https://github.com/mapiv/llh_converter
https://github.com/mapiv/llh_converter
Last synced: 3 months ago
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- Host: GitHub
- URL: https://github.com/mapiv/llh_converter
- Owner: MapIV
- License: bsd-3-clause
- Created: 2022-04-19T04:26:04.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2026-01-22T00:31:32.000Z (3 months ago)
- Last Synced: 2026-01-22T13:52:08.285Z (3 months ago)
- Language: AGS Script
- Size: 23 MB
- Stars: 8
- Watchers: 3
- Forks: 17
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# llh_converter
(Updated 2025/03/17)
This repository has two class implementation.
* HeightConverter
* LLHConverter
---
## HeightConverter
Convert height between ellipsoid and orthometric library
### Supported Geoid Models
* EGM2008-1
* GSIGEO2011 Ver2.1
* JPGEO2024 + Hrefconv2024
### Usage
```
llh_converter::HeightConverter hc;
hc.setGeoidType(height_converter::GeoidType::GSIGEO2011); // Select Geoid Model
// hc.setGeoidType(height_converter::GeoidType::EGM2008);
hc.setGSIGEOGeoidFile(path_to_gsigeo_asc_file); // Load geoid data file when you select GSIGEO
// hc.setGSIGEOGeoidFile(); // If called with void, it try to read geoid data files under /usr/share/GSIGEO/
double geoid_heith = hc.getGeoid(lat, lon); // Get geoid heigth with latitude/longitude in decimal degree
// Convert height between ellipsoid and orthometric
double converted_height = hc.convertHeight(lat, lon, h, height_converter::ConvertType::ORTHO2ELLIPS);
double converted_height = hc.convertHeight(lat, lon, h, height_converter::ConvertType::ELLIPS2ORTHO);
```
---
## LLHConverter
Convert latitude/longitude/altitude into XYZ coordinate system.
### Supported coordinate systems
* Millitary Grid Reference System (MGRS)
* Japan Plane Rectangular Coordinate System (JPRCS)
* Transverse Mercator with an arbitrary origin (TM)
### Usage
```
llh_converter::LLHConverter lc;
llh_converter::LLHParam param; // parameter for conversion
param.projection_method = llh_converter::ProjectionMethod::TM;
// set the projection method TM/JPRCS/MGRS
param.grid_code = "9"; // set the grid code for JPRCS/MGRS
// for MGRS, it's required only when reverting to lat/lon
param.height_convert_type = llh_converter::ConvertType::ELLIPS2ORTHO;
// You can also convert height
param.geoid_type = llh_converter::GeoidType::EGM2008;
// Set geoid model
// The following tm_param is required only when the projection method is TM
param.tm_param.inv_flatten_ratio = 298.257222101;
// Set the inverse flattening ratio
param.tm_param.semi_major_axis = 6378137.0; // Set the semi-major axis
param.tm_param.scale_factor = 0.9996; // Set the scale factor
param.tm_param.origin_lat_rad = 35.0 * M_PI / 180.;
param.tm_param.origin_lon_rad = 139.0 * M_PI / 180.;
// Set the origin
double lat_deg, lon_deg, alt;
double lat_rad = lat_deg * M_PI / 180.;
double lon_rad = lon_deg * M_PI / 180.;
double x, y, z;
lc.convertDeg2XYZ(lat_deg, lon_deg, alt, x, y, z, param);
lc.convertRad2XYZ(lat_rad, lon_rad, alt, x, y, z, param);
lc.revertXYZ2Deg(x, y, lat_deg, lon_deg, param);
lc.revertXYZ2Rad(x, y, lat_rad, lon_rad, param);
```
---
## meridian convergence angle correction
The meridian convergence angle is the angle of difference between true north and coordinate north.
The meridian convergence angle is calculated by the `getMeridianConvergence()` function.
### Usage
```
llh_converter::LLHConverter lc;
llh_converter::LLHParam param;
param.projection_method = llh_converter::ProjectionMethod::JPRCS;
param.grid_code = "7";
param.height_convert_type = llh_converter::ConvertType::NONE;
param.geoid_type = llh_converter::GeoidType::EGM2008;
llh_converter::LLA lla;
llh_converter::XYZ xyz;
lla.latitude = test_lat;
lla.longitude = test_lon;
lla.altitude = 30.0;
llh_converter.convertDeg2XYZ(lla.latitude, lla.longitude, lla.altitude, xyz.x, xyz.y, xyz.z, param);
double mca = llh_converter::getMeridianConvergence(lla, xyz, llh_converter, param); // meridian convergence angle
```
## Install
```
sudo apt update
sudo apt install libgeographic-dev geographiclib-tools geographiclib-doc
sudo geographiclib-get-geoids best
mkdir -p test_ws/src
cd test_ws/src/
git clone https://github.com/MapIV/llh_converter.git
sudo mkdir /usr/share/GSIGEO
sudo cp llh_converter/data/gsigeo2011_ver2_1.asc /usr/share/GSIGEO/
unzip llh_converter/data/JPGEO2024.zip
sudo mv JPGEO2024.isg Hrefconv2024.isg /usr/share/GSIGEO/
cd ../
catkin_make -DCMAKE_BUILD_TYPE=Release
```
## Geoid model data
This package contains GSIGEO2011/JPGEO2024 geoid data file which is provided by Geospatial Information Authority of Japan.
[GSI's official website that relies on GSIGEO2011](https://fgd.gsi.go.jp/download/geoid.php)
[GSI's official website that relies on JPGEO2024](https://www.gsi.go.jp/buturisokuchi/grageo_reference.html)
## LICENSE
This package is provided under the [BSD 3-Clauses](LICENSE) License.