add support for bing map url quadkey in ros1 branch #126
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Cool! Would you mind making the same change for ROS2? |
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Sorry. I am not familiar with ROS2 now. Hope the ROS1 commit can be merged to the branch. haha |
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Alright, I'll do a review and forward port myself. |
| @@ -45,6 +45,11 @@ std::string tileURL(TileId const& tile_id) | |||
| boost::replace_all(url, "{x}", std::to_string(tile_id.coord.x)); | |||
| boost::replace_all(url, "{y}", std::to_string(tile_id.coord.y)); | |||
| boost::replace_all(url, "{z}", std::to_string(tile_id.zoom)); | |||
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| /* Added by Peixuan Shu to handle bing map */ | |||
| boost::replace_all(url, "{q}", TilesToQuadkey(tile_id.coord.x, | |||
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This removes {q} from the url. Doesn't this break all other providers except bing?
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No influence on other map providers as there is no '{q}' in their urls.
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Alright, good point.
Would you mind naming it {quadkey} in the url? Because {q} is often used for quaternion in the context of coordinate systems and ROS.
| std::stringstream quadkey; | ||
| for (int i = z; i > 0; i--) { | ||
| char b = '0'; | ||
| int mask = 1 << (i - 1); |
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This is a very magical function. Do you have a source for this?
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This is how quadkey converted to tile xyz defined by Microsoft bing map team. Please refer to https://learn.microsoft.com/en-us/bingmaps/articles/bing-maps-tile-system
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Cool, would you mind adding that link in the function description for future reference?
| @@ -45,6 +45,11 @@ std::string tileURL(TileId const& tile_id) | |||
| boost::replace_all(url, "{x}", std::to_string(tile_id.coord.x)); | |||
| boost::replace_all(url, "{y}", std::to_string(tile_id.coord.y)); | |||
| boost::replace_all(url, "{z}", std::to_string(tile_id.zoom)); | |||
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| /* Added by Peixuan Shu to handle bing map */ | |||
| boost::replace_all(url, "{q}", TilesToQuadkey(tile_id.coord.x, | |||
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Alright, good point.
Would you mind naming it {quadkey} in the url? Because {q} is often used for quaternion in the context of coordinate systems and ROS.
| std::stringstream quadkey; | ||
| for (int i = z; i > 0; i--) { | ||
| char b = '0'; | ||
| int mask = 1 << (i - 1); |
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Cool, would you mind adding that link in the function description for future reference?
The bing map uses quadkey rather than tile xyz. The new commit adds support for the bing map quadkey in ros1 branch. For example, you can use the following bing satellite map url now:
http://ecn.t3.tiles.virtualearth.net/tiles/a{q}.jpeg?g=1, where
{q}is the quadkey.