PCLImagenex83xLoader¶

MacroModule¶

genre	`FileMain`
author	`Wolf Spindler`
package	`FMEwork/ReleaseMeVis`
definition	PCLImagenex83xLoader.def
see also	`LocalImage`, `ImageSave`, `PCLLoad`, `PCLSave`, `PCLR2SonicWCLoader`
keywords	`sonar`, `importer`, `loader`, `reader`, `imagenex`, `deltat`, `83B`, `837`, `83X`

Purpose¶

This is a reader for pairs of .837/.83B files created by Model 837 DeltaT Azimuth Drive Sonar System by the IMAGENEX TECHNOLOGY CORP.. To create a useful point cloud at the module outputPCLObject0, both files have to be provided next to each other.

Output points are of type XYZINormal which means that each point is a tupel (x, y z, w, nx, ny, nz, nw, intensity):

x / data[0]: the x-component of the point
y / data[1]: the y-component of the point
z / data[2]: the z-component of the point
w / data[3]: the homogeneous scale factor (usually 1)
x / data_n[0]: the x-component of the normal of the point (usually 0)
y / data_n[1]: the y-component of the normal of the point (usually 0)
z / data_n[2]: the z-component of the normal of the point (usually 0)
data_n[3]: the homogeneous scale w-component of the normal of the point (usually 0)
curvature: the curvature value of the point (usually 0)
intensity: the intensity value of the point (the magnitude value of the signal)

Thank you to Dr. Miriam Roemer for providing a draft reader and examples data for such files which were very useful to implement this module.

Windows¶

Default Panel¶

../../../Projects/MLSonarSupport/Modules/mhelp/Images/Screenshots/PCLImagenex83xLoader._default.png

Output Fields¶

outputPCLObject0¶

name: outputPCLObject0, type: PCLBaseObject(MLBase)¶: Point cloud output in Cartesian coordinates(usually with PCL XYZINormals). This module still does not set up any indices in the output base object, which, however, may be added in the future.

For accessing this object via scripting, see the Scripting Reference: MLPCLBaseObjectWrapper.

outputPCLObject1¶

name: outputPCLObject1, type: PCLBaseObject(MLBase)¶: Point cloud output in raw index coordinates corresponding to the sonar scan order (usually with PCL XYZINormals). This module still does not set up any indices in the output base object, which, however, may be added in the future.

For accessing this object via scripting, see the Scripting Reference: MLPCLBaseObjectWrapper.

Parameter Fields¶

Field Index¶

`Absolute File Name Base`: `String`	`Hundredth Of Seconds`: `String`	`Sector Size`: `Integer`
`Acoustic Frequency`: `Integer`	`Hundredths Of Seconds`: `String`	`Sonar X Offset`: `Float`
`Acoustic Range`: `Integer`	`Intensity Scale`: `Float`	`Sonar Y Offset`: `Float`
`Angle Increment`: `Float`	`Max Radius Clamp`: `Float`	`Sonar Z Offset`: `Float`
`Azimuth Head Position Correction Angle`: `Float`	`Operating Frequency`: `Float`	`Sound Velocity (soundVelocityOf837)`: `Integer`
`Beams`: `Integer`	`Phi Clamp Interval Max`: `Float`	`Sound Velocity (soundVelocityOf83B)`: `Float`
`Date (dateOf837)`: `String`	`Phi Clamp Interval Min`: `Float`	`Start Angle`: `Float`
`Date (dateOf83B)`: `String`	`Ping Number`: `Integer`	`Start Gain`: `Float`
`Display Gain`: `Integer`	`Pitch`: `Float`	`Status`: `String`
`GPS Ships Heading (gpsShipsHeadingOf837)`: `Float`	`Pitch Angle`: `Float`	`Theta Clamp Interval Max`: `Float`
`GPS Ships heading (gpsShipsHeadingOf83B)`: `Float`	`Profile Tilt Angle (profileTiltAngleOf837)`: `Float`	`Theta Clamp Interval Min`: `Float`
`GPS Ships Position Latitude (gpsShipsPositionLatitudeOf837)`: `String`	`Profile Tilt Angle (profileTiltAngleOf83B)`: `Integer`	`Theta Clamp Min`: `Float`
`GPS Ships Position Latitude (gpsShipsPositionLatitudeOf83B)`: `String`	`Pulse Length (pulseLengthOf837)`: `Integer`	`Threshold`: `Integer`
`GPS Ships Position Longitiude (gpsShipsPositionLongitudeOf837)`: `String`	`Pulse Length (pulseLengthOf83B)`: `Integer`	`Time (timeOf837)`: `String`
`GPS Ships Position Longitiude (gpsShipsPositionLongitudeOf83B)`: `String`	`Range Resolution`: `Integer`	`Time (timeOf83B)`: `String`
`GPS Ships Speed (gpsShipsSpeedOf837)`: `Float`	`Repetition Rate (repetitionRateOf837)`: `Integer`	`Version`: `String`
`GPS Ships Speed (gpsShipsSpeedOf83B)`: `Float`	`Repetition Rate (repetitionRateOf83B)`: `Integer`	`Video Frame Length`: `Integer`
`Heading`: `Float`	`Roll`: `Float`	`Xdcr Display Mode`: `Integer`
`Heading Angle`: `Float`	`Roll Angle`: `Float`	`XdcrUpDown`: `String`
`Height Clamp`: `Integer`	`Samples Of Beam`: `Integer`

