:py:mod:`uavfpy.odcl.location`
==============================

.. py:module:: uavfpy.odcl.location

.. autoapi-nested-parse::

   GeoLocation Library
   --------------------

   Should include:
       - trig calculations
       - lidar or any form of depth estimation needec
       - any additional calculations to estimate relative distance

   Requires:
       - pixel -> relative distance REQUIRES -> camera to be calibrated in vsutils.py
       - rotating x,y translations to absolute REQUIRES -> heading from UAV
       - getting depth REQUIRES -> altitude from UAV
       - doing any rotation w/ altitude REQUIRES -> rotation angles of gimbal

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Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   uavfpy.odcl.location.Geolocation




Attributes
~~~~~~~~~~

.. autoapisummary::

   uavfpy.odcl.location.EARTH_RADIUS


.. py:data:: EARTH_RADIUS
   :annotation: = 6378137

   
















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.. py:class:: Geolocation

   
















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   .. py:method:: quaternionToRotation(self, quat=None)

      
















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   .. py:method:: get_uavPerspective(self, x, y, altitude, quat=None)

      
      Inputs:
          x, y, z = from UAV in meters.
          altitude = from UAV in meters.
          yaw, pitch, roll = from UAV
          quat = (x,y,z,w)
      Output:
















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   .. py:method:: get_relDist(self, pixel_coord, img_shape, focal, depth)

      

















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   .. py:method:: meters_to_gps(self, dx, dy)

      
      Input:
          dx: distance in x (in meters)
          dy: distance in y (in meters)
      Output:
          latitude: degrees
          longitude: degrees

      converts distances from meters to gps coordinates.















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   .. py:method:: compute(self, altitude, quat, gps_coord, pixel_coord)

      
      Inputs:
          altitude and yaw: from Mavros data
          gps_coord: (lat, lon)
          pixel_coord: (x,y) of the pixel -- center of box relative to drawing on ground

      Output:
          New GPS coordinate in format (lat, lon) type tuple















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