SUMO - Simulation of Urban MObility
NBHeightMapper.cpp
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1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2011-2017 German Aerospace Center (DLR) and others.
4 /****************************************************************************/
5 //
6 // This program and the accompanying materials
7 // are made available under the terms of the Eclipse Public License v2.0
8 // which accompanies this distribution, and is available at
9 // http://www.eclipse.org/legal/epl-v20.html
10 //
11 /****************************************************************************/
19 // Set z-values for all network positions based on data from a height map
20 /****************************************************************************/
21 
22 
23 // ===========================================================================
24 // included modules
25 // ===========================================================================
26 #ifdef _MSC_VER
27 #include <windows_config.h>
28 #else
29 #include <config.h>
30 #endif
31 
32 #include <string>
34 #include <utils/common/ToString.h>
37 #include <utils/geom/GeomHelper.h>
38 #include "NBHeightMapper.h"
40 #include <utils/common/RGBColor.h>
41 
42 #ifdef HAVE_GDAL
43 #if __GNUC__ > 3
44 #pragma GCC diagnostic push
45 #pragma GCC diagnostic ignored "-Wpedantic"
46 #endif
47 #include <ogrsf_frmts.h>
48 #include <ogr_api.h>
49 #include <gdal_priv.h>
50 #if __GNUC__ > 3
51 #pragma GCC diagnostic pop
52 #endif
53 #endif
54 
55 // ===========================================================================
56 // static members
57 // ===========================================================================
59 
60 // ===========================================================================
61 // method definitions
62 // ===========================================================================
63 
64 
66  myRTree(&Triangle::addSelf), myRaster(0) {
67 }
68 
69 
71  clearData();
72 }
73 
74 
75 const NBHeightMapper&
77  return Singleton;
78 }
79 
80 
81 bool
83  return myRaster != 0 || myTriangles.size() > 0;
84 }
85 
86 
87 double
88 NBHeightMapper::getZ(const Position& geo) const {
89  if (!ready()) {
90  WRITE_WARNING("Cannot supply height since no height data was loaded");
91  return 0;
92  }
93  if (myRaster != 0) {
94  double result = -1e6;
95  if (myBoundary.around(geo)) {
96  const int xSize = int((myBoundary.xmax() - myBoundary.xmin()) / mySizeOfPixel.x() + .5);
97  const double normX = (geo.x() - myBoundary.xmin()) / mySizeOfPixel.x();
98  const double normY = (geo.y() - myBoundary.ymax()) / mySizeOfPixel.y();
99  PositionVector corners;
100  corners.push_back(Position(floor(normX) + 0.5, floor(normY) + 0.5, myRaster[(int)normY * xSize + (int)normX]));
101  if (normX - floor(normX) > 0.5) {
102  corners.push_back(Position(floor(normX) + 1.5, floor(normY) + 0.5, myRaster[(int)normY * xSize + (int)normX + 1]));
103  } else {
104  corners.push_back(Position(floor(normX) - 0.5, floor(normY) + 0.5, myRaster[(int)normY * xSize + (int)normX - 1]));
105  }
106  if (normY - floor(normY) > 0.5) {
107  corners.push_back(Position(floor(normX) + 0.5, floor(normY) + 1.5, myRaster[((int)normY + 1) * xSize + (int)normX]));
108  } else {
109  corners.push_back(Position(floor(normX) + 0.5, floor(normY) - 0.5, myRaster[((int)normY - 1) * xSize + (int)normX]));
110  }
111  result = Triangle(corners).getZ(Position(normX, normY));
112  }
113  if (result > -1e5 && result < 1e5) {
114  return result;
115  }
116  }
117  // coordinates in degrees hence a small search window
118  float minB[2];
119  float maxB[2];
120  minB[0] = (float)geo.x() - 0.00001f;
121  minB[1] = (float)geo.y() - 0.00001f;
122  maxB[0] = (float)geo.x() + 0.00001f;
123  maxB[1] = (float)geo.y() + 0.00001f;
124  QueryResult queryResult;
125  int hits = myRTree.Search(minB, maxB, queryResult);
126  Triangles result = queryResult.triangles;
