UTM origin coordinate precision loss

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

1.94k stars 723 forks source link

UTM origin coordinate precision loss #182

Open ksuszka opened 3 years ago

ksuszka commented 3 years ago

When a final map is saved with utm: false parameter, then UTM origin is substracted from all points and it is saved to accompanying .utm file. However precision of serialized coordinates is limited and it can cause a few meters displacement.

In my case, value "5572094.155411" was saved as "5.57209e+06".

koide3 commented 3 years ago

Thanks for reporting the issue. I fixed the text format so the precision is preserved. It'll be merged into the main branch soon.

ksuszka commented 3 years ago

I just noticed that there are two separate functions affected by this formatting issue. I've create PR https://github.com/koide3/hdl_graph_slam/pull/185 with your fix applied to the second function.