SLDeviceLocation Class Reference

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/android and app_demo_slproject/ios how the sensor data is generated and passed to this object hold by AppCommon. 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.

Definition at line 86 of file SLDeviceLocation.h.

Constructor & Destructor Documentation

SLDeviceLocation()

SLDeviceLocation::SLDeviceLocation ( )

inline

Definition at line 89 of file SLDeviceLocation.h.

{ init(); }

Member Function Documentation

activeNamedLocation() [1/2]

SLint SLDeviceLocation::activeNamedLocation ( ) const

inline

Definition at line 169 of file SLDeviceLocation.h.

{ return _activeNamedLocation; }

activeNamedLocation() [2/2]

void SLDeviceLocation::activeNamedLocation ( SLint  locIndex )

inline

Definition at line 135 of file SLDeviceLocation.h.

    {
        _activeNamedLocation = locIndex;
        _isUsed              = false;
        defaultLatLonAlt(_nameLocations[locIndex].posWGS84LatLonAlt);
    }

altDemM()

SLfloat SLDeviceLocation::altDemM ( ) const

inline

Definition at line 163 of file SLDeviceLocation.h.

{ return _altDemM; }

altGpsM()

SLfloat SLDeviceLocation::altGpsM ( ) const

inline

Definition at line 164 of file SLDeviceLocation.h.

{ return _altGpsM; }

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.

Definition at line 265 of file SLDeviceLocation.cpp.

{
    // leave default angles if origin has not been set
    if (!_hasOrigin) return false;
 
    // transform time
    tm ut{}, lt{};
    memcpy(&ut, std::gmtime(&time), sizeof(tm));
    memcpy(&lt, std::localtime(&time), sizeof(tm));
 
    ut.tm_year += 1900;
    lt.tm_year += 1900;
    ut.tm_mon++;
    lt.tm_mon++;
 
    SL_LOG_DEBUG("Universal time   : %02d.%02d.%02d %02d:%02d:%02d",
                 ut.tm_mday,
                 ut.tm_mon,
                 ut.tm_year,
                 ut.tm_hour,
                 ut.tm_min,
                 ut.tm_sec);
    SL_LOG_DEBUG("Local time       : %02d.%02d.%02d %02d:%02d:%02d",
                 lt.tm_mday,
                 lt.tm_mon,
                 lt.tm_year,
                 lt.tm_hour,
                 lt.tm_min,
                 lt.tm_sec);
    SL_LOG_DEBUG("Timezone         : %d", lt.tm_hour - ut.tm_hour);
 
    spa_data spa; // declare the SPA structure
    SLint    result;
 
    // enter required input values into SPA structure
    spa.year      = lt.tm_year;
    spa.month     = lt.tm_mon;
    spa.day       = lt.tm_mday;
    spa.hour      = lt.tm_hour;
    spa.minute    = lt.tm_min;
    spa.second    = lt.tm_sec;
    spa.timezone  = lt.tm_hour - ut.tm_hour;
    spa.delta_ut1 = 0;
    spa.delta_t   = 0;
    spa.longitude = locationLatLonAlt.lon;
    spa.latitude  = locationLatLonAlt.lat;
    spa.elevation = locationLatLonAlt.alt;
    // http://systemdesign.ch/wiki/Barometrische_Hoehenformel
    spa.pressure      = 1013.25 * pow((1.0 - 0.0065 * locationLatLonAlt.alt / 288.15), 5.255);
    spa.temperature   = 15.0;
    spa.slope         = 0;
    spa.azm_rotation  = 0;
    spa.atmos_refract = 0.5667;
    spa.function      = SPA_ALL;
 
    /////////////////////////////
    result = spa_calculate(&spa);
    /////////////////////////////
 
    if (result == 0) // check for SPA errors
    {
        _originSolarZenith  = (SLfloat)spa.zenith;
        _originSolarAzimuth = (SLfloat)spa.azimuth;
        _originSolarSunrise = (SLfloat)spa.sunrise;
        _originSolarSunset  = (SLfloat)spa.sunset;
 
