pt.lsts.neptus.mra.api

Class SidescanUtil

java.lang.Object

pt.lsts.neptus.mra.api.SidescanUtil

public class SidescanUtil
extends java.lang.Object

This class holds utility methods for sidescan

Author:

Paulo Dias

Method Summary

Modifier and Type	Method and Description
static double[]	applyNormalizationAndTVG(double[] data, double range, SidescanParameters sidescanParams) Applies normalization and TVG to data.
static double	calcHeightFrom2XIndexesOfSidescanLine(int xIndex1, int xIndex2, SidescanLine line) Calculates the height of an object by the two indexes of the shadow.
static double	calcHorizontalDistanceFrom2XIndexesOf2SidescanLines(int xIndexLine1, SidescanLine line1, int xIndexLine2, SidescanLine line2) Calculates the horizontal distance from two x indexes (SidescanLine.getData()) of two SidescanLines.
static double	calcSlantDistanceFrom2XIndexesOf2SidescanLines(int xIndexLine1, SidescanLine line1, int xIndexLine2, SidescanLine line2) Calculates the slant distance (2D) from two x indexes (SidescanLine.getData()) of two SidescanLines.
static LocationType	convertImagePointXToLocation(int imageMouseX, SidescanLine sidescanLine, boolean slantRangeCorrection, java.awt.image.BufferedImage image) Method to convert from mouse click x point in the image to sidescan x point.
static int	convertImagePointXToSidescanLinePointX(int imageMouseX, SidescanLine sidescanLine, java.awt.image.BufferedImage image) Method to convert from mouse click x point in the image to sidescan x point.
static SidescanPoint	convertImagePointXToSidescanPoint(int imageMouseX, SidescanLine sidescanLine, boolean slantRangeCorrection, java.awt.image.BufferedImage image) Method to convert from mouse click x point in the image to sidescan x point.
static int	convertSidescanLinePointXToImagePointX(int sidescanLineX, SidescanLine sidescanLine, java.awt.image.BufferedImage image) Method to convert from sidescan x point to mouse click x point in the image.
static double[]	getData(byte[] data, double scaleFactor, short bitsPerPoint) Takes the data byte array transforms it to a double array applying the scale factor.
static SidescanLine	getSidescanLine(pt.lsts.imc.IMCMessage sonarData, SystemPositionAndAttitude pose) Converts a SonarData IMCMessage into a SidescanLine without any extra conversion.
static SidescanLine	getSidescanLine(pt.lsts.imc.IMCMessage sonarData, SystemPositionAndAttitude pose, SidescanParameters sidescanParams) Converts a SonarData IMCMessage into a SidescanLine and applies the SidescanParameters.
static SidescanLine	getSidescanLine(pt.lsts.imc.SonarData sonarData, SystemPositionAndAttitude pose) Converts a SonarData into a SidescanLine without any extra conversion.
static SidescanLine	getSidescanLine(pt.lsts.imc.SonarData sonarData, SystemPositionAndAttitude pose, SidescanParameters sidescanParams) Converts a SonarData into a SidescanLine and applies the SidescanParameters.
static long[]	transformData(byte[] data, short bitsPerPoint) Transform a byte array into long (little-endian) according with bitsPerPoint.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

convertSidescanLinePointXToImagePointX

public static int convertSidescanLinePointXToImagePointX(int sidescanLineX,
                                                         SidescanLine sidescanLine,
                                                         java.awt.image.BufferedImage image)

Method to convert from sidescan x point to mouse click x point in the image.

Parameters:

sidescanLineX - The x index of the sidescan (middle is half of the data size)

sidescanLine - The sidescan line

image - The full image for sidescan line as painted in the viewer.

Returns:

convertImagePointXToSidescanLinePointX

public static int convertImagePointXToSidescanLinePointX(int imageMouseX,
                                                         SidescanLine sidescanLine,
                                                         java.awt.image.BufferedImage image)

Method to convert from mouse click x point in the image to sidescan x point.

Parameters:

imageMouseX - The image x index from image

sidescanLine - The sidescan line

image - The full image for sidescan line as painted in the viewer.

Returns:

convertImagePointXToSidescanPoint

public static SidescanPoint convertImagePointXToSidescanPoint(int imageMouseX,
                                                              SidescanLine sidescanLine,
                                                              boolean slantRangeCorrection,
                                                              java.awt.image.BufferedImage image)

Method to convert from mouse click x point in the image to sidescan x point.

