Ice Floe Segmentation and Tracking Algorithm

This notebook demonstrates the combined workflow of identifying ice floes in satellite images and identifying potential pairs across images. A more in depth tutorial on the segmentation process itself can be found at https://wilhelmuslab.github.io/IceFloeTracker.jl/tutorials/lopez-acosta-2019-workflow/

This tutorial is split into two main sections, the first of which is the segmentation algorithm which takes the satellite photos, identifies the ice floes, and produces binary images with identified floes. These binary images are then loaded into the second section of the tutorial which tracks the movement of the ice floes from image to image, and producing vario us representations of the tracked floes' movement over time.

Environment Setup

We first activate a new environment, ift_env. You can replace the environment with whatever name you like. We then add the packages needed for the tutorial. The first time you run this, it may take a few minutes.

using Pkg
Pkg.activate("ift_env")
Pkg.add(;name="IceFloeTracker", rev="main")
Pkg.add(["Images", "Plots", "DataFrames"])

  Activating new project at `~/work/IceFloeTracker.jl/IceFloeTracker.jl/docs/build/tutorials/ift_env`
    Updating git-repo `https://github.com/WilhelmusLab/IceFloeTracker.jl.git`
   Resolving package versions...
    Updating `~/work/IceFloeTracker.jl/IceFloeTracker.jl/docs/build/tutorials/ift_env/Project.toml`
  [04643c7a] + IceFloeTracker v0.9.0 `https://github.com/WilhelmusLab/IceFloeTracker.jl.git#main`
    Updating `~/work/IceFloeTracker.jl/IceFloeTracker.jl/docs/build/tutorials/ift_env/Manifest.toml`
  [621f4979] + AbstractFFTs v1.5.0
  [79e6a3ab] + Adapt v4.4.0
  [66dad0bd] + AliasTables v1.1.3
  [c9ce4bd3] + ArchGDAL v0.10.10
  [ec485272] + ArnoldiMethod v0.4.0
  [4fba245c] + ArrayInterface v7.22.0
  [13072b0f] + AxisAlgorithms v1.1.0
  [39de3d68] + AxisArrays v0.4.8
  [0e736298] + Bessels v0.2.8
  [d1d4a3ce] + BitFlags v0.1.9
  [62783981] + BitTwiddlingConvenienceFunctions v0.1.6
  [fa961155] + CEnum v0.5.0
  [2a0fbf3d] + CPUSummary v0.2.7
  [5d742f6a] + CSVFiles v1.0.2
  [aafaddc9] + CatIndices v0.2.2
  [d360d2e6] + ChainRulesCore v1.26.0
  [fb6a15b2] + CloseOpenIntervals v0.1.13
  [aaaa29a8] + Clustering v0.15.8
  [944b1d66] + CodecZlib v0.7.8
  [35d6a980] + ColorSchemes v3.31.0
⌅ [3da002f7] + ColorTypes v0.11.5
⌃ [c3611d14] + ColorVectorSpace v0.10.0
  [5ae59095] + Colors v0.13.1
  [f70d9fcc] + CommonWorldInvalidations v1.0.0
  [34da2185] + Compat v4.18.1
  [ed09eef8] + ComputationalResources v0.3.2
  [f0e56b4a] + ConcurrentUtilities v2.5.0
  [8f4d0f93] + Conda v1.10.3
  [187b0558] + ConstructionBase v1.6.0
  [150eb455] + CoordinateTransformations v0.6.4
  [adafc99b] + CpuId v0.3.1
  [a8cc5b0e] + Crayons v4.1.1
  [dc8bdbbb] + CustomUnitRanges v1.0.2
  [717857b8] + DSP v0.8.4
  [9a962f9c] + DataAPI v1.16.0
  [a93c6f00] + DataFrames v1.8.1
⌅ [864edb3b] + DataStructures v0.18.22
  [e2d170a0] + DataValueInterfaces v1.0.0
  [e7dc6d0d] + DataValues v0.4.13
  [3c3547ce] + DiskArrays v0.4.18
  [b4f34e82] + Distances v0.10.12
  [ffbed154] + DocStringExtensions v0.9.5
  [497a8b3b] + DoubleFloats v1.5.0
  [460bff9d] + ExceptionUnwrapping v0.1.11
  [e2ba6199] + ExprTools v0.1.10
  [411431e0] + Extents v0.1.6
  [4f61f5a4] + FFTViews v0.3.2
  [7a1cc6ca] + FFTW v1.10.0
  [5789e2e9] + FileIO v1.17.1
  [53c48c17] + FixedPointNumbers v0.8.5
  [add2ef01] + GDAL v1.11.0
  [14197337] + GenericLinearAlgebra v0.3.19
  [68eda718] + GeoFormatTypes v0.4.5
  [cf35fbd7] + GeoInterface v1.6.0
  [a2bd30eb] + Graphics v1.1.3
⌃ [86223c79] + Graphs v1.13.1
  [cd3eb016] + HTTP v1.10.19
  [076d061b] + HashArrayMappedTries v0.2.0
  [2c695a8d] + HistogramThresholding v0.3.1
  [3e5b6fbb] + HostCPUFeatures v0.1.17
  [04643c7a] + IceFloeTracker v0.9.0 `https://github.com/WilhelmusLab/IceFloeTracker.jl.git#main`
  [615f187c] + IfElse v0.1.1
  [2803e5a7] + ImageAxes v0.6.12
  [c817782e] + ImageBase v0.1.7
  [cbc4b850] + ImageBinarization v0.3.1
  [f332f351] + ImageContrastAdjustment v0.3.12
  [a09fc81d] + ImageCore v0.10.5
  [89d5987c] + ImageCorners v0.1.3
  [51556ac3] + ImageDistances v0.2.17
  [6a3955dd] + ImageFiltering v0.7.12
  [82e4d734] + ImageIO v0.6.9
  [6218d12a] + ImageMagick v1.4.2
  [bc367c6b] + ImageMetadata v0.9.10
⌃ [787d08f9] + ImageMorphology v0.4.6
  [2996bd0c] + ImageQualityIndexes v0.3.7
⌃ [80713f31] + ImageSegmentation v1.9.0
  [4e3cecfd] + ImageShow v0.3.8
  [02fcd773] + ImageTransformations v0.10.2
  [916415d5] + Images v0.26.2
  [9b13fd28] + IndirectArrays v1.0.0
  [d25df0c9] + Inflate v0.1.5
  [842dd82b] + InlineStrings v1.4.5
  [1d092043] + IntegralArrays v0.1.6
  [a98d9a8b] + Interpolations v0.16.2
  [8197267c] + IntervalSets v0.7.13
  [41ab1584] + InvertedIndices v1.3.1
  [92d709cd] + IrrationalConstants v0.2.6
  [c8e1da08] + IterTools v1.10.0
  [1c8ee90f] + IterableTables v1.0.0
  [82899510] + IteratorInterfaceExtensions v1.0.0
⌃ [033835bb] + JLD2 v0.5.15
  [692b3bcd] + JLLWrappers v1.7.1
  [682c06a0] + JSON v1.3.0
  [b835a17e] + JpegTurbo v0.1.6
  [8ac3fa9e] + LRUCache v1.6.2
  [b964fa9f] + LaTeXStrings v1.4.0
  [10f19ff3] + LayoutPointers v0.1.17
  [8cdb02fc] + LazyModules v0.3.1
  [2ab3a3ac] + LogExpFunctions v0.3.29
  [e6f89c97] + LoggingExtras v1.2.0
