diff --git a/geospatial/include/gz/common/geospatial/Dem.hh b/geospatial/include/gz/common/geospatial/Dem.hh index 00928e6e..14e8473d 100644 --- a/geospatial/include/gz/common/geospatial/Dem.hh +++ b/geospatial/include/gz/common/geospatial/Dem.hh @@ -46,12 +46,38 @@ namespace gz public: virtual ~Dem(); /// \brief Sets the spherical coordinates reference object. - /// \param[in] _worldSphericalCoordinates The spherical coordiantes + /// \param[in] _worldSphericalCoordinates The spherical coordinates /// object contained in the world. This is used to compute accurate /// sizes of the DEM object. public: void SetSphericalCoordinates( const math::SphericalCoordinates &_worldSphericalCoordinates); + /// \brief Gets the X size limit of the raster data to be loaded. + /// This is useful for large raster files. + /// \return The maximium size of the raster data to load in + /// the X direction + public: unsigned int RasterXSizeLimit(); + + /// \brief Sets the X size limit of the raster data to be loaded. + /// This is useful for large raster files. + /// \param[in] _xLimit The maximium size of the raster data to + /// load in the X direction + public: void SetRasterXSizeLimit( + const unsigned int &_xLimit); + + /// \brief Gets the Y size limit of the raster data to be loaded. + /// This is useful for large raster files. + /// \return The maximium size of the raster data to load in the + /// X direction + public: unsigned int RasterYSizeLimit(); + + /// \brief Sets the Y size limit of the raster data to be loaded. + /// This is useful for large raster files. + /// \param[in] _yLimit The maximium size of the raster data to + /// load in the X direction + public: void SetRasterYSizeLimit( + const unsigned int &_yLimit); + /// \brief Load a DEM file. /// \param[in] _filename the path to the terrain file. /// \return 0 when the operation succeeds to open a file. diff --git a/geospatial/src/Dem.cc b/geospatial/src/Dem.cc index a49d2878..88d541d9 100644 --- a/geospatial/src/Dem.cc +++ b/geospatial/src/Dem.cc @@ -44,6 +44,24 @@ class gz::common::Dem::Implementation /// \brief Terrain's side (after the padding). public: unsigned int side; + /// \brief The maximum length of data to load in the X direction. + /// By default, load the entire raster. + public: unsigned int maxXSize {std::numeric_limits::max()}; + + /// \brief The maximum length of data to load in the Y direction. + /// By default, load the entire raster. + public: unsigned int maxYSize {std::numeric_limits::max()}; + + /// \brief The desired length of data to load in the X direction. + /// Internally, the implementation may use a + // higher value for performance. + public: unsigned int configuredXSize; + + /// \brief The desired length of data to load in the Y direction. + /// Internally, the implementation may use a + // higher value for performance. + public: unsigned int configuredYSize; + /// \brief Minimum elevation in meters. public: double minElevation; @@ -67,6 +85,12 @@ class gz::common::Dem::Implementation /// \brief Holds the spherical coordinates object from the world. public: math::SphericalCoordinates sphericalCoordinates = math::SphericalCoordinates(); + + /// \brief Once the user configures size limits, apply that + /// to the internal configured size, which is limited + /// based on the dataset size. + /// \return True if configured size was valid. + public: [[nodiscard]] bool ConfigureLoadedSize(); }; ////////////////////////////////////////////////// @@ -81,9 +105,8 @@ Dem::Dem() Dem::~Dem() { this->dataPtr->demData.clear(); - if (this->dataPtr->dataSet) - GDALClose(reinterpret_cast(this->dataPtr->dataSet)); + GDALClose(GDALDataset::ToHandle(this->dataPtr->dataSet)); } ////////////////////////////////////////////////// @@ -93,12 +116,33 @@ void Dem::SetSphericalCoordinates( this->dataPtr->sphericalCoordinates = _worldSphericalCoordinates; } +////////////////////////////////////////////////// +unsigned int Dem::RasterXSizeLimit() +{ + return this->dataPtr->maxXSize; +} + +////////////////////////////////////////////////// +void Dem::SetRasterXSizeLimit(const unsigned int &_xLimit) +{ + this->dataPtr->maxXSize = _xLimit; +} + +////////////////////////////////////////////////// +unsigned int Dem::RasterYSizeLimit() +{ + return this->dataPtr->maxYSize; +} + +////////////////////////////////////////////////// +void Dem::SetRasterYSizeLimit(const unsigned int &_yLimit) +{ + this->dataPtr->maxYSize = _yLimit; +} + ////////////////////////////////////////////////// int Dem::Load(const std::string &_filename) { - unsigned int width; - unsigned int height; - int xSize, ySize; double upLeftX, upLeftY, upRightX, upRightY, lowLeftX, lowLeftY; gz::math::Angle upLeftLat, upLeftLong, upRightLat, upRightLong; gz::math::Angle lowLeftLat, lowLeftLong; @@ -110,21 +154,34 @@ int Dem::Load(const std::string &_filename) this->dataPtr->filename = fullName; - if (!exists(findFilePath(fullName))) + // Create a re-usable lambda for opening a dataset. + auto openInGdal = [this](const std::string& name) -> bool { - gzerr << "Unable to find DEM file[" << _filename << "]." << std::endl; - return -1; - } + GDALDatasetH handle = GDALOpen(name.c_str(), GA_ReadOnly); + if (handle) + { + this->dataPtr->dataSet = GDALDataset::FromHandle(handle); + } - this->dataPtr->dataSet = reinterpret_cast(GDALOpen( - fullName.c_str(), GA_ReadOnly)); + return this->dataPtr->dataSet != nullptr; + }; - if (this->dataPtr->dataSet == nullptr) + if (!exists(findFilePath(fullName))) { + // https://github.com/gazebosim/gz-common/issues/596 + // Attempt loading anyways to support /vsicurl, /vsizip, and other + // GDAL Virtual File Formats. + // The "exists()" function does not handle GDAL's special formats. + if (!openInGdal(_filename)) { + gzerr << "Unable to read DEM file[" << _filename << "]." << std::endl; + return -1; + } + } else if(!openInGdal(fullName)){ gzerr << "Unable to open DEM file[" << fullName << "]. Format not recognized as a supported dataset." << std::endl; return -1; } + assert(this->dataPtr->dataSet != nullptr); int nBands = this->dataPtr->dataSet->GetRasterCount(); if (nBands != 1) @@ -137,9 +194,16 @@ int Dem::Load(const std::string &_filename) // Set the pointer to the band this->dataPtr->band = this->dataPtr->dataSet->GetRasterBand(1); + // Validate the raster size and apply the user-configured size limits + // on loaded data. + if(!this->dataPtr->ConfigureLoadedSize()) + { + return -1; + } + // Raster width and height - xSize = this->dataPtr->dataSet->GetRasterXSize(); - ySize = this->dataPtr->dataSet->GetRasterYSize(); + const int xSize = this->dataPtr->configuredXSize; + const int ySize = this->dataPtr->configuredYSize; // Corner coordinates upLeftX = 0.0; @@ -173,16 +237,20 @@ int Dem::Load(const std::string &_filename) } // Set the terrain's side (the terrain will be squared after the padding) + + unsigned int height; if (gz::math::isPowerOfTwo(ySize - 1)) height = ySize; else height = gz::math::roundUpPowerOfTwo(ySize) + 1; + unsigned int width; if (gz::math::isPowerOfTwo(xSize - 1)) width = xSize; else width = gz::math::roundUpPowerOfTwo(xSize) + 1; + //! @todo use by limits. this->dataPtr->side = std::max(width, height); // Preload the DEM's data @@ -226,7 +294,7 @@ int Dem::Load(const std::string &_filename) if (gz::math::equal(min, gz::math::MAX_D) || gz::math::equal(max, -gz::math::MAX_D)) { - gzwarn << "DEM is composed of 'nodata' values!" << std::endl; + gzwarn << "The DEM contains 'nodata' values!" << std::endl; } this->dataPtr->minElevation = min; @@ -281,6 +349,7 @@ bool Dem::GeoReference(double _x, double _y, } double geoTransf[6]; + assert(this->dataPtr->dataSet != nullptr); if (this->dataPtr->dataSet->GetGeoTransform(geoTransf) == CE_None) { OGRCoordinateTransformation *cT = nullptr; @@ -448,25 +517,37 @@ void Dem::FillHeightMap(int _subSampling, unsigned int _vertSize, } } -////////////////////////////////////////////////// -int Dem::LoadData() +bool gz::common::Dem::Implementation::ConfigureLoadedSize() { - unsigned int nXSize = this->dataPtr->dataSet->GetRasterXSize(); - unsigned int nYSize = this->dataPtr->dataSet->GetRasterYSize(); - if (nXSize == 0 || nYSize == 0) + assert(this->dataSet != nullptr); + const unsigned int nRasterXSize = this->dataSet->GetRasterXSize(); + const unsigned int nRasterYSize = this->dataSet->GetRasterYSize(); + if (nRasterXSize == 0 || nRasterYSize == 0) { - gzerr << "Illegal size loading a DEM file (" << nXSize << "," - << nYSize << ")\n"; - return -1; + gzerr << "Illegal raster size loading a DEM file (" << nRasterXSize << "," + << nRasterYSize << ")\n"; + return false; } + this->configuredXSize = std::min(nRasterXSize, this->maxXSize); + this->configuredYSize = std::min(nRasterYSize, this->maxYSize); + return true; +} + +////////////////////////////////////////////////// +int Dem::LoadData() +{ + // Capture a local for re-use. + const auto desiredXSize = this->dataPtr->configuredXSize; + const auto desiredYSize = this->dataPtr->configuredYSize; + // Scale the terrain keeping the same ratio between width and height unsigned int destWidth; unsigned int destHeight; float ratio; - if (nXSize > nYSize) + if (desiredXSize > desiredYSize) { - ratio = static_cast(nXSize) / static_cast(nYSize); + ratio = static_cast(desiredXSize) / static_cast(desiredYSize); destWidth = this->dataPtr->side; // The decimal part is discarted for interpret the result as pixels float h = static_cast(destWidth) / static_cast(ratio); @@ -474,7 +555,7 @@ int Dem::LoadData() } else { - ratio = static_cast(nYSize) / static_cast(nXSize); + ratio = static_cast(desiredYSize) / static_cast(desiredXSize); destHeight = this->dataPtr->side; // The decimal part is discarted for interpret the result as pixels float w = static_cast(destHeight) / static_cast(ratio); @@ -482,10 +563,18 @@ int Dem::LoadData() } // Read the whole raster data and convert it to a GDT_Float32 array. - // In this step the DEM is scaled to destWidth x destHeight + // In this step the DEM is scaled to destWidth x destHeight. + std::vector buffer; - buffer.resize(destWidth * destHeight); - if (this->dataPtr->band->RasterIO(GF_Read, 0, 0, nXSize, nYSize, &buffer[0], + // Convert to uint64_t for multiplication to avoid overflow. + // https://github.com/OSGeo/gdal/issues/9713 + buffer.resize(static_cast(destWidth) * \ + static_cast(destHeight)); + //! @todo Do not assume users only want to load + //! from the origin of the dataset. + // Instead, add a configuration to change where in the dataset to read from. + if (this->dataPtr->band->RasterIO(GF_Read, 0, 0, + desiredXSize, desiredYSize, &buffer[0], destWidth, destHeight, GDT_Float32, 0, 0) != CE_None) { gzerr << "Failure calling RasterIO while loading a DEM file\n"; @@ -494,8 +583,9 @@ int Dem::LoadData() // Copy and align 'buffer' into the target vector. The destination vector is // initialized to max() and later converted to the minimum elevation, so all - // the points not contained in 'buffer' will be extra padding - this->dataPtr->demData.resize(this->Width() * this->Height(), + // the points not contained in 'buffer' will be extra padding. + this->dataPtr->demData.resize(static_cast(this->Width()) * \ + static_cast(this->Height()), this->dataPtr->bufferVal); for (unsigned int y = 0; y < destHeight; ++y) { diff --git a/geospatial/src/Dem_TEST.cc b/geospatial/src/Dem_TEST.cc index f51c1045..c04ee948 100644 --- a/geospatial/src/Dem_TEST.cc +++ b/geospatial/src/Dem_TEST.cc @@ -282,3 +282,38 @@ TEST_F(DemTest, LunarDemLoad) EXPECT_NEAR(dem.WorldWidth(), 80.0417, 1e-2); EXPECT_NEAR(dem.WorldHeight(), 