sonar-sandbox

A set of matlab scripts and functions to support research on SONAR modelling and data enhancement.

general instructions

1. run buildjar.sh
2. open matlab
3. run addjars.m
4. run other stuff

scripts

• addjars.m - script to add the .jar files required for matlab to listen to lcm
• beam_taper.m - beam pattern (taper) correction test
• didson_enhancer.m - a script to listen to didson frames, enhance and republish
• didson_lcm_to_mat.m - a script to convert didson data from lcm logs to .mat files
• didson_listener.m - a script that listens to didson lcm messages
• didson_skeleton.m - template for per-frame processing
• didson_stats.m - misc computations on a per-frame basis
• fls_listener.m - a script that listens to 3dfls lcm messages
• psf_estimtion.m - point spread function estimation using blind deconvolution
• simple_viewer.m - main development script; reads didson data from a .mat file (converted from lcm) and runs several enhancements/tests/...
• test_deconvwnr.m - a script to test Wiener deconvolution using roughly-estimated PSFs.
• transmission_loss.m - a script to evaluate different transmission loss models.

functions

• cpsf.m - a function to return a custom psf
• enhance.m - a function to gather all sonar image enhancements (deconvolution, beam pattern correction, transmission loss)
• polarToCart.m - a function to handle the conversion of sonar data from a polar to a cartesian frame

dependencies:

hauv_didson_t.lcm (can be found at https://svn.csail.mit.edu/marine/projects/3dfls/3dfls/lcmtypes/)