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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) 2006 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.
*
********************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "correction.h"
void P_Sparse_Correction(struct Map_info *In UNUSED, struct Map_info *Out,
struct Map_info *Terrain,
struct Cell_head *Elaboration,
struct bound_box General, struct bound_box Overlap,
double **obs, struct lidar_cat *lcat, double *param,
int *line_num, double stepN, double stepE,
double overlap, double HighThresh, double LowThresh,
int nsplx, int nsply, int num_points, dbDriver *driver,
double mean, char *tab_name)
{
int i = 0, class;
double interpolation, csi, eta, weight;
struct bound_box elaboration_box;
struct line_pnts *point;
struct line_cats *cats;
point = Vect_new_line_struct();
cats = Vect_new_cats_struct();
Vect_region_box(Elaboration, &elaboration_box);
db_begin_transaction(driver);
for (i = 0; i < num_points; i++) { /* Sparse points */
G_percent(i, num_points, 2);
Vect_reset_line(point);
Vect_reset_cats(cats);
if (Vect_point_in_box(obs[i][0], obs[i][1], mean, &General)) {
interpolation = dataInterpolateBilin(
obs[i][0], obs[i][1], stepE, stepN, nsplx, nsply,
Elaboration->west, Elaboration->south, param);
interpolation += mean;
Vect_copy_xyz_to_pnts(point, &obs[i][0], &obs[i][1], &obs[i][2], 1);
*point->z += mean;
if (Vect_point_in_box(*point->x, *point->y, *point->z,
&Overlap)) { /*(5) */
Vect_cat_set(cats, F_EDGE_DETECTION_CLASS, lcat[i].cat_edge);
Vect_cat_set(cats, F_INTERPOLATION, lcat[i].cat_interp);
Vect_cat_set(cats, F_COUNTER_OBJ, lcat[i].cat_obj);
class = lcat[i].cat_class;
class = correction(class, *point->z, interpolation, HighThresh,
LowThresh);
Vect_cat_set(cats, F_CLASSIFICATION, class);
if (class == TERRAIN_SINGLE || class == TERRAIN_DOUBLE)
Vect_write_line(Terrain, GV_POINT, point, cats);
Vect_write_line(Out, GV_POINT, point, cats);
}
else {
if ((*point->x > Overlap.E) && (*point->x < General.E)) {
if ((*point->y > Overlap.N) &&
(*point->y < General.N)) { /*(3) */
csi = (General.E - *point->x) / overlap;
eta = (General.N - *point->y) / overlap;
weight = csi * eta;
interpolation *= weight;
if (Select_Correction(&interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(_("Impossible to read the database"));
if (UpDate_Correction(interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(
_("Impossible to update the database"));
}
else if ((*point->y < Overlap.S) &&
(*point->y > General.S)) { /*(1) */
csi = (General.E - *point->x) / overlap;
eta = (*point->y - General.S) / overlap;
weight = csi * eta;
if (Insert_Correction(interpolation * weight,
line_num[i], driver,
tab_name) != DB_OK)
G_fatal_error(
_("Impossible to write in the database"));
}
else if ((*point->y >= Overlap.S) &&
(*point->y <= Overlap.N)) { /*(1) */
weight = (General.E - *point->x) / overlap;
if (Insert_Correction(interpolation * weight,
line_num[i], driver,
tab_name) != DB_OK)
G_fatal_error(
_("Impossible to write in the database"));
}
}
else if ((*point->x < Overlap.W) && (*point->x > General.W)) {
if ((*point->y > Overlap.N) &&
(*point->y < General.N)) { /*(4) */
csi = (*point->x - General.W) / overlap;
eta = (General.N - *point->y) / overlap;
weight = eta * csi;
interpolation *= weight;
if (Select_Correction(&interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(_("Impossible to read the database"));
Vect_cat_set(cats, F_EDGE_DETECTION_CLASS,
lcat[i].cat_edge);
Vect_cat_set(cats, F_INTERPOLATION, lcat[i].cat_interp);
Vect_cat_set(cats, F_COUNTER_OBJ, lcat[i].cat_obj);
class = lcat[i].cat_class;
class = correction(class, *point->z, interpolation,
HighThresh, LowThresh);
