Detailed Description

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Library `mrpt-topography`

Conversion and useful data structures to handle topographic data, perform geoid transformations, geocentric coordinates, etc...

See mrpt::topography

Classes
struct	mrpt::topography::TCoords
	A coordinate that is stored as a simple "decimal" angle in degrees, but can be retrieved/set in the form of DEGREES + arc-MINUTES + arc-SECONDS. More...

struct	mrpt::topography::TEllipsoid

struct	mrpt::topography::TGeodeticCoords
	A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically, WGS84) More...

struct	mrpt::topography::TDatum7Params
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatum7Params_TOPCON

struct	mrpt::topography::TDatum10Params
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatumHelmert2D
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatumHelmert2D_TOPCON

struct	mrpt::topography::TDatumHelmert3D
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatumHelmert3D_TOPCON
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatum1DTransf
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TDatumTransfInterpolation
	Parameters for a topographic transfomation. More...

struct	mrpt::topography::TPathFromRTKInfo
	Used to return optional information from mrpt::topography::path_from_rtk_gps. More...

Namespaces
	mrpt::topography
	This namespace provides topography helper functions, coordinate transformations.

Functions
void TOPO_IMPEXP	mrpt::topography::path_from_rtk_gps (mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::obs::CRawlog &rawlog, size_t rawlog_first, size_t rawlog_last, bool isGUI=false, bool disableGPSInterp=false, int path_smooth_filter_size=2, TPathFromRTKInfo *outInfo=NULL)
	Reconstruct the path of a vehicle equipped with 3 RTK GPSs. More...

Topography coordinate conversion functions
void TOPO_IMPEXP	mrpt::topography::geodeticToENU_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_ENU_point, const TGeodeticCoords &in_coords_origin)
	Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation. More...

void TOPO_IMPEXP	mrpt::topography::ENUToGeocentric (const mrpt::math::TPoint3D &in_ENU_point, const TGeodeticCoords &in_coords_origin, TGeocentricCoords &out_coords, const TEllipsoid &ellip)
	ENU to geocentric coordinates. More...

void TOPO_IMPEXP	mrpt::topography::geocentricToENU_WGS84 (const mrpt::math::TPoint3D &in_geocentric_point, mrpt::math::TPoint3D &out_ENU_point, const TGeodeticCoords &in_coords_origin)
	ENU to EFEC (Geocentric) coordinates. More...

void TOPO_IMPEXP	mrpt::topography::geocentricToENU_WGS84 (const std::vector< mrpt::math::TPoint3D > &in_geocentric_points, std::vector< mrpt::math::TPoint3D > &out_ENU_points, const TGeodeticCoords &in_coords_origin)

void TOPO_IMPEXP	mrpt::topography::geodeticToGeocentric_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPoint3D &out_point)
	Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid). More...

void TOPO_IMPEXP	mrpt::topography::geodeticToGeocentric (const TGeodeticCoords &in_coords, TGeocentricCoords &out_point, const TEllipsoid &ellip)
	Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid). More...

void TOPO_IMPEXP	mrpt::topography::geocentricToGeodetic (const TGeocentricCoords &in_point, TGeodeticCoords &out_coords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height. More...

void TOPO_IMPEXP	mrpt::topography::transform7params (const mrpt::math::TPoint3D &in_point, const TDatum7Params &in_datum, mrpt::math::TPoint3D &out_point)
	7-parameter Bursa-Wolf transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local More...

void TOPO_IMPEXP	mrpt::topography::transform7params_TOPCON (const mrpt::math::TPoint3D &in_point, const TDatum7Params_TOPCON &in_datum, mrpt::math::TPoint3D &out_point)
	7-parameter Bursa-Wolf transformation TOPCON: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local More...

void TOPO_IMPEXP	mrpt::topography::transform10params (const mrpt::math::TPoint3D &in_point, const TDatum10Params &in_datum, mrpt::math::TPoint3D &out_point)
	10-parameter Molodensky-Badekas transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp] More...

void TOPO_IMPEXP	mrpt::topography::transformHelmert2D (const mrpt::math::TPoint2D &p, const TDatumHelmert2D &d, mrpt::math::TPoint2D &o)
	Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]. More...

