geojson文件规格

geojson文件示例，

{
  "type": "FeatureCollection",
  "features": [
    {
      "type": "Feature",
      "geometry": {
        "type": "Point",
        "coordinates": [102.0, 0.5]
      },
      "properties": {
        "name": "Example Point"
      }
    },
    {
      "type": "Feature",
      "geometry": {
        "type": "LineString",
        "coordinates": [
          [102.0, 0.0],
          [103.0, 1.0],
          [104.0, 0.0],
          [105.0, 1.0]
        ]
      },
      "properties": {
        "name": "Example Line"
      }
    },
    {
      "type": "Feature",
      "geometry": {
        "type": "Polygon",
        "coordinates": [
          [
            [100.0, 0.0],
            [101.0, 0.0],
            [101.0, 1.0],
            [100.0, 1.0],
            [100.0, 0.0]
          ]
        ]
      },
      "properties": {
        "name": "Example Polygon"
      }
    }
  ]
}

geojson示例2，

{
    "features": [
        {
            "geometry": {
                "coordinates": [
                    [
                        116.27394289090265,
                        40.04563683773862,
                        38.911601834233437
                    ],
                    [
                        116.27394460815701,
                        40.04562333499269,
                        38.908991369866669
                    ]
                ],
                "type": "LineString"
            },
            "properties": {
                "line_color": "3",
                "line_conf_type": "196.507625",
                "line_type": "7",
                "source": "optimized_line_feature"
            },
            "type": "Feature"
        },
        {
            "geometry": {
                "coordinates": [
                    [
                        116.27372626712896,
                        40.04566908578874,
                        38.163651788610785
                    ],
                    [
                        116.27372924922214,
                        40.04565573741756,
                        38.165627857154753
                    ]
                ],
                "type": "LineString"
            },
            "properties": {
                "line_color": "3",
                "line_conf_type": "196.507625",
                "line_type": "7",
                "source": "optimized_line_feature"
            },
            "type": "Feature"
        },
        {
            "geometry": {
                "coordinates": [
                    [
                        116.2736425888071,
                        40.04585037786518,
                        37.983635180289525
                    ],
                    [
                        116.2736420649746,
                        40.04583632046637,
                        37.972707995880953
                    ]
                ],
                "type": "LineString"
            },
            "properties": {
                "line_color": "3",
                "line_conf_type": "196.507625",
                "line_type": "7",
                "source": "optimized_line_feature"
            },
            "type": "Feature"
        }
    ],
    "name": "SingleTrajectoryRes",
    "type": "FeatureCollection"
}

生成geojson文件的C++代码示例，

void GlobalMappingImpl::generate_geojson_gnss() const {
    Json::Value root;
    root.clear();
    root["type"] = "FeatureCollection";
    root["name"] = "SingleTrajectoryGlobalRes";
    auto& root_features = root["features"];

    auto _it_meas = _map_gnss._meas_map.begin();
    while (_map_gnss._meas_map.size() >= 1 && _it_meas != _map_gnss._meas_map.end()) {
        Json::Value json;
        json["type"] = "Feature";
        auto& json_properties = json["properties"];
        json_properties["name"] = "GNSS";
        json_properties["head_veh"].append(_it_meas->second->head_veh());
        json_properties["fix_type"].append(_it_meas->second->fix_type());
        auto& json_geometry = json["geometry"];
        json_geometry["type"] = "Point";
        json_geometry["coordinates"].append(_it_meas->second->lon());
        json_geometry["coordinates"].append(_it_meas->second->lat());
        root_features.append(json);
        _it_meas++;
    }
    static Json::FastWriter fast_write;
    auto* file = new std::ofstream("./debug_optimized_gnss.geojson", std::ios::trunc);
    if (file->is_open()) {
        *file << fast_write.write(root);
        file->flush();
        file->close();
    }
    delete file;
}

C++代码示例2，

//output.geo.json
for (auto partition : _partition_set.partitions) {
    int id = partition.partition_id;

    Json::Value root;
    root["type"] = "FeatureCollection";
    root["name"] = "SingleTrajectoryGlobalRes";
    auto &features = root["features"];

    for (auto lanemarking : partition.lanemarking_segment_set) {
        Json::Value feature;
        feature["type"] = "Feature";
        auto &properties = feature["properties"];
        properties["marking_id"] = lanemarking.marking_id;
        properties["if_edge"] = lanemarking.if_edge;
        auto &geometry = feature["geometry"];
        geometry["type"] = "LineString"; 
        auto &coordinates = geometry["coordinates"];
        for (auto point : lanemarking.marking_points) {
            double x = point.geometry[1];
            double y = point.geometry[0];
            double z = point.geometry[2];
            Json::Value coord;
            coord.append(x);
            coord.append(y);
            coord.append(z);
            coordinates.append(coord);
        }
        features.append(feature);
    }

    std::string geo_save_dir_path = "log";
    if (!boost::filesystem::exists(geo_save_dir_path)) {
        boost::filesystem::create_directories(geo_save_dir_path);
    }        
    std::string geojson_save_path = geo_save_dir_path + "/partitionid" + std::to_string(id) + ".geo.json";

    Json::FastWriter fast_write;
    std::ofstream file(geojson_save_path, std::ios::trunc);
    if (file.is_open()) {
        file << fast_write.write(root);
        file.flush();
        file.close();
    }
}

python3代码示例1，

def save_lanelines_to_geojson(save_file_path: str, lanelines: list) -> None:
    outjson = {}
    outjson["type"] = "FeatureCollection" 
    outjson["features"] = []
    for i,laneline in enumerate(lanelines): 
        newlaneline = list(laneline) 
        newlaneline = [[float(p[0]),float(p[1]),float(p[2])] for p in newlaneline] 
        feature = {}
        feature["type"] = "Feature"
        feature["properties"] = {} 
        feature["properties"]["idx"] = i 
        feature["geometry"] = {}
        feature["geometry"]["type"] = "LineString"
        feature["geometry"]["coordinates"] = newlaneline  
        outjson["features"].append(feature) 
    
    with open(save_file_path, "w", encoding = "utf-8") as fw:
        json.dump(outjson, fw) 

    return