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feat(projection): add_scale_factor #54

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Merged
merged 2 commits into from
Apr 4, 2025
Merged

feat(projection): add_scale_factor #54

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4993cae
add_scale_factor
YamatoAndo Feb 27, 2025
f075185
style(pre-commit): autofix
pre-commit-ci[bot] Mar 28, 2025
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8 changes: 7 additions & 1 deletion ...xtension/include/autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand All @@ -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

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17 changes: 9 additions & 8 deletions autoware_lanelet2_extension/lib/transverse_mercator_projector.cpp
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Expand Up @@ -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
Expand All @@ -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_;
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