/*-------------------------------------------------------------------- * The MB-system: mbnavadjust_prog.c 3/23/00 * $Id: mbnavadjust_prog.c 1999 2012-11-13 02:22:31Z 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 file contains the code that does not directly depend on the * MOTIF interface. * * Author: D. W. Caress * Date: March 23, 2000 * * $Log: mbnavadjust_prog.c,v $ * Revision 5.35 2008/12/22 08:32:52 caress * Added additional model view - survey vs survey rather than sequential. * * Revision 5.34 2008/10/17 07:52:44 caress * Check in on October 17, 2008. * * Revision 5.33 2008/09/27 03:27:10 caress * Working towards release 5.1.1beta24 * * Revision 5.32 2008/09/11 20:12:43 caress * Checking in updates made during cruise AT15-36. * * Revision 5.31 2008/07/10 18:08:10 caress * Proceeding towards 5.1.1beta20. * * Revision 5.28 2008/05/16 22:42:32 caress * Release 5.1.1beta18 - working towards use of 3D uncertainty. * * Revision 5.27 2007/11/16 17:54:10 caress * Changes as of 11/16/2007 * * Revision 5.26 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 5.25 2007/05/14 06:34:11 caress * Many changes to mbnavadjust, including adding z offsets and 3D search grids. * * Revision 5.24 2006/12/15 21:42:49 caress * Incremental CVS update. * * Revision 5.23 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.22 2006/08/09 22:41:27 caress * Fixed programs that read or write grids so that they do not use the GMT_begin() function; these programs will now work when GMT is built in the default fashion, when GMT is built in the default fashion, with "advisory file locking" enabled. * * Revision 5.21 2006/07/27 18:42:52 caress * Working towards 5.1.0 * * Revision 5.20 2006/06/16 19:30:58 caress * Check in after the Santa Monica Basin Mapping AUV Expedition. * * Revision 5.19 2006/01/24 19:18:42 caress * Version 5.0.8 beta. * * Revision 5.18 2006/01/06 18:25:21 caress * Working towards 5.0.8 * * Revision 5.17 2005/11/05 00:57:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.16 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 5.15 2004/12/18 01:35:42 caress * Working towards release 5.0.6. * * Revision 5.14 2004/12/02 06:34:27 caress * Fixes while supporting Reson 7k data. * * Revision 5.13 2004/05/21 23:31:27 caress * Moved to new version of BX GUI builder * * Revision 5.12 2003/04/17 21:07:49 caress * Release 5.0.beta30 * * Revision 5.11 2002/08/28 01:32:45 caress * Finished first cut at man page. * * Revision 5.10 2002/03/26 07:43:57 caress * Release 5.0.beta15 * * Revision 5.9 2001/10/19 00:55:42 caress * Now tries to use relative paths. * * Revision 5.8 2001/08/04 01:02:24 caress * Fixed small bugs. * * Revision 5.7 2001/08/02 01:48:30 caress * Fixed call to mb_pr_get_heading() and mb_pr_get_rollbias(). * * Revision 5.6 2001/07/20 00:33:43 caress * Release 5.0.beta03 * * Revision 5.5 2001/06/03 07:05:54 caress * Release 5.0.beta01. * * Revision 5.4 2001/03/22 21:09:11 caress * Trying to make release 5.0.beta0. * * Revision 5.3 2001/01/22 07:45:59 caress * Version 5.0.beta01 * * Revision 5.2 2000/12/21 00:44:15 caress * Changed decimation from import parameter to contouring/gridding parameter. * * Revision 5.1 2000/12/10 20:29:34 caress * Version 5.0.alpha02 * * Revision 5.0 2000/12/01 22:55:48 caress * First cut at Version 5.0. * * Revision 4.1 2000/10/03 21:49:28 caress * Fixed handling count of nav points while importing data. * * Revision 4.0 2000/09/30 07:00:06 caress * Snapshot for Dale. * * * */ /*--------------------------------------------------------------------*/ /* standard include files */ #include #include #include #include #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_format.h" #include "../../include/mb_status.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #include "../../include/mb_process.h" #include "../../include/mb_aux.h" #include "../../include/mbsys_ldeoih.h" #include "../../include/mb_xgraphics.h" /* define global control parameters */ #include "mbnavadjust.h" /* swath bathymetry raw data structures */ struct pingraw { int time_i[7]; double time_d; double navlon; double navlat; double heading; double draft; double beams_bath; char *beamflag; double *bath; double *bathacrosstrack; double *bathalongtrack; }; struct swathraw { /* raw swath data */ int file_id; int npings; int npings_max; int beams_bath; struct pingraw *pingraws; }; /* id variables */ static char rcs_id[] = "$Id: mbnavadjust_prog.c 1999 2012-11-13 02:22:31Z caress $"; static char program_name[] = "mbnavadjust"; static char help_message[] = "mbnavadjust is an interactive navigation adjustment package for swath sonar data.\n"; static char usage_message[] = "mbnavadjust [-Iproject -V -H]"; /* status variables */ int error = MB_ERROR_NO_ERROR; char *error_message; char message[STRING_MAX]; char error1[STRING_MAX]; char error2[STRING_MAX]; char error3[STRING_MAX]; /* data file parameters */ void *datalist; /* MBIO control parameters */ 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; /* color control values */ #define WHITE 0 #define BLACK 1 #define RED 2 #define GREEN 3 #define BLUE 4 #define CORAL 5 #define XG_SOLIDLINE 0 #define XG_DASHLINE 1 void *pcont_xgid; void *pcorr_xgid; void *pzoff_xgid; void *pmodp_xgid; int ncolors; int pixel_values[256]; /* Set these to the dimensions of your canvas drawing */ /* areas, minus 1, located in the uil file */ static int corr_borders[4]; static int cont_borders[4]; static int zoff_borders[4]; static int modp_borders[4]; /* mb_contour parameters */ struct swathraw *swathraw1 = NULL; struct swathraw *swathraw2 = NULL; struct swath *swath1 = NULL; struct swath *swath2 = NULL; struct ping *ping = NULL; /* misfit grid parameters */ int grid_nx = 0; int grid_ny = 0; int grid_nxy = 0; int grid_nxyzeq = 0; double grid_dx = 0.0; double grid_dy = 0.0; double grid_olon = 0.0; double grid_olat = 0.0; double misfit_min, misfit_max; int gridm_nx = 0; int gridm_ny = 0; int gridm_nxyz = 0; double *grid1 = NULL; double *grid2 = NULL; double *gridm = NULL; double *gridmeq = NULL; int *gridn1 = NULL; int *gridn2 = NULL; int *gridnm = NULL; #define NINTERVALS_MISFIT 80 int nmisfit_intervals = NINTERVALS_MISFIT; double misfit_intervals[NINTERVALS_MISFIT]; int nzmisfitcalc; double zoff_dz; double zmin, zmax; double zmisfitmin; double zmisfitmax; /* time, user, host variables */ time_t right_now; char date[25], user[MBP_FILENAMESIZE], *user_ptr, host[MBP_FILENAMESIZE]; /* minimum initial sigma_crossing (meters) */ #define SIGMA_MINIMUM 0.1 /* ping type defines */ #define SIDE_PORT 0 #define SIDE_STBD 1 #define SIDE_FULLSWATH 2 /* local prototypes */ int mbnavadjust_crossing_compare(void *a, void *b); /*--------------------------------------------------------------------*/ int mbnavadjust_init_globals() { /* local variables */ char *function_name = "mbnavadjust_init_globals"; int iformat; int status = MB_SUCCESS; /* set default global control parameters */ project.open = MB_NO; memset(project.name,0,STRING_MAX); strcpy(project.name,"None"); memset(project.path,0,STRING_MAX); memset(project.datadir,0,STRING_MAX); project.num_files = 0; project.num_files_alloc = 0; project.files = NULL; project.num_blocks = 0; project.num_snavs = 0; project.num_pings = 0; project.num_beams = 0; project.num_crossings = 0; project.num_crossings_alloc = 0; project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; project.crossings = NULL; project.num_ties = 0; project.inversion = MBNA_INVERSION_NONE; project.modelplot = MB_NO; project.modelplot_style = MBNA_MODELPLOT_SEQUENTIAL; project.logfp = NULL; mbna_status = MBNA_STATUS_GUI; mbna_view_list = MBNA_VIEW_LIST_FILES; mbna_view_mode = MBNA_VIEW_MODE_ALL; mbna_color_foreground = BLACK; mbna_color_background = WHITE; project.section_length = 0.14; project.section_soundings = 100000; project.decimation = 1; project.precision = SIGMA_MINIMUM; project.smoothing = MBNA_SMOOTHING_DEFAULT; project.zoffsetwidth = 5.0; mbna_file_id_1 = -1; mbna_section_1 = -1; mbna_file_id_2 = -1; mbna_section_2 = -1; mbna_current_crossing = -1; mbna_current_tie = -1; mbna_naverr_load = MB_NO; mbna_file_select = MBNA_SELECT_NONE; mbna_survey_select = MBNA_SELECT_NONE; mbna_section_select = MBNA_SELECT_NONE; mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; project.cont_int = 1.; project.col_int = 5.; project.tick_int = 5.; project.label_int = 100000.; mbna_contour_algorithm = MB_CONTOUR_OLD; /*mbna_contour_algorithm = MB_CONTOUR_TRIANGLES;*/ mbna_ncolor = 10; mbna_contour = NULL; mbna_contour1.nvector = 0; mbna_contour1.nvector_alloc = 0; mbna_contour1.vector = NULL; mbna_contour2.nvector = 0; mbna_contour2.nvector_alloc = 0; mbna_contour2.vector = NULL; mbna_smoothweight = 100.0; mbna_offsetweight = 0.01; mbna_misfit_center = MBNA_MISFIT_AUTOCENTER; mbna_minmisfit_nthreshold = MBNA_MISFIT_NTHRESHOLD; mbna_minmisfit = 0.0; mbna_bias_mode = MBNA_BIAS_SAME; mbna_allow_set_tie = MB_NO; mbna_modelplot_zoom = MB_NO; mbna_modelplot_zoom_x1 = 0; mbna_modelplot_zoom_x2 = 0; mbna_modelplot_tiezoom = MB_NO; mbna_modelplot_tiestart = 0; mbna_modelplot_tieend = 0; mbna_modelplot_tiestartzoom = 0; mbna_modelplot_tieendzoom = 0; mbna_modelplot_pickfile = MBNA_SELECT_NONE; mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; mbna_modelplot_blocksurvey1 = MBNA_SELECT_NONE; mbna_modelplot_blocksurvey2 = MBNA_SELECT_NONE; mbna_reset_crossings = MB_NO; mbna_bin_swathwidth = 160.0; mbna_bin_pseudobeamwidth = 1.0; mbna_bin_beams_bath = mbna_bin_swathwidth / mbna_bin_pseudobeamwidth + 1; /* set mbio default values */ status = mb_defaults(mbna_verbose,&iformat,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); pings = 1; lonflip = 0; bounds[0] = -360.; bounds[1] = 360.; bounds[2] = -90.; bounds[3] = 90.; btime_i[0] = 1962; btime_i[1] = 2; btime_i[2] = 21; btime_i[3] = 10; btime_i[4] = 30; btime_i[5] = 0; btime_i[6] = 0; etime_i[0] = 2062; etime_i[1] = 2; etime_i[2] = 21; etime_i[3] = 10; etime_i[4] = 30; etime_i[5] = 0; etime_i[6] = 0; speedmin = 0.0; timegap = 1000000000.0; /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return */ return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_init(int argc,char **argv) { /* local variables */ char *function_name = "mbnavadjust_init"; int status = MB_SUCCESS; int fileflag = 0; char ifile[STRING_MAX]; int i; /* parsing variables */ extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* process argument list */ while ((c = getopt(argc, argv, "VvHhDdI:i:Rr")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': mbna_verbose++; break; case 'D': case 'd': mbna_color_foreground = WHITE; mbna_color_background = BLACK; break; case 'I': case 'i': sscanf (optarg,"%s", ifile); flag++; fileflag++; break; case 'R': case 'r': mbna_reset_crossings = MB_YES; 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 (mbna_verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 mbna_verbose: %d\n",mbna_verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 input file: %s\n",ifile); } /* 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 input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 argc: %d\n",argc); for (i=0;i 0) { status = mbnavadjust_file_open(ifile); do_update_status(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return */ return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_colors(int ncol, int *pixels) { /* local variables */ char *function_name = "mbnavadjust_set_colors"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 ncolors: %d\n",ncol); for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_borders(int *cn_brdr, int *cr_brdr, int *zc_brdr) { /* local variables */ char *function_name = "mbnavadjust_set_borders"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 cn_brdr: %d %d %d %d\n", cn_brdr[0], cn_brdr[1], cn_brdr[2], cn_brdr[3]); fprintf(stderr,"dbg2 cr_brdr: %d %d %d %d\n", cr_brdr[0], cr_brdr[1], cr_brdr[2], cr_brdr[3]); fprintf(stderr,"dbg2 zc_brdr: %d %d %d %d\n", zc_brdr[0], zc_brdr[1], zc_brdr[2], zc_brdr[3]); } /* set borders */ for (i=0;i<4;i++) { cont_borders[i] = cn_brdr[i]; corr_borders[i] = cr_brdr[i]; zoff_borders[i] = zc_brdr[i]; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_graphics(void *cn_xgid, void *cr_xgid, void *zc_xgid) { /* local variables */ char *function_name = "mbnavadjust_set_graphics"; int status = MB_SUCCESS; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 cn_xgid: %lu\n",(size_t)cn_xgid); fprintf(stderr,"dbg2 cr_xgid: %lu\n",(size_t)cr_xgid); fprintf(stderr,"dbg2 zc_xgid: %lu\n",(size_t)zc_xgid); } /* set graphics id */ pcont_xgid = cn_xgid; pcorr_xgid = cr_xgid; pzoff_xgid = zc_xgid; /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_file_new(char *projectname) { /* local variables */ char *function_name = "mbnavadjust_file_new"; int status = MB_SUCCESS; char *slashptr, *nameptr; struct stat statbuf; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 projectname: %s\n",projectname); } /* no new project if one already open */ status = MB_SUCCESS; if (project.open == MB_YES) { strcpy(error1,"Unable to create new project!"); sprintf(error2,"Project %s",project.name); strcpy(error3,"is already open."); status = MB_FAILURE; } /* get filenames and see if they can be generated */ else { nameptr = (char *) NULL; slashptr = strrchr(projectname,'/'); if (slashptr != (char *) NULL) nameptr = slashptr + 1; else nameptr = projectname; if (strlen(nameptr) > 4 && strcmp(&nameptr[strlen(nameptr)-4],".nvh") == 0) nameptr[strlen(nameptr)-4] = '\0'; if (strlen(nameptr) > 0) { strcpy(project.name,nameptr); strncpy(project.path,projectname, strlen(projectname)-strlen(nameptr)); strcpy(project.home,project.path); strcat(project.home,project.name); strcat(project.home,".nvh"); strcpy(project.datadir,project.path); strcat(project.datadir,project.name); strcat(project.datadir,".dir"); /* no new project if file or directory already exist */ if (stat(project.home,&statbuf) == 0) { strcpy(error1,"Unable to create new project!"); strcpy(error2,"Home file already exists."); strcpy(error3," "); if (stat(project.datadir,&statbuf) == 0) sprintf(error3,"Data directory already exists."); status = MB_FAILURE; } else if (stat(project.datadir,&statbuf) == 0) { strcpy(error1,"Unable to create new project!"); strcpy(error2,"Data directory already exists."); strcpy(error3," "); status = MB_FAILURE; } /* initialize new project */ else { /* set values */ project.open = MB_YES; project.num_files = 0; project.num_files_alloc = 0; project.files = NULL; project.num_snavs = 0; project.num_pings = 0; project.num_beams = 0; project.num_crossings = 0; project.num_crossings_alloc = 0; project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; project.crossings = NULL; project.num_ties = 0; project.inversion = MBNA_INVERSION_NONE; project.precision = SIGMA_MINIMUM; project.smoothing = MBNA_SMOOTHING_DEFAULT; project.zoffsetwidth = 5.0; /* create data directory */ if (mkdir(project.datadir,00775) != 0) { strcpy(error1,"Unable to create new project!"); strcpy(error2,"Error creating data directory."); strcpy(error3," "); status = MB_FAILURE; } /* write home file and other files */ else if ((status = mbnavadjust_write_project()) == MB_FAILURE) { strcpy(error1,"Unable to create new project!"); strcpy(error2,"Error writing data."); strcpy(error3," "); status = MB_FAILURE; } } } else { strcpy(error1,"Unable to create new project!"); strcpy(error2,"No project name was provided."); strcpy(error3," "); status = MB_FAILURE; } } /* display error message if needed */ if (status == MB_FAILURE) { do_error_dialog(error1, error2, error3); sprintf(message, "%s\n > %s\n", error1, error2); do_info_add(message, MB_YES); } else { /* open log file */ sprintf(message, "%s/log.txt", project.datadir); project.logfp = fopen(message, "w"); /* add info text */ sprintf(message,"New project initialized: %s\n > Project home: %s\n", project.name, project.home); do_info_add(message, MB_YES); if (project.logfp != NULL) { sprintf(message,"Log file %s/log.txt opened\n", project.datadir); do_info_add(message, MB_YES); } else { sprintf(message,"Unable to open log file %s/log.txt\n", project.datadir); do_info_add(message, MB_YES); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_file_open(char *projectname) { /* local variables */ char *function_name = "mbnavadjust_file_open"; int status = MB_SUCCESS; char *slashptr, *nameptr; struct stat statbuf; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 projectname: %s\n",projectname); } /* no new project if one already open */ status = MB_SUCCESS; if (project.open == MB_YES) { strcpy(error1,"Unable to open project!"); sprintf(error2,"Project %s",project.name); strcpy(error3,"is already open."); status = MB_FAILURE; } /* get filenames and see if they can be generated */ else { nameptr = (char *) NULL; slashptr = strrchr(projectname,'/'); if (slashptr != (char *) NULL) nameptr = slashptr + 1; else nameptr = projectname; if (strlen(nameptr) > 4 && strcmp(&nameptr[strlen(nameptr)-4],".nvh") == 0) nameptr[strlen(nameptr)-4] = '\0'; if (strlen(nameptr) > 0) { strcpy(project.name,nameptr); if (slashptr != (char *) NULL) { strncpy(project.path,projectname, strlen(projectname)-strlen(nameptr)); } else { getcwd(project.path, MB_PATH_MAXLINE); strcat(project.path,"/"); } strcpy(project.home,project.path); strcat(project.home,project.name); strcat(project.home,".nvh"); strcpy(project.datadir,project.path); strcat(project.datadir,project.name); strcat(project.datadir,".dir"); fprintf(stderr,"In mbnavadjust_file_open: name:%s\npath:%s\nhome:%s\ndatadir:%s\n", project.name,project.path,project.home,project.datadir); /* cant open unless file or directory already exist */ if (stat(project.home,&statbuf) != 0) { strcpy(error1,"Unable to open project!"); strcpy(error2,"Home file does not exist."); strcpy(error3," "); if (stat(project.datadir,&statbuf) != 0) sprintf(error3,"Data directory does not exist."); status = MB_FAILURE; } else if (stat(project.datadir,&statbuf) != 0) { strcpy(error1,"Unable to open project!"); strcpy(error2,"Data directory does not exist."); strcpy(error3," "); status = MB_FAILURE; } /* open project */ else { /* set values */ project.num_files = 0; project.num_files_alloc = 0; project.files = NULL; project.num_snavs = 0; project.num_pings = 0; project.num_beams = 0; project.num_crossings = 0; project.num_crossings_alloc = 0; project.crossings = NULL; project.num_ties = 0; /* read home file and other files */ if ((status = mbnavadjust_read_project()) == MB_FAILURE) { strcpy(error1,"Unable to open project!"); strcpy(error2,"Error reading data."); strcpy(error3," "); status = MB_FAILURE; } } } else { strcpy(error1,"Unable to open project!"); strcpy(error2,"No project name was provided."); strcpy(error3," "); status = MB_FAILURE; } } /* display error message if needed */ if (status == MB_FAILURE) { do_error_dialog(error1, error2, error3); sprintf(message, "%s\n > %s\n", error1, error2); do_info_add(message, MB_YES); } else { /* open log file */ sprintf(message, "%s/log.txt", project.datadir); project.logfp = fopen(message, "a"); /* add info text */ sprintf(message,"Project opened: %s\n > Project home: %s\n > Number of Files: %d\n > Number of Crossings Found: %d\n > Number of Crossings Analyzed: %d\n > Number of Navigation Ties: %d\n", project.name, project.home, project.num_files, project.num_crossings, project.num_crossings_analyzed, project.num_ties); do_info_add(message, MB_YES); if (project.logfp != NULL) { sprintf(message,"Log file %s/log.txt opened\n", project.datadir); do_info_add(message, MB_YES); } else { sprintf(message,"Unable to open log file %s/log.txt\n", project.datadir); do_info_add(message, MB_YES); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_close_project() { /* local variables */ char *function_name = "mbnavadjust_close_project"; int status = MB_SUCCESS; struct mbna_file *file; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* add info text */ sprintf(message,"Project closed: %s\n", project.name); do_info_add(message, MB_YES); if (project.logfp != NULL) { sprintf(message,"Log file %s/log.txt closed\n", project.datadir); do_info_add(message, MB_YES); } /* deallocate memory and reset values */ for (i=0;isections != NULL) mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&file->sections,&error); } if (project.files != NULL) { free(project.files); project.files = NULL; project.num_files_alloc = 0; } if (project.crossings != NULL) { free(project.crossings); project.crossings = NULL; project.num_crossings_alloc = 0; } if (project.logfp != NULL) { fclose(project.logfp); project.logfp = NULL; } /* reset values */ project.open = MB_NO; memset(project.name,0,STRING_MAX); strcpy(project.name,"None"); memset(project.path,0,STRING_MAX); memset(project.datadir,0,STRING_MAX); project.num_files = 0; project.num_snavs = 0; project.num_pings = 0; project.num_beams = 0; project.num_crossings = 0; project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; project.num_ties = 0; project.inversion = MBNA_INVERSION_NONE; /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_write_project() { /* local variables */ char *function_name = "mbnavadjust_write_project"; int status = MB_SUCCESS; FILE *hfp; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; char datalist[STRING_MAX]; double navlon1, navlon2, navlat1, navlat2; int nroute; int i, j, k, l; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* open and write home file */ if ((hfp = fopen(project.home,"w")) != NULL) { fprintf(stderr,"Writing project %s\n", project.name); right_now = time((time_t *)0); strncpy(date,ctime(&right_now),24); if ((user_ptr = getenv("USER")) == NULL) user_ptr = getenv("LOGNAME"); if (user_ptr != NULL) strcpy(user,user_ptr); else strcpy(user, "unknown"); gethostname(host,MBP_FILENAMESIZE); fprintf(hfp,"##MBNAVADJUST PROJECT\n"); fprintf(hfp,"MB-SYSTEM_VERSION\t%s\n",MB_VERSION); fprintf(hfp,"PROGRAM_VERSION\t%s\n",rcs_id); fprintf(hfp,"FILE_VERSION\t3.03\n"); fprintf(hfp,"ORIGIN\tGenerated by user <%s> on cpu <%s> at <%s>\n", user,host,date); fprintf(hfp,"NAME\t%s\n",project.name); fprintf(hfp,"PATH\t%s\n",project.path); fprintf(hfp,"HOME\t%s\n",project.home); fprintf(hfp,"DATADIR\t%s\n",project.datadir); fprintf(hfp,"NUMFILES\t%d\n",project.num_files); fprintf(hfp,"NUMCROSSINGS\t%d\n",project.num_crossings); fprintf(hfp,"SECTIONLENGTH\t%f\n",project.section_length); fprintf(hfp,"SECTIONSOUNDINGS\t%d\n",project.section_soundings); fprintf(hfp,"DECIMATION\t%d\n",project.decimation); fprintf(hfp,"CONTOURINTERVAL\t%f\n",project.cont_int); fprintf(hfp,"COLORINTERVAL\t%f\n",project.col_int); fprintf(hfp,"TICKINTERVAL\t%f\n",project.tick_int); fprintf(hfp,"INVERSION\t%d\n",project.inversion); fprintf(hfp,"SMOOTHING\t%f\n",project.smoothing); fprintf(hfp,"ZOFFSETWIDTH\t%f\n",project.zoffsetwidth); for (i=0;istatus, file->id, file->format, file->heading_bias_import, file->roll_bias_import, file->heading_bias, file->roll_bias, file->num_sections, file->output_id, file->file); /* write out section info */ for (j=0;jnum_sections;j++) { section = &file->sections[j]; fprintf(hfp,"SECTION %4d %5d %5d %d %d %10.6f %16.6f %16.6f %13.8f %13.8f %13.8f %13.8f %9.3f %9.3f %d\n", j, section->num_pings, section->num_beams, section->num_snav, section->continuity, section->distance, section->btime_d, section->etime_d, section->lonmin, section->lonmax, section->latmin, section->latmax, section->depthmin, section->depthmax, section->contoursuptodate); for (k=MBNA_MASK_DIM-1;k>=0;k--) { for (l=0;lcoverage[l+k*MBNA_MASK_DIM]); } fprintf(hfp, "\n"); } for (k=0;knum_snav;k++) { fprintf(hfp,"SNAV %4d %5d %10.6f %16.6f %13.8f %13.8f %13.8f %13.8f %13.8f\n", k, section->snav_id[k], section->snav_distance[k], section->snav_time_d[k], section->snav_lon[k], section->snav_lat[k], section->snav_lon_offset[k], section->snav_lat_offset[k], section->snav_z_offset[k]); } } } /* write out crossing info */ for (i=0;istatus, crossing->truecrossing, crossing->overlap, crossing->file_id_1, crossing->section_1, crossing->file_id_2, crossing->section_2, crossing->num_ties); /* write out tie info */ for (j=0;jnum_ties;j++) { /* write out basic tie info */ tie = &crossing->ties[j]; fprintf(hfp,"TIE %5d %1d %5d %16.6f %5d %16.6f %13.8f %13.8f %13.8f %1.1d %13.8f %13.8f %13.8f\n", j, tie->status, tie->snav_1, tie->snav_1_time_d, tie->snav_2, tie->snav_2_time_d, tie->offset_x, tie->offset_y, tie->offset_z_m, tie->inversion_status, tie->inversion_offset_x, tie->inversion_offset_y, tie->inversion_offset_z_m); fprintf(hfp,"COV %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f %13.8f\n", tie->sigmar1, tie->sigmax1[0], tie->sigmax1[1], tie->sigmax1[2], tie->sigmar2, tie->sigmax2[0], tie->sigmax2[1], tie->sigmax2[2], tie->sigmar3, tie->sigmax3[0], tie->sigmax3[1], tie->sigmax3[2]); } } /* close home file */ fclose(hfp); status = MB_SUCCESS; } /* else set error */ else { status = MB_FAILURE; sprintf(message,"Unable to update project %s\n > Home file: %s\n", project.name, project.home); do_info_add(message, MB_YES); } /* open and write datalist file */ sprintf(datalist,"%s%s.mb-1",project.path,project.name); if ((hfp = fopen(datalist,"w")) != NULL) { for (i=0;ifile, file->format); } fclose(hfp); } /* else set error */ else { status = MB_FAILURE; sprintf(message,"Unable to update project %s\n > Datalist file: %s\n", project.name, datalist); do_info_add(message, MB_YES); } /* write mbgrdviz route file in which each tie point is a two point route consisting of the connected snav points */ sprintf(datalist,"%s%s.rte",project.path,project.name); if ((hfp = fopen(datalist,"w")) == NULL) { fclose(hfp); status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; sprintf(message, " > Unable to open output tie route file %s\n", datalist); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else { nroute = 0; for (i=0;istatus == MBNA_CROSSING_STATUS_SET) { for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; navlon1 = project.files[crossing->file_id_1].sections[crossing->section_1].snav_lon[tie->snav_1] + project.files[crossing->file_id_1].sections[crossing->section_1].snav_lon_offset[tie->snav_1]; navlat1 = project.files[crossing->file_id_1].sections[crossing->section_1].snav_lat[tie->snav_1] + project.files[crossing->file_id_1].sections[crossing->section_1].snav_lat_offset[tie->snav_1]; navlon2 = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lon[tie->snav_2] + project.files[crossing->file_id_2].sections[crossing->section_2].snav_lon_offset[tie->snav_2]; navlat2 = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lat[tie->snav_2] + project.files[crossing->file_id_2].sections[crossing->section_2].snav_lat_offset[tie->snav_2]; fprintf(hfp,"%.8f %.8f 0.00 1\n%.8f %.8f 0.00 1\n>\n", navlon1,navlat1,navlon2,navlat2); nroute++; } } else if (crossing->num_ties > 0) { fprintf(stderr,"Crossing %d status %d but num_ties %d....\n",i,crossing->status,crossing->num_ties); } } fclose(hfp); fprintf(stderr,"Output %d tie locations to %s\n",nroute,datalist); } /* write mbgrdviz route file of ties with fixed data in which each tie point is a two point route consisting of the connected snav points */ sprintf(datalist,"%s%s_fixed.rte",project.path,project.name); if ((hfp = fopen(datalist,"w")) == NULL) { fclose(hfp); status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; sprintf(message, " > Unable to open output tie route file %s\n", datalist); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else { nroute = 0; for (i=0;istatus == MBNA_CROSSING_STATUS_SET && (project.files[crossing->file_id_1].status == MBNA_FILE_FIXEDNAV || project.files[crossing->file_id_2].status == MBNA_FILE_FIXEDNAV)) { for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; navlon1 = project.files[crossing->file_id_1].sections[crossing->section_1].snav_lon[tie->snav_1] + project.files[crossing->file_id_1].sections[crossing->section_1].snav_lon_offset[tie->snav_1]; navlat1 = project.files[crossing->file_id_1].sections[crossing->section_1].snav_lat[tie->snav_1] + project.files[crossing->file_id_1].sections[crossing->section_1].snav_lat_offset[tie->snav_1]; navlon2 = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lon[tie->snav_2] + project.files[crossing->file_id_2].sections[crossing->section_2].snav_lon_offset[tie->snav_2]; navlat2 = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lat[tie->snav_2] + project.files[crossing->file_id_2].sections[crossing->section_2].snav_lat_offset[tie->snav_2]; fprintf(hfp,"%.7f %.7f 0.00 1\n%.7f %.7f 0.00 1\n>\n", navlon1,navlat1,navlon2,navlat2); nroute++; } } else if (crossing->num_ties > 0 && (project.files[crossing->file_id_1].status == MBNA_FILE_FIXEDNAV || project.files[crossing->file_id_2].status == MBNA_FILE_FIXEDNAV)) { fprintf(stderr,"Crossing %d status %d but num_ties %d....\n",i,crossing->status,crossing->num_ties); } } fclose(hfp); fprintf(stderr,"Output %d fixed tie locations to %s\n",nroute,datalist); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_read_project() { /* local variables */ char *function_name = "mbnavadjust_read_project"; int status = MB_SUCCESS; FILE *hfp; struct mbna_file *file; struct mbna_section *section, *section1, *section2; struct mbna_crossing *crossing; struct mbna_tie *tie; char label[STRING_MAX]; char buffer[BUFFER_MAX]; char obuffer[BUFFER_MAX]; char command[MB_PATH_MAXLINE]; char *result; int versionmajor, versionminor; double dummy; int nscan, idummy, jdummy; int s1id, s2id; int i, j, k, l; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* first save copy of the project file */ sprintf(command,"cp %s %s.save", project.home, project.home); system(command); /* open and read home file */ status = MB_SUCCESS; if ((hfp = fopen(project.home,"r")) != NULL) { /* check for proper header */ if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || strncmp(buffer,"##MBNAVADJUST PROJECT",21) != 0) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} /* read basic names and stats */ if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"MB-SYSTEM_VERSION") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"PROGRAM_VERSION") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d.%d",label,&versionmajor,&versionminor)) != 3 || strcmp(label,"FILE_VERSION") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (versionmajor > 3 || (versionmajor == 3 && versionminor > 2)) { if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"ORIGIN") != 0)) status = MB_FAILURE; } if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"NAME") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"PATH") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"HOME") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %s",label,obuffer)) != 2 || strcmp(label,"DATADIR") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d",label,&project.num_files)) != 2 || strcmp(label,"NUMFILES") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d",label,&project.num_crossings)) != 2 || strcmp(label,"NUMCROSSINGS") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.section_length)) != 2 || strcmp(label,"SECTIONLENGTH") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((100*versionmajor + versionminor) > 100) && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d",label,&project.section_soundings)) != 2 || strcmp(label,"SECTIONSOUNDINGS") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d",label,&project.decimation)) != 2 || strcmp(label,"DECIMATION") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.cont_int)) != 2 || strcmp(label,"CONTOURINTERVAL") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.col_int)) != 2 || strcmp(label,"COLORINTERVAL") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.tick_int)) != 2 || strcmp(label,"TICKINTERVAL") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %d",label,&project.inversion)) != 2 || strcmp(label,"INVERSION") != 0)) status = MB_FAILURE; if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s buffer:%s\n",__LINE__,__FILE__,buffer);exit(0);} if (status == MB_SUCCESS) { if (versionmajor > 3 || (versionmajor == 3 && versionminor > 0)) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.smoothing)) != 2 || strcmp(label,"SMOOTHING") != 0) status = MB_FAILURE; project.precision = SIGMA_MINIMUM; } else if (versionmajor > 1 || (versionmajor == 1 && versionminor > 2)) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.precision)) != 2 || strcmp(label,"PRECISION") != 0) status = MB_FAILURE; project.smoothing = MBNA_SMOOTHING_DEFAULT; } else { project.precision = SIGMA_MINIMUM; project.smoothing = MBNA_SMOOTHING_DEFAULT; } } if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s\n",__LINE__,__FILE__);exit(0);} if (status == MB_SUCCESS) { if ((versionmajor > 1 || (versionmajor == 1 && versionminor > 4)) && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"%s %lf",label,&project.zoffsetwidth)) != 2 || strcmp(label,"ZOFFSETWIDTH") != 0)) status = MB_FAILURE; else project.zoffsetwidth = 5.0; } /* allocate memory for files array */ if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s\n",__LINE__,__FILE__);exit(0);} if (project.num_files > 0) { project.files = (struct mbna_file *) malloc(sizeof(struct mbna_file) * (project.num_files)); if (project.files != NULL) { project.num_files_alloc = project.num_files; memset(project.files,0,project.num_files_alloc * sizeof(struct mbna_file)); } else { project.num_files_alloc = 0; status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s\n",__LINE__,__FILE__);exit(0);} if (project.num_crossings > 0) { project.crossings = (struct mbna_crossing *) malloc(sizeof(struct mbna_crossing) * (project.num_crossings)); if (project.crossings != NULL) { project.num_crossings_alloc = project.num_crossings; memset(project.crossings,0,sizeof(struct mbna_crossing) * project.num_crossings_alloc); } else { project.num_crossings_alloc = 0; status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s\n",__LINE__,__FILE__);exit(0);} for (i=0;inum_sections_alloc = 0; file->sections = NULL; file->num_snavs = 0; file->num_pings = 0; file->num_beams = 0; if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"FILE %d %d %d %d %lf %lf %lf %lf %d %d %s", &idummy, &(file->status), &(file->id), &(file->format), &(file->heading_bias_import), &(file->roll_bias_import), &(file->heading_bias), &(file->roll_bias), &(file->num_sections), &(file->output_id), file->file)) != 11)) status = MB_FAILURE; /* set file->path as absolute path - file->file may be a relative path */ if (status == MB_SUCCESS) { if (file->file[0] == '/') strcpy(file->path, file->file); else { strcpy(file->path, project.path); strcat(file->path, file->file); } } /* read section info */ if (file->num_sections > 0) { file->sections = (struct mbna_section *) malloc(sizeof(struct mbna_section) * (file->num_sections)); if (file->sections != NULL) { file->num_sections_alloc = file->num_sections; memset(file->sections,0,sizeof(struct mbna_section) * file->num_sections_alloc); } else { file->num_sections_alloc = 0; status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } for (j=0;jnum_sections;j++) { section = &file->sections[j]; if (status == MB_SUCCESS) result = fgets(buffer,BUFFER_MAX,hfp); if (status == MB_SUCCESS && result == buffer) nscan = sscanf(buffer,"SECTION %d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %d", &idummy, §ion->num_pings, §ion->num_beams, §ion->num_snav, §ion->continuity, §ion->distance, §ion->btime_d, §ion->etime_d, §ion->lonmin, §ion->lonmax, §ion->latmin, §ion->latmax, §ion->depthmin, §ion->depthmax, §ion->contoursuptodate); if (result != buffer || nscan < 14) { status = MB_FAILURE; fprintf(stderr, "read failed on section: %s\n", buffer); } if (nscan < 15) section->contoursuptodate = MB_NO; for (k=MBNA_MASK_DIM-1;k>=0;k--) { if (status == MB_SUCCESS) result = fgets(buffer,BUFFER_MAX,hfp); for (l=0;lcoverage[l+k*MBNA_MASK_DIM]); } } if (status == MB_FAILURE){fprintf(stderr,"Die at line:%d file:%s\n",__LINE__,__FILE__);exit(0);} /*fprintf(stderr,"%s/nvs_%4.4d_%4.4d.mb71\n", project.datadir,file->id,j); for (k=MBNA_MASK_DIM-1;k>=0;k--) { for (l=0;lcoverage[l + k * MBNA_MASK_DIM]); } fprintf(stderr, "\n"); }*/ for (k=0;knum_snav;k++) { if (status == MB_SUCCESS) result = fgets(buffer,BUFFER_MAX,hfp); if (status == MB_SUCCESS && result == buffer) nscan = sscanf(buffer,"SNAV %d %d %lf %lf %lf %lf %lf %lf %lf", &idummy, §ion->snav_id[k], §ion->snav_distance[k], §ion->snav_time_d[k], §ion->snav_lon[k], §ion->snav_lat[k], §ion->snav_lon_offset[k], §ion->snav_lat_offset[k], §ion->snav_z_offset[k]); section->snav_num_ties[k] = 0; section->snav_lon_offset_int[k] = 0.0; section->snav_lat_offset_int[k] = 0.0; section->snav_z_offset_int[k] = 0.0; if (result == buffer && nscan == 6) { section->snav_lon_offset[k] = 0.0; section->snav_lat_offset[k] = 0.0; section->snav_z_offset[k] = 0.0; } else if (result == buffer && nscan == 8) { section->snav_z_offset[k] = 0.0; } else if (result != buffer || nscan != 9) { status = MB_FAILURE; fprintf(stderr, "read failed on snav: %s\n", buffer); } /* reverse offset values if older values */ if (versionmajor < 3) { section->snav_lon_offset[k] *= -1.0; section->snav_lat_offset[k] *= -1.0; section->snav_z_offset[k] *= -1.0; } } section->global_start_ping = project.num_pings; section->global_start_snav = project.num_snavs - section->continuity; file->num_snavs += section->num_pings; file->num_pings += section->num_pings; file->num_beams += section->num_beams; project.num_snavs += (section->num_snav - section->continuity); project.num_pings += section->num_pings; project.num_beams += section->num_beams; } } /* count the number of blocks */ project.num_blocks = 0; for (i=0;isections[0].continuity == MB_NO) { project.num_blocks++; } file->block = project.num_blocks - 1; file->block_offset_x = 0.0; file->block_offset_y = 0.0; file->block_offset_z = 0.0; } /* read crossings */ project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; project.num_ties = 0; for (i=0;i= 106)) { if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"CROSSING %d %d %d %d %d %d %d %d %d", &idummy, &crossing->status, &crossing->truecrossing, &crossing->overlap, &crossing->file_id_1, &crossing->section_1, &crossing->file_id_2, &crossing->section_2, &crossing->num_ties)) != 9)) { status = MB_FAILURE; fprintf(stderr, "read failed on crossing: %s\n", buffer); } } else if (status == MB_SUCCESS && ((100*versionmajor + versionminor) >= 102)) { crossing->overlap = 0; if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"CROSSING %d %d %d %d %d %d %d %d", &idummy, &crossing->status, &crossing->truecrossing, &crossing->file_id_1, &crossing->section_1, &crossing->file_id_2, &crossing->section_2, &crossing->num_ties)) != 8)) { status = MB_FAILURE; fprintf(stderr, "read failed on crossing: %s\n", buffer); } } else if (status == MB_SUCCESS) { crossing->truecrossing = MB_NO; crossing->overlap = 0; if (status == MB_SUCCESS && ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"CROSSING %d %d %d %d %d %d %d", &idummy, &crossing->status, &crossing->file_id_1, &crossing->section_1, &crossing->file_id_2, &crossing->section_2, &crossing->num_ties)) != 7)) { status = MB_FAILURE; fprintf(stderr, "read failed on old format crossing: %s\n", buffer); } } if (status == MB_SUCCESS && crossing->status != MBNA_CROSSING_STATUS_NONE) project.num_crossings_analyzed++; if (status == MB_SUCCESS && crossing->truecrossing == MB_YES) { project.num_truecrossings++; if (crossing->status != MBNA_CROSSING_STATUS_NONE) project.num_truecrossings_analyzed++; } /* reorder crossing to be early file first older file second if file version prior to 3.00 */ if (versionmajor < 3) { idummy = crossing->file_id_1; jdummy = crossing->section_1; crossing->file_id_1 = crossing->file_id_2; crossing->section_1 = crossing->section_2; crossing->file_id_2 = idummy; crossing->section_2 = jdummy; } /* read ties */ if (status == MB_SUCCESS) for (j=0;jnum_ties;j++) { /* read each tie */ tie = &crossing->ties[j]; if (status == MB_SUCCESS && ((100*versionmajor + versionminor) > 301)) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"TIE %d %d %d %lf %d %lf %lf %lf %lf %d %lf %lf %lf", &idummy, &tie->status, &tie->snav_1, &tie->snav_1_time_d, &tie->snav_2, &tie->snav_2_time_d, &tie->offset_x, &tie->offset_y, &tie->offset_z_m, &tie->inversion_status, &tie->inversion_offset_x, &tie->inversion_offset_y, &tie->inversion_offset_z_m)) != 13) { status = MB_FAILURE; fprintf(stderr, "read failed on tie: %s\n", buffer); } } else if (status == MB_SUCCESS && ((100*versionmajor + versionminor) > 103)) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"TIE %d %d %lf %d %lf %lf %lf %lf %d %lf %lf %lf", &idummy, &tie->snav_1, &tie->snav_1_time_d, &tie->snav_2, &tie->snav_2_time_d, &tie->offset_x, &tie->offset_y, &tie->offset_z_m, &tie->inversion_status, &tie->inversion_offset_x, &tie->inversion_offset_y, &tie->inversion_offset_z_m)) != 12) { status = MB_FAILURE; fprintf(stderr, "read failed on tie: %s\n", buffer); } tie->status = MBNA_TIE_XYZ; } else if (status == MB_SUCCESS) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"TIE %d %d %lf %d %lf %lf %lf %d %lf %lf", &idummy, &tie->snav_1, &tie->snav_1_time_d, &tie->snav_2, &tie->snav_2_time_d, &tie->offset_x, &tie->offset_y, &tie->inversion_status, &tie->inversion_offset_x, &tie->inversion_offset_y)) != 10) { status = MB_FAILURE; fprintf(stderr, "read failed on tie: %s\n", buffer); } tie->status = MBNA_TIE_XYZ; tie->offset_z_m = 0.0; tie->inversion_offset_z_m = 0.0; } /* reorder crossing to be early file first older file second if file version prior to 3.00 */ if (versionmajor < 3) { idummy = tie->snav_1; dummy = tie->snav_1_time_d; tie->snav_1 = tie->snav_2; tie->snav_1_time_d = tie->snav_2_time_d; tie->snav_2 = idummy; tie->snav_2_time_d = dummy; /* tie->offset_x *= -1.0; tie->offset_y *= -1.0; tie->offset_z_m *= -1.0; tie->inversion_offset_x *= -1.0; tie->inversion_offset_y *= -1.0; tie->inversion_offset_z_m *= -1.0;*/ } /* for version 2.0 or later read covariance */ if (status == MB_SUCCESS && ((100*versionmajor + versionminor) >= 200)) { if ((result = fgets(buffer,BUFFER_MAX,hfp)) != buffer || (nscan = sscanf(buffer,"COV %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf", &tie->sigmar1, &(tie->sigmax1[0]), &(tie->sigmax1[1]), &(tie->sigmax1[2]), &tie->sigmar2, &(tie->sigmax2[0]), &(tie->sigmax2[1]), &(tie->sigmax2[2]), &tie->sigmar3, &(tie->sigmax3[0]), &(tie->sigmax3[1]), &(tie->sigmax3[2]))) != 12) { status = MB_FAILURE; fprintf(stderr, "read failed on tie covariance: %s\n", buffer); } if (tie->sigmar1 <= 0.0) { tie->sigmax2[0] = 1.0; tie->sigmax2[1] = 0.0; tie->sigmax2[2] = 0.0; mbna_minmisfit_sr2 = 1.0; } if (tie->sigmar2 <= 0.0) { tie->sigmax2[0] = 0.0; tie->sigmax2[1] = 1.0; tie->sigmax2[2] = 0.0; mbna_minmisfit_sr2 = 1.0; } if (tie->sigmar3 <= 0.0) { tie->sigmax3[0] = 0.0; tie->sigmax3[1] = 0.0; tie->sigmax3[2] = 1.0; mbna_minmisfit_sr3 = 1.0; } } else if (status == MB_SUCCESS) { tie->sigmar1 = 100.0; tie->sigmax1[0] = 1.0; tie->sigmax1[1] = 0.0; tie->sigmax1[2] = 0.0; tie->sigmar2 = 100.0; tie->sigmax2[0] = 0.0; tie->sigmax2[1] = 1.0; tie->sigmax2[2] = 0.0; tie->sigmar3 = 100.0; tie->sigmax3[0] = 0.0; tie->sigmax3[1] = 0.0; tie->sigmax3[2] = 1.0; } /* update number of ties */ if (status == MB_SUCCESS) { project.num_ties++; } /* check for reasonable snav id's */ if (status == MB_SUCCESS) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; if (tie->snav_1 >= section->num_snav) { tie->snav_1 = ((double)tie->snav_1 / (double)section->num_pings) * (MBNA_SNAV_NUM - 1); tie->snav_1_time_d = section->snav_time_d[tie->snav_1]; fprintf(stderr,"Reset tie snav_1 on read:%d\n",tie->snav_1); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; if (tie->snav_2 >= section->num_snav) { tie->snav_2 = ((double)tie->snav_2 / (double)section->num_pings) * (MBNA_SNAV_NUM - 1); tie->snav_2_time_d = section->snav_time_d[tie->snav_2]; fprintf(stderr,"Reset tie snav_2 on read:%d\n",tie->snav_2); } } /* update number of ties for snavs */ if (status == MB_SUCCESS) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; section->snav_num_ties[tie->snav_1]++; file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; section->snav_num_ties[tie->snav_2]++; } /* calculate offsets in local meters */ if (status == MB_SUCCESS) { section1 = &(project.files[crossing->file_id_1].sections[crossing->section_1]); section2 = &(project.files[crossing->file_id_2].sections[crossing->section_2]); mbna_lon_min = MIN(section1->lonmin,section2->lonmin); mbna_lon_max = MAX(section1->lonmax,section2->lonmax); mbna_lat_min = MIN(section1->latmin,section2->latmin); mbna_lat_max = MAX(section1->latmax,section2->latmax); mb_coor_scale(mbna_verbose,0.5 * (mbna_lat_min + mbna_lat_max), &mbna_mtodeglon,&mbna_mtodeglat); tie->offset_x_m = tie->offset_x / mbna_mtodeglon; tie->offset_y_m = tie->offset_y / mbna_mtodeglat; tie->inversion_offset_x_m = tie->inversion_offset_x / mbna_mtodeglon; tie->inversion_offset_y_m = tie->inversion_offset_y / mbna_mtodeglat; } } /* finally make sure crossing has later section second, switch if needed */ s1id = crossing->file_id_1 * 1000 + crossing->section_1; s2id = crossing->file_id_2 * 1000 + crossing->section_2; if (s2id < s1id) { idummy = crossing->file_id_1; jdummy = crossing->section_1; crossing->file_id_1 = crossing->file_id_2; crossing->section_1 = crossing->section_2; crossing->file_id_2 = idummy; crossing->section_2 = jdummy; for (j=0;jnum_ties;j++) { tie = &crossing->ties[j]; idummy = tie->snav_1; dummy = tie->snav_1_time_d; tie->snav_1 = tie->snav_2; tie->snav_1_time_d = tie->snav_2_time_d; tie->snav_2 = idummy; tie->snav_2_time_d = dummy; tie->offset_x *= -1.0; tie->offset_y *= -1.0; tie->offset_x_m *= -1.0; tie->offset_y_m *= -1.0; tie->offset_z_m *= -1.0; tie->inversion_offset_x *= -1.0; tie->inversion_offset_y *= -1.0; tie->inversion_offset_x_m *= -1.0; tie->inversion_offset_y_m *= -1.0; tie->inversion_offset_z_m *= -1.0; } } } /* close home file */ fclose(hfp); /* set project status flag */ if (status == MB_SUCCESS) project.open = MB_YES; else { for (i=0;isections != NULL) free( file->sections); } if (project.files != NULL) free(project.files); if (project.crossings != NULL) free(project.crossings); project.open = MB_NO; memset(project.name,0,STRING_MAX); strcpy(project.name,"None"); memset(project.path,0,STRING_MAX); memset(project.datadir,0,STRING_MAX); project.num_files = 0; project.num_files_alloc = 0; project.num_snavs = 0; project.num_pings = 0; project.num_beams = 0; project.num_crossings = 0; project.num_crossings_alloc = 0; project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; project.num_ties = 0; } /* recalculate crossing overlap values if not already set */ if (project.open == MB_YES) { for (i=0;ioverlap <= 0) { mbnavadjust_crossing_overlap(i); } if (crossing->overlap >= 25) project.num_goodcrossings++; } } /* reset crossings to unanalyzed if flag is set */ if (mbna_reset_crossings == MB_YES) { for (i=0;istatus = MBNA_CROSSING_STATUS_NONE; crossing->num_ties = 0; project.num_crossings_analyzed = 0; project.num_truecrossings_analyzed = 0; project.num_ties = 0; project.inversion = MBNA_INVERSION_NONE; } for (i=0;inum_sections;j++) { section = &file->sections[j]; for (k=0;knum_snav;k++) { section->snav_lon_offset[section->num_snav] = 0.0; section->snav_lat_offset[section->num_snav] = 0.0; section->snav_z_offset[section->num_snav] = 0.0; section->snav_lon_offset_int[section->num_snav] = 0.0; section->snav_lat_offset_int[section->num_snav] = 0.0; section->snav_z_offset_int[section->num_snav] = 0.0; } } } } /* interpolate inversion solution if it exists */ if (project.inversion != MBNA_INVERSION_NONE) mbnavadjust_interpolatesolution(); } /* else set error */ else { status = MB_FAILURE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_import_data(char *path, int iformat) { /* local variables */ char *function_name = "mbnavadjust_import_data"; int status = MB_SUCCESS; struct mbna_file *file; int done; char filename[STRING_MAX]; double weight; int form; int firstfile; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 path: %s\n",path); fprintf(stderr,"dbg2 format: %d\n",iformat); } /* loop until all files read */ done = MB_NO; firstfile = MB_YES; while (done == MB_NO) { if (iformat > 0) { status = mbnavadjust_import_file(path,iformat,firstfile); done = MB_YES; firstfile = MB_NO; } else if (iformat == -1) { if ((status = mb_datalist_open(mbna_verbose,&datalist, path,MB_DATALIST_LOOK_NO,&error)) == MB_SUCCESS) { while (done == MB_NO) { if ((status = mb_datalist_read(mbna_verbose,datalist, filename,&form,&weight,&error)) == MB_SUCCESS) { status = mbnavadjust_import_file(filename,form,firstfile); firstfile = MB_NO; } else { mb_datalist_close(mbna_verbose,&datalist,&error); done = MB_YES; } } } } } /* look for new crossings */ status = mbnavadjust_findcrossings(); /* count the number of blocks */ project.num_blocks = 0; for (i=0;isections[0].continuity == MB_NO) { project.num_blocks++; } file->block = project.num_blocks - 1; file->block_offset_x = 0.0; file->block_offset_y = 0.0; file->block_offset_z = 0.0; } /* write updated project */ mbnavadjust_write_project(); /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_import_file(char *path, int iformat, int firstfile) { /* local variables */ char *function_name = "mbnavadjust_import_file"; int status = MB_SUCCESS; struct stat file_status; int fstat; char ipath[STRING_MAX]; char mb_suffix[STRING_MAX]; char npath[STRING_MAX]; char opath[STRING_MAX]; char *root; /* mbio read and write values */ void *imbio_ptr = NULL; void *ombio_ptr = NULL; void *istore_ptr = NULL; void *ostore_ptr = NULL; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double draft; double roll; double pitch; double heave; int beams_bath; int beams_amp; int pixels_ss; 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]; int sonartype = MB_SONARTYPE_UNKNOWN; int *bin_nbath = NULL; double *bin_bath = NULL; double *bin_bathacrosstrack = NULL; double *bin_bathalongtrack = NULL; int side; double port_time_d, stbd_time_d; double angle, dt, alongtrackdistance, xtrackavg, xtrackmax; int nxtrack; int output_id, found; int obeams_bath,obeams_amp,opixels_ss; int iform; int nread, first; int output_open = MB_NO; int good_beams, new_segment; double headingx, headingy, mtodeglon, mtodeglat; double lon, lat; double navlon_old, navlat_old; FILE *nfp; struct mbna_file *file, *cfile; struct mbna_section *section, *csection; struct mbsys_ldeoih_struct *ostore; struct mb_io_struct *omb_io_ptr; int new_pings, new_crossings; double dx1, dy1; int mbp_heading_mode; double mbp_headingbias; int mbp_rollbias_mode; double mbp_rollbias; double mbp_rollbias_port; double mbp_rollbias_stbd; double depthmax, distmax, depthscale, distscale; int i, j, k; int ii1, jj1; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 path: %s\n",path); fprintf(stderr,"dbg2 format: %d\n",iformat); } /* get potential processed file name */ if ((status = mb_get_format(mbna_verbose, path, ipath, &iform, &error)) == MB_SUCCESS && iform == iformat) { strcat(ipath,"p"); sprintf(mb_suffix, ".mb%d", iformat); strcat(ipath,mb_suffix); } /* else just add p.mbXXX to file name */ else { strcat(ipath,"p"); sprintf(mb_suffix, ".mb%d", iformat); strcat(ipath,mb_suffix); status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* look for processed file and use if available */ fstat = stat(ipath, &file_status); if (fstat != 0 || (file_status.st_mode & S_IFMT) == S_IFDIR) { strcpy(ipath, path); } /* now look for existing mbnavadjust output files * - increment output id so this mbnavadjust project outputs * a unique nav file for this input file */ output_id = 0; found = MB_NO; while (found == MB_NO) { sprintf(opath, "%s.na%d", path, output_id); fstat = stat(opath, &file_status); if (fstat != 0) { found = MB_YES; } else { output_id++; } } /* turn on message */ root = (char *) strrchr(ipath, '/'); if (root == NULL) root = ipath; sprintf(message,"Importing format %d data from %s",iformat,root); do_message_on(message); fprintf(stderr,"%s\n",message); output_open = MB_NO; project.inversion = MBNA_INVERSION_NONE; new_pings = 0; new_crossings = 0; /* allocate mbna_file array if needed */ if (project.num_files_alloc <= project.num_files) { project.files = (struct mbna_file *) realloc(project.files, sizeof(struct mbna_file) * (project.num_files_alloc + ALLOC_NUM)); if (project.files != NULL) project.num_files_alloc += ALLOC_NUM; else { status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } if (status == MB_SUCCESS) { /* initialize reading the swath file */ if ((status = mb_read_init( mbna_verbose,ipath,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(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",error_message); fprintf(stderr,"\nSwath sonar File <%s> not initialized for reading\n",path); } } /* allocate memory for data arrays */ if (status == MB_SUCCESS) { 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(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then don't read the file */ if (error != MB_ERROR_NO_ERROR) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", error_message); } } /* open nav file */ if (status == MB_SUCCESS) { sprintf(npath,"%s/nvs_%4.4d.mb166", project.datadir,project.num_files); if ((nfp = fopen(npath,"w")) == NULL) { status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; } } /* read data */ if (status == MB_SUCCESS) { nread = 0; new_segment = MB_NO; first = MB_YES; while (error <= MB_ERROR_NO_ERROR) { /* read a ping of data */ status = mb_get_all(mbna_verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat,&speed, &heading,&distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* extract all nav values */ if (error == MB_ERROR_NO_ERROR && (kind == MB_DATA_NAV || kind == MB_DATA_DATA)) { status = mb_extract_nav(mbna_verbose,imbio_ptr, istore_ptr,&kind, time_i,&time_d,&navlon,&navlat,&speed, &heading,&draft,&roll,&pitch,&heave, &error); } /* ignore minor errors */ if (kind == MB_DATA_DATA && (error == MB_ERROR_TIME_GAP || error == MB_ERROR_OUT_BOUNDS || error == MB_ERROR_OUT_TIME || error == MB_ERROR_SPEED_TOO_SMALL)) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* if sonar is interferometric, bin the bathymetry */ if (kind == MB_DATA_DATA) { if (sonartype == MB_SONARTYPE_UNKNOWN) status = mb_sonartype(mbna_verbose, imbio_ptr, istore_ptr, &sonartype, &error); if (sonartype == MB_SONARTYPE_INTERFEROMETRIC) { /* allocate bin arrays if needed */ if (bin_nbath == NULL) { status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, mbna_bin_beams_bath*sizeof(int), (void **)&bin_nbath,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, mbna_bin_beams_bath*sizeof(double), (void **)&bin_bath,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, mbna_bin_beams_bath*sizeof(double), (void **)&bin_bathacrosstrack,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, mbna_bin_beams_bath*sizeof(double), (void **)&bin_bathalongtrack,&error); for (i=0;i 0) { xtrackavg /= nxtrack; } if (xtrackavg > 0.25 * xtrackmax) { side = SIDE_STBD; port_time_d = time_d; } else if (xtrackavg < -0.25 * xtrackmax) { side = SIDE_PORT; stbd_time_d = time_d; } else { side = SIDE_FULLSWATH; stbd_time_d = time_d; } /* if side = PORT or FULLSWATH then initialize bin arrays */ if (side == SIDE_PORT || side == SIDE_FULLSWATH) { for (i=0;i= 0 && j < mbna_bin_beams_bath) { bin_bath[j] += bath[i]; bin_bathacrosstrack[j] += bathacrosstrack[i]; bin_bathalongtrack[j] += bathalongtrack[i]; bin_nbath[j]++; } } } /* if side = STBD or FULLSWATH calculate output bathymetry - add alongtrack offset to port data from previous ping */ if (side == SIDE_STBD || side == SIDE_FULLSWATH) { dt = port_time_d - stbd_time_d; if (dt > 0.0 && dt < 0.5) alongtrackdistance = -(port_time_d - stbd_time_d) * speed / 3.6; else alongtrackdistance = 0.0; beams_bath = mbna_bin_beams_bath; for (j=0;j 0) { bath[j] = bin_bath[j] / bin_nbath[j]; bathacrosstrack[j] = bin_bathacrosstrack[j] / bin_nbath[j]; bathalongtrack[j] = bin_bathalongtrack[j] / bin_nbath[j]; beamflag[j] = MB_FLAG_NONE; if (bin_bathacrosstrack[j] < 0.0) bathalongtrack[j] += alongtrackdistance; } else { beamflag[j] = MB_FLAG_NULL; bath[j] = 0.0; bathacrosstrack[j] = 0.0; bathalongtrack[j] = 0.0; } } } /* if side = PORT set nonfatal error so that bathymetry isn't output until the STBD data are read too */ else if (side == SIDE_PORT) { error = MB_ERROR_IGNORE; } } } /* deal with new file */ if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR && first == MB_YES) { file = &project.files[project.num_files]; file->status = MBNA_FILE_GOODNAV; file->id = project.num_files; file->output_id = output_id; strcpy(file->path,path); strcpy(file->file,path); mb_get_relative_path(mbna_verbose, file->file, project.path, &error); file->format = iformat; file->heading_bias = 0.0; file->roll_bias = 0.0; file->num_snavs = 0; file->num_pings = 0; file->num_beams = 0; file->num_sections = 0; file->num_sections_alloc = 0; file->sections = NULL; project.num_files++; new_segment = MB_YES; first = MB_NO; /* get bias values */ mb_pr_get_heading(mbna_verbose, file->path, &mbp_heading_mode, &mbp_headingbias, &error); mb_pr_get_rollbias(mbna_verbose, file->path, &mbp_rollbias_mode, &mbp_rollbias, &mbp_rollbias_port, &mbp_rollbias_stbd, &error); if (mbp_heading_mode == MBP_HEADING_OFFSET || mbp_heading_mode == MBP_HEADING_CALCOFFSET) { file->heading_bias_import = mbp_headingbias; } else { file->heading_bias_import = 0.0; } if (mbp_rollbias_mode == MBP_ROLLBIAS_SINGLE) { file->roll_bias_import = mbp_rollbias; } else if (mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) { file->roll_bias_import = 0.5 * (mbp_rollbias_port + mbp_rollbias_stbd); } else { file->roll_bias_import = 0.0; } } /* check if new segment needed */ else if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR && (section->distance + distance >= project.section_length || section->num_beams >= project.section_soundings)) { new_segment = MB_YES; /*fprintf(stderr, "NEW SEGMENT: section->distance:%f distance:%f project.section_length:%f\n", section->distance, distance, project.section_length);*/ } /* if end of segment or end of file resolve position of last snav point in last segment */ if ((error > MB_ERROR_NO_ERROR || new_segment == MB_YES) && project.num_files > 0 && (file->num_sections > 0 && section->num_pings > 0)) { /* resolve position of last snav point in last segment */ if (section->num_snav == 1 || (section->distance >= (section->num_snav - 0.5) * project.section_length / (MBNA_SNAV_NUM - 1))) { section->snav_id[section->num_snav] = section->num_pings - 1; section->snav_num_ties[section->num_snav] = 0; section->snav_distance[section->num_snav] = section->distance; section->snav_time_d[section->num_snav] = section->etime_d; section->snav_lon[section->num_snav] = navlon_old; section->snav_lat[section->num_snav] = navlat_old; section->snav_lon_offset[section->num_snav] = 0.0; section->snav_lat_offset[section->num_snav] = 0.0; section->snav_z_offset[section->num_snav] = 0.0; section->snav_lon_offset_int[section->num_snav] = 0.0; section->snav_lat_offset_int[section->num_snav] = 0.0; section->snav_z_offset_int[section->num_snav] = 0.0; section->num_snav++; file->num_snavs++; project.num_snavs++; } else if (section->num_snav > 1) { section->snav_id[section->num_snav-1] = section->num_pings - 1; section->snav_num_ties[section->num_snav] = 0; section->snav_distance[section->num_snav-1] = section->distance; section->snav_time_d[section->num_snav-1] = section->etime_d; section->snav_lon[section->num_snav-1] = navlon_old; section->snav_lat[section->num_snav-1] = navlat_old; section->snav_lon_offset[section->num_snav-1] = 0.0; section->snav_lat_offset[section->num_snav-1] = 0.0; section->snav_z_offset[section->num_snav-1] = 0.0; section->snav_lon_offset_int[section->num_snav-1] = 0.0; section->snav_lat_offset_int[section->num_snav-1] = 0.0; section->snav_z_offset_int[section->num_snav-1] = 0.0; } } /* deal with new segment */ if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR && new_segment == MB_YES) { /* end old segment */ if (output_open == MB_YES) { /* close the swath file */ status = mb_close(mbna_verbose,&ombio_ptr,&error); output_open = MB_NO; } /* allocate mbna_section array if needed */ if (file->num_sections_alloc <= file->num_sections) { file->sections = (struct mbna_section *) realloc(file->sections, sizeof(struct mbna_section) * (file->num_sections_alloc + ALLOC_NUM)); if (file->sections != NULL) file->num_sections_alloc += ALLOC_NUM; else { status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } /* initialize new section */ file->num_sections++; section = &file->sections[file->num_sections-1]; section->num_pings = 0; section->num_beams = 0; section->continuity = MB_NO; section->global_start_ping = project.num_pings; section->global_start_snav = project.num_snavs; for (i=0;icoverage[i] = 0; section->num_snav = 0; if (file->num_sections > 1) { csection = &file->sections[file->num_sections-2]; if (fabs(time_d - csection->etime_d) < MBNA_TIME_GAP_MAX) { section->continuity = MB_YES; section->global_start_snav--; file->num_snavs--; project.num_snavs--; } } else if (project.num_files > 1 && firstfile == MB_NO) { cfile = &project.files[project.num_files-2]; csection = &cfile->sections[cfile->num_sections-1]; if (fabs(time_d - csection->etime_d) < MBNA_TIME_GAP_MAX) { section->continuity = MB_YES; section->global_start_snav--; file->num_snavs--; project.num_snavs--; } } section->distance = 0.0; section->btime_d = time_d; section->etime_d = time_d; section->lonmin = navlon; section->lonmax = navlon; section->latmin = navlat; section->latmax = navlat; section->depthmin = 0.0; section->depthmax = 0.0; section->contoursuptodate = MB_NO; new_segment = MB_NO; /* open output section file */ sprintf(opath,"%s/nvs_%4.4d_%4.4d.mb71", project.datadir,file->id,file->num_sections-1); if ((status = mb_write_init( mbna_verbose,opath,71,&ombio_ptr, &obeams_bath,&obeams_amp,&opixels_ss,&error)) != MB_SUCCESS) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",error_message); fprintf(stderr,"\nSwath sonar File <%s> not initialized for writing\n",path); } else { omb_io_ptr = (struct mb_io_struct *) ombio_ptr; ostore_ptr = omb_io_ptr->store_data; ostore = (struct mbsys_ldeoih_struct *) ostore_ptr; ostore->kind = MB_DATA_DATA; ostore->beams_bath = obeams_bath; ostore->beams_amp = 0; ostore->pixels_ss = 0; ostore->kind = MB_DATA_DATA; output_open = MB_YES; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__,obeams_bath*sizeof(char), (void **)&ostore->beamflag,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__,obeams_bath*sizeof(double), (void **)&ostore->bath,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__,obeams_bath*sizeof(double), (void **)&ostore->bath_acrosstrack,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__,obeams_bath*sizeof(double), (void **)&ostore->bath_alongtrack,&error); /* if error initializing memory then don't write the file */ if (error != MB_ERROR_NO_ERROR) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", error_message); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->beamflag,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath_acrosstrack,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath_alongtrack,&error); status = mb_close(mbna_verbose,&ombio_ptr,&error); output_open = MB_NO; } } } /* update section distance for each data ping */ if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR && section->num_pings > 1) section->distance += distance; /* handle good bathymetry */ if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR) { /* get statistics */ mb_coor_scale(mbna_verbose,navlat,&mtodeglon,&mtodeglat); headingx = sin(DTR*heading); headingy = cos(DTR*heading); navlon_old = navlon; navlat_old = navlat; section->etime_d = time_d; section->num_pings++; file->num_pings++; project.num_pings++; new_pings++; if (section->distance >= section->num_snav * project.section_length / (MBNA_SNAV_NUM - 1)) { section->snav_id[section->num_snav] = section->num_pings - 1; section->snav_num_ties[section->num_snav] = 0; section->snav_distance[section->num_snav] = section->distance; section->snav_time_d[section->num_snav] = time_d; section->snav_lon[section->num_snav] = navlon; section->snav_lat[section->num_snav] = navlat; section->snav_lon_offset[section->num_snav] = 0.0; section->snav_lat_offset[section->num_snav] = 0.0; section->snav_z_offset[section->num_snav] = 0.0; section->snav_lon_offset_int[section->num_snav] = 0.0; section->snav_lat_offset_int[section->num_snav] = 0.0; section->snav_z_offset_int[section->num_snav] = 0.0; section->num_snav++; file->num_snavs++; project.num_snavs++; } for (i=0;inum_beams++; section->num_beams++; lon = navlon + headingy*mtodeglon * bathacrosstrack[i] + headingx*mtodeglon * bathalongtrack[i]; lat = navlat - headingx*mtodeglat * bathacrosstrack[i] + headingy*mtodeglat * bathalongtrack[i]; if (lon != 0.0) section->lonmin = MIN(section->lonmin,lon); if (lon != 0.0) section->lonmax = MAX(section->lonmax,lon); if (lat != 0.0) section->latmin = MIN(section->latmin,lat); if (lat != 0.0) section->latmax = MAX(section->latmax,lat); if (section->depthmin == 0.0) section->depthmin = bath[i]; else section->depthmin = MIN(section->depthmin,bath[i]); if (section->depthmin == 0.0) section->depthmax = bath[i]; else section->depthmax = MAX(section->depthmax,bath[i]); } else { beamflag[i] = MB_FLAG_NULL; bath[i] = 0.0; bathacrosstrack[i] = 0.0; bathalongtrack[i] = 0.0; } } /* write out bath data only to format 71 file */ if (output_open == MB_YES) { /*if (error <= MB_ERROR_NO_ERROR && kind == MB_DATA_DATA) fprintf(stderr,"%3d %4d/%2d/%2d %2.2d:%2.2d:%2.2d.%6.6d %10f %10f %5.2f %6.2f %7.3f %7.3f %4d %4d %4d\n", file->num_sections, time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6], navlon,navlat,speed,heading,distance,section->distance, beams_bath,beams_amp,pixels_ss);*/ /* get depth and distance scaling */ depthmax = 0.0; distmax = 0.0; for (i=0;idepth_scale = depthscale; ostore->distance_scale = distscale; ostore->sonardepth = draft - heave; ostore->roll = roll; ostore->pitch = pitch; ostore->heave = heave; /* write out data */ status = mb_put_all(mbna_verbose,ombio_ptr,ostore_ptr, MB_YES,MB_DATA_DATA, time_i,time_d, navlon,navlat,speed,heading, beams_bath,0,0, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); } } /* write out all nav data to format 166 file */ if ((kind == MB_DATA_DATA || kind == MB_DATA_NAV) && time_d > 0.0 && time_i[0] > 0 && nfp != NULL) { /*fprintf(stderr, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.6f %.6f %.2f %.2f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed); fprintf(nfp, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.6f %.6f %.2f %.2f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed);*/ /*fprintf(stderr, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.6f %.6f %.2f %.2f %.2f %.2f %.2f %.2f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed, draft, roll, pitch, heave);*/ fprintf(nfp, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.6f %.6f %.2f %.2f %.2f %.2f %.2f %.2f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed, draft, roll, pitch, heave); } /* increment counters */ if (error == MB_ERROR_NO_ERROR) nread++; /* print debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 Ping 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); } if (mbna_verbose >= 2 && kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: %s\n",comment); } if (mbna_verbose >= 2 && error <= 0 && kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 time_i: %4d/%2d/%2d %2.2d:%2.2d:%2.2d.%6.6d\n", time_i[0],time_i[1], time_i[2],time_i[3], time_i[4],time_i[5],time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",time_d); fprintf(stderr,"dbg2 navlon: %f\n",navlon); fprintf(stderr,"dbg2 navlat: %f\n",navlat); fprintf(stderr,"dbg2 speed: %f\n",speed); fprintf(stderr,"dbg2 heading: %f\n",heading); fprintf(stderr,"dbg2 distance: %f\n",distance); fprintf(stderr,"dbg2 beams_bath: %d\n",beams_bath); fprintf(stderr,"dbg2 beams_amp: %d\n",beams_amp); fprintf(stderr,"dbg2 pixels_ss: %d\n",pixels_ss); } } /* close the swath file */ status = mb_close(mbna_verbose,&imbio_ptr,&error); if (nfp != NULL) fclose(nfp); if (output_open == MB_YES) { status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->beamflag,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath_acrosstrack,&error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&ostore->bath_alongtrack,&error); status = mb_close(mbna_verbose,&ombio_ptr,&error); } /* deallocate bin arrays if needed */ if (bin_nbath != NULL) { status = mb_freed(mbna_verbose, __FILE__, __LINE__,(void **)&bin_nbath,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__,(void **)&bin_bath,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__,(void **)&bin_bathacrosstrack,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__,(void **)&bin_bathalongtrack,&error); } /* get coverage masks for each section */ if (file != NULL && first != MB_YES) { /* loop over all sections */ for (k=0;knum_sections;k++) { /* set section data to be read */ section = (struct mbna_section *) &file->sections[k]; sprintf(opath,"%s/nvs_%4.4d_%4.4d.mb71", project.datadir,file->id,k); /* initialize reading the swath file */ if ((status = mb_read_init( mbna_verbose,opath,71,1,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &ombio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",error_message); fprintf(stderr,"\nSwath sonar File <%s> not initialized for reading\n",path); } /* allocate memory for data arrays */ if (status == MB_SUCCESS) { 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(mbna_verbose, ombio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, ombio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then don't read the file */ if (error != MB_ERROR_NO_ERROR) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", error_message); } } /* loop over reading data */ dx1 = (section->lonmax - section->lonmin) / MBNA_MASK_DIM; dy1 = (section->latmax - section->latmin) / MBNA_MASK_DIM; while (error <= MB_ERROR_NO_ERROR) { /* read a ping of data */ status = mb_get_all(mbna_verbose,ombio_ptr,&ostore_ptr,&kind, time_i,&time_d,&navlon,&navlat,&speed, &heading,&distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* ignore minor errors */ if (kind == MB_DATA_DATA && (error == MB_ERROR_TIME_GAP || error == MB_ERROR_OUT_BOUNDS || error == MB_ERROR_OUT_TIME || error == MB_ERROR_SPEED_TOO_SMALL)) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; } /* check for good bathymetry */ if (kind == MB_DATA_DATA && error == MB_ERROR_NO_ERROR) { mb_coor_scale(mbna_verbose,navlat,&mtodeglon,&mtodeglat); headingx = sin(DTR*heading); headingy = cos(DTR*heading); for (i=0;ilonmin) / dx1; jj1 = (lat - section->latmin) / dy1; if (ii1 >= 0 && ii1 < MBNA_MASK_DIM && jj1 >= 0 && jj1 < MBNA_MASK_DIM) { section->coverage[ii1 + jj1 * MBNA_MASK_DIM] = 1; } } } } } /*fprintf(stderr,"%s/nvs_%4.4d_%4.4d.mb71\n", project.datadir,file->id,k); for (jj1=MBNA_MASK_DIM-1;jj1>=0;jj1--) { for (ii1=0;ii1coverage[kk1]); } fprintf(stderr, "\n"); }*/ /* deallocate memory used for data arrays */ status = mb_close(mbna_verbose,&ombio_ptr,&error); } } } /* add info text */ if (status == MB_SUCCESS && new_pings > 0) { sprintf(message, "Imported format %d file: %s\n > Read %d pings\n > Added %d sections %d crossings\n", iformat, path, new_pings, file->num_sections, new_crossings); do_info_add(message, MB_YES); } else { sprintf(message, "Unable to import format %d file: %s\n", iformat, path); do_info_add(message, MB_YES); } /* turn off message */ do_message_off(); /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_bin_bathymetry(double altitude, int beams_bath, char *beamflag, double *bath, double *bathacrosstrack, double *bathalongtrack, int mbna_bin_beams_bath, double mbna_bin_pseudobeamwidth, double mbna_bin_swathwidth, char *bin_beamflag, double *bin_bath, double *bin_bathacrosstrack, double *bin_bathalongtrack, int *error) { /* local variables */ char *function_name = "mbnavadjust_bin_bathymetry"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 mbna_verbose: %d\n",mbna_verbose); fprintf(stderr,"dbg2 altitude: %f\n",altitude); fprintf(stderr,"dbg2 beams_bath: %d\n",beams_bath); for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 ifile: %d\n",ifile); } /* turn on message */ sprintf(message,"Checking for crossings..."); do_message_on(message); /* loop over files looking for new crossings */ if (project.open == MB_YES && project.num_files > 0) { /* look for new crossings through all files */ for (ifile=0;ifile 1) mb_mergesort((void *)project.crossings, (size_t)project.num_crossings, sizeof(struct mbna_crossing), mbnavadjust_crossing_compare); /* recalculate overlap fractions, true crossings, good crossing statistics */ sprintf(message,"Calculating crossing overlaps..."); do_message_update(message); project.num_crossings_analyzed = 0; project.num_goodcrossings = 0; project.num_truecrossings = 0; project.num_truecrossings_analyzed = 0; for (icrossing=0;icrossingoverlap >= 25) project.num_goodcrossings++; /* check if this is a true crossing */ if (mbnavadjust_sections_intersect(icrossing) == MB_YES) { crossing->truecrossing = MB_YES; project.num_truecrossings++; if (crossing->status != MBNA_CROSSING_STATUS_NONE) project.num_truecrossings_analyzed++; } else crossing->truecrossing = MB_NO; if (crossing->status != MBNA_CROSSING_STATUS_NONE) project.num_crossings_analyzed++; } } /* turn off message */ do_message_off(); /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_compare(void *a, void *b) { struct mbna_crossing *aa, *bb; int a1id, a2id, b1id, b2id; int aid, bid; aa = (struct mbna_crossing *) a; bb = (struct mbna_crossing *) b; a1id = aa->file_id_1 * 1000 + aa->section_1; a2id = aa->file_id_2 * 1000 + aa->section_2; if (a1id > a2id) aid = a1id; else aid = a2id; b1id = bb->file_id_1 * 1000 + bb->section_1; b2id = bb->file_id_2 * 1000 + bb->section_2; if (b1id > b2id) bid = b1id; else bid = b2id; if (aid > bid) return(1); else if (aid < bid) return(-1); else if (a1id > b1id) return(1); else if (a1id < b1id) return(-1); else if (a2id > b2id) return(1); else if (a2id < b2id) return(-1); else return(0); } /*--------------------------------------------------------------------*/ int mbnavadjust_findcrossingsfile(int ifile) { /* local variables */ char *function_name = "mbnavadjust_findcrossingsfile"; int status = MB_SUCCESS; struct mbna_file *file1, *file2; struct mbna_section *section1, *section2; struct mbna_crossing *crossing; int found, overlap, disqualify; int isection, jfile, jsection, jsectionmax, icrossing; double lonoffset1, latoffset1, lonoffset2, latoffset2; double lonmin1, lonmax1, latmin1, latmax1; double lonmin2, lonmax2, latmin2, latmax2; double cell1lonmin, cell1lonmax, cell1latmin, cell1latmax; double cell2lonmin, cell2lonmax, cell2latmin, cell2latmax; double dx1, dy1, dx2, dy2; int ii1, jj1, kk1, ii2, jj2, kk2; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 ifile: %d\n",ifile); } /* loop over files and sections, comparing sections from project.files[ifile] with all previous sections */ if (project.open == MB_YES && project.num_files > 0) { file2 = &(project.files[ifile]); /* loop over all sections */ for (isection=0;isectionnum_sections;isection++) { section2 = &(file2->sections[isection]); lonoffset2 = section2->snav_lon_offset[section2->num_snav/2]; latoffset2 = section2->snav_lat_offset[section2->num_snav/2]; /* get coverage mask adjusted for most recent inversion solution */ lonmin2 = section2->lonmin + lonoffset2; lonmax2 = section2->lonmax + lonoffset2; latmin2 = section2->latmin + latoffset2; latmax2 = section2->latmax + latoffset2; dx2 = (section2->lonmax - section2->lonmin) / (MBNA_MASK_DIM - 1); dy2 = (section2->latmax - section2->latmin) / (MBNA_MASK_DIM - 1); /* now loop over all previous sections looking for crossings */ for (jfile=0;jfile<=ifile;jfile++) { file1 = &(project.files[jfile]); if (jfile < ifile) jsectionmax = file1->num_sections; else jsectionmax = isection; for (jsection=0;jsectionsections[jsection]); lonoffset1 = section1->snav_lon_offset[section1->num_snav/2]; latoffset1 = section1->snav_lat_offset[section1->num_snav/2]; /* get coverage mask adjusted for most recent inversion solution */ lonmin1 = section1->lonmin + lonoffset1; lonmax1 = section1->lonmax + lonoffset1; latmin1 = section1->latmin + latoffset1; latmax1 = section1->latmax + latoffset1; dx1 = (section1->lonmax - section1->lonmin) / (MBNA_MASK_DIM - 1); dy1 = (section1->latmax - section1->latmin) / (MBNA_MASK_DIM - 1); /* check if there is overlap given the current navigation model */ overlap = 0; disqualify = MB_NO; if (jfile == ifile && jsection == isection - 1 && section2->continuity == MB_YES) disqualify = MB_YES; else if (jfile == ifile - 1 && jsection == file1->num_sections - 1 && isection == 0 && section2->continuity == MB_YES) disqualify = MB_YES; else if (!