/*-------------------------------------------------------------------- * The MB-system: mbsslayout.c 1/8/2014 * $Id: mbsslayout.c 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. *--------------------------------------------------------------------*/ /* * MBsslayout reads sidescan in raw time series form, lays the sidescan * out regularly sampled on a specified topography model, and outputs * the sidescan to format 71 (MBF_MBLDEOIH) files. * * Author: D. W. Caress * Date: April 21, 2014 * */ /* source file version string */ static char version_id[] = "$Id: mbsslayout.c 2227 2015-02-05 21:12:31Z caress $"; /* standard include files */ #include #include #include #include #include #include #include #include /* MBIO include files */ #include "mb_status.h" #include "mb_format.h" #include "mb_define.h" #include "mb_io.h" #include "mb_aux.h" #include "mbsys_ldeoih.h" /* local defines */ #define MBSSLAYOUT_ALLOC_CHUNK 1024 #define MBSSLAYOUT_ALLOC_NUM 128 #define MBSSLAYOUT_LINE_OFF 0 #define MBSSLAYOUT_LINE_TIME 1 #define MBSSLAYOUT_LINE_ROUTE 2 #define MBSSLAYOUT_LAYOUT_FLATBOTTOM 0 #define MBSSLAYOUT_LAYOUT_3DTOPO 1 #define MBSSLAYOUT_ALTITUDE_ALTITUDE 0 #define MBSSLAYOUT_ALTITUDE_BOTTOMPICK 1 #define MBSSLAYOUT_ALTITUDE_TOPO_GRID 2 #define MBSSLAYOUT_GAIN_OFF 0 #define MBSSLAYOUT_GAIN_TVG 1 #define MBSSLAYOUT_SWATHWIDTH_VARIABLE 0 #define MBSSLAYOUT_SWATHWIDTH_CONSTANT 1 #define MBSSLAYOUT_MERGE_OFF 0 #define MBSSLAYOUT_MERGE_FILE 1 #define MBSSLAYOUT_MERGE_ASYNC 2 #define MBSSLAYOUT_TIMESHIFT_OFF 0 #define MBSSLAYOUT_TIMESHIFT_FILE 1 #define MBSSLAYOUT_TIMESHIFT_CONSTANT 2 #define MBSSLAYOUT_TIMESHIFT_APPLY_NONE 0x00 #define MBSSLAYOUT_TIMESHIFT_APPLY_NAV 0x01 #define MBSSLAYOUT_TIMESHIFT_APPLY_SENSORDEPTH 0x02 #define MBSSLAYOUT_TIMESHIFT_APPLY_ALTITUDE 0x04 #define MBSSLAYOUT_TIMESHIFT_APPLY_HEADING 0x08 #define MBSSLAYOUT_TIMESHIFT_APPLY_ATTITUDE 0x10 #define MBSSLAYOUT_TIMESHIFT_APPLY_SOUNDSPEED 0x20 #define MBSSLAYOUT_TIMESHIFT_APPLY_UNUSED 0x40 #define MBSSLAYOUT_TIMESHIFT_APPLY_ALL_ANCILLIARY 0x7F #define MBSSLAYOUT_TIMESHIFT_APPLY_SURVEY 0x80 #define MBSSLAYOUT_TIMESHIFT_APPLY_ALL 0xFF #define MBSSLAYOUT_ROUTE_WAYPOINT_NONE 0 #define MBSSLAYOUT_ROUTE_WAYPOINT_SIMPLE 1 #define MBSSLAYOUT_ROUTE_WAYPOINT_TRANSIT 2 #define MBSSLAYOUT_ROUTE_WAYPOINT_STARTLINE 3 #define MBSSLAYOUT_ROUTE_WAYPOINT_ENDLINE 4 #define MBSSLAYOUT_ONLINE_THRESHOLD 15.0 #define MBSSLAYOUT_ONLINE_COUNT 30 #define MBSSLAYOUT_SSDIMENSION 4001 #define MBSSLAYOUT_NUM_ANGLES 171 #define MBSSLAYOUT_ANGLE_MAX 85.0 int mbsslayout_get_flatbottom_table(int verbose, int nangle, double angle_min, double angle_max, double navlon, double navlat, double altitude, double pitch, double *table_angle, double *table_xtrack, double *table_ltrack, double *table_altitude, double *table_range, int *error); /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "mbsslayout"; char help_message[] = "MBsslayout reads sidescan in raw time series form, lays the sidescan \nout regularly sampled on a specified topography model, and outputs \n the sidescan to format 71 (MBF_MBLDEOIH) files.\n"; char usage_message[] = "mbsslayout [--verbose --help --input=datalist --format=format"; extern char *optarg; int option_index; int errflg = 0; int c; int help = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* command line option definitions */ /* mbsslayout --verbose * --help * --input=datalist * --format=format * * --output_source=record_kind * --output_name1=name * --output_name2=name * * --line_nameroot=name * --line_time_list=filename * --line_route=filename * --line_check_bearing * --line_range_threshold=value * * --topo_grid_file=filename * --altitude_altitude * --altitude_bottomppick * --altitude_bottompick_threshold=value * --altitude_topo_grid * --channel_swap * --swath_width=value * --gain=value * --interpolation=value * * --nav_file=filename * --nav_file_format=format_id * --nav_async=record_kind * --sensordepth_file=filename * --sensordepth_file_format=format_id * --sensordepth_async=record_kind * --altitude_file=filename * --altitude_file_format=format_id * --altitude_async=record_kind * --heading_file=filename * --heading_file_format=format_id * --heading_async=record_kind * --attitude_file=filename * --attitude_file_format=format_id * --attitude_async=record_kind * --soundspeed_constant=value * --soundspeed_file=filename * --soundspeed_file_format=format_id * --soundspeed_async=record_kind * --timeshift_file=filename * --timeshift_constant=value * --timeshift_apply_nav * --timeshift_apply_sensordepth * --timeshift_apply_altitude * --timeshift_apply_heading * --timeshift_apply_attitude * --timeshift_apply_all_ancilliary * --timeshift_apply_survey * --timeshift_apply_all * --sensor_offsets=filename */ static struct option options[] = { {"verbose", no_argument, NULL, 0}, {"help", no_argument, NULL, 0}, {"verbose", no_argument, NULL, 0}, {"input", required_argument, NULL, 0}, {"format", required_argument, NULL, 0}, {"output_source", required_argument, NULL, 0}, {"output_name1", required_argument, NULL, 0}, {"output_name2", required_argument, NULL, 0}, {"line_time_list", required_argument, NULL, 0}, {"line_position_list", required_argument, NULL, 0}, {"line_check_bearing", no_argument, NULL, 0}, {"line_range_threshold", required_argument, NULL, 0}, {"topo_grid_file", required_argument, NULL, 0}, {"altitude_altitude", no_argument, NULL, 0}, {"altitude_bottomppick", no_argument, NULL, 0}, {"altitude_topo_grid", no_argument, NULL, 0}, {"bottompick_threshold", required_argument, NULL, 0}, {"channel_swap", required_argument, NULL, 0}, {"swath_width", required_argument, NULL, 0}, {"gain", required_argument, NULL, 0}, {"interpolation", required_argument, NULL, 0}, {"nav_file", required_argument, NULL, 0}, {"nav_file_format", required_argument, NULL, 0}, {"nav_async", required_argument, NULL, 0}, {"sensordepth_file", required_argument, NULL, 0}, {"sensordepth_file_format", required_argument, NULL, 0}, {"sensordepth_async", required_argument, NULL, 0}, {"altitude_file", required_argument, NULL, 0}, {"altitude_file_format", required_argument, NULL, 0}, {"altitude_async", required_argument, NULL, 0}, {"heading_file", required_argument, NULL, 0}, {"heading_file_format", required_argument, NULL, 0}, {"heading_async", required_argument, NULL, 0}, {"attitude_file", required_argument, NULL, 0}, {"attitude_file_format", required_argument, NULL, 0}, {"attitude_async", required_argument, NULL, 0}, {"soundspeed_constant", required_argument, NULL, 0}, {"soundspeed_file", required_argument, NULL, 0}, {"soundspeed_file_format", required_argument, NULL, 0}, {"soundspeed_async", required_argument, NULL, 0}, {"timeshift_file", required_argument, NULL, 0}, {"timeshift_constant", required_argument, NULL, 0}, {"timeshift_apply_nav", no_argument, NULL, 0}, {"timeshift_apply_sensordepth", no_argument, NULL, 0}, {"timeshift_apply_altitude", no_argument, NULL, 0}, {"timeshift_apply_heading", no_argument, NULL, 0}, {"timeshift_apply_attitude", no_argument, NULL, 0}, {"timeshift_apply_all_ancilliary", no_argument, NULL, 0}, {"timeshift_apply_survey", no_argument, NULL, 0}, {"timeshift_apply_all", no_argument, NULL, 0}, {"sensor_offsets", required_argument, NULL, 0}, {NULL, 0, NULL, 0} }; /* output variables */ int output_source = MB_DATA_NONE; mb_path output_name1 = "Survey"; mb_path output_name2 = "sidescan"; /* survey line variables */ int line_mode = MBSSLAYOUT_LINE_OFF; mb_path line_time_list; mb_path line_route; int line_check_bearing = MB_NO; double line_range_threshold = 50.0; /* sidescan layout variables */ int layout_mode = MBSSLAYOUT_LAYOUT_FLATBOTTOM; int ss_altitude_mode = MBSSLAYOUT_ALTITUDE_ALTITUDE; mb_path topo_grid_file; double bottompick_threshold = 0.5; int channel_swap = MB_NO; int swath_mode = MBSSLAYOUT_SWATHWIDTH_VARIABLE; double swath_width = 0.0; int gain_mode = MBSSLAYOUT_GAIN_OFF; double gain = 1.0; int interpolation = 0; /* asynchronous navigation, heading, attitude data */ int nav_mode = MBSSLAYOUT_MERGE_OFF; mb_path nav_file; int nav_file_format = 0; int nav_async = MB_DATA_DATA; int nav_num = 0; int nav_alloc = 0; double *nav_time_d = NULL; double *nav_navlon = NULL; double *nav_navlat = NULL; double *nav_speed = NULL; int sensordepth_mode = MBSSLAYOUT_MERGE_OFF; mb_path sensordepth_file; int sensordepth_file_format = 0; int sensordepth_async = MB_DATA_DATA; int sensordepth_num = 0; int sensordepth_alloc = 0; double *sensordepth_time_d = NULL; double *sensordepth_sensordepth = NULL; int altitude_mode = MBSSLAYOUT_MERGE_OFF; mb_path altitude_file; int