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Fix geopoint conversion from utm for southern hemisphere #53

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Fix geopoint conversion from utm for southern hemisphere #53

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d35f6be
Fix geopoint conversion from utm for southern hemisphere
PeterQFR Oct 27, 2022
678dc2c
Merge branch 'master' of github.com:ros-geographic-info/geographic_in…
PeterQFR Oct 27, 2022
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12 changes: 10 additions & 2 deletions geodesy/src/geodesy/utm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,9 +117,17 @@ def toMsg(self):
if not self.valid():
raise ValueError('invalid UTM point: ' + str(self))
utm_proj = pyproj.Proj(proj='utm', zone=self.zone, datum='WGS84')

#hemishphere adjustment as per cpp code. May also do this by properly
#specifying pyproj projection for southern hemisphere.
southern_hemisphere_adjustment=0.0
if ord(self.band) < ord('N'):
southern_hemisphere_adjustment=-10000000.0

msg = GeoPoint(altitude=self.altitude)
msg.longitude, msg.latitude = utm_proj(self.easting, self.northing,
inverse=True)
msg.longitude, msg.latitude = utm_proj(self.easting,
self.northing+southern_hemisphere_adjustment,
inverse=True)
return msg

def valid(self):
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31 changes: 30 additions & 1 deletion geodesy/tests/test_utm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,36 @@ def test_wgs84_utm_conversion_2d(self):
self.assertAlmostEqual(point_xy.x, 622159.338, places = 3)
self.assertAlmostEqual(point_xy.y, 3362168.303, places = 3)
self.assertAlmostEqual(point_xy.z, 0.0, places = 3)


def test_geopoint_from_utm(self):
lat = 30.385315
lon = -97.728524
alt = float('nan')
pt = fromLatLong(lat, lon)
self.assertEqual(str(pt), 'UTM: [622159.338, 3362168.303, nan, 14R]',
msg='conversion failed: ' + str(pt))
self.assertTrue(pt.valid(), msg='invalid UTMPoint: ' + str(pt))
self.assertTrue(pt.is2D(), msg='this UTMPoint should be 2D: ' + str(pt))
self.assertEqual(pt.gridZone(), (14, 'R'))
self.assertEqual(str(pt.toMsg()), str(GeoPoint(lat, lon, alt)),
msg='GeoPoint conversion failed for: ' + str(pt))
point_xy = pt.toPoint()
self.assertAlmostEqual(point_xy.x, 622159.338, places = 3)
self.assertAlmostEqual(point_xy.y, 3362168.303, places = 3)
self.assertAlmostEqual(point_xy.z, 0.0, places = 3)


# Now for southern hemisphere
latS = -27.52279105401131
lonS = 152.8222634237585

ptS = fromLatLong(latS, lonS)
self.assertEqual(ptS.gridZone(), (56, 'J'))
self.assertEqual(str(ptS.toMsg()), str(GeoPoint(latS, lonS)),
msg='GeoPoint conversion failed for: ' + str(pt))



if __name__ == '__main__':
import rosunit
PKG='geodesy'
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