# Coverage for pygeodesy/ltp.py : 94%

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I{Local cartesian} and I{local tangent plane} classes L{LocalCartesian} and L{Ltp}, L{LocalError} and L{Frustum}. @see: U{Local tangent plane coordinates<https://WikiPedia.org/wiki/Local_tangent_plane_coordinates>} and class L{LocalCartesian}, transcoded from I{Charles Karney}'s C++ classU{LocalCartesian <https://GeographicLib.SourceForge.io/html/classGeographicLib_1_1LocalCartesian.html>}. ''' # from pygeodesy.basics import issubclassof # from ecef from pygeodesy.datums import _WGS84, _xinstanceof from pygeodesy.ecef import _EcefBase, EcefKarney, issubclassof, \ _llhn4, _xyzn4 from pygeodesy.errors import _TypesError, _ValueError from pygeodesy.interns import EPS, NN, _ltp_, _M_, _lat0_, \ _lon0_, _name_, _0_, _0_0, _0_5, \ _2_0, _90_0, _180_0, _360_0 from pygeodesy.interns import _ecef_ # PYCHOK used! from pygeodesy.lazily import _ALL_LAZY from pygeodesy.ltpTuples import Footprint5Tuple, Local9Tuple, \ _XyzLocals4, _XyzLocals5, Xyz4Tuple from pygeodesy.named import _NamedBase from pygeodesy.props import Property, Property_RO from pygeodesy.units import Degrees, Meter from pygeodesy.utily import sincos2d from math import radians, tan __all__ = _ALL_LAZY.ltp __version__ = '21.06.25' _Xyz_ = 'Xyz' class LocalError(_ValueError): '''A L{LocalCartesian} or L{Ltp} related issue. ''' pass class LocalCartesian(_NamedBase): '''Conversion between geodetic C{(lat, lon, height)} and I{local cartesian} C{(x, y, z)} coordinates with I{geodetic} origin C{(lat0, lon0, height0)}, transcoded from I{Karney}'s C++ class U{LocalCartesian <https://GeographicLib.SourceForge.io/html/classGeographicLib_1_1LocalCartesian.html>}. The C{z} axis is normal to the ellipsoid, the C{y} axis points due North. The plane C{z = -height0} is tangent to the ellipsoid. The conversions all take place via geocentric coordinates using a geocentric L{EcefKarney}, by default the WGS84 datum/ellipsoid. @see: Class L{Ltp}. ''' _ecef = EcefKarney(_WGS84) _t0 = None # origin (..., lat0, lon0, height0, ...) L{Ecef9Tuple} def __init__(self, latlonh0=0, lon0=0, height0=0, ecef=None, name=NN): '''New L{LocalCartesian} converter. @kwarg latlonh0: Either a C{LatLon}, L{Ltp}, L{Ecef9Tuple} or C{scalar} latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the (goedetic) origin C{scalar} B{C{latlonh0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg ecef: An ECEF converter (L{EcefKarney}). @kwarg name: Optional name (C{str}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple}, C{scalar} or invalid or if B{C{lon0}} not C{scalar} for C{scalar} B{C{latlonh0}} or invalid or if B{C{height0}} invalid. @raise TypeError: Invalid B{C{ecef}}, not L{EcefKarney}. @note: If BC{latlonh0} is L{Ltp}, only the lat-, longitude and height are duplicated, I{not} the ECEF converter. ''' if ecef: _xinstanceof(EcefKarney, ecef=ecef) self._ecef = ecef self.reset(latlonh0, lon0, height0, name=name) @Property_RO def datum(self): '''Get the ECEF converter's datum (L{Datum}). ''' return self.ecef.datum @Property_RO def ecef(self): '''Get the ECEF converter (L{EcefKarney}). ''' return self._ecef def _ecef2local(self, ecef, Xyz, Xyz_kwds): '''(INTERNAL) Convert geocentric/geodetic to local, like I{forward}. @arg ecef: Geocentric (and geodetic) (L{Ecef9Tuple}). @arg Xyz: An L{XyzLocal}, L{Enu} or L{Ned} I{class} or C{None}. @arg Xyz_kwds: B{C{Xyz}} keyword arguments, ignored if C{B{Xyz}=None}. @return: An C{B{Xyz}(x, y, z, ltp, **B{Xyz_kwds}} instance or if C{B{Xyz}=None}, an L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with this C{ltp}, B{C{ecef}} (L{Ecef9Tuple}) converted to this C{datum} and C{M=None}, always. ''' ltp = self if ecef.datum != ltp.datum: ecef = ecef.toDatum(ltp.datum) x, y, z = self.M.rotate(ecef.xyz, *ltp._xyz0) r = Local9Tuple(x, y, z, ecef.lat, ecef.lon, ecef.height, ltp, ecef, None, name=ecef.name) if Xyz: if not issubclassof(Xyz, *_XyzLocals4): # Vector3d raise _TypesError(_Xyz_, Xyz, *_XyzLocals4) r = r.toXyz(Xyz=Xyz, **Xyz_kwds) return r def forward(self, latlonh, lon=None, height=0, M=False, name=NN): '''Convert I{geodetic} C{(lat, lon, height)} to I{local} cartesian C{(x, y, z)}. @arg latlonh: Either a C{LatLon}, a L{Ltp}, an L{Ecef9Tuple} or C{scalar} (geodetic) latitude (C{degrees}). @kwarg lon: Optional C{scalar} (geodetic) longitude for C{scalar} B{C{latlonh}} (C{degrees}). @kwarg height: Optional height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg M: Optionally, return the rotation L{EcefMatrix} (C{bool}). @kwarg name: Optional name (C{str}). @return: A L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, C{y}, C{z}, I{geodetic} C{(lat}, C{lon}, C{height}, this C{ltp}, C{ecef} (L{Ecef9Tuple}) with I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested. @raise LocalError: If B{C{latlonh}} not C{scalar}, C{LatLon}, L{Ltp}, L{Ecef9Tuple} or invalid or if B{C{lon}} not C{scalar} for C{scalar} B{C{latlonh}} or invalid or if B{C{height}} invalid. @see: Note at method L{EcefKarney.forward}. ''' lat, lon, h, n = _llhn4(latlonh, lon, height, Error=LocalError, name=name) t = self.ecef.forward(lat, lon, h, M=M) x, y, z = self.M.rotate(t.xyz, *self._xyz0) m = self.M.multiply(t.M) if M else None return Local9Tuple(x, y, z, lat, lon, h, self, t, m, name=n or self.name) @Property_RO def height0(self): '''Get origin's height (C{meter}). ''' return self._t0.height @Property_RO def lat0(self): '''Get origin's latitude (C{degrees}). ''' return self._t0.lat def _local2ecef(self, local, nine=False, M=False): '''(INTERNAL) Convert I{local} to geocentric/geodetic, like I{.reverse}. @arg local: Local (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer} or L{Local9Tuple}). @kwarg nine: Return 3- or 9-tuple (C{bool}). @kwarg M: Include the rotation matrix (C{bool}). @return: A I{geocentric} 3-tuple C{(x, y, z)} or if C{B{nine}=True}, an L{Ecef9Tuple}C{(x, y, z, lat, lon, height, C, M, datum)}, optionally including rotation matrix C{M} or C{None}. ''' t = self.M.unrotate(local.xyz, *self._xyz0) if nine: t = self.ecef.reverse(*t, M=M) return t @Property_RO def lon0(self): '''Get origin's longitude (C{degrees}). ''' return self._t0.lon @Property_RO def M(self): '''Get the rotation matrix (C{EcefMatrix}). ''' return self._t0.M def reset(self, latlonh0=0, lon0=0, height0=0, name=NN): '''Reset the (geodetic) origin. @kwarg latlonh0: Either a C{LatLon}, an L{Ecef9Tuple} or C{scalar} latitude of the origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the origin for C{scalar} B{C{latlonh0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg name: Optional, new name (C{str}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple}, C{scalar} or invalid or if B{C{lon0}} not C{scalar} for C{scalar} B{C{latlonh0}} or invalid or if B{C{height0}} invalid. ''' self._update(True) # force reset lat0, lon0, height0, n = _llhn4(latlonh0, lon0, height0, suffix=_0_, Error=LocalError, name=name) if n: self.rename(n) else: n = self.name self._t0 = self.ecef.forward(lat0, lon0, height0, M=True, name=n) def reverse(self, xyz, y=None, z=None, M=False, name=NN): '''Convert I{local} C{(x, y, z)} to I{geodetic} C{(lat, lon, height)}. @arg xyz: A I{local} (L{XyzLocal}, L{Enu}, L{Ned}, L{Aer}, L{Local9Tuple}) or local C{x} coordinate (C{scalar}). @kwarg y: Local C{y} coordinate for C{scalar} B{C{xyz}} and B{C{z}} (C{meter}). @kwarg z: Local C{z} coordinate for C{scalar} B{C{xyz}} and B{C{y}} (C{meter}). @kwarg M: Optionally, return the I{concatenated} rotation L{EcefMatrix}, I{iff avaialble} (C{bool}). @kwarg name: Optional name (C{str}). @return: An L{Local9Tuple}C{(x, y, z, lat, lon, height, ltp, ecef, M)} with