127  assert(hits == (int)result.size());
128  UNUSED_PARAMETER(hits); // only used for assertion
129 
130  for (Triangles::iterator it = result.begin(); it != result.end(); it++) {
131  const Triangle* triangle = *it;
132  if (triangle->contains(geo)) {
133  return triangle->getZ(geo);
134  }
135  }
136  WRITE_WARNING("Could not get height data for coordinate " + toString(geo));
137  return 0;
138 }
139 
140 
141 void
143  Triangle* triangle = new Triangle(corners);
144  myTriangles.push_back(triangle);
145  Boundary b = corners.getBoxBoundary();
146  const float cmin[2] = {(float) b.xmin(), (float) b.ymin()};
147  const float cmax[2] = {(float) b.xmax(), (float) b.ymax()};
148  myRTree.Insert(cmin, cmax, triangle);
149 }
150 
151 
152 void
154  if (oc.isSet("heightmap.geotiff")) {
155  // parse file(s)
156  std::vector<std::string> files = oc.getStringVector("heightmap.geotiff");
157  for (std::vector<std::string>::const_iterator file = files.begin(); file != files.end(); ++file) {
158  PROGRESS_BEGIN_MESSAGE("Parsing from GeoTIFF '" + *file + "'");
159  int numFeatures = Singleton.loadTiff(*file);
161  " done (parsed " + toString(numFeatures) +
162  " features, Boundary: " + toString(Singleton.getBoundary()) + ").");
163  }
164  }
165  if (oc.isSet("heightmap.shapefiles")) {
166  // parse file(s)
167  std::vector<std::string> files = oc.getStringVector("heightmap.shapefiles");
168  for (std::vector<std::string>::const_iterator file = files.begin(); file != files.end(); ++file) {
169  PROGRESS_BEGIN_MESSAGE("Parsing from shape-file '" + *file + "'");
170  int numFeatures = Singleton.loadShapeFile(*file);
172  " done (parsed " + toString(numFeatures) +
173  " features, Boundary: " + toString(Singleton.getBoundary()) + ").");
174  }
175  }
176 }
177 
178 
179 int
180 NBHeightMapper::loadShapeFile(const std::string& file) {
181 #ifdef HAVE_GDAL
182 #if GDAL_VERSION_MAJOR < 2
183  OGRRegisterAll();
184  OGRDataSource* ds = OGRSFDriverRegistrar::Open(file.c_str(), FALSE);
185 #else
186  GDALAllRegister();
187  GDALDataset* ds = (GDALDataset*)GDALOpenEx(file.c_str(), GDAL_OF_VECTOR | GA_ReadOnly, NULL, NULL, NULL);
188 #endif
189  if (ds == NULL) {
190  throw ProcessError("Could not open shape file '" + file + "'.");
191  }
192 
193  // begin file parsing
194  OGRLayer* layer = ds->GetLayer(0);
195  layer->ResetReading();
196 
197  // triangle coordinates are stored in WGS84 and later matched with network coordinates in WGS84
198  // build coordinate transformation
199  OGRSpatialReference* sr_src = layer->GetSpatialRef();
200  OGRSpatialReference sr_dest;
201  sr_dest.SetWellKnownGeogCS("WGS84");
202  OGRCoordinateTransformation* toWGS84 = OGRCreateCoordinateTransformation(sr_src, &sr_dest);
203  if (toWGS84 == 0) {
204  WRITE_WARNING("Could not create geocoordinates converter; check whether proj.4 is installed.");
205  }
206 
207  int numFeatures = 0;
208  OGRFeature* feature;
209  layer->ResetReading();
210  while ((feature = layer->GetNextFeature()) != NULL) {
211  OGRGeometry* geom = feature->GetGeometryRef();
212  assert(geom != 0);
213 
214  // @todo gracefull handling of shapefiles with unexpected contents or any error handling for that matter
215  assert(std::string(geom->getGeometryName()) == std::string("POLYGON"));
216  // try transform to wgs84
217  geom->transform(toWGS84);
218  OGRLinearRing* cgeom = ((OGRPolygon*) geom)->getExteriorRing();
219  // assume TIN with with 4 points and point0 == point3
220  assert(cgeom->getNumPoints() == 4);
221  PositionVector corners;
222  for (int j = 0; j < 3; j++) {
223  Position pos((double) cgeom->getX(j), (double) cgeom->getY(j), (double) cgeom->getZ(j));
224  corners.push_back(pos);
225  myBoundary.add(pos);
226  }
227  addTriangle(corners);
228  numFeatures++;
229 
230  /*
231  OGRwkbGeometryType gtype = geom->getGeometryType();
232  switch (gtype) {
233  case wkbPolygon: {
234  break;
235  }
236  case wkbPoint: {
237  WRITE_WARNING("got wkbPoint");