        SLfloat SRh = _originSolarSunrise;
        SLfloat SRm = (SLfloat)(60.0f * (SRh - (int)(SRh)));
        SLfloat SRs = (SLfloat)(60.0 * (SRm - floor(SRm)));
        SLfloat SSh = _originSolarSunset;
        SLfloat SSm = (SLfloat)(60.0f * (SSh - (int)(SSh)));
        SLfloat SSs = (SLfloat)(60.0f * (SSm - floor(SSm)));
 
        SL_LOG_DEBUG("Zenith           : %.6f degrees", _originSolarZenith);
        SL_LOG_DEBUG("Azimuth          : %.6f degrees", _originSolarAzimuth);
        SL_LOG_DEBUG("Sunrise          : %02d:%02d:%02d Local Time", (int)(SRh), (int)SRm, (int)SRs);
        SL_LOG_DEBUG("Sunset           : %02d:%02d:%02d Local Time", (int)(SSh), (int)SSm, (int)SSs);
    }
    else
        SL_LOG_DEBUG("SPA Error Code: %d", result);
 
    if (_sunLightNode)
    {
        // The azimuth is from north eastwards
        _sunLightNode->rotation(180.0f - _originSolarAzimuth, SLVec3f::AXISY);
 
        // The zenith angle is from up downwards
        _sunLightNode->rotate(90.0f - _originSolarZenith, -SLVec3f::AXISX);
    }
 
    return (result == 0);
}

cameraHeightM() [1/2]

SLfloat SLDeviceLocation::cameraHeightM ( ) const

inline

Definition at line 165 of file SLDeviceLocation.h.

{ return _cameraHeightM; };

cameraHeightM() [2/2]

void SLDeviceLocation::cameraHeightM ( float  camHeightM )

inline

Definition at line 132 of file SLDeviceLocation.h.

{ _cameraHeightM = camHeightM; }

convertLatLonAlt2ENU()

SLVec3d SLDeviceLocation::convertLatLonAlt2ENU

(

SLVec3d

locLatLonAlt

)

const

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

Definition at line 360 of file SLDeviceLocation.cpp.

{
    if (geoTiffIsAvailableAndValid() && posIsOnGeoTiff(locLatLonAlt.x, locLatLonAlt.y))
        locLatLonAlt.z = _demGeoTiff.getAltitudeAtLatLon(locLatLonAlt.x, locLatLonAlt.y);
 
    // Convert to cartesian ECEF coordinates
    SLVec3d locECEF;
    locECEF.latlonAlt2ecef(locLatLonAlt);
 
    // Transform to local east-north-up frame
    SLVec3d locENU = _wRecef * locECEF;
 
    return locENU;
}

defaultENU()

SLVec3d SLDeviceLocation::defaultENU ( ) const

inline

Definition at line 149 of file SLDeviceLocation.h.

{ return _defaultENU; }

defaultLatLonAlt() [1/4]

SLVec3d SLDeviceLocation::defaultLatLonAlt ( ) const

inline

Definition at line 151 of file SLDeviceLocation.h.

{ return _defaultLatLonAlt; }

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.

Definition at line 204 of file SLDeviceLocation.cpp.

{
    SLVec3d defaultWGS84Decimal = SLAlgo::geoDegMinSec2Decimal(degreesLat,
                                                               minutesLat,
                                                               secondsLat,
                                                               degreesLon,
                                                               minutesLon,
                                                               secondsLon,
                                                               altitudeM);
    defaultLatLonAlt(defaultWGS84Decimal.lat,
                     defaultWGS84Decimal.lon,
                     defaultWGS84Decimal.alt);
}

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

Definition at line 234 of file SLDeviceLocation.cpp.

{
    _defaultLatLonAlt.set(latDEG,
                          lonDEG,
                          _useOriginAltitude ? _originLatLonAlt.alt : altM);
    _locLatLonAlt = _defaultLatLonAlt;
 
    // Convert to cartesian ECEF coordinates
    SLVec3d defaultECEF;
    defaultECEF.latlonAlt2ecef(_defaultLatLonAlt);
 
    // Transform to local east-north-up frame
    _defaultENU = _wRecef * defaultECEF;
}

defaultLatLonAlt() [4/4]

void SLDeviceLocation::defaultLatLonAlt ( SLVec3d  lla )

inline

Definition at line 126 of file SLDeviceLocation.h.

{ defaultLatLonAlt(lla.lat, lla.lon, lla.alt); }

geoTiffIsAvailableAndValid()

bool SLDeviceLocation::geoTiffIsAvailableAndValid

(

)

const

Definition at line 429 of file SLDeviceLocation.cpp.

{
    return (!_demGeoTiff.cvMat().empty() &&
            _originLatLonAlt.lat < _demGeoTiff.upperLeftLatLonAlt()[0] &&
            _originLatLonAlt.lat > _demGeoTiff.lowerRightLatLonAlt()[0] &&
            _originLatLonAlt.lon > _demGeoTiff.upperLeftLatLonAlt()[1] &&
            _originLatLonAlt.lon < _demGeoTiff.lowerRightLatLonAlt()[1] &&
            _defaultLatLonAlt.lat < _demGeoTiff.upperLeftLatLonAlt()[0] &&
            _defaultLatLonAlt.lat > _demGeoTiff.lowerRightLatLonAlt()[0] &&
            _defaultLatLonAlt.lon > _demGeoTiff.upperLeftLatLonAlt()[1] &&
            _defaultLatLonAlt.lon < _demGeoTiff.lowerRightLatLonAlt()[1]);
}

hasOrigin() [1/2]

SLbool SLDeviceLocation::hasOrigin ( ) const

inline

Definition at line 154 of file SLDeviceLocation.h.

{ return _hasOrigin; }

hasOrigin() [2/2]

void SLDeviceLocation::hasOrigin

(

SLbool

hasOL

)

Definition at line 52 of file SLDeviceLocation.cpp.

{
    if (!hasOrigin)
    {
        _improveTimer.start();
        _originAccuracyM = FLT_MAX;
    }
    _hasOrigin = hasOrigin;
}

improveOrigin()

void SLDeviceLocation::improveOrigin ( SLbool  impO )

inline

Definition at line 103 of file SLDeviceLocation.h.

{ _improveOrigin = impO; }

improveTime()

SLfloat SLDeviceLocation::improveTime ( )

inline

Definition at line 157 of file SLDeviceLocation.h.

{ return std::max(_improveTimeSEC - _improveTimer.elapsedTimeInSec(), 0.0f); }

init()

void SLDeviceLocation::init

(

)

Definition at line 18 of file SLDeviceLocation.cpp.

{
    _isUsed             = false;
    _isFirstSensorValue = false;
    _locLatLonAlt.set(0, 0, 0);
    _locECEF.set(0, 0, 0);
    _locENU.set(0, 0, 0);
    _locAccuracyM    = 0.0f;
    _locMaxDistanceM = 1000.0f;
    _defaultLatLonAlt.set(0, 0, 0);
    _defaultENU.set(0, 0, 0);
    _originLatLonAlt.set(0, 0, 0);
    _originENU.set(0, 0, 0);
    _offsetENU.set(0, 0, 0);
    _originAccuracyM    = FLT_MAX;
    _originSolarZenith  = 45.0f;
    _originSolarAzimuth = 0.0f;
    _originSolarSunrise = 0.0f;
    _originSolarSunset  = 0.0f;
    _wRecef.identity();
    _hasOrigin         = false;
    _useOriginAltitude = true;
    _improveOrigin     = true;
    _improveTimeSEC    = 10.0f;
    _sunLightNode      = nullptr;
    _altDemM           = 0.0f;
    _altGpsM           = 0.0f;
    _cameraHeightM     = 1.6f;
    _offsetMode        = LOM_none;
    _nameLocations.clear();
    _activeNamedLocation = -1;
}

isUsed() [1/2]

SLbool SLDeviceLocation::isUsed ( ) const

inline

Definition at line 143 of file SLDeviceLocation.h.

{ return _isUsed; }

isUsed() [2/2]

void SLDeviceLocation::isUsed

(

SLbool

isUsed

)

Setter that turns on the device rotation sensor.

Definition at line 252 of file SLDeviceLocation.cpp.

{
    if (!_isUsed && use)
        _isFirstSensorValue = true;
 
    _isUsed = use;
}

loadGeoTiff()

void SLDeviceLocation::loadGeoTiff

(

const SLstring &

geoTiffFile

)

Loads a GeoTiff DEM (Digital Elevation Model) Image.

Definition at line 381 of file SLDeviceLocation.cpp.

{
    try
    {
        assert(!_defaultLatLonAlt.isZero() &&
               !_originLatLonAlt.isZero() &&
               "Set first defaultLatLonAlt and originLatLonAlt before you add a GeoTiff.");
 
        _demGeoTiff.loadGeoTiff(geoTiffFile);
 
        // Check that default and origin location is withing the GeoTiff extends
        if (geoTiffIsAvailableAndValid())
        {
            // Overwrite the altitudes of origin
            SLfloat altOriginM = _demGeoTiff.getAltitudeAtLatLon(_originLatLonAlt.lat,
                                                                 _originLatLonAlt.lon);
            originLatLonAlt(_originLatLonAlt.lat,
                            _originLatLonAlt.lon,
                            altOriginM);
 
            // Overwrite the altitudes of default with the additional camera height
            SLfloat altDefaultM = _demGeoTiff.getAltitudeAtLatLon(_defaultLatLonAlt.lat,
                                                                  _defaultLatLonAlt.lon);
            defaultLatLonAlt(_defaultLatLonAlt.lat,
                             _defaultLatLonAlt.lon,
                             altDefaultM + _cameraHeightM);
        }
        else
        {
            string msg = "SLDeviceLocation::loadGeoTiff: Either the geotiff file ";
            msg += "could not be loaded or the origin or default position lies ";
            msg += "not within the extends of the geotiff file.";
            throw std::runtime_error(msg.c_str());
        }
    }
    catch (std::exception& e)
    {
        SL_WARN_MSG(e.what());
    }
    catch (...)
    {
        SL_WARN_MSG("SLDeviceLocation::loadGeoTiff: Unknown exception catched.");
    }
}

locAccuracyM()

SLfloat SLDeviceLocation::locAccuracyM ( ) const

inline

Definition at line 147 of file SLDeviceLocation.h.

{ return _locAccuracyM; }

locECEF()

SLVec3d SLDeviceLocation::locECEF ( ) const

inline

Definition at line 145 of file SLDeviceLocation.h.

{ return _locECEF; }

locENU()

SLVec3d SLDeviceLocation::locENU ( ) const

inline

Definition at line 146 of file SLDeviceLocation.h.

{ return _locENU; }

locLatLonAlt()

SLVec3d SLDeviceLocation::locLatLonAlt ( ) const

inline

Definition at line 144 of file SLDeviceLocation.h.

{ return _locLatLonAlt; }

locMaxDistanceM() [1/2]

SLfloat SLDeviceLocation::locMaxDistanceM ( ) const

inline

Definition at line 148 of file SLDeviceLocation.h.

{ return _locMaxDistanceM; }

locMaxDistanceM() [2/2]

void SLDeviceLocation::locMaxDistanceM ( SLfloat  maxDist )

inline

Definition at line 127 of file SLDeviceLocation.h.

{ _locMaxDistanceM = maxDist; }

nameLocations()

SLVLocation& SLDeviceLocation::nameLocations ( )

inline

Definition at line 168 of file SLDeviceLocation.h.

{ return _nameLocations; }

offsetENU() [1/2]

SLVec3d SLDeviceLocation::offsetENU ( ) const

inline

Definition at line 153 of file SLDeviceLocation.h.

{ return _offsetENU; }

offsetENU() [2/2]

void SLDeviceLocation::offsetENU ( SLVec3d  offsetENU )

inline

Definition at line 134 of file SLDeviceLocation.h.

{ _offsetENU = offsetENU; }

offsetMode() [1/2]

SLLocOffsetMode SLDeviceLocation::offsetMode ( )

inline

Definition at line 166 of file SLDeviceLocation.h.

{ return _offsetMode; }

offsetMode() [2/2]

void SLDeviceLocation::offsetMode ( SLLocOffsetMode  lom )

inline

Definition at line 133 of file SLDeviceLocation.h.

{ _offsetMode = lom; }

offsetModeStr()

SLstring SLDeviceLocation::offsetModeStr

(

)

const

Returns the device location offset mode as string.

Definition at line 453 of file SLDeviceLocation.cpp.

{
    switch (_offsetMode)
    {
        case LOM_none: return "None";
        case LOM_twoFingerY: return "TwoFingerY";
        default: return "Unknown";
    }
}

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

Definition at line 75 of file SLDeviceLocation.cpp.

{
    // Use altitude either from DEM (best), origin (static) or GPS (worst)
    _altGpsM       = (float)altM;
    float altToUse = (float)altM;
    if (geoTiffIsAvailableAndValid() && posIsOnGeoTiff(latDEG, lonDEG))
    {
        _altDemM = _demGeoTiff.getAltitudeAtLatLon(latDEG,
                                                   lonDEG);
        altToUse = _altDemM + _cameraHeightM;
    }
    else
    {
        altToUse = _useOriginAltitude ? (float)_originLatLonAlt.alt : _altGpsM;
    }
 
    // Init origin if it is not set yet or if the origin should be improved
    if (!_hasOrigin || _improveOrigin)
    {
        // The first sensor value can appear after a few seconds.
        if (_isFirstSensorValue)
        {
            _improveTimer.start();
            _isFirstSensorValue = false;
        }
 
        // Only improve if accuracy is higher and the improve time has not elapsed
        if (accuracyM < _originAccuracyM ||
            _improveTimer.elapsedTimeInSec() < _improveTimeSEC)
        {
            _originAccuracyM = accuracyM;
            originLatLonAlt(latDEG, lonDEG, altToUse);
            defaultLatLonAlt(latDEG, lonDEG, altToUse);
        }
    }
 
    _locLatLonAlt.set(latDEG, lonDEG, altToUse);
 
    _locAccuracyM = accuracyM;
 
    // Convert to cartesian ECEF coordinates
    _locECEF.latlonAlt2ecef(_locLatLonAlt);
 
    // Transform to local east-north-up frame
    _locENU = _wRecef * _locECEF;
}

originENU()

SLVec3d SLDeviceLocation::originENU ( ) const

inline

Definition at line 152 of file SLDeviceLocation.h.

{ return _originENU; }

originLatLonAlt() [1/4]

SLVec3d SLDeviceLocation::originLatLonAlt ( ) const

inline

Definition at line 150 of file SLDeviceLocation.h.

{ return _originLatLonAlt; }

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.

Definition at line 129 of file SLDeviceLocation.cpp.

{
    SLVec3d originWGS84Decimal = SLAlgo::geoDegMinSec2Decimal(degreesLat,
                                                              minutesLat,
                                                              secondsLat,
                                                              degreesLon,
                                                              minutesLon,
                                                              secondsLon,
                                                              altitudeM);
    originLatLonAlt(originWGS84Decimal.lat,
                    originWGS84Decimal.lon,
                    originWGS84Decimal.alt);
}

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

Definition at line 157 of file SLDeviceLocation.cpp.

{
    _originLatLonAlt = SLVec3d(latDEG, lonDEG, altM);
    SLVec3d originECEF;
    originECEF.latlonAlt2ecef(_originLatLonAlt);
 
    // calculation of ECEF to world (scene) rotation matrix
    // definition of rotation matrix for ECEF to world frame rotation:
    // world frame (scene) w.r.t. ENU frame
    double phiRad = latDEG * Utils::DEG2RAD; // phi == latitude
    double lamRad = lonDEG * Utils::DEG2RAD; // lambda == longitude
    double sinPhi = sin(phiRad);
    double cosPhi = cos(phiRad);
    double sinLam = sin(lamRad);
    double cosLam = cos(lamRad);
 
    SLMat3d enuRecef(-sinLam,
                     cosLam,
                     0,
                     -cosLam * sinPhi,
                     -sinLam * sinPhi,
                     cosPhi,
                     cosLam * cosPhi,
                     sinLam * cosPhi,
                     sinPhi);
 
    // ENU frame w.r.t. world frame (scene)
    SLMat3d wRenu; // same as before
    wRenu.rotation(-90, 1, 0, 0);
 
    // ECEF w.r.t. world frame (scene)
    _wRecef    = wRenu * enuRecef;
    _originENU = _wRecef * originECEF;
 
    // Indicate that origin is set. Otherwise it would be reset on each update
    _hasOrigin = true;
 
    calculateSolarAngles(_originLatLonAlt,
                         std::time(nullptr));
}

originLatLonAlt() [4/4]

void SLDeviceLocation::originLatLonAlt ( SLVec3d  lla )

inline

Definition at line 115 of file SLDeviceLocation.h.

