/*-------------------------------------------------------------------- * The MB-system: mbswath.c 5/30/93 * $Id: mbswath.c 2232 2015-02-22 01:11:47Z caress $ * * Copyright (c) 1993-2015 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * MBSWATH is a GMT compatible utility which creates a color postscript * image of swath bathymetry or backscatter data. The image * may be shaded relief as well. Complete maps are made by using * MBSWATH in conjunction with the usual GMT programs. The modes * of operation are: * Mode 1: Bathymetry * Mode 2: Bathymetry shaded by illumination * Mode 3: Bathymetry shaded by amplitude * Mode 4: amplitude * Mode 5: sidescan * Mode 6: Bathymetry shaded by amplitude using cpt gray data * * Author: D. W. Caress * Date: May 30, 1993 (original standalone program for GMT3 and GMT4) * Date: January 27, 2015 (recast as GMT5 module) * */ #define THIS_MODULE_NAME "mbswath" #define THIS_MODULE_LIB "mbgmt" #define THIS_MODULE_PURPOSE "Plot swath bathymetry, amplitude, or backscatter" /* GMT5 header file */ #include "gmt_dev.h" #define GMT_PROG_OPTIONS "->BJKOPRUVXY" GMT_OPT("S") /* MBIO include files */ #include "mb_status.h" #include "mb_format.h" #include "mb_define.h" #include "mb_io.h" /* MBSWATH MODE DEFINES */ #define MBSWATH_BATH 1 #define MBSWATH_BATH_RELIEF 2 #define MBSWATH_BATH_AMP 3 #define MBSWATH_AMP 4 #define MBSWATH_SS 5 #define MBSWATH_BATH_AMP_FILTER 6 #define MBSWATH_AMP_FILTER 7 #define MBSWATH_SS_FILTER 8 #define MBSWATH_FOOTPRINT_REAL 1 #define MBSWATH_FOOTPRINT_FAKE 2 #define MBSWATH_FOOTPRINT_POINT 3 #define MBSWATH_FILTER_NONE 0 #define MBSWATH_FILTER_AMP 1 #define MBSWATH_FILTER_SIDESCAN 2 /* image type defines */ #define MBSWATH_IMAGE_VECTOR 1 #define MBSWATH_IMAGE_8 2 #define MBSWATH_IMAGE_24 3 /* How B/W TV's convert RGB to Gray */ #define YIQ(rgb) (0.299 * rgb[0] + 0.587 * rgb[1] + 0.114 * rgb[2]) /* global structure definitions */ #define MAXPINGS 50 struct footprint { double x[4]; double y[4]; }; struct ping { int pings; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; int beams_bath; int beams_amp; int pixels_ss; char *beamflag; double *bath; double *bathlon; double *bathlat; double *amp; double *ss; double *sslon; double *sslat; char comment[256]; double lonaft; double lataft; double lonfor; double latfor; int *bathflag; struct footprint *bathfoot; int *ssflag; struct footprint *ssfoot; double *bathshade; }; struct swath { int npings; int beams_bath; int beams_amp; int pixels_ss; struct ping data[MAXPINGS]; }; /* Control structure for mbswath */ struct MBSWATH_CTRL { /* mbswath variables */ double bounds[4]; int image_type; double mtodeglon; double mtodeglat; double clipx[4]; double clipy[4]; double x_inc; double y_inc; double x_side; double y_side; double x0; double y0; double x_inch; double y_inch; int nx; int ny; int nm; int nm2; unsigned char *bitimage; int format; double beamwidth_xtrack; double beamwidth_ltrack; double footprint_factor; double btime_d; double etime_d; int read_datalist; int read_data; void *datalist; double file_weight; mb_path file; int filtermode; int beams_bath_max; int beams_amp_max; int pixels_ss_max; void *mbio_ptr; struct swath *swath_plot; struct mbswath_A { /* -A// */ bool active; double factor; int mode; double depth; } A; struct mbswath_b { /* -b///// */ bool active; int time_i[7]; } b; struct mbswath_C { /* -C */ bool active; char *cptfile; } C; struct mbswath_D { /* -D/// */ bool active; unsigned int mode; double ampscale; double ampmin; double ampmax; } D; struct mbswath_E { /* -Ei| */ bool active; bool device_dpi; unsigned int dpi; } E; struct mbswath_e { /* -e///// */ bool active; int time_i[7]; } e; struct mbswath_F { /* -F */ bool active; int format; } F; struct mbswath_G { /* -G/ */ bool active; double magnitude; double azimuth; } G; struct mbswath_I { /* -I */ bool active; char *inputfile; } I; struct mbswath_L { /* -L */ bool active; int lonflip; } L; struct mbswath_N { /* -N */ bool active; char *cptfile; } N; struct mbswath_S { /* -S */ bool active; double speed; } S; struct mbswath_T { /* -T */ bool active; double timegap; } T; struct mbswath_W { /* -W */ bool active; } W; struct mbswath_Z { /* -Z */ bool active; int mode; int filter; int usefiltered; } Z; }; int mbswath_get_footprints(int verbose, struct MBSWATH_CTRL *Ctrl, int *error); int mbswath_get_shading(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, int *error); int mbswath_plot_data_footprint(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, struct PSL_CTRL *PSL, int first, int nplot, int *error); int mbswath_plot_data_point(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, struct PSL_CTRL *PSL, int first, int nplot, int *error); int mbswath_plot_box(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct PSL_CTRL *PSL, double *x, double *y, double *rgb, int *error); int mbswath_plot_point(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct PSL_CTRL *PSL, double x, double y, double *rgb, int *error); int mbswath_ping_copy(int verbose, int one, int two, struct swath *swath, int *error); void *New_mbswath_Ctrl (struct GMT_CTRL *GMT) { /* Allocate and initialize a new control structure */ struct MBSWATH_CTRL *Ctrl; int status; int verbose = 0; double dummybounds[4]; int dummyformat; int dummypings; int i; Ctrl = GMT_memory (GMT, NULL, 1, struct MBSWATH_CTRL); /* Initialize values whose defaults are not 0/false/NULL */ /* get current mb default values */ status = mb_defaults(verbose, &dummyformat, &dummypings, &Ctrl->L.lonflip, dummybounds, Ctrl->b.time_i, Ctrl->e.time_i, &Ctrl->S.speed, &Ctrl->T.timegap); Ctrl->A.factor = 1.0; Ctrl->A.mode = MBSWATH_FOOTPRINT_REAL; Ctrl->A.depth = 0.0; Ctrl->C.cptfile = NULL; Ctrl->D.mode = 1; Ctrl->D.ampscale = 1.0; Ctrl->D.ampmin = 0.0; Ctrl->D.ampmax = 1.0; Ctrl->E.device_dpi = 0; Ctrl->E.dpi = 100; Ctrl->F.format = 0; Ctrl->G.magnitude = 1.0; Ctrl->G.azimuth = 270.0; Ctrl->I.inputfile = NULL; Ctrl->N.cptfile = NULL; Ctrl->S.speed = 0.0; Ctrl->T.timegap = 1.0; Ctrl->Z.mode = MBSWATH_BATH; Ctrl->Z.filter = 0; Ctrl->Z.usefiltered = MB_NO; /* mbswath variables */ for (i=0;i<4;i++) { Ctrl->bounds[i] = 0.0; Ctrl->clipx[i] = 0.0; Ctrl->clipy[i] = 0.0; } Ctrl->image_type = MBSWATH_IMAGE_24; Ctrl->mtodeglon = 0.0; Ctrl->mtodeglat = 0.0; Ctrl->x_inch = 0.0; Ctrl->y_inch = 0.0; Ctrl->x_inc = 0.0; Ctrl->y_inc = 0.0; Ctrl->x_side = 0.0; Ctrl->y_side = 0.0; Ctrl->x0 = 0.0; Ctrl->y0 = 0.0; Ctrl->nx = 0; Ctrl->ny = 0; Ctrl->nm = 0; Ctrl->bitimage = NULL; Ctrl->format = 0; Ctrl->beamwidth_xtrack = 0.0; Ctrl->beamwidth_ltrack = 0.0; Ctrl->btime_d = 0.0; Ctrl->etime_d = 0.0; Ctrl->read_datalist = MB_NO; Ctrl->read_data = 0; Ctrl->datalist = NULL; Ctrl->file_weight = 0.0; Ctrl->file[0] = '\0'; Ctrl->filtermode = MBSWATH_FILTER_NONE; Ctrl->beams_bath_max = 0; Ctrl->beams_amp_max = 0; Ctrl->pixels_ss_max = 0; Ctrl->mbio_ptr = NULL; Ctrl->swath_plot = NULL; return (Ctrl); } void Free_mbswath_Ctrl (struct GMT_CTRL *GMT, struct MBSWATH_CTRL *Ctrl) { /* Deallocate control structure */ if (!Ctrl) return; if (Ctrl->C.cptfile) free (Ctrl->C.cptfile); if (Ctrl->I.inputfile) free (Ctrl->I.inputfile); if (Ctrl->N.cptfile) free (Ctrl->N.cptfile); GMT_free (GMT, Ctrl); } int GMT_mbswath_usage (struct GMTAPI_CTRL *API, int level) { GMT_show_name_and_purpose (API, THIS_MODULE_LIB, THIS_MODULE_NAME, THIS_MODULE_PURPOSE); if (level == GMT_MODULE_PURPOSE) return (GMT_NOERROR); GMT_Message (API, GMT_TIME_NONE, "usage: mbswath -I %s [%s]\n", GMT_J_OPT, GMT_B_OPT); GMT_Message (API, GMT_TIME_NONE, "\t[-A//]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-b/////]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-C] [-D///] [-Ei|]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-e/////]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-F] [-G/]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-I] [-L] [-N]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[-S] [-T] [-W] [-Z]\n"); GMT_Message (API, GMT_TIME_NONE, "\t[%s] [-T] [%s] [%s]\n", GMT_Rgeo_OPT, GMT_U_OPT, GMT_V_OPT); GMT_Message (API, GMT_TIME_NONE, "\t[%s] [%s] [%s] [%s]\n\t[%s]\n\t[%s] [%s]\n\n", GMT_X_OPT, GMT_Y_OPT, GMT_c_OPT, GMT_f_OPT, GMT_n_OPT, GMT_p_OPT, GMT_t_OPT); if (level == GMT_SYNOPSIS) return (EXIT_FAILURE); GMT_Message (API, GMT_TIME_NONE, "\t is an MB-System datalist referencing the swath data to be plotted.