def create_mesh(path):
gsf_pings = utils.parse_or_load_gsf(path)
mbes_pings = gsf_data.convert_pings(gsf_pings)
V, F, bounds = mesh_map.mesh_from_pings(mbes_pings, 0.5)
return V, F, bounds
def generate_or_load_height_map(path, resolution):
if os.path.exists("height_map.npz"):
#height_map = gsf_data.gsf_mbes_ping.read_data("gsf_cache.cereal")
height_map = np.load("height_map.npz")["height_map"]
else:
gsf_pings = utils.parse_or_load_gsf(path)
mbes_pings = gsf_data.convert_pings(gsf_pings)
m = mesh_map.bathy_map_mesh()
height_map, bounds = m.height_map_from_pings(mbes_pings, resolution)
#gsf_data.write_data(gsf_pings, "gsf_cache.cereal")
np.savez("height_map.npz", height_map=height_map)
return height_map
#!/usr/bin/python from auvlib.data_tools import std_data, gsf_data, utils from auvlib.bathy_maps import mesh_map import sys import numpy as np gsf_pings = utils.parse_or_load_gsf(sys.argv[1]) mbes_pings = gsf_data.convert_pings(gsf_pings) V, F, bounds = mesh_map.mesh_from_pings(mbes_pings, 0.5) height_map, bounds = mesh_map.height_map_from_pings(mbes_pings, 0.2) #mesh_map.show_height_map(height_map) R, G, B = mesh_map.height_map_to_texture(height_map) mesh_map.show_textured_mesh(V, F, R, G, B, bounds) #mesh_map.show_mesh(V, F)
#!/usr/bin/env python
from auvlib.data_tools import std_data, gsf_data
from auvlib.bathy_maps import draw_map
import sys
gsf_pings = gsf_data.gsf_mbes_ping.parse_folder(
sys.argv[1]) # parse folder of gsf data
mbes_pings = gsf_data.convert_pings(gsf_pings) # convert to std_data pings
d = draw_map.BathyMapImage(mbes_pings, 500,
500) # create a bathymetry height map
d.draw_height_map(mbes_pings) # draw the height map
d.draw_track(mbes_pings) # draw the track of the vehicle
d.write_image("height_map.png") # save the height map to "height_map.png"