npm - @drawtonomy/sdk - Versions diffs - 0.7.0 → 0.8.0 - Mend

@drawtonomy/sdk 0.7.0 → 0.8.0

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Files changed (14) hide show

package/dist/exporter/index.d.ts +1 -0
package/dist/exporter/index.d.ts.map +1 -1
package/dist/exporter/index.js +1 -0
package/dist/exporter/index.js.map +1 -1
package/dist/exporter/opendrive.d.ts.map +1 -1
package/dist/exporter/opendrive.js +54 -1
package/dist/exporter/opendrive.js.map +1 -1
package/dist/exporter/projection.d.ts +36 -0
package/dist/exporter/projection.d.ts.map +1 -0
package/dist/exporter/projection.js +65 -0
package/dist/exporter/projection.js.map +1 -0
package/dist/types.d.ts +11 -0
package/dist/types.d.ts.map +1 -1
package/package.json +1 -1

package/dist/exporter/index.d.ts CHANGED Viewed

@@ -1,4 +1,5 @@
 export { exportToOpenDrive } from './opendrive';
+export { latLonToTmercProj, latLonToUtmProj, originToProjString, FALLBACK_GEO_REFERENCE, type GeoOrigin, } from './projection';
 export { exportToOpenScenario, templateIdToVehicleCategory, type OpenScenarioExportOptions, type TemplateResolver, } from './openscenario';
 export { buildPathTrajectory, DEFAULT_PATH_SPEED_MPS, type PathSamplePoint, type PathTrajectoryInput, } from './trajectory';
 export { computeCenterlineWithWidth, sampleAtParam, computeHeadings, type Point2D, type CenterlineSample, } from './laneCenterline';

package/dist/exporter/index.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AASA,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,sBAAsB,EACtB,KAAK,SAAS,GACf,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,oBAAoB,EACpB,2BAA2B,EAC3B,KAAK,yBAAyB,EAC9B,KAAK,gBAAgB,GACtB,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,EACtB,KAAK,eAAe,EACpB,KAAK,mBAAmB,GACzB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,EACf,KAAK,OAAO,EACZ,KAAK,gBAAgB,GACtB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAE,KAAK,oBAAoB,EAAE,KAAK,mBAAmB,EAAE,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAE,KAAK,QAAQ,EAAE,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,kBAAkB,EAClB,KAAK,qBAAqB,EAC1B,KAAK,UAAU,EACf,KAAK,SAAS,GACf,MAAM,YAAY,CAAA;AACnB,OAAO,EACL,WAAW,EACX,cAAc,EACd,cAAc,EACd,KAAK,OAAO,EACZ,KAAK,OAAO,EACZ,KAAK,MAAM,EACX,KAAK,WAAW,GACjB,MAAM,aAAa,CAAA;AACpB,OAAO,EACL,WAAW,EACX,eAAe,EACf,sBAAsB,EACtB,KAAK,cAAc,EACnB,KAAK,aAAa,EAClB,KAAK,kBAAkB,EACvB,KAAK,YAAY,EACjB,KAAK,YAAY,EACjB,KAAK,kBAAkB,EACvB,KAAK,gBAAgB,GACtB,MAAM,eAAe,CAAA"}

package/dist/exporter/index.js CHANGED Viewed

@@ -7,6 +7,7 @@
 // turns OSM XML back into editor-ready primitives (points / linestrings /
 // lanes), enabling round-trip workflows.
 export { exportToOpenDrive } from './opendrive';
+export { latLonToTmercProj, latLonToUtmProj, originToProjString, FALLBACK_GEO_REFERENCE, } from './projection';
 export { exportToOpenScenario, templateIdToVehicleCategory, } from './openscenario';
 export { buildPathTrajectory, DEFAULT_PATH_SPEED_MPS, } from './trajectory';
 export { computeCenterlineWithWidth, sampleAtParam, computeHeadings, } from './laneCenterline';

