Class GeoHdl

• Defined in File geo_handler.hpp

Inheritance Relationships

Base Type

• public tuw::MapHdl (Class MapHdl)

Class Documentation

class GeoHdl : public tuw::MapHdl

class to hold geographic meta data for a map it allows to access pixels based on geo information In order to use it the GeographicLib must be installed (check the CMakeFile.txt)

Public Functions

inline GeoHdl()

true if map is on northern hemisphere

inline std::string info_geo() const

Returns:

geo information as string to print

inline void init(cv::Size canvas_size, double resolution, cv::Point2d origin, cv::Vec3d lla)

used to initialize the figure

Parameters:

• canvas_size – pixel size of the canvas [pix]

• resolution – resolution size of a pixel [m/pix]

• origin – origin

• lla – latitude longitude altitude of origin

inline void init(cv::Size canvas_size, double resolution, cv::Point2d origin, cv::Vec3d utm, int zone, bool northp)

used to initialize the figure

Parameters:

• canvas_size – pixel size of the canvas [pix]

• resolution – resolution size of a pixel [m/pix]

• origin – origin

• utm – easting northing altitude of origin

• zone – utm zone

• northp – true if map is on northern hemisphere

inline cv::Vec3d &lla2utm(const cv::Vec3d &src, cv::Vec3d &des) const

latitude longitude altitude -> utm the utm map depents on the map init

Parameters:

• src – latitude longitude altitude

• des – utm x, y, z

Returns:

utm x, y, z

inline cv::Vec3d lla2utm(const cv::Vec3d &src) const

latitude longitude altitude -> utm the utm map depents on the map init

Parameters:

src – latitude longitude altitude

Returns:

utm x, y, z

inline cv::Point &lla2map(const cv::Vec3d &src, cv::Point &des) const

latitude longitude altitude -> map [pix] the utm map depents on the map init

Parameters:

src – latitude longitude altitude

Returns:

map x, y

inline cv::Point lla2map(const cv::Vec3d &src) const

latitude longitude altitude -> map [pix] the utm map depents on the map init

Parameters:

src – latitude longitude altitude

Returns:

map x, y

inline cv::Vec3d &lla2world(const cv::Vec3d &src, cv::Vec3d &des) const

latitude longitude altitude -> world [m] the utm map depents on the map init

Parameters:

src – latitude longitude altitude

Returns:

world x, y, z

inline cv::Vec3d lla2world(const cv::Vec3d &src) const

latitude longitude altitude -> world [m] the utm map depents on the map init

Parameters:

src – latitude longitude altitude

Returns:

world x, y, z

inline cv::Vec3d &utm2world(const cv::Vec3d &src, cv::Vec3d &des) const

utm -> world map [m] the utm map depents on the map init

Parameters:

• src – utm x, y, z

• des – x, y, z

Returns:

x, y, z

inline cv::Vec3d utm2world(const cv::Vec3d &src) const

utm -> world map [m] the utm map depents on the map init

Parameters:

src – utm x, y, z

Returns:

x, y, z

inline cv::Vec3d &world2utm(const cv::Vec3d &src, cv::Vec3d &des) const

world map [m] -> utm the utm map depents on the map init

Parameters:

• des – world x, y, z

• src – utm x, y, z

Returns:

x, y, z

inline cv::Vec3d world2utm(const cv::Vec3d &src) const

world map [m] -> utm the utm map depents on the map init

Parameters:

• des – world x, y, z

• src – utm x, y, z

Returns:

x, y, z

inline cv::Vec2d &world2map(const cv::Vec2d &src, cv::Vec2d &des) const

world [m] -> map [pix]

Parameters:

• src – x, y

• des – x, y

Returns:

x, y

inline cv::Vec2d world2map(const cv::Vec2d &src) const

world [m] -> ma p [pix]

Parameters:

src – x, y

Returns:

x, y

inline cv::Vec3d &utm2lla(const cv::Vec3d &src, cv::Vec3d &des) const

utm [m] -> geo [latitude longitude altitude]

Parameters:

• src – x, y, z

• des – latitude longitude altitude

Returns:

latitude longitude altitude

inline cv::Vec3d utm2lla(const cv::Vec3d &src) const

utm [m] -> geo [latitude longitude altitude]

Parameters:

src – x, y, z

Returns:

latitude longitude altitude

inline cv::Vec3d &map2lla(const cv::Point &src, cv::Vec3d &des) const

map [pix] -> latitude longitude altitude the utm map depents on the map init

Parameters:

• src – map x, y [pix]

• des – latitude longitude altitude

Returns:

latitude longitude altitude

inline cv::Vec3d map2lla(const cv::Point &src) const

map [pix] -> latitude longitude altitude the utm map depents on the map init

Parameters:

src – map x, y [pix]

Returns:

latitude longitude altitude

inline cv::Vec3d utm()

utm offset to map

Returns:

x, y, z

inline int zone()

utm zone

Returns:

utm zone id

inline bool is_north()

Northern Hemisphere

Returns:

true if map is on northern hemisphere

inline bool is_south()

Southern Hemisphere

Returns:

true if map is on southern hemisphere