Added helper functions visualizing

Raytrace/PlotRays.py

@@ -0,0 +1,59 @@
+from Raytrace.TriangleMesh import TriangleMesh
+from Raytrace.SideScan import ScanReading
+import numpy as np
+try:
+    import plotly.graph_objs as go # type: ignore
+except ModuleNotFoundError:
+    print('plotly not installed, please run "pip install plotly"')
+    exit()
+
+def plot_mesh(mesh:TriangleMesh, **kwargs) -> go.Mesh3d:
+        x, y, z = mesh.triangles.reshape((-1,3)).swapaxes(0, 1)
+        i, j, k = [list(range(i,x.shape[0],3)) for i in range(3)]
+        return go.Mesh3d(x=x, y=y, z=z, i=i, j=j, k=k, **kwargs)
+
+def plot_rays(reading:ScanReading, **kwargs) -> go.Scatter3d:
+    origin = reading.origins[reading.finite]
+    inters = reading.intersections[reading.finite]
+
+    x, y, z = np.stack((origin, inters, origin)).swapaxes(0,1).reshape((-1,3)).swapaxes(0,1)
+    return go.Scatter3d(x=x, y=y, z=z, **kwargs)
+
+def plot_reading(reading:ScanReading) -> go.Figure:
+    return go.Figure(data = [
+        go.Scatter({
+            'name': 'Smoothed',
+            'showlegend': True,
+            'mode': 'lines',
+            'x': np.arange(reading.result_reselution)/reading.result_reselution*(reading.max_dist-reading.min_dist)+reading.min_dist,
+            'y': reading.result,
+        }),
+        go.Scatter({
+            'mode': 'markers',
+            'name': 'Raw',
+            'showlegend': True,
+            'x': reading.distances[reading.finite],
+            'y': np.zeros(reading.intersection_count),
+        })
+    ])
+def plot_intersections(reading:ScanReading, **kwargs) -> go.Scatter3d:
+    inters = reading.intersections[reading.finite]
+
+    x, y, z = inters.reshape((-1,3)).swapaxes(0,1)
+    return go.Scatter3d(x=x, y=y, z=z, **kwargs)
+
+def plot_intersections_list(readings:list[ScanReading], **kwargs) -> list[go.Scatter3d]:
+    return [plot_intersections(reading, **kwargs) for reading in readings]
+
+def plot_readings_heatmap(readings) -> go.Figure:
+    return go.Figure(data = [
+        go.Heatmap({
+            'y': np.arange(readings[0].min_dist, readings[0].max_dist, (readings[0].max_dist - readings[0].min_dist) / readings[0].result_reselution),
+            'z': np.array([reading.result for reading in readings]).swapaxes(0,1),
+        })
+        ],
+        layout = {
+            'xaxis_title' : 'Reading Index',
+            'yaxis_title' : 'Distance (units)',
+        }
+    )