Completed camera control server in lua and more work on merging algorithm

frontend/website/src/map/map.ts

@@ -582,7 +582,8 @@ export class Map extends L.Map {
 
     setCameraControlMode(newCameraControlMode: string) {
         this.#cameraControlMode = newCameraControlMode;
-        this.#broadcastPosition();
+        if (this.#slaveDCSCamera)
+            this.#broadcastPosition();
     }
 
     /* Event handlers */
@@ -773,7 +774,7 @@ export class Map extends L.Map {
             try {
                 groundElevation = parseFloat(response);
                 var xmlHttp = new XMLHttpRequest();
-                xmlHttp.open("PUT", `http://localhost:${this.#cameraControlPort}`);
+                xmlHttp.open("PUT", `http://127.0.0.1:${this.#cameraControlPort}`);
                 xmlHttp.setRequestHeader("Content-Type", "application/json");
 
                 const C = 40075016.686;
@@ -981,7 +982,7 @@ export class Map extends L.Map {
 
     #checkCameraPort(){
         var xmlHttp = new XMLHttpRequest();
-            xmlHttp.open("OPTIONS", `http://localhost:${this.#cameraControlPort}`);
+            xmlHttp.open("OPTIONS", `http://127.0.0.1:${this.#cameraControlPort}`);
             xmlHttp.onload = (res: any) => {
                 if (xmlHttp.status == 200)
                     this.#setSlaveDCSCameraAvailable(true);

