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Resolve mixing of UTM and local transforms in local cartesian mode #886

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Jun 10, 2024
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Resolve mixing of UTM and local transforms in local cartesian mode #886

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70 changes: 52 additions & 18 deletions src/navsat_transform.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -459,9 +459,15 @@ bool NavSatTransform::fromLLCallback(
// Transform to UTM using the fixed utm_zone_
int zone_tmp;
bool northp_tmp;
GeographicLib::UTMUPS::Forward(
latitude, longitude,
zone_tmp, northp_tmp, cartesian_x, cartesian_y, utm_zone_);

try {
GeographicLib::UTMUPS::Forward(
latitude, longitude,
zone_tmp, northp_tmp, cartesian_x, cartesian_y, utm_zone_);
} catch (GeographicLib::GeographicErr const & e) {
RCLCPP_ERROR_STREAM(this->get_logger(), e.what());
return false;
}
}

cartesian_pose.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, altitude));
Expand Down Expand Up @@ -535,14 +541,28 @@ void NavSatTransform::mapToLL(
odom_as_cartesian.setRotation(tf2::Quaternion::getIdentity());

// Now convert the data back to lat/long and place into the message
GeographicLib::UTMUPS::Reverse(
utm_zone_,
northp_,
odom_as_cartesian.getOrigin().getX(),
odom_as_cartesian.getOrigin().getY(),
latitude,
longitude);
altitude = odom_as_cartesian.getOrigin().getZ();
if (use_local_cartesian_) {
double altitude_tmp = {};
gps_local_cartesian_.Reverse(
odom_as_cartesian.getOrigin().getX(),
odom_as_cartesian.getOrigin().getY(),
0.0,
latitude,
longitude,
altitude_tmp);

altitude = odom_as_cartesian.getOrigin().getZ();
} else {
GeographicLib::UTMUPS::Reverse(
utm_zone_,
northp_,
odom_as_cartesian.getOrigin().getX(),
odom_as_cartesian.getOrigin().getY(),
latitude,
longitude);

altitude = odom_as_cartesian.getOrigin().getZ();
}
}

void NavSatTransform::getRobotOriginCartesianPose(
Expand Down Expand Up @@ -661,13 +681,27 @@ void NavSatTransform::gpsFixCallback(
setTransformGps(msg);
}

double cartesian_x = 0;
double cartesian_y = 0;
int zone_tmp;
bool northp_tmp;
GeographicLib::UTMUPS::Forward(
msg->latitude, msg->longitude,
zone_tmp, northp_tmp, cartesian_x, cartesian_y);
double cartesian_x = {};
double cartesian_y = {};
double cartesian_z = {};

if (use_local_cartesian_) {
gps_local_cartesian_.Forward(
msg->latitude, msg->longitude, msg->altitude,
cartesian_x, cartesian_y, cartesian_z);
} else {
int zone_tmp;
bool northp_tmp;
try {
GeographicLib::UTMUPS::Forward(
msg->latitude, msg->longitude, zone_tmp, northp_tmp,
cartesian_x, cartesian_y);
} catch (GeographicLib::GeographicErr const & e) {
RCLCPP_ERROR_STREAM(this->get_logger(), e.what());
return;
}
}

latest_cartesian_pose_.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, msg->altitude));
latest_cartesian_covariance_.setZero();

Expand Down