pingmapper 5.0.4__py3-none-any.whl → 5.0.6__py3-none-any.whl

pingmapper/class_sonObj_nadirgaptest.py

@@ -0,0 +1,2335 @@
+# Part of PING-Mapper software
+#
+# GitHub: https://github.com/CameronBodine/PINGMapper
+# Website: https://cameronbodine.github.io/PINGMapper/ 
+#
+# Co-Developed by Cameron S. Bodine and Dr. Daniel Buscombe
+#
+# Inspired by PyHum: https://github.com/dbuscombe-usgs/PyHum
+#
+# MIT License
+#
+# Copyright (c) 2025 Cameron S. Bodine
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+import os, sys
+
+# Add 'pingmapper' to the path, may not need after pypi package...
+SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+PACKAGE_DIR = os.path.dirname(SCRIPT_DIR)
+sys.path.append(PACKAGE_DIR)
+
+from pingmapper.funcs_common import *
+
+class sonObj(object):
+    '''
+    Python class to store everything related to reading and exporting data from
+    Humminbird sonar recordings.
+
+    ----------------
+    Class Attributes
+    ----------------
+    * Alphabetical order *
+    self.beam : str
+        DESCRIPTION - Beam number B***
+
+    self.beamName : str
+        DESCRIPTION - Name of sonar beam.
+
+    self.datLen : int
+        DESCRIPTION - Number of bytes in DAT file.
+
+    self.datMetaFile : str
+        DESCRIPTION - Path to .DAT metadata file (.csv).
+
+    self.headBytes : int
+        DESCRIPTION - Number of header bytes for a ping.
+
+    self.headIdx : list
+        DESCRIPTION - List to hold byte index (offset) of each ping.
+
+    self.headStruct : dict
+        DESCRIPTION - Dictionary to store ping header structure.
+
+    self.headValid : bool
+        DESCRIPTION - Flag indicating if SON header structure is correct.
+
+    self.humDat : dict
+        DESCRIPTION - Dictionary to store .DAT file contents.
+
+    self.humDatStruct : dict
+        DESCRIPTION - Dictionary to store .DAT file structure.
+
+    self.humFile : str
+        DESCRIPTION - Path to .DAT file.
+
+    self.isOnix : bool
+        DESCRIPTION - Flag indicating if sonar recording from ONIX.
+
+    self.metaDir : str
+        DESCRIPTION - Path to metadata directory.
+
+    self.nchunk : int
+        DESCRIPTION - Number of pings/sonar records per chunk.
+
+    self.outDir : str
+        DESCRIPTION - Path where outputs are saved.
+
+    self.pingCnt : int
+        DESCRIPTION - Number of ping returns for each ping.
+
+    self.pingMax : int
+        DESCRIPTION - Stores largest pingCnt value (max range) for a currently
+                      loaded sonar chunk.
+
+    self.projDir : str
+        DESCRIPTION - Path (top level) to output directory.
+
+    self.sonDat : arr
+        DESCRIPTION - Array to hold ping ping returns for currently
+                      loaded chunk.
+
+    self.sonFile : str
+        DESCRIPTION - Path to .SON file.
+
+    self.sonIdxFile : str
+        DESCRIPTION - Path to .IDX file.
+
+    self.sonMetaDF : DataFrame
+        DESCRIPTION - Pandas dataframe to store .SON metadata.
+
+    self.sonMetaFile : str
+        DESCRIPTION - Path to .SON metadata file (.csv).
+
+    self.sonMetaPickle : str
+        DESCRIPTION - Path to .SON metadata pickle file (.meta).
+
+    self.wcr : bool
+        DESCRIPTION - Flag to export non-rectified sonar tiles w/ water column
+                      removed (wcr) & slant range corrected.
+
+    self.tempC : float
+        DESCRIPTION - Water temperature (Celcius) during survey divided by 10.
+
+    self.trans : non-class function
+        DESCRIPTION - Function to convert utm to lat/lon.
+
+    self.wcp : bool
+        DESCRIPTION - Flag to export non-rectified sonar tiles w/ water column
+                      present (wcp).
