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mrpt::topography Namespace Reference

This namespace provides topography helper functions, coordinate transformations. More...


Classes

struct  TPathFromRTKInfo
 Used to return optional information from mrpt::topography::path_from_rtk_gps. More...

Functions

void MRPTDLLIMPEXP coordinatesTransformation_WGS84 (double in_longitude_degrees, double in_latitude_degrees, double in_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters, double in_longitude_reference_degrees, double in_latitude_reference_degrees, double in_height_reference_meters)
 Coordinates transformation from longitude/latitude/height to X/Y/Z coordinates The WGS84 ellipsoid is used for the transformation.
void MRPTDLLIMPEXP coordinatesTransformation_WGS84_geocentric (double in_longitude_degrees, double in_latitude_degrees, double in_height_meters, double &out_x_meters, double &out_y_meters, double &out_z_meters)
 Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates.
void MRPTDLLIMPEXP LatLonToUTM (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)
 Convert latitude and longitude coordinates into UTM coordinates, computing the corresponding UTM zone and latitude band.
void MRPTDLLIMPEXP path_from_rtk_gps (mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::slam::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.


Detailed Description

This namespace provides topography helper functions, coordinate transformations.


Function Documentation

void MRPTDLLIMPEXP mrpt::topography::coordinatesTransformation_WGS84 ( double  in_longitude_degrees,
double  in_latitude_degrees,
double  in_height_meters,
double &  out_x_meters,
double &  out_y_meters,
double &  out_z_meters,
double  in_longitude_reference_degrees,
double  in_latitude_reference_degrees,
double  in_height_reference_meters 
)

Coordinates transformation from longitude/latitude/height to 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

void MRPTDLLIMPEXP mrpt::topography::coordinatesTransformation_WGS84_geocentric ( double  in_longitude_degrees,
double  in_latitude_degrees,
double  in_height_meters,
double &  out_x_meters,
double &  out_y_meters,
double &  out_z_meters 
)

Coordinates transformation from longitude/latitude/height to geocentric X/Y/Z coordinates.

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:
coordinatesTransformation_WGS84

void MRPTDLLIMPEXP mrpt::topography::LatLonToUTM ( 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 
)

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

void MRPTDLLIMPEXP mrpt::topography::path_from_rtk_gps ( mrpt::poses::CPose3DInterpolator robot_path,
const mrpt::slam::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
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




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