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827 | - | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
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3 | |||
4 | ############################################################################### |
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5 | # |
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6 | # libmap.pl - Conversion GPS and Map-X/Y Coordinates |
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7 | # |
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8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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9 | # |
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10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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11 | # |
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12 | # Es ist Ihnen gestattet: |
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13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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15 | # |
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16 | # Zu den folgenden Bedingungen: |
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17 | # * Namensnennung. |
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18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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19 | # * Keine kommerzielle Nutzung. |
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20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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21 | # * Weitergabe unter gleichen Bedingungen. |
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22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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26 | # |
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27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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29 | # |
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30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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31 | # des Rechteinhabers dazu erhalten. |
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32 | # |
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33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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34 | # |
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35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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38 | # |
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39 | ############################################################################### |
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40 | # |
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41 | # 2009-03-06 0.0.1 rw created |
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42 | # 2009-04-01 0.1.0 rw RC1 |
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43 | # 2009-05-13 0.1.1 rw MapGpsAt() added |
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44 | # 2009-05-22 0.1.2 rw add default Map dir |
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45 | # 2009-07-22 0.1.3 rw Map Offset_x, Offset_y added |
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46 | # 2009-08-08 0.1.4 rw atan -> atan2 |
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47 | # 2009-11-04 0.1.5 rw Lon > 180 |
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48 | # 2010-09-09 0.1.6 rw rename map/map.pl --> libmapdef.pl |
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49 | # 2010-10-17 0.1.7 rw &MapXYTo() added |
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50 | # |
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51 | ############################################################################### |
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52 | |||
53 | $Version{'libmap.pl'} = "0.1.7 - 2010-10-17"; |
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54 | |||
55 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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56 | use Math::Trig; |
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57 | |||
58 | if ( ! defined Cfg->{'map'}->{'MapDir'} ) |
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59 | { |
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60 | # set default map directory |
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61 | $Cfg->{'map'}->{'MapDir'} = "map"; |
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62 | } |
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63 | require "libmapdef.pl"; # Landkarte |
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64 | |||
65 | # |
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66 | # Convert GPS (Lat,Lon) to pixel coordinates in map |
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67 | # |
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68 | sub MapGps2XY () |
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69 | { |
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70 | my ($Lat, $Lon, $Bearing) = @_; |
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71 | |||
72 | # Aktuell gültige Karte |
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73 | my %Map = %{$Maps{'Current'}}; |
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74 | |||
75 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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76 | 'distance_units' => 'meter', |
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77 | 'ellipsoid' => 'WGS84', |
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78 | 'longitude' => 1, # Symmetric: -pi..pi |
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79 | ); |
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80 | |||
81 | # P1 -> P2: Entfernung und Richtung |
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82 | my ($P1P2_Dist_m, $P1P2_Bearing) = $Map_Geo->to( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Map{'P2_Lat'}, $Map{'P2_Lon'} ); |
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83 | |||
84 | my $dx_p = $Map{'P2_x'} - $Map{'P1_x'}; |
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85 | my $dy_p = $Map{'P2_y'} - $Map{'P1_y'}; |
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86 | my $P1P2_Dist_p = sqrt($dx_p*$dx_p + $dy_p*$dy_p); |
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87 | my $PixRes = $P1P2_Dist_m / $P1P2_Dist_p ; # 1 Pixel = $PixRes Meter |
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88 | |||
89 | my $Phi = rad2deg atan2 ($dy_p, $dx_p); |
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90 | my $PhiRef = $P1P2_Bearing - $Phi; # Winkel zwischen N und Bild-Horizont |
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91 | |||
92 | # P1 -> Target: Entfernung und Richtung |
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93 | my ($T_Dist_m, $T_Bearing) = $Map_Geo->to( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Lat, $Lon ); |
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94 | |||
95 | my $Alpha = deg2rad($T_Bearing - $PhiRef); # Winkel zw. Bild-Horizont und Target |
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96 | my $T_dx_p = cos($Alpha) * $T_Dist_m / $PixRes; |
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97 | my $T_dy_p = sin($Alpha) * $T_Dist_m / $PixRes; |
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98 | |||
99 | my $X_p = $Map{'P1_x'} + $T_dx_p + $Map{'Offset_x'}; |
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100 | my $Y_p = $Map{'P1_y'} + $T_dy_p - $Map{'Offset_y'}; |
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101 | |||
102 | # map calibration adjustment |
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103 | $X_p += $Map{'Offset_x'}; |
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104 | $Y_p -= $Map{'Offset_y'}; |
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105 | |||
106 | $Angel = $Bearing - $PhiRef; |
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107 | |||
108 | return ($X_p, $Y_p, $Angel); |
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109 | } |
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110 | |||
111 | # |
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112 | # Convert pixel coordinates in map to GPS (Lat,Lon) |
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113 | # |
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114 | sub MapXY2Gps () |
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115 | { |
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116 | my ($X, $Y) = @_; |
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117 | |||
118 | # Aktuell gültige Karte |
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119 | my %Map = %{$Maps{'Current'}}; |
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120 | |||
121 | # map calibration adjustment |
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122 | $X -= $Map{'Offset_x'}; |
