Class for GDAL data handling. More...

Detailed Description

Class for GDAL data handling.

Definition at line 53 of file GeoData.hpp.

#include <GeoData.hpp>

Inheritance diagram for jafar::lgl::GeoData:

Public Member Functions
	GeoData ()
	Default Constructor with no image or data load.
	GeoData (const std::string &_dsfilename, FUSION_METHOD _fmethod=MEAN)
	Constructor used to load a map from a raster file.
	GeoData (int _xsize, int _ysize, double *_bufferedData, FUSION_METHOD _fmethod=MEAN)
	Constructor used to load a map from buffered data.
	~GeoData ()
	Destructor.
bool	loadBand (GEODATA_BAND band, const std::string &_dsfilename)
bool	loadInfoBand (const std::string &_dsfilename, GEODATA_BAND aband)
bool	loadLandmarkBand (const std::string &_dsfilename)
GDALDataset *	getDataset () const
void	getAffineTransform (double &_utmXRoot, double &_utmYRoot, double &_cellXRes, double &_cellYRes)
int	getxroot () const
	Abstract methods from abstract class Raster.
int	getyroot () const
int	getxsize () const
int	getysize () const
double	getScale () const
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	getValueFromBand (GEODATA_BAND _aband, int index)
	Get the value loaded from the band _aband at given index.
double	getValueFromBand (GEODATA_BAND _aband, int xindex, int yindex)
	Get the value loaded from the band _aband at given x and y coordinates of the top left pixel corner.
double	getData (GEODATA_BAND band, const RasterCellIndex &cell) const
double	getData (const RasterCellIndex &cell) const
double	getData (const RasterRect &rect) const
double	getData (GEODATA_BAND band, const RasterRect &rect) const
GDRasterBand< double > *	getBand (GEODATA_BAND band)
double	getInterpolatedValue (GEODATA_BAND _aband, double xNavLoc, double yNavLoc)
void	setScale (double _scale)
	Set the GDAL dataset scale.
void	setValueInBand (GEODATA_BAND _aband, int _index, double _val)
	Set/Updates the value in band _aband at index _index using _val as the new value.
void	setFusingMethod (FUSION_METHOD _fmethod)
	Set the fusing method to an available fusing flag.
bool	setData (double bufferedData, double bufferedOther, int _xsize, int _ysize, int _band=GEODATA_TFLAT_BAND)
bool	setData (int at_i, int at_j, Attributes inatt, bool internalTransfer=true)
	Write attributes in cell covering position (at_i, at_j)
void	setDecompositionLimit (double _dl)
	Modifies the decomposition limit on all bands.
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 RasterRect &rect) const
	given a rect ((top,left),(right,bottom)), tell if this is homogeneous
bool	sameValue (const RasterRect &rect)
bool	sameValue (GEODATA_BAND band, const RasterRect &rect)
bool	overlaps (GeoData *_toMerge)
	Verify if geodata is overlapping at least with 1 pixel with _toMerge geodata.
bool	mergeStrict (GeoData *_toMerge, GEODATA_BAND _aband)
	Merge with another geodata.
void	addDataset (GDALDataset *_dataset)
	Add information to the GDAL Dataset.
void	fuseData (GeoData *_geodata2, GEODATA_BAND _aband, const RasterRect &innerRect, const RasterRect &fusingRect)
	Fusing information from the fusingRect region from _geodata into innerRect region of the current geodata.
double	calculateBandHomogeneityPercentage (GEODATA_BAND _aband)
	Calculate bands homogeneity percentage.
void	printInfo (bool verbose=true) const
	Print useful information on the loaded geo data.
bool	saveData (const std::string &outfile, const char *wFormat="GTIFF")
	Saving images in GeoTif format by default.
void	bufferToMem ()
	Transport info from GDAL Datasets to Bands' internal data.
void	memToBuffer ()
	Transport info from Bands' internal data to GDAL Datasets.
bool	saveTraversability (const std::string &outfile)
	Saving only traversability layer in a ppm file.
void	resetBands ()
	Reset knowledge on all layers.
bool	createNewInfoBand (GDInfoBand **thatNewBand)
	Add a new information band to the dataset.
bool	initUtility ()
	Initialized or reset utility map with zeros.
bool	setMap (GEODATA_INTERNAL_MAP map2set, double v1_, int x1_, int y1_, double v2_, int x2_, int y2_)
	Sets the goal reaching potential from (x1_, y1_) to (x2_, y2_)
bool	buildUtility ()
	Merge potential with entropy to construct navigation utility.
void	resetUtility ()
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	getFootPrintEntropy (int, int)
	Getting mean entropy in a sensor foot print.
HOMOGENEOUS_TYPE	getTraversabilityHomogeneousType ()
	Returns the decomposition type of this band.
HOMOGENEOUS_TYPE	getRoughHomogeneousType ()
	Returns the decomposition type of this band.
double	getTraversabilityProbabilityLag ()
	Get the probability lag used for decomposition in the traversability band.
double	getRoughProbabilityLag ()
	Get the probability lag used for decomposition in the rough terrain band.
double	getTraversabilitySigmaFactor ()
	Get the sigma used for decomposition in the traversability band.
double	getRoughSigmaFactor ()
	Get the sigma used for decomposition in the rough terrain band.
double	getSimulationProbaVisionLimit ()
	Get the simulationProbaVisionLimit factor.
bool	isVisionTransparent (int atx, int aty, int atz=0)
	Tell if the land is traversable by the line of vision.
bool	loadVisibility (const std::string &_visibilityFileName)
	Load the visibility Data from a file pointed by _visibilityFileName.
Static Public Member Functions
static const double	DEFAULT_DATA_VALUE ()
static const double	GEODATA_DEFAULT_SCALE ()
Public Attributes
int	isInVirtualMemory
	Virtual file detection flag.
double *	mapPotential
	Array to hold the goal reaching potential information.
double *	mapH
	Array to hold the information entropy.
double *	mapUtility
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 "<<".
bool	loadData (const std::string &_dsfilename, GDALDataset *_useThisDataset=NULL)
	Method to load an image or use an existing dataset.
bool	loadVisibilityData (const std::string &_visibilityFileName, GDALDataset *_useThisDataset)
	Load visibility GeoData from a file.
Private Attributes
double	decompositionLimit
	Quadtree maximum cell size in meter.
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.
GDInfoBand *	traversabilityBand
	Main band is the combination of other information bands (like trav and landmark)
GDLandmarkBand *	landmarkBand
	Landmark Band.
GDInfoBand *	roughTerrainBand
	Rough Terrain Band.
GDInfoBand *	visibilityBand
	Visibility Band.
GDInfoBand *	visibilityHeightBand
	Visibility Height Band.
FUSION_METHOD	fmethod
	Seems unused for now.
double	simulationProbaVisionLimit
	Limit used to evaluate intervisibility on real worlds since on simulated world everything is fully state-defined.
Friends
class	NavGraph
class	PositionMap
class	Decomp
std::ostream &	operator<< (std::ostream &out, const GeoData &gd)
	Redefinition of operator <<.

