Mapping Utilities

Mapping utilities convert coordinates, process point clouds, accumulate maps, render figures, and adapt robotics payloads into OceanSim schema conventions.

Coordinates

Function	Description
`godot_to_oceansim(value)`	Convert Godot XYZ to OceanSim user XYZ: `[X, -Z, Y]`.
`oceansim_to_godot(value)`	Convert OceanSim user XYZ to Godot XYZ: `[x, z, -y]`.
`oceansim_to_ros_enu(value)`	Return an ENU-compatible OceanSim vector.
`oceansim_to_ros_ned(value)`	Convert OceanSim ENU to ROS NED: `[y, x, -z]`.
`state_position_godot(state)`	Extract and convert a state dictionary position to Godot coordinates.

OceanSim point-cloud map

class OceanSimPointCloudMap

Accumulates OceanSim point clouds and renders research map figures.

add_cloud(cloud, world=True, min_range=0.0, max_range=inf, pose=None): Add one OceanSim cloud to the map.

add_pose(position): Append one trajectory point.

cloud_array(): Return all accumulated points as a NumPy array.

save_npz(path): Persist map arrays to a compressed NumPy file.

load_npz(path): Reload a previously saved map.

render_colored_map(output_path, plane='xz', color_by='height', title=None, dark=True, point_size=1.0, trajectory_width=2.2, dpi=220): Render a dense colored point-cloud map.

render_exploration_map(output_path, plane='xz', title=None, point_size=0.45, dpi=220): Render a white-background sparse exploration map.

RGB-D SLAM

class RGBDPointCloudSLAM

Lightweight dense point-cloud accumulator for RGB-D frames.

add_frame(rgbd, pose=None, force_keyframe=False): Add a keyframe or dense RGB-D frame.

point_array(): Return fused point coordinates.

color_array(): Return fused RGB colors.

fused_arrays(): Return (points, colors) arrays.

save_ply(path): Export a colored PLY point cloud.

save_npz(path): Persist dense mapping arrays.

render(path, width=1280, height=860, color_mode='range'): Render a dense map figure.

Adapters

Function	Purpose
`make_structured_cloud_from_xyz(points, ...)`	Build OceanSim structured cloud format from external xyz-like outputs.
`raycast_lidar_to_oceansim_cloud(lidar_output, ...)`	Normalize raycast or semantic lidar output.
`ros_pointcloud2_like_to_oceansim_cloud(msg_or_dict, ...)`	Normalize decoded ROS PointCloud2-like data.
`sonar_image_to_oceansim_sonar(image, ...)`	Normalize FLS/MSIS/multibeam image data.
`dvl_to_oceansim_dvl(raw, ...)`	Normalize DVL-like outputs from external tools.