106 lines
2.7 KiB
C++
106 lines
2.7 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2016 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <gazebo/gazebo_config.h>
|
||
|
|
|
||
|
|
#ifdef HAVE_GDAL
|
||
|
|
# pragma GCC diagnostic push
|
||
|
|
# pragma GCC diagnostic ignored "-Wfloat-equal"
|
||
|
|
# include <gdalwarper.h>
|
||
|
|
# include <gdal_priv.h>
|
||
|
|
# pragma GCC diagnostic pop
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include "gazebo/common/Console.hh"
|
||
|
|
#include "gazebo/common/ImageHeightmap.hh"
|
||
|
|
#include "gazebo/common/HeightmapData.hh"
|
||
|
|
#include "gazebo/common/Dem.hh"
|
||
|
|
|
||
|
|
|
||
|
|
using namespace gazebo;
|
||
|
|
using namespace common;
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////
|
||
|
|
HeightmapData *HeightmapDataLoader::LoadImageAsTerrain(
|
||
|
|
const std::string &_filename)
|
||
|
|
{
|
||
|
|
ImageHeightmap *img = new ImageHeightmap();
|
||
|
|
|
||
|
|
if (img->Load(_filename) != 0)
|
||
|
|
{
|
||
|
|
gzerr << "Unable to load an image as a terrain [" << _filename << "]\n";
|
||
|
|
return nullptr;
|
||
|
|
}
|
||
|
|
|
||
|
|
return static_cast<HeightmapData *>(img);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef HAVE_GDAL
|
||
|
|
//////////////////////////////////////////////////
|
||
|
|
HeightmapData *HeightmapDataLoader::LoadDEMAsTerrain(
|
||
|
|
const std::string &_filename)
|
||
|
|
{
|
||
|
|
Dem *dem = new Dem();
|
||
|
|
if (dem->Load(_filename) != 0)
|
||
|
|
{
|
||
|
|
gzerr << "Unable to load a DEM file as a terrain [" << _filename << "]\n";
|
||
|
|
return nullptr;
|
||
|
|
}
|
||
|
|
return static_cast<HeightmapData *>(dem);
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////
|
||
|
|
HeightmapData *HeightmapDataLoader::LoadTerrainFile(
|
||
|
|
const std::string &_filename)
|
||
|
|
{
|
||
|
|
// Register the GDAL drivers
|
||
|
|
GDALAllRegister();
|
||
|
|
|
||
|
|
GDALDataset *poDataset = reinterpret_cast<GDALDataset *>
|
||
|
|
(GDALOpen(_filename.c_str(), GA_ReadOnly));
|
||
|
|
|
||
|
|
if (!poDataset)
|
||
|
|
{
|
||
|
|
gzerr << "Unrecognized terrain format in file [" << _filename << "]\n";
|
||
|
|
return nullptr;
|
||
|
|
}
|
||
|
|
|
||
|
|
std::string fileFormat = poDataset->GetDriver()->GetDescription();
|
||
|
|
GDALClose(reinterpret_cast<GDALDataset *>(poDataset));
|
||
|
|
|
||
|
|
// Check if the heightmap file is an image
|
||
|
|
if (fileFormat == "JPEG" || fileFormat == "PNG")
|
||
|
|
{
|
||
|
|
// Load the terrain file as an image
|
||
|
|
return LoadImageAsTerrain(_filename);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// Load the terrain file as a DEM
|
||
|
|
return LoadDEMAsTerrain(_filename);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
HeightmapData *HeightmapDataLoader::LoadTerrainFile(
|
||
|
|
const std::string &_filename)
|
||
|
|
{
|
||
|
|
// Load the terrain file as an image
|
||
|
|
return LoadImageAsTerrain(_filename);
|
||
|
|
}
|
||
|
|
#endif
|