) - else: - files.append(a) + if os.path.isdir(args.files): + files.extend(glob.glob(os.path.join(args.files, '*.png'))) + else: + files.append(args.files) files.sort() num_files = len(files) print("num_files=%u" % num_files) - if opts.mavlog: - mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag) - mpos.set_logfile(opts.mavlog) - else: - print("You must provide a mavlink log file") - sys.exit(1) + mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag) + mpos.set_logfile(args.mavlog) frame_time = 0 - if opts.destdir: - cuav_util.mkdir_p(opts.destdir) + if args.destdir: + cuav_util.mkdir_p(args.destdir) for f in files: frame_time = os.path.getmtime(f) try: - if opts.roll_stabilised: + if args.roll_stabilised: roll = 0 else: roll = None - pos = mpos.position(frame_time, opts.max_deltat,roll=roll) + pos = mpos.position(frame_time, args.max_deltat,roll=roll) except mav_position.MavInterpolatorException as e: print e pos = None @@ -120,13 +135,13 @@ def process(args): lat_deg = pos.lat lng_deg = pos.lon - if opts.inplace: + if args.inplace: newfile = f else: basefile = f.split('.')[0] newfile = basefile + '.jpg' - if opts.destdir: - newfile = os.path.join(opts.destdir, os.path.basename(newfile)) + if args.destdir: + newfile = os.path.join(args.destdir, os.path.basename(newfile)) cv.SaveImage(newfile, im_orig) count += 1 @@ -135,5 +150,11 @@ def process(args): set_gps_location(newfile, lat_deg, lng_deg, pos.altitude, pos.time) # main program +if __name__ == '__main__': + if not len(sys.argv) > 1: + args = parse_args_gooey() + else: + args = parse_args() + + process(args) -process(args) diff --git a/cuav/tools/pgm_convert.py b/cuav/tools/pgm_convert.py index e195a816..7872de26 100755 --- a/cuav/tools/pgm_convert.py +++ b/cuav/tools/pgm_convert.py @@ -3,60 +3,63 @@ convert images from PGM to other formats ''' -import os, sys, glob, cv +import os, sys, glob, cv, argparse from cuav.lib import cuav_util +from gooey import Gooey, GooeyParser -def parse_args(): +@Gooey +def parse_args_gooey(): '''parse command line arguments''' - if 1 == len(sys.argv): - from MAVProxy.modules.lib.optparse_gui import OptionParser - file_type='file' - directory_type='directory' - else: - from optparse import OptionParser - file_type='str' - directory_type='str' + parser = GooeyParser(description="Convert pgm image to png or jpg") + + parser.add_argument("directory", default=None, + help="directory containing PGM image files", widget='DirChooser') + parser.add_argument("--output-directory", default=None, + help="directory to use for converted files", widget='DirChooser') + parser.add_argument("--format", default='png', choices=['png', 'jpg'], help="type of file to convert to (png or jpg)") + return parser.parse_args() - parser = OptionParser("pgm_convert.py [options] ") - parser.add_option("--directory", default=None, type=directory_type, +def parse_args(): + '''parse command line arguments''' + parser = argparse.ArgumentParser("Convert pgm image to png or jpg") + + parser.add_argument("directory", default=None, help="directory containing PGM image files") - parser.add_option("--output-directory", default=None, type=directory_type, + parser.add_argument("--output-directory", default=None, help="directory to use for converted files") - parser.add_option("--format", default='png', help="type of file to convert to (png or jpg)") + parser.add_argument("--format", default='png', choices=['png', 