\n"); GMT_Option (API, "J-"); GMT_Message (API, GMT_TIME_NONE, "\n\tOPTIONS:\n"); GMT_Option (API, "B-"); GMT_Message (API, GMT_TIME_NONE, "\t-C Color palette file to convert z to rgb. Optionally, instead give name of a master cpt\n"); GMT_Message (API, GMT_TIME_NONE, "\t to automatically assign 16 continuous colors over the data range [rainbow].\n"); GMT_Message (API, GMT_TIME_NONE, "\t-E Set dpi for the projected output Postscript image\n"); GMT_Message (API, GMT_TIME_NONE, "\t if -Jx or -Jm is not selected.\n"); GMT_Message (API, GMT_TIME_NONE, "\t Give i to do the interpolation in PostScript at device resolution.\n"); GMT_rgb_syntax (API->GMT, 'G', "Set transparency color for images that otherwise would result in 1-bit images.\n\t "); GMT_Option (API, "K"); GMT_Option (API, "O,P"); GMT_Option (API, "R"); GMT_Option (API, "U,V,X,c,f,n,p,t,."); return (EXIT_FAILURE); } int GMT_mbswath_parse (struct GMT_CTRL *GMT, struct MBSWATH_CTRL *Ctrl, struct GMT_OPTION *options) { /* This parses the options provided to mbswath and sets parameters in Ctrl. * Note Ctrl has already been initialized and non-zero default values set. * Any GMT common options will override values set previously by other commands. * It also replaces any file names specified as input or output with the data ID * returned when registering these sources/destinations with the API. */ unsigned int n_errors = 0, n_files = 0; struct GMT_OPTION *opt = NULL; struct GMTAPI_CTRL *API = GMT->parent; int n; for (opt = options; opt; opt = opt->next) { /* Process all the options given */ switch (opt->option) { case '<': /* Input file (only one or three is accepted) */ Ctrl->I.active = true; if (GMT_check_filearg (GMT, '<', opt->arg, GMT_IN)) { Ctrl->I.inputfile = strdup (opt->arg); n_files = 1; } else n_errors++; break; /* Processes program-specific parameters */ case 'A': /* footprint controls */ n = sscanf(opt->arg, "%lf/%d/%lf", &(Ctrl->A.factor), &(Ctrl->A.mode), &(Ctrl->A.depth)); if (n > 0) Ctrl->A.active = true; else n_errors++; break; case 'b': /* btime_i */ n = sscanf(opt->arg, "%d/%d/%d/%d/%d/%d", &(Ctrl->b.time_i[0]), &(Ctrl->b.time_i[1]), &(Ctrl->b.time_i[2]), &(Ctrl->b.time_i[3]), &(Ctrl->b.time_i[4]), &(Ctrl->b.time_i[5])); Ctrl->b.time_i[6] = 0; if (n == 6) Ctrl->b.active = true; else n_errors++; break; case 'C': /* CPT file */ Ctrl->C.active = true; if (Ctrl->C.cptfile) free (Ctrl->C.cptfile); Ctrl->C.cptfile = strdup (opt->arg); break; case 'D': /* amplitude scaling */ n = sscanf(opt->arg, "%d/%lf/%lf/%lf", &(Ctrl->D.mode), &(Ctrl->D.ampscale), &(Ctrl->D.ampmin), &(Ctrl->D.ampmax)); if (n > 0) Ctrl->A.active = true; else n_errors++; break; case 'E': /* dpi */ if (strcmp(opt->arg, "i") == 0) { Ctrl->E.device_dpi = true; Ctrl->E.active = true; } else { n = sscanf(opt->arg, "%d", &(Ctrl->E.dpi)); if (n == 1) Ctrl->E.active = true; else n_errors++; } break; case 'e': /* etime_i */ n = sscanf(opt->arg, "%d/%d/%d/%d/%d/%d", &(Ctrl->e.time_i[0]), &(Ctrl->e.time_i[1]), &(Ctrl->e.time_i[2]), &(Ctrl->e.time_i[3]), &(Ctrl->e.time_i[4]), &(Ctrl->e.time_i[5])); Ctrl->e.time_i[6] = 0; if (n == 6) Ctrl->e.active = true; else n_errors++; break; case 'f': /* format */ case 'F': /* format */ n = sscanf(opt->arg, "%d", &(Ctrl->F.format)); if (n == 1) Ctrl->F.active = true; else n_errors++; break; case 'G': /* -G/ */ n = sscanf(opt->arg, "%lf/%lf", &(Ctrl->G.magnitude), &(Ctrl->G.azimuth)); if (n >= 1) Ctrl->G.active = true; else n_errors++; break; case 'I': /* -I */ Ctrl->I.active = true; if (!GMT_access (GMT, opt->arg, R_OK)) /* Got a file */ { Ctrl->I.inputfile = strdup (opt->arg); n_files = 1; } else { GMT_Report (API, GMT_MSG_NORMAL, "Syntax error -I: Requires a valid file\n"); n_errors++; } break; case 'L': /* -L */ n = sscanf(opt->arg, "%d", &(Ctrl->L.lonflip)); if (n == 1) Ctrl->L.active = true; else n_errors++; break; case 'N': /* -N */ Ctrl->N.active = true; if (Ctrl->N.cptfile) free (Ctrl->N.cptfile); Ctrl->N.cptfile = strdup (opt->arg); break; case 'S': /* -S */ n = sscanf(opt->arg, "%lf", &(Ctrl->S.speed)); if (n == 1) Ctrl->S.active = true; else n_errors++; break; case 'T': /* -T */ n = sscanf(opt->arg, "%lf", &(Ctrl->T.timegap)); if (n == 1) Ctrl->T.active = true; else n_errors++; break; case 'W': /* -W */ Ctrl->W.active = true; break; case 'Z': /* -Z */ n = sscanf(opt->arg, "%d", &(Ctrl->Z.mode)); if (n == 1) { Ctrl->Z.active = true; if (opt->arg[1] == 'f' || opt->arg[1] == 'F') Ctrl->Z.usefiltered = MB_YES; else Ctrl->Z.usefiltered = MB_NO; } else n_errors++; break; default: /* Report bad options */ n_errors += GMT_default_error (GMT, opt->option); break; } } n_errors += GMT_check_condition (GMT, !GMT->common.J.active, "Syntax error: Must specify a map projection with the -J option\n"); n_errors += GMT_check_condition (GMT, n_files != 1, "Syntax error: Must specify one input file(s)\n"); n_errors += GMT_check_condition (GMT, Ctrl->I.active && !Ctrl->I.inputfile, "Syntax error -I option: Must specify input file\n"); n_errors += GMT_check_condition (GMT, Ctrl->E.active && !Ctrl->E.device_dpi && Ctrl->E.dpi <= 0, "Syntax error -E option: dpi must be positive\n"); return (n_errors ? GMT_PARSE_ERROR : GMT_OK); } #define bailout(code) {GMT_Free_Options (mode); return (code);} #define Return(code) {Free_mbswath_Ctrl (GMT, Ctrl); GMT_end_module (GMT, GMT_cpy); bailout (code);} int GMT_mbswath (void *V_API, int mode, void *args) { // bool done, need_to_project, normal_x, normal_y, resampled = false, gray_only = false; // bool nothing_inside = false, use_intensity_grid; // unsigned int k, nx = 0, ny = 0, grid_registration = GMT_GRID_NODE_REG, n_grids; // unsigned int colormask_offset = 0, try, row, actual_row, col; // uint64_t node_RGBA = 0; /* uint64_t for the RGB(A) image array. */ // uint64_t node, kk, nm, byte; // int index = 0, ks, error = 0; // unsigned char *bitimage_8 = NULL, *bitimage_24 = NULL, *rgb_used = NULL, i_rgb[3]; // double dx, dy, x_side, y_side, x0 = 0.0, y0 = 0.0, rgb[4] = {0.0, 0.0, 0.0, 0.0}; // double *NaN_rgb = NULL, red[4] = {1.0, 0.0, 0.0, 0.0}, wesn[4]; // struct GMT_GRID *Grid_orig[3] = {NULL, NULL, NULL}, *Grid_proj[3] = {NULL, NULL, NULL}; // struct GMT_GRID *Intens_orig = NULL, *Intens_proj = NULL; // struct GMT_PALETTE *P = NULL; // struct MBSWATH_CTRL *Ctrl = NULL; // struct GMT_CTRL *GMT = NULL, *GMT_cpy = NULL; /* General GMT interal parameters */ // struct GMT_OPTION *options = NULL; // struct PSL_CTRL *PSL = NULL; /* General PSL interal parameters */ // struct GMT_GRID_HEADER *header_work = NULL; /* Pointer to a GMT header for the image or grid */ // struct GMTAPI_CTRL *API = GMT_get_API_ptr (V_API); /* Cast from void to GMTAPI_CTRL pointer */ char program_name[] = "mbswath"; // char help_message[] = "mbswath is a GMT compatible utility which creates a color postscript \nimage of swath bathymetry or backscatter data. The image \nmay be shaded relief as well. Complete maps are made by using \nMBSWATH in conjunction with the usual GMT programs."; // char usage_message[] = "mbswath -Ccptfile -Jparameters -Rwest/east/south/north \n\t[-Afactor -Btickinfo -byr/mon/day/hour/min/sec \n\t-ccopies -Dmode/ampscale/ampmin/ampmax \n\t-Eyr/mon/day/hour/min/sec -fformat \n\t-Fred/green/blue -Gmagnitude/azimuth -Idatalist \n\t-K -Ncptfile -O -P -ppings -Qdpi -Ttimegap -U -W -Xx-shift -Yy-shift \n\t-Zmode[F] -V -H]"; struct GMT_PALETTE *CPTcolor = NULL; struct GMT_PALETTE *CPTshade = NULL; struct GMT_CTRL *GMT = NULL, *GMT_cpy = NULL; /* General GMT interal parameters */ struct GMT_OPTION *options = NULL; struct PSL_CTRL *PSL = NULL; /* General PSL interal parameters */ struct GMTAPI_CTRL *API = GMT_get_API_ptr (V_API); /* Cast from void to GMTAPI_CTRL pointer */ struct MBSWATH_CTRL *Ctrl = NULL; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message = NULL; mb_path file; int format; int file_in_bounds; int read_data; struct ping *pingcur; double amplog; int *npings; int nping_read = 0; int start, done, first, nplot; int plot; int flush; int save_new; int i; /*----------------------- Standard module initialization and parsing ----------------------*/ if (API == NULL) return (GMT_NOT_A_SESSION); if (mode == GMT_MODULE_PURPOSE) return (GMT_mbswath_usage (API, GMT_MODULE_PURPOSE)); /* Return the purpose of program */ options = GMT_Create_Options (API, mode, args); if (API->error) return (API->error); /* Set or get option list */ if (!options || options->option == GMT_OPT_USAGE) bailout (GMT_mbswath_usage (API, GMT_USAGE)); /* Return the usage message */ if (options->option == GMT_OPT_SYNOPSIS) bailout (GMT_mbswath_usage (API, GMT_SYNOPSIS)); /* Return the synopsis */ /* Parse the command-line arguments */ GMT = GMT_begin_module (API, THIS_MODULE_LIB, THIS_MODULE_NAME, &GMT_cpy); /* Save current state */ if (GMT_Parse_Common (API, GMT_PROG_OPTIONS, options)) Return (API->error); Ctrl = (struct MBSWATH_CTRL *) New_mbswath_Ctrl (GMT); /* Allocate and initialize a new control structure */ if ((error = GMT_mbswath_parse (GMT, Ctrl, options))) Return (error); /*---------------------------- This is the mbswath main code ----------------------------*/ /* set verbosity */ verbose = GMT->common.V.active; /* set bounds for data reading larger than map borders */ Ctrl->bounds[0] = GMT->common.R.wesn[0] - 0.25*(GMT->common.R.wesn[1] - GMT->common.R.wesn[0]); Ctrl->bounds[1] = GMT->common.R.wesn[1] + 0.25*(GMT->common.R.wesn[1] - GMT->common.R.wesn[0]); Ctrl->bounds[2] = GMT->common.R.wesn[2] - 0.25*(GMT->common.R.wesn[3] - GMT->common.R.wesn[2]); Ctrl->bounds[3] = GMT->common.R.wesn[3] + 0.25*(GMT->common.R.wesn[3] - GMT->common.R.wesn[2]); /* get scaling from degrees to km */ mb_coor_scale(verbose, 0.5*(Ctrl->bounds[2] + Ctrl->bounds[3]), &Ctrl->mtodeglon, &Ctrl->mtodeglat); /* set lonflip if needed */ if (!Ctrl->L.active) { if (Ctrl->bounds[0] < -180.0) Ctrl->L.lonflip = -1; else if (Ctrl->bounds[1] > 180.0) Ctrl->L.lonflip = 1; else if (Ctrl->L.lonflip == -1 && Ctrl->bounds[1] > 0.0) Ctrl->L.lonflip = 0; else if (Ctrl->L.lonflip == 1 && Ctrl->bounds[0] < 0.0) Ctrl->L.lonflip = 0; } /* Start the postscript plot */ GMT_err_fail (GMT, GMT_map_setup (GMT, GMT->common.R.wesn), ""); PSL = GMT_plotinit (GMT, options); GMT_plane_perspective (GMT, GMT->current.proj.z_project.view_plane, GMT->current.proj.z_level); GMT_plotcanvas (GMT); /* Fill canvas if requested */ GMT_map_clip_on (GMT, GMT->session.no_rgb, 3); /* Read the color palette file */ if (Ctrl->C.active) { /* Read palette file */ if ((CPTcolor = GMT_Get_CPT (GMT, Ctrl->C.cptfile, GMT_CPT_REQUIRED, 0.0, 0.0)) == NULL) { Return (API->error); } if (CPTcolor && CPTcolor->is_gray && Ctrl->image_type == MBSWATH_IMAGE_24) Ctrl->image_type = MBSWATH_IMAGE_8; } /* Read the color palette file for amplitude shading if requested */ if (Ctrl->N.active) { /* Read palette file */ if ((CPTshade = GMT_Get_CPT (GMT, Ctrl->N.cptfile, GMT_CPT_REQUIRED, 0.0, 0.0)) == NULL) { Return (API->error); } } /* Set particulars of output image for the postscript plot */ GMT_geo_to_xy(GMT, GMT->common.R.wesn[0], GMT->common.R.wesn[2], &Ctrl->clipx[0], &Ctrl->clipy[0]); GMT_geo_to_xy(GMT, GMT->common.R.wesn[1], GMT->common.R.wesn[2], &Ctrl->clipx[1], &Ctrl->clipy[1]); GMT_geo_to_xy(GMT, GMT->common.R.wesn[1], GMT->common.R.wesn[3], &Ctrl->clipx[2], &Ctrl->clipy[2]); GMT_geo_to_xy(GMT, GMT->common.R.wesn[0], GMT->common.R.wesn[3], &Ctrl->clipx[3], &Ctrl->clipy[3]); Ctrl->x_inch = Ctrl->clipx[1] - Ctrl->clipx[0]; Ctrl->y_inch = Ctrl->clipy[2] - Ctrl->clipy[1]; Ctrl->x0 = Ctrl->clipx[0]; Ctrl->y0 = Ctrl->clipy[0]; Ctrl->nx = Ctrl->x_inch * Ctrl->E.dpi; Ctrl->ny = Ctrl->y_inch * Ctrl->E.dpi; Ctrl->x_inc = (GMT->common.R.wesn[1] - GMT->common.R.wesn[0]) / (Ctrl->nx - 1); Ctrl->y_inc = (GMT->common.R.wesn[3] - GMT->common.R.wesn[2]) / (Ctrl->ny - 1); Ctrl->x_side = Ctrl->x_inc * Ctrl->nx; Ctrl->y_side = Ctrl->y_inc * Ctrl->ny; Ctrl->nm = Ctrl->nx * Ctrl->ny; Ctrl->nm2 = 2 * Ctrl->nm; /* allocate and initialize the output image */ if (Ctrl->image_type == MBSWATH_IMAGE_8) { Ctrl->bitimage = GMT_memory (GMT, NULL, Ctrl->nm, unsigned char); memset(Ctrl->bitimage, 255, Ctrl->nm); } else if (Ctrl->image_type == MBSWATH_IMAGE_24) { Ctrl->bitimage = GMT_memory (GMT, NULL, 3 * Ctrl->nm, unsigned char); memset(Ctrl->bitimage, 255, 3 * Ctrl->nm); } /* get format if required */ if (Ctrl->F.format == 0) mb_get_format(verbose, Ctrl->I.inputfile, NULL, &Ctrl->F.format, &error); /* turn on looking for filtered amp or sidescan if needed */ if (Ctrl->Z.usefiltered == MB_YES) { if (Ctrl->Z.mode == MBSWATH_BATH_AMP) Ctrl->filtermode = MBSWATH_FILTER_AMP; else if (Ctrl->Z.mode == MBSWATH_AMP) Ctrl->filtermode = MBSWATH_FILTER_AMP; else if (Ctrl->Z.mode == MBSWATH_SS) Ctrl->filtermode = MBSWATH_FILTER_SIDESCAN; } /* determine whether to read one file or a list of files */ if (Ctrl->F.format < 0) Ctrl->read_datalist = MB_YES; /* open file list */ if (Ctrl->read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose, &Ctrl->datalist, Ctrl->I.inputfile, MB_DATALIST_LOOK_UNSET, &error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", Ctrl->I.inputfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose, Ctrl->datalist, file, &format, &Ctrl->file_weight, &error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { strcpy(file, Ctrl->I.inputfile); read_data = MB_YES; } /* loop over files in file list */ if (verbose == 1) fprintf(stderr,"\n"); while (read_data == MB_YES) { /* check for mbinfo file - get file bounds if possible */ status = mb_check_info(verbose, file, Ctrl->L.lonflip, Ctrl->bounds, &file_in_bounds, &error); if (status == MB_FAILURE) { file_in_bounds = MB_YES; status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* read if data may be in bounds */ if (file_in_bounds == MB_YES) { /* check for "fast bathymetry" or "fbt" file */ if (Ctrl->Z.mode == MBSWATH_BATH || Ctrl->Z.mode == MBSWATH_BATH_RELIEF) { mb_get_fbt(verbose, file, &format, &error); } /* check for filtered amplitude or sidescan file */ if (Ctrl->filtermode == MBSWATH_FILTER_AMP) { if ((status = mb_get_ffa(verbose, file, &format, &error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"Requested filtered amplitude file missing\n"); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } else if (Ctrl->filtermode == MBSWATH_FILTER_SIDESCAN) { if ((status = mb_get_ffs(verbose, file, &format, &error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"Requested filtered sidescan file missing\n"); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* call mb_read_init() */ if ((status = mb_read_init(verbose, file, format, 1, Ctrl->L.lonflip, Ctrl->bounds, Ctrl->b.time_i, Ctrl->e.time_i, Ctrl->S.speed, Ctrl->T.timegap, &Ctrl->mbio_ptr, &Ctrl->btime_d, &Ctrl->etime_d, &Ctrl->beams_bath_max, &Ctrl->beams_amp_max, &Ctrl->pixels_ss_max, &error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get fore-aft beam_width */ status = mb_format_beamwidth(verbose, &format, &Ctrl->beamwidth_xtrack, &Ctrl->beamwidth_ltrack, &error); if (Ctrl->beamwidth_ltrack <= 0.0) Ctrl->beamwidth_ltrack = 2.0; if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) Ctrl->footprint_factor = Ctrl->A.factor * Ctrl->beamwidth_ltrack; else Ctrl->footprint_factor = Ctrl->A.factor; /* allocate memory for data arrays */ status = mb_mallocd(verbose, __FILE__, __LINE__, sizeof(struct swath), (void **)&Ctrl->swath_plot, &error); npings = &Ctrl->swath_plot->npings; Ctrl->swath_plot->beams_bath = Ctrl->beams_bath_max; Ctrl->swath_plot->beams_amp = Ctrl->beams_amp_max; Ctrl->swath_plot->pixels_ss = Ctrl->pixels_ss_max; for (i=0;iswath_plot->data[i]); pingcur->beamflag = NULL; pingcur->bath = NULL; pingcur->amp = NULL; pingcur->bathlon = NULL; pingcur->bathlat = NULL; pingcur->ss = NULL; pingcur->sslon = NULL; pingcur->sslat = NULL; pingcur->bathflag = NULL; pingcur->bathfoot = NULL; pingcur->ssflag = NULL; pingcur->ssfoot = NULL; pingcur->bathshade = NULL; if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&(pingcur->beamflag), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&(pingcur->bath), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&(pingcur->amp), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&(pingcur->bathlon), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&(pingcur->bathlat), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&(pingcur->ss), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&(pingcur->sslon), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&(pingcur->sslat), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(int), (void **)&(pingcur->bathflag), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(struct footprint), (void **)&(pingcur->bathfoot), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(int), (void **)&(pingcur->ssflag), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(struct footprint), (void **)&(pingcur->ssfoot), &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, Ctrl->mbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&(pingcur->bathshade), &error); } /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* print message */ if (verbose >= 2) fprintf(stderr,"\n"); if (verbose >= 1) fprintf(stderr,"processing data in %s...\n",file); /* loop over reading */ *npings = 0; start = MB_YES; done = MB_NO; while (done == MB_NO) { pingcur = &Ctrl->swath_plot->data[*npings]; status = mb_read(verbose,Ctrl->mbio_ptr,&(pingcur->kind), &(pingcur->pings),pingcur->time_i,&(pingcur->time_d), &(pingcur->navlon),&(pingcur->navlat), &(pingcur->speed),&(pingcur->heading), &(pingcur->distance),&(pingcur->altitude), &(pingcur->sonardepth), &(pingcur->beams_bath), &(pingcur->beams_amp), &(pingcur->pixels_ss), pingcur->beamflag,pingcur->bath,pingcur->amp, pingcur->bathlon,pingcur->bathlat, pingcur->ss,pingcur->sslon,pingcur->sslat, pingcur->comment,&error); /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n", pingcur->kind); fprintf(stderr,"dbg2 beams_bath: %d\n", pingcur->beams_bath); fprintf(stderr,"dbg2 beams_amp: %d\n", pingcur->beams_amp); fprintf(stderr,"dbg2 pixels_ss: %d\n", pingcur->pixels_ss); fprintf(stderr,"dbg2 error: %d\n", error); fprintf(stderr,"dbg2 status: %d\n", status); for (i=0;ibeams_bath;i++) { fprintf(stderr, "bath[%4d]: %3d %f %f %f\n", i, pingcur->beamflag[i], pingcur->bath[i], pingcur->bathlon[i], pingcur->bathlat[i]); } for (i=0;ibeams_amp;i++) { fprintf(stderr, "amp[%4d]: %f %f %f\n", i, pingcur->amp[i], pingcur->bathlon[i], pingcur->bathlat[i]); } for (i=0;ipixels_ss;i++) { fprintf(stderr, "ss[%4d]: %f %f %f\n", i, pingcur->ss[i], pingcur->sslon[i], pingcur->sslat[i]); } } /* ignore time gaps */ if (error == MB_ERROR_TIME_GAP) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* update bookkeeping */ if (error == MB_ERROR_NO_ERROR) { nping_read += pingcur->pings; (*npings)++; } /* scale amplitudes if necessary */ if (error == MB_ERROR_NO_ERROR && (mode == MBSWATH_BATH_AMP || mode == MBSWATH_AMP) && Ctrl->D.mode > 0) { for (i=0;ibeams_amp;i++) { if (mb_beam_ok(pingcur->beamflag[i]) && Ctrl->D.mode == 1) { pingcur->amp[i] = Ctrl->D.ampscale * (pingcur->amp[i] - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (mb_beam_ok(pingcur->beamflag[i]) && Ctrl->D.mode == 2) { pingcur->amp[i] = MIN(pingcur->amp[i],Ctrl->D.ampmax); pingcur->amp[i] = MAX(pingcur->amp[i],Ctrl->D.ampmin); pingcur->amp[i] = Ctrl->D.ampscale * (pingcur->amp[i] - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (mb_beam_ok(pingcur->beamflag[i]) && Ctrl->D.mode == 3) { amplog = 20.0 * log10(pingcur->amp[i]); pingcur->amp[i] = Ctrl->D.ampscale * (amplog - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (mb_beam_ok(pingcur->beamflag[i]) && Ctrl->D.mode == 4) { amplog = 20.0 * log10(pingcur->amp[i]); amplog = MIN(amplog,Ctrl->D.ampmax); amplog = MAX(amplog,Ctrl->D.ampmin); pingcur->amp[i] = Ctrl->D.ampscale * (amplog - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } } } /* scale bathymetry from meters to feet if necessary */ if (error == MB_ERROR_NO_ERROR && Ctrl->W.active == true) { for (i=0;ibeams_bath;i++) { pingcur->bath[i] = 3.2808399 * pingcur->bath[i]; } } /* scale sidescan if necessary */ if (error == MB_ERROR_NO_ERROR && mode == MBSWATH_SS && Ctrl->D.mode > 0) { for (i=0;ipixels_ss;i++) { if (pingcur->ss[i] > MB_SIDESCAN_NULL && Ctrl->D.mode == 1) { pingcur->ss[i] = Ctrl->D.ampscale * (pingcur->ss[i] - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (pingcur->ss[i] > MB_SIDESCAN_NULL && Ctrl->D.mode == 2) { pingcur->ss[i] = MIN(pingcur->ss[i],Ctrl->D.ampmax); pingcur->ss[i] = MAX(pingcur->ss[i],Ctrl->D.ampmin); pingcur->ss[i] = Ctrl->D.ampscale * (pingcur->ss[i] - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (pingcur->ss[i] > MB_SIDESCAN_NULL && Ctrl->D.mode == 3) { amplog = 20.0 * log10(pingcur->ss[i]); pingcur->ss[i] = Ctrl->D.ampscale * (amplog - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } else if (pingcur->ss[i] > MB_SIDESCAN_NULL && Ctrl->D.mode == 4) { amplog = 20.0 * log10(pingcur->ss[i]); amplog = MIN(amplog,Ctrl->D.ampmax); amplog = MAX(amplog,Ctrl->D.ampmin); pingcur->ss[i] = Ctrl->D.ampscale * (amplog - Ctrl->D.ampmin) / (Ctrl->D.ampmax - Ctrl->D.ampmin); } } } /* decide whether to plot, whether to save the new ping, and if done */ plot = MB_NO; flush = MB_NO; if (*npings >= MAXPINGS) plot = MB_YES; if (*npings > 0 && (error > MB_ERROR_NO_ERROR || error == MB_ERROR_TIME_GAP || error == MB_ERROR_OUT_BOUNDS || error == MB_ERROR_OUT_TIME || error == MB_ERROR_SPEED_TOO_SMALL)) { plot = MB_YES; flush = MB_YES; } save_new = MB_NO; if (error == MB_ERROR_TIME_GAP) save_new = MB_YES; if (error > MB_ERROR_NO_ERROR) done = MB_YES; /* if enough pings read in, plot them */ if (plot == MB_YES) { /* get footprint locations */ if (Ctrl->A.mode != MBSWATH_FOOTPRINT_POINT) status = mbswath_get_footprints(verbose, Ctrl, &error); /* get shading */ if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF || Ctrl->Z.mode == MBSWATH_BATH_AMP) status = mbswath_get_shading(verbose, Ctrl, GMT, CPTshade, &error); /* plot data */ if (start == MB_YES) { first = 0; start = MB_NO; } else first = 1; if (done == MB_YES) nplot = *npings - first; else nplot = *npings - first - 1; if (Ctrl->A.mode == MBSWATH_FOOTPRINT_POINT) status = mbswath_plot_data_point(verbose, Ctrl, GMT, CPTcolor, PSL, first, nplot, &error); else status = mbswath_plot_data_footprint(verbose, Ctrl, GMT, CPTcolor, PSL, first, nplot, &error); /* reorganize data */ if (flush == MB_YES && save_new == MB_YES) { status = mbswath_ping_copy(verbose,0, *npings, Ctrl->swath_plot, &error); *npings = 1; start = MB_YES; } else if (flush == MB_YES) { *npings = 0; start = MB_YES; } else if (*npings > 1) { for (i=0;i<2;i++) status = mbswath_ping_copy(verbose,i, *npings-2+i, Ctrl->swath_plot, &error); *npings = 2; } } } status = mb_close(verbose,&Ctrl->mbio_ptr,&error); /* deallocate memory for data arrays */ mb_freed(verbose,__FILE__, __LINE__, (void **)&Ctrl->swath_plot, &error); } /* end if file in bounds */ /* figure out whether and what to read next */ if (Ctrl->read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose, Ctrl->datalist, file, &format, &Ctrl->file_weight, &error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (Ctrl->read_datalist == MB_YES) mb_datalist_close(verbose, &Ctrl->datalist, &error); /* Generate grayscale 8-bit image */ if (Ctrl->image_type == MBSWATH_IMAGE_8) { GMT_Report (API, GMT_MSG_VERBOSE, "Creating 8-bit grayshade image\n"); PSL_plotcolorimage (PSL, Ctrl->x0, Ctrl->y0, Ctrl->x_inch, Ctrl->y_inch, PSL_BL, Ctrl->bitimage, Ctrl->nx, Ctrl->ny, (Ctrl->E.device_dpi ? -8 : 8)); } /* Generate full color 24-bit image */ else if (Ctrl->image_type == MBSWATH_IMAGE_24) { GMT_Report (API, GMT_MSG_VERBOSE, "Creating 24-bit color image\n"); PSL_plotcolorimage (PSL, Ctrl->x0, Ctrl->y0, Ctrl->x_inch, Ctrl->y_inch, PSL_BL, Ctrl->bitimage, Ctrl->nx, Ctrl->ny, (Ctrl->E.device_dpi ? -24 : 24)); } GMT_map_clip_off (GMT); GMT_map_basemap (GMT); GMT_plane_perspective (GMT, -1, 0.0); GMT_plotend (GMT); /* Free bitimage arrays. GMT_free will not complain if they have not been used (NULL) */ if (Ctrl->bitimage) GMT_free (GMT, Ctrl->bitimage); if (!Ctrl->C.active && GMT_Destroy_Data (API, &CPTcolor) != GMT_OK) { Return (API->error); } if (!Ctrl->N.active && GMT_Destroy_Data (API, &CPTshade) != GMT_OK) { Return (API->error); } Return (EXIT_SUCCESS); } /*--------------------------------------------------------------------*/ int mbswath_get_footprints(int verbose, struct MBSWATH_CTRL *Ctrl, int *error) { char *function_name = "mbswath_get_footprints"; int status = MB_SUCCESS; struct swath *swath; struct ping *pingcur; struct footprint *print; int dobath, doss; double headingx, headingy; double dx, dy, r, dlon1, dlon2, dlat1, dlat2, tt, x, y; double ddlonx, ddlaty, rfactor; static double dddepth = 0.0; int setprint; struct mb_io_struct *mb_io_ptr; int i, j, k; /* get swath */ swath = Ctrl->swath_plot; mb_io_ptr = (struct mb_io_struct *) Ctrl->mbio_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 Ctrl->A.mode: %d\n", Ctrl->A.mode); fprintf(stderr,"dbg2 Ctrl->A.factor: %f\n", Ctrl->A.factor); fprintf(stderr,"dbg2 Ctrl->A.depth: %f\n",Ctrl->A.depth); fprintf(stderr,"dbg2 Ctrl->footprint_factor: %f\n",Ctrl->footprint_factor); fprintf(stderr,"dbg2 Ctrl->swath_plot: %p\n",Ctrl->swath_plot); fprintf(stderr,"dbg2 Ctrl->mtodeglon: %f\n",Ctrl->mtodeglon); fprintf(stderr,"dbg2 Ctrl->mtodeglat: %f\n",Ctrl->mtodeglat); fprintf(stderr,"dbg2 pings: %d\n",swath->npings); } /* set mode of operation */ if (Ctrl->Z.mode != MBSWATH_SS && Ctrl->Z.mode != MBSWATH_SS_FILTER) { dobath = MB_YES; doss = MB_NO; } else { dobath = MB_NO; doss = MB_YES; } /* set all footprint flags to zero */ for (i=0;inpings;i++) { pingcur = &swath->data[i]; for (j=0;jbeams_bath;j++) pingcur->bathflag[j] = MB_NO; for (j=0;jpixels_ss;j++) pingcur->ssflag[j] = MB_NO; } /* get fore-aft components of beam footprints */ if (swath->npings > 1 && Ctrl->A.mode == MBSWATH_FOOTPRINT_FAKE) { for (i=0;inpings;i++) { /* initialize */ pingcur = &swath->data[i]; pingcur->lonaft = 0.0; pingcur->lataft = 0.0; pingcur->lonfor = 0.0; pingcur->latfor = 0.0; /* get aft looking */ if (i > 0) { headingx = sin(pingcur->heading*DTR); headingy = cos(pingcur->heading*DTR); dx = (swath->data[i-1].navlon - pingcur->navlon) /Ctrl->mtodeglon; dy = (swath->data[i-1].navlat - pingcur->navlat) /Ctrl->mtodeglat; r = sqrt(dx*dx + dy*dy); pingcur->lonaft = Ctrl->footprint_factor * r * headingx * Ctrl->mtodeglon; pingcur->lataft = Ctrl->footprint_factor * r * headingy * Ctrl->mtodeglat; } /* get forward looking */ if (i < swath->npings - 1) { headingx = sin(pingcur->heading*DTR); headingy = cos(pingcur->heading*DTR); dx = (swath->data[i+1].navlon - pingcur->navlon) /Ctrl->mtodeglon; dy = (swath->data[i+1].navlat - pingcur->navlat) /Ctrl->mtodeglat; r = sqrt(dx*dx + dy*dy); pingcur->lonfor = Ctrl->footprint_factor * r * headingx * Ctrl->mtodeglon; pingcur->latfor = Ctrl->footprint_factor * r * headingy * Ctrl->mtodeglat; } /* take care of first ping */ if (i == 0) { pingcur->lonaft = -pingcur->lonfor; pingcur->lataft = -pingcur->latfor; } /* take care of last ping */ if (i == swath->npings - 1) { pingcur->lonfor = -pingcur->lonaft; pingcur->latfor = -pingcur->lataft; } } } /* take care of just one ping with nonzero center beam */ else if (swath->npings == 1 && Ctrl->A.mode == MBSWATH_FOOTPRINT_FAKE && mb_beam_ok(swath->data[0].beamflag[pingcur->beams_bath/2]) && Ctrl->A.depth <= 0.0) { pingcur = &swath->data[0]; headingx = sin(pingcur->heading*DTR); headingy = cos(pingcur->heading*DTR); tt = pingcur->bath[pingcur->beams_bath/2]/750.0; /* in s */ r = tt * pingcur->speed * 0.55555556; /* in m */ pingcur->lonaft = -Ctrl->footprint_factor * r * headingx * Ctrl->mtodeglon; pingcur->lataft = -Ctrl->footprint_factor * r * headingy * Ctrl->mtodeglat; pingcur->lonfor = Ctrl->footprint_factor * r * headingx * Ctrl->mtodeglon; pingcur->latfor = Ctrl->footprint_factor * r * headingy * Ctrl->mtodeglat; } /* else get rfactor if using fore-aft beam width */ else if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { rfactor = 0.5*sin(DTR*Ctrl->footprint_factor); } /* loop over the inner beams and get the obvious footprint boundaries */ for (i=0;inpings;i++) { pingcur = &swath->data[i]; /* get heading if using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { headingx = sin(pingcur->heading*DTR); headingy = cos(pingcur->heading*DTR); } /* do bathymetry */ if (dobath == MB_YES) for (j=1;jbeams_bath-1;j++) if (mb_beam_ok(pingcur->beamflag[j])) { x = pingcur->bathlon[j]; y = pingcur->bathlat[j]; setprint = MB_NO; if (mb_beam_ok(pingcur->beamflag[j-1]) && mb_beam_ok(pingcur->beamflag[j+1])) { setprint = MB_YES; dlon1 = pingcur->bathlon[j-1] - pingcur->bathlon[j]; dlat1 = pingcur->bathlat[j-1] - pingcur->bathlat[j]; dlon2 = pingcur->bathlon[j+1] - pingcur->bathlon[j]; dlat2 = pingcur->bathlat[j+1] - pingcur->bathlat[j]; } else if (mb_beam_ok(pingcur->beamflag[j-1])) { setprint = MB_YES; dlon1 = pingcur->bathlon[j-1] - pingcur->bathlon[j]; dlat1 = pingcur->bathlat[j-1] - pingcur->bathlat[j]; dlon2 = -dlon1; dlat2 = -dlat1; } else if (mb_beam_ok(pingcur->beamflag[j+1])) { setprint = MB_YES; dlon2 = pingcur->bathlon[j+1] - pingcur->bathlon[j]; dlat2 = pingcur->bathlat[j+1] - pingcur->bathlat[j]; dlon1 = -dlon2; dlat1 = -dlat2; } /* do it using fore-aft beam width */ if (setprint == MB_YES && Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { print = &pingcur->bathfoot[j]; pingcur->bathflag[j] = MB_YES; ddlonx = (pingcur->bathlon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->bathlat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else dddepth = pingcur->bath[j]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } /* do it using ping nav separation */ else if (setprint == MB_YES) { print = &pingcur->bathfoot[j]; pingcur->bathflag[j] = MB_YES; print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } } /* do sidescan */ if (doss == MB_YES) for (j=1;jpixels_ss-1;j++) if (pingcur->ss[j] > MB_SIDESCAN_NULL) { x = pingcur->sslon[j]; y = pingcur->sslat[j]; setprint = MB_NO; if (pingcur->ss[j-1] > MB_SIDESCAN_NULL && pingcur->ss[j+1] > MB_SIDESCAN_NULL) { setprint = MB_YES; dlon1 = pingcur->sslon[j-1] - pingcur->sslon[j]; dlat1 = pingcur->sslat[j-1] - pingcur->sslat[j]; dlon2 = pingcur->sslon[j+1] - pingcur->sslon[j]; dlat2 = pingcur->sslat[j+1] - pingcur->sslat[j]; } else if (pingcur->ss[j-1] > MB_SIDESCAN_NULL) { setprint = MB_YES; dlon1 = pingcur->sslon[j-1] - pingcur->sslon[j]; dlat1 = pingcur->sslat[j-1] - pingcur->sslat[j]; dlon2 = -dlon1; dlat2 = -dlat1; } else if (pingcur->ss[j+1] > MB_SIDESCAN_NULL) { setprint = MB_YES; dlon2 = pingcur->sslon[j+1] - pingcur->sslon[j]; dlat2 = pingcur->sslat[j+1] - pingcur->sslat[j]; dlon1 = -dlon2; dlat1 = -dlat2; } /* do it using fore-aft beam width */ if (setprint == MB_YES && Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { print = &pingcur->ssfoot[j]; pingcur->ssflag[j] = MB_YES; ddlonx = (pingcur->sslon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->sslat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else if (pingcur->beams_bath > 0 && mb_beam_ok(pingcur->beamflag[pingcur->beams_bath/2])) dddepth = pingcur->bath[pingcur->beams_bath/2]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } /* do it using ping nav separation */ else if (setprint == MB_YES) { print = &pingcur->ssfoot[j]; pingcur->ssflag[j] = MB_YES; print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } } } /* loop over the outer beams and get the obvious footprint boundaries */ for (i=0;inpings;i++) { pingcur = &swath->data[i]; /* get heading if