package/dist/exporter/index.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AAAA,qCAAqC;AACrC,EAAE;AACF,4EAA4E;AAC5E,4EAA4E;AAC5E,8EAA8E;AAC9E,6EAA6E;AAC7E,0EAA0E;AAC1E,yCAAyC;AAEzC,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,oBAAoB,EACpB,2BAA2B,GAG5B,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,GAGvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,GAGhB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAuD,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAiB,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,kBAAkB,GAInB,MAAM,YAAY,CAAA;AACnB,OAAO,EACL,WAAW,EACX,cAAc,EACd,cAAc,GAKf,MAAM,aAAa,CAAA;AACpB,OAAO,EACL,WAAW,EACX,eAAe,EACf,sBAAsB,GAQvB,MAAM,eAAe,CAAA"}
1	+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/exporter/index.ts"],"names":[],"mappings":"AAAA,qCAAqC;AACrC,EAAE;AACF,4EAA4E;AAC5E,4EAA4E;AAC5E,8EAA8E;AAC9E,6EAA6E;AAC7E,0EAA0E;AAC1E,yCAAyC;AAEzC,OAAO,EAAE,iBAAiB,EAAE,MAAM,aAAa,CAAA;AAC/C,OAAO,EACL,iBAAiB,EACjB,eAAe,EACf,kBAAkB,EAClB,sBAAsB,GAEvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,oBAAoB,EACpB,2BAA2B,GAG5B,MAAM,gBAAgB,CAAA;AACvB,OAAO,EACL,mBAAmB,EACnB,sBAAsB,GAGvB,MAAM,cAAc,CAAA;AACrB,OAAO,EACL,0BAA0B,EAC1B,aAAa,EACb,eAAe,GAGhB,MAAM,kBAAkB,CAAA;AACzB,OAAO,EAAE,cAAc,EAAuD,MAAM,iBAAiB,CAAA;AACrG,OAAO,EAAE,QAAQ,EAAiB,MAAM,OAAO,CAAA;AAC/C,OAAO,EAAE,oBAAoB,EAAE,MAAM,YAAY,CAAA;AACjD,OAAO,EAAE,gBAAgB,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,EACL,gBAAgB,EAChB,kBAAkB,EAClB,kBAAkB,GAInB,MAAM,YAAY,CAAA;AACnB,OAAO,EACL,WAAW,EACX,cAAc,EACd,cAAc,GAKf,MAAM,aAAa,CAAA;AACpB,OAAO,EACL,WAAW,EACX,eAAe,EACf,sBAAsB,GAQvB,MAAM,eAAe,CAAA"}

package/dist/exporter/opendrive.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"opendrive.d.ts","sourceRoot":"","sources":["../../src/exporter/opendrive.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAGV,kBAAkB,EAMnB,MAAM,UAAU,CAAA;AAilBjB;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,QAAQ,EAAE,kBAAkB,GAAG,MAAM,CAuEtE"}

