mbnavadjustmerge
Section:  MB-System 5.0  (1)
Updated:  15 November 2022 
Index


 
NAME

mbnavadjustmerge - Tool to modify MBnavadjust projects,
including merging projects, adding global ties, setting tie modes, exporting
or importing crossing ties, and pre-generating the triangular meshes .

 
VERSION

Version 5.0

 
SYNOPSIS

mbnavadjustmerge --input=project-base



[--input=project_path



--output=project_path



--set-global-tie=file:section[:snav]/xoffset/yoffset/zoffset[/xsigma/ysigma/zsigma]



--set-global-tie-xyz=file:section[:snav]



--set-global-tie-xyonly=file:section[:snav]



--set-global-tie-zonly=file:section[:snav]



--set-all-global-ties-xyz



--set-all-global-ties-xyonly



--set-all-global-ties-zonly



--unset-global-tie=file:section



--unset-all-global-ties



--add-crossing=file1:section1/file2:section2



--set-tie=file1[:section1]/file2[:section2]/xoffset/yoffset/zoffset[/xsigma/ysigma/zsigma]



--set-tie=file1[:section1]/file2[:section2]///zoffset



--set-tie-xyz=file1:section1/file2:section2



--set-tie-xyonly=file1:section1/file2:section2



--set-tie-zonly=file1:section1/file2:section2



--set-ties-xyz-all



--set-ties-xyonly-all



--set-ties-zonly-all



--set-ties-xyz-with-file=file



--set-ties-xyonly-with-file=file



--set-ties-zonly-with-file=file



--set-ties-xyz-by-survey=survey



--set-ties-xyonly-by-survey=survey



--set-ties-zonly-by-survey=survey



--set-ties-xyz-by-block=survey1/survey2



--set-ties-xyonly-by-block=survey1/survey2



--set-ties-zonly-by-block=survey1/survey2



--set-ties-zoffset-by-block=survey1/survey2/zoffset



--set-ties-xyonly-by-time=timethreshold



--unset-tie=file1:section1/file2:section2



--unset-ties-with-file=file



--unset-ties-with-survey=survey



--unset-ties-by-survey=survey



--unset-ties-by-block=survey1/survey2



--unset-ties-all



--skip-unset-crossings



--unset-skipped-crossings-by-block=survey1/survey2



--unset-skipped-crossings-between-surveys



--insert-discontinuity=file:section



--reimport-file=file



--reimport-all-files



--import-tie-list=file



--export-tie-list=file



--triangulate



--triangulate-all



--triangulate-scale=scale



--triangulate-section=file:section



--unset-short-section-ties=min_length



--skip-short-section-crossings=min_length



--verbose



--help]

 
DESCRIPTION

MBnavadjustmerge is a command line program that merges two
existing MBnavadjust projects or modifies a single
MBnavadjust project.

MBnavadjust is an interactive graphical program used to
adjust swath data navigation by matching bathymetric features
in overlapping and crossing swaths. The primary purpose of
mbnavadjust is to eliminate relative navigational errors in swath
data obtained from poorly navigated sonars.

With respect to the merging function, if the MBnavadjustmerge
user specifies two input projects and no output project, then the
second project is added to the first. If an output project is specified, then the
two projects are merged and the new combined project is output.

In order to make use of the project modification commands, a
single input project must be specified, along with one or more
of the modification commands. These can include adding crossings,
setting tie z-offset values, setting tie offsets (even if no
corresponding crossing already exists), setting tie modes
(xy only, z only, xyz), and deleting ties.

 
MB-SYSTEM AUTHORSHIP

David W. Caress




 Monterey Bay Aquarium Research Institute



Dale N. Chayes




 Center for Coastal and Ocean Mapping




 University of New Hampshire



Christian do Santos Ferreira




 MARUM - Center for Marine Environmental Sciences




 University of Bremen

 
OPTIONS


--input=project-base


--input=project-add

The --input option defines an existing, input MBnavadjust
project. A project may be defined by a relative or absolute path
to the project *.nvh file or the project *.dir directory. This option
can be used twice to specify two input projects. The first
use of --input defines the base input project, and the second
defines the add input project. In the case where the --output
option is used to define an output project, the two input projects
will both be copied to the new output project (project-base
first followed by project-add). If the output option is
not specified, then the project-base project is used as the
output, and the project-add project is added on to the
project-base project. If only the base input project is
specified, then that project will be modified according to one or
more of the "add", "delete", "skip", or "set" commands.
--output=project-output


This option defines the new MBnavadjust output project. The two
input projects will both be copied to the new output project
(project-base first followed by project-add).
If the output option is
not specified, then the project-base project is used as the
output, and the project-add project is added on to the
project-base project.
--set-global-tie=file:section[:snav]/xoffset/yoffset/zoffset[/xsigma/ysigma/zsigma]


This options sets a global tie for a navigation point in the project. Global ties are
ties to the global reference frame, which generally means GPS positions (e.g. WGS84).
The file and section id's must be specified, along with the x (east-west), y (north-south),
and z (vertical positive up) offset values in meters. If the snav id (navigation point id)
is not specified, it is assumed to be 0, the first navigation point in the
specified section. If the uncertainties in the global tie (xsigma, ysigma, zsigma)
are not specified, then xsigma = ysigma = 10 m and zsigma = 0.5 m are assumed.
--set-global-tie-xyz=file:section[:snav]


This option sets the mode of the existing specified global tie in the
MBnavadjust project to be "XYZ". This means all three
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-global-tie-xyonly=file:section[:snav]


This option sets the mode of the existing specified global tie in the
MBnavadjust project to be "XY". This means only the horizontal
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-global-tie-zonly=file:section[:snav]


This option sets the mode of the existing specified global tie in the
MBnavadjust project to be "Z". This means only the vertical
coordinate of the tie will be used as a constraint in the inversion
for an optimal navigation model.
--set-all-global-ties-xyz


This option sets the mode of all global ties in the
MBnavadjust project to be "XYZ". This means all three
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-all-global-ties-xyonly


This option sets the mode of all global ties in the
MBnavadjust project to be "XY". This means only the horizontal
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-all-global-ties-zonly


This option sets the mode of all global ties in the
MBnavadjust project to be "Z". This means only the vertical
coordinate of the tie will be used as a constraint in the inversion
for an optimal navigation model.
--unset-global-tie=file:section


This option unsets (deletes) the specified global tie in the
MBnavadjust project.
--add-crossing=file1:section1/file2:section2


This option adds the specified crossing to the MBnavadjust project.
--set-tie=file1[:section1]/file2[:section2]/[xoffset]/[yoffset]/zoffset[/xsigma/ysigma/zsigma]


This option adds the specified tie to the MBnavadjust project.
If the corresponding crossing does not already exist, it will be
created. If a section is not specified, then it is assumed to be the first value,
i.e. 0. If the tie offsets are specified but the uncertainties (xsigma, ysigma, zsigma)
are not specified, then xsigma = ysigma = 10 m and zsigma = 0.5 m are assumed.
--set-tie=file1[:section1]/file2[:section2]///zoffset


This option modifies the z offset value of the specified tie in the MBnavadjust project.
If a section is not specified, then it is assumed to be the first value,
i.e. 0. The specified tie must already exist, and this
command changes the z offset value while leaving the x and y offsets and the
uncertainties unchanged.
--set-tie-xyz=file1:section1/file2:section2


This option sets the mode of the existing specified tie in the
MBnavadjust project to be "XYZ". This means all three
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-tie-xyonly=file1:section1/file2:section2


This option sets the mode of the existing specified tie in the
MBnavadjust project to be "XY". This means only the horizontal
coordinates of the tie will be used as constraints in the inversion
for an optimal navigation model.
--set-tie-zonly=file1:section1/file2:section2


