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update pyproj logic to use formal transformers, added altitude to conversion debug logging

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This commit is contained in:
Blake Harnden 2020-02-25 21:26:41 -08:00
parent 32efc75c64
commit b5b51794d8
1 changed files with 11 additions and 6 deletions
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17
daemon/core/location/geo.py
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@ -10,6 +10,8 @@ import pyproj
from core.emulator.enumerations import RegisterTlvs
SCALE_FACTOR = 100.0
CRS_WGS84 = 4326
CRS_PROJ = 3857
class GeoLocation:
@ -25,7 +27,10 @@ class GeoLocation:
"""
Creates a GeoLocation instance.
"""
self.projection = pyproj.Proj("epsg:3857")
self.to_pixels = pyproj.Transformer.from_crs(
CRS_WGS84, CRS_PROJ, always_xy=True
)
self.to_geo = pyproj.Transformer.from_crs(CRS_PROJ, CRS_WGS84, always_xy=True)
self.refproj = (0.0, 0.0)
self.refgeo = (0.0, 0.0, 0.0)
self.refxyz = (0.0, 0.0, 0.0)
@ -41,7 +46,7 @@ class GeoLocation:
:return: nothing
"""
self.refgeo = (lat, lon, alt)
px, py = self.projection(lon, lat)
px, py = self.to_pixels.transform(lon, lat)
self.refproj = (px, py, alt)
def reset(self) -> None:
@ -53,7 +58,7 @@ class GeoLocation:
self.refxyz = (0.0, 0.0, 0.0)
self.refgeo = (0.0, 0.0, 0.0)
self.refscale = 1.0
self.refproj = self.projection(self.refgeo[0], self.refgeo[1])
self.refproj = self.to_pixels.transform(self.refgeo[0], self.refgeo[1])
def pixels2meters(self, value: float) -> float:
"""
@ -85,7 +90,7 @@ class GeoLocation:
:return: x,y,z representation of provided values
"""
logging.debug("input lon,lat,alt(%s, %s, %s)", lon, lat, alt)
px, py = self.projection(lon, lat)
px, py = self.to_pixels.transform(lon, lat)
px -= self.refproj[0]
py -= self.refproj[1]
pz = alt - self.refproj[2]
@ -113,7 +118,7 @@ class GeoLocation:
z -= self.refxyz[2]
px = self.refproj[0] + self.pixels2meters(x)
py = self.refproj[1] + self.pixels2meters(y)
lon, lat = self.projection(px, py, inverse=True)
lon, lat = self.to_geo.transform(px, py)
alt = self.refgeo[2] + self.pixels2meters(z)
logging.debug("result lon,lat(%s, %s)", lon, lat)
logging.debug("result lon,lat,alt(%s, %s, %s)", lon, lat, alt)
return lat, lon, alt