feat(map_projection_loader): add scale_factor and remove altitude

common/autoware_geography_utils/src/lanelet2_projector.cpp

@@ -48,7 +48,8 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
       projector_info.map_origin.latitude, projector_info.map_origin.longitude,
       projector_info.map_origin.altitude};
     const lanelet::Origin origin{position};
-    const lanelet::projection::TransverseMercatorProjector projector{origin};
+    const lanelet::projection::TransverseMercatorProjector projector{
+      origin, projector_info.scale_factor};
     return std::make_unique<lanelet::projection::TransverseMercatorProjector>(projector);
   }
 

map/autoware_map_projection_loader/README.md

@@ -32,6 +32,8 @@ There are three types of transformations from latitude and longitude to XYZ coor
 projector_type: Local
 ```
 
+※ Even if you input scale_factor, it will be overwritten to 1.0.
+
 #### Limitation
 
 The functionality that requires latitude and longitude will become unavailable.
@@ -52,6 +54,8 @@ vertical_datum: WGS84
 mgrs_grid: 54SUE
 ```
 
+※ Even if you input scale_factor, it will be overwritten to 0.9996.
+
 #### Limitation
 
 It cannot be used with maps that span across two or more MGRS grids. Please use it only when it falls within the scope of a single MGRS grid.
@@ -67,9 +71,10 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
 ```
 
+※ Even if you input scale_factor, it will be overwritten to 0.9996.
+
 ### Using LocalCartesian
 
 If you want to use local cartesian WGS84, please specify the map origin as well.
@@ -83,12 +88,14 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
 ```
 
+※ Even if you input scale_factor, it will be overwritten to 1.0.
+
 ### Using TransverseMercator
 
 If you want to use Transverse Mercator projection, please specify the map origin as well.
+And specify the scale_factor of the map. If you didn't specify the scale_factor, it will be set 0.9996 as default value.
 
 ```yaml
 # map_projector_info.yaml
@@ -97,7 +104,7 @@ vertical_datum: WGS84
 map_origin:
   latitude: 35.6762 # [deg]
   longitude: 139.6503 # [deg]
-  altitude: 0.0 # [m]
+scale_factor: 0.9996
 ```
 
 ## Published Topics

map/autoware_map_projection_loader/src/map_projection_loader.cpp

@@ -44,7 +44,7 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string &
     msg.vertical_datum = data["vertical_datum"].as<std::string>();
     msg.map_origin.latitude = data["map_origin"]["latitude"].as<double>();
     msg.map_origin.longitude = data["map_origin"]["longitude"].as<double>();
-    msg.map_origin.altitude = data["map_origin"]["altitude"].as<double>();
+    msg.map_origin.altitude = 0.0;
 
   } else if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) {
     ;  // do nothing
@@ -64,6 +64,28 @@ autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string &
       "LocalCartesianUTM, "
       "TransverseMercator, and local");
   }
+
+  // set scale factor
+  if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) {
+    if (data["scale_factor"]) {
+      msg.scale_factor = data["scale_factor"].as<double>();
+    } else {
+      msg.scale_factor = 0.9996;
+    }
+  } else if (
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::MGRS ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM) {
+    msg.scale_factor = 0.9996;
+  } else if (
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL ||
+    msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN) {
+    msg.scale_factor = 1.0;
+  }
+
+  if (msg.scale_factor <= 0.0) {
+    throw std::runtime_error(
+      "Invalid scale factor. The scale factor must be a value greater than 0.");
+  }
   return msg;
 }