146 lines
4.1 KiB
C++
146 lines
4.1 KiB
C++
/*
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* Copyright (C) 2012 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/common/Assert.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/common/ImageHeightmap.hh"
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using namespace gazebo;
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using namespace common;
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//////////////////////////////////////////////////
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ImageHeightmap::ImageHeightmap()
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{
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}
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//////////////////////////////////////////////////
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int ImageHeightmap::Load(const std::string &_filename)
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{
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if (this->img.Load(_filename) != 0)
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{
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gzerr << "Unable to load image file as a terrain [" << _filename << "]\n";
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return -1;
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}
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return 0;
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}
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//////////////////////////////////////////////////
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void ImageHeightmap::FillHeightMap(int _subSampling,
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unsigned int _vertSize, const math::Vector3 &_size,
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const math::Vector3 &_scale, bool _flipY,
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std::vector<float> &_heights)
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{
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this->FillHeightMap(_subSampling, _vertSize, _size.Ign(), _scale.Ign(),
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_flipY, _heights);
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}
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//////////////////////////////////////////////////
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void ImageHeightmap::FillHeightMap(int _subSampling,
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unsigned int _vertSize, const ignition::math::Vector3d &_size,
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const ignition::math::Vector3d &_scale, bool _flipY,
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std::vector<float> &_heights)
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{
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// Resize the vector to match the size of the vertices.
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_heights.resize(_vertSize * _vertSize);
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int imgHeight = this->GetHeight();
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int imgWidth = this->GetWidth();
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GZ_ASSERT(imgWidth == imgHeight, "Heightmap image must be square");
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// Bytes per row
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unsigned int pitch = this->img.GetPitch();
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// Bytes per pixel
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unsigned int bpp = pitch / imgWidth;
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unsigned char *data = NULL;
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unsigned int count;
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this->img.GetData(&data, count);
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// Iterate over all the vertices
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for (unsigned int y = 0; y < _vertSize; ++y)
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{
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// yf ranges between 0 and 4
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double yf = y / static_cast<double>(_subSampling);
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int y1 = floor(yf);
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int y2 = ceil(yf);
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if (y2 >= imgHeight)
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y2 = imgHeight-1;
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double dy = yf - y1;
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for (unsigned int x = 0; x < _vertSize; ++x)
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{
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double xf = x / static_cast<double>(_subSampling);
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int x1 = floor(xf);
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int x2 = ceil(xf);
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if (x2 >= imgWidth)
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x2 = imgWidth-1;
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double dx = xf - x1;
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double px1 = static_cast<int>(data[y1 * pitch + x1 * bpp]) / 255.0;
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double px2 = static_cast<int>(data[y1 * pitch + x2 * bpp]) / 255.0;
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float h1 = (px1 - ((px1 - px2) * dx));
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double px3 = static_cast<int>(data[y2 * pitch + x1 * bpp]) / 255.0;
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double px4 = static_cast<int>(data[y2 * pitch + x2 * bpp]) / 255.0;
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float h2 = (px3 - ((px3 - px4) * dx));
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float h = (h1 - ((h1 - h2) * dy)) * _scale.Z();
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// invert pixel definition so 1=ground, 0=full height,
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// if the terrain size has a negative z component
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// this is mainly for backward compatibility
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if (_size.Z() < 0)
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h = 1.0 - h;
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// Store the height for future use
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if (!_flipY)
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_heights[y * _vertSize + x] = h;
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else
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_heights[(_vertSize - y - 1) * _vertSize + x] = h;
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}
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}
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delete [] data;
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}
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//////////////////////////////////////////////////
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std::string ImageHeightmap::GetFilename() const
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{
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return this->img.GetFilename();
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}
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//////////////////////////////////////////////////
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unsigned int ImageHeightmap::GetHeight() const
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{
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return this->img.GetHeight();
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}
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//////////////////////////////////////////////////
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unsigned int ImageHeightmap::GetWidth() const
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{
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return this->img.GetWidth();
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}
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//////////////////////////////////////////////////
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float ImageHeightmap::GetMaxElevation() const
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{
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return this->img.GetMaxColor().r;
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}
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