Transforming local NED coordinates to global Geodetic coordinates

[Agm2104]

Hi everyone!

I'm trying to convert the points retrieved by the LIDAR from the original NED coordinates (given from the Vehicle Inertial Frame)
to global geodetic coordinates (lat, lon). The global geodetic origin for my drone is:

Geodetic_Origin=[40.544289,-4.012101]

So Geodetic_Origin is my observer here.

Now I'm trying to get the global geodetic coordinates (i.e Latitude and Longitude) of my points, for which I tried using the ned2geodetic, implemented this way (for clarity, I have kept the x,y,z coordinates in different arrays):

import numpy as np
import pymap3d as pm

length=int(x_coordinates.shape[0])

for i in range (0,length):
   geodetic_coordinates=ned2geodetic(x_coordinates[i], y_coordinates[i], z_coordinates[i], Geodetic_Origin=[0], Geodetic_Origin=[1], 0, ell=None, deg=True)

By my understanding, ned2geodetic converts North, East, Down local (i.e from my observer point of view) to global latitude, longitude, altitude; given the global geodetic location of the observer. However, what I'm getting is a circle centered around my local origin, as shown here (used folium for the representation):

While I'm expecting something like this:

enter image description here

I get the points as expected, but there seems to be a problem with how I'm converting the points. Any idea of what the problem might be, or any other way to do the conversion from NED to coordinates?

EDIT: there was a mistake in another part of the code which was causing the issue. I gess this is what happens when you work ubtil late without coffee, I apologize for any inconvenience. Since I'm here I highly recommend the pymap3d library to anyone trying to make transformations between different coordinate systems.