/*-------------------------------------------------------------------- * The MB-system: mbnavadjust.h 6/24/95 * $Id: mbnavadjust.h 1985 2012-09-11 08:02:53Z caress $ * * Copyright (c) 2000-2012 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. *--------------------------------------------------------------------*/ /* * mbnavadjust is an interactive navigation adjustment package * for swath sonar data. * It can work with any data format supported by the MBIO library. * This include file contains global control parameters shared with * the Motif interface code. * * Author: D. W. Caress * Date: March 22, 2000 * * $Log: mbnavadjust.h,v $ * Revision 5.12 2008/12/22 08:32:52 caress * Added additional model view - survey vs survey rather than sequential. * * Revision 5.11 2008/09/11 20:12:43 caress * Checking in updates made during cruise AT15-36. * * Revision 5.10 2008/05/16 22:42:32 caress * Release 5.1.1beta18 - working towards use of 3D uncertainty. * * Revision 5.9 2007/10/08 16:02:46 caress * MBnavadjust now performs an initial inversion for the average offsets for each independent block of data and then removes that average signal before performing the full inversion. * * Revision 5.8 2007/05/14 06:34:11 caress * Many changes to mbnavadjust, including adding z offsets and 3D search grids. * * Revision 5.7 2006/06/16 19:30:58 caress * Check in after the Santa Monica Basin Mapping AUV Expedition. * * Revision 5.6 2005/06/04 04:34:07 caress * Added notion of "truecrossings", so it's possible to process the data while only looking at crossing tracks and ignoring overlap points. * * Revision 5.5 2004/12/02 06:34:27 caress * Fixes while supporting Reson 7k data. * * Revision 5.4 2004/05/21 23:31:28 caress * Moved to new version of BX GUI builder * * Revision 5.3 2002/03/26 07:43:57 caress * Release 5.0.beta15 * * Revision 5.2 2001/10/19 00:55:42 caress * Now tries to use relative paths. * * Revision 5.1 2001/07/20 00:33:43 caress * Release 5.0.beta03 * * Revision 5.0 2000/12/01 22:55:48 caress * First cut at Version 5.0. * * Revision 4.0 2000/09/30 07:00:06 caress * Snapshot for Dale. * * * */ /*--------------------------------------------------------------------*/ #ifndef MB_DEFINE_DEF #include "mb_define.h" #endif #ifndef MB_YES #include "mb_status.h" #endif #ifdef MBNAVADJUST_DECLARE_GLOBALS #define EXTERNAL #else #define EXTERNAL extern #endif /* mbnavadjust global defines */ #define STRING_MAX MB_PATH_MAXLINE #define BUFFER_MAX 1024 #define ALLOC_NUM 10 #define MBNA_SNAV_NUM 11 #define MBNA_STATUS_GUI 0 #define MBNA_STATUS_AUTOPICK 1 #define MBNA_STATUS_NAVERR 2 #define MBNA_STATUS_NAVSOLVE 3 #define MBNA_INVERSION_NONE 0 #define MBNA_INVERSION_OLD 1 #define MBNA_INVERSION_CURRENT 2 #define MBNA_FILE_POORNAV 1 #define MBNA_FILE_GOODNAV 2 #define MBNA_FILE_FIXEDNAV 3 #define MBNA_FILE_FIXEDXYNAV 4 #define MBNA_FILE_FIXEDZNAV 5 #define MBNA_TIE_XYZ 1 #define MBNA_TIE_XY 2 #define MBNA_TIE_Z 3 #define MBNA_CROSSING_STATUS_NONE 0 #define MBNA_CROSSING_STATUS_SET 1 #define MBNA_CROSSING_STATUS_SKIP 2 #define MBNA_TIME_GAP_MAX 120.0 #define MBNA_TIME_DIFF_THRESHOLD 2.0 #define MBNA_VIEW_LIST_SURVEYS 0 #define MBNA_VIEW_LIST_FILES 1 #define MBNA_VIEW_LIST_FILESECTIONS 2 #define MBNA_VIEW_LIST_CROSSINGS 3 #define