def test_geodetic_geocentric(geodetic_lat, geocentric_lat):
assert pm.geodetic2geocentric(geodetic_lat) == approx(geocentric_lat)
assert pm.geodetic2geocentric(radians(geodetic_lat), deg=False) == approx(radians(geocentric_lat))
assert pm.geocentric2geodetic(geocentric_lat) == approx(geodetic_lat)
assert pm.geocentric2geodetic(radians(geocentric_lat), deg=False) == approx(radians(geodetic_lat))
def test_geodetic_alt_geocentric(geodetic_lat, alt_m, geocentric_lat):
assert pm.geod2geoc(geodetic_lat, alt_m) == approx(geocentric_lat)
r = pm.geocentric_radius(geodetic_lat)
assert pm.geoc2geod(geocentric_lat, r) == approx(geodetic_lat)
assert pm.geoc2geod(geocentric_lat, 1e5 + r) == approx(pm.geocentric2geodetic(geocentric_lat, 1e5 + alt_m))
assert pm.geod2geoc(geodetic_lat, 1e5 + alt_m) == approx(pm.geodetic2geocentric(geodetic_lat, 1e5 + alt_m))
def test_badvals(lat):
# geodetic_isometric is not included on purpose
with pytest.raises(ValueError):
pm.geodetic2geocentric(lat, 0)
with pytest.raises(ValueError):
pm.geocentric2geodetic(lat, 0)
with pytest.raises(ValueError):
pm.geodetic2conformal(lat)
with pytest.raises(ValueError):
pm.conformal2geodetic(lat)
with pytest.raises(ValueError):
pm.geodetic2rectifying(lat)
with pytest.raises(ValueError):
pm.rectifying2geodetic(lat)
with pytest.raises(ValueError):
pm.geodetic2authalic(lat)
with pytest.raises(ValueError):
pm.authalic2geodetic(lat)
with pytest.raises(ValueError):
pm.geodetic2parametric(lat)
with pytest.raises(ValueError):
pm.parametric2geodetic(lat)
def geo_carla2xyz_carla(lat, lon, alt):
# transforms geodetic location from carla.GnssMeasurement to location in cartesian Carla map frame. However,
# transformed location and ground truth deviate from each other (see above).
# after this transformation of the latitude, GNSS projection and ego_vehicle.get_transform().location are "closer"
lat = pm.geocentric2geodetic(lat, alt, pm.Ellipsoid('wgs84'), deg=True)
x_enu, y_enu, z_enu = pm.geodetic2enu(lat,
lon,
alt,
map_carla_origin_geo.latitude,
map_carla_origin_geo.longitude,
map_carla_origin_geo.altitude,
pm.Ellipsoid('wgs84'),
deg=True)
# y-coordinate in Carla coordinate system is flipped (see https://github.com/carla-simulator/carla/issues/2737)
return x_enu, -y_enu, z_enu
def test_numpy_geodetic_geocentric():
pytest.importorskip("numpy")
assert pm.geodetic2geocentric([45, 0], 0) == approx([44.80757678, 0])
assert pm.geocentric2geodetic([44.80757678, 0], 0) == approx([45, 0])