  [bdcacae8] + LoopVectorization v0.12.173
  [3da0fdf6] + MPIPreferences v0.1.11
  [1914dd2f] + MacroTools v0.5.16
  [d125e4d3] + ManualMemory v0.1.8
  [dbb5928d] + MappedArrays v0.4.2
  [739be429] + MbedTLS v1.1.9
  [626554b9] + MetaGraphs v0.8.1
  [e1d29d7a] + Missings v1.2.0
  [78c3b35d] + Mocking v0.8.1
  [e94cdb99] + MosaicViews v0.3.4
  [77ba4419] + NaNMath v1.1.3
  [b8a86587] + NearestNeighbors v0.4.24
  [f09324ee] + Netpbm v1.1.1
  [4d1e1d77] + Nullables v1.0.0
  [6fe1bfb0] + OffsetArrays v1.17.0
  [52e1d378] + OpenEXR v0.3.3
  [4d8831e6] + OpenSSL v1.6.1
  [bac558e1] + OrderedCollections v1.8.1
  [f57f5aa1] + PNGFiles v0.4.4
  [5432bcbf] + PaddedViews v0.5.12
  [d96e819e] + Parameters v0.12.3
  [69de0a69] + Parsers v2.8.3
⌅ [18e31ff7] + Peaks v0.5.3
  [eebad327] + PkgVersion v0.3.3
  [1d0040c9] + PolyesterWeave v0.2.2
  [f27b6e38] + Polynomials v4.1.0
  [2dfb63ee] + PooledArrays v1.4.3
⌅ [aea7be01] + PrecompileTools v1.2.1
  [21216c6a] + Preferences v1.5.0
  [08abe8d2] + PrettyTables v3.1.2
  [92933f4c] + ProgressMeter v1.11.0
  [c94c279d] + Proj v1.9.0
  [43287f4e] + PtrArrays v1.3.0
  [438e738f] + PyCall v1.96.4
  [4b34888f] + QOI v1.0.2
  [be4d8f0f] + Quadmath v0.5.13
  [94ee1d12] + Quaternions v0.7.7
  [b3c3ace0] + RangeArrays v0.3.2
  [c84ed2f1] + Ratios v0.4.5
  [c1ae055f] + RealDot v0.1.0
  [3cdcf5f2] + RecipesBase v1.3.4
  [189a3867] + Reexport v1.2.2
  [dee08c22] + RegionTrees v0.3.2
  [ae029012] + Requires v1.3.1
  [6038ab10] + Rotations v1.7.1
  [fdea26ae] + SIMD v3.7.2
  [94e857df] + SIMDTypes v0.1.0
  [476501e8] + SLEEFPirates v0.6.43
  [431bcebd] + SciMLPublic v1.0.0
  [7e506255] + ScopedValues v1.5.0
  [6c6a2e73] + Scratch v1.3.0
  [91c51154] + SentinelArrays v1.4.8
  [efcf1570] + Setfield v1.1.2
  [777ac1f9] + SimpleBufferStream v1.2.0
  [699a6c99] + SimpleTraits v0.9.5
  [47aef6b3] + SimpleWeightedGraphs v1.5.0
  [45858cf5] + Sixel v0.1.5
  [a2af1166] + SortingAlgorithms v1.2.2
  [276daf66] + SpecialFunctions v2.6.1
  [cae243ae] + StackViews v0.1.2
  [aedffcd0] + Static v1.3.1
  [0d7ed370] + StaticArrayInterface v1.8.0
  [90137ffa] + StaticArrays v1.9.15
  [1e83bf80] + StaticArraysCore v1.4.4
  [10745b16] + Statistics v1.11.1
  [82ae8749] + StatsAPI v1.8.0
  [2913bbd2] + StatsBase v0.34.8
  [892a3eda] + StringManipulation v0.4.2
  [ec057cc2] + StructUtils v2.6.0
  [dc5dba14] + TZJData v1.5.0+2025b
  [5e66a065] + TableShowUtils v0.2.7
  [3783bdb8] + TableTraits v1.0.1
  [382cd787] + TableTraitsUtils v1.0.2
  [bd369af6] + Tables v1.12.1
  [62fd8b95] + TensorCore v0.1.1
  [e0df1984] + TextParse v1.0.3
  [8290d209] + ThreadingUtilities v0.5.5
⌅ [731e570b] + TiffImages v0.10.2
  [06e1c1a7] + TiledIteration v0.5.0
  [f269a46b] + TimeZones v1.22.2
  [3bb67fe8] + TranscodingStreams v0.11.3
  [5c2747f8] + URIs v1.6.1
  [3a884ed6] + UnPack v1.0.2
  [3d5dd08c] + VectorizationBase v0.21.72
  [81def892] + VersionParsing v1.3.0
  [ea10d353] + WeakRefStrings v1.4.2
  [e3aaa7dc] + WebP v0.1.3
  [efce3f68] + WoodburyMatrices v1.0.0
  [8ce61222] + Arrow_jll v19.0.1+0
  [0b7ba130] + Blosc_jll v1.21.7+0
  [6e34b625] + Bzip2_jll v1.0.9+0
  [2e619515] + Expat_jll v2.7.3+0
  [f5851436] + FFTW_jll v3.3.11+0
⌅ [a7073274] + GDAL_jll v303.1100.500+0
  [d604d12d] + GEOS_jll v3.14.1+0
  [61579ee1] + Ghostscript_jll v9.55.1+0
  [59f7168a] + Giflib_jll v5.2.3+0
  [818ab7a1] + HDF4_jll v4.3.2+0
⌅ [0234f1f7] + HDF5_jll v1.14.6+0
  [e33a78d0] + Hwloc_jll v2.12.2+0
  [a51ab1cf] + ICU_jll v76.2.0+0
  [c73af94c] + ImageMagick_jll v7.1.2011+0
  [905a6f67] + Imath_jll v3.1.11+0
  [1d5cc7b8] + IntelOpenMP_jll v2025.2.0+0
  [aacddb02] + JpegTurbo_jll v3.1.3+0
  [b39eb1a6] + Kerberos_krb5_jll v1.21.3+0
  [88015f11] + LERC_jll v4.0.1+0
  [1d63c593] + LLVMOpenMP_jll v18.1.8+0
  [08be9ffa] + LibPQ_jll v16.8.0+0
  [7e76a0d4] + Libglvnd_jll v1.7.1+1
  [94ce4f54] + Libiconv_jll v1.18.0+0
  [89763e89] + Libtiff_jll v4.7.2+0
  [d3a379c0] + LittleCMS_jll v2.17.0+0
  [5ced341a] + Lz4_jll v1.10.1+0
  [856f044c] + MKL_jll v2025.2.0+0
  [7cb0a576] + MPICH_jll v4.3.2+0
  [f1f71cc9] + MPItrampoline_jll v5.5.4+0
  [9237b28f] + MicrosoftMPI_jll v10.1.4+3
  [7243133f] + NetCDF_jll v401.900.300+0
  [18a262bb] + OpenEXR_jll v3.2.4+0
  [643b3616] + OpenJpeg_jll v2.5.5+0
  [fe0851c0] + OpenMPI_jll v5.0.9+0
  [458c3c95] + OpenSSL_jll v3.5.4+0
  [efe28fd5] + OpenSpecFun_jll v0.5.6+0
  [58948b4f] + PROJ_jll v902.700.0+0
  [784f63db] + Qhull_jll v10008.0.1004+0
  [76ed43ae] + SQLite_jll v3.48.0+0
  [e0b8ae26] + Thrift_jll v0.21.1+0
⌅ [02c8fc9c] + XML2_jll v2.13.9+0
  [ffd25f8a] + XZ_jll v5.8.1+0
  [4f6342f7] + Xorg_libX11_jll v1.8.12+0
  [0c0b7dd1] + Xorg_libXau_jll v1.0.13+0
  [a3789734] + Xorg_libXdmcp_jll v1.1.6+0
  [1082639a] + Xorg_libXext_jll v1.3.7+0
  [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0
  [c7cfdc94] + Xorg_libxcb_jll v1.17.1+0
  [c5fb5394] + Xorg_xtrans_jll v1.6.0+0
  [3161d3a3] + Zstd_jll v1.5.7+1
  [28df3c45] + boost_jll v1.87.0+0
  [4611771a] + brotli_jll v1.2.0+0
  [477f73a3] + libaec_jll v1.1.4+0
  [06c338fa] + libgeotiff_jll v100.702.400+0
  [b53b4c65] + libpng_jll v1.6.51+0
  [075b6546] + libsixel_jll v1.10.5+0
  [c5f90fcd] + libwebp_jll v1.6.0+0
  [337d8026] + libzip_jll v1.11.3+0
  [888e69b1] + muparser_jll v2.3.5+0
  [1317d2d5] + oneTBB_jll v2022.0.0+1
  [fe1e1685] + snappy_jll v1.2.3+0
  [0dad84c5] + ArgTools v1.1.2
