DRAFT: Tiling Stage Fixes and Improvements

modules/realm_core/src/cv_grid_map.cpp

@@ -121,7 +121,21 @@ void CvGridMap::add(const CvGridMap &submap, int flag_overlap_handle, bool do_ex
       }
     }
 
-    // Get the data in the overlapping area of both mat
+    // Hack, don't access larger area than we have
+    // This should be handled above, but something is a few pixels off
+    if (m_layers[idx_layer].data.cols < dst_roi.x + dst_roi.width) {
+      dst_roi.width = submap_layer.data.cols - dst_roi.x;
+    }
+    if (m_layers[idx_layer].data.rows < dst_roi.y + dst_roi.height) {
+      dst_roi.height = submap_layer.data.rows - dst_roi.y;
+    }
+    if (submap_layer.data.cols < src_roi.x + src_roi.width) {
+      src_roi.width = submap_layer.data.cols - src_roi.x;
+    }
+    if (submap_layer.data.rows < src_roi.y + src_roi.height) {
+      src_roi.height = submap_layer.data.rows - src_roi.y;
+    }
+
     cv::Mat src_data_roi = submap_layer.data(src_roi);
     cv::Mat dst_data_roi = m_layers[idx_layer].data(dst_roi);
 
@@ -480,10 +494,15 @@ void CvGridMap::mergeMatrices(const cv::Mat &from, cv::Mat &to, int flag_merge_h
       break;
     case REALM_OVERWRITE_ZERO:
       cv::Mat mask;
-      if (to.type() == CV_32F || to.type() == CV_64F)
-        mask = (to != to) & (from == from);
-      else
+      if (to.type() == CV_32F || to.type() == CV_64F) {
+        cv::Mat to_mask = to.clone();
+        cv::Mat from_mask = from.clone();
+        cv::patchNaNs(to_mask, 0);
+        cv::patchNaNs(from_mask, 0);
+        mask = (to_mask == 0) & (from_mask != 0);
+      } else {
         mask = (to == 0) & (from > 0);
+      }
       from.copyTo(to, mask);
       break;
   }

modules/realm_io/include/realm_io/utilities.h

@@ -83,7 +83,7 @@ std::vector<std::string> split(const char *str, char c = ' ');
  * @param dir Directory to grab the filenames
  * @return Vector of all files with absolute path
  */
-std::vector<std::string> getFileList(const std::string& dir, const std::string &suffix = "");
+std::vector<std::string> getFileList(const std::string& dir, const std::string &suffix = "", const std::function<bool(std::string, std::string)>& sort = std::less<>());
 
 /*! TODO: Einbaurichtung implementieren?
  * @brief Function to compute a 3x3 rotation matrix based on heading data. It is assumed, that the camera is pointing

modules/realm_io/src/utilities.cpp

@@ -97,24 +97,27 @@ std::vector<std::string> io::split(const char *str, char c)
   return result;
 }
 
-std::vector<std::string> io::getFileList(const std::string& dir, const std::string &suffix)
+std::vector<std::string> io::getFileList(const std::string& dir, const std::string &suffix,  const std::function<bool(std::string, std::string)>& sort)
 {
   std::vector<std::string> filenames;
   if (!dir.empty())
   {
     boost::filesystem::path apk_path(dir);
     boost::filesystem::recursive_directory_iterator end;
 
-    for (boost::filesystem::recursive_directory_iterator it(apk_path); it != end; ++it)
-    {
+    for (boost::filesystem::recursive_directory_iterator it(apk_path); it != end; ++it) {
       const boost::filesystem::path cp = (*it);
 