Parameters:

imageMouseX - The image x index from image

sidescanLine - The sidescan line

image - The full image for sidescan line as painted in the viewer.

Returns:

convertImagePointXToLocation

public static LocationType convertImagePointXToLocation(int imageMouseX,
                                                        SidescanLine sidescanLine,
                                                        boolean slantRangeCorrection,
                                                        java.awt.image.BufferedImage image)

Method to convert from mouse click x point in the image to sidescan x point.

Parameters:

imageMouseX - The image x index from image

sidescanLine - The sidescan line

slantRangeCorrection - To overwrite what is on sidescanLine

image - The full image for sidescan line as painted in the viewer.

Returns:

calcHorizontalDistanceFrom2XIndexesOf2SidescanLines

public static double calcHorizontalDistanceFrom2XIndexesOf2SidescanLines(int xIndexLine1,
                                                                         SidescanLine line1,
                                                                         int xIndexLine2,
                                                                         SidescanLine line2)

Calculates the horizontal distance from two x indexes (SidescanLine.getData()) of two SidescanLines.

Parameters:

xIndexLine1 -

line1 -

xIndexLine2 -

line2 -

Returns:

calcSlantDistanceFrom2XIndexesOf2SidescanLines

public static double calcSlantDistanceFrom2XIndexesOf2SidescanLines(int xIndexLine1,
                                                                    SidescanLine line1,
                                                                    int xIndexLine2,
                                                                    SidescanLine line2)

Calculates the slant distance (2D) from two x indexes (SidescanLine.getData()) of two SidescanLines.

Parameters:

xIndexLine1 -

line1 -

xIndexLine2 -

line2 -

Returns:

calcHeightFrom2XIndexesOfSidescanLine

public static double calcHeightFrom2XIndexesOfSidescanLine(int xIndex1,
                                                           int xIndex2,
                                                           SidescanLine line)

Calculates the height of an object by the two indexes of the shadow.

Parameters:

xIndex1 -

xIndex2 -

line -

Returns:

transformData

public static long[] transformData(byte[] data,
                                   short bitsPerPoint)

Transform a byte array into long (little-endian) according with bitsPerPoint.

Parameters:

data -

bitsPerPoint -

Returns:

getData

public static double[] getData(byte[] data,
                               double scaleFactor,
                               short bitsPerPoint)

Takes the data byte array transforms it to a double array applying the scale factor.

Parameters:

data -

scaleFactor -

bitsPerPoint -

Returns:

getSidescanLine

public static SidescanLine getSidescanLine(pt.lsts.imc.SonarData sonarData,
                                           SystemPositionAndAttitude pose,
                                           SidescanParameters sidescanParams)

Converts a SonarData into a SidescanLine and applies the SidescanParameters. MRA to be able to use a larger range of IMC versions should not use typed messages, call getSidescanLine(SonarData, SystemPositionAndAttitude, SidescanParameters) or getSidescanLine(IMCMessage, SystemPositionAndAttitude).

Parameters:

sonarData -

pose -

sidescanParams -

Returns:

getSidescanLine

public static SidescanLine getSidescanLine(pt.lsts.imc.IMCMessage sonarData,
                                           SystemPositionAndAttitude pose,
                                           SidescanParameters sidescanParams)

Converts a SonarData IMCMessage into a SidescanLine and applies the SidescanParameters.

Parameters:

sonarData -

pose -

sidescanParams -

Returns:

getSidescanLine

public static SidescanLine getSidescanLine(pt.lsts.imc.SonarData sonarData,
                                           SystemPositionAndAttitude pose)

Converts a SonarData into a SidescanLine without any extra conversion. MRA to be able to use a larger range of IMC versions should not use typed messages, call getSidescanLine(SonarData, SystemPositionAndAttitude, SidescanParameters) or getSidescanLine(IMCMessage, SystemPositionAndAttitude).

Parameters:

sonarData -

pose -

Returns:

getSidescanLine

public static SidescanLine getSidescanLine(pt.lsts.imc.IMCMessage sonarData,
                                           SystemPositionAndAttitude pose)

Converts a SonarData IMCMessage into a SidescanLine without any extra conversion.

Parameters:

sonarData -

pose -

Returns:

applyNormalizationAndTVG

public static double[] applyNormalizationAndTVG(double[] data,
                                                double range,
                                                SidescanParameters sidescanParams)

Applies normalization and TVG to data. This does not touch the input data.

Parameters:

data -

range -

sidescanParams -

Returns: