Coordinate frame offset to transform from OSI's global coordinate system to a coordinate reference system to be used for given PROJ transformations. More...
Public Attributes | |
| optional Vector3d | position = 1 |
| Positional offset for relocation of the coordinate frame. More... | |
| optional double | yaw = 2 |
| Yaw/heading angle for re-orientation of the coordinate frame around the z-axis. More... | |
Detailed Description
Coordinate frame offset to transform from OSI's global coordinate system to a coordinate reference system to be used for given PROJ transformations.
If an offset is defined, always apply the proj_frame_offset on global OSI coordinates before applying any transformations defined in proj_string.
To apply the offset, global coordinates are first translated by the given positional offset (x,y,z). Then, the yaw angle is used to rotate around the new origin.
The offset is applied on global OSI coordinates using an affine transformation with rotation around z-axis:
xWorld = xOSI * cos(yaw) - yOSI * sin(yaw) + xOffset
yWorld = xOSI * sin(yaw) + yOSI * cos(yaw) + yOffset
zWorld = zOSI + zOffset
If no yaw is provided (recommended), the formulas simplify to:
xWorld = xOSI + xOffset
yWorld = yOSI + yOffset
zWorld = zOSI + zOffset
Member Data Documentation
◆ position
| optional Vector3d osi3::GroundTruth::ProjFrameOffset::position = 1 |
Positional offset for relocation of the coordinate frame.
◆ yaw
| optional double osi3::GroundTruth::ProjFrameOffset::yaw = 2 |
Yaw/heading angle for re-orientation of the coordinate frame around the z-axis.
The documentation for this struct was generated from the following file:
- osi_groundtruth.proto
