Elevation map plugin.

README.md

@@ -29,6 +29,7 @@ GCS project uses [APX Shared Library](https://github.com/uavos/apx-lib) submodul
 - [GStreamer](https://gstreamer.freedesktop.org) - used for video streaming by some plugins;
 - [SDL2](https://www.libsdl.org) - used for joystick interface by some plugins;
 - [Sparkle](https://sparkle-project.org/) - required for mac auto updates;
+- [GDAL](https://gdal.org) - required for elevation map files processing;
 - [AppImageUpdate](https://github.com/AppImage/AppImageUpdate) - required for linux build, see installation in [Dockerfile](https://github.com/uavos/apx-gcs/blob/main/Dockerfile);
 
 ### CMAKE build

src/Plugins/MapView/CMakeLists.txt

@@ -2,3 +2,4 @@ add_subdirectory("Location")
 add_subdirectory("MissionPlanner")
 add_subdirectory("Sites")
 add_subdirectory("KmlOverlay")
+add_subdirectory("ElevationMap")

src/Plugins/MapView/ElevationMap/CMakeLists.txt

@@ -0,0 +1,18 @@
+apx_plugin(QML_NO_PREFIX DEPENDS lib.ApxGcs QT Location Positioning)
+
+if(APPLE)
+    find_package(GDAL CONFIG)
+    if(NOT GDAL_FOUND)
+        find_package(GDAL REQUIRED)
+    endif()
+    target_link_libraries(${MODULE} PRIVATE GDAL::GDAL)
+elseif(UNIX AND NOT APPLE)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(GDAL REQUIRED gdal)
+    target_include_directories(${MODULE} PRIVATE ${GDAL_INCLUDE_DIRS})
+    target_link_directories(${MODULE} PRIVATE ${GDAL_LIBRARY_DIRS})
+    target_link_libraries(${MODULE} PRIVATE ${GDAL_LIBRARIES})
+
+elseif(WIN32)
+    message(WARNING "Not implemented")
+endif()