'jpg'], help="type of file to convert to (png or jpg)") return parser.parse_args() -if __name__ == '__main__': - (opts, args) = parse_args() - def process(args): '''process a set of files''' files = [] - for a in args: - if os.path.isdir(a): - files.extend(glob.glob(os.path.join(a, '*.pgm'))) + if os.path.isdir(args.directory): + files.extend(glob.glob(os.path.join(args.directory, '*.pgm'))) + else: + if args.directory.find('*') != -1: + files.extend(glob.glob(args.directory)) else: - if a.find('*') != -1: - files.extend(glob.glob(a)) - else: - files.append(a) + files.append(args.directory) files.sort() for f in files: im_orig = cuav_util.LoadImage(f) - if not opts.output_directory: + if not args.output_directory: outdir = os.path.dirname(f) else: - outdir = opts.output_directory + outdir = args.output_directory basename = os.path.basename(f)[:-4] - new_name = os.path.join(outdir, basename + '.' + opts.format) + new_name = os.path.join(outdir, basename + '.' + args.format) print("Creating %s" % new_name) cv.SaveImage(new_name, im_orig) if __name__ == '__main__': - # main program - if opts.directory is not None: - process([opts.directory]) + if not len(sys.argv) > 1: + args = parse_args_gooey() else: - process(args) + args = parse_args() + + # main program + process(args) diff --git a/cuav/uav/uav.py b/cuav/uav/uav.py index 9ff64f52..766dc712 100644 --- a/cuav/uav/uav.py +++ b/cuav/uav/uav.py @@ -1,6 +1,5 @@ from numpy import array, linalg, eye, zeros, dot, transpose from numpy import sin, cos, pi -from matplotlib import pyplot #def rotationMatrix(phi, theta, psi): # out = zeros((3,3)) @@ -91,6 +90,8 @@ def __init__(self, fu=200, fv=200, cu=512, cv=480): if __name__ == '__main__': + from matplotlib import pyplot + xfer = uavxfer() xfer.setCameraParams(200.0, 200.0, 512, 480) xfer.setCameraOrientation(0.0, 0.0, -pi/2) diff --git a/windows/createChangelog.py b/windows/createChangelog.py new file mode 100644 index 00000000..0680c319 --- /dev/null +++ b/windows/createChangelog.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python +''' +Create a user readable changelog +Requires the gitpython package via pip install gitpython + +Stephen Dade +November 2016 +''' + +from git import Repo +import os +import time + +#Get the parent (..\) directory. ie the root cuav dir +path = os.path.abspath(os.path.join(os.getcwd(), os.pardir)) +repo = Repo(path) +assert not repo.bare + +#get list of all commits +all_commits = list(repo.iter_commits('master')) + +#open the changelog for writing +f = open("changelog.txt","w") + +#go through all the commits +for comm in all_commits: + #if it's a version raise, add a special message + if "raise version" in comm.message: + commit_date = time.strftime("%d-%m-%Y", time.gmtime(comm.committed_date)) + tree = comm.tree + #get setup.py and grab the version number from the file + blob = tree['setup.py'] + data = blob.data_stream.read() + curversion = "" + for line in data.split('\n'): + if "version = " in line: + curversion = line[11:len(line)-1] + break + + f.write("\n") + f.write("CUAV " + curversion + " (" + commit_date + ")\n") + else: + #just print the summary (1st line) of the commit message + comm.message.split('\n', 1)[0] + f.write("-" + comm.summary + "\n") + +f.close() +print("Done") diff --git a/windows/cuav.iss b/windows/cuav.iss new file mode 100644 index 00000000..51956ec6 --- /dev/null +++ b/windows/cuav.iss @@ -0,0 +1,45 @@ +; Script generated by the Inno Setup Script Wizard. +; SEE THE DOCUMENTATION FOR DETAILS ON CREATING INNO SETUP SCRIPT FILES! +; This file should be run from MAVProxyWinBuild.bat + +#define MyAppName "CanberraUAV Imaging" +; Note MyAppVersion is defined in MAVProxyWinBuild.bat +; #define MyAppVersion {code:GetVersion} +#define MyAppPublisher "CanberraUAV" +#define MyAppURL "http://CanberraUAV.github.io/cuav" + +[Setup] +; NOTE: The value of AppId uniquely identifies this application. +; Do not use the same AppId value in installers for other applications. +; (To generate a new GUID, click Tools | Generate GUID inside the IDE.) +AppId={{328AE3B2-C026-423A-866F-35A0EC5195D9} +AppName={#MyAppName} +AppVersion={#MyAppVersion} +;AppVerName={#MyAppName} {#MyAppVersion} +AppPublisher={#MyAppPublisher} +AppPublisherURL={#MyAppURL} +AppSupportURL={#MyAppURL} +AppUpdatesURL={#MyAppURL} +DefaultDirName={pf}\{#MyAppName} +DefaultGroupName={#MyAppName} +LicenseFile=..\COPYING.txt +OutputBaseFilename=cuavSetup-{#MyAppVersion} +Compression=lzma +SolidCompression=yes + +[InstallDelete] +Type: filesandordirs; Name: {pf}\{#MyAppName} + +[Languages] +Name: "english"; MessagesFile: "compiler:Default.isl" + +[Files] +Source: "..\dist\cuav\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs createallsubdirs + +[Icons] +Name: "{group}\Geosearch"; Filename: "{app}\geosearch.exe" +Name: "{group}\Geotagger"; Filename: "{app}\geotag.exe" +Name: "{group}\PGM converter"; Filename: "{app}\pgmconvert.exe" +Name: "{group}\Documentation"; Filename: "http://CanberraUAV.github.io/cuav/" +Name: "{group}\CanberraUAV Website"; Filename: "http://canberrauav.org.au" + diff --git a/windows/cuav.spec b/windows/cuav.spec new file mode 100644 index 00000000..39dde04c --- /dev/null +++ b/windows/cuav.spec @@ -0,0 +1,114 @@ +# -*- mode: python -*- +# spec file for pyinstaller to build cuav for windows + +#Gooey_languages and gooey_images are used to fetch the files and solve the problem that was occuring preivously. (i.e : Language file not found) +gooey_languages = Tree('C:/Python27/Lib/site-packages/gooey/languages', prefix = 'gooey/languages') +gooey_images = Tree('C:/Python27/Lib/site-packages/gooey/images', prefix = 'gooey/images') + +geotagAny = Analysis(['.\\cuav\\tools\\geotag.py'], + pathex=[os.path.abspath('.')], + # for some unknown reason these hidden imports don't pull in + # all the needed pieces, so we also import them in mavproxy.py + hiddenimports=['UserList', 'UserString', + 'pymavlink.mavwp', 'pymavlink.mavutil', 'pymavlink.dialects.v20.ardupilotmega', + 'pymavlink.dialects.v10.ardupilotmega', + 'pymavlink.dialects.v20.common', 'pymavlink.dialects.v10.common', + 'pymavlink.dialects.v20.ASLUAV', 'pymavlink.dialects.v10.ASLUAV', + 'pymavlink.dialects.v20.autoquad', 'pymavlink.dialects.v10.autoquad', + 'pymavlink.dialects.v20.matrixpilot', 'pymavlink.dialects.v10.matrixpilot', + 'pymavlink.dialects.v20.minimal', 'pymavlink.dialects.v10.minimal', + 'pymavlink.dialects.v20.paparazzi', 'pymavlink.dialects.v10.paparazzi', + 'pymavlink.dialects.v20.slugs', 'pymavlink.dialects.v10.slugs', + 'pymavlink.dialects.v20.standard', 'pymavlink.dialects.v10.standard', + 'pymavlink.dialects.v20.ualberta', 'pymavlink.dialects.v10.ualberta', + 'pymavlink.dialects.v20.uAvionix', 'pymavlink.dialects.v10.uAvionix', 'gooey'], + excludes=['tcl', 'tk', 'Tkinter', 'tkinter', '_tkinter'], + hookspath=None, + runtime_hooks=None) +pgmconvertAny = Analysis(['.