scripts/lua/camera/OlympusCameraControl.lua

@@ -0,0 +1,214 @@
+local _prevLuaExportStart = LuaExportStart
+local _prevLuaExportBeforeNextFrame = LuaExportBeforeNextFrame
+local _prevLuaExportStop = LuaExportStop
+
+local server = nil
+local port = 3003
+local headers = "Access-Control-Allow-Origin: *\r\nAccess-Control-Allow-Methods: PUT, OPTIONS\r\nAccess-Control-Allow-Headers: *\r\nAccess-Control-Max-Age: 86400\r\nVary: Accept-Encoding, Origin\r\nKeep-Alive: timeout=2, max=100\r\nConnection: Keep-Alive\r\n\r\n"
+
+function startTCPServer()
+    log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.INFO, 'Starting TCP Server')
+	package.path  = package.path..";"..lfs.currentdir().."/LuaSocket/?.lua"
+	package.cpath = package.cpath..";"..lfs.currentdir().."/LuaSocket/?.dll"
+
+	socket = require("socket")
+
+	server = assert(socket.bind("127.0.0.1", port))
+    if server then
+        server:setoption("tcp-nodelay", true) 
+        server:settimeout(0)
+        log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.INFO, 'TCP Server listening on port ' .. port)
+    else
+        log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.INFO, 'TCP Server did not start successfully')
+    end
+end
+
+function receiveTCP()
+    if server then 
+        -- Accept a new connection without blocking
+        local client = server:accept()
+
+        if client then 
+            -- Set the timeout of the connection to 5ms
+            client:settimeout(0)
+            client:setoption("tcp-nodelay", true) 
+
+            local acc = ""
+            local data = ""
+            
+            -- Start receiving data, accumulate it in acc
+            while data ~= nil do
+                -- Receive a new line
+                data, err, partial = client:receive('*l')
+                if data then
+                    -- If we receive an empty string it means the header section of the message is over
+                    if data == "" then
+                        -- Is this an OPTIONS request?
+                        if string.find(acc, "OPTIONS") ~= nil then
+                            client:send("HTTP/1.1 200 OK\r\n" .. headers)
+                            client:close()
+
+                        -- Is this a PUT request?
+                        elseif string.find(acc, "PUT") ~= nil then
+                            -- Extract the length of the body
+                            local contentLength = string.match(acc, "Content%-Length: (%d+)")
+                            if contentLength ~= nil then
+                                -- Receive the body
+                                body, err, partial = client:receive(tonumber(contentLength))
+                                if body ~= nil then
+                                    local lat = string.match(body, '"lat":%s*([%+%-]?[%d%.]+)%s*[},]')
+                                    local lng = string.match(body, '"lng":%s*([%+%-]?[%d%.]+)%s*[},]')
+                                    local alt = string.match(body, '"alt":%s*([%+%-]?[%d%.]+)%s*[},]')
+                                    local mode = string.match(body, '"mode":%s*"(%a+)"%s*[},]')
+
+                                    if lat ~= nil and lng ~= nil then
+                                        client:send("HTTP/1.1 200 OK\r\n" .. headers)
+                                        
+                                        local position = {}
+                                        position["lat"] = tonumber(lat)
+                                        position["lng"] = tonumber(lng)
+                                        if alt ~= nil then
+                                            position["alt"] = tonumber(alt)
+                                        end
+
+                                        -- F11 view
+                                        if mode == "live" or mode == nil then
+                                            LoSetCommand(158)
+                                        -- F10 view
+                                        elseif mode == "map" then
+                                            LoSetCommand(15)
+                                        end
+
+                                        client:send(setCameraPosition(position))
+                                        client:close()
+                                    else
+                                        client:send("HTTP/1.1 500 ERROR\r\n" .. headers)
+                                        client:close()
+                                    end
+                                else
+                                    log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.ERROR, err)
+                                end
+                            end
+                            client:close()
+                            break
+                        end
+                    else
+                        -- Keep accumulating the incoming data
+                        acc = acc .. " " .. data
+                    end
+                end
+            end
+        end
+    end
+end
+
+function stopTCPServer()
+    if server then 
+		log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.INFO, 'Stopping TCP Server')
+		server:close()
+	end
+    server = nil
+end
+
+function setCameraPosition(position)   
+    -- Get the old camera position
+    local oldPos = LoGetCameraPosition()
+
+    -- Extract the commanded position
+    local point = LoGeoCoordinatesToLoCoordinates(position.lng, position.lat)
+    local pointNorth = LoGeoCoordinatesToLoCoordinates(position.lng, position.lat + 0.1)
+
+    -- Compute the local map rotation and scale and send it back to the server
+    local rotation = math.atan2(pointNorth.z - point.z, pointNorth.x - point.x)
+    
+    -- If no altitude is provided, preserve the current camera altitude
+    local altitude = nil
+    if position.alt == nil then
+        altitude = oldPos.p.y
+    else
+        altitude = position.alt
+    end
+
+    -- Set the camera position
+    local pos = 
+    {
+        x = {x = 0, y = -1, z = 0},	                
+        y = {x = 1, y = 0, z = 0},	                
+        z = {x = 0, y = 0, z = 1},	                
+        p = {x = point.x, y = altitude, z = point.z}   
+    }
+    LoSetCameraPosition(pos)
+
+    return '{"northRotation": ' .. rotation .. '}'
+end
+
+LuaExportStart = function()
+    package.path  = package.path..";"..lfs.currentdir().."/LuaSocket/?.lua"
+	package.cpath = package.cpath..";"..lfs.currentdir().."/LuaSocket/?.dll"
+	
+    startTCPServer()
+	
+	-- call original
+    if _prevLuaExportStart then
+        _status, _result = pcall(_prevLuaExportStart)
+        if not _status then
+            log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.ERROR, 'ERROR Calling other LuaExportStart from another script', _result)
+        end
+    end
+end
+
+LuaExportBeforeNextFrame = function()
+    receiveTCP()
+	
+	-- call original
+    if _prevLuaExportBeforeNextFrame then
+        _status, _result = pcall(_prevLuaExportBeforeNextFrame)
+        if not _status then
+            log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.ERROR, 'ERROR Calling other LuaExportBeforeNextFrame from another script', _result)
+        end
+    end
+end
+
+LuaExportStop = function()
+	stopTCPServer()
+
+	-- call original
+    if _prevLuaExportStop then
+        _status, _result = pcall(_prevLuaExportStop)
+        if not _status then
+            log.write('OLYMPUSCAMERACONTROL.EXPORT.LUA', log.ERROR, 'ERROR Calling other LuaExportStop from another script', _result)
+        end
+    end
+end
+
+function serializeTable(val, name, skipnewlines, depth)
+    skipnewlines = skipnewlines or false
+    depth = depth or 0
+
+    local tmp = string.rep(" ", depth)
+    if name then 
+		if type(name) == "number" then
+			tmp = tmp .. "[" .. name .. "]" .. " = " 
+		else
+			tmp = tmp .. name  .. " = " 
+		end
+	end
+
+    if type(val) == "table" then
+        tmp = tmp .. "{" .. (not skipnewlines and "\n" or "")
+        for k, v in pairs(val) do
+            tmp =  tmp .. serializeTable(v, k, skipnewlines, depth + 1) .. "," .. (not skipnewlines and "\n" or "")
+        end
+        tmp = tmp .. string.rep(" ", depth) .. "}"
+    elseif type(val) == "number" then
+        tmp = tmp .. tostring(val)
+    elseif type(val) == "string" then
+        tmp = tmp .. string.format("%q", val)
+    elseif type(val) == "boolean" then
+        tmp = tmp .. (val and "true" or "false")
+    else
+        tmp = tmp .. "\"[inserializeable datatype:" .. type(val) .. "]\""
+    end
+
+    return tmp
+end

