feature/flir-duor

.gitignore

@@ -9,6 +9,8 @@ private/
 CMakeLists.txt.user
 user/
 build/
+lauv-build/
 .cproject
 .settings/
 /.vscode
+/.vs

programs/scripts/dune-flir.sh

@@ -0,0 +1,341 @@
+#!/bin/sh
+############################################################################
+# Copyright 2007-2019 Universidade do Porto - Faculdade de Engenharia      #
+# Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
+############################################################################
+# This file is part of DUNE: Unified Navigation Environment.               #
+#                                                                          #
+# Commercial Licence Usage                                                 #
+# Licencees holding valid commercial DUNE licences may use this file in    #
+# accordance with the commercial licence agreement provided with the       #
+# Software or, alternatively, in accordance with the terms contained in a  #
+# written agreement between you and Faculdade de Engenharia da             #
+# Universidade do Porto. For licensing terms, conditions, and further      #
+# information contact [email protected].                                       #
+#                                                                          #
+# Modified European Union Public Licence - EUPL v.1.1 Usage                #
+# Alternatively, this file may be used under the terms of the Modified     #
+# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
+# included in the packaging of this file. You may not use this work        #
+# except in compliance with the Licence. Unless required by applicable     #
+# law or agreed to in writing, software distributed under the Licence is   #
+# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     #
+# ANY KIND, either express or implied. See the Licence for the specific    #
+# language governing permissions and limitations at                        #
+# https://github.com/LSTS/dune/blob/master/LICENCE.md and                  #
+# http://ec.europa.eu/idabc/eupl.html.                                     #
+############################################################################
+# Author: Eduardo Ramos                                                    #
+############################################################################
+# This script will extract the data capture from the FLIR cameras          #
+# (model DuoR or VueProR).                                                 #
+############################################################################
+
+CSVName="FlirThermalData.csv"
+execPath="./dune-flir-metadata"
+CLOCK_OFFSET=0
+
+usage() {
+  echo "Usage: $0  -s=start_date -e=end_date -d=device_name (-l=logs_folder || -o=output_file_name) [-jc] [-fn=data_filename][-nr] [-c] [-co=seconds_of_delay]"
+  echo "  -s  start        start date from which to start processing at the photos directory (yyyymmdd_hhmmss or partial)"
+  echo "  -e  end          date at which to stop processing at the photos directory(yyyymmdd_hhmmss or partial)"
+  echo "  -d  device       path to the device to be mounted in order to access the photos"
+  echo "  -l  logs         vehicle logs path"
+  echo "  -o  output       output path, overrides the logs parameter and outputs to a single file"
+  echo "  -c  copy         enable file copying to logs"
+  echo "  -co clock-offset number of seconds the camera timestamp should be advanced to match IMAGE_START_CAPTURE command"
+  echo "  -jc just-copy    disable image analisys and enable file copying to logs"
+  echo "  -fn file-name    name of the output file (defaults to \"FlirThermalDatav.csv\")"
+  echo "  -nr no-replace   prevents the program from overwriting existing data files"
+}
+
+inRange() {
+  [ "$START" \< "$1" ] && [ "$END" \> "$1" ]
+}
+
+findLog() {
+  currDayPath=""
+  nextDayPath=""
