Added code for map creation and camera control

scripts/python/generateMaps/.vscode/launch.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Current File",
+            "type": "python",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "justMyCode": true
+        }
+    ]
+}

scripts/python/generateMaps/generate_tiles.py

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+import os
+from PIL import Image
+import concurrent.futures
+
+zoom = 16
+path = "output"
+
+def crop_image(filename):
+    img = Image.open(os.path.join(path, filename))
+    center_X, center_Y = filename.removesuffix(".png").split("_")
+    center_X = int(center_X)
+    center_Y = int(center_Y)
+    w, h = img.size
+
+    box_top_left =      (w / 2 - 256,   h / 2 - 256,    w / 2,          h / 2)
+    box_top_right =     (w / 2,         h / 2 - 256,    w / 2 + 256,    h / 2)
+    box_bottom_left =   (w / 2 - 256,   h / 2,          w / 2,          h / 2 + 256)
+    box_bottom_right =  (w / 2,         h / 2,          w / 2 + 256,    h / 2 + 256)
+
+    if not os.path.exists(f"output/{zoom}/{center_X - 1}"):
+        os.mkdir(f"output/{zoom}/{center_X - 1}")
+
+    if not os.path.exists(f"output/{zoom}/{center_X}"):
+        os.mkdir(f"output/{zoom}/{center_X}")
+
+    img.crop(box_top_left).save(f"output/{zoom}/{center_X - 1}/{center_Y - 1}.png")
+    img.crop(box_top_right).save(f"output/{zoom}/{center_X}/{center_Y - 1}.png")
+    img.crop(box_bottom_left).save(f"output/{zoom}/{center_X - 1}/{center_Y}.png")
+    img.crop(box_bottom_right).save(f"output/{zoom}/{center_X}/{center_Y}.png")
+
+    return True
+
+filenames = [f for f in os.listdir(path) if os.path.isfile(os.path.join(path, f))]
+
+# Create output folder
+if not os.path.exists(f"output/{zoom}"):
+	os.mkdir(f"output/{zoom}")
+
+with concurrent.futures.ThreadPoolExecutor() as executor:
+    futures = [executor.submit(crop_image, filename) for filename in filenames]
+    results = [future.result() for future in concurrent.futures.as_completed(futures)]

scripts/python/generateMaps/take_screenshots.py

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+import math
+import requests
+import json
+import pyautogui
+import time
+import os
+
+# parameters
+start_lat = 36.31669444         # degs
+start_lng = -115.38336111       # degs
+
+end_lat = 35.93336111          	# degs
+end_lng = -114.95002778        	# degs
+
+fov = 10                        # deg
+zoom = 16    
+
+# constants
+C = 40075016.686                # meters
+                              
+def deg_to_num(lat_deg, lon_deg, zoom):
+	lat_rad = math.radians(lat_deg)
+	n = 1 << zoom
+	xtile = int((lon_deg + 180.0) / 360.0 * n)
+	ytile = int((1.0 - math.asinh(math.tan(lat_rad)) / math.pi) / 2.0 * n)
+	return xtile, ytile
+
+def num_to_deg(xtile, ytile, zoom):
+  n = 1 << zoom
+  lon_deg = xtile / n * 360.0 - 180.0
+  lat_rad = math.atan(math.sinh(math.pi * (1 - 2 * ytile / n)))
+  lat_deg = math.degrees(lat_rad)
+  return lat_deg, lon_deg
+
+def camera_altitude(lat_deg):
+	mpp = C * math.cos(math.radians(lat_deg)) / math.pow(2, zoom + 8)
+	d = mpp * 1920
+	alt = d / 2 * 1 / math.tan(math.radians(fov) / 2)
+	return alt
+
+# Find the starting and ending points
+start_X, start_Y = deg_to_num(start_lat, start_lng, zoom)
+end_X, end_Y = deg_to_num(end_lat, end_lng, zoom)
+
+time.sleep(2)
+
+# Create output folder
+if not os.path.exists("output"):
+	os.mkdir("output")
+
+# Start looping
+n = 1
+total = math.floor((end_X - start_X) / 2) * math.floor((end_Y - start_Y) / 2)
+for X in range(start_X, end_X, 2):
+	for Y in range(start_Y, end_Y, 2):
+		# Find the center of the screen
+		center_lat, center_lng = num_to_deg(X + 1, Y + 1, zoom)
+		center_alt = camera_altitude(center_lat)
+
+		# Making PUT request
+		data = json.dumps({'lat': center_lat, 'lng': center_lng, 'alt': center_alt})
+		r = requests.put('http://localhost:8080', data = data)
+
+		# Take and save screenshot
+		screenshot = pyautogui.screenshot()
+		screenshot.save(f"output/{X + 1}_{Y + 1}_{zoom}.png")
+
+		time.sleep(0.5)
+
+		print(f"Shot {n} of {total}")
+		n = n + 1
+
+
+
+