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FIX: georeferencing yaml serialization missed orientation fields #47

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Merged
jlblancoc merged 1 commit into from
Mar 4, 2026
Merged

FIX: georeferencing yaml serialization missed orientation fields #47

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2 changes: 1 addition & 1 deletion mp2p_icp_map/include/mp2p_icp/metricmap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -325,7 +325,7 @@ mrpt::serialization::CArchive& operator<<(
std::optional<metric_map_t::Georeferencing> FromYAML(const mrpt::containers::yaml& yaml_data);

/// Serialization of geo-reference information as YAML
mrpt::containers::yaml ToYAML(const std::optional<metric_map_t::Georeferencing>& gref);
mrpt::containers::yaml ToYAML(const std::optional<metric_map_t::Georeferencing>& geoRef);

// ---- Template implementations ----
template <class MapClass>
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40 changes: 23 additions & 17 deletions mp2p_icp_map/src/metricmap.cpp
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Expand Up @@ -911,43 +911,49 @@ std::optional<metric_map_t::Georeferencing> mp2p_icp::FromYAML(
g.geo_coord.lat.decimal_value = yaml_data["geo_coord"]["lat"].as<double>();
g.geo_coord.height = yaml_data["geo_coord"]["altitude"].as<double>();

const auto& ym = yaml_data["T_enu_to_map"]["mean"];
g.T_enu_to_map.mean.x(ym["x"].as<double>());
g.T_enu_to_map.mean.y(ym["y"].as<double>());
g.T_enu_to_map.mean.z(ym["z"].as<double>());
const auto& ym = yaml_data["T_enu_to_map"]["mean"];
g.T_enu_to_map.mean = mrpt::poses::CPose3D::FromXYZYawPitchRoll(
ym["x"].as<double>(), ym["y"].as<double>(), ym["z"].as<double>(),
mrpt::DEG2RAD(ym["yaw_deg"].as<double>()), mrpt::DEG2RAD(ym["pitch_deg"].as<double>()),
mrpt::DEG2RAD(ym["roll_deg"].as<double>()));

yaml_data["T_enu_to_map"]["cov"].toMatrix(g.T_enu_to_map.cov);

return georef;
}

mrpt::containers::yaml mp2p_icp::ToYAML(const std::optional<metric_map_t::Georeferencing>& gref)
mrpt::containers::yaml mp2p_icp::ToYAML(const std::optional<metric_map_t::Georeferencing>& geoRef)
{
mrpt::containers::yaml data = mrpt::containers::yaml::Map();

data["type"] = GEOREF_MAGIC_STR;
data["defined"] = gref.has_value();
if (gref)
data["defined"] = geoRef.has_value();
if (geoRef)
{
{
mrpt::containers::yaml gcoord = mrpt::containers::yaml::Map();
gcoord["lon"] = gref->geo_coord.lon;
gcoord["lat"] = gref->geo_coord.lat;
gcoord["altitude"] = gref->geo_coord.height;
mrpt::containers::yaml geoCoord = mrpt::containers::yaml::Map();
geoCoord["lon"] = geoRef->geo_coord.lon;
geoCoord["lat"] = geoRef->geo_coord.lat;
geoCoord["altitude"] = geoRef->geo_coord.height;

data["geo_coord"] = gcoord;
data["geo_coord"] = geoCoord;
}

mrpt::containers::yaml pose_mean = mrpt::containers::yaml::Map();
const auto& p = geoRef->T_enu_to_map.mean;

pose_mean["x"] = gref->T_enu_to_map.mean.x();
pose_mean["y"] = gref->T_enu_to_map.mean.y();
pose_mean["z"] = gref->T_enu_to_map.mean.z();
pose_mean["x"] = p.x();
pose_mean["y"] = p.y();
pose_mean["z"] = p.z();
pose_mean["yaw_deg"] = mrpt::RAD2DEG(p.yaw());
pose_mean["pitch_deg"] = mrpt::RAD2DEG(p.pitch());
pose_mean["roll_deg"] = mrpt::RAD2DEG(p.roll());

mrpt::containers::yaml pose = mrpt::containers::yaml::Map();
pose["mean"] = pose_mean;
pose["cov"] = mrpt::containers::yaml::FromMatrix(gref->T_enu_to_map.cov);
data["T_enu_to_map"] = pose;
pose["cov"] = mrpt::containers::yaml::FromMatrix(geoRef->T_enu_to_map.cov);
pose["cov"].comment("Covariance in order [x,y,z,yaw,pitch,roll]");
data["T_enu_to_map"] = pose;
}
return data;
}
1 change: 1 addition & 0 deletions tests/CMakeLists.txt
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Expand Up @@ -47,6 +47,7 @@ mp2p_add_test(mp2p_deskew EXTRA_LIBS mp2p_icp_filters)
endif()

#mp2p_add_test(mp2p_matcher_pt2pl) # TODO: This now requires a NP metric map to run the test
mp2p_add_test(georef-yaml)
mp2p_add_test(mp2p_cov2cov)
mp2p_add_test(mp2p_error_terms_jacobians)
mp2p_add_test(mp2p_estimate_points_eigen)
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