QUrl TileLoader::uriForTile(int x, int y, int zoom) const {
///support both http://wiki.openstreetmap.org/wiki/Slippy_map_tilenames AND lon,lat based API:s
//Bing has min_lat,max_lat min_lon,max_lon API
//double lon1 = ((double)x-0.5)/n_dbl*360.0 -180.0;
//this is the north_west corner of the tile
unsigned int n = (1 << zoom);
double n_dbl = (double)n;
double nw_lon = x/n_dbl*360.0 -180.0;
double lat_rad = atan(sinh(M_PI*(1-2*y/n_dbl)));
double nw_lat = lat_rad * 180.0/M_PI;
double se_lon = ((double)x+1.0)/n_dbl*360.0 -180.0;
double se_rad = atan(sinh(M_PI*(1-2*((double)y+1.0)/n_dbl)));
double se_lat = se_rad * 180.0/M_PI;
double center_lon2 = ((double)x+0.5)/n_dbl*360.0 -180.0;
double lat_rad2 = atan(sinh(M_PI*(1-2*((double)y+0.5)/n_dbl)));
double center_lat2 = lat_rad2 * 180.0/M_PI;
ROS_INFO_STREAM("Tile = " << x <<", "<<y <<" TL lat,lon = "<<nw_lat << ", "<< nw_lon);
ROS_INFO_STREAM("Tile = " << x <<", "<<y <<" BR lat,lon = "<<se_lat << ", "<< se_lon);
std::string object = object_uri_;
// place {x},{y},{z} with appropriate values
replaceRegex(boost::regex("\\{x\\}", boost::regex::icase), object,
std::to_string(x));
replaceRegex(boost::regex("\\{y\\}", boost::regex::icase), object,
std::to_string(y));
replaceRegex(boost::regex("\\{lat\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(center_lat2)));
replaceRegex(boost::regex("\\{lon\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(center_lon2)));
replaceRegex(boost::regex("\\{min_lat\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(se_lat)));
replaceRegex(boost::regex("\\{min_lon\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(nw_lon)));
replaceRegex(boost::regex("\\{max_lat\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(nw_lat)));
replaceRegex(boost::regex("\\{max_lon\\}", boost::regex::icase), object,
replaceCommaWithDot(std::to_string(se_lon)));
replaceRegex(boost::regex("\\{z\\}", boost::regex::icase), object,
std::to_string(zoom_));
ROS_INFO_STREAM("URL = "<<object);
ROS_INFO_STREAM("lat_diff = "<<nw_lat-se_lat<<" lon_diff = "<<se_lon-nw_lon);
const QString qstr = QString::fromStdString(object);
return QUrl(qstr);
}
QUrl TileLoader::uriForTile(int x, int y) const {
std::string object = object_uri_;
// place {x},{y},{z} with appropriate values
replaceRegex(boost::regex("\\{x\\}", boost::regex::icase), object,
std::to_string(x));
replaceRegex(boost::regex("\\{y\\}", boost::regex::icase), object,
std::to_string(y));
replaceRegex(boost::regex("\\{z\\}", boost::regex::icase), object,
std::to_string(zoom_));
const QString qstr = QString::fromStdString(object);
return QUrl(qstr);
}