WIP: Feat process fit

mapillary_tools/commands/extract_geotag_data.py

@@ -15,7 +15,7 @@ def add_basic_arguments(self, parser):
 
     def add_advanced_arguments(self, parser):
         parser.add_argument('--geotag_source', help='Provide the source of date/time and gps information needed for geotagging.', action='store',
-                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', "blackvue_videos"], default="exif", required=False)
+                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', "blackvue_videos", 'garmin_fit'], default="exif", required=False)
         parser.add_argument(
             '--geotag_source_path', help='Provide the path to the file source of date/time and gps information needed for geotagging.', action='store',
             default=None, required=False)

mapillary_tools/commands/process.py

@@ -56,7 +56,7 @@ def add_advanced_arguments(self, parser):
 
         # geotagging
         parser.add_argument('--geotag_source', help='Provide the source of date/time and gps information needed for geotagging.', action='store',
-                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos'], default="exif", required=False)
+                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos', 'garmin_fit'], default="exif", required=False)
         parser.add_argument(
             '--geotag_source_path', help='Provide the path to the file source of date/time and gps information needed for geotagging.', action='store',
             default=None, required=False)

mapillary_tools/commands/process_and_upload.py

@@ -57,7 +57,7 @@ def add_advanced_arguments(self, parser):
 
         # geotagging
         parser.add_argument('--geotag_source', help='Provide the source of date/time and gps information needed for geotagging.', action='store',
-                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos'], default="exif", required=False)
+                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos', 'garmin_fit'], default="exif", required=False)
         parser.add_argument(
             '--geotag_source_path', help='Provide the path to the file source of date/time and gps information needed for geotagging.', action='store',
             default=None, required=False)

mapillary_tools/commands/video_process.py

@@ -67,7 +67,7 @@ def add_advanced_arguments(self, parser):
 
         # geotagging
         parser.add_argument('--geotag_source', help='Provide the source of date/time and gps information needed for geotagging.', action='store',
-                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos'], default="exif", required=False)
+                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos', 'garmin_fit'], default="exif", required=False)
         parser.add_argument(
             '--geotag_source_path', help='Provide the path to the file source of date/time and gps information needed for geotagging.', action='store',
             default=None, required=False)

mapillary_tools/commands/video_process_and_upload.py

@@ -67,7 +67,7 @@ def add_advanced_arguments(self, parser):
 
         # geotagging
         parser.add_argument('--geotag_source', help='Provide the source of date/time and gps information needed for geotagging.', action='store',
-                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos'], default="exif", required=False)
+                            choices=['exif', 'gpx', 'gopro_videos', 'nmea', 'blackvue_videos', 'garmin_fit'], default="exif", required=False)
         parser.add_argument(
             '--geotag_source_path', help='Provide the path to the file source of date/time and gps information needed for geotagging.', action='store',
             default=None, required=False)

mapillary_tools/fit_parser.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+
+from fitparse import FitFile
+import datetime
+from tqdm import tqdm
+
+'''
+Methods for parsing gps data from Garmin FIT files
+'''
+
+
+def parse_uuid_string(uuid_string):
+    '''
+    Parses a video uuid string from fit similar to:  VIRBactioncameraULTRA30_Timelapse_3840_2160_1.0000_3936073999_36a2eff0_1_111_2019-01-17-09-01-03.fit
+    Returns a tuple (camera_type, video_type, width, height, frame_rate, serial, unknown_1, unkown_2, video_id, fit_filename)
+    '''
+    return tuple(uuid_string.split("_"))
+
+
+def get_lat_lon_time_from_fit(geotag_file_list, local_time=True, verbose=False):
+    '''
+    Read location and time stamps from a track in a FIT file.
+
+    Returns a tuple (video_start_time, points) where points is a list of tuples (time, lat, lon, altitude)
+    '''
+    vids = {}
+    for geotag_file in geotag_file_list:
+
+        alt = None
+        lat = None
+        lon = None
+        time_delta = None
+        try:
+            fit = FitFile(geotag_file)
+
+            vid_times = {}
+
+            timestamp_correlations = fit.get_messages(162)
+            timestamp_correlation = next(timestamp_correlations).get_values()
+            timestamp = timestamp_correlation['local_timestamp']
+            offset = datetime.timedelta(seconds=timestamp_correlation['system_timestamp'],
+                                         milliseconds=timestamp_correlation['system_timestamp_ms'])
+            start_time = timestamp - offset
+            camera_events = (c for c in fit.get_messages(161) if c.get('camera_event_type').value in ['video_second_stream_start', 'video_second_stream_end'])
+            for start in tqdm(camera_events, desc='Extracting Video data from .FIT file'):
+                vid_id = parse_uuid_string(start.get('camera_file_uuid').value)[-2]
+                end = next(camera_events)
+                start_timedelta = datetime.timedelta(seconds=start.get('timestamp').value, milliseconds=start.get('timestamp_ms').value)
+                start_timestamp = start_time + start_timedelta
+                end_timedelta = datetime.timedelta(seconds=end.get('timestamp').value, milliseconds=end.get('timestamp_ms').value)
+                end_timestamp = start_time + end_timedelta
+                vid_times[vid_id] = (start_timestamp, end_timestamp)
+
+            points = []
+            for vid_id, times in tqdm(vid_times.items(), desc='Extracting GPS data from .FIT file'):
+                gps_metadata = (g for g in fit.get_messages(160) if times[0] <= (start_time + datetime.timedelta(seconds=g.get('timestamp').value, milliseconds=g.get('timestamp_ms').value)) <= times[-1])
+                for gps in gps_metadata:
+                    try:
+                        alt = gps.get('enhanced_altitude').value
+                        lat_in_semicircles = gps.get('position_lat').value
+                        lat = float(lat_in_semicircles) * 180 / 2**31
+                        lon_in_semicircles = gps.get('position_long').value
+                        lon = float(lon_in_semicircles) * 180 / 2**31
+                        time_delta = datetime.timedelta(seconds=gps.get('timestamp').value, milliseconds=gps.get('timestamp_ms').value)
+                        wp_datetime = start_time + time_delta
+                    except:
+                        continue
+                    if alt is not None and lat is not None and lon is not None and wp_datetime is not None and times[0] <= wp_datetime <= times[-1]:
+                        points.append((wp_datetime, lat, lon, alt))
+                try:
+                    vids[int(vid_id)] = (times[0], sorted(points))
+                except:
+                    vids[vid_id] = (times[0], sorted(points))
+
+        except ValueError:
+            if verbose:
+                print("Warning: {} is not formatted properly".format(geotag_file))
+            pass
+        except StopIteration:
+            if verbose:
+                print("Warning: {} does not have enough iterations".format(geotag_file))
+            pass
+    return vids

