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/**
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* @RDE_HEADER@
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* Interface
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#include <QtWidgets/QApplication>
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#include <QMainWindow>
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#include <QFileInfo>
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#include <QTimer>
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#include <QElapsedTimer>
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#include <nglapplication/nglapplication.h>
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#include <Common/situation_map_logging.h>
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#include <ElevationMap/elevation_map.h>
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#include <arcgis/GeometryEngine.h>
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#include <Map/situation_map_types.h>
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using namespace SituationMap;
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// some helper functions
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inline Q_CONSTEXPR double pi() { return M_PI; }
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inline Q_CONSTEXPR double deg2rad() { return pi() / 180.; }
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inline Q_CONSTEXPR double rad2deg() { return 1. / deg2rad(); }
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//----------------------------------------------------------------------------
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/*!
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\brief Define visibility.
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*/
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enum class LineOfSightVisibility
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{
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Undefined, /*!< May be no data? */
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Visible,
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Obstructed
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};
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//----------------------------------------------------------------------------
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//----------------------------------------------------------------------------
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class ObserverTargetData
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{
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public:
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explicit ObserverTargetData(const Point3D &oberserver = Point3D(), // z-value: elevation@terrain + observerHeight
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const Point3D &target = Point3D()) // z-value: elevation@terrain + targetHeight
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: m_oberserver(oberserver),
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m_target(target)
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{}
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const Point3D &observer() const { return m_oberserver; }
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const Point3D &target() const { return m_target; }
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const Point3D &obstacle() const { return m_obstacle; }
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void setObstacle(const Point3D &obstacle) { m_obstacle = obstacle; }
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LineOfSightVisibility lineOfSightVisibility() const { return m_visible; }
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void setLineOfSightVisibility(const LineOfSightVisibility &visible)
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{
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m_visible = visible;
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}
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bool isObserverAndTargetValid()
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{
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return (!m_oberserver.isNull()) && (!m_target.isNull());
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}
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private:
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Point3D m_oberserver;
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Point3D m_target;
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Point3D m_obstacle;
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LineOfSightVisibility m_visible = LineOfSightVisibility::Undefined;
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};
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//----------------------------------------------------------------------------
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class LineOfSightCalculation
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{
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public:
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explicit LineOfSightCalculation(ElevationMap *elevationMap)
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: m_logger(getLogger("LineOfSightCalculation"))
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, m_elevationMap(elevationMap)
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{
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TRACE_LOG(m_logger) << LOGFUNCTION << " START";
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TRACE_LOG(m_logger) << LOGFUNCTION << " END";
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}
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bool calculate(ObserverTargetData &observerTarget, unsigned int sampleIntervallMeter = 5)
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{
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// same checks:
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if (!m_elevationMap || !m_elevationMap->isValid())
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << " no elevationMap configured or not valid";
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observerTarget.setLineOfSightVisibility(LineOfSightVisibility::Undefined);
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return false;
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}
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if (!observerTarget.isObserverAndTargetValid())
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << " observer and/or target not valid";
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observerTarget.setLineOfSightVisibility(LineOfSightVisibility::Undefined);
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return false;
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}
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if (observerTarget.observer().toPointF() == observerTarget.target().toPointF())
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << " observer and target are identical regard x and y";
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observerTarget.setLineOfSightVisibility(LineOfSightVisibility::Undefined);
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return false;
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}
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bool success = true;
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QElapsedTimer timer;
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if (m_logger.isErrorEnabled())
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timer.start();
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//
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//
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// consider using ElevationMap::LOSProfile
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//
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//
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// determine how many iterations we need:
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double distanceInMeter = distanceMeter(observerTarget.observer(),
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observerTarget.target());
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ERROR_LOG(m_logger) << LOGFUNCTION << " distanceMeter = " << distanceInMeter;
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int maxNumberOfIterations = distanceInMeter / sampleIntervallMeter; // check visibility every ~5m
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// maxNumberOfIterations = 1000000;
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if (maxNumberOfIterations<=0)
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maxNumberOfIterations = 5;
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double distanceFromObserverToTargetAsFraction = 0;
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int i = 0;
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while (i<=maxNumberOfIterations)
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{
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/*
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z-axis (Elevation) pCandidate
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|---------- /
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| ----------
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| ----------
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| ----------
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| ----------
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|------------------------------------------------------------ xy-axis
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^ ^ ^ ^ ^ ^ ^ ^ samples (every ~5meters)
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^ ^
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ObserverPosition TargetPosition
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On every sample position, check if directLineElevation (maximum) is
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obstructed by elevationMapElevation (real value)
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if (elevationMapElevation>directLineElevation) -> obstructed/break
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*/
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distanceFromObserverToTargetAsFraction = (double)i/maxNumberOfIterations;
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const Point3D &pCandidate = movePoint(observerTarget.observer(),
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observerTarget.target(),
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distanceFromObserverToTargetAsFraction);
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// {
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// static Point3D oldCandidate;
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// double distanceInMeter = distanceMeter(pCandidate, oldCandidate);
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// ERROR_LOG(m_logger) << LOGFUNCTION << " distanceMeter = " << distanceInMeter;
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// oldCandidate = pCandidate;
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// }
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// z is the elevation of a *direct* line:
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const double directLineElevation = pCandidate.z();
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const double elevationMapElevation = m_elevationMap->elevation(pCandidate.x(), pCandidate.y());
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// Coord covered by elevationMap?
