forked from ExternalVendorCode/Signal-Server
2.8 LIDAR improvements
This commit is contained in:
alex
360
inputs.cc
360
inputs.cc
@@ -6,29 +6,30 @@
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#include "common.h"
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#include "main.hh"
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void readLIDAR(FILE *fd, int hoffset, int voffset, int h, int w, int indx, double n, double e, double s, double west)
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void readLIDAR(FILE *fd, int hoffset, int voffset, int h, int w, int indx,
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double n, double e, double s, double west)
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{
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int x=0,y=0,reads=0;
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int x = 0, y = 0, reads = 0;
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char line[150000];
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char * pch;
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char *pch;
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// use offsets to determine middle lat/lon for 5 x 10k tiles
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// TALL
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if(voffset==0 && h==10000){
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if (voffset == 0 && h == 10000) {
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s = (s+n)/2;
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h=5000;
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h = 5000;
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}
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if(voffset==5000 && h==10000){
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if (voffset == 5000 && h == 10000) {
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n = (s+n)/2;
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}
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// WIDE
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if(hoffset==0 && w==10000){
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if (hoffset == 0 && w == 10000) {
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e = (e+west)/2;
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w=5000;
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w = 5000;
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}
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if(hoffset==5000 && w==10000){
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if (hoffset == 5000 && w == 10000) {
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west = (e+west)/2;
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w=5000;
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w = 5000;
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}
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dem[indx].max_north=n;
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@@ -36,270 +37,271 @@ void readLIDAR(FILE *fd, int hoffset, int voffset, int h, int w, int indx, doubl
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dem[indx].min_north=s;
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dem[indx].max_west=west;
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if (dem[indx].max_west > max_west)
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max_west = dem[indx].max_west;
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if (dem[indx].min_west < min_west)
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min_west = dem[indx].min_west;
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if (max_west == -1)
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if (max_west == -1) {
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max_west = dem[indx].max_west;
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else {
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} else {
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if (abs(dem[indx].max_west - max_west) < 180) {
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if (dem[indx].max_west > max_west)
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max_west = dem[indx].max_west;
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}
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else {
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} else {
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if (dem[indx].max_west < max_west)
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max_west = dem[indx].max_west;
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}
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}
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if (min_west == 360)
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if (min_west == 360) {
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min_west = dem[indx].min_west;
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else {
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} else {
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if (fabs(dem[indx].min_west - min_west) < 180.0) {
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if (dem[indx].min_west < min_west)
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min_west = dem[indx].min_west;
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}
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else {
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} else {
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if (dem[indx].min_west > min_west)
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min_west = dem[indx].min_west;
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}
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}
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for (y = h-1; y > -1; y--) {
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x=w-1;
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if (fgets(line, 150000, fd) != NULL) {
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// do nothing until n rows have passed
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if(y<voffset || voffset==0){
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pch = strtok (line, " ");
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x = w-1;
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if (fgets(line, 150000, fd) != NULL) {
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// do nothing until n rows have passed
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if (y < voffset || voffset == 0) {
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pch = strtok(line, " ");
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//dummy reads until we reach offset
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// for 5000 offset, width must be 10e3
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for(n=0;n<hoffset;n++){
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pch = strtok(NULL, " ");
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}
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//dummy reads until we reach offset
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// for 5000 offset, width must be 10e3
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for (n = 0; n < hoffset; n++)
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pch = strtok(NULL, " ");
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while(pch != NULL && x > -1){
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if(atoi(pch)<-999){
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pch="0";
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}
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dem[indx].data[y][x]=atoi(pch);
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dem[indx].signal[x][y] = 0;
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dem[indx].mask[x][y] = 0;
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if (atoi(pch) > dem[indx].max_el){
