coastalimagelib/corefunctions.py
def localTranformExtrinsics(self):

        """
        Transforms extrinsics in local coordinates to geo, or extrinsics
        in geo coordinates to local.

        Angle should be defined by CIRN convention.

        Returns:
            extrinsics_out (dict): Local or geo extrinsics [x,y,z,a,t,r]
                (a = azimuth, t = tilr, r = roll)

        """

        self.origin[2] = np.deg2rad(self.origin[2])
        extrinsics_out = self.local_extrinsics.copy()
        if self.coords == "geo":
            # World to local
            extrinsics_out[0], extrinsics_out[1] = localTransformPoints(
                self.origin,
                1,
                self.local_extrinsics[0],
                self.local_extrinsics[1]
            )
            extrinsics_out[3] = self.local_extrinsics[3] + self.origin[2]
        else:
            # local to world
            extrinsics_out[0], extrinsics_out[1] = localTransformPoints(
                self.origin,
                0,
                self.local_extrinsics[0],
                self.local_extrinsics[1]
            )
            extrinsics_out[3] = self.local_extrinsics[3] - self.origin[2]

        return extrinsics_out

        Transforms extrinsics in local coordinates to geo, or extrinsics
        in geo coordinates to local.

        Angle should be defined by CIRN convention.

        Returns:
            extrinsics_out (dict): Local or geo extrinsics [x,y,z,a,t,r]
                (a = azimuth, t = tilr, r = roll)

        
Transforms extrinsics in local coordinates to geo, or extrinsics
in geo coordinates to local.

Angle should be defined by CIRN convention.
Transforms extrinsics in local coordinates to geo or extrinsics in geo coordinates to local . Angle should be defined by CIRN convention .
def localTranformExtrinsics(self):
        self.origin[2] = np.deg2rad(self.origin[2])
        extrinsics_out = self.local_extrinsics.copy()
        if self.coords == "geo":
            extrinsics_out[0], extrinsics_out[1] = localTransformPoints(
                self.origin,
                1,
                self.local_extrinsics[0],
                self.local_extrinsics[1]
            )
            extrinsics_out[3] = self.local_extrinsics[3] + self.origin[2]
        else:
            extrinsics_out[0], extrinsics_out[1] = localTransformPoints(
                self.origin,
                0,
                self.local_extrinsics[0],
                self.local_extrinsics[1]
            )
            extrinsics_out[3] = self.local_extrinsics[3] - self.origin[2]
        return extrinsics_out
def localTranformExtrinsics ( self ) : self . origin [ 2 ] = np . deg2rad ( self . origin [ 2 ] ) extrinsics_out = self . local_extrinsics . copy ( ) if self . coords == "geo" : extrinsics_out [ 0 ] , extrinsics_out [ 1 ] = localTransformPoints ( self . origin , 1 , self . local_extrinsics [ 0 ] , self . local_extrinsics [ 1 ] ) extrinsics_out [ 3 ] = self . local_extrinsics [ 3 ] + self . origin [ 2 ] else : extrinsics_out [ 0 ] , extrinsics_out [ 1 ] = localTransformPoints ( self . origin , 0 , self . local_extrinsics [ 0 ] , self . local_extrinsics [ 1 ] ) extrinsics_out [ 3 ] = self . local_extrinsics [ 3 ] - self . origin [ 2 ] return extrinsics_out
Transforms extrinsics in local coordinates to geo, or extrinsics
in geo coordinates to local.
Transforms extrinsics in local coordinates to geo or extrinsics in geo coordinates to local .
"""
        Transforms extrinsics in local coordinates to geo, or extrinsics
        in geo coordinates to local.

        Angle should be defined by CIRN convention.

        Returns:
            extrinsics_out (dict): Local or geo extrinsics [x,y,z,a,t,r]
                (a = azimuth, t = tilr, r = roll)

        """ # World to local # local to world
extrinsics_out (dict): Local or geo extrinsics [x,y,z,a,t,r]
(a = azimuth, t = tilr, r = roll)
extrinsics_out ( dict ) : Local or geo extrinsics [ x y z a t r ] ( a = azimuth t = tilr r = roll )
self