diff --git a/opendrive-map/DEVELOPMENT.md b/opendrive-map/DEVELOPMENT.md new file mode 100644 index 0000000..ba112b3 --- /dev/null +++ b/opendrive-map/DEVELOPMENT.md @@ -0,0 +1,69 @@ +# opendrive-map — development notes & future improvements + +Scope: `opendrive-map` is a **read-only road-network + lane-geometry** library for a 2D +map viewer (COSMO `trajectory-explorer`) and a 2D traffic-metrics tool (`data-metrics`). +Keep it focused on roads/lanes/parking + the map offset. Add other categories only when a +consumer actually needs them — resist becoming an everything-parser. + +## Done (2026-06-29) +- Parser robustness: negative polynomial `sOffset` clamped to 0; non-finite (NaN/inf) + width/laneOffset records dropped with a warning; records sorted by `sOffset`. +- Breakpoint-aware sampling: `sample_reference_line(road, interval, breakpoints=...)` forces + samples at lane-section / width / laneOffset transitions so polygon edges align with + width changes (not just the interval grid). + +--- + +## Q1 — Other ORBIT-exported elements (potential future parsing) + +ORBIT can write these into a `.xodr` (most are absent from current drone maps, e.g. +GbgSaroRound has no objects/signals at all). Add on demand only. + +| Element | OpenDRIVE form | Who'd use it | Recommendation | +|---|---|---|---| +| Buildings, land use (forest/farmland/meadow/water), trees, bushes, lampposts, guardrails | `` with point/polyline/polygon `` (`cornerLocal` + `s/t/hdg`) | **Viewer only** (context layers); irrelevant to metrics | Add a generic `RoadObject(type, subtype, placed_polygon)` parser **iff the viewer wants context layers**. Cheap — reuse the parking placement path (`_parking_polygon` / `_road_point_at_s`). | +| Signals: stop, give-way, speed-limit, traffic-lights, priority | `` with `type/subtype`, `s/t`, `dynamic`, `` lanes | **Metrics** (intersection control, speed-limit context) + viewer overlay | Highest-value non-road addition. Add `Signal(type, subtype, s, t, dynamic, validity_lanes)` **when a concrete metric consumes it** (YAGNI until then). | +| Road marks (``, dashed/solid + ``) | per-lane boundary | Viewer cosmetic only | Skip unless rendering lane markings. | +| Road `type` (town/motorway/…), lane `type` | road/lane attrs | lane type already used as a filter | Road type: add only if a metric needs road-class defaults. | +| Elevation / superelevation profiles | ``, `` | 3D only | Skip (consumers are 2D). See Q2 §3. | +| Junction lane-links (predecessor/successor, connection lane maps) | ``, lane `` | routing / turn analysis | Basic `Junction`(id, connections) already parsed; add lane-level links only for routing. | + +Note: buildings & land use have **rich semantics only in ORBIT's OSM export**; in OpenDRIVE +they are generic geometry objects. If a consumer needs semantic building/landuse data, read +the OSM export, not the XODR. + +--- + +## Q2 — Ideas from other projects (analyzed, not yet adopted) + +### Worth doing later +1. **Spiral via Fresnel integrals** (`src/Geometries/Spiral/odrSpiral.cpp`). Our `geometry.py` + `_sample_spiral` uses forward-Euler integration; measured error vs exact `scipy.special.fresnel` + is ~2–5 cm on typical clothoids (R=30–50 m). **Low urgency** — current ORBIT maps use only + line + paramPoly3 (no spirals). When needed: either `scipy.special.fresnel` (exact, adds a + scipy dep) or a dependency-free RK2/midpoint integrator (~100× lower error than Euler, free). +2. **Multi-profile s-sampling** — partially done (breakpoints now injected). libOpenDRIVE also + merges superelevation breakpoints; relevant only if we add 3D. +3. **More parser repair** (`check_and_repair` pattern in `OpenDriveMap.cpp`): enforce lane-0 + width = 0 (we skip center lanes, so N/A), `fromLane <= toLane` in signal validity (when we + parse signals), reasonable-coefficient checks. Add as we parse more elements. + +### Skip for 2D consumers (revisit only if scope changes) +- **3D**: elevation / superelevation / crossfall / lane-height surfaces (`Road::get_xyz`, + `get_surface_pt`). Big effort; our consumers are 2D. +- **Symbolic border polynomials** (`CubicSpline`/`CubicProfile::add`): compose width polys into + one border poly. Only pays off with adaptive sampling or 3D. +- **Adaptive Bézier sampling** (`CubicBezier::approximate_linear`, eps-based): a perf/quality + optimization; our fixed interval + breakpoints is sufficient at current map sizes. +- **Arc-length LUT** for paramPoly3 (`CubicBezier` ctor): only needed for true distance-based + sampling. +- **Road marks**, **lane predecessor/successor links**: on-demand (see Q1). + +### Verified NON-issues (no action) +- **`pRange` default**: a review flagged this as a bug — it is not. Our code already defaults to + `arcLength`; libOpenDRIVE/esmini default to `normalized`. It