eproj-core 0.0.1-alpha.9

Core primitives and operations for coordinate reference system transformations.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156

use crate::Coordinate3;
use crate::bindings::proj::{Coord, Proj};
use crate::error::Error;
use crate::srid::SpatialReferenceIdentifier;
use nalgebra::{Isometry3, Point3, Translation3, UnitQuaternion, Vector3};

#[derive(Debug, Clone)]
pub struct Projector {
    from: SpatialReferenceIdentifier,
    to: SpatialReferenceIdentifier,
    proj: Proj,
}

impl Projector {
    pub fn new(
        from: SpatialReferenceIdentifier,
        to: SpatialReferenceIdentifier,
    ) -> Result<Self, Error> {
        let proj = Proj::new_known_crs(from.as_str(), to.as_str(), None)?;

        let projector = Self { from, to, proj };
        Ok(projector)
    }

    pub fn convert(&self, point: Coordinate3) -> Result<Coordinate3, Error> {
        let result = self.proj.convert((point.x(), point.y(), point.z()))?;
        let resulting_point = Coordinate3::new(result.x(), result.y(), result.z());

        Ok(resulting_point)
    }

    pub fn convert_point(&self, point: Point3<f64>) -> Result<Point3<f64>, Error> {
        let result = self.proj.convert((point.x, point.y, point.z))?;
        let resulting_point = Point3::new(result.x(), result.y(), result.z());

        Ok(resulting_point)
    }

    pub fn convert_points(&self, points: Vec<Point3<f64>>) -> Result<Vec<Point3<f64>>, Error> {
        let mut proj_points: Vec<(f64, f64, f64)> =
            points.into_iter().map(|p| (p.x, p.y, p.z)).collect();
        let result = self.proj.convert_array(&mut proj_points)?;
        let resulting_points: Vec<Point3<f64>> = result
            .iter_mut()
            .map(|p| Point3::new(p.x(), p.y(), p.z()))
            .collect();

        Ok(resulting_points)
    }

    pub fn convert_isometry(&self, isometry: Isometry3<f64>) -> Result<Isometry3<f64>, Error> {
        let converted_point: Point3<f64> =
            self.convert_point(isometry.translation.vector.into())?;
        let x_axis: Point3<f64> = isometry * Point3::new(1.0, 0.0, 0.0);
        let y_axis: Point3<f64> = isometry * Point3::new(0.0, 1.0, 0.0);
        // let z_axis: Point3<f64> = isometry * Point3::new(0.0, 0.0, 1.0);
        let converted_x_axis: Vector3<f64> =
            self.convert_point(x_axis)?.coords - converted_point.coords;
        let converted_y_axis: Vector3<f64> =
            self.convert_point(y_axis)?.coords - converted_point.coords;
        // let converted_z_axis: Vector3<f64> =
        //    self.convert_point(z_axis)?.coords - converted_point.coords;

        let translation =
            Translation3::new(converted_point.x, converted_point.y, converted_point.z);
        let rotation = nalgebra::Rotation3::from_basis_unchecked(&[
            converted_x_axis,
            converted_y_axis,
            converted_x_axis.cross(&converted_y_axis),
        ]);
        // rotation.renormalize();
        let isometry =
            Isometry3::from_parts(translation, UnitQuaternion::from_rotation_matrix(&rotation));
        Ok(isometry)
    }
}

#[cfg(test)]
mod tests {
    use crate::{Coordinate3, Projector, SpatialReferenceIdentifier};
    use nalgebra::{Isometry3, Point3, UnitQuaternion};
    use std::f64::consts::PI;

    #[test]
    fn it_works() {
        let projection = Projector::new(
            SpatialReferenceIdentifier::Epsg25832,
            SpatialReferenceIdentifier::Epsg4978,
        )
        .unwrap();

        let _result = projection
            .convert(Coordinate3::new(691045.828, 5336014.506, 534.671))
            .unwrap();

        // assert_eq!(result, 4);
    }

    #[test]
    fn test_projection_point() {
        let projection = Projector::new(
            SpatialReferenceIdentifier::Epsg4978,
            SpatialReferenceIdentifier::Epsg4979,
        )
        .unwrap();

        let result = projection
            .convert(Coordinate3::new(
                4177139.6424619956,
                855008.837066541,
                4728267.313036945,
            ))
            .unwrap();
    }

    #[test]
    fn test_projection_points() {
        let projection = Projector::new(
            SpatialReferenceIdentifier::Epsg4978,
            SpatialReferenceIdentifier::Epsg4979,
        )
        .unwrap();

        let points = vec![
            Point3::new(4177139.6424619956, 855008.837066541, 4728267.313036945),
            Point3::new(4177139.6424619956, 855008.837066541, 4728267.313036945),
        ];

        let result = projection.convert_points(points).unwrap();
        println!("Result: {result:?}");
    }

    #[test]
    fn test_convert_isometry() {
        let projection = Projector::new(
            SpatialReferenceIdentifier::Epsg25832,
            SpatialReferenceIdentifier::Epsg4326,
        )
        .unwrap();

        let isometry = Isometry3::from_parts(
            Point3::new(691045.828, 5336014.506, 534.671).into(),
            UnitQuaternion::from_euler_angles(0.0, 0.0, PI),
        );
        println!("isometry {:?}", isometry.rotation.euler_angles());

        let converted_isometry = projection.convert_isometry(isometry).unwrap();
        println!(
            "converted_isometry {:?}",
            converted_isometry.rotation.euler_angles()
        );
        let _affine = isometry.to_matrix();

        // assert_eq!(result, 4);
    }
}