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Add VRT support
* Add limits for max map size * And instructions for debugging with gdb * GDAL segfaults in RasterIo() with too large of a dataset unless limits are added * Use vsizip to reduce file size * Add map centering * Needs more transform utilities * Switch to std::array instead of raw double array * Add ROS params for setting map origin * Set RasterIo origin in pixel space based on user supplied geo origin * Switch to GdalDatasetUniquePtr * Remove compile warnings * Add launch files Signed-off-by: Ryan Friedman <[email protected]>
1 parent 02189d6 commit b8c0d1e

11 files changed

+491
-59
lines changed

‎CMakeLists.txt‎

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@@ -59,6 +59,14 @@ target_link_libraries(test_tif_loader PUBLIC
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${PROJECT_NAME}
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)
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add_executable(map_publisher
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src/map_publisher.cpp
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)
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target_link_libraries(map_publisher PUBLIC
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${PROJECT_NAME}
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)
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# Fix for yaml_cpp not resolving correctly on macOS
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# https://github.com/ethz-asl/grid_map_geo/pull/59#discussion_r1474669370
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if (APPLE)
@@ -89,6 +97,7 @@ ament_export_dependencies(Eigen3 GDAL grid_map_core grid_map_msgs grid_map_ros t
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install(
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TARGETS
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test_tif_loader
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map_publisher
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DESTINATION lib/${PROJECT_NAME}
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)
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@@ -97,6 +106,11 @@ install(DIRECTORY
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY
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resources
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY
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rviz
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DESTINATION share/${PROJECT_NAME}/

‎README.md‎

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@@ -14,17 +14,20 @@ Affiliation: [ETH Zurich, Autonomous Systems Lab](https://asl.ethz.ch/)<br />**
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## Setup
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Install the dependencies. This package depends on gdal, to read georeferenced images and GeoTIFF files.
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Install the dependencies. This package depends on GDAL, to read georeferenced images and DEM files.
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Pull in dependencies using rosdep
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```
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```bash
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source /opt/ros/humble/setup.bash
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rosdep update
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# Assuming the package is cloned in the src folder of a ROS workspace...
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rosdep install --from-paths src --ignore-src -y
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```
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Build the package
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```bash
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colcon build --mixin release --packages-up-to grid_map_geo
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```
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo
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```
@@ -67,8 +70,44 @@ ros2 launch grid_map_geo load_tif_launch.xml
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## Running the package
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The default launch file can be run as the following command.
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```
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```bash
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source install/setup.bash
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ros2 launch grid_map_geo load_tif_launch.xml
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```
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To debug the map publisher in GDB:
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```bash
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colcon build --mixin debug --packages-up-to grid_map_geo --symlink-install
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source install/setup.bash
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# To debug the node under GDB
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ros2 run --prefix 'gdb -ex run --args' \
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grid_map_geo map_publisher --ros-args \
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-p gdal_dataset_path:=install/grid_map_geo/share/grid_map_geo/resources/ap_srtm1.vrt
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# To debug from the launch file
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ros2 launch grid_map_geo load_vrt_launch.xml
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```
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**Note:** `grid_map_geo` uses asserts to catch coding errors; they are enabled by default when
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building in debug mode, and removed from release mode.
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## Mixing data from different datums, resolutions, and raster sizes
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`grid_map_geo` does not yet support automatically overlaying color data over elevation data from
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different sources. Currently, color data must be the same datum, resolution and size for both the
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DEM raster and the color raster.
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As an example, `sertig_color.tif` color data can be requested loaded on the SRTM1 DEM at sertig:
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```bash
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ros2 launch grid_map_geo load_tif.launch.py params_file:=config/sargans_color_over_srtm1.yaml
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# OR
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ros2 run --prefix 'gdb -ex run --args' grid_map_geo map_publisher --ros-args --params-file config/sargans_color_over_srtm1.yaml
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```
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These datasets are different sizes, different resultions, and use different datums.
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Either of these ways of launching cause a floating point crash in `grid_map::getIndexFromLinearIndex`.
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This limitation may be addressed in a future version.

