osgEarth::ECEF Struct Reference

List of all members.

Static Public Member Functions
static osg::Matrixd	createInverseRefFrame (const osg::Vec3d &ecefRefPoint)
static void	transformAndLocalize (const osg::Vec3d &input, osg::Vec3d &output, const SpatialReference *srs, const osg::Matrixd &world2local=osg::Matrixd())
static void	transformAndLocalize (const std::vector< osg::Vec3d > &input, osg::Vec3Array *output, const SpatialReference *srs, const osg::Matrixd &world2local=osg::Matrixd())
static void	transformAndGetRotationMatrix (const SpatialReference *input_srs, const osg::Vec3d &input, osg::Vec3d &out_ecef_point, osg::Matrixd &out_rotation)

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Detailed Description

Definition at line 29 of file ECEF.

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Member Function Documentation

osg::Matrixd ECEF::createInverseRefFrame

(

const osg::Vec3d &

ecefRefPoint

)

[static]

Creates a "localization" matrix for double-precision geocentric coordinates. The matrix is ceneterd at the specified ECEF reference point.

Definition at line 30 of file ECEF.cpp.

{
    // convert to geocentric first:
    double X = input.x(), Y = input.y(), Z = input.z();

    osg::Matrixd localToWorld;
    localToWorld.makeTranslate(X,Y,Z);

    // normalize X,Y,Z
    double inverse_length = 1.0/sqrt(X*X + Y*Y + Z*Z);

    X *= inverse_length;
    Y *= inverse_length;
    Z *= inverse_length;

    double length_XY = sqrt(X*X + Y*Y);
    double inverse_length_XY = 1.0/length_XY;

    // Vx = |(-Y,X,0)|
    localToWorld(0,0) = -Y*inverse_length_XY;
    localToWorld(0,1) = X*inverse_length_XY;
    localToWorld(0,2) = 0.0;

    // Vy = /(-Z*X/(sqrt(X*X+Y*Y), -Z*Y/(sqrt(X*X+Y*Y),sqrt(X*X+Y*Y))| 
    double Vy_x = -Z*X*inverse_length_XY;
    double Vy_y = -Z*Y*inverse_length_XY;
    double Vy_z = length_XY;
    inverse_length = 1.0/sqrt(Vy_x*Vy_x + Vy_y*Vy_y + Vy_z*Vy_z);            
    localToWorld(1,0) = Vy_x*inverse_length;
    localToWorld(1,1) = Vy_y*inverse_length;
    localToWorld(1,2) = Vy_z*inverse_length;

    // Vz = (X,Y,Z)
    localToWorld(2,0) = X;
    localToWorld(2,1) = Y;
    localToWorld(2,2) = Z;

    return localToWorld;
}

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void ECEF::transformAndGetRotationMatrix	(	const SpatialReference *	input_srs,
		const osg::Vec3d &	input,
		osg::Vec3d &	out_ecef_point,
		osg::Matrixd &	out_rotation
	)		[static]

Transforms a point to ECEF, and at the same time returns a quaternion that rotates the point into the local tangent place at that point.

Definition at line 98 of file ECEF.cpp.

{
    osg::Vec3d geod_point;
    if ( !srs->isGeographic() )
        srs->transform( input, srs->getGeographicSRS(), geod_point );
    else
        geod_point = input;

    const osg::EllipsoidModel* em = srs->getEllipsoid();
    
    em->convertLatLongHeightToXYZ(
        osg::DegreesToRadians( geod_point.y() ),
        osg::DegreesToRadians( geod_point.x() ),
        geod_point.z(),
        out_point.x(), out_point.y(), out_point.z() );

    em->computeCoordinateFrame(
        osg::DegreesToRadians( geod_point.y() ),
        osg::DegreesToRadians( geod_point.x() ),
        out_rotation );
}

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void ECEF::transformAndLocalize	(	const std::vector< osg::Vec3d > &	input,
		osg::Vec3Array *	output,
		const SpatialReference *	srs,
		const osg::Matrixd &	world2local = osg::Matrixd()
	)		[static]

Transforms the points in "input" to ECEF coordinates, localizes them with the provided world2local matrix, and puts the result in "output".

Definition at line 83 of file ECEF.cpp.

{
    output->reserve( output->size() + input.size() );
    for( std::vector<osg::Vec3d>::const_iterator i = input.begin(); i != input.end(); ++i )
    {
        osg::Vec3d ecef;
        srs->transformToECEF( *i, ecef );
        output->push_back( ecef * world2local );
    }
}

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void ECEF::transformAndLocalize	(	const osg::Vec3d &	input,
		osg::Vec3d &	output,
		const SpatialReference *	srs,
		const osg::Matrixd &	world2local = osg::Matrixd()
	)		[static]

Transforms a point into ECEF coordinates, localizes it with the provided world2local matrix, and puts the result in "output".

Definition at line 71 of file ECEF.cpp.

{
    osg::Vec3d ecef;
    srs->transformToECEF( input, ecef );
    output = ecef * world2local;
}

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

• /home/cube/sources/osgearth/src/osgEarth/ECEF
• /home/cube/sources/osgearth/src/osgEarth/ECEF.cpp