Don Gagne
7 years ago
committed by
GitHub
14 changed files with 801 additions and 10 deletions
@ -0,0 +1,258 @@ |
|||||||
|
#include "TerrainTile.h" |
||||||
|
#include "JsonHelper.h" |
||||||
|
#include "QGCMapEngine.h" |
||||||
|
|
||||||
|
#include <QJsonDocument> |
||||||
|
#include <QJsonObject> |
||||||
|
#include <QJsonArray> |
||||||
|
#include <QDataStream> |
||||||
|
|
||||||
|
QGC_LOGGING_CATEGORY(TerrainTileLog, "TerrainTileLog") |
||||||
|
|
||||||
|
const char* TerrainTile::_jsonStatusKey = "status"; |
||||||
|
const char* TerrainTile::_jsonDataKey = "data"; |
||||||
|
const char* TerrainTile::_jsonBoundsKey = "bounds"; |
||||||
|
const char* TerrainTile::_jsonSouthWestKey = "sw"; |
||||||
|
const char* TerrainTile::_jsonNorthEastKey = "ne"; |
||||||
|
const char* TerrainTile::_jsonStatsKey = "stats"; |
||||||
|
const char* TerrainTile::_jsonMaxElevationKey = "max"; |
||||||
|
const char* TerrainTile::_jsonMinElevationKey = "min"; |
||||||
|
const char* TerrainTile::_jsonAvgElevationKey = "avg"; |
||||||
|
const char* TerrainTile::_jsonCarpetKey = "carpet"; |
||||||
|
|
||||||
|
TerrainTile::TerrainTile() |
||||||
|
: _minElevation(-1.0) |
||||||
|
, _maxElevation(-1.0) |
||||||
|
, _avgElevation(-1.0) |
||||||
|
, _data(NULL) |
||||||
|
, _gridSizeLat(-1) |
||||||
|
, _gridSizeLon(-1) |
||||||
|
, _isValid(false) |
||||||
|
{ |
||||||
|
|
||||||
|
} |
||||||
|
|
||||||
|
TerrainTile::~TerrainTile() |
||||||
|
{ |
||||||
|
if (_data) { |
||||||
|
for (int i = 0; i < _gridSizeLat; i++) { |
||||||
|
delete _data[i]; |
||||||
|
} |
||||||
|
delete _data; |
||||||
|
_data = NULL; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
TerrainTile::TerrainTile(QByteArray byteArray) |
||||||
|
: _minElevation(-1.0) |
||||||
|
, _maxElevation(-1.0) |
||||||
|
, _avgElevation(-1.0) |
||||||
|
, _data(NULL) |
||||||
|
, _gridSizeLat(-1) |
||||||
|
, _gridSizeLon(-1) |
||||||
|
, _isValid(false) |
||||||
|
{ |
||||||
|
QDataStream stream(byteArray); |
||||||
|
|
||||||
|
float lat,lon; |
||||||
|
stream >> lat |
||||||
|
>> lon; |
||||||
|
_southWest.setLatitude(lat); |
||||||
|
_southWest.setLongitude(lon); |
||||||
|
stream >> lat |
||||||
|
>> lon; |
||||||
|
_northEast.setLatitude(lat); |
||||||
|
_northEast.setLongitude(lon); |
||||||
|
|
||||||
|
|
||||||
|
stream >> _minElevation |
||||||
|
>> _maxElevation |
||||||
|
>> _avgElevation |
||||||
|
>> _gridSizeLat |
||||||
|
>> _gridSizeLon; |
||||||
|
|
||||||
|
qCDebug(TerrainTileLog) << "Loading terrain tile: " << _southWest << " - " << _northEast; |
||||||
|
qCDebug(TerrainTileLog) << "min:max:avg:sizeLat:sizeLon" << _minElevation << _maxElevation << _avgElevation << _gridSizeLat << _gridSizeLon; |
||||||
|
|
||||||
|
for (int i = 0; i < _gridSizeLat; i++) { |
||||||
|
if (i == 0) { |
||||||
|
_data = new int16_t*[_gridSizeLat]; |
||||||
|
for (int k = 0; k < _gridSizeLat; k++) { |
||||||
|
_data[k] = new int16_t[_gridSizeLon]; |
||||||
|
} |
||||||
|
} |
||||||
|
for (int j = 0; j < _gridSizeLon; j++) { |
||||||
|
if (stream.atEnd()) { |
||||||
|
qWarning() << "Terrain tile binary data does not contain all data"; |
||||||
|
return; |
||||||
|
} |
||||||
|
stream >> _data[i][j]; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
_isValid = true; |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const |
||||||
|
{ |
||||||
|
if (!_isValid) { |
||||||
|
qCDebug(TerrainTileLog) << "isIn requested, but tile not valid"; |
||||||
|
return false; |
||||||
|
} |
||||||
|
bool ret = coordinate.latitude() >= _southWest.latitude() && coordinate.longitude() >= _southWest.longitude() && |
||||||
|
coordinate.latitude() <= _northEast.latitude() && coordinate.longitude() <= _northEast.longitude(); |
