55 lines
1.5 KiB
Python
55 lines
1.5 KiB
Python
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import matplotlib.pyplot as plt
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import numpy as np
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import cv2 as cv
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import os
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import pyskyline
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import pyskyline.localization
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FILE = 'terrain'
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SIZE = 256
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X = SIZE//2
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Y = SIZE//2
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if __name__ == '__main__':
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if os.path.isfile(f'{FILE}_{SIZE}.npz'):
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print("Save detected, loading ...")
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terrain = pyskyline.Terrain.load(f'{FILE}_{SIZE}')
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else:
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print("No save detected, generating new terrain ...")
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terrain = pyskyline.Terrain.generate(size=SIZE)
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terrain.compute_all_skylines()
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terrain.save(f'{FILE}_{SIZE}')
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print(f"Done, terrain saved as {FILE}_{SIZE}.npz")
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# Output elevation map
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cv.imwrite('elevation_map.jpg', terrain.dem.elevation)
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# Output color map
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cv.imwrite('color_map.jpg', terrain.dem.color)
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# Ouput field of view visualization
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cv.imwrite('fov.jpg', terrain.compute_fov(X, Y))
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# Ouput skyline
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skyline = terrain.compute_skyline(X, Y)
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plt.figure()
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plt.grid(False)
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plt.plot(np.arange(-180,180,360/256),skyline)
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plt.title('Skyline')
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plt.savefig('skyline.svg')
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# Generate heatmap
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skyline = np.roll(skyline, 8) # Add heading error
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skyline += np.random.normal(0,0.5, 256) # Add random noise
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mosse_correlation = pyskyline.MosseCorrelation(terrain, skyline)
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scoremap = mosse_correlation.generate_scoremap()
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plt.figure()
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plt.grid(False)
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fig = plt.imshow(scoremap)
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plt.title('Score map')
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plt.colorbar(fig)
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plt.savefig('scoremap.svg')
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