WorldFile added

GeoPoint.cs

@@ -4,19 +4,22 @@ namespace SL3Reader
 {
     public readonly struct GeoPoint
     {
-        public GeoPoint(double x, double y, double heading, double altitude)
+        public GeoPoint(double x, double y, double heading, double altitude, double distance)
         {
             X = x;
             Y = y;
             Altitude = altitude;
             Heading = heading;
+            Distance = distance;
         }
 
         public readonly double X { get; }
         public readonly double Y { get; }
         public readonly double Altitude { get; }
         public readonly double Heading { get; }
 
+        public readonly double Distance { get; }
+
         public override readonly string ToString()
         {
             CultureInfo invariantCulture = CultureInfo.InvariantCulture;

Program.cs

@@ -4,24 +4,29 @@
 using static System.Console;
 using System.Runtime.CompilerServices;
 
-namespace SL3Reader {
-
-    public static class Program {
-        public static void Main(string[] args) {
-            if (args.Length != 3) {
+namespace SL3Reader
+{
+    public static class Program
+    {
+        public static void Main(string[] args)
+        {
+            if (args!.Length != 3) // Always non-null.
+            {
                 PrintUsage();
                 return;
             }
 
-            string input = GetFullPath(args[0]);
-            if (!Exists(input)) {
+            string input = GetFullPath(args![0]);
+            if (!Exists(input))
+            {
                 WriteLine("Input file not found!");
                 PrintUsage();
                 return;
             }
 
             string output = GetFullPath(args[1]);
-            if (!Exists(GetDirectoryName(output))) {
+            if (!Exists(GetDirectoryName(output)))
+            {
                 WriteLine("Directory not found for the output file!");
                 PrintUsage();
                 return;
@@ -30,7 +35,8 @@ public static void Main(string[] args) {
             using SL3Reader sl3reader = new(input);
 
             string expSelector = args[2].Trim().ToLowerInvariant();
-            switch (expSelector) {
+            switch (expSelector)
+            {
                 case "-3dm":
                     sl3reader.Export3D(output, false, true);
                     PrintGreen("3D content with magnetic heading exported successfully.\n");
@@ -48,7 +54,7 @@ public static void Main(string[] args) {
                     PrintGreen("Side scan imagery exported successfully.\n");
                     break;
                 case "-ps":
-                    sl3reader.ExportImagery(output,SurveyType.Primary);
+                    sl3reader.ExportImagery(output, SurveyType.Primary);
                     PrintGreen("Primary scan imagery exported successfully.\n");
                     break;
                 case "-ses":
@@ -73,17 +79,18 @@ public static void Main(string[] args) {
 
             return;
 
-            static void PrintUsage() {
+            static void PrintUsage()
+            {
                 WriteLine("Usage examples:\n");
 
                 WriteLine("To export route:");
-                
+
                 WriteLine("SL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -route\n");
                 WriteLine("To export 3D points with magnetic heading (e.g. measured with devices like Precision–9):");
                 WriteLine("SL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -3dm\n");
                 WriteLine("To export 3D points with GNSS heading (e.g. in-built GPS):");
                 WriteLine("SL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -3dg\n");
-                
+
                 WriteLine("To export side scan imagery:");
                 WriteLine("SL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -ss\n");
                 WriteLine("To export primary scan imagery:");
@@ -105,7 +112,8 @@ static void PrintUsage() {
             }
 
             [SkipLocalsInit]
-            void PrintSummary() {
+            void PrintSummary()
+            {
                 SortedDictionary<SurveyType, List<int>> indexByType = sl3reader.IndexByType;
 
                 WriteLine("File statistics:");
@@ -117,14 +125,15 @@ void PrintSummary() {
                 WriteLine("\tNumber of sidescan frames: " + indexByType[SurveyType.SideScan].Count.ToString("# ##0"));
                 WriteLine("\tNumber of downscan frames: " + indexByType[SurveyType.DownScan].Count.ToString("# ##0"));
                 WriteLine("\tNumber of 3D frames: " + indexByType[SurveyType.ThreeDimensional].Count.ToString("# ##0"));
-                
+
                 WriteLine();
                 PrintGreen("\nExport finished successfully.");
             }
 
             [SkipLocalsInit]
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
-            static void PrintGreen(string message) {
+            static void PrintGreen(string message)
+            {
                 ForegroundColor = ConsoleColor.Green;
                 WriteLine(message);
                 ForegroundColor = ConsoleColor.White;

Properties/launchSettings.json

@@ -2,7 +2,7 @@
   "profiles": {
     "SL3Reader": {
       "commandName": "Project",
-      "commandLineArgs": "\"F:\\Sonar0000saar.sl3\" \"F:\\op.csv\" -3dm"
+      "commandLineArgs": "\"C:\\Users\\halmaia\\Desktop\\CardSave\\M2\\CPLE.sl3\" \"F:\\SS\" -ss"
     }
   }
 }

SL3Reader.cs

@@ -10,6 +10,7 @@
 using System.Globalization;
 using System.Buffers;
 using System.Diagnostics.CodeAnalysis;
+using static System.Runtime.InteropServices.JavaScript.JSType;
 
 namespace SL3Reader
 {
@@ -209,6 +210,26 @@ public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideSc
                 using SafeFileHandle handle = File.OpenHandle(Path.Combine(path, prefix + final + ".bmp"),
                     FileMode.CreateNew, FileAccess.Write, FileShare.None, FileOptions.SequentialScan);
                 RandomAccess.Write(handle, fileBuffer, 0);
+
+                // World file
+                CultureInfo InvariantCulture = CultureInfo.InvariantCulture;
+                var firstStrip = AugmentedCoordinates[imageFrames[first]];
+                var lastStrip = AugmentedCoordinates[imageFrames[final - 1]];
+                var lastFrame = frames[imageFrames[final - 1]];
+
+                double XSize = -(lastStrip.Distance - firstStrip.Distance) / (final - first - 1);
+                double YSize = -10 * lastFrame.MaxRange * .3048 / numberOfColumns;
+                string WorldString = string.Join("\r\n",
+                        new string[6]
+                         {"0",
+                         YSize.ToString(InvariantCulture),
+                         XSize.ToString(InvariantCulture),
+                         "0",
+                         lastStrip.Distance.ToString(InvariantCulture),
+                         lastFrame.SurveyType is SurveyType.SideScan ? (-1400*YSize).ToString(): "0"}, 0, 6);
+
+                File.WriteAllText(Path.Combine(path, prefix + final + ".bpw"), WorldString);
+                // End world file
             }
         }
 
@@ -431,8 +452,8 @@ internal void AugmentTrajectory()
             if (frameCount < 1) return;
 
             (double x0, double y0, double z0, double v0, double t0, double d0) = frames[0].QueryMetric();
-            coordinates.Add(new(x0, y0, d0, z0));
-
+            coordinates.Add(new(x0, y0, d0, z0, 0)); // The first one.
+            double distance = 0, xprev = x0, yprev = y0;
 
             for (int i = 1; i < frameCount; i++)
             {
@@ -466,7 +487,9 @@ internal void AugmentTrajectory()
                     if (double.Abs(dx) > lim)
                         x0 = x1 + double.CopySign(lim, dx);
                 }
-                coordinates.Add(new(x0, y0, d0, z1));
+
+                coordinates.Add(new(x0, y0, d0, z1, distance += double.Hypot(x0 - xprev, y0 - yprev)));
+                xprev = x0; yprev = y0;
             }
         }