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main.c
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main.c
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/********************************************************************
*
* MODULE: v.lidar.correction
*
* AUTHOR(S): Roberto Antolin & Gonzalo Moreno
* general update Markus Metz
*
* PURPOSE: Correction of the v.growing output
*
* COPYRIGHT: (C) 2005 by Politecnico di Milano -
* Polo Regionale di Como
*
* This program is free software under the
* GNU General Public License (>=v2).
* Read the file COPYING that comes with GRASS
* for details.
*
**********************************************************************/
/* INCLUDES */
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "correction.h"
/*----------------------------------------------------------------------------------------------------------*/
int main(int argc, char *argv[])
{
/* Declarations */
int dim_vect, nparameters, BW, npoints;
int nsply, nsplx, nsplx_adj, nsply_adj;
int nsubregion_col, nsubregion_row;
int subregion = 0, nsubregions = 0;
const char *dvr, *db, *mapset;
char table_name[GNAME_MAX];
char xname[GNAME_MAX], xmapset[GMAPSET_MAX];
double lambda, mean, stepN, stepE, HighThresh,
LowThresh;
double N_extension, E_extension, edgeE, edgeN;
int i, nterrain, count_terrain;
int last_row, last_column, flag_auxiliar = FALSE;
int *lineVect;
double *TN, *Q, *parVect; /* Interpolating and least-square vectors */
double **N, **obsVect, **obsVect_all; /* Interpolation and least-square matrix */
struct Map_info In, Out, Terrain;
struct Option *in_opt, *out_opt, *out_terrain_opt, *stepE_opt,
*stepN_opt, *lambda_f_opt, *Thresh_A_opt, *Thresh_B_opt;
struct Flag *spline_step_flag;
struct GModule *module;
struct Cell_head elaboration_reg, original_reg;
struct Reg_dimens dims;
struct bound_box general_box, overlap_box;
struct Point *observ;
struct lidar_cat *lcat;
dbDriver *driver;
/*----------------------------------------------------------------------------------------------------------*/
G_gisinit(argv[0]);
/* Options' declaration */
module = G_define_module();
G_add_keyword(_("vector"));
G_add_keyword(_("LIDAR"));
module->description =
_("Corrects the v.lidar.growing output. It is the last of the three algorithms for LIDAR filtering.");
spline_step_flag = G_define_flag();
spline_step_flag->key = 'e';
spline_step_flag->label = _("Estimate point density and distance and quit");
spline_step_flag->description =
_("Estimate point density and distance in map units for the input vector points within the current region extents and quit");
spline_step_flag->suppress_required = YES;
in_opt = G_define_standard_option(G_OPT_V_INPUT);
in_opt->description =
_("Input observation vector map name (v.lidar.growing output)");
out_opt = G_define_standard_option(G_OPT_V_OUTPUT);
out_opt->description = _("Output classified vector map name");
out_terrain_opt = G_define_standard_option(G_OPT_V_OUTPUT);
out_terrain_opt->key = "terrain";
out_terrain_opt->description =
_("Name for output only 'terrain' points vector map");
stepE_opt = G_define_option();
stepE_opt->key = "ew_step";
stepE_opt->type = TYPE_DOUBLE;
stepE_opt->required = NO;
stepE_opt->label =
_("Length of each spline step in the east-west direction");
stepE_opt->description = _("Default: 25 * east-west resolution");
stepE_opt->guisection = _("Settings");
stepN_opt = G_define_option();
stepN_opt->key = "ns_step";
stepN_opt->type = TYPE_DOUBLE;
stepN_opt->required = NO;
stepN_opt->label =
_("Length of each spline step in the north-south direction");
stepN_opt->description = _("Default: 25 * north-south resolution");
stepN_opt->guisection = _("Settings");
lambda_f_opt = G_define_option();
lambda_f_opt->key = "lambda_c";
lambda_f_opt->type = TYPE_DOUBLE;
lambda_f_opt->required = NO;
lambda_f_opt->description =
_("Regularization weight in reclassification evaluation");
lambda_f_opt->answer = "1";
Thresh_A_opt = G_define_option();
Thresh_A_opt->key = "tch";
Thresh_A_opt->type = TYPE_DOUBLE;
Thresh_A_opt->required = NO;
Thresh_A_opt->description =
_("High threshold for object to terrain reclassification");
