Example: topography_gps_coords_exampleΒΆ

C++ example source code:

```/* +------------------------------------------------------------------------+
|                     Mobile Robot Programming Toolkit (MRPT)            |
|                          https://www.mrpt.org/                         |
|                                                                        |
| Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
+------------------------------------------------------------------------+ */

#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(
53.200600  // height meters
);

const mrpt::topography::TGeodeticCoords p1(
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;
}
}```