Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop
This commit is contained in:
Osenberg
commit
719c0b32ae
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@ -521,168 +521,8 @@ char UTMLetterDesignator(double latitude) {
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else
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letterDesignator = 'Z'; // This is here as an error flag to show that the
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// Latitude is outside the UTM limits
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return letterDesignator;
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}
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void LLtoUTM(
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double latitude, double longitude, double &utmNorthing, double &utmEasting, // NOLINT
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std::string &utmZone) { // NOLINT
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// converts lat/long to UTM coords. Equations from USGS Bulletin 1532
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// East Longitudes are positive, West longitudes are negative.
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// North latitudes are positive, South latitudes are negative
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// Lat and Long are in decimal degrees
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// Written by Chuck Gantz- chuck.gantz@globalstar.com
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} // namespace camodocal
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double k0 = 0.9996;
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double LongOrigin;
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double eccPrimeSquared;
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double N, T, C, A, M;
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double LatRad = latitude * M_PI / 180.0;
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double LongRad = longitude * M_PI / 180.0;
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double LongOriginRad;
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int ZoneNumber = static_cast<int>((longitude + 180.0) / 6.0) + 1;
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if (latitude >= 56.0 && latitude < 64.0 && longitude >= 3.0 &&
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longitude < 12.0) {
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ZoneNumber = 32;
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}
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// Special zones for Svalbard
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if (latitude >= 72.0 && latitude < 84.0) {
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if (longitude >= 0.0 && longitude < 9.0)
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ZoneNumber = 31;
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else if (longitude >= 9.0 && longitude < 21.0)
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ZoneNumber = 33;
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else if (longitude >= 21.0 && longitude < 33.0)
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ZoneNumber = 35;
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else if (longitude >= 33.0 && longitude < 42.0)
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ZoneNumber = 37;
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}
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LongOrigin = static_cast<double>(
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(ZoneNumber - 1) * 6 - 180 + 3); // +3 puts origin in middle of zone
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LongOriginRad = LongOrigin * M_PI / 180.0;
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// compute the UTM Zone from the latitude and longitude
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std::ostringstream oss;
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oss << ZoneNumber << UTMLetterDesignator(latitude);
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utmZone = oss.str();
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eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ);
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N = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(LatRad) * sin(LatRad));
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T = tan(LatRad) * tan(LatRad);
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C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
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A = cos(LatRad) * (LongRad - LongOriginRad);
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M = WGS84_A *
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((1.0 - WGS84_ECCSQ / 4.0 - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 -
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5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0) *
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LatRad -
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(3.0 * WGS84_ECCSQ / 8.0 + 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 32.0 +
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45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) *
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sin(2.0 * LatRad) +
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(15.0 * WGS84_ECCSQ * WGS84_ECCSQ / 256.0 +
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45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) *
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sin(4.0 * LatRad) -
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(35.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 3072.0) *
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sin(6.0 * LatRad));
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utmEasting =
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k0 * N * (A + (1.0 - T + C) * A * A * A / 6.0 +
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(5.0 - 18.0 * T + T * T + 72.0 * C - 58.0 * eccPrimeSquared) *
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A * A * A * A * A / 120.0) +
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500000.0;
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utmNorthing =
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k0 *
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(M +
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N * tan(LatRad) *
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(A * A / 2.0 +
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(5.0 - T + 9.0 * C + 4.0 * C * C) * A * A * A * A / 24.0 +
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(61.0 - 58.0 * T + T * T + 600.0 * C - 330.0 * eccPrimeSquared) *
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A * A * A * A * A * A / 720.0));
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if (latitude < 0.0) {
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utmNorthing += 10000000.0; // 10000000 meter offset for southern hemisphere
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}
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}
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void UTMtoLL(
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double utmNorthing, double utmEasting, const std::string &utmZone,
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double &latitude, double &longitude) { // NOLINT
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// converts UTM coords to lat/long. Equations from USGS Bulletin 1532
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// East Longitudes are positive, West longitudes are negative.
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// North latitudes are positive, South latitudes are negative
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// Lat and Long are in decimal degrees.
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// Written by Chuck Gantz- chuck.gantz@globalstar.com
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double k0 = 0.9996;
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double eccPrimeSquared;
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double e1 = (1.0 - sqrt(1.0 - WGS84_ECCSQ)) / (1.0 + sqrt(1.0 - WGS84_ECCSQ));
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double N1, T1, C1, R1, D, M;
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double LongOrigin;
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double mu, phi1, phi1Rad;
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double x, y;
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int ZoneNumber;
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char ZoneLetter;
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bool NorthernHemisphere;
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x = utmEasting - 500000.0; // remove 500,000 meter offset for longitude
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y = utmNorthing;
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std::istringstream iss(utmZone);
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iss >> ZoneNumber >> ZoneLetter;
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if ((static_cast<int>(ZoneLetter) - static_cast<int>('N')) >= 0) {
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NorthernHemisphere = true; // point is in northern hemisphere
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} else {
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NorthernHemisphere = false; // point is in southern hemisphere
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y -= 10000000.0; // remove 10,000,000 meter offset used for southern
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// hemisphere
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}
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LongOrigin = (ZoneNumber - 1.0) * 6.0 - 180.0 +
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3.0; // +3 puts origin in middle of zone
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eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ);
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M = y / k0;
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mu = M / (WGS84_A *
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(1.0 - WGS84_ECCSQ / 4.0 - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 -
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5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0));
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phi1Rad = mu + (3.0 * e1 / 2.0 - 27.0 * e1 * e1 * e1 / 32.0) * sin(2.0 * mu) +
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(21.0 * e1 * e1 / 16.0 - 55.0 * e1 * e1 * e1 * e1 / 32.0) *
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sin(4.0 * mu) +
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(151.0 * e1 * e1 * e1 / 96.0) * sin(6.0 * mu);
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phi1 = phi1Rad / M_PI * 180.0;
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N1 = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad));
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T1 = tan(phi1Rad) * tan(phi1Rad);
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C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
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R1 = WGS84_A * (1.0 - WGS84_ECCSQ) /
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pow(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad), 1.5);
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D = x / (N1 * k0);
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latitude = phi1Rad -
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(N1 * tan(phi1Rad) / R1) *
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(D * D / 2.0 -
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(5.0 + 3.0 * T1 + 10.0 * C1 - 4.0 * C1 * C1 -
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9.0 * eccPrimeSquared) *
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D * D * D * D / 24.0 +
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(61.0 + 90.0 * T1 + 298.0 * C1 + 45.0 * T1 * T1 -
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252.0 * eccPrimeSquared - 3.0 * C1 * C1) *
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D * D * D * D * D * D / 720.0);
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latitude *= 180.0 / M_PI;
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longitude = (D - (1.0 + 2.0 * T1 + C1) * D * D * D / 6.0 +
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(5.0 - 2.0 * C1 + 28.0 * T1 - 3.0 * C1 * C1 +
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8.0 * eccPrimeSquared + 24.0 * T1 * T1) *
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D * D * D * D * D / 120.0) /
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cos(phi1Rad);
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longitude = LongOrigin + longitude / M_PI * 180.0;
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}
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}
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