map_draper

Functions for draping a mesh with sidescan data

class auvlib.bathy_maps.map_draper.MapDraper

Class for draping the whole data set of sidescan pings onto a bathymetry mesh

get_images(self: auvlib.bathy_maps.map_draper.MapDraper) → List[auvlib.bathy_maps.map_draper.sss_map_image]

Get all the sss_map_image::ImagesT that have been gathered so far

set_close_when_done(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: bool) → None

Set if the draper should close when done draping

set_image_callback(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: Callable[[auvlib.bathy_maps.map_draper.sss_map_image], None]) → None

Set the function to be called when an entire sidescan map is done

set_intensity_multiplier(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: float) → None

Set a value to multiply the sidescan intensity with when displaying on top of mesh

set_ray_tracing_enabled(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: bool) → None

Set if ray tracing through water layers should be enabled. Takes more time but is recommended if there are large speed differences

set_resolution(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: float) → None

Set the resolution of the gathered maps, default is ~3.75

set_sidescan_port_stbd_offsets(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: numpy.ndarray[float64[3, 1]], arg1: numpy.ndarray[float64[3, 1]]) → None

Set offsets of sidescan port and stbd sides with respect to nav frame

set_sidescan_yaw(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: float) → None

Set yaw correction of sidescan with respect to nav frame

set_store_map_images(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: bool) → None

Set if the draper should save and return map images at the end

set_tracing_map_size(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: float) → None

Set size of slice of map where we do ray tracing. Smaller makes it faster but you might cut off valid sidescan angles

set_vehicle_mesh(self: auvlib.bathy_maps.map_draper.MapDraper, arg0: numpy.ndarray[float64[m, n]], arg1: numpy.ndarray[int32[m, n]], arg2: numpy.ndarray[float64[m, n]]) → None

Provide the viewer with a vehicle model, purely for visualization

show(self: auvlib.bathy_maps.map_draper.MapDraper) → None

Start the draping, and show the visualizer

class auvlib.bathy_maps.map_draper.MeasDataDraper

Class for draping the whole data set of sidescan pings onto a bathymetry mesh

get_images(self: auvlib.bathy_maps.map_draper.MeasDataDraper) → List[auvlib.bathy_maps.map_draper.sss_meas_data]

Get all the sss_map_image::ImagesT that have been gathered so far

set_close_when_done(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: bool) → None

Set if the draper should close when done draping

set_image_callback(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: Callable[[auvlib.bathy_maps.map_draper.sss_meas_data], None]) → None

Set the function to be called when an entire sidescan map is done

set_intensity_multiplier(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: float) → None

Set a value to multiply the sidescan intensity with when displaying on top of mesh

set_ray_tracing_enabled(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: bool) → None

Set if ray tracing through water layers should be enabled. Takes more time but is recommended if there are large speed differences

set_resolution(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: float) → None

Set the resolution of the gathered maps, default is ~3.75

set_sidescan_port_stbd_offsets(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: numpy.ndarray[float64[3, 1]], arg1: numpy.ndarray[float64[3, 1]]) → None

Set offsets of sidescan port and stbd sides with respect to nav frame

set_sidescan_yaw(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: float) → None

Set yaw correction of sidescan with respect to nav frame

set_store_map_images(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: bool) → None

Set if the draper should save and return map images at the end

set_tracing_map_size(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: float) → None

Set size of slice of map where we do ray tracing. Smaller makes it faster but you might cut off valid sidescan angles

set_vehicle_mesh(self: auvlib.bathy_maps.map_draper.MeasDataDraper, arg0: numpy.ndarray[float64[m, n]], arg1: numpy.ndarray[int32[m, n]], arg2: numpy.ndarray[float64[m, n]]) → None

Provide the viewer with a vehicle model, purely for visualization

show(self: auvlib.bathy_maps.map_draper.MeasDataDraper) → None

Start the draping, and show the visualizer

auvlib.bathy_maps.map_draper.color_jet_from_mesh(arg0: numpy.ndarray[float64[m, n]]) → numpy.ndarray[float64[m, n]]

