renamed NCLT management file for clarity. Added GPS manip which allows for movement from GPS coordinates to XYZ coordinates

src/dataset/ManageNCLTDataset/project_vel_to_cam.py

@@ -120,7 +120,7 @@ def project_vel_to_cam(hits, cam_num):
 def main(args):
 
     if len(args)<4:
-        print  """Incorrect usage.
+        print("""Incorrect usage.
 
 To use:
 
@@ -129,7 +129,7 @@ To use:
       vel:  The velodyne binary file (timestamp.bin)
       img:  The undistorted image (timestamp.tiff)
   cam_num:  The index (0 through 5) of the camera
-"""
+  """)
         return 1
 
 

src/dataset/dataManipulation/GPSmanip.py

@@ -0,0 +1,24 @@
+import sys
+import numpy as np
+
+
+def gpstoLocalFrame(lat, lng, alt):
+    lat0 = 0.7381566413
+    lng0 = -1.4610097151
+    alt0 = 265.8
+
+    print(np.deg2rad(lng))
+    dLat = np.deg2rad(lat) - lat0
+    print(dLat)
+    dLng = np.deg2rad(lng) - lng0
+    dAlt = alt - alt0
+
+    r = 6400000 # approx. radius of earth (m)
+    y = r * np.cos(lat0) * np.sin(dLng)
+    x = r * np.sin(dLat)
+    z = dAlt
+
+    return [x,y,z]
+#Example
+# x = gpstoLocalFrame(42.29360387311647,-83.71222615242006,272)
+# print(x)