mrpt::topography Namespace Reference

Detailed Description

This namespace provides topography helper functions, coordinate transformations.

Classes
struct	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	TDatum10Params
	Parameters for a topographic transfomation. More...
struct	TDatum1DTransf
	Parameters for a topographic transfomation. More...
struct	TDatum7Params
	Parameters for a topographic transfomation. More...
struct	TDatum7Params_TOPCON
struct	TDatumHelmert2D
	Parameters for a topographic transfomation. More...
struct	TDatumHelmert2D_TOPCON
struct	TDatumHelmert3D
	Parameters for a topographic transfomation. More...
struct	TDatumHelmert3D_TOPCON
	Parameters for a topographic transfomation. More...
struct	TDatumTransfInterpolation
	Parameters for a topographic transfomation. More...
struct	TEllipsoid
struct	TGeodeticCoords
	A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically, WGS84) More...
struct	TPathFromRTKInfo
	Used to return optional information from mrpt::topography::path_from_rtk_gps. More...

Functions
void	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=nullptr)
	Reconstruct the path of a vehicle equipped with 3 RTK GPSs. More...
Topography coordinate conversion functions
void	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	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	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	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	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	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	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	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	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	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	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	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	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	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	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	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	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	UTMToGeodetic (const TUTMCoords &UTMCoords, int zone, char hem, TGeodeticCoords &GeodeticCoords, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
	Returns the Geodetic coordinates of the UTM input point. More...
void	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	geodeticToUTM (const TGeodeticCoords &GeodeticCoords, TUTMCoords &UTMCoords, int &UTMZone, char &UTMLatitudeBand, const TEllipsoid &ellip=TEllipsoid::Ellipsoid_WGS84())
void	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
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void	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	ENU_axes_from_WGS84 (const TGeodeticCoords &in_coords, mrpt::math::TPose3D &out_ENU, bool only_angles=false)

Data structures
using	TUTMCoords = mrpt::math::TPoint3D
using	TGeocentricCoords = mrpt::math::TPoint3D
bool	operator== (const TCoords &a, const TCoords &o)
bool	operator!= (const TCoords &a, const TCoords &o)
std::ostream &	operator<< (std::ostream &out, const TCoords &o)
bool	operator== (const TGeodeticCoords &a, const TGeodeticCoords &o)
bool	operator!= (const TGeodeticCoords &a, const TGeodeticCoords &o)