+    '''
+
+    #===========================================================================
+    def __init__(self,
+                 sonFile,
+                 humFile,
+                 projDir,
+                 tempC=0.1,
+                 nchunk=500,
+                 pH=8.0):
+        '''
+        Initialize a sonObj instance.
+
+        ----------
+        Parameters
+        ----------
+        sonFile : str
+            DESCRIPTION - Path to .SON file.
+            EXAMPLE -     sonFile = 'C:/PINGMapper/SonarRecordings/R00001/B002.SON'
+        humFile : str
+            DESCRIPTION - Path to .DAT file associated w/ .SON directory.
+            EXAMPLE -     humFile = 'C:/PINGMapper/SonarRecordings/R00001.DAT'
+        projDir : str
+            DESCRIPTION - Path to output directory.
+            EXAMPLE -     projDir = 'C:/PINGMapper/procData/R00001'
+        tempC : float : [Default=0.1]
+            DESCRIPTION - Water temperature (Celcius) during survey divided by 10.
+            EXAMPLE -     tempC = (20/10)
+        nchunk : int : [Default=500]
+            DESCRIPTION - Number of pings per chunk.  Chunk size dictates size of
+                          sonar tiles (sonograms).  Most testing has been on chunk
+                          sizes of 500 (recommended).
+            EXAMPLE -     nchunk = 500
+        pH : float : [Default=8.0]
+            DESCRIPTION - pH of the water during sonar survey. Used in the phase
+                          preserving filtering of high dynamic range images.
+            EXAMPLE -     pH = 8
+
+        -------
+        Returns
+        -------
+        sonObj instance.
+        '''
+        # Create necessary attributes
+        self.sonFile = sonFile      # SON file path
+        self.projDir = projDir      # Project directory
+        self.humFile = humFile      # DAT file path
+        self.tempC = tempC          # Water temperature
+        self.nchunk = nchunk        # Number of sonar records per chunk
+        self.pH = pH                # Water pH during survey
+
+        return
+
+    ############################################################################
+    # Decode DAT file (varies by model)                                        #
+    ############################################################################
+
+    # ======================================================================
+    def _fread(self,
+               infile,
+               num,
+               typ):
+        '''
+        Helper function that reads binary data in a file.
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from self._getHumDat(), self._cntHead(), self._decodeHeadStruct(),
+        self._getSonMeta(), self._loadSonChunk()
+
+        ----------
+        Parameters
+        ----------
+        infile : file
+            DESCRIPTION - A binary file opened in read mode at a pre-specified
+                          location.
+        num : int
+            DESCRIPTION - Number of bytes to read.
+        typ : type
+            DESCRIPTION - Byte type
+
+        -------
+        Returns
+        -------
+        List of decoded binary data
+
+        --------------------
+        Next Processing Step
+        --------------------
+        Returns list to function it was called from.
+        '''
+        dat = arr(typ)
+        dat.fromfile(infile, num)
+        return(list(dat))
+
+    #=======================================================================
+    def _saveSonMetaCSV(self, sonMetaAll):
+        # Write metadata to csv
+        if not hasattr(self, 'sonMetaFile'):
+            outCSV = os.path.join(self.metaDir, self.beam+"_"+self.beamName+"_meta.csv")
+            sonMetaAll.to_csv(outCSV, index=False, float_format='%.14f')
+            self.sonMetaFile = outCSV
+        else:
+            sonMetaAll.to_csv(self.sonMetaFile, index=False, float_format='%.14f')
+
+
+    ############################################################################
+    # Filter sonar recording from user params                                  #
+    ############################################################################
