uavfpy.odcl.location

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

Module Contents

Classes

Geolocation

Attributes

EARTH_RADIUS

uavfpy.odcl.location.EARTH_RADIUS = 6378137
class uavfpy.odcl.location.Geolocation
quaternionToRotation(self, quat=None)
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:

get_relDist(self, pixel_coord, img_shape, focal, depth)
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.

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