/*-------------------------------------------------------------------- * The MB-system: mbsys_stereopair.h 11/22/2014 * $Id: mbsys_stereopair.h 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2014-2015 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_stereopair.h defines the MBIO data structures for handling data from * the following data formats: * MBSYS_STEREOPAIR formats (code in mbsys_stereopair.c and mbsys_stereopair.h): * MBF_PHOTGRAM : MBIO ID 251 (code in mbr_photgram.c) * * Author: D. W. Caress * Date: November 22, 2014 * * */ /* * Notes on the mbsys_stereopair data structure and associated format: * 1. This is an MB-System i/o module to read and write topography * calculated by photogrammetry from stereo pair photographs. * 2. The structure in mbsys_stereopair.h defines the internal * representation of photogrammetric topography data. * 3. The functions in mbsys_stereopair.c allow for extracting * data from or inserting data into this internal * representation. These functions are called by the * MBIO API functions found in mbio/mb_access.c. * 4. The functions in mbr_photgram.c actually read and * write the mbf_photgram format. * 5. Prototypes for all of the functions in mbsys_stereopair.c * are provided in mbsys_stereopair.h. * 6. This list of functions corresponds to the function pointers * that are included in the structure mb_io_struct that is defined * in the file mbsystem/src/mbio/mb_io.h * Not all of these functions are required - some only make sense to * define if the relevant data type is part of the format. For instance, * do not define mbsys_stereopair_extract_segy() if there are no subbottom * profiler data supported by this data system * 7. The data are structured as deriving from a series of stereo pairs. * The position and attitude of the camera rig are included, as is the * position (relative to the camera) of each sounding derived from the * stereo pair. * 8. Files in format mbf_photgram begin with the characters: * ##PHOTGRAM##V001 * Following the 16-byte file header, the individual data records follow * in any order. The defined record types include survey (MB_DATA_DATA), * comment (MB_DATA_COMMENT), and INS (MB_DATA_NAV) which includes * navigation, sensor depth, heading, and attitude sampled more frequently * than the stereo photography. * * Survey data records are binary with the following form: * Number of bytes in record 4U * Data record identifier 4U (0x44445047 = "DDPG" = 1145327687) * Time stamp (MB-System time_d) 8F Decimal seconds since 1970/1/1/ 00:00:00 * Longitude 8F Decimal degrees * Lattitude 8F Decimal degrees * Sensor depth 8F Meters * Heading 4F Decimal degrees * Roll 4F Decimal degrees * Pitch 4F Decimal degrees * Speed 4F Decimal degrees * Altitude 4F Decimal degrees * N (Number of soundings) 4U * ------------------------------------------------------------ * Repeat N times: * ------------------------------------------------------------ * acrosstrack 8F meters * alongtrack 8F meters * depth 8F meters * beamflag 1U beamflag * red 1U 0-255 * green 1U 0-255 * blue 1U 0-255 * ------------------------------------------------------------ * End identifier 4U (0x454E4421 = "END!" = 1162757153) * Check sum of data record between 2U * and including the data record and * end identifiers * * INS data records are binary with the following form: * Number of bytes in record 4U * Data record identifier 4U (0x4444494E = "DDIN" = 1145325902) * Time stamp (MB-System time_d) 8F Decimal seconds since 1970/1/1/ 00:00:00 * Longitude 8F Decimal degrees * Lattitude 8F Decimal degrees * Sensor depth 8F Meters * Heading 4F Decimal degrees * Roll 4F Decimal degrees * Pitch 4F Decimal degrees * Speed 4F Decimal degrees * Altitude 4F Decimal degrees * End identifier 4U (0x454E4421 = "END!" = 1162757153) * Check sum of data record between 2U * and including the data record and * end identifiers * * Comment data records are binary with the following form: * Number of bytes in record 4U * Data record identifier 4U (0x4444434D = "DDCM" = 1145324365) * Number of characters in comment 4U Includes at least one terminating * null character, multiple of 4. * Comment NC * End identifier 4U (0x454E4421 = "END!" = 1162757153) * Check sum of data record between 2U * and including the data record and * end identifiers */ /* include mb_define.h */ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif /*---------------------------------------------------------------*/ /* Record ID definitions (if needed for use in data reading and writing) */ /*---------------------------------------------------------------*/ /* Record size definitions (if needed for use in data reading and writing) */ /*---------------------------------------------------------------*/ /* Array size definitions (if needed for use in data reading and writing) */ #define MBSYS_STEREOPAIR_MAX_BEAMS 400 #define MBSYS_STEREOPAIR_MAX_PIXELS 400 #define MBSYS_STEREOPAIR_SOUNDING_SIZE 28 #define MBSYS_STEREOPAIR_INS_SIZE 52 #define MBSYS_STEREOPAIR_HEADER_SIZE 56 /*---------------------------------------------------------------*/ /* Structure size definitions (if needed because there are dynamically allocated