old_contents: #!/usr/bin/python3
  
  import argparse
  
  from props import getNode
  
  import sys
  sys.path.append('../lib')
  import Pose
  import ProjectMgr
  
  # for all the images in the project image_dir, detect features using the
  # specified method and parameters
  
  parser = argparse.ArgumentParser(description='Set the aircraft poses from flight data.')
  parser.add_argument('--project', required=True, help='project directory')
  parser.add_argument('--sentera', help='use the specified sentera image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)')
  parser.add_argument('--pix4d', help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
  
  args = parser.parse_args()
  
  proj = ProjectMgr.ProjectMgr(args.project)
  print("Loading image info...")
  proj.load_images_info()
  
  pose_set = False
  if args.sentera != None:
      Pose.setAircraftPoses(proj, args.sentera, order='ypr')
      pose_set = True
  elif args.pix4d != None:
      Pose.setAircraftPoses(proj, args.pix4d, order='rpy')
      pose_set = True
  
  if not pose_set:
      print("Error: no flight data specified or problem with flight data")
      print("No poses computed")
      quit()
  
  # compute the project's NED reference location (based on average of
  # aircraft poses)
  proj.compute_ned_reference_lla()
  ned_node = getNode('/config/ned_reference', True)
  print("NED reference location:")
  ned_node.pretty_print("  ")
  
  # set the camera poses (fixed offset from aircraft pose) Camera pose
  # location is specfied in ned, so do this after computing the ned
  # reference point for this project.
  Pose.compute_camera_poses(proj)
  
  # save the poses
  proj.save_images_info()
  
  # save change to ned reference
  proj.save()
      
  
new_contents: #!/usr/bin/python3
  
  import argparse
  
  from props import getNode
  
  import sys
  sys.path.append('../lib')
  import Pose
  import ProjectMgr
  
  # for all the images in the project image_dir, detect features using the
  # specified method and parameters
  
  parser = argparse.ArgumentParser(description='Set the aircraft poses from flight data.')
  parser.add_argument('--project', required=True, help='project directory')
  parser.add_argument('--meta', help='use the specified image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)')
  parser.add_argument('--pix4d', help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
  parser.add_argument('--max-angle', type=float, default=25.0, help='max pitch or roll angle for image inclusion')
  
  args = parser.parse_args()
  
  proj = ProjectMgr.ProjectMgr(args.project)
  print("Loading image info...")
  proj.load_images_info()
  
  pose_set = False
  if args.meta != None:
      Pose.setAircraftPoses(proj, args.meta, order='ypr', max_angle=args.max_angle)
      pose_set = True
  elif args.pix4d != None:
      Pose.setAircraftPoses(proj, args.pix4d, order='rpy')
      pose_set = True
  
  if not pose_set:
      print("Error: no flight data specified or problem with flight data")
      print("No poses computed")
      quit()
  
  # compute the project's NED reference location (based on average of
  # aircraft poses)
  proj.compute_ned_reference_lla()
  ned_node = getNode('/config/ned_reference', True)
  print("NED reference location:")
  ned_node.pretty_print("  ")
  
  # set the camera poses (fixed offset from aircraft pose) Camera pose
  # location is specfied in ned, so do this after computing the ned
  # reference point for this project.
  Pose.compute_camera_poses(proj)
  
  # save the poses
  proj.save_images_info()
  
  # save change to ned reference
  proj.save()
      
  
subject: Add option to set max pose angle deviation before discarding an image.