void TOPO_IMPEXP	mrpt::topography::transformHelmert2D_TOPCON (const mrpt::math::TPoint2D &p, const TDatumHelmert2D_TOPCON &d, mrpt::math::TPoint2D &o)
	Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]. More...

void TOPO_IMPEXP	mrpt::topography::transformHelmert3D (const mrpt::math::TPoint3D &p, const TDatumHelmert3D &d, mrpt::math::TPoint3D &o)
	Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local. More...

void TOPO_IMPEXP	mrpt::topography::transformHelmert3D_TOPCON (const mrpt::math::TPoint3D &p, const TDatumHelmert3D_TOPCON &d, mrpt::math::TPoint3D &o)
	Helmert 3D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]. More...

void TOPO_IMPEXP	mrpt::topography::transform1D (const mrpt::math::TPoint3D &p, const TDatum1DTransf &d, mrpt::math::TPoint3D &o)
	1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ More...

void TOPO_IMPEXP	mrpt::topography::transfInterpolation (const mrpt::math::TPoint3D &p, const TDatumTransfInterpolation &d, mrpt::math::TPoint3D &o)
	Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ. More...

void TOPO_IMPEXP	mrpt::topography::UTMToGeodetic (double X, double Y, int zone, char hem, double &out_lon, double &out_lat, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Returns the Geodetic coordinates of the UTM input point. More...

void	mrpt::topography::UTMToGeodetic (const TUTMCoords &UTMCoords, const int &zone, const char &hem, TGeodeticCoords &GeodeticCoords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Returns the Geodetic coordinates of the UTM input point. More...

void TOPO_IMPEXP	mrpt::topography::GeodeticToUTM (double in_latitude_degrees, double in_longitude_degrees, double &out_UTM_x, double &out_UTM_y, int &out_UTM_zone, char &out_UTM_latitude_band, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. More...

void TOPO_IMPEXP	mrpt::topography::geodeticToUTM (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())

void	mrpt::topography::GeodeticToUTM (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band. More...

Miscellaneous
=======================================================================
void TOPO_IMPEXP	mrpt::topography::ENU_axes_from_WGS84 (double in_longitude_reference_degrees, double in_latitude_reference_degrees, double in_height_reference_meters, mrpt::math::TPose3D &out_ENU, bool only_angles=false)
	Returns the East-North-Up (ENU) coordinate system associated to the given point. More...

void	mrpt::topography::ENU_axes_from_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPose3D &out_ENU, bool only_angles=false)

Data structures
typedef mrpt::math::TPoint3D	mrpt::topography::TUTMCoords

typedef mrpt::math::TPoint3D	mrpt::topography::TGeocentricCoords

bool TOPO_IMPEXP	mrpt::topography::operator== (const TCoords &a, const TCoords &o)

bool TOPO_IMPEXP	mrpt::topography::operator!= (const TCoords &a, const TCoords &o)

std::ostream TOPO_IMPEXP &	mrpt::topography::operator<< (std::ostream &out, const TCoords &o)

bool TOPO_IMPEXP	mrpt::topography::operator== (const TGeodeticCoords &a, const TGeodeticCoords &o)

bool TOPO_IMPEXP	mrpt::topography::operator!= (const TGeodeticCoords &a, const TGeodeticCoords &o)

Typedef Documentation

◆ TGeocentricCoords

typedef mrpt::math::TPoint3D mrpt::topography::TGeocentricCoords

Definition at line 118 of file data_types.h.

◆ TUTMCoords

typedef mrpt::math::TPoint3D mrpt::topography::TUTMCoords

Definition at line 117 of file data_types.h.

Function Documentation

◆ ENU_axes_from_WGS84() [1/2]

void mrpt::topography::ENU_axes_from_WGS84	(	double	in_longitude_reference_degrees,
		double	in_latitude_reference_degrees,
		double	in_height_reference_meters,
		mrpt::math::TPose3D &	out_ENU,
		bool	only_angles = `false`
	)

Returns the East-North-Up (ENU) coordinate system associated to the given point.

This is the reference employed in geodeticToENU_WGS84

Parameters

only_angles If set to true, the (x,y,z) fields will be left zeroed.

Note: The "Up" (Z) direction in ENU is the normal to the ellipsoid, which coincides with the direction of an increasing geodetic height.

See also: geodeticToENU_WGS84

Definition at line 128 of file conversions.cpp.

References DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::topography::ENU_axes_from_WGS84().

◆ ENU_axes_from_WGS84() [2/2]

void mrpt::topography::ENU_axes_from_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPose3D &	out_ENU,
		bool	only_angles = `false`
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 271 of file conversions.h.

References mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, and mrpt::topography::TGeodeticCoords::lon.

◆ ENUToGeocentric()

void mrpt::topography::ENUToGeocentric	(	const mrpt::math::TPoint3D &	p,
		const TGeodeticCoords &	in_coords_origin,
		TGeocentricCoords &	out_coords,
		const TEllipsoid &	ellip
	)

ENU to geocentric coordinates.

See also: geodeticToENU_WGS84

Definition at line 591 of file conversions.cpp.

References mrpt::math::crossProduct3D(), mrpt::topography::geodeticToGeocentric(), normalize(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ geocentricToENU_WGS84() [1/2]

void mrpt::topography::geocentricToENU_WGS84	(	const mrpt::math::TPoint3D &	in_geocentric_point,
		mrpt::math::TPoint3D &	out_ENU_point,
		const TGeodeticCoords &	in_coords_origin
	)

ENU to EFEC (Geocentric) coordinates.

See also: ENUToGeocentric, geodeticToENU_WGS84

Definition at line 51 of file conversions.cpp.

References DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::topography::geodeticToENU_WGS84().

◆ geocentricToENU_WGS84() [2/2]

void mrpt::topography::geocentricToENU_WGS84	(	const std::vector< mrpt::math::TPoint3D > &	in_geocentric_points,
		std::vector< mrpt::math::TPoint3D > &	out_ENU_points,
		const TGeodeticCoords &	in_coords_origin
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 74 of file conversions.cpp.

References DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ geocentricToGeodetic()

void mrpt::topography::geocentricToGeodetic	(	const TGeocentricCoords &	in_point,
		TGeodeticCoords &	out_coords,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

Coordinates transformation from geocentric X/Y/Z coordinates to longitude/latitude/height.

See also: geodeticToGeocentric

Definition at line 222 of file conversions.cpp.

References mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, RAD2DEG, mrpt::topography::TEllipsoid::sa, mrpt::topography::TEllipsoid::sb, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by do_test_geodetic_geocentric().

◆ geodeticToENU_WGS84()

void mrpt::topography::geodeticToENU_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPoint3D &	out_ENU_point,
		const TGeodeticCoords &	in_coords_origin
	)

Coordinates transformation from longitude/latitude/height to ENU (East-North-Up) X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.

The coordinates are in 3D relative to some user-provided point, with local X axis being east-ward, Y north-ward, Z up-ward. For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid

See also: coordinatesTransformation_WGS84_geocentric, ENU_axes_from_WGS84, ENUToGeocentric

Note: The "Up" (Z) direction in ENU is the normal to the ellipsoid, which coincides with the direction of an increasing geodetic height.

Definition at line 104 of file conversions.cpp.

References mrpt::topography::geocentricToENU_WGS84(), and mrpt::topography::geodeticToGeocentric_WGS84().

Referenced by mrpt::topography::path_from_rtk_gps(), and TEST().

◆ geodeticToGeocentric()

void mrpt::topography::geodeticToGeocentric	(	const TGeodeticCoords &	in_coords,
		TGeocentricCoords &	out_point,
		const TEllipsoid &	ellip
	)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with an specified geoid).

See also: geocentricToGeodetic

Definition at line 195 of file conversions.cpp.

References DEG2RAD, mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::obs::gnss::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::obs::gnss::lon, mrpt::topography::TEllipsoid::sa, mrpt::topography::TEllipsoid::sb, mrpt::math::square(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by do_test_geodetic_geocentric(), and mrpt::topography::ENUToGeocentric().

◆ geodeticToGeocentric_WGS84()

void mrpt::topography::geodeticToGeocentric_WGS84	(	const TGeodeticCoords &	in_coords,
		mrpt::math::TPoint3D &	out_point
	)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates (with a WGS84 geoid).

The WGS84 ellipsoid is used for the transformation. The coordinates are in 3D where the reference is the center of the Earth. For an explanation, refer to http://en.wikipedia.org/wiki/Reference_ellipsoid

See also: geodeticToENU_WGS84

Definition at line 164 of file conversions.cpp.

