取消对GeographicLib的依赖

.idea/denpends.iml

 <?xml version="1.0" encoding="UTF-8"?>
-<module type="CPP_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file

.idea/misc.xml

 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$/cloud_common">
+    <contentRoot DIR="$PROJECT_DIR$" />
+  </component>
   <component name="JavaScriptSettings">
     <option name="languageLevel" value="ES6" />
   </component>

cloud_common/CMakeLists.txt

 project(CloudCommon)
 cmake_minimum_required(VERSION 3.10)
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_BUILD_TYPE Release)
 #ADD_COMPILE_OPTIONS(-std=c++14 )
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 
@@ -73,4 +74,4 @@ add_definitions(${PCL_DEFINITIONS})
 
 
 add_subdirectory(common)
-add_subdirectory(utility)
\ No newline at end of file
+add_subdirectory(utility)

cloud_common/utility/lat_lon_cartersian.hpp

-#pragma once
-#include <memory>
-#include <cmath>
-#include <GeographicLib/LocalCartesian.hpp>
-
-#include <Eigen/Dense>
-
-namespace jf {
-
-class LatLonCartesian {
- public:
-	using Ptr = std::shared_ptr<LatLonCartesian>;
-	using ConstPtr = std::shared_ptr<const LatLonCartesian>;
-	
-	LatLonCartesian()
-			: geographic_local_(std::numeric_limits<double>::max(),
-			                    std::numeric_limits<double>::max(),
-			                    std::numeric_limits<double>::max()) {}
-	LatLonCartesian(double lat, double lng, double h)
-			: geographic_local_(lat, lng, h) {}
-	
-	inline bool isOriginSet() const {
-		return std::abs(geographic_local_.LatitudeOrigin()) < 360.0;
-	}
-	
-	inline void setOrigin(double lat0, double lon0, double h0) {
-		geographic_local_.Reset(lat0, lon0, h0);
-	}
-	
-	inline Eigen::Vector3d getOrigin() const {
-		return {geographic_local_.LatitudeOrigin(),
-		        geographic_local_.LongitudeOrigin(),
-		        geographic_local_.HeightOrigin()};
-	}
-	
-	/**
-	 * Given another lat lon h, calculate it's coordinates in the local ENU
-	 * coordinate system of origin
-	 * @param lat
-	 * @param lon
-	 * @param h
-	 * @return  X, Y, Z
-	 */
-	inline Eigen::Vector3d LocalXYZ(double lat, double lon, double h) const {
-		Eigen::Vector3d local;
-		geographic_local_.Forward(lat, lon, h, local[0], local[1], local[2]);
-		return local;
-	}
-	
-	/**
-	 * Given another X, Y, Z, calculate it's coordinates in the LatLon
-	 * coordinate system.
-	 * @param X
-	 * @param Y
-	 * @param Z
-	 * @return  lat, lon, height
-	 */
-	inline Eigen::Vector3d LatLonHeight(double x, double y, double z) const {
-		Eigen::Vector3d latlon;
-		// not our navigation is north east earth, but navigation in GeographicLib
-		// is east north sky
-		geographic_local_.Reverse(x, y, z, latlon[0], latlon[1], latlon[2]);
-		return latlon;
-	}
-	
-	inline double getDistance(double lat, double lon, double h) const {
-		Eigen::Vector3d local = LocalXYZ(lat, lon, h);
-		return local.norm();
-	}
-	
-	/**
-	 * Given another lat lon position, calculate the relative rotation its NED
-	 * system and the origin's NED system
-	 * @param lat
-	 * @param lon
-	 * @return
-	 */
-	inline Eigen::Matrix3d C_n_no(double lat, double lon) const {
-		return (Eigen::AngleAxisd(
-				(lat - geographic_local_.LatitudeOrigin()) * M_PI / 180.0,
-				Eigen::Vector3d::UnitY()) *
-		        Eigen::AngleAxisd(
-				        (geographic_local_.LongitudeOrigin() - lon) * M_PI / 180.0,
-				        Eigen::Vector3d::UnitX()))
-				.toRotationMatrix();
-	}
-	
-	/**
-	 * Given another lat lon position, calculate the relative rotation its NED
-	 * system and the origin's NED system
-	 * @param lat
-	 * @param lon
-	 * @return
-	 */
-	inline Eigen::Matrix3d C_no_n(double lat, double lon) const {
-		return (Eigen::AngleAxisd(
-				(lon - geographic_local_.LongitudeOrigin()) * M_PI / 180.0,
-				Eigen::Vector3d::UnitX()) *
-		        Eigen::AngleAxisd(
-				        (geographic_local_.LatitudeOrigin() - lat) * M_PI / 180.0,
-				        Eigen::Vector3d::UnitY()))
-				.toRotationMatrix();
-	}
- 
- protected:
-	GeographicLib::LocalCartesian geographic_local_;
-};
-
-inline double getDistance(const double lat1, const double lon1, const double h1,
-                          const double lat2, const double lon2, const double h2) {
-	LatLonCartesian lat_lon_cartersian(lat1, lon1, h1);
-	return lat_lon_cartersian.getDistance(lat2, lon2, h2);
-}
-
-}  // namespace jf
\ No newline at end of file

cloud_common/utility/track.cpp

 #include "track.h"
 #include "ogr_spatialref.h"
 
-#include "utility/lat_lon_cartersian.hpp"
+//#include "utility/lat_lon_cartersian.hpp"
 #include "utility/Utility.h"
 
 #include <fstream>
@@ -200,4 +200,4 @@ bool Track::LocalXYZ2latlon(LocalCoordinate local_xyz, double& lat, double& lng,
     	return true;
     }
 
-} // namespace jf
\ No newline at end of file
+} // namespace jf