public Dictionary<string, PictureInformation> doworkCAM(string logFile, string dirWithImages)
{
// Lets start over
Dictionary<string, PictureInformation> picturesInformationTemp =
new Dictionary<string, PictureInformation>();
TXT_outputlog.AppendText("Using AMSL Altitude " + useAMSLAlt + "\n");
// If we are required to use AMSL then GPS messages should be used until CAM messages includes AMSL in the coming AC versions
// Or if the user enter shutter lag and thus we have to look for GPS messages ahead in time
if (useAMSLAlt || millisShutterLag > 0)
{
TXT_outputlog.AppendText("Reading log for GPS Messages in order to get AMSL Altitude\n");
if (vehicleLocations == null || vehicleLocations.Count <= 0)
{
vehicleLocations = readGPSMsgInLog(logFile);
if (vehicleLocations == null || vehicleLocations.Count <= 0)
{
TXT_outputlog.AppendText("Log file problem. Aborting....\n");
return null;
}
}
TXT_outputlog.AppendText("Log Read for GPS Messages\n");
}
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Reading log for CAM Messages\n");
var list = readCAMMsgInLog(logFile);
if (list == null)
{
TXT_outputlog.AppendText("Log file problem. Aborting....\n");
return null;
}
TXT_outputlog.AppendText("Log Read with - " + list.Count + " - CAM Messages found\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages, "*.jpg");
TXT_outputlog.AppendText("Images read : " + files.Length + "\n");
// Check that we have same number of CAMs than files
if (files.Length != list.Count)
{
TXT_outputlog.AppendText("CAM Msgs and Files discrepancy. Check it!\n");
return null;
}
Array.Sort(files, Comparer.DefaultInvariant);
// Each file corresponds to one CAM message
// We assume that picture names are in ascending order in time
int i = -1;
foreach (var currentCAM in list.Values)
{
i++;
PictureInformation p = new PictureInformation();
// Fill shot time in Picture
p.ShotTimeReportedByCamera = getPhotoTime(files[i]);
DateTime dCAMMsgTime = currentCAM.Time;
if (millisShutterLag == 0)
{
// Lets puts GPS time
p.Time = dCAMMsgTime;
p.Lat = currentCAM.Lat;
p.Lon = currentCAM.Lon;
p.AltAMSL = currentCAM.AltAMSL;
p.RelAlt = currentCAM.RelAlt;
VehicleLocation cameraLocationFromGPSMsg = null;
string logAltMsg = "RelAlt";
if (useAMSLAlt)
{
cameraLocationFromGPSMsg = LookForLocation(p.Time, vehicleLocations);
if (cameraLocationFromGPSMsg != null)
{
logAltMsg = "AMSL Alt " + (cameraLocationFromGPSMsg.Time - p.Time).Milliseconds + " ms away" +
" offset: " + (p.ShotTimeReportedByCamera - dCAMMsgTime).TotalSeconds;
p.AltAMSL = cameraLocationFromGPSMsg.AltAMSL;
}
else
logAltMsg = "AMSL Alt NOT found";
}
p.Pitch = currentCAM.Pitch;
p.Roll = currentCAM.Roll;
p.Yaw = currentCAM.Yaw;
p.Path = files[i];
string picturePath = files[i];
picturesInformationTemp.Add(picturePath, p);
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(picturePath) +
" processed from CAM Msg with " + millisShutterLag + " ms shutter lag. " +
logAltMsg + "\n");
}
else
{
// Look fot GPS Message ahead
DateTime dCorrectedWithLagPhotoTime = dCAMMsgTime;
dCorrectedWithLagPhotoTime = dCorrectedWithLagPhotoTime.AddMilliseconds(millisShutterLag);
VehicleLocation cameraLocationFromGPSMsg = LookForLocation(dCorrectedWithLagPhotoTime,
vehicleLocations);
// Check which GPS Position is closer in time.
