WGS84LocalTangent#

Helpers for a WGS84 local tangent frame (ENU/NED) and conversions to/from WGS84 ECEF.

Class Methods

WGS84LocalTangent.from_wgs84ell_crs(crs_s, ...)

Create a tangent frame from WGS84 lon/lat and a specified vertical reference CRS.

WGS84LocalTangent.from_wgs84ell_orthometric(...)

Create a tangent frame from WGS84 lon/lat and orthometric height (EPSG:4326+3855).

WGS84LocalTangent.from_crs(x, y, z, crs_s)

Create a tangent frame from coordinates in an arbitrary CRS.

Methods

WGS84LocalTangent.ell_to_ecef([origin_ell, ...])

Compute and cache the ECEF origin from (lon, lat, h) coordinates.

WGS84LocalTangent.vector_to_ecef(v_local, *, ...)

Convert a vector in a local tangent frame to ECEF.

WGS84LocalTangent.vector_from_ecef(v_ecef, ...)

Convert an ECEF vector to a local tangent frame.

WGS84LocalTangent.point_to_ecef(p_local_m, ...)

Convert a local tangent point (meters, relative to the origin) to ECEF (meters).

WGS84LocalTangent.point_from_ecef(p_ecef_m, ...)

Convert an ECEF point (meters) to a local tangent point (meters, relative to the origin).

WGS84LocalTangent.to_ecef_matrix(...)

Convert a rotation matrix expressed in the local tangent plane to ECEF.

WGS84LocalTangent.to_ltp_matrix(...)

Convert a rotation matrix expressed in ECEF into a local tangent frame.

Properties

WGS84LocalTangent.origin_ecef

WGS84LocalTangent.r_ned_to_ecef

Rotation matrix that maps NED vectors to ECEF vectors.

WGS84LocalTangent.r_ecef_to_enu

Rotation matrix that maps ECEF vectors to ENU vectors.

WGS84LocalTangent.r_enu_to_ecef

Rotation matrix that maps ENU vectors to ECEF vectors.
class weitsicht.transform.wgs84_local_tangent.WGS84LocalTangent(r_ecef_to_ned: Array3x3, origin_ell: Vector3D, crs_wgs_84: CRS, _origin_ecef: Vector3D | None = None, crs_ecef: CRS = <Geocentric CRS: EPSG:4978> Name: WGS 84 Axis Info [cartesian]: - X[geocentricX]: Geocentric X (metre) - Y[geocentricY]: Geocentric Y (metre) - Z[geocentricZ]: Geocentric Z (metre) Area of Use: - name: World. - bounds: (-180.0, -90.0, 180.0, 90.0) Datum: World Geodetic System 1984 ensemble - Ellipsoid: WGS 84 - Prime Meridian: Greenwich)[source]#

Bases: object

Local tangent plane frame tied to a WGS84 origin.

The tangent plane orientation is defined by lon/lat and stored as r_ecef_to_ned. origin_ecef is optional and can be computed lazily from origin_ell and crs_wgs_84 when needed (e.g. for point conversions).

Parameters:

  • r_ecef_to_ned (Array3x3)

  • origin_ell (Vector3D)

  • crs_wgs_84 (CRS)

  • _origin_ecef (Vector3D | None)

  • crs_ecef (CRS)

r_ecef_to_ned: Array3x3#
origin_ell: Vector3D#
crs_wgs_84: CRS#
_origin_ecef: Vector3D | None = None#
crs_ecef: CRS = <Geocentric CRS: EPSG:4978> Name: WGS 84 Axis Info [cartesian]: - X[geocentricX]: Geocentric X (metre) - Y[geocentricY]: Geocentric Y (metre) - Z[geocentricZ]: Geocentric Z (metre) Area of Use: - name: World. - bounds: (-180.0, -90.0, 180.0, 90.0) Datum: World Geodetic System 1984 ensemble - Ellipsoid: WGS 84 - Prime Meridian: Greenwich #
property origin_ecef#
static _ell_to_ecef(origin_ell: Vector3D, crs_wgs_84: CRS) → Vector3D[source]#
Parameters:

  • origin_ell (Vector3D)

  • crs_wgs_84 (CRS)

Return type:

Vector3D

property r_ned_to_ecef: Array3x3#

Rotation matrix that maps NED vectors to ECEF vectors.

property r_ecef_to_enu: Array3x3#

Rotation matrix that maps ECEF vectors to ENU vectors.

property r_enu_to_ecef: Array3x3#

Rotation matrix that maps ENU vectors to ECEF vectors.

ell_to_ecef(origin_ell: Vector3D | None = None, crs_wgs_84: CRS | None = None) → Vector3D[source]#

Compute and cache the ECEF origin from (lon, lat, h) coordinates.