  [56f22d72] + Artifacts v1.11.0
  [2a0f44e3] + Base64 v1.11.0
  [ade2ca70] + Dates v1.11.0
  [8ba89e20] + Distributed v1.11.0
  [f43a241f] + Downloads v1.6.0
  [7b1f6079] + FileWatching v1.11.0
  [9fa8497b] + Future v1.11.0
  [b77e0a4c] + InteractiveUtils v1.11.0
  [4af54fe1] + LazyArtifacts v1.11.0
  [b27032c2] + LibCURL v0.6.4
  [76f85450] + LibGit2 v1.11.0
  [8f399da3] + Libdl v1.11.0
  [37e2e46d] + LinearAlgebra v1.11.0
  [56ddb016] + Logging v1.11.0
  [d6f4376e] + Markdown v1.11.0
  [a63ad114] + Mmap v1.11.0
  [ca575930] + NetworkOptions v1.2.0
  [44cfe95a] + Pkg v1.11.0
  [de0858da] + Printf v1.11.0
  [3fa0cd96] + REPL v1.11.0
  [9a3f8284] + Random v1.11.0
  [ea8e919c] + SHA v0.7.0
  [9e88b42a] + Serialization v1.11.0
  [1a1011a3] + SharedArrays v1.11.0
  [6462fe0b] + Sockets v1.11.0
  [2f01184e] + SparseArrays v1.11.0
  [f489334b] + StyledStrings v1.11.0
  [fa267f1f] + TOML v1.0.3
  [a4e569a6] + Tar v1.10.0
  [8dfed614] + Test v1.11.0
  [cf7118a7] + UUIDs v1.11.0
  [4ec0a83e] + Unicode v1.11.0
  [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0
  [deac9b47] + LibCURL_jll v8.6.0+0
  [e37daf67] + LibGit2_jll v1.7.2+0
  [29816b5a] + LibSSH2_jll v1.11.0+1
  [c8ffd9c3] + MbedTLS_jll v2.28.6+0
  [14a3606d] + MozillaCACerts_jll v2023.12.12
  [4536629a] + OpenBLAS_jll v0.3.27+1
  [05823500] + OpenLibm_jll v0.8.5+0
  [efcefdf7] + PCRE2_jll v10.42.0+1
  [bea87d4a] + SuiteSparse_jll v7.7.0+0
  [83775a58] + Zlib_jll v1.2.13+1
  [8e850b90] + libblastrampoline_jll v5.11.0+0
  [8e850ede] + nghttp2_jll v1.59.0+0
  [3f19e933] + p7zip_jll v17.4.0+2
        Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`
Precompiling project...
  11018.7 ms  ✓ IceFloeTracker
  1 dependency successfully precompiled in 13 seconds. 328 already precompiled.
  1 dependency precompiled but a different version is currently loaded. Restart julia to access the new version. Otherwise, loading dependents of this package may trigger further precompilation to work with the unexpected version.
   Resolving package versions...
    Updating `~/work/IceFloeTracker.jl/IceFloeTracker.jl/docs/build/tutorials/ift_env/Project.toml`
  [a93c6f00] + DataFrames v1.8.1
  [916415d5] + Images v0.26.2
  [91a5bcdd] + Plots v1.41.2
    Updating `~/work/IceFloeTracker.jl/IceFloeTracker.jl/docs/build/tutorials/ift_env/Manifest.toml`
  [d38c429a] + Contour v0.6.3
  [8bb1440f] + DelimitedFiles v1.9.1
  [c87230d0] + FFMPEG v0.4.5
  [1fa38f19] + Format v1.3.7
  [28b8d3ca] + GR v0.73.19
  [42e2da0e] + Grisu v1.0.2
  [1019f520] + JLFzf v0.1.11
  [23fbe1c1] + Latexify v0.16.10
  [442fdcdd] + Measures v0.3.3
  [ccf2f8ad] + PlotThemes v3.3.0
  [995b91a9] + PlotUtils v1.4.4
  [91a5bcdd] + Plots v1.41.2
  [01d81517] + RecipesPipeline v0.6.12
  [05181044] + RelocatableFolders v1.0.1
  [992d4aef] + Showoff v1.0.3
  [860ef19b] + StableRNGs v1.0.4
  [1cfade01] + UnicodeFun v0.4.1
  [41fe7b60] + Unzip v0.2.0
  [83423d85] + Cairo_jll v1.18.5+0
  [ee1fde0b] + Dbus_jll v1.16.2+0
  [2702e6a9] + EpollShim_jll v0.0.20230411+1
  [b22a6f82] + FFMPEG_jll v8.0.0+0
  [a3f928ae] + Fontconfig_jll v2.17.1+0
  [d7e528f0] + FreeType2_jll v2.13.4+0
  [559328eb] + FriBidi_jll v1.0.17+0
  [0656b61e] + GLFW_jll v3.4.0+2
  [d2c73de3] + GR_jll v0.73.19+1
  [b0724c58] + GettextRuntime_jll v0.22.4+0
  [7746bdde] + Glib_jll v2.86.2+0
  [3b182d85] + Graphite2_jll v1.3.15+0
  [2e76f6c2] + HarfBuzz_jll v8.5.1+0
  [c1c5ebd0] + LAME_jll v3.100.3+0
  [dd4b983a] + LZO_jll v2.10.3+0
⌅ [e9f186c6] + Libffi_jll v3.4.7+0
  [4b2f31a3] + Libmount_jll v2.41.2+0
  [38a345b3] + Libuuid_jll v2.41.2+0
  [e7412a2a] + Ogg_jll v1.3.6+0
  [91d4177d] + Opus_jll v1.5.2+0
  [36c8627f] + Pango_jll v1.57.0+0
⌅ [30392449] + Pixman_jll v0.44.2+0
  [c0090381] + Qt6Base_jll v6.8.2+2
  [629bc702] + Qt6Declarative_jll v6.8.2+1
  [ce943373] + Qt6ShaderTools_jll v6.8.2+1
  [e99dba38] + Qt6Wayland_jll v6.8.2+2
  [a44049a8] + Vulkan_Loader_jll v1.3.243+0
  [a2964d1f] + Wayland_jll v1.24.0+0
  [f67eecfb] + Xorg_libICE_jll v1.1.2+0
  [c834827a] + Xorg_libSM_jll v1.2.6+0
  [935fb764] + Xorg_libXcursor_jll v1.2.4+0
  [d091e8ba] + Xorg_libXfixes_jll v6.0.2+0
  [a51aa0fd] + Xorg_libXi_jll v1.8.3+0
  [d1454406] + Xorg_libXinerama_jll v1.1.6+0
  [ec84b674] + Xorg_libXrandr_jll v1.5.5+0
  [ea2f1a96] + Xorg_libXrender_jll v0.9.12+0
  [cc61e674] + Xorg_libxkbfile_jll v1.1.3+0
  [e920d4aa] + Xorg_xcb_util_cursor_jll v0.1.6+0
  [12413925] + Xorg_xcb_util_image_jll v0.4.1+0
  [2def613f] + Xorg_xcb_util_jll v0.4.1+0
  [975044d2] + Xorg_xcb_util_keysyms_jll v0.4.1+0
  [0d47668e] + Xorg_xcb_util_renderutil_jll v0.3.10+0
  [c22f9ab0] + Xorg_xcb_util_wm_jll v0.4.2+0
  [35661453] + Xorg_xkbcomp_jll v1.4.7+0
  [33bec58e] + Xorg_xkeyboard_config_jll v2.44.0+0
  [35ca27e7] + eudev_jll v3.2.14+0
  [214eeab7] + fzf_jll v0.61.1+0
  [a4ae2306] + libaom_jll v3.13.1+0
  [0ac62f75] + libass_jll v0.17.4+0
  [1183f4f0] + libdecor_jll v0.2.2+0
  [2db6ffa8] + libevdev_jll v1.13.4+0
  [f638f0a6] + libfdk_aac_jll v2.0.4+0
  [36db933b] + libinput_jll v1.28.1+0
  [f27f6e37] + libvorbis_jll v1.3.8+0
  [009596ad] + mtdev_jll v1.1.7+0
  [1270edf5] + x264_jll v10164.0.1+0
  [dfaa095f] + x265_jll v4.1.0+0
  [d8fb68d0] + xkbcommon_jll v1.13.0+0
        Info Packages marked with ⌅ have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated -m`

