cBLUE v4.1

Version 4.1 updates:

• Update all Horizontal LUTs except for the PILLS sensor. Coefficients and offsets were larger than intended.
• Updates the GUI to better display the process button on all monitors.
• Update cBLUE version to 4.1 and subaqueous version to 3.1.

cBLUE v4.0

Version 4.0 Update

• This version incorporates major enhancements to the ocean optics models and Monte Carlo ray tracing underlying the subaqueous TPU modeling. In the updated model, the physics of the ray tracing algorithm relies on the beam
  attenuation coefficient as a function of water turbidity to determine the probability of scattering versus absorption, and a scattering phase function to determine the probability of different scattering angles. The forward scattering phase function was updated from Henyey-Greenstein to Fournier-Forand, which better approximates the Peltzold scattering phase function and performs more realistically for very small and very large angle probabilities. The beam attenuation is a combination of empirically determined absorption and scattering coefficients and are linked to Jerlov water types. The water types III, 1C, 3C, 5C, 7C, and 9C describe near-coast clear ocean water (III) and five coastal types of increasing turbidity. These water types are mapped to their estimated Kd490 in the cBLUE GUI. An important component change to this version is the incorporation of range bias uncertainty estimation, which is a function of the sensor transmit pulse width, the turbidity-dependent signal-to-noise ratios (SNR) and the difference between target depth and modeled mean path length. Ranging uncertainty is a function of sensor-specific peak finding applied to the return signal (typically via real-time or post-processing of waveforms), as well as sensor calibration, and a sensor-specific parameter adjusts this component uncertainty to the expected range. Additionally, the Monte Carlo ray tracing samples facets for each starting photon from an interpolated water surface within the on-water footprint in each repeated simulation rather than a randomly selected water facet for all photons. The coefficients used to fit the Monte Carlo ray tracing output have been updated to follow IHO S-44 type curves. Previous versions of cBLUE output a horizontal uncertainty that described the standard deviation of the center of the beam at depth, resulting in THU values on the scale of centimeters. In this update, THU values represent the 2-D distribution of all [V4.0]-cBLUE Oregon State University - page 23 of 25 points on the seafloor for each simulation, which results in THU values of 2+ meters.

• In the cblue_configuration.json, the subaqueous versioning is updated from v2.2 to v3.0.(Note that as of v4.0, the PILLS/RAMMS system still uses the old subaqueous v2.2 models; this will be updated in v4.1.)

• Added Sensor Models:

  • Leica Chiroptera-5
  • Leica HawkEye-5

• The user now has the ability to input additional (optional) vertical and/or horizontal uncertainty components (VUC or HUC). If included, these optional uncertainty components are added in quadrature with the other component uncertainties in the final TVU and/or THU computations.

• Added VUC and HUC values to metadata json file. Adjusted key values names in the metadata json to be more consistent.

• Updated HawkEye subaqueous processing to account for data collection from deep-narrow, deep-wide, and shallow (Chiroptera-5) scanners.

• cBLUE now attempts to automatically detect time format inconsistencies between the LAS file(s) and trajectory file(s) and to apply a conversion, if needed. If merging the LAS and SBET fails, cBLUE attempts to convert the LAS data from GPS standard time or UTC to adjusted standard GPS time and then retries merging the data.

• Fixed issue #72 with json file formatting. THU and TVU values > 9.999 now no
  longer run together.

• Updated VDatum values available for selection.

• GUI has been updated to have a more landscape appearance.

• Fixed an error introduced in version 3.3 when creating output files. Sorting of THU and TVU values was different than other field values. Fixed LAS field value sorting to match.

• Updated User Manual.

cBLUE v3.4

v3.4 Updates:
Fixed error when copying header file information for output files.

v3.3 Updates:
When cBLUE is run through the CLI the cblue_configuration.json file will no longer update by default. The config file will still update by default when run through the GUI. To update the config file when run through the CLI, add the --save_config flag to the command.

Added additional help text to water height field.