is moot for us because ORBIT writes + `pRange="normalized"` explicitly on every paramPoly3 (and we handle that correctly). If aligning + to the ecosystem default ever matters, confirm against the ASAM XSD before flipping it. +- **line / arc / poly3 geometry math**: confirmed equivalent to libOpenDRIVE's. +- **Lane assignment**: our shapely `STRtree` + `polygon.covers` handles arbitrary lane shapes; + no need for libOpenDRIVE's analytic `t -> lane_id` border lookup. diff --git a/opendrive-map/README.md b/opendrive-map/README.md new file mode 100644 index 0000000..a14e240 --- /dev/null +++ b/opendrive-map/README.md @@ -0,0 +1,86 @@ +# opendrive-map + +Read-only OpenDRIVE road-network / lane-geometry model shared across the ORBIT +drone toolchain (COSMO `trajectory-explorer`, `data-metrics`, and future tools). + +It is the single source of truth for interpreting an ORBIT-exported `.xodr`: +reference-line geometry (line, arc, spiral/clothoid, poly3, paramPoly3), full +lane-width polynomials, multiple lane sections, ``, lane-type +filtering, lane polygons + centerlines + lengths, and spatial lane assignment. + +## Coordinate frame + +All geometry is returned in the **local map frame** (the XODR `` is *not* +applied). `RoadNetwork.offset` exposes the authoritative header `` — +`absolute = local + offset`, in the `geo_reference` CRS. Use `to_global()` / +`to_local()` to convert. Do **not** re-derive the offset from the geoReference +`+lat_0/+lon_0` params; for UTM those are redundant and may be absent. + +## Usage + +```python +from opendrive_map import RoadNetwork + +net = RoadNetwork.from_file("map.xodr", lane_types=["driving"]) +lane = net.assign_lane(x_local, y_local) # object position in LOCAL frame +if lane: + print(lane.road_id, lane.lane_id, lane.length_m, lane.width_at(0.0)) +``` + +## API + +Public surface (everything in `opendrive_map.__all__`). + +### `RoadNetwork` + +The entry point. Build it, then query. + +- `RoadNetwork.from_file(path, *, lane_types=None, interval=DEFAULT_INTERVAL)` +- `RoadNetwork.from_text(text, *, lane_types=None, interval=DEFAULT_INTERVAL)` + +`lane_types=None` keeps all lane types; pass e.g. `["driving"]` to filter. +`interval` is the reference-line sampling step in metres. + +| Attribute | Description | +|---|---| +| `roads` | parsed `Road` models (local frame, no lanes-built logic) | +| `lanes` | built `Lane` list (centerlines + polygons) | +| `junctions` | `Junction` list (id + connections) | +| `parking` | `ParkingObject` list (raw `` records) | +| `parking_polygons` | placed shapely `Polygon`s for parking, local frame | +| `offset` | authoritative header `` `(x, y, z)`; `absolute = local + offset` | +| `geo_reference` | raw `` PROJ string, or `None` | +| `tree` | cached shapely `STRtree` over lane polygons (built on first use) | + +| Method | Description | +|---|---| +| `assign_lane(x, y)` | lane whose polygon covers the LOCAL point, or `None` | +| `to_global(x, y)` | local → projected CRS coords (adds `offset`) | +| `to_local(x, y)` | projected CRS coords → local (subtracts `offset`) | + +### `Lane` + +Built lane geometry. Fields: `road_id`, `lane_id`, `type`, `section_s`, +`centerline` (Nx2 ndarray, local frame), `polygon` (shapely), `length_m`, +and `width_at(s_rel)` (width at distance `s_rel` into the lane section). + +### Top-level functions + +- `read_offset(path)` — read the header `` `(x, y, z)` cheaply, without + building the network (used to localise object coordinates). +- `sample_reference_line(road, interval, breakpoints=())` — sample a road's + reference line as `(s, x, y, hdg)` tuples; `breakpoints` forces extra samples + at given `s` values (e.g. width/section transitions). + +### Parking + +`` outlines are parsed into `ParkingObject` records and +placed into `parking_polygons` (local frame) using each object's road reference +point, `s`/`t`/`hdg`, and `` corners. + +### Model dataclasses + +Also exported for typing/inspection: `Road`, `RawLane`, `LaneSection`, +`GeomSegment`, `Poly`, `Junction`, `Connection`, `ParkingObject`. These are the +parsed model types behind `RoadNetwork`; most consumers only need the surface +above. diff --git a/opendrive-map/pyproject.toml b/opendrive-map/pyproject.toml new file mode 100644 index 0000000..3663895 --- /dev/null +++ b/opendrive-map/pyproject.toml @@ -0,0 +1,18 @@ +[build-system] +requires = ["hatchling>=1.24"] +build-backend = "hatchling.build" + +[project] +name = "opendrive-map" +version = "0.1.0" +description = "Read-only OpenDRIVE road-network / lane-geometry model shared across the ORBIT drone toolchain (COSMO, data-metrics)." +readme = "README.md" +requires-python = ">=3.9" +license = { text = "MIT" } +dependencies = ["numpy>=1.20.0", "shapely>=2.0", "pyproj>=3.0.0"] + +[project.optional-dependencies] +dev = ["pytest"] + +[tool.hatch.build.targets.wheel] +packages = ["src/opendrive_map"] diff --git a/opendrive-map/src/opendrive_map/__init__.py b/opendrive-map/src/opendrive_map/__init__.py new file mode 100644 index 0000000..f259885 --- /dev/null +++ b/opendrive-map/src/opendrive_map/__init__.py @@ -0,0 +1,32 @@ +"""opendrive-map: read-only OpenDRIVE road-network / lane-geometry model.""" + +from .geometry import sample_reference_line +from .model import ( + Connection, + GeomSegment, + Junction, + Lane, + LaneSection, + ParkingObject, + Poly, + RawLane, + Road, +) +from .network import RoadNetwork, read_offset + +__all__ = [ + "RoadNetwork", + "read_offset", + "sample_reference_line", + "Road", + "Lane", + "RawLane", + "LaneSection", + "GeomSegment", + "Poly", + "Junction", + "Connection", + "ParkingObject", +] + +__version__ = "0.1.0" diff --git a/opendrive-map/src/opendrive_map/geometry.py b/opendrive-map/src/opendrive_map/geometry.py new file mode 100644 index 0000000..87cc25c --- /dev/null +++ b/opendrive-map/src/opendrive_map/geometry.py @@ -0,0 +1,146 @@ +"""Reference-line sampling for all OpenDRIVE planView primitives. + +Geometry math ported from ORBIT's opendrive_geometry.py (the complete +implementation: line, arc, spiral/clothoid, poly3, paramPoly3), extended to +return per-sample heading so lanes can be offset perpendicular to the road. +""" + +from __future__ import annotations + +import math +from typing import List, Tuple + +from .model import GeomSegment, Road + +Sample = Tuple[float, float, float, float] # (s_road, x, y, hdg) in local map frame + + +def _to_global(seg: GeomSegment, lx: float, ly: float, lhdg: float) -> Tuple[float, float, float]: + ch, sh = math.cos(seg.hdg), math.sin(seg.hdg) + return ( + seg.x + lx * ch - ly * sh, + seg.y + lx * sh + ly * ch, + seg.hdg + lhdg, + ) + + +def _sample_positions(length: float, interval: float, extra=()) -> List[float]: + n = max(2, int(math.ceil(length / max(interval, 1e-6))) + 1) + pts = {length * i / (n - 1) for i in range(n)} + pts.update(e for e in extra if 0.0 <= e <= length) + return sorted(pts) + + +def sample_segment(seg: GeomSegment, interval: float, extra_local=()) -> List[Sample]: + """Sample one geometry primitive; returns [(s_local, x, y, hdg), ...]. + + extra_local forces sample points at the given local s-offsets (e.g. lane width / + laneOffset polynomial breakpoints) in addition to the regular interval grid. + """ + L = seg.length + if L <= 0: + return [(0.0, seg.x, seg.y, seg.hdg)] + + kind = seg.kind + p = seg.params + ss = _sample_positions(L, interval, extra_local) + out: List[Sample] = [] + + if kind == "arc" and abs(float(p.get("curvature", 0.0))) >= 1e-12: + k = float(p["curvature"]) + r = 1.0 / k + ch, sh = math.cos(seg.hdg), math.sin(seg.hdg) + cx, cy = seg.x - r * sh, seg.y + r * ch + for s in ss: + hd = seg.hdg + s * k + out.append((s, cx + r * math.sin(hd), cy - r * math.cos(hd), hd)) + + elif kind == "spiral" and ( + abs(float(p.get("curvStart", 0.0))) >= 1e-12 or abs(float(p.get("curvEnd", 0.0))) >= 1e-12 + ): + out = _sample_spiral(seg, ss) + + elif kind == "poly3": + a, b, c, d = (float(p.get(k_, 0.0)) for k_ in ("a", "b", "c", "d")) + for v in ss: + u = a + b * v + c * v ** 2 + d * v ** 3 + du = b + 2 * c * v + 3 * d * v ** 2 + gx, gy, gh = _to_global(seg, v, u, math.atan2(du, 1.0)) + out.append((v, gx, gy, gh)) + + elif kind == "paramPoly3": + out = _sample_param_poly3(seg, ss) + + else: # line (and degenerate arc/spiral) + ch, sh = math.cos(seg.hdg), math.sin(seg.hdg) + for s in ss: + out.append((s, seg.x + s * ch, seg.y + s * sh, seg.hdg)) + + return out + + +def _sample_spiral(seg: GeomSegment, ss: List[float]) -> List[Sample]: + """Clothoid via forward Euler integration in the local frame.""" + L = seg.length + k0 = float(seg.params.get("curvStart", 0.0)) + k1 = float(seg.params.get("curvEnd", 0.0)) + kd = (k1 - k0) / L + steps = max(len(ss) * 4, int(L / 0.05) + 1) + ds = L / steps + + out: List[Sample] = [] + lx = ly = lhdg = 0.0 + ti = 0 + for i in range(steps + 1): + s_here = i * ds + while ti < len(ss) and ss[ti] <= s_here + 1e-9: + gx, gy, gh = _to_global(seg, lx, ly, lhdg) + out.append((ss[ti], gx, gy, gh)) + ti += 1 + kappa = k0 + kd * s_here + lx += math.cos(lhdg) * ds + ly += math.sin(lhdg) * ds + lhdg += kappa * ds + while ti < len(ss): + gx, gy, gh = _to_global(seg, lx, ly, lhdg) + out.append((ss[ti], gx, gy, gh)) + ti += 1 + return out + + +def _sample_param_poly3(seg: GeomSegment, ss: List[float]) -> List[Sample]: + p = seg.params + aU, bU, cU, dU = (float(p.get(k_, 0.0)) for k_ in ("aU", "bU", "cU", "dU")) + aV, bV, cV, dV = (float(p.get(k_, 0.0)) for k_ in ("aV", "bV", "cV", "dV")) + normalized = p.get("pRange", "arcLength") == "normalized" + L = seg.length + + out: List[Sample] = [] + for s in ss: + pv = (s / L) if normalized else s + u = aU + bU * pv + cU * pv ** 2 + dU * pv ** 3 + v = aV + bV * pv + cV * pv ** 2 + dV * pv ** 3 + du = bU + 2 * cU * pv + 3 * dU * pv ** 2 + dv = bV + 2 * cV * pv + 3 * dV * pv ** 2 + lhdg = math.atan2(dv, du) if (du ** 2 + dv ** 2) > 1e-12 else 0.0 + gx, gy, gh = _to_global(seg, u, v, lhdg) + out.append((s, gx, gy, gh)) + return out + + +def sample_reference_line(road: Road, interval: float, breakpoints=()) -> List[Sample]: + """Sample the whole road reference line; returns [(s_road, x, y, hdg), ...]