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86 lines
3.0 KiB
86 lines
3.0 KiB
#include "selfdrive/ui/qt/maps/map_helpers.h"
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QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) {
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return QGeoCoordinate(in.first, in.second);
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}
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QMapbox::CoordinatesCollections model_to_collection(
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const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
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const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
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const cereal::ModelDataV2::XYZTData::Reader &line){
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Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
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Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
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Eigen::Matrix3d ecef_from_local = euler2rot(orient).transpose();
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QMapbox::Coordinates coordinates;
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auto x = line.getX();
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auto y = line.getY();
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auto z = line.getZ();
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for (int i = 0; i < x.size(); i++){
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Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
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Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
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QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon);
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coordinates.push_back(coordinate);
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}
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QMapbox::CoordinatesCollection collection;
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collection.push_back(coordinates);
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QMapbox::CoordinatesCollections collections;
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collections.push_back(collection);
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return collections;
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}
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QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c){
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QMapbox::Coordinates coordinates;
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coordinates.push_back(c);
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QMapbox::CoordinatesCollection collection;
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collection.push_back(coordinates);
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QMapbox::CoordinatesCollections collections;
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collections.push_back(collection);
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return collections;
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}
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QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list) {
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QMapbox::Coordinates coordinates;
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for (auto &c : coordinate_list){
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QMapbox::Coordinate coordinate(c.latitude(), c.longitude());
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coordinates.push_back(coordinate);
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}
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QMapbox::CoordinatesCollection collection;
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collection.push_back(coordinates);
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QMapbox::CoordinatesCollections collections;
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collections.push_back(collection);
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return collections;
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}
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static QGeoCoordinate sub(QGeoCoordinate v, QGeoCoordinate w){
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return QGeoCoordinate(v.latitude() - w.latitude(), v.longitude() - w.longitude());
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}
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static QGeoCoordinate add(QGeoCoordinate v, QGeoCoordinate w){
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return QGeoCoordinate(v.latitude() + w.latitude(), v.longitude() + w.longitude());
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}
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static QGeoCoordinate mul(QGeoCoordinate v, float c){
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return QGeoCoordinate(c * v.latitude(), c * v.longitude());
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}
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static float dot(QGeoCoordinate v, QGeoCoordinate w){
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return v.latitude() * w.latitude() + v.longitude() * w.longitude();
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}
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float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p) {
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const QGeoCoordinate ap = sub(p, a);
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const QGeoCoordinate ab = sub(b, a);
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const float t = std::clamp(dot(ap, ab) / dot(ab, ab), 0.0f, 1.0f);
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const QGeoCoordinate projection = add(a, mul(ab, t));
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return projection.distanceTo(p);
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}
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