\\cuav\\tools\\pgm_convert.py'], + pathex=[os.path.abspath('.')], + # for some unknown reason these hidden imports don't pull in + # all the needed pieces, so we also import them in mavproxy.py + hiddenimports=['UserList', 'UserString', 'gooey'], + excludes=['tcl', 'tk', 'Tkinter', 'tkinter', '_tkinter'], + hookspath=None, + runtime_hooks=None) +geosearchAny = Analysis(['.\\cuav\\tools\\geosearch.py'], + pathex=[os.path.abspath('.')], + # for some unknown reason these hidden imports don't pull in + # all the needed pieces, so we also import them in mavproxy.py + hiddenimports=['UserList', 'UserString', + 'pymavlink.mavwp', 'pymavlink.mavutil', 'pymavlink.dialects.v20.ardupilotmega', + 'pymavlink.dialects.v10.ardupilotmega', + 'pymavlink.dialects.v20.common', 'pymavlink.dialects.v10.common', + 'pymavlink.dialects.v20.ASLUAV', 'pymavlink.dialects.v10.ASLUAV', + 'pymavlink.dialects.v20.autoquad', 'pymavlink.dialects.v10.autoquad', + 'pymavlink.dialects.v20.matrixpilot', 'pymavlink.dialects.v10.matrixpilot', + 'pymavlink.dialects.v20.minimal', 'pymavlink.dialects.v10.minimal', + 'pymavlink.dialects.v20.paparazzi', 'pymavlink.dialects.v10.paparazzi', + 'pymavlink.dialects.v20.slugs', 'pymavlink.dialects.v10.slugs', + 'pymavlink.dialects.v20.standard', 'pymavlink.dialects.v10.standard', + 'pymavlink.dialects.v20.ualberta', 'pymavlink.dialects.v10.ualberta', + 'pymavlink.dialects.v20.uAvionix', 'pymavlink.dialects.v10.uAvionix', 'gooey'], + excludes=[], + hookspath=None, + runtime_hooks=None) + +MERGE( (geotagAny, 'geotag', 'geotag'), (pgmconvertAny, 'pgmconvert', 'pgmconvert'), (geosearchAny, 'geosearch', 'geosearch') ) + +geotag_pyz = PYZ(geotagAny.pure) +geotag_exe = EXE(geotag_pyz, + geotagAny.scripts, + exclude_binaries=True, + name='geotag.exe', + debug=False, + strip=None, + upx=True, + console=True ) +geotag_coll = COLLECT(geotag_exe, + geotagAny.binaries, + geotagAny.zipfiles, + geotagAny.datas, + gooey_languages, + gooey_images, + strip=None, + upx=True, + name='geotag') + +pgmconvert_pyz = PYZ(pgmconvertAny.pure) +pgmconvert_exe = EXE(pgmconvert_pyz, + pgmconvertAny.scripts, + exclude_binaries=True, + name='pgmconvert.exe', + debug=False, + strip=None, + upx=True, + console=True ) +pgmconvert_coll = COLLECT(pgmconvert_exe, + pgmconvertAny.binaries, + pgmconvertAny.zipfiles, + pgmconvertAny.datas, + gooey_languages, + gooey_images, + strip=None, + upx=True, + name='pgmconvert') + +geosearch_pyz = PYZ(geosearchAny.pure) +geosearch_exe = EXE(geosearch_pyz, + geosearchAny.scripts, + exclude_binaries=True, + name='geosearch.exe', + debug=False, + strip=None, + upx=True, + console=True ) +geosearch_coll = COLLECT(geosearch_exe, + geosearchAny.binaries, + geosearchAny.zipfiles, + geosearchAny.datas, + gooey_languages, + gooey_images, + strip=None, + upx=True, + name='geosearch') \ No newline at end of file diff --git a/windows/cuavWinBuild.bat b/windows/cuavWinBuild.bat new file mode 100644 index 00000000..4bcc52fe --- /dev/null +++ b/windows/cuavWinBuild.bat @@ -0,0 +1,54 @@ +rem build the standalone Cuav tools for Windows. +rem This assumes Python is installed in C:\Python27 +rem If it is not, change the PYTHON_LOCATION environment variable accordingly +rem This assumes InnoSetup is installed in C:\Program Files (x86)\Inno Setup 5 +rem If it is not, change the INNOSETUP environment