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. |
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
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
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
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 , |
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bool | disableGPSInterp = false , |
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int | path_smooth_filter_size = 2 , |
|||
TPathFromRTKInfo * | outInfo = NULL | |||
) |
Reconstruct the path of a vehicle equipped with 3 RTK GPSs.
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 |
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