R2Viewshed.scala

/*
 * Copyright 2017 Azavea
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package geotrellis.raster.viewshed

import geotrellis.raster._
import geotrellis.raster.rasterize.Rasterizer
import geotrellis.vector._

import java.util.Arrays.binarySearch
import java.util.Comparator


object R2Viewshed extends Serializable {

  sealed abstract class From()
  case class FromNorth() extends From
  case class FromEast() extends From
  case class FromSouth() extends From
  case class FromWest() extends From
  case class FromInside() extends From

  sealed case class DirectedSegment(x0: Int, y0: Int, x1: Int, y1: Int, theta: Double) {
    override def toString(): String =
      s"($x0, $y0) to ($x1, $y1) θ=$theta"
  }

  sealed case class Ray(theta: Double, alpha: Double) {
    override def toString(): String =
      s"θ=$theta α=$alpha"
  }

  sealed case class Alpha(var alpha: Double, var terminated: Boolean = false) {
    override def toString(): String = s"$alpha"
  }

  implicit def convert(alpha: Alpha): Double = alpha.alpha

  type EdgeCallback = ((Ray, From) => Unit)

  object RayComparator extends Comparator[Ray] {
    def compare(left: Ray, right: Ray): Int =
      if (left.theta < right.theta) -1
      else if (left.theta > right.theta) +1
      else 0
  }

  /**
    * Generate an empty tile that is suitable for use as a viewshed
    * tile.
    *
    * @param  cols  The number of columns
    * @param  rows  The number of rows
    */
  def generateEmptyViewshedTile(cols: Int, rows: Int) =
    ArrayTile.empty(IntConstantNoDataCellType, cols, rows)

  /**
    * Compute the drop in elevation due to Earth's curvature (please
    * see [1]).
    *
    * 1. https://en.wikipedia.org/wiki/Arc_(geometry)
    */
  @inline def downwardCurve(distance: Double): Double =
    6378137 * (1 - math.cos(distance / 6378137))

  /**
    * Compute the viewshed of the tile using the R2 algorithm.  Makes
    * use of the compute method of this object.
    *
    * @param  elevationTile  Elevations in units of meters
    * @param  startCol       The x position of the vantage point
    * @param  startRow       The y position of the vantage point
    */
  def apply(
    elevationTile: Tile,
    startCol: Int, startRow: Int,
    and: Boolean = false): Tile = {
    val cols = elevationTile.cols
    val rows = elevationTile.rows
    val viewHeight = elevationTile.getDouble(startCol, startRow)
    val viewshedTile =
      if (!and) ArrayTile.empty(IntCellType, cols, rows)
      else ArrayTile.empty(IntConstantNoDataCellType, cols, rows)

    R2Viewshed.compute(
      elevationTile, viewshedTile,
      startCol, startRow, viewHeight,
      1.0, Double.PositiveInfinity,
      FromInside(),
      null,
      { (_, _) => },
      and,
      false // Ignore curvature
    )
    viewshedTile
  }

  /**
    * Compute the viewshed of the tile using the R2 algorithm from
    * [1].  The numbers in the elevationTile are assumed to be
    * elevations in units of meters.  The results are written into the
    * viewshedTile.
    *
    * @param  elevationTile  Elevations in units of meters
    * @param  viewshedTile   The tile into which the viewshed will be written
    * @param  startCol       The x position of the vantage point
    * @param  startRow       The y position of the vantage point
    * @param  viewHeight     The height of the vantage
    * @param  resolution     The resolution of the elevationTile in units of meters/pixel
    * @param  from           The direction from which the rays are allowed to come
    * @param  rays           Rays shining in from other tiles
    * @param  edgeCallback   A callback that is called when a ray reaches the periphery of this tile
    *
    * 1. Franklin, Wm Randolph, and Clark Ray.
    *    "Higher isn’t necessarily better: Visibility algorithms and experiments."
    *    Advances in GIS research: sixth international symposium on spatial data handling. Vol. 2.
    *    Taylor & Francis Edinburgh, 1994.
    */
  def compute(
    elevationTile: Tile, viewshedTile: MutableArrayTile,
    startCol: Int, startRow: Int, viewHeight: Double,
    resolution: Double, maxDistance: Double,
    from: From,
    rays: Array[Ray],
    edgeCallback: EdgeCallback,
    and: Boolean,
    curve: Boolean = true,
    debug: Boolean = false
  ): Tile = {
    val cols = elevationTile.cols
    val rows = elevationTile.rows
    val re = RasterExtent(Extent(0, 0, cols, rows), cols, rows)
    val inTile: Boolean = (0 <= startCol && startCol < cols && 0 <= startRow && startRow <= rows)

