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Optional more accurate displace for WGS84 #194

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Merged
zepinto merged 4 commits into from
Jul 17, 2019
Merged

Optional more accurate displace for WGS84 #194

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ae60233
DUNE/Coordinates/WGS84: more accurate displace function
krisgry Aug 30, 2018
0ead2aa
DUNE/Coordinates/WGS84: make to/fromECEF public
krisgry Aug 30, 2018
b5d5121
CMake: Added option to build using elliptical coordinates in the (WGS…
luis109 Jul 17, 2019
a32d06f
DUNE/Coordinates/WGS84: Added optional elliptical coordinates to disp…
luis109 Jul 17, 2019
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6 changes: 6 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,7 @@ dune_option(BLUEVIEW "Enable support for the BlueView SDK")
dune_option(OPENCV "Enable support for OpenCV")
dune_option(NO_RTTI "Disable support for RTTI")
dune_option(UEYE "Enable support for IDS uEye cameras")
dune_option(ELLIPSOIDAL "Enable ellipsoidal coordinates in (WGS84) displace")

# Internationalization.
include(${PROJECT_SOURCE_DIR}/cmake/I18N.cmake)
Expand Down Expand Up @@ -231,6 +232,11 @@ endif(DUNE_SHARED)

add_dependencies(dune-core dune-version)

# WGS84 Coordinate Type
if(ELLIPSOIDAL)
add_definitions(-DDUNE_ELLIPSOIDAL_DISPLACE)
endif(ELLIPSOIDAL)

##########################################################################
# Tasks #
##########################################################################
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12 changes: 10 additions & 2 deletions src/DUNE/Coordinates/WGS84.hpp
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Expand Up @@ -182,7 +182,15 @@ namespace DUNE
toECEF(*lat, *lon, *hae, &x, &y, &z);

// Compute Geocentric latitude
double phi = std::atan2(z, std::sqrt(x * x + y * y));
double p = std::sqrt(x * x + y * y);
#if defined(DUNE_ELLIPSOIDAL_DISPLACE)
// Use elliptical coordinates
double N = computeRn(*lat);
double phi = std::atan2(z,p*(1 - c_wgs84_e2 * N / (N + *hae)));
#else
// Use spherical coordinates
double phi = std::atan2(z,p);
#endif

// Compute all needed sine and cosine terms for conversion.
double slon = std::sin(*lon);
Expand Down Expand Up @@ -285,7 +293,6 @@ namespace DUNE
getNEBearingAndRange(lat1, lon1, lat2, lon2, azimuth, &tmp);
}

private:
//! Convert WGS-84 coordinates to ECEF (Earch Center Earth Fixed) coordinates.
//!
//! @param[in] lat WGS-84 latitude (rad).
Expand Down Expand Up @@ -347,6 +354,7 @@ namespace DUNE
}
}

private:
//! Compute the radius of curvature in the prime vertical (Rn).
//!
//! @param[in] lat WGS-84 latitude (rad).
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