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added geospatial crs transformations for opendrive
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157
.../main/kotlin/io/rtron/transformer/modifiers/opendrive/reprojector/OpendriveReprojector.kt
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| /* | ||
| * Copyright 2019-2024 Chair of Geoinformatics, Technical University of Munich | ||
| * | ||
| * 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 io.rtron.transformer.modifiers.opendrive.reprojector | ||
|
|
||
| import arrow.core.None | ||
| import arrow.core.Option | ||
| import arrow.core.Some | ||
| import arrow.core.getOrElse | ||
| import arrow.core.toOption | ||
| import io.github.oshai.kotlinlogging.KotlinLogging | ||
| import io.rtron.math.geometry.euclidean.twod.point.Vector2D | ||
| import io.rtron.math.linear.RealMatrix | ||
| import io.rtron.math.linear.SingularValueDecomposition | ||
| import io.rtron.math.processing.calculateCentroid | ||
| import io.rtron.math.transform.Affine2D | ||
| import io.rtron.model.opendrive.OpendriveModel | ||
| import io.rtron.model.opendrive.additions.extensions.updateAdditionalIdentifiers | ||
| import io.rtron.model.opendrive.additions.optics.everyRoadPlanViewGeometry | ||
| import io.rtron.model.opendrive.core.HeaderGeoReference | ||
| import org.locationtech.proj4j.CRSFactory | ||
| import org.locationtech.proj4j.CoordinateReferenceSystem | ||
| import org.locationtech.proj4j.CoordinateTransform | ||
| import org.locationtech.proj4j.CoordinateTransformFactory | ||
| import org.locationtech.proj4j.ProjCoordinate | ||
|
|
||
| class OpendriveReprojector( | ||
| val parameters: OpendriveReprojectorParameters, | ||
| ) { | ||
| // Properties and Initializers | ||
| private val logger = KotlinLogging.logger {} | ||
|
|
||
| // Methods | ||
|
|
||
| fun modify(opendriveModel: OpendriveModel): Pair<Option<OpendriveModel>, OpendriveReprojectorReport> { | ||
| val report = OpendriveReprojectorReport(parameters) | ||
| var modifiedOpendriveModel = opendriveModel.copy() | ||
| modifiedOpendriveModel.updateAdditionalIdentifiers() | ||
|
|
||
| if (!parameters.reprojectModel) { | ||
| report.message = "No reprojection configured." | ||
| return Some(modifiedOpendriveModel) to report | ||
| } | ||
| if (parameters.getTargetCrsEpsg().isNone()) { | ||
| report.message = "No target coordinate reference system EPSG code configured." | ||
| return None to report | ||
| } | ||
| if (modifiedOpendriveModel.header.geoReference.isNone()) { | ||
| report.message = "No source georeference defined in OpenDRIVE model." | ||
| return None to report | ||
| } | ||
|
|
||
| // setup coordinate transform | ||
| val crsFactory = CRSFactory() | ||
| val sourceCrs: CoordinateReferenceSystem = | ||
| try { | ||
| crsFactory.createFromParameters( | ||
| "source", | ||
| modifiedOpendriveModel.header.geoReference.getOrNull()!!.content, | ||
| ) | ||
| } catch (e: Exception) { | ||
| report.message = "Source CRS could not be identified: " + e.message.toOption().getOrElse { "" } | ||
| return None to report | ||
| } | ||
| val targetCrs = crsFactory.createFromName("epsg:${parameters.targetCrsEpsg}") | ||
| val ctFactory = CoordinateTransformFactory() | ||
| val coordinateTransform: CoordinateTransform = ctFactory.createTransform(sourceCrs, targetCrs) | ||
|
|
||
| // reproject extracted geometry points | ||
| val planViewSourceCoordinates = | ||
| modifiedOpendriveModel.road | ||
