Since location information from aerial drone images is reliant on the drone capabilities and one of our fundamental tenets for building the drone platform was to allow drones to have any capabilities and not require anything other than a camera, the platform must either be able to process a gps json when available from the drone or allow custom logic to be run by the user to provide the location information.

This extensibility is very similar to how custom scripts can be run on any hosting infrastructure such as Kubernetes. For example, the following declarations are sufficient to create and run a python script on the aerial drone image sensing platform:

--

apiVersion: v1

kind: ConfigMap

metadata:

  name: location-script

data:

  location.py: |

    import json

    import numpy as np

    # Replace this with actual GPS bounds for transformation

    # Example: top-left, top-right, bottom-right, bottom-left in pixel & GPS

    pixel_bounds = np.array([[0, 0], [4096, 0], [4096, 4096], [0, 4096]])

    gps_bounds = np.array([[39.735, -104.997], [39.735, -104.989],

                           [39.729, -104.989], [39.729, -104.997]])

    # Compute affine transform matrix from pixel to GPS

    A = np.linalg.lstsq(pixel_bounds, gps_bounds, rcond=None)[0]

    def pixel_to_gps(coord):

        """Map pixel coordinate to GPS using affine approximation"""

        return tuple(np.dot(coord, A))

    def parse_json_gps(json_data):

        gps_coords = []

        for frame in json_data:

            if frame is None:

                continue

            frame_coords = [pixel_to_gps(coord) for coord in frame]

            gps_coords.append(frame_coords)

        return gps_coords

    # Example JSON input

    data = [None, [[3132, 4151], [3354, 2924], [4044, 3056], [3824, 4275]],

                  [[3095, 4164], [3318, 2939], [4006, 3073], [3787, 4289]]]

    gps_output = parse_json_gps(data)

    for i, frame in enumerate(gps_output):

        print(f"Frame {i+1}:")

        for lat, lon in frame:

            print(f"Latitude: {lat:.6f}, Longitude: {lon:.6f}")

--

apiVersion: v1

kind: Pod

metadata:

  name: location-pod

spec:

  containers:

  - name: python-container

    image: python:3.10-slim

    command: ["/bin/sh", "-c"]

    args:

      - |

        python /scripts/location.py && tail -f /dev/null

    volumeMounts:

    - name: script-volume

      mountPath: /scripts

      readOnly: true

    resources:

      limits:`

        memory: "128Mi"

        cpu: "250m"

  volumes:

  - name: script-volume

    configMap:

      name: location-script

  restartPolicy: Never