Program.cs

using System;
using static System.Console;
using System.Runtime.CompilerServices;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Collections.ObjectModel;
using System.IO;

namespace SL3Reader
{
    public static class Program
    {
        public static void Main([DisallowNull] string[] args)
        {
            OutputEncoding = System.Text.Encoding.UTF8;
            if (args!.Length is not 3) // Always non-null.
            {
                PrintRed("Wrong number of arguments!");
                WriteLine();
                PrintUsage();
                return;
            }

            string input = args![0];

            if (!File.Exists(input))
            {
                PrintRed("Input file not found!");
                WriteLine();
                PrintUsage();
                return;
            }

            DirectoryInfo directoryInfo = new(args![1]);
            if (!(directoryInfo.Parent ?? directoryInfo.Root).Exists)
            {
                PrintRed("Directory not found for output!");
                WriteLine();
                PrintUsage();
                return;
            }
            string output = directoryInfo.FullName;

            using SL3Reader sl3reader = new(input!);

            PrintSummary(sl3reader!);

            string expSelector = args![2].Trim().ToLowerInvariant();
            switch (expSelector)
            {
                case "-3dm":
                    sl3reader.Export3D(output!, false, true);
                    PrintGreen("3D content with magnetic heading exported successfully.\n");
                    break;
                case "-3dg":
                    sl3reader.Export3D(output!, false, false);
                    PrintGreen("3D content with GNSS heading exported successfully.\n");
                    break;
                case "-route":
                    sl3reader.ExportRoutePoints(output!);
                    PrintGreen("Route exported successfully.\n");
                    break;
                case "-ss":
                    sl3reader.ExportImagery(output!);
                    PrintGreen("Side scan imagery exported successfully.\n");
                    break;
                case "-ps":
                    sl3reader.ExportImagery(output!, SurveyType.Primary);
                    PrintGreen("Primary scan imagery exported successfully.\n");
                    break;
                case "-ses":
                    sl3reader.ExportImagery(output!, SurveyType.Secondary);
                    PrintGreen("Secondary scan imagery exported successfully.\n");
                    break;
                case "-ds":
                    sl3reader.ExportImagery(output!, SurveyType.DownScan);
                    PrintGreen("DownScan imagery exported successfully.\n");
                    break;
                case "-u7":
                    sl3reader.ExportImagery(output!, SurveyType.Unknown7);
                    PrintGreen("Frame type №7 imagery exported successfully.\n");
                    break;
                default:
                    WriteLine("Invalid argument (" + expSelector + ").");
                    PrintUsage();
                    return;
            }

            return;

            static void PrintUsage()
            {
                WriteLine();

                WriteLine("Usage examples:\n");

                WriteLine("To export route:");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -route\n");
                WriteLine("To export 3D points with magnetic heading (e.g. measured with devices like Precision–9):");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -3dm\n");
                WriteLine("To export 3D points with GNSS heading (e.g. in-built GPS):");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\output.csv\" -3dg\n");

                WriteLine("To export side scan imagery:");

                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -ss\n");
                WriteLine("To export primary scan imagery:");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -ps\n");
                WriteLine("To export secondary scan imagery:");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -ses\n");
                WriteLine("To export down scan imagery:");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -ds\n");
                WriteLine("To export frame type №7 imagery imagery:");
                WriteLine("\tSL3Reader.exe \"C:\\input.sl3\" \"D:\\OutputFolder\" -u7\n");

                WriteLine("If either the input file’s name/path or the output file name/path contains space(s) use double quotation mark (\") to enclose it, like \"D:\\My SL3 Files\\Best Catch.sl3\".\n");

                WriteLine("For details see & cite the following publication: Halmai, Ákos; Gradwohl–Valkay, Alexandra; Czigány, Szabolcs; Ficsor, Johanna; Liptay, Zoltán Árpád; Kiss, Kinga; Lóczy, Dénes and Pirkhoffer, Ervin. 2020. \"Applicability of a Recreational-Grade Interferometric Sonar for the Bathymetric Survey and Monitoring of the Drava River\" ISPRS International Journal of Geo-Information 9, no. 3: 149. https://doi.org/10.3390/ijgi9030149 https://www.mdpi.com/2220-9964/9/3/149.\n");
                WriteLine("https://github.com/halmaia/SL3Reader");
                WriteLine("For license details see: https://github.com/halmaia/SL3Reader/blob/master/LICENSE.\n");
                WriteLine();
            }

            [SkipLocalsInit]
            static void PrintSummary([DisallowNull] SL3Reader sl3reader)
            {
                ReadOnlyDictionary<SurveyType, ReadOnlyCollection<nuint>> indexByType = sl3reader.IndexByType;
                ReadOnlyCollection<nuint> frames = sl3reader.Frames;
                int len = frames.Count;
                System.Globalization.CultureInfo invariantCulture = System.Globalization.CultureInfo.InvariantCulture;

                WriteLine("File statistics:");
                WriteLine("\tNumber of frames: " + len.ToString("# ##0"));

                WriteLine("\tNumber of primary frames: " + indexByType[SurveyType.Primary].Count.ToString("# ##0"));
                WriteLine("\tNumber of secondary frames: " + indexByType[SurveyType.Secondary].Count.ToString("# ##0"));
                WriteLine("\tNumber of left sidescan frames: " + indexByType[SurveyType.LeftSidescan].Count.ToString("# ##0"));
                WriteLine("\tNumber of right sidescan frames: " + indexByType[SurveyType.RightSidescan].Count.ToString("# ##0"));
                WriteLine("\tNumber of sidescan frames: " + indexByType[SurveyType.SideScan].Count.ToString("# ##0"));
                WriteLine("\tNumber of downscan frames: " + indexByType[SurveyType.DownScan].Count.ToString("# ##0"));
                WriteLine("\tNumber of 3D frames: " + indexByType[SurveyType.ThreeDimensional].Count.ToString("# ##0"));
                WriteLine("\tDistance covered: " + sl3reader.AugmentedCoordinates.LastOrDefault().Distance.ToString("0.# m", invariantCulture));

                if (len is not 0)
                {
                    unsafe
                    {
                        WriteLine("\tBegining of the survey: " + ((Frame*)frames[0])->Timestamp.ToString("yyyy'-'MM'-'dd HH':'mm':'ss.fff'Z'", invariantCulture));
                        WriteLine("\tEnd of the survey: " + ((Frame*)frames[len - 1])->Timestamp.ToString("yyyy'-'MM'-'dd HH':'mm':'ss.fff'Z'", invariantCulture));
                    }
                }

                WriteLine();
            }

            [SkipLocalsInit]
            [MethodImpl(MethodImplOptions.AggressiveInlining)]
            static void PrintGreen(string message)
            {
                ForegroundColor = ConsoleColor.Green;
                WriteLine(message);
                ForegroundColor = ConsoleColor.White;
            }

            [SkipLocalsInit]
            [MethodImpl(MethodImplOptions.AggressiveInlining)]
            static void PrintRed(string message)
            {
                ForegroundColor = ConsoleColor.Red;
                WriteLine(message);
                ForegroundColor = ConsoleColor.White;
            }
        }
    }
}