Incrementally loading terrain from VRT server

grid_map_geo/CMakeLists.txt

@@ -34,6 +34,13 @@ add_executable(test_tif_loader
 add_dependencies(test_tif_loader ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY})
 target_link_libraries(test_tif_loader ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES})
 
+add_executable(terrain_loader
+  src/terrain_loader.cpp
+)
+add_dependencies(terrain_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY})
+target_link_libraries(terrain_loader ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES})
+
+
 if(CATKIN_ENABLE_TESTING)
     # Add gtest based cpp test target and link libraries
     catkin_add_gtest(${PROJECT_NAME}-test test/main.cpp

grid_map_geo/include/grid_map_geo/grid_map_geo.h

@@ -107,6 +107,8 @@ class GridMapGeo {
    */
   bool initializeFromGeotiff(const std::string& path);
 
+  bool initializeFromVrt(const std::string& path, const Eigen::Vector2d& map_center, Eigen::Vector2d& extent);
+
   /**
    * @brief Load a color layer from a geotiff file (orthomosaic)
    *

grid_map_geo/launch/run_terrain_loader.launch

@@ -0,0 +1,13 @@
+<launch>
+    <arg name="visualization" default="true"/>
+    <arg name="location" default="hinwil"/>
+
+    <node pkg="grid_map_geo" type="terrain_loader" name="terrain_loader" output="screen">
+        <!-- <param name="terrain_path" value="$(find terrain_models)/models/$(arg location).tif"/> -->
+        <param name="terrain_path" value="/vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/ap_srtm1.zip/ap_srtm1.vrt"/>
+    </node>
+
+    <group if="$(arg visualization)">
+        <node type="rviz" name="rviz" pkg="rviz" args="-d $(find grid_map_geo)/launch/terrain_loader.rviz" output="screen"/>
+    </group>
+</launch>

grid_map_geo/launch/terrain_loader.rviz

@@ -0,0 +1,154 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Grid1
+        - /GridMap1
+      Splitter Ratio: 0.5
+    Tree Height: 850
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: rviz_plugin_tutorials/Teleop
+    Name: Teleop
+    Topic: ""
+  - Class: mav_planning_rviz/PlanningPanel
+    Name: PlanningPanel
+    namespace: ""
+    odometry_topic: ""
+    planner_name: sertig
+    planning_budget: 4
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1000
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 0.25
+      Autocompute Intensity Bounds: false
+      Class: grid_map_rviz_plugin/GridMap
+      Color: 200; 200; 200
+      Color Layer: elevation
+      Color Transformer: IntensityLayer
+      Enabled: true
+      Height Layer: elevation
+      Height Transformer: Layer
+      History Length: 5
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2200
+      Min Color: 0; 0; 0
+      Min Intensity: 1400
+      Name: GridMap
+      Show Grid Lines: false
+      Topic: /grid_map
+      Unreliable: false
+      Use Rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 30173.89453125
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 5063.75927734375
+        Y: 2195.057373046875
+        Z: 3253.49755859375
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.639797031879425
+      Target Frame: map
+      Yaw: 5.113188743591309
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1136
+  Hide Left Dock: false
+  Hide Right Dock: true
+  PlanningPanel:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000247000003dbfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000007a000003db000000c700fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c0000000255000000ef0000006e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000004500ffffff000000010000010f000002cafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000007a000002ca000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073800000039fc0100000002fb0000000800540069006d00650100000000000007380000030700fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d00650100000000000004500000000000000000000004eb000003db00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Teleop:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1848
+  X: 72
+  Y: 27

grid_map_geo/src/grid_map_geo.cpp

@@ -141,6 +141,102 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path) {
   return true;
 }
 
