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MIERUNE · Nov 16, 2024 · fd8a1a8 · fd8a1a8
1 parent 8775c90
commit fd8a1a8
Showing 1 changed file with 19 additions and 15 deletions.
diff --git a/pcd-transformer/src/transform/projection.rs b/pcd-transformer/src/transform/projection.rs
@@ -1,16 +1,13 @@
 use std::sync::Arc;
 
 use pcd_core::pointcloud::point::{Point, PointCloud};
-use projection_transform::{
-    crs::*, etmerc::ExtendedTransverseMercatorProjection, jprect::JPRZone, vshift::Jgd2011ToWgs84,
-};
+use projection_transform::{crs::*, jprect::JPRZone, vshift::Jgd2011ToWgs84};
 
 use super::Transform;
 
 pub struct ProjectionTransform {
     jgd2wgs: Arc<Jgd2011ToWgs84>,
     output_epsg: EpsgCode,
-    jpr_zone_proj: Option<ExtendedTransverseMercatorProjection>,
 }
 
 impl Transform for ProjectionTransform {
@@ -36,7 +33,22 @@ impl Transform for ProjectionTransform {
             | EPSG_JGD2011_JPRECT_XVI
             | EPSG_JGD2011_JPRECT_XVII
             | EPSG_JGD2011_JPRECT_XVIII
-            | EPSG_JGD2011_JPRECT_XIX => self.transform_from_jgd2011(point_cloud, Some(input_epsg)),
+            | EPSG_JGD2011_JPRECT_XIX
+            | EPSG_JGD2011_JPRECT_I_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_II_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_III_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_IV_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_V_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_VI_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_VII_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_VIII_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_IX_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_X_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_XI_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_XII_JGD2011_HEIGHT
+            | EPSG_JGD2011_JPRECT_XIII_JGD2011_HEIGHT => {
+                self.transform_from_jgd2011(point_cloud, Some(input_epsg))
+            }
             _ => {
                 panic!("Unsupported input CRS: {}", input_epsg);
             }
@@ -46,13 +58,9 @@ impl Transform for ProjectionTransform {
 
 impl ProjectionTransform {
     pub fn new(jgd2wgs: Arc<Jgd2011ToWgs84>, output_epsg: EpsgCode) -> Self {
-        // For Japan Plane Rectangular CS
-        let jpr_zone_proj = JPRZone::from_epsg(output_epsg).map(|zone| zone.projection());
-
         Self {
             jgd2wgs,
             output_epsg,
-            jpr_zone_proj,
         }
     }
 
@@ -72,16 +80,12 @@ impl ProjectionTransform {
         match self.output_epsg {
             EPSG_WGS84_GEOGRAPHIC_3D => {
                 for (x, y, z, point) in point_cloud.iter() {
-                    // Swap x and y (lat, lng -> lng, lat)
-                    let (lng, lat, height) = (y, x, z);
-
                     let (lng, lat, height) = if let Some(input_epsg) = rectangular {
-                        Self::rectangular_to_lnglat(lng, lat, height, input_epsg)
+                        Self::rectangular_to_lnglat(x, y, z, input_epsg)
                     } else {
-                        (lng, lat, height)
+                        (x, y, z)
                     };
 
-                    // JGD2011 to WGS 84 (elevation to ellipsoidal height)
                     let (lng, lat, height) = self.jgd2wgs.convert(lng, lat, height);
 
                     points.push(Point {