test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/topography.h>
#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()
                                        .block<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;
        }
}