    def computeTheta(x0: Int, y0: Int, x1: Int, y1: Int): Double = {
      val m = (y0 - y1).toDouble / (x0 - x1)

      if (x0 == x1 && y0 < y1) Math.PI/2
      else if (x0 == x1 /*&& y0 > y1*/) 1.5*Math.PI
      // else if (x0 == x1 && y0 == y1) throw new Exception
      else {
        val theta = math.atan(m)

        if (x1 >= x0 && y1 >= y0 && 0 <= theta && theta <= Math.PI/2) theta
        else if (x1 >= x0 && y1 >= y0) throw new Exception
        else if (x1 >= x0 && y1 <= y0 && -Math.PI/2 <= theta && theta <= 0) theta + 2.0*Math.PI
        else if (x1 >= x0 && y1 <= y0) throw new Exception
        else if (x1 <= x0 && y1 <= y0 && 0 <= theta && theta <= Math.PI/2) theta + Math.PI
        else if (x1 <= x0 && y1 <= y0) throw new Exception
        else if (x1 <= x0 && y1 >= y0 && -Math.PI/2 <= theta && theta <= 0) theta + Math.PI
        else if (x1 <= x0 && y1 >= y0) throw new Exception
        else throw new Exception
      }
    }

    def thetaToAlpha(theta: Double): Double = {
      from match {
        case _: FromInside => -Math.PI
        case _ =>
          val index = binarySearch(rays, Ray(theta, Double.NaN), RayComparator)
          if (index >= 0) rays(index).alpha
          else {
            val place = -1 - index
            if (place == rays.length) rays.last.alpha
            else if (place == 0) rays.head.alpha
            else if (math.abs(rays(place-1).theta - theta) < math.abs(rays(place).theta - theta))
              rays(place-1).alpha
            else rays(place).alpha
          }
      }
    }

    def clipAndQualifyRay(x0: Int, y0: Int, x1: Int, y1: Int): Option[DirectedSegment] = {
      val theta = computeTheta(x0, y0, x1, y1)
      val m = (y0 - y1).toDouble / (x0 - x1)

      from match {
        case _: FromInside if inTile => Some(DirectedSegment(x0, y0, x1, y1, theta))
        case _: FromInside if !inTile => throw new Exception
        case _: FromNorth =>
          val y2 = rows-1
          val x2 = math.round(((y2 - y1) / m) + x1).toInt
          if ((0 <= x2 && x2 < cols /*&& !(x2 == x1 && y2 == y1)*/) && (y2 <= y0 && -math.sin(theta) > 0)) {
            if (debug) println(s"BBB NORTH YES ${DirectedSegment(x2,y2,x1,y1,theta)} ${thetaToAlpha(theta)}")
            Some(DirectedSegment(x2,y2,x1,y1,theta))
          }
          else {
            if (debug) println(s"BBB NORTH NO  ($x0,$y0) ($x2,$y2) ($x1,$y1) $theta | ${0 <= x2} ${x2 < cols} ${!(x2 == x1 && y2 == y1)} ${y2 <= y0} ${-math.sin(theta) > 0}")
            None
          }
        case _: FromEast =>
          val x2 = cols-1
          val y2 = math.round((m * (x2 - x1)) + y1).toInt
          if ((0 <= y2 && y2 < rows /*&& !(x2 == x1 && y2 == y1)*/) && (x2 <= x0 && -math.cos(theta) > 0)) {
            if (debug) println(s"BBB EAST YES ${DirectedSegment(x2,y2,x1,y1,theta)}")
            Some(DirectedSegment(x2,y2,x1,y1,theta))
          }
          else {
            if (debug) println(s"BBB EAST NO  ($x0,$y0) ($x2,$y2) ($x1,$y1) $theta | ${0 <= y2} ${y2 < rows} ${!(x2 == x1 && y2 == y1)} ${x2 <= x0} ${-math.cos(theta) > 0}")
            None
          }
        case _: FromSouth =>
          val y2 = 0
          val x2 = math.round(((y2 - y1) / m) + x1).toInt
          if ((0 <= x2 && x2 < cols /*&& !(x2 == x1 && y2 == y1)*/) && (y2 >= y0 && math.sin(theta) > 0)) {
            if (debug) println(s"BBB SOUTH YES ${DirectedSegment(x2,y2,x1,y1,theta)}")
            Some(DirectedSegment(x2,y2,x1,y1,theta))
          }
          else {
            if (debug) println(s"BBB SOUTH NO  ($x0,$y0) ($x2,$y2) ($x1,$y1) $theta | ${0 <= x2} ${x2 < cols} ${!(x2 == x1 && y2 == y1)} ${y2 >= y0} ${math.sin(theta) > 0}")
            None
          }
        case _: FromWest =>
          val x2 = 0
          val y2 = math.round((m * (x2 - x1)) + y1).toInt
          if ((0 <= y2 && y2 < rows /*&& !(x2 == x1 && y2 == y1)*/) && (x2 >= x0 && math.cos(theta) > 0)) {
            if (debug) println(s"BBB WEST YES ${DirectedSegment(x2,y2,x1,y1,theta)}")
            Some(DirectedSegment(x2,y2,x1,y1,theta))
          }
          else {
            if (debug) println(s"BBB WEST NO  ($x0,$y0) ($x2,$y2) ($x1,$y1) $theta | ${0 <= y2} ${y2 < rows} ${!(x2 == x1 && y2 == y1)} ${x2 >= x0} ${math.cos(theta) > 0}")
            None
          }
      }
    }

    def callback(alpha: Alpha)(col: Int, row: Int) = {
      if (col == startCol && row == startRow) { // starting point
        viewshedTile.setDouble(col, row, 1)
      }
      else if (!alpha.terminated) { // any other point
        val deltax = startCol - col
        val deltay = startRow - row
        val distance = math.sqrt(deltax * deltax + deltay * deltay) * resolution
        val drop = if (curve) downwardCurve(distance); else 0.0
        val angle = math.atan((elevationTile.getDouble(col, row) - drop - viewHeight) / distance)

        if (debug) println(s"AAA $startCol $startRow col=$col row=$row ∠=$angle α=$alpha ${alpha <= angle}")
        if (distance >= maxDistance) alpha.terminated = true
        if (!alpha.terminated) {
          val visible = alpha <= angle
          val bit = viewshedTile.get(col, row)

          if (visible) alpha.alpha = angle
          if (!and && visible) viewshedTile.set(col, row, 1)
          else if (and && !visible) viewshedTile.set(col, row, 0)
          else if (and && visible && isNoData(bit)) viewshedTile.set(col, row, 1)
        }
      }
    }

    if (debug) println("NORTH")
    Range(0, cols) // North
      .flatMap({ col => clipAndQualifyRay(startCol,startRow,col,rows-1) })
      .foreach({ seg =>
        val alpha = Alpha(thetaToAlpha(seg.theta))
        val cb = callback(alpha)_

        Rasterizer.foreachCellInGridLine(
          seg.x0, seg.y0, seg.x1, seg.y1,
          null, re, false
        )(cb)
        if (!alpha.terminated) edgeCallback(Ray(seg.theta, alpha), FromSouth())
      })

    if (debug) println("EAST")
    Range(0, rows) // East
      .flatMap({ row => clipAndQualifyRay(startCol,startRow,cols-1,row) })
      .foreach({ seg =>
        val alpha = Alpha(thetaToAlpha(seg.theta))
        val cb = callback(alpha)_

        Rasterizer.foreachCellInGridLine(
          seg.x0, seg.y0, seg.x1, seg.y1,
          null, re, false
        )(cb)
        if (!alpha.terminated) edgeCallback(Ray(seg.theta, alpha), FromWest())
      })

    if (debug) println("SOUTH")
    Range(0, cols) // South
      .flatMap({ col => clipAndQualifyRay(startCol,startRow,col,0) })
      .foreach({ seg =>
        val alpha = Alpha(thetaToAlpha(seg.theta))
        val cb = callback(alpha)_

        Rasterizer.foreachCellInGridLine(
          seg.x0, seg.y0, seg.x1, seg.y1,
          null, re, false
        )(cb)
        if (!alpha.terminated) edgeCallback(Ray(seg.theta, alpha), FromNorth())
      })

    if (debug) println("WEST")
    Range(0, rows) // West
      .flatMap({ row => clipAndQualifyRay(startCol,startRow,0,row) })
      .foreach({ seg =>
        val alpha = Alpha(thetaToAlpha(seg.theta))
        val cb = callback(alpha)_

        Rasterizer.foreachCellInGridLine(
          seg.x0, seg.y0, seg.x1, seg.y1,
          null, re, false
        )(cb)
        if (!alpha.terminated) edgeCallback(Ray(seg.theta, alpha), FromEast())
      })

    viewshedTile
  }

}