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Auvlib v1.0 Work in progress #70

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Auvlib v1.0 Work in progress #70

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8ffa92c
added sensor primary altitude reading from .xtf files, which in theor…
xyp8023 Aug 25, 2020
a67c81c
Merge pull request #65 from xyp8023/altitude
nilsbore Aug 26, 2020
eea4828
Changed some function calls to work with opencv3
nilsbore Oct 7, 2020
72f0f8f
Merge pull request #71 from nilsbore/master
nilsbore Oct 7, 2020
67c38cf
Added gain code to xtf ping side
nilsbore Oct 7, 2020
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9 changes: 7 additions & 2 deletions src/data_tools/include/data_tools/std_data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <cereal/types/map.hpp>
#include <cereal/types/tuple.hpp>


#define BOOST_NO_CXX11_SCOPED_ENUMS
#include <boost/filesystem.hpp>
#include <boost/range.hpp>
Expand Down Expand Up @@ -74,11 +75,14 @@ struct sss_ping_side
double time_duration;
double tilt_angle;
double beam_width;
uint16_t initial_gain_code;
uint16_t gain_code;

template <class Archive>
void serialize( Archive & ar )
{
ar(CEREAL_NVP(pings), CEREAL_NVP(slant_range), CEREAL_NVP(time_duration), CEREAL_NVP(tilt_angle), CEREAL_NVP(beam_width));
ar(CEREAL_NVP(pings), CEREAL_NVP(slant_range), CEREAL_NVP(time_duration), CEREAL_NVP(tilt_angle),
CEREAL_NVP(beam_width), CEREAL_NVP(initial_gain_code), CEREAL_NVP(gain_code));
}
};

Expand All @@ -98,13 +102,14 @@ struct sss_ping
double lat_;
double long_;
double sound_vel_;
double altitude_;
Eigen::Vector3d pos_; // NOTE: this comes from associating ping with nav data

template <class Archive>
void serialize( Archive & ar )
{
ar(CEREAL_NVP(time_string_), CEREAL_NVP(time_stamp_), CEREAL_NVP(port), CEREAL_NVP(stbd), CEREAL_NVP(first_in_file_), CEREAL_NVP(heading_),
CEREAL_NVP(pitch_), CEREAL_NVP(roll_), CEREAL_NVP(lat_), CEREAL_NVP(long_), CEREAL_NVP(sound_vel_), CEREAL_NVP(pos_));
CEREAL_NVP(pitch_), CEREAL_NVP(roll_), CEREAL_NVP(lat_), CEREAL_NVP(long_), CEREAL_NVP(sound_vel_), CEREAL_NVP(altitude_), CEREAL_NVP(pos_));
}

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Expand Down
3 changes: 3 additions & 0 deletions src/data_tools/src/xtf_data.cpp
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Expand Up @@ -128,6 +128,7 @@ xtf_sss_ping process_side_scan_ping(XTFPINGHEADER *PingHeader, XTFFILEHEADER *XT
ping.roll_ = M_PI/180.*PingHeader->SensorRoll;
ping.pitch_ = M_PI/180.*PingHeader->SensorPitch;
ping.sound_vel_ = PingHeader->SoundVelocity;
ping.altitude_ = PingHeader->SensorPrimaryAltitude;

boost::posix_time::ptime data_time(boost::gregorian::date(PingHeader->Year, PingHeader->Month, PingHeader->Day), boost::posix_time::hours(PingHeader->Hour)+boost::posix_time::minutes(PingHeader->Minute)+boost::posix_time::seconds(PingHeader->Second)+boost::posix_time::milliseconds(10*int(PingHeader->HSeconds)));
stringstream time_ss;
Expand Down Expand Up @@ -204,6 +205,8 @@ xtf_sss_ping process_side_scan_ping(XTFPINGHEADER *PingHeader, XTFFILEHEADER *XT
}
ping_channel->time_duration = ChanHeader->TimeDuration;
ping_channel->slant_range = ChanHeader->SlantRange;
ping_channel->gain_code = ChanHeader->GainCode;
ping_channel->initial_gain_code = ChanHeader->InitialGainCode;

