Notebook

Multi-Scanner simulation with the Velodyne® VLP-16 ("Puck")¶

Notebook: Lukas Winiwarter, 2022

In this demo, we demonstrate how a scanner with multiple scanlines, such as the Velodyne® VLP-16, can be configured in HELIOS++. The demo contains two surveys, one for a static simulation (scanner at a single location) and one for a dynamic simulation (scanner moving between waypoints).

In [1]:

import sys, os
from pathlib import Path
from IPython.display import Code

current_folder = globals()["_dh"][0]
helios_path = str(Path(current_folder).parent)
sys.path.append(helios_path)  # add helios-plusplus directory to PATH
import pyhelios

from pyhelios.util.xmldisplayer import display_xml, find_playback_dir

Scanner¶

As the scanner is the main component in this demo, we investigate the scanner XML file tls_scanners.xml. Here, we find a predefined Velodyne VLP-16. Other scanners, such as the Velodyne Puck LITE, or the Ouster OS2 can be implemented in similar ways.

In [2]:

os.chdir(helios_path)
Code(display_xml('data/scanners_tls.xml', 'vlp16'))

Out[2]:

<scanner id="vlp16" accuracy_m="0.03" beamDivergence_rad="0.0007" name="Velodyne VLP-16" optics="rotating" pulseFreqs_Hz="18750" pulseLength_ns="4" rangeMin_m="0.0100" rangeMax_m="100" scanAngleMax_deg="1" scanAngleEffectiveMax_deg="1" scanFreqMin_Hz="0" scanFreqMax_Hz="0" wavelength_nm="532" headRotatePerSecMax_deg="7200">
				
		<FWFSettings beamSampleQuality="1" />	<!-- set to one for fast simulations -->
		<channels>
			<channel id="0">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-15" />					
				</beamOrigin>
			</channel>
			<channel id="1">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="1" />					
				</beamOrigin>
			</channel>
			<channel id="2">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-13" />					
				</beamOrigin>
			</channel>
			<channel id="3">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="3" />					
				</beamOrigin>
			</channel>
			<channel id="4">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-11" />					
				</beamOrigin>
			</channel>
			<channel id="5">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="5" />					
				</beamOrigin>
			</channel>
			<channel id="6">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-9" />					
				</beamOrigin>
			</channel>
			<channel id="7">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="7" />					
				</beamOrigin>
			</channel>
			<channel id="8">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-7" />					
				</beamOrigin>
			</channel>
			<channel id="9">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="9" />					
				</beamOrigin>
			</channel>
			<channel id="10">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-5" />					
				</beamOrigin>
			</channel>
			<channel id="11">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="11" />					
				</beamOrigin>
			</channel>
			<channel id="12">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-3" />					
				</beamOrigin>
			</channel>
			<channel id="13">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="13" />					
				</beamOrigin>
			</channel>
			<channel id="14">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="-1" />					
				</beamOrigin>
			</channel>
			<channel id="15">
				<beamOrigin x="0" y="0" z="0">
					<rot axis="x" angle_deg="15" />					
				</beamOrigin>
			</channel>
		</channels>

	</scanner>

The scanner is defined with rotating optics, but the values for scanFreqMin_Hz and scanFreqMax_Hz (both "0") show that this feature is not used in this implementation. Additionaly, the scanAngleMax_deg is set to a value of 1. Subsequently, 16 channels are defined, each with their individual rotations. As the scan plane is not used (default would be the y/z-Plane, see the wiki) and only a single direction per pulse is given, a simple rotation upwards or downwards about the x axis is sufficient. The values for the angles are taken from the user manual of the VLP-16 (pages 54-55).

The pulseFreq_hz in the <scannerSettings > is coming from the max. measurement rate of the VLP-16 (300,000 pts/sec). The headRotatePerSecMax_deg value corresponds to what Velodyne refers to as scan frequency - this is not to be confused with the within-scan line scanFreq_hz we use for e.g. RIEGL-type TLS sensors. The user manual gives a value of 1200 rpm as a maximum rotation speed of the motor, equivalent to 20 rotations per seconds (20 Hz scan frequency), or a rotation speed headRotatePerSecMax_deg of 7200 (20 * 360deg).

