SLAlgo Namespace Reference

Collection of algorithms that may should be integrated into other namespaces. More...

Functions
bool	estimateHorizon (const SLMat3f &enuRs, const SLMat3f &sRc, SLVec3f &horizon)
template<typename T >
T	geoDegMinSec2Decimal (int degrees, int minutes, T seconds)
	convert geodetic datum defined in degrees, minutes and seconds to decimal More...
template float	geoDegMinSec2Decimal (int degrees, int minutes, float seconds)
template double	geoDegMinSec2Decimal (int degrees, int minutes, double seconds)
template<typename T >
SLVec3< T >	geoDegMinSec2Decimal (int degreesLat, int minutesLat, T secondsLat, int degreesLon, int minutesLon, T secondsLon, T alt)
	Latitude Longitude Altitude (LatLonAlt), defined in Degrees, Minutes, Secondes format to decimal. More...
template SLVec3f	geoDegMinSec2Decimal (int degreesLat, int minutesLat, float secondsLat, int degreesLon, int minutesLon, float secondsLon, float altM)
template SLVec3d	geoDegMinSec2Decimal (int degreesLat, int minutesLat, double secondsLat, int degreesLon, int minutesLon, double secondsLon, double altM)

Detailed Description

Collection of algorithms that may should be integrated into other namespaces.

Function Documentation

estimateHorizon()

bool SLAlgo::estimateHorizon	(	const SLMat3f &	enuRs,
		const SLMat3f &	sRc,
		SLVec3f &	horizon
	)

Definition at line 17 of file SLAlgo.cpp.

{
    SLMat3f cRenu = (enuRs * sRc).transposed();
    //estimate horizon in camera frame:
    //-normal vector of camera x-y-plane in enu frame definition: this is the camera z-axis epressed in enu frame
    SLVec3f normalCamXYPlane = SLVec3f(0, 0, 1);
    //-normal vector of enu x-y-plane in camera frame: this is the enu z-axis rotated into camera coord. frame
    SLVec3f normalEnuXYPlane = cRenu * SLVec3f(0, 0, 1);
    //-Estimation of intersetion line (horizon):
    //Then the crossproduct of both vectors defines the direction of the intersection line. In our special case we know that the origin is a point that lies on both planes.
    //Then origin together with the direction vector define the horizon.
    horizon.cross(normalEnuXYPlane, normalCamXYPlane);
 
    //check that vectors are not parallel
    float l = horizon.length();
    if (l < 0.01f)
    {
        horizon = {1.f, 0.f, 0.f};
        return false;
    }
    else
    {
        horizon /= l;
        return true;
    }
}

geoDegMinSec2Decimal() [1/6]

template double SLAlgo::geoDegMinSec2Decimal	(	int	degrees,
		int	minutes,
		double	seconds
	)

geoDegMinSec2Decimal() [2/6]

template float SLAlgo::geoDegMinSec2Decimal	(	int	degrees,
		int	minutes,
		float	seconds
	)

geoDegMinSec2Decimal() [3/6]

template<typename T >

T SLAlgo::geoDegMinSec2Decimal	(	int	degrees,
		int	minutes,
		T	seconds
	)

convert geodetic datum defined in degrees, minutes and seconds to decimal

Definition at line 45 of file SLAlgo.cpp.

{
    return (T)degrees + ((T)(minutes * 60) + seconds) / ((T)3600);
}

geoDegMinSec2Decimal() [4/6]

template SLVec3d SLAlgo::geoDegMinSec2Decimal	(	int	degreesLat,
		int	minutesLat,
		double	secondsLat,
		int	degreesLon,
		int	minutesLon,
		double	secondsLon,
		double	altM
	)

geoDegMinSec2Decimal() [5/6]

template SLVec3f SLAlgo::geoDegMinSec2Decimal	(	int	degreesLat,
		int	minutesLat,
		float	secondsLat,
		int	degreesLon,
		int	minutesLon,
		float	secondsLon,
		float	altM
	)

geoDegMinSec2Decimal() [6/6]

template<typename T >

SLVec3< T > SLAlgo::geoDegMinSec2Decimal	(	int	degreesLat,
		int	minutesLat,
		T	secondsLat,
		int	degreesLon,
		int	minutesLon,
		T	secondsLon,
		T	altM
	)

Latitude Longitude Altitude (LatLonAlt), defined in Degrees, Minutes, Secondes format to decimal.

Definition at line 55 of file SLAlgo.cpp.

{
    //https://www.koordinaten-umrechner.de/
    assert(degreesLat > -90 && degreesLat < 90);
    assert(degreesLon > -180 && degreesLon < 180);
    assert(minutesLat > 0 && minutesLat < 60);
    assert(minutesLon > 0 && minutesLon < 60);
    assert(secondsLat >= (T)0 && secondsLat < (T)60);
    assert(secondsLon >= (T)0 && secondsLon < (T)60);
    
    SLVec3<T> vec;
    vec.x = geoDegMinSec2Decimal<T>(degreesLat, minutesLat, secondsLat);
    vec.y = geoDegMinSec2Decimal<T>(degreesLon, minutesLon, secondsLon);
    vec.z = altM;
    
    return vec;
}