. + + breakpoints are road-frame s-values that must appear as samples (e.g. lane width / + laneOffset transitions), so lane polygon edges align with those transitions. + """ + bps = sorted(set(breakpoints)) + samples: List[Sample] = [] + for seg in road.geom_segments: + seg_extra = [b - seg.s for b in bps if seg.s - 1e-9 <= b <= seg.s + seg.length + 1e-9] + for s_local, x, y, hdg in sample_segment(seg, interval, seg_extra): + s_road = seg.s + s_local + if samples and abs(samples[-1][1] - x) < 1e-6 and abs(samples[-1][2] - y) < 1e-6: + continue # drop duplicate point at segment boundary + samples.append((s_road, x, y, hdg)) + return samples diff --git a/opendrive-map/src/opendrive_map/lanes.py b/opendrive-map/src/opendrive_map/lanes.py new file mode 100644 index 0000000..3298458 --- /dev/null +++ b/opendrive-map/src/opendrive_map/lanes.py @@ -0,0 +1,95 @@ +"""Build lane geometry (centerlines + polygons) from a road's reference line. + +Lane-offsetting approach follows COSMO's build_lane_polygons (full width +polynomials, multiple lane sections), extended with handling and +arbitrary geometry primitives. All coordinates are in the LOCAL map frame. +""" + +from __future__ import annotations + +import math +from typing import List, Optional, Sequence + +import numpy as np +from shapely.geometry import Polygon + +from .geometry import sample_reference_line +from .model import Lane, Road + + +def _polyline_length(pts: np.ndarray) -> float: + if len(pts) < 2: + return 0.0 + return float(np.sum(np.linalg.norm(np.diff(pts, axis=0), axis=1))) + + +def _point_at_t(x: float, y: float, hdg: float, t: float) -> tuple: + """Point offset by signed lateral distance t (positive = left of heading).""" + return (x - t * math.sin(hdg), y + t * math.cos(hdg)) + + +def build_road_lanes( + road: Road, + interval: float, + lane_types: Optional[Sequence[str]] = None, +) -> List[Lane]: + """Return built Lanes for one road; lane_types=None keeps all types.""" + # Force samples at lane-section, width and laneOffset transitions so polygon + # edges land exactly on width changes (not just on the regular interval grid). + breakpoints = {ls.s for ls in road.lane_sections} + breakpoints.update(p.sOffset for p in road.lane_offsets) + for ls in road.lane_sections: + breakpoints.update(ls.s + w.sOffset for lane in ls.lanes for w in lane.widths) + samples = sample_reference_line(road, interval, breakpoints=breakpoints) + if not samples: + return [] + + keep = set(lane_types) if lane_types is not None else None + built: List[Lane] = [] + + for ls_idx, ls in enumerate(road.lane_sections): + s_start = ls.s + s_end = ( + road.lane_sections[ls_idx + 1].s + if ls_idx + 1 < len(road.lane_sections) + else road.length + ) + sec = [smp for smp in samples if s_start - 1e-6 <= smp[0] <= s_end + 1e-2] + if len(sec) < 2: + continue + + for side_sign in (1, -1): # left (id>0) then right (id<0) + side = [ln for ln in ls.lanes if (ln.id > 0) == (side_sign > 0) and ln.id != 0] + side.sort(key=lambda ln: abs(ln.id)) # innermost first + for rank, lane in enumerate(side): + if keep is not None and lane.type not in keep: + continue + inner_lanes = side[:rank] + inner_pts, outer_pts, center_pts = [], [], [] + for s_road, x, y, hdg in sec: + s_rel = s_road - s_start + base = road.lane_offset_at(s_road) + d_inner = base + side_sign * sum(ln.width_at(s_rel) for ln in inner_lanes) + d_outer = d_inner + side_sign * lane.width_at(s_rel) + inner_pts.append(_point_at_t(x, y, hdg, d_inner)) + outer_pts.append(_point_at_t(x, y, hdg, d_outer)) + center_pts.append(_point_at_t(x, y, hdg, (d_inner + d_outer) / 2.0)) + + ring = inner_pts + list(reversed(outer_pts)) + poly = Polygon(ring) + if not poly.is_valid: + poly = poly.buffer(0) + center = np.asarray(center_pts, dtype=float) + built.append( + Lane( + road_id=road.id, + lane_id=lane.id, + type=lane.type, + section_s=s_start, + centerline=center, + polygon=poly, + length_m=_polyline_length(center), + _widths=lane.widths, + ) + ) + return built diff --git a/opendrive-map/src/opendrive_map/model.py b/opendrive-map/src/opendrive_map/model.py new file mode 100644 index 0000000..cdd304d --- /dev/null +++ b/opendrive-map/src/opendrive_map/model.py @@ -0,0 +1,126 @@ +"""Data model for the read-only OpenDRIVE road