src/Plugins/MapView/ElevationMap/ElevationDB.cpp

@@ -0,0 +1,261 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <[email protected]>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "ElevationDB.h"
+#include <App/AppLog.h>
+
+#include <QFile>
+
+#include "cpl_minixml.h"
+#include "cpl_string.h"
+#include "gdal.h"
+#include "gdal_version.h"
+#include "ogr_spatialref.h"
+#include <cmath>
+#include <vector>
+
+OfflineElevationDB::OfflineElevationDB(QString &path)
+    : m_dbPath(path)
+{}
+
+double OfflineElevationDB::getElevationASTER(double latitude, double longitude)
+{
+    double elevation{NAN};
+    auto fileName = createASTERFileName(latitude, longitude);
+    if (!QFile::exists(fileName)) {
+        return elevation;
+    }
+
+    elevation = getElevationFromGeoFile(fileName, latitude, longitude);
+    return elevation;
+}
+
+QString OfflineElevationDB::createASTERFileName(double latitude, double longitude)
+{
+    int lat = fabs(static_cast<int>(latitude));
+    int lon = fabs(static_cast<int>(longitude));
+    auto fileName = QString("ASTGTMV003_%1%2%3%4_dem.tif")
+                        .arg((latitude >= 0) ? 'N' : 'S')
+                        .arg((latitude >= 0 ? lat : ++lat), 2, 10, QChar('0'))
+                        .arg((longitude >= 0) ? 'E' : 'W')
+                        .arg((longitude >= 0 ? lon : ++lon), 3, 10, QChar('0'));
+
+    auto path = QString("%1/%2").arg(m_dbPath).arg(fileName);
+    return path;
+}
+
+double OfflineElevationDB::getElevation(double latitude, double longitude)
+{
+    return getElevationASTER(latitude, longitude);
+}
+
+double OfflineElevationDB::getElevationFromGeoFile(QString fileName,
+                                                   double latitude,
+                                                   double longitude)
+{
+    char *srcSRS = nullptr;
+    std::vector<int> anBandList;
+    double elevation{NAN};
+    int nOverview = -1;
+
+    GDALAllRegister();
+    CPLFree(srcSRS);
+    srcSRS = SanitizeSRS("WGS84");
+
+    if (!srcSRS)
+        return NAN;
+
+    auto src = fileName.toStdString();
+    auto srcFilename = src.c_str();
+
+    // Open source file
+    GDALDatasetH hSrcDS = GDALOpenEx(srcFilename,
+                                     GDAL_OF_RASTER | GDAL_OF_VERBOSE_ERROR,
+                                     nullptr,
+                                     nullptr,
+                                     nullptr);
+
+    if (hSrcDS == nullptr)
+        return NAN;
+
+    // Setup coordinate transformation, if required
+    OGRSpatialReferenceH hSrcSRS = nullptr;
+    OGRCoordinateTransformationH hCT = nullptr;
+    if (srcSRS != nullptr && !EQUAL(srcSRS, "-geoloc")) {
+        hSrcSRS = OSRNewSpatialReference(srcSRS);
+        OSRSetAxisMappingStrategy(hSrcSRS, OAMS_TRADITIONAL_GIS_ORDER);
+        auto hTrgSRS = GDALGetSpatialRef(hSrcDS);
+        if (!hTrgSRS)
+            return NAN;
+
+        hCT = OCTNewCoordinateTransformation(hSrcSRS, hTrgSRS);
+        if (hCT == nullptr)
+            return NAN;
+    }
+
+    // If no bands were requested, we will query them all
+    if (anBandList.empty()) {
+        for (int i = 0; i < GDALGetRasterCount(hSrcDS); i++)
+            anBandList.push_back(i + 1);
+    }
+
+    // Turn the location into a pixel and line location.
+    bool inputAvailable = true;
+    double dfGeoX = longitude;
+    double dfGeoY = latitude;
+
+    while (inputAvailable) {
+        int iPixel;
+        int iLine;
+
+        if (hCT) {
+            if (!OCTTransform(hCT, 1, &dfGeoX, &dfGeoY, nullptr))
+                return NAN;
+        }
+
+        if (srcSRS != nullptr) {
+            double adfGeoTransform[6] = {};
+            if (GDALGetGeoTransform(hSrcDS, adfGeoTransform) != CE_None) {
+                apxMsgW() << tr("Error %1. Cannot get geotransform.").arg(CPLE_AppDefined);
+                return NAN;
+            }
+
+            double adfInvGeoTransform[6] = {};
+            if (!GDALInvGeoTransform(adfGeoTransform, adfInvGeoTransform)) {
+                apxMsgW() << tr("Error %1. Cannot invert geotransform.").arg(CPLE_AppDefined);
+                return NAN;
+            }
+
+            iPixel = static_cast<int>(floor(adfInvGeoTransform[0] + adfInvGeoTransform[1] * dfGeoX
+                                            + adfInvGeoTransform[2] * dfGeoY));
+            iLine = static_cast<int>(floor(adfInvGeoTransform[3] + adfInvGeoTransform[4] * dfGeoX
+                                           + adfInvGeoTransform[5] * dfGeoY));
+        } else {
+            iPixel = static_cast<int>(floor(dfGeoX));
+            iLine = static_cast<int>(floor(dfGeoY));
+        }
+
+        CPLString osLine;
+        bool bPixelReport = true;
+
+        if (iPixel < 0 || iLine < 0 || iPixel >= GDALGetRasterXSize(hSrcDS)
