p.add_argument(
'--cloud_path',
type=str,
default=
'/home/torroba/Downloads/post_deployment/KTH_Post_Deployment_AVG_WGS84UTM32N_RH200_50cm.xyz',
help=
'Options are "sine" (all sine activations) and "mixed" (first layer sine, other layers tanh)'
)
opt = p.parse_args()
mesh_res = 0.6
beam_width = math.pi / 180. * 60.
cloud = xyz_data.cloud.parse_file(opt.cloud_path)
pings = std_data.mbes_ping.read_data(opt.mbes_path)
getcontext().prec = 28
R = rot.from_euler("zyx", [pings[0].heading_, pings[0].pitch_, 0.]).as_dcm()
pos = pings[0].pos_
R_inv = R.transpose()
pos_inv = R_inv.dot(pos)
cloud[:] = [R_inv.dot(p) - pos_inv for p in cloud]
# V, F, bounds = mesh_map.mesh_from_cloud(cloud, mesh_res)
V, F, bounds = mesh_map.mesh_from_dtm_cloud(cloud, mesh_res)
np.savez("mesh.npz", V=V, F=F, bounds=bounds)
mesh_map.show_mesh(V, F)
if len(beam_idx_list) > 0:
# discard bad beams
choosen_pings[idx].beams = np.delete(ping.beams, beam_idx_list, axis = 0)
# newPing is used to plot data
# new_ping = copy.copy(beams)
# new_ping[beam_idx_list] = 0 # fill bad beam with empty value(0)
# else:
# new_ping = beams
''' Show beams before and after '''
# plt.figure(1)
# plt.clf()
# plt.subplot(121)
# plt.title('var: %f' % np.var(beams))
# plt.axis([0, 400, -95, -75])
# plt.grid()
# plt.scatter(np.arange(len(beams)), beams, s=2, c='b', marker='.')
# plt.subplot(122)
# plt.title(idx)
# plt.scatter(np.arange(len(beams)), new_ping, s=2, c='b', marker='.')
# plt.axis([0, 400, -95, -75])
# plt.grid()
# plt.pause(0.001)
std_data.write_data(choosen_pings, 'Data/EM2040/mid/pings_outlier_discard.cereal')
''' Show mesh (praying Orz...) '''
V_f, F_f, bounds_f = mesh_map.mesh_from_pings(choosen_pings, 0.5)
mesh_map.show_mesh(V_f, F_f)