7k2orientation

Description

7k2orientation is a utility designed to extract vessel orientation data (roll, pitch, heading, heave) from Reson 7k (.s7k) files and convert it into the OMG-HDCS attitude file format. It processes specific 7k records: 7k_1012_Orientation (roll, pitch, heave), 7k_1013_Heading (heading), and 7k_1016_Attitude (roll, pitch, heading, heave time series).

This tool is essential for providing motion and heading data for various downstream processing steps within the OMG toolkit, such as motion compensation and data georeferencing.

Usage 

7k2orientation -s7k <input_name> -omg <omg_file_prefix> [-v] [-debug]

Arguments

| Option | Description | |—|—| | -s7k <input_name> | Required. Path to the input Reson 7k .s7k file. | | -omg <omg_file_prefix> | Required. Prefix for the output OMG-HDCS files. The tool will generate: * <omg_file_prefix>.orientation_1012 (if 7k_1012 records exist): OMG-HDCS attitude file for roll, pitch, heave. * <omg_file_prefix>.heading (if 7k_1013 records exist): OMG-HDCS attitude file for heading. * <omg_file_prefix>.orientation_1016 (if 7k_1016 records exist): OMG-HDCS attitude file for roll, pitch, heading, heave time series. | | -v | Enable verbose output. | | -debug | Enable debug output. |

How It Works

  1. Initialization: Parses command-line arguments to get input .s7k filename and output prefix. Initializes Reson 7k data structures (Reson_7K_Index, Reson_7K_DRF, Reson_7K_1012_Orientation, Reson_7K_1013_Heading, Reson_7K_1016_Attitude) and OMG-HDCS attitude structures (OMG_HDCS_summary_attitude, OMG_HDCS_attitude).
  2. 7k Indexing: Calls build_Reson_7K_Index() (an external function) to create an index of all packet types within the .s7k file.
  3. File Opening: Opens the input .s7k file for reading.
  4. Process 7k_1012_Orientation Records (Roll, Pitch, Heave):
    • If 7k_1012_Orientation records are found in the index:
      • Creates an output file named <omg_file_prefix>.orientation_1012.
      • Initializes OMG_HDCS_summary_attitude for this file.
      • Reads the first 7k_1012 record to determine refTime for the summary.
      • Writes the summary to the output file.
      • Iterates through each 7k_1012 record:
        • Seeks to the record’s file offset, reads DRF and Reson_7K_1012_Orientation data.
        • Calls convert_7K_orientation() (an external function) to convert 7k orientation data to OMG_HDCS_attitude.
        • Writes the OMG_HDCS_attitude record to the output file.
  5. Process 7k_1013_Heading Records (Heading):
    • If 7k_1013_Heading records are found in the index:
      • Creates an output file named <omg_file_prefix>.heading.
      • Initializes OMG_HDCS_summary_attitude for this file.
      • Reads the first 7k_1013 record to determine refTime for the summary.
      • Writes the summary to the output file.
      • Iterates through each 7k_1013 record:
        • Seeks to the record’s file offset, reads DRF and Reson_7K_1013_Heading data.
        • Calls convert_7K_heading() (an external function) to convert 7k heading data to OMG_HDCS_attitude.
        • Writes the OMG_HDCS_attitude record to the output file.
  6. Process 7k_1016_Attitude Records (Roll, Pitch, Heading, Heave time series):
    • If 7k_1016_Attitude records are found in the index:
      • Creates an output file named <omg_file_prefix>.orientation_1016.
      • Initializes OMG_HDCS_summary_attitude for this file.
      • Reads the first 7k_1016 record to determine refTime for the summary.
      • Writes the summary to the output file.
      • Iterates through each 7k_1016 record:
        • Reads DRF and Reson_7K_1016_Attitude data.
        • For each sample within the 7k_1016_Attitude record (which can contain multiple samples per record):
          • Calls convert_7K_attitude() (an external function) to convert 7k attitude sample data to OMG_HDCS_attitude.
          • Writes the OMG_HDCS_attitude record to the output file.
  7. Cleanup: Closes all open files.

Output Files

  • <omg_file_prefix>.orientation_1012: Binary attitude file (roll, pitch, heave) if 7k_1012 records exist.
  • <omg_file_prefix>.heading: Binary attitude file (heading) if 7k_1013 records exist.
  • <omg_file_prefix>.orientation_1016: Binary attitude file (roll, pitch, heading, heave time series) if 7k_1016 records exist.