Fix reality data not being reprojected correctly when its CRS is different than iModel (backport #9059) [release/5.7.x] (#9075)

Co-authored-by: Erin Ingram <47707444+eringram@users.noreply.github.com>
Co-authored-by: Nam Le <50554904+hl662@users.noreply.github.com>
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>

Author: 4 people

common/changes/@itwin/core-frontend/eringram-rd-reproject-crs_2026-03-04-23-15.json

@@ -0,0 +1,10 @@
+{
+  "changes": [
+    {
+      "packageName": "@itwin/core-frontend",
+      "comment": "Fix reality data not being reprojected correctly when its CRS is different than iModel",
+      "type": "none"
+    }
+  ],
+  "packageName": "@itwin/core-frontend"
+}

core/frontend/src/internal/tile/RealityTileLoader.ts

@@ -118,13 +118,22 @@ export abstract class RealityTileLoader {
     const geom = await reader?.readGltfAndCreateGeometry(transform);
 
     // See RealityTileTree.reprojectAndResolveChildren for how reprojectionTransform is calculated
+    // xForm is defined in root tile CRS, while geom is defined in iModel CRS
     const xForm = tile.reprojectionTransform;
-    if (tile.tree.reprojectGeometry && geom?.polyfaces && xForm) {
-      const polyfaces = geom.polyfaces.map((pf) => pf.cloneTransformed(xForm));
-      return { geometry: { polyfaces } };
-    } else {
-      return { geometry: geom };
+
+    if (tile.tree.reprojectGeometry && geom?.polyfaces?.length && xForm) {
+      // Transform from iModel/Db CRS -> root tile CRS
+      const dbToRoot = tile.tree.iModelTransform.inverse();
+
+      if (dbToRoot) {
+        // Conjugate xForm to apply it to polyfaces in iModel CRS:
+        // dbToRoot converts to root tile CRS, xForm applies reprojection, iModelTransform converts back
+        const polyfaceReprojectionTransform = tile.tree.iModelTransform.multiplyTransformTransform(xForm).multiplyTransformTransform(dbToRoot);
+        const polyfaces = geom.polyfaces.map((pf) => pf.cloneTransformed(polyfaceReprojectionTransform));
+        return { geometry: { polyfaces } };
+      }
     }
+    return { geometry: geom };
   }
 
   private async loadGraphicsFromStream(tile: RealityTile, streamBuffer: ByteStream, system: RenderSystem, isCanceled?: () => boolean): Promise<TileContent> {

core/frontend/src/test/tile/RealityTile.test.ts

@@ -6,7 +6,7 @@
 import { afterEach, beforeEach, describe, expect, it, MockInstance, vi } from "vitest";
 import { ByteStream } from "@itwin/core-bentley";
 import { GltfV2ChunkTypes, GltfVersions, TileFormat } from "@itwin/core-common";
-import { Point3d, PolyfaceBuilder, Range3d, StrokeOptions, Transform } from "@itwin/core-geometry";
+import { Angle, Matrix3d, Point3d, PolyfaceBuilder, Range3d, StrokeOptions, Transform } from "@itwin/core-geometry";
 import { IModelConnection } from "../../IModelConnection";
 import { IModelApp } from "../../IModelApp";
 import { MockRender } from "../../internal/render/MockRender";
@@ -98,7 +98,7 @@ class TestRealityTree extends RealityTileTree {
   public readonly contentSize: number;
   protected override readonly _rootTile: TestRealityTile;
 
-  public constructor(contentSize: number, iModel: IModelConnection, loader: TestRealityTileLoader, reprojectGeometry: boolean, reprojectTransform?: Transform) {
+  public constructor(contentSize: number, iModel: IModelConnection, loader: TestRealityTileLoader, reprojectGeometry: boolean, reprojectTransform?: Transform, iModelTransform?: Transform) {
     super({
       loader,
       rootTile: {
@@ -108,7 +108,7 @@ class TestRealityTree extends RealityTileTree {
       },
       id: (++TestRealityTree._nextId).toString(),
       modelId: "0",
-      location: Transform.createTranslationXYZ(2, 2, 2),
+      location: iModelTransform ?? Transform.createIdentity(),
       priority: TileLoadPriority.Primary,
       iModel,
       gcsConverterAvailable: false,
@@ -119,8 +119,7 @@ class TestRealityTree extends RealityTileTree {
     this.treeId = TestRealityTree._nextId;
     this.contentSize = contentSize;
 