{ originLatLonAlt(lla.lat, lla.lon, lla.alt); }

originSolarAzimut()

SLfloat SLDeviceLocation::originSolarAzimut ( ) const

inline

Definition at line 159 of file SLDeviceLocation.h.

{ return _originSolarAzimuth; }

originSolarSunrise()

SLfloat SLDeviceLocation::originSolarSunrise ( ) const

inline

Definition at line 160 of file SLDeviceLocation.h.

{ return _originSolarSunrise; }

originSolarSunset()

SLfloat SLDeviceLocation::originSolarSunset ( ) const

inline

Definition at line 161 of file SLDeviceLocation.h.

{ return _originSolarSunset; }

originSolarZenit()

SLfloat SLDeviceLocation::originSolarZenit ( ) const

inline

Definition at line 158 of file SLDeviceLocation.h.

{ return _originSolarZenith; }

posIsOnGeoTiff()

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

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

Definition at line 443 of file SLDeviceLocation.cpp.

{
    return (!_demGeoTiff.empty() &&
            latDEG < _demGeoTiff.upperLeftLatLonAlt()[0] &&
            latDEG > _demGeoTiff.lowerRightLatLonAlt()[0] &&
            lonDEG > _demGeoTiff.upperLeftLatLonAlt()[1] &&
            lonDEG < _demGeoTiff.lowerRightLatLonAlt()[1]);
}

sunLightNode() [1/2]

SLNode* SLDeviceLocation::sunLightNode ( ) const

inline

Definition at line 162 of file SLDeviceLocation.h.

{ return _sunLightNode; }

sunLightNode() [2/2]

void SLDeviceLocation::sunLightNode ( SLLightDirect *  sln )

inline

Definition at line 128 of file SLDeviceLocation.h.

{ _sunLightNode = sln; }

useOriginAltitude() [1/2]

SLbool SLDeviceLocation::useOriginAltitude ( ) const

inline

Definition at line 155 of file SLDeviceLocation.h.

{ return _useOriginAltitude; }

useOriginAltitude() [2/2]

void SLDeviceLocation::useOriginAltitude ( SLbool  useGLA )

inline

Definition at line 102 of file SLDeviceLocation.h.

{ _useOriginAltitude = useGLA; }

wRecef()

SLMat3d SLDeviceLocation::wRecef ( ) const

inline

Definition at line 156 of file SLDeviceLocation.h.

{ return _wRecef; }

Member Data Documentation

_activeNamedLocation

SLint SLDeviceLocation::_activeNamedLocation

private

Index of the active named location as defaultENU;.

Definition at line 202 of file SLDeviceLocation.h.

_altDemM

SLfloat SLDeviceLocation::_altDemM

private

Altitude in m from Digital Elevation Model.

Definition at line 191 of file SLDeviceLocation.h.

_altGpsM

SLfloat SLDeviceLocation::_altGpsM

private

Altitude in m from GPS.

Definition at line 192 of file SLDeviceLocation.h.

_cameraHeightM

SLfloat SLDeviceLocation::_cameraHeightM

private

Height from ground to the mobile camera in m.

Definition at line 193 of file SLDeviceLocation.h.

_defaultENU

SLVec3d SLDeviceLocation::_defaultENU

private

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

Definition at line 180 of file SLDeviceLocation.h.

_defaultLatLonAlt

SLVec3d SLDeviceLocation::_defaultLatLonAlt

private

Default location of scene in LatLonAlt.

Definition at line 179 of file SLDeviceLocation.h.

_demGeoTiff

CVImageGeoTiff SLDeviceLocation::_demGeoTiff

private

Digital Elevation Model from a Geo Tiff image.

Definition at line 199 of file SLDeviceLocation.h.

