osi3::GroundTruth::ProjFrameOffset Struct Reference

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