238  break;
239  }
240  case wkbLineString: {
241  WRITE_WARNING("got wkbLineString");
242  break;
243  }
244  case wkbMultiPoint: {
245  WRITE_WARNING("got wkbMultiPoint");
246  break;
247  }
248  case wkbMultiLineString: {
249  WRITE_WARNING("got wkbMultiLineString");
250  break;
251  }
252  case wkbMultiPolygon: {
253  WRITE_WARNING("got wkbMultiPolygon");
254  break;
255  }
256  default:
257  WRITE_WARNING("Unsupported shape type occured");
258  break;
259  }
260  */
261  OGRFeature::DestroyFeature(feature);
262  }
263 #if GDAL_VERSION_MAJOR < 2
264  OGRDataSource::DestroyDataSource(ds);
265 #else
266  GDALClose(ds);
267 #endif
268  OCTDestroyCoordinateTransformation(toWGS84);
269  OGRCleanupAll();
270  return numFeatures;
271 #else
272  WRITE_ERROR("Cannot load shape file since SUMO was compiled without GDAL support.");
273  return 0;
274 #endif
275 }
276 
277 
278 int
279 NBHeightMapper::loadTiff(const std::string& file) {
280 #ifdef HAVE_GDAL
281  GDALAllRegister();
282  GDALDataset* poDataset = (GDALDataset*)GDALOpen(file.c_str(), GA_ReadOnly);
283  if (poDataset == 0) {
284  WRITE_ERROR("Cannot load GeoTIFF file.");
285  return 0;
286  }
287  const int xSize = poDataset->GetRasterXSize();
288  const int ySize = poDataset->GetRasterYSize();
289  double adfGeoTransform[6];
290  if (poDataset->GetGeoTransform(adfGeoTransform) == CE_None) {
291  Position topLeft(adfGeoTransform[0], adfGeoTransform[3]);
292  mySizeOfPixel.set(adfGeoTransform[1], adfGeoTransform[5]);
293  const double horizontalSize = xSize * mySizeOfPixel.x();
294  const double verticalSize = ySize * mySizeOfPixel.y();
295  myBoundary.add(topLeft);
296  myBoundary.add(topLeft.x() + horizontalSize, topLeft.y() + verticalSize);
297  } else {
298  WRITE_ERROR("Could not parse geo information from " + file + ".");
299  return 0;
300  }
301  const int picSize = xSize * ySize;
302  myRaster = (int16_t*)CPLMalloc(sizeof(int16_t) * picSize);
303  for (int i = 1; i <= poDataset->GetRasterCount(); i++) {
304  GDALRasterBand* poBand = poDataset->GetRasterBand(i);
305  if (poBand->GetColorInterpretation() != GCI_GrayIndex) {
306  WRITE_ERROR("Unknown color band in " + file + ".");
307  clearData();
308  break;
309  }
310  if (poBand->GetRasterDataType() != GDT_Int16) {
311  WRITE_ERROR("Unknown data type in " + file + ".");
312  clearData();
313  break;
314  }
315  assert(xSize == poBand->GetXSize() && ySize == poBand->GetYSize());
316  if (poBand->RasterIO(GF_Read, 0, 0, xSize, ySize, myRaster, xSize, ySize, GDT_Int16, 0, 0) == CE_Failure) {
317  WRITE_ERROR("Failure in reading " + file + ".");
318  clearData();
319  break;
320  }
321  }
322  GDALClose(poDataset);
323  return picSize;
324 #else
325  WRITE_ERROR("Cannot load GeoTIFF file since SUMO was compiled without GDAL support.");
326  return 0;
327 #endif
328 }
329 
330 
331 void
333  for (Triangles::iterator it = myTriangles.begin(); it != myTriangles.end(); it++) {
334  delete *it;
335  }
336  myTriangles.clear();
337 #ifdef HAVE_GDAL
338  if (myRaster != 0) {
339  CPLFree(myRaster);
340  myRaster = 0;
341  }
342 #endif
343  myBoundary.reset();
344 }
345 
346 
347 // ===========================================================================
348 // Triangle member methods
349 // ===========================================================================
351  myCorners(corners) {
352  assert(myCorners.size() == 3);
353  // @todo assert non-colinearity
354 }
355 
356 
357 void
359  queryResult.triangles.push_back(this);
360 }
361 
362 
363 bool
365  return myCorners.around(pos);
366 }
367 
368 
369 double
371  // en.wikipedia.org/wiki/Line-plane_intersection
372  Position p0 = myCorners.front();
373  Position line(0, 0, 1);
374  p0.sub(geo); // p0 - l0
375  Position normal = normalVector();
376  return p0.dotProduct(normal) / line.dotProduct(normal);
377 }
378 
379 
380 Position
382  // @todo maybe cache result to avoid multiple computations?