altitude_file_format = 0; int altitude_async = MB_DATA_DATA; int altitude_num = 0; int altitude_alloc = 0; double *altitude_time_d = NULL; double *altitude_altitude = NULL; int heading_mode = MBSSLAYOUT_MERGE_OFF; mb_path heading_file; int heading_file_format = 0; int heading_async = MB_DATA_DATA; int heading_num = 0; int heading_alloc = 0; double *heading_time_d = NULL; double *heading_heading = NULL; int attitude_mode = MBSSLAYOUT_MERGE_OFF; mb_path attitude_file; int attitude_file_format = 0; int attitude_async = MB_DATA_DATA; int attitude_num = 0; int attitude_alloc = 0; double *attitude_time_d = NULL; double *attitude_roll = NULL; double *attitude_pitch = NULL; double *attitude_heave = NULL; int soundspeed_mode = MBSSLAYOUT_MERGE_OFF; double soundspeed_constant = 1500.0; mb_path soundspeed_file; int soundspeed_file_format = 0; int soundspeed_async = MB_DATA_DATA; int soundspeed_num = 0; int soundspeed_alloc = 0; double *soundspeed_time_d = NULL; double *soundspeed_soundspeed = NULL; int timeshift_mode = MBSSLAYOUT_TIMESHIFT_OFF; mb_u_char timeshift_apply = MBSSLAYOUT_TIMESHIFT_APPLY_NONE; mb_path timeshift_file; int timeshift_format = 0; int timeshift_num = 0; int timeshift_alloc = 0; double *timeshift_time_d = NULL; double *timeshift_timeshift = NULL; double timeshift_constant = 0.0; /* MBIO read control parameters */ int read_datalist = MB_NO; int read_data; mb_path read_file; mb_path output_file; void *datalist; int look_processed = MB_DATALIST_LOOK_UNSET; double file_weight; int format = 0; int iformat; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; mb_path ifile; mb_path ofile; int beams_bath; int beams_amp; int pixels_ss; /* MBIO read values */ void *imbio_ptr = NULL; void *ombio_ptr = NULL; struct mb_io_struct *omb_io_ptr; void *istore_ptr = NULL; void *ostore_ptr = NULL; struct mbsys_ldeoih_struct *ostore; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sensordraft; double sensordepth; double draft; double roll; double pitch; double heave; double soundspeed; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; char comment[MB_COMMENT_MAXLINE]; double navlon_org; double navlat_org; double speed_org; double heading_org; double altitude_org; double sensordepth_org; double draft_org; double roll_org; double pitch_org; double heave_org; double ss_altitude; /* arrays for asynchronous data accessed using mb_extract_nnav() */ int nanavmax = MB_NAV_MAX; int nanav; int antime_i[7*MB_NAV_MAX]; double antime_d[MB_NAV_MAX]; double anlon[MB_NAV_MAX]; double anlat[MB_NAV_MAX]; double anspeed[MB_NAV_MAX]; double anheading[MB_NAV_MAX]; double ansensordraft[MB_NAV_MAX]; double anroll[MB_NAV_MAX]; double anpitch[MB_NAV_MAX]; double anheave[MB_NAV_MAX]; /* arrays for asynchronous data accessed using mb_ctd() */ int nactd; double actime_d[MB_CTD_MAX]; double acconductivity[MB_CTD_MAX]; double actemperature[MB_CTD_MAX]; double acdepth[MB_CTD_MAX]; double acsalinity[MB_CTD_MAX]; double acsoundspeed[MB_CTD_MAX]; /* raw sidescan */ int sidescan_type = MB_SIDESCAN_LINEAR; double sample_interval; double beamwidth_xtrack = 0.0; double beamwidth_ltrack = 0.0; int num_samples_port = 0; int num_samples_port_alloc = 0; double *raw_samples_port = NULL; int num_samples_stbd = 0; int num_samples_stbd_alloc = 0; double *raw_samples_stbd = NULL; /* bottom layout parameters */ int nangle = MBSSLAYOUT_NUM_ANGLES; double angle_min = -MBSSLAYOUT_ANGLE_MAX; double angle_max = MBSSLAYOUT_ANGLE_MAX; double table_angle[MBSSLAYOUT_NUM_ANGLES]; double table_xtrack[MBSSLAYOUT_NUM_ANGLES]; double table_ltrack[MBSSLAYOUT_NUM_ANGLES]; double table_altitude[MBSSLAYOUT_NUM_ANGLES]; double table_range[MBSSLAYOUT_NUM_ANGLES]; /* output sidescan data */ int obeams_bath; int obeams_amp; int opixels_ss; double oss[MBSSLAYOUT_SSDIMENSION]; double ossacrosstrack[MBSSLAYOUT_SSDIMENSION]; double ossalongtrack[MBSSLAYOUT_SSDIMENSION]; int ossbincount[MBSSLAYOUT_SSDIMENSION]; double pixel_width; /* counts of records read and written */ int n_rf_data = 0; int n_rf_comment = 0; int n_rf_ss2 = 0; int n_rf_ss3 = 0; int n_rf_sbp = 0; int n_rf_nav = 0; int n_rf_nav1 = 0; int n_rf_nav2 = 0; int n_rf_nav3 = 0; int n_rt_data = 0; int n_rt_comment = 0; int n_rt_ss2 = 0; int n_rt_ss3 = 0; int n_rt_sbp = 0; int n_rt_nav = 0; int n_rt_nav1 = 0; int n_rt_nav2 = 0; int n_rt_nav3 = 0; int n_wf_data = 0; int n_wf_comment = 0; int n_wt_data = 0; int n_wt_comment = 0; mb_path command; int interp_status = MB_SUCCESS; int interp_error = MB_ERROR_NO_ERROR; int shellstatus; double timeshift; int jsurvey = 0; int jnav = 0; int jsensordepth = 0; int jaltitude = 0; int jheading = 0; int jattitude = 0; int jsoundspeed = 0; int data_changed; int new_output_file = MB_NO; int rawroutefile = MB_NO; int oktowrite = MB_NO; int point_ok = MB_NO; int linechange = MB_NO; int line_number = 0; int nget; int waypoint; int activewaypoint = -1; double topo; double rangelast; int ntimepoint = 0; int ntimepointalloc = 0; int nroutepoint = 0; int nroutepointalloc = 0; double *routelon = NULL; double *routelat = NULL; double *routeheading = NULL; double *routetime_d = NULL; int *routewaypoint = NULL; double mtodeglon, mtodeglat; void *topogrid_ptr = NULL; mb_path scriptfile; char *result = NULL; FILE *fp, *sfp; double dx, dy, range; double channelmax, threshold, ttime; int portchannelpick, stbdchannelpick; int kangle, kstart; double xtrack, ltrack, rr, rangemin, factor, fraction; int done, found; int istart; int jport, jstbd; int previous, interpable; double dss, dssl; int i, j, jj, n; /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input to datalist.mb-1 */ strcpy (read_file, "datalist.mb-1"); /* process argument list */ while ((c = getopt_long(argc, argv, "", options, &option_index)) != -1) switch (c) { /* long options all return c=0 */ case 0: /* verbose */ if (strcmp("verbose", options[option_index].name) == 0) { verbose++; } /* help */ else if (strcmp("help", options[option_index].name) == 0) { help = MB_YES; } /*------------------------------------------------------- * Define input file and format (usually a datalist) */ /* input */ else if (strcmp("input", options[option_index].name) == 0) { strcpy(read_file, optarg); } /* format */ else if (strcmp("format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &format); } /*------------------------------------------------------- * Define source data */ /* output_source */ else if (strcmp("output_source", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &output_source); } /* output_name1 */ else if (strcmp("output_name1", options[option_index].name) == 0) { strcpy(output_name1, optarg); } /* output_name2 */ else if (strcmp("output_name2", options[option_index].name) == 0) { strcpy(output_name2, optarg); } /*------------------------------------------------------- * Define survey line specification */ /* line_time_list */ else if (strcmp("line_time_list", options[option_index].name) == 0) { strcpy(line_time_list, optarg); line_mode = MBSSLAYOUT_LINE_TIME; } /* line_route */ else if (strcmp("line_route", options[option_index].name) == 0) { strcpy(line_route, optarg); line_mode = MBSSLAYOUT_LINE_ROUTE; } /* line_check_bearing */ else if (strcmp("line_check_bearing", options[option_index].name) == 0) { line_check_bearing = MB_YES; } /*------------------------------------------------------- * Define sidescan layout algorithm parameters */ /* topo_grid_file */ else if (strcmp("topo_grid_file", options[option_index].name) == 0) { strcpy(topo_grid_file, optarg); layout_mode = MBSSLAYOUT_LAYOUT_3DTOPO; } /* altitude_altitude */ else if (strcmp("altitude_altitude", options[option_index].name) == 0) { ss_altitude_mode = MBSSLAYOUT_ALTITUDE_ALTITUDE; } /* altitude_bottomppick */ else if (strcmp("altitude_bottomppick", options[option_index].name) == 0) { ss_altitude_mode = MBSSLAYOUT_ALTITUDE_BOTTOMPICK; } /* bottompick_threshold */ else if (strcmp("bottompick_threshold", options[option_index].name) == 0) { n = sscanf(optarg, "%lf", &bottompick_threshold); ss_altitude_mode = MBSSLAYOUT_ALTITUDE_BOTTOMPICK; } /* altitude_topo_grid */ else if (strcmp("altitude_topo_grid", options[option_index].name) == 0) { ss_altitude_mode = MBSSLAYOUT_ALTITUDE_TOPO_GRID; } /* channel_swap */ else if (strcmp("channel_swap", options[option_index].name) == 0) { channel_swap = MB_YES; } /* swath_width */ else if (strcmp("swath_width", options[option_index].name) == 0) { n = sscanf(optarg, "%lf", &swath_width); swath_mode = MBSSLAYOUT_SWATHWIDTH_CONSTANT; } /* gain */ else if (strcmp("gain", options[option_index].name) == 0) { n = sscanf(optarg, "%lf", &gain); gain_mode = MBSSLAYOUT_GAIN_TVG; } /* interpolation */ else if (strcmp("interpolation", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &interpolation); } /*------------------------------------------------------- * Define source of navigation - could be an external file * or an internal asynchronous record */ /* nav_file */ else if (strcmp("nav_file", options[option_index].name) == 0) { strcpy(nav_file, optarg); nav_mode = MBSSLAYOUT_MERGE_FILE; } /* nav_file_format */ else if (strcmp("nav_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &nav_file_format); } /* nav_async */ else if (strcmp("nav_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &nav_async); if (n == 1) nav_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of sensordepth - could be an external file * or an internal asynchronous record */ /* sensordepth_file */ else if (strcmp("sensordepth_file", options[option_index].name) == 0) { strcpy(sensordepth_file, optarg); sensordepth_mode = MBSSLAYOUT_MERGE_FILE; } /* sensordepth_file_format */ else if (strcmp("sensordepth_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &sensordepth_file_format); } /* sensordepth_async */ else if (strcmp("sensordepth_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &sensordepth_async); if (n == 1) sensordepth_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of altitude - could be an external file * or an internal asynchronous record */ /* altitude_file */ else if (strcmp("altitude_file", options[option_index].name) == 0) { strcpy(altitude_file, optarg); altitude_mode = MBSSLAYOUT_MERGE_FILE; } /* altitude_file_format */ else if (strcmp("altitude_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &altitude_file_format); } /* altitude_async */ else if (strcmp("altitude_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &altitude_async); if (n == 1) altitude_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of heading - could be an external file * or an internal asynchronous record */ /* heading_file */ else if (strcmp("heading_file", options[option_index].name) == 0) { strcpy(heading_file, optarg); heading_mode = MBSSLAYOUT_MERGE_FILE; } /* heading_file_format */ else if (strcmp("heading_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &heading_file_format); } /* heading_async */ else if (strcmp("heading_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &heading_async); if (n == 1) heading_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of attitude - could be an external file * or an internal asynchronous record */ /* attitude_file */ else if (strcmp("attitude_file", options[option_index].name) == 0) { strcpy(attitude_file, optarg); attitude_mode = MBSSLAYOUT_MERGE_FILE; } /* attitude_file_format */ else if (strcmp("attitude_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &attitude_file_format); } /* attitude_async */ else if (strcmp("attitude_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &attitude_async); if (n == 1) attitude_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of sound speed - could be an external file * or an internal asynchronous record */ /* soundspeed_constant */ else if (strcmp("soundspeed_constant", options[option_index].name) == 0) { n = sscanf(optarg, "%lf", &soundspeed_constant); soundspeed_mode = MBSSLAYOUT_MERGE_OFF; } /* soundspeed_file */ else if (strcmp("soundspeed_file", options[option_index].name) == 0) { strcpy(soundspeed_file, optarg); soundspeed_mode = MBSSLAYOUT_MERGE_FILE; } /* soundspeed_file_format */ else if (strcmp("soundspeed_file_format", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &soundspeed_file_format); } /* soundspeed_async */ else if (strcmp("soundspeed_async", options[option_index].name) == 0) { n = sscanf(optarg, "%d", &soundspeed_async); if (n == 1) soundspeed_mode = MBSSLAYOUT_MERGE_ASYNC; } /*------------------------------------------------------- * Define source of timeshift - could be an external file * or single value. Also define which data the timeshift model * will be applied to - nav, sensordepth, heading, attitude, * or all. */ /* timeshift_file */ else if (strcmp("timeshift_file", options[option_index].name) == 0) { strcpy(timeshift_file, optarg); timeshift_mode = MBSSLAYOUT_TIMESHIFT_FILE; } /* timeshift_constant */ else if (strcmp("timeshift_constant", options[option_index].name) == 0) { n = sscanf(optarg, "%lf", ×hift_constant); if (n == 1) timeshift_mode = MBSSLAYOUT_TIMESHIFT_CONSTANT; } /* timeshift_apply_nav */ else if (strcmp("timeshift_apply_nav", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_NAV; } /* timeshift_apply_sensordepth */ else if (strcmp("timeshift_apply_sensordepth", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_SENSORDEPTH; } /* timeshift_apply_altitude */ else if (strcmp("timeshift_apply_altitude", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_ALTITUDE; } /* timeshift_apply_heading */ else if (strcmp("timeshift_apply_heading", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_HEADING; } /* timeshift_apply_attitude */ else if (strcmp("timeshift_apply_attitude", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_ATTITUDE; } /* timeshift_apply_soundspeed */ else if (strcmp("timeshift_apply_soundspeed", options[option_index].name) == 0) { timeshift_apply = timeshift_apply | MBSSLAYOUT_TIMESHIFT_APPLY_SOUNDSPEED; } /* timeshift_apply_all_ancilliary */ else if (strcmp("timeshift_apply_all_ancilliary", options[option_index].name) == 0) { timeshift_apply = MBSSLAYOUT_TIMESHIFT_APPLY_ALL_ANCILLIARY; } /* timeshift_apply_survey */ else if (strcmp("timeshift_apply_survey", options[option_index].name) == 0) { timeshift_apply = MBSSLAYOUT_TIMESHIFT_APPLY_SURVEY; } /* timeshift_apply_all */ else if (strcmp("timeshift_apply_all", options[option_index].name) == 0) { timeshift_apply = MBSSLAYOUT_TIMESHIFT_APPLY_ALL; } break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Source File Version %s\n",version_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",version_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Default MB-System Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 lonflip: %d\n",lonflip); fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stderr,"dbg2 speedmin: %f\n",speedmin); fprintf(stderr,"dbg2 timegap: %f\n",timegap); fprintf(stderr,"dbg2 Data Input Parameters:\n"); fprintf(stderr,"dbg2 read_file: %s\n",read_file); fprintf(stderr,"dbg2 format: %d\n",format); fprintf(stderr,"dbg2 Source Data Parameters:\n"); fprintf(stderr,"dbg2 output_source: %d\n",output_source); fprintf(stderr,"dbg2 output_name1: %s\n",output_name1); fprintf(stderr,"dbg2 output_name2: %s\n",output_name2); fprintf(stderr,"dbg2 Survey Line Parameters:\n"); fprintf(stderr,"dbg2 line_mode: %d\n",line_mode); fprintf(stderr,"dbg2 line_time_list: %s\n",line_time_list); fprintf(stderr,"dbg2 line_route: %s\n",line_route); fprintf(stderr,"dbg2 line_check_bearing: %d\n",line_check_bearing); fprintf(stderr,"dbg2 line_range_threshold: %f\n",line_range_threshold); fprintf(stderr,"dbg2 Sidescan Layout Algorithm Parameters:\n"); fprintf(stderr,"dbg2 layout_mode: %d\n",layout_mode); fprintf(stderr,"dbg2 topo_grid_file: %s\n",topo_grid_file); fprintf(stderr,"dbg2 ss_altitude_mode: %d\n",ss_altitude_mode); fprintf(stderr,"dbg2 bottompick_threshold: %f\n",bottompick_threshold); fprintf(stderr,"dbg2 channel_swap: %d\n",channel_swap); fprintf(stderr,"dbg2 swath_mode: %d\n",swath_mode); fprintf(stderr,"dbg2 swath_width: %f\n",swath_width); fprintf(stderr,"dbg2 gain_mode: %d\n",gain_mode); fprintf(stderr,"dbg2 gain: %f\n",gain); fprintf(stderr,"dbg2 interpolation: %d\n",interpolation); fprintf(stderr,"dbg2 Navigation Source Parameters:\n"); fprintf(stderr,"dbg2 nav_mode: %d\n",nav_mode); fprintf(stderr,"dbg2 nav_file: %s\n",nav_file); fprintf(stderr,"dbg2 nav_file_format: %d\n",nav_file_format); fprintf(stderr,"dbg2 nav_async: %d\n",nav_async); fprintf(stderr,"dbg2 Sensor Depth Source Parameters:\n"); fprintf(stderr,"dbg2 sensordepth_mode: %d\n",sensordepth_mode); fprintf(stderr,"dbg2 sensordepth_file: %s\n",sensordepth_file); fprintf(stderr,"dbg2 sensordepth_file_format: %d\n",sensordepth_file_format); fprintf(stderr,"dbg2 sensordepth_async: %d\n",sensordepth_async); fprintf(stderr,"dbg2 Altitude Source Parameters:\n"); fprintf(stderr,"dbg2 altitude_mode: %d\n",altitude_mode); fprintf(stderr,"dbg2 altitude_file: %s\n",altitude_file); fprintf(stderr,"dbg2 altitude_file_format: %d\n",altitude_file_format); fprintf(stderr,"dbg2 altitude_async: %d\n",altitude_async); fprintf(stderr,"dbg2 Heading Source