Add terrain loader node

grid_map_geo/CMakeLists.txt

@@ -34,6 +34,13 @@ add_executable(test_tif_loader
 add_dependencies(test_tif_loader ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY})
 target_link_libraries(test_tif_loader ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES})
 
+add_executable(terrain_loader
+  src/terrain_loader.cpp
+)
+add_dependencies(terrain_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY})
+target_link_libraries(terrain_loader ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES})
+
+
 if(CATKIN_ENABLE_TESTING)
     # Add gtest based cpp test target and link libraries
     catkin_add_gtest(${PROJECT_NAME}-test test/main.cpp

grid_map_geo/include/grid_map_geo/geo_conversions.h

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 Jaeyoung Lim. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name terrain-navigation nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef GEOCONVERSIONS_H
+#define GEOCONVERSIONS_H
+
+#include <math.h>
+
+class GeoConversions {
+ public:
+  GeoConversions();
+  virtual ~GeoConversions();
+
+  /**
+   * @brief Convert WGS84 (LLA) to LV03/CH1903
+   *
+   * @param lat latitude (degrees) WGS84
+   * @param lon lontitude (degrees) WGS84
+   * @param alt Altitude WGS84
+   * @param x
+   * @param y
+   * @param h
+   */
+  static void forward(const double lat, const double lon, const double alt, double &y, double &x, double &h) {
+    // 1. Convert the ellipsoidal latitudes φ and longitudes λ into arcseconds ["]
+    const double lat_arc = lat * 3600.0;
+    const double lon_arc = lon * 3600.0;
+
+    // 2. Calculate the auxiliary values (differences of latitude and longitude relative to Bern in the unit [10000"]):
+    //  φ' = (φ – 169028.66 ")/10000
+    //  λ' = (λ – 26782.5 ")/10000
+    const double lat_aux = (lat_arc - 169028.66) / 10000.0;
+    const double lon_aux = (lon_arc - 26782.5) / 10000.0;
+
+    // 3. Calculate projection coordinates in LV95 (E, N, h) or in LV03 (y, x, h)
+    // E [m] = 2600072.37 + 211455.93 * λ' - 10938.51 * λ' * φ' - 0.36 * λ' * φ'2 - 44.54 * λ'3
+    // y [m] = E – 2000000.00 N [m] = 1200147.07 + 308807.95 * φ' + 3745.25 * λ'2 + 76.63 * φ'2 - 194.56 * λ'2 * φ' +
+    // 119.79 * φ'3 x [m] = N – 1000000.00
+    // hCH [m] =hWGS – 49.55 + 2.73 * λ' + 6.94 * φ'
+    const double E = 2600072.37 + 211455.93 * lon_aux - 10938.51 * lon_aux * lat_aux -
+                     0.36 * lon_aux * std::pow(lat_aux, 2) - 44.54 * std::pow(lon_aux, 3);
+    y = E - 2000000.00;
+    const double N = 1200147.07 + 308807.95 * lat_aux + 3745.25 * std::pow(lon_aux, 2) + 76.63 * std::pow(lat_aux, 2) -
+                     194.56 * std::pow(lon_aux, 2) * lat_aux + 119.79 * std::pow(lat_aux, 3);
+    x = N - 1000000.00;
+
+    h = alt - 49.55 + 2.73 * lon_aux + 6.84 * lat_aux;
+  };
+
+  /**
+   * @brief  LV03/CH1903 to Convert WGS84 (LLA)
+   *
+   * @param x
+   * @param y
+   * @param h
+   * @param lat latitude
+   * @param lon longitude
+   * @param alt altitude
+   */
+  static void reverse(const double y, const double x, const double h, double &lat, double &lon, double &alt) {
+    // 1. Convert the projection coordinates E (easting) and N (northing) in LV95 (or y / x in LV03) into the civilian
+    // system (Bern = 0 / 0) and express in the unit [1000 km]: E' = (E – 2600000 m)/1000000 = (y – 600000 m)/1000000
+    // N' = (N – 1200000 m)/1000000 = (x – 200000 m)/1000000
+    const double y_aux = (y - 600000.0) / 1000000.0;
+    const double x_aux = (x - 200000.0) / 1000000.0;
+
+    // 2. Calculate longitude λ and latitude φ in the unit [10000"]:
+    //  λ' = 2.6779094 + 4.728982 * y' + 0.791484* y' * x' + 0.1306 * y' * x'2 - 0.0436 * y'3
+    //  φ' = 16.9023892 + 3.238272 * x' - 0.270978 * y'2 - 0.002528 * x'2 - 0.0447 * y'2 * x' - 0.0140 * x'3
+    // hWGS [m] = hCH + 49.55 - 12.60 * y' - 22.64 * x'
+    const double lon_aux = 2.6779094 + 4.728982 * y_aux + 0.791484 * y_aux * x_aux +
+                           0.1306 * y_aux * std::pow(x_aux, 2) - 0.0436 * std::pow(y_aux, 3);
+    const double lat_aux = 16.9023892 + 3.238272 * x_aux - 0.270978 * std::pow(y_aux, 2) -
+                           0.002528 * std::pow(x_aux, 2) - 0.0447 * std::pow(y_aux, 2) * x_aux -
+                           0.0140 * std::pow(x_aux, 3);
+    alt = h + 49.55 - 12.60 * y_aux - 22.64 * x_aux;
+
+    lon = lon_aux * 100.0 / 36.0;
+    lat = lat_aux * 100.0 / 36.0;
+  };
+
+ private:
+};
+
+#endif

