navigator: added point utils.

modules/tools/navigator/dbmap/libs/point.py

+#!/usr/bin/env python
+
+###############################################################################
+# Copyright 2018 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+import pyproj
+import math
+
+
+class PointUtils:
+    """point utils"""
+
+    @staticmethod
+    def utm2latlon(x, y, zone):
+        """utm to latlon"""
+        proj = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
+        lon, lat = proj(x, y, inverse=True)
+        return lat, lon
+
+    @staticmethod
+    def latlon2utm(lat, lon):
+        """latlon to utm"""
+        zone = PointUtils.latlon2utmzone(lat, lon)
+        projector2 = pyproj.Proj(proj='utm', zone=zone, ellps='WGS84')
+        x, y = projector2(lon, lat)
+        return x, y, zone
+
+    @staticmethod
+    def latlon2utmzone(lat, lon):
+        """latlon to utm zone"""
+        zone_num = math.floor((lon + 180) / 6) + 1
+        if 56.0 <= lat < 64.0 and 3.0 <= lon < 12.0:
+            zone_num = 32
+        if 72.0 <= lat < 84.0:
+            if 0.0 <= lon < 9.0:
+                zone_num = 31
+            elif 9.0 <= lon < 21.0:
+                zone_num = 33
+            elif 21.0 <= lon < 33.0:
+                zone_num = 35
+            elif 33.0 <= lon < 42.0:
+                zone_num = 37
+        return zone_num
+
+    @staticmethod
+    def latlon2latlondict(lat, lon):
+        """latlon to latlon dictionary"""
+        return {'lat': lat, 'lng': lon}
+
+    @staticmethod
+    def utm2grididx(x, y, resolution_mm):
+        """utm to grid index"""
+        index_str = str(int(round(x / resolution_mm)) * resolution_mm)
+        index_str += ","
+        index_str += str(int(round(y / resolution_mm)) * resolution_mm)
+        return index_str