+  currTimePath=""
+  nextTimePath=""
+
+  for fullDayFile in $LOGS/*; do
+    # check for directory naming constraints
+    if [ -n "$(echo $fullDayFile | sed -E '/[.\/a-z\_]*\/[0-9]{8}$/g')" ];
+    then
+      continue
+    fi
+    local dayFile=$(basename $fullDayFile)
+
+    for fullTimeFile in $LOGS/$dayFile/*; do
+      local timeFile=$(basename $fullTimeFile)
+      local logFile="$(printf "%s_%s" $dayFile $timeFile)"
+
+      #parse filenames to epoch for UTC comparission
+      fileToEpoch $logFile
+      local epochLogFile=$fileToEpochReturn
+      fileToEpoch $1
+      local epochParam=$(($fileToEpochReturn+$UTCOffset))
+
+      if [ $epochLogFile \< $epochParam ] || [ $epochLogFile = $epochParam ]
+      then
+        currDayPath=$dayFile
+        currTimePath=$timeFile
+      else
+        nextDayPath=$dayFile
+        nextTimePath=$timeFile
+        return
+      fi
+    done
+  done
+}
+
+# get epoch time from string in format yyyyMMdd_hhmmss
+fileToEpoch() {
+  local name=$1
+  local year=`echo $name | cut -b 1-4`
+  local month=`echo $name | cut -b 5-6`
+  local day=`echo $name | cut -b 7-8`
+  local hour=`echo $name | cut -b 10-11`
+  local minute=`echo $name | cut -b 12-13`
+  local second=`echo $name | cut -b 14-15`
+  local date="$year-$month-$day $hour:$minute:$second UTC"
+  # date "+%s" -d "2013-02-20 08:41:15 UTC"
+  fileToEpochReturn=$(date +%s -d "$date")
+}
+
+getEpochFilename() {
+  # $1 is in the format "YYYYMMDD_hhmmss_(3 digits for miliseconds)"
+  fileToEpoch $1
+  if [ -z $UTCOffset ];
+  then
+      UTCOffset=0
+  fi
+  epochFilename="$(($fileToEpochReturn+$UTCOffset))".`echo $1 | cut -b 17-19`.jpg
+}
+
+fillUTCOffset() {
+  getEpochFilename $(basename $filename _R.jpg)
+  local tempTime=${epochFilename%%\.*}
+  local output="$($execPath $filename $CLOCK_OFFSET)"
+  local tempUTCTime="${output%%,*}"
+  UTCOffset=$(($tempUTCTime - $tempTime))
+  # printf "\nUTC Offset: %d\n\n" $UTCOffset
+}
+
+getNextPhotoDir() {
+  for photoDir in $photosPath/*; do
+    currPhotoIndex="$(ls $photoDir | wc -l)"
+    if [ $currPhotoIndex -lt 1000 ];
+    then
+      currPhotosDir=$photoDir
+      break
+    fi
+  done
+
+  # if all existing directories are full
+  if [ $currPhotoIndex -eq 1000 ];
+  then
+    currPhotoIndex=0
+    local newPhotoDirIndex=$(($(basename $photoDir)+1))
+    local newFolder="$(printf "%.6d" $newPhotoDirIndex)"
+    currPhotosDir=$photosPath/$newFolder
+    mkdir $currPhotosDir
+  fi
+
+  # no directory exists in $photoDir
+  if [ "$(basename $photoDir)" = "*" ];
+  then
+    currPhotoIndex=0
+    currPhotosDir=$photosPath/000000
+    mkdir $currPhotosDir
+  fi
+}
+
+for i in "$@"
+do
+case $i in
+  -e=*|--extension=*)
+  END="${i#*=}"
+  shift # past argument=value
+  ;;
+  -s=*|--searchpath=*)
+  START="${i#*=}"
+  shift # past argument=value
+  ;;
+  -d=*|--device=*)
+  DEVICE="${i#*=}"
+  shift # past argument=value
+  ;;
+  -l=*|--logs=*)
+  LOGS="${i#*=}"
+  shift # past argument=value
+  ;;
+  -o=*|--output=*)
+  OUTPUT="${i#*=}"
+  shift # past argument=value
+  ;;
+  -co=*|--clock-offset=*)
+  CLOCK_OFFSET="${i#*=}"
+  shift # past argument=value
+  ;;
+  -c|--copy)
+  COPY="copy"
+  shift # past argument=value
+  ;;
+  -jc|--just-copy)
+  JUSTCOPY="justcopy"
+  shift # past argument=value
+  ;;
+  -fn=*|--file_name=*)
+  CSVName="${i#*=}"
+  shift # past argument=value
+  ;;
+  -nr|--no-replace)
+  NOREPLACE="noreplace"
+  shift # past argument=value
+  ;;
+  *)
+    printf "Unkown option %s\n\n" $i # unknown option
+    usage
+    exit 1
+  ;;
+esac
+done
+
+if [ -z $DEVICE ] || [ -z $START ] || [ -z $END ] || [ -z $LOGS -a -z $OUTPUT ];
+then
+  printf 'Some required variables are not defined\n\n'
+  usage
+  exit 1
+fi
+
+if [ $START \> $END ] || [ $START = $END ]
+then
+  printf 'The start(-s) and end(-e) dates are not compatible\n\n'
