MOOS Map Builder

Build cropped TIFF background maps for MOOS-IvP through a local browser UI or the moos-map command. Both interfaces use the same map sources, crop logic, cache, and MOOS compatibility checks.

MOOS Map targets current upstream MOOS-IvP with the default PROJ-backed CMOOSGeodesy. Its datum-fixed UTM zone and hemisphere support maps that cross zone boundaries or the equator. Legacy MOOS-IvP builds and current builds configured with --with-proj=off are not supported for maps that cross a UTM zone boundary or the equator.

PyPI Project

Install

MOOS Map requires Python 3.11 or newer and pipx. On macOS, install pipx and add its application directory to your shell path once:

brew install pipx
pipx ensurepath

Then install MOOS Map in its own managed environment:

pipx install moos-map

Then launch the UI:

moos-map ui

UI

Click any two diagonally opposite corners to select a region. Click-hold-drag pans the map; another single click starts a replacement selection. Review the summary and choose Build Map.

Use Find a place or enter lat, lon above the map to move the preview to a known location. Place-name autocomplete uses the public Photon service and requires an internet connection; direct coordinates work locally. Search only moves the preview viewport and never changes the selected export region, mission origin, or export zoom.

Esri World Imagery and zoom 17 are the defaults. The origin defaults to the map center. For an existing mission, open 04 Advanced placement and enter its LatOrigin and LongOrigin, or drag the red origin dot.

CLI

Build with the same defaults by supplying any two diagonal corners as latitude longitude pairs:

moos-map build \
  --corners 42.358 -71.088 42.359 -71.087 \
  --name harbor

For an existing mission, supply its origin:

moos-map build \
  --corners 42.358 -71.088 42.359 -71.087 \
  --origin 42.358436 -71.087448 \
  --name harbor

Useful commands:

moos-map sources
moos-map plan --corners 42.358 -71.088 42.359 -71.087
moos-map verify ~/moos-maps/harbor/harbor.tif
moos-map build -h

build downloads immediately; running sources or plan first is optional. Use --zoom, --source, or --output-dir to override defaults. Builds include a .moos snippet and replace same-named bundles safely by default. See moos-map build -h for opt-out and cache controls.

Output

Each map gets its own directory:

~/moos-maps/harbor/
├── harbor.tif
├── harbor.info
└── harbor.moos

Copy the .tif and .info files into a mission directory, or add that exact map directory to IVP_IMAGE_DIRS. Then add the generated harbor.moos settings to the mission. pMarineViewer does not recursively search ~/moos-maps.

The TIFF is cropped to the selected coordinates; extra downloaded tile margins are discarded. Source and requested-bound provenance is kept as ignored // comments in the .info; no JSON sidecar is created.

Sources

Built-ins include Esri World Imagery, Google Satellite, Google Hybrid, Google Maps, and Esri World Topographic. Local MBTiles and custom XYZ services are also supported. Native detail varies by location. A listed provider is not a grant of export rights; check its current terms before downloading hosted imagery.

The tile cache is ${XDG_CACHE_HOME:-~/.cache}/moos-map/tiles.

Development

git clone https://github.com/cbenjamin23/moos-map.git
cd moos-map
python3 -m venv .venv
source .venv/bin/activate
python -m pip install -e '.[test]'
python -m pytest

See docs/architecture.md for module boundaries, docs/validation.md for the MIT pMarineViewer comparison, and TODO.md for deferred work.

License

GPL-3.0-only. See LICENSE.

Acknowledgements

MOOS Map grew out of earlier map-building work in the MOOS-IvP community. We are grateful to:

• HeroCC/AnaxiMap: HeroCC/AnaxiMap demonstrated a practical tile-download and stitching workflow that inspired MOOS Map's map acquisition pipeline.
• Raymond Turrisi: His map-building prototype helped shape the practical workflow and direction of this project.

AnaxiMap already provided coordinate-driven XYZ tile acquisition and stitching, source selection, downloaded-tile reuse, and initial .info generation. Ray's prototype already provided browser map navigation, two-click region selection, adjustable bounds and origin, location search, live export estimates, imagery selection, and TIFF export. MOOS Map independently implemented and extended those foundations with:

• Exact Geographic Cropping: Resamples the fractional source-tile window so the TIFF and its recorded bounds match the requested coordinates instead of retaining whole-tile margins.

• pMarineViewer Metadata: Produces the strict six-key .info format expected by current pMarineViewer, including the mission datum. Ray's prototype does not generate .info; AnaxiMap's file includes additional active keys that current pMarineViewer rejects.

• Complete Map Bundles: Places matching .tif, .info, and optional copy-ready .moos files together in a named output directory.

• Current MOOS Geodesy Compatibility: Supports datum-fixed PROJ maps that cross UTM boundaries or the equator and calculates pMarineViewer placement estimates even when the map center and mission origin select different natural zones.

• Shared CLI and GUI Core: Uses the same source registry, crop calculations, cache, output writers, and validation from both interfaces, rather than maintaining separate build implementations.

• Reproducible Planning: Extends AnaxiMap's dry run and Ray's live estimates with exact output dimensions, tile and pixel counts, resolution, ground size, selected bounds, mission origin, and modeled pMarineViewer placement.

• Post-Build Verification: Reopens completed TIFF and .info files and verifies their dimensions, names, bounds, datum, syntax, and bundle consistency before reporting success.

• Reliable Tile Acquisition: Downloads concurrently, retries throttling and transient server errors, validates returned image data and dimensions, and rejects incomplete builds.

• Source-Isolated Caching: Stores reusable tiles in provider-specific namespaces, preventing imagery from different services at the same coordinates from colliding.

• Offline MBTiles Support: Builds maps directly from local MBTiles archives without contacting a hosted tile provider.

• Source Policy Controls: Records attribution and provider metadata, distinguishes preview-only sources, and requires explicit acknowledgement before exporting from a custom XYZ service.

• Bounded Builds: Enforces configurable tile-count, pixel-count, response-size, coordinate, and zoom limits before expensive or unsafe work begins.

• Transaction-Safe Output: Builds and verifies files in staging, replaces existing bundles atomically, and restores prior files if installation or verification fails.

• Automation Interfaces: Provides sources, plan, build, and verify commands with machine-readable JSON output for repeatable scripts and agent workflows.

• Improved Place Search: Extends Ray's single-result, submit-only Nominatim search with autocomplete, multiple ranked results, duplicate removal, keyboard navigation, result-specific viewport fitting, server-side Photon requests, caching, and structured error handling.

• Automated Tests: Covers geometry, acquisition, caching, source policy, bundle generation, .info parsing, CLI behavior, web endpoints, geocoding, and failure recovery.

• Viewer Validation: Documents a direct comparison with the shipped MIT pMarineViewer map using matched local and geographic vehicle positions to validate TIFF alignment, datum handling, and mission placement.