_hasOrigin

SLbool SLDeviceLocation::_hasOrigin

private

Flag if this scene has a global reference location.

Definition at line 189 of file SLDeviceLocation.h.

_improveOrigin

SLbool SLDeviceLocation::_improveOrigin

private

Flag if origin should be improved over time & accuracy.

Definition at line 194 of file SLDeviceLocation.h.

_improveTimer

HighResTimer SLDeviceLocation::_improveTimer

private

Timer to measure the improve time.

Definition at line 196 of file SLDeviceLocation.h.

_improveTimeSEC

SLfloat SLDeviceLocation::_improveTimeSEC

private

Max. time in seconds for the origin improvement.

Definition at line 195 of file SLDeviceLocation.h.

_isFirstSensorValue

SLbool SLDeviceLocation::_isFirstSensorValue

private

Flag for the first sensor values.

Definition at line 173 of file SLDeviceLocation.h.

_isUsed

SLbool SLDeviceLocation::_isUsed

private

Flag if the devices GPS Sensor is used.

Definition at line 172 of file SLDeviceLocation.h.

_locAccuracyM

SLfloat SLDeviceLocation::_locAccuracyM

private

Horizontal accuracy radius in m with 68% probability.

Definition at line 177 of file SLDeviceLocation.h.

_locECEF

SLVec3d SLDeviceLocation::_locECEF

private

Cartesian location in ECEF.

Definition at line 175 of file SLDeviceLocation.h.

_locENU

SLVec3d SLDeviceLocation::_locENU

private

Cartesian location in ENU frame.

Definition at line 176 of file SLDeviceLocation.h.

_locLatLonAlt

SLVec3d SLDeviceLocation::_locLatLonAlt

private

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

Definition at line 174 of file SLDeviceLocation.h.

_locMaxDistanceM

SLfloat SLDeviceLocation::_locMaxDistanceM

private

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

Definition at line 178 of file SLDeviceLocation.h.

_nameLocations

SLVLocation SLDeviceLocation::_nameLocations

private

Vector of fix locations for default view points.

Definition at line 201 of file SLDeviceLocation.h.

_offsetENU

SLVec3d SLDeviceLocation::_offsetENU

private

Offset vector in ENU frame.

Definition at line 183 of file SLDeviceLocation.h.

_offsetMode

SLLocOffsetMode SLDeviceLocation::_offsetMode

private

Location offset mode.

Definition at line 200 of file SLDeviceLocation.h.

_originAccuracyM

SLfloat SLDeviceLocation::_originAccuracyM

private

Accuracy radius of origin point.

Definition at line 184 of file SLDeviceLocation.h.

_originENU

SLVec3d SLDeviceLocation::_originENU

private

Origin location in ENU frame.

Definition at line 182 of file SLDeviceLocation.h.

_originLatLonAlt

SLVec3d SLDeviceLocation::_originLatLonAlt

private

Global origin location of scene in LatLonAlt.

Definition at line 181 of file SLDeviceLocation.h.

_originSolarAzimuth

SLfloat SLDeviceLocation::_originSolarAzimuth

private

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

Definition at line 186 of file SLDeviceLocation.h.

_originSolarSunrise

SLfloat SLDeviceLocation::_originSolarSunrise

private

Sunrise local time at origin.

Definition at line 187 of file SLDeviceLocation.h.

_originSolarSunset

SLfloat SLDeviceLocation::_originSolarSunset

private

Sunset local time at origin.

Definition at line 188 of file SLDeviceLocation.h.

_originSolarZenith

SLfloat SLDeviceLocation::_originSolarZenith

private

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

Definition at line 185 of file SLDeviceLocation.h.

_sunLightNode

SLNode* SLDeviceLocation::_sunLightNode

private

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

Definition at line 198 of file SLDeviceLocation.h.

_useOriginAltitude

SLbool SLDeviceLocation::_useOriginAltitude

private

Flag if global reference altitude should be used.

Definition at line 190 of file SLDeviceLocation.h.

_wRecef

SLMat3d SLDeviceLocation::_wRecef

private

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

Definition at line 197 of file SLDeviceLocation.h.

---

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

• SLDeviceLocation.h
• SLDeviceLocation.cpp