Parameters:\n"); fprintf(stderr,"dbg2 heading_mode: %d\n",heading_mode); fprintf(stderr,"dbg2 heading_file: %s\n",heading_file); fprintf(stderr,"dbg2 heading_file_format: %d\n",heading_file_format); fprintf(stderr,"dbg2 heading_async: %d\n",heading_async); fprintf(stderr,"dbg2 Attitude Source Parameters:\n"); fprintf(stderr,"dbg2 attitude_mode: %d\n",attitude_mode); fprintf(stderr,"dbg2 attitude_file: %s\n",attitude_file); fprintf(stderr,"dbg2 attitude_file_format: %d\n",attitude_file_format); fprintf(stderr,"dbg2 attitude_async: %d\n",attitude_async); fprintf(stderr,"dbg2 Sound Speed Source Parameters:\n"); fprintf(stderr,"dbg2 soundspeed_mode: %d\n",soundspeed_mode); fprintf(stderr,"dbg2 soundspeed_constant: %f\n",soundspeed_constant); fprintf(stderr,"dbg2 soundspeed_file: %s\n",soundspeed_file); fprintf(stderr,"dbg2 soundspeed_file_format: %d\n",soundspeed_file_format); fprintf(stderr,"dbg2 soundspeed_async: %d\n",soundspeed_async); fprintf(stderr,"dbg2 Time Shift Source Parameters:\n"); fprintf(stderr,"dbg2 timeshift_mode: %d\n",timeshift_mode); fprintf(stderr,"dbg2 timeshift_file: %s\n",timeshift_file); fprintf(stderr,"dbg2 timeshift_format: %d\n",timeshift_format); fprintf(stderr,"dbg2 timeshift_constant: %f\n",timeshift_constant); fprintf(stderr,"dbg2 timeshift_apply: %x\n",timeshift_apply); } /* if help desired then print it and exit */ if (help) { fprintf(stderr,"\n%s\n",help_message); fprintf(stderr,"\nusage: %s\n", usage_message); exit(error); } /* print starting debug statements */ if (verbose == 1) { fprintf(stderr,"\nProgram <%s>\n",program_name); fprintf(stderr,"Version %s\n",version_id); fprintf(stderr,"MB-system Version %s\n\n",MB_VERSION); fprintf(stderr,"Data Input Parameters:\n"); fprintf(stderr," read_file: %s\n",read_file); fprintf(stderr," format: %d\n",format); fprintf(stderr,"Output Channel Parameters:\n"); if (output_source != MB_DATA_NONE) { fprintf(stderr," output_source: %d\n",output_source); fprintf(stderr," output_name1: %s\n",output_name1); fprintf(stderr," output_name2: %s\n",output_name2); } fprintf(stderr,"Survey Line Parameters:\n"); if (line_mode == MBSSLAYOUT_LINE_OFF) { fprintf(stderr," line_mode: Data not recast into survey lines.\n"); } else if (line_mode == MBSSLAYOUT_LINE_TIME) { fprintf(stderr," line_mode: Lines defined by waypoint time list.\n"); fprintf(stderr," line_time_list: %s\n",line_time_list); fprintf(stderr," line_check_bearing: %d\n",line_check_bearing); } else if (line_mode == MBSSLAYOUT_LINE_ROUTE) { fprintf(stderr," line_mode: Lines defined by route waypoint position list.\n"); fprintf(stderr," line_route: %s\n",line_route); fprintf(stderr," line_check_bearing: %d\n",line_check_bearing); } fprintf(stderr,"Sidescan Layout Algorithm Parameters:\n"); if (layout_mode == MBSSLAYOUT_LAYOUT_FLATBOTTOM) { fprintf(stderr," layout_mode: Flat bottom layout using altitude\n"); } else if (layout_mode == MBSSLAYOUT_LAYOUT_3DTOPO) { fprintf(stderr," layout_mode: 3D layout using topography model\n"); fprintf(stderr," topo_grid_file: %s\n",topo_grid_file); } if (ss_altitude_mode == MBSSLAYOUT_ALTITUDE_ALTITUDE) { fprintf(stderr," ss_altitude_mode: Existing altitude value used\n"); } else if (ss_altitude_mode == MBSSLAYOUT_ALTITUDE_BOTTOMPICK) { fprintf(stderr," ss_altitude_mode: Altitude calculated using bottom pick in time series\n"); fprintf(stderr," bottompick_threshold: %f\n",bottompick_threshold); } else if (layout_mode == MBSSLAYOUT_ALTITUDE_TOPO_GRID) { fprintf(stderr," ss_altitude_mode: Altitude calculated during 3D layout on topography model\n"); } if (channel_swap == MB_YES) fprintf(stderr," channel_swap: Swapping port and starboard\n"); else fprintf(stderr," channel_swap: No swap\n"); if (swath_mode == MBSSLAYOUT_SWATHWIDTH_CONSTANT) { fprintf(stderr," swath_mode: Constant swath width\n"); fprintf(stderr," swath_width: %f\n",swath_width); } else { fprintf(stderr," swath_mode: Variable swath width\n"); } if (gain_mode == MBSSLAYOUT_SWATHWIDTH_CONSTANT) { fprintf(stderr," gain_mode: Gain applied\n"); fprintf(stderr," gain: %f\n",gain); } else { fprintf(stderr," gain_mode: Gain not applied\n"); } fprintf(stderr," interpolation: %d\n",interpolation); fprintf(stderr,"Navigation Source Parameters:\n"); if (nav_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," nav_mode: No navigation merging\n"); } else if (nav_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," nav_mode: Navigation merged from external file\n"); fprintf(stderr," nav_file: %s\n",nav_file); fprintf(stderr," nav_file_format: %d\n",nav_file_format); } else if (nav_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," nav_mode: Navigation merged from asynchronous data records\n"); fprintf(stderr," nav_async: %d\n",nav_async); } fprintf(stderr,"Sensor Depth Source Parameters:\n"); if (sensordepth_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," sensordepth_mode: No sensor depth merging\n"); } else if (sensordepth_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," sensordepth_mode: Sensor depth merged from external file\n"); fprintf(stderr," sensordepth_file: %s\n",sensordepth_file); fprintf(stderr," sensordepth_file_format: %d\n",sensordepth_file_format); } else if (sensordepth_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," sensordepth_mode: Sensor depth merged from asynchronous data records\n"); fprintf(stderr," sensordepth_async: %d\n",sensordepth_async); } fprintf(stderr,"Altitude Source Parameters:\n"); if (altitude_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," altitude_mode: No altitude merging\n"); } else if (altitude_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," altitude_mode: Altitude merged from external file\n"); fprintf(stderr," altitude_file: %s\n",altitude_file); fprintf(stderr," altitude_file_format: %d\n",altitude_file_format); } else if (altitude_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," altitude_mode: Altitude merged from asynchronous data records\n"); fprintf(stderr," altitude_async: %d\n",altitude_async); } fprintf(stderr,"Heading Source Parameters:\n"); if (heading_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," heading_mode: No heading merging\n"); } else if (heading_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," heading_mode: Heading merged from external file\n"); fprintf(stderr," heading_file: %s\n",heading_file); fprintf(stderr," heading_file_format: %d\n",heading_file_format); } else if (heading_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," heading_mode: Heading merged from asynchronous data records\n"); fprintf(stderr," heading_async: %d\n",heading_async); } fprintf(stderr,"Attitude Source Parameters:\n"); if (attitude_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," attitude_mode: No attitude merging\n"); } else if (attitude_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," attitude_mode: Attitude merged from external file\n"); fprintf(stderr," attitude_file: %s\n",attitude_file); fprintf(stderr," attitude_file_format: %d\n",attitude_file_format); } else if (attitude_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," attitude_mode: Attitude merged from asynchronous data records\n"); fprintf(stderr," attitude_async: %d\n",attitude_async); } fprintf(stderr,"Sound Speed Source Parameters:\n"); if (soundspeed_mode == MBSSLAYOUT_MERGE_OFF) { fprintf(stderr," soundspeed_mode: No sound speed merging, constant value\n"); fprintf(stderr," soundspeed_constant: %f meters/second\n",soundspeed_constant); } else if (soundspeed_mode == MBSSLAYOUT_MERGE_FILE) { fprintf(stderr," soundspeed_mode: Sound speed merged from external file\n"); fprintf(stderr," soundspeed_file: %s\n",soundspeed_file); fprintf(stderr," soundspeed_file_format: %d\n",soundspeed_file_format); } else if (soundspeed_mode == MBSSLAYOUT_MERGE_ASYNC) { fprintf(stderr," soundspeed_mode: Sound speed merged from asynchronous data records\n"); fprintf(stderr," soundspeed_async: %d\n",soundspeed_async); } fprintf(stderr,"Time Shift Source Parameters:\n"); if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_OFF) { fprintf(stderr," timeshift_mode: No time shift\n"); } else if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_FILE) { fprintf(stderr," timeshift_mode: Time shift model read from external file\n"); fprintf(stderr," timeshift_file: %s\n",timeshift_file); fprintf(stderr," timeshift_format: %d\n",timeshift_format); } else if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_CONSTANT) { fprintf(stderr," timeshift_mode: Constant time shift\n"); fprintf(stderr," timeshift_constant: %f\n",timeshift_constant); } fprintf(stderr,"\n"); } /* read