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Merged
samuelthoren merged 2 commits into from
Apr 21, 2026
Merged

Apply formatting #677

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e8f339b
Apply formatting
samuelthoren Apr 20, 2026
7678563
Merge remote-tracking branch 'origin/dev' into fix/format
samuelthoren Apr 21, 2026
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138 changes: 63 additions & 75 deletions atos/common/CRSTransformation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,62 +13,56 @@
* @param toCRS Coordinate reference system to
*/

CRSTransformation::CRSTransformation(const std::string &fromCRS,
const std::string &toCRS)
: ctxt(proj_context_create(),
[](PJ_CONTEXT *ctxt) { proj_context_destroy(ctxt); }),
projection(proj_create_crs_to_crs(ctxt.get(), fromCRS.c_str(),
toCRS.c_str(), nullptr),
[](PJ *proj) { proj_destroy(proj); }) {
if (projection == nullptr) {
throw std::logic_error(
"Failed to create CRS conversion from " + fromCRS + " to " + toCRS +
": " +
proj_context_errno_string(ctxt.get(), proj_context_errno(ctxt.get())));
}
CRSTransformation::CRSTransformation(const std::string& fromCRS, const std::string& toCRS) :
ctxt(proj_context_create(), [](PJ_CONTEXT* ctxt) { proj_context_destroy(ctxt); }),
projection(proj_create_crs_to_crs(ctxt.get(), fromCRS.c_str(), toCRS.c_str(), nullptr),
[](PJ* proj) { proj_destroy(proj); }) {
if (projection == nullptr) {
throw std::logic_error("Failed to create CRS conversion from " + fromCRS + " to " + toCRS + ": " +
proj_context_errno_string(ctxt.get(), proj_context_errno(ctxt.get())));
}
}

/**
* @brief Apply transformation from fromCRS to toCRS
*
* @param traj reference to trajectory to transform
*/
void CRSTransformation::apply(
std::vector<ATOS::Trajectory::TrajectoryPoint> &trajPoints) {
void CRSTransformation::apply(std::vector<ATOS::Trajectory::TrajectoryPoint>& trajPoints) {

// Put TrajPoints into array of PJ_POINTS
PJ_COORD in[trajPoints.size()];
auto arraySize = sizeof(in) / sizeof(in[0]);
for (int i = 0; i < arraySize; i++) {
in[i].xyz.x = trajPoints[i].getXCoord();
in[i].xyz.y = trajPoints[i].getYCoord();
in[i].xyz.z = trajPoints[i].getZCoord();
}
// Put TrajPoints into array of PJ_POINTS
PJ_COORD in[trajPoints.size()];
auto arraySize = sizeof(in) / sizeof(in[0]);
for (int i = 0; i < arraySize; i++) {
in[i].xyz.x = trajPoints[i].getXCoord();
in[i].xyz.y = trajPoints[i].getYCoord();
in[i].xyz.z = trajPoints[i].getZCoord();
}

RCLCPP_DEBUG(logger, "Converting trajectory with %ld points", arraySize);
if (0 != proj_trans_array(projection.get(), PJ_FWD, arraySize, in)) {
throw std::runtime_error("Failed to convert trajectory");
}
RCLCPP_DEBUG(logger, "Converting trajectory with %ld points", arraySize);
if (0 != proj_trans_array(projection.get(), PJ_FWD, arraySize, in)) {
throw std::runtime_error("Failed to convert trajectory");
}

// Put transformed PJ_POINTS back into TrajPoints
for (int i = 0; i < arraySize; i++) {
if (isnan(in[i].xyz.x) || isnan(in[i].xyz.y) || isnan(in[i].xyz.z)) {
// Apply transformation to the point again. quick fix.
// TODO: Need to understand why some points are not transformed
auto point = geometry_msgs::msg::Point();
point.x = trajPoints[i].getXCoord();
point.y = trajPoints[i].getYCoord();
point.z = trajPoints[i].getZCoord();
apply(point, PJ_FWD);
in[i].xyz.x = point.x;
in[i].xyz.y = point.y;
in[i].xyz.z = point.z;
}
// Put transformed PJ_POINTS back into TrajPoints
for (int i = 0; i < arraySize; i++) {
if (isnan(in[i].xyz.x) || isnan(in[i].xyz.y) || isnan(in[i].xyz.z)) {
// Apply transformation to the point again. quick fix.
// TODO: Need to understand why some points are not transformed
auto point = geometry_msgs::msg::Point();
point.x = trajPoints[i].getXCoord();
point.y = trajPoints[i].getYCoord();
point.z = trajPoints[i].getZCoord();
apply(point, PJ_FWD);
in[i].xyz.x = point.x;
in[i].xyz.y = point.y;
in[i].xyz.z = point.z;
}

trajPoints[i].setXCoord(in[i].xyz.x);
trajPoints[i].setYCoord(in[i].xyz.y);
trajPoints[i].setZCoord(in[i].xyz.z);
}
trajPoints[i].setXCoord(in[i].xyz.x);
trajPoints[i].setYCoord(in[i].xyz.y);
trajPoints[i].setZCoord(in[i].xyz.z);
}
}

