├── __init__.py ├── images └── scans.png ├── data └── DIDSON │ ├── test │ ├── tuna_can.png │ ├── 1468966347175925_raw.png │ ├── 1468966376377511_raw.png │ ├── 1468966376476216_raw.png │ ├── 1468966851909797_raw.png │ ├── 1468969086135548_raw.png │ ├── 1468970074505798_raw.png │ ├── 1468970271148135_raw.png │ ├── 1468970485675274_raw.png │ ├── 1468970745714629_raw.png │ ├── 1468970832506128_raw.png │ ├── README.md │ ├── annotated │ │ ├── 1468966347175925_annotated.png │ │ ├── 1468966376377511_annotated.png │ │ ├── 1468966376476216_annotated.png │ │ ├── 1468966851909797_annotated.png │ │ ├── 1468969086135548_annotated.png │ │ ├── 1468970074505798_annotated.png │ │ ├── 1468970271148135_annotated.png │ │ ├── 1468970485675274_annotated.png │ │ ├── 1468970745714629_annotated.png │ │ └── 1468970832506128_annotated.png │ ├── 1468966347175925.json │ ├── 1468966376377511.json │ ├── 1468966376476216.json │ ├── 1468966851909797.json │ ├── 1468969086135548.json │ ├── 1468970074505798.json │ ├── 1468970271148135.json │ ├── 1468970485675274.json │ ├── 1468970745714629.json │ └── 1468970832506128.json │ └── background │ ├── 1468966397006010.png │ ├── 1468966397206157.png │ ├── 1468966397407786.png │ ├── 1468966397506658.png │ ├── 1468966397606151.png │ ├── 1468966397706313.png │ ├── 1468966397910533.png │ ├── 1468966398005895.png │ ├── 1468966398205616.png │ ├── 1468966398305583.png │ ├── 1468966398407539.png │ ├── 1468966398505476.png │ ├── 1468966398605519.png │ ├── 1468966398905783.png │ ├── 1468966399004759.png │ ├── 1468966399104756.png │ ├── 1468966399205466.png │ ├── 1468966399304799.png │ ├── 1468966399405032.png │ ├── 1468966399605734.png │ ├── 1468966399706075.png │ ├── 1468966399906195.png │ ├── 1468966400005232.png │ ├── 1468966400106925.png │ ├── 1468966400304736.png │ ├── 1468966400404831.png │ ├── 1468966400505957.png │ ├── 1468966400605124.png │ ├── 1468966400705184.png │ ├── 1468966400907855.png │ ├── 1468966401104969.png │ ├── 1468966401205023.png │ ├── 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # multibeam 2 | 3 | ![Example scan (left to right): original, pre-processed, MAP classification](https://raw.githubusercontent.com/pvazteixeira/multibeam/feature/mrf/images/scans.png) 4 | 5 | A simple Python module to handle pre-processing and segmentation of multibeam sonar images. 6 | 7 | Features: 8 | * polar to Cartesian conversion 9 | * support for non-linear mappings between beam number and bearing angle 10 | * background and object intensity distribution estimation (via mixture model) 11 | * MAP and MRF segmentation 12 | 13 | ## dependencies 14 | 15 | The main dependencies for this module are: 16 | 17 | * [numpy](https://numpy.org) - general-purpose array manipulation 18 | * [opencv](https://opencv.org) - image processing 19 | * [scipy](https://www.scipy.org) 20 | 21 | The `environment.yml` file contains the [conda](http://conda.io) environment specification for this package. 