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dwcaress / MB-System

MB-System is an open source software package for the processing and display of bathymetry and backscatter imagery data derived from multibeam, interferometry, and sidescan sonars.

https://www.mbari.org/products/research-software/mb-system/

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Trndev #1398

Closed klheadley closed 10 months ago

klheadley commented 10 months ago

Merge libtrnav changes for ROV TRN:

This branch includes ROV TRN updates related to 2023 field season. An initial TRN set was collected using the Ventana ROV toolsled,

enabling development of the TRN pipeline, including
trnxpp (LCM ingest, stream processing)
mbtrnpp (MB-System bathymetry filtering and TRN)
playback tools

Features and updates include:

update handler architecture to use modular, extensible plugins
add handler using deltaT with INS mounted on LASS rotating arm
add/update playback tools:
mb1log-player
csvlog-player
trnlog-player
tlp-plot
add new input types : mb1, depth/pressure
add support for Compas LCM types
add config syntax for sensor mounting geometry
add config syntax for general key/value parameters (double, int, unsigned)
add raw bathymetry logging
decouple processing context elements (shared elements to per-context)
fix memory leaks and other bugs
performance and other updates

Synced with MB-System master Builds cleanly on macOS Monterey and Ubuntu 22.04 Pipeline tested on macOS