  Activating project at `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined`
    Updating git-repo `https://github.com/WilhelmusLab/IceFloeTracker.jl.git`
    Updating registry at `~/.julia/registries/HolyLabRegistry`
    Updating git-repo `https://github.com/HolyLab/HolyLabRegistry.git`
    Updating registry at `~/.julia/registries/General.toml`
   Resolving package versions...
   Installed xkbcommon_jll ────── v1.13.0+0
   Installed GR_jll ───────────── v0.73.19+1
   Installed ImageMagick_jll ──── v7.1.2011+0
   Installed FilePaths ────────── v0.9.0
   Installed QOI ──────────────── v1.0.2
   Installed NearestNeighbors ─── v0.4.24
   Installed OpenSSL ──────────── v1.6.1
   Installed libpng_jll ───────── v1.6.51+0
   Installed StatsAPI ─────────── v1.8.0
   Installed PrettyTables ─────── v3.1.2
   Installed Plots ────────────── v1.41.2
   Installed CairoMakie ───────── v0.15.7
   Installed TableShowUtils ───── v0.2.7
   Installed Glib_jll ─────────── v2.86.2+0
   Installed StringManipulation ─ v0.4.2
   Installed TimeZones ────────── v1.22.2
   Installed Makie ────────────── v0.24.7
   Installed ComputePipeline ──── v0.1.5
   Installed GR ───────────────── v0.73.19
    Updating `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Project.toml`
  [13f3f980] + CairoMakie v0.15.7
  [a93c6f00] + DataFrames v1.8.1
  [04643c7a] + IceFloeTracker v0.9.0 `https://github.com/WilhelmusLab/IceFloeTracker.jl.git#main`
  [916415d5] + Images v0.26.2
  [91a5bcdd] + Plots v1.41.2
    Updating `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Manifest.toml`
  [621f4979] + AbstractFFTs v1.5.0
  [1520ce14] + AbstractTrees v0.4.5
  [79e6a3ab] + Adapt v4.4.0
  [35492f91] + AdaptivePredicates v1.2.0
  [66dad0bd] + AliasTables v1.1.3
  [27a7e980] + Animations v0.4.2
  [c9ce4bd3] + ArchGDAL v0.10.10
  [ec485272] + ArnoldiMethod v0.4.0
  [4fba245c] + ArrayInterface v7.22.0
  [67c07d97] + Automa v1.1.0
  [13072b0f] + AxisAlgorithms v1.1.0
  [39de3d68] + AxisArrays v0.4.8
  [18cc8868] + BaseDirs v1.3.2
  [0e736298] + Bessels v0.2.8
  [d1d4a3ce] + BitFlags v0.1.9
  [62783981] + BitTwiddlingConvenienceFunctions v0.1.6
  [fa961155] + CEnum v0.5.0
  [2a0fbf3d] + CPUSummary v0.2.7
  [96374032] + CRlibm v1.0.2
  [5d742f6a] + CSVFiles v1.0.2
  [159f3aea] + Cairo v1.1.1
  [13f3f980] + CairoMakie v0.15.7
  [aafaddc9] + CatIndices v0.2.2
  [d360d2e6] + ChainRulesCore v1.26.0
  [fb6a15b2] + CloseOpenIntervals v0.1.13
  [aaaa29a8] + Clustering v0.15.8
  [944b1d66] + CodecZlib v0.7.8
  [a2cac450] + ColorBrewer v0.4.2
  [35d6a980] + ColorSchemes v3.31.0
⌅ [3da002f7] + ColorTypes v0.11.5
⌃ [c3611d14] + ColorVectorSpace v0.10.0
  [5ae59095] + Colors v0.13.1
  [f70d9fcc] + CommonWorldInvalidations v1.0.0
  [34da2185] + Compat v4.18.1
  [ed09eef8] + ComputationalResources v0.3.2
  [95dc2771] + ComputePipeline v0.1.5
  [f0e56b4a] + ConcurrentUtilities v2.5.0
  [8f4d0f93] + Conda v1.10.3
  [187b0558] + ConstructionBase v1.6.0
  [d38c429a] + Contour v0.6.3
  [150eb455] + CoordinateTransformations v0.6.4
  [adafc99b] + CpuId v0.3.1
  [a8cc5b0e] + Crayons v4.1.1
  [dc8bdbbb] + CustomUnitRanges v1.0.2
  [717857b8] + DSP v0.8.4
  [9a962f9c] + DataAPI v1.16.0
  [a93c6f00] + DataFrames v1.8.1
⌅ [864edb3b] + DataStructures v0.18.22
  [e2d170a0] + DataValueInterfaces v1.0.0
  [e7dc6d0d] + DataValues v0.4.13
  [927a84f5] + DelaunayTriangulation v1.6.5
  [8bb1440f] + DelimitedFiles v1.9.1
  [3c3547ce] + DiskArrays v0.4.18
  [b4f34e82] + Distances v0.10.12
  [31c24e10] + Distributions v0.25.122
  [ffbed154] + DocStringExtensions v0.9.5
  [497a8b3b] + DoubleFloats v1.5.0
  [4e289a0a] + EnumX v1.0.5
  [429591f6] + ExactPredicates v2.2.9
  [460bff9d] + ExceptionUnwrapping v0.1.11
  [e2ba6199] + ExprTools v0.1.10
  [411431e0] + Extents v0.1.6
  [c87230d0] + FFMPEG v0.4.5
  [4f61f5a4] + FFTViews v0.3.2
  [7a1cc6ca] + FFTW v1.10.0
  [5789e2e9] + FileIO v1.17.1
  [8fc22ac5] + FilePaths v0.9.0
  [48062228] + FilePathsBase v0.9.24
  [1a297f60] + FillArrays v1.15.0
  [53c48c17] + FixedPointNumbers v0.8.5
  [1fa38f19] + Format v1.3.7
  [b38be410] + FreeType v4.1.1
  [663a7486] + FreeTypeAbstraction v0.10.8
  [add2ef01] + GDAL v1.11.0
  [28b8d3ca] + GR v0.73.19
  [14197337] + GenericLinearAlgebra v0.3.19
  [68eda718] + GeoFormatTypes v0.4.5
  [cf35fbd7] + GeoInterface v1.6.0
  [5c1252a2] + GeometryBasics v0.5.10
  [a2bd30eb] + Graphics v1.1.3
⌃ [86223c79] + Graphs v1.13.1
  [3955a311] + GridLayoutBase v0.11.2
  [42e2da0e] + Grisu v1.0.2
  [cd3eb016] + HTTP v1.10.19
  [076d061b] + HashArrayMappedTries v0.2.0
  [2c695a8d] + HistogramThresholding v0.3.1
  [3e5b6fbb] + HostCPUFeatures v0.1.17
  [34004b35] + HypergeometricFunctions v0.3.28
  [04643c7a] + IceFloeTracker v0.9.0 `https://github.com/WilhelmusLab/IceFloeTracker.jl.git#main`
  [615f187c] + IfElse v0.1.1
  [2803e5a7] + ImageAxes v0.6.12
  [c817782e] + ImageBase v0.1.7