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dem[indx].max_el = atoi(pch);
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max_elevation = atoi(pch);
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}
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if (atoi(pch) < dem[indx].min_el){
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dem[indx].min_el = atoi(pch);
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min_elevation = dem[indx].min_el;
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}
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//}
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x--;
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pch = strtok (NULL, " ");
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} //while
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} //voffset
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}else{
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fprintf(stdout,"LIDAR error @ x %d y %d indx %d\n",x,y,indx);
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}//if
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}//for
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while (pch != NULL && x > -1) {
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if (atoi(pch) < -999)
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pch = "0";
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dem[indx].data[y][x] = atoi(pch);
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dem[indx].signal[x][y] = 0;
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dem[indx].mask[x][y] = 0;
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if (atoi(pch) > dem[indx].max_el) {
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dem[indx].max_el = atoi(pch);
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max_elevation = atoi(pch);
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}
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if (atoi(pch) < dem[indx].min_el) {
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dem[indx].min_el = atoi(pch);
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min_elevation = dem[indx].min_el;
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}
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x--;
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pch = strtok(NULL, " ");
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}//while
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}//voffset
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} else {
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fprintf(stdout, "LIDAR error @ x %d y %d indx %d\n",
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x, y, indx);
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}//if
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}//for
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}
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int loadLIDAR(char *filenames)
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{
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/* This function reads either 9 LIDAR tiles of n rows and n columns in ASCII grid format OR a single super tile composed of 2 or more tiles.
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The tile must have WGS84 bounds in the header in the order: WEST,SOUTH,EAST,NORTH
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ncols 5000
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nrows 5000
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xllcorner -2.291359
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yllcorner 51.788295
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xurcorner -2.146674
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yurcorner 51.878474
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cellsize 2
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NODATA_value -9999
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Tiles must be entered in the format -lid tile1.asc,tile2.asc,tile3.asc
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*/
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/*
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* This function reads either 9 LIDAR tiles of n rows and n columns
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* in ASCII grid format OR a single super tile composed of 2 or more
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* tiles. The tile must have WGS84 bounds in the header in the order:
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* WEST,SOUTH,EAST,NORTH
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* ncols 5000
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* nrows 5000
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* xllcorner -2.291359
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* yllcorner 51.788295
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* xurcorner -2.146674
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* yurcorner 51.878474
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* cellsize 2
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* NODATA_value -9999
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*
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* Tiles must be entered in the format
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*
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* -lid tile1.asc,tile2.asc,tile3.asc
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*/
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char *filename;
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char *files[4]; // 4 tiles
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int x, y, cellsize,indx=0,fc=0,hoffset=0,voffset=0,pos;
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double xll, yll, xur, yur;
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int x, y, indx = 0, fc = 0, hoffset = 0, voffset = 0, pos,
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dem_alloced = 0;
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double xll, yll, xur, yur, cellsize;
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char found, free_page = 0, jline[20], lid_file[255],
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path_plus_name[255], *junk = NULL;
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path_plus_name[255], *junk = NULL;
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char line[50000];
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char * pch;
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FILE *fd;
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// test for multiple files
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filename = strtok(filenames, " ,");
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while (filename != NULL)
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{
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while (filename != NULL) {
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files[fc] = filename;
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filename = strtok(NULL, " ,");
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fc++;
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}
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while (indx<fc) {
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while (indx < fc) {
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fd = fopen(files[indx], "rb");
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if (fd != NULL) {
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if (debug) {
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fprintf(stdout,"Loading \"%s\" into page %d...\n",files[indx], indx);
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fprintf(stdout, "Loading \"%s\" into page %d...\n", files[indx], indx);
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fflush(stdout);
