Don Gagne
7 years ago
committed by
GitHub
14 changed files with 801 additions and 10 deletions
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#include "TerrainTile.h" |
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#include "JsonHelper.h" |
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#include "QGCMapEngine.h" |
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#include <QJsonDocument> |
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#include <QJsonObject> |
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#include <QJsonArray> |
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#include <QDataStream> |
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QGC_LOGGING_CATEGORY(TerrainTileLog, "TerrainTileLog") |
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const char* TerrainTile::_jsonStatusKey = "status"; |
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const char* TerrainTile::_jsonDataKey = "data"; |
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const char* TerrainTile::_jsonBoundsKey = "bounds"; |
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const char* TerrainTile::_jsonSouthWestKey = "sw"; |
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const char* TerrainTile::_jsonNorthEastKey = "ne"; |
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const char* TerrainTile::_jsonStatsKey = "stats"; |
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const char* TerrainTile::_jsonMaxElevationKey = "max"; |
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const char* TerrainTile::_jsonMinElevationKey = "min"; |
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const char* TerrainTile::_jsonAvgElevationKey = "avg"; |
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const char* TerrainTile::_jsonCarpetKey = "carpet"; |
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TerrainTile::TerrainTile() |
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: _minElevation(-1.0) |
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, _maxElevation(-1.0) |
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, _avgElevation(-1.0) |
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, _data(NULL) |
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, _gridSizeLat(-1) |
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, _gridSizeLon(-1) |
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, _isValid(false) |
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{ |
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} |
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TerrainTile::~TerrainTile() |
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{ |
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if (_data) { |
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for (int i = 0; i < _gridSizeLat; i++) { |
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delete _data[i]; |
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} |
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delete _data; |
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_data = NULL; |
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} |
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} |
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TerrainTile::TerrainTile(QByteArray byteArray) |
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: _minElevation(-1.0) |
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, _maxElevation(-1.0) |
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, _avgElevation(-1.0) |
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, _data(NULL) |
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, _gridSizeLat(-1) |
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, _gridSizeLon(-1) |
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, _isValid(false) |
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{ |
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QDataStream stream(byteArray); |
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float lat,lon; |
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stream >> lat |
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>> lon; |
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_southWest.setLatitude(lat); |
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_southWest.setLongitude(lon); |
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stream >> lat |
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>> lon; |
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_northEast.setLatitude(lat); |
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_northEast.setLongitude(lon); |
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stream >> _minElevation |
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>> _maxElevation |
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>> _avgElevation |
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>> _gridSizeLat |
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>> _gridSizeLon; |
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qCDebug(TerrainTileLog) << "Loading terrain tile: " << _southWest << " - " << _northEast; |
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qCDebug(TerrainTileLog) << "min:max:avg:sizeLat:sizeLon" << _minElevation << _maxElevation << _avgElevation << _gridSizeLat << _gridSizeLon; |
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for (int i = 0; i < _gridSizeLat; i++) { |
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if (i == 0) { |
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_data = new int16_t*[_gridSizeLat]; |
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for (int k = 0; k < _gridSizeLat; k++) { |
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_data[k] = new int16_t[_gridSizeLon]; |
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} |
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} |
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for (int j = 0; j < _gridSizeLon; j++) { |
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if (stream.atEnd()) { |
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qWarning() << "Terrain tile binary data does not contain all data"; |
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return; |
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} |
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stream >> _data[i][j]; |
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} |
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} |
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_isValid = true; |
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} |
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bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const |
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{ |
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if (!_isValid) { |
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qCDebug(TerrainTileLog) << "isIn requested, but tile not valid"; |
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return false; |
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} |
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bool ret = coordinate.latitude() >= _southWest.latitude() && coordinate.longitude() >= _southWest.longitude() && |
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coordinate.latitude() <= _northEast.latitude() && coordinate.longitude() <= _northEast.longitude(); |
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qCDebug(TerrainTileLog) << "Checking isIn: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast << ": " << ret; |
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return ret; |
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} |
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double TerrainTile::elevation(const QGeoCoordinate& coordinate) const |
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{ |
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if (_isValid) { |
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qCDebug(TerrainTileLog) << "elevation: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast; |
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// Get the index at resolution of 1 arc second
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int indexLat = _latToDataIndex(coordinate.latitude()); |
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int indexLon = _lonToDataIndex(coordinate.longitude()); |
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qCDebug(TerrainTileLog) << "indexLat:indexLon" << indexLat << indexLon << "elevation" << _data[indexLat][indexLon]; |
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return static_cast<double>(_data[indexLat][indexLon]); |
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} else { |
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qCDebug(TerrainTileLog) << "Asking for elevation, but no valid data."; |
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return -1.0; |
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} |
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} |
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QGeoCoordinate TerrainTile::centerCoordinate(void) const |
