started working on the auto-conf

auto_conf_large_scale.py

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+import dataclasses
+
+
+@dataclasses.dataclass
+class LargeScaleTerrainCfg:
+    seed: int = 42
+    hr_dem_resolution: float = 0.025
+
+
+HRDEMCfg_D = {
+    "num_blocks": 4,
+    "block_size": 50,
+    "pad_size": 10.0,
+    "max_blocks": int(1e7),
+    "seed": 42,
+    "resolution": 0.05,
+    "z_scale": 1.0,
+    "source_resolution": 5.0,
+    "resolution": 0.025,
+    "interpolation_padding": 2,
+    "generate_craters": True,
+}
+CWMCfg_D = {
+    "num_workers": 8,
+    "input_queue_size": 400,
+    "output_queue_size": 30,
+}
+IWMCfg_D = {
+    "num_workers": 1,
+    "input_queue_size": 400,
+    "output_queue_size": 30,
+}
+CraterDBCfg_D = {
+    "block_size": 50,
+    "max_blocks": int(1e7),
+    "save_to_disk": False,
+    "write_to_disk_interval": 100,
+}
+CGCfg_D = {
+    "profiles_path": "assets/Terrains/crater_spline_profiles.pkl",
+    "min_xy_ratio": 0.85,
+    "max_xy_ratio": 1.0,
+    "random_rotation": True,
+    "seed": 42,
+    "num_unique_profiles": 10000,
+}
+CDDCfg_D = {
+    "densities": [0.025, 0.05, 0.5],
+    "radius": [[1.5, 2.5], [0.75, 1.5], [0.25, 0.5]],
+    "num_repeat": 1,
+    "seed": 42,
+}
+CraterSamplerCfg_D = {
+    "block_size": 50,
+    "crater_gen_cfg": CGCfg_D,
+    "crater_dist_cfg": CDDCfg_D,
+}
+CraterBuilderCfg_D = {
+    "block_size": 50,
+    "pad_size": 10.0,
+    "resolution": 0.025,
+    "z_scale": 1.0,
+}
+ICfg = {
+    "source_resolution": 5.0,
+    "target_resolution": 0.025,
+    "source_padding": 2,
+    "method": "bicubic",
+}
+HRDEMGenCfg_D = {
+    "high_res_dem_cfg": HRDEMCfg_D,
+    "crater_db_cfg": CraterDBCfg_D,
+    "crater_sampler_cfg": CraterSamplerCfg_D,
+    "crater_builder_cfg": CraterBuilderCfg_D,
+    "interpolator_cfg": ICfg,
+    "crater_worker_manager_cfg": CWMCfg_D,
+    "interpolator_worker_manager_cfg": IWMCfg_D,
+}
+
+MMCfg_D = {
+    "folder_path": "assets/Terrains/SouthPole",
+    "lr_dem_name": "crater",
+    "hrdem_settings": HRDEMCfg_D,
+}
+
+NGCMMCfg_D = {
+    "num_texels_per_level": 384,
+    "target_res": 0.02,
+    "fine_interpolation_method": "bilinear",
+    "coarse_interpolation_method": "bicubic",
+    "fine_acceleration_mode": "hybrid",
+    "coarse_acceleration_mode": "gpu",
+    "profiling": True,
+}
+RDBCfg_D = {
+    "block_size": 50,
+    "max_blocks": int(1e7),
+    "save_to_disk": False,
+    "write_to_disk_interval": 1000,
+}
+RSCfg_1_D = {
+    "block_size": 50,
+    "rock_dist_cfg": {
+        "position_distribution": {
+            "name": "thomas_point_process",
+            "parent_density": 0.04,
+            "child_density": 100,
+            "sigma": 3,
+            "seed": 42,
+        },
+        "scale_distribution": {
+            "name": "uniform",
+            "min": 0.02,
+            "max": 0.05,
+            "seed": 42,
+        },
+        "seed": 42,
+        "num_rock_id": 49,
+    },
+}
+RSCfg_2_D = {
+    "block_size": 50,
+    "rock_dist_cfg": {
+        "position_distribution": {
+            "name": "thomas_point_process",
+            "parent_density": 0.01,
+            "child_density": 25,
+            "sigma": 3,
+            "seed": 42,
+        },
+        "scale_distribution": {
+            "name": "uniform",
+            "min": 0.05,
+            "max": 0.2,
+            "seed": 42,
+        },
+        "seed": 43,
+        "num_rock_id": 49,
+    },
+}
+RGCfg_1_D = {
+    "rock_db_cfg": RDBCfg_D,
+    "rock_sampler_cfg": RSCfg_1_D,
+    "rock_assets_folder": "assets/USD_Assets/rocks/small",
+    "instancer_name": "very_small_rock_instancer",
+    "seed": 42,
+    "block_span": 0,
+    "block_size": 50,
+}
+RGCfg_2_D = {
+    "rock_db_cfg": RDBCfg_D,
+    "rock_sampler_cfg": RSCfg_2_D,
+    "rock_assets_folder": "assets/USD_Assets/rocks/small",
+    "instancer_name": "large_rock_instancer",
+    "seed": 42,
+    "block_span": 1,
+    "block_size": 50,
+}
+RMCfg_D = {
+    "rock_gen_cfgs": [RGCfg_1_D, RGCfg_2_D],
+    "instancers_path": "/World/rock_instancers",
+    "seed": 42,
+    "block_size": 50,
+}
+
+LSTMCfg_D = {
+    "map_name": "Site20_final_adj_5mpp_surf",
+    "pixel_coordinates": (0, 0),
+    "ll_coordinates": (0, 0),
+    "meters_coordinates": initial_position,
+    "coordinate_format": "meters",
+    "visual_mesh_update_threshold": 2.0,
+}
+
+mm_settings = MapManagerCfg(**MMCfg_D)
+ngcmm_settings = NestedGeometricClipMapManagerCfg(**NGCMMCfg_D)
+rm_settings = RockManagerCfg(**RMCfg_D)
+lstm_settings = LargeScaleTerrainManagerCfg(**LSTMCfg_D)
+
+LSTM = LargeScaleTerrainManager(lstm_settings, ngcmm_settings, hrdem_settings, mm_settings, rm_settings)
+
+LSTM.build()
+height = LSTM.get_height_global(initial_position)