network.""" + +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Dict, List, Tuple + +import numpy as np + + +@dataclass +class GeomSegment: + """One primitive in the road (local map frame).""" + + s: float + x: float + y: float + hdg: float + length: float + kind: str # "line" | "arc" | "spiral" | "poly3" | "paramPoly3" + params: Dict[str, str] = field(default_factory=dict) + + +@dataclass +class Poly: + """Cubic polynomial a + b*ds + c*ds^2 + d*ds^3 valid from sOffset.""" + + sOffset: float + a: float + b: float + c: float + d: float + + def eval(self, s: float) -> float: + ds = s - self.sOffset + return self.a + self.b * ds + self.c * ds ** 2 + self.d * ds ** 3 + + +def eval_poly_series(polys: List[Poly], s: float) -> float: + """Evaluate a series of records, using the last one whose sOffset <= s.""" + if not polys: + return 0.0 + active = polys[0] + for p in polys: + if p.sOffset <= s: + active = p + else: + break + return active.eval(s) + + +@dataclass +class RawLane: + """A lane as parsed (id, type, width polynomials) before geometry is built.""" + + id: int + type: str + widths: List[Poly] = field(default_factory=list) + + def width_at(self, s_rel: float) -> float: + """Lane width at distance s_rel from the lane section start.""" + return eval_poly_series(self.widths, s_rel) + + +@dataclass +class LaneSection: + s: float + lanes: List[RawLane] = field(default_factory=list) + + +@dataclass +class Road: + id: str + length: float + geom_segments: List[GeomSegment] = field(default_factory=list) + lane_sections: List[LaneSection] = field(default_factory=list) + lane_offsets: List[Poly] = field(default_factory=list) + junction: str = "-1" + + def lane_offset_at(self, s: float) -> float: + """Lateral offset of the lane-0 reference line at road coordinate s.""" + return eval_poly_series(self.lane_offsets, s) + + +@dataclass +class ParkingObject: + """A on a road: outline placed at (s, t, hdg).""" + + road_id: str + s: float + t: float + hdg: float + length: float + width: float + outline: List[Tuple[float, float]] = field(default_factory=list) # local (u, v) corners + + +@dataclass +class Connection: + incoming_road: str + connecting_road: str + contact_point: str = "" + + +@dataclass +class Junction: + id: str + connections: List[Connection] = field(default_factory=list) + + +@dataclass +class Lane: + """A built lane with geometry, in the LOCAL map frame (offset not applied).""" + + road_id: str + lane_id: int + type: str + section_s: float + centerline: np.ndarray # (N, 2) float + polygon: Tuple # shapely Polygon (typed loosely to avoid import here) + length_m: float + _widths: List[Poly] = field(default_factory=list) + + def width_at(self, s_rel: float) -> float: + """Lane width at distance s_rel from this lane section's start.""" + return eval_poly_series(self._widths, s_rel) diff --git a/opendrive-map/src/opendrive_map/network.py b/opendrive-map/src/opendrive_map/network.py new file mode 100644 index 0000000..2a68c18 --- /dev/null +++ b/opendrive-map/src/opendrive_map/network.py @@ -0,0 +1,128 @@ +"""RoadNetwork: the public read-only facade over a parsed OpenDRIVE map. + +Coordinates are in the LOCAL map frame (the XODR is NOT applied); +``offset`` exposes the authoritative header so callers can convert to +the projected CRS (absolute = local + offset). This is the single, authoritative +source of the map offset for the toolchain — do not re-derive it from the +geoReference +lat_0/+lon_0 (those are redundant for UTM). +""" + +from __future__ import annotations + +import math +from dataclasses import dataclass, field +from typing import List, Optional, Sequence, Tuple + +from shapely.geometry import Point, Polygon +from shapely.strtree import STRtree + +from .geometry import sample_reference_line +from .lanes import build_road_lanes +from .model import Junction, Lane, ParkingObject, Road +from .parser import parse_xodr_text + +DEFAULT_INTERVAL = 0.5 + + +def read_offset(path: str) -> Tuple[float, float, float]: + """Authoritative header (x, y, z) of a map file, without building lanes.""" + with open(path, encoding="utf-8", errors="ignore") as f: + _roads, _junctions, _parking, offset, _geo = parse_xodr_text(f.read()) + return offset + + +def _road_point_at_s(road: Road, s: float, interval: float) -> Tuple[float, float, float]: + """(x, y, hdg) at reference-line coordinate s on a road (nearest sample), local frame.""" + samples = sample_reference_line(road, interval) + nearest = min(samples, key=lambda r: abs(r[0] - s)) + return nearest[1], nearest[2], nearest[3] + + +def _parking_polygon(road: Road, obj: ParkingObject, interval: float) -> Polygon: + """Place a parking object's outline on its road (local frame).""" + rx, ry, rhdg = _road_point_at_s(road, obj.s, interval) + cx = rx - obj.t * math.sin(rhdg) + cy = ry + obj.t * math.cos(rhdg) + ang = rhdg + obj.hdg + ca, sa = math.cos(ang), math.sin(ang) + if len(obj.outline) >= 3: + local = obj.outline + else: + hl, hw = obj.length / 2.0, obj.width / 2.0 + local = [(-hl, -hw), (hl, -hw), (hl, hw), (-hl, hw)] + return Polygon([(cx + u * ca - v * sa, cy + u * sa + v * ca) for u, v in local]) + + +@dataclass +class RoadNetwork: + roads: List[Road] + lanes: List[Lane] + junctions: List[Junction] = field(default_factory=list) + parking: List[ParkingObject] = field(default_factory=list) + parking_polygons: List[Polygon] = field(default_factory=list) # placed, local frame + offset: Tuple[float, float, float] = (0.0, 0.0, 0.0) + geo_reference: Optional[str] = None + _tree: Optional[STRtree] = field(default=None, repr=False) + + # ----- constructors ------------------------------------------------- + @classmethod + def from_text( + cls, + text: str, + *, + lane_types: Optional[Sequence[str]] = None, + interval: float = DEFAULT_INTERVAL, + ) -> "RoadNetwork": + roads, junctions, parking, offset, geo_ref = parse_xodr_text(text) + lanes: List[Lane] = [] + for road in roads: + lanes.extend(build_road_lanes(road, interval, lane_types)) + roads_by_id = {r.id: r for r in roads} + parking_polygons = [] + for obj in parking: + road = roads_by_id.get(obj.road_id) + if road is None or not road.geom_segments: + continue + poly = _parking_polygon(road, obj, interval) + if not poly.is_empty: + parking_polygons.append(poly if poly.is_valid else poly.buffer(0)) + return cls(roads=roads, lanes=lanes, junctions=junctions, parking=parking, + parking_polygons=parking_polygons, offset=offset, geo_reference=geo_ref) + + @classmethod + def from_file( + cls, + path: str, + *, + lane_types: Optional[Sequence[str]] = None, + interval: float = DEFAULT_INTERVAL, + ) -> "RoadNetwork": + with open(path, encoding="utf-8", errors="ignore") as f: + return cls.from_text(f.read(), lane_types=lane_types, interval=interval) + + # ----- frame helpers ------------------------------------------------ + def to_global(self, x: float, y: float) -> Tuple[float, float]: + """Local map coords → projected CRS coords (absolute = local + offset).""" + return x + self.offset[0], y + self.offset[1] + + def to_local(self, x: float, y: float) -> Tuple[float, float]: + """Projected CRS coords → local map coords.""" + return x - self.offset[0], y - self.offset[1] + + # ----- spatial queries ---------------------------------------------- + @property + def tree(self) -> STRtree: + if self._tree is None: + self._tree = STRtree([ln.polygon for ln in self.lanes]) + return self._tree + + def assign_lane(self, x: float, y: float) -> Optional[Lane]: + """Return the lane whose polygon contains the LOCAL point (x, y), or None.""" + if not self.lanes: + return None + pt = Point(x, y) + for idx in self.tree.query(pt): + lane = self.lanes[int(idx)] + if lane.polygon.covers(pt): + return lane + return None diff --git a/opendrive-map/src/opendrive_map/parser.py b/opendrive-map/src/opendrive_map/parser.py new file mode 100644 index 0000000..baf2daa --- /dev/null +++ b/opendrive-map/src/opendrive_map/parser.py @@ -0,0 +1,150 @@ +"""Parse OpenDRIVE XML into the raw road model (local frame; no lanes built yet).""" + +from __future__ import annotations + +import logging +import math +import re +import xml.etree.ElementTree as ET +from typing import List, Optional, Tuple + +from .model import ( + Connection, + GeomSegment, + Junction, + LaneSection, + ParkingObject, + Poly, + RawLane, + Road, +) + +log = logging.getLogger("opendrive_map") + +_GEOM_KINDS = ("line", "arc", "spiral", "poly3", "paramPoly3") + + +def _polys(elements, *, with_soffset_attr: str = "sOffset", ctx: str = "") -> List[Poly]: + """Parse cubic-polynomial records, clamping negative sOffset and dropping non-finite ones.""" + out: List[Poly] = [] + for el in elements: + s = float(el.get(with_soffset_attr, 0.0)) + if s < 0.0: + log.warning("%s: %s=%g < 0, clamped to 0", ctx or "poly", with_soffset_attr, s) + s = 0.0 + coeffs = [float(el.get(k, 0.0)) for k in ("a", "b", "c", "d")] + if not all(math.isfinite(c) for c in coeffs): + log.warning("%s: non-finite coefficients %s at sOffset=%g, record dropped", ctx or "poly", coeffs, s) + continue + out.append(Poly(s, *coeffs)) + out.sort(key=lambda p: p.sOffset) + return out + + +def parse_offset(root: ET.Element) -> Tuple[float, float, float]: + """Authoritative header (absolute = local + offset). Defaults to 0.""" + off = root.find("header/offset") + if off is None: + return 0.0, 0.0, 0.0 + return float(off.get("x", 0.0)), float(off.get("y", 0.0)), float(off.get("z", 0.0)) + + +def parse_geo_reference(root: ET.Element) -> Optional[str]: + """Raw PROJ string, or None.""" + geo = root.find("header/geoReference") + return geo.text.strip() if geo is not None and geo.text else None + + +def _parse_road(road_el: ET.Element) -> Road: + road = Road( + id=road_el.get("id", ""), + length=float(road_el.get("length", 0.0)), + junction=road_el.get("junction", "-1"), + ) + + for g in road_el.findall("./planView/geometry"): + children = list(g) + kind = children[0].tag if children else "line" + params = dict(children[0].attrib) if children and kind in _GEOM_KINDS else {} + road.geom_segments.append( + GeomSegment( + s=float(g.get("s", 0.0)), + x=float(g.get("x", 0.0)), + y=float(g.get("y", 0.0)), + hdg=float(g.get("hdg", 0.0)), + length=float(g.get("length", 0.0)), + kind=kind if kind in _GEOM_KINDS else "line", + params=params, + ) + ) + + rid = road_el.get("id", "") + road.lane_offsets = _polys(road_el.findall("./lanes/laneOffset"), + with_soffset_attr="s", ctx=f"road {rid} laneOffset") + + for ls_el in road_el.findall("./lanes/laneSection"): + section = LaneSection(s=float(ls_el.get("s", 0.0))) + for side in ("left", "center", "right"): + side_el = ls_el.find(side) + if side_el is None: + continue + for lane_el in side_el.findall("lane"): + lid = int(lane_el.get("id", 0)) + if lid == 0: + continue + section.lanes.append( + RawLane( + id=lid, + type=lane_el.get("type", "none"), + widths=_polys(lane_el.findall("width"), ctx=f"road {rid} lane {lid} width"), + ) + ) + road.lane_sections.append(section) + + return road + + +def _parse_parking(road_el: ET.Element, road_id: str) -> List[ParkingObject]: + out: List[ParkingObject] = [] + for obj in road_el.findall("./objects/object"): + if obj.get("type") != "parking": + continue + outline = [ + (float(c.get("u", 0.0)), float(c.get("v", 0.0))) + for c in obj.findall("./outline/cornerLocal") + ] + out.append(ParkingObject( + road_id=road_id, + s=float(obj.get("s", 0.0)), + t=float(obj.get("t", 0.0)), + hdg=float(obj.get("hdg", 0.0)), + length=float(obj.get("length", 5.0)), + width=float(obj.get("width", 2.0)), + outline=outline, + )) + return out + + +def _parse_junction(j_el: ET.Element) -> Junction: + junction = Junction(id=j_el.get("id", "")) + for c in j_el.findall("connection"): + junction.connections.append( + Connection( + incoming_road=c.get("incomingRoad", ""), + connecting_road=c.get("connectingRoad", ""), + contact_point=c.get("contactPoint", ""), + ) + ) + return junction + + +def parse_xodr_text(text: str): + """Parse XODR text → (roads, junctions, parking, offset, geo_reference).""" + text = re.sub(r'\s+xmlns="[^"]+"', "", text) # strip default namespace + root = ET.fromstring(text) + roads = [_parse_road(r) for r in root.findall("road")] + junctions = [_parse_junction(j) for j in root.findall("junction")] + parking = [ + p for r in root.findall("road") for p in _parse_parking(r, r.get("id", "")) + ] + return roads, junctions, parking, parse_offset(root), parse_geo_reference(root) diff --git a/opendrive-map/tests/test_opendrive_map.py b/opendrive-map/tests/test_opendrive_map.py new file mode 100644 index 0000000..ec673af --- /dev/null +++ b/opendrive-map/tests/test_opendrive_map.py @@ -0,0 +1,185 @@ +"""Tests for opendrive-map, focused on the gaps the old parsers had.""" + +import numpy as np +import pytest +from opendrive_map import RoadNetwork +from opendrive_map.geometry import sample_reference_line + +# A straight 100 m road, one 3 m driving lane each side, header offset, UTM +# geoReference WITHOUT +lat_0/+lon_0 (the case that silently broke data-metrics). +STRAIGHT = """ +
+ +proj=utm +zone=33 +north +datum=WGS84 +units=m +no_defs + +
+ + + + + + + + + + + + +""" + +# Quarter-circle arc, radius 50 (curvature 0.02), one driving lane. +ARC = """ +
+ + + + + + + + + + +""" + +# Two lane sections + variable lane width (b != 0). +MULTISECTION = """ +
+ + + + + + + + + + + + + +""" + + +def test_offset_from_header_not_georef(): + """Offset must come from , even when geoReference lacks lat_0/lon_0.""" + net = RoadNetwork.from_text(STRAIGHT) + assert net.offset == (320000.0, 6375000.0, 0.0) + assert net.to_global(0.0, 0.0) == (320000.0, 6375000.0) + assert net.to_local(*net.to_global(12.0, 34.0)) == pytest.approx((12.0, 34.0)) + + +def test_straight_lane_geometry_and_assignment(): + net = RoadNetwork.from_text(STRAIGHT) + driving = [ln for ln in net.lanes if ln.type == "driving"] + assert len(driving) == 1 + lane = driving[0] + assert lane.length_m == pytest.approx(100.0, abs=1e-3) + assert lane.width_at(0.0) == pytest.approx(3.0) + # Left lane centre sits at +1.5 m (left of +x heading => +y). + assert net.assign_lane(50.0, 1.5) is lane + assert net.assign_lane(50.0, -1.5).type == "sidewalk" + assert net.assign_lane(50.0, 99.0) is None + + +def test_lane_type_filter(): + net = RoadNetwork.from_text(STRAIGHT, lane_types=["driving"]) + assert {ln.type for ln in net.lanes} == {"driving"} + + +def test_arc_is_not_degraded_to_line(): + net = RoadNetwork.from_text(ARC) + lane = net.lanes[0] + cl = lane.centerline + # Reference-line endpoint of a quarter circle radius 50 starting along +x: + # centre (0,50); end heading pi/2 -> point (50, 50). Lane centre offset +1.5 inward. + chord_mid = (cl[0] + cl[-1]) / 2.0 + actual_mid = cl[len(cl) // 2] + # A real arc bows away from the chord midpoint; a line would not. + assert np.linalg.norm(actual_mid - chord_mid) > 5.0 + # Arc length clearly exceeds the straight chord distance. + chord = np.linalg.norm(cl[-1] - cl[0]) + assert lane.length_m > chord + 5.0 + + +PARKING = """ +
