sonar-sandbox

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

general instructions

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.

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

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