bathy_maps¶

Methods for fusing and registering bathymetric data.

The example below shows how to read multibeam and sidescan data, and drape the sidescan pings on top of the bathymetric map.

from auvlib.data_tools import std_data, gsf_data, xtf_data, csv_data, utils
from auvlib.bathy_maps import mesh_map, patch_draper, data_vis
import sys, os, math
import numpy as np

sensor_yaw = 5.*math.pi/180. # rotation of sidescan wrt nav frame
sensor_offset = np.array([2., -1.5, 0.]) # translation of sidescan wrt nav frame

gsf_pings = utils.parse_or_load_gsf(sys.argv[1]) # parse_or_load* functions will just parse the first time
mbes_pings = gsf_data.convert_pings(gsf_pings) # convert to std_data pings
V, F, bounds = mesh_map.mesh_from_pings(mbes_pings, 0.5) # generate a bathymetry mesh

xtf_pings = utils.parse_or_load_xtf(sys.argv[2]) # load sidescan pings
nav_entries = utils.parse_or_load_csv(sys.argv[3]) # load gps nav entries
xtf_pings = csv_data.convert_matched_entries(xtf_pings, nav_entries) # match sidescan with gps
xtf_pings = xtf_data.correct_sensor_offset(xtf_pings, sensor_offset) # correct for sidescan translation
sound_speeds = csv_data.csv_asvp_sound_speed.parse_file(sys.argv[4]) # parse sound speed file

viewer = patch_draper.PatchDraper(V, F, xtf_pings, bounds, sound_speeds) # create a draper object
viewer.set_sidescan_yaw(sensor_yaw) # set the rotation of sensor wrt nav frame
viewer.set_vehicle_mesh(*patch_draper.get_vehicle_mesh()) # add a vehicle model for visualization
viewer.set_patch_callback(lambda patch: data_vis.plot_patch_views([patch])) # add a plotter callback
viewer.show() # show the visualization and drape