Thresh_A_opt->answer = "2";
Thresh_B_opt = G_define_option();
Thresh_B_opt->key = "tcl";
Thresh_B_opt->type = TYPE_DOUBLE;
Thresh_B_opt->required = NO;
Thresh_B_opt->description =
_("Low threshold for terrain to object reclassification");
Thresh_B_opt->answer = "1";
G_option_required(out_opt, out_terrain_opt, spline_step_flag, NULL);
G_option_requires(spline_step_flag, in_opt, out_opt, out_terrain_opt, NULL);
/* Parsing */
if (G_parser(argc, argv))
exit(EXIT_FAILURE);
G_get_set_window(&original_reg);
stepN = 25 * original_reg.ns_res;
if (stepN_opt->answer)
stepN = atof(stepN_opt->answer);
stepE = 25 * original_reg.ew_res;
if (stepE_opt->answer)
stepE = atof(stepE_opt->answer);
lambda = atof(lambda_f_opt->answer);
HighThresh = atof(Thresh_A_opt->answer);
LowThresh = atof(Thresh_B_opt->answer);
/* Open input vector */
if ((mapset = G_find_vector2(in_opt->answer, "")) == NULL)
G_fatal_error(_("Vector map <%s> not found"), in_opt->answer);
Vect_set_open_level(1); /* without topology */
if (1 > Vect_open_old(&In, in_opt->answer, mapset))
G_fatal_error(_("Unable to open vector map <%s>"), in_opt->answer);
/* Input vector must be 3D */
if (!Vect_is_3d(&In))
G_fatal_error(_("Input vector map <%s> is not 3D!"), in_opt->answer);
/* Estimate point density and mean distance for current region */
if (spline_step_flag->answer) {
double dens, dist;
if (P_estimate_splinestep(&In, &dens, &dist) == 0) {
fprintf(stdout, _("Estimated point density: %.4g\n"), dens);
fprintf(stdout, _("Estimated mean distance between points: %.4g\n"), dist);
}
else
G_warning(_("No points in current region!"));
Vect_close(&In);
exit(EXIT_SUCCESS);
}
if (!(db = G_getenv_nofatal2("DB_DATABASE", G_VAR_MAPSET)))
G_fatal_error(_("Unable to read name of database"));
if (!(dvr = G_getenv_nofatal2("DB_DRIVER", G_VAR_MAPSET)))
G_fatal_error(_("Unable to read name of driver"));
/* Setting auxiliary table's name */
if (G_name_is_fully_qualified(out_opt->answer, xname, xmapset)) {
sprintf(table_name, "%s_aux", xname);
}
else
sprintf(table_name, "%s_aux", out_opt->answer);
/* Something went wrong in a previous v.lidar.correction execution */
if (db_table_exists(dvr, db, table_name)) {
/* Start driver and open db */
driver = db_start_driver_open_database(dvr, db);
if (driver == NULL)
G_fatal_error(_("No database connection for driver <%s> is defined. Run db.connect."),
dvr);
db_set_error_handler_driver(driver);
if (P_Drop_Aux_Table(driver, table_name) != DB_OK)
G_fatal_error(_("Old auxiliary table could not be dropped"));
db_close_database_shutdown_driver(driver);
}
/* Checking vector names */
Vect_check_input_output_name(in_opt->answer, out_opt->answer,
G_FATAL_EXIT);
/* Open output vector */
if (0 > Vect_open_new(&Out, out_opt->answer, WITH_Z)) {
Vect_close(&In);
G_fatal_error(_("Unable to create vector map <%s>"), out_opt->answer);
}
if (0 > Vect_open_new(&Terrain, out_terrain_opt->answer, WITH_Z)) {
Vect_close(&In);
Vect_close(&Out);
G_fatal_error(_("Unable to create vector map <%s>"), out_opt->answer);
}
/* Copy vector Head File */
Vect_copy_head_data(&In, &Out);
Vect_hist_copy(&In, &Out);
Vect_hist_command(&Out);
Vect_copy_head_data(&In, &Terrain);
Vect_hist_copy(&In, &Terrain);
Vect_hist_command(&Terrain);
/* Start driver and open db */
driver = db_start_driver_open_database(dvr, db);
if (driver == NULL)
G_fatal_error(_("No database connection for driver <%s> is defined. Run db.connect."),
dvr);
db_set_error_handler_driver(driver);
/* Create auxiliary table */
if ((flag_auxiliar =
P_Create_Aux2_Table(driver, table_name)) == FALSE) {
Vect_close(&In);
Vect_close(&Out);
Vect_close(&Terrain);
exit(EXIT_FAILURE);
}
db_create_index2(driver, table_name, "ID");
/* sqlite likes that ??? */
db_close_database_shutdown_driver(driver);
driver = db_start_driver_open_database(dvr, db);
/* Setting regions and boxes */
G_get_set_window(&elaboration_reg);
Vect_region_box(&elaboration_reg, &overlap_box);
Vect_region_box(&elaboration_reg, &general_box);
/*------------------------------------------------------------------
| Subdividing and working with tiles:
| Each original region will be divided into several subregions.