(lonmin2 < lonmax1 && lonmax2 > lonmin1 && latmin2 < latmax1 && latmax2 > latmin1)) { disqualify = MB_YES; } else { /* loop over the coverage mask cells looking for overlap */ for (ii2=0;ii2coverage[kk2] == 1) { cell2lonmin = lonmin2 + ii2 * dx2; cell2lonmax = lonmin2 + (ii2 + 1) * dx2; cell2latmin = latmin2 + jj2 * dy2; cell2latmax = latmin2 + (jj2 + 1) * dy2; for (ii1=0;ii1coverage[kk1] == 1) { cell1lonmin = lonmin1 + ii1 * dx1; cell1lonmax = lonmin1 + (ii1 + 1) * dx1; cell1latmin = latmin1 + jj1 * dy2; cell1latmax = latmin1 + (jj1 + 1) * dy1; /* check if these two cells overlap */ if (cell2lonmin < cell1lonmax && cell2lonmax > cell1lonmin && cell2latmin < cell1latmax && cell2latmax > cell1latmin) { overlap++; } } } } } } /* if not disqualified and overlap found, then this is a crossing */ /* check to see if the crossing exists, if not add it */ if (disqualify == MB_NO && overlap > 0) { found = MB_NO; for (icrossing=0;icrossingfile_id_2 == ifile && crossing->file_id_1 == jfile && crossing->section_2 == isection && crossing->section_1 == jsection) { found = MB_YES; } else if (crossing->file_id_1 == ifile && crossing->file_id_2 == jfile && crossing->section_1 == isection && crossing->section_2 == jsection) { found = MB_YES; } } if (found == MB_NO) { /* allocate mbna_crossing array if needed */ if (project.num_crossings_alloc <= project.num_crossings) { project.crossings = (struct mbna_crossing *) realloc(project.crossings, sizeof(struct mbna_crossing) * (project.num_crossings_alloc + ALLOC_NUM)); if (project.crossings != NULL) project.num_crossings_alloc += ALLOC_NUM; else { status = MB_FAILURE; error = MB_ERROR_MEMORY_FAIL; } } /* add crossing to list */ crossing = (struct mbna_crossing *) &project.crossings[project.num_crossings]; crossing->status = MBNA_CROSSING_STATUS_NONE; crossing->truecrossing = MB_NO; crossing->overlap = 0; crossing->file_id_1 = file1->id; crossing->section_1 = jsection; crossing->file_id_2 = file2->id; crossing->section_2 = isection; crossing->num_ties = 0; project.num_crossings++; fprintf(stderr,"added crossing: %d %4d %4d %4d %4d\n", project.num_crossings-1, crossing->file_id_1,crossing->section_1, crossing->file_id_2,crossing->section_2); } /*else fprintf(stderr,"no new crossing: %4d %4d %4d %4d duplicate\n", file2->id,isection, file1->id,jsection);*/ } /*else fprintf(stderr,"disqualified: %4d %4d %4d %4d disqualify:%d overlaptxt list:%d\n", file2->id,isection, file1->id,jsection, disqualify, overlap);*/ } } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_poornav_file() { /* local variables */ char *function_name = "mbnavadjust_poornav_file"; int status = MB_SUCCESS; int block; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to poor nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_file_select >= 0 && mbna_file_select < project.num_files) { /* get affected survey block */ if (mbna_view_list == MBNA_VIEW_LIST_SURVEYS) { block = mbna_survey_select; } else if (mbna_view_list == MBNA_VIEW_LIST_FILES) { block = project.files[mbna_file_select].block; } /* set all files in block of selected file to poor nav */ for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_goodnav_file() { /* local variables */ char *function_name = "mbnavadjust_goodnav_file"; int status = MB_SUCCESS; int block; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_file_select >= 0 && mbna_file_select < project.num_files) { /* get affected survey block */ if (mbna_view_list == MBNA_VIEW_LIST_SURVEYS) { block = mbna_survey_select; } else if (mbna_view_list == MBNA_VIEW_LIST_FILES) { block = project.files[mbna_file_select].block; } /* set all files in block of selected file to good nav */ for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_fixednav_file() { /* local variables */ char *function_name = "mbnavadjust_fixednav_file"; int status = MB_SUCCESS; int block; int i; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_file_select >= 0 && mbna_file_select < project.num_files) { /* get affected survey block */ if (mbna_view_list == MBNA_VIEW_LIST_SURVEYS) { block = mbna_survey_select; } else if (mbna_view_list == MBNA_VIEW_LIST_FILES) { block = project.files[mbna_file_select].block; } /* set all files in block of selected file to fixed nav */ for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_fixedxynav_file() { /* local variables */ char *function_name = "mbnavadjust_fixedxynav_file"; int status = MB_SUCCESS; int block; int i; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_file_select >= 0 && mbna_file_select < project.num_files) { /* get affected survey block */ if (mbna_view_list == MBNA_VIEW_LIST_SURVEYS) { block = mbna_survey_select; } else if (mbna_view_list == MBNA_VIEW_LIST_FILES) { block = project.files[mbna_file_select].block; } /* set all files in block of selected file to fixed nav */ for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_fixedznav_file() { /* local variables */ char *function_name = "mbnavadjust_fixedznav_file"; int status = MB_SUCCESS; int block; int i; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_file_select >= 0 && mbna_file_select < project.num_files) { /* get affected survey block */ if (mbna_view_list == MBNA_VIEW_LIST_SURVEYS) { block = mbna_survey_select; } else if (mbna_view_list == MBNA_VIEW_LIST_FILES) { block = project.files[mbna_file_select].block; } /* set all files in block of selected file to fixed nav */ for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_tie_xyz() { /* local variables */ char *function_name = "mbnavadjust_set_tie_xyz"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_crossing_select >= 0 && mbna_tie_select >= 0) { /* set tie to fix xyz */ crossing = &(project.crossings[mbna_crossing_select]); tie = (struct mbna_tie *) &crossing->ties[mbna_tie_select]; tie->status = MBNA_TIE_XYZ; fprintf(stderr,"Set crossing %d tie %d to fix XYZ\n",mbna_crossing_select,mbna_tie_select); if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* write out updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message, "Set crossing %d tie %d to fix XYZ\n", mbna_crossing_select,mbna_tie_select); do_info_add(message, MB_YES); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_tie_xy() { /* local variables */ char *function_name = "mbnavadjust_set_tie_xy"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_crossing_select >= 0 && mbna_tie_select >= 0) { /* set tie to fix xy */ crossing = &(project.crossings[mbna_crossing_select]); tie = (struct mbna_tie *) &crossing->ties[mbna_tie_select]; tie->status = MBNA_TIE_XY; fprintf(stderr,"Set crossing %d tie %d to fix XY\n",mbna_crossing_select,mbna_tie_select); if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* write out updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message, "Set crossing %d tie %d to fix XY\n", mbna_crossing_select,mbna_tie_select); do_info_add(message, MB_YES); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_tie_z() { /* local variables */ char *function_name = "mbnavadjust_set_tie_z"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; /* print input debug statements */ if (mbna_verbose >= 0) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set selected file's block to good nav */ if (project.open == MB_YES && project.num_files > 0 && mbna_crossing_select >= 0 && mbna_tie_select >= 0) { /* set tie to fix z */ crossing = &(project.crossings[mbna_crossing_select]); tie = (struct mbna_tie *) &crossing->ties[mbna_tie_select]; tie->status = MBNA_TIE_Z; fprintf(stderr,"Set crossing %d tie %d to fix Z\n",mbna_crossing_select,mbna_tie_select); if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* write out updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message, "Set crossing %d tie %d to fix Z\n", mbna_crossing_select,mbna_tie_select); do_info_add(message, MB_YES); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_save() { /* local variables */ char *function_name = "mbnavadjust_naverr_save"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* save offsets if crossing loaded and ties set */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_naverr_load == MB_YES && mbna_current_crossing >= 0 && mbna_current_tie >= 0) { /* save offsets if ties set */ crossing = &project.crossings[mbna_current_crossing]; if (crossing->num_ties > 0 && mbna_current_tie >= 0) { /* get relevant tie */ tie = &crossing->ties[mbna_current_tie]; /* reset tie counts for snavs */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; section->snav_num_ties[tie->snav_1]--; file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; section->snav_num_ties[tie->snav_2]--; /* get new tie values */ /* fprintf(stderr, "tie %d of crossing %d saved...\n", mbna_current_tie, mbna_current_crossing); */ /* tie->status = tie->status; */ tie->snav_1 = mbna_snav_1; tie->snav_1_time_d = mbna_snav_1_time_d; tie->snav_2 = mbna_snav_2; tie->snav_2_time_d = mbna_snav_2_time_d; if (tie->inversion_status == MBNA_INVERSION_CURRENT && (tie->offset_x != mbna_offset_x || tie->offset_y != mbna_offset_y || tie->offset_z_m != mbna_offset_z)) { tie->inversion_status = MBNA_INVERSION_OLD; } tie->offset_x = mbna_offset_x; tie->offset_y = mbna_offset_y; tie->offset_x_m = mbna_offset_x / mbna_mtodeglon; tie->offset_y_m = mbna_offset_y / mbna_mtodeglat; tie->offset_z_m = mbna_offset_z; tie->sigmar1 = mbna_minmisfit_sr1; tie->sigmar2 = mbna_minmisfit_sr2; tie->sigmar3 = mbna_minmisfit_sr3; for (i=0;i<3;i++) { tie->sigmax1[i] = mbna_minmisfit_sx1[i]; tie->sigmax2[i] = mbna_minmisfit_sx2[i]; tie->sigmax3[i] = mbna_minmisfit_sx3[i]; } if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* reset tie counts for snavs */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; section->snav_num_ties[tie->snav_1]++; file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; section->snav_num_ties[tie->snav_2]++; /* write updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message,"Save Tie Point %d of Crossing %d\n > Nav points: %d:%d:%d %d:%d:%d\n > Offsets: %f %f %f m\n", mbna_current_tie, mbna_current_crossing, crossing->file_id_1, crossing->section_1, tie->snav_1, crossing->file_id_2, crossing->section_2, tie->snav_2, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_specific(int new_crossing, int new_tie) { /* local variables */ char *function_name = "mbnavadjust_naverr_specific"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 new_crossing: %d\n",new_crossing); fprintf(stderr,"dbg2 new_tie: %d\n",new_tie); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* get next crossing */ if (new_crossing >= 0 && new_crossing < project.num_crossings) { mbna_current_crossing = new_crossing; if (new_tie >= 0 && new_tie < project.crossings[mbna_current_crossing].num_ties) mbna_current_tie = new_tie; else mbna_current_tie = -1; } else { mbna_current_crossing = 0; mbna_current_tie = -1; } /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; if (crossing->num_ties > 0) { if (mbna_current_tie < 0) mbna_current_tie = 0; tie = &crossing->ties[mbna_current_tie]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_y_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ } else { mbna_current_tie = -1; } /* reset survey file and section selections */ if (mbna_view_mode == MBNA_VIEW_MODE_SURVEY || mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY) { if (mbna_survey_select == project.files[crossing->file_id_1].block) { mbna_file_select = crossing->file_id_1; mbna_section_select = crossing->section_1; } else if (mbna_survey_select == project.files[crossing->file_id_2].block) { mbna_file_select = crossing->file_id_2; mbna_section_select = crossing->section_2; } else { mbna_survey_select = project.files[crossing->file_id_1].block; mbna_file_select = crossing->file_id_1; mbna_section_select = crossing->section_1; } } else if (mbna_view_mode == MBNA_VIEW_MODE_FILE || mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { if (mbna_file_select == crossing->file_id_1) { mbna_survey_select = project.files[crossing->file_id_1].block; mbna_section_select = crossing->section_1; } else if (mbna_file_select == crossing->file_id_2) { mbna_survey_select = project.files[crossing->file_id_2].block; mbna_section_select = crossing->section_2; } else { mbna_survey_select = project.files[crossing->file_id_1].block; mbna_file_select = crossing->file_id_1; mbna_section_select = crossing->section_1; } } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { if (mbna_file_select == crossing->file_id_1 && mbna_section_select == crossing->section_1) { mbna_survey_select = project.files[crossing->file_id_1].block; } else if (mbna_file_select == crossing->file_id_2 && mbna_section_select == crossing->section_2) { mbna_survey_select = project.files[crossing->file_id_2].block; } else { mbna_survey_select = project.files[crossing->file_id_1].block; mbna_file_select = crossing->file_id_1; mbna_section_select = crossing->section_1; } } } /* load the crossing */ if (mbna_current_crossing >= 0) { /* put up message */ sprintf(message,"Loading crossing %d...",mbna_current_crossing); do_message_on(message); mbnavadjust_crossing_load(); /* turn off message */ do_message_off(); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_next() { /* local variables */ char *function_name = "mbnavadjust_naverr_next"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; int crossing_ok; int i, j, k; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* find next current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* get next good crossing */ j = -1; k = -1; for (i=0;ioverlap >= MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_BETTERCROSSINGS && crossing->overlap >= 2 * MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TRUECROSSINGS && crossing->truecrossing == MB_YES) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TIES && crossing->num_ties > 0) crossing_ok = MB_YES; if ((mbna_view_mode == MBNA_VIEW_MODE_SURVEY && (mbna_survey_select != project.files[crossing->file_id_1].block || mbna_survey_select != project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && (mbna_file_select != crossing->file_id_1 || mbna_file_select != crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && mbna_survey_select != project.files[crossing->file_id_1].block && mbna_survey_select != project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && mbna_file_select != crossing->file_id_1 && mbna_file_select != crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && (mbna_file_select != crossing->file_id_1 || mbna_section_select != crossing->section_1) && (mbna_file_select != crossing->file_id_2 || mbna_section_select != crossing->section_2))) crossing_ok = MB_NO; if (crossing_ok == MB_YES) { if (j < 0) j = i; if (k < 0 && i > mbna_current_crossing) k = i; } } if (k >= 0) mbna_current_crossing = k; else if (j >= 0) mbna_current_crossing = j; else mbna_current_crossing = -1; mbna_current_tie = -1; } /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; if (crossing->num_ties > 0) { if (mbna_current_tie == -1) mbna_current_tie = 0; tie = &crossing->ties[0]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ /* reset survey file and section selections */ if (mbna_file_select == crossing->file_id_1) { mbna_section_select = crossing->section_1; } else if (mbna_file_select == crossing->file_id_2) { mbna_section_select = crossing->section_2; } else { mbna_file_select = crossing->file_id_1; mbna_survey_select = project.files[crossing->file_id_1].block; mbna_section_select = crossing->section_1; } } else { mbna_current_tie = -1; } } /* load the crossing */ if (mbna_current_crossing >= 0) { /* put up message */ sprintf(message,"Loading crossing %d...",mbna_current_crossing); do_message_on(message); mbnavadjust_crossing_load(); /* turn off message */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_previous() { /* local variables */ char *function_name = "mbnavadjust_naverr_previous"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; int crossing_ok; int i, j, k; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* find previous current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* get next good crossing */ j = -1; k = -1; for (i=0;ioverlap >= MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_BETTERCROSSINGS && crossing->overlap >= 2 * MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TRUECROSSINGS && crossing->truecrossing == MB_YES) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TIES && crossing->num_ties > 0) crossing_ok = MB_YES; if ((mbna_view_mode == MBNA_VIEW_MODE_SURVEY && (mbna_survey_select != project.files[crossing->file_id_1].block || mbna_survey_select != project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && (mbna_file_select != crossing->file_id_1 || mbna_file_select != crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && mbna_survey_select != project.files[crossing->file_id_1].block && mbna_survey_select != project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && mbna_file_select != crossing->file_id_1 && mbna_file_select != crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && (mbna_file_select != crossing->file_id_1 || mbna_section_select != crossing->section_1) && (mbna_file_select != crossing->file_id_2 || mbna_section_select != crossing->section_2))) crossing_ok = MB_NO; if (crossing_ok == MB_YES) { if (i < mbna_current_crossing) j = i; k = i; } } if (j >= 0) mbna_current_crossing = j; else if (k >= 0) mbna_current_crossing = k; else mbna_current_crossing = -1; mbna_current_tie = -1; } /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; if (crossing->num_ties > 0) { if (mbna_current_tie == -1) mbna_current_tie = 0; tie = &crossing->ties[0]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ /* reset survey file and section selections */ if (mbna_file_select == crossing->file_id_1) { mbna_section_select = crossing->section_1; } else if (mbna_file_select == crossing->file_id_2) { mbna_section_select = crossing->section_2; } else { mbna_file_select = crossing->file_id_1; mbna_survey_select = project.files[crossing->file_id_1].block; mbna_section_select = crossing->section_1; } } else { mbna_current_tie = -1; } } /* load the crossing */ if (mbna_current_crossing >= 0) { /* put up message */ sprintf(message,"Loading crossing %d...",mbna_current_crossing); do_message_on(message); mbnavadjust_crossing_load(); /* turn off message */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_nextunset() { /* local variables */ char *function_name = "mbnavadjust_naverr_nextunset"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; int crossing_ok; int i, j, k; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* find next current unset crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* get next good crossing */ j = -1; k = -1; for (i=0;ioverlap >= MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_BETTERCROSSINGS && crossing->overlap >= 2 * MBNA_OVERLAP_THRESHOLD) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TRUECROSSINGS && crossing->truecrossing == MB_YES) crossing_ok = MB_YES; else if (mbna_view_list == MBNA_VIEW_LIST_TIES && crossing->num_ties > 0) crossing_ok = MB_YES; if ((mbna_view_mode == MBNA_VIEW_MODE_SURVEY && (mbna_survey_select != project.files[crossing->file_id_1].block || mbna_survey_select != project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && (mbna_file_select != crossing->file_id_1 || mbna_file_select != crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && mbna_survey_select != project.files[crossing->file_id_1].block && mbna_survey_select != project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && mbna_file_select != crossing->file_id_1 && mbna_file_select != crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && (mbna_file_select != crossing->file_id_1 || mbna_section_select != crossing->section_1) && (mbna_file_select != crossing->file_id_2 || mbna_section_select != crossing->section_2))) crossing_ok = MB_NO; if (crossing->status != MBNA_CROSSING_STATUS_NONE) crossing_ok = MB_NO; if (crossing_ok == MB_YES) { if (j < 0) j = i; if (k < 0 && i > mbna_current_crossing) k = i; } } if (k >= 0) mbna_current_crossing = k; else if (j >= 0) mbna_current_crossing = j; else mbna_current_crossing = -1; mbna_current_tie = -1; } /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; if (crossing->num_ties > 0) { mbna_current_tie = 0; tie = &crossing->ties[0]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ /* reset survey file and section selections */ if (mbna_file_select == crossing->file_id_1) { mbna_section_select = crossing->section_1; } else if (mbna_file_select == crossing->file_id_2) { mbna_section_select = crossing->section_2; } else { mbna_file_select = crossing->file_id_1; mbna_survey_select = project.files[crossing->file_id_1].block; mbna_section_select = crossing->section_1; } } else { mbna_current_tie = -1; } } /* load the crossing */ if (mbna_current_crossing >= 0) { /* put up message */ sprintf(message,"Loading crossing %d...",mbna_current_crossing); do_message_on(message); mbnavadjust_crossing_load(); /* turn off message */ do_message_off(); } /* else unload previously loaded crossing */ else if (mbna_naverr_load == MB_YES) { status = mbnavadjust_crossing_unload(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_selecttie() { /* local variables */ char *function_name = "mbnavadjust_naverr_selecttie"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; struct mbna_section *section1, *section2; struct mbna_file *file1, *file2; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0 && project.crossings[mbna_current_crossing].num_ties > 0) { /* select next tie */ crossing = &project.crossings[mbna_current_crossing]; mbna_current_tie++; if (mbna_current_tie > crossing->num_ties - 1) mbna_current_tie = 0; tie = &crossing->ties[mbna_current_tie]; mbna_snav_1 = tie->snav_1; mbna_snav_2 = tie->snav_2; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; tie->offset_x_m = mbna_offset_x / mbna_mtodeglon; tie->offset_y_m = mbna_offset_y / mbna_mtodeglat; file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; mbna_invert_offset_x = section2->snav_lon_offset[mbna_snav_2] - section1->snav_lon_offset[mbna_snav_1]; mbna_invert_offset_y = section2->snav_lat_offset[mbna_snav_2] - section1->snav_lat_offset[mbna_snav_1]; mbna_invert_offset_z = section2->snav_z_offset[mbna_snav_2] - section1->snav_z_offset[mbna_snav_1]; } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_addtie() { /* local variables */ char *function_name = "mbnavadjust_naverr_addtie"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; struct mbna_section *section1, *section2; struct mbna_file *file1, *file2; int found; int ix, iy; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0 && project.crossings[mbna_current_crossing].num_ties < MBNA_SNAV_NUM) { /* add tie and set number */ crossing = &project.crossings[mbna_current_crossing]; file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; mbna_current_tie = crossing->num_ties; crossing->num_ties++; project.num_ties++; tie = &crossing->ties[mbna_current_tie]; if (crossing->status == MBNA_CROSSING_STATUS_NONE) { project.num_crossings_analyzed++; if (crossing->truecrossing == MB_YES) project.num_truecrossings_analyzed++; } crossing->status = MBNA_CROSSING_STATUS_SET; /* look for unused pair of nav points */ tie->snav_1 = -1; found = MB_NO; while (found == MB_NO) { found = MB_YES; tie->snav_1++; for (i=0;inum_ties-1;i++) { if (crossing->ties[i].snav_1 == tie->snav_1) found = MB_NO; } } tie->snav_2 = -1; found = MB_NO; while (found == MB_NO) { found = MB_YES; tie->snav_2++; for (i=0;inum_ties-1;i++) { if (crossing->ties[i].snav_2 == tie->snav_2) found = MB_NO; } } /* get rest of tie parameters */ tie->status = MBNA_TIE_XYZ; tie->snav_1_time_d = section1->snav_time_d[tie->snav_1]; tie->snav_2_time_d = section2->snav_time_d[tie->snav_2]; mbna_snav_1 = tie->snav_1; mbna_snav_2 = tie->snav_2; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2_time_d = tie->snav_2_time_d; tie->offset_x = mbna_offset_x; tie->offset_y = mbna_offset_y; tie->offset_x_m = mbna_offset_x / mbna_mtodeglon; tie->offset_y_m = mbna_offset_y / mbna_mtodeglat; tie->offset_z_m = mbna_offset_z; tie->sigmar1 = mbna_minmisfit_sr1; tie->sigmar2 = mbna_minmisfit_sr2; tie->sigmar3 = mbna_minmisfit_sr3; for (i=0;i<3;i++) { tie->sigmax1[i] = mbna_minmisfit_sx1[i]; tie->sigmax2[i] = mbna_minmisfit_sx2[i]; tie->sigmax3[i] = mbna_minmisfit_sx3[i]; } if (tie->sigmar1 < MBNA_SMALL) { tie->sigmar1 = 100.0; tie->sigmax1[0] = 1.0; tie->sigmax1[1] = 0.0; tie->sigmax1[2] = 0.0; } if (tie->sigmar2 < MBNA_SMALL) { tie->sigmar2 = 100.0; tie->sigmax2[0] = 0.0; tie->sigmax2[1] = 1.0; tie->sigmax2[2] = 0.0; } if (tie->sigmar3 < MBNA_SMALL) { tie->sigmar3 = 100.0; tie->sigmax3[0] = 0.0; tie->sigmax3[1] = 0.0; tie->sigmax3[2] = 1.0; } file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; mbna_invert_offset_x = section2->snav_lon_offset[mbna_snav_2] - section1->snav_lon_offset[mbna_snav_1]; mbna_invert_offset_y = section2->snav_lat_offset[mbna_snav_2] - section1->snav_lat_offset[mbna_snav_1]; mbna_invert_offset_z = section2->snav_z_offset[mbna_snav_2] - section1->snav_z_offset[mbna_snav_1]; tie->inversion_status = MBNA_INVERSION_NONE; tie->inversion_offset_x = mbna_invert_offset_x; tie->inversion_offset_y = mbna_invert_offset_y; tie->inversion_offset_x_m = mbna_invert_offset_x / mbna_mtodeglon; tie->inversion_offset_y_m = mbna_invert_offset_y / mbna_mtodeglat; tie->inversion_offset_z_m = mbna_invert_offset_z; if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* now put tie in center of plot */ ix = (int)(0.5 * (mbna_plot_lon_max - mbna_plot_lon_min) * mbna_plotx_scale); iy = (int)(cont_borders[3] - (0.5 * (mbna_plot_lat_max - mbna_plot_lat_min) * mbna_ploty_scale)); mbnavadjust_naverr_snavpoints(ix, iy); tie->snav_1 = mbna_snav_1; tie->snav_2 = mbna_snav_2; tie->snav_1_time_d = mbna_snav_1_time_d; tie->snav_2_time_d = mbna_snav_2_time_d; /* reset tie counts for snavs */ section1->snav_num_ties[tie->snav_1]++; section2->snav_num_ties[tie->snav_2]++; /* write updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message,"Add Tie Point %d of Crossing %d\n > Nav points: %d:%d:%d %d:%d:%d\n > Offsets: %f %f %f m\n", mbna_current_tie, mbna_current_crossing, crossing->file_id_1, crossing->section_1, tie->snav_1, crossing->file_id_2, crossing->section_2, tie->snav_2, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 snav point selected in MBnavadjust function <%s>\n", function_name); fprintf(stderr,"dbg2 snav values:\n"); fprintf(stderr,"dbg2 mbna_snav_1: %d\n",mbna_snav_1); fprintf(stderr,"dbg2 mbna_snav_1_time_d: %f\n",mbna_snav_1_time_d); fprintf(stderr,"dbg2 mbna_snav_1_lon: %f\n",mbna_snav_1_lon); fprintf(stderr,"dbg2 mbna_snav_1_lat: %f\n",mbna_snav_1_lat); fprintf(stderr,"dbg2 section1->num_snav: %d\n",section1->num_snav); for (i=0;inum_snav;i++) { fprintf(stderr,"dbg2 section1->snav_time_d[%d]: %f\n",i,section1->snav_time_d[i]); fprintf(stderr,"dbg2 section1->snav_lon[%d]: %f\n",i,section1->snav_lon[i]); fprintf(stderr,"dbg2 section1->snav_lat[%d]: %f\n",i,section1->snav_lat[i]); } fprintf(stderr,"dbg2 mbna_snav_2: %d\n",mbna_snav_2); fprintf(stderr,"dbg2 mbna_snav_2_time_d: %f\n",mbna_snav_2_time_d); fprintf(stderr,"dbg2 mbna_snav_2_lon: %f\n",mbna_snav_2_lon); fprintf(stderr,"dbg2 mbna_snav_2_lat: %f\n",mbna_snav_2_lat); fprintf(stderr,"dbg2 section2->num_snav: %d\n",section2->num_snav); for (i=0;inum_snav;i++) { fprintf(stderr,"dbg2 section2->snav_time_d[%d]: %f\n",i,section2->snav_time_d[i]); fprintf(stderr,"dbg2 section2->snav_lon[%d]: %f\n",i,section2->snav_lon[i]); fprintf(stderr,"dbg2 section2->snav_lat[%d]: %f\n",i,section2->snav_lat[i]); } } } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_deletetie() { /* local variables */ char *function_name = "mbnavadjust_naverr_deletetie"; int status = MB_SUCCESS; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0 && mbna_current_tie >= 0) { /* delete the tie */ mbnavadjust_deletetie(mbna_current_crossing, mbna_current_tie, MBNA_CROSSING_STATUS_SKIP); /* write updated project */ mbnavadjust_write_project(); } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_deletetie(int icrossing, int jtie, int delete_status) { /* local variables */ char *function_name = "mbnavadjust_deletetie"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; struct mbna_section *section1, *section2; struct mbna_file *file1, *file2; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 icrossing: %d\n",icrossing); fprintf(stderr,"dbg2 jtie: %d\n",jtie); fprintf(stderr,"dbg2 delete_status: %d\n",delete_status); } /* get current crossing */ if (project.open == MB_YES && icrossing >= 0 && jtie >= 0) { /* retrieve crossing parameters */ if (project.num_crossings > icrossing && project.crossings[icrossing].num_ties > jtie) { /* add info text */ crossing = &project.crossings[icrossing]; tie = &crossing->ties[jtie]; if (delete_status == MBNA_CROSSING_STATUS_SKIP) sprintf(message,"Delete Tie Point %d of Crossing %d\n > Nav points: %d:%d:%d %d:%d:%d\n > Offsets: %f %f %f m\n", jtie, icrossing, crossing->file_id_1, crossing->section_1, tie->snav_1, crossing->file_id_2, crossing->section_2, tie->snav_2, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m); else sprintf(message,"Clear Tie Point %d of Crossing %d\n > Nav points: %d:%d:%d %d:%d:%d\n > Offsets: %f %f %f m\n", jtie, icrossing, crossing->file_id_1, crossing->section_1, tie->snav_1, crossing->file_id_2, crossing->section_2, tie->snav_2, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); /* reset tie counts for snavs */ file1 = &project.files[crossing->file_id_1]; section1 = &file1->sections[crossing->section_1]; section1->snav_num_ties[tie->snav_1]--; file2 = &project.files[crossing->file_id_2]; section2 = &file2->sections[crossing->section_2]; section2->snav_num_ties[tie->snav_2]--; /* delete tie and set number */ for (i=mbna_current_tie;inum_ties-1;i++) { crossing->ties[i].snav_1 = crossing->ties[i+1].snav_1; crossing->ties[i].snav_1_time_d = crossing->ties[i+1].snav_1_time_d; crossing->ties[i].snav_2 = crossing->ties[i+1].snav_2; crossing->ties[i].snav_2_time_d = crossing->ties[i+1].snav_2_time_d; crossing->ties[i].offset_x = crossing->ties[i+1].offset_x; crossing->ties[i].offset_y = crossing->ties[i+1].offset_y; crossing->ties[i].offset_x_m = crossing->ties[i+1].offset_x_m; crossing->ties[i].offset_y_m = crossing->ties[i+1].offset_y_m; crossing->ties[i].offset_z_m = crossing->ties[i+1].offset_z_m; } crossing->num_ties--; project.num_ties--; if (mbna_current_tie > crossing->num_ties -1) mbna_current_tie--; /* set tie parameters */ if (crossing->num_ties <= 0) { crossing->num_ties = 0; crossing->status = delete_status; } else if (mbna_current_tie >= 0) { tie = &crossing->ties[mbna_current_tie]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; mbna_invert_offset_x = section2->snav_lon_offset[mbna_snav_2] - section1->snav_lon_offset[mbna_snav_1]; mbna_invert_offset_y = section2->snav_lat_offset[mbna_snav_2] - section1->snav_lat_offset[mbna_snav_1]; mbna_invert_offset_z = section2->snav_z_offset[mbna_snav_2] - section1->snav_z_offset[mbna_snav_1]; } if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_resettie() { /* local variables */ char *function_name = "mbnavadjust_naverr_resettie"; int status = MB_SUCCESS; struct mbna_file *file1, *file2; struct mbna_section *section1, *section2; struct mbna_crossing *crossing; struct mbna_tie *tie; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0 && mbna_current_tie >= 0) { /* reset tie */ file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; crossing = &project.crossings[mbna_current_crossing]; tie = &crossing->ties[mbna_current_tie]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_1_lon = section1->snav_lon[mbna_snav_1]; mbna_snav_1_lat = section1->snav_lat[mbna_snav_1]; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_snav_2_lon = section2->snav_lon[mbna_snav_2]; mbna_snav_2_lat = section2->snav_lat[mbna_snav_2]; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ mbna_minmisfit_sr1 = tie->sigmar1; mbna_minmisfit_sr2 = tie->sigmar2; mbna_minmisfit_sr3 = tie->sigmar3; for (i=0;i<3;i++) { mbna_minmisfit_sx1[i] = tie->sigmax1[i]; mbna_minmisfit_sx2[i] = tie->sigmax2[i]; mbna_minmisfit_sx3[i] = tie->sigmax3[i]; } } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_checkoksettie() { /* local variables */ char *function_name = "mbnavadjust_naverr_checkoksettie"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* check for changed offsets */ mbna_allow_set_tie = MB_NO; if (mbna_current_crossing >= 0 && mbna_current_tie >= 0) { crossing = &project.crossings[mbna_current_crossing]; tie = &crossing->ties[mbna_current_tie]; if (tie->snav_1 != mbna_snav_1 || tie->snav_2 != mbna_snav_2 || tie->offset_x != mbna_offset_x || tie->offset_y != mbna_offset_y || tie->offset_z_m != mbna_offset_z) { mbna_allow_set_tie = MB_YES; } /* also check for unset sigma values */ if (tie->sigmar1 == 100.0 && tie->sigmar2 == 100.0 && tie->sigmar3 == 100.0) { mbna_allow_set_tie = MB_YES; } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_skip() { /* local variables */ char *function_name = "mbnavadjust_naverr_skip"; int status = MB_SUCCESS; struct mbna_crossing *crossing; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; project.num_ties -= crossing->num_ties; crossing->num_ties = 0; if (crossing->status == MBNA_CROSSING_STATUS_NONE) { project.num_crossings_analyzed++; if (crossing->truecrossing == MB_YES) project.num_truecrossings_analyzed++; } crossing->status = MBNA_CROSSING_STATUS_SKIP; if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* write updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message,"Set crossing %d to be ignored\n", mbna_current_crossing); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_unset() { /* local variables */ char *function_name = "mbnavadjust_naverr_skip"; int status = MB_SUCCESS; struct mbna_crossing *crossing; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* get current crossing */ if (project.open == MB_YES && project.num_crossings > 0) { /* retrieve crossing parameters */ if (mbna_current_crossing >= 0) { crossing = &project.crossings[mbna_current_crossing]; project.num_ties -= crossing->num_ties; crossing->num_ties = 0; if (crossing->status != MBNA_CROSSING_STATUS_NONE) { project.num_crossings_analyzed--; if (crossing->truecrossing == MB_YES) project.num_truecrossings_analyzed--; } crossing->status = MBNA_CROSSING_STATUS_NONE; if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; /* write updated project */ mbnavadjust_write_project(); /* add info text */ sprintf(message,"Unset crossing %d\n", mbna_current_crossing); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); } } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_load() { /* local variables */ char *function_name = "mbnavadjust_crossing_load"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; struct mbna_file *file1, *file2; struct mbna_section *section1, *section2; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* unload loaded crossing */ if (mbna_naverr_load == MB_YES) { status = mbnavadjust_crossing_unload(); } /* load current crossing */ if ((mbna_status == MBNA_STATUS_NAVERR || mbna_status == MBNA_STATUS_AUTOPICK) && project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { /* put up message */ sprintf(message,"Loading crossing %d...",mbna_current_crossing); do_message_update(message); /* retrieve crossing parameters */ crossing = &project.crossings[mbna_current_crossing]; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; if (crossing->num_ties > 0 && mbna_current_tie >= 0) { /* get basic crossing parameters */ tie = &crossing->ties[mbna_current_tie]; mbna_snav_1 = tie->snav_1; mbna_snav_1_time_d = tie->snav_1_time_d; mbna_snav_1_lon = section1->snav_lon[mbna_snav_1]; mbna_snav_1_lat = section1->snav_lat[mbna_snav_1]; mbna_snav_2 = tie->snav_2; mbna_snav_2_time_d = tie->snav_2_time_d; mbna_snav_2_lon = section2->snav_lon[mbna_snav_2]; mbna_snav_2_lat = section2->snav_lat[mbna_snav_2]; mbna_offset_x = tie->offset_x; mbna_offset_y = tie->offset_y; mbna_offset_z = tie->offset_z_m; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ file1 = (struct mbna_file *) &project.files[mbna_file_id_1]; file2 = (struct mbna_file *) &project.files[mbna_file_id_2]; section1 = (struct mbna_section *) &file1->sections[mbna_section_1]; section2 = (struct mbna_section *) &file2->sections[mbna_section_2]; mbna_invert_offset_x = section2->snav_lon_offset[mbna_snav_2] - section1->snav_lon_offset[mbna_snav_1]; mbna_invert_offset_y = section2->snav_lat_offset[mbna_snav_2] - section1->snav_lat_offset[mbna_snav_1]; mbna_invert_offset_z = section2->snav_z_offset[mbna_snav_2] - section1->snav_z_offset[mbna_snav_1]; } else if (project.inversion != MBNA_INVERSION_NONE) { mbna_invert_offset_x = section2->snav_lon_offset[mbna_snav_2] - section1->snav_lon_offset[mbna_snav_1]; mbna_invert_offset_y = section2->snav_lat_offset[mbna_snav_2] - section1->snav_lat_offset[mbna_snav_1]; mbna_invert_offset_z = section2->snav_z_offset[mbna_snav_2] - section1->snav_z_offset[mbna_snav_1]; mbna_offset_x = mbna_invert_offset_x; mbna_offset_y = mbna_invert_offset_y; mbna_offset_z = mbna_invert_offset_z; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ } else { mbna_offset_x = 0.0; mbna_offset_y = 0.0; mbna_offset_z = 0.0; /* fprintf(stderr,"%s %d: mbna_offset_z:%f\n",__FILE__,__LINE__,mbna_offset_z); */ } mbna_lon_min = MIN(section1->lonmin,section2->lonmin + mbna_offset_x); mbna_lon_max = MAX(section1->lonmax,section2->lonmax + mbna_offset_x); mbna_lat_min = MIN(section1->latmin,section2->latmin + mbna_offset_y); mbna_lat_max = MAX(section1->latmax,section2->latmax + mbna_offset_y); mbna_plot_lon_min = mbna_lon_min; mbna_plot_lon_max = mbna_lon_max; mbna_plot_lat_min = mbna_lat_min; mbna_plot_lat_max = mbna_lat_max; mb_coor_scale(mbna_verbose,0.5 * (mbna_lat_min + mbna_lat_max), &mbna_mtodeglon,&mbna_mtodeglat); /* load sections */ sprintf(message,"Loading section 1 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_load(mbna_file_id_1, mbna_section_1, (void **) &swathraw1, (void **) &swath1, section1->num_pings); sprintf(message,"Loading section 2 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_load(mbna_file_id_2, mbna_section_2, (void **) &swathraw2, (void **) &swath2, section2->num_pings); /* get lon lat positions for soundings */ sprintf(message,"Transforming section 1 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_translate(mbna_file_id_1, swathraw1, swath1, 0.0); sprintf(message,"Transforming section 2 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_translate(mbna_file_id_2, swathraw2, swath2, mbna_offset_z); /* generate contour data */ if (mbna_status != MBNA_STATUS_AUTOPICK) { sprintf(message,"Contouring section 1 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_contour(mbna_file_id_1,mbna_section_1,swath1,&mbna_contour1); sprintf(message,"Contouring section 2 of crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_section_contour(mbna_file_id_2,mbna_section_2,swath2,&mbna_contour2); } /* set loaded flag */ mbna_naverr_load = MB_YES; /* generate misfit grids */ sprintf(message,"Getting misfit for crossing %d...",mbna_current_crossing); do_message_update(message); status = mbnavadjust_get_misfit(); /* get overlap region */ mbnavadjust_crossing_overlap(mbna_current_crossing); } /* set mbna_crossing_select */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { mbna_crossing_select = mbna_current_crossing; if (mbna_current_tie >= 0) mbna_tie_select = mbna_current_tie; else mbna_tie_select = MBNA_SELECT_NONE; } else { mbna_crossing_select = MBNA_SELECT_NONE; mbna_tie_select = MBNA_SELECT_NONE; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_unload() { /* local variables */ char *function_name = "mbnavadjust_crossing_unload"; int status = MB_SUCCESS; struct pingraw *pingraw; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* unload loaded crossing */ if (mbna_naverr_load == MB_YES) { /* free raw swath data */ if (swathraw1 != NULL && swathraw1->pingraws != NULL) { for (i=0;inpings_max;i++) { pingraw = &swathraw1->pingraws[i]; status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->beamflag, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bath, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bathacrosstrack, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bathalongtrack, &error); } status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&swathraw1->pingraws, &error); } if (swathraw2 != NULL && swathraw2->pingraws != NULL) { for (i=0;inpings_max;i++) { pingraw = &swathraw2->pingraws[i]; status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->beamflag, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bath, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bathacrosstrack, &error); status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&pingraw->bathalongtrack, &error); } status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&swathraw2->pingraws, &error); } if (swathraw1 != NULL) status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&swathraw1, &error); if (swathraw2 != NULL) status = mb_freed(mbna_verbose,__FILE__,__LINE__,(void **)&swathraw2, &error); /* free contours */ status = mb_contour_deall(mbna_verbose,swath1,&error); status = mb_contour_deall(mbna_verbose,swath2,&error); if (mbna_contour1.vector != NULL && mbna_contour1.nvector_alloc > 0) { free(mbna_contour1.vector); } if (mbna_contour2.vector != NULL && mbna_contour2.nvector_alloc > 0) { free(mbna_contour2.vector); } mbna_contour1.vector = NULL; mbna_contour1.nvector = 0; mbna_contour1.nvector_alloc = 0; mbna_contour2.vector = NULL; mbna_contour2.nvector = 0; mbna_contour2.nvector_alloc = 0; mbna_naverr_load = MB_NO; grid_nx = 0; grid_ny = 0; grid_nxy = 0; grid_nxyzeq = 0; gridm_nx = 0; gridm_ny = 0; gridm_nxyz = 0; if (grid1 != NULL) { free(grid1); } if (grid2 != NULL) { free(grid2); } if (gridm != NULL) { free(gridm); } if (gridmeq != NULL) { free(gridmeq); } if (gridn1 != NULL) { free(gridn1); } if (gridn2 != NULL) { free(gridn2); } if (gridnm != NULL) { free(gridnm); } grid1 = NULL; grid2 = NULL; gridm = NULL; gridmeq = NULL; gridn1 = NULL; gridn2 = NULL; gridnm = NULL; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_replot() { /* local variables */ char *function_name = "mbnavadjust_crossing_replot"; int status = MB_SUCCESS; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* replot loaded crossing */ if ((mbna_status == MBNA_STATUS_NAVERR || mbna_status == MBNA_STATUS_AUTOPICK) && mbna_naverr_load == MB_YES) { /* get lon lat positions for soundings */ status = mbnavadjust_section_translate(mbna_file_id_1, swathraw1, swath1, 0.0); status = mbnavadjust_section_translate(mbna_file_id_2, swathraw2, swath2, mbna_offset_z); /* generate contour data */ status = mbnavadjust_section_contour(mbna_file_id_1,mbna_section_1,swath1,&mbna_contour1); status = mbnavadjust_section_contour(mbna_file_id_2,mbna_section_2,swath2,&mbna_contour2); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_section_load(int file_id, int section_id, void **swathraw_ptr, void **swath_ptr, int num_pings) { /* local variables */ char *function_name = "mbnavadjust_section_load"; int status = MB_SUCCESS; struct mb_io_struct *imb_io_ptr; struct swathraw *swathraw; struct pingraw *pingraw; struct swath *swath; struct mbna_file *file; struct mbna_section *section; /* mbio read and write values */ void *imbio_ptr = NULL; void *istore_ptr = NULL; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double draft; double roll; double pitch; double heave; int beams_bath; int beams_amp; int pixels_ss; 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]; char path[STRING_MAX]; int iformat; double tick_len_map, label_hgt_map; int done; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 file_id: %d\n",file_id); fprintf(stderr,"dbg2 section_id: %d\n",section_id); fprintf(stderr,"dbg2 swath_ptr: %ld %lu\n",(size_t)swath_ptr, (size_t)*swath_ptr); fprintf(stderr,"dbg2 num_pings: %d\n",num_pings); } /* load specified section */ if (project.open == MB_YES && project.num_crossings > 0) { /* set section format and path */ sprintf(path,"%s/nvs_%4.4d_%4.4d.mb71", project.datadir,file_id,section_id); iformat = 71; file = &(project.files[file_id]); section = &(file->sections[section_id]); /* initialize section for reading */ if ((status = mb_read_init( mbna_verbose,path,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(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",error_message); fprintf(stderr,"\nSwath sonar File <%s> not initialized for reading\n",path); exit(0); } /* allocate memory for data arrays */ if (status == MB_SUCCESS) { if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(mbna_verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then don't read the file */ if (error != MB_ERROR_NO_ERROR) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", error_message); } } /* allocate memory for data arrays */ if (status == MB_SUCCESS) { /* get mb_io_ptr */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; /* initialize data storage */ status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, sizeof(struct swathraw), (void **)swathraw_ptr, &error); swathraw = (struct swathraw *) *swathraw_ptr; swathraw->beams_bath = beams_bath; swathraw->npings_max = num_pings; swathraw->npings = 0; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, num_pings * sizeof(struct pingraw), (void **)&swathraw->pingraws, &error); for (i=0;inpings_max;i++) { pingraw = &swathraw->pingraws[i]; pingraw->beams_bath = 0; pingraw->beamflag = NULL; pingraw->bath = NULL; pingraw->bathacrosstrack = NULL; pingraw->bathalongtrack = NULL; } /* initialize contour controls */ tick_len_map = MAX(section->lonmax - section->lonmin, section->latmax - section->latmin) / 500; label_hgt_map = MAX(section->lonmax - section->lonmin, section->latmax - section->latmin) / 100; status = mb_contour_init(mbna_verbose, (struct swath **)swath_ptr, num_pings, beams_bath, mbna_contour_algorithm, MB_YES,MB_NO,MB_NO,MB_NO,MB_NO, project.cont_int, project.col_int, project.tick_int, project.label_int, tick_len_map, label_hgt_map, 0.0, mbna_ncolor, 0, NULL, NULL, NULL, 0.0, 0.0, 0.0, 0.0, 0, 0, 0.0, 0.0, &error); swath = (struct swath *) *swath_ptr; swath->beams_bath = beams_bath; swath->npings = 0; /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(mbna_verbose,error,&error_message); fprintf(stderr,"\nMBIO Error allocating contour control structure:\n%s\n",error_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* now read the data */ if (status == MB_SUCCESS) { done = MB_NO; while (done == MB_NO) { /* read the next ping */ status = mb_get_all(mbna_verbose,imbio_ptr, &istore_ptr, &kind, time_i, &time_d, &navlon, &navlat, &speed, &heading, &distance, &altitude, &sonardepth, &beams_bath, &beams_amp, &pixels_ss, beamflag, bath, amp, bathacrosstrack, bathalongtrack, ss, ssacrosstrack, ssalongtrack, comment, &error); /* handle successful read */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { /* allocate memory for the raw arrays */ pingraw = &swathraw->pingraws[swathraw->npings]; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, beams_bath * sizeof(char), (void **)&pingraw->beamflag, &error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, beams_bath * sizeof(double), (void **)&pingraw->bath, &error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, beams_bath * sizeof(double), (void **)&pingraw->bathacrosstrack, &error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, beams_bath * sizeof(double), (void **)&pingraw->bathalongtrack, &error); /* make sure enough memory is allocated for contouring arrays */ ping = &swath->pings[swathraw->npings]; if (ping->beams_bath_alloc < beams_bath) { status = mb_reallocd(mbna_verbose,__FILE__,__LINE__,beams_bath*sizeof(char), (void **)&(ping->beamflag),&error); status = mb_reallocd(mbna_verbose,__FILE__,__LINE__,beams_bath*sizeof(double), (void **)&(ping->bath),&error); status = mb_reallocd(mbna_verbose,__FILE__,__LINE__,beams_bath*sizeof(double), (void **)&(ping->bathlon),&error); status = mb_reallocd(mbna_verbose,__FILE__,__LINE__,beams_bath*sizeof(double), (void **)&(ping->bathlat),&error); ping->beams_bath_alloc = beams_bath; } /* copy arrays and update bookkeeping */ if (error == MB_ERROR_NO_ERROR) { swathraw->npings++; if (swathraw->npings >= swathraw->npings_max) done = MB_YES; for (i=0;i<7;i++) pingraw->time_i[i] = time_i[i]; pingraw->time_d = time_d; pingraw->navlon = navlon; pingraw->navlat = navlat; pingraw->heading = heading; pingraw->draft = draft; pingraw->beams_bath = beams_bath; /* fprintf(stderr,"\nPING %d : %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d\n", swathraw->npings,time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6]); */ for (i=0;ibeamflag[i] = beamflag[i]; if (mb_beam_ok(beamflag[i])) { pingraw->beamflag[i] = beamflag[i]; pingraw->bath[i] = bath[i]; pingraw->bathacrosstrack[i] = bathacrosstrack[i]; pingraw->bathalongtrack[i] = bathalongtrack[i]; } else { pingraw->beamflag[i] = MB_FLAG_NULL; pingraw->bath[i] = 0.0; pingraw->bathacrosstrack[i] = 0.0; pingraw->bathalongtrack[i] = 0.0; } /* fprintf(stderr,"BEAM: %d:%d Flag:%d %f %f %f\n", swathraw->npings,i,pingraw->beamflag[i],pingraw->bath[i],pingraw->bathacrosstrack[i],pingraw->bathalongtrack[i]); */ } } /* extract all nav values */ status = mb_extract_nav(mbna_verbose,imbio_ptr, istore_ptr,&kind, pingraw->time_i, &pingraw->time_d, &pingraw->navlon, &pingraw->navlat, &speed, &pingraw->heading, &pingraw->draft, &roll, &pitch, &heave, &error); /*fprintf(stderr, "%d %4d/%2d/%2d %2d:%2d:%2d.%6.6d %11.6f %11.6f %d:%d\n", status, ping->time_i[0],ping->time_i[1],ping->time_i[2], ping->time_i[3],ping->time_i[4],ping->time_i[5],ping->time_i[6], ping->navlon, ping->navlat, beams_bath, swath->beams_bath);*/ /* print debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n", kind); fprintf(stderr,"dbg2 npings: %d\n", swathraw->npings); fprintf(stderr,"dbg2 time: %4d %2d %2d %2d %2d %2d %6.6d\n", pingraw->time_i[0],pingraw->time_i[1],pingraw->time_i[2], pingraw->time_i[3],pingraw->time_i[4],pingraw->time_i[5],pingraw->time_i[6]); fprintf(stderr,"dbg2 navigation: %f %f\n", pingraw->navlon, pingraw->navlat); fprintf(stderr,"dbg2 beams_bath: %d\n", beams_bath); fprintf(stderr,"dbg2 beams_amp: %d\n", beams_amp); fprintf(stderr,"dbg2 pixels_ss: %d\n", pixels_ss); fprintf(stderr,"dbg2 done: %d\n", done); fprintf(stderr,"dbg2 error: %d\n", error); fprintf(stderr,"dbg2 status: %d\n", status); } } else if (error > MB_ERROR_NO_ERROR) { status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; done = MB_YES; } } /* close the input data file */ status = mb_close(mbna_verbose,&imbio_ptr,&error); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_section_translate(int file_id, void *swathraw_ptr, void *swath_ptr, double zoffset) { /* local variables */ char *function_name = "mbnavadjust_section_translate"; int status = MB_SUCCESS; struct swathraw *swathraw; struct pingraw *pingraw; struct swath *swath; double mtodeglon, mtodeglat, headingx, headingy; double depth, depthacrosstrack, depthalongtrack; double alpha, beta, range; int i, iping; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 file_id: %d\n",file_id); fprintf(stderr,"dbg2 swathraw_ptr: %lu\n",(size_t)swathraw_ptr); fprintf(stderr,"dbg2 swath_ptr: %lu\n",(size_t)swath_ptr); fprintf(stderr,"dbg2 zoffset: %f\n",zoffset); } /* translate sounding positions for loaded section */ if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0) { swathraw = (struct swathraw *) swathraw_ptr; swath = (struct swath *) swath_ptr; /* relocate soundings based on heading bias */ swath->npings = 0; for (iping=0;ipingnpings;iping++) { swath->npings++; pingraw = &swathraw->pingraws[iping]; ping = &swath->pings[swath->npings - 1]; for (i=0;i<7;i++) ping->time_i[i] = pingraw->time_i[i]; ping->time_d = pingraw->time_d; ping->navlon = pingraw->navlon; ping->navlat = pingraw->navlat; ping->heading = pingraw->heading + project.files[file_id].heading_bias; mb_coor_scale(mbna_verbose, pingraw->navlat, &mtodeglon, &mtodeglat); headingx = sin(ping->heading * DTR); headingy = cos(ping->heading * DTR); ping->beams_bath = pingraw->beams_bath; for (i=0;ibeams_bath;i++) { ping->beamflag[i] = pingraw->beamflag[i]; if (mb_beam_ok(pingraw->beamflag[i])) { /* strip off transducer depth */ depth = pingraw->bath[i] - pingraw->draft; /* get range and angles in roll-pitch frame */ range = sqrt(depth * depth + pingraw->bathacrosstrack[i] * pingraw->bathacrosstrack[i] + pingraw->bathalongtrack[i] * pingraw->bathalongtrack[i]); alpha = asin(pingraw->bathalongtrack[i] / range); beta = acos(pingraw->bathacrosstrack[i] / range / cos(alpha)); /* apply roll correction */ beta += DTR * project.files[file_id].roll_bias; /* recalculate bathymetry */ depth = range * cos(alpha) * sin(beta); depthalongtrack = range * sin(alpha); depthacrosstrack = range * cos(alpha) * cos(beta); /* add heave and draft back in */ depth += pingraw->draft; /* add zoffset */ depth += zoffset; /* get bathymetry in lon lat */ ping->beamflag[i] = pingraw->beamflag[i]; ping->bath[i] = depth; ping->bathlon[i] = pingraw->navlon + headingy*mtodeglon *depthacrosstrack + headingx*mtodeglon *depthalongtrack; ping->bathlat[i] = pingraw->navlat - headingx*mtodeglat *depthacrosstrack + headingy*mtodeglat *depthalongtrack; } } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_section_contour(int fileid, int sectionid, struct swath *swath, struct mbna_contour_vector *contour) { /* local variables */ char *function_name = "mbnavadjust_section_contour"; int status = MB_SUCCESS; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 fileid: %d\n",fileid); fprintf(stderr,"dbg2 sectionid: %d\n",sectionid); fprintf(stderr,"dbg2 swath: %lu\n",(size_t)swath); fprintf(stderr,"dbg2 contour: %lu\n",(size_t)contour); fprintf(stderr,"dbg2 nvector: %d\n",contour->nvector); fprintf(stderr,"dbg2 nvector_alloc:%d\n",contour->nvector_alloc); } if (swath != NULL) { /* set vectors */ mbna_contour = contour; contour->nvector = 0; /* reset contouring parameters */ swath->contour_int = project.cont_int; swath->color_int = project.col_int; swath->tick_int = project.tick_int; /* generate contours */ status = mb_contour(mbna_verbose,swath,&error); /* set contours up to date flag */ project.files[fileid].sections[sectionid].contoursuptodate = MB_YES; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_naverr_snavpoints(int ix, int iy) { /* local variables */ char *function_name = "mbnavadjust_naverr_snavpoints"; int status = MB_SUCCESS; double x, y, dx, dy, d; struct mbna_crossing *crossing; struct mbna_section *section; double distance; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 ix: %d\n",ix); fprintf(stderr,"dbg2 iy: %d\n",iy); } if (mbna_naverr_load == MB_YES) { /* get position in lon and lat */ x = ix / mbna_plotx_scale + mbna_plot_lon_min; y = (cont_borders[3] - iy) / mbna_ploty_scale + mbna_plot_lat_min; crossing = &project.crossings[mbna_current_crossing]; /* get closest snav point in swath 1 */ section = &project.files[crossing->file_id_1].sections[crossing->section_1]; distance = 999999.999; for (i=0;inum_snav;i++) { dx = (section->snav_lon[i] - x) / mbna_mtodeglon; dy = (section->snav_lat[i] - y) / mbna_mtodeglat; d = sqrt(dx * dx + dy * dy); if (d < distance) { distance = d; mbna_snav_1 = i; mbna_snav_1_time_d = section->snav_time_d[i]; mbna_snav_1_lon = section->snav_lon[i]; mbna_snav_1_lat = section->snav_lat[i]; } } /* get closest snav point in swath 2 */ section = &project.files[crossing->file_id_2].sections[crossing->section_2]; distance = 999999.999; for (i=0;inum_snav;i++) { dx = (section->snav_lon[i] + mbna_offset_x - x) / mbna_mtodeglon; dy = (section->snav_lat[i] + mbna_offset_y - y) / mbna_mtodeglat; d = sqrt(dx * dx + dy * dy); if (d < distance) { distance = d; mbna_snav_2 = i; mbna_snav_2_time_d = section->snav_time_d[i]; mbna_snav_2_lon = section->snav_lon[i]; mbna_snav_2_lat = section->snav_lat[i]; } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 snav point selected in MBnavadjust function <%s>\n", function_name); fprintf(stderr,"dbg2 snav values:\n"); section = &project.files[crossing->file_id_1].sections[crossing->section_1]; fprintf(stderr,"dbg2 mbna_snav_1: %d\n",mbna_snav_1); fprintf(stderr,"dbg2 mbna_snav_1_time_d: %f\n",mbna_snav_1_time_d); fprintf(stderr,"dbg2 mbna_snav_1_lon: %f\n",mbna_snav_1_lon); fprintf(stderr,"dbg2 mbna_snav_1_lat: %f\n",mbna_snav_1_lat); fprintf(stderr,"dbg2 section->num_snav: %d\n",section->num_snav); for (i=0;inum_snav;i++) { fprintf(stderr,"dbg2 section1->snav_time_d[%d]: %f\n",i,section->snav_time_d[i]); fprintf(stderr,"dbg2 section1->snav_lon[%d]: %f\n",i,section->snav_lon[i]); fprintf(stderr,"dbg2 section1->snav_lat[%d]: %f\n",i,section->snav_lat[i]); } section = &project.files[crossing->file_id_2].sections[crossing->section_2]; fprintf(stderr,"dbg2 mbna_snav_2: %d\n",mbna_snav_2); fprintf(stderr,"dbg2 mbna_snav_2_time_d: %f\n",mbna_snav_2_time_d); fprintf(stderr,"dbg2 mbna_snav_2_lon: %f\n",mbna_snav_2_lon); fprintf(stderr,"dbg2 mbna_snav_2_lat: %f\n",mbna_snav_2_lat); fprintf(stderr,"dbg2 section->num_snav: %d\n",section->num_snav); for (i=0;inum_snav;i++) { fprintf(stderr,"dbg2 section2->snav_time_d[%d]: %f\n",i,section->snav_time_d[i]); fprintf(stderr,"dbg2 section2->snav_lon[%d]: %f\n",i,section->snav_lon[i]); fprintf(stderr,"dbg2 section2->snav_lat[%d]: %f\n",i,section->snav_lat[i]); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_sections_intersect(int crossing_id) { /* local variables */ char *function_name = "mbnavadjust_sections_intersect"; struct mbna_file *file; struct mbna_crossing *crossing; struct mbna_section *section; int answer = MB_NO; double xa1, ya1, xa2, ya2; double xb1, yb1, xb2, yb2; double dxa, dya, dxb, dyb; double s, t; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 crossing_id: %d\n",crossing_id); } /* get crossing */ crossing = (struct mbna_crossing *) &project.crossings[crossing_id]; /* get section endpoints */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; xa1 = section->snav_lon[0] + section->snav_lon_offset[0]; ya1 = section->snav_lat[0] + section->snav_lat_offset[0]; xa2 = section->snav_lon[section->num_snav - 1] + section->snav_lon_offset[section->num_snav - 1]; ya2 = section->snav_lat[section->num_snav - 1] + section->snav_lat_offset[section->num_snav - 1]; file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; xb1 = section->snav_lon[0] + section->snav_lon_offset[0]; yb1 = section->snav_lat[0] + section->snav_lat_offset[0]; xb2 = section->snav_lon[section->num_snav - 1] + section->snav_lon_offset[section->num_snav - 1]; yb2 = section->snav_lat[section->num_snav - 1] + section->snav_lat_offset[section->num_snav - 1]; /* check for parallel sections */ dxa = xa2 - xa1; dya = ya2 - ya1; dxb = xb2 - xb1; dyb = yb2 - yb1; if ((dxb * dya - dyb * dxa) == 0.0) { answer = MB_NO; } else { /* check for crossing sections */ s = (dxa * (yb1 - ya1) + dya * (xa1 - xb1)) / (dxb * dya - dyb * dxa); t = (dxb * (ya1 - yb1) + dyb * (xb1 - xa1)) / (dyb * dxa - dxb * dya); if (s >= 0.0 && s <= 1.0 && t >= 0.0 && t <= 1.0) answer = MB_YES; else answer = MB_NO; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 answer: %d\n",answer); } return(answer); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_overlap(int crossing_id) { /* local variables */ char *function_name = "mbnavadjust_crossing_overlap"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_crossing *crossing; struct mbna_section *section1; struct mbna_section *section2; int overlap1[MBNA_MASK_DIM * MBNA_MASK_DIM]; int overlap2[MBNA_MASK_DIM * MBNA_MASK_DIM]; double lonoffset, latoffset; double lon1min, lon1max; double lat1min, lat1max; double lon2min, lon2max; double lat2min, lat2max; double dx1, dy1, dx2, dy2; double overlapfraction; int ncoverage1, ncoverage2; int noverlap1, noverlap2; int first; int i, ii1, jj1, kk1, ii2, jj2, kk2; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 crossing_id: %d\n",crossing_id); } /* get crossing */ crossing = (struct mbna_crossing *) &project.crossings[crossing_id]; /* get section endpoints */ file = &project.files[crossing->file_id_1]; section1 = &file->sections[crossing->section_1]; file = &project.files[crossing->file_id_2]; section2 = &file->sections[crossing->section_2]; lonoffset = section2->snav_lon_offset[section2->num_snav/2] - section1->snav_lon_offset[section1->num_snav/2]; latoffset = section2->snav_lat_offset[section2->num_snav/2] - section1->snav_lat_offset[section1->num_snav/2]; /* initialize overlap arrays */ for (i=0;ilonmax - section1->lonmin) / MBNA_MASK_DIM; dy1 = (section1->latmax - section1->latmin) / MBNA_MASK_DIM; dx2 = (section2->lonmax - section2->lonmin) / MBNA_MASK_DIM; dy2 = (section2->latmax - section2->latmin) / MBNA_MASK_DIM; for (ii1=0;ii1coverage[kk1] == 1) { lon1min = section1->lonmin + dx1 * ii1; lon1max = section1->lonmin + dx1 * (ii1 + 1); lat1min = section1->latmin + dy1 * jj1; lat1max = section1->latmin + dy1 * (jj1 + 1); for (ii2=0;ii2coverage[kk2] == 1) { lon2min = section2->lonmin + dx2 * ii2 + lonoffset; lon2max = section2->lonmin + dx2 * (ii2 + 1) + lonoffset; lat2min = section2->latmin + dy2 * jj2 + latoffset; lat2max = section2->latmin + dy2 * (jj2 + 1) + latoffset; if ((lon1min < lon2max) && (lon1max > lon2min) && (lat1min < lat2max) && (lat1max > lat2min)) { overlap1[kk1] = 1; overlap2[kk2] = 1; } } } } } /* count fractions covered */ ncoverage1 = 0; ncoverage2 = 0; noverlap1 = 0; noverlap2 = 0; for (i=0;icoverage[i] == 1) ncoverage1++; if (section2->coverage[i] == 1) ncoverage2++; if (overlap1[i] == 1) noverlap1++; if (overlap2[i] == 1) noverlap2++; } overlapfraction = (dx1 * dy1) / (dx1 * dy1 + dx2 * dy2) * ((double)noverlap1) / ((double)ncoverage1) + (dx2 * dy2) / (dx1 * dy1 + dx2 * dy2) * ((double)noverlap2) / ((double)ncoverage2); crossing->overlap = (int) (100.0 * overlapfraction); if (crossing->overlap < 1) crossing->overlap = 1; /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 crossing->overlap: %d\n",crossing->overlap); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_crossing_overlapbounds(int crossing_id, double offset_x, double offset_y, double *lonmin, double *lonmax, double *latmin, double *latmax) { /* local variables */ char *function_name = "mbnavadjust_crossing_overlapbounds"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_crossing *crossing; struct mbna_section *section1; struct mbna_section *section2; int overlap1[MBNA_MASK_DIM * MBNA_MASK_DIM]; int overlap2[MBNA_MASK_DIM * MBNA_MASK_DIM]; double lon1min, lon1max; double lat1min, lat1max; double lon2min, lon2max; double lat2min, lat2max; double dx1, dy1, dx2, dy2; int first; int i, ii1, jj1, kk1, ii2, jj2, kk2; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 crossing_id: %d\n",crossing_id); fprintf(stderr,"dbg2 offset_x: %f\n",offset_x); fprintf(stderr,"dbg2 offset_y: %f\n",offset_y); } /* get crossing */ crossing = (struct mbna_crossing *) &project.crossings[crossing_id]; /* get section endpoints */ file = &project.files[crossing->file_id_1]; section1 = &file->sections[crossing->section_1]; file = &project.files[crossing->file_id_2]; section2 = &file->sections[crossing->section_2]; /* initialize overlap arrays */ for (i=0;ilonmax - section1->lonmin) / MBNA_MASK_DIM; dy1 = (section1->latmax - section1->latmin) / MBNA_MASK_DIM; dx2 = (section2->lonmax - section2->lonmin) / MBNA_MASK_DIM; dy2 = (section2->latmax - section2->latmin) / MBNA_MASK_DIM; for (ii1=0;ii1coverage[kk1] == 1) { lon1min = section1->lonmin + dx1 * ii1; lon1max = section1->lonmin + dx1 * (ii1 + 1); lat1min = section1->latmin + dy1 * jj1; lat1max = section1->latmin + dy1 * (jj1 + 1); for (ii2=0;ii2coverage[kk2] == 1) { lon2min = section2->lonmin + dx2 * ii2 + offset_x; lon2max = section2->lonmin + dx2 * (ii2 + 1) + offset_x; lat2min = section2->latmin + dy2 * jj2 + offset_y; lat2max = section2->latmin + dy2 * (jj2 + 1) + offset_y; if ((lon1min < lon2max) && (lon1max > lon2min) && (lat1min < lat2max) && (lat1max > lat2min)) { overlap1[kk1] = 1; overlap2[kk2] = 1; if (first == MB_NO) { *lonmin = MIN(*lonmin, MAX(lon1min, lon2min)); *lonmax = MAX(*lonmax, MIN(lon1max, lon2max)); *latmin = MIN(*latmin, MAX(lat1min, lat2min)); *latmax = MAX(*latmax, MIN(lat1max, lat2max)); } else { first = MB_NO; *lonmin = MAX(lon1min, lon2min); *lonmax = MIN(lon1max, lon2max); *latmin = MAX(lat1min, lat2min); *latmax = MIN(lat1max, lat2max); } } } } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 lonmin: %f\n",*lonmin); fprintf(stderr,"dbg2 lonmax: %f\n",*lonmax); fprintf(stderr,"dbg2 latmin: %f\n",*latmin); fprintf(stderr,"dbg2 latmax: %f\n",*latmax); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_get_misfit() { /* local variables */ char *function_name = "mbnavadjust_get_misfit"; int status = MB_SUCCESS; double dinterval; double zoff; double minmisfitthreshold, dotproduct; double x, y, z, r; double dotproductsave2; double rsave2; double dotproductsave3; double rsave3; int found; int igx, igy; int ic, jc, kc, lc; int ioff, joff, istart, iend, jstart, jend; int i1, i2, j1, j2, k1, k2; int imin, jmin, kmin; int i, j, k, l, ll; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0 && mbna_naverr_load == MB_YES) { /* fprintf(stderr,"\nDEBUG %s %d: mbnavadjust_get_misfit: mbna_plot minmax: %f %f %f %f\n", __FILE__,__LINE__, mbna_plot_lon_min,mbna_plot_lon_max,mbna_plot_lat_min,mbna_plot_lat_max); */ /* set message on */ if (mbna_verbose > 1) fprintf(stderr,"Making misfit grid for crossing %d\n",mbna_current_crossing); sprintf(message,"Making misfit grid for crossing %d\n",mbna_current_crossing); do_message_update(message); /* reset sounding density threshold for misfit calculation - will be tuned down if necessary */ mbna_minmisfit_nthreshold = MBNA_MISFIT_NTHRESHOLD; /* figure out lateral extent of grids */ grid_nx = MBNA_MISFIT_DIMXY; grid_ny = MBNA_MISFIT_DIMXY; if ((mbna_plot_lon_max - mbna_plot_lon_min) / mbna_mtodeglon > (mbna_plot_lat_max - mbna_plot_lat_min) / mbna_mtodeglat) { grid_dx = (mbna_plot_lon_max - mbna_plot_lon_min) / (grid_nx - 1); grid_dy = grid_dx * mbna_mtodeglat / mbna_mtodeglon; /* fprintf(stderr,"DEBUG %s %d: grid scale: grid_dx:%f grid_dy:%f\n", __FILE__,__LINE__, grid_dx,grid_dy); */ } else { grid_dy = (mbna_plot_lat_max - mbna_plot_lat_min) / (grid_ny - 1); grid_dx = grid_dy * mbna_mtodeglon / mbna_mtodeglat; /* fprintf(stderr,"DEBUG %s %d: grid scale: grid_dx:%f grid_dy:%f\n", __FILE__,__LINE__, grid_dx,grid_dy); */ } grid_nxy = grid_nx * grid_ny; grid_olon = 0.5 * (mbna_plot_lon_min + mbna_plot_lon_max) - (grid_nx / 2 + 0.5) * grid_dx; grid_olat = 0.5 * (mbna_plot_lat_min + mbna_plot_lat_max) - (grid_ny / 2 + 0.5) * grid_dy; /* fprintf(stderr,"DEBUG %s %d: grid_olon:%f grid_olat:%f\n", __FILE__,__LINE__, grid_olon,grid_olat); */ /* get 3d misfit grid */ nzmisfitcalc = MBNA_MISFIT_DIMZ; gridm_nx = grid_nx / 2 + 1; gridm_ny = gridm_nx; gridm_nxyz = gridm_nx * gridm_ny * nzmisfitcalc; if (mbna_misfit_center == MBNA_MISFIT_ZEROCENTER) { mbna_misfit_offset_x = 0.0; mbna_misfit_offset_y = 0.0; mbna_misfit_offset_z = 0.0; } else { mbna_misfit_offset_x = mbna_offset_x; mbna_misfit_offset_y = mbna_offset_y; mbna_misfit_offset_z = mbna_offset_z; } /* fprintf(stderr,"DEBUG %s %d: GRID parameters: dx:%f dy:%f nx:%d ny:%d bounds: grid: %f %f %f %f plot: %f %f %f %f\n", __FILE__,__LINE__, grid_dx, grid_dy, grid_nx, grid_ny, grid_olon, grid_olon + grid_nx * grid_dx, grid_olat, grid_olat + grid_ny * grid_dy, mbna_lon_min, mbna_lon_max, mbna_lat_min, mbna_lat_max); */ /* figure out range of z offsets */ zmin = mbna_misfit_offset_z - 0.5 * project.zoffsetwidth; zmax = mbna_misfit_offset_z + 0.5 * project.zoffsetwidth; zoff_dz = project.zoffsetwidth / (nzmisfitcalc - 1); /* fprintf(stderr,"DEBUG %s %d: mbna_misfit_offset_z:%f project.zoffsetwidth:%f nzmisfitcalc:%d zmin:%f zmax:%f zoff_dz:%f\n", __FILE__,__LINE__, mbna_misfit_offset_z,project.zoffsetwidth,nzmisfitcalc,zmin,zmax,zoff_dz); */ /* allocate and initialize grids and arrays */ grid1 = (double *) realloc(grid1, sizeof(double) * (grid_nxy)); grid2 = (double *) realloc(grid2, sizeof(double) * (grid_nxy)); gridm = (double *) realloc(gridm, sizeof(double) * (gridm_nxyz)); gridmeq = (double *) realloc(gridmeq, sizeof(double) * (gridm_nxyz)); gridn1 = (int *) realloc(gridn1, sizeof(int) * (grid_nxy)); gridn2 = (int *) realloc(gridn2, sizeof(int) * (grid_nxy)); gridnm = (int *) realloc(gridnm, sizeof(int) * (gridm_nxyz)); memset(grid1, 0, sizeof(double) * (grid_nxy)); memset(grid2, 0, sizeof(double) * (grid_nxy)); memset(gridm, 0, sizeof(double) * (gridm_nxyz)); memset(gridmeq, 0, sizeof(double) * (gridm_nxyz)); memset(gridn1, 0, sizeof(int) * (grid_nxy)); memset(gridn2, 0, sizeof(int) * (grid_nxy)); memset(gridnm, 0, sizeof(int) * (gridm_nxyz)); /* loop over all beams */ for (i=0;inpings;i++) { for (j=0;jpings[i].beams_bath;j++) { if (mb_beam_ok(swath1->pings[i].beamflag[j])) { x = (swath1->pings[i].bathlon[j] - grid_olon); y = (swath1->pings[i].bathlat[j] - grid_olat); igx = (int) (x / grid_dx); igy = (int) (y / grid_dy); k = igx + igy * grid_nx; if (igx >= 0 && igx < grid_nx && igy >= 0 && igy < grid_ny) { grid1[k] += swath1->pings[i].bath[j]; gridn1[k] ++; } /* else fprintf(stderr,"DEBUG %s %d: BAD swath1: %d %d %f %f %f %f %d %d\n", __FILE__,__LINE__, i, j, swath1->pings[i].bathlon[j], swath1->pings[i].bathlat[j], x, y, igx, igy); */ } } } /* loop over all beams */ for (i=0;inpings;i++) { for (j=0;jpings[i].beams_bath;j++) { if (mb_beam_ok(swath2->pings[i].beamflag[j])) { x = (swath2->pings[i].bathlon[j] + mbna_misfit_offset_x - grid_olon); y = (swath2->pings[i].bathlat[j] + mbna_misfit_offset_y - grid_olat); igx = (int) (x / grid_dx); igy = (int) (y / grid_dy); k = igx + igy * grid_nx; if (igx >= 0 && igx < grid_nx && igy >= 0 && igy < grid_ny) { grid2[k] += swath2->pings[i].bath[j]; gridn2[k] ++; } /* else fprintf(stderr,"DEBUG %s %d: BAD swath2: %d %d %f %f %f %f %d %d\n", __FILE__,__LINE__, i, j, swath2->pings[i].bathlon[j], swath2->pings[i].bathlat[j], x, y, igx, igy); */ } } } /* calculate gridded bath */ for (k=0;k 0) { grid1[k] = (grid1[k] / gridn1[k]); } if (gridn2[k] > 0) { grid2[k] = (grid2[k] / gridn2[k]); } /* fprintf(stderr,"GRIDDED BATH: k:%d 1:%d %f 2:%d %f\n", k,gridn1[k],grid1[k],gridn2[k],grid2[k]); */ } /* calculate gridded misfit over lateral and z offsets */ for (ic=0;ic 0 && gridn2[k2] > 0) { gridm[lc] += (grid2[k2] - grid1[k1] + zoff - mbna_offset_z) * (grid2[k2] - grid1[k1] + zoff - mbna_offset_z); gridnm[lc]++; } } } misfit_min = 0.0; misfit_max = 0.0; mbna_minmisfit = 0.0; mbna_minmisfit_n = 0; mbna_minmisfit_x = 0.0; mbna_minmisfit_y = 0.0; mbna_minmisfit_z = 0.0; found = MB_NO; for (ic=0;ic 0) { gridm[lc] = sqrt(gridm[lc]) / gridnm[lc]; if (misfit_max == 0.0) { misfit_min = gridm[lc]; } misfit_min = MIN(misfit_min, gridm[lc]); misfit_max = MAX(misfit_max, gridm[lc]); if (gridnm[lc] > mbna_minmisfit_nthreshold && (mbna_minmisfit_n == 0 || gridm[lc] < mbna_minmisfit)) { mbna_minmisfit = gridm[lc]; mbna_minmisfit_n = gridnm[lc]; mbna_minmisfit_x = (ic - gridm_nx / 2) * grid_dx + mbna_misfit_offset_x; mbna_minmisfit_y = (jc - gridm_ny / 2) * grid_dy + mbna_misfit_offset_y; mbna_minmisfit_z = zmin + zoff_dz * kc; imin = ic; jmin = jc, kmin = kc; found = MB_YES; /* zoff = zmin + zoff_dz * kc; fprintf(stderr,"DEBUG %s %d: ic:%d jc:%d kc:%d misfit:%f %f %d pos:%f %f %f zoff:%f mbna_ofset_z:%f\n", __FILE__,__LINE__, ic,jc,kc,misfit_min,mbna_minmisfit,mbna_minmisfit_n,mbna_minmisfit_x,mbna_minmisfit_y,mbna_minmisfit_z, zoff,mbna_offset_z); */ } } /* if (ic == jc && kc == 0) fprintf(stderr,"DEBUG %s %d: ic:%d jc:%d misfit:%d %f\n", __FILE__,__LINE__, ic,jc,gridnm[lc],gridm[lc]);*/ } if (found == MB_NO) { mbna_minmisfit_nthreshold /= 10.0; for (ic=0;ic mbna_minmisfit_nthreshold/10 && (mbna_minmisfit_n == 0 || gridm[lc] < mbna_minmisfit)) { mbna_minmisfit = gridm[lc]; mbna_minmisfit_n = gridnm[lc]; mbna_minmisfit_x = (ic - gridm_nx / 2) * grid_dx + mbna_misfit_offset_x; mbna_minmisfit_y = (jc - gridm_ny / 2) * grid_dy + mbna_misfit_offset_y; mbna_minmisfit_z = zmin + zoff_dz * kc; imin = ic; jmin = jc, kmin = kc; found = MB_YES; } /* fprintf(stderr,"DEBUG %s %d: ijk:%d %d %d gridm:%d %f misfit:%f %f %d pos:%f %f %f\n", __FILE__,__LINE__, ic,jc,kc,gridnm[lc],gridm[lc],misfit_min,mbna_minmisfit,mbna_minmisfit_n,mbna_minmisfit_x,mbna_minmisfit_y,mbna_minmisfit_z); */ } } misfit_min = 0.99 * misfit_min; misfit_max = 1.01 * misfit_max; /* if (found == MB_YES) { lc = kmin + nzmisfitcalc * (imin + jmin * gridm_nx); fprintf(stderr,"DEBUG %s %d: min misfit: i:%d j:%d k:%d n:%d m:%f offsets: %f %f %f\n", __FILE__,__LINE__, imin, jmin, kmin, gridnm[lc], gridm[lc], mbna_minmisfit_x / mbna_mtodeglon, mbna_minmisfit_y / mbna_mtodeglat, mbna_minmisfit_z); } */ /* fprintf(stderr,"DEBUG %s %d: Misfit bounds: nmin:%d best:%f min:%f max:%f min loc: %f %f %f\n", __FILE__,__LINE__, mbna_minmisfit_n,mbna_minmisfit,misfit_min,misfit_max, mbna_minmisfit_x/mbna_mtodeglon,mbna_minmisfit_y/mbna_mtodeglat,mbna_minmisfit_z); */ /* set message on */ if (mbna_verbose > 1) fprintf(stderr,"Histogram equalizing misfit grid for crossing %d\n",mbna_current_crossing); sprintf(message,"Histogram equalizing misfit grid for crossing %d\n",mbna_current_crossing); do_message_update(message); /* sort the misfit to get histogram equalization */ grid_nxyzeq = 0; for (l=0;l 0.0) { gridmeq[grid_nxyzeq] = gridm[l]; grid_nxyzeq++; } } if (grid_nxyzeq > 0) { qsort((char *)gridmeq,grid_nxyzeq,sizeof(double), (void *)mb_double_compare); dinterval = ((double) grid_nxyzeq) / ((double)(nmisfit_intervals-1)); if (dinterval < 1.0) { for (l=0;l 1) fprintf(stderr,"Estimating 3D uncertainty for crossing %d\n",mbna_current_crossing); sprintf(message,"Estimating 3D uncertainty for crossing %d\n",mbna_current_crossing); do_message_update(message); /* estimating 3 component uncertainty vector at minimum misfit point */ /* first get the longest vector to a misfit value <= 2 times minimum misfit */ minmisfitthreshold = mbna_minmisfit * 3.0; mbna_minmisfit_sr1 = 0.0; for (ic=0;ic mbna_minmisfit_nthreshold && gridm[lc] <= minmisfitthreshold) { x = ((ic - gridm_nx / 2) * grid_dx + mbna_misfit_offset_x - mbna_minmisfit_x) / mbna_mtodeglon; y = ((jc - gridm_ny / 2) * grid_dy + mbna_misfit_offset_y - mbna_minmisfit_y) / mbna_mtodeglat; z = zmin + zoff_dz * kc - mbna_minmisfit_z; r = sqrt(x * x + y * y + z * z); /* fprintf(stderr,"DEBUG %s %d: %d %d %d gridm[%d]:%f minmisfitthreshold:%f x: %f %f %f r:%f\n", __FILE__,__LINE__, ic,jc,kc,lc,gridm[lc],minmisfitthreshold,x,y,z,r); */ if (r > mbna_minmisfit_sr1) { mbna_minmisfit_sx1[0] = x; mbna_minmisfit_sx1[1] = y; mbna_minmisfit_sx1[2] = z; mbna_minmisfit_sr1 = r; } } } mbna_minmisfit_sx1[0] /= mbna_minmisfit_sr1; mbna_minmisfit_sx1[1] /= mbna_minmisfit_sr1; mbna_minmisfit_sx1[2] /= mbna_minmisfit_sr1; /* fprintf(stderr,"DEBUG %s %d: Longest vector in misfit space. %f %f %f r:%f\n", __FILE__,__LINE__, mbna_minmisfit_sx1[0],mbna_minmisfit_sx1[1],mbna_minmisfit_sx1[2],mbna_minmisfit_sr1); */ /* now get a horizontal unit vector perpendicular to the the longest vector and then find the largest r associated with that vector */ mbna_minmisfit_sr2 = sqrt(mbna_minmisfit_sx1[0] * mbna_minmisfit_sx1[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx1[1]); if (mbna_minmisfit_sr2 < MBNA_SMALL) { mbna_minmisfit_sx2[0] = 0.0; mbna_minmisfit_sx2[1] = 1.0; mbna_minmisfit_sx2[2] = 0.0; mbna_minmisfit_sr2 = 1.0; } else { mbna_minmisfit_sx2[0] = mbna_minmisfit_sx1[1] / mbna_minmisfit_sr2; mbna_minmisfit_sx2[1] = -mbna_minmisfit_sx1[0] / mbna_minmisfit_sr2; mbna_minmisfit_sx2[2] = 0.0; mbna_minmisfit_sr2 = sqrt(mbna_minmisfit_sx2[0] * mbna_minmisfit_sx2[0] + mbna_minmisfit_sx2[1] * mbna_minmisfit_sx2[1] + mbna_minmisfit_sx2[2] * mbna_minmisfit_sx2[2]); } /* dotproduct = (mbna_minmisfit_sx1[0] * mbna_minmisfit_sx2[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx2[1] + mbna_minmisfit_sx1[2] * mbna_minmisfit_sx2[2]); fprintf(stderr,"DEBUG %s %d: Horizontal perpendicular vector in misfit space. %f %f %f r:%f dotproduct:%f\n", __FILE__,__LINE__, mbna_minmisfit_sx2[0],mbna_minmisfit_sx2[1],mbna_minmisfit_sx2[2],mbna_minmisfit_sr2,dotproduct); */ /* now get a near-vertical unit vector perpendicular to the the longest vector and then find the largest r associated with that vector */ mbna_minmisfit_sr3 = sqrt(mbna_minmisfit_sx1[0] * mbna_minmisfit_sx1[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx1[1]); if (mbna_minmisfit_sr3 < MBNA_SMALL) { mbna_minmisfit_sx3[0] = 0.0; mbna_minmisfit_sx3[1] = 0.0; mbna_minmisfit_sx3[2] = 1.0; mbna_minmisfit_sr3 = 1.0; } else { if (mbna_minmisfit_sx1[2] >= 0.0) { mbna_minmisfit_sx3[0] = -mbna_minmisfit_sx1[0] * sqrt(1.0 - mbna_minmisfit_sr3 * mbna_minmisfit_sr3) / mbna_minmisfit_sr3; mbna_minmisfit_sx3[1] = -mbna_minmisfit_sx1[1] * sqrt(1.0 - mbna_minmisfit_sr3 * mbna_minmisfit_sr3) / mbna_minmisfit_sr3; } else { mbna_minmisfit_sx3[0] = mbna_minmisfit_sx1[0] * sqrt(1.0 - mbna_minmisfit_sr3 * mbna_minmisfit_sr3) / mbna_minmisfit_sr3; mbna_minmisfit_sx3[1] = mbna_minmisfit_sx1[1] * sqrt(1.0 - mbna_minmisfit_sr3 * mbna_minmisfit_sr3) / mbna_minmisfit_sr3; } mbna_minmisfit_sx3[2] = mbna_minmisfit_sr3; mbna_minmisfit_sr3 = sqrt(mbna_minmisfit_sx3[0] * mbna_minmisfit_sx3[0] + mbna_minmisfit_sx3[1] * mbna_minmisfit_sx3[1] + mbna_minmisfit_sx3[2] * mbna_minmisfit_sx3[2]); } /* dotproduct = (mbna_minmisfit_sx1[0] * mbna_minmisfit_sx3[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx3[1] + mbna_minmisfit_sx1[2] * mbna_minmisfit_sx3[2]); fprintf(stderr,"DEBUG %s %d: Perpendicular near-vertical vector in misfit space. %f %f %f r:%f dotproduct:%f\n", __FILE__,__LINE__, mbna_minmisfit_sx3[0],mbna_minmisfit_sx3[1],mbna_minmisfit_sx3[2],mbna_minmisfit_sr2,dotproduct); */ /* now get the longest r values to a misfit value <= 2 times minimum misfit for both secondary vectors */ mbna_minmisfit_sr2 = 0.0; mbna_minmisfit_sr3 = 0.0; dotproductsave2 = 0.0; rsave2 = 0.0; dotproductsave3 = 0.0; rsave3 = 0.0; for (ic=0;ic mbna_minmisfit_nthreshold && gridm[lc] <= minmisfitthreshold) { x = ((ic - gridm_nx / 2) * grid_dx + mbna_misfit_offset_x - mbna_minmisfit_x) / mbna_mtodeglon; y = ((jc - gridm_ny / 2) * grid_dy + mbna_misfit_offset_y - mbna_minmisfit_y) / mbna_mtodeglat; z = zmin + zoff_dz * kc - mbna_minmisfit_z; r = sqrt(x * x + y * y + z * z); if (r > mbna_minmisfit_sr2) { dotproduct = (x * mbna_minmisfit_sx2[0] + y * mbna_minmisfit_sx2[1] + z * mbna_minmisfit_sx2[2]) / r ; if (fabs(dotproduct) > 0.8) { /* fprintf(stderr,"DEBUG %s %d: Vector2: %d %d %d gridm[%d]:%f minmisfitthreshold:%f dotproduct:%f x: %f %f %f r:%f\n", __FILE__,__LINE__, ic,jc,kc,lc,gridm[lc],minmisfitthreshold,dotproduct,x,y,z,r); */ mbna_minmisfit_sr2 = r; } if (fabs(dotproduct) > dotproductsave2) { dotproductsave2 = fabs(dotproduct); rsave2 = r; } } if (r > mbna_minmisfit_sr3) { dotproduct = (x * mbna_minmisfit_sx3[0] + y * mbna_minmisfit_sx3[1] + z * mbna_minmisfit_sx3[2]) / r ; if (fabs(dotproduct) > 0.8) { /* fprintf(stderr,"DEBUG %s %d: Vector3: %d %d %d gridm[%d]:%f minmisfitthreshold:%f dotproduct:%f x: %f %f %f r:%f\n", __FILE__,__LINE__, ic,jc,kc,lc,gridm[lc],minmisfitthreshold,dotproduct,x,y,z,r); */ mbna_minmisfit_sr3 = r; } if (fabs(dotproduct) > dotproductsave3) { dotproductsave3 = fabs(dotproduct); rsave3 = r; } } } } if (mbna_minmisfit_sr2 < MBNA_SMALL) mbna_minmisfit_sr2 = rsave2; if (mbna_minmisfit_sr3 < MBNA_SMALL) mbna_minmisfit_sr3 = rsave3; } else { mbna_minmisfit_sx1[0] = 1.0; mbna_minmisfit_sx1[1] = 0.0; mbna_minmisfit_sx1[2] = 0.0; mbna_minmisfit_sr1 = 100.0; mbna_minmisfit_sx2[0] = 0.0; mbna_minmisfit_sx2[1] = 1.0; mbna_minmisfit_sx2[2] = 0.0; mbna_minmisfit_sr2 = 100.0; mbna_minmisfit_sx3[0] = 0.0; mbna_minmisfit_sx3[1] = 0.0; mbna_minmisfit_sx3[2] = 1.0; mbna_minmisfit_sr3 = 100.0; } /* fprintf(stderr,"DEBUG %s %d: \nVector1: %f %f %f mbna_minmisfit_sr1:%f\n", __FILE__,__LINE__, mbna_minmisfit_sx1[0],mbna_minmisfit_sx1[1],mbna_minmisfit_sx1[2],mbna_minmisfit_sr1); fprintf(stderr,"Vector2: %f %f %f mbna_minmisfit_sr2:%f\n", mbna_minmisfit_sx2[0],mbna_minmisfit_sx2[1],mbna_minmisfit_sx2[2],mbna_minmisfit_sr2); fprintf(stderr,"Vector3: %f %f %f mbna_minmisfit_sr3:%f\n", mbna_minmisfit_sx3[0],mbna_minmisfit_sx3[1],mbna_minmisfit_sx3[2],mbna_minmisfit_sr3); dotproduct = (mbna_minmisfit_sx1[0] * mbna_minmisfit_sx2[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx2[1] + mbna_minmisfit_sx1[2] * mbna_minmisfit_sx2[2]); fprintf(stderr,"Dot products: 1v2:%f ",dotproduct); dotproduct = (mbna_minmisfit_sx2[0] * mbna_minmisfit_sx3[0] + mbna_minmisfit_sx2[1] * mbna_minmisfit_sx3[1] + mbna_minmisfit_sx2[2] * mbna_minmisfit_sx3[2]); fprintf(stderr,"2v3:%f ",dotproduct); dotproduct = (mbna_minmisfit_sx1[0] * mbna_minmisfit_sx3[0] + mbna_minmisfit_sx1[1] * mbna_minmisfit_sx3[1] + mbna_minmisfit_sx1[2] * mbna_minmisfit_sx3[2]); fprintf(stderr,"3v2:%f\n",dotproduct); */ } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_get_misfitxy() { /* local variables */ char *function_name = "mbnavadjust_get_misfitxy"; int status = MB_SUCCESS; int ic, jc, kc, lc; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } if (project.open == MB_YES && project.num_crossings > 0 && mbna_current_crossing >= 0 && mbna_naverr_load == MB_YES) { /* get minimum misfit in plane at current z offset */ if (grid_nxyzeq > 0) { /* get closest to current zoffset in existing 3d grid */ misfit_max = 0.0; misfit_min = 0.0; kc = (int)((mbna_offset_z - zmin) / zoff_dz); for (ic=0;ic mbna_minmisfit_nthreshold) { if (misfit_max == 0.0) { misfit_min = gridm[lc]; misfit_max = gridm[lc]; } else if (gridm[lc] < misfit_min) { misfit_min = gridm[lc]; mbna_minmisfit_xh = (ic - gridm_nx / 2) * grid_dx + mbna_misfit_offset_x; mbna_minmisfit_yh = (jc - gridm_ny / 2) * grid_dy + mbna_misfit_offset_y; mbna_minmisfit_zh = zmin + zoff_dz * kc; } else if (gridm[lc] > misfit_max) { misfit_max = gridm[lc]; } } } /* fprintf(stderr,"mbnavadjust_get_misfitxy a mbna_minmisfit_xh:%f mbna_minmisfit_yh:%f mbna_minmisfit_zh:%f\n", mbna_minmisfit_xh,mbna_minmisfit_yh,mbna_minmisfit_zh); */ } /* fprintf(stderr,"mbnavadjust_get_misfitxy b mbna_minmisfit_xh:%f mbna_minmisfit_yh:%f mbna_minmisfit_zh:%f\n", mbna_minmisfit_xh,mbna_minmisfit_yh,mbna_minmisfit_zh); */ } /* fprintf(stderr,"mbnavadjust_get_misfitxy c mbna_minmisfit_xh:%f mbna_minmisfit_yh:%f mbna_minmisfit_zh:%f\n", mbna_minmisfit_xh,mbna_minmisfit_yh,mbna_minmisfit_zh); */ /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ void plot(double xx,double yy,int ipen) { struct mbna_plot_vector *v; double x, y; if (mbna_contour->nvector >= mbna_contour->nvector_alloc) { mbna_contour->nvector_alloc += MBNA_VECTOR_ALLOC_INC; mbna_contour->vector = (struct mbna_plot_vector *) realloc(mbna_contour->vector, sizeof(struct mbna_plot_vector) * (mbna_contour->nvector_alloc)); if (mbna_contour->vector == NULL) mbna_contour->nvector_alloc = 0; } if (mbna_contour->nvector_alloc > mbna_contour->nvector) { /* add current origin */ x = xx + mbna_ox; y = yy + mbna_oy; /* move pen */ if (ipen == MBNA_PEN_UP) { /* save move in vector array */ v = &mbna_contour->vector[mbna_contour->nvector]; v->command = ipen; v->x = xx; v->y = yy; mbna_contour->nvector++; } /* plot */ else if (ipen == MBNA_PEN_DOWN) { /* save move in vector array */ v = &mbna_contour->vector[mbna_contour->nvector]; v->command = ipen; v->x = xx; v->y = yy; mbna_contour->nvector++; } /* change origin */ else if (ipen == MBNA_PEN_ORIGIN) { mbna_ox = x; mbna_oy = y; } } /*fprintf(stderr,"plot: %f %f %d\n",x,y,ipen);*/ return; } /*--------------------------------------------------------------------*/ void newpen(int icolor) { struct mbna_plot_vector *v; if (mbna_contour->nvector >= mbna_contour->nvector_alloc) { mbna_contour->nvector_alloc += MBNA_VECTOR_ALLOC_INC; mbna_contour->vector = (struct mbna_plot_vector *) realloc(mbna_contour->vector, sizeof(struct mbna_plot_vector) * (mbna_contour->nvector_alloc + MBNA_VECTOR_ALLOC_INC)); if (mbna_contour->vector == NULL) mbna_contour->nvector_alloc = 0; } if (mbna_contour->nvector_alloc > mbna_contour->nvector) { /* save pen change in vector array */ v = &mbna_contour->vector[mbna_contour->nvector]; v->command = MBNA_PEN_COLOR; v->color = pixel_values[icolor * 8 + 7]; mbna_contour->nvector++; } /*fprintf(stderr,"newpen: %d\n",icolor);*/ return; } /*--------------------------------------------------------------------*/ void justify_string(double height,char *string, double *s) { int len; len = strlen(string); s[0] = 0.0; s[1] = 0.185*height*len; s[2] = 0.37*len*height; s[3] = 0.37*len*height; return; } /*--------------------------------------------------------------------*/ void plot_string(double x, double y, double hgt, double angle, char *label) { return; } /*--------------------------------------------------------------------*/ void mbnavadjust_naverr_scale() { /* local variables */ char *function_name = "mbnavadjust_naverr_scale"; int status = MB_SUCCESS; double xscale, yscale; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } if (mbna_naverr_load == MB_YES) { /* set scaling for contour window */ xscale = (cont_borders[1] - cont_borders[0]) / ((mbna_plot_lon_max - mbna_plot_lon_min) / mbna_mtodeglon); yscale = (cont_borders[3] - cont_borders[2]) / ((mbna_plot_lat_max - mbna_plot_lat_min) / mbna_mtodeglat); if (xscale < yscale) { mbna_plotx_scale = xscale / mbna_mtodeglon; mbna_ploty_scale = xscale / mbna_mtodeglat; mbna_plot_lat_min = 0.5 * (mbna_plot_lat_min + mbna_plot_lat_max) - 0.5 * (cont_borders[3] - cont_borders[2]) / mbna_ploty_scale; mbna_plot_lat_max = mbna_plot_lat_min + (cont_borders[3] - cont_borders[2]) / mbna_ploty_scale; } else { mbna_plotx_scale = yscale / mbna_mtodeglon; mbna_ploty_scale = yscale / mbna_mtodeglat; mbna_plot_lon_min = 0.5 * (mbna_plot_lon_min + mbna_plot_lon_max) - 0.5 * (cont_borders[1] - cont_borders[0]) / mbna_plotx_scale; mbna_plot_lon_max = mbna_plot_lon_min + (cont_borders[1] - cont_borders[0]) / mbna_plotx_scale; } /* set scaling for misfit window */ mbna_misfit_xscale = (corr_borders[1] - corr_borders[0]) / (grid_dx * (gridm_nx - 1)); mbna_misfit_yscale = (corr_borders[3] - corr_borders[2]) / (grid_dy * (gridm_ny - 1)); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } } /*--------------------------------------------------------------------*/ void mbnavadjust_naverr_plot(int plotmode) { /* local variables */ char *function_name = "mbnavadjust_naverr_plot"; int status = MB_SUCCESS; struct mbna_plot_vector *v; struct mbna_crossing *crossing; struct mbna_file *file1, *file2; struct mbna_section *section1, *section2; struct mbna_tie *tie; int ix, iy, ix1, ix2, iy1, iy2, idx, idy; int boxoff, boxwid; static int ixo, iyo; static int izx1, izy1, izx2, izy2; static int pixel, ipixel; int snav_1, snav_2; double dmisfit; int fill, found; int i, j, k, kk, l; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } if (mbna_naverr_load == MB_YES) { /* get structures */ crossing = (struct mbna_crossing *) &project.crossings[mbna_current_crossing]; file1 = (struct mbna_file *) &project.files[crossing->file_id_1]; file2 = (struct mbna_file *) &project.files[crossing->file_id_2]; section1 = (struct mbna_section *) &file1->sections[crossing->section_1]; section2 = (struct mbna_section *) &file2->sections[crossing->section_2]; /* get naverr plot scaling */ mbnavadjust_naverr_scale(); /* clear screens for first plot */ if (plotmode == MBNA_PLOT_MODE_FIRST) { xg_fillrectangle(pcont_xgid, 0, 0, cont_borders[1], cont_borders[3], pixel_values[mbna_color_background], XG_SOLIDLINE); xg_fillrectangle(pcorr_xgid, 0, 0, corr_borders[1], corr_borders[3], pixel_values[mbna_color_background], XG_SOLIDLINE); } xg_fillrectangle(pzoff_xgid, 0, 0, zoff_borders[1], zoff_borders[3], pixel_values[mbna_color_background], XG_SOLIDLINE); /* replot section 2 and tie points in background if moving that section */ if (plotmode == MBNA_PLOT_MODE_MOVE) { for (i=0;icommand == MBNA_PEN_UP) { ixo = (int)(mbna_plotx_scale * (v->x + mbna_offset_x_old - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (v->y + mbna_offset_y_old - mbna_plot_lat_min)); } else if (v->command == MBNA_PEN_DOWN) { ix = (int)(mbna_plotx_scale * (v->x + mbna_offset_x_old - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (v->y + mbna_offset_y_old - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_background], XG_SOLIDLINE); ixo = ix; iyo = iy; } } ixo = (int)(mbna_plotx_scale * (swathraw2->pingraws[0].navlon + mbna_offset_x_old - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw2->pingraws[0].navlat + mbna_offset_y_old - mbna_plot_lat_min)); for (i=1;inpings;i++) { ix = (int)(mbna_plotx_scale * (swathraw2->pingraws[i].navlon + mbna_offset_x_old - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw2->pingraws[i].navlat + mbna_offset_y_old - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_background], XG_SOLIDLINE); ixo = ix; iyo = iy; } /* replot tie points */ if (crossing->num_ties > 0) { for (i=0;inum_ties;i++) { tie = &crossing->ties[i]; if (i == mbna_current_tie) { boxoff = 6; boxwid = 13; snav_1 = mbna_snav_1; snav_2 = mbna_snav_2; } else { boxoff = 3; boxwid = 7; snav_1 = tie->snav_1; snav_2 = tie->snav_2; } ix = (int)(mbna_plotx_scale * (section1->snav_lon[snav_1] - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (section1->snav_lat[snav_1] - mbna_plot_lat_min)); xg_fillrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_background], XG_SOLIDLINE); xg_drawrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_background], XG_SOLIDLINE); ixo = ix; iyo = iy; ix = (int)(mbna_plotx_scale * (section2->snav_lon[snav_2] + mbna_offset_x_old - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (section2->snav_lat[snav_2] + mbna_offset_y_old - mbna_plot_lat_min)); xg_fillrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_background], XG_SOLIDLINE); xg_drawrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_background], XG_SOLIDLINE); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_background], XG_SOLIDLINE); } } } /* replot zoom box in background if moving that box */ if (plotmode == MBNA_PLOT_MODE_ZOOM) { xg_drawrectangle(pcont_xgid, MIN(izx1, izx2), MIN(izy1, izy2), MAX(izx1, izx2) - MIN(izx1, izx2), MAX(izy1, izy2) - MIN(izy1, izy2), pixel_values[mbna_color_background], XG_SOLIDLINE); } /* replot overlap box in background */ if (mbna_overlap_lon_max > mbna_overlap_lon_min && mbna_overlap_lat_max > mbna_overlap_lat_min) { ix1 = (int)(mbna_plotx_scale * (mbna_overlap_lon_min - mbna_plot_lon_min)); iy1 = (int)(cont_borders[3] - mbna_ploty_scale * (mbna_overlap_lat_min - mbna_plot_lat_min)); ix2 = (int)(mbna_plotx_scale * (mbna_overlap_lon_max - mbna_plot_lon_min)); iy2 = (int)(cont_borders[3] - mbna_ploty_scale * (mbna_overlap_lat_max - mbna_plot_lat_min)); ix = MIN(ix1,ix2); iy = MIN(iy1,iy2); idx = MAX(ix1,ix2) - ix; idy = MAX(iy1,iy2) - iy; xg_drawrectangle(pcont_xgid, ix, iy, idx, idy, pixel_values[mbna_color_background], XG_DASHLINE); } /* plot section 1 */ for (i=0;icommand == MBNA_PEN_COLOR) { pixel = v->color; } else if (v->command == MBNA_PEN_UP) { ixo = (int)(mbna_plotx_scale * (v->x - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (v->y - mbna_plot_lat_min)); } else if (v->command == MBNA_PEN_DOWN) { ix = (int)(mbna_plotx_scale * (v->x - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (v->y - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel, XG_SOLIDLINE); ixo = ix; iyo = iy; } } ixo = (int)(mbna_plotx_scale * (swathraw1->pingraws[0].navlon - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw1->pingraws[0].navlat - mbna_plot_lat_min)); for (i=1;inpings;i++) { ix = (int)(mbna_plotx_scale * (swathraw1->pingraws[i].navlon - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw1->pingraws[i].navlat - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); ixo = ix; iyo = iy; } /* plot section 2 */ for (i=0;icommand == MBNA_PEN_COLOR) { pixel = v->color; } else if (v->command == MBNA_PEN_UP) { ixo = (int)(mbna_plotx_scale * (v->x + mbna_offset_x - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (v->y + mbna_offset_y - mbna_plot_lat_min)); } else if (v->command == MBNA_PEN_DOWN) { ix = (int)(mbna_plotx_scale * (v->x + mbna_offset_x - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (v->y + mbna_offset_y - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel, XG_SOLIDLINE); ixo = ix; iyo = iy; } } ixo = (int)(mbna_plotx_scale * (swathraw2->pingraws[0].navlon + mbna_offset_x - mbna_plot_lon_min)); iyo = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw2->pingraws[0].navlat + mbna_offset_y - mbna_plot_lat_min)); for (i=1;inpings;i++) { ix = (int)(mbna_plotx_scale * (swathraw2->pingraws[i].navlon + mbna_offset_x - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (swathraw2->pingraws[i].navlat + mbna_offset_y - mbna_plot_lat_min)); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); ixo = ix; iyo = iy; } /* plot tie points */ mbnavadjust_naverr_checkoksettie(); crossing = &project.crossings[mbna_current_crossing]; if (crossing->num_ties > 0) { for (i=0;inum_ties;i++) { tie = &crossing->ties[i]; if (i == mbna_current_tie) { boxoff = 6; boxwid = 13; snav_1 = mbna_snav_1; snav_2 = mbna_snav_2; if (mbna_allow_set_tie == MB_YES) fill = pixel_values[RED]; else fill = pixel_values[6]; } else { boxoff = 3; boxwid = 7; snav_1 = tie->snav_1; snav_2 = tie->snav_2; fill = pixel_values[6]; } ix = (int)(mbna_plotx_scale * (section1->snav_lon[snav_1] - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (section1->snav_lat[snav_1] - mbna_plot_lat_min)); xg_fillrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, fill, XG_SOLIDLINE); xg_drawrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_foreground], XG_SOLIDLINE); ixo = ix; iyo = iy; ix = (int)(mbna_plotx_scale * (section2->snav_lon[snav_2] + mbna_offset_x - mbna_plot_lon_min)); iy = (int)(cont_borders[3] - mbna_ploty_scale * (section2->snav_lat[snav_2] + mbna_offset_y - mbna_plot_lat_min)); xg_fillrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, fill, XG_SOLIDLINE); xg_drawrectangle(pcont_xgid, ix-boxoff, iy-boxoff, boxwid, boxwid, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pcont_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } /* plot overlap box */ mbnavadjust_crossing_overlapbounds(mbna_current_crossing, mbna_offset_x, mbna_offset_y, &mbna_overlap_lon_min, &mbna_overlap_lon_max, &mbna_overlap_lat_min, &mbna_overlap_lat_max); ix1 = (int)(mbna_plotx_scale * (mbna_overlap_lon_min - mbna_plot_lon_min)); iy1 = (int)(cont_borders[3] - mbna_ploty_scale * (mbna_overlap_lat_min - mbna_plot_lat_min)); ix2 = (int)(mbna_plotx_scale * (mbna_overlap_lon_max - mbna_plot_lon_min)); iy2 = (int)(cont_borders[3] - mbna_ploty_scale * (mbna_overlap_lat_max - mbna_plot_lat_min)); ix = MIN(ix1,ix2); iy = MIN(iy1,iy2); idx = MAX(ix1,ix2) - ix; idy = MAX(iy1,iy2) - iy; xg_drawrectangle(pcont_xgid, ix, iy, idx, idy, pixel_values[mbna_color_foreground], XG_DASHLINE); /* plot zoom box if in zoom mode */ if (plotmode == MBNA_PLOT_MODE_ZOOMFIRST || plotmode == MBNA_PLOT_MODE_ZOOM) { xg_drawrectangle(pcont_xgid, MIN(mbna_zoom_x1, mbna_zoom_x2), MIN(mbna_zoom_y1, mbna_zoom_y2), MAX(mbna_zoom_x1, mbna_zoom_x2) - MIN(mbna_zoom_x1, mbna_zoom_x2), MAX(mbna_zoom_y1, mbna_zoom_y2) - MIN(mbna_zoom_y1, mbna_zoom_y2), pixel_values[mbna_color_foreground], XG_SOLIDLINE); izx1 = mbna_zoom_x1; izy1 = mbna_zoom_y1; izx2 = mbna_zoom_x2; izy2 = mbna_zoom_y2; } /* plot misfit */ ixo = corr_borders[0] + (corr_borders[1] - corr_borders[0]) / 2; iyo = corr_borders[2] + (corr_borders[3] - corr_borders[2]) / 2; dmisfit = log10(misfit_max - misfit_min)/79.99; k = (int)((mbna_offset_z - zmin) / zoff_dz); for (i=0;i 0) { ix = ixo + (int)(mbna_misfit_xscale * grid_dx * (i - gridm_nx / 2 - 0.5)); iy = iyo - (int)(mbna_misfit_yscale * grid_dy * (j - gridm_ny / 2 + 0.5)); idx = ixo + (int)(mbna_misfit_xscale * grid_dx * (i - gridm_nx / 2 + 0.5)) - ix; idy = iyo - (int)(mbna_misfit_yscale * grid_dy * (j - gridm_ny / 2 - 0.5)) - iy; /* histogram equalized coloring */ if (gridm[l] <= misfit_intervals[0]) ipixel = 7; else if (gridm[l] >= misfit_intervals[nmisfit_intervals-1]) ipixel = 7 + nmisfit_intervals - 1; else { found = MB_NO; for (kk=0;kk misfit_intervals[kk] && gridm[l] <= misfit_intervals[kk+1]) { ipixel = 7 + kk; found = MB_YES; } } } /*fprintf(stderr, "%d %d %f %f %f %f %d\n", i, j, misfit_min, misfit_max, dmisfit, gridm[l], ipixel);*/ xg_fillrectangle(pcorr_xgid, ix, iy, idx, idy, pixel_values[ipixel], XG_SOLIDLINE); } } /* draw dashed crosshair across origin */ xg_drawline(pcorr_xgid, ixo - (int)(mbna_misfit_xscale * mbna_misfit_offset_x), corr_borders[2], ixo - (int)(mbna_misfit_xscale * mbna_misfit_offset_x), corr_borders[3], pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pcorr_xgid, corr_borders[0], iyo + (int)(mbna_misfit_yscale * mbna_misfit_offset_y), corr_borders[1], iyo + (int)(mbna_misfit_yscale * mbna_misfit_offset_y), pixel_values[mbna_color_foreground], XG_DASHLINE); /* draw working offset */ ix = ixo + (int)(mbna_misfit_xscale * (mbna_offset_x - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_offset_y - mbna_misfit_offset_y)); xg_fillrectangle(pcorr_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pcorr_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* draw uncertainty estimate */ if (mbna_minmisfit_n > 0) { ix = ixo + (int)(mbna_misfit_xscale * (mbna_minmisfit_x - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_minmisfit_y - mbna_misfit_offset_y)); idx = (int)(mbna_misfit_xscale * (mbna_mtodeglon * mbna_minmisfit_sr1 * mbna_minmisfit_sx1[0])); idy = -(int)(mbna_misfit_yscale * (mbna_mtodeglat * mbna_minmisfit_sr1 * mbna_minmisfit_sx1[1])); xg_drawline(pcorr_xgid, ix - idx, iy - idy, ix + idx, iy + idy, pixel_values[mbna_color_background], XG_SOLIDLINE); ix = ixo + (int)(mbna_misfit_xscale * (mbna_minmisfit_x - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_minmisfit_y - mbna_misfit_offset_y)); idx = (int)(mbna_misfit_xscale * (mbna_mtodeglon * mbna_minmisfit_sr2 * mbna_minmisfit_sx2[0])); idy = -(int)(mbna_misfit_yscale * (mbna_mtodeglat * mbna_minmisfit_sr2 * mbna_minmisfit_sx2[1])); xg_drawline(pcorr_xgid, ix - idx, iy - idy, ix + idx, iy + idy, pixel_values[mbna_color_background], XG_SOLIDLINE); } /* draw x at minimum misfit */ if (mbna_minmisfit_n > 0) { ix = ixo + (int)(mbna_misfit_xscale * (mbna_minmisfit_x - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_minmisfit_y - mbna_misfit_offset_y)); xg_drawline(pcorr_xgid, ix - 10, iy + 10, ix + 10, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pcorr_xgid, ix + 10, iy + 10, ix - 10, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } /* draw small x at minimum misfit for current z offset */ if (mbna_minmisfit_n > 0) { ix = ixo + (int)(mbna_misfit_xscale * (mbna_minmisfit_xh - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_minmisfit_yh - mbna_misfit_offset_y)); xg_drawline(pcorr_xgid, ix - 5, iy + 5, ix + 5, iy - 5, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pcorr_xgid, ix + 5, iy + 5, ix - 5, iy - 5, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } /* draw + at inversion solution */ if (project.inversion != MBNA_INVERSION_NONE) { ix = ixo + (int)(mbna_misfit_xscale * (mbna_invert_offset_x - mbna_misfit_offset_x)); iy = iyo - (int)(mbna_misfit_yscale * (mbna_invert_offset_y - mbna_misfit_offset_y)); xg_drawline(pcorr_xgid, ix - 10, iy, ix + 10, iy, pixel_values[GREEN], XG_SOLIDLINE); xg_drawline(pcorr_xgid, ix, iy + 10, ix, iy - 10, pixel_values[GREEN], XG_SOLIDLINE); xg_drawline(pcorr_xgid, ix - 10, iy, ix + 10, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pcorr_xgid, ix, iy + 10, ix, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } /* plot zoff */ ixo = zoff_borders[0]; iyo = zoff_borders[3]; i = (int)((mbna_offset_x - mbna_misfit_offset_x) / grid_dx) + (int)(gridm_nx / 2); i = MAX(0, MIN(gridm_nx-1, i)); j = (int)((mbna_offset_y - mbna_misfit_offset_y) / grid_dy) + (int)(gridm_ny / 2); j = MAX(0, MIN(gridm_ny-1, j)); found = MB_NO; zmisfitmin = 10000000.0; zmisfitmax = 0.0; for (k=0;k 0) { if (found == MB_NO) { zmisfitmin = gridm[l]; zmisfitmax = gridm[l]; found = MB_YES; } else { zmisfitmin = MIN(zmisfitmin, gridm[l]); zmisfitmax = MAX(zmisfitmax, gridm[l]); } } } /*fprintf(stderr,"Current offset: %f %f %f\n", mbna_offset_x / mbna_mtodeglon, mbna_offset_y / mbna_mtodeglat, mbna_offset_z); fprintf(stderr,"Current misfit grid offset: %f %f %f\n", mbna_misfit_offset_x / mbna_mtodeglon, mbna_misfit_offset_y / mbna_mtodeglat, mbna_misfit_offset_z); fprintf(stderr,"Current min misfit position: %f %f %f\n", mbna_minmisfit_x / mbna_mtodeglon, mbna_minmisfit_y / mbna_mtodeglat, mbna_minmisfit_z); fprintf(stderr,"misfitmin:%f misfitmax:%f zmisfitmin:%f zmisfitmax:%f\n\n", misfit_min,misfit_max,zmisfitmin,zmisfitmax);*/ zmisfitmin = zmisfitmin - 0.05 * (zmisfitmax - zmisfitmin); zmisfitmax = zmisfitmax + 0.04 * (zmisfitmax - zmisfitmin); mbna_zoff_scale_x = (zoff_borders[1] - zoff_borders[0]) / (project.zoffsetwidth); mbna_zoff_scale_y = (zoff_borders[3] - zoff_borders[2]) / (zmisfitmax - zmisfitmin); for (k=0;k 0) { /* histogram equalized coloring */ if (gridm[l] <= misfit_intervals[0]) ipixel = 7; else if (gridm[l] >= misfit_intervals[nmisfit_intervals-1]) ipixel = 7 + nmisfit_intervals - 1; else { found = MB_NO; for (kk=0;kk misfit_intervals[kk] && gridm[l] <= misfit_intervals[kk+1]) { ipixel = 7 + kk; found = MB_YES; } } } ix = ixo + (int)(mbna_zoff_scale_x * zoff_dz * (k - 0.5)); iy = (int)(mbna_zoff_scale_y * (gridm[l] - zmisfitmin)); idx = (int)(mbna_zoff_scale_x * zoff_dz); idx = MAX(idx, 1); idy = iyo - iy; /* fprintf(stderr,"Fill Zoff: %d %d %d %d pixel:%d\n", ix, iy, idx, idy, pixel_values[ipixel]);*/ xg_fillrectangle(pzoff_xgid, ix, iy, idx, idy, pixel_values[ipixel], XG_SOLIDLINE); } } /* plot zero zoff */ ix = ixo - (int)(mbna_zoff_scale_x * zmin); xg_drawline(pzoff_xgid, ix, zoff_borders[2], ix, zoff_borders[3], pixel_values[mbna_color_foreground], XG_DASHLINE); /* draw working offset */ ix = ixo + (int)(mbna_zoff_scale_x * (mbna_offset_z - zmin)); xg_drawline(pzoff_xgid, ix, zoff_borders[2], ix, zoff_borders[3], pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* draw x at minimum misfit */ if (mbna_minmisfit_n > 0) { ix = ixo + (int)(mbna_zoff_scale_x * (mbna_minmisfit_z - zmin)); iy = zoff_borders[3] / 2; xg_drawline(pzoff_xgid, ix - 10, iy + 10, ix + 10, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pzoff_xgid, ix + 10, iy + 10, ix - 10, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } /* draw + at inversion solution */ if (project.inversion != MBNA_INVERSION_NONE) { ix = ixo + (int)(mbna_zoff_scale_x * (mbna_invert_offset_z - zmin)); iy = zoff_borders[3] / 2; xg_drawline(pzoff_xgid, ix - 10, iy, ix + 10, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pzoff_xgid, ix, iy + 10, ix, iy - 10, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } } /*--------------------------------------------------------------------*/ int mbnavadjust_autopick(int do_vertical) { /* local variables */ char *function_name = "mbnavadjust_autopick"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; double firstsonardepth1, firsttime_d1, secondsonardepth1, secondtime_d1, dsonardepth1; double firstsonardepth2, firsttime_d2, secondsonardepth2, secondtime_d2, dsonardepth2; double overlap_scale; int found, process; int nprocess; int i, j, k; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 do_vertical: %d\n",do_vertical); } /* make sure that all sections referenced in crossings have up-to-date contours made */ if (project.open == MB_YES && project.num_crossings > 0) { /* set message dialog on */ sprintf(message,"Autopicking offsets..."); do_message_on(message); sprintf(message,"Autopicking offsets...\n"); if (mbna_verbose == 0) fprintf(stderr,"%s\n",message); do_info_add(message,MB_YES); /* loop over all crossings */ nprocess = 0; for (i=0;istatus == MBNA_CROSSING_STATUS_NONE && crossing->overlap >= MBNA_OVERLAP_THRESHOLD / 2) { if (mbna_view_list == MBNA_VIEW_LIST_CROSSINGS) { if ((mbna_view_mode == MBNA_VIEW_MODE_ALL) || (mbna_view_mode == MBNA_VIEW_MODE_SURVEY && mbna_survey_select == project.files[crossing->file_id_1].block && mbna_survey_select == project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && mbna_file_select == crossing->file_id_1 && mbna_file_select == crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && (mbna_survey_select == project.files[crossing->file_id_1].block || mbna_survey_select == project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && (mbna_file_select == crossing->file_id_1 || mbna_file_select == crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_1 && mbna_section_select == crossing->section_1) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_2 && mbna_section_select == crossing->section_2)) process = MB_YES; } else if (mbna_view_list == MBNA_VIEW_LIST_GOODCROSSINGS) { if (crossing->overlap >= MBNA_OVERLAP_THRESHOLD) { if ((mbna_view_mode == MBNA_VIEW_MODE_ALL) || (mbna_view_mode == MBNA_VIEW_MODE_SURVEY && mbna_survey_select == project.files[crossing->file_id_1].block && mbna_survey_select == project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && mbna_file_select == crossing->file_id_1 && mbna_file_select == crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && (mbna_survey_select == project.files[crossing->file_id_1].block || mbna_survey_select == project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && (mbna_file_select == crossing->file_id_1 || mbna_file_select == crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_1 && mbna_section_select == crossing->section_1) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_2 && mbna_section_select == crossing->section_2)) process = MB_YES; } } else if (mbna_view_list == MBNA_VIEW_LIST_BETTERCROSSINGS) { if (crossing->overlap >= 2 * MBNA_OVERLAP_THRESHOLD) { if ((mbna_view_mode == MBNA_VIEW_MODE_ALL) || (mbna_view_mode == MBNA_VIEW_MODE_SURVEY && mbna_survey_select == project.files[crossing->file_id_1].block && mbna_survey_select == project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && mbna_file_select == crossing->file_id_1 && mbna_file_select == crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && (mbna_survey_select == project.files[crossing->file_id_1].block || mbna_survey_select == project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && (mbna_file_select == crossing->file_id_1 || mbna_file_select == crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_1 && mbna_section_select == crossing->section_1) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_2 && mbna_section_select == crossing->section_2)) process = MB_YES; } } else if (mbna_view_list == MBNA_VIEW_LIST_TRUECROSSINGS) { if (crossing->truecrossing == MB_YES) { if ((mbna_view_mode == MBNA_VIEW_MODE_ALL) || (mbna_view_mode == MBNA_VIEW_MODE_SURVEY && mbna_survey_select == project.files[crossing->file_id_1].block && mbna_survey_select == project.files[crossing->file_id_2].block) || (mbna_view_mode == MBNA_VIEW_MODE_FILE && mbna_file_select == crossing->file_id_1 && mbna_file_select == crossing->file_id_2) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY && (mbna_survey_select == project.files[crossing->file_id_1].block || mbna_survey_select == project.files[crossing->file_id_2].block)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE && (mbna_file_select == crossing->file_id_1 || mbna_file_select == crossing->file_id_2)) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_1 && mbna_section_select == crossing->section_1) || (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION && mbna_file_select == crossing->file_id_2 && mbna_section_select == crossing->section_2)) process = MB_YES; } } else process = MB_YES; } fprintf(stderr,"AUTOPICK crossing:%d do_vertical:%d process:%d\n",i,do_vertical,process); /* load the crossing */ if (process == MB_YES) { mbna_current_crossing = i; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; mbna_current_tie = -1; /* reset survey file and section selections */ if (mbna_file_select == crossing->file_id_1) { mbna_section_select = crossing->section_1; } else if (mbna_file_select == crossing->file_id_2) { mbna_section_select = crossing->section_2; } else { mbna_file_select = crossing->file_id_1; mbna_survey_select = project.files[crossing->file_id_1].block; mbna_section_select = crossing->section_1; } /* set message dialog on */ sprintf(message,"Loading crossing %d...", mbna_current_crossing); fprintf(stderr,"%s: %s\n",function_name,message); do_message_update(message); /* load crossing */ mbnavadjust_crossing_load(); /* fprintf(stderr,"mbnavadjust_autopick AA crossing:%d overlap:%d overlap_scale:%f current offsets:%f %f %f minmisfit3D:%f %f %f minmisfit2D:%f %f %f\n", mbna_current_crossing,crossing->overlap,overlap_scale, mbna_offset_x/mbna_mtodeglon,mbna_offset_y/mbna_mtodeglat,mbna_offset_z, mbna_minmisfit_x/mbna_mtodeglon,mbna_minmisfit_y/mbna_mtodeglat,mbna_minmisfit_z, mbna_minmisfit_xh/mbna_mtodeglon,mbna_minmisfit_yh/mbna_mtodeglat,mbna_minmisfit_zh); */ nprocess++; /* update status */ do_update_status(); /* fprintf(stderr,"mbnavadjust_autopick A crossing:%d overlap:%d overlap_scale:%f current offsets:%f %f %f minmisfit3D:%f %f %f minmisfit2D:%f %f %f\n", mbna_current_crossing,crossing->overlap,overlap_scale, mbna_offset_x/mbna_mtodeglon,mbna_offset_y/mbna_mtodeglat,mbna_offset_z, mbna_minmisfit_x/mbna_mtodeglon,mbna_minmisfit_y/mbna_mtodeglat,mbna_minmisfit_z, mbna_minmisfit_xh/mbna_mtodeglon,mbna_minmisfit_yh/mbna_mtodeglat,mbna_minmisfit_zh); */ /* if this is a >50% overlap crossing then first set offsets to minimum misfit and then recalculate misfit */ if (crossing->overlap > 50) { /* set offsets to minimum