GeoTIFF serialization for isochrones

.github/workflows/osx.yml

@@ -40,7 +40,7 @@ jobs:
 
       - name: Install dependencies
         run: |
-          HOMEBREW_NO_AUTO_UPDATE=1 brew install autoconf automake protobuf cmake ccache libtool sqlite3 libspatialite luajit curl wget czmq lz4 spatialite-tools unzip boost
+          HOMEBREW_NO_AUTO_UPDATE=1 brew install autoconf automake protobuf cmake ccache libtool sqlite3 libspatialite luajit curl wget czmq lz4 spatialite-tools unzip boost gdal
           sudo python -m pip install --break-system-packages requests shapely
           git clone https://github.com/kevinkreiser/prime_server --recurse-submodules && cd prime_server && ./autogen.sh && ./configure && make -j$(sysctl -n hw.logicalcpu) && sudo make install
 
@@ -58,7 +58,7 @@ jobs:
             ccache-osx-
 
       - name: Configure CMake
-        run: cmake -B build -DENABLE_SINGLE_FILES_WERROR=OFF
+        run: cmake -B build -DENABLE_SINGLE_FILES_WERROR=OFF -DENABLE_GDAL=ON
 
       - name: Build Valhalla
         run: make -C build -j$(sysctl -n hw.logicalcpu)

CHANGELOG.md

@@ -93,6 +93,7 @@
    * ADDED: Improved instructions for blind users [#3694](https://github.com/valhalla/valhalla/pull/3694)
    * FIXED: Fixed roundoff issue in Tiles Row and Col methods [#4585](https://github.com/valhalla/valhalla/pull/4585)
    * ADDED: isochrone proper polygon support & pbf output for isochrone [#4575](https://github.com/valhalla/valhalla/pull/4575)
+   * ADDED: return isotile grid as geotiff  [#4594](https://github.com/valhalla/valhalla/pull/4594)
 
 ## Release Date: 2023-05-11 Valhalla 3.4.0
 * **Removed**

CMakeLists.txt

@@ -36,6 +36,7 @@ option(ENABLE_SINGLE_FILES_WERROR "Convert compiler warnings to errors for singl
 option(PREFER_EXTERNAL_DEPS "Whether to use internally vendored headers or find the equivalent external package" OFF)
 # useful to workaround issues likes this https://stackoverflow.com/questions/24078873/cmake-generated-xcode-project-wont-compile
 option(ENABLE_STATIC_LIBRARY_MODULES "If ON builds Valhalla modules as STATIC library targets" OFF)
+option(ENABLE_GDAL "Whether to include GDAL; currently only used for raster serialization of isotile grid" OFF)
 
 set(LOGGING_LEVEL "" CACHE STRING "Logging level, default is INFO")
 set_property(CACHE LOGGING_LEVEL PROPERTY STRINGS "NONE;ALL;ERROR;WARN;INFO;DEBUG;TRACE")
@@ -203,6 +204,15 @@ if(ENABLE_SERVICES)
   endif()
 endif()
 
+# gdal
+set(gdal_target "")
+if (ENABLE_GDAL)
+  pkg_check_modules(GDAL REQUIRED IMPORTED_TARGET gdal)
+  add_compile_definitions(ENABLE_GDAL)
+  set(gdal_target PkgConfig::GDAL)
+endif()
+
+
 ## Mjolnir and associated executables
 if(ENABLE_DATA_TOOLS)
   add_compile_definitions(DATA_TOOLS)

cmake/ValhallaPkgConfig.cmake

@@ -33,6 +33,9 @@ function(configure_valhalla_pc)
   if(ENABLE_SERVICES)
     list(APPEND REQUIRES libprime_server)
   endif()
+  if(ENABLE_GDAL)
+    list(APPEND REQUIRES gdal)
+  endif()
   if(WIN32 AND NOT MINGW)
     list(APPEND LIBS_PRIVATE -lole32 -lshell32)
   else()

docs/docs/api/isochrone/api-reference.md

@@ -51,9 +51,9 @@ The isochrone service uses the `auto`, `bicycle`, `pedestrian`, and `multimodal`
 
 ## Outputs of the Isochrone service
 
-In the service response, the isochrone contours are returned as [GeoJSON](http://geojson.org/), which can be integrated into mapping applications.
+In the service response, the isochrone contours are returned as [GeoJSON](http://geojson.org/), which can be integrated into mapping applications. Alternatively, the grid data that underlies these contours can be returned as a [GeoTIFF](https://www.ogc.org/standard/geotiff/). 
 
-The contours are calculated using rasters and are returned as either polygon or line features, depending on your input setting for the `polygons` parameter. If an isochrone request has been named using the optional `&id=` input, then the `id` is returned as a name property for the feature collection within the GeoJSON response. A `metric` attribute lets you know whether it's a `distance` or `time` contour. A warnings array may also be included. This array may contain warning objects informing about deprecated request parameters, clamped values etc. | 
+The isochrone service returns contours as GeoJSON line or polygon features for the requested intervals (depending on the value of the `polygons` request parameter). These contours are calculated using a two dimensional grid. If the `format` request parameter is set to `geotiff`, the underlying grid data is returned directly instead of the contours derived from it. It will return one band for each requested metric (i.e. one for `time` and one for `distance`). If an isochrone request has been named using the optional `&id=` input, then the `id` is returned as a name property for the feature collection within the GeoJSON response. A `metric` attribute lets you know whether it's a `distance` or `time` contour. A warnings array may also be included. This array may contain warning objects informing about deprecated request parameters, clamped values etc. | 
 
 See the [HTTP return codes](../turn-by-turn/api-reference.md#http-status-codes-and-conditions) for more on messages you might receive from the service.
 
@@ -63,6 +63,8 @@ Most JavaScript-based GeoJSON renderers, including [Leaflet](http://leafletjs.co
 
 When making a map, drawing the isochrone contours as lines is more straightforward than polygons, and, therefore, currently is the default and recommended method. When deciding between the output as lines and polygons, consider your use case and the additional styling considerations involved with polygons. For example, fills should be rendered as semi-transparent over the other map layers so they are visible, although you may have more flexibility when using a vector-based map. In addition, polygons from multiple contour levels do not have overlapping areas cut out or removed. In other words, the outer contours include the areas of any inner contours, causing the colors and transparencies to blend when multiple contour polygons are drawn at the same time.
 
+(TODO: write something about rendering the GeoTIFF output.)
+
 ## Future work on the isochrone service
 
 The Isochrone service is in active development. To report software issues or suggest enhancements, open an issue in the [Valhalla GitHub repository](https://github.com/valhalla/valhalla/issues).
@@ -75,7 +77,7 @@ Several other options are being considered as future service enhancements. These
 * ~~Removing self intersections from polygonal contours.~~
 * ~~Allowing multiple locations to compute the region reachable from any of the locations within a specified time.~~
 * ~~Generating contours with reverse access logic to see the region that can reach a specific location within the specified time.~~
-* Returning raster data for potential animation using OpenGL shaders. This also has analysis use for being able to query thousands of locations to determine the time to each location, including improvements with one-to-many requests to the Valhalla Time-Distance Matrix service.
+* ~~Returning raster data for potential animation using OpenGL shaders. This also has analysis use for being able to query thousands of locations to determine the time to each location, including improvements with one-to-many requests to the Valhalla Time-Distance Matrix service.~~
 