Visible Fields¶

Absolute File Name Base¶

name: absoluteFileNameBase, type: String¶: File pair base for the .83B/.837 files, either without suffix, or with an arbitrary suffix of “.” + three characters which then is ignored for convenience to determine the file pair base. The file pair to be loaded will always be created from the file pair base plus the suffixes “.83B” and “.837”.

Threshold¶

name: threshold, type: Integer, default: 5¶: Threshold at which points are clamped if they are smaller. This value is measured in the unit of the sonar signal data.

Height Clamp¶

name: heightClamp, type: Integer, default: 14¶: All values at coordinates below this value are skipped (measured in meters).

Max Radius Clamp¶

name: maxRadiusClamp, type: Float, default: 98¶: All values at radiii larger than Max Radius Clamp are skipped (measured in meters).

Theta Clamp Min¶

name: thetaClampMin, type: Float, default: -30¶: All values with a theta smaller than Theta Clamp Min are skipped (measured in degrees).

Phi Clamp Interval Min¶

name: phiClampIntervalMin, type: Float, default: -360¶: If any sonar data point has a phi value smaller than Phi Clamp Interval Min in polar coordinates in degrees then it is skipped.

Phi Clamp Interval Max¶

name: phiClampIntervalMax, type: Float, default: 360¶: If any sonar data point has a phi value larger than Phi Clamp Interval Max in polar coordinates in degrees then it is skipped.

Theta Clamp Interval Min¶

name: thetaClampIntervalMin, type: Float, default: -34¶: All values in range [Theta Clamp Interval Min, Theta Clamp Interval Max] are skipped (measured in degrees).

Theta Clamp Interval Max¶

name: thetaClampIntervalMax, type: Float, default: -28¶: All values in range [Theta Clamp Interval Min, Theta Clamp Interval Max] are skipped (measured in degrees).

Intensity Scale¶

name: intensityScale, type: Float, default: 1¶: Value used to scale the incoming intensity values.

Azimuth Head Position Correction Angle¶

name: azimuthHeadPositionCorrectionAngle, type: Float, default: 60¶: Correction angle in degrees of the azimuth head position, typically needed if the sonar head is not placed in normal position.

Status¶

name: status, type: String, default: File name base is empty¶: Shows success state of the recent read operation.

Date (dateOf837)¶

name: dateOf837, type: String, persistent: no¶: Date field of .837 file (DD-MMM-YYYY).

Time (timeOf837)¶

name: timeOf837, type: String, persistent: no¶: Time field of .837 file (HH:MM:SS).