‎config/sargans_color_over_srtm1.yaml‎

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map_publisher:
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ros__parameters:
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gdal_dataset_path: /vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/N09E047.hgt.zip/N09E047.hgt
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gdal_dataset_color_path: "resources/sargans_color.tif"
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max_map_width: 3601
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max_map_height: 3601
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map_origin_latitude: 47.033333
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map_origin_longitude: 9.433333

‎include/grid_map_geo/grid_map_geo.hpp‎

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#ifndef GRID_MAP_GEO_H
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#define GRID_MAP_GEO_H
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37-
#include <tf2_ros/transform_broadcaster.h>
38-
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#include <grid_map_core/GridMap.hpp>
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#include <grid_map_core/iterators/GridMapIterator.hpp>
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// Color map is optional. If left as this default value, color will not be loaded.
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static const std::string COLOR_MAP_DEFAULT_PATH{""};
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#include <geometry_msgs/msg/transform_stamped.hpp>
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#include <iostream>
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43-
#include "transform.hpp"
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struct Location {
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ESPG espg{ESPG::WGS84};
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Eigen::Vector3d position{Eigen::Vector3d::Zero()};
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};
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// #include "transform.hpp"
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#include "grid_map_geo/transform.hpp"
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class GridMapGeo {
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public:
@@ -98,6 +98,14 @@ class GridMapGeo {
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*/
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bool Load(const std::string& map_path) { return Load(map_path, ""); }
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/**
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* @brief Helper function for setting maximum map size. Set to 0 to disable bounds check.
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*
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* @param pixels_x Maximum number of raster pixels in the X direction
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* @param pixels_y Maximum number of raster pixels in the Y direction
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*/
107+
void setMaxMapSizePixels(const int pixels_x, const int pixels_y);
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/**
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* @brief Helper function for loading terrain from path
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*
@@ -106,16 +114,16 @@ class GridMapGeo {
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* @return true Successfully loaded terrain
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* @return false Failed to load terrain
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*/
109-
bool Load(const std::string& map_path, const std::string& color_map_path);
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bool Load(const std::string& map_path, const std::string color_map_path);
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111119
/**
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* @brief Initialize grid map from a geotiff file
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* @brief Initialize grid map from a GDAL dataset
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*
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* @param path Path to dsm path (Supported formats are *.tif)
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* @param path Path to dsm path (Supported formats are https://gdal.org/drivers/raster/index.html)
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* @return true Successfully loaded terrain
116124
* @return false Failed to load terrain
117125
*/
118-
bool initializeFromGeotiff(const std::string& path);
126+
bool initializeFromGdalDataset(const std::string& path);
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120128
/**
121129
* @brief Load a color layer from a geotiff file (orthomosaic)
@@ -184,5 +192,10 @@ class GridMapGeo {
184192
Location maporigin_;
185193
std::string frame_id_{""};
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std::string coordinate_name_{""};
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private:
197+
// Set default map size occupying 4MB RAM assuming 32 bit height precision.
198+
int max_raster_x_size_{1024};
199+
int max_raster_y_size_{1024};
187200
};
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#endif // GRID_MAP_GEO_H

‎include/grid_map_geo/transform.hpp‎

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#define GRID_MAP_GEO_TRANSFORM_H
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3737
#include <Eigen/Dense>
38+
#include <array>
39+
#include <cassert>
3840

3941
enum class ESPG { ECEF = 4978, WGS84 = 4326, WGS84_32N = 32632, CH1903_LV03 = 21781 };
4042