383  Position side1 = myCorners[1] - myCorners[0];
384  Position side2 = myCorners[2] - myCorners[0];
385  return side1.crossProduct(side2);
386 }
387 
388 
389 /****************************************************************************/
390 
bool around(const Position &p, double offset=0) const
Returns the information whether the position vector describes a polygon lying around the given point...
double ymin() const
Returns minimum y-coordinate.
Definition: Boundary.cpp:137
double xmax() const
Returns maximum x-coordinate.
Definition: Boundary.cpp:131
Triangles myTriangles
int loadShapeFile(const std::string &file)
load height data from Arcgis-shape file and returns the number of parsed features ...
Position normalVector() const
returns the normal vector for this triangles plane
double y() const
Returns the y-position.
Definition: Position.h:67
double x() const
Returns the x-position.
Definition: Position.h:62
Triangle(const PositionVector &corners)
void addTriangle(PositionVector corners)
adds one triangles worth of height data
void clearData()
clears loaded data
static NBHeightMapper Singleton
the singleton instance
void set(double x, double y)
set positions x and y
Definition: Position.h:92
NBHeightMapper()
private constructor and destructor (Singleton)
#define UNUSED_PARAMETER(x)
Definition: StdDefs.h:39
A class that stores a 2D geometrical boundary.
Definition: Boundary.h:47
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:199
int loadTiff(const std::string &file)
load height data from GeoTIFF file and returns the number of non void pixels
static const NBHeightMapper & get()
return the singleton instance (maybe 0)
bool isSet(const std::string &name, bool failOnNonExistant=true) const
Returns the information whether the named option is set.
class for cirumventing the const-restriction of RTree::Search-context
static void loadIfSet(OptionsCont &oc)
loads heigh map data if any loading options are set
TRIANGLE_RTREE_QUAL myRTree
The RTree for spatial queries.
Position crossProduct(const Position &pos)
returns the cross product between this point and the second one
Definition: Position.h:264
void addSelf(const QueryResult &queryResult) const
callback for RTree search
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
Definition: ToString.h:55
A point in 2D or 3D with translation and scaling methods.
Definition: Position.h:45
A list of positions.
bool contains(const Position &pos) const
checks whether pos lies within triangle (only checks x,y)
std::vector< const Triangle * > Triangles
std::vector< std::string > getStringVector(const std::string &name) const
Returns the list of string-vector-value of the named option (only for Option_String) ...
double xmin() const
Returns minimum x-coordinate.
Definition: Boundary.cpp:125
#define PROGRESS_BEGIN_MESSAGE(msg)
Definition: MsgHandler.h:201
static MsgHandler * getMessageInstance()
Returns the instance to add normal messages to.
Definition: MsgHandler.cpp:57
int16_t * myRaster
raster height information in m
Position mySizeOfPixel
dimensions of one pixel in raster data
Boundary myBoundary
convex boundary of all known triangles;
#define WRITE_ERROR(msg)
Definition: MsgHandler.h:205
void reset()
Resets the boundary.
Definition: Boundary.cpp:73
double dotProduct(const Position &pos)
returns the dot product (scalar product) between this point and the second one
Definition: Position.h:272
bool around(const Position &p, double offset=0) const
Returns whether the boundary contains the given coordinate.
Definition: Boundary.cpp:179
PositionVector myCorners
the corners of the triangle
A storage for options typed value containers)
Definition: OptionsCont.h:98
double getZ(const Position &geo) const
returns the projection of the give geoCoordinate (WGS84) onto triangle plane
Boundary getBoxBoundary() const
Returns a boundary enclosing this list of lines.
double getZ(const Position &geo) const
returns height for the given geo coordinate (WGS84)
void add(double x, double y, double z=0)
Makes the boundary include the given coordinate.
Definition: Boundary.cpp:85
const Boundary & getBoundary()
returns the convex boundary of all known triangles
double ymax() const
Returns maximum y-coordinate.
Definition: Boundary.cpp:143
bool ready() const
returns whether the NBHeightMapper has data
Set z-values for all network positions based on data from a height map.
void sub(double dx, double dy)
Substracts the given position from this one.
Definition: Position.h:152
void endProcessMsg(std::string msg)
Ends a process information.
Definition: MsgHandler.cpp:126