Encapsulation of a mobile device location set by the device's GPS sensor. More...

#include <SLDeviceLocation.h>

Public Member Functions
	SLDeviceLocation ()

void	init ()

void	onLocationLatLonAlt (SLdouble latDEG, SLdouble lonDEG, SLdouble altM, SLfloat accuracyM)
	Event handler for mobile device location update. More...

SLbool	calculateSolarAngles (SLVec3d locationLatLonAlt, std::time_t time)
	Calculates the solar angles at origin at local time. More...

SLVec3d	convertLatLonAlt2ENU (SLVec3d locLatLonAlt) const
	Converter method: the transferred wgs84 coordinate is converted to ENU frame and returned (does not change SLDeviceLocation) More...

void	isUsed (SLbool isUsed)
	Setter that turns on the device rotation sensor. More...

void	useOriginAltitude (SLbool useGLA)

void	improveOrigin (SLbool impO)

void	hasOrigin (SLbool hasOL)

void	originLatLonAlt (int degreesLat, int minutesLat, double secondsLat, int degreesLon, int minutesLon, double secondsLon, double altitudeM)
	Origin coordinate setter in WGS84 Lat-Lon in degrees, minutes and seconds. More...

void	originLatLonAlt (SLdouble latDEG, SLdouble lonDEG, SLdouble altM)
	Set global origin in latitude, longitude and altitude at the ground level. More...

void	originLatLonAlt (SLVec3d lla)

void	defaultLatLonAlt (int degreesLat, int minutesLat, double secondsLat, int degreesLon, int minutesLon, double secondsLon, double altitudeM)
	Default coordinate setter in WGS84 Lat-Lon in degrees, minutes and seconds. More...

void	defaultLatLonAlt (SLdouble latDEG, SLdouble lonDEG, SLdouble altM)
	Sets the default location in latitude, longitude and altitude. More...

void	defaultLatLonAlt (SLVec3d lla)

void	locMaxDistanceM (SLfloat maxDist)

void	sunLightNode (SLLightDirect *sln)

void	loadGeoTiff (const SLstring &geoTiffFile)
	Loads a GeoTiff DEM (Digital Elevation Model) Image. More...

bool	geoTiffIsAvailableAndValid () const

bool	posIsOnGeoTiff (SLdouble latDEG, SLdouble lonDEG) const
	Return true if the current GPS location is within the GeoTiff boundaries. More...

void	cameraHeightM (float camHeightM)

void	offsetMode (SLLocOffsetMode lom)

void	offsetENU (SLVec3d offsetENU)

void	activeNamedLocation (SLint locIndex)

SLbool	isUsed () const

SLVec3d	locLatLonAlt () const

SLVec3d	locECEF () const

SLVec3d	locENU () const

SLfloat	locAccuracyM () const

SLfloat	locMaxDistanceM () const

SLVec3d	defaultENU () const

SLVec3d	originLatLonAlt () const

SLVec3d	defaultLatLonAlt () const

SLVec3d	originENU () const

SLVec3d	offsetENU () const

SLbool	hasOrigin () const

SLbool	useOriginAltitude () const

SLMat3d	wRecef () const

SLfloat	improveTime ()

SLfloat	originSolarZenit () const

SLfloat	originSolarAzimut () const

SLfloat	originSolarSunrise () const

SLfloat	originSolarSunset () const

SLNode *	sunLightNode () const

SLfloat	altDemM () const

SLfloat	altGpsM () const

SLfloat	cameraHeightM () const

SLLocOffsetMode	offsetMode ()

SLstring	offsetModeStr () const
	Returns the device location offset mode as string. More...

SLVLocation &	nameLocations ()

SLint	activeNamedLocation () const

Private Attributes
SLbool	_isUsed
	Flag if the devices GPS Sensor is used. More...

SLbool	_isFirstSensorValue
	Flag for the first sensor values. More...

SLVec3d	_locLatLonAlt
	Earth location in latitudeDEG, longitudeDEG & AltitudeM on WGS84 geoid. More...

SLVec3d	_locECEF
	Cartesian location in ECEF. More...

SLVec3d	_locENU
	Cartesian location in ENU frame. More...

SLfloat	_locAccuracyM
	Horizontal accuracy radius in m with 68% probability. More...

SLfloat	_locMaxDistanceM
	Max. allowed distance from origin. If higher it is ignored. More...

SLVec3d	_defaultLatLonAlt
	Default location of scene in LatLonAlt. More...

SLVec3d	_defaultENU
	Default location in ENU frame used if real location is too far away from origin. More...

SLVec3d	_originLatLonAlt
	Global origin location of scene in LatLonAlt. More...

SLVec3d	_originENU
	Origin location in ENU frame. More...

SLVec3d	_offsetENU
	Offset vector in ENU frame. More...

SLfloat	_originAccuracyM
	Accuracy radius of origin point. More...

SLfloat	_originSolarZenith
	Zenith angle of the sun in deg. (from up dir.) at origin at local time. More...

SLfloat	_originSolarAzimuth
	Azimuth angle of the sun in deg. (eastward from north) at origin at local time. More...

SLfloat	_originSolarSunrise
	Sunrise local time at origin. More...

SLfloat	_originSolarSunset
	Sunset local time at origin. More...

SLbool	_hasOrigin
	Flag if this scene has a global reference location. More...

SLbool	_useOriginAltitude
	Flag if global reference altitude should be used. More...

SLfloat	_altDemM
	Altitude in m from Digital Elevation Model. More...

SLfloat	_altGpsM
	Altitude in m from GPS. More...

SLfloat	_cameraHeightM
	Height from ground to the mobile camera in m. More...

SLbool	_improveOrigin
	Flag if origin should be improved over time & accuracy. More...

SLfloat	_improveTimeSEC
	Max. time in seconds for the origin improvement. More...

HighResTimer	_improveTimer
	Timer to measure the improve time. More...

SLMat3d	_wRecef
	ECEF frame to world frame rotation: rotates a point defined in ecef. More...

SLNode *	_sunLightNode
	Pointer to directional light node to be changed if solar angles are calculated. More...

CVImageGeoTiff	_demGeoTiff
	Digital Elevation Model from a Geo Tiff image. More...

SLLocOffsetMode	_offsetMode
	Location offset mode. More...

SLVLocation	_nameLocations
	Vector of fix locations for default view points. More...

SLint	_activeNamedLocation
	Index of the active named location as defaultENU;. More...

Detailed Description

Encapsulation of a mobile device location set by the device's GPS sensor.

This class is only used if SLProject runs on a mobile device. Check out the app-Demo-SLProject/android and app_demo_slproject/ios how the sensor data is generated and passed to this object hold by AppDemo. The class stores the devices location that it gets from its GPS (global positioning system) sensor. The device location can be used in the active camera to apply it to the scene camera (s. SLCamera::setView).

LatLonAlt: The device location from GPS comes as a latitude (deg. north-south), longitude (deg. east-west) and altitude (m) LatLonAlt-tripple. These two angles are a position and height on the WGS84 ellipsoid (World Geodetic System 1984).
ECEF (Earth Centered Earth Fixed) are right-handed cartesian world coordinates with the z-axis at the north pole the x-axis at the prime meridian (0 deg. longitude) and the y-axis at 90 deg. longitude. x- and y-axis form the equator plane.
ENU (East North Up) is the local frame (= right-handed coordinate system) on the surface of the ellipsoid with the E=East tangential vector, the N=North tangential vector and U=Up as the ellipsoid's normal vector. Be aware that the up vector is normal to the ellipsoid and not to the terrain above. This normal does not point the center of the ellipsoid.
If we want to show a local scene on the earth, we do this always in the ENU frame because in the ECEF frame with have not enough precision for float coordinates. Therefore we have define a local origin in the ENU frame and convert all locations from LatLonAlt to ECEF and the with the wRecef rotation matrix to the ENU frame.

Constructor & Destructor Documentation

◆ SLDeviceLocation()

SLDeviceLocation::SLDeviceLocation ( )

inline

Member Function Documentation

◆ activeNamedLocation() [1/2]

SLint SLDeviceLocation::activeNamedLocation ( ) const

inline

◆ activeNamedLocation() [2/2]

void SLDeviceLocation::activeNamedLocation ( SLint locIndex )

inline

◆ altDemM()

SLfloat SLDeviceLocation::altDemM ( ) const

inline

◆ altGpsM()

SLfloat SLDeviceLocation::altGpsM ( ) const

inline

◆ calculateSolarAngles()

SLbool SLDeviceLocation::calculateSolarAngles	(	SLVec3d	locationLatLonAlt,
		std::time_t	time
	)

Calculates the solar angles at origin at local time.

Calculates the zenith and azimuth angle in deg. of the sun at the origin at the local time using the Solar Position Algorithm from: https://midcdmz.nrel.gov/spa/ that is part of libsl_external.

◆ cameraHeightM() [1/2]

SLfloat SLDeviceLocation::cameraHeightM ( ) const

inline

◆ cameraHeightM() [2/2]

void SLDeviceLocation::cameraHeightM ( float camHeightM )

inline

◆ convertLatLonAlt2ENU()

SLVec3d SLDeviceLocation::convertLatLonAlt2ENU ( SLVec3d locLatLonAlt ) const

Converter method: the transferred wgs84 coordinate is converted to ENU frame and returned (does not change SLDeviceLocation)

◆ defaultENU()

SLVec3d SLDeviceLocation::defaultENU ( ) const

inline

◆ defaultLatLonAlt() [1/4]

SLVec3d SLDeviceLocation::defaultLatLonAlt ( ) const

inline

◆ defaultLatLonAlt() [2/4]

void SLDeviceLocation::defaultLatLonAlt	(	int	degreesLat,
		int	minutesLat,
		double	secondsLat,
		int	degreesLon,
		int	minutesLon,
		double	secondsLon,
		double	altitudeM
	)

Default coordinate setter in WGS84 Lat-Lon in degrees, minutes and seconds.

◆ defaultLatLonAlt() [3/4]

void SLDeviceLocation::defaultLatLonAlt	(	SLdouble	latDEG,
		SLdouble	lonDEG,
		SLdouble	altM
	)

Sets the default location in latitude, longitude and altitude.

It must be called after setting the origin. If no origin is set with it will be automatically set in onLocationLatLonAlt. The default location is used by the camera in SLCamera::setView if the current distance between _locENU and _originENU is greater than _locMaxDistanceM. Witch means that you are in real not near the location. /param latDEG Latitude (vertical) on WGS84 geoid in degrees /param lonDEG Longitude (horizontal) on WGS84 geoid in degrees /param altM Altitude over WGS84 geoid in meters

◆ defaultLatLonAlt() [4/4]

void SLDeviceLocation::defaultLatLonAlt ( SLVec3d lla )

inline

◆ geoTiffIsAvailableAndValid()

bool SLDeviceLocation::geoTiffIsAvailableAndValid ( ) const

◆ hasOrigin() [1/2]

SLbool SLDeviceLocation::hasOrigin ( ) const

inline

◆ hasOrigin() [2/2]

void SLDeviceLocation::hasOrigin ( SLbool hasOL )

◆ improveOrigin()

void SLDeviceLocation::improveOrigin ( SLbool impO )

inline

◆ improveTime()

SLfloat SLDeviceLocation::improveTime ( )

inline

◆ init()

void SLDeviceLocation::init ( )

◆ isUsed() [1/2]

SLbool SLDeviceLocation::isUsed ( ) const

inline

◆ isUsed() [2/2]

void SLDeviceLocation::isUsed ( SLbool isUsed )

Setter that turns on the device rotation sensor.

◆ loadGeoTiff()

void SLDeviceLocation::loadGeoTiff ( const SLstring & geoTiffFile )

Loads a GeoTiff DEM (Digital Elevation Model) Image.

◆ locAccuracyM()

SLfloat SLDeviceLocation::locAccuracyM ( ) const

inline

◆ locECEF()

SLVec3d SLDeviceLocation::locECEF ( ) const

inline

◆ locENU()

SLVec3d SLDeviceLocation::locENU ( ) const

inline

◆ locLatLonAlt()

SLVec3d SLDeviceLocation::locLatLonAlt ( ) const

inline

◆ locMaxDistanceM() [1/2]

SLfloat SLDeviceLocation::locMaxDistanceM ( ) const

inline

◆ locMaxDistanceM() [2/2]

void SLDeviceLocation::locMaxDistanceM ( SLfloat maxDist )

inline

◆ nameLocations()

SLVLocation & SLDeviceLocation::nameLocations ( )

inline

◆ offsetENU() [1/2]

SLVec3d SLDeviceLocation::offsetENU ( ) const

inline

◆ offsetENU() [2/2]

void SLDeviceLocation::offsetENU ( SLVec3d offsetENU )

inline

◆ offsetMode() [1/2]

SLLocOffsetMode SLDeviceLocation::offsetMode ( )

inline

◆ offsetMode() [2/2]

void SLDeviceLocation::offsetMode ( SLLocOffsetMode lom )

inline

◆ offsetModeStr()

SLstring SLDeviceLocation::offsetModeStr ( ) const

Returns the device location offset mode as string.

◆ onLocationLatLonAlt()

void SLDeviceLocation::onLocationLatLonAlt	(	SLdouble	latDEG,
		SLdouble	lonDEG,
		SLdouble	altM,
		SLfloat	accuracyM
	)

Event handler for mobile device location update.

Global event handler for device GPS location with longitude and latitude in degrees and altitude in meters. This location uses the World Geodetic System 1984 (WGS84). The accuracy in meters is a radius in which the location is with a probability of 68% (2 sigma). The altitude in m is the most inaccurate information. The option _useOriginAltitude allows to overwrite the current altitude with the origins altitude. If a geoTiff is available the altitude is is take from it. /param latDEG Latitude (vertical) on WGS84 geoid in degrees /param lonDEG Longitude (horizontal) on WGS84 geoid in degrees /param altM Altitude over WGS84 geoid in meters /param accuracyM Accuracy in meters is a radius

◆ originENU()

SLVec3d SLDeviceLocation::originENU ( ) const

inline

◆ originLatLonAlt() [1/4]

SLVec3d SLDeviceLocation::originLatLonAlt ( ) const

inline

◆ originLatLonAlt() [2/4]

void SLDeviceLocation::originLatLonAlt	(	int	degreesLat,
		int	minutesLat,
		double	secondsLat,
		int	degreesLon,
		int	minutesLon,
		double	secondsLon,
		double	altitudeM
	)

Origin coordinate setter in WGS84 Lat-Lon in degrees, minutes and seconds.

◆ originLatLonAlt() [3/4]

void SLDeviceLocation::originLatLonAlt	(	SLdouble	latDEG,
		SLdouble	lonDEG,
		SLdouble	altM
	)

Set global origin in latitude, longitude and altitude at the ground level.

The calculated values can be used for global camera positioning via GPS sensor. The origin is the zero point of the model. The origin should be defined in the model on the ground. /param latDEG Latitude (vertical) on WGS84 geoid in decimal degrees /param lonDEG Longitude (horizontal) on WGS84 geoid in decimal degrees /param altM Altitude over WGS84 geoid in meters

◆ originLatLonAlt() [4/4]

void SLDeviceLocation::originLatLonAlt ( SLVec3d lla )

inline

◆ originSolarAzimut()

SLfloat SLDeviceLocation::originSolarAzimut ( ) const

inline

◆ originSolarSunrise()

SLfloat SLDeviceLocation::originSolarSunrise ( ) const

inline

◆ originSolarSunset()

SLfloat SLDeviceLocation::originSolarSunset ( ) const

inline

◆ originSolarZenit()

SLfloat SLDeviceLocation::originSolarZenit ( ) const

inline

◆ posIsOnGeoTiff()

bool SLDeviceLocation::posIsOnGeoTiff	(	SLdouble	latDEG,
		SLdouble	lonDEG
	)		const

Return true if the current GPS location is within the GeoTiff boundaries.

◆ sunLightNode() [1/2]

SLNode * SLDeviceLocation::sunLightNode ( ) const

inline

◆ sunLightNode() [2/2]

void SLDeviceLocation::sunLightNode ( SLLightDirect * sln )

inline

◆ useOriginAltitude() [1/2]

SLbool SLDeviceLocation::useOriginAltitude ( ) const

inline

◆ useOriginAltitude() [2/2]

void SLDeviceLocation::useOriginAltitude ( SLbool useGLA )

inline

◆ wRecef()

SLMat3d SLDeviceLocation::wRecef ( ) const

inline

Member Data Documentation

◆ _activeNamedLocation

SLint SLDeviceLocation::_activeNamedLocation

private

Index of the active named location as defaultENU;.

◆ _altDemM

SLfloat SLDeviceLocation::_altDemM

private

Altitude in m from Digital Elevation Model.

◆ _altGpsM

SLfloat SLDeviceLocation::_altGpsM

private

Altitude in m from GPS.

◆ _cameraHeightM

SLfloat SLDeviceLocation::_cameraHeightM

private

Height from ground to the mobile camera in m.

◆ _defaultENU

SLVec3d SLDeviceLocation::_defaultENU

private

Default location in ENU frame used if real location is too far away from origin.

◆ _defaultLatLonAlt

SLVec3d SLDeviceLocation::_defaultLatLonAlt

private

Default location of scene in LatLonAlt.

◆ _demGeoTiff

CVImageGeoTiff SLDeviceLocation::_demGeoTiff

private

Digital Elevation Model from a Geo Tiff image.

◆ _hasOrigin

SLbool SLDeviceLocation::_hasOrigin

private

Flag if this scene has a global reference location.

◆ _improveOrigin

SLbool SLDeviceLocation::_improveOrigin

private

Flag if origin should be improved over time & accuracy.

◆ _improveTimer

HighResTimer SLDeviceLocation::_improveTimer

private

Timer to measure the improve time.

◆ _improveTimeSEC

SLfloat SLDeviceLocation::_improveTimeSEC

private

Max. time in seconds for the origin improvement.

◆ _isFirstSensorValue

SLbool SLDeviceLocation::_isFirstSensorValue

private

Flag for the first sensor values.

◆ _isUsed

SLbool SLDeviceLocation::_isUsed

private

Flag if the devices GPS Sensor is used.

◆ _locAccuracyM

SLfloat SLDeviceLocation::_locAccuracyM

private

Horizontal accuracy radius in m with 68% probability.

◆ _locECEF

SLVec3d SLDeviceLocation::_locECEF

private

Cartesian location in ECEF.

◆ _locENU

SLVec3d SLDeviceLocation::_locENU

private

Cartesian location in ENU frame.

◆ _locLatLonAlt

SLVec3d SLDeviceLocation::_locLatLonAlt

private

Earth location in latitudeDEG, longitudeDEG & AltitudeM on WGS84 geoid.

◆ _locMaxDistanceM

SLfloat SLDeviceLocation::_locMaxDistanceM

private

Max. allowed distance from origin. If higher it is ignored.

◆ _nameLocations

SLVLocation SLDeviceLocation::_nameLocations

private

Vector of fix locations for default view points.

◆ _offsetENU

SLVec3d SLDeviceLocation::_offsetENU

private

Offset vector in ENU frame.

◆ _offsetMode

SLLocOffsetMode SLDeviceLocation::_offsetMode

private

Location offset mode.

◆ _originAccuracyM

SLfloat SLDeviceLocation::_originAccuracyM

private

Accuracy radius of origin point.

◆ _originENU

SLVec3d SLDeviceLocation::_originENU

private

Origin location in ENU frame.

◆ _originLatLonAlt

SLVec3d SLDeviceLocation::_originLatLonAlt

private

Global origin location of scene in LatLonAlt.

◆ _originSolarAzimuth

SLfloat SLDeviceLocation::_originSolarAzimuth

private

Azimuth angle of the sun in deg. (eastward from north) at origin at local time.

◆ _originSolarSunrise

SLfloat SLDeviceLocation::_originSolarSunrise

private

Sunrise local time at origin.

◆ _originSolarSunset

SLfloat SLDeviceLocation::_originSolarSunset

private

Sunset local time at origin.

◆ _originSolarZenith

SLfloat SLDeviceLocation::_originSolarZenith

private

Zenith angle of the sun in deg. (from up dir.) at origin at local time.

◆ _sunLightNode

SLNode* SLDeviceLocation::_sunLightNode

private

Pointer to directional light node to be changed if solar angles are calculated.

◆ _useOriginAltitude

SLbool SLDeviceLocation::_useOriginAltitude

private

Flag if global reference altitude should be used.

◆ _wRecef

SLMat3d SLDeviceLocation::_wRecef

private

ECEF frame to world frame rotation: rotates a point defined in ecef.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLDeviceLocation()

Member Function Documentation

◆ activeNamedLocation() [1/2]

◆ activeNamedLocation() [2/2]

◆ altDemM()

◆ altGpsM()

◆ calculateSolarAngles()

◆ cameraHeightM() [1/2]

◆ cameraHeightM() [2/2]

◆ convertLatLonAlt2ENU()

◆ defaultENU()

◆ defaultLatLonAlt() [1/4]

◆ defaultLatLonAlt() [2/4]

◆ defaultLatLonAlt() [3/4]

◆ defaultLatLonAlt() [4/4]

◆ geoTiffIsAvailableAndValid()

◆ hasOrigin() [1/2]

◆ hasOrigin() [2/2]

◆ improveOrigin()

◆ improveTime()

◆ init()

◆ isUsed() [1/2]

◆ isUsed() [2/2]

◆ loadGeoTiff()

◆ locAccuracyM()

◆ locECEF()

◆ locENU()

◆ locLatLonAlt()

◆ locMaxDistanceM() [1/2]

◆ locMaxDistanceM() [2/2]

◆ nameLocations()

◆ offsetENU() [1/2]

◆ offsetENU() [2/2]

◆ offsetMode() [1/2]

◆ offsetMode() [2/2]

◆ offsetModeStr()

◆ onLocationLatLonAlt()

◆ originENU()

◆ originLatLonAlt() [1/4]

◆ originLatLonAlt() [2/4]

◆ originLatLonAlt() [3/4]

◆ originLatLonAlt() [4/4]

◆ originSolarAzimut()

◆ originSolarSunrise()

◆ originSolarSunset()

◆ originSolarZenit()

◆ posIsOnGeoTiff()

◆ sunLightNode() [1/2]

◆ sunLightNode() [2/2]

◆ useOriginAltitude() [1/2]

◆ useOriginAltitude() [2/2]

◆ wRecef()

Member Data Documentation

◆ _activeNamedLocation

◆ _altDemM

◆ _altGpsM

◆ _cameraHeightM

◆ _defaultENU

◆ _defaultLatLonAlt

◆ _demGeoTiff

◆ _hasOrigin

◆ _improveOrigin

◆ _improveTimer

◆ _improveTimeSEC

◆ _isFirstSensorValue

◆ _isUsed

◆ _locAccuracyM

◆ _locECEF

◆ _locENU

◆ _locLatLonAlt

◆ _locMaxDistanceM

◆ _nameLocations

◆ _offsetENU

◆ _offsetMode

◆ _originAccuracyM

◆ _originENU