Class for GDAL data handling. More...

Detailed Description

Class for GDAL data handling.

Definition at line 170 of file GeoData.hpp.

#include <GeoData.hpp>

Classes
struct	BandDefinition
	Definition of a band. More...
Public Types
typedef struct jafar::gramer::GeoData::BandDefinition	BandDefinition
	Definition of a band.
Public Member Functions
	GeoData ()
	Default Constructor with no image or data load.
	GeoData (const std::string &_conffilename, FUSION_METHOD _fmethod=FUSION_MEAN)
	Creates a GeoData object from a geodata configuration file.
	~GeoData ()
	Constructor used to load a map from buffered data.
bool	loadBand (BandDefinition band, const std::string &_dsfilename)
bool	loadConfigurationFile (const std::string &conffile)
	Load the GRAMER configuration file.
GDALDataset *	getDataset () const
	Return the pointer to the main root dataset.
void	getAffineTransform (double &_utmXRoot, double &_utmYRoot, double &_cellXRes, double &_cellYRes)
	Get the affine transformation parameters.
int	getxsize () const
	Methods to read the root raster cell.
int	getysize () const
double	getScale () const
	Return the geodata scale.
double	geoxroot () const
	Geographical X coordinate of the top left corner.
double	geoyroot () const
	Geographical Y coordinate of the top left corner.
double	geoxend () const
	Geographical X coordinate of the down right corner.
double	geoyend () const
	Geographical Y coordinate of the down right corner.
double	geoxres () const
	Geographical X resolution of raster pixels.
double	geoyres () const
	Geographical Y resolution of raster pixels.
double	getSigmaFactor ()
	Get the sigma factor used while the decomposition type is SIGMA.
double	getProbabilityLag ()
	Get the probabilityLag.
bool	getValueFromBand (BandDefinition _aband, int xindex, int yindex, double &readValue)
	Get the value loaded from the band _aband at given index.
double	getData (const RasterCell &rect) const
double	getData (const BandDefinition &bandDef, const RasterCell &rect) const
void	setScale (double _scale)
	Set the GDAL dataset scale.
void	setFusingMethod (FUSION_METHOD _fmethod)
	Set/Updates the value in band _aband at index _index using _val as the new value.
void	setDecompositionLimit (double _dl)
	bool setData(double* bufferedData, double* bufferedOther, int _xsize, int _ysize, int _band = GEODATA_TFLAT_BAND);
void	setDecompositionType (HOMOGENEOUS_TYPE ht_)
	Set decomposition type for all bands.
void	setProbabilityLag (double probaLag_)
	Set the probability lag used when the decomposition type is NEARLY.
void	setSigmaFactor (double sigmaF_)
	Set the sigmaf factor used while the decomposition type is SIGMA.
void	setSimulationProbaVisionLimit (double spvl_)
	Set the simulationProbaVisionLimit factor.
bool	isHomogeneous (const RasterCell &rect) const
	given a rect ((top,left),(right,bottom)), tell if this is homogeneous
bool	overlaps (GeoData *_toMerge)
	Verify if geodata is overlapping at least with 1 pixel with _toMerge geodata.
bool	loadData (const std::string &_dsfilename)
	Method to load an image or use an existing dataset.
bool	setBandTag (int iband, BandDefinition &bandDef)
	Set a Band tag in the GeoData relation table (map)
bool	addBandToDataset (BandDefinition &inputinfo)
	Add a layer of information to the GDAL Dataset.
void	addDataset (GDALDataset *_dataset)
	Add information to the GDAL Dataset.
void	printInfo (bool verbose=true) const
	Merge with another geodata.
bool	saveData (const std::string &outfile, const char *wFormat="GTIFF")
	Saving images in GeoTif format by default.
void	resetBands ()
	Saving only traversability layer in a ppm file.
bool	saveUtility (const std::string &outfile)
	Write a ppm image of the utility map : mapUtility.
bool	saveEntropy (const std::string &outfile)
	Write a ppm image of the entropy map : mapH.
bool	savePotential (const std::string &outfile)
	Write a ppm image of the potential map : mapPotential.
double	euclideanDistance (double, double, double, double)
	Returns the planar euclidean distances between two points.
bool	setUTMProjection (GDALDataset *inputDataset, int utmZone)
double	getSimulationProbaVisionLimit ()
	Get the probability lag used for decomposition in the traversability band.
Static Public Member Functions
static const double	DEFAULT_DATA_VALUE ()
static const double	GEODATA_DEFAULT_SCALE ()
Public Attributes
int	isInVirtualMemory
	Virtual file detection flag.
Private Member Functions
void	info (std::ostream &info, bool verbose=true) const
	Prints information about the GDal Dataset This method is called in the redifinition of operator "<<".
Private Attributes
std::string	conffilename
	Configuration file name.
std::string	dsfilename
	Loaded file name.
GDALDataset *	dataset
	GDALDataset of the loaded image or any other GDAL Compatible file This holds every possible information about it.
double	refGeoTransform [6]
	Coefficient of affine Geo reference transformation array: [0] : X origin of left top corner of left top pixel [3] : Y origin of ...
CPLErr	refGeoTransformRType
	Return type of dataset->GetGeoTransform() function that fills the refGeoTransform array.
RasterCell	rootCell
	Master root raster cell that holds size information.
FUSION_METHOD	fmethod
	Default data fusion method for different uses.
HOMOGENEOUS_TYPE	htype
	Homogeneity type to use during map decomposition.
double	decompositionLimit
	Quadtree maximum cell size in meter.
double	sigmaFactor
	Sigma factor to use for decomposition.
double	probabilityLag
	Admissible offset around a zone area to consider it nearly homogeneous.
double	simulationProbaVisionLimit
	Limit used to evaluate intervisibility on real worlds since on simulated world everything is fully state-defined.
std::vector< BandDefinition >	geoBands
	Map the users' tags to their respective band number.
Friends
std::ostream &	operator<< (std::ostream &out, const GeoData &gd)
	Redefinition of operator <<.