Hundredths Of Seconds¶

name: hundredthOfSecondsOf837, type: String, persistent: no, deprecated name: hundredsOfSecondsOf837¶: Hundredths of seconds time of time string field of 837 file, for example “.64” means 64 hundredth.

Video Frame Length¶

name: videoFrameLengthOf837, type: Integer, persistent: no¶: Length of video frame field of 837 file in bytes if available or 0 otherwise (length = 54 + (video_window_width * video_window_height * 3))

XdcrUpDown¶

name: xdcrUpDownOf837, type: String, persistent: no¶: Xdcr Up/Down field of 837 file (0=Down, 1=Up).

Xdcr Display Mode¶

name: xdcrDisplayMode, type: Integer, persistent: no¶: Xdcr Display Mode field of 837 file (Binary Or of bits: 0=Sector, 1=Linear, 2=Perspective, 3=Profile, 4=Beamtest).

Start Gain¶

name: startGainOf837, type: Float, persistent: no¶: Start Gain field of 837 file (0 to 20 in 1 dB increments).

Profile Tilt Angle (profileTiltAngleOf837)¶

name: profileTiltAngleOf837, type: Float, persistent: no¶: Profile Tilt Angle field of 837 file in degrees.

Pulse Length (pulseLengthOf837)¶

name: pulseLengthOf837, type: Integer, persistent: no¶: Pulse Length field of 837 file in microseconds.

Sound Velocity (soundVelocityOf837)¶

name: soundVelocityOf837, type: Integer, persistent: no¶: Sound Velocity field of 837 file in m/s.

GPS Ships Position Latitude (gpsShipsPositionLatitudeOf837)¶

name: gpsShipsPositionLatitudeOf837, type: String, persistent: no¶: GPS Ships Position Latitude field of 837 file (_dd.mm.xxxxx_N with dd=Degrees, mm=Minutes, xxxxx = Decimal Minutes, _=Space, N=North or S=South).

GPS Ships Position Longitiude (gpsShipsPositionLongitudeOf837)¶

name: gpsShipsPositionLongitudeOf837, type: String, persistent: no¶: GPS Ships Position Longitiude field of 837 file (_dd.mm.xxxxx_E with dd=Degrees, mm=Minutes, xxxxx = Decimal Minutes, _=Space, E=East or W=West).

GPS Ships Speed (gpsShipsSpeedOf837)¶

name: gpsShipsSpeedOf837, type: Float, persistent: no¶: GPS Ships Speed field of 837 file in knots.

GPS Ships Heading¶

name: gpsShipsHeadingOf837, type: Float, persistent: no¶: GPS Ships Heading field in degrees of 837 file.

Operating Frequency¶

name: operatingFrequencyOf837, type: Float, persistent: no¶: Operating Frequency field of 837 file in kHz.

Pitch¶

name: pitchOf837, type: Float, persistent: no¶: Pitch Angle field of 837 file in degrees.

Roll¶

name: rollOf837, type: Float, persistent: no¶: Roll Angle field of 837 file in degrees.

Heading¶

name: headingOf837, type: Float, persistent: no¶: Heading Angle field of 837 file in degrees.

Repetition Rate (repetitionRateOf837)¶

name: repetitionRateOf837, type: Integer, persistent: no, deprecated name: repititionRateOf837¶: Repetition Rate field of 837 file in ms.

Display Gain¶

name: displayGainOf837, type: Integer, persistent: no¶: Display Gain in % from 0 to 100.

Version¶

name: versionOf83BFile, type: String, persistent: no¶: 83B Version field of 83B file.

Date (dateOf83B)¶

name: dateOf83B, type: String, persistent: no¶: Date field of .83B file (DD-MMM-YYYY) (system date).

Time (timeOf83B)¶

name: timeOf83B, type: String, persistent: no¶: Time field of .83B file (HH:MM:SS) (system time).

Hundredth Of Seconds¶

name: hundredthOfSecondsOf83B, type: String, persistent: no, deprecated name: hundredsOfSecondsOf83B¶: Hundredth of seconds time of time string field of 83B file, for example “.64” means 64 hundredth.