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if (elevationMapElevation <= std::numeric_limits<int>::min())
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << " Error, coordinate not covered be elevationData. Finish this LineOfSightCalculation."
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<< " i=" << i
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<< ", pCandidate = " << pCandidate;
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// write back data
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observerTarget.setObstacle(pCandidate);
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observerTarget.setLineOfSightVisibility(LineOfSightVisibility::Undefined);
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// finish the loop:
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success = false;
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break;
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}
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// analyze / check visibility:
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if (elevationMapElevation>directLineElevation)
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{
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INFO_LOG(m_logger) << LOGFUNCTION << " i=" << i
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<< " break - pCandidate = " << pCandidate
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<< " -> directLineElevation = " << directLineElevation
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<< " -> elevationMapElevation = " << elevationMapElevation;
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// write result
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observerTarget.setObstacle(pCandidate);
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observerTarget.setLineOfSightVisibility(LineOfSightVisibility::Obstructed);
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// finish the loop:
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break;
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}
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++i;
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} // while
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if (m_logger.isErrorEnabled())
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << " END"
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<< ", success = " << success
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<< ", " << i << " of "<< maxNumberOfIterations << " iterations"
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<< ", distanceFromObserverToTargetAsFraction = " << distanceFromObserverToTargetAsFraction
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<< ", pCandidate=" << observerTarget.obstacle()
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<< ", lineOfSightVisibility=" << static_cast<int>(observerTarget.lineOfSightVisibility())
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<< ", took [ms] " << timer.elapsed();
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}
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TRACE_LOG(m_logger) << LOGFUNCTION << " END" << ", success = " << success;
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return success;
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}
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protected:
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static Point3D movePoint(const Point3D &oberserver,
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const Point3D &target,
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double distanceFromObserverToTargetAsFraction) // 0.0 ... 1.0
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{
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// positions are lon/lat @ rad.
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// for evaluation we do that very simple:
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// strange, but: using Point3D seems to be faster then using QPointF
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const Point3D &dist = target - oberserver;
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const Point3D &point = oberserver + (dist * distanceFromObserverToTargetAsFraction);
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// FATAL_LOG(m_logger) << LOGFUNCTION << " obs = " << oberserver;
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// FATAL_LOG(m_logger) << LOGFUNCTION << " tgt = " << target;
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// FATAL_LOG(m_logger) << LOGFUNCTION << " fct = " << distanceFromObserverToTargetInPercent;
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// FATAL_LOG(m_logger) << LOGFUNCTION << " mvd = " << point;
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return point;
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}
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static double distanceMeter(const Point3D &oberserver,
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const Point3D &target)
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{
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Esri::ArcGISRuntime::Point geom1(oberserver.x()*rad2deg(), oberserver.y()*rad2deg(), oberserver.z(), Esri::ArcGISRuntime::SpatialReference::wgs84());
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Esri::ArcGISRuntime::Point geom2(target.x() *rad2deg(), target.y() *rad2deg(), target.z() , Esri::ArcGISRuntime::SpatialReference::wgs84());
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Esri::ArcGISRuntime::GeometryEngine *gEngine = Esri::ArcGISRuntime::GeometryEngine::instance();
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Esri::ArcGISRuntime::GeodeticDistanceResult geodeticDistanceResult = gEngine->distanceGeodetic(geom1, geom2,
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Esri::ArcGISRuntime::LinearUnitId::Meters,
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Esri::ArcGISRuntime::AngularUnitId::Degrees,
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Esri::ArcGISRuntime::GeodeticCurveType::Geodesic);
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double distance = geodeticDistanceResult.distance();
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return distance;
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}
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private:
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LOGGER_T m_logger; ///< Interface of the Logging-Facility
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ElevationMap *m_elevationMap = nullptr;
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ObserverTargetData m_observerTarget;
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};
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#include <ElevationMap/elevation_map.h>
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int main (int argc, char* argv[])
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{
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NGLApplication app ( argc, argv );
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app.createLogger("lineOfSightEvaluation", "log4cxx_sitmapMain.props");
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LOGGER_T m_logger=app.baseLogger();
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STARTUP_LOG(m_logger);
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QString elevationFileAbs(QLatin1String("/usr/share/arcgis/resources/elevation/srtm_38_02.tif")); // srtm_38_02.tif -> Bremen
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QFileInfo fi (elevationFileAbs);
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if (!fi.exists(elevationFileAbs))
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{
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ERROR_LOG(m_logger) << LOGFUNCTION << ", elevationFile '" << elevationFileAbs << "' doesn't exists";
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return -1;
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}
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ElevationMap *elevationMap = new ElevationMap(fi);
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elevationMap->waitForInitialization();
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ERROR_LOG(m_logger) << LOGFUNCTION << " elevation.isValid() =" << elevationMap->isValid();
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//qCritical() << LOGFUNCTION << " elevation.isValid() = " << elevationMap->isValid()
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// << " elevation =" << elevationMap->elevation(0.155, 0.926);
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LineOfSightCalculation losCalc(elevationMap);
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ObserverTargetData obsTgt(Point3D(0.1504, 0.926, 20),
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Point3D(0.1530, 0.926, 5));
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losCalc.calculate(obsTgt);
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int iRet = app.exec();
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delete elevationMap;
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SHUTDOWN_LOG(m_logger);
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return iRet;
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}
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