Constructor & Destructor Documentation

jafar::gramer::GeoData::GeoData	(	const std::string &	_conffilename,
		FUSION_METHOD	_fmethod = `FUSION_MEAN`
	)

Creates a GeoData object from a geodata configuration file.

Parameters:

_conffilename	File Path for a geodata configuration file.
_fmethod	Fusion method enum value

jafar::gramer::GeoData::~GeoData ( )

Constructor used to load a map from buffered data.

Destructor

Member Function Documentation

bool jafar::gramer::GeoData::addBandToDataset ( BandDefinition & inputinfo )

Add a layer of information to the GDAL Dataset.

Parameters:

inputinfo band information to load in memory

See also:: setBandTag()

void jafar::gramer::GeoData::addDataset ( GDALDataset * _dataset )

Add information to the GDAL Dataset.

Parameters:

_dataset GDAL Dataset to fuse

See also:: mergeStrict()

double jafar::gramer::GeoData::getProbabilityLag ( )

Get the probabilityLag.

See also:: probabilityLag

double jafar::gramer::GeoData::getSigmaFactor ( )

Get the sigma factor used while the decomposition type is SIGMA.

See also:: sigmaFactor

double jafar::gramer::GeoData::getSimulationProbaVisionLimit ( )

Get the probability lag used for decomposition in the traversability band.

Get the probability lag used for decomposition in the rough terrain band Get the sigma used for decomposition in the traversability band Get the sigma used for decomposition in the rough terrain band Get the simulationProbaVisionLimit factor

bool jafar::gramer::GeoData::getValueFromBand	(	BandDefinition	_aband,
		int	xindex,
		int	yindex,
		double &	readValue
	)

Get the value loaded from the band _aband at given index.

Get the value loaded from the band _aband at given x and y coordinates of the top left pixel corner

bool jafar::gramer::GeoData::loadConfigurationFile ( const std::string & conffile )

Load the GRAMER configuration file.

Load an ASCII file to get user band names and corresponding file names. It may include more parameters.

Format to be respected:

PREFIXED_BAND_NAME filename band_number

The dash "-" has to be used when the user wants to ignore the parameter and let GRAMER set the default value.
The prefix for the band name must be taken from the list of bandPrefixDictionnary array.

Parameters:

conffile Configuration file path

See also:: bandPrefixDictionnary setBandTag

bool jafar::gramer::GeoData::loadData ( const std::string & _dsfilename )

Method to load an image or use an existing dataset.

When loading GeoData from a file the file should at least contains one band of information or contain 3 channels.

8-Bit One band images are greyscale images: The band is used as the traversability band and obstacle value is completarily deducted.
RGB images : Red channel is not used Green Channel is used for flat terrain probability (traversabilityBand) Blue Channel is used of rough terrain probability (roughTerrainBand) The obstacle probability is then complementarily deducted.