22 | 23 | 24 | ## references 25 | 26 | The principles behind this package are detailed in 27 | 28 | ``` 29 | @inproceedings{teixeira2018multibeam, 30 | title = {Multibeam Data Processing for Underwater Mapping}, 31 | pages = {1877-1884}, 32 | url = {https://doi.org/10.1109/iros.2018.8594128}, 33 | ISSN = {2153-0866}, 34 | doi = {10.1109/iros.2018.8594128}, 35 | author = {Pedro V. Teixeira and Michael Kaess and Franz S. Hover and John J. Leonard}, 36 | title = {Multibeam Data Processing for Underwater Mapping}, 37 | booktitle = {{IEEE}/{RSJ} Int. Conf. Intelligent Robots and Systems ({IROS})}, 38 | year = 2018, 39 | month = Oct, 40 | } 41 | ``` 42 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | env/ 12 | build/ 13 | develop-eggs/ 14 | dist/ 15 | downloads/ 16 | eggs/ 17 | .eggs/ 18 | lib/ 19 | lib64/ 20 | parts/ 21 | sdist/ 22 | var/ 23 | *.egg-info/ 24 | .installed.cfg 25 | *.egg 26 | 27 | # PyInstaller 28 | # Usually these files are written by a python script from a template 29 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 30 | *.manifest 31 | *.spec 32 | 33 | # Installer logs 34 | pip-log.txt 35 | pip-delete-this-directory.txt 36 | 37 | # Unit test / coverage reports 38 | htmlcov/ 39 | .tox/ 40 | .coverage 41 | .coverage.* 42 | .cache 43 | nosetests.xml 44 | coverage.xml 45 | *,cover 46 | .hypothesis/ 47 | 48 | # Translations 49 | *.mo 50 | *.pot 51 | 52 | # Django stuff: 53 | *.log 54 | local_settings.py 55 | 56 | # Flask stuff: 57 | instance/ 58 | .webassets-cache 59 | 60 | # Scrapy stuff: 61 | .scrapy 62 | 63 | # Sphinx documentation 64 | docs/_build/ 65 | 66 | # PyBuilder 67 | target/ 68 | 69 | # IPython Notebook 70 | .ipynb_checkpoints 71 | 72 | # pyenv 73 | .python-version 74 | 75 | # celery beat schedule file 76 | celerybeat-schedule 77 | 78 | # dotenv 79 | .env 80 | 81 | # virtualenv 82 | venv/ 83 | ENV/ 84 | 85 | # Spyder project settings 86 | .spyderproject 87 | 88 | # Rope project settings 89 | .ropeproject 90 | 91 | # Output/test data 92 | ping.png 93 | dev/*.csv 94 | dev/*.json 95 | dev/output 96 | dev/cropped 97 | 98 | # exported figures and movies 99 | dev/*.eps 100 | dev/*.mp4 101 | dev/*.pdf 102 | dev/*.pdf_tex 103 | dev/*.png 104 | dev/*.tex 105 | 106 | -------------------------------------------------------------------------------- /didson.py: -------------------------------------------------------------------------------- 1 | """ 2 | Specialization of multibeam.sonar to handle DIDSON sonars. 3 | """ 4 | import numpy as np 5 | import cv2 6 | from sonar import Sonar 7 | 8 | class Didson(Sonar): 9 | """ 10 | Specialized multibeam class for the DIDSON sonar 11 | """ 12 | 13 | def __compute_lookup__(self, resolution): 14 | """ 15 | Compute lookup table used in polar to cartesian conversion 16 | """ 17 | bin_length = (self.max_range - self.min_range)/(self.num_bins + 0.0) 18 | # beamwidth = (self.fov)/(self.num_beams+0.0) 19 | 20 | y_0 = self.max_range*np.sin(self.fov/2.0) 21 | width = int(np.around(2*y_0/resolution)) 22 | yres = 2*y_0/width 23 | 24 | self.width = width 25 | 26 | x_0 = self.min_range*np.cos(self.fov/2.0) 27 | x_1 = self.max_range 28 | height = int(np.around((x_1-x_0)/resolution)) 29 | xres = (x_1-x_0)/height 30 | self.height = height 31 | 32 | row_cart = np.arange(0, height) 33 | row_cart.shape = (height, 1) 34 | row_cart = np.tile(row_cart, (1, width)) 35 | x = x_0 + xres*row_cart 36 | 37 | col_cart = np.arange(0, width) 38 | col_cart.shape = (1, width) 39 | col_cart = np.tile(col_cart, (height, 1)) 40 | y = -y_0 + yres*col_cart 41 | 42 | (mag, angle) = cv2.cartToPolar(x.flatten(), y.flatten()) 43 | 44 | angle[angle > np.pi] -= 2*np.pi # convert from cv's [0,2pi] range to [-pi,pi] 45 | 46 | mag.shape = (height, width) 47 | angle.shape = (height, width) 48 | 49 | row_polar = mag # bin 50 | col_polar = angle # beam 51 | 52 | # distortion removal formula 53 | 54 | row_polar -= self.min_range 55 | row_polar = np.around(row_polar/bin_length) 56 | 57 | #col_polar+=self.fov/2.0 58 | 59 | # default conversion 60 | # col_polar = np.around(col_polar/beamwidth) 61 | # didson-specific converstion (compensates for angular distortion) 62 | a = np.array([0.0030, -0.0055, 2.6829, 48.04]) # angular distortion model coefficients 63 | col_polar = np.rad2deg(col_polar) 64 | col_polar = np.round(a[0]*np.power(col_polar,3) + a[1]*np.power(col_polar,2) + a[2]*col_polar+(1+a[3])+np.ones_like(col_polar)); 65 | 66 | col_polar[row_polar < 0] = 0 67 | row_polar[col_polar < 0] = 0 68 | col_polar[col_polar < 0] = 0 69 | row_polar[row_polar < 0] = 0 70 | 71 | col_polar[row_polar >= self.num_bins] = 0 72 | row_polar[col_polar >= self.num_beams] = 0 73 | row_polar[row_polar >= self.num_bins] = 0 74 | col_polar[col_polar >= self.num_beams] = 0 75 | 76 | self.row_polar = row_polar.astype(int) 77 | self.col_polar = col_polar.astype(int) 78 | self.row_cart = row_cart.astype(int) 79 | self.col_cart = col_cart.astype(int) 80 | -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- 1 | name: multibeam 2 | channels: 3 | - pvt 4 | - conda-forge 5 | - https://conda.anaconda.org/jlaura 6 | - defaults 7 | dependencies: 8 | - pymongo=3.2.2=py27_0 9 | - _nb_ext_conf=0.3.0=py27_0 10 | - anaconda-client=1.5.4=py27_0 11 | - backports=1.0=py27_0 12 | - backports_abc=0.4=py27_0 13 | - cairo=1.12.18=6 14 | - clyent=1.2.2=py27_0 15 | - configparser=3.5.0=py27_0 16 | - cycler=0.10.0=py27_0 17 | - decorator=4.0.10=py27_0 18 | - entrypoints=0.2.2=py27_0 19 | - enum34=1.1.6=py27_0 20 | - fontconfig=2.11.1=6 21 | - freetype=2.5.5=1 22 | - functools32=3.2.3.2=py27_0 23 | - get_terminal_size=1.0.0=py27_0 24 | - glib=2.43.0=1 25 | - harfbuzz=0.9.39=1 26 | - ipykernel=4.5.0=py27_0 27 | - ipython=5.1.0=py27_0 28 | - ipython_genutils=0.1.0=py27_0 29 | - ipywidgets=5.2.2=py27_0 30 | - jbig=2.1=0 31 | - jinja2=2.8=py27_1 32 | - jpeg=8d=2 33 | - jsonschema=2.5.1=py27_0 34 | - jupyter=1.0.0=py27_3 35 | - jupyter_client=4.4.0=py27_0 36 | - jupyter_console=5.0.0=py27_0 37 | - jupyter_core=4.2.0=py27_0 38 | - libffi=3.2.1=0 39 | - libgfortran=3.0.0=1 40 | - libpng=1.6.17=0 41 | - libsodium=1.0.10=0 42 | - libtiff=4.0.6=2 43 | - libxml2=2.9.2=0 44 | - markupsafe=0.23=py27_2 45 | - matplotlib=1.5.1=np110py27_0 46 | - mistune=0.7.3=py27_0 47 | - mkl=11.3.3=0 48 | - nb_anacondacloud=1.2.0=py27_0 49 | - nb_conda=2.0.0=py27_0 50 | - nb_conda_kernels=2.0.0=py27_0 51 | - nbconvert=4.2.0=py27_0 52 | - nbformat=4.1.0=py27_0 53 | - nbpresent=3.0.2=py27_0 54 | - networkx=1.11=py27_0 55 | - notebook=4.2.3=py27_0 56 | - numpy=1.10.4=py27_2 57 | - opencv=2.4.10=np110py27_1 58 | - openssl=1.0.2j=0 59 | - pango=1.39.0=1 60 | - path.py=8.2.1=py27_0 61 | - pathlib2=2.1.0=py27_0 62 | - pexpect=4.0.1=py27_0 63 | - pickleshare=0.7.4=py27_0 64 | - pillow=3.4.2=py27_0 65 | - pip=9.0.1=py27_0 66 | - pixman=0.32.6=0 67 | - prompt_toolkit=1.0.9=py27_0 68 | - ptyprocess=0.5.1=py27_0 69 | - pycairo=1.10.0=py27_0 70 | - pygments=2.1.3=py27_0 71 | - pyparsing=2.1.4=py27_0 72 | - pyqt=4.11.4=py27_4 73 | - python=2.7.12=1 74 | - python-dateutil=2.6.0=py27_0 75 | - pytz=2016.7=py27_0 76 | - pyyaml=3.12=py27_0 77 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