单波束声纳的可视化

在仿真过程中，将声纳传感器的输出进行可视化往往很有帮助。本脚本即可实现这一功能，在每次接收到声纳数据时进行绘图。

请注意，运行此脚本时会生成八叉树（octree），这可能会导致短暂的停顿。有关解决方案及更多信息，请参阅八叉树生成相关内容。

import holoocean
import matplotlib.pyplot as plt
import numpy as np

#### 获取声呐配置
scenario = "OpenWater-TorpedoSinglebeamSonar"
config = holoocean.packagemanager.get_scenario(scenario)
config = config['agents'][0]['sensors'][-1]["configuration"]
minR = config['RangeMin']
maxR = config['RangeMax']
binsR = config['RangeBins']

#### 准备好绘图
plt.ion()

t = np.arange(0,50)
r = np.linspace(minR, maxR, binsR)
T, R = np.meshgrid(t, r)
data = np.zeros_like(R)

plt.grid(False)
plot = plt.pcolormesh(T, R, data, cmap='gray', shading='auto', vmin=0, vmax=1)
plt.tight_layout()
plt.gca().invert_yaxis()
plt.gcf().canvas.flush_events()

#### 运行模拟
command = np.array([0,0,0,0,20])
with holoocean.make(scenario) as env:
    for i in range(1000):
        env.act("auv0", command)
        state = env.tick()

        if 'SinglebeamSonar' in state:
            data = np.roll(data, 1, axis=1)
            data[:,0] = state['SinglebeamSonar']

            plot.set_array(data.ravel())

            plt.draw()
            plt.gcf().canvas.flush_events()

print("Finished Simulation!")
plt.ioff()
plt.show()