+bool GridMapGeo::initializeFromVrt(const std::string &path, const Eigen::Vector2d &map_center,
+                                   Eigen::Vector2d &extent) {
+  GDALAllRegister();
+  GDALDataset *dataset = (GDALDataset *)GDALOpen(path.c_str(), GA_ReadOnly);
+  if (!dataset) {
+    std::cout << "Failed to open" << std::endl;
+    return false;
+  }
+  std::cout << std::endl << "Loading GeoTIFF file for gridmap" << std::endl;
+
+  double originX, originY, pixelSizeX, pixelSizeY;
+  double geoTransform[6];
+  if (dataset->GetGeoTransform(geoTransform) == CE_None) {
+    originX = geoTransform[0];
+    originY = geoTransform[3];
+    pixelSizeX = geoTransform[1];
+    pixelSizeY = geoTransform[5];
+  } else {
+    std::cout << "Failed read geotransform" << std::endl;
+    return false;
+  }
+
+  const char *pszProjection = dataset->GetProjectionRef();
+  std::cout << std::endl << "Wkt ProjectionRef: " << pszProjection << std::endl;
+
+  const OGRSpatialReference *spatial_ref = dataset->GetSpatialRef();
+  std::string name_coordinate = spatial_ref->GetAttrValue("geogcs");
+  std::string epsg_code = spatial_ref->GetAttrValue("AUTHORITY", 1);
+  // Get image metadata
+  unsigned width = dataset->GetRasterXSize();
+  unsigned height = dataset->GetRasterYSize();
+  double resolution = pixelSizeX;
+  std::cout << "Width: " << width << " Height: " << height << " Resolution: " << resolution << std::endl;
+
+  // pixelSizeY is negative because the origin of the image is the north-east corner and positive
+  // Y pixel coordinates go towards the south
+  int grid_width = extent(0) / std::abs(resolution);
+  int grid_height = extent(1) / std::abs(resolution);
+  const double lengthX = resolution * grid_width;
+  const double lengthY = resolution * grid_height;
+  grid_map::Length length(lengthX, lengthY);
+  std::cout << "length: " << length.transpose() << std::endl;
+
+  maporigin_.espg = static_cast<ESPG>(std::stoi(epsg_code));
+  maporigin_.position = map_center.head(2);
+
+  Eigen::Vector2d position{Eigen::Vector2d::Zero()};
+
+  grid_map_.setGeometry(length, resolution, position);
+  std::cout << "position: " << position.transpose() << std::endl;
+  /// TODO: Use TF for geocoordinates
+  grid_map_.setFrameId(frame_id_);
+  grid_map_.add("elevation");
+  GDALRasterBand *elevationBand = dataset->GetRasterBand(1);
+
+  Eigen::Vector2d center_px((map_center(1) - geoTransform[0]) / geoTransform[1],
+                            (map_center(0) - geoTransform[3]) / geoTransform[5]);
+
+  const auto raster_io_x_offset = center_px.x() - grid_width / 2;
+  const auto raster_io_y_offset = center_px.y() - grid_height / 2;
+  std::cout << "center_px: " << center_px.transpose() << std::endl;
+
+  std::vector<float> data(grid_width * grid_height, 0.0f);
+  const auto raster_err = elevationBand->RasterIO(GF_Read, raster_io_x_offset, raster_io_y_offset, grid_width,
+                                                  grid_height, &data[0], grid_width, grid_height, GDT_Float32, 0, 0);
+  if (raster_err != CPLE_None) {
+    std::cout << "Error loading raster" << std::endl;
+    return false;
+  }
+  grid_map::Matrix &layer_elevation = grid_map_["elevation"];
+  for (grid_map::GridMapIterator iterator(grid_map_); !iterator.isPastEnd(); ++iterator) {
+    const grid_map::Index gridMapIndex = *iterator;
+    // TODO: This may be wrong if the pixelSizeY > 0
+    int x = grid_width - 1 - gridMapIndex(0);
+    int y = gridMapIndex(1);
+
+    layer_elevation(x, y) = data[gridMapIndex(0) + grid_width * gridMapIndex(1)];
+  }
+
+  static tf2_ros::StaticTransformBroadcaster static_broadcaster;
+  geometry_msgs::TransformStamped static_transformStamped;
+
+  static_transformStamped.header.stamp = ros::Time::now();
+  static_transformStamped.header.frame_id = name_coordinate;
+  static_transformStamped.child_frame_id = frame_id_;
+  static_transformStamped.transform.translation.x = map_center(0);
+  static_transformStamped.transform.translation.y = map_center(1);
+  static_transformStamped.transform.translation.z = 0.0;
+  static_transformStamped.transform.rotation.x = 0.0;
+  static_transformStamped.transform.rotation.y = 0.0;
+  static_transformStamped.transform.rotation.z = 0.0;
+  static_transformStamped.transform.rotation.w = 1.0;
+  static_broadcaster.sendTransform(static_transformStamped);
+  return true;
+}
+
 bool GridMapGeo::addColorFromGeotiff(const std::string &path) {
   GDALAllRegister();
   GDALDataset *dataset = (GDALDataset *)GDALOpen(path.c_str(), GA_ReadOnly);