gps.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <vector>
 
#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;
 
private:
    // Semimajor axis.
    double a_;
    // Semiminor axis.
    double b_;
    // Flattening.
    double f_;
    // Numerical eccentricity.
    double e2_;
};
 
}  // namespace colmap