Initial support for Mapillary point clouds

Signed-off-by: Taylor Smock <[email protected]>

src/main/java/org/openstreetmap/josm/plugins/mapillary/MapillaryPlugin.java

@@ -24,6 +24,7 @@
 import org.openstreetmap.josm.plugins.mapillary.actions.MapPointObjectLayerAction;
 import org.openstreetmap.josm.plugins.mapillary.actions.MapillaryDownloadAction;
 import org.openstreetmap.josm.plugins.mapillary.actions.MapillaryExportAction;
+import org.openstreetmap.josm.plugins.mapillary.actions.MapillaryPointCloudAction;
 import org.openstreetmap.josm.plugins.mapillary.actions.MapillaryZoomAction;
 import org.openstreetmap.josm.plugins.mapillary.data.mapillary.VectorDataSelectionListener;
 import org.openstreetmap.josm.plugins.mapillary.data.mapillary.smartedit.IgnoredObjects;
@@ -104,6 +105,10 @@ public MapillaryPlugin(PluginInformation info) {
         mapPointObjectLayerAction.updateEnabledState();
         destroyables.add(mapPointObjectLayerAction);
 
+        MapillaryPointCloudAction mapillaryPointCloudAction = new MapillaryPointCloudAction();
+        MainMenu.add(menu.imagerySubMenu, mapillaryPointCloudAction, true); // FIXME expert until stable
+        destroyables.add(mapillaryPointCloudAction);
+
         // TODO remove in destroy (not currently possible)
         RequestProcessor.addRequestHandlerClass("photo", MapillaryRemoteControl.class);
         RequestProcessor.addRequestHandlerClass("mapillaryfilter", MapillaryFilterRemoteControl.class);

src/main/java/org/openstreetmap/josm/plugins/mapillary/actions/MapillaryPointCloudAction.java

@@ -0,0 +1,65 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.actions;
+
+import static org.openstreetmap.josm.tools.I18n.tr;
+
+import java.awt.event.ActionEvent;
+import java.awt.event.KeyEvent;
+import java.io.IOException;
+import java.io.UncheckedIOException;
+import java.net.URI;
+
+import javax.swing.JOptionPane;
+
+import org.openstreetmap.josm.actions.JosmAction;
+import org.openstreetmap.josm.gui.MainApplication;
+import org.openstreetmap.josm.gui.Notification;
+import org.openstreetmap.josm.plugins.mapillary.MapillaryPlugin;
+import org.openstreetmap.josm.plugins.mapillary.gui.layer.MapillaryLayer;
+import org.openstreetmap.josm.plugins.mapillary.gui.layer.pointcloud.MapillaryPointCloudLayer;
+import org.openstreetmap.josm.plugins.mapillary.oauth.OAuthUtils;
+import org.openstreetmap.josm.plugins.mapillary.spi.preferences.MapillaryConfig;
+import org.openstreetmap.josm.plugins.mapillary.utils.MapillaryImageUtils;
+import org.openstreetmap.josm.tools.ImageProvider;
+import org.openstreetmap.josm.tools.Shortcut;
+
+/**
+ * An action to add point clouds as aerial imagery
+ */
+public class MapillaryPointCloudAction extends JosmAction {
+    /**
+     * Create a new action
+     */
+    public MapillaryPointCloudAction() {
+        super(tr("Mapillary Point Cloud (experimental)"),
+            new ImageProvider(MapillaryPlugin.LOGO).setSize(ImageProvider.ImageSizes.DEFAULT),
+            tr("Open Mapillary Point Cloud layer"), Shortcut.registerShortcut("mapillary:pointcloud",
+                tr("Mapillary Point Cloud"), KeyEvent.CHAR_UNDEFINED, Shortcut.NONE),
+            false, "mapillary:pointcloud", true);
+    }
+
+    @Override
+    public void actionPerformed(ActionEvent e) {
+        final var selected = MapillaryLayer.getInstance().getImage();
+        try {
+            var obj = OAuthUtils
+                .getWithHeader(URI.create(MapillaryConfig.getUrls().getImageInformation(selected.getUniqueId(),
+                    MapillaryImageUtils.ImageProperties.SFM_CLUSTER)))
+                .getJsonObject(MapillaryImageUtils.ImageProperties.SFM_CLUSTER.toString());
+            if (obj.containsKey("id") && obj.containsKey("url")) {
+                MainApplication.getLayerManager()
+                    .addLayer(new MapillaryPointCloudLayer(obj.getString("id"), obj.getString("url"), selected));
+            } else {
+                new Notification(tr("Could not find point cloud for Mapillary image {0}", selected.getUniqueId()))
+                    .setIcon(JOptionPane.ERROR_MESSAGE).show();
+            }
+        } catch (IOException ioException) {
+            throw new UncheckedIOException(ioException);
+        }
+    }
+
+    @Override
+    protected void updateEnabledState() {
+        setEnabled(MapillaryLayer.hasInstance() && MapillaryLayer.getInstance().getImage() != null || true);
+    }
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudCamera.java

@@ -0,0 +1,6 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+public record PointCloudCamera(ProjectionType projectionType, int width, int height, double focal, double k1,
+    double k2) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudColor.java

@@ -0,0 +1,5 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+public record PointCloudColor(int r, int g, int b) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudLatLonAlt.java

@@ -0,0 +1,7 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+import org.openstreetmap.josm.data.coor.ILatLon;
+
+public record PointCloudLatLonAlt(double lat, double lon, double altitude) implements ILatLon {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudPoint.java

@@ -0,0 +1,5 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+public record PointCloudPoint(PointCloudXYZ coordinates, PointCloudColor color) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudReconstruction.java

