Primitives for Map and UAV images

aero_vloc/primitives/__init__.py

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+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+from uav_loc.primitives.map import Map
+from uav_loc.primitives.map_tile import MapTile
+from uav_loc.primitives.uav_image import UAVImage
+from uav_loc.primitives.uav_seq import UAVSeq

aero_vloc/primitives/map.py

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+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+from pathlib import Path
+
+from uav_loc.primitives.map_tile import MapTile
+
+
+class Map:
+    """
+    The class represents the satellite map required for UAV localization.
+    It is assumed that the map is divided into tiles.
+    """
+
+    def __init__(self, path_to_metadata: Path):
+        """
+        Reads map from metadata file.
+        File format -- sequence of lines, each line is a single tile.
+
+        The format of a line is as follows:
+        `filename top_left_lat top_left_lon bottom_right_lat bottom_right_lon`
+
+        :param path_to_metadata: Path to the metadata file
+        """
+        tiles = []
+        map_folder = path_to_metadata.parents[0]
+        with open(path_to_metadata) as file:
+            lines = file.readlines()[1:]
+        for line in lines:
+            (
+                filename,
+                top_left_lat,
+                top_left_lon,
+                bottom_right_lat,
+                bottom_right_lon,
+            ) = line.split()
+            map_tile = MapTile(
+                map_folder / filename,
+                float(top_left_lat),
+                float(top_left_lon),
+                float(bottom_right_lat),
+                float(bottom_right_lon),
+            )
+            tiles.append(map_tile)
+        self.tiles = tiles
+
+    def __iter__(self):
+        for map_tile in self.tiles:
+            yield map_tile

aero_vloc/primitives/map_tile.py

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+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+from pathlib import Path
+
+
+class MapTile:
+    """
+    The class represents one satellite map tile with specified coordinates
+    """
+
+    def __init__(
+        self,
+        path: Path,
+        top_left_lat: float,
+        top_left_lon: float,
+        bottom_right_lat: float,
+        bottom_right_lon: float,
+    ):
+        self.path = path
+        self.top_left_lat = top_left_lat
+        self.top_left_lon = top_left_lon
+        self.bottom_right_lat = bottom_right_lat
+        self.bottom_right_lon = bottom_right_lon

aero_vloc/primitives/uav_image.py

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+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+from pathlib import Path
+
+
+class UAVImage:
+    """
+    The class represents one UAV image with specified groundtruth coordinates
+    """
+
+    def __init__(self, path: Path, gt_latitude: float, gt_longitude: float):
+        self.path = path
+        self.gt_latitude = gt_latitude
+        self.gt_longitude = gt_longitude

aero_vloc/primitives/uav_seq.py

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+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+from pathlib import Path
+
+from uav_loc.primitives.uav_image import UAVImage
+
+
+class UAVSeq:
+    """
+    The class represents a sequence of frames taken from a UAV
+    """
+
+    def __init__(self, path_to_metadata: Path):
+        """
+        Reads sequence of images from metadata file.
+        File format -- sequence of lines, each line is a single image.
+
+        The format of a line is as follows:
+        `filename groundtruth_longitude groundtruth_latitude`
+
+        :param path_to_metadata: Path to the metadata file
+        """
+        uav_images = []
+        queries_folder = path_to_metadata.parents[0]
+        with open(path_to_metadata) as file:
+            lines = file.readlines()[1:]
+        for line in lines:
+            filename, longitude, latitude = line.split()
+            uav_image = UAVImage(
+                queries_folder / filename, float(latitude), float(longitude)
+            )
+            uav_images.append(uav_image)
+        self.uav_images = uav_images
+
+    def __iter__(self):
+        for uav_image in self.uav_images:
+            yield uav_image