-    const transformToRoot = Transform.createTranslationXYZ(10, 10, 10);
-    this._rootTile = new TestRealityTile(this, contentSize, reprojectTransform, transformToRoot);
+    this._rootTile = new TestRealityTile(this, contentSize, reprojectTransform);
   }
 
   public override get rootTile(): TestRealityTile { return this._rootTile; }
@@ -153,7 +152,7 @@ class TestRealityTree extends RealityTileTree {
 }
 
 class TestB3dmReader extends B3dmReader {
-  public override async readGltfAndCreateGeometry(_transformToRoot?: Transform, _needNormals?: boolean, _needParams?: boolean): Promise<RealityTileGeometry> {
+  public override async readGltfAndCreateGeometry(transformToRoot?: Transform, _needNormals?: boolean, _needParams?: boolean): Promise<RealityTileGeometry> {
     // Create mock geometry data with a simple polyface
     const options = StrokeOptions.createForFacets();
     const polyBuilder = PolyfaceBuilder.create(options);
@@ -162,7 +161,10 @@ class TestB3dmReader extends B3dmReader {
       Point3d.create(1, 0, 0),
       Point3d.create(1, 1, 0)
     ]);
-    const originalPolyface = polyBuilder.claimPolyface();
+    let originalPolyface = polyBuilder.claimPolyface();
+    if (transformToRoot) {
+      originalPolyface = originalPolyface.cloneTransformed(transformToRoot);
+    }
     const mockGeometry = { polyfaces: [originalPolyface] };
     return mockGeometry;
   }
@@ -316,8 +318,9 @@ describe("RealityTile", () => {
 
 describe("RealityTileLoader", () => {
   it("when loading geometry should apply both tile tree's iModelTransform and tile's transformToRoot", async () => {
-    const tree = new TestRealityTree(0, imodel, reader, false);
+    const tree = new TestRealityTree(0, imodel, reader, false, undefined, Transform.createTranslationXYZ(2, 2, 2));
     const tile = tree.rootTile;
+    tile.transformToRoot = Transform.createTranslationXYZ(10, 10, 10);
 
     const expectedTransform = Transform.createTranslationXYZ(2, 2, 2).multiplyTransformTransform(Transform.createTranslationXYZ(10, 10, 10));
     await reader.loadGeometryFromStream(tile, streamBuffer, IModelApp.renderSystem);
@@ -329,7 +332,7 @@ describe("RealityTileLoader", () => {
   });
 
   it("when loading geometry should use only iModelTransform when transformToRoot is undefined", async () => {
-    const tree = new TestRealityTree(0, imodel, reader, false);
+    const tree = new TestRealityTree(0, imodel, reader, false, undefined, Transform.createTranslationXYZ(2, 2, 2));
     const tile = tree.rootTile;
     tile.transformToRoot = undefined;
 
@@ -342,6 +345,92 @@ describe("RealityTileLoader", () => {
     expect(geometryTransform).toEqual(expectedTransform);
   });
 