+            || iLine >= GDALGetRasterYSize(hSrcDS)) {
+            apxMsgW() << tr("Location is off this file! No further details to report.");
+            bPixelReport = false;
+        }
+
+        // Process each band
+        for (int i = 0; bPixelReport && i < static_cast<int>(anBandList.size()); i++) {
+            GDALRasterBandH hBand = GDALGetRasterBand(hSrcDS, anBandList[i]);
+            int iPixelToQuery = iPixel;
+            int iLineToQuery = iLine;
+
+            if (nOverview >= 0 && hBand != nullptr) {
+                GDALRasterBandH hOvrBand = GDALGetOverview(hBand, nOverview);
+                if (hOvrBand != nullptr) {
+                    auto nOvrXSize = GDALGetRasterBandXSize(hOvrBand);
+                    auto nOvrYSize = GDALGetRasterBandYSize(hOvrBand);
+                    iPixelToQuery = static_cast<int>(
+                        0.5 + 1.0 * iPixel / GDALGetRasterXSize(hSrcDS) * nOvrXSize);
+                    iLineToQuery = static_cast<int>(
+                        0.5 + 1.0 * iLine / GDALGetRasterYSize(hSrcDS) * nOvrYSize);
+                    if (iPixelToQuery >= nOvrXSize)
+                        iPixelToQuery = nOvrXSize - 1;
+                    if (iLineToQuery >= nOvrYSize)
+                        iLineToQuery = nOvrYSize - 1;
+                } else {
+                    apxMsgW() << tr("Error %1. Cannot get overview %2 of band %3")
+                                     .arg(CPLE_AppDefined)
+                                     .arg(nOverview + 1)
+                                     .arg(anBandList[i]);
+                }
+                hBand = hOvrBand;
+            }
+
+            if (hBand == nullptr)
+                continue;
+
+            double adfPixel[2] = {0, 0};
+            const bool bIsComplex = CPL_TO_BOOL(GDALDataTypeIsComplex(GDALGetRasterDataType(hBand)));
+
+            if (GDALRasterIO(hBand,
+                             GF_Read,
+                             iPixelToQuery,
+                             iLineToQuery,
+                             1,
+                             1,
+                             adfPixel,
+                             1,
+                             1,
+                             bIsComplex ? GDT_CFloat64 : GDT_Float64,
+                             0,
+                             0)
+                == CE_None) {
+                CPLString osValue;
+
+                if (bIsComplex)
+                    osValue.Printf("%.15g+%.15gi", adfPixel[0], adfPixel[1]);
+                else
+                    osValue.Printf("%.15g", adfPixel[0]);
+
+                elevation = std::stod(osValue.c_str());
+            }
+        }
+
+        if ((latitude != NAN && longitude != NAN)
+            || (fscanf(stdin, "%lf %lf", &dfGeoX, &dfGeoY) != 2)) {
+            inputAvailable = false;
+        }
+    }
+
+    // Cleanup
+    if (hCT) {
+        OSRDestroySpatialReference(hSrcSRS);
+        OCTDestroyCoordinateTransformation(hCT);
+    }
+
+    GDALClose(hSrcDS);
+    GDALDumpOpenDatasets(stderr);
+    GDALDestroyDriverManager();
+    CPLFree(srcSRS);
+
+    return elevation;
+}
+
+char *OfflineElevationDB::SanitizeSRS(const char *userInput)
+{
+    OGRSpatialReferenceH hSRS = OSRNewSpatialReference(nullptr);
+    char *result = nullptr;
+
+    if (OSRSetFromUserInput(hSRS, userInput) == OGRERR_NONE)
+        OSRExportToWkt(hSRS, &result);
+    else {
+        apxMsgW() << tr("Error %1. Translating source or target SRS failed: %2")
+                         .arg(CPLE_AppDefined)
+                         .arg(userInput);
+        return nullptr;
+    }
+
+    OSRDestroySpatialReference(hSRS);
+
+    return result;
+}

src/Plugins/MapView/ElevationMap/ElevationDB.h

@@ -0,0 +1,52 @@
+/*
+ * APX Autopilot project <http://docs.uavos.com>
+ *
+ * Copyright (c) 2003-2020, Aliaksei Stratsilatau <[email protected]>
+ * All rights reserved
+ *
+ * This file is part of APX Ground Control.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <QString>
+#include <QtCore>
+
+class AbstractElevationDB : public QObject
+{
+    Q_OBJECT
+
+public:
+    AbstractElevationDB() = default;
+    virtual double getElevation(double latitude, double longitude) = 0;
+};
+
+class OfflineElevationDB : public AbstractElevationDB
+{
+    Q_OBJECT
+
+public:
+    OfflineElevationDB(QString &path);
+    double getElevation(double latitude, double longitude) override;
+    double getElevationASTER(double latitude,
+                             double longitude); // Return NaN if the elevation is undefined
+
+private:
+    QString m_dbPath;
+
+    QString createASTERFileName(double latitude, double longitude);
+    double getElevationFromGeoFile(QString fileName, double latitude, double longitude);
+    char *SanitizeSRS(const char *userInput);
+};