misfit */ if (do_vertical == MB_YES) { mbna_offset_x = mbna_minmisfit_x; mbna_offset_y = mbna_minmisfit_y; mbna_offset_z = mbna_minmisfit_z; } else { mbna_offset_x = mbna_minmisfit_xh; mbna_offset_y = mbna_minmisfit_yh; mbna_offset_z = mbna_minmisfit_zh; } mbna_misfit_offset_x = mbna_offset_x; mbna_misfit_offset_y = mbna_offset_y; mbna_misfit_offset_z = mbna_offset_z; mbnavadjust_crossing_replot(); /* get misfit */ mbnavadjust_get_misfit(); /* fprintf(stderr,"mbnavadjust_autopick B crossing:%d overlap:%d overlap_scale:%f current offsets:%f %f %f minmisfit3D:%f %f %f minmisfit2D:%f %f %f\n", mbna_current_crossing,crossing->overlap,overlap_scale, mbna_offset_x/mbna_mtodeglon,mbna_offset_y/mbna_mtodeglat,mbna_offset_z, mbna_minmisfit_x/mbna_mtodeglon,mbna_minmisfit_y/mbna_mtodeglat,mbna_minmisfit_z, mbna_minmisfit_xh/mbna_mtodeglon,mbna_minmisfit_yh/mbna_mtodeglat,mbna_minmisfit_zh); */ } /* set plot bounds to overlap region */ mbnavadjust_crossing_overlapbounds(mbna_current_crossing, mbna_offset_x, mbna_offset_y, &mbna_overlap_lon_min, &mbna_overlap_lon_max, &mbna_overlap_lat_min, &mbna_overlap_lat_max); mbna_plot_lon_min = mbna_overlap_lon_min; mbna_plot_lon_max = mbna_overlap_lon_max; mbna_plot_lat_min = mbna_overlap_lat_min; mbna_plot_lat_max = mbna_overlap_lat_max; overlap_scale = MIN((mbna_overlap_lon_max - mbna_overlap_lon_min) / mbna_mtodeglon, (mbna_overlap_lat_max - mbna_overlap_lat_min) / mbna_mtodeglat); /* get naverr plot scaling */ mbnavadjust_naverr_scale(); /* get misfit */ mbnavadjust_get_misfit(); /* check uncertainty estimate for a good pick */ /* fprintf(stderr,"mbnavadjust_autopick C crossing:%d overlap:%d overlap_scale:%f current offsets:%f %f %f minmisfit3D:%f %f %f minmisfit2D:%f %f %f\n", mbna_current_crossing,crossing->overlap,overlap_scale, mbna_offset_x/mbna_mtodeglon,mbna_offset_y/mbna_mtodeglat,mbna_offset_z, mbna_minmisfit_x/mbna_mtodeglon,mbna_minmisfit_y/mbna_mtodeglat,mbna_minmisfit_z, mbna_minmisfit_xh/mbna_mtodeglon,mbna_minmisfit_yh/mbna_mtodeglat,mbna_minmisfit_zh); fprintf(stderr,"crossing:%d overlap:%d overlap_scale:%f uncertainty axes: %f %f %f", mbna_current_crossing,crossing->overlap,overlap_scale,mbna_minmisfit_sr1,mbna_minmisfit_sr2,mbna_minmisfit_sr3); if (MAX(mbna_minmisfit_sr1,mbna_minmisfit_sr2) < 0.5 * overlap_scale && MIN(mbna_minmisfit_sr1,mbna_minmisfit_sr2) > 0.0) fprintf(stderr," USE PICK"); fprintf(stderr,"\n"); */ if (MAX(mbna_minmisfit_sr1,mbna_minmisfit_sr2) < 0.5 * overlap_scale && MIN(mbna_minmisfit_sr1,mbna_minmisfit_sr2) > 0.0) { /* set offsets to minimum misfit */ if (do_vertical == MB_YES) { mbna_offset_x = mbna_minmisfit_x; mbna_offset_y = mbna_minmisfit_y; mbna_offset_z = mbna_minmisfit_z; } else { mbna_offset_x = mbna_minmisfit_xh; mbna_offset_y = mbna_minmisfit_yh; mbna_offset_z = mbna_minmisfit_zh; } /* add tie */ mbnavadjust_naverr_addtie(); /* deal with each tie */ for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); /* calculate sonardepth change rate for swath1 */ found = MB_NO; for (k=0;knpings;k++) { if (swathraw1->pingraws[k].time_d > tie->snav_1_time_d - 2.0 && found == MB_NO) { firstsonardepth1 = swathraw1->pingraws[k].draft; firsttime_d1 = swathraw1->pingraws[k].time_d; found = MB_YES; } if (swathraw1->pingraws[k].time_d < tie->snav_1_time_d + 2.0) { secondsonardepth1 = swathraw1->pingraws[k].draft; secondtime_d1 = swathraw1->pingraws[k].time_d; } } dsonardepth1 = (secondsonardepth1 - firstsonardepth1) / (secondtime_d1 - firsttime_d1); /* calculate sonardepth change rate for swath2 */ found = MB_NO; for (k=0;knpings;k++) { if (swathraw2->pingraws[k].time_d > tie->snav_2_time_d - 2.0 && found == MB_NO) { firstsonardepth2 = swathraw2->pingraws[k].draft; firsttime_d2 = swathraw2->pingraws[k].time_d; found = MB_YES; } if (swathraw2->pingraws[k].time_d < tie->snav_2_time_d + 2.0) { secondsonardepth2 = swathraw2->pingraws[k].draft; secondtime_d2 = swathraw2->pingraws[k].time_d; } } dsonardepth2 = (secondsonardepth2 - firstsonardepth2) / (secondtime_d2 - firsttime_d2); /* fprintf(stderr,"mbnavadjust_autopick D crossing:%d tie:%d zoffset:%f sdrate1:%f %f %f sdrate2:%f %f %f inferred time lag:%f\n", i,j,tie->offset_z_m, (secondsonardepth1 - firstsonardepth1), (secondtime_d1 - firsttime_d1), dsonardepth1, (secondsonardepth2 - firstsonardepth2), (secondtime_d2 - firsttime_d2), dsonardepth2, tie->offset_z_m / (dsonardepth2 - dsonardepth1)); */ } } /* unload crossing */ mbnavadjust_crossing_unload(); fprintf(stderr,"mbna_file_select:%d mbna_survey_select:%d mbna_section_select:%d\n", mbna_file_select,mbna_survey_select,mbna_section_select); /* update status periodically */ if (nprocess % 10 == 0) { do_update_status(); /* update model plot */ if (project.modelplot == MB_YES) { /* update model status */ do_update_modelplot_status(); /* replot the model */ mbnavadjust_modelplot_plot(); } } } } /* write updated project */ mbnavadjust_write_project(); /* turn off message dialog */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_autosetsvsvertical() { /* local variables */ char *function_name = "mbnavadjust_autosetsvsvertical"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_crossing *crossing; struct mbna_file *file1, *file2; struct mbna_tie *tie; double overlap_scale; int nprocess; int ntie, nfixed, ncols; double misfit_initial, perturbationsize, perturbationsizeold; double perturbationchange, convergencecriterea, misfit_ties; double offset_z_m, block_offset_avg_z; double *x, *xx; int done, iter, nc1, nc2, navg, use, reset_tie; int i, j; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* set up and solve overdetermined least squares problem for a z-offset model with * constant z-offsets within each survey using * the current z-offset ties. Then, loop over all ties to auto-repick the crossings using * the z-offset in the new model (that is, pick the best lateral offset that can be found * using the z-offset in the new model). This should replace the initial ties with ties that * have self-consistent z-offsets between surveys. Using this option only makes sense if the * bathymetry was correctly tide-corrected before import into mbnavadjust. */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { /* calculate the initial misfit */ ntie = 0; misfit_initial = 0.0; for (i=0;istatus == MBNA_CROSSING_STATUS_SET) { ntie += crossing->num_ties; for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; misfit_initial += tie->offset_z_m * tie->offset_z_m; } } } misfit_initial = sqrt(misfit_initial) / ntie; perturbationsizeold = misfit_initial; /* count the number of blocks */ project.num_blocks = 0; for (i=0;isections[0].continuity == MB_NO) { project.num_blocks++; } file->block = project.num_blocks - 1; } /* count the number of fixed files */ nfixed = 0; for (i=0;istatus == MBNA_FILE_FIXEDNAV) nfixed++; } /* if only one block just set average offsets to zero */ if (project.num_blocks <= 1) { block_offset_avg_z = 0.0; for (i=0;iblock_offset_z = 0.0; } } /* else if more than one block first invert for block offsets */ else if (project.num_blocks > 1) { /* allocate space for the inverse problem */ ncols = project.num_blocks; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&x,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xx,&error); /* initialize x array */ for (i=0;ifile_id_1]; nc1 = file1->block; /* get block id for second snav point */ file2 = &project.files[crossing->file_id_2]; nc2 = file2->block; /* use only set crossings */ if (crossing->status == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[j]; ntie++; /* get current offset vector including reduction of block solution */ if (tie->status != MBNA_TIE_XY) { offset_z_m = tie->offset_z_m - (x[nc2] + xx[nc2] - x[nc1] - xx[nc1]); } else { offset_z_m = 0.0; } /* fprintf(stderr,"icrossing:%d jtie:%d blocks:%d %d offsets: %f %f %f\n", i,j,nc1,nc2,offsetx,offsety,offset_z_m); */ /* deal with fixed or unfixed status of sections */ if ((file1->status == MBNA_FILE_GOODNAV && file2->status == MBNA_FILE_GOODNAV) || (file1->status == MBNA_FILE_POORNAV && file2->status == MBNA_FILE_POORNAV)) { xx[nc1] += -mbna_offsetweight * 0.5 * offset_z_m; xx[nc2] += mbna_offsetweight * 0.5 * offset_z_m; } else if (file1->status == MBNA_FILE_GOODNAV && file2->status == MBNA_FILE_POORNAV) { xx[nc1] += -mbna_offsetweight * 0.005 * offset_z_m; xx[nc2] += mbna_offsetweight * 0.995 * offset_z_m; } else if (file1->status == MBNA_FILE_POORNAV && file2->status == MBNA_FILE_GOODNAV) { xx[nc1] += -mbna_offsetweight * 0.995 * offset_z_m; xx[nc2] += mbna_offsetweight * 0.005 * offset_z_m; } else if (file1->status == MBNA_FILE_FIXEDNAV && file2->status == MBNA_FILE_FIXEDNAV) { /* xx[nc1] += 0.0; xx[nc2] += 0.0; */ } else if (file1->status == MBNA_FILE_FIXEDNAV) { if (file2->status == MBNA_FILE_FIXEDXYNAV) { /* xx[nc1] += 0.0; xx[nc2] += 0.0; */ xx[3*nc2+2] += offset_z_m; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[nc1] += 0.0; xx[nc2] += 0.0; */ } else { /* xx[nc1] += 0.0; */ xx[nc2] += mbna_offsetweight * offset_z_m; } } else if (file2->status == MBNA_FILE_FIXEDNAV) { if (file1->status == MBNA_FILE_FIXEDXYNAV) { xx[nc1] += -mbna_offsetweight * offset_z_m; /* xx[nc2] += 0.0; */ } else if (file1->status == MBNA_FILE_FIXEDZNAV) { /* xx[nc1] += 0.0; xx[nc2] += 0.0; */ } else { xx[nc1] += -mbna_offsetweight * offset_z_m; /* xx[nc2] += 0.0; */ } } } } /* calculate 2-norm of perturbation */ perturbationsize = 0.0; for (i=0;i MBNA_INTERATION_MAX) done = MB_YES; fprintf(stderr,"BLOCK INVERT: iter:%d ntie:%d misfit_initial:%f misfit_ties:%f perturbationsize:%g perturbationchange:%g convergencecriterea:%g done:%d\n", iter,ntie,misfit_initial,misfit_ties,perturbationsize,perturbationchange,convergencecriterea,done); if (done == MB_NO) { perturbationsizeold = perturbationsize; iter++; } } /* if there are no fixed blocks contributing to ties, then get average z-offsets of blocks not flagged as bad to provide a static offset to move final model to be more consistent with the good blocks than the poorly navigated blocks */ block_offset_avg_z = 0.0; navg = 0; if (nfixed == 0) { for (i=0;iblock == i && file->status == MBNA_FILE_POORNAV) use = MB_NO; } if (use == MB_YES) { block_offset_avg_z += x[i]; navg++; } } if (navg > 0) { block_offset_avg_z /= navg; } } /* output solution */ fprintf(stderr,"\nAverage z-offsets: %f\n",block_offset_avg_z); for (i=0;iblock_offset_z = x[file->block] - block_offset_avg_z; /* fprintf(stderr,"file:%d block: %d block offsets: %f %f %f\n", i,file->block,file->block_offset_x,file->block_offset_y,file->block_offset_z);*/ } /* deallocate arrays */ status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&x,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xx,&error); } /* loop over over all crossings - reset existing ties using block z-offsets */ nprocess = 0; for (i=0;ifile_id_1]; file2 = &project.files[crossing->file_id_2]; offset_z_m = file2->block_offset_z - file1->block_offset_z; /* check if any ties exist and are inconsistent with the new survey z-offset model */ reset_tie = MB_NO; for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); if (tie->offset_z_m != offset_z_m) reset_tie = MB_YES; } /* if one or more ties exist and at , load crossing and reset the ties using the new z-offset */ if (reset_tie == MB_YES) { mbna_current_crossing = i; mbna_file_id_1 = crossing->file_id_1; mbna_section_1 = crossing->section_1; mbna_file_id_2 = crossing->file_id_2; mbna_section_2 = crossing->section_2; mbna_current_tie = 0; file1 = &project.files[mbna_file_id_1]; file2 = &project.files[mbna_file_id_2]; /* set message dialog on */ sprintf(message,"Loading crossing %d...", mbna_current_crossing); fprintf(stderr,"%s: %s\n",function_name,message); do_message_update(message); /* load crossing */ mbnavadjust_crossing_load(); nprocess++; /* update status and model plot */ do_update_status(); if (project.modelplot == MB_YES) { do_update_modelplot_status(); mbnavadjust_modelplot_plot(); } /* delete each tie */ for (j=0;jnum_ties;j++) { mbnavadjust_deletetie(mbna_current_crossing, j, MBNA_CROSSING_STATUS_NONE); } /* update status and model plot */ do_update_status(); if (project.modelplot == MB_YES) { do_update_modelplot_status(); mbnavadjust_modelplot_plot(); } /* reset z offset */ mbna_offset_z = file2->block_offset_z - file1->block_offset_z; /* get misfit */ mbnavadjust_get_misfit(); /* set offsets to minimum horizontal misfit */ mbna_offset_x = mbna_minmisfit_xh; mbna_offset_y = mbna_minmisfit_yh; mbna_offset_z = mbna_minmisfit_zh; mbna_misfit_offset_x = mbna_offset_x; mbna_misfit_offset_y = mbna_offset_y; mbna_misfit_offset_z = mbna_offset_z; mbnavadjust_crossing_replot(); /* get misfit */ mbnavadjust_get_misfit(); /* set plot bounds to overlap region */ mbnavadjust_crossing_overlapbounds(mbna_current_crossing, mbna_offset_x, mbna_offset_y, &mbna_overlap_lon_min, &mbna_overlap_lon_max, &mbna_overlap_lat_min, &mbna_overlap_lat_max); mbna_plot_lon_min = mbna_overlap_lon_min; mbna_plot_lon_max = mbna_overlap_lon_max; mbna_plot_lat_min = mbna_overlap_lat_min; mbna_plot_lat_max = mbna_overlap_lat_max; overlap_scale = MIN((mbna_overlap_lon_max - mbna_overlap_lon_min) / mbna_mtodeglon, (mbna_overlap_lat_max - mbna_overlap_lat_min) / mbna_mtodeglat); /* get naverr plot scaling */ mbnavadjust_naverr_scale(); /* get misfit */ mbnavadjust_get_misfit(); /* check uncertainty estimate for a good pick */ if (MAX(mbna_minmisfit_sr1,mbna_minmisfit_sr2) < 0.5 * overlap_scale && MIN(mbna_minmisfit_sr1,mbna_minmisfit_sr2) > 0.0) { /* set offsets to minimum horizontal misfit */ mbna_offset_x = mbna_minmisfit_xh; mbna_offset_y = mbna_minmisfit_yh; mbna_offset_z = mbna_minmisfit_zh; /* add tie */ mbnavadjust_naverr_addtie(); } else { sprintf(message,"Failed to reset Tie Point %d of Crossing %d\n", 0, mbna_current_crossing); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message, MB_YES); } /* unload crossing */ mbnavadjust_crossing_unload(); /*fprintf(stderr,"mbna_file_select:%d mbna_survey_select:%d mbna_section_select:%d\n", mbna_file_select,mbna_survey_select,mbna_section_select);*/ /* update status periodically */ if (nprocess % 10 == 0) { do_update_status(); /* update model plot */ if (project.modelplot == MB_YES) { /* update model status */ do_update_modelplot_status(); /* replot the model */ mbnavadjust_modelplot_plot(); } } } } /* update status */ do_update_status(); /* update model plot */ if (project.modelplot == MB_YES) { /* update model status */ do_update_modelplot_status(); /* replot the model */ mbnavadjust_modelplot_plot(); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_zerozoffsets() { /* local variables */ char *function_name = "mbnavadjust_zerozoffsets"; int status = MB_SUCCESS; struct mbna_crossing *crossing; struct mbna_tie *tie; int i, j; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* loop over all crossings */ if (project.open == MB_YES && project.num_crossings > 0) { /* set message dialog on */ sprintf(message,"Zeroing all z offsets..."); do_message_on(message); sprintf(message,"Zeroing all z offsets.\n"); if (mbna_verbose == 0) fprintf(stderr,"%s",message); do_info_add(message,MB_YES); /* loop over all crossings */ for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); /* zero the z offset */ tie->offset_z_m = 0.0; /* set inversion out of date */ if (project.inversion == MBNA_INVERSION_CURRENT) project.inversion = MBNA_INVERSION_OLD; } } /* write updated project */ mbnavadjust_write_project(); /* turn off message dialog */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_invertnav() { /* local variables */ char *function_name = "mbnavadjust_invertnav"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_file *file1; struct mbna_file *file2; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int nnav; int nsnav; int ndf = 3; int ncols = 0; int ntie = 0; int nfixed = 0; double *x = NULL; double *xx = NULL; double *xa = NULL; int *nxs = NULL; double *xs = NULL; double *xw = NULL; double misfit_initial; double misfit, misfit_ties; double offsetx, offsety, offsetz, offsetr; double offsetsigma; double weight; double dtime_d; int done, iter; int nseq, nseqlast; int nchange; int ndx, ndx2; int icrossing, ifile, jtie; int isection, isnav, inav; int nc1, nc2, nc3; int i, j, k; double perturbationsize; double perturbationsizeold; double perturbationchange; double convergencecriterea; double offset_x; double offset_y; double offset_z; double time_d1, time_d2, time_d3; double block_offset_avg_x; double block_offset_avg_y; double block_offset_avg_z; int navg; int use; int ok_to_invert; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* check if it is ok to invert - if there is a project - enough crossings have been analyzed - no problems with offsets and offset uncertainties */ if (project.open == MB_YES && project.num_crossings > 0 && (project.num_crossings_analyzed >= 10 || project.num_truecrossings_analyzed == project.num_truecrossings)) { /* check that all uncertainty magnitudes are nonzero */ ok_to_invert = MB_YES; for (icrossing=0;icrossingstatus == MBNA_CROSSING_STATUS_SET) { for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; if (tie->sigmar1 <= 0.0 || tie->sigmar2 <= 0.0 || tie->sigmar3 <= 0.0) { ok_to_invert = MB_NO; fprintf(stderr,"PROBLEM WITH TIE: %4d %2d %2.2d:%3.3d:%3.3d:%2.2d %2.2d:%3.3d:%3.3d:%2.2d %8.2f %8.2f %8.2f | %8.2f %8.2f %8.2f\n", icrossing, j, project.files[crossing->file_id_1].block, crossing->file_id_1, crossing->section_1, tie->snav_1, project.files[crossing->file_id_2].block, crossing->file_id_2, crossing->section_2, tie->snav_2, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m, tie->sigmar1, tie->sigmar2, tie->sigmar3); } } } } /* print out warning */ if (ok_to_invert == MB_NO) { fprintf(stderr,"\nThe inversion was not performed because there are one or more zero offset uncertainty values.\n"); fprintf(stderr,"Please fix the ties with problems noted above before trying again.\n\n"); } } /* invert if there is a project and all crossings have been analyzed */ if (project.open == MB_YES && project.num_crossings > 0 && (project.num_crossings_analyzed >= 10 || project.num_truecrossings_analyzed == project.num_truecrossings) && ok_to_invert == MB_YES) { fprintf(stderr,"\nInverting for navigation adjustment model...\n"); /* set message dialog on */ sprintf(message,"Setting up navigation inversion..."); do_message_on(message); /*----------------------------------------------------------------*/ /* Step 1 - get block (survey) average offsets */ /*----------------------------------------------------------------*/ /* figure out the average offsets between connected sets of files - invert for x y z offsets for the blocks */ /* calculate the initial misfit */ ntie = 0; misfit_initial = 0.0; for (icrossing=0;icrossingstatus == MBNA_CROSSING_STATUS_SET) { ntie += crossing->num_ties; for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; misfit_initial += tie->offset_x_m * tie->offset_x_m; misfit_initial += tie->offset_y_m * tie->offset_y_m; misfit_initial += tie->offset_z_m * tie->offset_z_m; } } } misfit_initial = sqrt(misfit_initial) / ntie; perturbationsizeold = misfit_initial; /* count the number of fixed files */ nfixed = 0; for (i=0;istatus == MBNA_FILE_FIXEDNAV) nfixed++; } /* if only one block just set average offsets to zero */ if (project.num_blocks <= 1) { block_offset_avg_x = 0.0; block_offset_avg_y = 0.0; block_offset_avg_z = 0.0; for (i=0;iblock_offset_x = 0.0; file->block_offset_y = 0.0; file->block_offset_z = 0.0; } } /* else if more than one block first invert for block offsets */ else if (project.num_blocks > 1) { /* allocate space for the inverse problem */ ncols = ndf * project.num_blocks; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&x,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xx,&error); /* initialize x array */ for (i=0;ifile_id_1]; nc1 = file1->block; /* get block id for second snav point */ file2 = &project.files[crossing->file_id_2]; nc2 = file2->block; /* use only set crossings */ if (crossing->status == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[j]; ntie++; /* get current offset vector including reduction of block solution */ if (tie->status != MBNA_TIE_Z) { offsetx = tie->offset_x_m - (x[3*nc2] + xx[3*nc2] - x[3*nc1] - xx[3*nc1]); offsety = tie->offset_y_m - (x[3*nc2+1] + xx[3*nc2+1] - x[3*nc1+1] - xx[3*nc1+1]); } else { offsetx = 0.0; offsety = 0.0; } if (tie->status != MBNA_TIE_XY) { offsetz = tie->offset_z_m - (x[3*nc2+2] + xx[3*nc2+2] - x[3*nc1+2] - xx[3*nc1+2]); } else { offsetz = 0.0; } /* fprintf(stderr,"icrossing:%d jtie:%d blocks:%d %d offsets: %f %f %f\n", icrossing,j,nc1,nc2,offsetx,offsety,offsetz); */ /* deal with fixed or unfixed status of sections */ if ((file1->status == MBNA_FILE_GOODNAV && file2->status == MBNA_FILE_GOODNAV) || (file1->status == MBNA_FILE_POORNAV && file2->status == MBNA_FILE_POORNAV)) { xx[3*nc1] += -0.5 * offsetx; xx[3*nc1+1] += -0.5 * offsety; xx[3*nc1+2] += -0.5 * offsetz; xx[3*nc2] += 0.5 * offsetx; xx[3*nc2+1] += 0.5 * offsety; xx[3*nc2+2] += 0.5 * offsetz; } else if (file1->status == MBNA_FILE_GOODNAV && file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * offsetx; xx[3*nc1+1] += -0.005 * offsety; xx[3*nc1+2] += -0.005 * offsetz; xx[3*nc2] += 0.995 * offsetx; xx[3*nc2+1] += 0.995 * offsety; xx[3*nc2+2] += 0.995 * offsetz; } else if (file1->status == MBNA_FILE_POORNAV && file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.995 * offsetx; xx[3*nc1+1] += -0.995 * offsety; xx[3*nc1+2] += -0.995 * offsetz; xx[3*nc2] += 0.005 * offsetx; xx[3*nc2+1] += 0.005 * offsety; xx[3*nc2+2] += 0.005 * offsetz; } else if (file1->status == MBNA_FILE_FIXEDNAV && file2->status == MBNA_FILE_FIXEDNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file1->status == MBNA_FILE_FIXEDNAV) { if (file2->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += offsetz; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += offsetx; xx[3*nc2+1] += offsety; /* xx[3*nc2+2] += 0.0; */ } else { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += offsetx; xx[3*nc2+1] += offsety; xx[3*nc2+2] += offsetz; } } else if (file2->status == MBNA_FILE_FIXEDNAV) { if (file1->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -offsetz; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file1->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -offsetx; xx[3*nc1+1] += -offsety; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else { xx[3*nc1] += -offsetx; xx[3*nc1+1] += -offsety; xx[3*nc1+2] += -offsetz; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } } } } /* calculate 2-norm of perturbation */ perturbationsize = 0.0; for (i=0;i MBNA_INTERATION_MAX) done = MB_YES; /* fprintf(stderr,"BLOCK INVERT: iter:%d ntie:%d misfit_initial:%f misfit_ties:%f perturbationsize:%g perturbationchange:%g convergencecriterea:%g done:%d\n", iter,ntie,misfit_initial,misfit_ties,perturbationsize,perturbationchange,convergencecriterea,done);*/ if (done == MB_NO) { perturbationsizeold = perturbationsize; iter++; } } /* if there are no fixed blocks contributing to ties, then get average offsets of blocks not flagged as bad to provide a static offset to move final model to be more consistent with the good blocks than the poorly navigated blocks */ block_offset_avg_x = 0.0; block_offset_avg_y = 0.0; block_offset_avg_z = 0.0; navg = 0; if (nfixed == 0) { for (i=0;iblock == i && file->status == MBNA_FILE_POORNAV) use = MB_NO; } if (use == MB_YES) { block_offset_avg_x += x[3 * i]; block_offset_avg_y += x[3 * i + 1]; block_offset_avg_z += x[3 * i + 2]; navg++; } } if (navg > 0) { block_offset_avg_x /= navg; block_offset_avg_y /= navg; block_offset_avg_z /= navg; } } /* fprintf(stderr,"Average block offsets: x:%f y:%f z:%f Used %d of %d blocks\n", block_offset_avg_x,block_offset_avg_y,block_offset_avg_z,navg,project.num_blocks); */ /* output solution */ fprintf(stderr,"\nAverage offsets: %f %f %f\n",block_offset_avg_x,block_offset_avg_y,block_offset_avg_z); for (i=0;iblock_offset_x = x[3 * file->block] - block_offset_avg_x; file->block_offset_y = x[3 * file->block + 1] - block_offset_avg_y; file->block_offset_z = x[3 * file->block + 2] - block_offset_avg_z; /* fprintf(stderr,"file:%d block: %d block offsets: %f %f %f\n", i,file->block,file->block_offset_x,file->block_offset_y,file->block_offset_z); */ } /* deallocate arrays */ status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&x,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xx,&error); } /*----------------------------------------------------------------*/ /* Initialize arrays, solution, perturbation */ /*----------------------------------------------------------------*/ /* calculate initial weighted misfit */ misfit_initial = 0.0; ntie = 0; for (icrossing=0;icrossingstatus == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[j]; /* get absolute id for first snav point */ file1 = &project.files[crossing->file_id_1]; section = &file1->sections[crossing->section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[crossing->file_id_2]; section = &file2->sections[crossing->section_2]; nc2 = section->snav_invert_id[tie->snav_2]; /* if (nc1 > nsnav - 1 || nc2 > nsnav -1 || nc1 < 0 || nc2 < 0) fprintf(stderr, "BAD snav ID: %d %d %d\n", nc1, nc2, nsnav);*/ /* get observed offset vector including reduction of block solution */ if (tie->status != MBNA_TIE_Z) { offsetx = tie->offset_x_m - (file2->block_offset_x - file1->block_offset_x); offsety = tie->offset_y_m - (file2->block_offset_y - file1->block_offset_y); } else { offsetx = 0.0; offsety = 0.0; } if (tie->status != MBNA_TIE_XY) { offsetz = tie->offset_z_m - (file2->block_offset_z - file1->block_offset_z); } else { offsetz = 0.0; } /* get long axis misfit */ misfit = mbna_offsetweight / tie->sigmar1 * (offsetx * tie->sigmax1[0] + offsety * tie->sigmax1[1] + offsetz * tie->sigmax1[2]); misfit_initial += misfit * misfit; /* fprintf(stderr,"Initial Misfit: %d %f %f\n", ntie, misfit, misfit_initial);*/ /* get horizontal axis misfit */ misfit = mbna_offsetweight / tie->sigmar2 * (offsetx * tie->sigmax2[0] + offsety * tie->sigmax2[1] + offsetz * tie->sigmax2[2]); misfit_initial += misfit * misfit; /* fprintf(stderr,"Initial Misfit: %d %f %f\n", ntie, misfit, misfit_initial);*/ /* get semi-vertical axis misfit */ misfit = mbna_offsetweight / tie->sigmar3 * (offsetx * tie->sigmax3[0] + offsety * tie->sigmax3[1] + offsetz * tie->sigmax3[2]); misfit_initial += misfit * misfit; /* fprintf(stderr,"Initial Misfit: %d %f %f\n\n", ntie, misfit, misfit_initial);*/ ntie++; } } misfit_initial = sqrt(misfit_initial) / ntie; /* fprintf(stderr,"ntie:%d misfit_initial:%f\n",ntie,misfit_initial);*/ /* count dimension of solution guess vector */ nnav = 0; nsnav = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; nsnav += section->num_snav - section->continuity; for (isnav=0;isnavnum_snav;isnav++) { if (section->snav_num_ties[isnav] > 0) { section->snav_invert_id[isnav] = nnav; nnav++; } } } } /* allocate solution vector x, perturbation vector xx, and average solution vector xa */ ncols = ndf * nnav; status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&x,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xx,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xa,&error); inav = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { if (section->snav_num_ties[isnav] > 0) { x[ndf * inav] = 0.0; x[ndf * inav + 1] = 0.0; x[ndf * inav + 2] = 0.0; xx[ndf * inav] = 0.0; xx[ndf * inav + 1] = 0.0; xx[ndf * inav + 2] = 0.0; xa[ndf * inav] = file->block_offset_x - block_offset_avg_x; xa[ndf * inav + 1] = file->block_offset_y - block_offset_avg_y; xa[ndf * inav + 2] = file->block_offset_z - block_offset_avg_z; inav++; } } } } /*----------------------------------------------------------------*/ /* Step 2 - construct "average" model satisfying ties with */ /* fixed data (if needed) - this gets pulled out of the */ /* data along with the average block offsets. */ /*----------------------------------------------------------------*/ if (nfixed > 0) { /* set message dialog on */ sprintf(message,"Getting average offsets relative to fixed data..."); do_message_update(message); /* allocate some extra arrays */ status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, nnav * sizeof(int), (void **)&nxs,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xs,&error); status = mb_mallocd(mbna_verbose, __FILE__, __LINE__, ncols * sizeof(double), (void **)&xw,&error); for (inav=0;inavstatus == MBNA_CROSSING_STATUS_SET) for (jtie=0;jtienum_ties;jtie++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[jtie]; /* get absolute id for first snav point */ file1 = &project.files[crossing->file_id_1]; section = &file1->sections[crossing->section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[crossing->file_id_2]; section = &file2->sections[crossing->section_2]; nc2 = section->snav_invert_id[tie->snav_2]; /* only work with ties in which one section is fixed */ if ((file1->status == MBNA_FILE_FIXEDNAV && file2->status != MBNA_FILE_FIXEDNAV) || (file1->status != MBNA_FILE_FIXEDNAV && file2->status == MBNA_FILE_FIXEDNAV)) { /* get current offset vector including reduction of block solution */ if (tie->status != MBNA_TIE_Z) { offsetx = tie->offset_x_m - (xa[3*nc2] - xa[3*nc1]); offsety = tie->offset_y_m - (xa[3*nc2+1] - xa[3*nc1+1]); } else { offsetx = 0.0; offsety = 0.0; } if (tie->status != MBNA_TIE_XY) { offsetz = tie->offset_z_m - (xa[3*nc2+2] - xa[3*nc1+2]); } else { offsetz = 0.0; } /* fprintf(stderr,"STAGE 2 START: icrossing:%d jtie:%d nc1:%d %d nc2:%d %d offsets: %f %f %f\n", icrossing,jtie,nc1,file1->status,nc2,file2->status,offsetx,offsety,offsetz);*/ /* figure out how far each tied nav point is from the unfixed point in the current tie */ for (inav=0;inavstatus == MBNA_FILE_FIXEDNAV) { nxs[nc2] = 1; } else if (file2->status == MBNA_FILE_FIXEDNAV) { nxs[nc1] = 1; offsetx *= -1.0; offsety *= -1.0; offsetz *= -1.0; } /* now loop over all nav points repeatedly */ done = MB_NO; while (done == MB_NO) { nchange = 0; /* run forward through the data */ inav = 0; nseq = 0; nseqlast = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; if (section->continuity == MB_NO) nseq = 0; for (isnav=0;isnavnum_snav;isnav++) { if (section->snav_num_ties[isnav] > 0) { /* fprintf(stderr,"i:%d j:%d isnav:%d inav:%d nseqqqlast:%d nseq:%d file->status:%d nxs:%d %d", i,j,isnav,inav,nseqlast,nseq,file->status,nxs[inav-1],nxs[inav]); */ if (inav > 0 && nseq > 0 && file->status != MBNA_FILE_FIXEDNAV && nxs[inav-1] > 0 && (nxs[inav-1] < nxs[inav] - 1 || nxs[inav] == 0)) { nxs[inav] = nxs[inav-1] + 1; nchange++; /* fprintf(stderr," CHANGE nxs:%d %d",nxs[inav-1],nxs[inav]); */ } /* fprintf(stderr,"\n"); */ /* increment sequence counters */ nseqlast = nseq; nseq++; inav++; } } } } /* fprintf(stderr,"\n"); */ /* run backward through the data */ nseq = 0; nseqlast = 0; for (i=project.num_files-1;i>=0;i--) { file = &project.files[i]; for (j=file->num_sections-1;j>=0;j--) { section = &file->sections[j]; for (isnav=section->num_snav-1;isnav>=0;isnav--) { if (section->snav_num_ties[isnav] > 0) { inav--; /* fprintf(stderr,"i:%d j:%d isnav:%d inav:%d nseqqqlast:%d nseq:%d file->status:%d nxs:%d %d", i,j,isnav,inav,nseqlast,nseq,file->status,nxs[inav],nxs[inav+1]); */ if (inav >= 0 && nseqlast > 0 && file->status != MBNA_FILE_FIXEDNAV && nxs[inav+1] > 0 && (nxs[inav+1] < nxs[inav] - 1 || nxs[inav] == 0)) { nxs[inav] = nxs[inav+1] + 1; nchange++; /* fprintf(stderr," CHANGE nxs:%d %d",nxs[inav],nxs[inav+1]); */ } /* fprintf(stderr,"\n"); */ /* increment sequence counters */ nseqlast = nseq; nseq++; } } if (section->continuity == MB_NO) nseq = 0; } } /* run through ties */ for (i=0;isections[project.crossings[i].section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[project.crossings[i].file_id_2]; section = &file2->sections[project.crossings[i].section_2]; nc2 = section->snav_invert_id[tie->snav_2]; /* check for nav points needing closeness setting */ if (nxs[nc1] > 0 && nxs[nc2] == 0) { if (file2->status != MBNA_FILE_FIXEDNAV) { nxs[nc2] = nxs[nc1] + 1; nchange++; } } else if (nxs[nc1] > 0 && nxs[nc2] > nxs[nc1] + 1) { if (file2->status != MBNA_FILE_FIXEDNAV) { nxs[nc2] = nxs[nc1] + 1; nchange++; } } else if (nxs[nc2] > 0 && nxs[nc1] == 0) { if (file1->status != MBNA_FILE_FIXEDNAV) { nxs[nc1] = nxs[nc2] + 1; nchange++; } } else if (nxs[nc2] > 0 && nxs[nc1] > nxs[nc2] + 1) { if (file1->status != MBNA_FILE_FIXEDNAV) { nxs[nc1] = nxs[nc2] + 1; nchange++; } } } } /* check for done */ if (nchange == 0) done = MB_YES; /* fprintf(stderr,"icrossing:%d nchange:%d done:%d\n",icrossing,nchange,done); */ } /* fprintf(stderr,"\n");*/ /* now loop over the data adding the offset with weighting inversely set by the "distance" from each nav point to the offset point */ for (inav=0;inav 0) { xs[ndf * inav] += offsetx / (nxs[inav] * nxs[inav]); xs[ndf * inav + 1] += offsety / (nxs[inav] * nxs[inav]); xs[ndf * inav + 2] += offsetz / (nxs[inav] * nxs[inav]); xw[ndf * inav] += 1.0 / (nxs[inav] * nxs[inav]); xw[ndf * inav + 1] += 1.0 / (nxs[inav] * nxs[inav]); xw[ndf * inav + 2] += 1.0 / (nxs[inav] * nxs[inav]); } } } } } /* construct average offset model */ for (inav=0;inav 0.0) { xa[ndf * inav] += xs[ndf * inav] / xw[ndf * inav]; xa[ndf * inav + 1] += xs[ndf * inav + 1] / xw[ndf * inav + 1]; xa[ndf * inav + 2] += xs[ndf * inav + 2] / xw[ndf * inav + 2]; } /*fprintf(stderr,"inav:%d xw:%f xa:%f %f %f\n",inav,xw[ndf * inav],xa[ndf * inav],xa[ndf * inav + 1],xa[ndf * inav + 2]);*/ } /* save solution */ k = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { if (section->snav_num_ties[isnav] > 0) { k = section->snav_invert_id[isnav]; section->snav_lon_offset[isnav] = (x[3*k] + xa[3*k]) * mbna_mtodeglon; /* fprintf(stderr,"i:%d j:%d isnav:%d k:%d x[3*k]:%f xa[3*k]:%f mbna_mtodeglon:%f section->snav_lon_offset[isnav]:%f\n", i,j,isnav,k,x[3*k],xa[3*k],mbna_mtodeglon,section->snav_lon_offset[isnav]); */ section->snav_lat_offset[isnav] = (x[3*k+1] + xa[3*k+1]) * mbna_mtodeglat; /* fprintf(stderr,"i:%d j:%d isnav:%d k:%d x[3*k+1]:%f xa[3*k+1]:%f mbna_mtodeglat:%f section->snav_lat_offset[isnav]:%f\n", i,j,isnav,k,x[3*k+1],xa[3*k+1],mbna_mtodeglat,section->snav_lat_offset[isnav]); */ section->snav_z_offset[isnav] = (x[3*k+2] + xa[3*k+2]); /* fprintf(stderr,"i:%d j:%d isnav:%d k:%d x[3*k+2]:%f xa[3*k+2]:%f section->snav_z_offset[isnav]:%f\n\n", i,j,isnav,k,x[3*k+2],xa[3*k+2],section->snav_z_offset[isnav]); */ } } } } /* interpolate the solution */ mbnavadjust_interpolatesolution(); /* save interpolated solution */ k = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { section->snav_lon_offset[isnav] = section->snav_lon_offset_int[isnav]; section->snav_lat_offset[isnav] = section->snav_lat_offset_int[isnav]; section->snav_z_offset[isnav] = section->snav_z_offset_int[isnav]; } } } /* update model plot */ if (project.modelplot == MB_YES && iter % 25 == 0) mbnavadjust_modelplot_plot(); /* loop over all ties, working only with ties including fixed sections */ for (icrossing=0;icrossingstatus == MBNA_CROSSING_STATUS_SET) for (jtie=0;jtienum_ties;jtie++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[jtie]; /* get absolute id for first snav point */ file1 = &project.files[crossing->file_id_1]; section = &file1->sections[crossing->section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[crossing->file_id_2]; section = &file2->sections[crossing->section_2]; nc2 = section->snav_invert_id[tie->snav_2]; /* only work with ties in which one section is fixed */ if ((file1->status == MBNA_FILE_FIXEDNAV && file2->status != MBNA_FILE_FIXEDNAV) || (file1->status != MBNA_FILE_FIXEDNAV && file2->status == MBNA_FILE_FIXEDNAV)) { /* get current offset vector including reduction of block solution */ offsetx = tie->offset_x_m - (xa[3*nc2] - xa[3*nc1]); offsety = tie->offset_y_m - (xa[3*nc2+1] - xa[3*nc1+1]); offsetz = tie->offset_z_m - (xa[3*nc2+2] - xa[3*nc1+2]); /* fprintf(stderr,"STAGE 2 RESULT: icrossing:%d jtie:%d nc1:%d %d nc2:%d %d offsets: %f %f %f\n", icrossing,jtie,nc1,file1->status,nc2,file2->status,offsetx,offsety,offsetz); */ } } } /* deallocate arrays */ status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&nxs,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xs,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xw,&error); } /*----------------------------------------------------------------*/ /* Step 3 - invert for model satisfying all nav ties */ /*----------------------------------------------------------------*/ /* loop until convergence */ done = MB_NO; iter = 0; perturbationsizeold = misfit_initial; mbna_smoothweight = pow(10.0, project.smoothing) * mbna_offsetweight; while (done == MB_NO) { /* zero solution */ for (i=0;istatus == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[j]; /* get absolute id for first snav point */ file1 = &project.files[crossing->file_id_1]; section = &file1->sections[crossing->section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[crossing->file_id_2]; section = &file2->sections[crossing->section_2]; nc2 = section->snav_invert_id[tie->snav_2]; if (file1->sections[crossing->section_1].snav_time_d[tie->snav_1] == file2->sections[crossing->section_2].snav_time_d[tie->snav_2]) fprintf(stderr,"ZERO TIME BETWEEN TIED POINTS!! file:section:snav - %d:%d:%d %d:%d:%d