transform from one geodetic coord sys to another

DFKI-NI · Aug 23, 2024 · 293e96c · 293e96c
1 parent 54ddb0f
commit 293e96c
Show file tree

Hide file tree

Showing 4 changed files with 22 additions and 11 deletions.
diff --git a/seerep_srv/seerep_core/CMakeLists.txt b/seerep_srv/seerep_core/CMakeLists.txt
@@ -29,6 +29,9 @@ find_package(catkin REQUIRED COMPONENTS tf2)
 find_package(CGAL REQUIRED)
 set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
 
+# https://github.com/OSGeo/PROJ/issues/3682
+pkg_check_modules(PROJ REQUIRED IMPORTED_TARGET)
+
 configure_file(include/SeerepCoreConfig.h.in SeerepCoreConfig.h)
 
 include_directories(
@@ -66,9 +69,9 @@ target_link_libraries(
   ${Boost_LOG_LIBRARY}
   ${Boost_LOG_SETUP_LIBRARY}
   ${catkin_LIBRARIES}
+  ${CURL_LIBRARIES}
   CGAL::CGAL
   proj
-  ${CURL_LIBRARIES}
   jsoncpp
 )
 

diff --git a/seerep_srv/seerep_core/include/seerep_core/core_project.h b/seerep_srv/seerep_core/include/seerep_core/core_project.h
@@ -1,6 +1,8 @@
 #ifndef SEEREP_CORE_CORE_PROJECT_H_
 #define SEEREP_CORE_CORE_PROJECT_H_
 
+#include <proj.h>
+
 #include <boost/uuid/uuid.hpp>             // uuid class
 #include <boost/uuid/uuid_generators.hpp>  // generators
 #include <boost/uuid/uuid_io.hpp>          // streaming operators etc.

diff --git a/seerep_srv/seerep_core/src/core_project.cpp b/seerep_srv/seerep_core/src/core_project.cpp
@@ -62,6 +62,7 @@ const std::string CoreProject::getVersion()
   return m_version;
 }
 
+// <<<<<<< HEAD
 seerep_core_msgs::Polygon2D
 CoreProject::transformToMapFrame(const seerep_core_msgs::Polygon2D polygon)
 {
@@ -113,10 +114,15 @@ CoreProject::getDataset(seerep_core_msgs::Query& query)
   // is the query not in map frame?
   if (query.polygon && !query.inMapFrame)
   {
+    if (query.coordinateSystem)
+    {
+      // TODO add transformation using the EPSG code
+    }
     query.polygon.value() = transformToMapFrame(query.polygon.value());
   }
 
   result.dataOrInstanceUuids = m_coreDatasets->getData(query);
+
   return result;
 }
 

diff --git a/seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h b/seerep_srv/seerep_core_pb/include/seerep_core_pb/core_pb_conversion.h
@@ -176,24 +176,24 @@ class CorePbConversion
   static void fromPbInMapFrame(const seerep::pb::Query& query,
                                seerep_core_msgs::Query& queryCore);
   /**
-<<<<<<< HEAD
-   * @brief converts the fullyEncapsulated flag of the protobuf query message to
-   * seerep core specific message
-=======
-   * @brief converts the inMapFrame flag of the protobuf query message to seerep core specific message
+   * @brief converts the inMapFrame flag of the protobuf query message to seerep
+   * core specific message
    * @param query the protobuf query message
    * @param queryCore query message in seerep core format
    */
-  static void fromPbInMapFrame(const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore);
+  static void fromPbInMapFrame(const seerep::pb::Query& query,
+                               seerep_core_msgs::Query& queryCore);
   /**
-   * @brief converts the coordinate systen string of the protobuf query message to seerep core specific message
+   * @brief converts the coordinate systen string of the protobuf query message
+   * to seerep core specific message
    * @param query the protobuf query message
    * @param queryCore query message in seerep core format
    */
-  static void fromPbCoordinateSystem(const seerep::pb::Query& query, seerep_core_msgs::Query& queryCore);
+  static void fromPbCoordinateSystem(const seerep::pb::Query& query,
+                                     seerep_core_msgs::Query& queryCore);
   /**
-   * @brief converts the fullyEncapsulated flag of the protobuf query message to seerep core specific message
->>>>>>> bool inMapFrame in query
+   * @brief converts the fullyEncapsulated flag of the protobuf query message to
+   * seerep core specific message
    * @param query the protobuf query message
    * @param queryCore query message in seerep core format
    */