test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/topography.h>
#include <Eigen/Dense>
#include <iostream>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;

void TestGPS_coords()
{
    // ENU:
    const mrpt::topography::TGeodeticCoords p0(
        RAD2DEG(0.6408472493152757),  // lat
        RAD2DEG(-0.0780454933097760),  // lon
        53.200600  // height meters
    );

    const mrpt::topography::TGeodeticCoords p1(
        RAD2DEG(0.6408615769267271),  // lat
        RAD2DEG(-0.0780621148947297),  // lon
        56.210100  // meters
    );

    cout << "Point 0: lat=" << p0.lat << " lon=" << p0.lon
         << " alt=" << p0.height << endl;
    cout << "Point 1: lat=" << p1.lat << " lon=" << p1.lon
         << " alt=" << p1.height << endl;

    mrpt::math::TPoint3D p;
    mrpt::topography::geodeticToENU_WGS84(p1, p, p0);
    cout << "ENU XYZ coords: " << p << endl;

    // Geocentric:
    const mrpt::topography::TGeodeticCoords pt0(32.0, -10.0, 0.0);
    const mrpt::topography::TGeodeticCoords pt1(32.0, -10.0, 500.0);

    mrpt::math::TPoint3D geo0, geo1;
    mrpt::topography::geodeticToGeocentric_WGS84(pt0, geo0);
    mrpt::topography::geodeticToGeocentric_WGS84(pt1, geo1);
    cout << "P0 XYZ geocentric coords: " << geo0 << endl;
    cout << "P1 XYZ geocentric coords: " << geo1 << endl;

    // ENU_axes_from_WGS84
    mrpt::math::TPose3D pose_ENU;
    mrpt::topography::ENU_axes_from_WGS84(
        pt0.lon, pt0.lat, pt0.height, pose_ENU);
    cout << "ENU system of coordinates for lat=" << pt0.lat
         << " lon=" << pt0.lon << " alt=" << pt0.height << " is: \n"
         << mrpt::poses::CPose3D(pose_ENU)
                .getHomogeneousMatrixVal<CMatrixDouble44>()
         << endl;

    cout << "P0->P1: " << (geo1 - geo0) << endl;
    cout << "(p1.h-p0.h)*ENU_Z: "
         << (pt1.height - pt0.height) * mrpt::poses::CPose3D(pose_ENU)
                                            .getRotationMatrix()
                                            .blockCopy<3, 1>(0, 2)
                                            .transpose()
         << endl;

    // UTM:
    // See: http://www.mathworks.com/matlabcentral/fileexchange/10915
    cout << endl << "UTM coordinate test:" << endl;

    double lats[] = {40.3154333, 46.283900, 37.577833,
                     28.645650,  38.855550, 25.061783};
    double lons[] = {-3.4857166, 7.8012333,   -119.95525,
                     -17.759533, -94.7990166, 121.640266};
    int zone;
    char band;
    for (size_t i = 0; i < sizeof(lats) / sizeof(lats[0]); i++)
    {
        topography::TUTMCoords UTMCoords;
        const double la = lats[i];
        const double lo = lons[i];
        // mrpt::topography::LatLonToUTM( la,lo, x,y,zone,band );
        mrpt::topography::geodeticToUTM(
            topography::TGeodeticCoords(la, lo, 0), UTMCoords, zone, band);
        cout << "Lat: " << la << " Lon: " << lo << " x: " << UTMCoords.x
             << " y: " << UTMCoords.y << " zone: " << zone << " band: " << band
             << endl;
    }
}

void TestGeoid2Geocentric()
{
    const double lon0 = -3.733572031;  // RAD2DEG( 0.6408472493152757L );
    const double lat0 = 37.89250616;  // RAD2DEG(-0.0780454933097760L );
    const double h0 = 515.579;  // 53.200600; // meters

    cout << endl;
    cout << format("Point: lon=%.012f lat=%.012f h=%.04f\n", lon0, lat0, h0);

    mrpt::math::TPoint3D p;
    mrpt::topography::geodeticToGeocentric_WGS84(
        mrpt::topography::TGeodeticCoords(lon0, lat0, h0), p);

    cout << "In geocentric coords: " << p << endl;
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main()
{
    try
    {
        TestGPS_coords();
        TestGeoid2Geocentric();
        return 0;
    }
    catch (exception& e)
    {
        cout << "MRPT exception caught: " << e.what() << endl;
        return -1;
    }
    catch (...)
    {
        printf("Untyped exception!!");
        return -1;
    }
}