// Do whatever processing on the sidescan imagery here.
//cout << "Processing a side scan ping!!" << endl;
Expand Down
5 changes: 4 additions & 1 deletion src/pydata_tools/src/pystd_data.cpp
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Expand Up @@ -67,7 +67,9 @@ PYBIND11_MODULE(std_data, m) {
.def_readwrite("slant_range", &std_data::sss_ping_side::slant_range, "Slant range")
.def_readwrite("time_duration", &std_data::sss_ping_side::time_duration, "Furthest measured intensity")
.def_readwrite("tilt_angle", &std_data::sss_ping_side::tilt_angle, "Tilt angle")
.def_readwrite("beam_width", &std_data::sss_ping_side::beam_width, "Beam width");
.def_readwrite("beam_width", &std_data::sss_ping_side::beam_width, "Beam width")
.def_readwrite("gain_code", &std_data::sss_ping_side::gain_code, "Gain code")
.def_readwrite("initial_gain_code", &std_data::sss_ping_side::initial_gain_code, "Initial gain code");

py::class_<std_data::sss_ping>(m, "sss_ping", "Class for xtf sidescan type")
.def(py::init<>())
Expand All @@ -82,6 +84,7 @@ PYBIND11_MODULE(std_data, m) {
.def_readwrite("lat_", &std_data::sss_ping::lat_, "Latitude")
.def_readwrite("long_", &std_data::sss_ping::long_, "Longitude")
.def_readwrite("sound_vel_", &std_data::sss_ping::sound_vel_, "Sound speed in m/s")
.def_readwrite("altitude_", &std_data::sss_ping::altitude_, "Sensor primary altitude in m")
.def_readwrite("pos_", &std_data::sss_ping::pos_, "Position in ENU coordinates")
.def_static("read_data", &read_data_from_str<std_data::sss_ping::PingsT>, "Read sss_ping::PingsT from .cereal file");

Expand Down
5 changes: 4 additions & 1 deletion src/pydata_tools/src/pyxtf_data.cpp
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Expand Up @@ -29,7 +29,9 @@ PYBIND11_MODULE(xtf_data, m) {
.def_readwrite("slant_range", &xtf_sss_ping_side::slant_range, "Slant range")
.def_readwrite("time_duration", &xtf_sss_ping_side::time_duration, "Furthest measured intensity")
.def_readwrite("tilt_angle", &xtf_sss_ping_side::tilt_angle, "Tilt angle")
.def_readwrite("beam_width", &xtf_sss_ping_side::beam_width, "Beam width");
.def_readwrite("beam_width", &xtf_sss_ping_side::beam_width, "Beam width")
.def_readwrite("gain_code", &xtf_sss_ping_side::gain_code, "Gain code")
.def_readwrite("initial_gain_code", &xtf_sss_ping_side::initial_gain_code, "Initial gain code");

py::class_<xtf_sss_ping>(m, "xtf_sss_ping", py::module_local(), "Class for xtf sidescan type")
.def(py::init<>())
Expand All @@ -44,6 +46,7 @@ PYBIND11_MODULE(xtf_data, m) {
.def_readwrite("lat_", &xtf_sss_ping::lat_, "Latitude")
.def_readwrite("long_", &xtf_sss_ping::long_, "Longitude")
.def_readwrite("sound_vel_", &xtf_sss_ping::sound_vel_, "Sound speed in m/s")
.def_readwrite("altitude_", &xtf_sss_ping::altitude_, "Sensor primary altitude in m")
.def_readwrite("pos_", &xtf_sss_ping::pos_, "Position in ENU coordinates")
.def_static("parse_file", &parse_file_from_str<xtf_sss_ping>, "Parse xtf_sss_ping from .xtf file")
.def_static("parse_folder", &parse_folder_from_str<xtf_sss_ping>, "Parse xtf_sss_ping from folder of .xtf files")
Expand Down