package/dist/exporter/opendrive.js CHANGED Viewed

@@ -8,6 +8,7 @@
 // - Lane connectivity (next/prev) is written into <link>
 // - Coordinate frame: canvas (x right, y down) → ENU (x right, y up); y is flipped
 import { computeCenterlineWithWidth } from './laneCenterline';
+import { originToProjString } from './projection';
 import { escapeXml, fmt, pxToEnuX, pxToEnuY, pxToMeter } from './units';
 /** O(1) shape lookup by id. */
 function buildShapeMap(shapes) {
@@ -538,10 +539,21 @@ export function exportToOpenDrive(snapshot) {
     const laneIdToRoadId = new Map();
     lanes.forEach((lane, i) => laneIdToRoadId.set(lane.id, i + 1));
     const dateStr = new Date().toISOString();
+    const bbox = computeEnuBoundingBox(shapeMap);
+    const geoRefProj = originToProjString(snapshot.origin);
     const lines = [];
     lines.push(`<?xml version="1.0" encoding="UTF-8"?>`);
     lines.push(`<OpenDRIVE>`);
-    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" north="0" south="0" east="0" west="0" vendor="drawtonomy"/>`);
+    // OpenDRIVE 1.8 expects <geoReference> inside <header>. We always emit one —
+    // tmerc-at-origin when snapshot.origin is set, WGS84 longlat as a fallback —
+    // so downstream tools (esmini, RoadRunner, asam-qc-opendrive) see a defined
+    // coordinate reference system rather than nothing. The N/S/E/W attributes
+    // are populated from the actual point cloud so the header bbox reflects the
+    // map extent in ENU metres.
+    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" ` +
+        `north="${fmt(bbox.north)}" south="${fmt(bbox.south)}" east="${fmt(bbox.east)}" west="${fmt(bbox.west)}" vendor="drawtonomy">`);
+    lines.push(`    <geoReference><![CDATA[${escapeCdata(geoRefProj)}]]></geoReference>`);
+    lines.push(`  </header>`);
     const pointOverrides = buildBoundaryAlignmentOverrides(shapeMap, lanes);
     const laneToGeom = new Map();
     for (const lane of lanes) {
@@ -562,4 +574,45 @@ export function exportToOpenDrive(snapshot) {
     lines.push(`</OpenDRIVE>`);
     return lines.join('\n');
 }
+/**
+ * Compute the axis-aligned bounding box of all point shapes in ENU metres.
+ * Used to populate OpenDRIVE <header> north/south/east/west attributes.
+ * Returns zeros when the snapshot has no points.
+ */
+function computeEnuBoundingBox(shapeMap) {
+    let minX = Infinity;
+    let maxX = -Infinity;
+    let minY = Infinity;
+    let maxY = -Infinity;
+    for (const s of shapeMap.values()) {
+        if (s.type !== 'point')
+            continue;
+        if (s.x < minX)
+            minX = s.x;
+        if (s.x > maxX)
+            maxX = s.x;
+        if (s.y < minY)
+            minY = s.y;
+        if (s.y > maxY)
+            maxY = s.y;
+    }
+    if (!Number.isFinite(minX)) {
+        return { north: 0, south: 0, east: 0, west: 0 };
+    }
+    // Canvas y points down, ENU y points up — flip when reporting bounds.
+    return {
+        west: pxToEnuX(minX),
+        east: pxToEnuX(maxX),
+        south: pxToEnuY(maxY),
+        north: pxToEnuY(minY),
+    };
+}
+/**
+ * Escape a string so it can appear safely inside an XML CDATA section. The
+ * only character sequence that ends a CDATA section is `]]>`, so we split it
+ * across two CDATA sections.
+ */
+function escapeCdata(s) {
+    return s.replace(/]]>/g, ']]]]><![CDATA[>');
+}
 //# sourceMappingURL=opendrive.js.map

package/dist/exporter/opendrive.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/exporter/projection.d.ts ADDED Viewed

@@ -0,0 +1,36 @@
+/**
+ * Geographic anchor expressed as WGS84 lat/lon (and optional heading).
+ * Used to derive a local PROJ string anchored at this point.
+ */
+export interface GeoOrigin {
+    lat: number;
+    lon: number;
+    /** Heading of the local page +x axis clockwise from north, in radians. */
+    headingRad?: number;
+}
+/**
+ * Fallback PROJ string used when no geographic origin is available. It still
+ * declares WGS84 explicitly so downstream tools see a defined CRS rather than
+ * an empty <geoReference>.
+ */
+export declare const FALLBACK_GEO_REFERENCE = "+proj=longlat +datum=WGS84 +no_defs";
+/**
+ * Build a Transverse Mercator (tmerc) PROJ.4 string anchored at the given
+ * lat/lon. tmerc is preferred over UTM for small-area maps (sub-km) because
+ * it avoids UTM zone boundary distortion and minimises error near the origin.
+ */
+export declare function latLonToTmercProj(lat: number, lon: number): string;
+/**
+ * Build a UTM PROJ.4 string for the UTM zone containing the given lon. The
+ * hemisphere is selected from the sign of lat. Use this when the consumer
+ * expects a globally-named UTM zone rather than a tmerc-at-origin.
+ */
+export declare function latLonToUtmProj(lat: number, lon: number): string;
+/**
+ * Choose a PROJ.4 string for the given origin. Defaults to tmerc-at-origin,
+ * which is appropriate for the small-area maps that this SDK typically
+ * exports. Falls back to a generic WGS84 longlat string when origin is absent
+ * or malformed.
+ */
+export declare function originToProjString(origin: GeoOrigin | undefined | null, method?: 'tmerc' | 'utm'): string;
+//# sourceMappingURL=projection.d.ts.map

package/dist/exporter/projection.d.ts.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"projection.d.ts","sourceRoot":"","sources":["../../src/exporter/projection.ts"],"names":[],"mappings":"AAUA;;;GAGG;AACH,MAAM,WAAW,SAAS;IACxB,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,0EAA0E;IAC1E,UAAU,CAAC,EAAE,MAAM,CAAA;CACpB;AAED;;;;GAIG;AACH,eAAO,MAAM,sBAAsB,wCAAwC,CAAA;AAE3E;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAYlE;AAED;;;;GAIG;AACH,wBAAgB,eAAe,CAAC,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAMhE;AAED;;;;;GAKG;AACH,wBAAgB,kBAAkB,CAChC,MAAM,EAAE,SAAS,GAAG,SAAS,GAAG,IAAI,EACpC,MAAM,GAAE,OAAO,GAAG,KAAe,GAChC,MAAM,CAaR"}

package/dist/exporter/projection.js ADDED Viewed

@@ -0,0 +1,65 @@
+// PROJ.4 string helpers used by the OpenDRIVE exporter to populate
+// <header><geoReference>.
+//
+// OpenDRIVE 1.8 expects the <geoReference> child of <header> to declare the
+// coordinate reference system as a PROJ.4 string (or similar). Without it,
+// downstream tools (esmini, RoadRunner, CARLA, asam-qc-opendrive) cannot
+// interpret the map's coordinates consistently.
+//
+// No external dependencies — these are pure formatting helpers.
+/**
+ * Fallback PROJ string used when no geographic origin is available. It still
+ * declares WGS84 explicitly so downstream tools see a defined CRS rather than
+ * an empty <geoReference>.
+ */
+export const FALLBACK_GEO_REFERENCE = '+proj=longlat +datum=WGS84 +no_defs';
+/**
+ * Build a Transverse Mercator (tmerc) PROJ.4 string anchored at the given
+ * lat/lon. tmerc is preferred over UTM for small-area maps (sub-km) because
+ * it avoids UTM zone boundary distortion and minimises error near the origin.
+ */
+export function latLonToTmercProj(lat, lon) {
+    return [
+        '+proj=tmerc',
+        `+lat_0=${lat.toFixed(8)}`,
+        `+lon_0=${lon.toFixed(8)}`,
+        '+k=1',
+        '+x_0=0',
+        '+y_0=0',
+        '+datum=WGS84',
+        '+units=m',
+        '+no_defs',
+    ].join(' ');
+}
+/**
+ * Build a UTM PROJ.4 string for the UTM zone containing the given lon. The
+ * hemisphere is selected from the sign of lat. Use this when the consumer
+ * expects a globally-named UTM zone rather than a tmerc-at-origin.
+ */
+export function latLonToUtmProj(lat, lon) {
+    const zone = Math.floor((lon + 180) / 6) + 1;
+    const parts = ['+proj=utm', `+zone=${zone}`];
+    if (lat < 0)
+        parts.push('+south');
+    parts.push('+datum=WGS84', '+units=m', '+no_defs');
+    return parts.join(' ');
+}
+/**
+ * Choose a PROJ.4 string for the given origin. Defaults to tmerc-at-origin,
+ * which is appropriate for the small-area maps that this SDK typically
+ * exports. Falls back to a generic WGS84 longlat string when origin is absent
+ * or malformed.
+ */
+export function originToProjString(origin, method = 'tmerc') {
+    if (!origin ||
+        typeof origin.lat !== 'number' ||
+        typeof origin.lon !== 'number' ||
+        !Number.isFinite(origin.lat) ||
+        !Number.isFinite(origin.lon)) {
+        return FALLBACK_GEO_REFERENCE;
+    }
+    return method === 'utm'
+        ? latLonToUtmProj(origin.lat, origin.lon)
+        : latLonToTmercProj(origin.lat, origin.lon);
+}
+//# sourceMappingURL=projection.js.map