80.0417, 1e-2); } + +TEST_F(DemTest, LargeVRTWithLimits) +{ + // Load a large VRT DEM using GDAL but set limits on the size. + common::Dem dem; + dem.SetRasterXSizeLimit(100); + dem.SetRasterYSizeLimit(50); + auto const path = common::testing::TestFile("data", "ap_srtm1.vrt"); + auto const res = dem.Load(path); + EXPECT_EQ(res, 0); + EXPECT_EQ(dem.RasterXSizeLimit(), 100); + EXPECT_EQ(dem.RasterYSizeLimit(), 50); +} + +TEST_F(DemTest, LargeVRTWithVSIZIPAndLimits) +{ + // Load a large vzizip VRT DEM using GDAL but set limits on the size. + common::Dem dem; + dem.SetRasterXSizeLimit(100); + dem.SetRasterYSizeLimit(50); + auto const path = common::testing::TestFile("data", "ap_srtm1.zip"); + auto const res = dem.Load("/vsizip/" + path + "/ap_srtm1.vrt"); + EXPECT_EQ(res, 0); +} + +TEST_F(DemTest, LargeVRTWithoutLimitsThrows) +{ + GTEST_SKIP() << "Skipping this test because it's not platform-portable"; + // Load a large VRT DEM without limits. + common::Dem dem; + auto const path = common::testing::TestFile("data", "ap_srtm1.vrt"); + // We expect not to be able to allocate the data, + // so ensure we throw instead of segfault. + EXPECT_THROW(dem.Load(path), std::bad_alloc); +} diff --git a/src/Filesystem.cc b/src/Filesystem.cc index 874fba44..b0a4d5f6 100644 --- a/src/Filesystem.cc +++ b/src/Filesystem.cc @@ -135,7 +135,14 @@ std::string common::copyToUnixPath(const std::string &_path) ///////////////////////////////////////////////// std::string common::absPath(const std::string &_path) { - return fs::absolute(_path).string(); + std::error_code ec; + auto path = fs::absolute(_path, ec); + if (!fsWarn("absPath", ec)) + { + path = ""; + } + + return path.string(); } ///////////////////////////////////////////////// diff --git a/src/Filesystem_TEST.cc b/src/Filesystem_TEST.cc index dad616fa..ce26ee7f 100644 --- a/src/Filesystem_TEST.cc +++ b/src/Filesystem_TEST.cc @@ -636,3 +636,13 @@ TEST_F(FilesystemTest, separator) EXPECT_EQ("\\", gz::common::separator("")); #endif } + +///////////////////////////////////////////////// +TEST_F(FilesystemTest, empty) +{ +#ifdef __APPLE__ + EXPECT_EQ(common::absPath(""), gz::common::cwd() + "/"); +#else + EXPECT_EQ(common::absPath(""), ""); +#endif +} diff --git a/test/data/ap_srtm1.vrt b/test/data/ap_srtm1.vrt new file mode 100644 index 00000000..bf1bddce --- /dev/null +++ b/test/data/ap_srtm1.vrt @@ -0,0 +1,191983 @@ + + GEOGCS["WGS 84",DATUM["WGS_1984",SPHEROID["WGS 84",6378137,298.257223563,AUTHORITY["EPSG","7030"]],AUTHORITY["EPSG","6326"]],PRIMEM["Greenwich",0,AUTHORITY["EPSG","8901"]],UNIT["degree",0.0174532925199433,AUTHORITY["EPSG","9122"]],AXIS["Latitude",NORTH],AXIS["Longitude",EAST],AUTHORITY["EPSG","4326"]] + -1.8000013888888890e+02, 2.7777777777781730e-04, 0.0000000000000000e+00, 8.4000138888888884e+01, 0.0000000000000000e+00, -2.7777777777781730e-04 + + -32768 + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E006.hgt.zip/N00E006.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E009.hgt.zip/N00E009.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E010.hgt.zip/N00E010.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E011.hgt.zip/N00E011.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E012.hgt.zip/N00E012.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E013.hgt.zip/N00E013.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E014.hgt.zip/N00E014.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E015.hgt.zip/N00E015.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E016.hgt.zip/N00E016.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E017.hgt.zip/N00E017.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E018.hgt.zip/N00E018.hgt + 1 + + + + -32768 + + + /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N00E019.hgt.zip/N00E019.hgt + 1 + + + + -32768 + + + 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