feat(projection): add_scale_factor (#54)

* add_scale_factor

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: YamatoAndo

autoware_lanelet2_extension/include/autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp

@@ -33,7 +33,8 @@ inline namespace format_v2
 class TransverseMercatorProjector : public Projector
 {
 public:
-  explicit TransverseMercatorProjector(Origin origin = Origin({0.0, 0.0}));
+  explicit TransverseMercatorProjector(
+    Origin origin = Origin({0.0, 0.0}), const double scale_factor = 0.9996);
 
   /**
    * [TransverseMercatorProjector::forward projects gps lat/lon to Transverse Mercator coordinate]
@@ -55,6 +56,11 @@ class TransverseMercatorProjector : public Projector
   double origin_x_;
   double origin_y_;
   double central_meridian_;
+
+  /**
+   * scale factor of the map
+   */
+  double scale_factor_;
 };
 }  // namespace format_v2
 

autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp

@@ -24,21 +24,22 @@
 
 namespace lanelet::projection
 {
-TransverseMercatorProjector::TransverseMercatorProjector(Origin origin) : Projector(origin)
+TransverseMercatorProjector::TransverseMercatorProjector(Origin origin, const double scale_factor)
+: Projector(origin)
 {
   central_meridian_ = origin.position.lon;
-
+  scale_factor_ = scale_factor;
   // Calculate origin in Transverse Mercator coordinate
-  const GeographicLib::TransverseMercatorExact & proj =
-    GeographicLib::TransverseMercatorExact::UTM();
+  const GeographicLib::TransverseMercatorExact & proj = GeographicLib::TransverseMercatorExact(
+    GeographicLib::Constants::WGS84_a(), GeographicLib::Constants::WGS84_f(), scale_factor_);
   proj.Forward(central_meridian_, origin.position.lat, origin.position.lon, origin_x_, origin_y_);
 }
 
 BasicPoint3d TransverseMercatorProjector::forward(const GPSPoint & gps) const
 {
   BasicPoint3d tm_point{0., 0., gps.ele};
-  const GeographicLib::TransverseMercatorExact & proj =
-    GeographicLib::TransverseMercatorExact::UTM();
+  const GeographicLib::TransverseMercatorExact & proj = GeographicLib::TransverseMercatorExact(
+    GeographicLib::Constants::WGS84_a(), GeographicLib::Constants::WGS84_f(), scale_factor_);
   proj.Forward(central_meridian_, gps.lat, gps.lon, tm_point.x(), tm_point.y());
 
   // x is already aligned with origin as it is projected in transverse mercator
@@ -50,8 +51,8 @@ BasicPoint3d TransverseMercatorProjector::forward(const GPSPoint & gps) const
 GPSPoint TransverseMercatorProjector::reverse(const BasicPoint3d & local_point) const
 {
   GPSPoint gps{0.0, 0.0, local_point.z()};
-  const GeographicLib::TransverseMercatorExact & proj =
-    GeographicLib::TransverseMercatorExact::UTM();
+  const GeographicLib::TransverseMercatorExact & proj = GeographicLib::TransverseMercatorExact(
+    GeographicLib::Constants::WGS84_a(), GeographicLib::Constants::WGS84_f(), scale_factor_);
 
   BasicPoint3d local_point_copy = local_point;
   local_point_copy.y() = local_point.y() + origin_y_;