DIFF:%f\n", crossing->file_id_1,crossing->section_1,tie->snav_1, crossing->file_id_2,crossing->section_2,tie->snav_2, (file1->sections[crossing->section_1].snav_time_d[tie->snav_1] - file2->sections[crossing->section_2].snav_time_d[tie->snav_2])); /* get current offset vector including reduction of block solution */ if (tie->status != MBNA_TIE_Z) { offsetx = tie->offset_x_m - (xa[3*nc2] - xa[3*nc1]) - (x[3*nc2] + xx[3*nc2] - x[3*nc1] - xx[3*nc1]); offsety = tie->offset_y_m - (xa[3*nc2+1] - xa[3*nc1+1]) - (x[3*nc2+1] + xx[3*nc2+1] - x[3*nc1+1] - xx[3*nc1+1]); } else { offsetx = 0.0; offsety = 0.0; } if (tie->status != MBNA_TIE_XY) { offsetz = tie->offset_z_m - (xa[3*nc2+2] - xa[3*nc1+2]) - (x[3*nc2+2] + xx[3*nc2+2] - x[3*nc1+2] - xx[3*nc1+2]); } else { offsetz = 0.0; } offsetr = sqrt(offsetx * offsetx + offsety * offsety + offsetz * offsetz); /* deal with each component of the error ellipse - project offset vector onto each component by dot-product - weight inversely by size of error for that component */ /* deal with long axis */ offsetsigma = offsetx * tie->sigmax1[0] + offsety * tie->sigmax1[1] + offsetz * tie->sigmax1[2]; if (fabs(offsetsigma) > 0.0) weight = MAX(mbna_offsetweight / tie->sigmar1, 1.0); else weight = 1.0; /* deal with fixed, good, or poor status of sections */ if (file1->status == file2->status) { if (file1->status == MBNA_FILE_GOODNAV || file1->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax1[2]; } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax1[2]; } else if (file1->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_GOODNAV) { if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_POORNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDNAV) { if (file2->status == MBNA_FILE_GOODNAV || file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { if (file2->status == MBNA_FILE_GOODNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax1[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDZNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax1[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax1[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax1[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax1[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax1[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax1[2]; } } /* fprintf(stderr,"long axis: nc1:%d xx:%f %f %f nc2:%d xx:%f %f %f\n", nc1,xx[3*nc1],xx[3*nc1+1],xx[3*nc1+2], nc2,xx[3*nc2],xx[3*nc2+1],xx[3*nc2+2]);*/ /* deal with horizontal axis */ offsetsigma = offsetx * tie->sigmax2[0] + offsety * tie->sigmax2[1] + offsetz * tie->sigmax2[2]; if (offsetsigma > 0.0) weight = MAX(mbna_offsetweight / tie->sigmar2, 1.0); else weight = 1.0; /* deal with fixed, good, or poor status of sections */ if (file1->status == file2->status) { if (file1->status == MBNA_FILE_GOODNAV || file1->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax2[2]; } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax2[2]; } else if (file1->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_GOODNAV) { if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_POORNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDNAV) { if (file2->status == MBNA_FILE_GOODNAV || file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { if (file2->status == MBNA_FILE_GOODNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax2[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDZNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax2[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax2[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax2[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax2[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax2[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax2[2]; } } /* fprintf(stderr,"horizontal: nc1:%d xx:%f %f %f nc2:%d xx:%f %f %f\n", nc1,xx[3*nc1],xx[3*nc1+1],xx[3*nc1+2], nc2,xx[3*nc2],xx[3*nc2+1],xx[3*nc2+2]);*/ /* deal with semi-vertical axis */ offsetsigma = offsetx * tie->sigmax3[0] + offsety * tie->sigmax3[1] + offsetz * tie->sigmax3[2]; if (offsetsigma > 0.0) weight = MAX(mbna_offsetweight / tie->sigmar3, 1.0); else weight = 1.0; /* deal with fixed, good, or poor status of sections */ if (file1->status == file2->status) { if (file1->status == MBNA_FILE_GOODNAV || file1->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax3[2]; } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax3[2]; } else if (file1->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_GOODNAV) { if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_POORNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -0.995 * weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += 0.005 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { xx[3*nc1] += -0.995 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.995 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += 0.005 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.005 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDNAV) { if (file2->status == MBNA_FILE_GOODNAV || file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; xx[3*nc1+2] += 0.0; */ xx[3*nc2] += weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDXYNAV) { if (file2->status == MBNA_FILE_GOODNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.5 * weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += 0.5 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_POORNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -0.005 * weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += 0.995 * weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; /* xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDZNAV) { /* xx[3*nc1] += 0.0; xx[3*nc1+1] += 0.0; */ xx[3*nc1+2] += -weight * offsetsigma * tie->sigmax3[2]; xx[3*nc2] += weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc2+2] += 0.0; */ } } else if (file1->status == MBNA_FILE_FIXEDZNAV) { if (file2->status == MBNA_FILE_GOODNAV) { xx[3*nc1] += -0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.5 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.5 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.5 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_POORNAV) { xx[3*nc1] += -0.005 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -0.005 * weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc1+2] += 0.0; */ xx[3*nc2] += 0.995 * weight * offsetsigma * tie->sigmax3[0]; xx[3*nc2+1] += 0.995 * weight * offsetsigma * tie->sigmax3[1]; xx[3*nc2+2] += weight * offsetsigma * tie->sigmax3[2]; } else if (file2->status == MBNA_FILE_FIXEDNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; xx[3*nc2+2] += 0.0; */ } else if (file2->status == MBNA_FILE_FIXEDXYNAV) { xx[3*nc1] += -weight * offsetsigma * tie->sigmax3[0]; xx[3*nc1+1] += -weight * offsetsigma * tie->sigmax3[1]; /* xx[3*nc1+2] += 0.0; xx[3*nc2] += 0.0; xx[3*nc2+1] += 0.0; */ xx[3*nc2+2] += weight * offsetsigma * tie->sigmax3[2]; } } /* fprintf(stderr,"semi-vertical: nc1:%d xx:%f %f %f nc2:%d xx:%f %f %f\n", nc1,xx[3*nc1],xx[3*nc1+1],xx[3*nc1+2], nc2,xx[3*nc2],xx[3*nc2+1],xx[3*nc2+2]);*/ /* fprintf(stderr,"icrossing:%d j:%d tie->offset_x_m:%f x[3*%d]:%f x[3*%d]:%f offsetx:%f xx[3*%d]:%f xx[3*%d]:%f\n", icrossing,j,tie->offset_x_m,nc2,x[3*nc2],nc1,x[3*nc1],offsetx,nc2,xx[3*nc2],nc1,xx[3*nc1]); fprintf(stderr,"icrossing:%d j:%d tie->offset_y_m:%f x[3*%d+1]:%f x[3*%d+1]:%f offsety:%f xx[3*%d+1]:%f xx[3*%d+1]:%f\n", icrossing,j,tie->offset_y_m,nc2,x[3*nc2+1],nc1,x[3*nc1+1],offsety,nc2,xx[3*nc2+1],nc1,xx[3*nc1+1]); fprintf(stderr,"icrossing:%d j:%d tie->offset_z_m:%f x[3*%d+2]:%f x[3*%d+2]:%f offsetz:%f xx[3*%d+2]:%f xx[3*%d+2]:%f\n\n", icrossing,j,tie->offset_z_m,nc2,x[3*nc2+2],nc1,x[3*nc1+2],offsetz,nc2,xx[3*nc2+2],nc1,xx[3*nc1+2]);*/ } } /* now loop over all points applying smoothing */ nseq = 0; ndx = 0; ndx2 = 0; file = &project.files[ifile]; for (i=0;istatus != MBNA_FILE_FIXEDNAV) for (isection=0;isectionnum_sections;isection++) { section = &file->sections[isection]; if (section->continuity == MB_NO) nseq = 0; for (isnav=0;isnavnum_snav;isnav++) { /* work only with points that are tied */ if (section->snav_num_ties[isnav] > 0) { /* get ids for tied nav points */ if (nseq > 1) { nc1 = nc2; time_d1 = time_d2; } if (nseq > 0) { nc2 = nc3; time_d2 = time_d3; } nc3 = section->snav_invert_id[isnav]; time_d3 = section->snav_time_d[isnav]; /* add first derivative constraint if nseq > 1 AND dtime_d > 0.0 */ dtime_d = time_d3 - time_d2; if (nseq > 0 && dtime_d > 0.0) { /* get current offset vector */ offsetx = (x[3*nc3] + xx[3*nc3] + xa[3*nc3] - x[3*nc2] - xx[3*nc2] - xa[3*nc2]); offsety = (x[3*nc3+1] + xx[3*nc3+1] + xa[3*nc3+1] - x[3*nc2+1] - xx[3*nc2+1] - xa[3*nc2+1]); offsetz = (x[3*nc3+2] + xx[3*nc3+2] + xa[3*nc3+2] - x[3*nc2+2] - xx[3*nc2+2] - xa[3*nc2+2]); /* add remaining offsets to both points */ weight = 0.5 * MIN(mbna_smoothweight / dtime_d, 1.0); xx[3*nc2] += weight * offsetx; xx[3*nc2+1] += weight * offsety; xx[3*nc2+2] += weight * offsetz; xx[3*nc3] += -weight * offsetx; xx[3*nc3+1] += -weight * offsety; xx[3*nc3+2] += -weight * offsetz; ndx++; /* fprintf(stderr,"1st Derivative: nc2:%d offsets:%f %f %f weight:%f perturbation:%f %f %f\n", nc2,offsetx,offsety,offsetz,weight, 0.5 * weight * offsetx,0.5 * weight * offsety,0.5 * weight * offsetz);*/ } /* add second derivative constraint if nseq > 2 AND dtime_d > 0.0 */ dtime_d = time_d3 - time_d1; if (nseq > 1 && dtime_d > 0.0) { /* get current offset vector */ offsetx = (x[3*nc1] + xx[3*nc1] - 2.0 * (x[3*nc2] + xx[3*nc2]) + x[3*nc3] + xx[3*nc3]); offsety = (x[3*nc1+1] + xx[3*nc1+1] - 2.0 * (x[3*nc2+1] + xx[3*nc2+1]) + x[3*nc3+1] + xx[3*nc3+1]); offsetz = (x[3*nc1+2] + xx[3*nc1+2] - 2.0 * (x[3*nc2+2] + xx[3*nc2+2]) + x[3*nc3+2] + xx[3*nc3+2]); /* add remaining offsets to both points, or just one if one is fixed (weight 2nd derivative 1/4th of first derivative)*/ weight = 0.125 * MIN(mbna_smoothweight / dtime_d, 1.0); xx[3*nc1] += -0.5 * weight * offsetx; xx[3*nc1+1] += -0.5 * weight * offsety; xx[3*nc1+2] += -0.5 * weight * offsetz; xx[3*nc2] += weight * offsetx; xx[3*nc2+1] += weight * offsety; xx[3*nc2+2] += weight * offsetz; xx[3*nc3] += -0.5 * weight * offsetx; xx[3*nc3+1] += -0.5 * weight * offsety; xx[3*nc3+2] += -0.5 * weight * offsetz; /* fprintf(stderr,"2nd Derivative: nc2:%d offsets:%f %f %f weight:%f perturbation:%f %f %f\n", nc2,offsetx,offsety,offsetz,weight,0.25 * weight * offsetx,0.25 * weight * offsety,0.25 * weight * offsetz);*/ ndx2++; } /* increment sequence counter */ nseq++; } } } } /* calculate 2-norm of perturbation */ perturbationsize = 0.0; for (i=0;istatus == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { /* get tie */ tie = (struct mbna_tie *) &crossing->ties[j]; ntie++; /* get absolute id for first snav point */ file1 = &project.files[crossing->file_id_1]; section = &file1->sections[crossing->section_1]; nc1 = section->snav_invert_id[tie->snav_1]; /* get absolute id for second snav point */ file2 = &project.files[crossing->file_id_2]; section = &file2->sections[crossing->section_2]; nc2 = section->snav_invert_id[tie->snav_2]; if (nc1 > nsnav - 1 || nc2 > nsnav -1 || nc1 < 0 || nc2 < 0) fprintf(stderr, "BAD snav ID: %d %d %d\n", nc1, nc2, nsnav); /* get observed offset vector including reduction of block solution */ offsetx = (x[3*nc2] + xa[3*nc2] - x[3*nc1] - xa[3*nc1]) - tie->offset_x_m; offsety = (x[3*nc2+1] + xa[3*nc2+1] - x[3*nc1+1] - xa[3*nc1+1]) - tie->offset_y_m; offsetz = (x[3*nc2+2] + xa[3*nc2+2] - x[3*nc1+2] - xa[3*nc1+2]) - tie->offset_z_m; /* get long axis misfit */ misfit = mbna_offsetweight / tie->sigmar1 * (offsetx * tie->sigmax1[0] + offsety * tie->sigmax1[1] + offsetz * tie->sigmax1[2]); misfit_ties += misfit * misfit; /* get horizontal axis misfit */ misfit = mbna_offsetweight / tie->sigmar2 * (offsetx * tie->sigmax2[0] + offsety * tie->sigmax2[1] + offsetz * tie->sigmax2[2]); misfit_ties += misfit * misfit; /* get semi-vertical axis misfit */ misfit = mbna_offsetweight / tie->sigmar3 * (offsetx * tie->sigmax3[0] + offsety * tie->sigmax3[1] + offsetz * tie->sigmax3[2]); misfit_ties += misfit * misfit; } } misfit_ties = sqrt(misfit_ties) / ntie; /* check for convergence */ perturbationchange = perturbationsize - perturbationsizeold; convergencecriterea = fabs(perturbationchange) / misfit_initial; if (convergencecriterea < MBNA_CONVERGENCE || convergencecriterea > 10000.0 || iter > MBNA_INTERATION_MAX) done = MB_YES; /* fprintf(stderr,"MODEL INVERT: iter:%d ntie:%d misfit_initial:%f misfit_ties:%f perturbationsize:%g perturbationchange:%g convergencecriterea:%g done:%d\n", iter,ntie,misfit_initial,misfit_ties,perturbationsize,perturbationchange,convergencecriterea,done); */ if (done == MB_NO) { perturbationsizeold = perturbationsize; iter++; } /* save solution */ k = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { if (section->snav_num_ties[isnav] > 0) { k = section->snav_invert_id[isnav]; section->snav_lon_offset[isnav] = (x[3*k] + xa[3*k]) * mbna_mtodeglon; /* fprintf(stderr,"isnav:%d k:%d x[3*k]:%f xa[3*k]:%f mbna_mtodeglon:%f section->snav_lon_offset[isnav]:%f\n", isnav,k,x[3*k],xa[3*k],mbna_mtodeglon,section->snav_lon_offset[isnav]);*/ section->snav_lat_offset[isnav] = (x[3*k+1] + xa[3*k+1]) * mbna_mtodeglat; /* fprintf(stderr,"isnav:%d k:%d x[3*k+1]:%f xa[3*k+1]:%f mbna_mtodeglat:%f section->snav_lat_offset[isnav]:%f\n", isnav,k,x[3*k+1],xa[3*k+1],mbna_mtodeglat,section->snav_lat_offset[isnav]);*/ section->snav_z_offset[isnav] = (x[3*k+2] + xa[3*k+2]); /* fprintf(stderr,"isnav:%d k:%d x[3*k+2]:%f xa[3*k+2]:%f section->snav_lat_offset[isnav]:%f\n\n", isnav,k,x[3*k+2],xa[3*k+2],section->snav_lat_offset[isnav]); */ } } } } /* interpolate the solution */ mbnavadjust_interpolatesolution(); /* save interpolated solution */ k = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { section->snav_lon_offset[isnav] = section->snav_lon_offset_int[isnav]; section->snav_lat_offset[isnav] = section->snav_lat_offset_int[isnav]; section->snav_z_offset[isnav] = section->snav_z_offset_int[isnav]; } } } /* set message dialog on */ if (iter % 100 == 0) { sprintf(message,"Completed inversion iteration %d Convergence:%.2f", iter, convergencecriterea / MBNA_CONVERGENCE); do_message_update(message); } /* update model plot */ if (project.modelplot == MB_YES && iter % 25 == 0) mbnavadjust_modelplot_plot(); } } /* output results from navigation solution */ if (project.open == MB_YES && project.num_crossings > 0 && (project.num_crossings_analyzed >= 10 || project.num_truecrossings_analyzed == project.num_truecrossings) && ok_to_invert == MB_YES && error == MB_ERROR_NO_ERROR) { /* now output inverse solution */ sprintf(message,"Outputting navigation solution..."); do_message_update(message); sprintf(message, " > Final misfit:%12g\n > Initial misfit:%12g\n", misfit_ties, misfit_initial); do_info_add(message, MB_NO); /* get crossing offset results */ sprintf(message, " > Nav Tie Offsets (m): id observed solution error\n"); do_info_add(message, MB_NO); for (icrossing=0;icrossingstatus == MBNA_CROSSING_STATUS_SET) for (j=0;jnum_ties;j++) { tie = (struct mbna_tie *) &crossing->ties[j]; offset_x = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lon_offset[tie->snav_2] - project.files[crossing->file_id_1].sections[crossing->section_1].snav_lon_offset[tie->snav_1]; offset_y = project.files[crossing->file_id_2].sections[crossing->section_2].snav_lat_offset[tie->snav_2] - project.files[crossing->file_id_1].sections[crossing->section_1].snav_lat_offset[tie->snav_1]; offset_z = project.files[crossing->file_id_2].sections[crossing->section_2].snav_z_offset[tie->snav_2] - project.files[crossing->file_id_1].sections[crossing->section_1].snav_z_offset[tie->snav_1]; tie->inversion_status = MBNA_INVERSION_CURRENT; tie->inversion_offset_x = offset_x; tie->inversion_offset_y = offset_y; tie->inversion_offset_x_m = offset_x / mbna_mtodeglon; tie->inversion_offset_y_m = offset_y / mbna_mtodeglat; tie->inversion_offset_z_m = offset_z; /* fprintf(stderr,"mbna_mtodeglon:%f mbna_mtodeglat:%f\n",mbna_mtodeglon,mbna_mtodeglat); fprintf(stderr,"offsets:%f %f %f offsets_m:%f %f %f\n", offset_x,offset_y,offset_z,tie->inversion_offset_x_m,tie->inversion_offset_y_m,tie->inversion_offset_z_m);*/ sprintf(message, " > %4d %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f\n", icrossing, tie->offset_x_m, tie->offset_y_m, tie->offset_z_m, tie->inversion_offset_x_m, tie->inversion_offset_y_m, tie->inversion_offset_z_m, (tie->inversion_offset_x_m - tie->offset_x_m), (tie->inversion_offset_y_m - tie->offset_y_m), (tie->inversion_offset_z_m - tie->offset_z_m)); do_info_add(message, MB_NO); } } /* write updated project */ project.inversion = MBNA_INVERSION_CURRENT; mbnavadjust_write_project(); /* deallocate arrays */ status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&x,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xx,&error); status = mb_freed(mbna_verbose, __FILE__, __LINE__, (void **)&xa,&error); /* turn off message dialog */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_applynav() { /* local variables */ char *function_name = "mbnavadjust_applynav"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; char npath[STRING_MAX]; char apath[STRING_MAX]; char opath[STRING_MAX]; FILE *nfp, *afp, *ofp; char *result; char buffer[BUFFER_MAX]; int nscan; int time_i[7]; double time_d; double navlon; double navlat; double heading; double speed; double draft; double roll; double pitch; double heave; double factor; double zoffset; char ostring[STRING_MAX]; int mbp_heading_mode; double mbp_headingbias; int mbp_rollbias_mode; double mbp_rollbias; double mbp_rollbias_port; double mbp_rollbias_stbd; int done; int isection, isnav; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* output results from navigation solution */ if (project.open == MB_YES && project.num_crossings > 0 && (project.num_crossings_analyzed >= 10 || project.num_truecrossings_analyzed == project.num_truecrossings) && error == MB_ERROR_NO_ERROR) { /* now output inverse solution */ sprintf(message,"Applying navigation solution..."); do_message_on(message); /* generate new nav files */ for (i=0;ioutput_id); sprintf(opath,"%s.na%d", file->path, file->output_id); if (file->status == MBNA_FILE_FIXEDNAV) { sprintf(message, " > Not outputting updated nav to fixed file %s\n", opath); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else if ((nfp = fopen(npath,"r")) == NULL) { status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; sprintf(message, " > Unable to read initial nav file %s\n", npath); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else if ((afp = fopen(apath,"w")) == NULL) { fclose(nfp); status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; sprintf(message, " > Unable to open output nav file %s\n", apath); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else if ((ofp = fopen(opath,"w")) == NULL) { fclose(nfp); fclose(afp); status = MB_FAILURE; error = MB_ERROR_OPEN_FAIL; sprintf(message, " > Unable to open output nav file %s\n", opath); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); } else { sprintf(message, " > Output updated nav to %s\n", opath); do_info_add(message, MB_NO); if (mbna_verbose == 0) fprintf(stderr,"%s",message); /* write file header */ right_now = time((time_t *)0); strncpy(date,ctime(&right_now),24); if ((user_ptr = getenv("USER")) == NULL) user_ptr = getenv("LOGNAME"); if (user_ptr != NULL) strcpy(user,user_ptr); else strcpy(user, "unknown"); gethostname(host,MBP_FILENAMESIZE); sprintf(ostring, "# Adjusted navigation generated using MBnavadjust\n"); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MB-System version: %s\n",MB_VERSION); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MB-System build data: %s\n",MB_BUILD_DATE); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MBnavadjust version: %s\n",rcs_id); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MBnavadjust project name: %s\n",project.name); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MBnavadjust project path: %s\n",project.path); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# MBnavadjust project home: %s\n",project.home); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); sprintf(ostring, "# Generated by user <%s> on cpu <%s> at <%s>\n", user,host,date); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); /* read the input nav */ isection = 0; section = &file->sections[isection]; isnav = 0; done = MB_NO; while (done == MB_NO) { if ((result = fgets(buffer,BUFFER_MAX,nfp)) != buffer) { done = MB_YES; } else if ((nscan = sscanf(buffer, "%d %d %d %d %d %d.%d %lf %lf %lf %lf %lf %lf %lf %lf %lf", &time_i[0], &time_i[1], &time_i[2], &time_i[3], &time_i[4], &time_i[5], &time_i[6], &time_d, &navlon, &navlat, &heading, &speed, &draft, &roll, &pitch, &heave)) >= 12) { /* fix nav from early version */ if (nscan < 16) { draft = 0.0; roll = 0.0; pitch = 0.0; heave = 0.0; } /* get next snav interval if needed */ while (time_d > section->snav_time_d[isnav+1] && !(isection == file->num_sections - 1 && isnav == section->num_snav - 2)) { if (isnav < section->num_snav - 2) { isnav++; } else if (isection < file->num_sections) { isection++; section = &file->sections[isection]; isnav = 0; } } /* update the nav if possible (and it should be...) */ if (time_d < section->snav_time_d[isnav]) { factor = 0.0; } else if (time_d > section->snav_time_d[isnav+1]) { factor = 1.0; } else { if (section->snav_time_d[isnav+1] > section->snav_time_d[isnav]) { factor = (time_d - section->snav_time_d[isnav]) / (section->snav_time_d[isnav+1] - section->snav_time_d[isnav]); /*if (fabs(time_d - section->snav_time_d[isnav]) < 1.0) fprintf(stderr,"%f %f\n",pitch,section->snav_z_offset[isnav]); else if (fabs(time_d - section->snav_time_d[isnav+1]) < 1.0) fprintf(stderr,"%f %f\n",pitch,section->snav_z_offset[isnav+1]);*/ } else factor = 0.0; } /* update and output only nonzero navigation */ if (fabs(navlon) > 0.0000001 && fabs(navlat) > 0.0000001) { navlon += section->snav_lon_offset[isnav] + factor * (section->snav_lon_offset[isnav+1] - section->snav_lon_offset[isnav]); navlat += section->snav_lat_offset[isnav] + factor * (section->snav_lat_offset[isnav+1] - section->snav_lat_offset[isnav]); zoffset = section->snav_z_offset[isnav] + factor * (section->snav_z_offset[isnav+1] - section->snav_z_offset[isnav]); /* write the updated nav out */ /* printing this string twice because in some situations the first print has the time_d value come out as "nan" - this is the worst sort of kluge for a real but mysterious bug - apologies to all who find this - DWC 18 Aug 2007 R/V Atlantis Cobb Segment JDF Ridge */ sprintf(ostring, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.8f %.8f %.2f %.2f %.3f %.2f %.2f %.2f %.3f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed, draft, roll, pitch, heave, zoffset); sprintf(ostring, "%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d %16.6f %.8f %.8f %.2f %.2f %.3f %.2f %.2f %.2f %.3f\r\n", time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], time_d, navlon, navlat, heading, speed, draft, roll, pitch, heave, zoffset); fprintf(ofp, "%s", ostring); fprintf(afp, "%s", ostring); /* fprintf(stderr, "NAV OUT: %3.3d:%3.3d:%2.2d factor:%f | %s", i,isection,isnav,factor,ostring); */ } } } fclose(nfp); fclose(afp); fclose(ofp); /* get bias values */ mb_pr_get_heading(mbna_verbose, file->path, &mbp_heading_mode, &mbp_headingbias, &error); mb_pr_get_rollbias(mbna_verbose, file->path, &mbp_rollbias_mode, &mbp_rollbias, &mbp_rollbias_port, &mbp_rollbias_stbd, &error); /* update output file in mbprocess parameter file */ status = mb_pr_update_format(mbna_verbose, file->path, MB_YES, file->format, &error); status = mb_pr_update_navadj(mbna_verbose, file->path, MBP_NAVADJ_LLZ, opath, MBP_NAV_LINEAR, &error); /* update heading bias in mbprocess parameter file */ mbp_headingbias = file->heading_bias + file->heading_bias_import; if (mbp_headingbias == 0.0) { if (mbp_heading_mode == MBP_HEADING_OFF || mbp_heading_mode == MBP_HEADING_OFFSET) mbp_heading_mode = MBP_HEADING_OFF; else if (mbp_heading_mode == MBP_HEADING_CALC || mbp_heading_mode == MBP_HEADING_CALCOFFSET) mbp_heading_mode = MBP_HEADING_CALC; } else { if (mbp_heading_mode == MBP_HEADING_OFF || mbp_heading_mode == MBP_HEADING_OFFSET) mbp_heading_mode = MBP_HEADING_OFFSET; else if (mbp_heading_mode == MBP_HEADING_CALC || mbp_heading_mode == MBP_HEADING_CALCOFFSET) mbp_heading_mode = MBP_HEADING_CALCOFFSET; } status = mb_pr_update_heading(mbna_verbose, file->path, mbp_heading_mode, mbp_headingbias, &error); /* update roll bias in mbprocess parameter file */ mbp_rollbias = file->roll_bias + file->roll_bias_import; if (mbp_rollbias == 0.0) { if (mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) { mbp_rollbias_port = mbp_rollbias + mbp_rollbias_port - file->roll_bias_import; mbp_rollbias_stbd = mbp_rollbias + mbp_rollbias_stbd - file->roll_bias_import; } else mbp_rollbias_mode = MBP_ROLLBIAS_OFF; } else { if (mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE) { mbp_rollbias_port = mbp_rollbias + mbp_rollbias_port - file->roll_bias_import; mbp_rollbias_stbd = mbp_rollbias + mbp_rollbias_stbd - file->roll_bias_import; } else { mbp_rollbias_mode = MBP_ROLLBIAS_SINGLE; } } status = mb_pr_update_rollbias(mbna_verbose, file->path, mbp_rollbias_mode, mbp_rollbias, mbp_rollbias_port, mbp_rollbias_stbd, &error); } } /* turn off message dialog */ do_message_off(); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_interpolatesolution() { /* local variables */ char *function_name = "mbnavadjust_interpolatesolution"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_file *pfile; struct mbna_section *section; struct mbna_section *psection; int previoustie; int ifilestart; int isectionstart; int isnavstart; double plonoffset; double platoffset; double pzoffset; double ptime_d; double factor; int ok; int ii, jj, iisnav; int i, j, isnav; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* linearly interpolate solution between tied snavs */ previoustie = MB_NO; ifilestart = 0; isectionstart = 0; isnavstart = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { /* deal with constrained snav points */ if (section->snav_num_ties[isnav] > 0) { /* if no previous tie set apply current offset to intervening snav points */ if (previoustie == MB_NO) { for (ii=ifilestart;ii<=i;ii++) { pfile = &project.files[ii]; for (jj=0;jjnum_sections;jj++) { psection = &pfile->sections[jj]; for (iisnav=0;iisnavnum_snav;iisnav++) { ok = MB_YES; if (ii == ifilestart && jj < isectionstart) ok = MB_NO; if (ii == ifilestart && jj == isectionstart && iisnav < isnavstart) ok = MB_NO; if (ii == i && jj > j) ok = MB_NO; if (ii == i && jj == j && iisnav > isnav) ok = MB_NO; if (ok == MB_YES) { psection->snav_lon_offset_int[iisnav] = section->snav_lon_offset[isnav]; psection->snav_lat_offset_int[iisnav] = section->snav_lat_offset[isnav]; psection->snav_z_offset_int[iisnav] = section->snav_z_offset[isnav]; /*fprintf(stderr,"SET1: %d %d %d %f %f %f\n", ii,jj,iisnav, psection->snav_lon_offset_int[iisnav], psection->snav_lat_offset_int[iisnav], psection->snav_z_offset_int[iisnav]);*/ } } } } } /* if previous tie set interpolate intervening snav points */ if (previoustie == MB_YES) { pfile = &project.files[ifilestart]; psection = &pfile->sections[isectionstart]; plonoffset = psection->snav_lon_offset[isnavstart]; platoffset = psection->snav_lat_offset[isnavstart]; pzoffset = psection->snav_z_offset[isnavstart]; ptime_d = psection->snav_time_d[isnavstart]; for (ii=ifilestart;ii<=i;ii++) { pfile = &project.files[ii]; for (jj=0;jjnum_sections;jj++) { psection = &pfile->sections[jj]; for (iisnav=0;iisnavnum_snav;iisnav++) { ok = MB_YES; if (ii == ifilestart && jj < isectionstart) ok = MB_NO; if (ii == ifilestart && jj == isectionstart && iisnav <= isnavstart) ok = MB_NO; if (ii == i && jj > j) ok = MB_NO; if (ii == i && jj == j && iisnav > isnav) ok = MB_NO; if (ok == MB_YES) { if ((section->snav_time_d[isnav] - ptime_d) > 0.0) { factor = (psection->snav_time_d[iisnav] - ptime_d) / (section->snav_time_d[isnav] - ptime_d); } else { factor = 0.0; } psection->snav_lon_offset_int[iisnav] = plonoffset + factor * (section->snav_lon_offset[isnav] - plonoffset); psection->snav_lat_offset_int[iisnav] = platoffset + factor * (section->snav_lat_offset[isnav] - platoffset); psection->snav_z_offset_int[iisnav] = pzoffset + factor * (section->snav_z_offset[isnav] - pzoffset); /*fprintf(stderr,"SET2: %d %d %d %f %f %f times: %f %f %f\n", ii,jj,iisnav, psection->snav_lon_offset_int[iisnav], psection->snav_lat_offset_int[iisnav], psection->snav_z_offset_int[iisnav], section->snav_time_d[isnav],psection->snav_time_d[iisnav],ptime_d);*/ } } } } } /* reset tracking */ previoustie = MB_YES; ifilestart = i; isectionstart = j; isnavstart = isnav; } /* deal with a break in continuity */ else if (isnav == 0 && section->continuity == MB_NO) { /* if previous tie set apply that offset to intervening snav points */ if (previoustie == MB_YES) { pfile = &project.files[ifilestart]; psection = &pfile->sections[isectionstart]; plonoffset = psection->snav_lon_offset[isnavstart]; platoffset = psection->snav_lat_offset[isnavstart]; pzoffset = psection->snav_z_offset[isnavstart]; for (ii=ifilestart;ii<=i;ii++) { pfile = &project.files[ii]; for (jj=0;jjnum_sections;jj++) { psection = &pfile->sections[jj]; for (iisnav=0;iisnavnum_snav;iisnav++) { ok = MB_YES; if (ii == ifilestart && jj < isectionstart) ok = MB_NO; if (ii == ifilestart && jj == isectionstart && iisnav <= isnavstart) ok = MB_NO; if (ii == i && jj > j) ok = MB_NO; if (ii == i && jj == j && iisnav >= isnav) ok = MB_NO; if (ok == MB_YES) { psection->snav_lon_offset_int[iisnav] = plonoffset; psection->snav_lat_offset_int[iisnav] = platoffset; psection->snav_z_offset_int[iisnav] = pzoffset; /*fprintf(stderr,"SET3: %d %d %d %f %f %f\n", ii,jj,iisnav, psection->snav_lon_offset_int[iisnav], psection->snav_lat_offset_int[iisnav], psection->snav_z_offset_int[iisnav]);*/ } } } } } /* reset tracking */ previoustie = MB_NO; ifilestart = i; isectionstart = j; isnavstart = isnav; } /* deal with end of data */ else if (i == project.num_files - 1 && j == file->num_sections - 1 && isnav == section->num_snav - 1) { /* if previous tie set apply that offset to intervening snav points */ if (previoustie == MB_YES) { pfile = &project.files[ifilestart]; psection = &pfile->sections[isectionstart]; plonoffset = psection->snav_lon_offset[isnavstart]; platoffset = psection->snav_lat_offset[isnavstart]; pzoffset = psection->snav_z_offset[isnavstart]; for (ii=ifilestart;ii<=i;ii++) { pfile = &project.files[ii]; for (jj=0;jjnum_sections;jj++) { psection = &pfile->sections[jj]; for (iisnav=0;iisnavnum_snav;iisnav++) { ok = MB_YES; if (ii == ifilestart && jj < isectionstart) ok = MB_NO; if (ii == ifilestart && jj == isectionstart && iisnav <= isnavstart) ok = MB_NO; if (ii == i && jj > j) ok = MB_NO; if (ii == i && jj == j && iisnav > isnav) ok = MB_NO; if (ok == MB_YES) { psection->snav_lon_offset_int[iisnav] = plonoffset; psection->snav_lat_offset_int[iisnav] = platoffset; psection->snav_z_offset_int[iisnav] = pzoffset; /*fprintf(stderr,"SET4: %d %d %d %f %f %f\n", ii,jj,iisnav, psection->snav_lon_offset_int[iisnav], psection->snav_lat_offset_int[iisnav], psection->snav_z_offset_int[iisnav]);*/ } } } } } /* reset tracking */ previoustie = MB_NO; ifilestart = i; isectionstart = j; isnavstart = isnav; } /* zero unconstrained snav points - these will be interpolated later if possible */ else { section->snav_lon_offset_int[isnav] = 0.0; section->snav_lat_offset_int[isnav] = 0.0; section->snav_z_offset_int[isnav] = 0.0; /*fprintf(stderr,"SET5: %d %d %d %f %f %f\n", i,j,isnav, section->snav_lon_offset_int[isnav], section->snav_lat_offset_int[isnav], section->snav_z_offset_int[isnav]);*/ } } } } /*for (i=0;inum_sections;j++) { section = &file->sections[j]; for (isnav=0;isnavnum_snav;isnav++) { fprintf(stderr,"INTERPOLATION: %2d %2d %2d %f %f %f\n", i,j,isnav, section->snav_lon_offset_int[isnav], section->snav_lat_offset_int[isnav], section->snav_z_offset_int[isnav]); } } }*/ /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_set_modelplot_graphics(void *mp_xgid, int *mp_brdr) { /* local variables */ char *function_name = "mbnavadjust_set_modelplot_graphics"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 mp_xgid: %lu\n",(size_t)mp_xgid); fprintf(stderr,"dbg2 mp_brdr: %d %d %d %d\n", mp_brdr[0], mp_brdr[1], mp_brdr[2], mp_brdr[3]); } /* set graphics id */ pmodp_xgid = mp_xgid; /* set borders */ for (i=0;i<4;i++) { modp_borders[i] = mp_brdr[i]; } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_setzoom() { /* local variables */ char *function_name = "mbnavadjust_modelplot_setzoom"; int status = MB_SUCCESS; int xo; int plot_width; double xscale; int ipingstart, ipingend; int itiestart, itieend; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* plot zoom if active */ if ((mbna_modelplot_zoom_x1 >= 0 || mbna_modelplot_zoom_x2 >= 0) && mbna_modelplot_zoom_x1 != mbna_modelplot_zoom_x2) { if (project.modelplot_style == MBNA_MODELPLOT_SEQUENTIAL) { plot_width = mbna_modelplot_width - 8 * MBNA_MODELPLOT_X_SPACE; xo = 5 * MBNA_MODELPLOT_X_SPACE; xscale = ((double)plot_width) / (mbna_modelplot_end - mbna_modelplot_start + 1); ipingstart = (MIN(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - xo) / xscale + mbna_modelplot_start; ipingstart = MIN(MAX(ipingstart, 0), project.num_pings - 1); ipingend = (MAX(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - xo) / xscale + mbna_modelplot_start; ipingend = MIN(MAX(ipingend, 0), project.num_pings - 1); if (ipingend > ipingstart) { mbna_modelplot_zoom = MB_YES; mbna_modelplot_startzoom = ipingstart; mbna_modelplot_endzoom = ipingend; } else mbna_modelplot_zoom = MB_NO; } else { itiestart = (MIN(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale; itieend = (MAX(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale; itiestart = MAX(0,itiestart); itieend = MIN(mbna_num_ties_plot-1, itieend); if (itieend > itiestart) { mbna_modelplot_tiezoom = MB_YES; mbna_modelplot_tiestartzoom = itiestart; mbna_modelplot_tieendzoom = itieend; } else mbna_modelplot_tiezoom = MB_NO; } mbna_modelplot_zoom_x1 = 0; mbna_modelplot_zoom_x2 = 0; } /* reset zoom to off otherwise */ else { if (project.modelplot_style == MBNA_MODELPLOT_SEQUENTIAL) { mbna_modelplot_zoom = MB_NO; mbna_modelplot_start = 0; mbna_modelplot_end = project.num_pings - 1; } else { mbna_modelplot_tiezoom = MB_NO; mbna_modelplot_tiestart = 0; mbna_modelplot_tieend = mbna_num_ties_plot - 1; } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_pick(int x, int y) { /* local variables */ char *function_name = "mbnavadjust_modelplot_pick"; int status = MB_SUCCESS; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 x: %d\n",x); fprintf(stderr,"dbg2 y: %d\n",y); } /* find nearest snav pt with tie */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { if (project.modelplot_style == MBNA_MODELPLOT_SEQUENTIAL) { mbnavadjust_modelplot_pick_sequential(x, y); } else { mbnavadjust_modelplot_pick_tielist(x, y); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_pick_sequential(int x, int y) { /* local variables */ char *function_name = "mbnavadjust_modelplot_pick_sequential"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int range; int rangemin; int pick_crossing; int pick_tie; int pick_file; int pick_section; int pick_snav; int ntieselect; int i, j, ix, iy, iping; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 x: %d\n",x); fprintf(stderr,"dbg2 y: %d\n",y); } /* find nearest snav pt with tie */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { rangemin = 10000000; fprintf(stderr,"mbnavadjust_modelplot_pick_sequential: %d %d\n",x,y); /* search by looping over crossings */ for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); /* handle first snav point */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; if (section->show_in_modelplot == MB_YES) { iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } } /* handle second snav point */ file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; if (section->show_in_modelplot == MB_YES) { iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } } } } /* deal with successful pick */ if (rangemin < 10000000) { /* count the number of ties associated with the selected snav point */ ntieselect = 0; for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); /* handle first snav point */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; if (pick_file == crossing->file_id_1 && pick_section == crossing->section_1 && pick_snav == tie->snav_1) ntieselect++; /* handle second snav point */ file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; if (pick_file == crossing->file_id_2 && pick_section == crossing->section_2 && pick_snav == tie->snav_2) ntieselect++; } } /* if only one tie go ahead and select it and open it in naverr */ if (ntieselect == 1) { mbna_crossing_select = pick_crossing; mbna_tie_select = pick_tie; mbna_modelplot_pickfile = MBNA_SELECT_NONE; mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; /* bring up naverr window if required */ if (mbna_naverr_load == MB_NO) { do_naverr_init(); } /* else if naverr window is up, load selected crossing */ else { mbnavadjust_naverr_specific(mbna_crossing_select, mbna_tie_select); mbnavadjust_naverr_plot(MBNA_PLOT_MODE_FIRST); do_update_naverr(); do_update_status(); } } /* else if multiple