Let us now use a simple scene (just containing a cube with 100 m side length, centered around the origin) to carry out two surveys:

Static survey¶

In [3]:

Code(display_xml('data/surveys/demo/box_survey_static_puck.xml'))

Out[3]:

<document>
    <scannerSettings id="scaset" active="true" pulseFreq_hz="18750" scanFreq_hz="0" />
    <survey name="box_puck_static" scene="data/scenes/demo/box_scene.xml#box_scene" platform="data/platforms.xml#tripod" scanner="data/scanners_tls.xml#vlp16">
		<leg>
            <platformSettings x="0" y="0" z="0" />
			<scannerSettings template="scaset" headRotatePerSec_deg="3600" headRotateStart_deg="0" headRotateStop_deg="3600" /> <!-- 1 second integration time -->
        </leg>
    </survey>
</document>

Here, we note two things:

the value of headRotatePerSec_deg, which here corresponds to 10 rotations per second, or 600 rotations per minute. The user manual explains that values between 300 and 1200 rpm, in increments of 60 rpm, are permissible.
the range between headRotateStart_deg and headRotateStop_deg. Combined with the rotation speed, this gives the sensor's integration time. In this example, 10 full rotations (10 * 360 deg) are carried out, which takes (at a rotation speed of 10 rotations per second or 3600 deg per second) one second. We are now ready to

Execute the simulation¶

In [4]:

!"run/helios" data/surveys/demo/box_survey_static_puck.xml -q

Results¶

Now let's find the output files and display a 3D plot for all points recorded in the first 1/10th second (one rotation). You can see how the 'zero' location of the scanner is towards the positive Y-axis.

In [5]:

import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
import matplotlib as mpl

output_path = find_playback_dir("data/surveys/demo/box_survey_static_puck.xml")

print("Loading points from", Path(output_path).relative_to(helios_path).as_posix())
SP1 = pd.read_csv(Path(output_path) / 'leg000_points.xyz', 
                  names="X Y Z intensity echoWidth returnNumber numberOfReturns fullwaveIndex hitObjectId class gpsTime".split(' '),
                  delimiter=' ')

SP_filtered = SP1[SP1['gpsTime'] <= min(SP1['gpsTime']) + 0.1]  # select all points recorded in the first 1/10 second

fig = plt.figure(figsize=(15,10))
ax = fig.add_subplot(projection='3d')

ax.scatter(SP_filtered['X'], SP_filtered['Y'], SP_filtered['Z'], s=0.1, c=SP_filtered['gpsTime']) 
ax.scatter([0], [0], [0], s=50, c='red') 
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')

ax.tick_params(labelsize=16)
plt.show()

Loading points from output/box_puck_static/2023-02-27_09-20-29

Dynamic survey¶

We now want to simulate a moving scanner (e.g. a driving car). We use the same scene as before, but move the scanner from (-40, 0, 0) to (40, 0, 0) over a course of 10 seconds (8 m/s). Note how we have to adapt the headRotateStop_deg to 36000 to allow for 10 seconds of operation (at a rotation of 10 Hz) before the survey exits.

In [6]:

Code(display_xml('data/surveys/demo/box_survey_moving_puck.xml'))

Out[6]:

<document>
    <scannerSettings id="scaset" active="true" pulseFreq_hz="18750" scanFreq_hz="0" />
    <survey name="box_puck_moving" scene="data/scenes/demo/box_scene.xml#box_scene" platform="data/platforms.xml#simple_linearpath" scanner="data/scanners_tls.xml#vlp16">
		<leg>
            <platformSettings x="-40" y="0" z="0" movePerSec_m="8" /> <!-- with 8 m/s, we make it to +40 in 10 seconds -->
			<scannerSettings template="scaset" trajectoryTimeInterval_s="0.01" headRotatePerSec_deg="3600" headRotateStart_deg="0" headRotateStop_deg="36000" /> <!-- the rotation will also take 10 seconds -->
        </leg>
			<leg>
            <platformSettings x="40" y="0" z="0" />
			<scannerSettings active="false" />
        </leg>
    </survey>
</document>

Execute the simulation¶

In [7]:

!"run/helios" data/surveys/demo/box_survey_moving_puck.xml

HELIOS++ VERSION 1.2.0

CWD: "H:\helios4pyhelios\helios"
seed: AUTO
surveyPath: "data/surveys/demo/box_survey_moving_puck.xml"
assetsPath: "assets/"
outputPath: "output/"
writeWaveform: 0
calcEchowidth: 0
fullWaveNoise: 0
splitByChannel: 0
parallelization: 1
njobs: 0
chunkSize: 32
warehouseFactor: 4
platformNoiseDisabled: 0
legNoiseDisabled: 0
rebuildScene: 0
lasOutput: 0
las10: 0
fixedIncidenceAngle: 0
gpsStartTime: 
kdtType: 4
kdtJobs: 0
kdtGeomJobs: 0
sahLossNodes: 32

xmlDocFilename: box_survey_moving_puck.xml
xmlDocFilePath: data/surveys/demo
xmlDocFilename: scanners_tls.xml
xmlDocFilePath: data
Using default value for attribute 'averagePower_w' : 4
Using default value for attribute 'beamQualityFactor' : 1
Using default value for attribute 'opticalEfficiency' : 0.99
Using default value for attribute 'receiverDiameter_m' : 0.15
Using default value for attribute 'atmosphericVisibility_km' : 23
Using default value for attribute 'binSize_ns' : 0.25
Using default value for attribute 'winSize_ns' : 1
Using default value for attribute 'maxFullwaveRange_ns' : 0
Number of subsampling rays (0): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (1): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (2): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (3): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (4): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (5): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (6): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (7): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (8): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (9): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (10): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (11): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (12): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (13): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (14): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
Number of subsampling rays (15): 1
Using default value for attribute 'scanFreqMin_Hz' : 0
Using default value for attribute 'scanFreqMax_Hz' : 0
Using default value for attribute 'scanAngleEffectiveMax_deg' : 1
Using default value for attribute 'accuracy_m' : 0.03
Using default value for attribute 'rangeMin_m' : 0.01
Using default value for attribute 'rangeMax_m' : 100
Using default value for attribute 'headRotatePerSecMax_deg' : 7200
Using default value for attribute 'beamDivergence_rad' : 0.0007
Using default value for attribute 'pulseLength_ns' : 4
Using default value for attribute 'maxNOR' : 0
xmlDocFilename: platforms.xml
xmlDocFilePath: data
Number of subsampling rays (0): 1
Using default value for attribute 'numRuns' : 1
Using default value for attribute 'simSpeed' : 1
Using default value for attribute 'stripId' : NULL_STRIP_ID
Using platform default value for attribute 'onGround' : 0
Using platform default value for attribute 'stopAndTurn' : 1
Using platform default value for attribute 'smoothTurn' : 0
Using platform default value for attribute 'slowdownEnabled' : 1
Using scanner default value for attribute 'beamDivergence_rad' : 0.003
Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0
Using default value for attribute 'name' : Unnamed scannerSettings asset
Using scanner default value for attribute 'active' : 1
Using scanner default value for attribute 'pulseFreq_hz' : 18750
Using scanner default value for attribute 'scanFreq_hz' : 0
Using scanner default value for attribute 'beamDivergence_rad' : 0.003
Using default value for attribute 'stripId' : NULL_STRIP_ID
Using platform default value for attribute 'onGround' : 0
Using platform default value for attribute 'stopAndTurn' : 1
Using platform default value for attribute 'smoothTurn' : 0
Using platform default value for attribute 'slowdownEnabled' : 1
Using platform default value for attribute 'movePerSec_m' : 70
Using scanner default value for attribute 'pulseFreq_hz' : 0
Using scanner default value for attribute 'scanFreq_hz' : 0
Using scanner default value for attribute 'beamDivergence_rad' : 0.003
Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0
Loading Scene...
Reading serial scene wrapper object from data/scenes/demo/box_scene.scene ...
Building KD-Grove... 
KDTree (num. primitives 12) :
	Max. # primitives in leaf: 6
	Min. # primitives in leaf: 4
	Max. depth reached: 14
	KDTree axis-aligned surface area: 60000
	Interior nodes: 80
	Leaf nodes: 81
	Total tree cost: 9.03226
KDGrove stats:
	Number of trees: 1
	Number of static trees: 1
	Number of dynamic trees: 0
	Statistics (min, max, total, mean, stdev):
		Building time: (0.0190, 0.0190, 0.0190, 0.0190, 0.0000)
		Tree primitives: (12, 12, 12, 12.0000, 0.0000)
		Max primitives in leaf: (6, 6, 6, 6.0000, 0.0000)
		Min primitives in leaf: (4, 4, 4, 4.0000, 0.0000)
		Maximum depth: (14, 14, 14, 14.0000, 0.0000)
		Axis-aligned surface area: (60000.0000, 60000.0000, 60000.0000, 60000.0000, 0.0000)
		Number of interior nodes: (80, 80, 80, 80.0000, 0.0000)
		Number of leaf nodes: (81, 81, 81, 81.0000, 0.0000)
		Tree cost: (9.0323, 9.0323, 9.0323, 9.0323, 0.0000)

