Each project has geodetic position (ellipsoid, latitude, longitude, altitude). This position is the origin of a local Cartesian coordinate system, in which the data is located. At the same time, the XY-Plane of the Cartesian coordinate system is a tangent plane of the ellipsoid and X is oriented to the north (NED coordinates). A visualization for that can be found here https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates. Each project also has a TF-Tree http://wiki.ros.org/tf2 to keep track of the different coordinate systems.
[x] get local coordinates of the data points
[x] transform the local coordinates of the data points into geodetic position
Each project has geodetic position (ellipsoid, latitude, longitude, altitude). This position is the origin of a local Cartesian coordinate system, in which the data is located. At the same time, the XY-Plane of the Cartesian coordinate system is a tangent plane of the ellipsoid and X is oriented to the north (NED coordinates). A visualization for that can be found here https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates. Each project also has a TF-Tree http://wiki.ros.org/tf2 to keep track of the different coordinate systems.