public PointAnalysisTool(PlanarProjection projection, bool snap, ArbiterRoadNetwork arn, WorldTransform wt)
{
this.projection = projection;
this.snapToWaypoints = snap;
this.roadNetwork = arn;
this.wt = wt;
}
/// <summary>
/// Converts an xy rndf to a Rndf Network
/// </summary>
/// <param name="rndf"></param>
/// <param name="projection"></param>
/// <returns></returns>
public static RndfNetwork ConvertXyRndfToRndfNetwork(IRndf rndf, PlanarProjection projection)
{
// create rndf network generator
RndfNetworkGenerator networkGenerator = new RndfNetworkGenerator();
// create the rndf network
RndfNetwork rndfNetwork = networkGenerator.CreateRndfNetwork(rndf, projection);
// return the rndf
return rndfNetwork;
}
/// <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>
/// Creates an rndf network from an xy rndf
/// </summary>
/// <returns></returns>
public RndfNetwork CreateRndfNetwork(IRndf xyRndf, PlanarProjection projection)
{
return null;
}
/// <summary>
/// LLA Coord in rad
/// </summary>
/// <param name="coordinate"></param>
/// <param name="proj"></param>
/// <returns></returns>
public static LLACoord XyToLlaRadians(Coordinates coordinate, PlanarProjection proj)
{
// lla coord
LLACoord llaRad = WGS84.ECEFtoLLA(proj.XYtoECEF(coordinate));
// return
return llaRad;
}
/// <summary>
/// LLA coord in degrees
/// </summary>
/// <param name="coordiante"></param>
/// <param name="proj"></param>
/// <returns></returns>
public static LLACoord XyToLlaDegrees(Coordinates coordiante, PlanarProjection proj)
{
// radians
LLACoord llaRad = XyToLlaRadians(coordiante, proj);
// degrees
LLACoord lla = new LLACoord(llaRad.lat * 180.0 / Math.PI, llaRad.lon * 180.0 / Math.PI, 0);
// return
return lla;
}
/// <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>
/// Transoforms list of gps coordinates to xy coordinates
/// </summary>
/// <param name="gpsCoordinates"></param>
/// <param name="projection"></param>
/// <returns></returns>
public static List<Coordinates> TransformToXy(List<GpsCoordinate> gpsCoordinates, PlanarProjection projection)
{
// final list of referenced coordinates
List<Coordinates> xyCoordinates = new List<Coordinates>();
// loop through coordinates
foreach (GpsCoordinate gpsCooridnate in gpsCoordinates)
{
// generate xy coordinate from projection
xyCoordinates.Add(projection.ECEFtoXY(WGS84.LLAtoECEF(new LLACoord(gpsCooridnate.latitude, gpsCooridnate.longitude, 0))));
}
// return final list
return xyCoordinates;
}
/// <summary>
/// Transforms a pose log into xy coordinates
/// </summary>
/// <param name="stream">filestream attached to the log</param>
/// <param name="firstColumnTimeStamp">true if the first column of data contains a timestamp</param>
/// <param name="ecef">if the data is in ecef format (usually true)</param>
/// <param name="projection">projection we are using for the rest of the data</param>
/// <returns></returns>
public static List<Coordinates> TransformPoseLogToXy(FileStream dataStream, bool firstColumnTimeStamp, bool ecef, PlanarProjection projection)
{
// read in the line and split on the commas
TextReader reader = new StreamReader(dataStream);
// initialize list of final xy points
List<Coordinates> xyCoordinates = new List<Coordinates>();
// read data
string line;
while ((line = reader.ReadLine()) != null)
{
int offset = 0;
if (firstColumnTimeStamp)
offset = 1;
// split the line
string[] parts = line.Split(',');
double x = double.Parse(parts[0 + offset]);
double y = double.Parse(parts[1 + offset]);
double z = double.Parse(parts[2 + offset]);
// perform the projection
Coordinates xy = projection.ECEFtoXY(new Vector3(x, y, z));
// add to final list of coordinates
xyCoordinates.Add(xy);
}
// close reader
reader.Dispose();
reader.Close();
// retrun list of coorinates
return xyCoordinates;
}
public abstract void SetProjection(PlanarProjection proj);
/// <summary>
/// Saves the temp points to a file of degrees
/// </summary>
/// <param name="fileName"></param>
public void SaveToFileAsDegrees(string fileName, PlanarProjection pp)
{
FileStream fs = new FileStream(fileName, FileMode.Create);
StreamWriter sw = new StreamWriter(fs);
foreach (KeyValuePair<string, Coordinates> c in this.Points)
{
LLACoord lla = GpsTools.XyToLlaDegrees(c.Value, pp);
//LLACoord lla = new LLACoord(c.Value.X, c.Value.Y, 0);
sw.WriteLine(c.Key + "\t" + lla.lat.ToString("F6") + "\t" + lla.lon.ToString("F6"));
}
sw.Close();
fs.Dispose();
}
/// <summary>
/// Reads in a file with arc mins to coords
/// </summary>
/// <param name="fileName"></param>
public void ReadArcMinutesFromFile(string fileName, PlanarProjection pp)
{
Points = new Dictionary<string, Coordinates>();
FileStream fs = new FileStream(fileName, FileMode.Open);
StreamReader sr = new StreamReader(fs);
while (!sr.EndOfStream)
{
string lineStream = sr.ReadLine();
string[] del1 = new string[] {"\t"};
string[] nwSplit = lineStream.Split(del1, StringSplitOptions.RemoveEmptyEntries);
/*string name = nwSplit[0];
string[] del2 = new string[] { " " };
string[] n = nwSplit[1].Split(del2, StringSplitOptions.RemoveEmptyEntries);
string[] w = nwSplit[2].Split(del2, StringSplitOptions.RemoveEmptyEntries);
*/
string name = nwSplit[0];
double degN = double.Parse(nwSplit[1]);
double degE = double.Parse(nwSplit[2]);
Coordinates c = pp.ECEFtoXY(WGS84.LLAtoECEF((new LLACoord(degN * Math.PI / 180.0, degE * Math.PI / 180.0, 0.0))));
Points.Add(name, c);
}
sr.Close();
fs.Dispose();
}
