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test_data_generator_onlyrot.py
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# Author: Mark Searle, 3DGeo Research Group Heidelberg
# Contact: mark.searle@stud.uni-heidelberg.de
# -*- coding: utf-8 -*-
"""HELIOS++ test data generation (only rotating polygon mirror scanners)
This script allows the construction and execution of a series of HELIOS++ ALS simulations with a random rotating polygon
mirror scanner and random settings for the scanner. The trajectories are defined by shapefiles located in the 'input_shp'
directory andthe altitude is set randomly, and held over the 'input_raster' DEM with a max deviation of
'height_variation'. The scenefile is defined by the variable 'scene'. A metadata file is automatically written to the
output location indicating all the parameters used in the survey.
"""
import random
import os
helios_path = ''
lastools = r"G:\LAStools\bin\lasmerge.exe"
outdir = r"G:/ws_21_22/bachelor_arbeit/data/generated_data/test_data3"
height_variation = 60
num_surveys = 20
#l = [1, 10, 15, 17, 19, 25, 9, 0, 11, 18, 20, 22, 23, 4]
def world2Pixel(gt, x, y):
ulX = gt[0]
ulY = gt[3]
pixel_width = gt[1]
pixel_height = -gt[5]
rtnX = gt[2]
rtnY = gt[4]
row = int((x - ulX) / pixel_width)
col = int((ulY - y) / pixel_height)
#print("x: {} - {} / {} = {}".format(x, ulX, pixel_width, row))
#print("y: {} - {} / {} = {}".format(ulY, y, pixel_height, col))
return (row, col)
for i in range(num_surveys):
# Use flight_planner tool from helios to generate the legs
# Use XML parse to select a scanner
# Use random.randint for scan angle, altitude, velocity
survey_file_name = 'data_gen_{}.xml'.format(i)#i
scene = 'data/scenes/demo/hd_demo.xml#hd_demo'
scanner_selector = random.randint(0,1)
#pulse_freq_selector = random.randint(0,2)
#scan_freq_selector = random.randint(0,2)
#scan_angle_selector = random.randint(0,1)
# List with available scanners. Format: [name, [min_PRF, max_PRF], [min_scan_freq, max_scan_freq], [min_scan_angle, max_scan_angle]]
scanner_repo = [['riegl_lms-q780', [100000, 300000], [70, 200], [15, 30]],
['riegl_lms-q560', [100000, 200000], [80, 160], [15, 22]]]
# Generate random survey parameters.
platform = "data/platforms.xml#sr22"
speed = random.randint(45, 70) # in m/s - roughly estimated from point cloud
altitude = random.randint(1000, 2000)
scanner = "data/scanners_als.xml#" + scanner_repo[scanner_selector][0]
pulse_freq = random.randint(scanner_repo[scanner_selector][1][0], scanner_repo[scanner_selector][1][1])
scan_freq = random.randint(scanner_repo[scanner_selector][2][0], scanner_repo[scanner_selector][2][0])
scan_angle = random.randint(scanner_repo[scanner_selector][3][0], scanner_repo[scanner_selector][3][1])
survey_name = survey_file_name.split('.')[0]
survey_file = open(survey_file_name, "w")
survey_file.write('<?xml version="1.0"?>\n')
survey_file.write('<document>\n')
survey_file.write(' <survey name="{survey}" platform="{platform}" scanner="{scanner}" scene="{scene}">\n'
.format(survey=survey_name, platform=platform, scanner=scanner, scene=scene))
from osgeo import ogr, gdal, osr
input_shp = r"flight_paths\tiny_flight_{}.shp".format(random.randint(1,5))
print(input_shp)
driver = ogr.GetDriverByName('ESRI Shapefile')
dataSource = driver.Open(input_shp, 0)
layer = dataSource.GetLayer()
input_raster = r"data\sceneparts\tiff\dem_hd.tif"
raster = gdal.Open(input_raster)
proj = osr.SpatialReference(wkt=raster.GetProjection())
print(proj.GetAttrValue('AUTHORITY',1))
geotransform = raster.GetGeoTransform()
raster_b1 = raster.GetRasterBand(1)
# Get trajectory from vector file.
all_points = []
for feature in layer:
geom = feature.GetGeometryRef()
for i in range(0, geom.GetPointCount()):
# GetPoint returns a tuple not a Geometry
pt = geom.GetPoint(i)
print("%d). POINT (%f %f)" % (i, pt[0], pt[1]))
'''if isinstance(v, QgsPoint):
v_xy = QgsPointXY(v)
v_tranformed = crs_transform.transform(v_xy)'''
# For last vertice, set 'active' flag to false.
if i+1 != geom.GetPointCount():
all_points.append([pt[0], pt[1], altitude, "true"])
print("active")
else:
all_points.append([pt[0], pt[1], altitude, "false"])
print("inactive")
# Update trajectory values with values over raster
all_points_corrected = []
