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update latlon2utm & convert_proj_txt #121

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Merged
daohu527 merged 2 commits into from
May 15, 2025
Merged

update latlon2utm & convert_proj_txt #121

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1ab75af
update latlon2utm & convert_proj_txt
zhuabaguai May 14, 2025
dd01082
chore: Modify latlon2utm to support multiple coordinates
daohu527 May 14, 2025
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6 changes: 4 additions & 2 deletions imap/lib/convertor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@

from imap.lib.draw import draw_line, show
from imap.lib.convex_hull import convex_hull, aabb_box
from imap.lib.proj_helper import latlon2utm
from imap.lib.proj_helper import latlon2projected


# Distance between stop line and pedestrian crossing
Expand Down Expand Up @@ -167,7 +167,9 @@ def convert_proj_txt(self, proj_txt):
self.pb_map.header.projection.proj = "+proj=utm +zone={} +ellps=WGS84 " \
"+datum=WGS84 +units=m +no_defs".format(0)
else:
self.origin_x, self.origin_y, zone_id = latlon2utm(lat, lon)
# use projTxt run latlon2projected
self.origin_x, self.origin_y, zone_id = latlon2projected(
lat, lon, self.xodr_map.header.geo_reference.text)
if x_0:
self.origin_x = self.origin_x - x_0
if y_0:
Expand Down
27 changes: 19 additions & 8 deletions imap/lib/proj_helper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,19 +34,30 @@
import math


def utm2latlon(x, y, zone):
def projected2latlon(x, y, zone_id=None, proj_txt=None):
"""utm to latlon"""
proj = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
if proj_txt is None:
# Default: Inverse Standard UTM
if zone_id is None:
raise ValueError(
"For default inverse UTM, 'zone_id' parameter is required.")
proj = pyproj.Proj(proj='utm', zone=zone_id, ellps='WGS84')
else:
proj = pyproj.Proj(proj_txt)
lon, lat = proj(x, y, inverse=True)
return lat, lon


def latlon2utm(lat, lon):
"""latlon to utm"""
zone = latlon2utmzone(lat, lon)
projector2 = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
x, y = projector2(lon, lat)
return x, y, zone
def latlon2projected(lat, lon, proj_txt=None):
"""latlon to utm use proj info"""
zone_id = latlon2utmzone(lat, lon)
if proj_txt is None:
# Default: Standard UTM
proj = pyproj.Proj(proj='utm', zone=zone_id, ellps='WGS84')
else:
proj = pyproj.Proj(proj_txt)
x, y = proj(lon, lat)
return x, y, zone_id


def latlon2utmzone(lat, lon):
Expand Down
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