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Get espg from tif data #61

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Get espg from tif data #61

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3 changes: 2 additions & 1 deletion src/grid_map_geo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path) {

const OGRSpatialReference *spatial_ref = dataset->GetSpatialRef();
std::string name_coordinate = spatial_ref->GetAttrValue("geogcs");
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Note - GetSpacialRef can return null, so the code would segfault from a nullptr dereference if the user supplied the path to a dataset that didn't have one.
https://gdal.org/doxygen/classGDALDataset.html#a9bd7f8b54ff4c12756976c7a0116d49a

std::string epsg_code = spatial_ref->GetAttrValue("AUTHORITY", 1);
// Get image metadata
unsigned width = dataset->GetRasterXSize();
unsigned height = dataset->GetRasterYSize();
Expand All @@ -99,7 +100,7 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path) {

double mapcenter_e = originX + pixelSizeX * width * 0.5;
double mapcenter_n = originY + pixelSizeY * height * 0.5;
maporigin_.espg = ESPG::CH1903_LV03;
maporigin_.espg = static_cast<ESPG>(std::stoi(epsg_code));
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FYI, std::stoi could throw if the OGRSpatialReference doesn't have the AUTHORITY attribute because it will return null. You might want to wrap it in try-catch, or return early if the epsg_code == nullptr

maporigin_.position = Eigen::Vector3d(mapcenter_e, mapcenter_n, 0.0);

Eigen::Vector2d position{Eigen::Vector2d::Zero()};
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