substructures) */ struct mbsys_stereopair_sounding_struct { double acrosstrack; double alongtrack; double depth; mb_u_char beamflag; mb_u_char red; mb_u_char green; mb_u_char blue; }; /* Internal data structure */ struct mbsys_stereopair_struct { /* Type of most recently read data record */ int kind; /* MB-System record ID */ /* MB-System time stamp of most recently read record */ double time_d; int time_i[7]; /* Navigation */ double longitude; /* degrees */ double latitude; /* degrees */ double sensordepth; /* meters */ float heading; /* degrees */ float roll; /* degrees */ float pitch; /* degrees */ float speed; /* m/sec */ float altitude; /* meters */ /* Photogrammetric soundings */ int num_soundings; int num_soundings_alloc; struct mbsys_stereopair_sounding_struct *soundings; /* Comment */ int comment_len; char comment[MB_COMMENT_MAXLINE]; }; /*---------------------------------------------------------------*/ /* System specific function prototypes */ /* Note: this list of functions corresponds to the function pointers * that are included in the structure mb_io_struct that is defined * in the file mbsystem/src/mbio/mb_io.h * Not all of these functions are required - some only make sense to * define if the relevant data type is part of the format. For instance, * do not define mbsys_stereopair_extract_segy() if there are no subbottom * profiler data supported by this data system. * The function prototypes that are not required for all data systems * are commented out below. When using this example as the basis for * for coding a new MB-System I/O module, uncomment any non-required * functions that will be useful. */ int mbsys_stereopair_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_stereopair_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_stereopair_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_stereopair_pingnumber(int verbose, void *mbio_ptr, int *pingnumber, int *error); int mbsys_stereopair_sonartype(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error); int mbsys_stereopair_sidescantype(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error); //int mbsys_stereopair_preprocess(int verbose, void *mbio_ptr, void *store_ptr, // double time_d, double navlon, double navlat, // double speed, double heading, double sonardepth, // double roll, double pitch, double heave, // int *error); int mbsys_stereopair_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_stereopair_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_stereopair_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_stereopair_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_stereopair_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_stereopair_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); //int mbsys_stereopair_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, // double transducer_depth, double altitude, // int *error); //int mbsys_stereopair_extract_svp(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, // int *nsvp, // double *depth, double *velocity, // int *error); //int mbsys_stereopair_insert_svp(int verbose, void *mbio_ptr, void *store_ptr, // int nsvp, // double *depth, double *velocity, // int *error); int mbsys_stereopair_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_stereopair_detects(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, int *nbeams, int *detects, int *error); //int mbsys_stereopair_pulses(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, int *nbeams, int *pulses, int *error); //int mbsys_stereopair_gains(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, double *transmit_gain, double *pulse_length, // double *receive_gain, int *error); //int mbsys_stereopair_extract_rawss(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, int *nrawss, // double *rawss, // double *rawssacrosstrack, // double *rawssalongtrack, // int *error); //int mbsys_stereopair_insert_rawss(int verbose, void *mbio_ptr, void *store_ptr, // int nrawss, // double *rawss, // double *rawssacrosstrack, // double *rawssalongtrack, // int *error); //int mbsys_stereopair_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, // void *segytraceheader_ptr, // int *error); //int mbsys_stereopair_extract_segy(int verbose, void *mbio_ptr, void *store_ptr, // int *sampleformat, // int *kind, // void *segytraceheader_ptr, // float *segydata, // int *error); //int mbsys_stereopair_insert_segy(int verbose, void *mbio_ptr, void *store_ptr, // int kind, // void *segytraceheader_ptr, // float *segydata, // int *error); //int mbsys_stereopair_ctd(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, int *nctd, double *time_d, // double *conductivity, double *temperature, // double *depth, double *salinity, double *soundspeed, int *error); //int mbsys_stereopair_ancilliarysensor(int verbose, void *mbio_ptr, void *store_ptr, // int *kind, int *nsensor, double *time_d, // double *sensor1, double *sensor2, double *sensor3, // double *sensor4, double *sensor5, double *sensor6, // double *sensor7, double *sensor8, int *error); int mbsys_stereopair_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); /*---------------------------------------------------------------*/