MBNA_VIEW_LIST_GOODCROSSINGS 4 #define MBNA_VIEW_LIST_BETTERCROSSINGS 5 #define MBNA_VIEW_LIST_TRUECROSSINGS 6 #define MBNA_VIEW_LIST_TIES 7 #define MBNA_VIEW_MODE_ALL 0 #define MBNA_VIEW_MODE_SURVEY 1 #define MBNA_VIEW_MODE_WITHSURVEY 2 #define MBNA_VIEW_MODE_FILE 3 #define MBNA_VIEW_MODE_WITHFILE 4 #define MBNA_VIEW_MODE_WITHSECTION 5 #define MBNA_SELECT_NONE -1 #define MBNA_VECTOR_ALLOC_INC 1000 #define MBNA_PEN_UP 3 #define MBNA_PEN_DOWN 2 #define MBNA_PEN_ORIGIN -3 #define MBNA_PEN_COLOR 0 #define MBNA_PLOT_MODE_FIRST 0 #define MBNA_PLOT_MODE_MOVE 1 #define MBNA_PLOT_MODE_ZOOMFIRST 2 #define MBNA_PLOT_MODE_ZOOM 3 #define MBNA_MASK_DIM 25 #define MBNA_MISFIT_ZEROCENTER 0 #define MBNA_MISFIT_AUTOCENTER 1 #define MBNA_MISFIT_DIMXY 61 #define MBNA_MISFIT_NTHRESHOLD (MBNA_MISFIT_DIMXY * MBNA_MISFIT_DIMXY / 36) #define MBNA_MISFIT_DIMZ 51 #define MBNA_BIAS_SAME 0 #define MBNA_BIAS_DIFFERENT 1 #define MBNA_OVERLAP_THRESHOLD 25 #define MBNA_MODELPLOT_SEQUENTIAL 0 #define MBNA_MODELPLOT_SURVEY 1 #define MBNA_MODELPLOT_LEFT_WIDTH 25 #define MBNA_MODELPLOT_LEFT_HEIGHT 65 #define MBNA_MODELPLOT_X_SPACE 10 #define MBNA_MODELPLOT_Y_SPACE 30 #define MBNA_INTERP_NONE 0 #define MBNA_INTERP_CONSTANT 1 #define MBNA_INTERP_INTERP 2 #define MBNA_SMOOTHING_DEFAULT 2 #define MBNA_INTERATION_MAX 10000 #define MBNA_CONVERGENCE 0.000001 #define MBNA_SMALL 0.0001 /* mbnavadjust project and file structures */ struct mbna_section { int num_pings; int num_beams; int global_start_ping; int global_start_snav; int continuity; double distance; double btime_d; double etime_d; double lonmin; double lonmax; double latmin; double latmax; double depthmin; double depthmax; int coverage[MBNA_MASK_DIM * MBNA_MASK_DIM]; int num_snav; int snav_id[MBNA_SNAV_NUM]; int snav_num_ties[MBNA_SNAV_NUM]; int snav_invert_id[MBNA_SNAV_NUM]; int snav_invert_constraint[MBNA_SNAV_NUM]; double snav_distance[MBNA_SNAV_NUM]; double snav_time_d[MBNA_SNAV_NUM]; double snav_lon[MBNA_SNAV_NUM]; double snav_lat[MBNA_SNAV_NUM]; double snav_lon_offset[MBNA_SNAV_NUM]; double snav_lat_offset[MBNA_SNAV_NUM]; double snav_z_offset[MBNA_SNAV_NUM]; double snav_lon_offset_int[MBNA_SNAV_NUM]; double snav_lat_offset_int[MBNA_SNAV_NUM]; double snav_z_offset_int[MBNA_SNAV_NUM]; int show_in_modelplot; int modelplot_start_count; int contoursuptodate; }; struct mbna_file { int status; int id; int output_id; char file[STRING_MAX]; char path[STRING_MAX]; int format; double heading_bias_import; double roll_bias_import; double heading_bias; double roll_bias; int block; double block_offset_x; double block_offset_y; double block_offset_z; int show_in_modelplot; int num_snavs; int num_pings; int num_beams; int num_sections; int num_sections_alloc; struct mbna_section *sections; }; struct mbna_tie { int status; int snav_1; double snav_1_time_d; int snav_2; double snav_2_time_d; double offset_x; double offset_y; double offset_x_m; double offset_y_m; double offset_z_m; double sigmar1; double sigmax1[3]; double sigmar2; double sigmax2[3]; double sigmar3; double sigmax3[3]; int inversion_status; double inversion_offset_x; double inversion_offset_y; double inversion_offset_x_m; double inversion_offset_y_m; double inversion_offset_z_m; int block_1; int block_2; int isurveyplotindex; }; struct mbna_crossing { int status; int truecrossing; int overlap; int file_id_1; int section_1; int file_id_2; int section_2; int num_ties; struct mbna_tie ties[MBNA_SNAV_NUM]; }; struct mbna_project { int open; char name[STRING_MAX]; char path[STRING_MAX]; char home[STRING_MAX]; char datadir[STRING_MAX]; int num_files; int num_files_alloc; struct mbna_file *files; int num_blocks; int num_snavs; int num_pings; int num_beams; int num_crossings; int num_crossings_alloc; int num_crossings_analyzed; int num_goodcrossings; int num_truecrossings; int num_truecrossings_analyzed; struct mbna_crossing *crossings; int num_ties; double section_length; int section_soundings; double cont_int; double col_int; double tick_int; double label_int; int decimation; double precision; double smoothing; double zoffsetwidth; int inversion; int modelplot; int modelplot_style; FILE *logfp; }; struct mbna_plot_vector { int command; int color; double x; double y; }; struct mbna_contour_vector { int nvector; int nvector_alloc; struct mbna_plot_vector *vector; }; /* mbnavadjust global control parameters */ EXTERNAL int mbna_verbose; EXTERNAL int mbna_status; EXTERNAL int mbna_view_list; EXTERNAL int mbna_view_mode; EXTERNAL int mbna_color_foreground; EXTERNAL int mbna_color_background; EXTERNAL int mbna_survey_select; EXTERNAL int mbna_file_select; EXTERNAL int mbna_section_select; EXTERNAL int mbna_crossing_select; EXTERNAL int mbna_tie_select; EXTERNAL int mbna_current_crossing; EXTERNAL int mbna_current_tie; EXTERNAL int mbna_naverr_load; EXTERNAL int mbna_file_id_1; EXTERNAL int mbna_section_1; EXTERNAL int mbna_file_id_2; EXTERNAL int mbna_section_2; EXTERNAL int mbna_snav_1; EXTERNAL double mbna_snav_1_time_d; EXTERNAL double mbna_snav_1_lon; EXTERNAL double mbna_snav_1_lat; EXTERNAL int mbna_snav_2; EXTERNAL double mbna_snav_2_time_d; EXTERNAL double mbna_snav_2_lon; EXTERNAL double mbna_snav_2_lat; EXTERNAL double mbna_offset_x; EXTERNAL double mbna_offset_y; EXTERNAL double mbna_offset_z; EXTERNAL double mbna_invert_offset_x; EXTERNAL double mbna_invert_offset_y; EXTERNAL double mbna_invert_offset_z; EXTERNAL double mbna_offset_x_old; EXTERNAL double mbna_offset_y_old; EXTERNAL double mbna_offset_z_old; EXTERNAL double mbna_lon_min; EXTERNAL double mbna_lon_max; EXTERNAL double mbna_lat_min; EXTERNAL double mbna_lat_max; EXTERNAL double mbna_mtodeglon; EXTERNAL double mbna_mtodeglat; EXTERNAL int mbna_contour_algorithm; EXTERNAL int mbna_ncolor; EXTERNAL double mbna_ox; EXTERNAL double mbna_oy; EXTERNAL int mbna_bin_beams_bath; EXTERNAL double mbna_bin_swathwidth; EXTERNAL double mbna_bin_pseudobeamwidth; EXTERNAL double mbna_plot_lon_min; EXTERNAL double mbna_plot_lon_max; EXTERNAL double mbna_plot_lat_min; EXTERNAL double mbna_plot_lat_max; EXTERNAL double mbna_overlap_lon_min; EXTERNAL double mbna_overlap_lon_max; EXTERNAL double mbna_overlap_lat_min; EXTERNAL double mbna_overlap_lat_max; EXTERNAL double mbna_plotx_scale; EXTERNAL double mbna_ploty_scale; EXTERNAL int mbna_misfit_center; EXTERNAL double mbna_misfit_xscale; EXTERNAL double mbna_misfit_yscale; EXTERNAL double mbna_misfit_offset_x; EXTERNAL double mbna_misfit_offset_y; EXTERNAL double mbna_misfit_offset_z; EXTERNAL int mbna_minmisfit_nthreshold; EXTERNAL double mbna_minmisfit; EXTERNAL