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123 | $Y += $Map{'Offset_y'}; |
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124 | |||
125 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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126 | 'distance_units' => 'meter', |
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127 | 'ellipsoid' => 'WGS84', |
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128 | 'longitude' => 1, # Symmetric: -pi..pi |
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129 | ); |
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130 | |||
131 | # P1 -> P2: Entfernung und Richtung |
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132 | my ($P1P2_Dist_m, $P1P2_Bearing) = $Map_Geo->to( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Map{'P2_Lat'}, $Map{'P2_Lon'} ); |
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133 | |||
134 | my $dx_p = $Map{'P2_x'} - $Map{'P1_x'}; |
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135 | my $dy_p = $Map{'P2_y'} - $Map{'P1_y'}; |
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136 | my $P1P2_Dist_p = sqrt($dx_p*$dx_p + $dy_p*$dy_p); |
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137 | my $PixRes = $P1P2_Dist_m / $P1P2_Dist_p ; # 1 Pixel = $PixRes Meter |
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138 | |||
139 | my $Phi = rad2deg atan2 ($dy_p, $dx_p); |
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140 | my $PhiRef = $P1P2_Bearing - $Phi; # Winkel zwischen N und Bild-Horizont |
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141 | |||
142 | my $dx = $X - $Map{'P1_x'}; |
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143 | my $dy = $Y - $Map{'P1_y'}; |
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144 | |||
145 | my $Phi = rad2deg atan2 ($dy, $dx); |
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146 | my $Bearing = $PhiRef + $Phi; |
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147 | my $Dist = $PixRes * sqrt($dx*$dx + $dy*$dy); |
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148 | |||
149 | my ($Lat, $Lon) = $Map_Geo->at( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Dist, $Bearing ); |
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150 | |||
151 | return ($Lat, $Lon); |
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152 | } |
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153 | |||
154 | # |
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155 | # Get Distance, Bearing, Distance from 2 GPS Points |
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156 | # |
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157 | sub MapGpsTo() |
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158 | { |
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159 | my ($Lat1, $Lon1, $Lat2, $Lon2) = @_; |
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160 | |||
161 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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162 | 'distance_units' => 'meter', |
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163 | 'ellipsoid' => 'WGS84', |
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164 | 'longitude' => 1, # Symmetric: -pi..pi |
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165 | ); |
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166 | my ($Dist, $Bearing) = $Map_Geo->to( $Lat1, $Lon1, $Lat2, $Lon2); |
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167 | |||
168 | return ($Dist, $Bearing); |
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169 | } |
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170 | |||
171 | # |
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172 | # Get Distance/m from 2 pixel coordinates |
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173 | # |
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174 | sub MapXYTo() |
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175 | { |
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176 | my ($x1, $y1, $x2, $y2) = @_; |
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177 | |||
178 | # Aktuell gültige Karte |
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179 | my %Map = %{$Maps{'Current'}}; |
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180 | |||
181 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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182 | 'distance_units' => 'meter', |
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183 | 'ellipsoid' => 'WGS84', |
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184 | 'longitude' => 1, # Symmetric: -pi..pi |
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185 | ); |
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186 | |||
187 | # P1 -> P2: Entfernung und Richtung |
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188 | my ($P1P2_Dist_m, $P1P2_Bearing) = $Map_Geo->to( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Map{'P2_Lat'}, $Map{'P2_Lon'} ); |
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189 | |||
190 | my $dx_p = $Map{'P2_x'} - $Map{'P1_x'}; |
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191 | my $dy_p = $Map{'P2_y'} - $Map{'P1_y'}; |
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192 | my $P1P2_Dist_p = sqrt($dx_p*$dx_p + $dy_p*$dy_p); |
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193 | my $PixRes = $P1P2_Dist_m / $P1P2_Dist_p ; # 1 Pixel = $PixRes Meter |
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194 | |||
195 | my $dx = $x2 - $x1; |
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196 | my $dy = $y2 - $y1; |
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197 | my $Dist = sqrt($dx*$dx + $dy*$dy) * $PixRes; |
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198 | |||
199 | return ($Dist); |
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200 | } |
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201 | |||
202 | # |
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203 | # Get Target from GPS-Point, Bearing, Distance |
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204 | # |
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205 | sub MapGpsAt() |
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206 | { |
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207 | my ($Lat, $Lon, $Dist, $Bearing) = @_; |
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208 | |||
209 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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210 | 'distance_units' => 'meter', |
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211 | 'ellipsoid' => 'WGS84', |
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212 | 'longitude' => 1, # Symmetric: -pi..pi |
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213 | ); |
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214 | my ($Target_Lat, $Target_Lon) = $Map_Geo->at( $Lat, $Lon, $Dist, $Bearing); |
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215 | |||
216 | return ($Target_Lat, $Target_Lon); |
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217 | } |
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218 | |||
219 | |||
220 | # Angel geographic North to Map Horizont |
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221 | sub MapAngel() |
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222 | { |
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223 | # Aktuell gültige Karte |
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224 | my %Map = %{$Maps{'Current'}}; |
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225 | |||
226 | my $Map_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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227 | 'distance_units' => 'meter', |
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228 | 'ellipsoid' => 'WGS84', |
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229 | 'longitude' => 1, # Symmetric: -pi..pi |
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230 | ); |
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231 | |||
232 | # P1 -> P2: Entfernung und Richtung |
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233 | my ($P1P2_Dist_m, $P1P2_Bearing) = $Map_Geo->to( $Map{'P1_Lat'}, $Map{'P1_Lon'}, $Map{'P2_Lat'}, $Map{'P2_Lon'} ); |
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234 | |||
235 | my $dx_p = $Map{'P2_x'} - $Map{'P1_x'}; |
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236 | my $dy_p = $Map{'P2_y'} - $Map{'P1_y'}; |
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237 | |||
238 | my $Phi = rad2deg atan2 ($dy_p, $dx_p); |
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239 | my $PhiRef = $P1P2_Bearing - $Phi; # Winkel zwischen N und Bild-Horizont |
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240 | |||
241 | return ($PhiRef); |
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242 | } |
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243 | |||
244 | 1; |
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245 | |||
246 | __END__ |