/*-------------------------------------------------------------------- * The MB-system: mbsys_3datdepthlidar.h 11/29/2013 * $Id: mbsys_3datdepthlidar.h 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2013-2015 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. *--------------------------------------------------------------------*/ /* * mbsys_3datdepthlidar.h defines the MBIO data structures for handling data from * 3DatDepth LIDAR laser scanning system: * MBF_3DDEPTHP : MBIO ID 231 - SWATHplus processed format * * Author: David W. Caress * Date: November 29, 2013 * * $Log: mbsys_3datdepthlidar.c,v $ * */ /* * Notes on the MBSYS_3DATDEPTHLIDAR data structure: * * Vendor processed format from 3DatDepth, produced from raw LIDAR * time series files by proprietary 3DatDepth software * *-------------------------------------------------------------------------------- * Processing Tool Data Output * * The 3D at Depth Processing Tool reads binary sensor data and * processes it to provide corresponding range angle data, saved * to a binary file. A timestamp is provided for each scan recorded * in the file. This timestamp is the time of the first laser pulse * for that scan. The μsec time value listed for each laser pulse * is the relative time between each successive pulse, offset from * the timestamp. The value for the first pulse should be subtracted * from all pulses in that scan (including itself), such that the * first pulse would be 0 μsec accordingly. * * --------------------------------------------------------------------------------------- * Range Angle Angle data format (binary) * Item Value Bytes * --------------------------------------------------------------------------------------- * File Header Record * File magic number 0x3D46 2 (1 UINT16) * Parameter record id 0x3D07 2 (1 UINT16) * File version 1 2 (1 UINT16) * File sub version 1 2 (1 UINT16) * Scan Information * Scan type (AZ raster, AZEL raster, bowtie) 2, 3, 4 2 (1 UINT16) * Cross track angle start (deg) 4 (1 float32) * Cross track angle end (deg) 4 (1 float32) * Forward track angle start (deg) 4 (1 float32) * Forward track angle end (deg) 4 (1 float32) * Counts per Scan (AZ raster and bowtie) 2 (1 UINT16) * Counts per cross track (AZEL raster) 2 (1 UINT16) * Counts per forward track (AZEL raster) 2 (1 UINT16) * Scanner Efficiency 2 (1 UINT16) * Scans per File 2 (1 UINT16) * Scan count 4 (1 UINT32) * * --------------------------------------------------------------------------------------- * Lidar Scan Record * Lidar scan record id 0x3D52 2 (1 UINT16) * First Pulse Timestamp ( 1 to n Scans ) * Timestamp year 2 (1 UINT16) * Timestamp month 1 (1 UINT8) * Timestamp day 1 (1 UINT8) * Timestamp days since Jan 1 2 (1 UINT16) * Timestamp hour 2 (1 UINT16) * Timestamp minutes 1 (1 UINT8) * Timestamp seconds 1 (1 UINT8) * Timestamp nano seconds 4 (1 UINT32) * Laser Pulse Data ( 1 to m pulses per scan ) * Range ( from glass front ) meters 4 (1 float32) * Amplitude / peak of signal 2 (1 short int) * SNR of signal return 4 (1 float32) * Cross track angle (deg) 4 (1 float32) * Forward track angle (deg) 4 (1 float32) * Cross track offset (m) 4 (1 float32) * Forward track offset (m) 4 (1 float32) * Pulse time offset (µsec) 4 (1 UINT32) * Saturated (0/1) 1 (1 UINT8) * * For each scan per file, a “First Pulse Timestamp” and “m” sets of * “Laser Pulse Data” will exist. For example, for a Continuous Scan * file with 500 scans per file, and 200 pts per scan, the following * data would be present: * File Header * Scan Information * (1) First Pulse Timestamp * 200 Laser Pulse Data sets * (2) First Pulse Timestamp * 200 Laser Pulse Data sets * … * (500) First Pulse Timestamp * 200 Laser Pulse Data sets * * A Bowtie scan file would be the same as above. A Full scan file * will only contain one scan of data but with “Counts per Cross track” * multiplied by “Counts per Forward track” sets of laser pulse data. * * The timestamp is the time of the first laser pulse for that scan. * The pulse time offset (µsec) value listed for each laser pulse is * the relative time between each successive pulse. The value for the * first pulse should be subtracted from all pulses in that scan, such * that the first pulse would be 0 µsec accordingly. The Pt Valid term * is provided to specify range validity. If “valid” is given as 0, a * range could not be determined for that laser pulse, or it fell * outside of the processing limits. * * Note, if processing is interrupted by hitting the “Cancel Processing” * button, an indeterminate number of records may exist in the current * processing file. All processed files will be written to the same * folder location of the raw file. The same file name is used for * processed files, but with a “.csv” or “.bin” file extension. If data * is reprocessed in the same folder location, previously processed data * files will be