43+
struct Location {
44+
ESPG espg{ESPG::WGS84};
45+
// <east (lat), north (lng), up (alt)>
46+
//! @todo Switch to geographic_msgs/GeoPoint to make x-y not confusing?
47+
Eigen::Vector3d position{Eigen::Vector3d::Zero()};
48+
};
49+
4150
/**
4251
* @brief Helper function for transforming using gdal
4352
*
@@ -58,4 +67,53 @@ Eigen::Vector3d transformCoordinates(ESPG src_coord, ESPG tgt_coord, const Eigen
5867
*/
5968
Eigen::Vector3d transformCoordinates(ESPG src_coord, const std::string wkt, const Eigen::Vector3d source_coordinates);
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61-
#endif // GRID_MAP_GEO_TRANSFORM_H
70+
struct Corners {
71+
ESPG espg{ESPG::WGS84};
72+
Eigen::Vector2d top_left{Eigen::Vector2d::Zero()};
73+
Eigen::Vector2d top_right{Eigen::Vector2d::Zero()};
74+
Eigen::Vector2d bottom_left{Eigen::Vector2d::Zero()};
75+
Eigen::Vector2d bottom_right{Eigen::Vector2d::Zero()};
76+
};
77+
78+
/**
79+
* @brief Helper function converting from image to geo coordinates
80+
*
81+
* @ref
82+
https://gdal.org/tutorials/geotransforms_tut.html#transformation-from-image-coordinate-space-to-georeferenced-coordinate-space
83+
* @see GDALApplyGeoTransform
84+
*
85+
* @param geoTransform The 6-element Geo transform
86+
* @param imageCoords The image-coordinates <row, column>, also called <pixel, line>
87+
88+
* @return The geo-coordinates in <x, y>
89+
*/
90+
inline Eigen::Vector2d imageToGeo(const std::array<double, 6> geoTransform, const Eigen::Vector2i imageCoords) {
91+
const auto x_pixel = imageCoords.x();
92+
const auto y_line = imageCoords.y();
93+
94+
return {geoTransform.at(0) + x_pixel * geoTransform.at(1) + y_line * geoTransform.at(2),
95+
geoTransform.at(3) + x_pixel * geoTransform.at(4) + y_line * geoTransform.at(5)};
96+
}
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/**
99+
* @brief Helper function converting from geo to image coordinates. Assumes no rotation.
100+
* Uses the assumption that GT2 and GT4 are zero
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*
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* @ref
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* https://gis.stackexchange.com/questions/384221/calculating-inverse-polynomial-transforms-for-pixel-sampling-when-map-georeferen
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* @see GDALApplyGeoTransform
105+
*
106+
* @param geoTransform The 6-element forward Geo transform
107+
* @param geoCoords The geo-coordinates in <x, y>
108+
*
109+
* @return The image-coordinates in <row, column>, also called <pixel, line>
110+
*/
111+
inline Eigen::Vector2d geoToImageNoRot(const std::array<double, 6>& geoTransform, const Eigen::Vector2d geoCoords) {
112+
assert(geoTransform.at(2) == 0); // assume no rotation
113+
assert(geoTransform.at(4) == 0); // assume no rotation
114+
115+
return {(geoCoords.x() - geoTransform.at(0)) / geoTransform.at(1),
116+
(geoCoords.y() - geoTransform.at(3)) / geoTransform.at(5)};
117+
}
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#endif

‎launch/load_map_publisher.launch.py‎

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<launch>
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<arg name="rviz" default="true"/>
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<arg name="location" default="sargans"/>
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<node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
5+
6+
<node pkg="grid_map_geo" exec="map_publisher" name="map_publisher" namespace="grid_map_geo" output="screen">
7+
<param name="gdal_dataset_path" value="$(find-pkg-share grid_map_geo)/resources/sargans.tif"/>
8+
<param name="gdal_dataset_color_path" value="$(find-pkg-share grid_map_geo)/resources/sargans_color.tif"/>
9+
10+
<!-- These values match sargans.tif, but could be increased with no effect on sargans -->
11+
<param name="max_map_width" value="748"/>
12+
<param name="max_map_height" value="1220"/>
13+
</node>
14+
15+
<group if="$(var rviz)">
16+
<node pkg="rviz2" exec="rviz2" name="rviz2" args="-d $(find-pkg-share grid_map_geo)/rviz/config.rviz"/>
17+
</group>
18+
</launch>