| .flatMap { it.planView.geometry } | ||
| .map { ProjCoordinate(it.x, it.y) } | ||
| val planViewTargetCoordinates = | ||
| planViewSourceCoordinates.map { | ||
| val result = ProjCoordinate() | ||
| coordinateTransform.transform(it, result) | ||
| result | ||
| } | ||
|
|
||
| // estimate rigid affine transform | ||
| val (affine, maximumDeviation) = estimateRigidAffine(planViewSourceCoordinates, planViewTargetCoordinates) | ||
| report.maximumDeviation = maximumDeviation | ||
| if (maximumDeviation > parameters.deviationWarningTolerance) { | ||
| logger.warn { | ||
| "Maximum deviation is $maximumDeviation and thus exceeding the warning threshold " + | ||
| "of ${parameters.deviationWarningTolerance}." | ||
| } | ||
| } | ||
|
|
||
| // set new georeference and apply affine transform to the model | ||
| modifiedOpendriveModel.header.geoReference = Some(HeaderGeoReference(targetCrs.parameterString)) | ||
| everyRoadPlanViewGeometry.modify(modifiedOpendriveModel) { currentPlanViewGeometry -> | ||
| val transformedPose = affine.transform(currentPlanViewGeometry.getPose()) | ||
| currentPlanViewGeometry.x = transformedPose.point.x | ||
| currentPlanViewGeometry.y = transformedPose.point.y | ||
| currentPlanViewGeometry.hdg = transformedPose.rotation.angle | ||
| currentPlanViewGeometry | ||
| } | ||
|
|
||
| report.message = "Reprojection of translation with ${affine.extractTranslation()} and " + | ||
| "rotation with ${affine.extractRotation()} successfully applied. " | ||
| return Some(modifiedOpendriveModel) to report | ||
| } | ||
|
|
||
| /** | ||
| * Estimates a rigid affine matrix from two lists of corresponding coordinates. | ||
| * It uses a singular value decomposition for estimating the rotation. | ||
| * | ||
| * Further details can be found [here](https://nghiaho.com/?page_id=671). | ||
| */ | ||
| private fun estimateRigidAffine( | ||
| sourceCoordinates: List<ProjCoordinate>, | ||
| targetCoordinates: List<ProjCoordinate>, | ||
| ): Pair<Affine2D, Double> { | ||
| val sourcePoints = sourceCoordinates.map { Vector2D(it.x, it.y) } | ||
| val targetPoints = targetCoordinates.map { Vector2D(it.x, it.y) } | ||
|
|
||
| // calculate centriods and local | ||
| val sourcePointsCentroid = sourcePoints.calculateCentroid() | ||
| val localSourcePoints = sourcePoints.map { it - sourcePointsCentroid } | ||
| val targetPointsCentroid = targetPoints.calculateCentroid() | ||
| val localTargetPoints = targetPoints.map { it - targetPointsCentroid } | ||
|
|
||
| // calculate covariance | ||
| val sourceMatrix = RealMatrix.of(localSourcePoints).transpose() | ||
| val targetMatrix = RealMatrix.of(localTargetPoints) | ||
| val covariance = sourceMatrix.multiply(targetMatrix) | ||
|
|
||
| // estimate affine transform matrix | ||
| val svd = SingularValueDecomposition(covariance) | ||
| val rotationAffine = Affine2D.of(svd.matrixVT.multiply(svd.matrixU.transpose())) | ||
| val translationAffine = Affine2D.of(targetPointsCentroid - rotationAffine.transform(sourcePointsCentroid)) | ||
| val affine = translationAffine.append(rotationAffine) | ||
|
|
||
| // determine maximum deviation between rigid affine and geospatial projection | ||
| val maximumDeviation = | ||
| sourcePoints.zip(targetPoints).maxOfOrNull { | ||
| affine.transform(it.first).distance(it.second) | ||
| }!! | ||
|
|
||
| return affine to maximumDeviation | ||
| } | ||
| } |
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