+
+    # ======================================================================
+    def _doSonarFiltering(self, 
+                          max_heading_dev,
+                          distance,
+                          min_speed,
+                          max_speed,
+                          aoi,
+                          time_table,
+                          ):
+        '''
+        '''
+        #################
+        # Get metadata df
+        self._loadSonMeta()
+        sonDF = self.sonMetaDF
+
+        # print('len', len(sonDF))
+        # print(sonDF)
+
+        #############################
+        # Do Heading Deviation Filter
+        if max_heading_dev > 0:
+            sonDF = self._filterHeading(sonDF, max_heading_dev, distance)
+
+        #################
+        # Do Speed Filter
+        if min_speed > 0 or max_speed > 0:
+            sonDF = self._filterSpeed(sonDF, min_speed, max_speed)
+
+        ###############
+        # Do AOI Filter
+        if aoi:
+            sonDF = self._filterAOI(sonDF, aoi)
+
+        #############
+        # Time Filter
+        if time_table:
+            sonDF = self._filterTime(sonDF, time_table)
+
+        return sonDF
+    
+    # ======================================================================
+    def _filterShortTran(self, df):
+
+        '''
+        '''
+
+        # Make transects from consective pings using dataframe index
+        idx = df.index.values
+        transect_groups = np.split(idx, np.where(np.diff(idx) != 1)[0]+1)
+
+        for t in transect_groups:
+            if len(t) < self.nchunk:
+                # False means remove
+                df.loc[t, 'filter'] = False
+
+        return df
+
+
+    # ======================================================================
+    def _filterHeading(self,
+                       df,
+                       dev,
+                       d,
+                       ):
+        '''
+        '''
+
+        #######
+        # Setup
+
+        # convert dev to radians
+        dev = np.deg2rad(dev)
+
+        # Set Fields for Filtering
+        trk_dist = 'trk_dist'       # Along track distance
+        head = 'instr_heading'      # Heading reported by instrument
+        filtCol = 'filter'
+
+        # Get max distance
+        max_dist = df[trk_dist].max()
+
+        # Set counters
+        win = 1                     # stride of moving window
+        dist_start = 0              # Counter for beginning of current window
+        dist_end = dist_start + d   # Counbter for end of current window
+
+        df[filtCol] = False
+
+        ##############################
+        # Iterator through each window
+
+        # Compare heading deviation from first and last ping for current window
+        while dist_end < max_dist:
+
+            # Filter df by window
+            dfFilt = df[(df[trk_dist] >= dist_start) & (df[trk_dist] < dist_end)]
+
+            dfFilt[head] = np.deg2rad(dfFilt[head])
+            # Unwrap the heading because heading is circular
+            dfFilt[head] = np.unwrap(dfFilt[head])
+
+            if len(dfFilt) > 0:
+
+                # Get difference between start and end heading
+                start = dfFilt[head].iloc[0]
+                end = dfFilt[head].iloc[-1]
+                vessel_dev = np.abs(start - end)
+
+                # Compare vessel deviation to threshold deviation
+                if vessel_dev < dev:
+                    # Keep these pings
+                    df[filtCol].loc[dfFilt.index] = True
+
+                    # dist_start += win
+                    # dist_start = dist_end
+
+                else:
+                    # dist_start = dist_end
+
+                    # df[filtCol].loc[dfFilt.index] = False
+
+                    # dist_start += win
+
+                    pass
+                
+
+            dist_start = dist_end
+            dist_end = dist_start + d
+
+        try:
+            return df
+        except:
+            sys.exit('\n\n\nERROR:\nMax heading standard deviation too small.\nPlease specify a larger value.')