||||||
|
qCDebug(TerrainTileLog) << "Checking isIn: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast << ": " << ret; |
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
double TerrainTile::elevation(const QGeoCoordinate& coordinate) const |
||||||
|
{ |
||||||
|
if (_isValid) { |
||||||
|
qCDebug(TerrainTileLog) << "elevation: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast; |
||||||
|
// Get the index at resolution of 1 arc second
|
||||||
|
int indexLat = _latToDataIndex(coordinate.latitude()); |
||||||
|
int indexLon = _lonToDataIndex(coordinate.longitude()); |
||||||
|
qCDebug(TerrainTileLog) << "indexLat:indexLon" << indexLat << indexLon << "elevation" << _data[indexLat][indexLon]; |
||||||
|
return static_cast<double>(_data[indexLat][indexLon]); |
||||||
|
} else { |
||||||
|
qCDebug(TerrainTileLog) << "Asking for elevation, but no valid data."; |
||||||
|
return -1.0; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
QGeoCoordinate TerrainTile::centerCoordinate(void) const |
||||||
|
{ |
||||||
|
return _southWest.atDistanceAndAzimuth(_southWest.distanceTo(_northEast) / 2.0, _southWest.azimuthTo(_northEast)); |
||||||
|
} |
||||||
|
|
||||||
|
QByteArray TerrainTile::serialize(QByteArray input) |
||||||
|
{ |
||||||
|
QJsonParseError parseError; |
||||||
|
QJsonDocument document = QJsonDocument::fromJson(input, &parseError); |
||||||
|
if (parseError.error != QJsonParseError::NoError) { |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
|
||||||
|
QByteArray byteArray; |
||||||
|
QDataStream stream(&byteArray, QIODevice::WriteOnly); |
||||||
|
if (!document.isObject()) { |
||||||
|
qCDebug(TerrainTileLog) << "Terrain tile json doc is no object"; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
QJsonObject rootObject = document.object(); |
||||||
|
|
||||||
|
QString errorString; |
||||||
|
QList<JsonHelper::KeyValidateInfo> rootVersionKeyInfoList = { |
||||||
|
{ _jsonStatusKey, QJsonValue::String, true }, |
||||||
|
{ _jsonDataKey, QJsonValue::Object, true }, |
||||||
|
}; |
||||||
|
if (!JsonHelper::validateKeys(rootObject, rootVersionKeyInfoList, errorString)) { |
||||||
|
qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
|
||||||
|
if (rootObject[_jsonStatusKey].toString() != "success") { |
||||||
|
qCDebug(TerrainTileLog) << "Invalid terrain tile."; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
const QJsonObject& dataObject = rootObject[_jsonDataKey].toObject(); |
||||||
|
QList<JsonHelper::KeyValidateInfo> dataVersionKeyInfoList = { |
||||||
|
{ _jsonBoundsKey, QJsonValue::Object, true }, |
||||||
|
{ _jsonStatsKey, QJsonValue::Object, true }, |
||||||
|
{ _jsonCarpetKey, QJsonValue::Array, true }, |
||||||
|
}; |
||||||
|
if (!JsonHelper::validateKeys(dataObject, dataVersionKeyInfoList, errorString)) { |
||||||
|
qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
|
||||||
|
// Bounds
|
||||||
|
const QJsonObject& boundsObject = dataObject[_jsonBoundsKey].toObject(); |
||||||
|
QList<JsonHelper::KeyValidateInfo> boundsVersionKeyInfoList = { |
||||||
|
{ _jsonSouthWestKey, QJsonValue::Array, true }, |
||||||
|
{ _jsonNorthEastKey, QJsonValue::Array, true }, |
||||||
|
}; |
||||||
|
if (!JsonHelper::validateKeys(boundsObject, boundsVersionKeyInfoList, errorString)) { |
||||||
|
qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
const QJsonArray& swArray = boundsObject[_jsonSouthWestKey].toArray(); |
||||||
|
const QJsonArray& neArray = boundsObject[_jsonNorthEastKey].toArray(); |
||||||
|
if (swArray.count() < 2 || neArray.count() < 2 ) { |
||||||
|
qCDebug(TerrainTileLog) << "Incomplete bounding location"; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