scripts/python/map_generator/.vscode/launch.json

@@ -10,7 +10,7 @@
             "request": "launch",
             "program": "main.py",
             "console": "integratedTerminal",
-            "args": ["./configs/NTTR/config.yml"]
+            "args": ["./configs/Caucasus/HighResolution.yml"]
         }
     ]
 }

scripts/python/map_generator/airbases_to_kml.py

@@ -0,0 +1,37 @@
+import sys
+from fastkml import kml
+from pygeoif.geometry import Polygon
+import json
+import math
+
+# constants
+C = 40075016.686                # meters, Earth equatorial circumference
+R = C / (2 * math.pi)           # meters, Earth equatorial radius
+W = 10000                       # meters, size of the square around the airbase
+
+if len(sys.argv) == 1:
+    print("Please provide a json file as first argument. You can also drop the json file on this script to run it.")
+else:
+    input_file = sys.argv[1]
+    k = kml.KML()
+    ns = '{http://www.opengis.net/kml/2.2}'
+
+    d = kml.Document(ns, 'docid', 'doc name', 'doc description')
+    k.append(d)
+
+    with open(input_file) as jp:
+        j = json.load(jp)
+        
+        for point in j['airbases'].values():
+            p = kml.Placemark(ns, 'id', 'name', 'description')
+            lat = point['latitude']
+            lng = point['longitude']
+
+            latDelta = math.degrees(W / R)
+            lngDelta = math.degrees(W / (R * math.cos(math.radians(lat))))
+
+            p.geometry = Polygon([(lng - lngDelta, lat - latDelta), (lng - lngDelta, lat + latDelta), (lng + lngDelta, lat + latDelta), (lng + lngDelta, lat - latDelta)])
+            d.append(p)
+
+        with open(input_file.removesuffix('.json')+'.kml', 'w') as kp:
+            kp.writelines(k.to_string(prettyprint=True))

scripts/python/map_generator/configs/Caucasus/HighResolution.yml

@@ -0,0 +1,5 @@
+{
+  'output_directory': '.\Caucasus',                             # Where to save the output files
+  'boundary_file': '.\configs\Caucasus\airbases.kml',           # Input kml file setting the boundary of the map to create
+  'zoom_factor': 0.1                                            # [0: maximum zoom in (things look very big), 1: maximum zoom out (things look very small)] 
+}

