GLF (Gemini Log Format) data processing utilities. More...

Namespaces
namespace	FrequencyResolution1200ikd
	Frequency resolution constants in meters.

namespace	PingFlags
	Ping flags bit definitions.

Classes
struct	BeamData
	Processed beam data ready for ROS message conversion. More...

struct	PingMetadata
	Processed ping metadata extracted from GLF::GMainImage. More...

Enumerations
enum class	FrequencyMode : uint8_t { LOW_FREQUENCY = 0 , HIGH_FREQUENCY = 1 }
	Ping frequency modes. More...

enum class	SoSMode : uint8_t { SONAR_SENSOR = 0 , MANUAL = 1 }
	Speed of sound source modes. More...

Functions
PingMetadata	extractPingMetadata (const GLF::GMainImage &mainImage, uint32_t ping_number)
	Extract ping metadata from GLF::GMainImage.

BeamData	extractBeamData (const GLF::GMainImage &mainImage, const PingMetadata &metadata)
	Extract beam intensity data from GLF::GMainImage.

bool	isCompressed (const GLF::GMainImage &mainImage)
	Check if data is compressed and needs decompression.

bool	decompress (GLF::GMainImage &mainImage)
	Decompress GLF image data if needed.

marine_acoustic_msgs::msg::PingInfo	createPingInfo (const PingMetadata &metadata)
	Create PingInfo message from conversion parameters.

marine_acoustic_msgs::msg::SonarImageData	createSonarImageData (const BeamData &beam_data, const PingMetadata &metadata, uint8_t dtype)
	Create SonarImageData message from beam data (OPTIMIZED)

marine_acoustic_msgs::msg::RawSonarImage	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	createProjectedSonarImage (const GLF::GMainImage &mainImage, const PingMetadata &metadata, const BeamData &beam_data, const std::string &frame_id)
	Create marine_acoustic_msgs/ProjectedSonarImage (spatial domain)

Detailed Description

GLF (Gemini Log Format) data processing utilities.

This module extracts sonar data from GLF::GLogTargetImage structures received from the Tritech Gemini SDK and prepares it for conversion to marine_acoustic_msgs formats.

Enumeration Type Documentation

◆ FrequencyMode

enum class gemini_sonar_driver::glf_processor::FrequencyMode : uint8_t

strong

Ping frequency modes.

Enumerator
LOW_FREQUENCY	0 = LF mode (720kHz for 1200ik)
HIGH_FREQUENCY	1 = HF mode (1200kHz for 1200ik)

◆ SoSMode

enum class gemini_sonar_driver::glf_processor::SoSMode : uint8_t

strong

Speed of sound source modes.

Enumerator
SONAR_SENSOR	0 = Using sonar's internal SOS sensor
MANUAL	1 = Using manually configured SOS value

Function Documentation

◆ createPingInfo()

marine_acoustic_msgs::msg::PingInfo gemini_sonar_driver::glf_processor::createPingInfo ( const PingMetadata & metadata )

Create PingInfo message from conversion parameters.

Parameters

metadata Extracted ping metadata

Returns: marine_acoustic_msgs::msg::PingInfo Filled ping info message

◆ createProjectedSonarImage()

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)

Parameters

mainImage	GLF main image structure from SDK
metadata	Extracted ping metadata
beam_data	Extracted beam data with bearing angles
frame_id	TF frame ID for the sonar

Returns: marine_acoustic_msgs::msg::ProjectedSonarImage Complete projected sonar image message

◆ createRawSonarImage()

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.

Parameters

mainImage	GLF main image structure from SDK
metadata	Extracted ping metadata
beam_data	Extracted beam data with bearing angles
frame_id	TF frame ID for the sonar

Returns: marine_acoustic_msgs::msg::RawSonarImage Complete raw sonar image message

◆ createSonarImageData()

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)

Uses BeamData.flat_data which is already in row-major (beam-major) format. This is the zero-copy approach - direct assignment from GLF SDK data.

Parameters

beam_data	BeamData structure with flat_data already in correct format
metadata	Ping metadata for beam count
dtype	Data type for the image (DTYPE_UINT8 for Gemini)

Returns: marine_acoustic_msgs::msg::SonarImageData Filled sonar image data message

◆ decompress()

bool gemini_sonar_driver::glf_processor::decompress ( GLF::GMainImage & mainImage )

Decompress GLF image data if needed.

Parameters

mainImage GLF main image structure (will be modified if compressed)

Returns: true if decompression succeeded or not needed, false on error

◆ extractBeamData()

BeamData gemini_sonar_driver::glf_processor::extractBeamData	(	const GLF::GMainImage &	mainImage,
		const PingMetadata &	metadata )

Extract beam intensity data from GLF::GMainImage.

The SDK provides data in row-major (beam-major) format: [beam0_sample0, beam0_sample1, ..., beam1_sample0, beam1_sample1, ...]

This function reorganizes it into a 2D vector structure for easier processing.

Parameters

mainImage	GLF main image structure from SDK
metadata	Pre-extracted ping metadata (for dimensions)

Returns: BeamData Reorganized beam data with bearing angles

◆ extractPingMetadata()

PingMetadata gemini_sonar_driver::glf_processor::extractPingMetadata	(	const GLF::GMainImage &	mainImage,
		uint32_t	ping_number )

Extract ping metadata from GLF::GMainImage.

Parameters

mainImage	GLF main image structure from SDK
ping_number	Sequential ping counter

Returns: PingMetadata Extracted metadata

◆ isCompressed()

bool gemini_sonar_driver::glf_processor::isCompressed ( const GLF::GMainImage & mainImage )

Check if data is compressed and needs decompression.

Parameters

mainImage GLF main image structure

Returns: true if compression is active, false otherwise

Namespaces

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ FrequencyMode

◆ SoSMode

Function Documentation

◆ createPingInfo()

◆ createProjectedSonarImage()

◆ createRawSonarImage()

◆ createSonarImageData()

◆ decompress()

◆ extractBeamData()

◆ extractPingMetadata()

◆ isCompressed()