stream << static_cast<float>(swArray[0].toDouble()); |
||||||
|
stream << static_cast<float>(swArray[1].toDouble()); |
||||||
|
stream << static_cast<float>(neArray[0].toDouble()); |
||||||
|
stream << static_cast<float>(neArray[1].toDouble()); |
||||||
|
|
||||||
|
// Stats
|
||||||
|
const QJsonObject& statsObject = dataObject[_jsonStatsKey].toObject(); |
||||||
|
QList<JsonHelper::KeyValidateInfo> statsVersionKeyInfoList = { |
||||||
|
{ _jsonMinElevationKey, QJsonValue::Double, true }, |
||||||
|
{ _jsonMaxElevationKey, QJsonValue::Double, true }, |
||||||
|
{ _jsonAvgElevationKey, QJsonValue::Double, true }, |
||||||
|
}; |
||||||
|
if (!JsonHelper::validateKeys(statsObject, statsVersionKeyInfoList, errorString)) { |
||||||
|
qCDebug(TerrainTileLog) << "Error in reading json: " << errorString; |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
stream << static_cast<int16_t>(statsObject[_jsonMinElevationKey].toInt()); |
||||||
|
stream << static_cast<int16_t>(statsObject[_jsonMaxElevationKey].toInt()); |
||||||
|
stream << static_cast<float>(statsObject[_jsonAvgElevationKey].toDouble()); |
||||||
|
|
||||||
|
// Carpet
|
||||||
|
const QJsonArray& carpetArray = dataObject[_jsonCarpetKey].toArray(); |
||||||
|
int gridSizeLat = carpetArray.count(); |
||||||
|
stream << static_cast<int16_t>(gridSizeLat); |
||||||
|
int gridSizeLon = 0; |
||||||
|
qCDebug(TerrainTileLog) << "Received tile has size in latitude direction: " << carpetArray.count(); |
||||||
|
for (int i = 0; i < gridSizeLat; i++) { |
||||||
|
const QJsonArray& row = carpetArray[i].toArray(); |
||||||
|
if (i == 0) { |
||||||
|
gridSizeLon = row.count(); |
||||||
|
stream << static_cast<int16_t>(gridSizeLon); |
||||||
|
qCDebug(TerrainTileLog) << "Received tile has size in longitued direction: " << row.count(); |
||||||
|
} |
||||||
|
if (row.count() < gridSizeLon) { |
||||||
|
qCDebug(TerrainTileLog) << "Expected row array of " << gridSizeLon << ", instead got " << row.count(); |
||||||
|
QByteArray emptyArray; |
||||||
|
return emptyArray; |
||||||
|
} |
||||||
|
for (int j = 0; j < gridSizeLon; j++) { |
||||||
|
stream << static_cast<int16_t>(row[j].toDouble()); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
return byteArray; |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
int TerrainTile::_latToDataIndex(double latitude) const |
||||||
|
{ |
||||||
|
if (isValid() && _southWest.isValid() && _northEast.isValid()) { |
||||||
|
return qRound((latitude - _southWest.latitude()) / (_northEast.latitude() - _southWest.latitude()) * (_gridSizeLat - 1)); |
||||||
|
} else { |
||||||
|
return -1; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
int TerrainTile::_lonToDataIndex(double longitude) const |
||||||
|
{ |
||||||
|
if (isValid() && _southWest.isValid() && _northEast.isValid()) { |
||||||
|
return qRound((longitude - _southWest.longitude()) / (_northEast.longitude() - _southWest.longitude()) * (_gridSizeLon - 1)); |
||||||
|
} else { |
||||||
|
return -1; |
||||||
|
} |
||||||
|
} |
||||||
@ -0,0 +1,126 @@ |
|||||||
|
#ifndef TERRAINTILE_H |
||||||
|
#define TERRAINTILE_H |
||||||
|
|
||||||
|
#include "QGCLoggingCategory.h" |
||||||
|
|
||||||
|
#include <QGeoCoordinate> |
||||||
|
|
||||||
|
Q_DECLARE_LOGGING_CATEGORY(TerrainTileLog) |
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief The TerrainTile class |
||||||
|
* |
||||||
|
* Implements an interface for https://developers.airmap.com/v2.0/docs/elevation-api
|
||||||
|
*/ |
||||||
|
|
||||||
|
class TerrainTile |
||||||
|
{ |
||||||
|
public: |
||||||
|
TerrainTile(); |
||||||
|
~TerrainTile(); |
||||||
|
|
||||||
|
/**
|
||||||
