caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 18:21:15 +00:00
Code Issues Packages Projects Releases Wiki Activity

starting on map updatiing

Browse Source
This commit is contained in:
Chris Pham
2018-02-01 19:55:57 -08:00
parent 8bdfbae4ed
commit 4c19caf8bd
2 changed files with 14 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files

108
ground_station/resources/core/mapping.py
View File

@@ -34,12 +34,6 @@ import signing
# Constants
#####################################
_KEYS = []
file_pointer = open('key', 'w')
for i in file_pointer:
_KEYS.append(file_pointer.readline().rstrip())
file_pointer.close()
# Number of pixels in half the earth's circumference at zoom = 21
_EARTHPIX = 268435456
# Number of decimal places for rounding coordinates
@@ -63,7 +57,7 @@ print _KEYS
class GMapsStitcher(object):
def __init__(self, width, height,
latitude, longitude, zoom,
maptype, radius_meters=None, num_tiles=4):
maptype, radius_meters=None, num_tiles=4, debug=False):
self.latitude = latitude
self.longitude = longitude
self.start_latitude = latitude
@@ -75,6 +69,7 @@ class GMapsStitcher(object):
self.radius_meters = radius_meters
self.num_tiles = num_tiles
self.display_image = self._new_image(width, height)
self.debug = debug
# Get the big image here
self._fetch()
@@ -117,9 +112,7 @@ class GMapsStitcher(object):
else:
# make the url
url = urlbase % specs
print url
url = signing.sign_url(url, _KEYS[1])
print url
result = urllib2.urlopen(urllib2.Request(url)).read()
tile_object = PIL.Image.open(BytesIO(result))
if not os.path.exists('Resources/Maps'):
@@ -158,17 +151,8 @@ class GMapsStitcher(object):
for j in range(self.num_tiles):
lon = self._pixels_to_lon(j, lon_pixels)
if j is 0:
self.big_map_lon_small = lon
if j is 19:
self.big_map_lon_big = lon
for k in range(self.num_tiles):
lat = self._pixels_to_lat(k, lat_pixels)
#print "j, k", j, k
if k is 0:
self.big_map_lat_small = lat
if k is 19:
self.big_map_lat_big = lat
tile = self._grab_tile(lon, lat)
big_image.paste(tile, (j * _TILESIZE, k * _TILESIZE))
@@ -179,9 +163,6 @@ class GMapsStitcher(object):
south = self._pixels_to_lat(self.num_tiles - 1, lat_pixels)
return big_image, (north, west), (south, east)
def get_image(self):
return self.display_image
def move_pix(self, dx, dy):
self._constrain_x(dx)
self._constrain_y(dy)
@@ -202,83 +183,14 @@ class GMapsStitcher(object):
def _fetch(self):
self.big_image, self.northwest, self.southeast = self.fetch_tiles()
def _merc_proj(self, lat):
return math.log(math.tan((lat/2.) + (math.pi/4.)))
def move_latlon(self, lat, lon):
# print "Lat", self.big_map_lat_small, self.big_map_lat_big
# print "Lng", self.big_map_lon_small, self.big_map_lon_big
# east = math.radians(self.big_map_lon_big)
# west = math.radians(self.big_map_lon_small)
# north = math.radians(self.big_map_lat_small)
# south = math.radians(self.big_map_lat_big)
# print north, south
# print "east-west", (east-west)
# y_min = self._merc_proj(south)
# y_max = self._merc_proj(north)
# x_factor = self.big_size/(east-west)
# print x_factor
# y_factor = self.big_size/(y_max - y_min)
# print y_factor
# print "rads lon", math.radians(lon)
# x = (math.radians(lon) - east) * x_factor
# y = (y_max - self._merc_proj(math.radians(lat))) * y_factor
# print x, y
# return x*.1, y
viewport_lat_nw, viewport_lon_nw = self.northwest
viewport_lat_se, viewport_lon_se = self.southeast
print "Lat:", viewport_lat_nw, viewport_lat_se
