Now able to build and run under Windows

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)
+[![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 <http://canberrauav.org.au/>`_ as part of the 
+`UAV Challenge <https://uavchallenge.org/>`_, 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

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;

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:

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] <directory|files>")
-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)

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] <directory>")
-  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)

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)

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")