+
+    # ======================================================================
+    def _filterTime(self,
+                     sonDF,
+                     time_table):
+        
+        '''
+        '''
+
+        time_col = 'time_s'
+        filtTimeCol = 'filter_time'
+        filtCol = 'filter'
+
+        sonDF[filtTimeCol] = False
+
+        if not filtCol in sonDF.columns:
+            sonDF[filtCol] = True
+
+        time_table = pd.read_csv(time_table)
+
+        for i, row in time_table.iterrows():
+
+            start = row['start_seconds']
+            end = row['end_seconds']
+
+            # dfFilt = sonDF[(sonDF['time_s'] >= start) & (sonDF['time_s'] <= end)]
+            sonDF.loc[(sonDF[time_col] >= start) & (sonDF[time_col] <= end) & (sonDF[filtCol] == True), filtTimeCol] = True
+
+        sonDF[filtCol] *= sonDF[filtTimeCol]
+
+        return sonDF
+    
+
+    # ======================================================================
+    def _filterSpeed(self,
+                     sonDF,
+                     min_speed,
+                     max_speed):
+        
+        '''
+        
+        '''
+
+        speed_col = 'speed_ms'
+        filtCol = 'filter'
+
+        if not filtCol in sonDF.columns:
+            sonDF[filtCol] = True
+
+        # Filter min_speed
+        if min_speed > 0:
+            # sonDF = sonDF[sonDF['speed_ms'] >= min_speed]
+            sonDF.loc[sonDF[speed_col] < min_speed, filtCol] = False
+
+        # Filter max_speed
+        if max_speed > 0:
+            # sonDF = sonDF[sonDF['speed_ms'] <= max_speed]
+            sonDF.loc[sonDF[speed_col] > max_speed, filtCol] = False
+
+        return sonDF
+
+    # ======================================================================
+    def _filterAOI(self,
+                   sonDF,
+                   aoi):
+        
+        filtCol = 'filter'
+
+        if not filtCol in sonDF.columns:
+            sonDF[filtCol] = True
+        
+        # If .plan file (from Hydronaulix)
+        if os.path.basename(aoi.split('.')[-1]) == 'plan':            
+            with open(aoi, 'r', encoding='utf-8') as f:
+                f = json.load(f)
+                # Find 'polygon' coords in nested json
+                # polys = []
+                # poly_coords = getPolyCoords(f, 'polygon')
+                # print(poly_coords)
+
+                f = f['mission']
+                f = f['items']
+                poly_coords = []
+                for i in f:
+                    for k, v in i.items():
+                        if k == 'polygon':
+                            poly_coords.append(v)
+
+                aoi_poly_all = gpd.GeoDataFrame()
+
+                for poly in poly_coords:
+                
+                    # Extract coordinates
+                    lat_coords = [i[0] for i in poly]
+                    lon_coords = [i[1] for i in poly]
+
+                    polygon_geom = Polygon(zip(lon_coords, lat_coords))
+                    aoi_poly = gpd.GeoDataFrame(index=[0], crs='epsg:4326', geometry=[polygon_geom])
+
+                    aoi_poly_all = pd.concat([aoi_poly_all, aoi_poly], ignore_index=True)
+
+        # If shapefile
+        elif os.path.basename(aoi.split('.')[-1]) == 'shp':
+            aoi_poly_all = gpd.read_file(aoi)
+
+        else:
+            print(os.path.basename, ' is not a valid aoi file type.')
+            sys.exit()
+
+        # Reproject to utm
+        epsg = int(self.humDat['epsg'].split(':')[-1])
+        aoi_poly = aoi_poly_all.to_crs(crs=epsg)
+        aoi_poly = aoi_poly.dissolve()
+
+        # Buffer aoi
+        if os.path.basename(aoi.split('.')[-1]) == 'plan': 
+            buf_dist = 0.5
+            aoi_poly['geometry'] = aoi_poly.geometry.buffer(buf_dist)
+
+        # Save aoi
+        aoi_dir = os.path.join(self.projDir, 'aoi')
+        aoiOut = os.path.basename(self.projDir) + '_aoi.shp'
+        if not os.path.exists(aoi_dir):
+            os.makedirs(aoi_dir)
+
+        aoiOut = os.path.join(aoi_dir, aoiOut)
+        aoi_poly.to_file(aoiOut)
+
+        # Convert to geodataframe
+        epsg = int(self.humDat['epsg'].split(':')[-1])
+        sonDF = gpd.GeoDataFrame(sonDF, geometry=gpd.points_from_xy(sonDF.e, sonDF.n), crs=epsg)
+
+        # Get polygon
+        aoi_poly = aoi_poly.geometry[0]
+
+        # Subset
+        mask = sonDF.within(aoi_poly)
+        sonDF[filtCol] *= mask
+
+        return sonDF
+
+    # ======================================================================
