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/******************************************************************************
* Project: PROJ
* Purpose: Convert between geocentric coordinates and topocentric (ENU) coordinates
*
******************************************************************************
* Copyright (c) 2020, Even Rouault <even.rouault at spatialys.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*****************************************************************************/
#define PJ_LIB__
#include "proj_internal.h"
#include <errno.h>
#include <math.h>
PROJ_HEAD(topocentric, "Geocentric/Topocentric conversion");
// Notations and formulas taken from IOGP Publication 373-7-2 -
// Geomatics Guidance Note number 7, part 2 - October 2020
namespace { // anonymous namespace
struct pj_opaque {
double X0;
double Y0;
double Z0;
double sinphi0;
double cosphi0;
double sinlam0;
double coslam0;
};
} // anonymous namespace
// Convert from geocentric to topocentric
static PJ_COORD topocentric_fwd(PJ_COORD in, PJ * P)
{
struct pj_opaque *Q = static_cast<struct pj_opaque*>(P->opaque);
PJ_COORD out;
const double dX = in.xyz.x - Q->X0;
const double dY = in.xyz.y - Q->Y0;
const double dZ = in.xyz.z - Q->Z0;
out.xyz.x = -dX * Q->sinlam0 + dY * Q->coslam0;
out.xyz.y = -dX * Q->sinphi0 * Q->coslam0 - dY * Q->sinphi0 * Q->sinlam0 + dZ * Q->cosphi0;
out.xyz.z = dX * Q->cosphi0 * Q->coslam0 + dY * Q->cosphi0 * Q->sinlam0 + dZ * Q->sinphi0;
return out;
}
// Convert from topocentric to geocentric
static PJ_COORD topocentric_inv(PJ_COORD in, PJ * P)
{
struct pj_opaque *Q = static_cast<struct pj_opaque*>(P->opaque);
PJ_COORD out;
out.xyz.x = Q->X0 - in.xyz.x * Q->sinlam0 - in.xyz.y * Q->sinphi0 * Q->coslam0 + in.xyz.z * Q->cosphi0 * Q->coslam0;
out.xyz.y = Q->Y0 + in.xyz.x * Q->coslam0 - in.xyz.y * Q->sinphi0 * Q->sinlam0 + in.xyz.z * Q->cosphi0 * Q->sinlam0;
out.xyz.z = Q->Z0 + in.xyz.y * Q->cosphi0 + in.xyz.z * Q->sinphi0;
return out;
}
/*********************************************************************/
PJ *CONVERSION(topocentric,1) {
/*********************************************************************/
struct pj_opaque *Q = static_cast<struct pj_opaque*>(pj_calloc (1, sizeof (struct pj_opaque)));
if (nullptr==Q)
return pj_default_destructor (P, ENOMEM);
P->opaque = static_cast<void *>(Q);
// The topocentric origin can be specified either in geocentric coordinates
// (X_0,Y_0,Z_0) or as geographic coordinates (lon_0,lat_0,h_0)
// Checks:
// - X_0 or lon_0 must be specified
// - If X_0 is specified, the Y_0 and Z_0 must also be
// - If lon_0 is specified, then lat_0 must also be
// - If any of X_0, Y_0, Z_0 is specified, then any of lon_0,lat_0,h_0 must
// not be, and vice versa.
const auto hasX0 = pj_param_exists(P->params, "X_0");
const auto hasY0 = pj_param_exists(P->params, "Y_0");
const auto hasZ0 = pj_param_exists(P->params, "Z_0");
const auto hasLon0 = pj_param_exists(P->params, "lon_0");
const auto hasLat0 = pj_param_exists(P->params, "lat_0");
const auto hash0 = pj_param_exists(P->params, "h_0");
if( !hasX0 && !hasLon0 )
{
return pj_default_destructor(P, PJD_ERR_MISSING_ARGS);
}
if ( (hasX0 || hasY0 || hasZ0) &&
(hasLon0 || hasLat0 || hash0) )
{
return pj_default_destructor(P, PJD_ERR_MUTUALLY_EXCLUSIVE_ARGS);
}
if( hasX0 && (!hasY0 || !hasZ0) )
{
return pj_default_destructor(P, PJD_ERR_MISSING_ARGS);
}
if( hasLon0 && !hasLat0 ) // allow missing h_0
{
return pj_default_destructor(P, PJD_ERR_MISSING_ARGS);
}
// Pass a dummy ellipsoid definition that will be overridden just afterwards
PJ* cart = proj_create(P->ctx, "+proj=cart +a=1");
if (cart == nullptr)
return pj_default_destructor(P, ENOMEM);
/* inherit ellipsoid definition from P to cart */
pj_inherit_ellipsoid_def (P, cart);
if( hasX0 )
{
Q->X0 = pj_param(P->ctx, P->params, "dX_0").f;
Q->Y0 = pj_param(P->ctx, P->params, "dY_0").f;
Q->Z0 = pj_param(P->ctx, P->params, "dZ_0").f;
// Compute lam0, phi0 from X0,Y0,Z0
PJ_XYZ xyz;
xyz.x = Q->X0;
xyz.y = Q->Y0;
xyz.z = Q->Z0;
const auto lpz = pj_inv3d(xyz, cart);
Q->sinphi0 = sin(lpz.phi);
Q->cosphi0 = cos(lpz.phi);
Q->sinlam0 = sin(lpz.lam);
Q->coslam0 = cos(lpz.lam);
}
else
{
// Compute X0,Y0,Z0 from lam0, phi0, h0
PJ_LPZ lpz;
lpz.lam = P->lam0;
lpz.phi = P->phi0;
lpz.z = pj_param(P->ctx, P->params, "dh_0").f;
const auto xyz = pj_fwd3d(lpz, cart);
Q->X0 = xyz.x;
Q->Y0 = xyz.y;
Q->Z0 = xyz.z;
Q->sinphi0 = sin(P->phi0);
Q->cosphi0 = cos(P->phi0);
Q->sinlam0 = sin(P->lam0);
Q->coslam0 = cos(P->lam0);
}
proj_destroy(cart);
P->fwd4d = topocentric_fwd;
P->inv4d = topocentric_inv;
P->left = PJ_IO_UNITS_CARTESIAN;
P->right = PJ_IO_UNITS_CARTESIAN;
return P;
}
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