+  it("should apply reprojection transform correctly when tile tree's CRS differs from iModel CRS", async () => {
+    // iModelTransform: 90 degree rotation around Z, scale by 2, translate by (10, 20, 30)
+    const rotation = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(90));
+    const rotationAndScale = rotation.scale(2);
+    const iModelTransform = Transform.createOriginAndMatrix(Point3d.create(10, 20, 30), rotationAndScale);
+
+    // Reprojection transform: translation of (1, 0, 0) in root tile CRS
+    const reprojectTransform = Transform.createTranslationXYZ(1, 0, 0);
+
+    const tree = new TestRealityTree(0, imodel, reader, true, reprojectTransform, iModelTransform);
+    const result = await reader.loadGeometryFromStream(tree.rootTile, streamBuffer, IModelApp.renderSystem);
+
+    expect(result.geometry).to.not.be.undefined;
+    expect(result.geometry?.polyfaces).to.have.length(1);
+
+    if (result.geometry?.polyfaces) {
+      const polyface = result.geometry.polyfaces[0];
+      const points = polyface.data.point.getPoint3dArray();
+
+      // Step 1: readGltfAndCreateGeometry applies iModelTransform to original points
+      // 90 degree rotation around Z + scale 2: (x,y,z) → (-2y, 2x, 2z) + origin (10,20,30)
+      // (0,0,0) → (10,20,30), (1,0,0) → (10,22,30), (1,1,0) → (8,22,30)
+      //
+      // Step 2: Conjugated reprojection: iModelTransform * xForm * iModelTransform.inverse()
+      // xForm Translation(1,0,0) in root tile CRS → (0,2,0) in iModel CRS after conjugation
+      // Final: (10,22,30), (10,24,30), (8,24,30)
+      expectPointToEqual(points[0], 10, 22, 30);
+      expectPointToEqual(points[1], 10, 24, 30);
+      expectPointToEqual(points[2], 8, 24, 30);
+    }
+  });
+
+  it("should apply reprojection transform correctly when tile tree's iModelTransform is identity", async () => {
+    const iModelTransform = Transform.createIdentity();
+
+    // Reprojection transform is a translation
+    const reprojectTransform = Transform.createTranslationXYZ(3, 4, 5);
+
+    const tree = new TestRealityTree(0, imodel, reader, true, reprojectTransform, iModelTransform);
+    const result = await reader.loadGeometryFromStream(tree.rootTile, streamBuffer, IModelApp.renderSystem);
+
+    expect(result.geometry).to.not.be.undefined;
+    expect(result.geometry?.polyfaces).to.have.length(1);
+
+    if (result.geometry?.polyfaces) {
+      const polyface = result.geometry.polyfaces[0];
+      const points = polyface.data.point.getPoint3dArray();
+
+      // With identity iModelTransform, conjugation has no effect - xForm is applied directly
+      // Original points: (0,0,0), (1,0,0), (1,1,0)
+      // After reprojection: shift by (3,4,5)
+      expectPointToEqual(points[0], 3, 4, 5);
+      expectPointToEqual(points[1], 4, 4, 5);
+      expectPointToEqual(points[2], 4, 5, 5);
+    }
+  });
+
+  it("should skip reprojection when tile tree's iModelTransform is not invertible", async () => {
+    // Create a singular (non-invertible) transform by scaling X to 0
+    const singularMatrix = Matrix3d.createScale(0, 1, 1);
+    const nonInvertibleTransform = Transform.createOriginAndMatrix(Point3d.createZero(), singularMatrix);
+
+    // Reprojection transform that would shift points if applied
+    const reprojectTransform = Transform.createTranslationXYZ(100, 100, 100);
+
+    const tree = new TestRealityTree(0, imodel, reader, true, reprojectTransform, nonInvertibleTransform);
+    const result = await reader.loadGeometryFromStream(tree.rootTile, streamBuffer, IModelApp.renderSystem);
+
+    expect(result.geometry).to.not.be.undefined;
+    expect(result.geometry?.polyfaces).to.have.length(1);
+
+    if (result.geometry?.polyfaces) {
+      const polyface = result.geometry.polyfaces[0];
+      const points = polyface.data.point.getPoint3dArray();
+
+      // iModelTransform scales X to 0, so all X coordinates become 0
+      // Since iModelTransform.inverse() returns undefined, reprojection is skipped
+      // Original points: (0,0,0), (1,0,0), (1,1,0)
+      // After non-invertible iModelTransform: (0,0,0), (0,0,0), (0,1,0)
+      // Reprojection NOT applied (would have added 100,100,100)
+      expectPointToEqual(points[0], 0, 0, 0);
+      expectPointToEqual(points[1], 0, 0, 0);
+      expectPointToEqual(points[2], 0, 1, 0);
+    }
+  });
+
   it("should load geometry from tiles in glTF format", async () => {
     const gltfStreamBuffer = ByteStream.fromUint8Array(createMinimalGlb());
 

docs/changehistory/5.7.0.md

@@ -54,6 +54,10 @@ The default behavior (`batchNotify = false`) is unchanged, preserving backward c
 
 Additionally, [ObservableSet]($bentley) now provides `addAll` and `deleteAll` methods for batch mutations, along with corresponding `onBatchAdded` and `onBatchDeleted` events. [CategorySelectorState]($frontend) exposes these via `addCategoriesBatched` and `dropCategoriesBatched`.
 
+### Fixes
+
+- Fixed reality data geometry not being reprojected correctly when the reality data is in a different CRS than the iModel.
+
 ## Quantity Formatting
 
 ### Updated default engineering lengths in QuantityFormatter

docs/changehistory/NextVersion.md

@@ -2,4 +2,3 @@
 publish: false
 ---
 # NextVersion
-