+    def _reassignChunks(self,
+                        sonDF):
+        
+        #################
+        # Reassign Chunks
+        nchunk = self.nchunk
+
+        # Make transects from consective pings using dataframe index
+        idx = sonDF.index.values
+        transect_groups = np.split(idx, np.where(np.diff(idx) != 1)[0]+1)
+
+
+        # Assign transect
+        transect = 0
+        for t in transect_groups:
+            sonDF.loc[sonDF.index>=t[0], 'transect'] = transect
+            transect += 1
+
+        # Set chunks
+        lastChunk = 0
+        newChunk = []
+        for name, group in sonDF.groupby('transect'):
+
+            if (len(group)%nchunk) != 0:
+                rdr = nchunk-(len(group)%nchunk)
+                chunkCnt = int(len(group)/nchunk)
+                chunkCnt += 1
+            else:
+                rdr = False
+                chunkCnt = int(len(group)/nchunk)
+
+            chunks = np.arange(chunkCnt) + lastChunk
+            chunks = np.repeat(chunks, nchunk)
+            
+            if rdr:
+                chunks = chunks[:-rdr]
+            
+            newChunk += list(chunks)
+            lastChunk = chunks[-1] + 1
+            del chunkCnt
+
+        sonDF['chunk_id'] = newChunk
+
+        # self._saveSonMetaCSV(sonDF)
+        # self._cleanup()
+
+        return sonDF
+
+
+    ############################################################################
+    # Fix corrupt recording w/ missing pings                                   #
+    ############################################################################
+
+    # ======================================================================
+    def _fixNoDat(self, dfA, beams):
+        # Empty dataframe to store final results
+        df = pd.DataFrame(columns = dfA.columns)
+
+        # For tracking beam presence
+        b = defaultdict()
+        bCnt = 0
+        for i in beams:
+            b[i] = np.nan
+            bCnt+=1
+        del i
+
+        c = 0 # Current row index
+
+        while ((c) < len(dfA)):
+
+            cRow = dfA.loc[[c]]
+
+            # Check if b['beam'] is > 0, if it is, we found end of 'ping packet':
+            ## add unfound beams as NoData to ping packet
+            if ~np.isnan(b[cRow['beam'].values[0]]):
+                # Add valid data to df
+                noDat = []
+                for k, v in b.items():
+                    # Store valid data in df
+                    if ~np.isnan(v):
+                        df = pd.concat([df,dfA.loc[[v]]], ignore_index=True)
+                    # Add beam to noDat list
+                    else:
+                        noDat.append(k)
+
+                # Duplicate valid data for missing rows. Remove unneccessary values.
+                for beam in noDat:
+                    df = pd.concat([df, df.iloc[[-1]]], ignore_index=True)
+                    # df.iloc[-1, df.columns.get_loc('record_num')] = np.nan
+                    df.iloc[-1, df.columns.get_loc('index')] = np.nan
+                    df.iloc[-1, df.columns.get_loc('volt_scale')] = np.nan
+                    df.iloc[-1, df.columns.get_loc('f')] = np.nan
+                    # df.iloc[-1, df.columns.get_loc('ping_cnt')] = np.nan
+                    df.iloc[-1, df.columns.get_loc('beam')] = beam
+                    del beam
+                del noDat
+
+                # reset b
+                for k, v in b.items():
+                    b.update({k:np.nan})
+                del k, v
+
+            else:
+                # Add c idx to b and keep searching for beams in current packet
+                b[cRow['beam'].values[0]] = c
+                c+=1
+
+        del beams, dfA, cRow, bCnt, c, b
+
+        return df
+
+    ############################################################################
+    # Export un-rectified sonar tiles                                          #
+    ############################################################################
+
+    # ==========================================================================
+    def _exportTiles(self,
+                     chunk,
+                     tileFile):
+        '''
+         Main function to read sonar record ping return values.  Stores the
+        number of pings per chunk, chunk id, and byte index location in son file,
+        then calls self._loadSonChunk() to read the data into memory, then calls
+        self._writeTiles to save an unrectified image.
