Detailed Description

Topographic functions, geoid transformations.

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Library `mrpt-topography`

[New in MRPT 2.0.0]

This C++ library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-topography-dev

See: Using MRPT from your CMake project

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	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=nullptr)
	Reconstruct the path of a vehicle equipped with 3 RTK GPSs. More...

Topography coordinate conversion functions
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. More...

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

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. More...

void	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	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
using	mrpt::topography::TUTMCoords = mrpt::math::TPoint3D

using	mrpt::topography::TGeocentricCoords = mrpt::math::TPoint3D

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

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

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

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

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

Typedef Documentation

◆ TGeocentricCoords

using mrpt::topography::TGeocentricCoords = typedef mrpt::math::TPoint3D

Definition at line 188 of file data_types.h.

◆ TUTMCoords

using mrpt::topography::TUTMCoords = typedef mrpt::math::TPoint3D

Definition at line 187 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 150 of file conversions.cpp.

References mrpt::poses::CPose3D::asTPose(), DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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◆ 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 264 of file conversions.h.

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

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◆ 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 659 of file conversions.cpp.

References mrpt::math::crossProduct3D(), mrpt::topography::geodeticToGeocentric(), mrpt::math::normalize(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ 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 60 of file conversions.cpp.

References DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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◆ 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 88 of file conversions.cpp.

References DEG2RAD, mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ 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 265 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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by do_test_geodetic_geocentric().

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◆ 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 126 of file conversions.cpp.

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

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

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◆ 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 231 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::square(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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◆ 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 193 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::square(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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◆ 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 429 of file conversions.cpp.

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

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

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◆ geodeticToUTM()

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

Definition at line 339 of file conversions.cpp.

References mrpt::obs::gnss::A1, DEG2RAD, eps, mrpt::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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ 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 233 of file conversions.h.

References mrpt::topography::GeodeticToUTM(), mrpt::topography::TGeodeticCoords::height, mrpt::topography::TGeodeticCoords::lat, mrpt::topography::TGeodeticCoords::lon, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ operator!=() [1/2]

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

Definition at line 27 of file conversions.cpp.

◆ operator!=() [2/2]

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

Definition at line 36 of file conversions.cpp.

◆ operator<<()

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

Definition at line 52 of file conversions.cpp.

References mrpt::topography::TCoords::getAsString(), and out.

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◆ operator==() [1/2]

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

Definition at line 23 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 31 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 = `nullptr`
	)

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 43 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::math::CMatrixDynamic< T >::cols(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::d2f(), mrpt::math::TPoint3D_< T >::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::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::topography::TGeodeticCoords::isClear(), 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::math::TPose3D::pitch, mrpt::math::CVectorDynamic< T >::push_back(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_matrix(), mrpt::math::CVectorDynamic< T >::resize(), mrpt::math::TPose3D::roll, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::tfest::se3_l2(), sect, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod(), mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::obs::CRawlog::size(), mrpt::math::TPoint3D_< T >::sqrDistanceTo(), mrpt::square(), THROW_EXCEPTION, mrpt::system::timeDifference(), mrpt::topography::TPathFromRTKInfo::vehicle_uncertainty, mrpt::topography::TPathFromRTKInfo::W_star, mrpt::math::TPoint3D_data< T >::x, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), mrpt::math::TPoint3D_data< T >::z, and mrpt::math::CQuaternion< T >::z().

Referenced by TEST().

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◆ 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 647 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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::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 556 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_data< T >::x, mrpt::topography::TDatum10Params::Xp, mrpt::math::TPoint3D_data< T >::y, mrpt::topography::TDatum10Params::Yp, mrpt::math::TPoint3D_data< T >::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 633 of file conversions.cpp.

References mrpt::topography::TDatum1DTransf::dS, mrpt::topography::TDatum1DTransf::dX, mrpt::topography::TDatum1DTransf::dY, mrpt::topography::TDatum1DTransf::DZ, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::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 524 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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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◆ 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 540 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 576 of file conversions.cpp.

References mrpt::topography::TDatumHelmert2D::alpha, mrpt::topography::TDatumHelmert2D::dS, mrpt::topography::TDatumHelmert2D::dX, mrpt::topography::TDatumHelmert2D::dY, mrpt::math::TPoint2D_data< T >::x, mrpt::topography::TDatumHelmert2D::Xp, mrpt::math::TPoint2D_data< T >::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 594 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_data< T >::x, and mrpt::math::TPoint2D_data< T >::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 607 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().

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◆ 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 620 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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::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 295 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::square().

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

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◆ UTMToGeodetic() [2/2]

void mrpt::topography::UTMToGeodetic	(	const TUTMCoords &	UTMCoords,
		int	zone,
		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 180 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_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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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]