path_from_rtk_gps.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "topography-precomp.h"  // Precompiled headers
 
#include <mrpt/tfest/se3.h>
#include <mrpt/obs/CObservationGPS.h>
#include <mrpt/math/data_utils.h>
#include <mrpt/topography/data_types.h>
#include <mrpt/topography/conversions.h>
#include <mrpt/topography/path_from_rtk_gps.h>
 
#if MRPT_HAS_WXWIDGETS
        #include <wx/app.h>
        #include <wx/msgdlg.h>
        #include <wx/string.h>
        #include <wx/progdlg.h>
        #include <wx/busyinfo.h>
        #include <wx/log.h>
#endif   // MRPT_HAS_WXWIDGETS
 
 
using namespace std;
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace mrpt::topography;
 
template <class T>
std::set<T> make_set( const T& v0, const T& v1 )
{
        std::set<T> s;
        s.insert(v0);
        s.insert(v1);
        return s;
}
 
/*---------------------------------------------------------------
                                        path_from_rtk_gps
 ---------------------------------------------------------------*/
void  mrpt::topography::path_from_rtk_gps(
        mrpt::poses::CPose3DInterpolator        &robot_path,
        const mrpt::obs::CRawlog                        &rawlog,
        size_t                                                          first,
        size_t                                                          last,
        bool                                                            isGUI,
        bool                                                            disableGPSInterp,
        int                                                                     PATH_SMOOTH_FILTER ,
        TPathFromRTKInfo                                        *outInfo
        )
{
        MRPT_START
 
#if MRPT_HAS_WXWIDGETS
        // Use a smart pointer so we are safe against exceptions:
        std::shared_ptr<wxBusyCursor>   waitCursorPtr;
        if (isGUI)
                waitCursorPtr = std::shared_ptr<wxBusyCursor>( new  wxBusyCursor() );
#else
        MRPT_UNUSED_PARAM(isGUI);
#endif
 
    // Go: generate the map:
    size_t      i;
 
    ASSERT_(first<=last);
    ASSERT_(last<=rawlog.size()-1);
 
 
        set<string>     lstGPSLabels;
 
    size_t count = 0;
 
        robot_path.clear();
        robot_path.setMaxTimeInterpolation(3.0);        // Max. seconds of GPS blackout not to interpolate.
        robot_path.setInterpolationMethod( mrpt::poses::imSSLSLL );
 
        TPathFromRTKInfo        outInfoTemp;
        if (outInfo) *outInfo = outInfoTemp;
 
        map<string, map<TTimeStamp,TPoint3D> >  gps_paths;      // label -> (time -> 3D local coords)
 
    bool                abort = false;
        bool            ref_valid = false;
 
        // Load configuration block:
        CConfigFileMemory       memFil;
        rawlog.getCommentTextAsConfigFile(memFil);
 
        TGeodeticCoords ref(
                memFil.read_double("GPS_ORIGIN","lat_deg",0),
                memFil.read_double("GPS_ORIGIN","lon_deg",0),
                memFil.read_double("GPS_ORIGIN","height",0) );
 
        ref_valid = !ref.isClear();
 
        // Do we have info for the consistency test?
        const double std_0 = memFil.read_double("CONSISTENCY_TEST","std_0",0);
        bool  doConsistencyCheck = std_0>0;
 
        // Do we have the "reference uncertainty" matrix W^\star ??
        memFil.read_matrix("UNCERTAINTY","W_star",outInfoTemp.W_star);
        const bool doUncertaintyCovs = size(outInfoTemp.W_star,1)!=0;
        if (doUncertaintyCovs && (size(outInfoTemp.W_star,1)!=6 || size(outInfoTemp.W_star,2)!=6))
                THROW_EXCEPTION("ERROR: W_star matrix for uncertainty estimation is provided but it's not a 6x6 matrix.");
 