variable accordingly +rem This requires the MinGW compiler and libjpeg-turbo development files (libjpeg-turbo-1.5.1-gcc.exe) +rem from https://sourceforge.net/projects/libjpeg-turbo/ +rem This requires Pyinstaller==2.1, setuptools==19.2 and packaging==14.2 +rem also requires pyexiv2 - https://launchpad.net/pyexiv2 +SETLOCAL enableextensions + +if "%PYTHON_LOCATION%" == "" (set "PYTHON_LOCATION=C:\Python27") +if "%INNOSETUP%" == "" (set "INNOSETUP=C:\Program Files (x86)\Inno Setup 5") +if "%MINGW_LOCATION%" == "" (set "MINGW_LOCATION=C:\MinGW\bin") +if "%LIBJPEGTURBO_LOCATION%" == "" (set "LIBJPEGTURBO_LOCATION=C:\libjpeg-turbo-gcc") + +rem get the version +for /f "tokens=*" %%a in ( + '"%PYTHON_LOCATION%\python" returnVersion.py' + ) do ( + set VERSION=%%a + ) + +rem -----build the changelog----- +"%PYTHON_LOCATION%\python" createChangelog.py + +rem -----Add MingW and libjpeg-turbo to path----- +SET PATH=%PATH%;%MINGW_LOCATION%;%LIBJPEGTURBO_LOCATION%\include;%LIBJPEGTURBO_LOCATION%\lib + +rem -----Build CUAV----- +cd ..\ +"%PYTHON_LOCATION%\python" setup.py clean build --compiler=mingw32 install +"%PYTHON_LOCATION%\Scripts\pyinstaller" -y --clean .\windows\cuav.spec + +rem ----Copy the files, libjpeg-turbo dll's and scanner.pyd---- +mkdir .\dist\cuav +xcopy .\dist\pgmconvert\* .\dist\cuav /Y /E +xcopy .\dist\geotag\* .\dist\cuav /Y /E +xcopy .\dist\geosearch\* .\dist\cuav /Y /E +xcopy .\build\lib.win32-2.7\cuav\image\scanner.pyd .\dist\cuav\cuav.image.scanner.pyd /Y +xcopy %LIBJPEGTURBO_LOCATION%\bin\libjpeg-62.dll .\dist\cuav\ /Y +xcopy %LIBJPEGTURBO_LOCATION%\bin\libturbojpeg.dll .\dist\cuav\ /Y + +rem -----Create version Info----- +@echo off +@echo %VERSION%> .\windows\version.txt +@echo on + +rem -----Build the Installer----- +cd .\windows\ +rem Newer Inno Setup versions do not require a -compile flag, please add it if you have an old version +"%INNOSETUP%\ISCC.exe" /dMyAppVersion=%VERSION% cuav.iss + +pause diff --git a/windows/geosearchbuildrun.bat b/windows/geosearchbuildrun.bat new file mode 100644 index 00000000..1d10e652 --- /dev/null +++ b/windows/geosearchbuildrun.bat @@ -0,0 +1,26 @@ +rem This builds and runs geosearch.py +rem It is useful as a quick build-n-run for debugging changes to cuav +rem This assumes Python is installed in C:\Python27 +rem If it is not, change the PYTHON_LOCATION environment variable accordingly +rem This assumes InnoSetup is installed in C:\Program Files (x86)\Inno Setup 5 +rem If it is not, change the INNOSETUP environment variable accordingly +rem This requires the MinGW compiler and libjpeg-turbo development files (libjpeg-turbo-1.5.1-gcc.exe) +rem also requires pyexiv2 - https://launchpad.net/pyexiv2 +SETLOCAL enableextensions + +if "%PYTHON_LOCATION%" == "" (set "PYTHON_LOCATION=C:\Python27") +if "%INNOSETUP%" == "" (set "INNOSETUP=C:\Program Files (x86)\Inno Setup 5") +if "%MINGW_LOCATION%" == "" (set "MINGW_LOCATION=C:\MinGW\bin") +if "%LIBJPEGTURBO_LOCATION%" == "" (set "LIBJPEGTURBO_LOCATION=C:\libjpeg-turbo-gcc") + +rem -----Add MingW and libjpeg-turbo to path----- +SET PATH=%PATH%;%MINGW_LOCATION%;%LIBJPEGTURBO_LOCATION%\include;%LIBJPEGTURBO_LOCATION%\lib;%LIBJPEGTURBO_LOCATION%\bin + +rem -----Build CUAV----- +cd ..\ +"%PYTHON_LOCATION%\python" setup.py clean build --compiler=mingw32 install + +rem -----Run geosearch.py----- +cd .