using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { headingx = sin(pingcur->heading*DTR); headingy = cos(pingcur->heading*DTR); } /* do bathymetry with more than 2 soundings */ if (dobath == MB_YES && pingcur->beams_bath > 2) { j = 0; if (mb_beam_ok(pingcur->beamflag[j]) && mb_beam_ok(pingcur->beamflag[j+1])) { x = pingcur->bathlon[j]; y = pingcur->bathlat[j]; dlon2 = pingcur->bathlon[j+1] - pingcur->bathlon[j]; dlat2 = pingcur->bathlat[j+1] - pingcur->bathlat[j]; dlon1 = -dlon2; dlat1 = -dlat2; print = &pingcur->bathfoot[j]; pingcur->bathflag[j] = MB_YES; /* using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { ddlonx = (pingcur->bathlon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->bathlat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else dddepth = pingcur->bath[j]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; } print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } j = pingcur->beams_bath-1; if (mb_beam_ok(pingcur->beamflag[j]) && mb_beam_ok(pingcur->beamflag[j-1])) { x = pingcur->bathlon[j]; y = pingcur->bathlat[j]; dlon1 = pingcur->bathlon[j-1] - pingcur->bathlon[j]; dlat1 = pingcur->bathlat[j-1] - pingcur->bathlat[j]; dlon2 = -dlon1; dlat2 = -dlat1; print = &pingcur->bathfoot[j]; pingcur->bathflag[j] = MB_YES; /* using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { ddlonx = (pingcur->bathlon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->bathlat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else dddepth = pingcur->bath[j]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; } print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } } /* do bathymetry with 1 sounding */ if (dobath == MB_YES && Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL && pingcur->beams_bath == 1) { if (mb_beam_ok(pingcur->beamflag[0])) { print = &pingcur->bathfoot[0]; pingcur->bathflag[0] = MB_YES; ddlonx = (pingcur->bathlon[0] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->bathlat[0] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else dddepth = pingcur->bath[0]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); dlon2 = -r * headingy * Ctrl->mtodeglon; dlat2 = -r * headingx * Ctrl->mtodeglat; dlon1 = r * headingy * Ctrl->mtodeglon; dlat1 = r * headingx * Ctrl->mtodeglat; pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; print->x[0] = pingcur->bathlon[0] + dlon1 + pingcur->lonaft; print->y[0] = pingcur->bathlat[0] + dlat1 + pingcur->lataft; print->x[1] = pingcur->bathlon[0] + dlon2 + pingcur->lonaft; print->y[1] = pingcur->bathlat[0] + dlat2 + pingcur->lataft; print->x[2] = pingcur->bathlon[0] + dlon2 + pingcur->lonfor; print->y[2] = pingcur->bathlat[0] + dlat2 + pingcur->latfor; print->x[3] = pingcur->bathlon[0] + dlon1 + pingcur->lonfor; print->y[3] = pingcur->bathlat[0] + dlat1 + pingcur->latfor; } } /* do sidescan */ if (doss == MB_YES && pingcur->pixels_ss > 2) { j = 0; if (pingcur->ss[j] > MB_SIDESCAN_NULL && pingcur->ss[j+1] > MB_SIDESCAN_NULL) { x = pingcur->sslon[j]; y = pingcur->sslat[j]; dlon2 = pingcur->sslon[j+1] - pingcur->sslon[j]; dlat2 = pingcur->sslat[j+1] - pingcur->sslat[j]; dlon1 = -dlon2; dlat1 = -dlat2; print = &pingcur->ssfoot[j]; pingcur->ssflag[j] = MB_YES; /* using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { ddlonx = (pingcur->sslon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->sslat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else if (pingcur->beams_bath > 0 && mb_beam_ok(pingcur->beamflag[pingcur->beams_bath/2])) dddepth = pingcur->bath[pingcur->beams_bath/2]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; } print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } j = pingcur->pixels_ss-1; if (pingcur->ss[j] > MB_SIDESCAN_NULL && pingcur->ss[j-1] > MB_SIDESCAN_NULL) { x = pingcur->sslon[j]; y = pingcur->sslat[j]; dlon1 = pingcur->sslon[j-1] - pingcur->sslon[j]; dlat1 = pingcur->sslat[j-1] - pingcur->sslat[j]; dlon2 = -dlon1; dlat2 = -dlat1; print = &pingcur->ssfoot[j]; pingcur->ssflag[j] = MB_YES; /* using fore-aft beam width */ if (Ctrl->A.mode == MBSWATH_FOOTPRINT_REAL) { ddlonx = (pingcur->sslon[j] - pingcur->navlon)/Ctrl->mtodeglon; ddlaty = (pingcur->sslat[j] - pingcur->navlat)/Ctrl->mtodeglat; if (Ctrl->A.depth > 0.0) dddepth = Ctrl->A.depth; else if (pingcur->altitude > 0.0) dddepth = pingcur->altitude; else if (pingcur->beams_bath > 0 && mb_beam_ok(pingcur->beamflag[pingcur->beams_bath/2])) dddepth = pingcur->bath[pingcur->beams_bath/2]; r = rfactor*sqrt(ddlonx*ddlonx + ddlaty*ddlaty + dddepth*dddepth); pingcur->lonaft = -r * headingx * Ctrl->mtodeglon; pingcur->lataft = -r * headingy * Ctrl->mtodeglat; pingcur->lonfor = r * headingx * Ctrl->mtodeglon; pingcur->latfor = r * headingy * Ctrl->mtodeglat; } print->x[0] = x + dlon1 + pingcur->lonaft; print->y[0] = y + dlat1 + pingcur->lataft; print->x[1] = x + dlon2 + pingcur->lonaft; print->y[1] = y + dlat2 + pingcur->lataft; print->x[2] = x + dlon2 + pingcur->lonfor; print->y[2] = y + dlat2 + pingcur->latfor; print->x[3] = x + dlon1 + pingcur->lonfor; print->y[3] = y + dlat1 + pingcur->latfor; } } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Beam footprints found in function <%s>\n", function_name); fprintf(stderr,"dbg2 npings: %d\n", swath->npings); fprintf(stderr,"dbg2 error: %d\n", *error); fprintf(stderr,"dbg2 status: %d\n", status); for (i=0;inpings;i++) { fprintf(stderr,"dbg2\ndbg2 ping: %d\n",i); pingcur = &swath->data[i]; if (dobath == MB_YES) for (j=0;jbeams_bath;j++) { print = &pingcur->bathfoot[j]; fprintf(stderr,"dbg2 %d %d %g %g ", j,pingcur->bathflag[j], pingcur->bathlon[j], pingcur->bathlat[j]); for (k=0;k<4;k++) fprintf(stderr," %g %g", print->x[k], print->y[k]); fprintf(stderr,"\n"); } if (doss == MB_YES) for (j=0;jpixels_ss;j++) { print = &pingcur->ssfoot[j]; fprintf(stderr,"dbg2 %d %d %g %g ", j,pingcur->ssflag[j], pingcur->sslon[j], pingcur->sslat[j]); for (k=0;k<4;k++) fprintf(stderr," %g %g", print->x[k], print->y[k]); fprintf(stderr,"\n"); } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_get_shading(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, int *error) { char *function_name = "mbswath_get_shading"; int status = MB_SUCCESS; struct swath *swath; struct ping *ping0; struct ping *ping1; struct ping *ping2; int drvcount; double dx, dy, dd; double dst2; double drvx, drvy; double sinx,cosy; double median; double graylevel; double rgb[4]; int cpt_index; int i, j; /* get swath */ swath = Ctrl->swath_plot; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 Ctrl: %p\n",Ctrl); fprintf(stderr,"dbg2 Ctrl->Z.mode: %d\n",Ctrl->Z.mode); if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f shaded relief magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f shaded relief azimuth\n",Ctrl->G.azimuth); } else if (Ctrl->Z.mode == MBSWATH_BATH_AMP) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f amplitude shading magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f amplitude shading center\n",Ctrl->G.azimuth); fprintf(stderr,"dbg2 Ctrl->N.active: %d\n",Ctrl->N.active); if (Ctrl->N.active) fprintf(stderr,"dbg2 Ctrl->N.cptfile: %s\n",Ctrl->N.cptfile); } fprintf(stderr,"dbg2 GMT: %p\n",GMT); fprintf(stderr,"dbg2 CPT: %p\n",CPT); fprintf(stderr,"dbg2 swath: %p\n",swath); fprintf(stderr,"dbg2 pings: %d\n",swath->npings); fprintf(stderr,"dbg2 Ctrl->mtodeglon: %f\n",Ctrl->mtodeglon); fprintf(stderr,"dbg2 Ctrl->mtodeglat: %f\n",Ctrl->mtodeglat); } /* get shading from directional bathymetric gradient */ if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF) { /* get directional factors */ sinx = sin(DTR * Ctrl->G.azimuth); cosy = cos(DTR * Ctrl->G.azimuth); /* loop over the pings and beams */ for (i=0;inpings;i++) { if (i > 0) ping0 = &swath->data[i-1]; ping1 = &swath->data[i]; if (i < swath->npings - 1) ping2 = &swath->data[i+1]; for (j=0;jbeams_bath;j++) if (mb_beam_ok(ping1->beamflag[j])) { /* do across track components */ drvcount = 0; dx = 0.0; dy = 0.0; dd = 0.0; drvx = 0.0; drvy = 0.0; if (j > 0 && j < ping1->beams_bath - 1 && mb_beam_ok(ping1->beamflag[j-1]) && mb_beam_ok(ping1->beamflag[j+1])) { dx = (ping1->bathlon[j+1] - ping1->bathlon[j-1]) / Ctrl->mtodeglon; dy = (ping1->bathlat[j+1] - ping1->bathlat[j-1]) / Ctrl->mtodeglat; dd = ping1->bath[j+1] - ping1->bath[j-1]; } else if (j < ping1->beams_bath - 1 && mb_beam_ok(ping1->beamflag[j]) && mb_beam_ok(ping1->beamflag[j+1])) { dx = (ping1->bathlon[j+1] - ping1->bathlon[j]) / Ctrl->mtodeglon; dy = (ping1->bathlat[j+1] - ping1->bathlat[j]) / Ctrl->mtodeglat; dd = ping1->bath[j+1] - ping1->bath[j]; } else if (j > 0 && mb_beam_ok(ping1->beamflag[j-1]) && mb_beam_ok(ping1->beamflag[j])) { dx = (ping1->bathlon[j] - ping1->bathlon[j-1]) / Ctrl->mtodeglon; dy = (ping1->bathlat[j] - ping1->bathlat[j-1]) / Ctrl->mtodeglat; dd = ping1->bath[j] - ping1->bath[j-1]; } dst2 = dx * dx + dy * dy; if (dst2 > 0.0) { drvx = dd * dx / dst2; drvy = dd * dy / dst2; drvcount++; } /* do along track components */ dx = 0.0; dy = 0.0; dd = 0.0; if (i > 0 && i < swath->npings - 1 && mb_beam_ok(ping0->beamflag[j]) && mb_beam_ok(ping2->beamflag[j])) { dx = (ping2->bathlon[j] - ping0->bathlon[j]) / Ctrl->mtodeglon; dy = (ping2->bathlat[j] - ping0->bathlat[j]) / Ctrl->mtodeglat; dd = ping2->bath[j] - ping0->bath[j]; } else if (i < swath->npings - 1 && mb_beam_ok(ping1->beamflag[j]) && mb_beam_ok(ping2->beamflag[j])) { dx = (ping2->bathlon[j] - ping1->bathlon[j]) / Ctrl->mtodeglon; dy = (ping2->bathlat[j] - ping1->bathlat[j]) / Ctrl->mtodeglat; dd = ping2->bath[j] - ping1->bath[j]; } else if (i > 0 && mb_beam_ok(ping0->beamflag[j]) && mb_beam_ok(ping1->beamflag[j])) { dx = (ping1->bathlon[j] - ping0->bathlon[j]) / Ctrl->mtodeglon; dy = (ping1->bathlat[j] - ping0->bathlat[j]) / Ctrl->mtodeglat; dd = ping1->bath[j] - ping0->bath[j]; } dst2 = dx * dx + dy * dy; if (dst2 > 0.0) { drvx = drvx + dd * dx / dst2; drvy = drvy + dd * dy / dst2; drvcount++; } /* calculate directional derivative */ if (drvcount == 2) ping1->bathshade[j] = Ctrl->G.magnitude * (drvx*sinx + drvy*cosy); else ping1->bathshade[j] = 0.0; } } } /* get shading from amplitude data using cpt file */ else if (Ctrl->Z.mode == MBSWATH_BATH_AMP && Ctrl->N.active) { /* loop over the pings and beams */ for (i=0;inpings;i++) { if (i > 0) ping0 = &swath->data[i-1]; ping1 = &swath->data[i]; if (i < swath->npings - 1) ping2 = &swath->data[i+1]; for (j=0;jbeams_bath;j++) if (mb_beam_ok(ping1->beamflag[j])) { /* calculate shading */ if (mb_beam_ok(ping1->beamflag[j])) { /* get shading value from cpt */ cpt_index = GMT_get_rgb_from_z(GMT, CPT, ping1->amp[j], rgb); graylevel = (rgb[0] + rgb[1] + rgb[2]) / 3.0; ping1->bathshade[j] = Ctrl->G.magnitude * (graylevel - Ctrl->G.azimuth) / 128.; } else ping1->bathshade[j] = 0.0; } } } /* get shading from amplitude data */ else if (Ctrl->Z.mode == MBSWATH_BATH_AMP) { /* get median value from value entered as azimuth */ median = Ctrl->G.azimuth; /* loop over the pings and beams */ for (i=0;inpings;i++) { if (i > 0) ping0 = &swath->data[i-1]; ping1 = &swath->data[i]; if (i < swath->npings - 1) ping2 = &swath->data[i+1]; for (j=0;jbeams_bath;j++) if (mb_beam_ok(ping1->beamflag[j])) { /* calculate shading */ if (mb_beam_ok(ping1->beamflag[j])) ping1->bathshade[j] = Ctrl->G.magnitude * (ping1->amp[j] - Ctrl->G.azimuth); else ping1->bathshade[j] = 0.0; } } } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Shading values in function <%s>\n", function_name); fprintf(stderr,"dbg2 npings: %d\n", swath->npings); fprintf(stderr,"dbg2 error: %d\n", *error); fprintf(stderr,"dbg2 status: %d\n", status); for (i=0;inpings;i++) { fprintf(stderr,"dbg2\ndbg2 ping: %d\n",i); ping1 = &swath->data[i]; for (j=0;jbeams_bath;j++) { fprintf(stderr,"dbg2 %d %d %g %g\n", j,ping1->bathflag[j], ping1->bath[j], ping1->bathshade[j]); } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_plot_data_footprint(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, struct PSL_CTRL *PSL, int first, int nplot, int *error) { char *function_name = "mbswath_plot_data_footprint"; int status = MB_SUCCESS; struct swath *swath; struct ping *pingcur; struct footprint *print; double *x, *y; double xx[4], yy[4]; double rgb[4]; int cpt_index; int i, j, k; /* get swath */ swath = Ctrl->swath_plot; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 Ctrl: %p\n",Ctrl); fprintf(stderr,"dbg2 Ctrl->Z.mode: %d\n",Ctrl->Z.mode); fprintf(stderr,"dbg2 Ctrl->C.cptfile: %s\n",Ctrl->C.cptfile); if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f shaded relief magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f shaded relief azimuth\n",Ctrl->G.azimuth); } else if (Ctrl->Z.mode == MBSWATH_BATH_AMP) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f amplitude shading magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f amplitude shading center\n",Ctrl->G.azimuth); fprintf(stderr,"dbg2 Ctrl->N.active: %d\n",Ctrl->N.active); if (Ctrl->N.active) fprintf(stderr,"dbg2 Ctrl->N.cptfile: %s\n",Ctrl->N.cptfile); } fprintf(stderr,"dbg2 GMT: %p\n",GMT); fprintf(stderr,"dbg2 CPT: %p\n",CPT); fprintf(stderr,"dbg2 PSL: %p\n",PSL); fprintf(stderr,"dbg2 swath: %p\n",swath); fprintf(stderr,"dbg2 pings: %d\n",swath->npings); fprintf(stderr,"dbg2 first: %d\n",first); fprintf(stderr,"dbg2 nplot: %d\n",nplot); } if (Ctrl->Z.mode == MBSWATH_BATH || Ctrl->Z.mode == MBSWATH_BATH_RELIEF || Ctrl->Z.mode == MBSWATH_BATH_AMP) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jbeams_bath;j++) if (pingcur->bathflag[j] == MB_YES) { print = &pingcur->bathfoot[j]; x = &(print->x[0]); y = &(print->y[0]); for (k=0;k<4;k++) GMT_geo_to_xy(GMT, x[k], y[k], &xx[k], &yy[k]); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->bath[j], rgb); if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF || Ctrl->Z.mode == MBSWATH_BATH_AMP) { //fprintf(stderr,"Illuminate: shade:%f rgb: %f %f %f ",pingcur->bathshade[j], rgb[0],rgb[1],rgb[2]); GMT_illuminate(GMT, pingcur->bathshade[j], rgb); //fprintf(stderr," %f %f %f\n",rgb[0],rgb[1],rgb[2]); } /*fprintf(stderr,"Calling mbswath_plot_box ping:%d of %d beam:%d of %d\n", i,nplot,j,pingcur->beams_bath);*/ status = mbswath_plot_box(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } else if (Ctrl->Z.mode == MBSWATH_AMP) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jbeams_amp;j++) if (pingcur->bathflag[j] == MB_YES) { print = &pingcur->bathfoot[j]; x = &(print->x[0]); y = &(print->y[0]); for (k=0;k<4;k++) GMT_geo_to_xy(GMT, x[k], y[k], &xx[k], &yy[k]); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->amp[j], rgb); status = mbswath_plot_box(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } else if (Ctrl->Z.mode == MBSWATH_SS) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jpixels_ss;j++) if (pingcur->ssflag[j] == MB_YES) { print = &pingcur->ssfoot[j]; x = &(print->x[0]); y = &(print->y[0]); for (k=0;k<4;k++) GMT_geo_to_xy(GMT, x[k], y[k], &xx[k], &yy[k]); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->ss[j], rgb); status = mbswath_plot_box(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_plot_data_point(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct GMT_PALETTE *CPT, struct PSL_CTRL *PSL, int first, int nplot, int *error) { char *function_name = "mbswath_plot_data_point"; int status = MB_SUCCESS; struct swath *swath; struct ping *pingcur; double xx, yy; double rgb[4]; int cpt_index; int i, j; /* get swath */ swath = Ctrl->swath_plot; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 Ctrl: %p\n",Ctrl); fprintf(stderr,"dbg2 Ctrl->Z.mode: %d\n",Ctrl->Z.mode); if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f shaded relief magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f shaded relief azimuth\n",Ctrl->G.azimuth); } else if (Ctrl->Z.mode == MBSWATH_BATH_AMP) { fprintf(stderr,"dbg2 Ctrl->G.magnitude: %f amplitude shading magnitude\n",Ctrl->G.magnitude); fprintf(stderr,"dbg2 Ctrl->G.azimuth: %f amplitude shading center\n",Ctrl->G.azimuth); fprintf(stderr,"dbg2 Ctrl->N.active: %d\n",Ctrl->N.active); if (Ctrl->N.active) fprintf(stderr,"dbg2 Ctrl->N.cptfile: %s\n",Ctrl->N.cptfile); } fprintf(stderr,"dbg2 GMT: %p\n",GMT); fprintf(stderr,"dbg2 CPT: %p\n",CPT); fprintf(stderr,"dbg2 PSL: %p\n",PSL); fprintf(stderr,"dbg2 swath: %p\n",swath); fprintf(stderr,"dbg2 pings: %d\n",swath->npings); fprintf(stderr,"dbg2 first: %d\n",first); fprintf(stderr,"dbg2 nplot: %d\n",nplot); } if (Ctrl->Z.mode == MBSWATH_BATH || Ctrl->Z.mode == MBSWATH_BATH_RELIEF || Ctrl->Z.mode == MBSWATH_BATH_AMP) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jbeams_bath;j++) if (mb_beam_ok(pingcur->beamflag[j])) { GMT_geo_to_xy(GMT, pingcur->bathlon[j], pingcur->bathlat[j], &xx, &yy); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->bath[j], rgb); if (Ctrl->Z.mode == MBSWATH_BATH_RELIEF || Ctrl->Z.mode == MBSWATH_BATH_AMP) GMT_illuminate(GMT, pingcur->bathshade[j], rgb); status = mbswath_plot_point(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } else if (Ctrl->Z.mode == MBSWATH_AMP) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jbeams_amp;j++) if (mb_beam_ok(pingcur->beamflag[j])) { GMT_geo_to_xy(GMT, pingcur->bathlon[j], pingcur->bathlat[j], &xx, &yy); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->amp[j], rgb); status = mbswath_plot_point(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } else if (Ctrl->Z.mode == MBSWATH_SS) { /* loop over all pings and beams and plot the good ones */ for (i=first;idata[i]; for (j=0;jpixels_ss;j++) if (pingcur->ss[j] > MB_SIDESCAN_NULL) { GMT_geo_to_xy(GMT, pingcur->sslon[j], pingcur->sslat[j], &xx, &yy); cpt_index = GMT_get_rgb_from_z(GMT, CPT, pingcur->ss[j], rgb); status = mbswath_plot_point(verbose, Ctrl, GMT, PSL, xx, yy, rgb, error); } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_plot_box(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct PSL_CTRL *PSL, double *x, double *y, double *rgb, int *error) { char *function_name = "mbswath_plot_box"; int status = MB_SUCCESS; int ix[5], iy[5]; int ixmin, ixmax, iymin, iymax; int ixx, iyy; int ixx1, ixx2; double dx, dy; int ncross, xcross[10]; int i, j, k; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 GMT: %p\n",GMT); fprintf(stderr,"dbg2 x[0]: %f\n",x[0]); fprintf(stderr,"dbg2 y[0]: %f\n",y[0]); fprintf(stderr,"dbg2 x[1]: %f\n",x[1]); fprintf(stderr,"dbg2 y[1]: %f\n",y[1]); fprintf(stderr,"dbg2 x[2]: %f\n",x[2]); fprintf(stderr,"dbg2 y[2]: %f\n",y[2]); fprintf(stderr,"dbg2 x[3]: %f\n",x[3]); fprintf(stderr,"dbg2 y[3]: %f\n",y[3]); fprintf(stderr,"dbg2 rgb[0]: %f\n",rgb[0]); fprintf(stderr,"dbg2 rgb[1]: %f\n",rgb[1]); fprintf(stderr,"dbg2 rgb[2]: %f\n",rgb[2]); fprintf(stderr,"dbg2 rgb[3]: %f\n",rgb[3]); } /* if simple case just plot polygon */ if (Ctrl->image_type == MBSWATH_IMAGE_VECTOR) { PSL_setcolor(PSL, rgb, PSL_IS_FILL); PSL_plotpolygon(PSL, x, y, 4); } /* if image plot then rasterize the box */ else if (Ctrl->image_type == MBSWATH_IMAGE_8 || Ctrl->image_type == MBSWATH_IMAGE_24) { /* get bounds of box in pixels */ for (i=0;i<4;i++) { ix[i] = Ctrl->nx * x[i] / Ctrl->x_inch; iy[i] = Ctrl->ny * y[i] / Ctrl->y_inch; } ix[4] = ix[0]; iy[4] = iy[0]; /* get min max values of bounding corners in pixels */ ixmin = ix[0]; ixmax = ix[0]; iymin = iy[0]; iymax = iy[0]; for (i=1;i<4;i++) { if (ix[i] < ixmin) ixmin = ix[i]; if (ix[i] > ixmax) ixmax = ix[i]; if (iy[i] < iymin) iymin = iy[i]; if (iy[i] > iymax) iymax = iy[i]; } if (ixmin < 0) ixmin = 0; if (ixmax > Ctrl->nx-1) ixmax = Ctrl->nx - 1; if (iymin < 1) iymin = 1; if (iymax > Ctrl->ny-1) iymax = Ctrl->ny - 1; /* loop over all y values */ for (iyy=iymin;iyy<=iymax;iyy++) { /* find crossings */ ncross = 0; for (i=0;i<4;i++) { if ((iy[i] <= iyy && iy[i+1] >= iyy) || (iy[i] >= iyy && iy[i+1] <= iyy)) { if (iy[i] == iy[i+1]) { xcross[ncross] = ix[i]; ncross++; xcross[ncross] = ix[i+1]; ncross++; } else { dy = iy[i+1] - iy[i]; dx = ix[i+1] - ix[i]; xcross[ncross] = (int) ((iyy - iy[i]) * dx / dy + ix[i]); ncross++; } } } /* plot lines between crossings */ for (j=0;j ixmax && ixx2 > ixmax)) ixx2 = ixx1 - 1; /* disable plotting */ else { if (ixx1 < ixmin) ixx1 = ixmin; if (ixx2 > ixmax) ixx2 = ixmax; } for (ixx=ixx1;ixx<=ixx2;ixx++) { /* fprintf(stderr,"plot %d %d\n",ixx,iyy);*/ if (Ctrl->image_type == MBSWATH_IMAGE_8) { k = Ctrl->nx * (Ctrl->ny - iyy) + ixx; Ctrl->bitimage[k] = (unsigned char) (255 * YIQ(rgb)); //fprintf(stderr,"k:%d rgb: %f %f %f bitimage: %u\n", //k,rgb[0],rgb[1],rgb[2],Ctrl->bitimage[k]); } else { k = 3 * (Ctrl->nx * (Ctrl->ny - iyy) + ixx); Ctrl->bitimage[k] = (unsigned char) (255 * rgb[0]); Ctrl->bitimage[k+1] = (unsigned char) (255 * rgb[1]); Ctrl->bitimage[k+2] = (unsigned char) (255 * rgb[2]); //fprintf(stderr,"k:%d rgb: %f %f %f bitimage: %u %u %u\n", //k,rgb[0],rgb[1],rgb[2],Ctrl->bitimage[k],Ctrl->bitimage[k+1],Ctrl->bitimage[k+2]); } } } } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_plot_point(int verbose, struct MBSWATH_CTRL *Ctrl, struct GMT_CTRL *GMT, struct PSL_CTRL *PSL, double x, double y, double *rgb, int *error) { char *function_name = "mbswath_plot_point"; int status = MB_SUCCESS; double size = 0.005; int ix, iy; int k; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 GMT: %p\n",GMT); fprintf(stderr,"dbg2 x: %f\n",x); fprintf(stderr,"dbg2 y: %f\n",y); fprintf(stderr,"dbg2 rgb[0]: %f\n",rgb[0]); fprintf(stderr,"dbg2 rgb[1]: %f\n",rgb[1]); fprintf(stderr,"dbg2 rgb[2]: %f\n",rgb[2]); fprintf(stderr,"dbg2 rgb[3]: %f\n",rgb[3]); } /* if simple case just plot point (well, a very small cross actually) */ if (Ctrl->image_type == MBSWATH_IMAGE_VECTOR) { PSL_setcolor(PSL, rgb, PSL_IS_STROKE); PSL_plotsymbol(PSL, x, y, &size, PSL_CROSS); } /* if image plot then plot pixel */ else { /* get pixel */ ix = Ctrl->nx * x / Ctrl->x_inch; iy = Ctrl->ny * y / Ctrl->y_inch; /* plot pixel */ if (Ctrl->image_type == MBSWATH_IMAGE_8) { k = Ctrl->nx * (Ctrl->ny - iy) + ix; Ctrl->bitimage[k] = (unsigned char ) YIQ(rgb); } else { k = 3 * (Ctrl->nx * (Ctrl->ny - iy) + ix); Ctrl->bitimage[k] = (unsigned char) (255 * rgb[0]); Ctrl->bitimage[k+1] = (unsigned char) (255 * rgb[1]); Ctrl->bitimage[k+2] = (unsigned char) (255 * rgb[2]); } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbswath_ping_copy(int verbose, int one, int two, struct swath *swath, int *error) { char *function_name = "mbswath_ping_copy"; int status = MB_SUCCESS; struct ping *ping1; struct ping *ping2; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 one: %d\n",one); fprintf(stderr,"dbg2 two: %d\n",two); fprintf(stderr,"dbg2 swath: %p\n",swath); fprintf(stderr,"dbg2 pings: %d\n",swath->npings); } /* copy things */ ping1 = &swath->data[one]; ping2 = &swath->data[two]; ping1->pings = ping2->pings; ping1->kind = ping2->kind; for (i=0;i<7;i++) ping1->time_i[i] = ping2->time_i[i]; ping1->time_d = ping2->time_d; ping1->navlon = ping2->navlon; ping1->navlat = ping2->navlat; ping1->speed = ping2->speed; ping1->heading = ping2->heading; ping1->distance = ping2->distance; ping1->altitude = ping2->altitude; ping1->sonardepth = ping2->sonardepth; strcpy(ping1->comment,ping2->comment); ping1->beams_bath = ping2->beams_bath; ping1->beams_amp = ping2->beams_amp; ping1->pixels_ss = ping2->pixels_ss; for (i=0;ibeams_bath;i++) { ping1->beamflag[i] = ping2->beamflag[i]; ping1->bath[i] = ping2->bath[i]; ping1->bathlon[i] = ping2->bathlon[i]; ping1->bathlat[i] = ping2->bathlat[i]; ping1->bathflag[i] = ping2->bathflag[i]; for (j=0;j<4;j++) { ping1->bathfoot[i].x[j] = ping2->bathfoot[i].x[j]; ping1->bathfoot[i].y[j] = ping2->bathfoot[i].y[j]; } } for (i=0;ibeams_amp;i++) { ping1->amp[i] = ping2->amp[i]; } for (i=0;ipixels_ss;i++) { ping1->ss[i] = ping2->ss[i]; ping1->sslon[i] = ping2->sslon[i]; ping1->sslat[i] = ping2->sslat[i]; ping1->ssflag[i] = ping2->ssflag[i]; for (j=0;j<4;j++) { ping1->ssfoot[i].x[j] = ping2->ssfoot[i].x[j]; ping1->ssfoot[i].y[j] = ping2->ssfoot[i].y[j]; } } /* assume success */ *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSWATH function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/