| Each one will be overlapped by its neighbouring subregions.
| The overlapping is calculated as a fixed OVERLAP_SIZE times
| the largest spline step plus 2 * edge
----------------------------------------------------------------*/
/* Fixing parameters of the elaboration region */
P_zero_dim(&dims);
nsplx_adj = NSPLX_MAX;
nsply_adj = NSPLY_MAX;
if (stepN > stepE)
dims.overlap = OVERLAP_SIZE * stepN;
else
dims.overlap = OVERLAP_SIZE * stepE;
P_get_edge(P_BILINEAR, &dims, stepE, stepN);
P_set_dim(&dims, stepE, stepN, &nsplx_adj, &nsply_adj);
G_verbose_message(n_("Adjusted EW spline %d",
"Adjusted EW splines %d",
nsplx_adj), nsplx_adj);
G_verbose_message(n_("Adjusted NS spline %d",
"Adjusted NS splines %d",
nsply_adj), nsply_adj);
/* calculate number of subregions */
edgeE = dims.ew_size - dims.overlap - 2 * dims.edge_v;
edgeN = dims.sn_size - dims.overlap - 2 * dims.edge_h;
N_extension = original_reg.north - original_reg.south;
E_extension = original_reg.east - original_reg.west;
nsubregion_col = ceil(E_extension / edgeE) + 0.5;
nsubregion_row = ceil(N_extension / edgeN) + 0.5;
if (nsubregion_col < 0)
nsubregion_col = 0;
if (nsubregion_row < 0)
nsubregion_row = 0;
nsubregions = nsubregion_row * nsubregion_col;
elaboration_reg.south = original_reg.north;
last_row = FALSE;
while (last_row == FALSE) { /* For each row */
P_set_regions(&elaboration_reg, &general_box, &overlap_box, dims,
GENERAL_ROW);
if (elaboration_reg.north > original_reg.north) { /* First row */
P_set_regions(&elaboration_reg, &general_box, &overlap_box, dims,
FIRST_ROW);
}
if (elaboration_reg.south <= original_reg.south) { /* Last row */
P_set_regions(&elaboration_reg, &general_box, &overlap_box, dims,
LAST_ROW);
last_row = TRUE;
}
nsply =
ceil((elaboration_reg.north -
elaboration_reg.south) / stepN) + 0.5;
/*
if (nsply > NSPLY_MAX) {
nsply = NSPLY_MAX;
}
*/
G_debug(1, "nsply = %d", nsply);
elaboration_reg.east = original_reg.west;
last_column = FALSE;
while (last_column == FALSE) { /* For each column */
subregion++;
if (nsubregions > 1)
G_message(_("Subregion %d of %d"), subregion, nsubregions);
P_set_regions(&elaboration_reg, &general_box, &overlap_box, dims,
GENERAL_COLUMN);
if (elaboration_reg.west < original_reg.west) { /* First column */
P_set_regions(&elaboration_reg, &general_box, &overlap_box,
dims, FIRST_COLUMN);
}
if (elaboration_reg.east >= original_reg.east) { /* Last column */
P_set_regions(&elaboration_reg, &general_box, &overlap_box,
dims, LAST_COLUMN);
last_column = TRUE;
}
nsplx =
ceil((elaboration_reg.east - elaboration_reg.west) / stepE) +
0.5;
/*
if (nsplx > NSPLX_MAX) {
nsplx = NSPLX_MAX;
}
*/
G_debug(1, "nsplx = %d", nsplx);
dim_vect = nsplx * nsply;
G_debug(1, "read vector region map");
observ =
P_Read_Vector_Correction(&In, &elaboration_reg, &npoints,