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        self._getSonMeta()
+
+        -------
+        Returns
+        -------
+        *.PNG un-rectified sonar tiles (sonograms)
+
+        --------------------
+        Next Processing Step
+        --------------------
+        NA
+        '''
+        filterIntensity = False
+
+        # Make sonar imagery directory for each beam if it doesn't exist
+        try:
+            os.mkdir(self.outDir)
+        except:
+            pass
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==chunk
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Update class attributes based on current chunk
+        self.pingMax = np.nanmax(sonMeta['ping_cnt']) # store to determine max range per chunk
+        # self.headIdx = sonMeta['index'] # store byte offset per ping
+        # self.pingCnt = sonMeta['ping_cnt'] # store ping count per ping
+
+        if ~np.isnan(self.pingMax):
+            # Load chunk's sonar data into memory
+            # self._loadSonChunk()
+            self._getScanChunkSingle(chunk)
+
+            # Remove shadows
+            if self.remShadow:
+                # Get mask
+                self._SHW_mask(chunk)
+
+                # Mask out shadows
+                self.sonDat = self.sonDat*self.shadowMask
+
+
+            # Export water column present (wcp) image
+            if self.wcp:
+                son_copy = self.sonDat.copy()
+                # self._doPPDRC()
+
+                # egn
+                if self.egn:
+                    self._egn_wcp(chunk, sonMeta)
+
+                    if self.egn_stretch > 0:
+                        self._egnDoStretch()
+
+                self._writeTiles(chunk, imgOutPrefix='wcp', tileFile=tileFile) # Save image
+
+                self.sonDat = son_copy
+                del son_copy
+
+            # Export slant range corrected (water column removed) imagery
+            if self.wcr_src:
+                self._WCR_SRC(sonMeta) # Remove water column and redistribute ping returns based on FlatBottom assumption
+
+                # self._doPPDRC()
+
+                # Empirical gain normalization
+                if self.egn:
+                    self._egn()
+                    self.sonDat = np.nan_to_num(self.sonDat, nan=0)
+
+                    if self.egn_stretch > 0:
+                        self._egnDoStretch()
+
+                self._writeTiles(chunk, imgOutPrefix='wcr', tileFile=tileFile) # Save image
+
+            gc.collect()
+        return #self
+
+
+    # ==========================================================================
+    def _loadSonChunk(self):
+        '''
+        Reads ping returns into memory based on byte index location in son file
+        and number of pings to return.
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from self._getScanChunkALL() or self._getScanChunkSingle()
+
+        -------
+        Returns
+        -------
+        2-D numpy array containing sonar intensity
+
+        --------------------
+        Next Processing Step
+        --------------------
+        Return numpy array to self._getScanChunkALL() or self._getScanChunkSingle()
+        '''
+
+        sonDat = np.zeros((int(self.pingMax), len(self.pingCnt))).astype(int) # Initialize array to hold sonar returns
+        file = open(self.sonFile, 'rb') # Open .SON file
+
+        for i in range(len(self.headIdx)):
+            if ~np.isnan(self.headIdx[i]):
+                ping_len = min(self.pingCnt[i].astype(int), self.pingMax)
+
+
+                # #### Do not commit!!!!
+                # # if self.beamName == 'ss_star' or self.beamName == 'ss_port':
+                # #     ping_len *= 2
+                if not self.son8bit:
+                    ping_len *= 2
+
+                headIDX = self.headIdx[i].astype(int)
+                son_offset = self.son_offset[i].astype(int)
+                # pingIdx = headIDX + self.headBytes # Determine byte offset to sonar returns
+                pingIdx = headIDX + son_offset
+
+                file.seek(pingIdx) # Move to that location
+
+                # Get the ping
+                buffer = file.read(ping_len)
+
+                if self.flip_port:
+                    buffer = buffer[::-1]
+
+                # Read the data
+                if self.son8bit:# and self.beamName != 'ss_star' and self.beamName != 'ss_port':
+                    dat = np.frombuffer(buffer, dtype='>u1')
+                else:
+                    try:
+                        dat = np.frombuffer(buffer, dtype='>u2')
+                    except:
+                        dat = np.frombuffer(buffer[:-1], dtype='>u2')
+
+                try:
+                    sonDat[:ping_len, i] = dat
+                except:
+                    ping_len = len(dat)
+                    sonDat[:ping_len, i] = dat
+        
+        file.close()
+        self.sonDat = sonDat.astype(np.uint8)
+        return
+
+    # ======================================================================
+    def _WC_mask(self, i, son=True):
+        '''
+
+        '''
+        # Get sonMeta
+        if not hasattr(self, 'sonMetaDF'):
+            self._loadSonMeta()
+
+        if son:
+            # self._loadSonMeta()
+            self._getScanChunkSingle(i)
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==i
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Load depth (in real units) and convert to pixels
+        # bedPick = round(sonMeta['dep_m'] / sonMeta['pix_m'], 0).astype(int)
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int)
+        minDep = min(bedPick)
+
+        del sonMeta, self.sonMetaDF
+
+        # Make zero mask
+        wc_mask = np.zeros((self.sonDat.shape))
+
+        # Fill non-wc pixels with 1
+        for p, s in enumerate(bedPick):
+            wc_mask[s:, p] = 1
+
+        self.wcMask = wc_mask
+        self.minDep = minDep
+        self.bedPick = bedPick
+
+        return
+
+
+
+    # ======================================================================
+    def _WCR_SRC(self, sonMeta, son=True):
+        '''
+        Slant range correction is the process of relocating sonar returns after
+        water column removal by converting slant range distances to the bed into
+        horizontal distances based off the depth at nadir.  As SSS does not
+        measure depth across the track, we must assume depth is constant across
+        the track (Flat bottom assumption).  The pathagorean theorem is used
+        to calculate horizontal distance from slant range distance and depth at
+        nadir.
