/// <summary>
/// Constructs a planar projection based upon an origin latitude and longitude
/// </summary>
/// <param name="latitude"></param>
/// <param name="longitude"></param>
/// <returns></returns>
public static PlanarProjection PlanarProjection(GpsCoordinate origin, bool isDegrees)
{
if (isDegrees)
{
// transform
LLACoord llaOrigin = DegreesToLLA(origin);
// returns a new planar projection based on origin
return(new PlanarProjection(llaOrigin.lat, llaOrigin.lon));
}
// returns a new planar projection based on origin
return(new PlanarProjection(origin.latitude, origin.longitude));
}
/// <summary>
/// Opens an rndf file and transforms the points to xy around a central projection
/// </summary>
/// <param name="fileName"></param>
/// <param name="rndf"></param>
/// <param name="projection"></param>
public static void GenerateXyRndfAndProjection(string fileName, out IRndf rndf, out PlanarProjection projection)
{
// generate the gps rndf
IRndf gpsRndf = GenerateGpsRndf(fileName);
// get the planar projection
projection = GetProjection(gpsRndf);
// create an xy rndf
IRndf xyRndf = gpsRndf;
#region Apply transform to all point
// Get coordinates from segments
foreach (SimpleSegment segment in xyRndf.Segments)
{
// Get coordinates from lanes
List<SimpleLane> lanes = (List<SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List<SimpleWaypoint> waypoints = (List<SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(waypoint.Position.X, waypoint.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(position)));
// Add position to the coordinate list
waypoint.Position = tmpXY;
}
}
}
foreach (SimpleZone zone in xyRndf.Zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List<PerimeterPoint> perimeterPoints = (List<PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(perimeterPoint.position.X, perimeterPoint.position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(perimeterPoint.position)));
// Add position to the coordinate list
perimeterPoint.position = tmpXY;
}
// Get coordiantes from parking spots
List<ParkingSpot> parkingSpots = (List<ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(parkingSpot.Waypoint1.Position.X, parkingSpot.Waypoint1.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint1.Position)));
// wp1 position set
parkingSpot.Waypoint1.Position = tmpXY;
// Transform the gps coordinate into an xy xoordinate
position = new GpsCoordinate(parkingSpot.Waypoint2.Position.X, parkingSpot.Waypoint2.Position.Y);
Coordinates tmpXY2 = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint2.Position)));
// wp1 position set
parkingSpot.Waypoint2.Position = tmpXY2;
}
}
# endregion
// set the return xy rndf
rndf = xyRndf;
}
/// <summary>
/// Transforms a gps coordinate in degrees to an lla coordinate in radians
/// </summary>
/// <param name="gpsCoordinate"></param>
/// <returns></returns>
public static LLACoord DegreesToLLA(GpsCoordinate gpsCoordinate)
{
return(new LLACoord(gpsCoordinate.latitude * Math.PI / 180.0, gpsCoordinate.longitude * Math.PI / 180.0, 0));
}
/// <summary>
/// Transoforms list of gps coordinates to xy coordinates
/// </summary>
/// <param name="gpsCoordinates"></param>
/// <param name="projection"></param>
/// <returns></returns>
public static Coordinates TransformToXy(GpsCoordinate gpsCoordinate, PlanarProjection projection)
{
// generate xy coordinate from projection
return(projection.ECEFtoXY(WGS84.LLAtoECEF(new LLACoord(gpsCoordinate.latitude, gpsCoordinate.longitude, 0))));
}
/// <summary>
/// Transforms a gps coordinate in degrees to an lla coordinate in radians
/// </summary>
/// <param name="gpsCoordinate"></param>
/// <returns></returns>
public static LLACoord DegreesToLLA(GpsCoordinate gpsCoordinate)
{
return new LLACoord(gpsCoordinate.latitude * Math.PI / 180.0, gpsCoordinate.longitude * Math.PI / 180.0, 0);
}
/// <summary>
/// Transoforms list of gps coordinates to xy coordinates
/// </summary>
/// <param name="gpsCoordinates"></param>
/// <param name="projection"></param>
/// <returns></returns>
public static Coordinates TransformToXy(GpsCoordinate gpsCoordinate, PlanarProjection projection)
{
// generate xy coordinate from projection
return projection.ECEFtoXY(WGS84.LLAtoECEF(new LLACoord(gpsCoordinate.latitude, gpsCoordinate.longitude, 0)));
}
/// <summary>
/// Constructs a planar projection based upon an origin latitude and longitude
/// </summary>
/// <param name="latitude"></param>
/// <param name="longitude"></param>
/// <returns></returns>
public static PlanarProjection PlanarProjection(GpsCoordinate origin, bool isDegrees)
{
if (isDegrees)
{
// transform
LLACoord llaOrigin = DegreesToLLA(origin);
// returns a new planar projection based on origin
return new PlanarProjection(llaOrigin.lat, llaOrigin.lon);
}
// returns a new planar projection based on origin
return new PlanarProjection(origin.latitude, origin.longitude);
}
/// <summary>
/// Opens an rndf file and transforms the points to xy around a central projection
/// </summary>
/// <param name="fileName"></param>
/// <param name="rndf"></param>
/// <param name="projection"></param>
public static void GenerateXyRndfAndProjection(string fileName, out IRndf rndf, out PlanarProjection projection)
{
// generate the gps rndf
IRndf gpsRndf = GenerateGpsRndf(fileName);
// get the planar projection
projection = GetProjection(gpsRndf);
// create an xy rndf
IRndf xyRndf = gpsRndf;
#region Apply transform to all point
// Get coordinates from segments
foreach (SimpleSegment segment in xyRndf.Segments)
{
// Get coordinates from lanes
List <SimpleLane> lanes = (List <SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List <SimpleWaypoint> waypoints = (List <SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(waypoint.Position.X, waypoint.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(position)));
// Add position to the coordinate list
waypoint.Position = tmpXY;
}
}
}
foreach (SimpleZone zone in xyRndf.Zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List <PerimeterPoint> perimeterPoints = (List <PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(perimeterPoint.position.X, perimeterPoint.position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(perimeterPoint.position)));
// Add position to the coordinate list
perimeterPoint.position = tmpXY;
}
// Get coordiantes from parking spots
List <ParkingSpot> parkingSpots = (List <ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(parkingSpot.Waypoint1.Position.X, parkingSpot.Waypoint1.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint1.Position)));
// wp1 position set
parkingSpot.Waypoint1.Position = tmpXY;
// Transform the gps coordinate into an xy xoordinate
position = new GpsCoordinate(parkingSpot.Waypoint2.Position.X, parkingSpot.Waypoint2.Position.Y);
Coordinates tmpXY2 = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint2.Position)));
// wp1 position set
parkingSpot.Waypoint2.Position = tmpXY2;
}
}
# endregion