-      const std::string &filepath = cp.string();
-      if (suffix.empty() || filepath.substr(filepath.size() - suffix.size(), filepath.size()) == suffix)
-        filenames.push_back(cp.string());
+      auto canon_path = boost::filesystem::canonical(cp, "/");
+      const std::string &filepath = canon_path.string();
+      if (suffix.empty() || filepath.substr(filepath.size() - suffix.size(), suffix.size()) == suffix) {
+        filenames.push_back(filepath);
+      }
     }
   }
-  std::sort(filenames.begin(), filenames.end());
+
+  // By default, return in reverse sort order, useful for zoom level creating / deletion
+  std::sort(filenames.begin(), filenames.end(), sort);
   return filenames;
 }
 

modules/realm_ortho/CMakeLists.txt

@@ -54,7 +54,6 @@ set(HEADER_FILES
         ${root}/include/realm_ortho/nearest_neighbor.h
         ${root}/include/realm_ortho/rectification.h
         ${root}/include/realm_ortho/tile.h
-        ${root}/include/realm_ortho/tile_cache.h
 )
 
 set(SOURCE_FILES
@@ -63,7 +62,6 @@ set(SOURCE_FILES
         ${root}/src/map_tiler.cpp
         ${root}/src/rectification.cpp
         ${root}/src/tile.cpp
-        ${root}/src/tile_cache.cpp
 )
 
 # delaunay relies on CGAL to work

modules/realm_ortho/include/realm_ortho/map_tiler.h

@@ -8,7 +8,7 @@
 
 #include <realm_ortho/rectification.h>
 #include <realm_ortho/gdal_warper.h>
-#include <realm_ortho/tile_cache.h>
+#include <realm_ortho/tile.h>
 #include <realm_core/conversions.h>
 #include <realm_core/loguru.h>
 
@@ -38,8 +38,9 @@ class MapTiler
   /*!
    * @brief Besides member initialization the required lookup tables to map zoom level to image resolution are created.
    * @param verbosity Flag to set verbose output
+   * @param verbosity Flag to use TMS standard for tile, false to use Google/OSM
    */
-  explicit MapTiler(bool verbosity);
+  explicit MapTiler(bool verbosity, bool use_tms);
 
   ~MapTiler() = default;
   MapTiler(const MapTiler &other) = default;
@@ -61,6 +62,38 @@ class MapTiler
 
   double getResolution(int zoom_level);
 
+  /*!
+   * @brief Computes one lat-lon coordinate for a given tile. It represents the upper left corner of the tile.
+   * @param x Coordinate of tile in x-direction
+   * @param y Coordinate of tile in y-direction
+   * @param zoom_level Zoom level of the map
+   * @param tms Whether TMS or Google standard is used (inverts y axis)
+   * @return (longitude, latitude) of upper left tile corner
+   */
+  static WGSPose computeLatLonForTile(int x, int y, int zoom_level, bool tms);
+
+  /*!
+   * @brief Computes one lat-lon coordinate for a given tile. It represents the center of the tile.  This can be useful
+   * when converting from tiles to CoG as it can prevent including edge tiles along the boundary.
+   * @param x Coordinate of tile in x-direction
+   * @param y Coordinate of tile in y-direction
+   * @param zoom_level Zoom level of the map
+   * @param tms Whether TMS or Google standard is used (inverts y axis)
+   * @return (longitude, latitude) of the center of the tile
+   */
+  static WGSPose computeCenterLatLonForTile(int x, int y, int zoom_level, bool tms);
+
+  /*!
+   * @brief Computes the slippy tile index for a given zoom level that contains the requested coordinate in WGS84. The
+   * specifications are documented: https://wiki.openstreetmap.org/wiki/Slippy_map_tilenames#Pseudo-code
+   * @param lat Latitude in WGS84
+   * @param lon Longitude in WGS84
+   * @param zoom_level Zoom level of the map
+   * @param tms Whether TMS or Google standard is used (inverts y axis)
+   * @return Tile coordinate according to slippy tile standard
+   */
+  static cv::Point2i computeTileFromLatLon(double lat, double lon, int zoom_level, bool tms) ;
+
 private:
 
   /// Flag to set verbose output
@@ -75,6 +108,9 @@ class MapTiler
   /// Shift of the coordinate frame origin
   double m_origin_shift;
 
+  /// Whether to use TMS or Google/OSM standards for the y origin
+  bool m_use_tms;
+
   /// Size of the tiles in [pix], usually this is 256
   int m_tile_size;
 
