From 14548227cacd6482b834cc5a7f55c7b48ba5f0fb Mon Sep 17 00:00:00 2001 From: Marvin Smith Date: Tue, 1 Jul 2014 16:29:11 -0700 Subject: [PATCH] Adding support for GDAL raster images. --- CMakeLists.txt | 7 + cmake/OpenCVFindLibsGrfmt.cmake | 12 + cmake/templates/cvconfig.h.in | 3 + .../highgui/raster-gdal/images/flood-zone.jpg | Bin 0 -> 113554 bytes .../highgui/raster-gdal/images/heat-map.jpg | Bin 0 -> 54538 bytes .../highgui/raster-gdal/images/output.jpg | Bin 0 -> 122995 bytes .../highgui/raster-gdal/raster_io_gdal.rst | 113 ++++ .../images/gdal-io.jpg | Bin 0 -> 74907 bytes .../table_of_content_highgui.rst | 21 + modules/highgui/CMakeLists.txt | 5 + modules/highgui/include/opencv2/highgui.hpp | 3 +- modules/highgui/src/grfmt_gdal.cpp | 560 ++++++++++++++++++ modules/highgui/src/grfmt_gdal.hpp | 160 +++++ modules/highgui/src/grfmts.hpp | 1 + modules/highgui/src/loadsave.cpp | 88 ++- .../HighGUI/GDAL_IO/gdal-image.cpp | 229 +++++++ 16 files changed, 1196 insertions(+), 6 deletions(-) create mode 100644 doc/tutorials/highgui/raster-gdal/images/flood-zone.jpg create mode 100644 doc/tutorials/highgui/raster-gdal/images/heat-map.jpg create mode 100644 doc/tutorials/highgui/raster-gdal/images/output.jpg create mode 100644 doc/tutorials/highgui/raster-gdal/raster_io_gdal.rst create mode 100644 doc/tutorials/highgui/table_of_content_highgui/images/gdal-io.jpg create mode 100644 modules/highgui/src/grfmt_gdal.cpp create mode 100644 modules/highgui/src/grfmt_gdal.hpp create mode 100644 samples/cpp/tutorial_code/HighGUI/GDAL_IO/gdal-image.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 5abf449804..6eb38a3706 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -159,6 +159,7 @@ OCV_OPTION(WITH_OPENCLAMDBLAS "Include AMD OpenCL BLAS library support" ON OCV_OPTION(WITH_DIRECTX "Include DirectX support" ON IF WIN32 ) OCV_OPTION(WITH_INTELPERC "Include Intel Perceptual Computing support" OFF IF WIN32 ) OCV_OPTION(WITH_IPP_A "Include Intel IPP_A support" OFF IF (MSVC OR X86 OR X86_64) ) +OCV_OPTION(WITH_GDAL "Include GDAL Support" OFF IF (NOT ANDROID AND NOT IOS) ) # OpenCV build components # =================================================== @@ -808,6 +809,12 @@ else() status(" OpenEXR:" "NO") endif() +if( WITH_GDAL ) + status(" GDAL:" GDAL_FOUND THEN "${GDAL_LIBRARY}") +else() + status(" GDAL:" "NO") +endif() + # ========================== VIDEO IO ========================== status("") status(" Video I/O:") diff --git a/cmake/OpenCVFindLibsGrfmt.cmake b/cmake/OpenCVFindLibsGrfmt.cmake index d8ddcfeb71..a45157f6ea 100644 --- a/cmake/OpenCVFindLibsGrfmt.cmake +++ b/cmake/OpenCVFindLibsGrfmt.cmake @@ -198,3 +198,15 @@ if(WITH_OPENEXR) set(HAVE_OPENEXR YES) endif() + +# --- GDAL (optional) --- +if(WITH_GDAL) + find_package(GDAL) + + if(NOT GDAL_FOUND) + ocv_clear_vars(GDAL_LIBRARY GDAL_INCLUDE_DIR) + set(HAVE_GDAL NO) + else() + set(HAVE_GDAL YES) + endif() +endif() diff --git a/cmake/templates/cvconfig.h.in b/cmake/templates/cvconfig.h.in 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mode 100644 index 0000000000..d896ef5d79 --- /dev/null +++ b/doc/tutorials/highgui/raster-gdal/raster_io_gdal.rst @@ -0,0 +1,113 @@ +.. _Raster_IO_GDAL: + + +Reading Geospatial Raster files with GDAL +***************************************** + +Geospatial raster data is a heavily used product in Geographic Information +Systems and Photogrammetry. Raster data typically can represent imagery +and Digital Elevation Models (DEM). The standard library for loading +GIS imagery is the Geographic Data Abstraction Library (GDAL). In this example, we +will show techniques for loading GIS raster formats using native OpenCV functions. +In addition, we will show some an example of how OpenCV can use this data for +novel and interesting purposes. + +Goals +===== + +The primary objectives for this tutorial: + +.. container:: enumeratevisibleitemswithsquare + + + How to use OpenCV imread to load satellite imagery. + + How to use OpenCV imread to load SRTM Digital Elevation Models + + Given the corner coordinates of both the image and DEM, correllate the elevation data to the image to find elevations for each pixel. + + Show a basic, easy-to-implement example of a terrain heat map. + + Show a basic use of DEM data coupled with ortho-rectified imagery. + +To implement these goals, the following code takes a Digital Elevation Model as well as a GeoTiff image