MissionPlanner.Georefimage.doworkGPSOFFSET C# (CSharp) Method

        public Dictionary<string, PictureInformation> doworkGPSOFFSET(string logFile, string dirWithImages, float offset)
        {
            // Lets start over 
            Dictionary<string, PictureInformation> picturesInformationTemp = new Dictionary<string, PictureInformation>();

            //logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
            TXT_outputlog.AppendText("Reading log for GPS-ATT Messages\n");

            // Read Vehicle Locations from log. GPS Messages. Will have to do it anyway
            if (vehicleLocations == null || vehicleLocations.Count <= 0)
                vehicleLocations = readGPSMsgInLog(logFile);

            if (vehicleLocations == null)
            {
                TXT_outputlog.AppendText("Log file problem. Aborting....\n");
                return null;
            }

            //dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";

            TXT_outputlog.AppendText("Read images\n");

            List<string> filelist = new List<string>();
            string[] exts = PHOTO_FILES_FILTER.Split(';');
            foreach (var ext in exts)
            {
                filelist.AddRange(Directory.GetFiles(dirWithImages, ext));
            }

            string[] files = filelist.ToArray();

            TXT_outputlog.AppendText("Images read : " + files.Length + "\n");

            // Check that we have at least one picture
            if (files.Length <= 0)
            {
                TXT_outputlog.AppendText("Not enought files found.  Aborting..... \n");
                return null;
            }

            Array.Sort(files, Comparer.DefaultInvariant);

            // Each file corresponds to one CAM message
            // We assume that picture names are in ascending order in time
            for (int i = 0; i < files.Length; i++)
            {
                string filename = files[i];

                PictureInformation p = new PictureInformation();

                // Fill shot time in Picture
                p.ShotTimeReportedByCamera = getPhotoTime(filename);

                // Lookfor corresponding Location in vehicleLocationList
                DateTime correctedTime = p.ShotTimeReportedByCamera.AddSeconds(-offset);
                VehicleLocation shotLocation = LookForLocation(correctedTime, vehicleLocations);

                if (shotLocation == null)
                {
                    TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " NOT PROCESSED. No GPS match in the log file. Please take care\n");
                }
                else
                {
                    p.Lat = shotLocation.Lat;
                    p.Lon = shotLocation.Lon;
                    p.AltAMSL = shotLocation.AltAMSL;

                    p.RelAlt = shotLocation.RelAlt;

                    p.Pitch = shotLocation.Pitch;
                    p.Roll = shotLocation.Roll;
                    p.Yaw = shotLocation.Yaw;

                    p.Time = shotLocation.Time;

                    p.Path = filename;


                    picturesInformationTemp.Add(filename, p);

                    TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " PROCESSED with GPS position found " + (shotLocation.Time - correctedTime).Milliseconds + " ms away\n");
                }

            }

            return picturesInformationTemp;
        }