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{ |
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return _southWest.atDistanceAndAzimuth(_southWest.distanceTo(_northEast) / 2.0, _southWest.azimuthTo(_northEast)); |
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} |
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QByteArray TerrainTile::serialize(QByteArray input) |
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{ |
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QJsonParseError parseError; |
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QJsonDocument document = QJsonDocument::fromJson(input, &parseError); |
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if (parseError.error != QJsonParseError::NoError) { |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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QByteArray byteArray; |
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QDataStream stream(&byteArray, QIODevice::WriteOnly); |
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if (!document.isObject()) { |
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qCDebug(TerrainTileLog) << "Terrain tile json doc is no object"; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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QJsonObject rootObject = document.object(); |
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QString errorString; |
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QList<JsonHelper::KeyValidateInfo> rootVersionKeyInfoList = { |
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{ _jsonStatusKey, QJsonValue::String, true }, |
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{ _jsonDataKey, QJsonValue::Object, true }, |
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}; |
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if (!JsonHelper::validateKeys(rootObject, rootVersionKeyInfoList, errorString)) { |
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qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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if (rootObject[_jsonStatusKey].toString() != "success") { |
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qCDebug(TerrainTileLog) << "Invalid terrain tile."; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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const QJsonObject& dataObject = rootObject[_jsonDataKey].toObject(); |
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QList<JsonHelper::KeyValidateInfo> dataVersionKeyInfoList = { |
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{ _jsonBoundsKey, QJsonValue::Object, true }, |
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{ _jsonStatsKey, QJsonValue::Object, true }, |
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{ _jsonCarpetKey, QJsonValue::Array, true }, |
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}; |
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if (!JsonHelper::validateKeys(dataObject, dataVersionKeyInfoList, errorString)) { |
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qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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// Bounds
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const QJsonObject& boundsObject = dataObject[_jsonBoundsKey].toObject(); |
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QList<JsonHelper::KeyValidateInfo> boundsVersionKeyInfoList = { |
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{ _jsonSouthWestKey, QJsonValue::Array, true }, |
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{ _jsonNorthEastKey, QJsonValue::Array, true }, |
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}; |
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if (!JsonHelper::validateKeys(boundsObject, boundsVersionKeyInfoList, errorString)) { |
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qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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const QJsonArray& swArray = boundsObject[_jsonSouthWestKey].toArray(); |
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const QJsonArray& neArray = boundsObject[_jsonNorthEastKey].toArray(); |
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if (swArray.count() < 2 || neArray.count() < 2 ) { |
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qCDebug(TerrainTileLog) << "Incomplete bounding location"; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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stream << static_cast<float>(swArray[0].toDouble()); |
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stream << static_cast<float>(swArray[1].toDouble()); |
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stream << static_cast<float>(neArray[0].toDouble()); |
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stream << static_cast<float>(neArray[1].toDouble()); |
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// Stats
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const QJsonObject& statsObject = dataObject[_jsonStatsKey].toObject(); |
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QList<JsonHelper::KeyValidateInfo> statsVersionKeyInfoList = { |
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{ _jsonMinElevationKey, QJsonValue::Double, true }, |
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{ _jsonMaxElevationKey, QJsonValue::Double, true }, |
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{ _jsonAvgElevationKey, QJsonValue::Double, true }, |
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}; |
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if (!JsonHelper::validateKeys(statsObject, statsVersionKeyInfoList, errorString)) { |
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qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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stream << static_cast<int16_t>(statsObject[_jsonMinElevationKey].toInt()); |
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stream << static_cast<int16_t>(statsObject[_jsonMaxElevationKey].toInt()); |
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stream << static_cast<float>(statsObject[_jsonAvgElevationKey].toDouble()); |
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// Carpet
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const QJsonArray& carpetArray = dataObject[_jsonCarpetKey].toArray(); |
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int gridSizeLat = carpetArray.count(); |
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stream << static_cast<int16_t>(gridSizeLat); |
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int gridSizeLon = 0; |
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qCDebug(TerrainTileLog) << "Received tile has size in latitude direction: " << carpetArray.count(); |
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for (int i = 0; i < gridSizeLat; i++) { |
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const QJsonArray& row = carpetArray[i].toArray(); |
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if (i == 0) { |
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gridSizeLon = row.count(); |
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stream << static_cast<int16_t>(gridSizeLon); |
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qCDebug(TerrainTileLog) << "Received tile has size in longitued direction: " << row.count(); |
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} |
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if (row.count() < gridSizeLon) { |
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qCDebug(TerrainTileLog) << "Expected row array of " << gridSizeLon << ", instead got " << row.count(); |
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QByteArray emptyArray; |
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return emptyArray; |
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} |
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for (int j = 0; j < gridSizeLon; j++) { |
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stream << static_cast<int16_t>(row[j].toDouble()); |
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} |
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} |
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return byteArray; |
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} |
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int TerrainTile::_latToDataIndex(double latitude) const |
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{ |
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if (isValid() && _southWest.isValid() && _northEast.isValid()) { |
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return qRound((latitude - _southWest.latitude()) / (_northEast.latitude() - _southWest.latitude()) * (_gridSizeLat - 1)); |
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} else { |
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return -1; |
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} |
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} |
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int TerrainTile::_lonToDataIndex(double longitude) const |