int mbna_minmisfit_n; EXTERNAL double mbna_minmisfit_x; EXTERNAL double mbna_minmisfit_y; EXTERNAL double mbna_minmisfit_z; EXTERNAL double mbna_minmisfit_xh; EXTERNAL double mbna_minmisfit_yh; EXTERNAL double mbna_minmisfit_zh; EXTERNAL double mbna_minmisfit_sr1; EXTERNAL double mbna_minmisfit_sx1[4]; EXTERNAL double mbna_minmisfit_sr2; EXTERNAL double mbna_minmisfit_sx2[4]; EXTERNAL double mbna_minmisfit_sr3; EXTERNAL double mbna_minmisfit_sx3[4]; EXTERNAL double mbna_zoff_scale_x; EXTERNAL double mbna_zoff_scale_y; EXTERNAL int mbna_zoom_x1; EXTERNAL int mbna_zoom_y1; EXTERNAL int mbna_zoom_x2; EXTERNAL int mbna_zoom_y2; EXTERNAL double mbna_smoothweight; EXTERNAL double mbna_offsetweight; EXTERNAL int mbna_bias_mode; EXTERNAL int mbna_allow_set_tie; /* plot vector data */ EXTERNAL struct mbna_contour_vector *mbna_contour; EXTERNAL struct mbna_contour_vector mbna_contour1; EXTERNAL struct mbna_contour_vector mbna_contour2; /* model plot parameters */ EXTERNAL int mbna_modelplot_width; EXTERNAL int mbna_modelplot_height; EXTERNAL int mbna_modelplot; EXTERNAL int mbna_modelplot_count; EXTERNAL int mbna_modelplot_start; EXTERNAL int mbna_modelplot_end; EXTERNAL int mbna_modelplot_xo; EXTERNAL int mbna_modelplot_yo_lon; EXTERNAL int mbna_modelplot_yo_lat; EXTERNAL int mbna_modelplot_yo_z; EXTERNAL double mbna_modelplot_xscale; EXTERNAL double mbna_modelplot_yscale; EXTERNAL double mbna_modelplot_yzscale; EXTERNAL int mbna_modelplot_zoom_x1; EXTERNAL int mbna_modelplot_zoom_x2; EXTERNAL int mbna_modelplot_zoom; EXTERNAL int mbna_modelplot_startzoom; EXTERNAL int mbna_modelplot_endzoom; EXTERNAL int mbna_num_ties_plot; EXTERNAL int mbna_modelplot_tiestart; EXTERNAL int mbna_modelplot_tieend; EXTERNAL int mbna_modelplot_tiezoom; EXTERNAL int mbna_modelplot_tiestartzoom; EXTERNAL int mbna_modelplot_tieendzoom; EXTERNAL int mbna_modelplot_pickfile; EXTERNAL int mbna_modelplot_picksection; EXTERNAL int mbna_modelplot_picksnav; EXTERNAL int mbna_modelplot_blocksurvey1; EXTERNAL int mbna_modelplot_blocksurvey2; /* mbnavadjust global project parameters */ EXTERNAL struct mbna_project project; /* flag to reset all crossings to unanalyzed when a project is opened */ EXTERNAL int mbna_reset_crossings; /* function prototype definitions */ void do_mbnavadjust_init(int argc, char **argv); void do_set_controls(); void do_update_status(); void do_update_modelplot_status(); void do_naverr_init(); void do_update_naverr(); void do_naverr_offsetlabel(); void do_naverr_test_graphics(); void do_naverr_plot(int plotmode); int do_message_on(char *message); int do_message_update(char *message); int do_message_off(); int do_error_dialog(char *s1, char *s2, char *s3); void do_bell(); int mbnavadjust_init_globals(); int mbnavadjust_init(int argc,char **argv); int mbnavadjust_set_colors(int ncol, int *pixels); int mbnavadjust_set_borders(int *cn_brdr, int *cr_brdr, int *zc_brdr); int mbnavadjust_set_graphics(void *cn_xgid, void *cr_xgid, void *zc_xgid); int mbnavadjust_file_new(char *projectname); int mbnavadjust_file_open(char *projectname); int mbnavadjust_close_project(); int mbnavadjust_write_project(); int mbnavadjust_read_project(); int mbnavadjust_import_data(char *path, int format); int mbnavadjust_import_file(char *path, int format, int firstfile); int mbnavadjust_findcrossings(); int mbnavadjust_findcrossingsfile(int ifile); int mbnavadjust_poornav_file(); int mbnavadjust_goodnav_file(); int mbnavadjust_fixednav_file(); int mbnavadjust_fixedxynav_file(); int mbnavadjust_fixedznav_file(); int mbnavadjust_set_tie_xy(); int mbnavadjust_set_tie_z(); int mbnavadjust_set_tie_xyz(); int mbnavadjust_naverr_save(); int mbnavadjust_naverr_specific(int new_crossing, int new_tie); int mbnavadjust_naverr_next(); int mbnavadjust_naverr_previous(); int mbnavadjust_naverr_nextunset(); int mbnavadjust_naverr_selecttie(); int mbnavadjust_naverr_addtie(); int mbnavadjust_naverr_deletetie(); int mbnavadjust_deletetie(int icrossing, int jtie, int deletestatus); int mbnavadjust_naverr_settie(); int mbnavadjust_naverr_resettie(); int mbnavadjust_naverr_checkoksettie(); int mbnavadjust_naverr_skip(); int mbnavadjust_naverr_unset(); int mbnavadjust_crossing_load(); int mbnavadjust_crossing_unload(); int mbnavadjust_crossing_replot(); int mbnavadjust_section_load(int file_id, int section_id, void **swathraw_ptr, void **swath_ptr, int num_pings); int mbnavadjust_section_translate(int file_id, void *swathraw_ptr, void *swath_ptr, double zoffset); int mbnavadjust_section_contour(int fileid, int sectionid, struct swath *swath, struct mbna_contour_vector *contour); int mbnavadjust_naverr_snavpoints(int ix, int iy); int mbnavadjust_sections_intersect(int crossing_id); int mbnavadjust_crossing_overlap(int crossing_id); int mbnavadjust_crossing_overlapbounds(int crossing_id, double offset_x, double offset_y, double *lonmin, double *lonmax, double *latmin, double *latmax); int mbnavadjust_get_misfit(); int mbnavadjust_get_misfitxy(); void plot(double x,double y,int ipen); void newpen(int ipen); void justify_string(double height,char *string, double *s); void plot_string(double x, double y, double hgt, double angle, char *label); void mbnavadjust_naverr_scale(); void mbnavadjust_naverr_plot(int plotmode); int mbnavadjust_autopick(int do_vertical); int mbnavadjust_autosetsvsvertical(); int mbnavadjust_zerozoffsets(); int mbnavadjust_invertnav(); int mbnavadjust_applynav(); int mbnavadjust_interpolatesolution(); int mbnavadjust_modelplot_plot(); int mbnavadjust_set_modelplot_graphics(void *modp_xgid, int *modp_borders); int mbnavadjust_modelplot_plot_sequential(); int mbnavadjust_modelplot_plot_tielist(); int mbnavadjust_modelplot_pick(int x, int y); int mbnavadjust_modelplot_pick_tielist(int x, int y); int mbnavadjust_modelplot_pick_sequential(int x, int y); int mbnavadjust_modelplot_middlepick(int x, int y); int mbnavadjust_modelplot_setzoom(); int mbnavadjust_modelplot_clearblock(); int mbnavadjust_crossing_compare(void *a, void *b); void do_list_data_select( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_cont_expose( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_corr_expose( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_cont_input( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_corr_input( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_zcorr_input( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_previous( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_next( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_nextunset( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_addtie( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_deletetie( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_selecttie( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_settie( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_resettie( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_unset( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_setnone( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_zerooffset( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_zerozoffset( Widget w, XtPointer client_data, XtPointer call_data); void do_dismiss_naverr( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_minmisfit( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_minxymisfit( Widget w, XtPointer client_data, XtPointer call_data); void do_naverr_misfitcenter( Widget w, XtPointer client_data, XtPointer call_data); void do_file_new( Widget w, XtPointer client_data, XtPointer call_data); void do_file_open( Widget w, XtPointer client_data, XtPointer call_data); void do_file_close( Widget w, XtPointer client_data, XtPointer call_data); void do_file_importdata( Widget w, XtPointer client_data, XtPointer call_data); void do_quit( Widget w, XtPointer client_data, XtPointer call_data); void do_fileselection_mode( Widget w, XtPointer client_data, XtPointer call_data); void do_fileselection_ok( Widget w, XtPointer client_data, XtPointer call_data); void do_fileselection_cancel( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showsurveys( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showdata( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showcrossings( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showgoodcrossings( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showtruecrossings( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showties( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showallsurveys( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showselectedsurveys( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showselectedfile( Widget w, XtPointer client_data, XtPointer call_data); void do_view_showselectedsection( Widget w, XtPointer client_data, XtPointer call_data); void do_action_autopick( Widget w, XtPointer client_data, XtPointer call_data); void do_action_autopickhorizontal( Widget w, XtPointer client_data, XtPointer call_data); void do_action_autosetsvsvertical( Widget w, XtPointer client_data, XtPointer call_data); void do_action_analyzecrossings( Widget w, XtPointer client_data, XtPointer call_data); void do_action_checknewcrossings( Widget w, XtPointer client_data, XtPointer call_data); void do_action_invertnav( Widget w, XtPointer client_data, XtPointer call_data); void do_fileselection_list(Widget w, XtPointer client, XtPointer call); int do_wait_until_viewed(XtAppContext app); void set_label_string(Widget w, String str); void set_label_multiline_string(Widget w, String str); void get_text_string(Widget w, String str); int do_info_add(char *info, int timetag); void do_modelplot_resize( Widget w, XtPointer client_data, XEvent *event, Boolean *unused); XtPointer BX_CONVERT(Widget, char *, char *, int, Boolean *); /*--------------------------------------------------------------------*/