+  exit 1
+fi
+
+noSave=0
+nextLog="0"
+savePath="$(printf %s$CSVName $OUTPUT)"
+epochFilename=""
+currPhotosDir=""
+currPhotoIndex=0
+
+if [ ! -z $OUTPUT ];
+then
+  printf DateTimeOriginal,GPSLatitude,GPSLongitude,GPSAltitude,MAVRoll,MAVPitch,MAVYaw,Temp\(°C\) > $savePath
+fi
+
+for top_filename in $DEVICE/*; do
+  # check for directory naming contraints
+  if [ -n "$(echo $top_filename | sed -E '/[.\/a-z\_]*\/[0-9]{8}_[0-9]{6}$/g')" ];
+  then
+    printf "Skipped file: $top_filename; For not keeping the naming standard\n"
+    continue
+  fi
+
+  for filename in $top_filename/*; do
+    truncFilename="$(basename $filename _R.jpg)"
+    truncFilename=${truncFilename%_*}
+
+    # check if the current file is in the specified range
+    if inRange $truncFilename;
+    then
+      day=${truncFilename%_*}
+      inputTime=${truncFilename#*_}
+
+      # calculate UTCOffset if undefined
+      if [ -z $UTCOffset ];
+      then
+          fillUTCOffset
+      fi
+
+      # parse filename to epoch for UTC comparisson
+      fileToEpoch $truncFilename
+      epochTruncFilename=$(($fileToEpochReturn+$UTCOffset))
+
+      # check if the next log file should be used to store info about the current file
+      if [ $epochTruncFilename \> $nextLog -o $epochTruncFilename = $nextLog ]  && [ -z $OUTPUT ];
+      then
+        findLog $truncFilename
+
+        if [ -z $nextDayPath ] || [ -z $nextTimePath ];
+        then
+          # no future log file found so prevent the above if from being true
+          nextLog=9999999999
+        else
+          fileToEpoch "$(printf "%s_%s" $nextDayPath $nextTimePath)"
+          nextLog=$fileToEpochReturn
+        fi
+
+        # fill the new required paths
+        generalPath=$LOGS/$currDayPath/$currTimePath
+        savePath=$generalPath/$CSVName
+        photosPath=$generalPath/Photos
+
+        # verify if there is already a photos directory in curr log
+        if [ ! -d $photosPath ] && [ -n $COPY ];
+        then
+          currPhotosDir=$photosPath/000000
+          mkdir -p $currPhotosDir
+          currPhotoIndex=0
+        else
+          getNextPhotoDir
+        fi
+
+        # verify if there exists a data file already present and don't overwrite if the options is present
+        # check also if there is a valid log file to save the items
+        if [ -e $savePath -a $NOREPLACE ] || [ -z $currDayPath ] || [ -z $currTimePath ];
+        then
+          noSave=1
+          printf "Skipped: $filename; No suitable log folder was found OR no overwrite option is enabled\n"
+          continue
+        else
+          noSave=0
+        fi
+
+        if [ -z $JUSTCOPY ];
+        then
+          # add header to the new data.csv file
+          printf DateTimeOriginal,GPSLatitude,GPSLongitude,GPSAltitude,MAVRoll,MAVPitch,MAVYaw,Temp\(°C\) > $savePath
+        fi
+      fi
+
+      # check if the file should be processed
+      if [ $noSave = 1 ];
+      then
+        printf "Skipped: $filename; No suitable log folder was found OR no overwrite option is enabled\n"
+        continue
+      fi
+
+      # process file
+      if [ -z $JUSTCOPY ];
+      then
+        $execPath $filename $CLOCK_OFFSET >> $savePath
+        printf "Processed $filename\n"
+        printf "Saving to: %s\n" $savePath
+      fi
+
+      # copy files to log if option is present
+      if [ $COPY ] || [ $JUSTCOPY ];
+      then
+        getEpochFilename $(basename $filename _R.jpg)
+        cp -p $filename $currPhotosDir/$epochFilename
+        printf "Coppied $filename to $currPhotosDir/$epochFilename\n"
+        if [ $currPhotoIndex -eq 999 ];
+        then
+          getNextPhotoDir
+        else
+          currPhotoIndex=$(($currPhotoIndex+1))
+        fi
+      fi
+    else
+      printf "Skipped file: $filename; Not in Range\n"
+      continue
+    fi
+  done
+done
+
+exit 0