  [cbc4b850] + ImageBinarization v0.3.1
  [f332f351] + ImageContrastAdjustment v0.3.12
  [a09fc81d] + ImageCore v0.10.5
  [89d5987c] + ImageCorners v0.1.3
  [51556ac3] + ImageDistances v0.2.17
  [6a3955dd] + ImageFiltering v0.7.12
  [82e4d734] + ImageIO v0.6.9
  [6218d12a] + ImageMagick v1.4.2
  [bc367c6b] + ImageMetadata v0.9.10
⌃ [787d08f9] + ImageMorphology v0.4.6
  [2996bd0c] + ImageQualityIndexes v0.3.7
⌃ [80713f31] + ImageSegmentation v1.9.0
  [4e3cecfd] + ImageShow v0.3.8
  [02fcd773] + ImageTransformations v0.10.2
  [916415d5] + Images v0.26.2
  [9b13fd28] + IndirectArrays v1.0.0
  [d25df0c9] + Inflate v0.1.5
  [842dd82b] + InlineStrings v1.4.5
  [1d092043] + IntegralArrays v0.1.6
  [a98d9a8b] + Interpolations v0.16.2
  [d1acc4aa] + IntervalArithmetic v1.0.2
  [8197267c] + IntervalSets v0.7.13
  [3587e190] + InverseFunctions v0.1.17
  [41ab1584] + InvertedIndices v1.3.1
  [92d709cd] + IrrationalConstants v0.2.6
  [f1662d9f] + Isoband v0.1.1
  [c8e1da08] + IterTools v1.10.0
  [1c8ee90f] + IterableTables v1.0.0
  [82899510] + IteratorInterfaceExtensions v1.0.0
⌃ [033835bb] + JLD2 v0.5.15
  [1019f520] + JLFzf v0.1.11
  [692b3bcd] + JLLWrappers v1.7.1
  [682c06a0] + JSON v1.3.0
  [b835a17e] + JpegTurbo v0.1.6
  [5ab0869b] + KernelDensity v0.6.10
  [8ac3fa9e] + LRUCache v1.6.2
  [b964fa9f] + LaTeXStrings v1.4.0
  [23fbe1c1] + Latexify v0.16.10
  [10f19ff3] + LayoutPointers v0.1.17
  [8cdb02fc] + LazyModules v0.3.1
  [2ab3a3ac] + LogExpFunctions v0.3.29
  [e6f89c97] + LoggingExtras v1.2.0
  [bdcacae8] + LoopVectorization v0.12.173
  [3da0fdf6] + MPIPreferences v0.1.11
  [1914dd2f] + MacroTools v0.5.16
  [ee78f7c6] + Makie v0.24.7
  [d125e4d3] + ManualMemory v0.1.8
  [dbb5928d] + MappedArrays v0.4.2
  [0a4f8689] + MathTeXEngine v0.6.7
  [739be429] + MbedTLS v1.1.9
  [442fdcdd] + Measures v0.3.3
  [626554b9] + MetaGraphs v0.8.1
  [e1d29d7a] + Missings v1.2.0
  [78c3b35d] + Mocking v0.8.1
  [e94cdb99] + MosaicViews v0.3.4
  [77ba4419] + NaNMath v1.1.3
  [b8a86587] + NearestNeighbors v0.4.24
  [f09324ee] + Netpbm v1.1.1
  [4d1e1d77] + Nullables v1.0.0
  [510215fc] + Observables v0.5.5
  [6fe1bfb0] + OffsetArrays v1.17.0
  [52e1d378] + OpenEXR v0.3.3
  [4d8831e6] + OpenSSL v1.6.1
  [bac558e1] + OrderedCollections v1.8.1
  [90014a1f] + PDMats v0.11.36
  [f57f5aa1] + PNGFiles v0.4.4
  [19eb6ba3] + Packing v0.5.1
  [5432bcbf] + PaddedViews v0.5.12
  [d96e819e] + Parameters v0.12.3
  [69de0a69] + Parsers v2.8.3
⌅ [18e31ff7] + Peaks v0.5.3
  [eebad327] + PkgVersion v0.3.3
  [ccf2f8ad] + PlotThemes v3.3.0
  [995b91a9] + PlotUtils v1.4.4
  [91a5bcdd] + Plots v1.41.2
  [1d0040c9] + PolyesterWeave v0.2.2
  [647866c9] + PolygonOps v0.1.2
  [f27b6e38] + Polynomials v4.1.0
  [2dfb63ee] + PooledArrays v1.4.3
⌅ [aea7be01] + PrecompileTools v1.2.1
  [21216c6a] + Preferences v1.5.0
  [08abe8d2] + PrettyTables v3.1.2
  [92933f4c] + ProgressMeter v1.11.0
  [c94c279d] + Proj v1.9.0
  [43287f4e] + PtrArrays v1.3.0
  [438e738f] + PyCall v1.96.4
  [4b34888f] + QOI v1.0.2
  [1fd47b50] + QuadGK v2.11.2
  [be4d8f0f] + Quadmath v0.5.13
  [94ee1d12] + Quaternions v0.7.7
  [b3c3ace0] + RangeArrays v0.3.2
  [c84ed2f1] + Ratios v0.4.5
  [c1ae055f] + RealDot v0.1.0
  [3cdcf5f2] + RecipesBase v1.3.4
  [01d81517] + RecipesPipeline v0.6.12
  [189a3867] + Reexport v1.2.2
  [dee08c22] + RegionTrees v0.3.2
  [05181044] + RelocatableFolders v1.0.1
  [ae029012] + Requires v1.3.1
  [79098fc4] + Rmath v0.9.0
  [6038ab10] + Rotations v1.7.1
  [5eaf0fd0] + RoundingEmulator v0.2.1
  [fdea26ae] + SIMD v3.7.2
  [94e857df] + SIMDTypes v0.1.0
  [476501e8] + SLEEFPirates v0.6.43
  [431bcebd] + SciMLPublic v1.0.0
  [7e506255] + ScopedValues v1.5.0
  [6c6a2e73] + Scratch v1.3.0
  [91c51154] + SentinelArrays v1.4.8
  [efcf1570] + Setfield v1.1.2
  [65257c39] + ShaderAbstractions v0.5.0
  [992d4aef] + Showoff v1.0.3
  [73760f76] + SignedDistanceFields v0.4.0
  [777ac1f9] + SimpleBufferStream v1.2.0
  [699a6c99] + SimpleTraits v0.9.5
  [47aef6b3] + SimpleWeightedGraphs v1.5.0
  [45858cf5] + Sixel v0.1.5
  [a2af1166] + SortingAlgorithms v1.2.2
  [276daf66] + SpecialFunctions v2.6.1
  [860ef19b] + StableRNGs v1.0.4
  [cae243ae] + StackViews v0.1.2
  [aedffcd0] + Static v1.3.1
  [0d7ed370] + StaticArrayInterface v1.8.0
  [90137ffa] + StaticArrays v1.9.15
  [1e83bf80] + StaticArraysCore v1.4.4
  [10745b16] + Statistics v1.11.1
  [82ae8749] + StatsAPI v1.8.0
  [2913bbd2] + StatsBase v0.34.8
  [4c63d2b9] + StatsFuns v1.5.2
  [892a3eda] + StringManipulation v0.4.2
  [09ab397b] + StructArrays v0.7.2
  [ec057cc2] + StructUtils v2.6.0
  [dc5dba14] + TZJData v1.5.0+2025b
  [5e66a065] + TableShowUtils v0.2.7
  [3783bdb8] + TableTraits v1.0.1
  [382cd787] + TableTraitsUtils v1.0.2
  [bd369af6] + Tables v1.12.1
  [62fd8b95] + TensorCore v0.1.1
  [e0df1984] + TextParse v1.0.3
  [8290d209] + ThreadingUtilities v0.5.5
⌅ [731e570b] + TiffImages v0.10.2