        // ------------------------------------------
        // Look for the 2 observations:
        // ------------------------------------------
#if MRPT_HAS_WXWIDGETS
        wxProgressDialog    *progDia=NULL;
        if (isGUI)
        {
                progDia = new wxProgressDialog(
                        wxT("Building map"),
                        wxT("Getting GPS observations..."),
                        (int)(last-first+1), // range
                        NULL, // parent
                        wxPD_CAN_ABORT |
                        wxPD_APP_MODAL |
                        wxPD_SMOOTH |
                        wxPD_AUTO_HIDE |
                        wxPD_ELAPSED_TIME |
                        wxPD_ESTIMATED_TIME |
                        wxPD_REMAINING_TIME);
        }
#endif
 
        // The list with all time ordered gps's in valid RTK mode
        typedef std::map< mrpt::system::TTimeStamp, std::map<std::string,CObservationGPSPtr> > TListGPSs;
        TListGPSs       list_gps_obs;
 
        map<string,size_t>  GPS_RTK_reads;      // label-># of RTK readings
        map<string,TPoint3D> GPS_local_coords_on_vehicle;  // label -> local pose on the vehicle
 
    for (i=first;!abort && i<=last;i++)
    {
        switch ( rawlog.getType(i) )
                {
                default:
                        break;
 
        case CRawlog::etObservation:
            {
                CObservationPtr o = rawlog.getAsObservation(i);
 
                                if (o->GetRuntimeClass()==CLASS_ID(CObservationGPS))
                                {
                                        CObservationGPSPtr obs = CObservationGPSPtr(o);
 
                                        if (obs->has_GGA_datum && obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.fix_quality==4)
                                        {
                                                // Add to the list:
                                                list_gps_obs[obs->timestamp][obs->sensorLabel] = obs;
 
                                                lstGPSLabels.insert(obs->sensorLabel);
                                        }
 
                                        // Save to GPS paths:
                                        if (obs->has_GGA_datum && (obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.fix_quality==4 || obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.fix_quality==5))
                                        {
                                                GPS_RTK_reads[obs->sensorLabel]++;
 
                                                // map<string,TPoint3D> GPS_local_coords_on_vehicle;  // label -> local pose on the vehicle
                                                if (GPS_local_coords_on_vehicle.find(obs->sensorLabel)==GPS_local_coords_on_vehicle.end())
                                                        GPS_local_coords_on_vehicle[obs->sensorLabel] = TPoint3D( obs->sensorPose );
 
                                                //map<string, map<TTimeStamp,TPoint3D> >        gps_paths;      // label -> (time -> 3D local coords)
                                                gps_paths[obs->sensorLabel][obs->timestamp] = TPoint3D(
                                                        obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.longitude_degrees,
                                                        obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.latitude_degrees,
                                                        obs->getMsgByClass<gnss::Message_NMEA_GGA>().fields.altitude_meters );
                                        }
                }
            }
            break;
        } // end switch type
 
                // Show progress:
        if ((count++ % 100)==0)
        {
#if MRPT_HAS_WXWIDGETS
                if (progDia)
                {
                                if (!progDia->Update((int)(i-first)))
                                        abort = true;
                                wxTheApp->Yield();
                }
#endif
        }
    } // end for i
 
#if MRPT_HAS_WXWIDGETS
        if (progDia)
        {
                delete progDia;
                progDia=NULL;
        }
#endif
 
        // -----------------------------------------------------------
        // At this point we already have the sensor positions, thus
        //  we can estimate the covariance matrix D:
        //
        // TODO: Generalize equations for # of GPS > 3
        // -----------------------------------------------------------
        map< set<string>, double >  Ad_ij;  // InterGPS distances in 2D
        map< set<string>, double >  phi_ij; // Directions on XY of the lines between i-j
        map< string, size_t>  D_cov_indexes; // Sensor label-> index in the matrix (first=0, ...)
        map< size_t, string>  D_cov_rev_indexes; // Reverse of D_cov_indexes
 
