auvlib

Tools for reading AUV deployment data files and for processing and visualization of side scan and multibeam data.

Dependencies

On Ubuntu 16.04, just use the following command to install all dependencies:

sudo apt-get install libcereal-dev libglfw3-dev libceres-dev

Building

Once cloned, get the libigl submodule via git submodule init, git submodule update. Then go into the libigl folder and execute git submodule update --init external/embree and git submodule update --init external/glfw. Finally, create a build folder in the repo root, and run

cmake -DCMAKE_INSTALL_PREFIX=../install ..

within the build folder. Then run make and make install. You should now have a compiled version of auvlib in the folder /path/to/auvlib/install. When done, please execute

export PYTHONPATH=$PYTHONPATH:/path/to/auvlib/install/lib

in any terminal where you want to use the python version of the library, or add this line to your ~/.bashrc.

Using as a python library

Python is the preferred interface for auvlib. In general, the python bindings have more complete documentation and supports most of the use cases of the c++ library.

Python example

As an example, in the snippet below, we read multibeam data from a .gsf file, and create an image with the vehicle track and a multibeam height map.

from pydata_tools import std_data, gsf_data
from pybathy_maps import draw_map
import sys

gsf_pings = gsf_data.gsf_mbes_ping.parse_folder(sys.argv[1])
mbes_pings = gsf_data.convert_pings(gsf_pings)

d = draw_map.BathyMapImage(mbes_pings, 500, 500)
d.draw_height_map(mbes_pings)
d.draw_track(mbes_pings)
d.write_image("height_map.png")

Python documentation and resources

The project directories contains examples and documentation, see pybathy_maps, pydata_tools or pysonar_tracing.

Using as a c++ library

First, initialize the submodules, same as for the previous section. For using auvlib as a library in an external project, check out the example projects. If you just want to use auvlib for reading data, please see the minimal data project.