  [06e1c1a7] + TiledIteration v0.5.0
  [f269a46b] + TimeZones v1.22.2
  [3bb67fe8] + TranscodingStreams v0.11.3
  [981d1d27] + TriplotBase v0.1.0
  [5c2747f8] + URIs v1.6.1
  [3a884ed6] + UnPack v1.0.2
  [1cfade01] + UnicodeFun v0.4.1
  [1986cc42] + Unitful v1.25.1
  [41fe7b60] + Unzip v0.2.0
  [3d5dd08c] + VectorizationBase v0.21.72
  [81def892] + VersionParsing v1.3.0
  [ea10d353] + WeakRefStrings v1.4.2
  [e3aaa7dc] + WebP v0.1.3
  [efce3f68] + WoodburyMatrices v1.0.0
  [8ce61222] + Arrow_jll v19.0.1+0
  [0b7ba130] + Blosc_jll v1.21.7+0
  [6e34b625] + Bzip2_jll v1.0.9+0
  [4e9b3aee] + CRlibm_jll v1.0.1+0
  [83423d85] + Cairo_jll v1.18.5+0
  [ee1fde0b] + Dbus_jll v1.16.2+0
  [5ae413db] + EarCut_jll v2.2.4+0
  [2702e6a9] + EpollShim_jll v0.0.20230411+1
  [2e619515] + Expat_jll v2.7.3+0
⌅ [b22a6f82] + FFMPEG_jll v7.1.1+0
  [f5851436] + FFTW_jll v3.3.11+0
  [a3f928ae] + Fontconfig_jll v2.17.1+0
  [d7e528f0] + FreeType2_jll v2.13.4+0
  [559328eb] + FriBidi_jll v1.0.17+0
⌅ [a7073274] + GDAL_jll v303.1100.500+0
  [d604d12d] + GEOS_jll v3.14.1+0
  [0656b61e] + GLFW_jll v3.4.0+2
  [d2c73de3] + GR_jll v0.73.19+1
  [b0724c58] + GettextRuntime_jll v0.22.4+0
  [61579ee1] + Ghostscript_jll v9.55.1+0
  [59f7168a] + Giflib_jll v5.2.3+0
  [7746bdde] + Glib_jll v2.86.2+0
  [3b182d85] + Graphite2_jll v1.3.15+0
  [818ab7a1] + HDF4_jll v4.3.2+0
⌅ [0234f1f7] + HDF5_jll v1.14.6+0
  [2e76f6c2] + HarfBuzz_jll v8.5.1+0
  [e33a78d0] + Hwloc_jll v2.12.2+0
  [a51ab1cf] + ICU_jll v76.2.0+0
  [c73af94c] + ImageMagick_jll v7.1.2011+0
  [905a6f67] + Imath_jll v3.1.11+0
  [1d5cc7b8] + IntelOpenMP_jll v2025.2.0+0
  [aacddb02] + JpegTurbo_jll v3.1.3+0
  [b39eb1a6] + Kerberos_krb5_jll v1.21.3+0
  [c1c5ebd0] + LAME_jll v3.100.3+0
  [88015f11] + LERC_jll v4.0.1+0
  [1d63c593] + LLVMOpenMP_jll v18.1.8+0
  [dd4b983a] + LZO_jll v2.10.3+0
  [08be9ffa] + LibPQ_jll v16.8.0+0
⌅ [e9f186c6] + Libffi_jll v3.4.7+0
  [7e76a0d4] + Libglvnd_jll v1.7.1+1
  [94ce4f54] + Libiconv_jll v1.18.0+0
  [4b2f31a3] + Libmount_jll v2.41.2+0
  [89763e89] + Libtiff_jll v4.7.2+0
  [38a345b3] + Libuuid_jll v2.41.2+0
  [d3a379c0] + LittleCMS_jll v2.17.0+0
  [5ced341a] + Lz4_jll v1.10.1+0
  [856f044c] + MKL_jll v2025.2.0+0
  [7cb0a576] + MPICH_jll v4.3.2+0
  [f1f71cc9] + MPItrampoline_jll v5.5.4+0
  [9237b28f] + MicrosoftMPI_jll v10.1.4+3
  [7243133f] + NetCDF_jll v401.900.300+0
  [e7412a2a] + Ogg_jll v1.3.6+0
  [6cdc7f73] + OpenBLASConsistentFPCSR_jll v0.3.29+0
  [18a262bb] + OpenEXR_jll v3.2.4+0
  [643b3616] + OpenJpeg_jll v2.5.5+0
  [fe0851c0] + OpenMPI_jll v5.0.9+0
  [458c3c95] + OpenSSL_jll v3.5.4+0
  [efe28fd5] + OpenSpecFun_jll v0.5.6+0
  [91d4177d] + Opus_jll v1.5.2+0
  [58948b4f] + PROJ_jll v902.700.0+0
  [36c8627f] + Pango_jll v1.57.0+0
⌅ [30392449] + Pixman_jll v0.44.2+0
  [784f63db] + Qhull_jll v10008.0.1004+0
  [c0090381] + Qt6Base_jll v6.8.2+2
  [629bc702] + Qt6Declarative_jll v6.8.2+1
  [ce943373] + Qt6ShaderTools_jll v6.8.2+1
  [e99dba38] + Qt6Wayland_jll v6.8.2+2
  [f50d1b31] + Rmath_jll v0.5.1+0
  [76ed43ae] + SQLite_jll v3.48.0+0
  [e0b8ae26] + Thrift_jll v0.21.1+0
  [a44049a8] + Vulkan_Loader_jll v1.3.243+0
  [a2964d1f] + Wayland_jll v1.24.0+0
⌅ [02c8fc9c] + XML2_jll v2.13.9+0
  [ffd25f8a] + XZ_jll v5.8.1+0
  [f67eecfb] + Xorg_libICE_jll v1.1.2+0
  [c834827a] + Xorg_libSM_jll v1.2.6+0
  [4f6342f7] + Xorg_libX11_jll v1.8.12+0
  [0c0b7dd1] + Xorg_libXau_jll v1.0.13+0
  [935fb764] + Xorg_libXcursor_jll v1.2.4+0
  [a3789734] + Xorg_libXdmcp_jll v1.1.6+0
  [1082639a] + Xorg_libXext_jll v1.3.7+0
  [d091e8ba] + Xorg_libXfixes_jll v6.0.2+0
  [a51aa0fd] + Xorg_libXi_jll v1.8.3+0
  [d1454406] + Xorg_libXinerama_jll v1.1.6+0
  [ec84b674] + Xorg_libXrandr_jll v1.5.5+0
  [ea2f1a96] + Xorg_libXrender_jll v0.9.12+0
  [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0
  [c7cfdc94] + Xorg_libxcb_jll v1.17.1+0
  [cc61e674] + Xorg_libxkbfile_jll v1.1.3+0
  [e920d4aa] + Xorg_xcb_util_cursor_jll v0.1.6+0
  [12413925] + Xorg_xcb_util_image_jll v0.4.1+0
  [2def613f] + Xorg_xcb_util_jll v0.4.1+0
  [975044d2] + Xorg_xcb_util_keysyms_jll v0.4.1+0
  [0d47668e] + Xorg_xcb_util_renderutil_jll v0.3.10+0
  [c22f9ab0] + Xorg_xcb_util_wm_jll v0.4.2+0
  [35661453] + Xorg_xkbcomp_jll v1.4.7+0
  [33bec58e] + Xorg_xkeyboard_config_jll v2.44.0+0
  [c5fb5394] + Xorg_xtrans_jll v1.6.0+0
  [3161d3a3] + Zstd_jll v1.5.7+1
  [28df3c45] + boost_jll v1.87.0+0
  [4611771a] + brotli_jll v1.2.0+0
  [35ca27e7] + eudev_jll v3.2.14+0
  [214eeab7] + fzf_jll v0.61.1+0
  [9a68df92] + isoband_jll v0.2.3+0
  [477f73a3] + libaec_jll v1.1.4+0
  [a4ae2306] + libaom_jll v3.13.1+0
  [0ac62f75] + libass_jll v0.17.4+0
  [1183f4f0] + libdecor_jll v0.2.2+0
  [2db6ffa8] + libevdev_jll v1.13.4+0
  [f638f0a6] + libfdk_aac_jll v2.0.4+0
  [06c338fa] + libgeotiff_jll v100.702.400+0
  [36db933b] + libinput_jll v1.28.1+0
  [b53b4c65] + libpng_jll v1.6.51+0
  [075b6546] + libsixel_jll v1.10.5+0
  [f27f6e37] + libvorbis_jll v1.3.8+0