ties */ else if (ntieselect > 1) { mbna_modelplot_pickfile = pick_file; mbna_modelplot_picksection = pick_section; mbna_modelplot_picksnav = pick_snav; } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_pick_tielist(int x, int y) { /* local variables */ char *function_name = "mbnavadjust_modelplot_pick_tielist"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int range; int rangemin; int pick_crossing; int pick_tie; int pick_file; int pick_section; int pick_snav; int i, j, ix, iy; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 x: %d\n",x); fprintf(stderr,"dbg2 y: %d\n",y); } /* find nearest snav pt with tie */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { rangemin = 10000000; /* search by looping over crossings */ for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); /* handle first snav point */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (tie->isurveyplotindex - mbna_modelplot_tiestart)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * tie->offset_x_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * tie->offset_y_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * tie->offset_z_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } } } /* deal with successful pick */ if (rangemin < 10000000) { mbna_crossing_select = pick_crossing; mbna_tie_select = pick_tie; /* mbna_modelplot_pickfile = MBNA_SELECT_NONE; */ mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; /* bring up naverr window if required */ if (mbna_naverr_load == MB_NO) { do_naverr_init(); } /* else if naverr window is up, load selected crossing */ else { mbnavadjust_naverr_specific(mbna_crossing_select, mbna_tie_select); mbnavadjust_naverr_plot(MBNA_PLOT_MODE_FIRST); do_update_naverr(); do_update_status(); } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_middlepick(int x, int y) { /* local variables */ char *function_name = "mbnavadjust_modelplot_middlepick"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int range; int rangemin; int pick_crossing; int pick_tie; int pick_file; int pick_section; int pick_snav; int i, j, ix, iy, iping; /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); fprintf(stderr,"dbg2 x: %d\n",x); fprintf(stderr,"dbg2 y: %d\n",y); } /* handle middle button pick */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { /* middle pick for sequential plot is either choosing one of multiple available ties from a tied crossing (left button) pick, or if that is not the situation, picking the nearest untied crossing */ if (project.modelplot_style == MBNA_MODELPLOT_SEQUENTIAL) { /* first snav pick had multiple ties - now pick which one to use */ if (mbna_modelplot_pickfile != MBNA_SELECT_NONE) { rangemin = 10000000; for (i=0;ifile_id_1 == mbna_modelplot_pickfile && crossing->section_1 == mbna_modelplot_picksection) { /* loop over the ties */ for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); if (tie->snav_1 == mbna_modelplot_picksnav) { file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } /*fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin);*/ iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } /*fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin);*/ iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = tie->snav_2; } /*fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin);*/ } } } /* check second snav */ if (crossing->file_id_2 == mbna_modelplot_pickfile && crossing->section_2 == mbna_modelplot_picksection) { /* loop over the ties */ for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); if (tie->snav_2 == mbna_modelplot_picksnav) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } fprintf(stderr,"range:%d rangemin:%d\n",range,rangemin); } } } } /* deal with successful pick */ if (rangemin < 10000000) { /* select tie and open it in naverr */ mbna_crossing_select = pick_crossing; mbna_tie_select = pick_tie; mbna_modelplot_pickfile = MBNA_SELECT_NONE; mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; /* bring up naverr window if required */ if (mbna_naverr_load == MB_NO) { do_naverr_init(); } /* else if naverr window is up, load selected crossing */ else { mbnavadjust_naverr_specific(mbna_crossing_select, mbna_tie_select); mbnavadjust_naverr_plot(MBNA_PLOT_MODE_FIRST); do_update_naverr(); do_update_status(); } } } /* else pick closest untied crossing */ else { rangemin = 10000000; /* search by looping over crossings */ for (i=0;inum_ties == 0) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = section->num_snav/2; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = section->num_snav/2; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = section->num_snav/2; } /* handle second snav point */ file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = section->num_snav/2; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = section->num_snav/2; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_2; pick_section = crossing->section_2; pick_snav = section->num_snav/2; } } } /* deal with successful pick */ if (rangemin < 10000000) { mbna_crossing_select = pick_crossing; mbna_tie_select = MBNA_SELECT_NONE; mbna_modelplot_pickfile = MBNA_SELECT_NONE; mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; /* bring up naverr window if required */ if (mbna_naverr_load == MB_NO) { do_naverr_init(); } /* else if naverr window is up, load selected crossing */ else { mbnavadjust_naverr_specific(mbna_crossing_select, mbna_tie_select); mbnavadjust_naverr_plot(MBNA_PLOT_MODE_FIRST); do_update_naverr(); do_update_status(); } } } } /* middle pick for tie (block) plot is choosing which survey vs survey group (block) to plot by itself */ else { rangemin = 10000000; /* search by looping over crossings */ for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); /* handle first snav point */ file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (tie->isurveyplotindex - mbna_modelplot_tiestart)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * tie->offset_x_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * tie->offset_y_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * tie->offset_z_m); range = (ix - x) * (ix - x) + (iy - y) * (iy - y); if (range < rangemin) { rangemin = range; pick_crossing = i; pick_tie = j; pick_file = crossing->file_id_1; pick_section = crossing->section_1; pick_snav = tie->snav_1; } } } /* deal with successful pick */ if (rangemin < 10000000) { crossing = &(project.crossings[pick_crossing]); mbna_crossing_select = pick_crossing; mbna_tie_select = pick_tie; mbna_modelplot_pickfile = MBNA_SELECT_NONE; mbna_modelplot_picksection = MBNA_SELECT_NONE; mbna_modelplot_picksnav = MBNA_SELECT_NONE; mbna_modelplot_blocksurvey1 = project.files[crossing->file_id_1].block; mbna_modelplot_blocksurvey2 = project.files[crossing->file_id_2].block; mbna_modelplot_tiezoom = MB_NO; /* bring up naverr window if required */ if (mbna_naverr_load == MB_NO) { do_naverr_init(); } /* else if naverr window is up, load selected crossing */ else { mbnavadjust_naverr_specific(mbna_crossing_select, mbna_tie_select); mbnavadjust_naverr_plot(MBNA_PLOT_MODE_FIRST); do_update_naverr(); do_update_status(); } } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_clearblock() { /* local variables */ char *function_name = "mbnavadjust_modelplot_clearblock"; int status = MB_SUCCESS; struct mbna_crossing *crossing; int block1, block2; int i, j; /*fprintf(stderr,"Called %s\n",function_name);*/ /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* only proceed if model plot is active and a crossing is selected */ if (project.open == MB_YES && project.modelplot == MB_YES && mbna_current_crossing != MBNA_SELECT_NONE) { /* delete all ties associated with the same pair of surveys as the currently selected crossing */ crossing = &(project.crossings[mbna_current_crossing]); block1 = project.files[crossing->file_id_1].block; block2 = project.files[crossing->file_id_2].block; for (i=0;inum_ties > 0 && ((project.files[crossing->file_id_1].block == block1 && project.files[crossing->file_id_2].block == block2) || (project.files[crossing->file_id_1].block == block2 && project.files[crossing->file_id_2].block == block1))) { for (j=crossing->num_ties-1;j>=0;j--) { mbnavadjust_deletetie(i, j, MBNA_CROSSING_STATUS_NONE); } } } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_plot() { /* local variables */ char *function_name = "mbnavadjust_modelplot_plot"; int status = MB_SUCCESS; /*fprintf(stderr,"Called %s\n",function_name);*/ /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* plot model if an inversion has been performed */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { if (project.modelplot_style == MBNA_MODELPLOT_SEQUENTIAL) { mbnavadjust_modelplot_plot_sequential(); } else { mbnavadjust_modelplot_plot_tielist(); } } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_plot_sequential() { /* local variables */ char *function_name = "mbnavadjust_modelplot_plot_sequential"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; double lon_offset_min; double lon_offset_max; double lat_offset_min; double lat_offset_max; double z_offset_min; double z_offset_max; double xymax, yzmax; int plot_width; int plot_height; int first, iping; char label[STRING_MAX]; int stringwidth, stringascent, stringdescent; int pixel; int ixo, iyo, ix, iy; int i, j, isnav; int imodelplot_start, imodelplot_end; /*fprintf(stderr,"Called %s\n",function_name);*/ /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* plot model if an inversion has been performed */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { /* first loop over files setting all plot flags off for both files and sections */ first = MB_YES; mbna_modelplot_count = 0; for (i=0;ishow_in_modelplot = MB_NO; for (j=0;jnum_sections;j++) { section = &file->sections[j]; section->show_in_modelplot = MB_NO; } } /* now loop over files setting file or section plot flags on as necessary */ for (i=0;iblock == mbna_survey_select) { file->show_in_modelplot = MB_YES; } } /* check if this file will be plotted */ else if (mbna_view_mode == MBNA_VIEW_MODE_FILE || mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { if (i == mbna_file_select) { file->show_in_modelplot = MB_YES; } } /* check if each section in this file will be plotted */ else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { for (j=0;jnum_sections;j++) { section = &file->sections[j]; if (i == mbna_file_select && j == mbna_section_select) { section->show_in_modelplot = MB_YES; } } } /* else every file will be plotted */ else if (mbna_view_mode == MBNA_VIEW_MODE_ALL) { file->show_in_modelplot = MB_YES; } } /* if view mode is with survey loop over all crossings */ if (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY) { for (i=0;ifile_id_1].block == mbna_survey_select || project.files[crossing->file_id_2].block == mbna_survey_select) { project.files[crossing->file_id_1].show_in_modelplot = MB_YES; project.files[crossing->file_id_2].show_in_modelplot = MB_YES; } } } /* else if view mode is with file loop over all crossings */ else if (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { for (i=0;ifile_id_1 == mbna_file_select || crossing->file_id_2 == mbna_file_select) { project.files[crossing->file_id_1].show_in_modelplot = MB_YES; project.files[crossing->file_id_2].show_in_modelplot = MB_YES; } } } /* else if view mode is with section loop over all crossings */ else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { for (i=0;ifile_id_1 == mbna_file_select && crossing->section_1 == mbna_section_select) || (crossing->file_id_2 == mbna_file_select && crossing->section_2 == mbna_section_select)) { project.files[crossing->file_id_1].show_in_modelplot = MB_YES; project.files[crossing->file_id_2].show_in_modelplot = MB_YES; } } } /* finally loop over files again setting all section plot flags on for files with plot flags on */ for (i=0;ishow_in_modelplot == MB_YES) { for (j=0;jnum_sections;j++) { section = &file->sections[j]; section->show_in_modelplot = MB_YES; } } } /* get min maxes by looping over files and sections checking for sections to be plotted */ first = MB_YES; mbna_modelplot_count = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; /* if this section will be plotted use the snav values */ if (section->show_in_modelplot == MB_YES) { section->modelplot_start_count = mbna_modelplot_count; for (isnav=0;isnavnum_snav;isnav++) { if (mbna_modelplot_zoom == MB_NO || (mbna_modelplot_count >= mbna_modelplot_startzoom && mbna_modelplot_count <= mbna_modelplot_endzoom)) { if (first == MB_YES) { lon_offset_min = section->snav_lon_offset[isnav] / mbna_mtodeglon; lon_offset_max = section->snav_lon_offset[isnav] / mbna_mtodeglon; lat_offset_min = section->snav_lat_offset[isnav] / mbna_mtodeglat; lat_offset_max = section->snav_lat_offset[isnav] / mbna_mtodeglat; z_offset_min = section->snav_z_offset[isnav]; z_offset_max = section->snav_z_offset[isnav]; first = MB_NO; } else { lon_offset_min = MIN(lon_offset_min, section->snav_lon_offset[isnav] / mbna_mtodeglon); lon_offset_max = MAX(lon_offset_max, section->snav_lon_offset[isnav] / mbna_mtodeglon); lat_offset_min = MIN(lat_offset_min, section->snav_lat_offset[isnav] / mbna_mtodeglat); lat_offset_max = MAX(lat_offset_max, section->snav_lat_offset[isnav] / mbna_mtodeglat); z_offset_min = MIN(z_offset_min, section->snav_z_offset[isnav]); z_offset_max = MAX(z_offset_max, section->snav_z_offset[isnav]); } } } mbna_modelplot_count += section->snav_id[section->num_snav-1]; } } } /* set plot bounds */ if (mbna_modelplot_zoom == MB_YES) { mbna_modelplot_start = mbna_modelplot_startzoom; mbna_modelplot_end = mbna_modelplot_endzoom; } else { mbna_modelplot_start = 0; mbna_modelplot_end = mbna_modelplot_count - 1; } /* get scaling */ plot_width = mbna_modelplot_width - 8 * MBNA_MODELPLOT_X_SPACE; plot_height = (mbna_modelplot_height - 4 * MBNA_MODELPLOT_Y_SPACE) / 3; mbna_modelplot_xo = 5 * MBNA_MODELPLOT_X_SPACE; mbna_modelplot_yo_lon = MBNA_MODELPLOT_Y_SPACE + plot_height / 2; mbna_modelplot_yo_lat = 2 * MBNA_MODELPLOT_Y_SPACE + 3 * plot_height / 2; mbna_modelplot_yo_z = 3 * MBNA_MODELPLOT_Y_SPACE + 5 * plot_height / 2; xymax = MAX(fabs(lon_offset_min),fabs(lon_offset_max)); xymax = MAX(fabs(lat_offset_min),xymax); xymax = MAX(fabs(lat_offset_max),xymax); mbna_modelplot_xscale = ((double)plot_width) / (mbna_modelplot_end - mbna_modelplot_start + 1); mbna_modelplot_yscale = ((double)plot_height) / (2.2 * xymax); yzmax = MAX(fabs(z_offset_min),fabs(z_offset_max)); yzmax = MAX(yzmax,0.5); mbna_modelplot_yzscale = ((double)plot_height) / (2.2 * yzmax); /* clear screens for first plot */ xg_fillrectangle(pmodp_xgid, 0, 0, modp_borders[1], modp_borders[3], pixel_values[mbna_color_background], XG_SOLIDLINE); /* plot the bounds */ xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lon - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lon, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_lon, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lat - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lat, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_lat, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_z - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_z, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_z, pixel_values[mbna_color_foreground], XG_DASHLINE); /* plot title */ if (mbna_view_mode == MBNA_VIEW_MODE_SURVEY) { sprintf(label, "Display Only Selected Survey - Selected Survey:%d", mbna_survey_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_FILE) { sprintf(label, "Display Only Selected File - Selected Survey/File:%d/%d", mbna_survey_select, mbna_file_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY) { sprintf(label, "Display With Selected Survey - Selected Survey:%d", mbna_survey_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { sprintf(label, "Display With Selected File - Selected Survey/File:%d/%d", mbna_survey_select, mbna_file_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { sprintf(label, "Display With Selected Section: Selected Survey/File/Section:%d/%d/%d", mbna_survey_select, mbna_file_select, mbna_section_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_ALL) { sprintf(label, "Display All Data"); } xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = MBNA_MODELPLOT_Y_SPACE - 2 * stringascent; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* plot labels */ sprintf(label, "East-West Offset (meters) vs. Ping Count"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_lon - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_start); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_lon + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_end); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_lon + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label, "North-South Offset (meters) vs. Ping Count"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_lat - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_start); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_lat + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_end); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_lat + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label, "Vertical Offset (meters) vs. Ping Count"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_z - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_start); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_z + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_end); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_z + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * yzmax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * yzmax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* set clipping */ xg_setclip(pmodp_xgid, mbna_modelplot_xo, 0, plot_width, mbna_modelplot_height); /* loop over all crossings and plot and plot those without ties in green */ for (i=0;inum_ties== 0) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); xg_drawrectangle(pmodp_xgid, ix-3, iy-1, 3, 3, pixel_values[GREEN], XG_SOLIDLINE); } } } /* Now plot the east-west offsets */ ixo = 0; iyo = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; if (section->show_in_modelplot == MB_YES) { for (isnav=0;isnavnum_snav;isnav++) { iping = section->modelplot_start_count + section->snav_id[isnav]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[isnav] / mbna_mtodeglon); if ((i > 0 || j > 0) && section->continuity == MB_NO && isnav == 0) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[GREEN], XG_SOLIDLINE); else if (i > 0 || j > 0) { /* if (j == 0 && isnav == 0 && section->continuity == MB_YES) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[CORAL], XG_DASHLINE); */ xg_drawline(pmodp_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } ixo = ix; iyo = iy; } } } } /* Now plot the north-south offsets */ ixo = 0; iyo = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; if (section->show_in_modelplot == MB_YES) { for (isnav=0;isnavnum_snav;isnav++) { iping = section->modelplot_start_count + section->snav_id[isnav]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[isnav] / mbna_mtodeglat); if ((i > 0 || j > 0) && section->continuity == MB_NO && isnav == 0) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[GREEN], XG_SOLIDLINE); else if (i > 0 || j > 0) { /* if (j == 0 && isnav == 0 && section->continuity == MB_YES) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[CORAL], XG_DASHLINE); */ xg_drawline(pmodp_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } ixo = ix; iyo = iy; } } } } /* Now plot the vertical offsets */ ixo = 0; iyo = 0; for (i=0;inum_sections;j++) { section = &file->sections[j]; if (section->show_in_modelplot == MB_YES) { for (isnav=0;isnavnum_snav;isnav++) { iping = section->modelplot_start_count + section->snav_id[isnav]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[isnav]); if ((i > 0 || j > 0) && section->continuity == MB_NO && isnav == 0) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[GREEN], XG_SOLIDLINE); else if (i > 0 || j > 0) { /* if (j == 0 && isnav == 0 && section->continuity == MB_YES) xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[CORAL], XG_DASHLINE); */ xg_drawline(pmodp_xgid, ixo, iyo, ix, iy, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } ixo = ix; iyo = iy; } } } } /* loop over all crossings and plot ties */ for (i=0;inum_ties;j++) { tie = &(crossing->ties[j]); if (tie->inversion_status == MBNA_INVERSION_CURRENT) pixel = pixel_values[mbna_color_foreground]; else pixel = pixel_values[BLUE]; file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); } } } /* plot current tie in red */ if (mbna_current_crossing != MBNA_SELECT_NONE && mbna_current_tie != MBNA_SELECT_NONE) { crossing = &(project.crossings[mbna_current_crossing]); tie = &(crossing->ties[mbna_current_tie]); file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } /* or if tie not selected then plot current crossing in red */ else if (mbna_current_crossing != MBNA_SELECT_NONE) { crossing = &(project.crossings[mbna_current_crossing]); file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[section->num_snav/2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[section->num_snav/2] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[section->num_snav/2] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[section->num_snav/2]); xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } /* if a modelplot pick did not resolve a single tie, plot the options for a second pick */ if (mbna_modelplot_pickfile != MBNA_SELECT_NONE) { for (i=0;ifile_id_1 == mbna_modelplot_pickfile && crossing->section_1 == mbna_modelplot_picksection) { /* loop over the ties */ for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); if (crossing->file_id_1 == mbna_modelplot_pickfile && crossing->section_1 == mbna_modelplot_picksection && tie->snav_1 == mbna_modelplot_picksnav) { file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } } } /* check second snav */ if (crossing->file_id_2 == mbna_modelplot_pickfile && crossing->section_2 == mbna_modelplot_picksection) { /* loop over the ties */ for (j=0;jnum_ties;j++) { tie = &(crossing->ties[j]); if (crossing->file_id_2 == mbna_modelplot_pickfile && crossing->section_2 == mbna_modelplot_picksection && tie->snav_2 == mbna_modelplot_picksnav) { file = &project.files[crossing->file_id_2]; section = &file->sections[crossing->section_2]; iping = section->modelplot_start_count + section->snav_id[tie->snav_2]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_2] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_2] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_2]); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } file = &project.files[crossing->file_id_1]; section = &file->sections[crossing->section_1]; iping = section->modelplot_start_count + section->snav_id[tie->snav_1]; if (section->show_in_modelplot == MB_YES && (mbna_modelplot_zoom == MB_NO || (iping >= mbna_modelplot_startzoom && iping <= mbna_modelplot_endzoom))) { ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (iping - mbna_modelplot_start)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * section->snav_lon_offset[tie->snav_1] / mbna_mtodeglon); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * section->snav_lat_offset[tie->snav_1] / mbna_mtodeglat); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * section->snav_z_offset[tie->snav_1]); xg_fillrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[6], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-5, iy-5, 11, 11, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } } } } } } /* plot zoom if active */ if (mbna_modelplot_zoom_x1 != 0 || mbna_modelplot_zoom_x2 != 0) { imodelplot_start = (MIN(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale + mbna_modelplot_start; imodelplot_start = MIN(MAX(imodelplot_start, 0), project.num_pings - 1); imodelplot_end = (MAX(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale + mbna_modelplot_start; imodelplot_end = MIN(MAX(imodelplot_end, 0), project.num_pings - 1); ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (imodelplot_start - mbna_modelplot_start)); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (imodelplot_end - mbna_modelplot_start)); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); } /* reset clipping */ xg_setclip(pmodp_xgid, 0, 0, mbna_modelplot_width, mbna_modelplot_height); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/ int mbnavadjust_modelplot_plot_tielist() { /* local variables */ char *function_name = "mbnavadjust_modelplot_plot_tielist"; int status = MB_SUCCESS; struct mbna_file *file; struct mbna_section *section; struct mbna_crossing *crossing; struct mbna_tie *tie; int num_ties; int num_surveys; double lon_offset_min; double lon_offset_max; double lat_offset_min; double lat_offset_max; double z_offset_min; double z_offset_max; double xymax, yzmax; int plot_width; int plot_height; int first; char label[STRING_MAX]; int stringwidth, stringascent, stringdescent; int pixel; int itiestart, itieend; int ix, iy; int num_ties_block; int num_blocks; int plot_index; int isurvey1, isurvey2; int i, j; /*fprintf(stderr,"Called %s\n",function_name);*/ /* print input debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n", function_name); } /* plot model if an inversion has been performed */ if (project.open == MB_YES && project.inversion != MBNA_INVERSION_NONE && project.modelplot == MB_YES) { /* get number of ties and surveys */ num_ties = project.num_ties; mbna_num_ties_plot = 0; num_surveys = 0; /* count surveys and plot blocks by looping over files */ num_surveys = 1; for (i=0;ishow_in_modelplot = -1; for (j=0;jnum_sections;j++) { section = &file->sections[j]; if ((i > 0 || j > 0) && section->continuity == MB_NO) num_surveys++; } } num_blocks = 0; for (i=0;inum_ties;j++) { tie = &crossing->ties[j]; tie->block_1 = project.files[crossing->file_id_1].block; tie->block_2 = project.files[crossing->file_id_2].block; tie->isurveyplotindex = -1; /* check to see if this tie should be plotted */ if (mbna_modelplot_blocksurvey1 != MBNA_SELECT_NONE && mbna_modelplot_blocksurvey2 != MBNA_SELECT_NONE) { if (tie->block_1 == mbna_modelplot_blocksurvey1 && tie->block_2 == mbna_modelplot_blocksurvey2) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_SURVEY) { if (tie->block_1 == mbna_survey_select && tie->block_2 == mbna_survey_select) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY) { if (tie->block_1 == mbna_survey_select || tie->block_2 == mbna_survey_select) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_FILE) { if (crossing->file_id_1 == mbna_file_select && crossing->file_id_2 == mbna_file_select) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { if (crossing->file_id_1 == mbna_file_select || crossing->file_id_2 == mbna_file_select) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { if ((crossing->file_id_1 == mbna_file_select && crossing->section_1 == mbna_section_select) || (crossing->file_id_2 == mbna_file_select && crossing->section_2 == mbna_section_select)) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } else if (mbna_view_mode == MBNA_VIEW_MODE_ALL) { tie->isurveyplotindex = 1; mbna_num_ties_plot++; } } } /* Get min maxes by looping over surveys to locate each tie in plot */ plot_index = 0; first = MB_YES; if (mbna_modelplot_tiezoom == MB_YES) { mbna_modelplot_tiestart = mbna_modelplot_tiestartzoom; mbna_modelplot_tieend = mbna_modelplot_tieendzoom; } else { mbna_modelplot_tiestart = 0; mbna_modelplot_tieend = mbna_num_ties_plot - 1; } for (isurvey2=0;isurvey2num_ties;j++) { tie = &crossing->ties[j]; /* check if this tie is between the desired surveys */ if (tie->isurveyplotindex >= 0 && ((tie->block_1 == isurvey1 && tie->block_2 == isurvey2) || (tie->block_2 == isurvey1 && tie->block_1 == isurvey2))) { /* set plot index for tie */ tie->isurveyplotindex = plot_index; /* increment plot_index */ plot_index++; /* if tie will be plotted (check for zoom) use it for min max */ if (tie->isurveyplotindex >= 0 && (tie->isurveyplotindex >= mbna_modelplot_tiestart && tie->isurveyplotindex <= mbna_modelplot_tieend)) { if (first == MB_YES) { lon_offset_min = tie->offset_x_m; lon_offset_max = tie->offset_x_m; lat_offset_min = tie->offset_y_m; lat_offset_max = tie->offset_y_m; z_offset_min = tie->offset_z_m; z_offset_max = tie->offset_z_m; first = MB_NO; } else { lon_offset_min = MIN(lon_offset_min, tie->offset_x_m); lon_offset_max = MAX(lon_offset_max, tie->offset_x_m); lat_offset_min = MIN(lat_offset_min, tie->offset_y_m); lat_offset_max = MAX(lat_offset_max, tie->offset_y_m); z_offset_min = MIN(z_offset_min, tie->offset_z_m); z_offset_max = MAX(z_offset_max, tie->offset_z_m); } } } } } } } /* get scaling */ plot_width = mbna_modelplot_width - 8 * MBNA_MODELPLOT_X_SPACE; plot_height = (mbna_modelplot_height - 4 * MBNA_MODELPLOT_Y_SPACE) / 3; mbna_modelplot_xo = 5 * MBNA_MODELPLOT_X_SPACE; mbna_modelplot_yo_lon = MBNA_MODELPLOT_Y_SPACE + plot_height / 2; mbna_modelplot_yo_lat = 2 * MBNA_MODELPLOT_Y_SPACE + 3 * plot_height / 2; mbna_modelplot_yo_z = 3 * MBNA_MODELPLOT_Y_SPACE + 5 * plot_height / 2; xymax = MAX(fabs(lon_offset_min),fabs(lon_offset_max)); xymax = MAX(fabs(lat_offset_min),xymax); xymax = MAX(fabs(lat_offset_max),xymax); mbna_modelplot_xscale = ((double)plot_width) / (mbna_modelplot_tieend - mbna_modelplot_tiestart + 1); mbna_modelplot_yscale = ((double)plot_height) / (2.2 * xymax); yzmax = MAX(fabs(z_offset_min),fabs(z_offset_max)); yzmax = MAX(yzmax,0.5); mbna_modelplot_yzscale = ((double)plot_height) / (2.2 * yzmax); /* clear screens for first plot */ xg_fillrectangle(pmodp_xgid, 0, 0, modp_borders[1], modp_borders[3], pixel_values[mbna_color_background], XG_SOLIDLINE); /* plot the bounds */ xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lon - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lon, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_lon, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lat - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_lat, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_lat, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawrectangle(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_z - plot_height / 2, plot_width, plot_height, pixel_values[mbna_color_foreground], XG_SOLIDLINE); xg_drawline(pmodp_xgid, mbna_modelplot_xo, mbna_modelplot_yo_z, mbna_modelplot_xo + plot_width, mbna_modelplot_yo_z, pixel_values[mbna_color_foreground], XG_DASHLINE); /* plot title */ if (mbna_view_mode == MBNA_VIEW_MODE_SURVEY) { sprintf(label, "Display Only Selected Survey - Selected Survey:%d", mbna_survey_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_FILE) { sprintf(label, "Display Only Selected File - Selected Survey/File:%d/%d", mbna_survey_select, mbna_file_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSURVEY) { sprintf(label, "Display With Selected Survey - Selected Survey:%d", mbna_survey_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHFILE) { sprintf(label, "Display With Selected File - Selected Survey/File:%d/%d", mbna_survey_select, mbna_file_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_WITHSECTION) { sprintf(label, "Display With Selected Section: Selected Survey/File/Section:%d/%d/%d", mbna_survey_select, mbna_file_select, mbna_section_select); } else if (mbna_view_mode == MBNA_VIEW_MODE_ALL) { sprintf(label, "Display All Data"); } xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = MBNA_MODELPLOT_Y_SPACE - 2 * stringascent; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* plot labels */ sprintf(label, "Tie East-West Offset (meters) Grouped by Surveys"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_lon - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tiestart); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_lon + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tieend); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_lon + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lon + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label, "Tie North-South Offset (meters) Grouped by Surveys"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_lat - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tiestart); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_lat + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tieend); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_lat + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * xymax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_lat + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label, "Tie Vertical Offset (meters) Grouped by Surveys"); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + (plot_width - stringwidth) / 2; iy = mbna_modelplot_yo_z - plot_height / 2 - stringascent / 4; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tiestart); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth / 2; iy = mbna_modelplot_yo_z + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%d", mbna_modelplot_tieend); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo + plot_width - stringwidth / 2; iy = mbna_modelplot_yo_z + plot_height / 2 + 3 *stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 1.1 * yzmax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z - plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", 0.0); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); sprintf(label,"%.2f", -1.1 * yzmax); xg_justify(pmodp_xgid, label, &stringwidth, &stringascent, &stringdescent); ix = mbna_modelplot_xo - stringwidth - stringascent / 4; iy = mbna_modelplot_yo_z + plot_height / 2 + stringascent / 2; xg_drawstring(pmodp_xgid, ix, iy, label, pixel_values[mbna_color_foreground], XG_SOLIDLINE); /* set clipping */ xg_setclip(pmodp_xgid, mbna_modelplot_xo, 0, plot_width, mbna_modelplot_height); /* loop over surveys to locate each tie in plot */ plot_index = 0; for (isurvey2=0;isurvey2num_ties;j++) { tie = &crossing->ties[j]; /* check if this tie is between the desired surveys */ if (tie->isurveyplotindex >= 0 && ((tie->block_1 == isurvey1 && tie->block_2 == isurvey2) || (tie->block_2 == isurvey1 && tie->block_1 == isurvey2))) { if (tie->isurveyplotindex >= mbna_modelplot_tiestart && tie->isurveyplotindex <= mbna_modelplot_tieend) { /* plot tie */ if (tie->inversion_status == MBNA_INVERSION_CURRENT) pixel = pixel_values[mbna_color_foreground]; else pixel = pixel_values[BLUE]; ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (tie->isurveyplotindex - mbna_modelplot_tiestart)); iy = mbna_modelplot_yo_lon - (int)(mbna_modelplot_yscale * tie->offset_x_m); if (i == mbna_current_crossing && j == mbna_current_tie) { xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } else xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_lat - (int)(mbna_modelplot_yscale * tie->offset_y_m); if (i == mbna_current_crossing && j == mbna_current_tie) { xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } else xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); iy = mbna_modelplot_yo_z - (int)(mbna_modelplot_yzscale * tie->offset_z_m); if (i == mbna_current_crossing && j == mbna_current_tie) { xg_fillrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[RED], XG_SOLIDLINE); xg_drawrectangle(pmodp_xgid, ix-3, iy-3, 7, 7, pixel_values[mbna_color_foreground], XG_SOLIDLINE); } else xg_drawrectangle(pmodp_xgid, ix-2, iy-2, 5, 5, pixel, XG_SOLIDLINE); } /* increment plot_index */ plot_index++; /* increment num_ties_block */ num_ties_block++; } } } /* plot line for boundary between plot blocks */ if (num_ties_block > 0) { /* plot line for boundary between plot blocks */ ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (plot_index - mbna_modelplot_tiestart - 0.5)); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[GREEN], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[GREEN], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[GREEN], XG_DASHLINE); } } } /* plot zoom if active */ if (mbna_modelplot_zoom_x1 != 0 || mbna_modelplot_zoom_x2 != 0) { itiestart = (MIN(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale + mbna_modelplot_tiestart; itiestart = MIN(MAX(itiestart, 0), mbna_num_ties_plot - 1); itieend = (MAX(mbna_modelplot_zoom_x1, mbna_modelplot_zoom_x2) - mbna_modelplot_xo) / mbna_modelplot_xscale + mbna_modelplot_tiestart; itieend = MIN(MAX(itieend, 0), mbna_num_ties_plot - 1); ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (itiestart - mbna_modelplot_tiestart)); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); ix = mbna_modelplot_xo + (int)(mbna_modelplot_xscale * (itieend - mbna_modelplot_tiestart)); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lon - plot_height / 2, ix, mbna_modelplot_yo_lon + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_lat - plot_height / 2, ix, mbna_modelplot_yo_lat + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); xg_drawline(pmodp_xgid, ix, mbna_modelplot_yo_z - plot_height / 2, ix, mbna_modelplot_yo_z + plot_height / 2, pixel_values[mbna_color_foreground], XG_DASHLINE); } /* reset clipping */ xg_setclip(pmodp_xgid, 0, 0, mbna_modelplot_width, mbna_modelplot_height); } /* print output debug statements */ if (mbna_verbose >= 2) { fprintf(stderr,"\ndbg2 MBnavadjust function <%s> completed\n", function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } return(status); } /*--------------------------------------------------------------------*/