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Add Heightmap utility functions (#680)
Signed-off-by: Ian Chen <[email protected]>
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‎geospatial/include/gz/common/geospatial/HeightmapUtil.hh‎

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/*
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* Copyright (C) 2025 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_COMMON_GEOSPATIAL_HEIGHTMAPUTIL_HH_
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#define GZ_COMMON_GEOSPATIAL_HEIGHTMAPUTIL_HH_
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#include <memory>
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#include <string>
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#include <gz/math/SphericalCoordinates.hh>
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#include <gz/common/geospatial/Export.hh>
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#include "gz/common/geospatial/HeightmapData.hh"
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namespace gz
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{
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namespace common
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{
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/// \brief Load a heightmap from file
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/// \param[in] _filename Path to heightmap file
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/// \param[in] _sphericalCoordinates The spherical coordinates
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/// object contained in the world. This is used if the underlying
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/// heightmap type is DEM.
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/// \return heightmap
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std::unique_ptr<HeightmapData>
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GZ_COMMON_GEOSPATIAL_VISIBLE loadHeightmapData(
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const std::string &_filename,
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const math::SphericalCoordinates &_sphericalCoordinates =
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math::SphericalCoordinates());
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/// \brief Check if input file has a file extension that can be
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/// loaded as an ImageHeightmap
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/// \param[in] _filename Path to heightmap file
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/// \return True if the filename has a file extension that is supported.
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bool GZ_COMMON_GEOSPATIAL_VISIBLE isSupportedImageHeightmapFileExtension(
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const std::string &_filename);
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}
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}
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#endif

‎geospatial/src/HeightmapUtil.cc‎

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/*
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* Copyright (C) 2025 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <memory>
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#include <ostream>
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#include <string>
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#include <utility>
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#include "gz/common/Console.hh"
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#include "gz/common/StringUtils.hh"
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#include "gz/common/Util.hh"
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#include "gz/common/geospatial/Dem.hh"
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#include "gz/common/geospatial/HeightmapUtil.hh"
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#include "gz/common/geospatial/ImageHeightmap.hh"
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namespace gz
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{
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namespace common
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{
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//////////////////////////////////////////////////
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bool isSupportedImageHeightmapFileExtension(const std::string &_filename)
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{
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if (_filename.empty())
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return false;
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std::string lowerFullPath = common::lowercase(_filename);
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return common::EndsWith(lowerFullPath, ".png")
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|| common::EndsWith(lowerFullPath, ".jpg")
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|| common::EndsWith(lowerFullPath, ".jpeg");
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}
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//////////////////////////////////////////////////
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std::unique_ptr<HeightmapData> loadHeightmapData(
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const std::string &_filename,
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const math::SphericalCoordinates &_sphericalCoordinates)
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{
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if (_filename.empty())
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return nullptr;
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std::unique_ptr<HeightmapData> data;
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// check if heightmap is an image
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if (isSupportedImageHeightmapFileExtension(_filename))
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{
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auto imgHeightmap = std::make_unique<ImageHeightmap>();
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if (imgHeightmap->Load(_filename) < 0)
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{
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gzerr << "Failed to load heightmap data from ["
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<< _filename << "]" << std::endl;
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return nullptr;
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}
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data = std::move(imgHeightmap);
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}
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else
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{
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// try loading as DEM
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auto dem = std::make_unique<Dem>();
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dem->SetSphericalCoordinates(_sphericalCoordinates);
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if (dem->Load(_filename) < 0)
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{
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gzerr << "Failed to load heightmap data from ["
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<< _filename << "]" << std::endl;
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return nullptr;
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}
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data = std::move(dem);
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}
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return data;
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}
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}
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}

‎geospatial/src/HeightmapUtil_TEST.cc‎

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/*
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* Copyright (C) 2025 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include <memory>
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#include "gz/common/geospatial/HeightmapUtil.hh"
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#include "gz/common/testing/AutoLogFixture.hh"
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#include "gz/common/testing/TestPaths.hh"
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using namespace gz;
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class HeightmapLoaderTest : public common::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(HeightmapLoaderTest, SupportedImageHeightmapFileExtension)
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{
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.jpg"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.jpeg"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.png"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.JPG"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.JPEG"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension("f.PNG"));
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EXPECT_TRUE(common::isSupportedImageHeightmapFileExtension(".PNG"));
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EXPECT_FALSE(common::isSupportedImageHeightmapFileExtension("f.tiff"));
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EXPECT_FALSE(common::isSupportedImageHeightmapFileExtension("invalid"));
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EXPECT_FALSE(common::isSupportedImageHeightmapFileExtension(""));
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}
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/////////////////////////////////////////////////
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TEST_F(HeightmapLoaderTest, LoadImage)
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{
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const auto path = common::testing::TestFile("data", "heightmap_bowl.png");
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std::unique_ptr<common::HeightmapData> data =
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common::loadHeightmapData(path);
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EXPECT_NE(nullptr, data);
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}
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/////////////////////////////////////////////////
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TEST_F(HeightmapLoaderTest, LoadDEM)
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{
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const auto path = common::testing::TestFile("data", "dem_squared.tif");
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std::unique_ptr<common::HeightmapData> data =
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common::loadHeightmapData(path);
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EXPECT_NE(nullptr, data);
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}
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/////////////////////////////////////////////////
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TEST_F(HeightmapLoaderTest, LoadInvalidFile)
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{
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EXPECT_EQ(nullptr, common::loadHeightmapData("invalid/file.jpg"));
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EXPECT_EQ(nullptr, common::loadHeightmapData("invalid/file_no_extension"));
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}

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