| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
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| // * Redistributions in binary form must reproduce the above copyright | |
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| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Transform ellipsoidal GPS coordinates to Cartesian GPS coordinate | |
| // representation and vice versa. | |
| class GPSTransform { | |
| public: | |
| enum ELLIPSOID { GRS80, WGS84 }; | |
| explicit GPSTransform(const int ellipsoid = GRS80); | |
| std::vector<Eigen::Vector3d> EllToXYZ( | |
| const std::vector<Eigen::Vector3d>& ell) const; | |
| std::vector<Eigen::Vector3d> XYZToEll( | |
| const std::vector<Eigen::Vector3d>& xyz) const; | |
| // Convert GPS (lat / lon / alt) to ENU coords. with lat0 and lon0 | |
| // defining the origin of the ENU frame | |
| std::vector<Eigen::Vector3d> EllToENU(const std::vector<Eigen::Vector3d>& ell, | |
| const double lat0, | |
| const double lon0) const; | |
| std::vector<Eigen::Vector3d> XYZToENU(const std::vector<Eigen::Vector3d>& xyz, | |
| const double lat0, | |
| const double lon0) const; | |
| std::vector<Eigen::Vector3d> ENUToEll(const std::vector<Eigen::Vector3d>& enu, | |
| const double lat0, const double lon0, | |
| const double alt0) const; | |
| std::vector<Eigen::Vector3d> ENUToXYZ(const std::vector<Eigen::Vector3d>& enu, | |
| const double lat0, const double lon0, | |
| const double alt0) const; | |
| private: | |
| // Semimajor axis. | |
| double a_; | |
| // Semiminor axis. | |
| double b_; | |
| // Flattening. | |
| double f_; | |
| // Numerical eccentricity. | |
| double e2_; | |
| }; | |
| } // namespace colmap | |