        CMatrixDouble     D_cov;   // square distances cov
        CMatrixDouble     D_cov_1;   // square distances cov (inverse)
        CVectorDouble     D_mean;  // square distances mean
 
        if (doConsistencyCheck && GPS_local_coords_on_vehicle.size()==3)
        {
                unsigned int cnt = 0;
                for(map<string,TPoint3D>::iterator i=GPS_local_coords_on_vehicle.begin();i!=GPS_local_coords_on_vehicle.end();++i)
                {
                        // Index tables:
                        D_cov_indexes[i->first] = cnt;
                        D_cov_rev_indexes[cnt] = i->first;
                        cnt++;
 
                        for(map<string,TPoint3D>::iterator j=i;j!=GPS_local_coords_on_vehicle.end();++j)
                        {
                                if (i!=j)
                                {
                                        const TPoint3D  &pi = i->second;
                                        const TPoint3D  &pj = j->second;
                                        Ad_ij[ make_set(i->first,j->first) ]  = pi.distanceTo( pj );
                                        phi_ij[ make_set(i->first,j->first) ] = atan2( pj.y-pi.y, pj.x-pi.x );
                                }
                        }
                }
                ASSERT_( D_cov_indexes.size()==3  && D_cov_rev_indexes.size()==3 );
 
                D_cov.setSize( D_cov_indexes.size(), D_cov_indexes.size() );
                D_mean.resize( D_cov_indexes.size() );
 
                // See paper for the formulas!
                // TODO: generalize for N>3
 
                D_cov(0,0) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] );
                D_cov(1,1) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] );
                D_cov(2,2) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] );
 
                D_cov(1,0) = Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] * Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])]
                                         * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] - phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] );
                D_cov(0,1) = D_cov(1,0);
 
                D_cov(2,0) =-Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] * Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])]
                                         * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] - phi_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] );
                D_cov(0,2) = D_cov(2,0);
 
                D_cov(2,1) = Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] * Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])]
                                         * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] - phi_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] );
                D_cov(1,2) = D_cov(2,1);
 
                D_cov *= 4*square(std_0);
 
                D_cov_1 = D_cov.inv();
 
                //cout << D_cov.inMatlabFormat() << endl;
 
                D_mean[0] = square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] );
                D_mean[1] = square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] );
                D_mean[2] = square( Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] );
 
        }
        else doConsistencyCheck =false;
 
 
        // ------------------------------------------
        // Look for the 2 observations:
        // ------------------------------------------
        int N_GPSs = list_gps_obs.size();
 
        if (N_GPSs)
        {
                // loop interpolate 1-out-of-5: this solves the issue with JAVAD GPSs
                //  that skip some readings at some times .0 .2 .4 .6 .8
                if (list_gps_obs.size()>4)
                {
                        TListGPSs::iterator F = list_gps_obs.begin();
                        ++F; ++F;
                        TListGPSs::iterator E = list_gps_obs.end();
                        --E; --E;
 
                        for (TListGPSs::iterator i=F;i!=E;++i)
                        {
                                // Now check if we have 3 gps with the same time stamp:
                                //const size_t N = i->second.size();
                                std::map<std::string, CObservationGPSPtr> & GPS = i->second;
 
                                // Check if any in "lstGPSLabels" is missing here:
                                for (set<string>::iterator l=lstGPSLabels.begin();l!=lstGPSLabels.end();++l)
                                {
                                        // For each GPS in the current timestamp:
                                        bool fnd = ( GPS.find(*l)!=GPS.end() );
 
                                        if (fnd) continue; // this one is present.
 
