README.md

Imaging sonar simulator

This repository presents the imaging sonar simulator + partly data as presented in the following publications:

• A rasterized ray-tracer pipeline for real-time, multi-device sonar simulation
  R. Cerqueira, T. Trocoli, J. Albiez and L. Oliveira
  Elsevier Graphical Models Journal. 2020.
  

• A multi-device sonar simulator for real-time underwater applications
  R. Cerqueira
  PhD thesis. Federal University of Bahia. 2019.
  

• A novel GPU-based sonar simulator for real-time applications
  R. Cerqueira, T. Trocoli, G. Neves, S. Joyeux, J. Albiez and L. Oliveira
  Elsevier Computers & Graphics Journal
  Special Section on SIBGRAPI 2017
  

• Custom Shader and 3D Rendering for computationally efficient Sonar Simulation
  R. Cerqueira, T. Trocoli, G. Neves, L. Oliveira, S. Joyeux and J. Albiez
  SIBGRAPI 2016
  

Types of simulated sonar devices:

• Mechanical scanning imaging sonar (MSIS)
• Forward-looking sonar (FLS)

Packages

The imaging sonar simulation is split into five main packages, as follows:

• simulation/normal_depth_map: samples each OSG frame and computes the sonar rendering parameters during rasterization pipeline on GPU: echo intensity and pulse distance;
• simulation/gpu_sonar_simulation: decodes the sonar rendering parameters into simulated sonar data;
• simulation/orogen/imaging_sonar_simulation: simulates the operation of MSIS and FLS sensors; controls the virtual sonar device in the underwater scene; handles sonar properties; and provides I/O ports to interact with other Rock components.
• simulation/uwmodels: contains the underwater scenarios and 3D models;
• simulation/examples: contains scripts to run the imaging sonar simulations.

How to install

The following steps are tested correctly on

OS	OpenCV	Ruby	Test	Last test
Ubuntu 18.04 LTS	OpenCV 3.2.x	Ruby 2.5.1	OK	25 Feb 2022
Ubuntu 16.04 LTS	OpenCV 2.4.x	Ruby 2.3.1	OK	18 Feb 2020

$ sudo apt-get install ruby ruby-dev
$ mkdir sonar_simulation
$ cd sonar_simulation
$ wget http://raw.githubusercontent.com/romulogcerqueira/sonar_simulation-buildconf/master/bootstrap.sh
$ sh bootstrap.sh

Using docker for this repository (optional)

Optionally, you may choose to build this repository using Docker, for convenience. Follow the instructions here.

How to run the examples

Checkout and build the packages:

$ aup
$ amake

Go to examples directory:

$ acd simulation/examples/

To simulate the FLS device operation:

$ ruby sonar_multibeam-run.rb

To simulate the MSIS device operation:

$ ruby sonar_scanning-run.rb

Citation

Please consider citing our publications if you find this code useful for your research:

@article{CERQUEIRA2020,
    title = {A rasterized ray-tracer pipeline for real-time, multi-device sonar simulation},
    author = {Cerqueira, R{\^o}mulo and Trocoli, Tiago and Albiez, Jan and Oliveira, Luciano},
    journal = {Graphical Models},
    volume = {111},
    year = {2020},
    issn = {1524-0703},
    doi = {http://doi.org/10.1016/j.gmod.2020.101086},
    url = {http://www.sciencedirect.com/science/article/pii/S1524070320300278}
}

@phdthesis{CERQUEIRA2019,
    title = {A multi-device sonar simulator for real-time underwater applications},
    author = {Cerqueira, R{\^o}mulo},
    year = {2019},
    school = {Federal University of Bahia}
}

@article{CERQUEIRA2017,
    title = {A novel GPU-based sonar simulator for real-time applications},
    author = {Cerqueira, R{\^o}mulo and Trocoli, Tiago and Neves, Gustavo and Joyeux, Sylvain and Albiez, Jan and Oliveira, Luciano},
    journal = {Computers & Graphics},
    volume = {68},
    number = {Supplement C},
    pages = {66--76},
    year = {2017},
    issn = {0097-8493},
    doi = {http://dx.doi.org/10.1016/j.cag.2017.08.008},
    url = {http://www.sciencedirect.com/science/article/pii/S0097849317301371}
}

@inproceedings{CERQUEIRA2016,
    title = {Custom Shader and 3D Rendering for computationally efficient Sonar Simulation},
    author = {Cerqueira, R{\^o}mulo and Trocoli, Tiago and Neves, Gustavo and Oliveira, Luciano and Joyeux, Sylvain and Albiez, Jan},
    booktitle = {XIX Conference on Graphics, Patterns and Images (SIBGRAPI)},
    booksubtitle = {Workshop on Working In Progress (WIP)},
    year = {2016},
    pages = {1--6}
}

Known issues / Suggested improvements

• romulogcerqueira/simulation-normal_depth_map#18
• romulogcerqueira/simulation-normal_depth_map#19
• romulogcerqueira/simulation-normal_depth_map#20