topography grid if 3D bottom correction specified */ if (layout_mode == MBSSLAYOUT_LAYOUT_3DTOPO) { status = mb_topogrid_init(verbose, topo_grid_file, &lonflip, &topogrid_ptr, &error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error loading topography grid: %s\n%s\n", topo_grid_file, message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); mb_memory_clear(verbose, &error); exit(error); } } /* load ancilliary data from external files if requested */ if (nav_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadnavdata(verbose, nav_file, nav_file_format, lonflip, &nav_num, &nav_alloc, &nav_time_d, &nav_navlon, &nav_navlat, &nav_speed, &error); if (verbose > 0) fprintf(stderr,"%d navigation records loaded from file %s\n", nav_num, nav_file); } if (sensordepth_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadsensordepthdata(verbose, sensordepth_file, sensordepth_file_format, &sensordepth_num, &sensordepth_alloc, &sensordepth_time_d, &sensordepth_sensordepth, &error); if (verbose > 0) fprintf(stderr,"%d sensordepth records loaded from file %s\n", sensordepth_num, sensordepth_file); } if (altitude_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadaltitudedata(verbose, altitude_file, altitude_file_format, &altitude_num, &altitude_alloc, &altitude_time_d, &altitude_altitude, &error); if (verbose > 0) fprintf(stderr,"%d altitude records loaded from file %s\n", altitude_num, altitude_file); } if (heading_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadheadingdata(verbose, heading_file, heading_file_format, &heading_num, &heading_alloc, &heading_time_d, &heading_heading, &error); if (verbose > 0) fprintf(stderr,"%d heading records loaded from file %s\n", heading_num, heading_file); } if (attitude_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadattitudedata(verbose, attitude_file, attitude_file_format, &attitude_num, &attitude_alloc, &attitude_time_d, &attitude_roll, &attitude_pitch, &attitude_heave, &error); if (verbose > 0) fprintf(stderr,"%d attitude records loaded from file %s\n", attitude_num, attitude_file); } if (soundspeed_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadsoundspeeddata(verbose, soundspeed_file, soundspeed_file_format, &soundspeed_num, &soundspeed_alloc, &soundspeed_time_d, &soundspeed_soundspeed, &error); if (verbose > 0) fprintf(stderr,"%d soundspeed records loaded from file %s\n", soundspeed_num, soundspeed_file); } if (timeshift_mode == MBSSLAYOUT_MERGE_FILE) { mb_loadtimeshiftdata(verbose, timeshift_file, timeshift_format, ×hift_num, ×hift_alloc, ×hift_time_d, ×hift_timeshift, &error); if (verbose > 0) fprintf(stderr,"%d timeshift records loaded from file %s\n", heading_num, heading_file); } /* new output file obviously needed */ new_output_file = MB_YES; /* if specified read route time list file */ if (line_mode == MBSSLAYOUT_LINE_TIME) { /* open the input file */ if ((fp = fopen(line_time_list, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open time list file <%s> for reading\n",line_time_list); exit(status); } rawroutefile = MB_NO; while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment) { if (comment[0] != '#') { nget = sscanf(comment,"%d %d %lf %lf %lf %lf", &i, &waypoint, &navlon, &navlat, &heading, &time_d); /* if good data check for need to allocate more space */ if (ntimepoint + 1 > ntimepointalloc) { ntimepointalloc += MBSSLAYOUT_ALLOC_NUM; status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routelon, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routelat, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routeheading, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(int), (void **)&routewaypoint, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, ntimepointalloc * sizeof(double), (void **)&routetime_d, &error); if (status != MB_SUCCESS) { 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); } } /* add good point to route */ if (ntimepointalloc > ntimepoint) { routewaypoint[ntimepoint] = waypoint; routelon[ntimepoint] = navlon; routelat[ntimepoint] = navlat; routeheading[ntimepoint] = heading; routetime_d[ntimepoint] = time_d; ntimepoint++; } } } /* close the file */ fclose(fp); fp = NULL; activewaypoint = 1; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * line_range_threshold; oktowrite = 0; linechange = MB_NO; /* output status */ if (verbose > 0) { /* output info on file output */ fprintf(stderr,"Read %d waypoints from time list file: %s\n", ntimepoint, line_time_list); } } /* if specified read route file */ else if (line_mode == MBSSLAYOUT_LINE_ROUTE) { /* open the input file */ if ((fp = fopen(line_route, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open route file <%s> for reading\n",line_route); exit(status); } rawroutefile = MB_NO; while ((result = fgets(comment,MB_PATH_MAXLINE,fp)) == comment) { if (comment[0] == '#') { if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } else { nget = sscanf(comment,"%lf %lf %lf %d %lf", &navlon, &navlat, &topo, &waypoint, &heading); if (comment[0] == '#') { fprintf(stderr,"buffer:%s",comment); if (strncmp(comment,"## Route File Version", 21) == 0) { rawroutefile = MB_NO; } } if ((rawroutefile == MB_YES && nget >= 2) || (rawroutefile == MB_NO && nget >= 3 && waypoint > MBSSLAYOUT_ROUTE_WAYPOINT_NONE)) point_ok = MB_YES; else point_ok = MB_NO; /* if good data check for need to allocate more space */ if (point_ok == MB_YES && nroutepoint + 1 > nroutepointalloc) { nroutepointalloc += MBSSLAYOUT_ALLOC_NUM; status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routelon, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routelat, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(double), (void **)&routeheading, &error); status = mb_reallocd(verbose, __FILE__, __LINE__, nroutepointalloc * sizeof(int), (void **)&routewaypoint, &error); if (status != MB_SUCCESS) { 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); } } /* add good point to route */ if (point_ok == MB_YES && nroutepointalloc > nroutepoint + 1) { routelon[nroutepoint] = navlon; routelat[nroutepoint] = navlat; routeheading[nroutepoint] = heading; routewaypoint[nroutepoint] = waypoint; nroutepoint++; } } } /* close the file */ fclose(fp); fp = NULL; /* set starting values */ activewaypoint = 1; mb_coor_scale(verbose,routelat[activewaypoint], &mtodeglon, &mtodeglat); rangelast = 1000 * line_range_threshold; oktowrite = 0; linechange = MB_NO; /* output status */ if (verbose > 0) { /* output info on file output */ fprintf(stderr,"\nImported %d waypoints from route file: %s\n", nroutepoint, line_route); } } /* set up plotting script file */ if ((line_mode == MBSSLAYOUT_LINE_ROUTE && nroutepoint > 1) || (line_mode == MBSSLAYOUT_LINE_TIME && ntimepoint > 1)) { sprintf(scriptfile, "%s_%s_ssswathplot.cmd", output_name1, output_name2); } else { sprintf(scriptfile, "%s_ssswathplot.cmd", read_file); } if ((sfp = fopen(scriptfile, "w")) == NULL) { error = MB_ERROR_OPEN_FAIL; status = MB_FAILURE; fprintf(stderr,"\nUnable to open plotting script file <%s> \n",scriptfile); exit(status); } /*-------------------------------------------------------------------*/ /* Do first pass through the data collecting ancilliary data from the desired source records */ /* get format if required */ if (format == 0) mb_get_format(verbose,read_file,NULL,&format,&error); /* determine whether to read one file or a list of files */ if (format < 0) read_datalist = MB_YES; /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, ifile,&iformat,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, read_file); iformat = format; read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES) { if (verbose > 0) fprintf(stderr,"\nPass 1: Opening file %s %d\n", ifile, iformat); /* initialize reading the swath file */ if ((status = mb_read_init( verbose,ifile,iformat,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&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",ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &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); } /* zero file count records */ n_rf_data = 0; n_rf_comment = 0; n_rf_ss2 = 0; n_rf_ss3 = 0; n_rf_sbp = 0; n_rf_nav = 0; n_rf_nav1 = 0; n_rf_nav2 = 0; n_rf_nav3 = 0; /* read data */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sensordepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Data record read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } /* count records */ if (kind == MB_DATA_DATA) { n_rf_data++; n_rt_data++; } else if (kind == MB_DATA_COMMENT) { n_rf_comment++; n_rt_comment++; } else if (kind == MB_DATA_SIDESCAN2) { n_rf_ss2++; n_rt_ss2++; } else if (kind == MB_DATA_SIDESCAN3) { n_rf_ss3++; n_rt_ss3++; } else if (kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { n_rf_sbp++; n_rt_sbp++; } else if (kind == MB_DATA_NAV) { n_rf_nav++; n_rt_nav++; } else if (kind == MB_DATA_NAV1) { n_rf_nav1++; n_rt_nav1++; } else if (kind == MB_DATA_NAV2) { n_rf_nav2++; n_rt_nav2++; } else if (kind == MB_DATA_NAV3) { n_rf_nav3++; n_rt_nav3++; } /* look for nav if not externally defined */ if (status == MB_SUCCESS && nav_mode == MBSSLAYOUT_MERGE_ASYNC && kind == sensordepth_async) { /* extract nav data */ status = mb_extract_nnav(verbose, imbio_ptr, istore_ptr, nanavmax, &kind, &nanav, antime_i, antime_d, anlon, anlat, anspeed, anheading, ansensordraft, anroll, anpitch, anheave, &error); /* allocate memory if needed */ if (status == MB_SUCCESS && nanav > 0 && nav_num + nanav >= nav_alloc) { nav_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nanav); status = mb_reallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlat,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_speed,&error); 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); } } /* copy the nav data */ if (status == MB_SUCCESS && nanav > 0) { for (i=0;i 0 && sensordepth_num + nanav >= sensordepth_alloc) { sensordepth_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nanav); status = mb_reallocd(verbose,__FILE__,__LINE__,sensordepth_alloc*sizeof(double),(void **)&sensordepth_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,sensordepth_alloc*sizeof(double),(void **)&sensordepth_sensordepth,&error); 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); } } /* copy the sensordepth data */ if (status == MB_SUCCESS && nanav > 0) { for (i=0;i= altitude_alloc) { altitude_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nanav); status = mb_reallocd(verbose,__FILE__,__LINE__,altitude_alloc*sizeof(double),(void **)&altitude_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,altitude_alloc*sizeof(double),(void **)&altitude_altitude,&error); 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); } } /* copy the altitude data */ if (status == MB_SUCCESS && nanav > 0) { altitude_time_d[altitude_num] = time_d; altitude_altitude[altitude_num] = altitude; altitude_num++; } } /* look for heading if not externally defined */ if (status == MB_SUCCESS && heading_mode == MBSSLAYOUT_MERGE_ASYNC && kind == heading_async) { /* extract heading data */ status = mb_extract_nnav(verbose, imbio_ptr, istore_ptr, nanavmax, &kind, &nanav, antime_i, antime_d, anlon, anlat, anspeed, anheading, ansensordraft, anroll, anpitch, anheave, &error); /* allocate memory if needed */ if (status == MB_SUCCESS && nanav > 0 && heading_num + nanav >= heading_alloc) { heading_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nanav); status = mb_reallocd(verbose,__FILE__,__LINE__,heading_alloc*sizeof(double),(void **)&heading_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,heading_alloc*sizeof(double),(void **)&heading_heading,&error); 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); } } /* copy the heading data */ if (status == MB_SUCCESS && nanav > 0) { for (i=0;i 0 && attitude_num + nanav >= attitude_alloc) { attitude_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nanav); status = mb_reallocd(verbose,__FILE__,__LINE__,attitude_alloc*sizeof(double),(void **)&attitude_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,attitude_alloc*sizeof(double),(void **)&attitude_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,attitude_alloc*sizeof(double),(void **)&attitude_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,attitude_alloc*sizeof(double),(void **)&attitude_heave,&error); 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); } } /* copy the attitude data */ if (status == MB_SUCCESS && nanav > 0) { for (i=0;i 0 && soundspeed_num + nactd >= soundspeed_alloc) { soundspeed_alloc += MAX(MBSSLAYOUT_ALLOC_CHUNK, nactd); status = mb_reallocd(verbose,__FILE__,__LINE__,soundspeed_alloc*sizeof(double),(void **)&soundspeed_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,soundspeed_alloc*sizeof(double),(void **)&soundspeed_soundspeed,&error); 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); } } /* copy the soundspeed data */ if (status == MB_SUCCESS && nactd > 0) { for (i=0;i 0) { fprintf(stderr,"Pass 1: Records read from input file %s\n", ifile); fprintf(stderr," %d survey records\n", n_rf_data); fprintf(stderr," %d comment records\n", n_rf_comment); fprintf(stderr," %d sidescan2 records\n", n_rf_ss2); fprintf(stderr," %d sidescan3 records\n", n_rf_ss3); fprintf(stderr," %d subbottom records\n", n_rf_sbp); fprintf(stderr," %d nav records\n", n_rf_nav); fprintf(stderr," %d nav1 records\n", n_rf_nav1); fprintf(stderr," %d nav2 records\n", n_rf_nav2); fprintf(stderr," %d nav3 records\n", n_rf_nav3); } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&iformat,&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 (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* output data counts */ if (verbose > 0) { fprintf(stderr,"\nPass 1: Total records read from all input files\n"); fprintf(stderr," %d survey records\n", n_rt_data); fprintf(stderr," %d comment records\n", n_rt_comment); fprintf(stderr," %d sidescan2 records\n", n_rt_ss2); fprintf(stderr," %d sidescan3 records\n", n_rt_ss3); fprintf(stderr," %d subbottom records\n", n_rt_sbp); fprintf(stderr," %d nav records\n", n_rt_nav); fprintf(stderr," %d nav1 records\n", n_rt_nav1); fprintf(stderr," %d nav2 records\n", n_rt_nav2); fprintf(stderr," %d nav3 records\n", n_rt_nav3); } /* end first pass through data */ /*-------------------------------------------------------------------*/ /* Apply any specified timeshift to the chosen data */ if (timeshift_mode != MBSSLAYOUT_TIMESHIFT_OFF) { /* if no affected data have been specified apply timeshift to all */ if (timeshift_apply == MBSSLAYOUT_TIMESHIFT_APPLY_NONE) timeshift_apply = MBSSLAYOUT_TIMESHIFT_APPLY_ALL_ANCILLIARY; /* apply timeshift to nav data */ if (timeshift_apply & MBSSLAYOUT_TIMESHIFT_APPLY_NAV) { if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_FILE) { j = 0; for (i=0;i Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, ifile,&iformat,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, read_file); iformat = format; read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES) { if (verbose > 0) fprintf(stderr,"\nPass 2: Opening input file: %s %d\n", ifile, iformat); /* initialize reading the input file */ if ((status = mb_read_init( verbose,ifile,iformat,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&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",ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* if not generating survey line files then open output file to coincide with this input file */ if (line_mode == MBSSLAYOUT_LINE_OFF) new_output_file = MB_YES; beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &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); } /* zero file count records */ n_rf_data = 0; n_rf_comment = 0; n_rf_ss2 = 0; n_rf_ss3 = 0; n_rf_sbp = 0; n_rf_nav = 0; n_rf_nav1 = 0; n_rf_nav2 = 0; n_rf_nav3 = 0; /* ------------------------------- */ /* start read + output loop */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon_org,&navlat_org, &speed_org,&heading_org, &distance,&altitude_org,&sensordepth_org, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* count records */ if (kind == MB_DATA_DATA) { n_rf_data++; n_rt_data++; } else if (kind == MB_DATA_COMMENT) { n_rf_comment++; n_rt_comment++; } else if (kind == MB_DATA_SIDESCAN2) { n_rf_ss2++; n_rt_ss2++; } else if (kind == MB_DATA_SIDESCAN3) { n_rf_ss3++; n_rt_ss3++; } else if (kind == MB_DATA_SUBBOTTOM_SUBBOTTOM) { n_rf_sbp++; n_rt_sbp++; } else if (kind == MB_DATA_NAV) { n_rf_nav++; n_rt_nav++; } else if (kind == MB_DATA_NAV1) { n_rf_nav1++; n_rt_nav1++; } else if (kind == MB_DATA_NAV2) { n_rf_nav2++; n_rt_nav2++; } else if (kind == MB_DATA_NAV3) { n_rf_nav3++; n_rt_nav3++; } /* check for new line only if generating survey line files and new line not already set and this record is target data */ if (status == MB_SUCCESS && line_mode != MBSSLAYOUT_LINE_OFF && new_output_file == MB_NO && kind == output_source) { /* check waypoint time list */ if (line_mode == MBSSLAYOUT_LINE_TIME && time_d >= routetime_d[activewaypoint] && activewaypoint < ntimepoint) { new_output_file = MB_YES; /* fprintf(stderr,"LINECHANGE BY TIME!! dx:%f dy:%f range:%f activewaypoint:%d time_d: %f %f\n", dx,dy,range,activewaypoint,time_d,routetime_d[activewaypoint]); */ activewaypoint++; line_number = activewaypoint; } /* check waypoint position list */ else if (line_mode == MBSSLAYOUT_LINE_ROUTE) { dx = (navlon - routelon[activewaypoint]) / mtodeglon; dy = (navlat - routelat[activewaypoint]) / mtodeglat; range = sqrt(dx * dx + dy * dy); /* fprintf(stderr,"CHECK WAYPOINT: activewaypoint:%d range:%f line_range_threshold:%f\n",activewaypoint,range,line_range_threshold); */ if (range < line_range_threshold && (activewaypoint == 0 || range > rangelast) && activewaypoint < nroutepoint - 1) { new_output_file = MB_YES; /* fprintf(stderr,"LINECHANGE BY WAYPOINT!! dx:%f dy:%f range:%f activewaypoint:%d time_d: %f %f\n", dx,dy,range,activewaypoint,time_d,routetime_d[activewaypoint]); */ activewaypoint++; line_number = activewaypoint; } } } /* open output files if needed */ if (new_output_file == MB_YES) { /* reset flag */ new_output_file = MB_NO; if (output_source != MB_DATA_NONE) { /* close any old output file unless a single file has been specified */ if (ombio_ptr != NULL) { /* close the swath file */ status = mb_close(verbose,&ombio_ptr,&error); /* generate inf file */ /* if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, output_file, MBF_MBLDEOIH, &error); }*/ /* output counts */ if (verbose > 0) { fprintf(stdout, "\nPass 2: Closing output file: %s\n", output_file); fprintf(stdout, "Pass 2: Records written to output file %s\n", output_file); fprintf(stdout, " %d survey records\n", n_wf_data); fprintf(stdout, " %d comment records\n", n_wf_comment); } /* output commands to first cut plotting script file */ fprintf(sfp, "# Generate swath plot of sidescan file: %s\n", output_file); fprintf(sfp, "mbm_plot -I %s -N -G5 -S -Pb -V -O %s_ssrawplot\n", output_file, output_file); fprintf(sfp, "%s_ssrawplot.cmd\n\n", output_file); } /* define the filename */ if (line_mode == MBSSLAYOUT_LINE_OFF) sprintf(output_file, "%s_%s.mb%2.2d", ifile, output_name2, MBF_MBLDEOIH); else sprintf(output_file, "%s_%s_%4.4d.mb%2.2d", output_name1, output_name2, line_number, MBF_MBLDEOIH); /* open the new file */ if (verbose > 0) fprintf(stderr,"Pass 2: Opening output file: %s %d\n", output_file, MBF_MBLDEOIH); if ((status = mb_write_init( verbose,output_file, MBF_MBLDEOIH, &ombio_ptr, &obeams_bath, &obeams_amp, &opixels_ss, &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 writing\n",output_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ omb_io_ptr = (struct mb_io_struct *) ombio_ptr; ostore_ptr = omb_io_ptr->store_data; ostore = (struct mbsys_ldeoih_struct *) ostore_ptr; n_wf_data = 0; n_wf_comment = 0; } } /* if data of interest have been read process them */ if (status == MB_SUCCESS && kind == output_source) { /* start out with no change defined */ data_changed = MB_NO; /* call mb_extract_rawssdimensions() */ status = mb_extract_rawssdimensions(verbose,imbio_ptr,istore_ptr, &kind, &sample_interval, &num_samples_port, &num_samples_stbd, &error); /* allocate memory if necessary */ if (num_samples_port > num_samples_port_alloc) { num_samples_port_alloc = num_samples_port; status = mb_reallocd(verbose,__FILE__,__LINE__,num_samples_port_alloc*sizeof(double),(void **)&raw_samples_port,&error); 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); } } if (num_samples_stbd > num_samples_stbd_alloc) { num_samples_stbd_alloc = num_samples_stbd; status = mb_reallocd(verbose,__FILE__,__LINE__,num_samples_stbd_alloc*sizeof(double),(void **)&raw_samples_stbd,&error); 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); } } /* call mb_extract_rawss() */ status = mb_extract_rawss(verbose,imbio_ptr,istore_ptr, &kind, &sidescan_type, &sample_interval, &beamwidth_xtrack, &beamwidth_ltrack, &num_samples_port, raw_samples_port, &num_samples_stbd, raw_samples_stbd, &error); /* call mb_extract_nav to get attitude */ status = mb_extract_nav(verbose,imbio_ptr,istore_ptr,&kind, time_i,&time_d,&navlon_org,&navlat_org, &speed_org,&heading_org,&draft_org,&roll_org,&pitch_org,&heave_org,&error); /* save the original values */ navlon = navlon_org; navlat = navlat_org; speed = speed_org; heading = heading_org; altitude = altitude_org; sensordepth = sensordepth_org; draft = draft_org; roll = roll_org; pitch = pitch_org; heave = heave_org; soundspeed = soundspeed_constant; /* apply timeshift to survey data */ if (timeshift_apply & MBSSLAYOUT_TIMESHIFT_APPLY_SURVEY) { if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_FILE) { interp_status = mb_linear_interp(verbose, timeshift_time_d-1, timeshift_timeshift-1, timeshift_num, time_d, ×hift, &jsurvey, &interp_error); time_d += timeshift; } else if (timeshift_mode == MBSSLAYOUT_TIMESHIFT_CONSTANT) { time_d += timeshift_constant; } } /* get nav sensordepth heading attitude values for record timestamp */ if (nav_num > 0) { interp_status = mb_linear_interp_longitude(verbose, nav_time_d-1, nav_navlon-1, nav_num, time_d, &navlon, &jnav, &interp_error); interp_status = mb_linear_interp_latitude(verbose, nav_time_d-1, nav_navlat-1, nav_num, time_d, &navlat, &jnav, &interp_error); interp_status = mb_linear_interp(verbose, nav_time_d-1, nav_speed-1, nav_num, time_d, &speed, &jnav, &interp_error); data_changed = MB_YES; } if (sensordepth_num > 0) { interp_status = mb_linear_interp(verbose, sensordepth_time_d-1, sensordepth_sensordepth-1, sensordepth_num, time_d, &sensordepth, &jsensordepth, &interp_error); data_changed = MB_YES; } if (altitude_num > 0) { interp_status = mb_linear_interp(verbose, altitude_time_d-1, altitude_altitude-1, altitude_num, time_d, &altitude, &jaltitude, &interp_error); data_changed = MB_YES; } if (heading_num > 0) { interp_status = mb_linear_interp_heading(verbose, heading_time_d-1, heading_heading-1, heading_num, time_d, &heading, &jheading, &interp_error); data_changed = MB_YES; } if (attitude_num > 0) { interp_status = mb_linear_interp(verbose, attitude_time_d-1, attitude_roll-1, attitude_num, time_d, &roll, &jattitude, &interp_error); interp_status = mb_linear_interp(verbose, attitude_time_d-1, attitude_pitch-1, attitude_num, time_d, &pitch, &jattitude, &interp_error); interp_status = mb_linear_interp(verbose, attitude_time_d-1, attitude_heave-1, attitude_num, time_d, &heave, &jattitude, &interp_error); data_changed = MB_YES; } if (sensordepth_num > 0 || attitude_num > 0) { draft = sensordepth - heave; } if (soundspeed_num > 0) { interp_status = mb_linear_interp(verbose, soundspeed_time_d-1, soundspeed_soundspeed-1, soundspeed_num, time_d, &soundspeed, &jsoundspeed, &interp_error); data_changed = MB_YES; } /* if specified get altitude from raw sidescan */ if (ss_altitude_mode == MBSSLAYOUT_ALTITUDE_BOTTOMPICK) { /* get bottom arrival in port trace */ channelmax = 0.0; for (i=0;i= threshold) portchannelpick = i; } /* get bottom arrival in starboard trace */ channelmax = 0.0; for (i=0;i= threshold) stbdchannelpick = i; } ttime = 0.5 * ((portchannelpick + stbdchannelpick) * sample_interval); ss_altitude = 0.5 * soundspeed * ttime; } /* else if getting altitude from topography model set initial value zero */ else if (ss_altitude_mode == MBSSLAYOUT_ALTITUDE_TOPO_GRID) { mb_topogrid_topo(verbose, topogrid_ptr, navlon, navlat, &topo, &error); ss_altitude = -sensordepth - topo; } /* else just use existing altitude value */ else if (ss_altitude_mode == MBSSLAYOUT_ALTITUDE_ALTITUDE) { ss_altitude = altitude; } /* get flat bottom layout table */ if (layout_mode == MBSSLAYOUT_LAYOUT_FLATBOTTOM) mbsslayout_get_flatbottom_table(verbose, nangle, angle_min, angle_max, navlon, navlat, ss_altitude, 0.0, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); /* else get 3D bottom layout table */ else { mb_topogrid_getangletable(verbose, topogrid_ptr, nangle, angle_min, angle_max, navlon, navlat, heading, ss_altitude, sensordepth, pitch, table_angle, table_xtrack, table_ltrack, table_altitude, table_range, &error); } /* fprintf(stderr,"altitude:%f sensordepth:%f pitch:%f\n",ss_altitude,sensordepth,pitch); for (i=0;idepth_scale = 0; ostore->distance_scale = 0; ostore->beam_xwidth = beamwidth_xtrack; ostore->beam_lwidth = beamwidth_ltrack; ostore->kind = MB_DATA_DATA; ostore->ss_type = sidescan_type; opixels_ss = MBSSLAYOUT_SSDIMENSION; /* set one bathymetry sample from sensor depth and altitude */ obeams_bath = 1; bath[0] = sensordepth + altitude; bathacrosstrack[0] = 0.0; bathalongtrack[0] = 0.0; /* get swath width and pixel size */ if (swath_mode == MBSSLAYOUT_SWATHWIDTH_VARIABLE) { rr = 0.5 * soundspeed * sample_interval * MAX(num_samples_port,num_samples_stbd); swath_width = 2.2 * sqrt(rr * rr - ss_altitude * ss_altitude); } pixel_width = swath_width / (opixels_ss - 1); /* initialize the output sidescan */ for (j=0;j0 && done == MB_NO;kangle--) { found = MB_NO; if (rr <= table_range[kstart]) { xtrack = table_xtrack[kstart]; ltrack = table_ltrack[kstart]; done = MB_YES; found = MB_YES; } else if (rr > table_range[kangle] && rr <= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle-1]) { factor = (rr - table_range[kangle]) / (table_range[kangle-1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle-1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle-1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += raw_samples_port[i]; ossbincount[j]++; ossalongtrack[j] += ltrack; } /* fprintf(stderr,"port:%5d rr:%10.2f x:%10.2f l:%10.2f kangle:%d\n", i,rr,xtrack,ltrack,kangle); */ } } } /* find minimum range */ rangemin = table_range[0]; kstart = 0; for (kangle=1;kangle table_range[kangle] && rr <= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } else if (rr < table_range[kangle] && rr >= table_range[kangle+1]) { factor = (rr - table_range[kangle]) / (table_range[kangle+1] - table_range[kangle]); xtrack = table_xtrack[kangle] + factor * (table_xtrack[kangle+1] - table_xtrack[kangle]); ltrack = table_ltrack[kangle] + factor * (table_ltrack[kangle+1] - table_ltrack[kangle]); found = MB_YES; done = MB_YES; } /* bin the value and position */ if (found == MB_YES) { j = opixels_ss / 2 + (int)(xtrack / pixel_width); if (j >= 0 && j < opixels_ss) { oss[j] += raw_samples_stbd[i]; ossbincount[j]++; ossalongtrack[j] += ltrack; } /* fprintf(stderr,"stbd:%5d rr:%10.2f x:%10.2f l:%10.2f kangle:%d\n", i,rr,xtrack,ltrack,kangle); */ } } } /* calculate the output sidescan */ jport = -1; jstbd = -1; for (j=0;j 0) { oss[j] /= (double) ossbincount[j]; ossalongtrack[j] /= (double) ossbincount[j]; if (jport < 0) jport = j; jstbd = j; } else oss[j] = MB_SIDESCAN_NULL; } /* fprintf(stderr,"SS bounds: %d %d %f %f %f\n",jport,jstbd,(jport - opixels_ss/2)*pixel_width,(jstbd - opixels_ss/2)*pixel_width, (jport - opixels_ss/2)*pixel_width - (jstbd - opixels_ss/2)*pixel_width);*/ /*for (j=0;j 0) { interpable = j - previous - 1; if (interpable > 0 && interpable <= interpolation) { dss = oss[j] - oss[previous]; dssl = ossalongtrack[j] - ossalongtrack[previous]; for (jj=previous+1;jj:\n%s\n",message); fprintf(stderr,"\nMultibeam Data Not Written To File <%s>\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* count records */ if (kind == MB_DATA_COMMENT) { n_wf_comment++; n_wt_comment++; } else { n_wf_data++; n_wt_data++; } } } /* end read+process+output data loop */ /* --------------------------------- */ /* output data counts */ if (verbose > 0) { fprintf(stderr,"Pass 2: Records read from input file %s\n", ifile); fprintf(stderr," %d survey records\n", n_rf_data); fprintf(stderr," %d comment records\n", n_rf_comment); fprintf(stderr," %d sidescan2 records\n", n_rf_ss2); fprintf(stderr," %d sidescan3 records\n", n_rf_ss3); fprintf(stderr," %d subbottom records\n", n_rf_sbp); fprintf(stderr," %d nav records\n", n_rf_nav); fprintf(stderr," %d nav1 records\n", n_rf_nav1); fprintf(stderr," %d nav2 records\n", n_rf_nav2); fprintf(stderr," %d nav3 records\n", n_rf_nav3); } /* close the input swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&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 (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* close any open output file */ if (ombio_ptr != NULL) { /* close the swath file */ status = mb_close(verbose,&ombio_ptr,&error); /* generate inf file */ /* if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, output_file, MBF_MBLDEOIH, &error); }*/ /* output counts */ if (verbose > 0) { fprintf(stdout, "\nClosing output file: %s\n", output_file); fprintf(stdout, "Pass 2: Records written to output file %s\n", output_file); fprintf(stdout, " %d survey records\n", n_wf_data); fprintf(stdout, " %d comment records\n", n_wf_comment); } /* output commands to first cut plotting script file */ fprintf(sfp, "# Generate swath plot of sidescan file: %s\n", output_file); fprintf(sfp, "mbm_plot -I %s -N -G5 -S -Pb -V -O %s_ssrawplot\n", output_file, output_file); fprintf(sfp, "%s_ssrawplot.cmd\n\n", output_file); } /* close plotting script file */ fclose(sfp); sprintf(command, "chmod +x %s", scriptfile); shellstatus = system(command); /* output data counts */ if (verbose > 0) { fprintf(stderr,"\nPass 2: Total records read from all input files\n"); fprintf(stderr," %d survey records\n", n_rt_data); fprintf(stderr," %d comment records\n", n_rt_comment); fprintf(stderr," %d sidescan2 records\n", n_rt_ss2); fprintf(stderr," %d sidescan3 records\n", n_rt_ss3); fprintf(stderr," %d subbottom records\n", n_rt_sbp); fprintf(stderr," %d nav records\n", n_rt_nav); fprintf(stderr," %d nav1 records\n", n_rt_nav1); fprintf(stderr," %d nav2 records\n", n_rt_nav2); fprintf(stderr," %d nav3 records\n", n_rt_nav3); fprintf(stderr,"Pass 2: Total records written to all output files\n"); fprintf(stderr," %d survey records\n", n_wt_data); fprintf(stderr," %d comment records\n", n_wt_comment); } /* end second pass through data */ /*-------------------------------------------------------------------*/ /* deallocate raw sidescan arrays */ if (num_samples_stbd_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&raw_samples_stbd,&error); num_samples_stbd_alloc = 0; } if (num_samples_port_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&raw_samples_port,&error); num_samples_port_alloc = 0; } /* deallocate nav, sensordepth, heading, attitude, and timeshift arrays */ if (nav_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_speed,&error); nav_alloc = 0; } if (sensordepth_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sensordepth_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sensordepth_sensordepth,&error); sensordepth_alloc = 0; } if (heading_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&heading_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&heading_heading,&error); heading_alloc = 0; } if (attitude_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&attitude_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&attitude_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&attitude_pitch,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&attitude_heave,&error); attitude_alloc = 0; } if (timeshift_alloc > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)×hift_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)×hift_timeshift,&error); timeshift_alloc = 0; } /* deallocate route arrays */ if (line_mode == MBSSLAYOUT_LINE_TIME) { status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelon, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelat, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routeheading, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routewaypoint, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routetime_d, &error); } else if (line_mode == MBSSLAYOUT_LINE_ROUTE) { status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelon, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routelat, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routeheading, &error); status = mb_freed(verbose, __FILE__, __LINE__, (void **)&routewaypoint, &error); } /* deallocate topography grid array if necessary */ if (layout_mode == MBSSLAYOUT_LAYOUT_3DTOPO) status = mb_topogrid_deall(verbose, &topogrid_ptr, &error); /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/ int mbsslayout_get_flatbottom_table(int verbose, int nangle, double angle_min, double angle_max, double navlon, double navlat, double altitude, double pitch, double *table_angle, double *table_xtrack, double *table_ltrack, double *table_altitude, double *table_range, int *error) { char *function_name = "mbsslayout_get_flatbottom_table"; int status = MB_SUCCESS; double dangle; double rr, xx, zz; double alpha, beta, theta, phi; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBSSLAYOUT function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n", verbose); fprintf(stderr,"dbg2 nangle: %d\n", nangle); fprintf(stderr,"dbg2 angle_min: %f\n", angle_min); fprintf(stderr,"dbg2 angle_max: %f\n", angle_max); fprintf(stderr,"dbg2 navlon: %f\n", navlon); fprintf(stderr,"dbg2 navlat: %f\n", navlat); fprintf(stderr,"dbg2 pitch: %f\n", pitch); } /* loop over all of the angles */ dangle = (angle_max - angle_min) / (nangle - 1); alpha = pitch; zz = altitude; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBSSLAYOUT function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 Lookup tables:\n"); for (i=0;i