# -*- coding: utf-8 -*-
import warnings
from abc import abstractmethod
from typing import Tuple
import utm
from pymap3d import geodetic2enu, geodetic2ned
from .base import DetectionFeeder, GroundTruthFeeder
from ..base import Property
from ..buffered_generator import BufferedGenerator
class _LLARefConverter(DetectionFeeder, GroundTruthFeeder):
reference_point: Tuple[float, float, float] = Property(
doc="(Long, Lat, Altitude)")
mapping: Tuple[int, int, int] = Property(
default=(0, 1, 2),
doc="Indexes of long, lat, altitude. Default (0, 1, 2)")
@property
@abstractmethod
def _converter(self):
raise NotImplementedError
@BufferedGenerator.generator_method
def data_gen(self):
for time, states in self.reader:
for state in states:
new_coord = self._converter(
state.state_vector[self.mapping[1], 0], # Lat
state.state_vector[self.mapping[0], 0], # Long
state.state_vector[self.mapping[2], 0], # Altitude
self.reference_point[1], # Lat
self.reference_point[0], # Long
self.reference_point[2], # Altitude
)
state.state_vector[self.mapping, 0] = new_coord
yield time, states
[docs]class LLAtoENUConverter(_LLARefConverter):
"""Converts Long., Lat., Alt. to East, North, Up coordinate space.
This replaces Longitude (°), Latitude (°) and Altitude (m) of a :class:`~.State` with East (m),
North (m) and Up (m) coordinate space from a defined :attr:`reference_point`.
"""
@property
def _converter(self):
return geodetic2enu
[docs]class LLAtoNEDConverter(_LLARefConverter):
"""Converts Long., Lat., Alt. to North, East, Down coordinate space.
This replaces Longitude (°), Latitude (°) and Altitude (m) of a :class:`~.State` with North
(m), East (m) and Down (m) coordinate space from a defined :attr:`reference_point`.
"""
@property
def _converter(self):
return geodetic2ned
[docs]class LongLatToUTMConverter(DetectionFeeder, GroundTruthFeeder):
"""Converts long. and lat. to UTM easting and northing.
This replaces Longitude (°), Latitude (°) of a :class:`~.State` with East (m), North (m)
coordinate space in a Universal Transverse Mercator zone.
Note
----
Whilst this allows for data to be converted even if it is outside of the set zone, the errors
will increase the further the position is from the zone being used.
"""
mapping: Tuple[int, int] = Property(
default=(0, 1),
doc="Indexes of long, lat. Default (0, 1)")
zone_number: int = Property(
default=None,
doc="UTM zone number to carry out conversion. Default `None`, where it will select the "
"zone based on the first yielded data.")
northern: bool = Property(
default=None,
doc="UTM northern for northern or southern grid. Default `None`, where it will be based "
"on the first yielded data.")
@BufferedGenerator.generator_method
def data_gen(self):
for time, states in self.reader:
for state in states:
easting, northing, zone_num, northern = utm.from_latlon(
*state.state_vector[self.mapping[::-1], :],
self.zone_number)
if self.zone_number is None:
self.zone_number = zone_num
if self.northern is None:
self.northern = northern >= 'N'
elif (self.northern and northern < 'N') or (
not self.northern and northern >= 'N'):
warnings.warn("State cannot be converted to UTM zone")
continue
state.state_vector[self.mapping, 0] = easting, northing
yield time, states