/**
Expand All @@ -77,13 +71,12 @@ void CRSTransformation::apply(
* @param point The point to transform
* @param direction Which direction to transform, e.g. PJ_FWD or PJ_INV
*/
void CRSTransformation::apply(geometry_msgs::msg::Point &point,
PJ_DIRECTION direction) {
PJ_COORD in = proj_coord(point.x, point.y, point.z, 0);
PJ_COORD out = proj_trans(projection.get(), direction, in);
point.x = out.xyz.x;
point.y = out.xyz.y;
point.z = out.xyz.z;
void CRSTransformation::apply(geometry_msgs::msg::Point& point, PJ_DIRECTION direction) {
PJ_COORD in = proj_coord(point.x, point.y, point.z, 0);
PJ_COORD out = proj_trans(projection.get(), direction, in);
point.x = out.xyz.x;
point.y = out.xyz.y;
point.z = out.xyz.z;
}

/**
Expand All @@ -93,21 +86,19 @@ void CRSTransformation::apply(geometry_msgs::msg::Point &point,
* @parameter: datum datum to transform to
* @return std::vector<double> Vector with lat, lon, height
*/
std::vector<double> CRSTransformation::projToLLH(const std::string &projString,
const std::string &datum) {
auto *pjSrc =
proj_create_crs_to_crs(NULL, projString.c_str(), datum.c_str(), NULL);
if (pjSrc == NULL) {
throw std::runtime_error("Failed to create projPJ object");
}
std::vector<double> CRSTransformation::projToLLH(const std::string& projString, const std::string& datum) {
auto* pjSrc = proj_create_crs_to_crs(NULL, projString.c_str(), datum.c_str(), NULL);
if (pjSrc == NULL) {
throw std::runtime_error("Failed to create projPJ object");
}

PJ_COORD src = proj_coord(0, 0, 0, 0);
PJ_COORD dst = proj_trans(pjSrc, PJ_FWD, src);
PJ_COORD src = proj_coord(0, 0, 0, 0);
PJ_COORD dst = proj_trans(pjSrc, PJ_FWD, src);

std::vector<double> result = {dst.xyz.x, dst.xyz.y, dst.xyz.z};
proj_destroy(pjSrc);
std::vector<double> result = {dst.xyz.x, dst.xyz.y, dst.xyz.z};
proj_destroy(pjSrc);

return result;
return result;
}

/**
Expand All @@ -117,15 +108,12 @@ std::vector<double> CRSTransformation::projToLLH(const std::string &projString,
* @param llh The latitude, longitude, height [degrees, degrees, meters]
* @param xyzOffset Meters offset from llh [meters, meters, meters]
*/
void CRSTransformation::llhOffsetMeters(double *llh, const double *xyzOffset) {
constexpr double EARTH_EQUATOR_RADIUS_M =
6378137.0; // earth semimajor axis (WGS84) (m)
const auto [lat, lon, hgt] = std::make_tuple(llh[0], llh[1], llh[2]);
const auto [dx, dy, dz] =
std::make_tuple(xyzOffset[0], xyzOffset[1], xyzOffset[2]);
void CRSTransformation::llhOffsetMeters(double* llh, const double* xyzOffset) {
constexpr double EARTH_EQUATOR_RADIUS_M = 6378137.0; // earth semimajor axis (WGS84) (m)
const auto [lat, lon, hgt] = std::make_tuple(llh[0], llh[1], llh[2]);
const auto [dx, dy, dz] = std::make_tuple(xyzOffset[0], xyzOffset[1], xyzOffset[2]);

llh[0] = lat + (dy / EARTH_EQUATOR_RADIUS_M) * (180 / M_PI);
llh[1] = lon + (dx / EARTH_EQUATOR_RADIUS_M) * (180 / M_PI) /
std::cos(lat * M_PI / 180.0);
llh[2] = hgt + dz;
}
llh[0] = lat + (dy / EARTH_EQUATOR_RADIUS_M) * (180 / M_PI);
llh[1] = lon + (dx / EARTH_EQUATOR_RADIUS_M) * (180 / M_PI) / std::cos(lat * M_PI / 180.0);
llh[2] = hgt + dz;
}
27 changes: 12 additions & 15 deletions atos/common/CRSTransformation.hpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -5,25 +5,22 @@
*/
#pragma once

#include "geometry_msgs/msg/point.hpp"
#include "proj.h"
#include "trajectory.hpp"
#include "rclcpp/logger.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "trajectory.hpp"

class CRSTransformation {

public:

CRSTransformation(const std::string &fromCRS, const std::string &toCRS);
void apply(std::vector<ATOS::Trajectory::TrajectoryPoint> &traj);
void apply(geometry_msgs::msg::Point &point, PJ_DIRECTION direction);
static std::vector<double> projToLLH(const std::string &projString, const std::string &datum);
static void llhOffsetMeters(double *llh, const double *xyzOffset);

private:

std::unique_ptr<PJ_CONTEXT, std::function<void(PJ_CONTEXT*)>> ctxt;
std::unique_ptr<PJ, std::function<void(PJ*)>> projection;
rclcpp::Logger logger = rclcpp::get_logger("CRSTransformation");
public:
CRSTransformation(const std::string& fromCRS, const std::string& toCRS);
void apply(std::vector<ATOS::Trajectory::TrajectoryPoint>& traj);
void apply(geometry_msgs::msg::Point& point, PJ_DIRECTION direction);
static std::vector<double> projToLLH(const std::string& projString, const std::string& datum);
static void llhOffsetMeters(double* llh, const double* xyzOffset);

private:
std::unique_ptr<PJ_CONTEXT, std::function<void(PJ_CONTEXT*)>> ctxt;
std::unique_ptr<PJ, std::function<void(PJ*)>> projection;
rclcpp::Logger logger = rclcpp::get_logger("CRSTransformation");
};
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