@@ -84,16 +120,6 @@ class MapTiler
   /// Lookup table to map zoom levels to an absolute number of tiles
   std::map<int, long>   m_lookup_nrof_tiles_from_zoom;
 
-  /*!
-   * @brief Computes the slippy tile index for a given zoom level that contains the requested coordinate in WGS84. The
-   * specifications are documented: https://wiki.openstreetmap.org/wiki/Slippy_map_tilenames#Pseudo-code
-   * @param lat Latitude in WGS84
-   * @param lon Longitude in WGS84
-   * @param zoom_level Zoom level 0 - 35
-   * @return Tile coordinate according to slippy tile standard
-   */
-  cv::Point2i computeTileFromLatLon(double lat, double lon, int zoom_level) const;
-
   /*!
    * @brief Each tile is indexed with (tx, ty). Together with the corresponding tile size this coordinate can be
    * transformed into a global pixel coordinate with tx * tile size, ty * tile size. If the resolution is known in
@@ -173,15 +199,6 @@ class MapTiler
    */
   cv::Rect2d computeTileBoundsMeters(const cv::Rect2i &idx_roi, int zoom_level);
 
-  /*!
-   * @brief Computes one lat-lon coordinate for a given tile. It represents the upper left corner of the tile.
-   * @param x Coordinate of tile in x-direction
-   * @param y Coordinate of tile in y-direction
-   * @param zoom_level Zoon level of the map
-   * @return (longitude, latitude) of upper left tile corner
-   */
-  WGSPose computeLatLonForTile(int x, int y, int zoom_level) const;
-
   /*!
    * @brief Maximal scale down zoom of the pyramid closest to the pixelSize.
    * @param GSD Ground sampling distance in m/pix

modules/realm_ortho/include/realm_ortho/tile.h

@@ -14,7 +14,7 @@ namespace realm
 
 /*!
  * @brief Tile is a container class that is defined by a coordinate (x,y) in a specific zoom level following the
- * Tiled Map Service specification and a multi-layered grid map holding the data.
+ * Tiled Map Service or Google/OSM specification and a multi-layered grid map holding the data.
  */
 class Tile
 {
@@ -24,12 +24,13 @@ class Tile
 public:
   /*!
    * @brief Non-default constructor
-   * @param zoom_level Zoom level or z-coordinate according to TMS standard
-   * @param tx Tile index in x-direction according to TMS standard
-   * @param ty Tile index in y-direction according to TMS standard
+   * @param zoom_level Zoom level or z-coordinate according to TMS or Google/OSM specification
+   * @param tx Tile index in x-direction according to TMS or Google/OSM specification
+   * @param ty Tile index in y-direction according to TMS or Google/OSM specification
    * @param map Multi-layered grid map holding the data for the tile
+   * @param is_tms Indicates this is a TMS rather than google tile
    */
-  Tile(int zoom_level, int tx, int ty, const CvGridMap &map);
+  Tile(int zoom_level, int tx, int ty, const CvGridMap &map, bool is_tms);
 
   /*!
    * @brief Locks the tile when being accessed or modified to prevent multi-threading problems.
@@ -41,6 +42,12 @@ class Tile
    */
   void unlock();
 
+  /*!
+   * @brief Indicates if this is a TMS or Google/OSM tile
+   * @return True if tms
+   */
+  bool is_tms() const;
+
   /*!
    * @brief Getter for the zoom level
    * @return Zoom level of the data
@@ -69,15 +76,18 @@ class Tile
 
 private:
 
-  /// Zoom level according to TMS standard
+  /// Zoom level according to TMS or Google/OSM specification
   int m_zoom_level;
 
-  /// Tile index according to TMS standard
+  /// Tile index according to TMS or Google/OSM specification
   cv::Point2i m_index;
 
   /// Multi-layered grid map container
   CvGridMap::Ptr m_data;
 
+  /// Indicates this is a tms tiles
+  bool m_tms;
+
   /// Main mutex to prevent simultaneous access from different threads
   std::mutex m_mutex_data;
 };