danammeansbear
commented
1 year ago import numpy as np from scipy.spatial.transform import Rotation as R def calculate_real_world_position(drone_lat, drone_lon, drone_alt, drone_yaw, drone_pitch, drone_roll, object_x, object_y, object_size): enu = pyproj.Proj(proj='utm', zone=33, ellps='WGS84') x, y, _ = pyproj.transform(pyproj.Proj(proj='latlong', datum='WGS84'), enu, drone_lat, drone_lon, drone_alt, radians=False) drone_pos = [x, y, drone_alt] r = R.from_euler('zyx', [drone_yaw, drone_pitch, drone_roll], degrees=True) rotationMatrix = r.as_matrix() object_pos = np.dot(rotationMatrix, [object_x * object_size, object_y * object_size, object_size]) object_pos = object_pos + drone_pos lat, lon, alt = pyproj.transform(enu, pyproj.Proj(proj='latlong', datum='WGS84'), object_pos[0], object_pos[1], object_pos[2], radians=False) return lat, lon, alt drone_lat = 38.1472 drone_lon = -76.4268 drone_alt = 10 drone_yaw = 0 drone_pitch = 0 drone_roll = 0 object_x = 0 object_y = 0 object_size = 1 object_pos = calculate_real_world_position(drone_lat, drone_lon, drone_alt, drone_yaw, drone_pitch, drone_roll, object_x, object_y, object_size) print("Object position in Lat, Long, Alt:", object_pos)"
kripper
pktiuk
This isn't an issue with the main branch but an issue with the thing I'm trying to make to upload back to the community but I'm not that great at the coding part but I'm not gonna stop learning.
Problem instance: - An Rc airplane equiped with a GIMBAL camera is at V1 or vector one. with g1 or gimbal angle and A1 be azimuth/direction (N,S,E,W). A person in the field is v2 or vector 2. Assume the gimbal angle directly points at the person or v2. if given V1(x,y,z),r, A1, G1, please find the location of the person or v2(x1,y1,z1). V1=(39.375346,10, -84.208137) G1=45 degrees A1= 3.14/4 or 45 degrees R= 10 radius to target or distance to target 180 degrees = west 90 degrees = south 270 degrees = north0 0 degrees = east
python example.
-- coding: utf-8 --
code by adam dabdoub
import math import numpy
x = 39.375346 y = 10.0 z = -84.208137 V1 = {'X': x, 'Y': y, 'Z': z} G1 = math.degrees(45) #degrees A1 = math.degrees(45) # or 45 degrees R = 10 #radius to target or distance to target
180 degrees = west
90 degrees = south
270 degrees = north
0 degrees = east
a = y c = a//(math.cos(a)) b = math.sqrt(c 2 + a 2) x1 = (b math.cos(A1) + x) y1 = ((y - y) + 4) z1 = (b math.sin(A1) + z) V2 = (x1,y1,z1) print("UAV Coordinates:\n", V1) print("Person Coordinates:\n", V2)
old vector: {'X': 39.375346, 'Y': 10.0, 'Z': -84.208137} new vector: (30.130935697561846, 4.0, -71.61683531351122) I feel this is wildly inaccurate on my part because I'm dog$&!+ Coding. I'm looking to improve this. Do i need to do some unit conversion to get a better answer. Am I not taking into account it's euclidean and in spherical coordinates.