Added examples

ExampleMultipleSonarReadings.ipynb

@@ -0,0 +1,103 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from Raytrace.TriangleMesh import Ray\n",
+    "from Raytrace.BVHMesh import BVHMesh\n",
+    "from Raytrace.SideScan import SideScan, ScanReading\n",
+    "import numpy as np\n",
+    "import time"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "stl_path = 'sample_Hull_Mesh.stl'\n",
+    "start_time = time.time()\n",
+    "mesh = BVHMesh(stl_path = stl_path, min_node_size = 100)\n",
+    "end_time = time.time()\n",
+    "\n",
+    "print('Build Time:', end_time - start_time, 'seconds')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "facing = np.array([1, 0, 0])\n",
+    "min_angle = 0\n",
+    "max_angle = -np.pi/2\n",
+    "sample_ray_count = 1000\n",
+    "\n",
+    "origin_start = np.array([5, -1, 1])\n",
+    "origin_end = np.array([9, -1, 1])\n",
+    "readings_count = 100\n",
+    "# liniar interpolation between the two for this simple demo\n",
+    "origins = [origin_start * (1-i) + origin_end * i for i in np.arange(0, 1+1/(readings_count-1)/2, 1/(readings_count-1))]\n",
+    "\n",
+    "orientations = [Ray(facing, origin) for origin in origins]\n",
+    "\n",
+    "rays_list = [SideScan.generate_rays(orientation, min_angle, max_angle, sample_ray_count) for orientation in orientations]\n",
+    "\n",
+    "readings:list[ScanReading] = []\n",
+    "for n,rays in enumerate(rays_list):\n",
+    "    print(n + 1, len(rays_list), sep='/', end='\\r')\n",
+    "    readings.append(SideScan(mesh).scan_rays(rays))\n",
+    "\n",
+    "print()\n",
+    "\n",
+    "# 100 readings at 1000 rays each takes just over 2 minutes on my machine\n",
+    "print('Done')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import plotly.graph_objs as go\n",
+    "from Raytrace.PlotRays import plot_readings_heatmap"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "plot_readings_heatmap(readings)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.5"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

ExampleSingleSonarReading.ipynb

@@ -0,0 +1,114 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from Raytrace.TriangleMesh import Ray\n",
+    "from Raytrace.BVHMesh import BVHMesh\n",
+    "from Raytrace.SideScan import SideScan\n",
+    "import numpy as np\n",
+    "import time"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "stl_path = 'sample_Hull_Mesh.stl'\n",
+    "start_time = time.time()\n",
+    "mesh = BVHMesh(stl_path = stl_path, min_node_size = 100)\n",
+    "end_time = time.time()\n",
+    "\n",
+    "print('Build Time:', end_time - start_time, 'seconds')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "origin = np.array([5, -1, 1])\n",
+    "facing = np.array([1, 0, 0])\n",
+    "min_angle = 0\n",
+    "max_angle = -np.pi/2\n",
+    "sample_ray_count = 1000\n",
+    "\n",
+    "orientation = Ray(facing, origin)\n",
+    "\n",
+    "rays = SideScan.generate_rays(orientation, min_angle, max_angle, sample_ray_count)\n",
+    "\n",
+    "reading = SideScan(mesh).scan_rays(rays)\n",
+    "\n",
+    "print('Triangles:', mesh.triangles.shape[0])\n",
+    "reading.print_summary()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import plotly.graph_objs as go\n",
+    "from PlotRays import plot_mesh, plot_rays, plot_reading"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "mesh_plot = plot_mesh(mesh, color='lightpink', opacity=1)\n",
+    "rays_plot = plot_rays(reading, line={'color':'Blue'})"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "fig = go.Figure(data=[mesh_plot, rays_plot])\n",
+    "fig.update_layout(autosize=False, width=1000, height=500, margin=dict(l=20, r=20, t=20, b=20), scene = {'aspectmode':'data'})\n",
+    "fig.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "plot_reading(reading)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.5"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}