overwritten. * *-------------------------------------------------------------------------------- * INS Data Format * * INU serial packets are archived to data files located at %RAW_DATA_PATH%/INU/. * %RAW_DATA_PATH% is set in the sensor configuration file. Data files are * named INU_MMDDYYYY_HHMMSS.bin. 3000 navigation messages are stored per * each archived data file, representing approximately 5 minutes data storage * if collecting messages at 10 Hz. The binary data file storage is provided * below, for the first record. Additional records follow to 3000 per file. * The latency from first character received to the timestamp is approximately * 100 msec. If an error occurs, or the first byte read from the serial port is * not equal to the INU magic character, the software will begin reading byte * by byte in an attempt to resync. * Item Value Bytes * Header Magic Number 0xE32F 2 (1 UINT16) * Timestamp year 2 (1 UINT16) * Timestamp month 1 (1 UINT8) * Timestamp day 1 (1 UINT8) * Timestamp days since Jan 1 2 (1 UINT16) * Timestamp hour 2 (1 UINT16) * Timestamp minutes 1 (1 UINT8) * Timestamp seconds 1 (1 UINT8) * Timestamp nano seconds 4 (1 UINT32) * Latency (μseconds) – latency from first 4 (1 float32) * character received to timestamp * INU Nav message 1 * complete message as received from INU Len / packet ‐ reference the INU specification * 1 magic, 1 ID, 1 data len, N NAV bytes * *-------------------------------------------------------------------------------- * CTD Ethernet Interface * * The 3D at Depth laser sensor listens for CTD data packets available on port * 2003 of the static IP address for the sensor. The sensor reads and timestamps * these packets and saves the data to a binary file, located at %RAW_DATA_PATH%/CTD/. * %RAW_DATA_PATH% is set in the sensor configuration file. * Data files are named CTD_MMDDYYYY_HHMMSS.bin. The file format is as follows. * CTD Packets * Item Value Bytes * Header Magic Number 0x3D07 2 (1 UINT16) * Timestamp year 2 (1 UINT16) * Timestamp month 1 (1 UINT8) * Timestamp day 1 (1 UINT8) * Timestamp days since Jan 1 2 (1 UINT16) * Timestamp hour 2 (1 UINT16) * Timestamp minutes 1 (1 UINT8) * Timestamp seconds 1 (1 UINT8) * Timestamp nano seconds 4 (1 UINT32) * Header project code 0x3D03 2 (1 UINT16) * Header version 1 1 (1 UINT8) * Water Temperature C 8 (1 double) * Water Salinity psu 8 (1 double) * Water Pressure dbar 8 (1 double) *-------------------------------------------------------------------------------- * */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /* defines */ #define MBF_3DDEPTHP_MAGICNUMBER 0x3D46 /* '=''F' */ #define MBF_3DDEPTHP_RECORD_PARAMETER 0x3D07 /* '=', Bell */ #define MBF_3DDEPTHP_RECORD_RAWLIDAR 0x3D52 /* '=''R' */ #define MBF_3DDEPTHP_RECORD_COMMENT 0x3D43 /* '=''C' */ #define MBF_3DDEPTHP_RECORD_LIDAR 0x3D4C /* '=''L' */ #define MBF_3DDEPTHP_RECORD_POSITION 0x3D50 /* '=''P' */ #define MBF_3DDEPTHP_RECORD_ATTITUDE 0x3D41 /* '=''A' */ #define MBF_3DDEPTHP_RECORD_HEADING 0x3D48 /* '=''H' */ #define MBF_3DDEPTHP_RECORD_SENSORDEPTH 0x3D5A /* '=''Z' */ #define MBF_3DDEPTHP_VERSION_1_0_PARAMETER_SIZE 36 #define MBF_3DDEPTHP_VERSION_1_1_PARAMETER_SIZE 38 #define MBF_3DDEPTHP_VERSION_1_0_SCANHEADER_SIZE 14 #define MBF_3DDEPTHP_VERSION_1_1_RAWSCANHEADER_SIZE 18 #define MBF_3DDEPTHP_VERSION_1_1_SCANHEADER_SIZE 66 #define MBF_3DDEPTHP_VERSION_1_0_PULSE_SIZE 31 #define MBF_3DDEPTHP_VERSION_1_1_RAWPULSE_SIZE 31 #define MBF_3DDEPTHP_VERSION_1_1_PULSE_SIZE 100 /* Kearfoot INS position and attitude data structure */ /* 3DatDepth LIDAR data structure */ struct mbsys_3datdepthlidar_pulse_struct { /* Laser Pulse Data (1 to counts_per_scan pulses per scan) */ float range; /* meters from glass front */ short amplitude; /* peak of signal - to 1023 */ float snr; /* SNR of signal return */ float cross_track_angle; /* degrees */ float forward_track_angle; /* degrees */ float cross_track_offset; /* m */ float forward_track_offset; /* m */ unsigned int pulse_time_offset; /* time offset relative to start of scan (usec) */ mb_u_char saturated; /* boolean */ /* processed information */ double time_d; /* epoch time */ mb_u_char beamflag; /* MB-System beam flag */ double acrosstrack; /* acrosstrack distance relative to survey system reference point (meters) */ double alongtrack; /* alongtrack distance relative to survey system reference point (meters) */ double depth; /* m relative to survey system reference point */ double navlon; /* absolute position longitude (degrees) */ double navlat; /* absolute position latitude (degrees) */ double sensordepth; /* absolute position depth below sea surface (meters), includes any tide correction */ float heading; /* lidar heading (degrees) */ float roll; /* lidar roll (degrees) */ float pitch; /* lidar pitch (degrees) */ }; /* 3DatDepth LIDAR data structure */ struct mbsys_3datdepthlidar_struct { /* Type of