Moved subaqueous class list to cblue_configuration.json. Retrieve these values from the json in UserInput.py. Allows user to add or remove subaqueous class values by editing the cblue_configuration.json.

Added ability to handle LAS files that have ExtraBytes already added.

Add ability for user to select output as LAZ file. User can now use flags --las, --laz, and --csv to get output files of the respective type. No flags chosen will default to LAS file output. User can supply multiple output flags, for example: using --las and --csv will produce output files of both types. The GUI has also been modified to provide check boxes for LAS, LAZ, or CSV to match.

cBLUE v3.3

When cBLUE is run through the CLI the cblue_configuration.json file will no longer update by default. The config file will still update by default when run through the GUI. To update the config file when run through the CLI, add the --save_config flag to the command.

Added additional help text to water height field.

Moved subaqueous class list to cblue_configuration.json. Reduced subaqueous class list to 40 and 43 to match ASPRS. Users can add or remove subaqueous class values by editing the cblue_configuration.json.

Added ability to handle LAS files that have ExtraBytes already added.

Add ability for user to select output as LAZ file. User can now use flags --las, --laz, and --csv to get output files of the respective type. No flags chosen will default to LAS file output. User can supply multiple output flags, for example: using --las and --csv will produce output files of both types. The GUI has also been modified to provide check boxes for LAS, LAZ, or CSV to match.

cBLUE v3.2

Added Sensor Models:
– Teledyne CZMIL
– Teledyne CZMIL Nova
– Teledyne CZMIL Supernova

cBLUE will no longer add subaquous uncertainty to non-subaqueous points’ TPU. Subaqueous processing only generates subaqueous uncertainty for a point if that point has a subaqueous class of 40, 43, 46, or 64.

Subaqueous processing now handles linear or quadratic subaqueous lookup tables.

Subaqueous processing is now versioned at V2.2. The current version of subaqueous processing is stored in the cblue_configuration.json and is included in the output of the metadata JSON file.

Updated user manual to include new sensor models and information on how to read TVU and THU stored in Extra Bytes.

cBLUE v3.1

• Added Sensor Models:
– Areté PILLS
– Fugro RAMMS
• TPU processing now done in one click in GUI.
• cBLUE can now be run through command line interfacing.
• Sensor information is stored in the lidar_sensors.json.
• Scan angle and range uncertainties now depend on sensor selection.
• Added dependency (openpyxl).
• Error type is now logged in the metadata file produced for each output LAS file.
• Optional output CSV file records coordinates for X, Y, and Z instead of the LAS
point record value of X, Y, and Z.

cBLUE v3.0

Updates in cBLUE v3.0:

• Added support for Chiroptera 4X
• Added support for HawkEye 4X
• Added ability to select 1-sigma or 95% confidence level values for output TVU and THU
• Created a .csv (comma-separated text) output option, in addition to the LAS ExtraBytes output option
• Added support for .laz (compressed LAS) files
• Updated dependency from laspy 2.0 to laspy 3.0

Additionally, we have created a cBLUE User’s Manual

What's Changed

• Uploaded new LUTs for VQ-880-G and Chiroptera 4X by @parrishOSU in #45
• more robust .gitignore for cross-platform dev by @fpcorcoran in #48
• Feature/pre commit hooks git hooks by @fpcorcoran in #51
• New yml by @fpcorcoran in #49
• Added Chiroptera, Hawkeye to dropdown by @fpcorcoran in #50
• Bug/nv5 patch by @fpcorcoran in #52

New Contributors

• @parrishOSU made their first contribution in #45
• @fpcorcoran made their first contribution in #48

Full Changelog: v2.2.3...v3.0

v2.2.3

Fixed mcu not being initialized issue and classification attribute error

v2.2.2

• fixed tpu-sorting issue when flight lines are excluded

v2.2.1-rc2_exe

This is the pyinstaller exe version of the 2.2.1-rc2 release.
This is a self contained program and does not require any additional outside resources.
To run simply click on CBlue.exe and proceed as normal.