@@ -0,0 +1,8 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+import java.util.Map;
+
+public record PointCloudReconstruction(PointCloudLatLonAlt referenceLatLonAlt, Map<String, PointCloudCamera> cameras,
+    Map<String, PointCloudShot> shots, Map<String, PointCloudPoint> points) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudShot.java

@@ -0,0 +1,8 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+import java.time.Instant;
+
+public record PointCloudShot(String cameraId, PointCloudXYZ rotation, PointCloudXYZ translation,
+    PointCloudXYZ gpsPosition, double gpsDop, int orientation, Instant captureTime) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/PointCloudXYZ.java

@@ -0,0 +1,5 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+public record PointCloudXYZ(double x, double y, double z) {
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/data/mapillary/pointcloud/ProjectionType.java

@@ -0,0 +1,6 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.data.mapillary.pointcloud;
+
+public enum ProjectionType {
+    PERSPECTIVE, BROWN, FISHEYE, EQUIRECTANGULAR
+}

src/main/java/org/openstreetmap/josm/plugins/mapillary/gui/layer/pointcloud/MapillaryPointCloudImageSource.java

@@ -0,0 +1,104 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.plugins.mapillary.gui.layer.pointcloud;
+
+import static org.openstreetmap.gui.jmapviewer.OsmMercator.MERCATOR_256;
+
+import java.awt.Point;
+
+import org.openstreetmap.gui.jmapviewer.Coordinate;
+import org.openstreetmap.gui.jmapviewer.OsmMercator;
+import org.openstreetmap.gui.jmapviewer.Projected;
+import org.openstreetmap.gui.jmapviewer.Tile;
+import org.openstreetmap.gui.jmapviewer.TileRange;
+import org.openstreetmap.gui.jmapviewer.TileXY;
+import org.openstreetmap.gui.jmapviewer.interfaces.ICoordinate;
+import org.openstreetmap.gui.jmapviewer.interfaces.IProjected;
+import org.openstreetmap.gui.jmapviewer.tilesources.AbstractTMSTileSource;
+import org.openstreetmap.josm.data.coor.ILatLon;
+import org.openstreetmap.josm.data.imagery.ImageryInfo;
+
+/**
+ * The source for creating tiles for Mapillary Point Clouds
+ */
+public class MapillaryPointCloudImageSource extends AbstractTMSTileSource {
+
+    private final ILatLon origin;
+
+    public MapillaryPointCloudImageSource(ImageryInfo info, ILatLon origin) {
+        super(info);
+        this.origin = origin;
+    }
+
+    @Override
+    public double getDistance(double lat1, double lon1, double lat2, double lon2) {
+        return osmMercator().getDistance(lat1, lon1, lat2, lon2);
+    }
+
+    @Override
+    public Point latLonToXY(double lat, double lon, int zoom) {
+        return new Point((int) Math.round(osmMercator().lonToX(lon, zoom)),
+            (int) Math.round(osmMercator().latToY(lat, zoom)));
+    }
+
+    @Override
+    public ICoordinate xyToLatLon(int x, int y, int zoom) {
+        return new Coordinate(osmMercator().yToLat(y, zoom), osmMercator().xToLon(x, zoom));
+    }
+
+    @Override
+    public TileXY latLonToTileXY(double lat, double lon, int zoom) {
+        return new TileXY(osmMercator().lonToX(lon, zoom) / getTileSize(),
+            osmMercator().latToY(lat, zoom) / getTileSize());
+    }
+
+    @Override
+    public ICoordinate tileXYToLatLon(int x, int y, int zoom) {
+        return new Coordinate(osmMercator().yToLat((long) y * getTileSize(), zoom),
+            osmMercator().xToLon((long) x * getTileSize(), zoom));
+    }
+
+    @Override
+    public IProjected tileXYtoProjected(int x, int y, int zoom) {
+        final var mercatorWidth = 2 * Math.PI * OsmMercator.EARTH_RADIUS;
+        final var f = mercatorWidth * getTileSize() / osmMercator().getMaxPixels(zoom);
+        return new Projected(f * x - mercatorWidth / 2, -(f * y - mercatorWidth / 2));
+    }
+
+    @Override
+    public TileXY projectedToTileXY(IProjected p, int zoom) {
+        final var mercatorWidth = 2 * Math.PI * OsmMercator.EARTH_RADIUS;
+        final var f = mercatorWidth * getTileSize() / osmMercator().getMaxPixels(zoom);
+        return new TileXY((p.getEast() + mercatorWidth / 2) / f, (-p.getNorth() + mercatorWidth / 2) / f);
+    }
+
+    @Override
+    public boolean isInside(Tile inner, Tile outer) {
+        final int dz = inner.getZoom() - outer.getZoom();
+        if (dz < 0)
+            return false;
+        return outer.getXtile() == inner.getXtile() >> dz && outer.getYtile() == inner.getYtile() >> dz;
+    }
+
+    @Override
+    public TileRange getCoveringTileRange(Tile tile, int newZoom) {
+        if (newZoom <= tile.getZoom()) {
+            final int dz = tile.getZoom() - newZoom;
+            final var xy = new TileXY(tile.getXtile() >> dz, tile.getYtile() >> dz);
+            return new TileRange(xy, xy, newZoom);
+        } else {
+            final int dz = newZoom - tile.getZoom();
+            final var t1 = new TileXY(tile.getXtile() << dz, tile.getYtile() << dz);
+            final var t2 = new TileXY(t1.getX() + (1 << dz) - 1, t1.getY() + (1 << dz) - 1);
+            return new TileRange(t1, t2, newZoom);
+        }
+    }
+
+    @Override
+    public String getServerCRS() {
+        return "EPSG:3857";
+    }
+
+    private static OsmMercator osmMercator() {
+        return MERCATOR_256;
+    }
+}