‎launch/load_map_publisher_launch.xml‎

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<launch>
2+
<arg name="rviz" default="true"/>
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<arg name="location" default="sargans"/>
4+
<node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
5+
6+
<node pkg="grid_map_geo" exec="test_tif_loader" name="test_tif_loader" namespace="grid_map_geo" output="screen">
7+
<param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sargans.tif"/>
8+
<param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/sargans_color.tif"/>
9+
</node>
10+
11+
<group if="$(var rviz)">
12+
<node pkg="rviz2" exec="rviz2" name="rviz2" args="-d $(find-pkg-share grid_map_geo)/rviz/config.rviz"/>
13+
</group>
14+
</launch>

‎launch/load_tif.launch.py‎

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44

55
from launch import LaunchDescription
66
from launch.actions import DeclareLaunchArgument
7-
from launch.conditions import IfCondition
7+
from launch.conditions import IfCondition, LaunchConfigurationEquals, LaunchConfigurationNotEquals
88
from launch.substitutions import LaunchConfiguration
99

1010
from launch_ros.actions import Node
@@ -28,18 +28,31 @@ def generate_launch_description():
2828
],
2929
)
3030

31-
# tif loader node
32-
tif_loader = Node(
31+
# map publisher node
32+
map_publisher = Node(
3333
package="grid_map_geo",
3434
namespace="grid_map_geo",
35-
executable="test_tif_loader",
36-
name="tif_loader",
35+
executable="map_publisher",
36+
name="map_publisher",
3737
parameters=[
38-
{"tif_path": LaunchConfiguration("tif_path")},
39-
{"tif_color_path": LaunchConfiguration("tif_color_path")},
38+
{"gdal_dataset_path": LaunchConfiguration("gdal_dataset_path")},
39+
{"gdal_dataset_color_path": LaunchConfiguration("gdal_dataset_color_path")},
4040
],
4141
output="screen",
4242
emulate_tty=True,
43+
# condition=LaunchConfigurationEquals(LaunchConfiguration("params_file"), "")
44+
)
45+
46+
# map publisher node with params file
47+
map_publisher_with_param_file = Node(
48+
package="grid_map_geo",
49+
namespace="grid_map_geo",
50+
executable="map_publisher",
51+
name="map_publisher",
52+
parameters=[LaunchConfiguration("params_file")],
53+
output="screen",
54+
emulate_tty=True,
55+
condition=LaunchConfigurationNotEquals(LaunchConfiguration("params_file"), "")
4356
)
4457

4558
# rviz node
@@ -51,8 +64,8 @@ def generate_launch_description():
5164
)
5265

5366
default_location = "sargans"
54-
default_tif_file = "sargans.tif"
55-
default_tif_color_file = "sargans_color.tif"
67+
default_gdal_dataset = "sargans.tif"
68+
default_gdal_color_dataset = "sargans_color.tif"
5669
return LaunchDescription(
5770
[
5871
DeclareLaunchArgument(
@@ -64,17 +77,26 @@ def generate_launch_description():
6477
description="Location.",
6578
),
6679
DeclareLaunchArgument(
67-
"tif_path",
68-
default_value=f'{Path(pkg_grid_map_geo) / "resources" / default_tif_file}',
80+
"gdal_dataset_path",
81+
default_value=f'{Path(pkg_grid_map_geo) / "resources" / default_gdal_dataset}',
6982
description="Full path to the elevation map file.",
7083
),
7184
DeclareLaunchArgument(
72-
"tif_color_path",
73-
default_value=f'{Path(pkg_grid_map_geo) / "resources" / default_tif_color_file}',
85+
"gdal_dataset_color_path",
86+
default_value=f'{Path(pkg_grid_map_geo) / "resources" / default_gdal_color_dataset}',
7487
description="Full path to the elevation texture file.",
7588
),
89+
DeclareLaunchArgument(
90+
"params_file",
91+
default_value="",
92+
description="YAML parameter file path.",
93+
),
94+
7695
static_transform_publisher,
77-
tif_loader,
96+
map_publisher,
97+
# map_publisher_with_param_file,
7898
rviz,
7999
]
80100
)
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