data record */ int kind; /* MB-System record ID */ /* File Header */ unsigned short file_version; /* 1 */ unsigned short sub_version; /* 0 = initial version from 3DatDepth, 1 = first extended version for MB-System */ /* Scan Information */ unsigned short scan_type; /* (2: AZ raster, 3: AZEL raster, 4: bowtie) */ float cross_track_angle_start; /* across track angle start relative to lidar (degrees) */ float cross_track_angle_end; /* across track angle end relative to lidar (degrees) */ float forward_track_angle_start; /* across track angle end relative to lidar (degrees) */ float forward_track_angle_end; /* across track angle end relative to lidar (degrees) */ unsigned short counts_per_scan; /* pulse count for scan types AZ raster and bowtie*/ unsigned short counts_per_cross_track; /* across track pulse count for scan type AZEL raster */ unsigned short counts_per_forward_track; /* along track pulse count for scan type AZEL raster */ unsigned short scanner_efficiency; /* */ unsigned short scans_per_file; /* number of scans in this file */ unsigned int scan_count; /* global scan count */ /* Id of most recently read record */ unsigned short record_id; /* MBF_3DDEPTHP_RECORD_RAWLIDAR 0x0000 */ /* MBF_3DDEPTHP_RECORD_COMMENT 0x3D43 'R''C' */ /* MBF_3DDEPTHP_RECORD_LIDAR 0x3D4C 'R''L' */ /* MBF_3DDEPTHP_RECORD_POSITION 0x3D50 'R''P' */ /* MBF_3DDEPTHP_RECORD_ATTITUDE 0x3D41 'R''A' */ /* MBF_3DDEPTHP_RECORD_HEADING 0x3D48 'R''H' */ /* MBF_3DDEPTHP_RECORD_SENSORDEPTH 0x3D5A 'R''Z' */ /* Number of Current Laser Scan Data (1 to scans_per_file Scans) */ int current_scan; /* sequential count of current scan, starting with 0 */ /* First Pulse Timestamp (1 to n Scans) */ unsigned short year; mb_u_char month; mb_u_char day; unsigned short days_since_jan_1; /* day of year minus 1 */ unsigned short hour; mb_u_char minutes; mb_u_char seconds; unsigned int nanoseconds; /* position and attitude per first pulse */ double time_d; /* epoch time */ double navlon; /* lidar reference position longitude (degrees) */ double navlat; /* lidar reference position latitude (degrees) */ double sensordepth; /* lidar reference position depth (meters) */ float heading; /* heading (degrees) */ float roll; /* roll (degrees) */ float pitch; /* pitch (degrees) */ float speed; /* speed (degrees) */ /* Laser Scan Data (1 to counts_per_scan pulses per scan) */ int bathymetry_calculated; /* boolean flag re calculation of bathymetry from ranges and angles */ int num_pulses; /* number of pulses */ int num_pulses_alloc; /* array allocated for this number of pulses */ struct mbsys_3datdepthlidar_pulse_struct *pulses; /* comment */ unsigned short comment_len; /* comment length in bytes */ char comment[MB_COMMENT_MAXLINE]; /* comment string */ /* position data */ double pos_time_d; double pos_longitude; double pos_latitude; /* attitude data */ double att_time_d; double att_roll; double att_pitch; double att_heave; /* heading data */ double hdg_time_d; double hdg_heading; /* sensordepth data */ double sdp_time_d; double sdp_sensordepth; }; /* System specific function prototypes */ int mbsys_3datdepthlidar_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_3datdepthlidar_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_3datdepthlidar_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_3datdepthlidar_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_3datdepthlidar_preprocess(int verbose, void *mbio_ptr, void *store_ptr, double time_d, double navlon, double navlat, double speed, double heading, double sensordepth, double roll, double pitch, double heave, int *error); int mbsys_3datdepthlidar_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_3datdepthlidar_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_3datdepthlidar_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error); int mbsys_3datdepthlidar_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_3datdepthlidar_pulses(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error); int mbsys_3datdepthlidar_gains(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int mbsys_3datdepthlidar_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_3datdepthlidar_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr, int nmax, int *kind, int *n, int *time_i, double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_3datdepthlidar_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_3datdepthlidar_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error); int mbsys_3datdepthlidar_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int mbsys_3datdepthlidar_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int mbsys_3datdepthlidar_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); int mbsys_3datdepthlidar_print_store(int verbose, void *store_ptr, int *error); int mbsys_3datdepthlidar_calculatebathymetry(int verbose, void *mbio_ptr, void *store_ptr, int *error);