I{local} C{x}, C{y}, C{z}, I{geodetic} C{lat}, C{lon}, C{height}, this C{ltp}, an C{ecef} (L{Ecef9Tuple}) with the I{geocentric} C{x}, C{y}, C{z} (and I{geodetic} C{lat}, C{lon}, C{height}) and the I{concatenated} rotation matrix C{M} (L{EcefMatrix}) if requested. @raise LocalError: Invalid B{C{xyz}} or C{scalar} C{x} or B{C{y}} and/or B{C{z}} not C{scalar} for C{scalar} B{C{xyz}}. @see: Note at method L{EcefKarney.reverse}. ''' x, y, z, n = _xyzn4(xyz, y, z, _XyzLocals5, Error=LocalError, name=name) c = self.M.unrotate((x, y, z), *self._xyz0) t = self.ecef.reverse(*c, M=M) m = self.M.multiply(t.M) if M else None return Local9Tuple(x, y, z, t.lat, t.lon, t.height, self, t, m, name=n or self.name) def toStr(self, prec=9): # PYCHOK signature '''Return this L{LocalCartesian} as a string. @kwarg prec: Optional precision, number of decimal digits (0..9). @return: This L{LocalCartesian} representation (C{str}). ''' return self.attrs(_lat0_, _lon0_, 'height0', _M_, 'ecef', _name_, prec=prec) @Property_RO def _xyz0(self): '''(INTERNAL) Get C{(x0, y0, z0)} as L{Vector3Tuple}. ''' return self._t0.xyz class Ltp(LocalCartesian): '''A I{local tangent plan} LTP, a sub-class of C{LocalCartesian} with configurable ECEF converter and without optional rotation matrix. ''' def __init__(self, latlonh0=0, lon0=0, height0=0, ecef=None, name=NN): '''New C{Ltp}. @kwarg latlonh0: Either a C{LatLon}, L{Ltp}, L{Ecef9Tuple} or C{scalar} latitude of the (goedetic) origin (C{degrees}). @kwarg lon0: Optional C{scalar} longitude of the (goedetic) origin for C{scalar} B{C{latlonh0}} (C{degrees}). @kwarg height0: Optional origin height (C{meter}), vertically above (or below) the surface of the ellipsoid. @kwarg ecef: Optional ECEF converter (L{EcefKarney}, l{EcefFarrell21}, L{EcefFarrell22}, L{EcefSudano}, L{EcefVeness} or L{EcefYou} I{instance}), overriding default L{EcefKarney}C{(datum=Datums.WGS84)}. @kwarg name: Optional name (C{str}). @return: New instance (C{Ltp}). @raise LocalError: If B{C{latlonh0}} not C{LatLon}, L{Ecef9Tuple}, C{scalar} or invalid or if B{C{lon0}} not C{scalar} for C{scalar} B{C{latlonh0}} or invalid or if B{C{height0}} invalid. @raise TypeError: Invalid B{C{ecef}}. ''' if isinstance(latlonh0, Ltp): self._ecef = latlonh0.ecef self._t0 = latlonh0._to self.name = name or latlonh0.name else: LocalCartesian.__init__(self, latlonh0, lon0=lon0, height0=height0, name=name) if ecef: self.ecef = ecef @Property def ecef(self): '''Get this LTP's ECEF converter (C{Ecef...} I{instance}). ''' return self._ecef @ecef.setter # PYCHOK setter! def ecef(self, ecef): '''Set this LTP's ECEF converter. @arg ecef: New ECEF converter (C{Ecef...} I{instance}). @raise TypeError: Invalid B{C{ecef}}. ''' _xinstanceof(_EcefBase, ecef=ecef) if ecef != self._ecef: self._ecef = ecef self.reset(self._t0) class Frustum(_NamedBase): '''A rectangular pyramid, typically representing a camera's I{field of view} (fov) and the intersection with (or projection to) a I{local tangent plane}. @see: U{Viewing frustum<https://WikiPedia.org/wiki/Viewing_frustum>}. ''' _h_2 = _0_0 # half hfov _ltp = None # local tangent plane _tan_h_2 = _0_0 # tan(_h_2) _v_2 = _0_0 # half vfov def __init__(self, hfov, vfov, ltp=None): '''New L{Frustum}. @arg hfov: Horizontal field of view (C{degrees180}). @arg vfov: Vertical field of view (C{degrees180}). @kwarg ltp: Optional I{local tangent plane} (L{Ltp}). @raise UnitError: Invalid B{C{hfov}} or B{C{vfov}}. @raise ValueError: Invalid B{C{hfov}} or B{C{vfov}}. ''' self._h_2 = h = Degrees(hfov=hfov) * _0_5 if not EPS < h < _90_0: raise _ValueError(hfov=hfov) self._v_2 = v = Degrees(vfov=vfov) * _0_5 if not EPS < v < _90_0: raise _ValueError(vfov=vfov) self._tan_h_2 = t = tan(radians(h)) if t < EPS: raise _ValueError(hfov=hfov) if ltp: self._ltp = _xLtp(ltp) @Property_RO def hfov(self): '''Get the horizontal