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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_BASE_GPS_H_
#define COLMAP_SRC_BASE_GPS_H_
#include <vector>
#include <Eigen/Core>
#include "util/alignment.h"
#include "util/types.h"
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
#endif // COLMAP_SRC_BASE_GPS_H_
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