of San Francisco as input. +The image and DEM data is processed and generates a terrain heat map of the image as well as labels areas of the city which would +be affected should the water level of the bay rise 10, 50, and 100 meters. + +Code +==== + +.. literalinclude:: ../../../../samples/cpp/tutorial_code/HighGUI/GDAL_IO/gdal-image.cpp + :language: cpp + :linenos: + :tab-width: 4 + + +How to Read Raster Data using GDAL +====================================== + +This demonstration uses the default OpenCV :ocv:func:`imread` function. The primary difference is that in order to force GDAL to load the +image, you must use the appropriate flag. + +.. code-block:: cpp + + cv::Mat image = cv::imread( argv[1], cv::IMREAD_LOAD_GDAL ); + +When loading digital elevation models, the actual numeric value of each pixel is essential +and cannot be scaled or truncated. For example, with image data a pixel represented as a double with a value of 1 has +an equal appearance to a pixel which is represented as an unsigned character with a value of 255. +With terrain data, the pixel value represents the elevation in meters. In order to ensure that OpenCV preserves the native value, +use the GDAL flag in imread with the ANYDEPTH flag. + +.. code-block:: cpp + + cv::Mat dem = cv::imread( argv[2], cv::IMREAD_LOAD_GDAL | cv::IMREAD_ANYDEPTH ); + + +If you know beforehand the type of DEM model you are loading, then it may be a safe bet to test the ``Mat::type()`` or ``Mat::depth()`` +using an assert or other mechanism. NASA or DOD specification documents can provide the input types for various +elevation models. The major types, SRTM and DTED, are both signed shorts. + +Notes +===== + +Lat/Lon (Geodetic) Coordinates should normally be avoided +--------------------------------------------------------- + +The Geodetic Coordinate System is a spherical coordinate system, meaning that using them with Cartesian mathematics is technically incorrect. This +demo uses them to increase the readability and is accurate enough to make the point. A better coordinate system would be Universal Transverse Mercator. + +Finding the corner coordinates +------------------------------ + +One easy method to find the corner coordinates of an image is to use the command-line tool ``gdalinfo``. For imagery which is ortho-rectified and contains +the projection information, you can use the `USGS EarthExplorer `_. + +.. code-block:: bash + + $> gdalinfo N37W123.hgt + + Driver: SRTMHGT/SRTMHGT File Format + Files: N37W123.hgt + Size is 3601, 3601 + Coordinate System is: + GEOGCS["WGS 84", + DATUM["WGS_1984", + + ... more output ... + + Corner Coordinates: + Upper Left (-123.0001389, 38.0001389) (123d 0' 0.50"W, 38d 0' 0.50"N) + Lower Left (-123.0001389, 36.9998611) (123d 0' 0.50"W, 36d59'59.50"N) + Upper Right (-121.9998611, 38.0001389) (121d59'59.50"W, 38d 0' 0.50"N) + Lower Right (-121.9998611, 36.9998611) (121d59'59.50"W, 36d59'59.50"N) + Center (-122.5000000, 37.5000000) (122d30' 0.00"W, 37d30' 0.00"N) + + ... more output ... + + +Results +======= + +Below is the output of the program. Use the first image as the input. For the DEM model, download the SRTM file located at the USGS here. `http://dds.cr.usgs.gov/srtm/version2_1/SRTM1/Region_04/N37W123.hgt.zip `_ + +.. image:: images/output.jpg + +.. image:: images/heat-map.jpg + +.. image:: images/flood-zone.jpg diff --git a/doc/tutorials/highgui/table_of_content_highgui/images/gdal-io.jpg b/doc/tutorials/highgui/table_of_content_highgui/images/gdal-io.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b2974ed2fb36db5a54a125e674ce095173085673 GIT binary patch literal 74907 zcmeFYbyQr<*Dlz&y99?I!QG{i5ZqlFcXxMpCwODQLXhAt!QG*8x8UxCT;6xSd%u}k zGi%Mvzw@g;r&o3DUAyXedY!6WRr~y1`nv_dl$Df`1VBLn08sBAz~60vm4uhI1ppu; z!vH`8001xmY$%w2ME~CGP|yI(_dLh@Z5;{wZ`tSf{69&}%F)f!+|G`IjfI_$g$)1= zfG$A#R|5&=-Om3m|Bv?HZKPW(H#a8%R#pdB7GpC<6LS_*M|)N;V<%R27B*IZkcgL) zv8k=O8-SJrlZ$>F1Od;eY z;AQV*Z|-JH;bm{<;40t+r2N;ozr{jZ&Wik3 z82AqZ|6$-i4E+C(f&cd4%pKm{HqUqe?C&Z-8~_6i{m=EDVBaq|L^wEDSU6+^1b9SL zWK>iXWE2!MbZksCbS!if6ij?fEF4@sJUmp44+QwQ1lYKExc?Y|f_bk43x@;;hlGoU 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zxefMb2Wj%;AH&~~$G14}?}tADZ*{k8TPufEn=$HotXsE8r1JzH-cmr^`RA~}IqSX_ zcr0Jp%X6t}pKQ3fQE_{I8Jc+@U_W&jVUldq^o8@&beqQ}O`5b#1=%Xa1 zb15sF{hTf>E+KLb$z({(VT!Qx4#FF-#yH1%mqIs?