scripts/python/map_generator/configs/Caucasus/LowResolution.kml

@@ -2,7 +2,7 @@
 <kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
 <Document>
 	<name>Senza titolo</name>
-	<gx:CascadingStyle kml:id="__managed_style_2F9039BE1B2F0ACE3361">
+	<gx:CascadingStyle kml:id="__managed_style_280E5494AE2F24E92C22">
 		<Style>
 			<IconStyle>
 				<scale>1.2</scale>
@@ -25,7 +25,7 @@
 			</BalloonStyle>
 		</Style>
 	</gx:CascadingStyle>
-	<gx:CascadingStyle kml:id="__managed_style_1FB08D70372F0ACE3361">
+	<gx:CascadingStyle kml:id="__managed_style_1EB9027B622F24E92C22">
 		<Style>
 			<IconStyle>
 				<Icon>
@@ -47,57 +47,34 @@
 			</BalloonStyle>
 		</Style>
 	</gx:CascadingStyle>
-	<StyleMap id="__managed_style_0152B588AD2F0ACE3361">
+	<StyleMap id="__managed_style_0F57E9B9782F24E92C22">
 		<Pair>
 			<key>normal</key>
-			<styleUrl>#__managed_style_1FB08D70372F0ACE3361</styleUrl>
+			<styleUrl>#__managed_style_1EB9027B622F24E92C22</styleUrl>
 		</Pair>
 		<Pair>
 			<key>highlight</key>
-			<styleUrl>#__managed_style_2F9039BE1B2F0ACE3361</styleUrl>
+			<styleUrl>#__managed_style_280E5494AE2F24E92C22</styleUrl>
 		</Pair>
 	</StyleMap>
-	<Placemark id="0389FD622C2F0ACE3361">
+	<Placemark id="0975D432582F24E92C1E">
 		<name>Poligono senza titolo</name>
 		<LookAt>
-			<longitude>-115.0437621195802</longitude>
+			<longitude>37.25019544589698</longitude>
-			<latitude>36.2404454323581</latitude>
+			<latitude>44.41771380726969</latitude>
-			<altitude>568.1069300877758</altitude>
+			<altitude>-138.6844933247498</altitude>
 			<heading>0</heading>
 			<tilt>0</tilt>
 			<gx:fovy>35</gx:fovy>
-			<range>21582.08160380367</range>
+			<range>3831683.119853139</range>
 			<altitudeMode>absolute</altitudeMode>
 		</LookAt>
-		<styleUrl>#__managed_style_0152B588AD2F0ACE3361</styleUrl>
+		<styleUrl>#__managed_style_0F57E9B9782F24E92C22</styleUrl>
 		<Polygon>
 			<outerBoundaryIs>
 				<LinearRing>
 					<coordinates>
-						-115.0657741984423,36.20908708202413,0 -115.0064821223275,36.20969233542438,0 -115.0077003574054,36.25251471885595,0 -115.0604905801644,36.25236266770626,0 -115.0657741984423,36.20908708202413,0 
+						32.46459319237173,45.67416695848307,0 32.2740650283415,45.2221541106433,0 33.22174616520244,44.4837859435444,0 34.05427109764131,44.2149221586376,0 34.96485577272431,44.60230684639296,0 35.50552864748745,44.8069362633187,0 36.446105774871,44.84425518198143,0 36.76914203317659,44.70347050722764,0 38.22313992004164,44.3163345847565,0 39.43106567523965,43.72064977016311,0 40.23832274382622,43.06831352526857,0 41.01327578994438,42.67925159935859,0 41.34464189582403,42.34329512558789,0 41.16749495371268,41.74956946999534,0 40.80780496107725,41.39360013128164,0 39.98364177441992,41.27272565351572,0 39.42209428526464,41.27830763089842,0 38.82136897872954,41.2291415593637,0 38.78900701766597,39.59331113999448,0 46.4826445997655,39.11657164682355,0 46.83937081793388,45.04996086829865,0 46.88987497227086,47.59122144470205,0 32.29992865035658,47.73230965442627,0 32.46459319237173,45.67416695848307,0 
-					</coordinates>
-				</LinearRing>
-			</outerBoundaryIs>
-		</Polygon>
-	</Placemark>
-	<Placemark id="077CD022A52F0ACE74D0">
-		<name>Poligono senza titolo</name>
-		<LookAt>
-			<longitude>-115.144039076036</longitude>
-			<latitude>36.07599823986274</latitude>
-			<altitude>636.6854074835677</altitude>
-			<heading>0</heading>
-			<tilt>0</tilt>
-			<gx:fovy>35</gx:fovy>
-			<range>14114.14487087633</range>
-			<altitudeMode>absolute</altitudeMode>
-		</LookAt>
-		<styleUrl>#__managed_style_0152B588AD2F0ACE3361</styleUrl>
-		<Polygon>
-			<outerBoundaryIs>
-				<LinearRing>
-					<coordinates>
-						-115.1866576903507,36.06787728722109,0 -115.1107872218999,36.06765965614163,0 -115.1145241760975,36.10294242539007,0 -115.1779590799479,36.10179027153036,0 -115.1866576903507,36.06787728722109,0 
 					</coordinates>
 				</LinearRing>
 			</outerBoundaryIs>