KDG built in 0.019s
Scene loaded in 0.021s
Reading Spectral Library...
Using default value for attribute 'seed' : AUTO
Output directory: "output/\box_puck_moving\2023-02-27_09-20-34\"
Simulation: Scanner changed!
Starting leg 0

Pulse frequency set to 18750
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Iterative mode was used for manual leg initialization because default one failed for MovingPlatform
Leg0 waypoints:
	Origin: (10, 50, 50)
	Target: (90, 50, 50)
	Next: (90, 50, 50)

Running simulation...
Clearing point cloud: "output/\box_puck_moving\2023-02-27_09-20-34\leg000_points.xyz"
Survey 1.00%	Elapsed 00 00:00:00 Remaining 00 00:00:12
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Waypoint reached!
Starting leg 1

Pulse frequency set to 18750
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Scan angle set to 1
Applying settings for PolygonMirrorBeamDeflector...
Vertical angle min/max -nan(ind)/-nan(ind)
 -- verticalAngleMin not set, using the value of -1 degrees
 -- verticalAngleMax not set, using the value of 1 degrees
Waypoint reached!
Elapsed simulation steps = 187503
Elapsed virtual time = 10.0002 sec.
Main thread simulation loop finished in 20.4581 sec.
Waiting for completion of pulse computation tasks...
Pulse computation tasks finished in 20.4584 sec.
Total simulation time: 0:00:20

Results¶

Now let's find the output files and display a 3D plot for all points recorded in the first 1/10th second (one rotation). In a second plot, we plot the points recorded in the last 1/10th second (last rotation).

In [8]:

import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
import matplotlib as mpl

output_path = find_playback_dir(r"data/surveys/demo/box_survey_moving_puck.xml")

print("Loading points from", Path(output_path).relative_to(helios_path).as_posix())
SP1 = pd.read_csv(Path(output_path) / 'leg000_points.xyz', 
                  names="X Y Z intensity echoWidth returnNumber numberOfReturns fullwaveIndex hitObjectId class gpsTime".split(' '),
                  delimiter=' ')

for fun in (min, max):

    SP_filtered = SP1[abs(SP1['gpsTime']- fun(SP1['gpsTime'])) <= 0.1]  # select all points recorded in the first/last 1/10 second

    fig = plt.figure(figsize=(15,10))
    ax = fig.add_subplot(projection='3d')

    ax.scatter(SP_filtered['X'], SP_filtered['Y'], SP_filtered['Z'], s=0.1, c=SP_filtered['gpsTime']) 
    ax.scatter([-40 if fun is min else 40], [0], [0], s=50, c='red') 

    ax.tick_params(labelsize=16)
    plt.title("Points recorded in the "+
             ("first " if fun is min else "last ")+
             "full rotation")
    
    ax.set_xlabel('X')
    ax.set_ylabel('Y')
    ax.set_zlabel('Z')
    plt.show()

Loading points from output/box_puck_moving/2023-02-27_09-20-34

In contrast to the static case, the 'zero' point now appears towards the positive x-Axis! What happened? The linearpath platform oriented the sensor such that the default axis (which is y for the scanners) is pointing forward in the direction of movement. As the platform (simple_linearpath) does not provide any additional rotations (e.g. in contrast to the sr22 airborne platform), the scanner faces towards the direction of movement at the beginning of the scan.

The gaps in the 'far' corners are due to the maximum range of the scanner, given as 100 m.