 ## Data credits
 

docs/docs/api/turn-by-turn/api-reference.md

@@ -620,4 +620,5 @@ The codes correspond to code returned from a particular [Valhalla project](https
 |**5xx** | **Tyr project codes** |
 |500 | Failed to parse intermediate request format |
 |501 | Failed to parse TripDirections |
+|504 | GeoTIFF serialization not supported by service |
 |599 | Unknown |

docs/docs/building.md

@@ -27,6 +27,7 @@ Important build options include:
 | `-DENABLE_ADDRESS_SANITIZER` (`ON` / `OFF`) | Build with address sanitizer (defaults to off).|
 | `-DENABLE_UNDEFINED_SANITIZER` (`ON` / `OFF`) | Build with undefined behavior sanitizer (defaults to off).|
 | `-DPREFER_SYSTEM_DEPS` (`ON` / `OFF`) | Whether to use internally vendored headers or find the equivalent external package (defaults to off).|
+| `-DENABLE_GDAL` (`ON` / `OFF`) | Whether to include GDAL as a dependency (used for GeoTIFF serialization of isochrone grid) (defaults to off).|
 
 ### Building with `vcpkg` - any platform
 

docs/docs/thor/isochrones.md

@@ -27,7 +27,7 @@ The 2-D grid is used to find the isocrhone contours by using a well-known contou
 
 After forming sets of contour polygons, KEVIN -please write a paragraph or 2 to describe how the contours are formed and output!
 
-This 2-D grid of times can be useful for other purposes as well. It provides a very fast way to query a single location to see how long it takes to get there from the test location. Ultimately this could be a way to do very large one-to-many matrices. At this time we do not return the 2-D array of times, but this is a possibility in the future.
+This 2-D grid can be useful for other purposes as well. It provides a very fast way to query a single location to see how long it takes to get there from the test location. Ultimately this could be a way to do very large one-to-many matrices. 
 
 Where is it?
 ------------

proto/options.proto

@@ -340,6 +340,7 @@ message Options {
     gpx = 1;
     osrm = 2;
     pbf = 3;
+    geotiff = 4;
   }
 
   enum Action {

scripts/install-linux-deps.sh

@@ -22,6 +22,7 @@ env DEBIAN_FRONTEND=noninteractive sudo apt install --yes --quiet \
     libboost-all-dev \
     libcurl4-openssl-dev \
     libczmq-dev \
+    libgdal-dev \
     libgeos++-dev \
     libgeos-dev \
     libluajit-5.1-dev \

src/loki/worker.cc

@@ -357,6 +357,12 @@ loki_worker_t::work(const std::list<zmq::message_t>& job,
         result.messages.emplace_back(request.SerializeAsString());
         break;
       case Options::isochrone:
+// return early if geotiff was requested but GDAL isn't enabled
+#ifndef ENABLE_GDAL
+        if (options.format() == Options_Format_geotiff) {
+          throw valhalla_exception_t{504};
+        }
+#endif
         isochrones(request);
         result.messages.emplace_back(request.SerializeAsString());
         break;

src/proto_conversions.cc

@@ -268,10 +268,8 @@ const std::string& ShapeMatch_Enum_Name(const ShapeMatch match) {
 
 bool Options_Format_Enum_Parse(const std::string& format, Options::Format* f) {
   static const std::unordered_map<std::string, Options::Format> formats{
-      {"json", Options::json},
-      {"gpx", Options::gpx},
-      {"osrm", Options::osrm},
-      {"pbf", Options::pbf},
+      {"json", Options::json}, {"gpx", Options::gpx},         {"osrm", Options::osrm},
+      {"pbf", Options::pbf},   {"geotiff", Options::geotiff},
   };
   auto i = formats.find(format);
   if (i == formats.cend())
@@ -282,10 +280,8 @@ bool Options_Format_Enum_Parse(const std::string& format, Options::Format* f) {
 
 const std::string& Options_Format_Enum_Name(const Options::Format match) {
   static const std::unordered_map<int, std::string> formats{
-      {Options::json, "json"},
-      {Options::gpx, "gpx"},
-      {Options::osrm, "osrm"},
-      {Options::pbf, "pbf"},
+      {Options::json, "json"}, {Options::gpx, "gpx"},         {Options::osrm, "osrm"},
+      {Options::pbf, "pbf"},   {Options::geotiff, "geotiff"},
   };
   auto i = formats.find(match);
   return i == formats.cend() ? empty_str : i->second;

src/thor/CMakeLists.txt

@@ -56,4 +56,5 @@ valhalla_module(NAME thor
     valhalla::meili
     ${valhalla_protobuf_targets}
     Boost::boost
-    ${libprime_server_targets})
+    ${libprime_server_targets}
+    ${gdal_target})

src/thor/isochrone_action.cc

@@ -43,15 +43,12 @@ std::string thor_worker_t::isochrones(Api& request) {
   if (options.action() == Options_Action_expansion)
     return "";
 