-;0UXDOOhkwWQ+lDGk{w^UI!ojeggjhZE7}prli`(j5NCo13I;o5nI2QVe-^+ zT3iFTHhy1UUOJMDn{9-hm5ph2i#xdGTPr*J$>4AdXZLLwWy+i!a7B10?GvY_sqpJa z)*!Z$>KjRXxtiiO5-;A1e+L{gj&p;-=DU@)kU< zzP;8i8f)~qYkw+I3p0=aeh*A3AQ8}m(-lWdxtqv~A>x%6u5eiXT-2wj^YtmZc1-P~ zwNtiecU!zfZIMn2w@^VGitM}r;;8&5D?GLk$po@_lS=>*%FV_}=os)i;QQB@!>H;u z>$&3J2=~b!g>BmFG0z6_n^T~{>V1VbW~^N*vZU`8dcVY OpenCV 2.0 + + *Author:* |Author_MarvinS| + + Read common GIS Raster and DEM files to display and manipulate geographic data. + + =============== ====================================================== + + .. |hGDAL_IO| image:: images/gdal-io.jpg + :height: 90pt + :width: 90pt + + .. raw:: latex @@ -75,3 +95,4 @@ This section contains valuable tutorials about how to read/save your image/video ../trackbar/trackbar ../video-input-psnr-ssim/video-input-psnr-ssim ../video-write/video-write + ../raster-gdal/raster_io_gdal diff --git a/modules/highgui/CMakeLists.txt b/modules/highgui/CMakeLists.txt index f4a19cffe6..71975ce488 100644 --- a/modules/highgui/CMakeLists.txt +++ b/modules/highgui/CMakeLists.txt @@ -50,6 +50,11 @@ if(HAVE_OPENEXR) list(APPEND GRFMT_LIBS ${OPENEXR_LIBRARIES}) endif() +if(HAVE_GDAL) + include_directories(SYSTEM ${GDAL_INCLUDE_DIR}) + list(APPEND GRFMT_LIBS ${GDAL_LIBRARY}) +endif() + file(GLOB grfmt_hdrs src/grfmt*.hpp) file(GLOB grfmt_srcs src/grfmt*.cpp) list(APPEND grfmt_hdrs src/bitstrm.hpp) diff --git a/modules/highgui/include/opencv2/highgui.hpp b/modules/highgui/include/opencv2/highgui.hpp index f05825f784..f1ca5e0c1d 100644 --- a/modules/highgui/include/opencv2/highgui.hpp +++ b/modules/highgui/include/opencv2/highgui.hpp @@ -212,7 +212,8 @@ enum { IMREAD_UNCHANGED = -1, // 8bit, color or not IMREAD_GRAYSCALE = 0, // 8bit, gray IMREAD_COLOR = 1, // ?, color IMREAD_ANYDEPTH = 2, // any depth, ? - IMREAD_ANYCOLOR = 4 // ?, any color + IMREAD_ANYCOLOR = 4, // ?, any color + IMREAD_LOAD_GDAL = 8 // Use gdal driver }; enum { IMWRITE_JPEG_QUALITY = 1, diff --git a/modules/highgui/src/grfmt_gdal.cpp b/modules/highgui/src/grfmt_gdal.cpp new file mode 100644 index 0000000000..f172f6f9aa --- /dev/null +++ b/modules/highgui/src/grfmt_gdal.cpp @@ -0,0 +1,560 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// Intel License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000, Intel Corporation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of Intel Corporation may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ +#include "grfmt_gdal.hpp" + +#ifdef HAVE_GDAL + +/// C++ Standard Libraries +#include +#include +#include + + +namespace cv{ + + +/** + * Convert GDAL Palette Interpretation to OpenCV Pixel Type +*/ +int gdalPaletteInterpretation2OpenCV( GDALPaletteInterp const& paletteInterp, GDALDataType const& gdalType ){ + + switch( paletteInterp ){ + + /// GRAYSCALE + case GPI_Gray: + if( gdalType == GDT_Byte ){ return CV_8UC1; } + if( gdalType == GDT_UInt16 ){ return CV_16UC1; } + if( gdalType == GDT_Int16 ){ return CV_16SC1; } + if( gdalType == GDT_UInt32 ){ return CV_32SC1; } + if( gdalType == GDT_Int32 ){ return CV_32SC1; } + if( gdalType == GDT_Float32 ){ return CV_32FC1; } + if( gdalType == GDT_Float64 ){ return CV_64FC1; } + return -1; + + /// RGB + case GPI_RGB: + if( gdalType == GDT_Byte ){ return CV_8UC1; } + if( gdalType == GDT_UInt16 ){ return CV_16UC3; } + if( gdalType == GDT_Int16 ){ return CV_16SC3; } + if( gdalType == GDT_UInt32 ){ return CV_32SC3; } + if( gdalType == GDT_Int32 ){ return CV_32SC3; } + if( gdalType == GDT_Float32 ){ return CV_32FC3; } + if( gdalType == GDT_Float64 ){ return CV_64FC3; } + return -1; + + + /// otherwise + default: + return -1; + + } +} + +/** + * Convert gdal type to opencv type +*/ +int gdal2opencv( const GDALDataType& gdalType, const int& channels ){ + + switch( gdalType ){ + + /// UInt8 + case GDT_Byte: + if( channels == 1 ){ return CV_8UC1; } + if( channels == 3 ){ return CV_8UC3; } + if( channels == 4 ){ return CV_8UC4; } + return -1; + + /// UInt16 + case GDT_UInt16: + if( channels == 1 ){ return CV_16UC1; } + if( channels == 3 ){ return CV_16UC3; } + if( channels == 4 ){ return CV_16UC4; } + return -1; + + /// Int16 + case GDT_Int16: + if( channels == 1 ){ return CV_16SC1; } + if( channels == 3 ){ return CV_16SC3; } + if( channels == 4 ){ return CV_16SC4; } + return -1; + + /// UInt32 + case GDT_UInt32: + case GDT_Int32: + if( channels == 1 ){ return CV_32SC1; } + if( channels == 3 ){ return CV_32SC3; } + if( channels == 4 ){ return CV_32SC4; } + return -1; + + default: + std::cout << "Unknown GDAL Data Type" << std::endl; + std::cout << "Type: " << GDALGetDataTypeName(gdalType) << std::endl; + return -1; + } + + return -1; +} + + +std::string GetOpenCVTypeName( const int& type ){ + + switch(type){ + case CV_8UC1: + return "CV_8UC1"; + case CV_8UC3: + return "CV_8UC3"; + case CV_8UC4: + return "CV_8UC4"; + case CV_16UC1: + return "CV_16UC1"; + case CV_16UC3: + return "CV_16UC3"; + case CV_16UC4: + return "CV_16UC4"; + case CV_16SC1: + return "CV_16SC1"; + case CV_16SC3: + return "CV_16SC3"; + case CV_16SC4: + return "CV_16SC4"; + default: + return "Unknown"; + } + return "Unknown"; +} + + +/** + * GDAL Decoder Constructor +*/ +GdalDecoder::GdalDecoder(){ + + + // set a dummy signature + m_signature="0"; + for( size_t i=0; i<160; i++ ){ + m_signature += "0"; + } + + /// Register the driver + GDALAllRegister(); + + m_driver = NULL; + m_dataset = NULL; +} + +/** + * GDAL Decoder Destructor +*/ +GdalDecoder::~GdalDecoder(){ + + + if( m_dataset != NULL ){ + close(); + } +} + +/** + * Convert data range +*/ +double range_cast( const GDALDataType& gdalType, const int& cvDepth, const double& value ){ + + // uint8 -> uint8 + if( gdalType == GDT_Byte && cvDepth == CV_8U ){ + return value; + } + // uint8 -> uint16 + if( gdalType == GDT_Byte && (cvDepth == CV_16U || cvDepth == CV_16S)){ + return (value*256); + } + + // uint8 -> uint32 + if( gdalType == GDT_Byte && (cvDepth == CV_32F || cvDepth == CV_32S)){ + return (value*16777216); + } + + // int16 -> uint8 + if( (gdalType == GDT_UInt16 || gdalType == GDT_Int16) && cvDepth == CV_8U ){ + return std::floor(value/256.0); + } + + // int16 -> int16 + if( (gdalType == GDT_UInt16 || gdalType == GDT_Int16) && + ( cvDepth == CV_16U || cvDepth == CV_16S )){ + return value; + } + + std::cout << GDALGetDataTypeName( gdalType ) << std::endl; + std::cout << "warning: unknown range cast requested." << std::endl; + return (value); +} + + +/** + * There are some better mpl techniques for doing this. +*/ +void write_pixel( const double& pixelValue, + const GDALDataType& gdalType, + const int& gdalChannels, + Mat& image, + const int& row, + const int& col, + const int& channel ){ + + // convert the pixel + double newValue = range_cast(gdalType, image.depth(), pixelValue ); + + // input: 1 channel, output: 1 channel + if( gdalChannels == 1 && image.channels() == 1 ){ + if( image.depth() == CV_8U ){ image.at(row,col) = newValue; } + else if( image.depth() == CV_16U ){ image.at(row,col) = newValue; } + else if( image.depth() == CV_16S ){ image.at(row,col) = newValue; } + else if( image.depth() == CV_32S ){ image.at(row,col) = newValue; } + else if( image.depth() == CV_32F ){ image.at(row,col) = newValue; } + else if( image.depth() == CV_64F ){ image.at(row,col) = newValue; } + else{ throw std::runtime_error("Unknown image depth, gdal: 1, img: 1"); } + } + + // input: 1 channel, output: 3 channel + else if( gdalChannels == 1 && image.channels() == 3 ){ + if( image.depth() == CV_8U ){ image.at(row,col) = Vec3b(newValue,newValue,newValue); } + else if( image.depth() == CV_16U ){ image.at(row,col) = Vec3s(newValue,newValue,newValue); } + else if( image.depth() == CV_16S ){ image.at(row,col) = Vec3s(newValue,newValue,newValue); } + else if( image.depth() == CV_32S ){ image.at(row,col) = Vec3i(newValue,newValue,newValue); } + else if( image.depth() == CV_32F ){ image.at(row,col) = Vec3f(newValue,newValue,newValue); } + else if( image.depth() == CV_64F ){ image.at(row,col) = Vec3d(newValue,newValue,newValue); } + else{ throw std::runtime_error("Unknown image depth, gdal:1, img: 3"); } + } + + // input: 3 channel, output: 1 channel + else if( gdalChannels == 3 && image.channels() == 1 ){ + if( image.depth() == CV_8U ){ image.at(row,col) += (newValue/3.0); } + else{ throw std::runtime_error("Unknown image depth, gdal:3, img: 1"); } + } + + // input: 4 channel, output: 1 channel + else if( gdalChannels == 4 && image.channels() == 1 ){ + if( image.depth() == CV_8U ){ image.at(row,col) = newValue; } + else{ throw std::runtime_error("Unknown image depth, gdal: 4, image: 1"); } + } + + // input: 3 channel, output: 3 channel + else if( gdalChannels == 3 && image.channels() == 3 ){ + if( image.depth() == CV_8U ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_16U ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_16S ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_32S ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_32F ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_64F ){ image.at(row,col)[channel] = newValue; } + else{ throw std::runtime_error("Unknown image depth, gdal: 3, image: 3"); } + } + + // input: 4 channel, output: 3 channel + else if( gdalChannels == 4 && image.channels() == 3 ){ + if( channel >= 4 ){ return; } + else if( image.depth() == CV_8U && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_16U && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_16S && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_32S && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_32F && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else if( image.depth() == CV_64F && channel < 4 ){ image.at(row,col)[channel] = newValue; } + else{ throw std::runtime_error("Unknown image depth, gdal: 4, image: 3"); } + } + + // input: 4 channel, output: 4 channel + else if( gdalChannels == 4 && image.channels() == 4 ){ + if( image.depth() == CV_8U ){ image.at(row,col)[channel] = newValue; } + else{ throw std::runtime_error("Unknown image depth, gdal: 4, image: 4"); } + } + + // otherwise, throw an error + else{ + throw std::runtime_error("error: can't convert types."); + } + +} + + +void write_ctable_pixel( const double& pixelValue, + const GDALDataType& gdalType, + GDALColorTable const* gdalColorTable, + Mat& image, + const int& y, + const int& x, + const int& c ){ + + if( gdalColorTable == NULL ){ + write_pixel( pixelValue, gdalType, 1, image, y, x, c ); + } + + // if we are Grayscale, then do a straight conversion + if( gdalColorTable->GetPaletteInterpretation() == GPI_Gray ){ + write_pixel( pixelValue, gdalType, 1, image, y, x, c ); + } + + // if we are rgb, then convert here + else if( gdalColorTable->GetPaletteInterpretation() == GPI_RGB ){ + + // get the pixel + short r = gdalColorTable->GetColorEntry( (int)pixelValue )->c1; + short g = gdalColorTable->GetColorEntry( (int)pixelValue )->c2; + short b = gdalColorTable->GetColorEntry( (int)pixelValue )->c3; + short a = gdalColorTable->GetColorEntry( (int)pixelValue )->c4; + + write_pixel( r, gdalType, 4, image, y, x, 2 ); + write_pixel( g, gdalType, 4, image, y, x, 1 ); + write_pixel( b, gdalType, 4, image, y, x, 0 ); + if( image.channels() > 3 ){ + write_pixel( a, gdalType, 4, image, y, x, 1 ); + } + } + + // otherwise, set zeros + else{ + write_pixel( pixelValue, gdalType, 1, image, y, x, c ); + } +} + + + +/** + * read data +*/ +bool GdalDecoder::readData( Mat& img ){ + + + // make sure the image is the proper size + if( img.size().height != m_height ){ + return false; + } + if( img.size().width != m_width ){ + return false; + } + + // make sure the raster is alive + if( m_dataset == NULL || m_driver == NULL ){ + return false; + } + + // set the image to zero + img = 0; + + + // iterate over each raster band + // note that OpenCV does bgr rather than rgb + int nChannels = m_dataset->GetRasterCount(); + GDALColorTable* gdalColorTable = NULL; + if( m_dataset->GetRasterBand(1)->GetColorTable() != NULL ){ + gdalColorTable = m_dataset->GetRasterBand(1)->GetColorTable(); + } + + const GDALDataType gdalType = m_dataset->GetRasterBand(1)->GetRasterDataType(); + int nRows, nCols; + + if( nChannels > img.channels() ){ + nChannels = img.channels(); + } + + for( int c = 0; cGetRasterBand(c+1); + + // make sure the image band has the same dimensions as the image + if( band->GetXSize() != m_width || band->GetYSize() != m_height ){ return false; } + + // grab the raster size + nRows = band->GetYSize(); + nCols = band->GetXSize(); + + // create a temporary scanline pointer to store data + double* scanline = new double[nCols]; + + // iterate over each row and column + for( int y=0; yRasterIO( GF_Read, 0, y, nCols, 1, scanline, nCols, 1, GDT_Float64, 0, 0); + + // set inside the image + for( int x=0; xGetRasterCount() <= 0 ){ + return false; + } + + //extract the driver infomation + m_driver = m_dataset->GetDriver(); + + // if the driver failed, then exit + if( m_driver == NULL ){ + return false; + } + + + // get the image dimensions + m_width = m_dataset->GetRasterXSize(); + m_height= m_dataset->GetRasterYSize(); + + // make sure we have at least one band/channel + if( m_dataset->GetRasterCount() <= 0 ){ + return false; + } + + // check if we have a color palette + int tempType; + if( m_dataset->GetRasterBand(1)->GetColorInterpretation() == GCI_PaletteIndex ){ + + // remember that we have a color palette + hasColorTable = true; + + // if the color tables does not exist, then we failed + if( m_dataset->GetRasterBand(1)->GetColorTable() == NULL ){ + return false; + } + + // otherwise, get the pixeltype + else{ + // convert the palette interpretation to opencv type + tempType = gdalPaletteInterpretation2OpenCV( m_dataset->GetRasterBand(1)->GetColorTable()->GetPaletteInterpretation(), + m_dataset->GetRasterBand(1)->GetRasterDataType() ); + + if( tempType == -1 ){ + return false; + } + m_type = tempType; + } + + } + + // otherwise, we have standard channels + else{ + + // remember that we don't have a color table + hasColorTable = false; + + // convert the datatype to opencv + tempType = gdal2opencv( m_dataset->GetRasterBand(1)->GetRasterDataType(), m_dataset->GetRasterCount() ); + if( tempType == -1 ){ + return false; + } + m_type = tempType; + } + + return true; +} + +/** + * Close the module +*/ +void GdalDecoder::close(){ + + + GDALClose((GDALDatasetH)m_dataset); + m_dataset = NULL; + m_driver = NULL; +} + +/** + * Create a new decoder +*/ +ImageDecoder GdalDecoder::newDecoder()const{ + return makePtr(); +} + +/** + * Test the file signature +*/ +bool GdalDecoder::checkSignature( const String& signature )const{ + + + // look for NITF + std::string str = signature.c_str(); + if( str.substr(0,4).find("NITF") != std::string::npos ){ + return true; + } + + // look for DTED + if( str.substr(140,4) == "DTED" ){ + return true; + } + + return false; +} + +} /// End of cv Namespace + +#endif /**< End of HAVE_GDAL Definition */ diff --git a/modules/highgui/src/grfmt_gdal.hpp b/modules/highgui/src/grfmt_gdal.hpp new file mode 100644 index 0000000000..b2cd224467 --- /dev/null +++ b/modules/highgui/src/grfmt_gdal.hpp @@ -0,0 +1,160 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// Intel License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000, Intel Corporation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of Intel Corporation may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef __GRFMT_GDAL_HPP__ +#define __GRFMT_GDAL_HPP__ + +/// Macro to make sure we specified GDAL in CMake +#ifdef HAVE_GDAL + +/// C++ Libraries +#include + +/// OpenCV Libraries +#include "grfmt_base.hpp" +#include "precomp.hpp" + +/// Geospatial Data Abstraction Library +#include +#include +#include + + +/// Start of CV Namespace +namespace cv { + +/** + * Convert GDAL Palette Interpretation to OpenCV Pixel Type +*/ +int gdalPaletteInterpretation2OpenCV( GDALPaletteInterp const& paletteInterp, + GDALDataType const& gdalType ); + +/** + * Convert a GDAL Raster Type to OpenCV Type +*/ +int gdal2opencv( const GDALDataType& gdalType, const int& channels ); + +/** + * Write an image to pixel +*/ +void write_pixel( const double& pixelValue, + GDALDataType const& gdalType, + const int& gdalChannels, + Mat& image, + const int& row, + const int& col, + const int& channel ); + +/** + * Write a color table pixel to the image +*/ +void write_ctable_pixel( const double& pixelValue, + const GDALDataType& gdalType, + const GDALColorTable* gdalColorTable, + Mat& image, + const int& y, + const int& x, + const int& c ); + +/** + * Loader for GDAL +*/ +class GdalDecoder : public BaseImageDecoder{ + + public: + + /** + * Default Constructor + */ + GdalDecoder(); + + /** + * Destructor + */ + ~GdalDecoder(); + + /** + * Read image data + */ + bool readData( Mat& img ); + + /** + * Read the image header + */ + bool readHeader(); + + /** + * Close the module + */ + void close(); + + /** + * Create a new decoder + */ + ImageDecoder newDecoder() const; + + /** + * Test the file signature + * + * In general, this should be avoided as the user should specifically request GDAL. + * The reason is that GDAL tends to overlap with other image formats and it is probably + * safer to use other formats first. + */ + virtual bool checkSignature( const String& signature ) const; + + protected: + + /// GDAL Dataset + GDALDataset* m_dataset; + + /// GDAL Driver + GDALDriver* m_driver; + + /// Check if we are reading from a color table + bool hasColorTable; + +}; /// End of GdalDecoder Class + +} /// End of Namespace cv + +#endif/*HAVE_GDAL*/ + +#endif/*__GRFMT_GDAL_HPP__*/ diff --git a/modules/highgui/src/grfmts.hpp b/modules/highgui/src/grfmts.hpp index 799a4758a5..c9e31530a8 100644 --- a/modules/highgui/src/grfmts.hpp +++ b/modules/highgui/src/grfmts.hpp @@ -53,5 +53,6 @@ #include "grfmt_exr.hpp" #include "grfmt_webp.hpp" #include "grfmt_hdr.hpp" +#include "grfmt_gdal.hpp" #endif/*_GRFMTS_H_*/ diff --git a/modules/highgui/src/loadsave.cpp b/modules/highgui/src/loadsave.cpp index cdcaa23e5d..bb00869ee1 100644 --- a/modules/highgui/src/loadsave.cpp +++ b/modules/highgui/src/loadsave.cpp @@ -55,12 +55,22 @@ namespace cv { +/** + * @struct ImageCodecInitializer + * + * Container which stores the registered codecs to be used by OpenCV +*/ struct ImageCodecInitializer { + /** + * Default Constructor for the ImageCodeInitializer + */ ImageCodecInitializer() { + /// BMP Support decoders.push_back( makePtr() ); encoders.push_back( makePtr() ); + decoders.push_back( makePtr() ); encoders.push_back( makePtr() ); #ifdef HAVE_JPEG @@ -91,6 +101,11 @@ struct ImageCodecInitializer decoders.push_back( makePtr() ); encoders.push_back( makePtr() ); #endif + + #ifdef HAVE_GDAL + /// Attach the GDAL Decoder + decoders.push_back( makePtr() ); + #endif/*HAVE_GDAL*/ } std::vector decoders; @@ -99,29 +114,45 @@ struct ImageCodecInitializer static ImageCodecInitializer codecs; -static ImageDecoder findDecoder( const String& filename ) -{ +/** + * Find the decoders + * + * @param[in] filename File to search + * + * @return Image decoder to parse image file. +*/ +static ImageDecoder findDecoder( const String& filename ) { + size_t i, maxlen = 0; + + /// iterate through list of registered codecs for( i = 0; i < codecs.decoders.size(); i++ ) { size_t len = codecs.decoders[i]->signatureLength(); maxlen = std::max(maxlen, len); } + /// Open the file FILE* f= fopen( filename.c_str(), "rb" ); + + /// in the event of a failure, return an empty image decoder if( !f ) return ImageDecoder(); + + // read the file signature String signature(maxlen, ' '); maxlen = fread( (void*)signature.c_str(), 1, maxlen, f ); fclose(f); signature = signature.substr(0, maxlen); + /// compare signature against all decoders for( i = 0; i < codecs.decoders.size(); i++ ) { if( codecs.decoders[i]->checkSignature(signature) ) return codecs.decoders[i]->newDecoder(); } + /// If no decoder was found, return base type return ImageDecoder(); } @@ -193,6 +224,18 @@ static ImageEncoder findEncoder( const String& _ext ) enum { LOAD_CVMAT=0, LOAD_IMAGE=1, LOAD_MAT=2 }; +/** + * Read an image into memory and return the information + * + * @param[in] filename File to load + * @param[in] flags Flags + * @param[in] hdrtype { LOAD_CVMAT=0, + * LOAD_IMAGE=1, + * LOAD_MAT=2 + * } + * @param[in] mat Reference to C++ Mat object (If LOAD_MAT) + * +*/ static void* imread_( const String& filename, int flags, int hdrtype, Mat* mat=0 ) { @@ -200,16 +243,37 @@ imread_( const String& filename, int flags, int hdrtype, Mat* mat=0 ) CvMat *matrix = 0; Mat temp, *data = &temp; - ImageDecoder decoder = findDecoder(filename); - if( !decoder ) + /// Search for the relevant decoder to handle the imagery + ImageDecoder decoder; + +#ifdef HAVE_GDAL + if( (flags & IMREAD_LOAD_GDAL) == IMREAD_LOAD_GDAL ){ + decoder = GdalDecoder().newDecoder(); + }else{ +#endif + decoder = findDecoder(filename); +#ifdef HAVE_GDAL + } +#endif + + /// if no decoder was found, return nothing. + if( !decoder ){ return 0; + } + + /// set the filename in the driver decoder->setSource(filename); - if( !decoder->readHeader() ) + + // read the header to make sure it succeeds + if( !decoder->readHeader() ) return 0; + + // established the required input image size CvSize size; size.width = decoder->width(); size.height = decoder->height(); + // grab the decoded type int type = decoder->type(); if( flags != -1 ) { @@ -242,6 +306,7 @@ imread_( const String& filename, int flags, int hdrtype, Mat* mat=0 ) temp = cvarrToMat(image); } + // read the image data if( !decoder->readData( *data )) { cvReleaseImage( &image ); @@ -255,10 +320,23 @@ imread_( const String& filename, int flags, int hdrtype, Mat* mat=0 ) hdrtype == LOAD_IMAGE ? (void*)image : (void*)mat; } +/** + * Read an image + * + * This function merely calls the actual implementation above and returns itself. + * + * @param[in] filename File to load + * @param[in] flags Flags you wish to set. +*/ Mat imread( const String& filename, int flags ) { + /// create the basic container Mat img; + + /// load the data imread_( filename, flags, LOAD_MAT, &img ); + + /// return a reference to the data