  [c5f90fcd] + libwebp_jll v1.6.0+0
  [337d8026] + libzip_jll v1.11.3+0
  [009596ad] + mtdev_jll v1.1.7+0
  [888e69b1] + muparser_jll v2.3.5+0
  [1317d2d5] + oneTBB_jll v2022.0.0+1
  [fe1e1685] + snappy_jll v1.2.3+0
  [1270edf5] + x264_jll v10164.0.1+0
  [dfaa095f] + x265_jll v4.1.0+0
  [d8fb68d0] + xkbcommon_jll v1.13.0+0
  [0dad84c5] + ArgTools v1.1.2
  [56f22d72] + Artifacts v1.11.0
  [2a0f44e3] + Base64 v1.11.0
  [8bf52ea8] + CRC32c v1.11.0
  [ade2ca70] + Dates v1.11.0
  [8ba89e20] + Distributed v1.11.0
  [f43a241f] + Downloads v1.6.0
  [7b1f6079] + FileWatching v1.11.0
  [9fa8497b] + Future v1.11.0
  [b77e0a4c] + InteractiveUtils v1.11.0
  [4af54fe1] + LazyArtifacts v1.11.0
  [b27032c2] + LibCURL v0.6.4
  [76f85450] + LibGit2 v1.11.0
  [8f399da3] + Libdl v1.11.0
  [37e2e46d] + LinearAlgebra v1.11.0
  [56ddb016] + Logging v1.11.0
  [d6f4376e] + Markdown v1.11.0
  [a63ad114] + Mmap v1.11.0
  [ca575930] + NetworkOptions v1.2.0
  [44cfe95a] + Pkg v1.11.0
  [de0858da] + Printf v1.11.0
  [3fa0cd96] + REPL v1.11.0
  [9a3f8284] + Random v1.11.0
  [ea8e919c] + SHA v0.7.0
  [9e88b42a] + Serialization v1.11.0
  [1a1011a3] + SharedArrays v1.11.0
  [6462fe0b] + Sockets v1.11.0
  [2f01184e] + SparseArrays v1.11.0
  [f489334b] + StyledStrings v1.11.0
  [4607b0f0] + SuiteSparse
  [fa267f1f] + TOML v1.0.3
  [a4e569a6] + Tar v1.10.0
  [8dfed614] + Test v1.11.0
  [cf7118a7] + UUIDs v1.11.0
  [4ec0a83e] + Unicode v1.11.0
  [e66e0078] + CompilerSupportLibraries_jll v1.1.1+0
  [deac9b47] + LibCURL_jll v8.6.0+0
  [e37daf67] + LibGit2_jll v1.7.2+0
  [29816b5a] + LibSSH2_jll v1.11.0+1
  [c8ffd9c3] + MbedTLS_jll v2.28.6+0
  [14a3606d] + MozillaCACerts_jll v2023.12.12
  [4536629a] + OpenBLAS_jll v0.3.27+1
  [05823500] + OpenLibm_jll v0.8.5+0
  [efcefdf7] + PCRE2_jll v10.42.0+1
  [bea87d4a] + SuiteSparse_jll v7.7.0+0
  [83775a58] + Zlib_jll v1.2.13+1
  [8e850b90] + libblastrampoline_jll v5.11.0+0
  [8e850ede] + nghttp2_jll v1.59.0+0
  [3f19e933] + p7zip_jll v17.4.0+2
        Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`
Precompiling project...
   1171.5 ms  ✓ StatsAPI
   1103.6 ms  ✓ FilePaths
   1063.1 ms  ✓ libpng_jll
   1021.3 ms  ✓ ComputePipeline
    726.1 ms  ✓ Glib_jll
   1394.1 ms  ✓ StringManipulation
   1248.3 ms  ✓ QOI
    508.4 ms  ✓ xkbcommon_jll
   1574.8 ms  ✓ OpenSSL
    689.6 ms  ✓ TableShowUtils
    570.8 ms  ✓ FilePaths → FilePathsURIsExt
    817.6 ms  ✓ Distances
   1094.5 ms  ✓ Unitful → LatexifyExt
    755.4 ms  ✓ OpenJpeg_jll
    820.8 ms  ✓ libsixel_jll
    723.4 ms  ✓ libwebp_jll
   1903.9 ms  ✓ StatsBase
    954.4 ms  ✓ Distances → DistancesSparseArraysExt
    535.7 ms  ✓ Distances → DistancesChainRulesCoreExt
   3938.5 ms  ✓ TimeZones
   2644.7 ms  ✓ Cairo_jll
   2883.2 ms  ✓ PNGFiles
   2475.6 ms  ✓ Qt6Base_jll
   2082.2 ms  ✓ ImageDistances
   2410.1 ms  ✓ NearestNeighbors
    944.1 ms  ✓ PDMats → StatsBaseExt
   1188.2 ms  ✓ ImageMagick_jll
   2197.2 ms  ✓ WebP
    907.0 ms  ✓ TimeZones → TimeZonesRecipesBaseExt
    955.0 ms  ✓ HarfBuzz_jll
   2809.9 ms  ✓ Sixel
   1169.7 ms  ✓ Qt6ShaderTools_jll
   2492.7 ms  ✓ GDAL_jll
    934.9 ms  ✓ libass_jll
    832.3 ms  ✓ Pango_jll
   1832.8 ms  ✓ Clustering
   1353.1 ms  ✓ FFMPEG_jll
   2242.2 ms  ✓ Qt6Declarative_jll
   4329.3 ms  ✓ ImageMagick
   1538.3 ms  ✓ Cairo
   6557.8 ms  ✓ ImageCorners
   5005.1 ms  ✓ Distributions
   4334.3 ms  ✓ GDAL
   1611.0 ms  ✓ FFMPEG
   1645.0 ms  ✓ GR_jll
   1393.0 ms  ✓ Distributions → DistributionsTestExt
   1469.6 ms  ✓ Distributions → DistributionsChainRulesCoreExt
   7772.3 ms  ✓ ImageQualityIndexes
   4367.0 ms  ✓ ImageSegmentation
   1672.4 ms  ✓ KernelDensity
  13048.5 ms  ✓ HTTP
   1495.7 ms  ✓ FileIO → HTTPExt
   3134.9 ms  ✓ GR
   2536.9 ms  ✓ CSVFiles
   5142.3 ms  ✓ Images
   8263.6 ms  ✓ ArchGDAL
   1978.4 ms  ✓ ArchGDAL → ArchGDALRecipesBaseExt
   2117.6 ms  ✓ ArchGDAL → ArchGDALJLD2Ext
  20856.9 ms  ✓ PrettyTables
  24189.5 ms  ✓ DataFrames
   1792.1 ms  ✓ Latexify → DataFramesExt
  34667.9 ms  ✓ Plots
   3214.0 ms  ✓ Plots → UnitfulExt
   3335.6 ms  ✓ Plots → GeometryBasicsExt
   3419.8 ms  ✓ Plots → FileIOExt
  11267.6 ms  ✓ IceFloeTracker
  91717.4 ms  ✓ Makie
   7656.0 ms  ✓ Polynomials → PolynomialsMakieExt
   7691.5 ms  ✓ ArchGDAL → ArchGDALMakieExt
   7839.9 ms  ✓ GeoInterface → GeoInterfaceMakieExt
  32481.9 ms  ✓ CairoMakie
  71 dependencies successfully precompiled in 141 seconds. 418 already precompiled.
   Resolving package versions...
  No Changes to `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Project.toml`
  No Changes to `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Manifest.toml`
   Resolving package versions...
  No Changes to `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Project.toml`
  No Changes to `~/Documents/research/packages/IceFloeTracker.jl/docs/src/tutorials/segmentationtrackingcombined/Manifest.toml`

