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