&nterrain, dim_vect, &lcat);
G_debug(5, "npoints = %d, nterrain = %d", npoints, nterrain);
if (npoints > 0) { /* If there is any point falling into elaboration_reg. */
count_terrain = 0;
nparameters = nsplx * nsply;
/* Mean calculation */
G_important_message(_("Performing mean calculation..."));
mean = P_Mean_Calc(&elaboration_reg, observ, npoints);
/*Least Squares system */
BW = P_get_BandWidth(P_BILINEAR, nsply); /* Bilinear interpolation */
N = G_alloc_matrix(nparameters, BW); /* Normal matrix */
TN = G_alloc_vector(nparameters); /* vector */
parVect = G_alloc_vector(nparameters); /* Bilinear parameters vector */
obsVect = G_alloc_matrix(nterrain + 1, 3); /* Observation vector with terrain points */
obsVect_all = G_alloc_matrix(npoints + 1, 3); /* Observation vector with all points */
Q = G_alloc_vector(nterrain + 1); /* "a priori" var-cov matrix */
lineVect = G_alloc_ivector(npoints + 1);
/* Setting obsVect vector & Q matrix */
G_debug(3, "Only TERRAIN points");
for (i = 0; i < npoints; i++) {
if (observ[i].cat == TERRAIN_SINGLE) {
obsVect[count_terrain][0] = observ[i].coordX;
obsVect[count_terrain][1] = observ[i].coordY;
obsVect[count_terrain][2] = observ[i].coordZ - mean;
Q[count_terrain] = 1; /* Q=I */
count_terrain++;
}
lineVect[i] = observ[i].lineID;
obsVect_all[i][0] = observ[i].coordX;
obsVect_all[i][1] = observ[i].coordY;
obsVect_all[i][2] = observ[i].coordZ - mean;
}
G_free(observ);
G_verbose_message(_("Bilinear interpolation"));
normalDefBilin(N, TN, Q, obsVect, stepE, stepN, nsplx,
nsply, elaboration_reg.west,
elaboration_reg.south, nterrain, nparameters,
BW);
nCorrectGrad(N, lambda, nsplx, nsply, stepE, stepN);
G_math_solver_cholesky_sband(N, parVect, TN, nparameters, BW);
G_free_matrix(N);
G_free_vector(TN);
G_free_vector(Q);
G_free_matrix(obsVect);
G_important_message( _("Correction and creation of terrain vector map..."));
P_Sparse_Correction(&In, &Out, &Terrain, &elaboration_reg,
general_box, overlap_box, obsVect_all, lcat,
parVect, lineVect, stepN, stepE,
dims.overlap, HighThresh, LowThresh,
nsplx, nsply, npoints, driver, mean, table_name);
G_free_vector(parVect);
G_free_matrix(obsVect_all);
G_free_ivector(lineVect);
}
else {
G_free(observ);
G_warning(_("No data within this subregion. "
"Consider changing the spline step."));
}
G_free(lcat);
} /*! END WHILE; last_column = TRUE */
} /*! END WHILE; last_row = TRUE */
/* Dropping auxiliary table */
if (npoints > 0) {
G_debug(1, "Dropping <%s>", table_name);
if (P_Drop_Aux_Table(driver, table_name) != DB_OK)
G_fatal_error(_("Auxiliary table could not be dropped"));
}
db_close_database_shutdown_driver(driver);
Vect_close(&In);
Vect_close(&Out);
Vect_close(&Terrain);
G_done_msg(" ");
exit(EXIT_SUCCESS);
} /*! END MAIN */