This is useful if the frame was created with skip_ecef=True.

Parameters:

  • origin_ell (Vector3D | None)

  • crs_wgs_84 (CRS | None)

Return type:

Vector3D

_origin_ecef_required() → Vector3D[source]#
Return type:

Vector3D

classmethod from_wgs84ell_crs(crs_s: CRS | str | int, lon_deg: float, lat_deg: float, h_m: float, *, skip_ecef: bool = False) → WGS84LocalTangent[source]#

Create a tangent frame from WGS84 lon/lat and a specified vertical reference CRS.

Parameters:

  • crs_s (CRS | str | int)

  • lon_deg (float)

  • lat_deg (float)

  • h_m (float)

  • skip_ecef (bool)

Return type:

WGS84LocalTangent

classmethod from_wgs84ell_elipsoid(lon_deg: float, lat_deg: float, h_m: float, *, skip_ecef: bool = False) → WGS84LocalTangent[source]#

Create a tangent frame from WGS84 lon/lat and ellipsoidal height (EPSG:4979).

Parameters:

  • lon_deg (float)

  • lat_deg (float)

  • h_m (float)

  • skip_ecef (bool)

Return type:

WGS84LocalTangent

classmethod from_wgs84ell_orthometric(lon_deg: float, lat_deg: float, h_m: float, *, skip_ecef: bool = False) → WGS84LocalTangent[source]#

Create a tangent frame from WGS84 lon/lat and orthometric height (EPSG:4326+3855).

Parameters:

  • lon_deg (float)

  • lat_deg (float)

  • h_m (float)

  • skip_ecef (bool)

Return type:

WGS84LocalTangent

classmethod from_crs(x: float, y: float, z: float, crs_s: CRS | str | int) → WGS84LocalTangent[source]#

Create a tangent frame from coordinates in an arbitrary CRS.

Parameters:

  • x (float)

  • y (float)

  • z (float)

  • crs_s (CRS | str | int)

Return type:

WGS84LocalTangent

vector_to_ecef(v_local: Vector3D, *, local_frame: Literal['ENU', 'NED']) → Vector3D[source]#

Convert a vector in a local tangent frame to ECEF.

Parameters:

  • v_local (Vector3D)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Vector3D

vector_from_ecef(v_ecef: Vector3D, *, local_frame: Literal['ENU', 'NED']) → Vector3D[source]#

Convert an ECEF vector to a local tangent frame.

Parameters:

  • v_ecef (Vector3D)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Vector3D

point_to_ecef(p_local_m: Vector3D, *, local_frame: Literal['ENU', 'NED']) → Vector3D[source]#

Convert a local tangent point (meters, relative to the origin) to ECEF (meters).

Parameters:

  • p_local_m (Vector3D)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Vector3D

point_from_ecef(p_ecef_m: Vector3D, *, local_frame: Literal['ENU', 'NED']) → Vector3D[source]#

Convert an ECEF point (meters) to a local tangent point (meters, relative to the origin).

Parameters:

  • p_ecef_m (Vector3D)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Vector3D

to_ecef_matrix(r_local_from_frame: Array3x3, *, local_frame: Literal['ENU', 'NED']) → Array3x3[source]#

Convert a rotation matrix expressed in the local tangent plane to ECEF.

Parameters:

  • r_local_from_frame (Array3x3)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Array3x3

to_ltp_matrix(r_ecef_from_frame: Array3x3, *, local_frame: Literal['ENU', 'NED']) → Array3x3[source]#

Convert a rotation matrix expressed in ECEF into a local tangent frame.

Parameters:

  • r_ecef_from_frame (Array3x3)

  • local_frame (Literal['ENU', 'NED'])

Return type:

Array3x3

__init__(r_ecef_to_ned: Array3x3, origin_ell: Vector3D, crs_wgs_84: CRS, _origin_ecef: Vector3D | None = None, crs_ecef: CRS = <Geocentric CRS: EPSG:4978> Name: WGS 84 Axis Info [cartesian]: - X[geocentricX]: Geocentric X (metre) - Y[geocentricY]: Geocentric Y (metre) - Z[geocentricZ]: Geocentric Z (metre) Area of Use: - name: World. - bounds: (-180.0, -90.0, 180.0, 90.0) Datum: World Geodetic System 1984 ensemble - Ellipsoid: WGS 84 - Prime Meridian: Greenwich) → None#
Parameters:

  • r_ecef_to_ned (Array3x3)

  • origin_ell (Vector3D)

  • crs_wgs_84 (CRS)

  • _origin_ecef (Vector3D | None)

  • crs_ecef (CRS)

Return type:

None