scripts/python/map_generator/configs/Caucasus/LowResolution.yml

@@ -0,0 +1,5 @@
+{
+  'output_directory': '.\Caucasus',                         # Where to save the output files
+  'boundary_file': '.\configs\Caucasus\LowResolution.kml',  # Input kml file setting the boundary of the map to create
+  'zoom_factor': 0.5                                        # [0: maximum zoom in (things look very big), 1: maximum zoom out (things look very small)] 
+}

scripts/python/map_generator/configs/Caucasus/MediumResolution.yml

@@ -0,0 +1,5 @@
+{
+  'output_directory': '.\Caucasus',                             # Where to save the output files
+  'boundary_file': '.\configs\Caucasus\MediumResolution.kml',   # Input kml file setting the boundary of the map to create
+  'zoom_factor': 0.25                                           # [0: maximum zoom in (things look very big), 1: maximum zoom out (things look very small)] 
+}

scripts/python/map_generator/configs/Caucasus/airbases.json

@@ -0,0 +1 @@
+{"airbases":{"1":{"callsign":"Anapa-Vityazevo","coalition":"neutral","latitude":45.013174733771677,"longitude":37.359783477555922},"10":{"callsign":"Gudauta","coalition":"neutral","latitude":43.124233340197144,"longitude":40.564175768400638},"11":{"callsign":"Batumi","coalition":"neutral","latitude":41.603279859649049,"longitude":41.609275483509791},"12":{"callsign":"Senaki-Kolkhi","coalition":"neutral","latitude":42.238728081573278,"longitude":42.061021312855914},"13":{"callsign":"Kobuleti","coalition":"neutral","latitude":41.93210535345338,"longitude":41.876483823101026},"14":{"callsign":"Kutaisi","coalition":"neutral","latitude":42.179153937689627,"longitude":42.495684077400142},"15":{"callsign":"Mineralnye Vody","coalition":"neutral","latitude":44.218646823806807,"longitude":43.100679733081456},"16":{"callsign":"Nalchik","coalition":"neutral","latitude":43.510071438529849,"longitude":43.625108736097914},"17":{"callsign":"Mozdok","coalition":"neutral","latitude":43.791303250938249,"longitude":44.620327262102009},"18":{"callsign":"Tbilisi-Lochini","coalition":"neutral","latitude":41.674720064437075,"longitude":44.946875226153338},"19":{"callsign":"Soganlug","coalition":"neutral","latitude":41.641163266786613,"longitude":44.947183065316693},"2":{"callsign":"Krasnodar-Center","coalition":"neutral","latitude":45.087429883845076,"longitude":38.925202300775062},"20":{"callsign":"Vaziani","coalition":"neutral","latitude":41.637735936261556,"longitude":45.019090938460067},"21":{"callsign":"Beslan","coalition":"neutral","latitude":43.208500987380937,"longitude":44.588922553542936},"3":{"callsign":"Novorossiysk","coalition":"neutral","latitude":44.673329604126899,"longitude":37.786226060479564},"4":{"callsign":"Krymsk","coalition":"neutral","latitude":44.961383022734175,"longitude":37.985886938697085},"5":{"callsign":"Maykop-Khanskaya","coalition":"neutral","latitude":44.67144025735508,"longitude":40.021427482235985},"6":{"callsign":"Gelendzhik","coalition":"neutral","latitude":44.56767458600406,"longitude":38.004146350528103},"7":{"callsign":"Sochi-Adler","coalition":"neutral","latitude":43.439378434050852,"longitude":39.924231880466095},"8":{"callsign":"Krasnodar-Pashkovsky","coalition":"neutral","latitude":45.0460996415433,"longitude":39.203066906324537},"9":{"callsign":"Sukhumi-Babushara","coalition":"neutral","latitude":42.852741071634995,"longitude":41.142447588488196}},"frameRate":60,"load":0,"sessionHash":"K2n7kpGE9yOaYE4G","time":"1709136685634"}

scripts/python/map_generator/configs/LasVegas/config.yml

@@ -1,6 +0,0 @@
-{
-  'output_directory': '.\LasVegas',                         # Where to save the output files
-  'boundary_file': '.\configs\LasVegas\boundary.kml',       # Input kml file setting the boundary of the map to create
-  'zoom_factor': 0.02,                                      # [0: maximum zoom in (things look very big), 1: maximum zoom out (things look very small)] 
-  'geo_width': 1.14
-}