mapillary_tools/geo.py

@@ -299,6 +299,10 @@ def write_gpx(filename, gps_trace):
         fout.write(gpx)
 
 
+def semicircle_to_degrees(semicircle):
+    decimal = semicircle * (180.0/(2**31))
+    return decimal
+
 def get_timezone_and_utc_offset(lat, lon):
     tz = tzwhere.tzwhere(forceTZ=True) #TODO: This library takes 2 seconds to initialize. Should be done only once if used for many videos
     timezone_str = tz.tzNameAt(lat, lon)

mapillary_tools/gps_parser.py

@@ -17,7 +17,7 @@
 '''
 
 
-def get_lat_lon_time_from_gpx(gpx_file, local_time=True):
+def get_lat_lon_time_from_gpx(gpx_file_list, local_time=True):
     '''
     Read location and time stamps from a track in a GPX file.
 
@@ -26,28 +26,29 @@ def get_lat_lon_time_from_gpx(gpx_file, local_time=True):
     GPX stores time in UTC, by default we assume your camera used the local time
     and convert accordingly.
     '''
-    with open(gpx_file, 'r') as f:
-        gpx = gpxpy.parse(f)
-
     points = []
-    if len(gpx.tracks) > 0:
-        for track in gpx.tracks:
-            for segment in track.segments:
-                for point in segment.points:
-                    t = utc_to_localtime(point.time) if local_time else point.time
-                    points.append((t, point.latitude, point.longitude, point.elevation))
-    if len(gpx.waypoints) > 0:
-        for point in gpx.waypoints:
-            t = utc_to_localtime(point.time) if local_time else point.time
-            points.append((t, point.latitude, point.longitude, point.elevation))
+    for gpx_file in gpx_file_list:
+        with open(gpx_file, 'r') as f:
+            gpx = gpxpy.parse(f)
+
+        if len(gpx.tracks) > 0:
+            for track in gpx.tracks:
+                for segment in track.segments:
+                    for point in segment.points:
+                        t = utc_to_localtime(point.time) if local_time else point.time
+                        points.append((t, point.latitude, point.longitude, point.elevation))
+        if len(gpx.waypoints) > 0:
+            for point in gpx.waypoints:
+                t = utc_to_localtime(point.time) if local_time else point.time
+                points.append((t, point.latitude, point.longitude, point.elevation))
 
     # sort by time just in case
     points.sort()
 
     return points
 
 
-def get_lat_lon_time_from_nmea(nmea_file, local_time=True):
+def get_lat_lon_time_from_nmea(nmea_file_list, local_time=True):
     '''
     Read location and time stamps from a track in a NMEA file.
 