\cuav\tools +geosearch.py +pause diff --git a/windows/geotagbuildrun.bat b/windows/geotagbuildrun.bat new file mode 100644 index 00000000..af925669 --- /dev/null +++ b/windows/geotagbuildrun.bat @@ -0,0 +1,26 @@ +rem This builds and runs geotag.py +rem It is useful as a quick build-n-run for debugging changes to cuav +rem This assumes Python is installed in C:\Python27 +rem If it is not, change the PYTHON_LOCATION environment variable accordingly +rem This assumes InnoSetup is installed in C:\Program Files (x86)\Inno Setup 5 +rem If it is not, change the INNOSETUP environment variable accordingly +rem This requires the MinGW compiler and libjpeg-turbo development files (libjpeg-turbo-1.5.1-gcc.exe) +rem also requires pyexiv2 - https://launchpad.net/pyexiv2 +SETLOCAL enableextensions + +if "%PYTHON_LOCATION%" == "" (set "PYTHON_LOCATION=C:\Python27") +if "%INNOSETUP%" == "" (set "INNOSETUP=C:\Program Files (x86)\Inno Setup 5") +if "%MINGW_LOCATION%" == "" (set "MINGW_LOCATION=C:\MinGW\bin") +if "%LIBJPEGTURBO_LOCATION%" == "" (set "LIBJPEGTURBO_LOCATION=C:\libjpeg-turbo-gcc") + +rem -----Add MingW and libjpeg-turbo to path----- +SET PATH=%PATH%;%MINGW_LOCATION%;%LIBJPEGTURBO_LOCATION%\include;%LIBJPEGTURBO_LOCATION%\lib;%LIBJPEGTURBO_LOCATION%\bin + +rem -----Build CUAV----- +cd ..\ +"%PYTHON_LOCATION%\python" setup.py clean build --compiler=mingw32 install + +rem -----Run geotag.py----- +cd .\cuav\tools +geotag.py +pause diff --git a/windows/pgmconvbuildrun.bat b/windows/pgmconvbuildrun.bat new file mode 100644 index 00000000..3629dd9d --- /dev/null +++ b/windows/pgmconvbuildrun.bat @@ -0,0 +1,26 @@ +rem This builds and runs geotag.py +rem It is useful as a quick build-n-run for debugging changes to cuav +rem This assumes Python is installed in C:\Python27 +rem If it is not, change the PYTHON_LOCATION environment variable accordingly +rem This assumes InnoSetup is installed in C:\Program Files (x86)\Inno Setup 5 +rem If it is not, change the INNOSETUP environment variable accordingly +rem This requires the MinGW compiler and libjpeg-turbo development files (libjpeg-turbo-1.5.1-gcc.exe) +rem also requires pyexiv2 - https://launchpad.net/pyexiv2 +SETLOCAL enableextensions + +if "%PYTHON_LOCATION%" == "" (set "PYTHON_LOCATION=C:\Python27") +if "%INNOSETUP%" == "" (set "INNOSETUP=C:\Program Files (x86)\Inno Setup 5") +if "%MINGW_LOCATION%" == "" (set "MINGW_LOCATION=C:\MinGW\bin") +if "%LIBJPEGTURBO_LOCATION%" == "" (set "LIBJPEGTURBO_LOCATION=C:\libjpeg-turbo-gcc") + +rem -----Add MingW and libjpeg-turbo to path----- +SET PATH=%PATH%;%MINGW_LOCATION%;%LIBJPEGTURBO_LOCATION%\include;%LIBJPEGTURBO_LOCATION%\lib;%LIBJPEGTURBO_LOCATION%\bin + +rem -----Build CUAV----- +cd ..\ +"%PYTHON_LOCATION%\python" setup.py clean build --compiler=mingw32 install + +rem -----Run geotag.py----- +cd .\cuav\tools +pgm_convert.py +pause diff --git a/windows/returnVersion.py b/windows/returnVersion.py new file mode 100644 index 00000000..0def9f9a --- /dev/null +++ b/windows/returnVersion.py @@ -0,0 +1,12 @@ +# This script reads the setup.py and returns the current version number +# Used as part of building the WIndows setup file (cuavWinBuild.bat) +# It assumes there is a line like this: +# version = "12344" + +# glob supports Unix style pathname extensions +with open("../setup.py") as f: + searchlines = f.readlines() + for i, line in enumerate(searchlines): + if "version = " in line: + print line[11:len(line)-2] + break \ No newline at end of file