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}
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if (fgets(line, 19, fd) != NULL) {
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pch = strtok (line," ");
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pch = strtok (NULL, " ");
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width=atoi(pch);
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pch = strtok (line," ");
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pch = strtok (NULL, " ");
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width = atoi(pch);
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if (!dem_alloced) {
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IPPD = width;
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ARRAYSIZE = (MAXPAGES * IPPD) + 10;
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do_allocs();
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dem_alloced = 1;
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}
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}
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if (fgets(line, 19, fd) != NULL) {
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height=atoi(pch);
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}
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fgets(line, 24, fd); //
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if (fgets(line, 19, fd) != NULL)
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height = atoi(pch);
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fgets(line, 24, fd);
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if (fgets(line, 24, fd) != NULL) {
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//xll=atof(pch);
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sscanf(pch, "%lf", &xll);
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//xll=atof(pch);
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sscanf(pch, "%lf", &xll);
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}
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fgets(line, 24, fd); //
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fgets(line, 24, fd);
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if (fgets(line, 24, fd) != NULL) {
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//yll=atof(pch);
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sscanf(pch, "%lf", &yll);
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//yll=atof(pch);
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sscanf(pch, "%lf", &yll);
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}
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fgets(line, 24, fd); //
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fgets(line, 24, fd);
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if (fgets(line, 24, fd) != NULL) {
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//xur=atof(pch);
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sscanf(pch, "%lf", &xur);
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//xur=atof(pch);
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sscanf(pch, "%lf", &xur);
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}
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fgets(line, 24, fd); //
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fgets(line, 24, fd);
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if (fgets(line, 24, fd) != NULL) {
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//yur=atof(pch);
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sscanf(pch, "%lf", &yur);
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}
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fgets(line, 15, fd); //
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if (fgets(line, 15, fd) != NULL) {
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cellsize=atoi(pch);
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//yur=atof(pch);
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sscanf(pch, "%lf", &yur);
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}
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fgets(line, 15, fd);
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if (fgets(line, 15, fd) != NULL)
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cellsize = strtod(pch, NULL);
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// LIDAR 10m @ 10800 PPD
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if (cellsize == 10.0)
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MAXRAD = 30;
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// LIDAR 2m @ 54000 PPD
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if(cellsize==2){
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ippd=5000;
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MAXRAD=15;
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}
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if (cellsize == 2.0)
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MAXRAD = 15;
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// LIDAR 1m @ 108000 PPD!
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if(cellsize==1){
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ippd=10000;
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MAXRAD=10;
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}
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if (cellsize == 1.0)
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MAXRAD = 10;
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if(xur<eastoffset)
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eastoffset=xur;
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if(xll>westoffset)
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westoffset=xll;
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if (xur < eastoffset)
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eastoffset = xur;
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if (xll > westoffset)
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westoffset = xll;
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if (debug)
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fprintf(stdout, "PRE yll %.7f yur %.7f xur %.7f xll %.7f delta %.6f\n", yll, yur, xur, xll, delta);
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if(debug){
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fprintf(stdout,"PRE yll %.7f yur %.7f xur %.7f xll %.7f delta %.6f\n",yll,yur,xur,xll,delta);
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}
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// Greenwich straddling hack
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if(xll < 0 && xur > 0){
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if (xll < 0 && xur > 0) {
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xll = (xur - xll); // full width
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xur=0.0; // budge it along so it's west of greenwich
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delta=eastoffset; // add to Tx longitude later
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}else{
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xur = 0.0; // budge it along so it's west of greenwich
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delta = eastoffset; // add to Tx longitude later
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} else {
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// Transform WGS84 longitudes into 'west' values as society finishes east of Greenwich ;)
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if(xll > 0){
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xll=360-xll;
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}
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if(xur > 0){
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xur=360-xur;
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}
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if(xll < 0){