References DEG2RAD, mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::obs::gnss::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::obs::gnss::lon, mrpt::math::square(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::topography::ENU_axes_from_WGS84(), mrpt::topography::geocentricToENU_WGS84(), and mrpt::topography::geodeticToENU_WGS84().

◆ GeodeticToUTM() [1/2]

void mrpt::topography::GeodeticToUTM	(	double	in_latitude_degrees,
		double	in_longitude_degrees,
		double &	out_UTM_x,
		double &	out_UTM_y,
		int &	out_UTM_zone,
		char &	out_UTM_latitude_band,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.

This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example:

Input:
 Lat=40.3154333    Lon=-3.4857166
Output:
 x = 458731
 y = 4462881
 utm_zone = 30
 utm_band = T

See also: http://www.mathworks.com/matlabcentral/fileexchange/10915

Definition at line 373 of file conversions.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, DEG2RAD, mrpt::utils::fix(), mrpt::obs::gnss::lat, mrpt::obs::gnss::lon, mrpt::topography::TEllipsoid::sa, mrpt::topography::TEllipsoid::sb, and mrpt::math::square().

Referenced by mrpt::topography::GeodeticToUTM().

◆ geodeticToUTM()

void mrpt::topography::geodeticToUTM	(	const TGeodeticCoords &	GeodeticCoords,
		TUTMCoords &	UTMCoords,
		int &	UTMZone,
		char &	UTMLatitudeBand,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

Definition at line 299 of file conversions.cpp.

References mrpt::obs::gnss::A1, DEG2RAD, eps, mrpt::utils::fix(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::obs::gnss::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::obs::gnss::lon, mrpt::topography::TEllipsoid::sa, mrpt::topography::TEllipsoid::sb, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ GeodeticToUTM() [2/2]

void mrpt::topography::GeodeticToUTM	(	const TGeodeticCoords &	GeodeticCoords,
		TUTMCoords &	UTMCoords,
		int &	UTMZone,
		char &	UTMLatitudeBand,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

inline

Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.

This method is based on public code by Gabriel Ruiz Martinez and Rafael Palacios. Example:

Input:
 Lat=40.3154333    Lon=-3.4857166
Output:
 x = 458731
 y = 4462881
 utm_zone = 30
 utm_band = T

See also: http://www.mathworks.com/matlabcentral/fileexchange/10915

Definition at line 238 of file conversions.h.

References mrpt::topography::GeodeticToUTM(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ operator!=() [1/2]

bool mrpt::topography::operator!=	(	const TCoords &	a,
		const TCoords &	o
	)

Definition at line 26 of file conversions.cpp.

◆ operator!=() [2/2]

bool mrpt::topography::operator!=	(	const TGeodeticCoords &	a,
		const TGeodeticCoords &	o
	)

Definition at line 28 of file conversions.cpp.

◆ operator<<()

std::ostream & mrpt::topography::operator<<	(	std::ostream &	out,
		const TCoords &	o
	)

Definition at line 42 of file conversions.cpp.

References mrpt::topography::TCoords::getAsString().

◆ operator==() [1/2]

bool mrpt::topography::operator==	(	const TCoords &	a,
		const TCoords &	o
	)

Definition at line 25 of file conversions.cpp.

References mrpt::topography::TCoords::decimal_value.

◆ operator==() [2/2]

bool mrpt::topography::operator==	(	const TGeodeticCoords &	a,
		const TGeodeticCoords &	o
	)

Definition at line 27 of file conversions.cpp.

References mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, and mrpt::topography::TGeodeticCoords::lon.

◆ path_from_rtk_gps()

void mrpt::topography::path_from_rtk_gps	(	mrpt::poses::CPose3DInterpolator &	robot_path,
		const mrpt::obs::CRawlog &	rawlog,
		size_t	rawlog_first,
		size_t	rawlog_last,
		bool	isGUI = `false`,
		bool	disableGPSInterp = `false`,
		int	path_smooth_filter_size = `2`,
		TPathFromRTKInfo *	outInfo = `NULL`
	)

Reconstruct the path of a vehicle equipped with 3 RTK GPSs.