GPS Ships Position Latitude (gpsShipsPositionLatitudeOf83B)¶

name: gpsShipsPositionLatitudeOf83B, type: String, persistent: no¶: GPS Ships Position Latitude field of 83B file (_dd.mm.xxxxx_N with dd=Degrees, mm=Minutes, xxxxx = Decimal Minutes, _=Space, N=North or S=South).

GPS Ships Position Longitiude (gpsShipsPositionLongitudeOf83B)¶

name: gpsShipsPositionLongitudeOf83B, type: String, persistent: no¶: GPS Ships Position Longitiude field of 83B file (_dd.mm.xxxxx_E with dd=Degrees, mm=Minutes, xxxxx = Decimal Minutes, _=Space, E=East or W=West).

GPS Ships Speed (gpsShipsSpeedOf83B)¶

name: gpsShipsSpeedOf83B, type: Float, persistent: no¶: GPS Ships Speed field of 83B file in knots.

GPS Ships heading¶

name: gpsShipsHeadingOf83B, type: Float, persistent: no¶: GPS Ships Heading field in degrees of 83B file.

Pitch Angle¶

name: pitchAngleOf83B, type: Float, persistent: no¶: Pitch Angle field of 83B file in degrees.

Roll Angle¶

name: rollAngleOf83B, type: Float, persistent: no¶: Roll Angle field of 83B file in degrees.

Heading Angle¶

name: headingAngleOf83B, type: Float, persistent: no¶: Heading Angle field of 83B file in degrees.

Beams¶

name: beamsOf83B, type: Integer, persistent: no¶: Beams field of .83B file.

Samples Of Beam¶

name: samplesPerBeamOf83B, type: Integer, persistent: no¶: Number of Sameples Per Beam field of .83B file (HH:MM:SS).

Sector Size¶

name: sectorSizeOf83B, type: Integer, persistent: no¶: Sector Size field of 83B file in degrees.

Start Angle¶

name: startAngleOf83B, type: Float, persistent: no¶: Start Angle field of 83B file (Beam 0 angle) in degrees.

Angle Increment¶

name: angleIncrementOf83B, type: Float, persistent: no¶: Angle increment field of 83B file in degrees.

Acoustic Range¶

name: acousticRangeOf83B, type: Integer, persistent: no¶: Acoustic Range field of 83B file in meters.

Acoustic Frequency¶

name: acousticFrequencyOf83B, type: Integer, persistent: no¶: Acoustic Frequency field of 83B file in kHz.

Sound Velocity (soundVelocityOf83B)¶

name: soundVelocityOf83B, type: Float, persistent: no¶: Sound Velocity field of 83B file in m/s.

Range Resolution¶

name: rangeResolutionOf83B, type: Integer, persistent: no¶: Range Resolution field of 83B file in millimetres.

Pulse Length (pulseLengthOf83B)¶

name: pulseLengthOf83B, type: Integer, persistent: no¶: Pulse Length field of 83B file in microseconds.

Profile Tilt Angle (profileTiltAngleOf83B)¶

name: profileTiltAngleOf83B, type: Integer, persistent: no¶: Profile Tilt Angle field of 83B file in degrees (mount offset).

Repetition Rate (repetitionRateOf83B)¶

name: repetitionRateOf83B, type: Integer, persistent: no, deprecated name: repititionRateOf83B¶: Repetition Rate field of 83B file in ms (time between pings).

Ping Number¶

name: pingNumberOf83B, type: Integer, persistent: no¶: Ping Number field of 83B file (increment for every ping).

Sonar X Offset¶

name: sonarXOffsetOf83B, type: Float, persistent: no¶: Sonar X-Offset field of 83B file in meters.

Sonar Y Offset¶

name: sonarYOffsetOf83B, type: Float, persistent: no¶: Sonar Y-Offset field of 83B file in meters.

Sonar Z Offset¶

name: sonarZOffsetOf83B, type: Float, persistent: no¶: Sonar Z-Offset field of 83B file in meters.