This option sets the mode of the existing specified tie in the
MBnavadjust project to be "Z". This means only the vertical
coordinate of the tie will be used as a constraint in the inversion
for an optimal navigation model.
--unset-tie=file1:section1/file2:section2


This option unsets (deletes) the specified tie in the
MBnavadjust project.
--set-ties-xyz-all


This option sets the mode of all ties in the MBnavadjust project to be "XYZ". This means all three
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyonly-all


This option sets the mode of all ties in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zonly-all


This option sets the mode of all ties in the MBnavadjust project to be "Z". This means only the vertical
coordinate of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyz-with-file=file


This option sets the mode of all ties involved with the specified
file in the MBnavadjust project to be "XYZ". This means all three
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyonly-with-file=file


This option sets the mode of all ties involved with the specified
file in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zonly-with-file=file


This option sets the mode of all ties involved with the specified
file in the MBnavadjust project to be "Z". This means only the vertical
coordinate of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyz-with-survey=survey


This option sets the mode of all ties involved with the specified
survey in the MBnavadjust project to be "XYZ". This means all three
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyonly-with-survey=survey


This option sets the mode of all ties involved with the specified
survey in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zonly-with-survey=survey


This option sets the mode of all ties involved with the specified
survey in the MBnavadjust project to be "Z". This means only the vertical
coordinate of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyz-by-survey=survey


This option sets the mode of all ties between two sections in the specified
survey in the MBnavadjust project to be "XYZ". This means all three
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyonly-by-survey=survey


This option sets the mode of all ties between two sections in the specified
survey in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zonly-by-survey=survey


This option sets the mode of all ties between two sections in the specified
survey in the MBnavadjust project to be "Z". This means only the vertical
coordinate of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyz-by-block=survey1/survey2


This option sets the mode of all ties between sections of the specified
two surveys in the MBnavadjust project to be "XYZ". This means all three
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-xyonly-by-block=survey1/survey2


This option sets the mode of all ties between sections in the specified
two surveys in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zonly-by-block=survey1/survey2


This option sets the mode of all ties between sections in the specified
two surveys in the MBnavadjust project to be "Z". This means only the vertical
coordinate of these ties will be used as constraints in the inversion
for an optimal navigation model.
--set-ties-zoffset-by-block=survey1/survey2/zoffset


This option resets the zoffset value of all ties between sections in the specified
two surveys.
--set-ties-xyonly-by-time=dt


This option sets the mode of all ties with nav points separated in time by dt or
larger in the MBnavadjust project to be "XY". This means only the horizontal
coordinates of these ties will be used as constraints in the inversion
for an optimal navigation model.
--unset-ties-with-file=file


This option unsets (deletes) all ties involved with the specified
file in the MBnavadjust project.
--unset-ties-with-survey=survey


This option unsets (deletes) all ties involved with the specified
survey in the MBnavadjust project.
--unset-ties-by-survey=survey


This option unsets (deletes) all ties between two sections in the specified
survey in the MBnavadjust project.
--unset-ties-by-block=survey1/survey2


This option unsets (deletes) all ties between sections of the specified
two surveys in the MBnavadjust project.
--unset-ties-all


This option unsets (deletes) all ties in the MBnavadjust project. The
command --unset-all-ties is also accepted.
--skip-unset-crossings


This option sets all unset crossings in the input projects to be
skipped. This does not apply to any new crossings between the two
merged projects.
--unset-skipped-crossings-by-block=survey1/survey2


This option sets all skipped crossings in the specified
two surveys to be unset.
--unset-skipped-crossings-between-surveys


This option sets all skipped crossings between different surveys in the input
projects to be unset. This does not apply to any new crossings between the two
merged projects.
--insert-discontinuity=file:section


This option inserts a navigation discontinuity immediately after the specified
file and section.
--import-tie-list=filename