scripts/python/map_generator/main.py

@@ -2,7 +2,6 @@ import sys
 import yaml
 import json
 import requests
-import time
 
 from pyproj import Geod
 from fastkml import kml
@@ -11,6 +10,9 @@ from datetime import timedelta
 
 import map_generator
 
+# Port on which the camera control module is listening
+port = 3003
+
 if len(sys.argv) == 1:
     print("Please provide a configuration file as first argument. You can also drop the configuration file on this script to run it.")
 else:
@@ -53,9 +55,12 @@ else:
 
                 if 'geo_width' not in map_config:
                     # Let the user input the size of the screen to compute resolution
-                    data = json.dumps({'lat': features[0].geometry.bounds[1], 'lng': features[0].geometry.bounds[0], 'alt': 1350 + map_config['zoom_factor'] * (25000 - 1350)})
+                    data = json.dumps({'lat': features[0].geometry.bounds[1], 'lng': features[0].geometry.bounds[0], 'alt': 1350 + map_config['zoom_factor'] * (25000 - 1350), 'mode': 'map'})
-                    r = requests.put('http://localhost:8080', data = data)
+                    try:
-                    print("The F10 map in your DCS installation was setup. Please, use the measure tool and measure the width of the screen in Nautical Miles")
+                        r = requests.put(f'http://127.0.0.1:{port}', data = data)
+                        print("The F10 map in your DCS installation was setup. Please, use the measure tool and measure the width of the screen in Nautical Miles")
+                    except:
+                        print("No running DCS instance detected. You can still run the algorithm if you already took the screenshots, otherwise you will not be able to produce a map.")
                     map_config['geo_width'] = input("Insert the width of the screen in Nautical Miles: ")
                 
                 map_config['mpps'] = float(map_config['geo_width']) * 1852 / screen_config['width']
@@ -72,7 +77,7 @@ else:
                 print(f"Estimated time to complete: {timedelta(seconds=total_time * 0.15)} (hh:mm:ss)")
                 input("Press enter to continue...")
                 
-                map_generator.run(map_config)
+                map_generator.run(map_config, port)
 
     
 

scripts/python/map_generator/map_generator.py

@@ -5,6 +5,7 @@ import time
 import os
 import yaml
 import json
+import numpy
 
 from fastkml import kml
 from shapely import wkt, Point
@@ -19,7 +20,7 @@ tot_futs = 0
 
 # constants
 C = 40075016.686                # meters, Earth equatorial circumference
-R = C / (2 * math.pi)
+R = C / (2 * math.pi)			# meters, Earth equatorial radius
                       
 def deg_to_num(lat_deg, lon_deg, zoom):
 	lat_rad = math.radians(lat_deg)
@@ -60,9 +61,9 @@ def extract_tiles(n, screenshots_XY, params):
 	n_height = params['n_height']
 
 	XY = screenshots_XY[n]
-	if (os.path.exists(os.path.join(output_directory, "screenshots", f"{f}_{n}.jpg"))):
+	if (os.path.exists(os.path.join(output_directory, "screenshots", f"{f}_{n}_{zoom}.jpg"))):
 		# Open the source screenshot
-		img = Image.open(os.path.join(output_directory, "screenshots", f"{f}_{n}.jpg"))
+		img = Image.open(os.path.join(output_directory, "screenshots", f"{f}_{n}_{zoom}.jpg"))
 
 		# Compute the Web Mercator Projection position of the top left corner of the most centered tile
 		X_center, Y_center = XY[0], XY[1]
@@ -84,6 +85,7 @@ def extract_tiles(n, screenshots_XY, params):
 					try:
 						os.mkdir(os.path.join(output_directory, "tiles", str(zoom), str(X)))
 					except FileExistsError:
+						# Ignore this error, it means one other thread has already created the folder
 						continue
 					except Exception as e: 
 						raise e
@@ -91,33 +93,53 @@ def extract_tiles(n, screenshots_XY, params):
 		n += 1
 
 	else:
-		raise Exception(f"{os.path.join(output_directory, 'screenshots', f'{f}_{n}.jpg')} missing")
+		raise Exception(f"{os.path.join(output_directory, 'screenshots', f'{f}_{n}_{zoom}.jpg')} missing")
 	
 def merge_tiles(base_path, zoom, tile):
 	X = tile[0]
 	Y = tile[1]
 
