xodr_transform Namespace Reference

Functions
def	extract_lat_lon_from_georeference (geo_text)
def	update_georeference_text (old_text, new_lat, new_lon)
def	rotate (x, y, angle_deg)
def	transform_latlon (lat, lon, transformer_from_orig_to_utm, transformer_from_utm_to_new, angle_deg)
def	transform_hdg (hdg, angle_deg)
def	transform_xodr_file (input_path, output_path)

Variables
	parser = argparse.ArgumentParser(description="Transform XODR GPS-coordinates with a new geoReference and rotation.")
	help
	args = parser.parse_args()

Function Documentation

extract_lat_lon_from_georeference()

def xodr_transform.extract_lat_lon_from_georeference

(

geo_text

)

Extracts lat_0 and lon_0 from the geoReference WKT string.

Definition at line 34 of file xodr_transform.py.

def extract_lat_lon_from_georeference(geo_text):
    """Extracts lat_0 and lon_0 from the geoReference WKT string."""
    lat_match = re.search(r"\+lat_0=([-+]?[0-9]*\.?[0-9]+)", geo_text)
    lon_match = re.search(r"\+lon_0=([-+]?[0-9]*\.?[0-9]+)", geo_text)
    if lat_match and lon_match:
        lat = float(lat_match.group(1))
        lon = float(lon_match.group(1))
        return lat, lon
    else:
        raise ValueError("geoReference does not contain +lat_0 and +lon_0")
 
 

References create_two_lane_map.float.

Referenced by transform_xodr_file().

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rotate()

def xodr_transform.rotate	(		x,
			y,
			angle_deg
	)

Definition at line 53 of file xodr_transform.py.

def rotate(x, y, angle_deg):
    angle_rad = math.radians(angle_deg)
    x_rot = x * math.cos(angle_rad) - y * math.sin(angle_rad)
    y_rot = x * math.sin(angle_rad) + y * math.cos(angle_rad)
    return x_rot, y_rot
 
 

Referenced by transform_latlon(), and transform_xodr_file().

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transform_hdg()

def xodr_transform.transform_hdg	(		hdg,
			angle_deg
	)

Definition at line 67 of file xodr_transform.py.

def transform_hdg(hdg, angle_deg):
    return hdg + math.radians(angle_deg)
 
 

Referenced by transform_xodr_file().

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transform_latlon()

def xodr_transform.transform_latlon	(		lat,
			lon,
			transformer_from_orig_to_utm,
			transformer_from_utm_to_new,
			angle_deg
	)

Definition at line 60 of file xodr_transform.py.

def transform_latlon(lat, lon, transformer_from_orig_to_utm, transformer_from_utm_to_new, angle_deg):
    x, y = transformer_from_orig_to_utm.transform(lon, lat)
    x_rot, y_rot = rotate(x, y, angle_deg)
    lon_new, lat_new = transformer_from_utm_to_new.transform(x_rot, y_rot, direction='INVERSE')
    return lat_new, lon_new
 
 

References rotate().

Referenced by transform_xodr_file().

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transform_xodr_file()

def xodr_transform.transform_xodr_file	(		input_path,
			output_path
	)

Definition at line 71 of file xodr_transform.py.

def transform_xodr_file(input_path, output_path):
    tree = etree.parse(input_path)
    root = tree.getroot()
 
    
    new_lat = None
    new_lon = None
    angle_deg = 0.0
    
 
    # Get original lat/lon from geoReference tag
    geo_ref_tag = root.find("header/geoReference")
    if geo_ref_tag is None or not geo_ref_tag.text:
        raise ValueError("No geoReference tag found.")
 
    orig_lat, orig_lon = extract_lat_lon_from_georeference(geo_ref_tag.text)
 
    if new_lat is None or new_lon is None:
        new_lat = orig_lat
        new_lon = orig_lon
 
    # Update geoReference tag for new output
    geo_ref_tag.text = etree.CDATA(update_georeference_text(geo_ref_tag.text, new_lat, new_lon))
 
    # Define projections
    crs_orig = CRS.from_proj4(f"+proj=tmerc +lat_0={orig_lat} +lon_0={orig_lon} +ellps=WGS84 +datum=WGS84 +units=m +no_defs")
    crs_new = CRS.from_proj4(f"+proj=tmerc +lat_0={new_lat} +lon_0={new_lon} +ellps=WGS84 +datum=WGS84 +units=m +no_defs")
 
    transformer_to_utm = Transformer.from_crs("EPSG:4326", crs_orig, always_xy=True)
    transformer_from_utm = Transformer.from_crs("EPSG:4326", crs_new, always_xy=True)
 
    for elem in root.iter():
        lat = elem.attrib.get("lat")
        lon = elem.attrib.get("lon")
        x = elem.attrib.get("x")
        y = elem.attrib.get("y")
        hdg = elem.attrib.get("hdg")
 
        # Transform GPS-based coordinates
        if lat and lon:
            lat_f = float(lat)
            lon_f = float(lon)
            lat_new_val, lon_new_val = transform_latlon(lat_f, lon_f, transformer_to_utm, transformer_from_utm, angle_deg)
            elem.set("lat", f"{lat_new_val:.8f}")
            elem.set("lon", f"{lon_new_val:.8f}")
 
        # Transform local x, y coordinates
        if x and y:
            x_f = float(x)
            y_f = float(y)
            x_rot, y_rot = rotate(x_f, y_f, angle_deg)
            elem.set("x", f"{x_rot:.8f}")
            elem.set("y", f"{y_rot:.8f}")
 
        # Adjust heading
        if hdg:
            hdg_f = float(hdg)
            hdg_new = transform_hdg(hdg_f, angle_deg)
            elem.set("hdg", f"{hdg_new:.8f}")
 
    # Write modified XML
    tree.write(output_path, encoding="UTF-8", xml_declaration=True)
 
 

References extract_lat_lon_from_georeference(), create_two_lane_map.float, rotate(), transform_hdg(), transform_latlon(), and update_georeference_text().

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update_georeference_text()

def xodr_transform.update_georeference_text	(		old_text,
			new_lat,
			new_lon
	)

Updates the +lat_0 and +lon_0 values in a proj4 WKT string.

Definition at line 46 of file xodr_transform.py.

def update_georeference_text(old_text, new_lat, new_lon):
    """Updates the +lat_0 and +lon_0 values in a proj4 WKT string."""
    new_text = re.sub(r"\+lat_0=([-+]?[0-9]*\.?[0-9]+)", f"+lat_0={new_lat}", old_text)
    new_text = re.sub(r"\+lon_0=([-+]?[0-9]*\.?[0-9]+)", f"+lon_0={new_lon}", new_text)
    return new_text
 
 

Referenced by transform_xodr_file().

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Variable Documentation

args

xodr_transform.args = parser.parse_args()

Definition at line 143 of file xodr_transform.py.

help

xodr_transform.help

Definition at line 140 of file xodr_transform.py.

parser

xodr_transform.parser = argparse.ArgumentParser(description="Transform XODR GPS-coordinates with a new geoReference and rotation.")

Definition at line 139 of file xodr_transform.py.