Import a listing of navigation ties that has been exported from a different
mbnavadjust project using the --export-tie-list
command.
--export-tie-list=filename


Output the current navigation ties as a text file that can be imported into
a different mbnavadjust project using the --import-tie-list
command. The ties that are output reflect all modifications specified by other
commands.
--triangulate


This command causes mbnavadjustmerge to pre-generate triangular meshes
used by mbnavadjust for contouring each section as part of the graphical
analysis of crossings. These meshes are stored within the project
directory as a *.tri file in parallel with each *.mb71 section file. Any section
triangle mesh files that already exist are not recreated. The region including
each section is divided into a grid with a cell size determined by the scale
value set by the --triangulate-scale option; the triangle vertices
are selected as the least deep (shoalest) soundings within each grid cell.
--triangulate-all


This command causes mbnavadjustmerge to pre-generate triangular meshes
used by mbnavadjust for contouring each section as part of the graphical
analysis of crossings. All section triangle mesh files are created; any pre-existing
triangle files are overwritten.
--triangulate-scale=scale


This option sets the scale (size) of the triangles generated by the --triangulate
or --triangulate-all commands. By default, the scale is calculated as 1/100 of the
width or height (whichever is longer) of the region covered by the section.
--triangulate-section=file:section


This command causes mbnavadjustmerge to pre-generate the triangular mesh
for the specified section.
--unset-short-section-ties=min_length


This option unsets (deletes) all ties for which one or both data sections have a
navigation track length less than min_length.
--skip-short-section-crossings=min_length


This option sets all crossings for which one or both data sections have a
navigation track length less than min_length to "skipped" mode. Any ties
associated with these crossings are deleted.
--remake-mb166-files


This option causes mbnavadjustmerge to remake the navigation files inside
the project, fixing problems caused by a since-fixed bug.
--fix-sensordepth


This option causes mbnavadjustmerge to recalculate the sensordepth values
in the project file from the imported swath data, fixing problems caused by a
since-fixed bug.
--verbose


This option increases the verbosity of MBnavadjustmerge, which
means that more information than by default is output to the stderr stream of the
shell.
--help


This option causes MBnavadjustmergeP to output a list of the
possible command line options, and then exit.


 
EXAMPLES

Suppose you have two AUV survey missions, 20140515m1 and 10140515m2, that overlap
slightly. If you have used MBnavadjust to adjust the navigation of the
two missions separately, you can use MBnavadjustmerge to merge the two
MBnavadjust projects into a single new project without losing any of the
ties made between overlapping sections in the existing projects. If the two
existing projects are named "Navadjust20140515m1" and "Navadjust20140515m2",
respectively, then there exist project files with a ".nvh" suffix and project
directories with a ".dir" suffix. To create a new MBnavadjust project
combining the two existing projects, the following will suffice:




    mbnavadjustmerge --input=Navadjust20140515m1.nvh                       --input=Navadjust20140515m2.nvh                       --output=Navadjust20140515All.nvh

The new project Navadjust20140515All can be opened and analyzed further using
MBnavadjust. When opening the new project, the user should first solve
for a comprehensive navigation adjustment model by selecting the <Action->Invert Navigation>
menu item, and then find the crossings between the two previously separate missions
by selecting the <Action->Check For New Crossings> menu item.

If the --skip-unset-crossings option is added to the above command, then
all unset crossings in the two input projects will be set to "skipped" mode in
the output project.

 
SEE ALSO

mbsystem(1), mbio(1), mbprocess(1),
mbnavadjust(1), mbset(1)

 
BUGS

It started out simple and bulletproof, but now it's too complicated to be bulletproof. It's probably nerfgunproof, though.
Good luck.



 
Index

NAME

VERSION

SYNOPSIS

DESCRIPTION

MB-SYSTEM AUTHORSHIP

OPTIONS

EXAMPLES

SEE ALSO

BUGS