Parameters

robot_path	[OUT] The reconstructed vehicle path
rawlog	[IN] The dataset. It must contain mrpt::obs::CObservationGPS observations with GGA datums.
rawlog_first	[IN] The index of the first entry to process (first=0)
rawlog_last	[IN] The index of the last entry to process
isGUI	[IN] If set to true, some progress dialogs will be shown during the computation (requires MRPT built with support for wxWidgets).
disableGPSInterp	[IN] Whether to interpolate missing GPS readings between very close datums.
path_smooth_filter_size	[IN] Size of the window in the pitch & roll noise filtering.
outInfo	[OUT] Optional output: additional information from the optimization

For more details on the method, refer to the paper: (...)

See also: mrpt::topography

Definition at line 50 of file path_from_rtk_gps.cpp.

References mrpt::obs::gnss::Message_NMEA_GGA::content_t::altitude_meters, ASSERT_, mrpt::math::averageWrap2Pi(), mrpt::poses::CPoseInterpolatorBase< DIM >::begin(), mrpt::topography::TPathFromRTKInfo::best_gps_path, mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), CLASS_ID, mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::TPoint3D::distanceTo(), mrpt::poses::CPoseInterpolatorBase< DIM >::end(), mrpt::obs::gnss::Message_NMEA_GGA::fields, mrpt::obs::gnss::Message_NMEA_GGA::content_t::fix_quality, mrpt::topography::geodeticToENU_WGS84(), mrpt::obs::CRawlog::getAsObservation(), mrpt::obs::gnss::Message_NMEA_GGA::getAsStruct(), mrpt::obs::CRawlog::getCommentTextAsConfigFile(), mrpt::obs::CRawlog::getType(), mrpt::poses::imSSLSLL, mrpt::poses::CPoseInterpolatorBase< DIM >::insert(), mrpt::obs::gnss::Message_NMEA_GGA::content_t::latitude_degrees, mrpt::obs::gnss::Message_NMEA_GGA::content_t::longitude_degrees, mrpt::topography::TPathFromRTKInfo::mahalabis_quality_measure, mrpt::math::mahalanobisDistance(), make_set(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_matrix(), mrpt::tfest::se3_l2(), mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod(), mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::obs::CRawlog::size(), mrpt::math::TPoint3D::sqrDistanceTo(), mrpt::math::square(), THROW_EXCEPTION, mrpt::system::timeDifference(), mrpt::topography::TPathFromRTKInfo::vehicle_uncertainty, mrpt::topography::TPathFromRTKInfo::W_star, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3D::x, mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3D::y, mrpt::math::CQuaternion< T >::z(), and mrpt::math::TPoint3D::z.

Referenced by TEST().

◆ transfInterpolation()

void mrpt::topography::transfInterpolation	(	const mrpt::math::TPoint3D &	p,
		const TDatumTransfInterpolation &	d,
		mrpt::math::TPoint3D &	o
	)

Interpolation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ.

1D transformation: [ X;Y ]_WGS84 = [X;Y]_locales+[1 -sin(d.beta);0 cos(d.beta)]*[x*d.dSx;y*d.dSy ]

See also: transformHelmert3D

Definition at line 577 of file conversions.cpp.

References mrpt::topography::TDatumTransfInterpolation::beta, mrpt::topography::TDatumTransfInterpolation::dSx, mrpt::topography::TDatumTransfInterpolation::dSy, mrpt::topography::TDatumTransfInterpolation::dX, mrpt::topography::TDatumTransfInterpolation::dY, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ transform10params()

void mrpt::topography::transform10params	(	const mrpt::math::TPoint3D &	p,
		const TDatum10Params &	d,
		mrpt::math::TPoint3D &	o
	)

10-parameter Molodensky-Badekas transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp]

See also: transform7params

Definition at line 485 of file conversions.cpp.

References mrpt::topography::TDatum10Params::dS, mrpt::topography::TDatum10Params::dX, mrpt::topography::TDatum10Params::dY, mrpt::topography::TDatum10Params::dZ, mrpt::topography::TDatum10Params::Rx, mrpt::topography::TDatum10Params::Ry, mrpt::topography::TDatum10Params::Rz, mrpt::math::TPoint3D::x, mrpt::topography::TDatum10Params::Xp, mrpt::math::TPoint3D::y, mrpt::topography::TDatum10Params::Yp, mrpt::math::TPoint3D::z, and mrpt::topography::TDatum10Params::Zp.