-	positions = [(0, 0), (0, 1), (1, 0), (1, 1)]
+	# If the image already exists, open it so we can paste the higher quality data in it
+	if os.path.exists(os.path.join(base_path, str(zoom - 1), str(X), f"{Y}.jpg")):
+		dst = Image.open(os.path.join(base_path, str(zoom - 1), str(X), f"{Y}.jpg"))
+		dst = make_background_transparent(dst)
+	else:
+		dst = Image.new('RGB', (256, 256), (221, 221, 221))
 
-	dst = Image.new('RGB', (256, 256), (0, 0, 0, 0))
+	# Loop on all the 4 subtiles in the tile
+	positions = [(0, 0), (0, 1), (1, 0), (1, 1)]
 	for i in range(0, 4):
+		# Open the subtile, if it exists, and resize it down to 128x128
 		if os.path.exists(os.path.join(base_path, str(zoom), str(2*X + positions[i][0]), f"{2*Y + positions[i][1]}.jpg")):
 			im = Image.open(os.path.join(base_path, str(zoom), str(2*X + positions[i][0]), f"{2*Y + positions[i][1]}.jpg")).resize((128, 128))
-		else:
+			im = make_background_transparent(im)
-			im = Image.new('RGB', (128, 128), (0, 0, 0, 0))
+			dst.paste(im, (positions[i][0] * 128, positions[i][1] * 128))
-		dst.paste(im, (positions[i][0] * 128, positions[i][1] * 128))
 
+	# Create the output folder if it exists
 	if not os.path.exists(os.path.join(base_path, str(zoom - 1), str(X))):
 		try:
 			os.mkdir(os.path.join(base_path, str(zoom - 1), str(X)))
 		except FileExistsError:
+			# Ignore this error, it means one other thread has already created the folder
 			pass
 		except Exception as e: 
 			raise e
-		
-	dst.save(os.path.join(base_path, str(zoom - 1), str(X), f"{Y}.jpg"), quality=95)
 	
-def run(map_config):
+	# Save the image
+	dst.convert('RGB').save(os.path.join(base_path, str(zoom - 1), str(X), f"{Y}.jpg"), quality=95)
+	
+def make_background_transparent(im):
+	im.putalpha(255)
+	data = numpy.array(im)  
+	red, green, blue, alpha = data.T
+
+	# If present, remove any "background" areas
+	background_areas = (red == 221) & (blue == 221) & (green == 221)
+	data[..., :][background_areas.T] = (0, 0, 0, 0) # make transparent
+
+	return Image.fromarray(data)
+
+def run(map_config, port):
 	global tot_futs, fut_counter
 
 	with open('configs/screen_properties.yml', 'r') as sp:
@@ -203,8 +225,8 @@ def run(map_config):
 						# Making PUT request
 						# If the number of rows or columns is odd, we need to take the picture at the CENTER of the tile!
 						lat, lng = num_to_deg(XY[0] + (n_width % 2) / 2, XY[1] + (n_height % 2) / 2, zoom)
-						data = json.dumps({'lat': lat, 'lng': lng, 'alt': 1350 + map_config['zoom_factor'] * (25000 - 1350)})
+						data = json.dumps({'lat': lat, 'lng': lng, 'alt': 1350 + map_config['zoom_factor'] * (25000 - 1350), 'mode': 'map'})
-						r = requests.put('http://localhost:8080', data = data)
+						r = requests.put(f'http://127.0.0.1:{port}', data = data)
 
 						geo_data = json.loads(r.text)
 
@@ -233,7 +255,7 @@ def run(map_config):
 						sy = s_height / m_height
 
 						# Resize, rotate and save the screenshot
-						screenshot.resize((int(sx * screenshot.width), int(sy * screenshot.height))).rotate(math.degrees(geo_data['northRotation'])).save(os.path.join(output_directory, "screenshots", f"{f}_{n}.jpg"), quality=95)
+						screenshot.resize((int(sx * screenshot.width), int(sy * screenshot.height))).rotate(math.degrees(geo_data['northRotation'])).save(os.path.join(output_directory, "screenshots", f"{f}_{n}_{zoom}.jpg"), quality=95)
 
 						printProgressBar(n + 1, len(screenshots_XY))
 						n += 1