-  // we have parallel vectors of contour properties and the actual geojson features
-  // this method sorts the contour specifications by metric (time or distance) and then by value
-  // with the largest values coming first. eg (60min, 30min, 10min, 40km, 10km)
-  auto contours =
-      grid->GenerateContours(intervals, options.polygons(), options.denoise(), options.generalize());
-
-  // make the final output (pbf or json)
-  std::string ret = tyr::serializeIsochrones(request, intervals, contours, options.polygons(),
-                                             options.show_locations());
+// make the final output (pbf or json)
+#ifdef ENABLE_GDAL
+  std::string ret = tyr::serializeIsochrones(request, intervals, grid, geotiff_driver);
+#else
+  std::string ret = tyr::serializeIsochrones(request, intervals, grid);
+#endif
 
   return ret;
 }

src/thor/worker.cc

@@ -15,6 +15,10 @@
 
 #include <boost/property_tree/ptree.hpp>
 
+#ifdef ENABLE_GDAL
+#include <gdal_priv.h>
+#endif
+
 using namespace valhalla;
 using namespace valhalla::tyr;
 using namespace valhalla::midgard;
@@ -74,7 +78,12 @@ thor_worker_t::thor_worker_t(const boost::property_tree::ptree& config,
       time_distance_bss_matrix_(config.get_child("thor")), isochrone_gen(config.get_child("thor")),
       reader(graph_reader ? graph_reader
                           : std::make_shared<baldr::GraphReader>(config.get_child("mjolnir"))),
-      matcher_factory(config, reader), controller{} {
+      matcher_factory(config, reader), controller {
+}
+#ifdef ENABLE_GDAL
+, geotiff_driver(geotiff_driver_t{})
+#endif
+{
 
   // Select the matrix algorithm based on the conf file (defaults to
   // select_optimal if not present)
@@ -330,5 +339,25 @@ void thor_worker_t::set_interrupt(const std::function<void()>* interrupt_functio
   interrupt = interrupt_function;
   reader->SetInterrupt(interrupt);
 }
+
+#ifdef ENABLE_GDAL
+geotiff_driver_t::geotiff_driver_t() {
+  auto driver_manager = GetGDALDriverManager();
+  this->geotiff_driver = driver_manager->GetDriverByName("GTiff");
+}
+
+geotiff_driver_t::~geotiff_driver_t() {
+  // GDALDestroyDriverManager();
+}
+
+GDALDataset* geotiff_driver_t::CreateDataSet(const char* pszName,
+                                             int nXSize,
+                                             int nYSize,
+                                             int nBands,
+                                             GDALDataType eType,
+                                             CSLConstList papszOptions) {
+  return this->geotiff_driver->Create(pszName, nXSize, nYSize, nBands, eType, papszOptions);
+}
+#endif
 } // namespace thor
 } // namespace valhalla

src/tyr/CMakeLists.txt

@@ -20,6 +20,8 @@ set(system_includes
   ${date_include_dir}
   $<$<BOOL:${WIN32}>:${dirent_include_dir}>)
 
+
+
 valhalla_module(NAME tyr
   SOURCES
     ${sources}
@@ -44,4 +46,6 @@ valhalla_module(NAME tyr
     valhalla::odin
     valhalla::proto
     ${valhalla_protobuf_targets}
-    Boost::boost)
+    Boost::boost 
+    ${gdal_target}
+    )