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{ |
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if (isValid() && _southWest.isValid() && _northEast.isValid()) { |
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return qRound((longitude - _southWest.longitude()) / (_northEast.longitude() - _southWest.longitude()) * (_gridSizeLon - 1)); |
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} else { |
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return -1; |
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} |
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} |
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@ -0,0 +1,126 @@
@@ -0,0 +1,126 @@
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#ifndef TERRAINTILE_H |
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#define TERRAINTILE_H |
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#include "QGCLoggingCategory.h" |
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#include <QGeoCoordinate> |
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Q_DECLARE_LOGGING_CATEGORY(TerrainTileLog) |
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/**
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* @brief The TerrainTile class |
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* |
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* Implements an interface for https://developers.airmap.com/v2.0/docs/elevation-api
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*/ |
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class TerrainTile |
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{ |
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public: |
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TerrainTile(); |
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~TerrainTile(); |
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/**
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* Constructor from json doc with elevation data (either from file or web) |
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* |
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* @param document |
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*/ |
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TerrainTile(QJsonDocument document); |
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/**
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* Constructor from serialized elevation data (either from file or web) |
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* |
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* @param document |
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*/ |
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TerrainTile(QByteArray byteArray); |
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/**
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* Check for whether a coordinate lies within this tile |
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* |
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* @param coordinate |
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* @return true if within |
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*/ |
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bool isIn(const QGeoCoordinate& coordinate) const; |
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/**
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* Check whether valid data is loaded |
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* |
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* @return true if data is valid |
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*/ |
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bool isValid(void) const { return _isValid; } |
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/**
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* Evaluates the elevation at the given coordinate |
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* |
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* @param coordinate |
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* @return elevation |
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*/ |
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double elevation(const QGeoCoordinate& coordinate) const; |
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/**
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* Accessor for the minimum elevation of the tile |
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* |
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* @return minimum elevation |
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*/ |
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double minElevation(void) const { return _minElevation; } |
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/**
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* Accessor for the maximum elevation of the tile |
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* |
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* @return maximum elevation |
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*/ |
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double maxElevation(void) const { return _maxElevation; } |
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/**
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* Accessor for the average elevation of the tile |
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* |
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* @return average elevation |
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*/ |
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double avgElevation(void) const { return _avgElevation; } |
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/**
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* Accessor for the center coordinate |
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* |
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* @return center coordinate |
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*/ |
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QGeoCoordinate centerCoordinate(void) const; |
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/**
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* Serialize data |
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* |
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* @return serialized data |
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*/ |
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static QByteArray serialize(QByteArray input); |
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/// Approximate spacing of the elevation data measurement points
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static constexpr double terrainAltitudeSpacing = 30.0; |
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private: |
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inline int _latToDataIndex(double latitude) const; |
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inline int _lonToDataIndex(double longitude) const; |
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QGeoCoordinate _southWest; /// South west corner of the tile
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QGeoCoordinate _northEast; /// North east corner of the tile
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int16_t _minElevation; /// Minimum elevation in tile
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int16_t _maxElevation; /// Maximum elevation in tile
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float _avgElevation; /// Average elevation of the tile
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int16_t** _data; /// 2D elevation data array
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int16_t _gridSizeLat; /// data grid size in latitude direction
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int16_t _gridSizeLon; /// data grid size in longitude direction
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bool _isValid; /// data loaded is valid
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// Json keys
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static const char* _jsonStatusKey; |
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static const char* _jsonDataKey; |
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static const char* _jsonBoundsKey; |
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static const char* _jsonSouthWestKey; |
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static const char* _jsonNorthEastKey; |
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static const char* _jsonStatsKey; |
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static const char* _jsonMaxElevationKey; |
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static const char* _jsonMinElevationKey; |
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static const char* _jsonAvgElevationKey; |
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static const char* _jsonCarpetKey; |
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}; |
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#endif // TERRAINTILE_H
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