                                        // Ok, we have "*l" missing in the set "*i".
                                        // Try to interpolate from neighbors:
                                        TListGPSs::iterator     i_b1 = i; --i_b1;
                                        TListGPSs::iterator     i_a1 = i; ++i_a1;
 
                                        CObservationGPSPtr      GPS_b1, GPS_a1;
 
                                        if (i_b1->second.find( *l )!=i_b1->second.end())
                                                GPS_b1 = i_b1->second.find( *l )->second;
 
                                        if (i_a1->second.find( *l )!=i_a1->second.end())
                                                GPS_a1 = i_a1->second.find( *l )->second;
 
                                        if (!disableGPSInterp && GPS_a1 && GPS_b1)
                                        {
                                                if ( mrpt::system::timeDifference( GPS_b1->timestamp, GPS_a1->timestamp ) < 0.5 )
                                                {
                                                        CObservationGPSPtr      new_gps = CObservationGPSPtr( new CObservationGPS(*GPS_a1) );
                                                        new_gps->sensorLabel = *l;
 
                                                        //cout << mrpt::system::timeLocalToString(GPS_b1->timestamp) << " " << mrpt::system::timeLocalToString(GPS_a1->timestamp) << " " << *l;
                                                        //cout << endl;
 
                                                        new_gps->getMsgByClass<gnss::Message_NMEA_GGA>().fields.longitude_degrees = 0.5 * ( GPS_a1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.longitude_degrees + GPS_b1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.longitude_degrees );
                                                        new_gps->getMsgByClass<gnss::Message_NMEA_GGA>().fields.latitude_degrees  = 0.5 * ( GPS_a1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.latitude_degrees + GPS_b1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.latitude_degrees );
                                                        new_gps->getMsgByClass<gnss::Message_NMEA_GGA>().fields.altitude_meters   = 0.5 * ( GPS_a1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.altitude_meters + GPS_b1->getMsgByClass<gnss::Message_NMEA_GGA>().fields.altitude_meters );
 
                                                        new_gps->timestamp = (GPS_a1->timestamp + GPS_b1->timestamp) / 2;
 
                                                        i->second[new_gps->sensorLabel] = new_gps;
                                                }
                                        }
                                }
                        } // end loop interpolate 1-out-of-5
                }
 
 
 
#if MRPT_HAS_WXWIDGETS
        wxProgressDialog    *progDia3=NULL;
        if (isGUI)
        {
                progDia3 = new wxProgressDialog(
                        wxT("Building map"),
                        wxT("Estimating 6D path..."),
                        N_GPSs, // range
                        NULL, // parent
                        wxPD_CAN_ABORT |
                        wxPD_APP_MODAL |
                        wxPD_SMOOTH |
                        wxPD_AUTO_HIDE |
                        wxPD_ELAPSED_TIME |
                        wxPD_ESTIMATED_TIME |
                        wxPD_REMAINING_TIME);
        }
#endif
 
                int     idx_in_GPSs = 0;
 
                for (TListGPSs::iterator i=list_gps_obs.begin();i!=list_gps_obs.end();++i, idx_in_GPSs++)
                {
                        // Now check if we have 3 gps with the same time stamp:
                        if (i->second.size()>=3)
                        {
                                const size_t N = i->second.size();
                                std::map<std::string, CObservationGPSPtr> & GPS = i->second;
                                CVectorDouble X(N),Y(N),Z(N);   // Global XYZ coordinates
                                std::map<string,size_t> XYZidxs;  // Sensor label -> indices in X Y Z
 
                                if (!ref_valid) // get the reference lat/lon, if it's not set from rawlog configuration block.
                                {
                                        ref_valid       = true;
                                        ref = GPS.begin()->second->getMsgByClass<gnss::Message_NMEA_GGA>().getAsStruct<TGeodeticCoords>();
                                }
 
                                // Compute the XYZ coordinates of all sensors:
                                TMatchingPairList corrs;
                                unsigned int k;
                                std::map<std::string, CObservationGPSPtr>::iterator g_it;
 
                                for (k=0,g_it=GPS.begin();g_it!=GPS.end();++g_it,++k)
                                {
                                        TPoint3D P;
                                        mrpt::topography::geodeticToENU_WGS84(
                                                g_it->second->getMsgByClass<gnss::Message_NMEA_GGA>().getAsStruct<TGeodeticCoords>(),
                                                P,
                                                ref );
 
