try to load utm zone id from local map folder

modules/localization/common/localization_gflags.cc

@@ -119,6 +119,8 @@ DEFINE_double(imu_to_ant_offset_uz, 0.0, "Imu ant offset z uncertainty");
 
 // common
 DEFINE_double(imu_rate, 1.0, "");
+DEFINE_bool(if_utm_zone_id_from_folder, true,
+            "load utm zone id from local map folder");
 DEFINE_int32(local_utm_zone_id, 50, "UTM zone id");
 DEFINE_bool(trans_gpstime_to_utctime, true, "");
 DEFINE_int32(gnss_mode, 0, "GNSS Mode, 0 for bestgnss pose, 1 for self gnss.");

modules/localization/common/localization_gflags.h

@@ -90,6 +90,7 @@ DECLARE_double(imu_to_ant_offset_uz);
 
 // common
 DECLARE_double(imu_rate);
+DECLARE_bool(if_utm_zone_id_from_folder);
 DECLARE_int32(local_utm_zone_id);
 DECLARE_bool(trans_gpstime_to_utctime);
 DECLARE_int32(gnss_mode);

modules/localization/conf/localization.conf

@@ -119,6 +119,11 @@
 # default: 1.0
 --imu_rate=1.0
 
+# Whether load utm zone id from local map folder
+# type: bool
+# default: true
+--if_utm_zone_id_from_folder=true
+
 # local_utm_zone_id.
 # type: int
 # default: int

modules/localization/msf/msf_localization.cc

@@ -168,8 +168,18 @@ void MSFLocalization::InitParams() {
   AERROR << "lidar_extrin: " << localizaiton_param_.lidar_extrinsic_file;
   AERROR << "lidar_height: " << localizaiton_param_.lidar_height_file;
 
-  // common
   localizaiton_param_.utm_zone_id = FLAGS_local_utm_zone_id;
+  // try load zone id from config file in local_map folder
+  if (FLAGS_if_utm_zone_id_from_folder) {
+    bool success = LoadZoneIdFromFile(localizaiton_param_.map_path,
+                                      &localizaiton_param_.utm_zone_id);
+    if (!success) {
+      AWARN << "Can't load utm zone id from config file, use default value.";
+    }
+  }
+  AINFO << "utm zone id: " << localizaiton_param_.utm_zone_id;
+
+  // common
   localizaiton_param_.imu_rate = FLAGS_imu_rate;
   localizaiton_param_.enable_lidar_localization =
       FLAGS_enable_lidar_localization;
@@ -382,5 +392,25 @@ bool MSFLocalization::LoadGnssAntennaExtrinsic(
   return false;
 }
 
+bool MSFLocalization::LoadZoneIdFromFile(
+    const std::string &folder_path, int *zone_id) {
+  std::string map_zone_id_folder;
+  if (common::util::DirectoryExists(folder_path + "/map/000/north")) {
+    map_zone_id_folder = folder_path + "/map/000/north";
+  } else if (common::util::DirectoryExists(folder_path + "/map/000/south")) {
+    map_zone_id_folder = folder_path + "/map/000/south";
+  } else {
+    return false;
+  }
+
+  auto folder_list = common::util::ListSubDirectories(map_zone_id_folder);
+
+  for (auto itr = folder_list.begin(); itr != folder_list.end(); ++itr) {
+    *zone_id = std::stoi(*itr);
+    return true;
+  }
+  return false;
+}
+
 }  // namespace localization
 }  // namespace apollo

modules/localization/msf/msf_localization.h

@@ -87,6 +87,7 @@ class MSFLocalization : public LocalizationBase {
                                 double *offset_x, double *offset_y,
                                 double *offset_z, double *uncertainty_x,
                                 double *uncertainty_y, double *uncertainty_z);
+  bool LoadZoneIdFromFile(const std::string &folder_path, int *zone_id);
 
  private:
   apollo::common::monitor::MonitorLogger monitor_logger_;