using IceFloeTracker
using Images
using Images: segment_mean, labels_map, SegmentedImage, RGB
using IceFloeTracker.Tracking: FloeTracker, FilterFunction, MinimumWeightMatchingFunction
using Plots
using DataFrames

Identify Sea Ice Floes

We'll access a pair of images from the IFT validation dataset. You can get your own images from the NASA Worldview Snapshots utility. We use the MODIS 1-4-3 true color, MODIS 7-2-1 false color, and the OpenStreetMap coast mask. The validation dataset has 100 km by 100 km pairs of images from the Aqua and Terra satellites, randomly sampled from Arctic marginal and seasonal ice zones, and includes manually validated floe outlines and image metadata. For this tutorial we select case 6, from Baffin Bay. We will use the default settings for the LopezAcosta2019Tiling segmentation algorithm. After the images have been segmented, we will extract floe features and track them.

dataset = filter(c -> c.case_number == 6, Watkins2026Dataset(; ref="v0.1"));

Dataset(GitHubLoader("https://github.com/danielmwatkins/ice_floe_validation_dataset/", "v0.1", "/tmp/Watkins2026"), 2×30 DataFrame
 Row │        case_number  region      start_date  center_lon  center_lat  cen ⋯
     │ Int64  Int64        String      Dates.Date  Float64     Float64     Int ⋯
─────┼──────────────────────────────────────────────────────────────────────────
   1 │    10            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7 ⋯
   2 │    11            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7
                                                              24 columns omitted)

dataset

Dataset(GitHubLoader("https://github.com/danielmwatkins/ice_floe_validation_dataset/", "v0.1", "/tmp/Watkins2026"), 2×30 DataFrame
 Row │        case_number  region      start_date  center_lon  center_lat  cen ⋯
     │ Int64  Int64        String      Dates.Date  Float64     Float64     Int ⋯
─────┼──────────────────────────────────────────────────────────────────────────
   1 │    10            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7 ⋯
   2 │    11            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7
                                                              24 columns omitted)

Dataset(GitHubLoader("https://github.com/danielmwatkins/ice_floe_validation_dataset/", "v0.1", "/tmp/Watkins2026"), 2×30 DataFrame
 Row │        case_number  region      start_date  center_lon  center_lat  cen ⋯
     │ Int64  Int64        String      Dates.Date  Float64     Float64     Int ⋯
─────┼──────────────────────────────────────────────────────────────────────────
   1 │    10            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7 ⋯
   2 │    11            6  baffin_bay  2022-05-30    -73.3612     75.2608   -7
                                                              24 columns omitted)

Initialize the segmentation algorithm:

segmentation_algorithm = LopezAcosta2019Tiling.Segment();

IceFloeTracker.LopezAcosta2019Tiling.Segment((rblocks = 2, cblocks = 2), (prelim_threshold = 0.43137254901960786, band_7_threshold = 0.7843137254901961, band_2_threshold = 0.7450980392156863, ratio_lower = 0.0, ratio_offset = 0.0, ratio_upper = 0.75), (white_threshold = 25.5, entropy_threshold = 4, white_fraction_threshold = 0.4), (gamma = 1.5, gamma_factor = 1.3, gamma_threshold = 220), (se_disk1 = Bool[0 1 0; 1 1 1; 0 1 0], se_disk2 = Bool[0 0 … 0 0; 0 1 … 1 0; … ; 0 1 … 1 0; 0 0 … 0 0], se_disk4 = Bool[0 0 … 0 0; 0 1 … 1 0; … ; 0 1 … 1 0; 0 0 … 0 0]), (radius = 10, amount = 2.0, factor = 255.0), (band_7_max = 0.0196078431372549, band_2_min = 0.9019607843137255, band_1_min = 0.9411764705882353, band_7_max_relaxed = 0.0392156862745098, band_1_min_relaxed = 0.7450980392156863, possible_ice_threshold = 0.29411764705882354), (radius = 10, amount = 2, factor = 0.5), 0.1)

Use dot notation to broadcast the segmentation algorithm across vectors of images. The modis_ accessor functions grab images on demand from the dataset.

segments = segmentation_algorithm.(
                modis_truecolor.(dataset),
                modis_falsecolor.(dataset),
                modis_landmask.(dataset));

2-element Vector{ImageSegmentation.SegmentedImage{Matrix{Int64}, ColorTypes.RGBA{Float32}}}:
 Segmented Image with:
  labels map: 400×400 Matrix{Int64}
  number of labels: 351
 Segmented Image with:
  labels map: 400×400 Matrix{Int64}
  number of labels: 338

# Helper function to view a SegmentedImage object
function view_seg(s)
    map(i->segment_mean(s,i), labels_map(s))
end

mosaicview(view_seg(segments[1]), view_seg(segments[2]), nrow=1, npad=10)

Tracking Algorithm

The tracking function finds plausible floe matches across rows of DataFrames with feature descriptors. We set up the function in the same way as the segmentation algorithm: we call a function that returns a function. For this tutorial, we'll use two default functions for the algorithm: one function that makes geometric comparisons to reduce the number of candidate matches, and a second function that selects a unique matching between the images. The only additional information we need is an observation time associated with each segmented image. For the IFT validation dataset, this is available in the dataset metadata, which we access with info().

#
passtimes = info(dataset)[:, "pass_time"]

2-element Vector{Dates.DateTime}:
 2022-05-30T16:44:44
 2022-05-30T15:28:46

2-element Vector{Dates.DateTime}:
 2022-05-30T16:44:44
 2022-05-30T15:28:46

We see that the satellite pass times (the time the satellite passed overhead and captured the image) are in reverse chronological order in the dataset, so we need to sort the images first.

segments = reverse(segments)
passtimes = reverse(passtimes)

2-element Vector{Dates.DateTime}:
 2022-05-30T15:28:46
 2022-05-30T16:44:44

2-element Vector{Dates.DateTime}:
 2022-05-30T15:28:46
 2022-05-30T16:44:44

Now we initialize and run the FloeTracker:

# Filtering through potential candidates and matches for tracked floes
tracker = FloeTracker(filter_function=FilterFunction(),
                      matching_function=MinimumWeightMatchingFunction())
tracked = tracker(segments, passtimes);

FloeTracker(ChainedFilterFunction(IceFloeTracker.Tracking.AbstractFloeFilterFunction[DistanceThresholdFilter(:Δt, :Δx, :scaled_distance, LinearTimeDistanceFunction(0.75, 250), :time_distance_test, IceFloeTracker.Tracking.var"#19#21"()), RelativeErrorThresholdFilter(:area, :area, :relative_error_test, PiecewiseLinearThresholdFunction(100, 700, 0.43, 0.17)), RelativeErrorThresholdFilter(:convex_area, :area, :relative_error_test, PiecewiseLinearThresholdFunction(100, 700, 0.44, 0.25)), RelativeErrorThresholdFilter(:major_axis_length, :area, :relative_error_test, PiecewiseLinearThresholdFunction(100, 700, 0.27, 0.13)), RelativeErrorThresholdFilter(:minor_axis_length, :area, :relative_error_test, PiecewiseLinearThresholdFunction(100, 700, 0.28, 0.1)), ShapeDifferenceThresholdFilter(:area, :area, :shape_difference_test, PiecewiseLinearThresholdFunction(100, 700, 0.47, 0.31)), PsiSCorrelationThresholdFilter(:area, :psi_s_correlation_test, PiecewiseLinearThresholdFunction(100, 700, 0.86, 0.96))]), MinimumWeightMatchingFunction([:scaled_distance, :relative_error_area, :relative_error_convex_area, :relative_error_major_axis_length, :relative_error_minor_axis_length, :psi_s_correlation_score, :scaled_shape_difference]), 100, 90000.0, Dates.Day(2))

Visualizing the results

# You can check the metadata via info(dataset) to see what order the images are in
terra, aqua = modis_truecolor.(dataset)

# Binarize segmented image for easy visualization via fontour
aqua_segments = labels_map(segments[1]) .> 0
terra_segments = labels_map(segments[2]) .> 0

plt = contour(title = "Floe Tracking Results", aqua_segments, levels=1, color=:red, label="Aqua", legend=false,
      aspect_ratio=:equal, size=(800,800))
contour!(terra_segments, levels=1, color=:blue, label="Terra")

# Plot a line segment for each labeled trajectory
for group in groupby(tracked, :ID)
    x = group.col_centroid
    y = group.row_centroid
    plot!(plt, x, y, color = :black, marker = :circle)
end

# Reverse y-axis to match convention for image display
yflip!(true)

# Truncate plot to image dimensions
ylims!(0, 400)
xlims!(0, 400)
plt

Next steps

The FloeTracker identifies shapes that persist across images. Because the tracking is based on the shape properties, including the boundary curvature, area, and difference in shapes, if a shape is poorly segmented the tracking will fail. This is apparent for the large floe in the bottom center of the image: it is divided into multiple floes in the Aqua image (blue), and appears as a single floe in Terra (red). We recommend an iterative approach, in which tracked floes are used to find an initial set of tracked floes, then these vectors are used to find estimates of motion for other objects.

Another note for the above image is that the default minimum floe size is 100 pixels, so smaller floes are intentionally not tracked. Geometric property uncertainty is larger with small objects.