glf_processor.hpp File Reference

#include "package_defs.hpp"
#include <rclcpp/logging.hpp>
#include <std_msgs/msg/header.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <marine_acoustic_msgs/msg/raw_sonar_image.hpp>
#include <marine_acoustic_msgs/msg/projected_sonar_image.hpp>
#include "types.h"
#include "GenesisSerializer/GlfLoggerGeminiStructure.h"
#include <vector>
#include <cstdint>

Include dependency graph for glf_processor.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	gemini_sonar_driver::glf_processor::PingMetadata
	Processed ping metadata extracted from GLF::GMainImage. More...
struct	gemini_sonar_driver::glf_processor::BeamData
	Processed beam data ready for ROS message conversion. More...

Namespaces
namespace	gemini_sonar_driver
namespace	gemini_sonar_driver::glf_processor
	GLF (Gemini Log Format) data processing utilities.
namespace	gemini_sonar_driver::glf_processor::PingFlags
	Ping flags bit definitions.
namespace	gemini_sonar_driver::glf_processor::FrequencyResolution1200ikd
	Frequency resolution constants in meters.

Enumerations
enum class	gemini_sonar_driver::glf_processor::FrequencyMode : uint8_t { gemini_sonar_driver::glf_processor::LOW_FREQUENCY = 0 , gemini_sonar_driver::glf_processor::HIGH_FREQUENCY = 1 }
	Ping frequency modes. More...
enum class	gemini_sonar_driver::glf_processor::SoSMode : uint8_t { gemini_sonar_driver::glf_processor::SONAR_SENSOR = 0 , gemini_sonar_driver::glf_processor::MANUAL = 1 }
	Speed of sound source modes. More...

Functions
PingMetadata	gemini_sonar_driver::glf_processor::extractPingMetadata (const GLF::GMainImage &mainImage, uint32_t ping_number)
	Extract ping metadata from GLF::GMainImage.
BeamData	gemini_sonar_driver::glf_processor::extractBeamData (const GLF::GMainImage &mainImage, const PingMetadata &metadata)
	Extract beam intensity data from GLF::GMainImage.
bool	gemini_sonar_driver::glf_processor::isCompressed (const GLF::GMainImage &mainImage)
	Check if data is compressed and needs decompression.
bool	gemini_sonar_driver::glf_processor::decompress (GLF::GMainImage &mainImage)
	Decompress GLF image data if needed.
marine_acoustic_msgs::msg::PingInfo	gemini_sonar_driver::glf_processor::createPingInfo (const PingMetadata &metadata)
	Create PingInfo message from conversion parameters.
marine_acoustic_msgs::msg::SonarImageData	gemini_sonar_driver::glf_processor::createSonarImageData (const BeamData &beam_data, const PingMetadata &metadata, uint8_t dtype)
	Create SonarImageData message from beam data (OPTIMIZED)
marine_acoustic_msgs::msg::RawSonarImage	gemini_sonar_driver::glf_processor::createRawSonarImage (const GLF::GMainImage &mainImage, const PingMetadata &metadata, const BeamData &beam_data, const std::string &frame_id)
	Create marine_acoustic_msgs/RawSonarImage from parsed GLF data.
marine_acoustic_msgs::msg::ProjectedSonarImage	gemini_sonar_driver::glf_processor::createProjectedSonarImage (const GLF::GMainImage &mainImage, const PingMetadata &metadata, const BeamData &beam_data, const std::string &frame_id)
	Create marine_acoustic_msgs/ProjectedSonarImage (spatial domain)

Variables
constexpr uint16_t	gemini_sonar_driver::glf_processor::PingFlags::FREQUENCY_MASK = 0x0100
	Bit 8: Frequency mode (1=High/1200kHz, 0=Low/720kHz)
constexpr uint16_t	gemini_sonar_driver::glf_processor::PingFlags::SOS_MODE_MASK = 0x8000
	Bit 15: Speed of sound mode.
constexpr double	gemini_sonar_driver::glf_processor::FrequencyResolution1200ikd::RES_720KHZ = 0.0040
	720kHz frequency resolution (4.0mm)
constexpr double	gemini_sonar_driver::glf_processor::FrequencyResolution1200ikd::RES_1200KHZ = 0.0024
	1200kHz frequency resolution (2.4mm)