if (cameraLocationFromGPSMsg != null)
{
System.TimeSpan diffGPSTimeCAMTime = cameraLocationFromGPSMsg.Time - dCAMMsgTime;
if (diffGPSTimeCAMTime.Milliseconds > 2*millisShutterLag)
{
// Stay with CAM Message as it is closer to CorrectedTime
p.Time = dCAMMsgTime;
p.Lat = currentCAM.Lat;
p.Lon = currentCAM.Lon;
p.AltAMSL = currentCAM.AltAMSL;
p.RelAlt = currentCAM.RelAlt;
string logAltMsg = "RelAlt";
cameraLocationFromGPSMsg = null;
if (useAMSLAlt)
{
cameraLocationFromGPSMsg = LookForLocation(p.Time, vehicleLocations);
if (cameraLocationFromGPSMsg != null)
{
logAltMsg = "AMSL Alt " + (cameraLocationFromGPSMsg.Time - p.Time).Milliseconds +
" ms away";
p.AltAMSL = cameraLocationFromGPSMsg.AltAMSL;
}
else
logAltMsg = "AMSL Alt NOT found";
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(files[i]) +
" processed with CAM Msg. Shutter lag too small. " + logAltMsg +
"\n");
}
else
{
// Get GPS Time as it is closer to CorrectedTime
// Lets puts GPS time
p.Time = cameraLocationFromGPSMsg.Time;
p.Lat = cameraLocationFromGPSMsg.Lat;
p.Lon = cameraLocationFromGPSMsg.Lon;
p.AltAMSL = cameraLocationFromGPSMsg.AltAMSL;
p.RelAlt = cameraLocationFromGPSMsg.RelAlt;
string logAltMsg = useAMSLAlt ? "AMSL Alt" : "RelAlt";
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(files[i]) +
" processed with GPS Msg : " + diffGPSTimeCAMTime.Milliseconds +
" ms ahead of CAM Msg. " + logAltMsg + "\n");
}
p.Pitch = currentCAM.Pitch;
p.Roll = currentCAM.Roll;
p.Yaw = currentCAM.Yaw;
p.Path = files[i];
string picturePath = files[i];
picturesInformationTemp.Add(picturePath, p);
}
else
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(files[i]) +
" NOT Processed. Time not found in log. Too large Shutter Lag? Try setting it to 0\n");
}
}
}
return picturesInformationTemp;
}
private Dictionary<string, PictureInformation> doworkTRIG(string logFile, string dirWithImages)
{
// Lets start over
Dictionary<string, PictureInformation> picturesInformationTemp =
new Dictionary<string, PictureInformation>();
TXT_outputlog.AppendText("Using AMSL Altitude " + useAMSLAlt + "\n");
TXT_outputlog.AppendText("Reading log for TRIG Messages\n");
vehicleLocations = readTRIGMsgInLog(logFile);
if (vehicleLocations == null)
{
TXT_outputlog.AppendText("Log file problem. No TRIG messages. Aborting....\n");
return null;
}
TXT_outputlog.AppendText("Log Read with - " + vehicleLocations.Count + " - TRIG Messages found\n");
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages, "*.jpg");
TXT_outputlog.AppendText("Images read : " + files.Length + "\n");
// Check that we have same number of CAMs than files
if (files.Length != vehicleLocations.Count)
{
TXT_outputlog.AppendText(string.Format("TRIG Msgs and Files discrepancy. Check it! files: {0} vs TRIG msg: {1}\n", files.Length, vehicleLocations.Count));
return null;
}
Array.Sort(files, compareFileByPhotoTime);
// Each file corresponds to one CAM message
// We assume that picture names are in ascending order in time
int i = -1;
foreach (var currentTRIG in vehicleLocations.Values)
{
i++;
PictureInformation p = new PictureInformation();
// Fill shot time in Picture
p.ShotTimeReportedByCamera = getPhotoTime(files[i]);
DateTime dCAMMsgTime = currentTRIG.Time;
// Lets puts GPS time
p.Time = dCAMMsgTime;
p.Lat = currentTRIG.Lat;
p.Lon = currentTRIG.Lon;
p.AltAMSL = currentTRIG.AltAMSL;
p.RelAlt = currentTRIG.RelAlt;
p.Pitch = currentTRIG.Pitch;
p.Roll = currentTRIG.Roll;
p.Yaw = currentTRIG.Yaw;
p.SAlt = currentTRIG.SAlt;
p.Path = files[i];