|
* Constructor from json doc with elevation data (either from file or web) |
||||||
|
* |
||||||
|
* @param document |
||||||
|
*/ |
||||||
|
TerrainTile(QJsonDocument document); |
||||||
|
|
||||||
|
/**
|
||||||
|
* Constructor from serialized elevation data (either from file or web) |
||||||
|
* |
||||||
|
* @param document |
||||||
|
*/ |
||||||
|
TerrainTile(QByteArray byteArray); |
||||||
|
|
||||||
|
/**
|
||||||
|
* Check for whether a coordinate lies within this tile |
||||||
|
* |
||||||
|
* @param coordinate |
||||||
|
* @return true if within |
||||||
|
*/ |
||||||
|
bool isIn(const QGeoCoordinate& coordinate) const; |
||||||
|
|
||||||
|
/**
|
||||||
|
* Check whether valid data is loaded |
||||||
|
* |
||||||
|
* @return true if data is valid |
||||||
|
*/ |
||||||
|
bool isValid(void) const { return _isValid; } |
||||||
|
|
||||||
|
/**
|
||||||
|
* Evaluates the elevation at the given coordinate |
||||||
|
* |
||||||
|
* @param coordinate |
||||||
|
* @return elevation |
||||||
|
*/ |
||||||
|
double elevation(const QGeoCoordinate& coordinate) const; |
||||||
|
|
||||||
|
/**
|
||||||
|
* Accessor for the minimum elevation of the tile |
||||||
|
* |
||||||
|
* @return minimum elevation |
||||||
|
*/ |
||||||
|
double minElevation(void) const { return _minElevation; } |
||||||
|
|
||||||
|
/**
|
||||||
|
* Accessor for the maximum elevation of the tile |
||||||
|
* |
||||||
|
* @return maximum elevation |
||||||
|
*/ |
||||||
|
double maxElevation(void) const { return _maxElevation; } |
||||||
|
|
||||||
|
/**
|
||||||
|
* Accessor for the average elevation of the tile |
||||||
|
* |
||||||
|
* @return average elevation |
||||||
|
*/ |
||||||
|
double avgElevation(void) const { return _avgElevation; } |
||||||
|
|
||||||
|
/**
|
||||||
|
* Accessor for the center coordinate |
||||||
|
* |
||||||
|
* @return center coordinate |
||||||
|
*/ |
||||||
|
QGeoCoordinate centerCoordinate(void) const; |
||||||
|
|
||||||
|
/**
|
||||||
|
* Serialize data |
||||||
|
* |
||||||
|
* @return serialized data |
||||||
|
*/ |
||||||
|
static QByteArray serialize(QByteArray input); |
||||||
|
|
||||||
|
/// Approximate spacing of the elevation data measurement points
|
||||||
|
static constexpr double terrainAltitudeSpacing = 30.0; |
||||||
|
|
||||||
|
private: |
||||||
|
inline int _latToDataIndex(double latitude) const; |
||||||
|
inline int _lonToDataIndex(double longitude) const; |
||||||
|
|
||||||
|
QGeoCoordinate _southWest; /// South west corner of the tile
|
||||||
|
QGeoCoordinate _northEast; /// North east corner of the tile
|
||||||
|
|
||||||
|
int16_t _minElevation; /// Minimum elevation in tile
|
||||||
|
int16_t _maxElevation; /// Maximum elevation in tile
|
||||||
|
float _avgElevation; /// Average elevation of the tile
|
||||||
|
|
||||||
|
int16_t** _data; /// 2D elevation data array
|
||||||
|
int16_t _gridSizeLat; /// data grid size in latitude direction
|
||||||
|
int16_t _gridSizeLon; /// data grid size in longitude direction
|
||||||
|
bool _isValid; /// data loaded is valid
|
||||||
|
|
||||||
|
// Json keys
|
||||||
|
static const char* _jsonStatusKey; |
||||||
|
static const char* _jsonDataKey; |
||||||
|
static const char* _jsonBoundsKey; |
||||||
|
static const char* _jsonSouthWestKey; |
||||||
|
static const char* _jsonNorthEastKey; |
||||||
|
static const char* _jsonStatsKey; |
||||||
|
static const char* _jsonMaxElevationKey; |
||||||
|
static const char* _jsonMinElevationKey; |
||||||
|
static const char* _jsonAvgElevationKey; |
||||||
|
static const char* _jsonCarpetKey; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif // TERRAINTILE_H
|
||||||
Loading…
Reference in new issue