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xll=xll*-1;
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}
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if(xur < 0){
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xur=xur*-1;
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}
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if (xll > 0)
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xll = 360-xll;
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if(xur > 0)
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xur = 360-xur;
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if(xll < 0)
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xll = xll * -1;
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if(xur < 0)
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xur = xur * -1;
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}
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if (debug)
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fprintf(stdout, "POST yll %.7f yur %.7f xur %.7f xll %.7f delta %.6f\n", yll, yur, xur, xll, delta);
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}
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if(debug){
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fprintf(stdout,"POST yll %.7f yur %.7f xur %.7f xll %.7f delta %.6f\n",yll,yur,xur,xll,delta);
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}
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if (yll < min_north)
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min_north=yll;
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min_north = yll;
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if (yur > max_north)
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max_north=yur;
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max_north = yur;
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fgets(line, 30, fd); // NODATA
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pos=ftell(fd);
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pos = ftell(fd);
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// tile 0 [x| ]
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if(debug){
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fprintf(stdout,"readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n",0,0,height,width,indx,yur,xur,yll,xll);
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}
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readLIDAR(fd,0,0,height,width,indx,yur,xur,yll,xll);
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if (debug)
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fprintf(stdout, "readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n", 0, 0, height, width, indx, yur, xur, yll, xll);
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readLIDAR(fd, 0, 0, height, width, indx, yur, xur, yll,
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xll);
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//rewind
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fseek(fd,pos,SEEK_SET);
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fseek(fd, pos, SEEK_SET);
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// tile 1 [ |x]
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if(width==10000){
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if (width == 2000 ||
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width == 10000 ||
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width == 10082) {
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indx++;
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if(debug){
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fprintf(stdout,"readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n",5000,0,height,width,indx,yur,xur,yll,xll);
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}
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readLIDAR(fd,5000,0,height,width,indx,yur,xur,yll,xll);
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}
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if (debug)
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fprintf(stdout, "readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n", width / 2, 0, height, width, indx, yur, xur, yll, xll);
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readLIDAR(fd, width / 2, 0, height, width,
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indx, yur, xur, yll, xll);
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}
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//rewind
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fseek(fd,pos,SEEK_SET);
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fseek(fd, pos, SEEK_SET);
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// tile 2 [x | ]
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if(height==10000){
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if (height == 2000 ||
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height == 10000 ||
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height == 10082) {
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indx++;
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if(debug){
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fprintf(stdout,"readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n",0,5000,height,width,indx,yur,xur,yll,xll);
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}
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readLIDAR(fd,0,5000,height,width,indx,yur,xur,yll,xll);
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}
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if (debug)
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fprintf(stdout, "readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n", 0, height / 2, height, width, indx, yur, xur, yll, xll);
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readLIDAR(fd, 0, height / 2, height, width,
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indx, yur, xur, yll, xll);
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}
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//rewind
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fseek(fd,pos,SEEK_SET);
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fseek(fd, pos, SEEK_SET);
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// tile 3 [ |x]
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if(width==10000 && height==10000){
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if ((width == 2000 && height == 2000) ||
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(width == 10000 && height == 10000) ||
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(width == 10082 && height == 10082)) {
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indx++;
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if(debug){
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fprintf(stdout,"readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n",5000,5000,height,width,indx,yur,xur,yll,xll);
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}
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readLIDAR(fd,5000,5000,height,width,indx,yur,xur,yll,xll);
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if (debug)
|
||||
fprintf(stdout, "readLIDAR(fd,%d,%d,%d,%d,%d,%.4f,%.4f,%.4f,%.4f)\n", width / 2, height / 2, height, width, indx, yur, xur, yll, xll);
|
||||
|
||||
readLIDAR(fd, width / 2, height / 2, height,
|
||||
width, indx, yur, xur, yll,
|
||||
xll);
|
||||
}
|
||||
fclose(fd);
|
||||
|
||||
fprintf(stdout,"LIDAR LOADED %d x %d\n",width,height);
|
||||
} // if (fd != NULL)
|
||||
else
|
||||
if (debug)
|
||||
fprintf(stdout, "LIDAR LOADED %d x %d\n", width, height);
|
||||
} else {
|
||||
return -1;
|
||||
indx++;
|
||||
}
|
||||
indx++;
|
||||
} // filename(s)
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int LoadSDF_SDF(char *name)
|
||||
|
||||
Reference in New Issue
Block a user