+ + + + + + + + + + + + + + + + + + +""" + + +def test_parking_placement(): + net = RoadNetwork.from_text(PARKING) + assert len(net.parking) == 1 + assert len(net.parking_polygons) == 1 + poly = net.parking_polygons[0] + # Road runs along +x; object at s=50, t=-5 (right side) -> centre near (50, -5). + cx, cy = poly.centroid.x, poly.centroid.y + assert cx == pytest.approx(50.0, abs=1.0) + assert cy == pytest.approx(-5.0, abs=0.5) + assert poly.area == pytest.approx(5.0 * 2.5, rel=1e-6) # 5.0 x 2.5 outline + + +# Negative laneOffset sOffset (clamp to 0) + a NaN width record (dropped). +ROBUSTNESS = """ +
+ + + + + + + + + + + + + + +""" + + +def test_parser_robustness_clamp_and_drop(): + net = RoadNetwork.from_text(ROBUSTNESS) + road = net.roads[0] + assert road.lane_offsets[0].sOffset == 0.0 # negative sOffset clamped + widths = road.lane_sections[0].lanes[0].widths + assert len(widths) == 1 and widths[0].a == 3.0 # NaN width record dropped + + +def test_sampling_hits_breakpoints(): + net = RoadNetwork.from_text(STRAIGHT) + road = net.roads[0] + # Coarse interval that would skip s=5.0 and s=7.3 without forced breakpoints. + ss = [s for s, _x, _y, _h in sample_reference_line(road, interval=10.0, breakpoints={5.0, 7.3})] + assert any(abs(s - 5.0) < 1e-6 for s in ss) + assert any(abs(s - 7.3) < 1e-6 for s in ss) + + +def test_variable_width_and_multisection(): + net = RoadNetwork.from_text(MULTISECTION) + lanes = sorted(net.lanes, key=lambda ln: ln.section_s) + assert len(lanes) == 2 # both sections built (old parser used only the first) + s0, s1 = lanes + assert s0.section_s == 0.0 and 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"README.md" license = "MIT" diff --git a/orbit-georef/src/orbit_georef/transformer.py b/orbit-georef/src/orbit_georef/transformer.py index 6e6cab4..f6c65fb 100644 --- a/orbit-georef/src/orbit_georef/transformer.py +++ b/orbit-georef/src/orbit_georef/transformer.py @@ -134,6 +134,28 @@ def from_control_points( control_points=control_points, ) + def pixel_to_ground(self, pixel_x: float, pixel_y: float) -> Tuple[float, float]: + """Pixel → coordinates in the transform's native (matrix) frame, without geo conversion. + + For homography this is the ground plane the matrix was fitted to — the + ``proj_string`` CRS if one is set, otherwise equirectangular-local metres. + For affine it is the raw matrix output (longitude, latitude). Use this when the + caller wants coordinates in the projection frame the matrix was built in + (e.g. to match an OpenDRIVE ``geoReference``). + """ + q = self.transform_matrix @ np.array([pixel_x, pixel_y, 1.0]) + if self.method == "homography": + if abs(q[2]) < 1e-12: + return float("nan"), float("nan") + return float(q[0] / q[2]), float(q[1] / q[2]) + return float(q[0]), float(q[1]) + + def pixels_to_ground_batch( + self, points: List[Tuple[float, float]] + ) -> List[Tuple[float, float]]: + """Convert multiple pixel coordinates to native-frame ground coordinates.""" + return [self.pixel_to_ground(x, y) for x, y in points] + def pixel_to_geo(self, pixel_x: float, pixel_y: float, proj_string: str = None) -> Tuple[float, float]: """ Convert pixel coordinates to geographic coordinates. @@ -148,10 +170,7 @@ def pixel_to_geo(self, pixel_x: float, pixel_y: float, proj_string: str = None) """ if self.method == "homography": # Homography: pixel → projected coords → geo - pixel_homo = np.array([pixel_x, pixel_y, 1.0]) - ground_homo = self.transform_matrix @ pixel_homo - mx = ground_homo[0] / ground_homo[2] - my = ground_homo[1] / ground_homo[2] + mx, my = self.pixel_to_ground(pixel_x, pixel_y) if self.proj_string: # Matrix was fitted in self.proj_string CRS — invert back to lon/lat diff --git a/pyproject.toml b/pyproject.toml index 9cbda40..9fee81e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "orbit" -version = "0.12.1" +version = "0.13.0" description = "OpenDrive Road Builder from Imagery Tool" readme = "README.md" requires-python = ">=3.10" diff --git a/uv.lock b/uv.lock index 565e3a4..59b2365 100644 --- a/uv.lock +++ b/uv.lock @@ -524,7 +524,7 @@ wheels = [ [[package]] name = "orbit" -version = "0.12.0" +version = "0.13.0" source = { editable = "." } dependencies = [ { name = "geomag" },