grid_map_geo/launch/run_terrain_loader.launch

@@ -0,0 +1,13 @@
+<launch>
+    <arg name="visualization" default="true"/>
+    <arg name="location" default="hinwil"/>
+
+    <node pkg="grid_map_geo" type="terrain_loader" name="terrain_loader" output="screen">
+        <!-- <param name="terrain_path" value="$(find terrain_models)/models/$(arg location).tif"/> -->
+        <param name="terrain_path" value="/vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/ap_srtm1.zip/ap_srtm1.vrt"/>
+    </node>
+
+    <group if="$(arg visualization)">
+        <node type="rviz" name="rviz" pkg="rviz" args="-d $(find grid_map_geo)/launch/terrain_loader.rviz" output="screen"/>
+    </group>
+</launch>

grid_map_geo/launch/terrain_loader.rviz

@@ -0,0 +1,154 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Grid1
+        - /GridMap1
+      Splitter Ratio: 0.5
+    Tree Height: 850
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: rviz_plugin_tutorials/Teleop
+    Name: Teleop
+    Topic: ""
+  - Class: mav_planning_rviz/PlanningPanel
+    Name: PlanningPanel
+    namespace: ""
+    odometry_topic: ""
+    planner_name: sertig
+    planning_budget: 4
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1000
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 0.25
+      Autocompute Intensity Bounds: false
+      Class: grid_map_rviz_plugin/GridMap
+      Color: 200; 200; 200
+      Color Layer: elevation
+      Color Transformer: IntensityLayer
+      Enabled: true
+      Height Layer: elevation
+      Height Transformer: Layer
+      History Length: 5
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2200
+      Min Color: 0; 0; 0
+      Min Intensity: 1400
+      Name: GridMap
+      Show Grid Lines: false
+      Topic: /grid_map
+      Unreliable: false
+      Use Rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 30173.89453125
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 5063.75927734375
+        Y: 2195.057373046875
+        Z: 3253.49755859375
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.639797031879425
+      Target Frame: map
+      Yaw: 5.113188743591309
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1136
+  Hide Left Dock: false
+  Hide Right Dock: true
+  PlanningPanel:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000247000003dbfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000007a000003db000000c700fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c0000000255000000ef0000006e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000004500ffffff000000010000010f000002cafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000007a000002ca000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073800000039fc0100000002fb0000000800540069006d00650100000000000007380000030700fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d00650100000000000004500000000000000000000004eb000003db00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Teleop:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1848
+  X: 72
+  Y: 27

grid_map_geo/src/grid_map_geo.cpp

@@ -184,10 +184,8 @@ bool GridMapGeo::initializeFromVrt(const std::string &path, const Eigen::Vector2
   grid_map::Length length(lengthX, lengthY);
   std::cout << "length: " << length.transpose() << std::endl;
 
-  double mapcenter_e = map_center(0);
-  double mapcenter_n = map_center(1);
   maporigin_.espg = static_cast<ESPG>(std::stoi(epsg_code));
-  maporigin_.position = Eigen::Vector3d(mapcenter_e, mapcenter_n, 0.0);
+  maporigin_.position = map_center.head(2);
 
   Eigen::Vector2d position{Eigen::Vector2d::Zero()};
 
@@ -198,7 +196,7 @@ bool GridMapGeo::initializeFromVrt(const std::string &path, const Eigen::Vector2
   grid_map_.add("elevation");
   GDALRasterBand *elevationBand = dataset->GetRasterBand(1);
 
-  Eigen::Vector2d center_px((mapcenter_e - geoTransform[0])/geoTransform[1], (mapcenter_n - geoTransform[3])/geoTransform[5]);
+  Eigen::Vector2d center_px((map_center(1) - geoTransform[0])/geoTransform[1], (map_center(0) - geoTransform[3])/geoTransform[5]);
 
   const auto raster_io_x_offset = center_px.x() - grid_width / 2;
   const auto raster_io_y_offset = center_px.y() - grid_height / 2;
@@ -228,8 +226,8 @@ bool GridMapGeo::initializeFromVrt(const std::string &path, const Eigen::Vector2
   static_transformStamped.header.stamp = ros::Time::now();
   static_transformStamped.header.frame_id = name_coordinate;
   static_transformStamped.child_frame_id = frame_id_;
-  static_transformStamped.transform.translation.x = mapcenter_e;
-  static_transformStamped.transform.translation.y = mapcenter_n;
+  static_transformStamped.transform.translation.x = map_center(0);
+  static_transformStamped.transform.translation.y = map_center(1);
   static_transformStamped.transform.translation.z = 0.0;
   static_transformStamped.transform.rotation.x = 0.0;
   static_transformStamped.transform.rotation.y = 0.0;