C{fov} (C{degrees}). ''' return Degrees(hfov=self._h_2 * _2_0) def footprint5(self, altitude, tilt, yaw=0, roll=0, z=_0_0, ltp=None): # MCCABE 15 '''Compute the center and corners of the intersection with (or projection to) the I{local tangent plane} (LTP). @arg altitude: Altitude (C{meter}) above I{local tangent plane}. @arg tilt: Pitch, elevation from horizontal (C{degrees180}), negative down. @kwarg yaw: Bearing, heading (compass C{degrees360}), clockwise from North. @kwarg roll: Roll, bank (C{degrees}), positive to the right and down. kwarg z: Optional height of the footprint (C{meter}) above I{local tangent plane}. @kwarg ltp: The I{local tangent plane} (L{Ltp}), overriding this frustum's C{ltp}. @return: A L{Footprint5Tuple}C{(center, upperleft, upperight, loweright, lowerleft)} with the C{center} and 4 corners each an L{Xyz4Tuple}. @raise TypeError: Invalid B{C{ltp}}. @raise UnitError: Invalid B{C{altitude}}, B{C{tilt}}, B{C{roll}} or B{C{z}}. @raise ValueError: If B{C{altitude}} too low, B{C{z}} too high or B{C{tilt}} or B{C{roll}} -including B{C{vfov}} respectively B{C{hfov}}- over the horizon. @see: U{Principal axes<https://WikiPedia.org/wiki/Aircraft_principal_axes>}. ''' def _xy2(a, t, h_2, tan_h_2, r): # left and right corners, or swapped if r < EPS: # no roll r = a * tan_h_2 l = -r # PYCHOK l is ell else: # roll sl, cl, sr, cr = sincos2d(r + h_2, r - h_2) if cl < EPS or cr < EPS: raise _ValueError(roll_hfov=r) r = -a * sr / cr # negate right positive l = -a * sl / cl # PYCHOK l is ell s, c = sincos2d(t) if abs(s) < EPS: raise _ValueError(tilt_vfov=t) y = a * c / s return (l, y), (r, y) def _xys(b, *xys): # rotate (x, y)'s by bearing, clockwise s, c = sincos2d(b) for x, y in xys: yield (x * c + y * s), (y * c - x * s) a = Meter(altitude=altitude) if a < EPS: # too low raise _ValueError(altitude=altitude) if z: z = Meter(z=z) a -= z if a < EPS: # z above a raise _ValueError(altitude_z=a) else: z = _0_0 b = Degrees(yaw=yaw) % _360_0 t = -Degrees(tilt=tilt) if not EPS < t < _180_0: raise _ValueError(tilt=tilt) if t > _90_0: t = _180_0 - t b = (_180_0 + b) % _360_0 r = Degrees(roll=roll) % _360_0 # center if r: # roll center s, c = sincos2d(r) if c < EPS: raise _ValueError(roll=r) x = -a * s / c else: x = _0_0 # ground range s, c = sincos2d(t) if s < EPS: raise _ValueError(tilt=tilt) y = a * c / s if abs(y) < EPS: y = _0_0 # center and corners, clockwise from upperleft, rolled xy5 = ((x, y),) + _xy2(a, t - self._v_2, self._h_2, self._tan_h_2, r) \ + _xy2(a, t + self._v_2, -self._h_2, -self._tan_h_2, r) # swapped # turn center and corners by yaw, clockwise p = self.ltp if ltp is None else _xLtp(ltp) return Footprint5Tuple(*(Xyz4Tuple(x, y, z, p) for x, y in _xys(b, *xy5))) @Property_RO def ltp(self): '''Get the I{local tangent plane} (L{Ltp}) or C{None}. ''' return self._ltp @Property_RO def vfov(self): '''Get the vertical C{fov} (C{degrees}). ''' return Degrees(vfov=self._v_2 * _2_0) def _xLtp(ltp): '''(INTERNAL) Validate B{C{ltp}}. ''' if isinstance(ltp, (LocalCartesian, Ltp)): return ltp raise _TypesError(_ltp_, ltp, Ltp, LocalCartesian) # **) MIT License # # Copyright (C) 2016-2021 -- mrJean1 at Gmail -- All Rights Reserved. # # Permission is hereby granted, free of charge, to any person obtaining a # copy of this software and associated documentation files (the "Software"), # to deal in the Software without restriction, including without limitation # the rights to use, copy, modify, merge, publish, distribute, sublicense, # and/or sell copies of the Software, and to permit persons to whom the # Software is furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included # in all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS # OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR # OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR # OTHER DEALINGS IN THE SOFTWARE.