Member Function Documentation

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

Add information to the GDAL Dataset.

Parameters:

_dataset GDAL Dataset to fuse

See also:: mergeStrict()

double jafar::lgl::GeoData::calculateBandHomogeneityPercentage ( GEODATA_BAND _aband )

Calculate bands homogeneity percentage.

It is the rate of pixel with differing direct-neighborhood to the total number of considered pixels (image borders are ignored).

bool jafar::lgl::GeoData::createNewInfoBand ( GDInfoBand ** thatNewBand )

Add a new information band to the dataset.

TODO: dynamic array of bands to extend is needed

For now prints if ading a new GDT_Float64 band is possible

void jafar::lgl::GeoData::fuseData	(	GeoData *	_geodata2,
		GEODATA_BAND	_aband,
		const RasterRect &	innerRect,
		const RasterRect &	fusingRect
	)

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

bool jafar::lgl::GeoData::isVisionTransparent	(	int	atx,
		int	aty,
		int	atz = `0`
	)

Tell if the land is traversable by the line of vision.

See also:: simulationProbaVisionLimit

bool jafar::lgl::GeoData::loadData	(	const std::string &	_dsfilename,
		GDALDataset *	_useThisDataset = `NULL`
	)		`[private]`

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::lgl::GeoData::loadVisibility ( const std::string & _visibilityFileName )

Load the visibility Data from a file pointed by _visibilityFileName.

Parameters:

_dsfilename File Path to open ; it has to be a visibility map

bool jafar::lgl::GeoData::loadVisibilityData	(	const std::string &	_visibilityFileName,
		GDALDataset *	_useThisDataset
	)		`[private]`

Load visibility GeoData from a file.

Parameters:

_visibilityFileName File path of the file to open

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

bool jafar::lgl::GeoData::mergeStrict	(	GeoData *	_toMerge,
		GEODATA_BAND	_aband
	)

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

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

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

Returns:: true if overlapping

bool jafar::lgl::GeoData::setData	(	int	at_i,
		int	at_j,
		Attributes	inatt,
		bool	internalTransfer = `true`
	)

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.

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

Set the fusing method to an available fusing flag.

See also:: fmethod

bool jafar::lgl::GeoData::setMap	(	GEODATA_INTERNAL_MAP	map2set,
		double	v1_,
		int	x1_,
		int	y1_,
		double	v2_,
		int	x2_,
		int	y2_
	)

Sets the goal reaching potential from (x1_, y1_) to (x2_, y2_)

Data is interpolated and stored in the corresponding map for all points between (x1_, y1) and (x2_, y2_)

Parameters:

v1_	goal reaching potential value of closest-to-the-goal node
x1_	x coord of node with potential v1_
y1_	y coord of node with potential v1_
v2_	goal reaching potential value of previous node in potential path
x2_	x coord of node with potential v2_
y2_	y coord of node with potential v2_

See also:: buildUtility() initUtility()

Member Data Documentation

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

Seems unused for now.

Should be the fusion methods between bands. Used to produce the main band. The are defined in RasterBand.hpp

Definition at line 392 of file GeoData.hpp.

int jafar::lgl::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 87 of file GeoData.hpp.

double jafar::lgl::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 364 of file GeoData.hpp.

double jafar::lgl::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 400 of file GeoData.hpp.

GDInfoBand* jafar::lgl::GeoData::traversabilityBand [private]

Main band is the combination of other information bands (like trav and landmark)

Traversability Band

Definition at line 377 of file GeoData.hpp.

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

modules/lgl/include/lgl/GeoData.hpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Member Function Documentation

Member Data Documentation