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[mrpt-topography]

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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)
 
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)
 
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)
 
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_IMPEXPmrpt::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

Definition at line 118 of file data_types.h.

Definition at line 117 of file data_types.h.

Function Documentation

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.

This is the reference employed in geodeticToENU_WGS84

Parameters
only_anglesIf 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

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

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.

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.

See Also
geodeticToENU_WGS84
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.

See Also
ENUToGeocentric, geodeticToENU_WGS84
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 
)

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

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.

See Also
geodeticToGeocentric
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.

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.
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).

See Also
geocentricToGeodetic
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).

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
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.

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

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

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() 
)
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.

bool TOPO_IMPEXP mrpt::topography::operator!= ( const TCoords &  a,
const TCoords &  o 
)
bool TOPO_IMPEXP mrpt::topography::operator!= ( const TGeodeticCoords &  a,
const TGeodeticCoords &  o 
)
std::ostream TOPO_IMPEXP& mrpt::topography::operator<< ( std::ostream &  out,
const TCoords &  o 
)
bool TOPO_IMPEXP mrpt::topography::operator== ( const TCoords &  a,
const TCoords &  o 
)
bool TOPO_IMPEXP mrpt::topography::operator== ( const TGeodeticCoords &  a,
const TGeodeticCoords &  o 
)
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.

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
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.

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]

See Also
transform7params
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

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

See Also
transform10params
void TOPO_IMPEXP mrpt::topography::transform7params_TOPCON ( const mrpt::math::TPoint3D in_point,
const TDatum7Params_TOPCON &  in_datum,
mrpt::math::TPoint3D out_point 
)
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].

See Also
transformHelmert3D
void TOPO_IMPEXP mrpt::topography::transformHelmert2D_TOPCON ( const mrpt::math::TPoint2D p,
const TDatumHelmert2D_TOPCON &  d,
mrpt::math::TPoint2D o 
)
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.

See Also
transformHelmert2D
void TOPO_IMPEXP mrpt::topography::transformHelmert3D_TOPCON ( const mrpt::math::TPoint3D p,
const TDatumHelmert3D_TOPCON &  d,
mrpt::math::TPoint3D o 
)
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.

Parameters
XEast coordinate of the input point.
YNorth coordinate of the input point.
zonetime zone (Spanish: "huso").
hemhemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
ellipthe reference ellipsoid used for the transformation (default: WGS84)
out_latOut latitude, in degrees.
out_lonOut longitude, in degrees.

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

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
UTMCoordsUTM input coordinates.
zonetime zone (Spanish: "huso").
hemhemisphere ('N'/'n' for North or 'S'/s' for South ). An exception will be raised on any other value.
GeodeticCoordsOut geodetic coordinates.
ellipthe 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.




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