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add a script to adjust lat lng of MapData.geojson
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Signed-off-by: Masayuki Murata <[email protected]>
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@muratams
muratams committed Mar 4, 2025
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279 changes: 279 additions & 0 deletions mf_localization_mapping/script/adjust_mapdata_latlng.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Copyright (c) 2025 IBM Corporation
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

import argparse
import json


def main():
parser = argparse.ArgumentParser()
parser.add_argument("-i", "--input", required=True, help="input MapData.geojson file")
parser.add_argument("-o", "--output", help="output geojson file")
parser.add_argument("--floors", nargs="*", type=int, help="a list of floors of which lat and lng values are adjusted")
parser.add_argument("--d_lat", type=float, default=0.0, help="latitude difference. lat_new = lat + d_lat")
parser.add_argument("--d_lng", type=float, default=0.0, help="longitude difference. lng_new = lng + d_lng")

args = parser.parse_args()

filename = args.input
filename_out = args.output
floors = args.floors
d_lat = args.d_lat
d_lng = args.d_lng

if filename == filename_out:
raise RuntimeError("input file must be different from output file.")

with open(filename) as f:
mapdata = json.load(f)

features = mapdata["features"]

feature_db = {}
for feature in features:
_id = feature["_id"]
feature_db[_id] = feature

new_features = []

for feature in features:
# print(feature)

if feature["type"] == "Feature":
geometry = feature["geometry"]

if geometry["type"] == "Point" \
or geometry["type"] == "LineString" \
or geometry["type"] == "Polygon":
pass # do nothing
else:
raise RuntimeError("unknown geometry type")

_id = feature["_id"]

if _id.startswith("EDITOR_node"):
print("node")
"""
{
"type": "Feature",
"geometry": {
"type": "Point",
"coordinates": [
lng_0,
lat_0
]
},
"properties": {
"lat": lat,
"lon": lon,
"floor": floor,
"link1_id": "EDITOR_link_",
"link2_id": "EDITOR_link_",
"link3_id": "EDITOR_link_",
"node_id": "EDITOR_node_"
},
"_id": "EDITOR_node_"
}
"""
coordinates = geometry["coordinates"]
properties = feature["properties"]

lat = coordinates[1]
lng = coordinates[0]
floor_ = properties["floor"]
if floor_ in floors:
lat = lat + d_lat
lng = lng + d_lng

coordinates[0] = lng
coordinates[1] = lat

feature["geometry"]["coordinates"][0] = lng
feature["geometry"]["coordinates"][1] = lat

feature["properties"]["lat"]= lat
feature["properties"]["lon"]= lng

print(feature)
elif _id.startswith("EDITOR_link"):
print("link")
"""
{
"type": "Feature",
"geometry": {
"type": "LineString",
"coordinates": [
[
lng_0,
lat_0
],
[
lng_1,
lat_1
]
]
},
"properties": {
"start_id": "EDITOR_node_0",
"end_id": "EDITOR_node_1",
"link_id": "EDITOR_link_ID",
......
},
"_id": "EDITOR_link_ID"
}
or
{
"type": "Feature",
"geometry": {
"type": "Point",
"coordinates": [
lng_0,
lat_0
]
},
"properties": {
"start_id": "EDITOR_node_0",
"end_id": "EDITOR_node_1",
"link_id": "EDITOR_link_ID",
......
},
"_id": "EDITOR_link_ID"
}
"""

# check floor
start_id = feature["properties"]["start_id"]
end_id = feature["properties"]["end_id"]

start_floor = feature_db[start_id]["properties"]["floor"]
end_floor = feature_db[end_id]["properties"]["floor"]

if geometry["type"] == "LineString": # standard link
if start_floor in floors:
feature["geometry"]["coordinates"][0][0] += d_lng
feature["geometry"]["coordinates"][0][1] += d_lat
if end_floor in floors:
feature["geometry"]["coordinates"][1][0] += d_lng
feature["geometry"]["coordinates"][1][1] += d_lat

print(feature)
elif geometry["type"] == "Point": # vertical link (e.g. elevator)
if start_floor in floors or end_floor in floors:
print(feature)
feature["geometry"]["coordinates"][0] += d_lng
feature["geometry"]["coordinates"][1] += d_lat

elif _id.startswith("EDITOR_facil") or _id.startswith("EDITOR_poi"):
print("facil or poi")
"""
{
"type": "Feature",
"geometry": {
"type": "Point",
"coordinates": [
lng_0,
lat_0
]
},
"properties": {
"ent1_node": "EDITOR_node_ENT1",
"ent1_lat": ent1_lat,
"ent1_lon": ent1_lng,
"ent1_fl": ent1_floor,
"ent1_n": "",
"facil_id": "EDITOR_facil_ID",
"lat": lat_0,
"lon": lng_0,
"name_ja": name_ja,
"name_en": name_en,
......
},
"_id": "EDITOR_facil_ID"
}
"""
"""
{
"type": "Feature",
"geometry": {
"type": "Point",
"coordinates": [
lng_0,
lat_0
]
},
"properties": {
"lat": lat_0,
"lon": lng_0,
"hulop_major_category": hulop_major_category,
"hulop_sub_category": hulop_sub_category,
"hulop_height": hulop_height,
"hulop_content": "...",
"facil_id": "EDITOR_facil_ID",
......
},
"_id": "EDITOR_facil_ID"
}
"""

if "ent1_node" in feature["properties"]:
start_floor = feature_db[feature["properties"]["ent1_node"]]["properties"]["floor"]
if start_floor in floors:
feature["geometry"]["coordinates"][0] += d_lng
feature["geometry"]["coordinates"][1] += d_lat

for i in range(10):
if "ent"+str(i)+"_node" in feature["properties"]:
feature["properties"]["ent"+str(i)+"_lat"] += d_lat
feature["properties"]["ent"+str(i)+"_lon"] += d_lng

elif "hulop_major_category" in feature["properties"]:
floor = feature["properties"]["hulop_height"]
if floor in floors:
feature["geometry"]["coordinates"][0] += d_lng
feature["geometry"]["coordinates"][1] += d_lat
feature["properties"]["lon"] += d_lng
feature["properties"]["lat"] += d_lat
else:
print("feature="+str(feature))
print("unknown facil node")
# raise RuntimeError("unknown facil node")
elif _id.startswith("EDITOR_area"):
print("area")
pass # do nothing
else:
raise RuntimeError("unknow feature ID prefix. feature="+str(feature))
# print(feature["_id"])
else:
raise RuntimeError("unknow type")

new_features.append(feature)

mapdata["features"] = new_features

if filename_out is not None:
with open(filename_out, "w") as f:
json.dump(mapdata, f, indent="\t", ensure_ascii=False)


if __name__ == "__main__":
main()

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