package/dist/exporter/projection.js.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"projection.js","sourceRoot":"","sources":["../../src/exporter/projection.ts"],"names":[],"mappings":"AAAA,mEAAmE;AACnE,0BAA0B;AAC1B,EAAE;AACF,4EAA4E;AAC5E,2EAA2E;AAC3E,yEAAyE;AACzE,gDAAgD;AAChD,EAAE;AACF,gEAAgE;AAahE;;;;GAIG;AACH,MAAM,CAAC,MAAM,sBAAsB,GAAG,qCAAqC,CAAA;AAE3E;;;;GAIG;AACH,MAAM,UAAU,iBAAiB,CAAC,GAAW,EAAE,GAAW;IACxD,OAAO;QACL,aAAa;QACb,UAAU,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE;QAC1B,UAAU,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE;QAC1B,MAAM;QACN,QAAQ;QACR,QAAQ;QACR,cAAc;QACd,UAAU;QACV,UAAU;KACX,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;AACb,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,eAAe,CAAC,GAAW,EAAE,GAAW;IACtD,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAA;IAC5C,MAAM,KAAK,GAAG,CAAC,WAAW,EAAE,SAAS,IAAI,EAAE,CAAC,CAAA;IAC5C,IAAI,GAAG,GAAG,CAAC;QAAE,KAAK,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAA;IACjC,KAAK,CAAC,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,UAAU,CAAC,CAAA;IAClD,OAAO,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;AACxB,CAAC;AAED;;;;;GAKG;AACH,MAAM,UAAU,kBAAkB,CAChC,MAAoC,EACpC,SAA0B,OAAO;IAEjC,IACE,CAAC,MAAM;QACP,OAAO,MAAM,CAAC,GAAG,KAAK,QAAQ;QAC9B,OAAO,MAAM,CAAC,GAAG,KAAK,QAAQ;QAC9B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,GAAG,CAAC;QAC5B,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,GAAG,CAAC,EAC5B,CAAC;QACD,OAAO,sBAAsB,CAAA;IAC/B,CAAC;IACD,OAAO,MAAM,KAAK,KAAK;QACrB,CAAC,CAAC,eAAe,CAAC,MAAM,CAAC,GAAG,EAAE,MAAM,CAAC,GAAG,CAAC;QACzC,CAAC,CAAC,iBAAiB,CAAC,MAAM,CAAC,GAAG,EAAE,MAAM,CAAC,GAAG,CAAC,CAAA;AAC/C,CAAC"}

package/dist/types.d.ts CHANGED Viewed

@@ -192,6 +192,17 @@ export interface DrawtonomySnapshot {
         y: number;
         z: number;
     };
+    /**
+     * Optional geographic anchor for the scene, expressed as WGS84 lat/lon plus
+     * an optional heading of the page +x axis clockwise from north (radians).
+     * When present, the OpenDRIVE exporter uses this to populate
+     * <header><geoReference> with a PROJ.4 string.
+     */
+    origin?: {
+        lat: number;
+        lon: number;
+        headingRad?: number;
+    };
 }
 export type ExtensionCapability = 'shapes:write' | 'shapes:read' | 'snapshot:read' | 'snapshot:export' | 'viewport:read' | 'selection:read' | 'ui:panel' | 'ui:notify';
 export interface ExtensionManifest {

package/dist/types.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@drawtonomy/sdk",
-  "version": "0.7.0",
+  "version": "0.8.0",
   "description": "SDK for building drawtonomy extensions",
   "type": "module",
   "main": "./dist/index.js",