This app implements the environment capturing process with Loomos HD camera (Segway Robotics Loomo) in the context of the term paper "Visual Place Recognition to Support Indoor Localisation"
Place the robot within a place and enter the place label, the x coordinate value of the local coordinate system (X), the y coordinate value of the local coordinate system (Y) and optionally a yaw angle value to calculate the global view direction (yaw). The given values determine the image filename (date_time_placeLabel_X_Y_yaw_pitch.jpg). Date, time and pitch are set automatically.
For images taken upside down an EXIF orientation is set. Before calculating codebook/PCA/index rotate the images accordingly. On Linux you may use exiftran -ai $(find . -type f) within the image folder.