Vect_cat_set(cats, F_CLASSIFICATION, class);
Vect_write_line(Out, GV_POINT, point, cats);
if (class == TERRAIN_SINGLE || class == TERRAIN_DOUBLE)
Vect_write_line(Terrain, GV_POINT, point, cats);
}
else if ((*point->y < Overlap.S) &&
(*point->y > General.S)) { /*(2) */
csi = (*point->x - General.W) / overlap;
eta = (*point->y - General.S) / overlap;
weight = csi * eta;
interpolation *= weight;
if (Select_Correction(&interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(_("Impossible to read the database"));
if (UpDate_Correction(interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(
_("Impossible to update the database"));
}
else if ((*point->y >= Overlap.S) &&
(*point->y <= Overlap.N)) { /*(2) */
weight = (*point->x - General.W) / overlap;
interpolation *= weight;
if (Select_Correction(&interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(_("Impossible to read the database"));
Vect_cat_set(cats, F_EDGE_DETECTION_CLASS,
lcat[i].cat_edge);
Vect_cat_set(cats, F_INTERPOLATION, lcat[i].cat_interp);
Vect_cat_set(cats, F_COUNTER_OBJ, lcat[i].cat_obj);
class = lcat[i].cat_class;
class = correction(class, *point->z, interpolation,
HighThresh, LowThresh);
Vect_cat_set(cats, F_CLASSIFICATION, class);
Vect_write_line(Out, GV_POINT, point, cats);
if (class == TERRAIN_SINGLE || class == TERRAIN_DOUBLE)
Vect_write_line(Terrain, GV_POINT, point, cats);
}
}
else if ((*point->x >= Overlap.W) && (*point->x <= Overlap.E)) {
if ((*point->y > Overlap.N) &&
(*point->y < General.N)) { /*(3) */
weight = (General.N - *point->y) / overlap;
interpolation *= weight;
if (Select_Correction(&interpolation, line_num[i],
driver, tab_name) != DB_OK)
G_fatal_error(_("Impossible to read the database"));
Vect_cat_set(cats, F_EDGE_DETECTION_CLASS,
lcat[i].cat_edge);
Vect_cat_set(cats, F_INTERPOLATION, lcat[i].cat_interp);
Vect_cat_set(cats, F_COUNTER_OBJ, lcat[i].cat_obj);
class = lcat[i].cat_class;
class = correction(class, *point->z, interpolation,
HighThresh, LowThresh);
Vect_cat_set(cats, F_CLASSIFICATION, class);
Vect_write_line(Out, GV_POINT, point, cats);
if (class == TERRAIN_SINGLE || class == TERRAIN_DOUBLE)
Vect_write_line(Terrain, GV_POINT, point, cats);
}
else if ((*point->y < Overlap.S) &&
(*point->y > General.S)) { /*(1) */
weight = (*point->y - General.S) / overlap;
if (Insert_Correction(interpolation * weight,
line_num[i], driver,
tab_name) != DB_OK)
G_fatal_error(
_("Impossible to write in the database"));
}
}
}
} /* if in General box */
} /* while */
G_percent(num_points, num_points, 2);
Vect_destroy_line_struct(point);
Vect_destroy_cats_struct(cats);
db_commit_transaction(driver);
return;
}
/*------------------------------------------------------------------------------------------------*/
int correction(int class, double obsZ, double interpolation, double HighThresh,
double LowThresh)
{
if ((class == TERRAIN_SINGLE) && ((obsZ - interpolation) >= HighThresh))
return OBJECT_SINGLE;
if ((class == TERRAIN_DOUBLE) && ((obsZ - interpolation) >= HighThresh))
return OBJECT_DOUBLE;
if ((class == OBJECT_SINGLE) && (fabs(interpolation - obsZ) <= LowThresh))
return TERRAIN_SINGLE;
if ((class == OBJECT_DOUBLE) && (fabs(interpolation - obsZ) <= LowThresh))
return TERRAIN_DOUBLE;
return class;
}
int Select_Correction(double *Interp, int line_num, dbDriver *driver,
char *tab_name)
{
int more;
char buf[1024];
dbString sql;
dbTable *table;
dbCursor cursor;
dbColumn *Interp_col;
dbValue *Interp_value;
db_init_string(&sql);
sprintf(buf, "SELECT ID, Interp FROM %s WHERE ID=%d", tab_name, line_num);
db_append_string(&sql, buf);
if (db_open_select_cursor(driver, &sql, &cursor, DB_SEQUENTIAL) != DB_OK)
return -1;
while (db_fetch(&cursor, DB_NEXT, &more) == DB_OK && more) {
table = db_get_cursor_table(&cursor);
Interp_col = db_get_table_column(table, 1);
if (db_sqltype_to_Ctype(db_get_column_sqltype(Interp_col)) ==
DB_C_TYPE_DOUBLE)
Interp_value = db_get_column_value(Interp_col);
else
continue;
*Interp += db_get_value_double(Interp_value);
}
db_close_cursor(&cursor);
db_free_string(&sql);
return DB_OK;
}
int Insert_Correction(double Interp, int line_num, dbDriver *driver,
char *tab_name)
{
char buf[1024];
dbString sql;
int ret;
db_init_string(&sql);
sprintf(buf, "INSERT INTO %s (ID, Interp)", tab_name);
db_append_string(&sql, buf);
sprintf(buf, " VALUES (%d, %lf)", line_num, Interp);
db_append_string(&sql, buf);
ret = db_execute_immediate(driver, &sql);
db_free_string(&sql);
return ret;
}
int UpDate_Correction(double Interp, int line_num, dbDriver *driver,
char *tab_name)
{
char buf[1024];
dbString sql;
int ret;
db_init_string(&sql);
sprintf(buf, "UPDATE %s SET Interp=%lf WHERE ID=%d", tab_name, Interp,
line_num);
db_append_string(&sql, buf);
ret = db_execute_immediate(driver, &sql);
db_free_string(&sql);
return ret;
}
struct Point *P_Read_Vector_Correction(struct Map_info *Map,
struct Cell_head *Elaboration,
int *num_points, int *num_terrain,
int dim_vect, struct lidar_cat **lcat)
{
int line_num, npoints, nterrain, pippo, cat;
double x, y, z;
struct Point *obs;
struct lidar_cat *lc;
struct line_pnts *points;
struct line_cats *categories;
struct bound_box elaboration_box;
pippo = dim_vect;
obs = (struct Point *)G_calloc(pippo, sizeof(struct Point));
lc = (struct lidar_cat *)G_calloc(pippo, sizeof(struct lidar_cat));
points = Vect_new_line_struct();
categories = Vect_new_cats_struct();
/* Reading the elaboration zone points */
Vect_region_box(Elaboration, &elaboration_box);
npoints = 0;
nterrain = 0;
line_num = 0;
/* Read every line for buffering points */
Vect_rewind(Map);
while (Vect_read_next_line(Map, points, categories) > 0) {
line_num++;
x = points->x[0];
y = points->y[0];
if (points->z != NULL)
z = points->z[0];
else
z = 0.0;
/* Reading and storing points only if it is in elaboration_reg */
if (Vect_point_in_box(x, y, z, &elaboration_box)) {
npoints++;
if (npoints >= pippo) {
pippo += dim_vect;
obs = (struct Point *)G_realloc(
(void *)obs, (signed int)(pippo * sizeof(struct Point)));
lc = (struct lidar_cat *)G_realloc(
(void *)lc, (signed int)(pippo * sizeof(struct lidar_cat)));
}
/* Storing observation vector */
obs[npoints - 1].coordX = x;
obs[npoints - 1].coordY = y;
obs[npoints - 1].coordZ = z;
obs[npoints - 1].lineID =
line_num; /* Storing also the line's number */
Vect_cat_get(categories, F_EDGE_DETECTION_CLASS, &cat);
obs[npoints - 1].cat = cat;
lc[npoints - 1].cat_edge = cat;
/* Only terrain points */
if (cat == TERRAIN_SINGLE)
nterrain++;
Vect_cat_get(categories, F_CLASSIFICATION, &cat);
lc[npoints - 1].cat_class = cat;
Vect_cat_get(categories, F_INTERPOLATION, &cat);
lc[npoints - 1].cat_interp = cat;
Vect_cat_get(categories, F_COUNTER_OBJ, &cat);
lc[npoints - 1].cat_obj = cat;
}
}
Vect_destroy_line_struct(points);
Vect_destroy_cats_struct(categories);
*num_points = npoints;
*num_terrain = nterrain;
*lcat = lc;
return obs;
}
/*! DEFINITION OF THE SUBZONES
5: inside Overlap region
all others: inside General region but outside Overlap region
---------------------------------
| | | | | | | |
---------------------------------
| | | | | | | |
| | | | | | | |
| | | | | | | |
---------------------------------
| | |4| 3 |3| | |
---------------------------------
| | | | | | | |
| | |2| 5 |1| | |
| | | | | | | |
---------------------------------
| | |2| 1 |1| | |
---------------------------------
| | | | | | | |
| | | | | | | |
| | | | | | | |
---------------------------------
| | | | | | | |
---------------------------------
*/
|