                                        // Correction of offsets:
                                        const string sect = string("OFFSET_")+g_it->second->sensorLabel;
                                        P.x += memFil.read_double( sect, "x", 0 );
                                        P.y += memFil.read_double( sect, "y", 0 );
                                        P.z += memFil.read_double( sect, "z", 0 );
 
                                        XYZidxs[g_it->second->sensorLabel] = k; // Save index correspondence
 
                                        // Create the correspondence:
                                        corrs.push_back( TMatchingPair(
                                                k,k,    // Indices
                                                P.x,P.y,P.z, // "This"/Global coords
                                                g_it->second->sensorPose.x(),g_it->second->sensorPose.y(),g_it->second->sensorPose.z() // "other"/local coordinates
                                                ));
 
                                        X[k] = P.x;
                                        Y[k] = P.y;
                                        Z[k] = P.z;
                                }
 
                                if (doConsistencyCheck && GPS.size()==3)
                                {
                                        // XYZ[k] have the k'd final coordinates of each GPS
                                        // GPS[k] are the CObservations:
 
                                        // Compute the inter-GPS square distances:
                                        CVectorDouble iGPSdist2(3);
 
                                        // [0]: sq dist between: D_cov_rev_indexes[0],D_cov_rev_indexes[1]
                                        TPoint3D   P0( X[XYZidxs[D_cov_rev_indexes[0]]], Y[XYZidxs[D_cov_rev_indexes[0]]], Z[XYZidxs[D_cov_rev_indexes[0]]] );
                                        TPoint3D   P1( X[XYZidxs[D_cov_rev_indexes[1]]], Y[XYZidxs[D_cov_rev_indexes[1]]], Z[XYZidxs[D_cov_rev_indexes[1]]] );
                                        TPoint3D   P2( X[XYZidxs[D_cov_rev_indexes[2]]], Y[XYZidxs[D_cov_rev_indexes[2]]], Z[XYZidxs[D_cov_rev_indexes[2]]] );
 
                                        iGPSdist2[0] = P0.sqrDistanceTo(P1);
                                        iGPSdist2[1] = P0.sqrDistanceTo(P2);
                                        iGPSdist2[2] = P1.sqrDistanceTo(P2);
 
                                        double mahaD = mrpt::math::mahalanobisDistance( iGPSdist2, D_mean, D_cov_1 );
                                        outInfoTemp.mahalabis_quality_measure[i->first] = mahaD;
 
                                        //cout << "x: " << iGPSdist2 << " MU: " <<  D_mean << " -> " << mahaD  << endl;
                                } // end consistency
 
                                // Use a 6D matching method to estimate the location of the vehicle:
                                CPose3DQuat optimal_pose;
                                double  optimal_scale;
 
                                // "this" (reference map) -> GPS global coordinates
                                // "other" -> GPS local coordinates on the vehicle
                                mrpt::tfest::se3_l2( corrs,optimal_pose,optimal_scale, true ); // Force scale=1
                                //cout << "optimal pose: " << optimal_pose << " " << optimal_scale << endl;
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.x() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.y() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.z() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.quat().x() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.quat().y() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.quat().z() );
                                MRPT_CHECK_NORMAL_NUMBER( optimal_pose.quat().r() );
 
                                // Final vehicle pose:
                                const CPose3D veh_pose= CPose3D(optimal_pose);
 
                                // Add to the interpolator:
                                robot_path.insert( i->first, veh_pose );
 
                                // If we have W_star, compute the pose uncertainty:
                                if (doUncertaintyCovs)
                                {
                                        CPose3DPDFGaussian      final_veh_uncert;
                                        final_veh_uncert.mean.setFromValues(0,0,0,0,0,0);
                                        final_veh_uncert.cov = outInfoTemp.W_star;
 
                                        // Rotate the covariance according to the real vehicle pose:
                                        final_veh_uncert.changeCoordinatesReference(veh_pose);
 
                                        outInfoTemp.vehicle_uncertainty[ i->first ] = final_veh_uncert.cov;
                                }
                        }
 