Parameters:

_dsfilename	File path of the file to open
_useThisDataset	If not NULL Take precedence on _dsfilename

Returns:: true When the file could be processed (else false).

bool jafar::gramer::GeoData::overlaps ( GeoData * _toMerge )

Verify if geodata is overlapping at least with 1 pixel with _toMerge geodata.

Returns:: true if overlapping

void jafar::gramer::GeoData::printInfo ( bool verbose = true ) const

Merge with another geodata.

The Common overlapping region is calculated and the fusing method is called on this region. The data is fused in "this" and its size is not changed so there is merging only if "this" overlaps with "_toMerge". Fusion is made according to the choosen fusion method (fmethod)

Parameters:

_toMerge	GeoData to merge with the current data
_aband	The band that is to be merged

See also:: fmethod Fusing information from the fusingRect region from _geodata into innerRect region of the current geodata. In this method we consider that the fusingRect is always strictly included in the boundaries of the current GeoData and is equal in real geographic region to the one defined by innerRect

Parameters:

_geodata	GeoData to fuse with.
_aband	Band number to fuse.
innerRect	Zone in which data have to be fused
fusingRect	Zone from which data will be fused Print useful information on the loaded geo data

void jafar::gramer::GeoData::resetBands ( )

Saving only traversability layer in a ppm file.

Reset knowledge on all layers

bool jafar::gramer::GeoData::setBandTag	(	int	iband,
		BandDefinition &	bandDef
	)

Set a Band tag in the GeoData relation table (map)

See also:: addBandToDataset()

void jafar::gramer::GeoData::setDecompositionLimit ( double _dl )

bool setData(double* bufferedData, double* bufferedOther, int _xsize, int _ysize, int _band = GEODATA_TFLAT_BAND);

Write attributes in cell covering position (at_i, at_j)

It can be called with internalTransfer = false in order to avoid multiple calls of memToBuffer in case setData is used in a loop. This greatly fasten the process.

Parameters:

at_i	i coordinate of the set pixel.
at_j	j coordinate of the set pixel.
inatt	Attributes, information input to set.
internalTransfer	Default is true to enable the memToBuffer transfer. Modifies the decomposition limit on all bands

void jafar::gramer::GeoData::setFusingMethod ( FUSION_METHOD _fmethod )

Set/Updates the value in band _aband at index _index using _val as the new value.

Set the fusing method to an available fusing flag

See also:: fmethod

Member Data Documentation

FUSION_METHOD jafar::gramer::GeoData::fmethod [private]

Default data fusion method for different uses.

Used to fuse data between bands. Used to produce the main band.

They are enumerated in RasterBand.hpp

Definition at line 508 of file GeoData.hpp.

std::vector<BandDefinition> jafar::gramer::GeoData::geoBands [private]

Map the users' tags to their respective band number.

This map is very useful when retreiving information from bands using their names. Their names should be defined in a configuration file. The band number is used in GDAL in the function dataset->GetRasterBand(*num*)

See also:: loadConfigurationFile()

Definition at line 543 of file GeoData.hpp.

int jafar::gramer::GeoData::isInVirtualMemory

Virtual file detection flag.

This option is used to enable detection of virtual memory Dataset on which FlushCache is impossible.

0 - classical opening of a file on a hard memory device 1 - file created from a buffer with a file created on the virtual memory

Definition at line 241 of file GeoData.hpp.

double jafar::gramer::GeoData::probabilityLag [private]

Admissible offset around a zone area to consider it nearly homogeneous.

Parameter used in the terraing segmentation during the quadtree decomposition

See also:: nearlySameValue

Definition at line 524 of file GeoData.hpp.

double jafar::gramer::GeoData::refGeoTransform[6] [private]

Coefficient of affine Geo reference transformation array: [0] : X origin of left top corner of left top pixel [3] : Y origin of ...

[1] : Width in meters of this pixel [5] : Height in meters of this pixel [2] : Lines offset/shifts/drift [4] : Columns offset/shifts/drift

Definition at line 490 of file GeoData.hpp.

double jafar::gramer::GeoData::simulationProbaVisionLimit [private]

Limit used to evaluate intervisibility on real worlds since on simulated world everything is fully state-defined.

Terrain with a sum of P(all-traversable-classes) < simulationProbaVisionLimit are not transparent to vision.

Definition at line 532 of file GeoData.hpp.

The documentation for this class was generated from the following file:

modules/gramer/include/gramer/GeoData.hpp

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation