update latlon2utm & convert_proj_txt (#121)

* update latlon2utm & convert_proj_txt

* chore: Modify latlon2utm to support multiple coordinates

---------

Co-authored-by: daohu527 <[email protected]>

Author: zhuabaguai

imap/lib/convertor.py

@@ -32,7 +32,7 @@
 
 from imap.lib.draw import draw_line, show
 from imap.lib.convex_hull import convex_hull, aabb_box
-from imap.lib.proj_helper import latlon2utm
+from imap.lib.proj_helper import latlon2projected
 
 
 # Distance between stop line and pedestrian crossing
@@ -167,7 +167,9 @@ def convert_proj_txt(self, proj_txt):
                 self.pb_map.header.projection.proj = "+proj=utm +zone={} +ellps=WGS84 " \
                     "+datum=WGS84 +units=m +no_defs".format(0)
             else:
-                self.origin_x, self.origin_y, zone_id = latlon2utm(lat, lon)
+                # use projTxt run latlon2projected
+                self.origin_x, self.origin_y, zone_id = latlon2projected(
+                    lat, lon, self.xodr_map.header.geo_reference.text)
                 if x_0:
                     self.origin_x = self.origin_x - x_0
                 if y_0:

imap/lib/proj_helper.py

@@ -34,19 +34,30 @@
 import math
 
 
-def utm2latlon(x, y, zone):
+def projected2latlon(x, y, zone_id=None, proj_txt=None):
     """utm to latlon"""
-    proj = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
+    if proj_txt is None:
+        # Default: Inverse Standard UTM
+        if zone_id is None:
+            raise ValueError(
+                "For default inverse UTM, 'zone_id' parameter is required.")
+        proj = pyproj.Proj(proj='utm', zone=zone_id, ellps='WGS84')
+    else:
+        proj = pyproj.Proj(proj_txt)
     lon, lat = proj(x, y, inverse=True)
     return lat, lon
 
 
-def latlon2utm(lat, lon):
-    """latlon to utm"""
-    zone = latlon2utmzone(lat, lon)
-    projector2 = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
-    x, y = projector2(lon, lat)
-    return x, y, zone
+def latlon2projected(lat, lon, proj_txt=None):
+    """latlon to utm use proj info"""
+    zone_id = latlon2utmzone(lat, lon)
+    if proj_txt is None:
+        # Default: Standard UTM
+        proj = pyproj.Proj(proj='utm', zone=zone_id, ellps='WGS84')
+    else:
+        proj = pyproj.Proj(proj_txt)
+    x, y = proj(lon, lat)
+    return x, y, zone_id
 
 
 def latlon2utmzone(lat, lon):