/usr/include/pdal/util/Georeference.hpp is in libpdal-dev 1.6.0-1build2.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2015, Peter J. Gadomski <pete.gadomski@gmail.com>
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
* names of its contributors may be used to endorse or promote
* products derived from this software without specific prior
* written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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****************************************************************************/
#pragma once
#include "pdal_util_export.hpp"
namespace pdal
{
namespace georeference
{
struct Xyz
{
Xyz(double x, double y, double z)
: X(x)
, Y(y)
, Z(z)
{
}
double X;
double Y;
double Z;
};
struct RotationMatrix
{
// Row-major
RotationMatrix(double m00, double m01, double m02, double m10, double m11,
double m12, double m20, double m21, double m22)
: m00(m00)
, m01(m01)
, m02(m02)
, m10(m10)
, m11(m11)
, m12(m12)
, m20(m20)
, m21(m21)
, m22(m22)
{
}
double m00, m01, m02, m10, m11, m12, m20, m21, m22;
};
inline RotationMatrix createIdentityMatrix()
{
return RotationMatrix(1, 0, 0, 0, 1, 0, 0, 0, 1);
}
// Returns Latitude, Longitude, Height triplet with angles in radians
PDAL_DLL Xyz georeferenceWgs84(double range, double scanAngle,
const RotationMatrix& boresightMatrix,
const RotationMatrix& imuMatrix, const Xyz& gpsPoint);
} // namespace georeference
} // namespace pdal
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