Get a jet color scheme from a vertex matrix

auvlib.bathy_maps.map_draper.convert_maps_to_patches(arg0: List[auvlib.bathy_maps.map_draper.sss_map_image], arg1: numpy.ndarray[float64[m, n]], arg2: float) → List[sss_patch_views]

Convert sss_map_image::ImagesT to sss_patch_views::ViewsT

auvlib.bathy_maps.map_draper.convert_maps_to_single_angle_patches(arg0: List[auvlib.bathy_maps.map_draper.sss_map_image], arg1: numpy.ndarray[float64[m, n]], arg2: float) → List[sss_patch_views]

Convert sss_map_image::ImagesT to sss_patch_views::ViewsT, but only from one angle in each case

auvlib.bathy_maps.map_draper.drape_maps(arg0: numpy.ndarray[float64[m, n]], arg1: numpy.ndarray[int32[m, n]], arg2: numpy.ndarray[float64[2, 2]], arg3: List[std_data::sss_ping], arg4: List[csv_data::csv_asvp_sound_speed], arg5: float, arg6: float, arg7: Callable[[auvlib.bathy_maps.map_draper.sss_map_image], None]) → List[auvlib.bathy_maps.map_draper.sss_map_image]

Overlay sss_ping::PingsT sidescan data on a mesh and get sss_map_image::ViewsT

auvlib.bathy_maps.map_draper.get_vehicle_mesh() → Tuple[numpy.ndarray[float64[m, n]], numpy.ndarray[int32[m, n]], numpy.ndarray[float64[m, n]]]

Get vertices, faces, and colors for vehicle

class auvlib.bathy_maps.map_draper.sss_map_image

Class for sidescan views of a patch from different survey lines

bounds

Bounds of the mesh ([[minx, miny], [maxx, maxy]])

pos

Positions of pings

static read_data(arg0: unicode) → List[auvlib.bathy_maps.map_draper.sss_map_image]

Read sss_map_image::ImagesT from .cereal file

static read_single(arg0: unicode) → auvlib.bathy_maps.map_draper.sss_map_image

Read single sss_map_image from .cereal file

sss_map_image

Intensities in map coordinates

sss_ping_duration

Maximum ping time duration

sss_waterfall_cross_track

Sidescan watefall cross track distances (not used)

sss_waterfall_depth

Sidescan waterfall hit depths

sss_waterfall_image

Sidescan waterfall image intensities

sss_waterfall_model

Sidescan waterfall idealized simulated model

class auvlib.bathy_maps.map_draper.sss_meas_data

Class for sidescan views of a patch from different survey lines

ping_id

Sequential ping IDs

pos

Ping ENU positions

static read_data(arg0: unicode) → List[auvlib.bathy_maps.map_draper.sss_meas_data]

Read sss_meas_data::ImagesT from .cereal file

static read_single(arg0: unicode) → auvlib.bathy_maps.map_draper.sss_meas_data

Read single sss_meas_data from .cereal file

rpy

Ping attitudes (roll, pitch, yaw)

sss_waterfall_hits_X

Sidescan waterfall hit x coordinates in map

sss_waterfall_hits_Y

Sidescan waterfall hit y coordinates in map

sss_waterfall_hits_Z

Sidescan waterfall hit z coordinates in map

sss_waterfall_image

Sidescan waterfall image intensities

auvlib.bathy_maps.map_draper.write_data(*args, **kwargs)

Overloaded function.

1. write_data(arg0: List[auvlib.bathy_maps.map_draper.sss_map_image], arg1: unicode) -> None

Write sss_map_image::ImagesT to .cereal file

2. write_data(arg0: auvlib.bathy_maps.map_draper.sss_map_image, arg1: unicode) -> None

Write sss_map_image to .cereal file

3. write_data(arg0: List[auvlib.bathy_maps.map_draper.sss_meas_data], arg1: unicode) -> None

Write sss_meas_data::ImagesT to .cereal file

4. write_data(arg0: auvlib.bathy_maps.map_draper.sss_meas_data, arg1: unicode) -> None

Write sss_meas_data to .cereal file