print "Lon:", viewport_lon_nw, viewport_lon_se
viewport_lat_diff = viewport_lat_nw - viewport_lat_se
viewport_lon_diff = viewport_lon_se - viewport_lon_nw
print viewport_lon_diff, viewport_lat_diff
bigimage_width = self.big_image.size[0]
bigimage_height = self.big_image.size[1]
pixel_per_lat = bigimage_height / viewport_lat_diff
pixel_per_lon = bigimage_width / viewport_lon_diff
print "Pixel per:", pixel_per_lat, pixel_per_lon
new_lat_gps_range_percentage = (viewport_lat_nw - lat)
new_lon_gps_range_percentage = (lon - viewport_lon_nw)
print lon, viewport_lon_se
print "Percentages: ", new_lat_gps_range_percentage, new_lon_gps_range_percentage
x = new_lon_gps_range_percentage * pixel_per_lon
y = new_lat_gps_range_percentage * pixel_per_lat
print x, y
return y, x
# east = (self.big_map_lon_big) - (.0034)
# west = (self.big_map_lon_small) + (.0034)
# north = (self.big_map_lat_small) + (.0025)
# south = (self.big_map_lat_big) - (.0025)
# lng_diff = west - east
# lat_diff = north - south
# x = int(((east - lon)/lng_diff)*self.big_image.size[0])
# y = int(((north - lat)/lat_diff)*self.big_image.size[1])
# print x, y
# return x, y
x, y = self._get_cartesian(lat, lon)
def _get_cartesian(self, lat, lon):
viewport_lat_nw, viewport_lon_nw = self.northwest
viewport_lat_se, viewport_lon_se = self.southeast
print "Lat:", viewport_lat_nw, viewport_lat_se
print "Lon:", viewport_lon_nw, viewport_lon_se
# print "Lat:", viewport_lat_nw, viewport_lat_se
# print "Lon:", viewport_lon_nw, viewport_lon_se
viewport_lat_diff = viewport_lat_nw - viewport_lat_se
viewport_lon_diff = viewport_lon_se - viewport_lon_nw
@@ -290,13 +202,13 @@ class GMapsStitcher(object):
pixel_per_lat = bigimage_height / viewport_lat_diff
pixel_per_lon = bigimage_width / viewport_lon_diff
print "Pixel per:", pixel_per_lat, pixel_per_lon
# print "Pixel per:", pixel_per_lat, pixel_per_lon
new_lat_gps_range_percentage = (viewport_lat_nw - lat)
new_lon_gps_range_percentage = (lon - viewport_lon_nw)
print lon, viewport_lon_se
# print lon, viewport_lon_se
print "Percentages: ", new_lat_gps_range_percentage, new_lon_gps_range_percentage
# print "Percentages: ", new_lat_gps_range_percentage, new_lon_gps_range_percentage
x = new_lon_gps_range_percentage * pixel_per_lon
y = new_lat_gps_range_percentage * pixel_per_lat
@@ -310,7 +222,6 @@ class GMapsStitcher(object):
draw.ellipsis((x-size, y-size, x+size, y+size), fill)
else:
draw.rectangle([x-size, y-size, x+size, y+size], fill)
self.update()
@@ -326,3 +237,6 @@ class GMapsStitcher(object):
def update_rover_map_location(self, lat, lon):
print "I did nothing"
def draw_circle(self, lat, lon, radius, fill):
print "I did nothing"

6
ground_station/resources/core/mappingtest.py
View File

@@ -13,9 +13,9 @@ obj.display_image.save("unzoomed.png")
# obj.big_image.save("toobig.jpg")
# obj.display_image.save("zoomed.jpg")
obj.add_gps_location(44.559919, -123.280723, "square", 50, (225,225,225,225))
obj.add_gps_location(44.565094, -123.276110, "square", 50, (225,225,225,225))
obj.add_gps_location(44.565777, -123.278902, "square", 50, (225,225,225,225))
obj.add_gps_location(44.559919, -123.280723, "square", 50, (00, 00, 00, 256))
obj.add_gps_location(44.565094, -123.276110, "square", 50, (00, 00, 00, 256))
obj.add_gps_location(44.565777, -123.278902, "square", 50, (00, 00, 00, 256))
obj.display_image.save("box.png")
obj.center_display(44.567161, -123.278432)
obj.display_image.save("centered.png")