FireRS Situation Assessment and Observation Planning

``` directory.*

A C++ library (___libsaop___) implementing:
 - A VNS-based observation planning algorithm for wildfire monitoring.
 - The communication with [Neptus](https://github.com/LSTS/neptus) and [Dune](https://github.com/LSTS/dune) software for the operation of unmanned vehicles.
 - A trivial wildfire mapping algorithm.
 
   The functionality provided by _libsaop_ is also exposed trough three python interfaces:
   - *uav_planning*: Core planning algorithm
   - *neptus*: Communication with Neptus and Dune
   - *firemapping*: mapping algorithms
 
And a ROS package (___supersaop___) for real time execution of SAOP with real or simulated UAVs in a real or synthetic wildfire scenario.

## SAOP environment setup

### 1. On Docker
The easiest way to start with SAOP is using docker.

To build the container:

    ./docker/run.bash build

The file `docker/Dockerfile` contains all the steps to build a SAOP-ready Ubuntu 18.04 image.

To start a shell in the container with the the code repository and the data repository mounted:

    ./docker/run.bash start

The `/docker/run.bash` is the recommended way to build and run the SAOP docker container as it sets up some X11 bindings from the host.

### 2. Local software requirements

_(If you are using docker, skip this section and continue with **Geographic data**)_

The core functions of FireRS SAOP require running a GNU/Linux operating system (Ubuntu 18.04 and Fedora 29 tested) with:

 - cmake
 - a C++11 compiler
 - Boost
 - python 3.5
 - Cython
 - OpenCV
 - [pybind11](https://github.com/pybind/pybind11/)
 - gdal
 - [windninja](https://github.com/firelab/windninja)
 - The following python packages:
    * affine
    * cv2
    * GDAL
    * joblib
    * matplotlib
    * numpy
    * pandas
    * pybind11
    * pytz
    * scikit-image
    * scipy
    * six

Using Ubuntu, run as *root*:

    apt install g++ cmake python3 cython3 python3-gdal python3-setuptools\
    python3-pip python3-affine python3-tz python3-pandas python3-numpy\
    python3-matplotlib libboost-all-dev libgdal-dev libopencv-shape\
    python3-opencv
    
    pip3 install pybind11 joblib scikit-image scipy

*pybind11 is present as a submodule of the current repository. To retrieve it:*

    git submodule init
    git submodule update
    
#### 3.1 Real time execution  requirements

Optionally, for the real time execution:

 - [ROS](http://www.ros.org/)
 - [Neptus](https://github.com/lsts/neptus) and [Dune](https://github.com/lsts/dune) 
    
### 3. Geographic data

On top of the software requierements, some geographic data are needed in order to propagate a fire in the area of your choice.
You should set an environment variable 
```FIRERS_DATA
``` containing the path to a folder with 3 folders inside following this structure:

 - 
```firers_data/