◆ transform1D()

void mrpt::topography::transform1D	(	const mrpt::math::TPoint3D &	p,
		const TDatum1DTransf &	d,
		mrpt::math::TPoint3D &	o
	)

1D transformation: [ Z ]_WGS84 = (dy * X - dx * Y + Z)*(1+e)+DZ

See also: transformHelmert3D

Definition at line 563 of file conversions.cpp.

References mrpt::topography::TDatum1DTransf::dS, mrpt::topography::TDatum1DTransf::dX, mrpt::topography::TDatum1DTransf::dY, mrpt::topography::TDatum1DTransf::DZ, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ transform7params()

void mrpt::topography::transform7params	(	const mrpt::math::TPoint3D &	p,
		const TDatum7Params &	d,
		mrpt::math::TPoint3D &	o
	)

7-parameter Bursa-Wolf transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local

See also: transform10params

Definition at line 452 of file conversions.cpp.

References mrpt::topography::TDatum7Params::dS, mrpt::topography::TDatum7Params::dX, mrpt::topography::TDatum7Params::dY, mrpt::topography::TDatum7Params::dZ, mrpt::topography::TDatum7Params::Rx, mrpt::topography::TDatum7Params::Ry, mrpt::topography::TDatum7Params::Rz, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::topography::transformHelmert3D().

◆ transform7params_TOPCON()

void mrpt::topography::transform7params_TOPCON	(	const mrpt::math::TPoint3D &	p,
		const TDatum7Params_TOPCON &	d,
		mrpt::math::TPoint3D &	o
	)

7-parameter Bursa-Wolf transformation TOPCON: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 RZ -RY; -RZ 1 RX; RY -RX 1 ] [ X Y Z ]_local

See also: transform10params

Definition at line 468 of file conversions.cpp.

◆ transformHelmert2D()

void mrpt::topography::transformHelmert2D	(	const mrpt::math::TPoint2D &	p,
		const TDatumHelmert2D &	d,
		mrpt::math::TPoint2D &	o
	)

Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp].

See also: transformHelmert3D

Definition at line 505 of file conversions.cpp.

References mrpt::topography::TDatumHelmert2D::alpha, mrpt::topography::TDatumHelmert2D::dS, mrpt::topography::TDatumHelmert2D::dX, mrpt::topography::TDatumHelmert2D::dY, mrpt::math::TPoint2D::x, mrpt::topography::TDatumHelmert2D::Xp, mrpt::math::TPoint2D::y, and mrpt::topography::TDatumHelmert2D::Yp.

◆ transformHelmert2D_TOPCON()

void mrpt::topography::transformHelmert2D_TOPCON	(	const mrpt::math::TPoint2D &	p,
		const TDatumHelmert2D_TOPCON &	d,
		mrpt::math::TPoint2D &	o
	)

Helmert 2D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp].

See also: transformHelmert3D

Definition at line 523 of file conversions.cpp.

References mrpt::topography::TDatumHelmert2D_TOPCON::a, mrpt::topography::TDatumHelmert2D_TOPCON::b, mrpt::topography::TDatumHelmert2D_TOPCON::c, mrpt::topography::TDatumHelmert2D_TOPCON::d, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ transformHelmert3D()

void mrpt::topography::transformHelmert3D	(	const mrpt::math::TPoint3D &	p,
		const TDatumHelmert3D &	d,
		mrpt::math::TPoint3D &	o
	)

Helmert3D transformation: [ X Y Z ]_WGS84 = [ dX dY dZ ] + ( 1 + dS ) [ 1 -RZ RY; RZ 1 -RX; -RY RX 1 ] [ X Y Z ]_local.

Helmert 3D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp].

See also: transformHelmert2D; transformHelmert3D

Definition at line 536 of file conversions.cpp.

References mrpt::topography::TDatumHelmert3D::dS, mrpt::topography::TDatumHelmert3D::dX, mrpt::topography::TDatumHelmert3D::dY, mrpt::topography::TDatumHelmert3D::dZ, mrpt::topography::TDatumHelmert3D::Rx, mrpt::topography::TDatumHelmert3D::Ry, mrpt::topography::TDatumHelmert3D::Rz, and mrpt::topography::transform7params().