return img; } diff --git a/samples/cpp/tutorial_code/HighGUI/GDAL_IO/gdal-image.cpp b/samples/cpp/tutorial_code/HighGUI/GDAL_IO/gdal-image.cpp new file mode 100644 index 0000000000..48031fe372 --- /dev/null +++ b/samples/cpp/tutorial_code/HighGUI/GDAL_IO/gdal-image.cpp @@ -0,0 +1,229 @@ +/** + * gdal_image.cpp -- Load GIS data into OpenCV Containers using the Geospatial Data Abstraction Library +*/ + +/// OpenCV Headers +#include "opencv2/core/core.hpp" +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/highgui/highgui.hpp" + +/// C++ Standard Libraries +#include +#include +#include +#include + +using namespace std; + + +/// define the corner points +/// Note that GDAL can natively determine this +cv::Point2d tl( -122.441017, 37.815664 ); +cv::Point2d tr( -122.370919, 37.815311 ); +cv::Point2d bl( -122.441533, 37.747167 ); +cv::Point2d br( -122.3715, 37.746814 ); + +/// determine dem corners +cv::Point2d dem_bl( -122.0, 38); +cv::Point2d dem_tr( -123.0, 37); + +/// range of the heat map colors +std::vector > color_range; + +/** + * Linear Interpolation + * p1 - Point 1 + * p2 - Point 2 + * t - Ratio from Point 1 to Point 2 +*/ +cv::Point2d lerp( cv::Point2d const& p1, cv::Point2d const& p2, const double& t ){ + return cv::Point2d( ((1-t)*p1.x) + (t*p2.x), + ((1-t)*p1.y) + (t*p2.y)); +} + +/** + * Interpolate Colors +*/ +template +cv::Vec lerp( cv::Vec const& minColor, + cv::Vec const& maxColor, + double const& t ){ + + cv::Vec output; + for( int i=0; i color_range.back().second ){ + return color_range.back().first; + } + + // otherwise, find the proper starting index + int idx=0; + double t = 0; + for( int x=0; x= 0 ){ pix[0] += b; } + if( pix[1] + g < 255 && pix[1] + g >= 0 ){ pix[1] += g; } + if( pix[2] + r < 255 && pix[2] + r >= 0 ){ pix[2] += r; } +} + + +/** + * Main Function +*/ +int main( int argc, char* argv[] ){ + + /** + * Check input arguments + */ + if( argc < 3 ){ + cout << "usage: " << argv[0] << " " << endl; + return 1; + } + + /// load the image (note that we don't have the projection information. You will + /// need to load that yourself or use the full GDAL driver. The values are pre-defined + /// at the top of this file + cv::Mat image = cv::imread(argv[1], cv::IMREAD_LOAD_GDAL | cv::IMREAD_COLOR ); + + /// load the dem model + cv::Mat dem = cv::imread(argv[2], cv::IMREAD_LOAD_GDAL | cv::IMREAD_ANYDEPTH ); + + /// create our output products + cv::Mat output_dem( image.size(), CV_8UC3 ); + cv::Mat output_dem_flood( image.size(), CV_8UC3 ); + + /// for sanity sake, make sure GDAL Loads it as a signed short + if( dem.type() != CV_16SC1 ){ throw std::runtime_error("DEM image type must be CV_16SC1"); } + + /// define the color range to create our output DEM heat map + // Pair format ( Color, elevation ); Push from low to high + // Note: This would be perfect for a configuration file, but is here for a working demo. + color_range.push_back( std::pair(cv::Vec3b( 188, 154, 46), -1)); + color_range.push_back( std::pair(cv::Vec3b( 110, 220, 110), 0.25)); + color_range.push_back( std::pair(cv::Vec3b( 150, 250, 230), 20)); + color_range.push_back( std::pair(cv::Vec3b( 160, 220, 200), 75)); + color_range.push_back( std::pair(cv::Vec3b( 220, 190, 170), 100)); + color_range.push_back( std::pair(cv::Vec3b( 250, 180, 140), 200)); + + // define a minimum elevation + double minElevation = -10; + + // iterate over each pixel in the image, computing the dem point + for( int y=0; y= 0 && dem_coordinate.y >= 0 && + dem_coordinate.x < dem.cols && dem_coordinate.y < dem.rows ){ + dz = dem.at(dem_coordinate); + }else{ + dz = minElevation; + } + + // write the pixel value to the file + output_dem_flood.at(y,x) = image.at(y,x); + + // compute the color for the heat map output + cv::Vec3b actualColor = get_dem_color(dz); + output_dem.at(y,x) = actualColor; + + // show effect of a 10 meter increase in ocean levels + if( dz < 10 ){ + add_color( output_dem_flood.at(y,x), 90, 0, 0 ); + } + // show effect of a 50 meter increase in ocean levels + else if( dz < 50 ){ + add_color( output_dem_flood.at(y,x), 0, 90, 0 ); + } + // show effect of a 100 meter increase in ocean levels + else if( dz < 100 ){ + add_color( output_dem_flood.at(y,x), 0, 0, 90 ); + } + + }} + + // print our heat map + cv::imwrite( "heat-map.jpg" , output_dem ); + + // print the flooding effect image + cv::imwrite( "flooded.jpg", output_dem_flood); + + return 0; +}