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Notebook urban dyn #364

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merged 15 commits into from
Aug 4, 2023
Merged

Notebook urban dyn #364

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34ca11c
add files for mls demo with dynamic urban scene
han16nah Aug 2, 2023
02e278b
Update README.md
han16nah Aug 2, 2023
d2d037e
add thumbnail
han16nah Aug 2, 2023
e707dda
add new example notebook for dynamic sim demo
han16nah Aug 2, 2023
72268f1
Merge branch 'notebook_urban_dyn' of https://github.com/3dgeo-heidelb…
han16nah Aug 2, 2023
b1e6329
remove platform noise comments from all but the first platform
han16nah Aug 3, 2023
f1efeed
remove jpg images from sceneparts and mtl file
han16nah Aug 3, 2023
aa64400
add missing car
han16nah Aug 3, 2023
fe2987c
fix scene so vehicles don't float around, adapt classification (to AS…
han16nah Aug 3, 2023
0282779
add further plots to example notebook
han16nah Aug 3, 2023
b5c33e8
adapt kdtDynTimeStep
han16nah Aug 3, 2023
2cdbff2
update xsd for scene to rigid motion syntax
han16nah Aug 3, 2023
00794e5
update wavelength of velodyne HDL-64E
han16nah Aug 3, 2023
94aaea6
update scene writer to support scenes with rigid motions
han16nah Aug 3, 2023
7cae58f
fix scene writer/test
han16nah Aug 3, 2023
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ keywords = {Software, LiDAR simulation, Point cloud, Data generation, Voxel, Veg
| [![Example 7](img/example7_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/7-tls_sphere_xyzloader.ipynb) | [![Example 8](img/example8_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/8-als_uls_detailed_voxel.ipynb) |
| [![Example 9](img/example9_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/9-tls_livox_demo.ipynb) | [![Example 10](img/example10_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/10-uls_toyblocks_livox.ipynb) |
| [![Example 11](img/example11_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/11-als_toyblock_multi_scanner_livox.ipynb) | [![Example 12](img/example12_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/12-multi_scanner_puck.ipynb) |
| [![Example 13](img/example13_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/13-interpolated_trajectory.ipynb) | |
| [![Example 13](img/example13_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/13-interpolated_trajectory.ipynb) | [![Example 14](img/example14_thumbnail.png)](https://nbviewer.org/github/3dgeo-heidelberg/helios/blob/dev/example_notebooks/14-urban_mls_dynamic.ipynb) |



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191 changes: 25 additions & 166 deletions data/platforms.xml
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can we remove the commented position noise here to keep it a bit more readable?

Original file line number Diff line number Diff line change
Expand Up @@ -2,16 +2,10 @@

<document>
<!-- ###################### BEGIN ALS Platforms ###################### -->
<platform id="quadcopter" name="Quadrocopter UAV" type="multicopter"
drag="0.01" engine_max_force="0.1"
speedup_magnitude="2.0" slowdown_magnitude="2.0" slowdown_distance="5.0"
base_pitch_deg="-5.0"
roll_speed_deg="28.65" pitch_speed_deg="85.94" yaw_speed_deg="85.94"
roll_offset_deg="25.0" pitch_offset_deg="35.0"
>
<scannerMount x="0" y="0" z="0.2">
<rot axis="x" angle_deg="180" />
<rot axis="z" angle_deg="180" />
<platform id="sr22" name="Cirrus SR-22" type="linearpath">
<scannerMount z="0.7">
<rot axis="x" angle_deg="-90" />
<rot axis="z" angle_deg="90" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
Expand All @@ -32,56 +26,24 @@
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>


<!-- ###################### BEGIN ALS Platforms ###################### -->
<platform id="copter_linearpath" name="Quadrocopter UAV" type="linearpath">

<platform id="quadcopter" name="Quadrocopter UAV" type="multicopter"
drag="0.01" engine_max_force="0.1"
speedup_magnitude="2.0" slowdown_magnitude="2.0" slowdown_distance="5.0"
base_pitch_deg="-5.0"
roll_speed_deg="28.65" pitch_speed_deg="85.94" yaw_speed_deg="85.94"
roll_offset_deg="25.0" pitch_offset_deg="35.0"
>
<scannerMount x="0" y="0" z="0.2">
<rot axis="x" angle_deg="175" />
<rot axis="x" angle_deg="180" />
<rot axis="z" angle_deg="180" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="sr22" name="Cirrus SR-22" type="linearpath">
<scannerMount z="0.7">
<rot axis="x" angle_deg="-90" />
<rot axis="z" angle_deg="90" />
<platform id="copter_linearpath" name="Quadrocopter UAV" type="linearpath">
<scannerMount x="0" y="0" z="0.2">
<rot axis="x" angle_deg="175" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="5"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="7"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="3"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="11"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>
<!-- ###################### END ALS Platforms ###################### -->

Expand All @@ -92,154 +54,51 @@
<rot axis="z" angle_deg="90" />
<rot axis="y" angle_deg="-30" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="vehicle_linearpath" name="Vehicle" type="linearpath">
<scannerMount x="0" y="0" z="2.4" rotations="local">
<rot axis="z" angle_deg="90" />
</scannerMount>
</platform>

<platform id="tractor_leftside" name="Tractor" type="groundvehicle" drag="0.01">
<scannerMount x="0" y="0.8" z="4">
<rot axis="y" angle_deg="-35" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="vmx-450-car-left" name="RIEGL VMX-450 Car Left" type="linearpath">
<scannerMount x="-0.18" y="-2.2" z="2.2">
<rot axis="x" angle_deg="40" />
<rot axis="z" angle_deg="150" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="vmx-450-car-right" name="RIEGL VMX-450 Car Right" type="linearpath">
<scannerMount x="0.18" y="-2.2" z="2.2">
<rot axis="x" angle_deg="40" />
<rot axis="z" angle_deg="210" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="vmq-1ha-car-0" name="RIEGL VMQ-1HA Car (0° mounting)" type="linearpath">
<scannerMount x="0.0" y="-1.15" z="2.2">
<rot axis="x" angle_deg="45" />
<rot axis="z" angle_deg="0" />
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>

<platform id="simple_linearpath" name="Simple Linearpath" type="linearpath">
</platform>
<!-- ###################### END MLS Platforms ###################### -->


<!-- ###################### BEGIN TLS Platforms ###################### -->
<platform id="tripod" name="TLS Tripod" type="static" drag="0">
<scannerMount x="0" y="0" z="1.5">
</scannerMount>
<!--<positionXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<positionZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.02"/>
<attitudeXNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeYNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>
<attitudeZNoise
clipMin="0.0" clipMax="0.0" clipEnabled="false" fixedLifespan="1"
type="NORMAL" mean="0.0" stdev="0.001"/>-->
</platform>
<!-- ###################### END TLS Platforms ###################### -->

<platform id="simple_linearpath" name="Simple Linearpath" type="linearpath">
</platform>

</document>
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