                        // Show progress:
                        if ((count++ % 100)==0)
                        {
#if MRPT_HAS_WXWIDGETS
                                if (progDia3)
                                {
                                        if (!progDia3->Update(idx_in_GPSs))
                                                abort = true;
                                        wxTheApp->Yield();
                                }
#endif
                        }
                } // end for i
 
#if MRPT_HAS_WXWIDGETS
        if (progDia3)
        {
                delete progDia3;
                progDia3=NULL;
        }
#endif
 
                if (PATH_SMOOTH_FILTER>0 && robot_path.size()>1)
                {
                        CPose3DInterpolator     filtered_robot_path = robot_path;
 
                        // Do Angles smoother filter of the path:
                        // ---------------------------------------------
                        const double MAX_DIST_TO_FILTER = 4.0;
 
                        for (auto i=robot_path.begin();i!=robot_path.end();++i)
                        {
                                mrpt::math::TPose3D p = i->second;
 
                                CVectorDouble pitchs, rolls;    // The elements to average
 
                                pitchs.push_back(p.pitch);
                                rolls.push_back(p.roll);
 
                                CPose3DInterpolator::iterator q=i;
                                for (int k=0;k<PATH_SMOOTH_FILTER && q!=robot_path.begin();k++)
                                {
                                        --q;
                                        if (abs( mrpt::system::timeDifference(q->first,i->first))<MAX_DIST_TO_FILTER )
                                        {
                                                pitchs.push_back( q->second.pitch );
                                                rolls.push_back( q->second.roll );
                                        }
                                }
                                q=i;
                                for (int k=0;k<PATH_SMOOTH_FILTER && q!=(--robot_path.end()) ;k++)
                                {
                                        ++q;
                                        if (abs( mrpt::system::timeDifference(q->first,i->first))<MAX_DIST_TO_FILTER )
                                        {
                                                pitchs.push_back( q->second.pitch );
                                                rolls.push_back( q->second.roll );
                                        }
                                }
 
                                p.pitch = mrpt::math::averageWrap2Pi(pitchs);
                                p.roll = mrpt::math::averageWrap2Pi(rolls);
 
                                // save in filtered path:
                                filtered_robot_path.insert( i->first, p );
                        }
                        // Replace:
                        robot_path = filtered_robot_path;
 
                } // end PATH_SMOOTH_FILTER
 
        } // end step generate 6D path
 
 
        // Here we can set best_gps_path  (that with the max. number of RTK fixed/foat readings):
        if (outInfo)
        {
                string bestLabel;
                size_t bestNum = 0;
                for (map<string,size_t>::iterator i=GPS_RTK_reads.begin();i!=GPS_RTK_reads.end();++i)
                {
                        if (i->second>bestNum)
                        {
                                bestNum = i->second;
                                bestLabel = i->first;
                        }
                }
                outInfoTemp.best_gps_path = gps_paths[bestLabel];
 
                // and transform to XYZ:
                // Correction of offsets:
                const string sect = string("OFFSET_")+bestLabel;
                const double off_X = memFil.read_double( sect, "x", 0 );
                const double off_Y = memFil.read_double( sect, "y", 0 );
                const double off_Z = memFil.read_double( sect, "z", 0 );
 
                // map<TTimeStamp,TPoint3D> best_gps_path;              // time -> 3D local coords
                for (map<TTimeStamp,TPoint3D>::iterator i=outInfoTemp.best_gps_path.begin();i!=outInfoTemp.best_gps_path.end();++i)
                {
                        TPoint3D P;
                        TPoint3D &pl = i->second;
                        mrpt::topography::geodeticToENU_WGS84(
                                TGeodeticCoords(pl.x,pl.y,pl.z),  // i->second.x,i->second.y,i->second.z, // lat, lon, heigh
                                P, // X Y Z
                                ref );
 
                        pl.x = P.x + off_X;
                        pl.y = P.y + off_Y;
                        pl.z = P.z + off_Z;
                }
        } // end best_gps_path
 
        if (outInfo) *outInfo = outInfoTemp;
 
 
    MRPT_END
}