serial::KmlGenerator Class Reference

Generates KML files from FERS simulation scenarios for geographical visualization. More...

#include "kml_generator.h"

Static Public Member Functions
static bool	generateKml (const core::World &world, const std::string &outputKmlPath)
	Generates a KML file from a pre-built simulation world.

Detailed Description

Generates KML files from FERS simulation scenarios for geographical visualization.

This class generates KML files for geographical visualization of FERS scenarios. It interprets the simulation coordinates based on the user-specified coordinate system in the XML file, which can be one of:

• ENU (East-North-Up): Default. Local Cartesian coordinates (x, y, z) are treated as meters in an ENU tangent plane centered at a geodetic <origin>.
• UTM (Universal Transverse Mercator): Coordinates (x, y, z) are treated as easting (m), northing (m), and altitude (m) within a specified UTM zone and hemisphere.
• ECEF (Earth-Centered, Earth-Fixed): Coordinates (x, y, z) are treated as geocentric X, Y, Z values in meters.

All input coordinates are converted to WGS84 geodetic coordinates (latitude, longitude, altitude) for the final KML output. The KML is written with <altitudeMode>absolute</altitudeMode>, where altitude is relative to Mean Sea Level (MSL).

Definition at line 46 of file kml_generator.h.

Member Function Documentation

generateKml()

bool serial::KmlGenerator::generateKml ( const core::World &  world, const std::string &  outputKmlPath  )

static

Generates a KML file from a pre-built simulation world.

Parameters

world	The simulation world containing all objects and paths.
outputKmlPath	The path for the output KML file.

Returns

True on success, false on failure.

Definition at line 26 of file kml_generator.cpp.

    {
        try
        {
            kml_generator_utils::KmlContext ctx;
            ctx.parameters = params::params;
 
            switch (ctx.parameters.coordinate_frame)
            {
            case params::CoordinateFrame::ENU:
                {
                    auto proj = std::make_shared<GeographicLib::LocalCartesian>(ctx.parameters.origin_latitude,
                                                                                ctx.parameters.origin_longitude,
                                                                                ctx.parameters.origin_altitude);
                    ctx.converter = [proj](const math::Vec3& pos, double& lat, double& lon, double& alt)
                    { proj->Reverse(pos.x, pos.y, pos.z, lat, lon, alt); };
                    break;
                }
            case params::CoordinateFrame::UTM:
                {
                    const int zone = ctx.parameters.utm_zone;
                    const bool northp = ctx.parameters.utm_north_hemisphere;
                    ctx.converter = [zone, northp](const math::Vec3& pos, double& lat, double& lon, double& alt)
                    {
                        double gamma, k;
                        GeographicLib::UTMUPS::Reverse(zone, northp, pos.x, pos.y, lat, lon, gamma, k);
                        alt = pos.z;
                    };
                    break;
                }
            case params::CoordinateFrame::ECEF:
                {
                    const auto& earth = GeographicLib::Geocentric::WGS84();
                    ctx.converter = [&earth](const math::Vec3& pos, double& lat, double& lon, double& alt)
                    { earth.Reverse(pos.x, pos.y, pos.z, lat, lon, alt); };
                    break;
                }
            }
 
            std::ofstream kml_file(outputKmlPath.c_str());
            if (!kml_file.is_open())
            {
                LOG(logging::Level::ERROR, "Error opening output KML file {}", outputKmlPath);
                return false;
            }
 
            kml_generator_utils::generateKmlToStream(kml_file, world, ctx);
            kml_file.close();
        }
        catch (const std::exception& e)
        {
            LOG(logging::Level::ERROR, "Error generating KML file: {}", e.what());
            return false;
        }
        catch (...)
        {
            LOG(logging::Level::ERROR, "Unknown error occurred while generating KML file.");
            return false;
        }
        return true;
    }

References serial::kml_generator_utils::KmlContext::converter, params::Parameters::coordinate_frame, params::ECEF, params::ENU, logging::ERROR, serial::kml_generator_utils::generateKmlToStream(), LOG, params::Parameters::origin_altitude, params::Parameters::origin_latitude, params::Parameters::origin_longitude, serial::kml_generator_utils::KmlContext::parameters, params::params, params::UTM, params::Parameters::utm_north_hemisphere, params::Parameters::utm_zone, math::Vec3::x, math::Vec3::y, and math::Vec3::z.

Referenced by fers_generate_kml().

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The documentation for this class was generated from the following files:

• packages/libfers/src/serial/kml_generator.h
• packages/libfers/src/serial/kml_generator.cpp