string picturePath = files[i];
picturesInformationTemp.Add(picturePath, p);
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(picturePath) +
" processed from CAM Msg with " + millisShutterLag + " ms shutter lag. " +
"\n");
}
return picturesInformationTemp;
}
public Dictionary<string, PictureInformation> doworkGPSOFFSET(string logFile, string dirWithImages, float offset)
{
// Lets start over
Dictionary<string, PictureInformation> picturesInformationTemp =
new Dictionary<string, PictureInformation>();
// Read Vehicle Locations from log. GPS Messages. Will have to do it anyway
if (vehicleLocations == null || vehicleLocations.Count <= 0)
{
if (chk_cammsg.Checked)
{
TXT_outputlog.AppendText("Reading log for CAM Messages\n");
vehicleLocations = readCAMMsgInLog(logFile);
}
else
{
TXT_outputlog.AppendText("Reading log for GPS-ATT Messages\n");
vehicleLocations = readGPSMsgInLog(logFile);
}
}
if (vehicleLocations == null)
{
TXT_outputlog.AppendText("Log file problem. Aborting....\n");
return null;
}
TXT_outputlog.AppendText("Read images\n");
List<string> filelist = new List<string>();
string[] exts = PHOTO_FILES_FILTER.Split(';');
foreach (var ext in exts)
{
filelist.AddRange(Directory.GetFiles(dirWithImages, ext));
}
string[] files = filelist.ToArray();
TXT_outputlog.AppendText("Images read : " + files.Length + "\n");
// Check that we have at least one picture
if (files.Length <= 0)
{
TXT_outputlog.AppendText("Not enought files found. Aborting..... \n");
return null;
}
Array.Sort(files, Comparer.DefaultInvariant);
// Each file corresponds to one CAM message
// We assume that picture names are in ascending order in time
for (int i = 0; i < files.Length; i++)
{
string filename = files[i];
PictureInformation p = new PictureInformation();
// Fill shot time in Picture
p.ShotTimeReportedByCamera = getPhotoTime(filename);
// Lookfor corresponding Location in vehicleLocationList
DateTime correctedTime = p.ShotTimeReportedByCamera.AddSeconds(-offset);
VehicleLocation shotLocation = LookForLocation(correctedTime, vehicleLocations, 5000);
if (shotLocation == null)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) +
" NOT PROCESSED. No GPS match in the log file. Please take care\n");
}
else
{
p.Lat = shotLocation.Lat;
p.Lon = shotLocation.Lon;
p.AltAMSL = shotLocation.AltAMSL;
p.RelAlt = shotLocation.RelAlt;
p.Pitch = shotLocation.Pitch;
p.Roll = shotLocation.Roll;
p.Yaw = shotLocation.Yaw;
p.Time = shotLocation.Time;
p.Path = filename;
picturesInformationTemp.Add(filename, p);
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) +
" PROCESSED with GPS position found " +
(shotLocation.Time - correctedTime).Milliseconds + " ms away\n");
}
}
return picturesInformationTemp;
}
public Dictionary<string, PictureInformation> doworkCAMOFFSET(string logFile, string dirWithImages)
{
// Lets start over
Dictionary<string, PictureInformation> picturesInformationTemp =
new Dictionary<string, PictureInformation>();
Dictionary<long, VehicleLocation> gpsvehicleLocations = null;
TXT_outputlog.AppendText("Reading log for CAM Messages\n");
vehicleLocations = readCAMMsgInLog(logFile);
if (millisShutterLag != 0)
{
gpsvehicleLocations = readGPSMsgInLog(logFile);
}
TXT_outputlog.AppendText("Read images\n");
List<string> filelist = new List<string>();
string[] exts = PHOTO_FILES_FILTER.Split(';');
foreach (var ext in exts)
{
filelist.AddRange(Directory.GetFiles(dirWithImages, ext));
}
string[] files = filelist.ToArray();
TXT_outputlog.AppendText("Images read : " + files.Length + "\n");