◆ transformHelmert3D_TOPCON()

void mrpt::topography::transformHelmert3D_TOPCON	(	const mrpt::math::TPoint3D &	p,
		const TDatumHelmert3D_TOPCON &	d,
		mrpt::math::TPoint3D &	o
	)

Helmert 3D transformation: [ X Y ]_WGS84 = [ dX dY ] + ( 1 + dS ) [ cos(alpha) -sin(alpha); sin(alpha) cos(alpha) ] [ X-Xp Y-Yp Z-Zp ]_local + [Xp Yp Zp].

See also: transformHelmert3D

Definition at line 549 of file conversions.cpp.

References mrpt::topography::TDatumHelmert3D_TOPCON::a, mrpt::topography::TDatumHelmert3D_TOPCON::b, mrpt::topography::TDatumHelmert3D_TOPCON::c, mrpt::topography::TDatumHelmert3D_TOPCON::d, mrpt::topography::TDatumHelmert3D_TOPCON::e, mrpt::topography::TDatumHelmert3D_TOPCON::f, mrpt::topography::TDatumHelmert3D_TOPCON::g, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ UTMToGeodetic() [1/2]

void mrpt::topography::UTMToGeodetic	(	double	X,
		double	Y,
		int	zone,
		char	hem,
		double &	out_lon,
		double &	out_lat,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

Returns the Geodetic coordinates of the UTM input point.

Parameters

X	East coordinate of the input point.
Y	North coordinate of the input point.
zone	time zone (Spanish: "huso").
hem	hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
ellip	the reference ellipsoid used for the transformation (default: WGS84)
out_lat	Out latitude, in degrees.
out_lon	Out longitude, in degrees.

Definition at line 251 of file conversions.cpp.

References mrpt::obs::gnss::A1, mrpt::obs::gnss::a2, ASSERT_, mrpt::obs::gnss::b2, eps, RAD2DEG, mrpt::topography::TEllipsoid::sa, mrpt::topography::TEllipsoid::sb, and mrpt::math::square().

Referenced by mrpt::topography::UTMToGeodetic().

◆ UTMToGeodetic() [2/2]

void mrpt::topography::UTMToGeodetic	(	const TUTMCoords &	UTMCoords,
		const int &	zone,
		const char &	hem,
		TGeodeticCoords &	GeodeticCoords,
		const TEllipsoid &	ellip = `TEllipsoid::Ellipsoid_WGS84()`
	)

inline

Returns the Geodetic coordinates of the UTM input point.

Parameters

UTMCoords	UTM input coordinates.
zone	time zone (Spanish: "huso").
hem	hemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
GeodeticCoords	Out geodetic coordinates.
ellip	the reference ellipsoid used for the transformation (default: WGS84)

Definition at line 182 of file conversions.h.

References mrpt::topography::TCoords::decimal_value, mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::topography::UTMToGeodetic(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Detailed Description

Library mrpt-topography

Classes

Namespaces

Functions

Topography coordinate conversion functions

Miscellaneous

Data structures

Typedef Documentation

◆ TGeocentricCoords

◆ TUTMCoords

Function Documentation

◆ ENU_axes_from_WGS84() [1/2]

◆ ENU_axes_from_WGS84() [2/2]

◆ ENUToGeocentric()

◆ geocentricToENU_WGS84() [1/2]

◆ geocentricToENU_WGS84() [2/2]

◆ geocentricToGeodetic()

◆ geodeticToENU_WGS84()

◆ geodeticToGeocentric()

◆ geodeticToGeocentric_WGS84()

◆ GeodeticToUTM() [1/2]

◆ geodeticToUTM()

◆ GeodeticToUTM() [2/2]

◆ operator!=() [1/2]

◆ operator!=() [2/2]

◆ operator<<()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ path_from_rtk_gps()

◆ transfInterpolation()

◆ transform10params()

◆ transform1D()

◆ transform7params()

◆ transform7params_TOPCON()

◆ transformHelmert2D()

◆ transformHelmert2D_TOPCON()

◆ transformHelmert3D()

◆ transformHelmert3D_TOPCON()

◆ UTMToGeodetic() [1/2]

◆ UTMToGeodetic() [2/2]

Library `mrpt-topography`