# Update altitude.
for i in range(len(all_points)):
# Only if leg is active..:
if all_points[i][3] == "true":
print('Trajectory active')
#print('Moving between points {} and {}'.format(all_points[i], all_points[i+1]))
# Get raster height
pixel, line = world2Pixel(geotransform, all_points[i][0], all_points[i][1])
print(pixel, line)
value = raster_b1.ReadAsArray(pixel, line, 1, 1)[0, 0]
# Add raster height to flight alt at beginning of trajectory.
all_points[i][2] += value
# Add point entry to list with new corrected altitude values.
all_points_corrected.append([all_points[i][0], all_points[i][1], all_points[i][2], all_points[i][3]])
# For every leg, check for altitude 100 times.
frequency = 100
current_loc = all_points[i]
current_alt = all_points[i][2]
# Distance to be moved between each altitude check.
move_per_step = [(all_points[i + 1][0] - all_points[i][0]) / frequency,
(all_points[i + 1][1] - all_points[i][1]) / frequency]
print("Move per step is {}".format(move_per_step))
# Perform altitude checks, update altitude value if necessary.
for j in range(frequency):
pixel, line = world2Pixel(geotransform, current_loc[0], current_loc[1])
current_gnd_z = raster_b1.ReadAsArray(pixel, line, 1, 1)[0, 0]
distance_to_optimal = current_gnd_z + altitude - current_alt
if abs(distance_to_optimal) > height_variation:
# If altitude is out of range:
print('new alt: {}'.format(current_gnd_z + altitude))
# Update value in survey leg.
all_points_corrected.append(
[current_loc[0], current_loc[1], current_gnd_z + altitude, "true"])
# Update value for upcoming checks.
current_alt = current_gnd_z + altitude
# Move to next checkpoint.
current_loc[0] += move_per_step[0]
current_loc[1] += move_per_step[1]
# If leg is not active, fill in current altitude and move on to next leg.
if all_points[i][3] == "false":
print('Trajectory not active')
all_points_corrected.append([all_points[i][0], all_points[i][1], current_alt, "false"])
# Write legs to file.
for point in all_points_corrected:
survey_file.write(' <leg>\n')
survey_file.write(' <platformSettings x="{x}" y="{y}" z="{z}" onGround="false" '
'movePerSec_m="{v}"/>\n'.format(x=point[0], y=point[1],
z=point[2], v=speed))
survey_file.write(' <scannerSettings active="{active_flag}" pulseFreq_hz="{pulse_freq}" scanAngle_deg="{scan_angle}" '
'scanFreq_hz="{scan_freq}" headRotatePerSec_deg="0.0" headRotateStart_deg="0.0" '
'headRotateStop_deg="0.0" trajectoryTimeInterval_s="0.05"/>\n'
.format(pulse_freq=pulse_freq, scan_angle=scan_angle, active_flag=point[3], scan_freq=scan_freq))
survey_file.write(' </leg>\n')
survey_file.write(' </survey>\n</document>')
survey_file.close()
import sys
import pyhelios
pyhelios.loggingVerbose2()
pyhelios.setDefaultRandomnessGeneratorSeed("123")
sim = pyhelios.Simulation(
str(survey_file_name),
'assets/',
'output/',
0, # Num Threads
False, # LAS output
False, # LAS1.0 output
False, # ZIP output
)
# Enable final output.
sim.finalOutput = True
# Set sim frequency.
sim.simFrequency = 0
# Load survey file. Further configuration of survey possible.
sim.loadSurvey(
True, # Leg Noise Disabled FLAG
False, # Rebuild Scene FLAG
False, # Write Wavef orm FLAG
False, # Calc Echowidth FLAG
False, # Full Wave Noise FLAG
True # Platform Noise Disabled FLAG
)
sim.start()
print('Simulation has started!\nSurvey Name: {survey_name}\n{scanner_info}'.format(
survey_name=sim.getSurvey().name,
scanner_info=sim.getScanner().toString())
)
sim.join()
# Find survey output directory (to inform the user).
output_dir = os.path.join("output/", survey_name)
# Find latest folder in survey output directory
all_survey_outputs = [os.path.join(output_dir, d) for d in os.listdir(output_dir) if
os.path.isdir(os.path.join(output_dir, d))]
latest_survey_output = max(all_survey_outputs, key=os.path.getmtime)
# Write metadata file with all information from the survey
metadata = os.path.join(latest_survey_output, 'metadata.txt')
with open(metadata, 'w') as f:
f.write('Survey no.: {}\n'.format(survey_file_name))
f.write('trajectory: {}\n'.format(input_shp))
f.write('scanner: {}\n'.format(scanner))
f.write('pulse_freq: {}\n'.format(pulse_freq))
f.write('scan_freq: {}\n'.format(scan_freq))
f.write('scan_angle: {}\n'.format(scan_angle))
f.write('platform_velocity: {}\n'.format(speed))
f.write('platform_altitude(a.g.l.): {}\n'.format(altitude))