// Check that we have at least one picture
if (files.Length <= 0)
{
TXT_outputlog.AppendText("Not enought files found. Aborting..... \n");
return null;
}
Array.Sort(files, Comparer.DefaultInvariant);
// store all photos time
TXT_outputlog.AppendText("Storing photos time.....\n");
List<DateTime> photosTimes = new List<DateTime>();
DateTime time;
for (int i = 0; i < files.Length; i++)
{
time = getPhotoTime(files[i]);
photosTimes.Add(time);
//TXT_outputlog.AppendText("Img " + filename + ": " + ToMilliseconds(time) + "\n");
}
// estimate best CAM offset within 1sec across correctedTime
double offset = 0;
double bestOffset = 0;
double score = 0;
double bestScore = 0;
int nbrPhotos = 0;
int bestNbrPhotos = 0;
VehicleLocation shotLocation = null;
List<long> vecs = new List<long>(vehicleLocations.Keys);
vecs.Sort();
offset = (photosTimes[0] - FromUTCTimeMilliseconds(vecs[0])).TotalSeconds;
for (double essai = offset - 1; essai <= offset + 1; essai += 0.2)
{
nbrPhotos = 0;
score = 0;
foreach (DateTime dt in photosTimes)
{
//TXT_outputlog.AppendText("Debug : " + dt.ToShortTimeString() + " " + essai.ToString());
DateTime correctedTime = dt.AddSeconds(-essai);
shotLocation = LookForClosestLocation(correctedTime, vehicleLocations, 1000);
if (shotLocation != null)
{
score += Math.Pow((correctedTime - shotLocation.Time).TotalSeconds, 2);
nbrPhotos++;
}
}
if (nbrPhotos != 0) score = score / nbrPhotos;
TXT_outputlog.AppendText("offset " + essai + " ; Score :" + score + " ; Nbr Photo : " + nbrPhotos + "\n");
// result
if (nbrPhotos > bestNbrPhotos)
{
bestNbrPhotos = nbrPhotos;
bestScore = score;
bestOffset = essai;
}
else if (nbrPhotos == bestNbrPhotos)
{
if (Math.Abs(score) < Math.Abs(bestScore))
{
bestScore = score;
bestOffset = essai;
}
}
}
offset = bestOffset;
TXT_outputlog.AppendText("Best offset :" + offset + "....\n");
// We assume that picture names are in ascending order in time
for (int i = 0; i < files.Length; i++)
{
string filename = files[i];
PictureInformation p = new PictureInformation();
// Fill shot time in Picture
p.ShotTimeReportedByCamera = photosTimes[i];
DateTime correctedTime = p.ShotTimeReportedByCamera.AddSeconds(-offset);
// Lookfor corresponding Location in vehicleLocationList
// Look for the closest CAM msg. That could be an already used CAM msg, as pictures's precision is @1seconde and CAM/GPS msg precision is @200millisec
// shutter lag offset ?
if (millisShutterLag == 0)
{
shotLocation = LookForClosestLocation(correctedTime, vehicleLocations, 2000);
}
else
{
shotLocation = LookForClosestLocation(correctedTime.AddMilliseconds(millisShutterLag), gpsvehicleLocations, 2000);
}
if (shotLocation == null)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) +
" NOT PROCESSED. No CAM match in the log file. Please take care\n");
}
else
{
p.Lat = shotLocation.Lat;
p.Lon = shotLocation.Lon;
p.AltAMSL = shotLocation.AltAMSL;
p.RelAlt = shotLocation.RelAlt;
p.Pitch = shotLocation.Pitch;
p.Roll = shotLocation.Roll;
p.Yaw = shotLocation.Yaw;
p.Time = shotLocation.Time;
p.Path = filename;
picturesInformationTemp.Add(filename, p);
if (millisShutterLag == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) +
" PROCESSED with CAM position found " +
(shotLocation.Time - correctedTime).Milliseconds + " ms away\n");
}
else
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) +
" PROCESSED with GPS position found " +
(shotLocation.Time - correctedTime).Milliseconds + " ms away\n");
}
}
}
return picturesInformationTemp;
}
