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Include gps metadata to extracted image #920

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Include gps metadata to extracted image #920

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5643010
add gps info to exported images
Nov 1, 2022
f6d4684
export image with posed based gps.
Nov 1, 2022
2060e57
act better without gps data
Nov 1, 2022
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act better without gps data
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Charles Ellison authored and steven.l.bunkley committed Nov 3, 2022
commit 2060e578760e9ee44d53a98f8f6111885a248736
73 changes: 40 additions & 33 deletions guilib/src/DatabaseViewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1479,8 1479,13 @@ void DatabaseViewer::extractImages()
progressDialog->show();

// Determine source of gps info for images
std::string graphSource = DatabaseViewer::selectGraph();
std::map<int, GPS> gpsValues = graphToGPS(graphSource);
std::string gpsSource = "None";
std::map<int, GPS> gpsValues;
if(!gpsPoses_.empty())
{
gpsSource = DatabaseViewer::selectGraph();
gpsValues = graphToGPS(gpsSource);
}

int imagesExported = 0;
for(int i=0; i<ids_.size(); i)
Expand Down Expand Up @@ -1535,39 1540,41 @@ void DatabaseViewer::extractImages()
id = QString::number(stamp, 'f');
}

gps = gpsValues[ids_.at(i)];

//fill out image metadata
std::time_t time = std::chrono::system_clock::to_time_t(std::chrono::system_clock::time_point(std::chrono::duration_cast<std::chrono::seconds>(std::chrono::duration<double>(gps.stamp()))));
std::tm timestamp = *std::localtime(&time);
char datebuf[20] = { 0 };
std::strftime(datebuf, sizeof(datebuf), "%Y:%m:%d:%H:%M:%S", &timestamp);
std::string dateString(datebuf);

double latitude = gps.latitude();
double longitude = gps.longitude();
double altitude = gps.altitude();
exifData["Exif.Image.ProcessingSoftware"] = "RTABMAP";

writeExiv2Data(exifData, "EExif.GPSInfo.GPSMapDatum", "WGS-84");
writeExiv2Data(exifData, "Exif.GPSInfo.GPSDateStamp", dateString);
writeExiv2Data(exifData, "Exif.GPSInfo.GPSTimeStamp", toExifTimeStamp(dateString));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLatitude", toExifLatLonString(latitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLongitude", toExifLatLonString(longitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSAltitude", toExifString(altitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLatitudeRef", (latitude<0 ? "S" : "N"));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLongitudeRef", (longitude<0 ? "W" : "E"));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSAltitudeRef", (altitude < 0.0 ? "1" : "0"));

writeExiv2Data(exifData, "Exif.GPSInfo.GPSImgDirectionRef", "T");

float x,y,z,roll,pitch,yaw;
p.getTranslationAndEulerAngles(x,y,z,roll, pitch,yaw);
float bearing = (yaw/3.1416*180.0) 180.0;
if (bearing > 90) bearing -= 90.0;
else bearing = 270.0;
writeExiv2Data(exifData, "Exif.GPSInfo.GPSImgDirection", toExifString(bearing));

if(!(gpsSource == "None"))
{
gps = gpsValues[ids_.at(i)];

std::time_t time = std::chrono::system_clock::to_time_t(std::chrono::system_clock::time_point(std::chrono::duration_cast<std::chrono::seconds>(std::chrono::duration<double>(gps.stamp()))));
std::tm timestamp = *std::localtime(&time);
char datebuf[20] = { 0 };
std::strftime(datebuf, sizeof(datebuf), "%Y:%m:%d:%H:%M:%S", &timestamp);
std::string dateString(datebuf);

double latitude = gps.latitude();
double longitude = gps.longitude();
double altitude = gps.altitude();

writeExiv2Data(exifData, "EExif.GPSInfo.GPSMapDatum", "WGS-84");
writeExiv2Data(exifData, "Exif.GPSInfo.GPSDateStamp", dateString);
writeExiv2Data(exifData, "Exif.GPSInfo.GPSTimeStamp", toExifTimeStamp(dateString));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLatitude", toExifLatLonString(latitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLongitude", toExifLatLonString(longitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSAltitude", toExifString(altitude));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLatitudeRef", (latitude<0 ? "S" : "N"));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSLongitudeRef", (longitude<0 ? "W" : "E"));
writeExiv2Data(exifData, "Exif.GPSInfo.GPSAltitudeRef", (altitude < 0.0 ? "1" : "0"));

writeExiv2Data(exifData, "Exif.GPSInfo.GPSImgDirectionRef", "T");

float x,y,z,roll,pitch,yaw;
p.getTranslationAndEulerAngles(x,y,z,roll, pitch,yaw);
float bearing = (yaw/3.1416*180.0) 180.0;
if (bearing > 90) bearing -= 90.0;
else bearing = 270.0;
writeExiv2Data(exifData, "Exif.GPSInfo.GPSImgDirection", toExifString(bearing));
}
}

if(!data.imageRaw().empty())
Expand Down