@@ -56,29 +57,30 @@ def get_lat_lon_time_from_nmea(nmea_file, local_time=True):
     GPX stores time in UTC, by default we assume your camera used the local time
     and convert accordingly.
     '''
-    with open(nmea_file, "r") as f:
-        lines = f.readlines()
-        lines = [l.rstrip("\n\r") for l in lines]
-
-    # Get initial date
-    for l in lines:
-        if "GPRMC" in l:
-            data = pynmea2.parse(l)
-            date = data.datetime.date()
-            break
-
-    # Parse GPS trace
     points = []
-    for l in lines:
-        if "GPRMC" in l:
-            data = pynmea2.parse(l)
-            date = data.datetime.date()
-
-        if "$GPGGA" in l:
-            data = pynmea2.parse(l)
-            timestamp = datetime.datetime.combine(date, data.timestamp)
-            lat, lon, alt = data.latitude, data.longitude, data.altitude
-            points.append((timestamp, lat, lon, alt))
+    for nmea_file in nmea_file_list:
+        with open(nmea_file, "r") as f:
+            lines = f.readlines()
+            lines = [l.rstrip("\n\r") for l in lines]
+
+        # Get initial date
+        for l in lines:
+            if "GPRMC" in l:
+                data = pynmea2.parse(l)
+                date = data.datetime.date()
+                break
+
+        # Parse GPS trace
+        for l in lines:
+            if "GPRMC" in l:
+                data = pynmea2.parse(l)
+                date = data.datetime.date()
+
+            if "$GPGGA" in l:
+                data = pynmea2.parse(l)
+                timestamp = datetime.datetime.combine(date, data.timestamp)
+                lat, lon, alt = data.latitude, data.longitude, data.altitude
+                points.append((timestamp, lat, lon, alt))
 
     points.sort()
     return points

mapillary_tools/gpx_from_fit.py

@@ -0,0 +1,40 @@
+from fitparse import FitFile
+from geo import semicircle_to_degrees, utc_to_localtime, write_gpx
+from tqdm import tqdm
+
+def get_points_from_fit(file_list, local_time=False, verbose=False):
+    '''
+    Read location and time stamps from a track in a FIT file.
+
+    Returns a list of tuples (time, lat, lon, altitude)
+    '''
+    data = []
+    for file in file_list:
+        point = ()
+        try:
+            fit = FitFile(file)
+
+            messages = fit.get_messages('gps_metadata')
+            for record in tqdm(messages, desc='Extracting GPS data from .FIT file'):
+                timestamp = record.get('utc_timestamp').value
+                timestamp = utc_to_localtime(timestamp) if local_time else timestamp
+                lat = semicircle_to_degrees(record.get('position_lat').value)
+                lon = semicircle_to_degrees(record.get('position_long').value)
+                altitude = record.get('altitude').value
+                point = point + (timestamp, lat, lon, altitude)
+
+        except ValueError:
+            if verbose:
+                print("File {} not formatted properly".format(file))
+            pass
+        if point:
+            data.append(point)
+    return data
+
+
+def gpx_from_fit(file_list, import_path, verbose=False):
+    data = get_points_from_fit(file_list)
+    data = sorted(data, key=lambda x: x[0])
+    gpx_path = import_path + '.gpx'
+    write_gpx(gpx_path, data)
+    return gpx_path

mapillary_tools/process_geotag_properties.py

@@ -107,4 +107,13 @@ def process_geotag_properties(import_path,
                                                                   sub_second_interval,
                                                                   use_gps_start_time,
                                                                   verbose)
+    elif geotag_source == "garmin_fit":
+        geotag_properties = processing.geotag_from_garmin_fit(process_file_list,
+                                                             geotag_source_path,
+                                                             offset_time,
+                                                             offset_angle,
+                                                             local_time,
+                                                             sub_second_interval,
+                                                             use_gps_start_time,
+                                                             verbose)
     print("Sub process ended")

mapillary_tools/process_video.py

@@ -27,6 +27,7 @@ def timestamp_from_filename(video_filename,
     seconds = (int(filename.rstrip(".jpg").replace("{}_".format(
         video_filename), "").lstrip("0")) - 1) * interval * adjustment
 
+
     return start_time + datetime.timedelta(seconds=seconds)
 
 
@@ -116,7 +117,8 @@ def extract_frames(video_file,
         '-i', video_file,
         '-loglevel', 'quiet',
         '-vf', 'fps=1/{}'.format(video_sample_interval),
-        '-qscale', '1', '-nostdin'
+        '-qscale', '1', '-nostdin',
+        '-qmin', '1', '-qmax', '1'
     ]
 
     command.append('{}_%0{}d.jpg'.format(os.path.join(
@@ -193,7 +195,9 @@ def get_video_end_time(video_file):
         print("Error, video file {} does not exist".format(video_file))
         return None
     try:
-        time_string = FFProbe(video_file).video[0].creation_time
+        # time_string = FFProbe(video_file).video[0].creation_time
+        result = subprocess.Popen(["ffprobe", video_file], stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+        time_string = next(iter(x.split(': ')[-1] for x in result.stdout.readlines() if "creation_time" in x)).strip("\n")
         try:
             creation_time = datetime.datetime.strptime(
                 time_string, TIME_FORMAT)