00001 //================================================================================================= 00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef _GEOTIFFWRITER_H__ 00030 #define _GEOTIFFWRITER_H__ 00031 00032 #include "map_writer_interface.h" 00033 00034 #include <Eigen/Geometry> 00035 00036 #include <nav_msgs/OccupancyGrid.h> 00037 #include <nav_msgs/MapMetaData.h> 00038 00039 #include <QtGui/QImage> 00040 #include <QtGui/QApplication> 00041 #include <QtGui/QFont> 00042 #include <QtGui/QPen> 00043 00044 #include <hector_map_tools/HectorMapTools.h> 00045 00046 00047 namespace hector_geotiff{ 00048 00049 00050 class GeotiffWriter : public MapWriterInterface 00051 { 00052 public: 00053 GeotiffWriter(bool useCheckerboardCacheIn = false); 00054 virtual ~GeotiffWriter(); 00055 00056 //setUsePrecalcGrid(bool usePrecalc, const Eigen::Vector2f& size); 00057 00058 void setMapFileName(const std::string& mapFileName); 00059 void setMapFilePath(const std::string& mapFilePath); 00060 void setUseUtcTimeSuffix(bool useSuffix); 00061 00062 void setupImageSize(); 00063 bool setupTransforms(const nav_msgs::OccupancyGrid& map); 00064 void drawBackgroundCheckerboard(); 00065 void drawMap(const nav_msgs::OccupancyGrid& map, bool draw_explored_space_grid = true); 00066 void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color); 00067 void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points); 00068 void drawCoords(); 00069 std::string getBasePathAndFileName() const; 00070 void writeGeotiffImage(); 00071 00072 00073 protected: 00074 00075 void transformPainterToImgCoords(QPainter& painter); 00076 void drawCross(QPainter& painter, const Eigen::Vector2f& coords); 00077 void drawArrow(QPainter& painter); 00078 void drawCoordSystem(QPainter& painter); 00079 00080 float resolution; 00081 Eigen::Vector2f origin; 00082 00083 int resolutionFactor; 00084 float resolutionFactorf; 00085 00086 bool useCheckerboardCache; 00087 bool use_utc_time_suffix_; 00088 00089 float pixelsPerMapMeter; 00090 float pixelsPerGeoTiffMeter; 00091 00092 Eigen::Vector2i minCoordsMap; 00093 Eigen::Vector2i maxCoordsMap; 00094 00095 Eigen::Vector2i sizeMap; 00096 Eigen::Vector2f sizeMapf; 00097 00098 Eigen::Vector2f rightBottomMarginMeters; 00099 Eigen::Vector2f rightBottomMarginPixelsf; 00100 Eigen::Vector2i rightBottomMarginPixels; 00101 00102 Eigen::Vector2f leftTopMarginMeters; 00103 00104 Eigen::Vector2f totalMeters; 00105 00106 Eigen::Vector2i geoTiffSizePixels; 00107 00108 Eigen::Vector2f mapOrigInGeotiff; 00109 Eigen::Vector2f mapEndInGeotiff; 00110 00111 std::string map_file_name_; 00112 std::string map_file_path_; 00113 00114 QImage image; 00115 QImage checkerboard_cache; 00116 QApplication* app; 00117 QFont map_draw_font_; 00118 00119 HectorMapTools::CoordinateTransformer<float> world_map_transformer_; 00120 HectorMapTools::CoordinateTransformer<float> map_geo_transformer_; 00121 HectorMapTools::CoordinateTransformer<float> world_geo_transformer_; 00122 00123 nav_msgs::MapMetaData cached_map_meta_data_; 00124 00125 int fake_argc_; 00126 char** fake_argv_; 00127 }; 00128 00129 } 00130 00131 #endif