+
+        ----------
+        Parameters
+        ----------
+        sonMeta : DataFrame
+            DESCRIPTION - Dataframe containing ping metadata.
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from self._getScanChunkALL() or self._getScanChunkSingle()
+
+        -------
+        Returns
+        -------
+        Self w/ array of relocated intensities stored in self.sonDat.
+
+        --------------------
+        Next Processing Step
+        --------------------
+        Returns relocated bed intensities to self._getScanChunkALL() or
+        self._getScanChunkSingle()
+        '''
+        # Load depth (in real units) and convert to pixels
+        # bedPick = round(sonMeta['dep_m'] / sonMeta['pix_m'], 0).astype(int)
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int).reset_index(drop=True)
+
+        # Get max depth
+        maxDep = max(bedPick)
+        maxGap = int(round(np.tan(np.deg2rad(4)) * maxDep, 0)) # Max nadir gap (assume 4 degrees)
+
+        # Initialize 2d array to store relocated sonar records
+        srcDat = np.zeros((self.sonDat.shape[0]+maxGap, self.sonDat.shape[1])).astype(np.float32)#.astype(int)
+
+        print(srcDat.shape, maxGap, self.sonDat.shape)
+
+        #Iterate each ping
+        for j in range(self.sonDat.shape[1]):
+            depth = bedPick[j] # Get depth (in pixels) at nadir
+            dd = depth**2
+
+            # Calculate gap at nadir (assume 4 degrees)
+            nadirGap = int(round(np.tan(np.deg2rad(4)) * depth, 0))
+
+            print(depth, nadirGap)
+
+            # Create 1d array to store relocated bed pixels.  Set to nan so we
+            ## can later interpolate over gaps.
+            pingDat = (np.ones((self.sonDat.shape[0]+maxGap)).astype(np.float32)) * np.nan
+            dataExtent = 0
+
+            # # Calculate nadir gap (assume 4 degrees)
+            # nadirGap = int(round(np.tan(np.deg2rad(4)) * depth, 0))
+
+            #Iterate each sonar/ping return
+            for i in range(self.sonDat.shape[0]):
+                if i >= depth:
+                    intensity = self.sonDat[i,j] # Get the intensity value
+                    srcIndex = int(round(math.sqrt((i)**2 - dd),0)) #Calculate horizontal range (in pixels) using pathagorean theorem
+
+                    srcIndex = srcIndex + nadirGap # Add nadir gap to horizontal range
+
+                    pingDat[srcIndex] = intensity # Store intensity at appropriate horizontal range
+                    dataExtent = srcIndex # Store range extent (max range) of ping
+                else:
+                    pass
+            pingDat[dataExtent:]=0 # Zero out values past range extent so we don't interpolate past this
+
+            # # Process of relocating bed pixels will introduce across track gaps
+            # ## in the array so we will interpolate over gaps to fill them.
+            # nans, x = np.isnan(pingDat), lambda z: z.nonzero()[0]
+            # pingDat[nans] = np.interp(x(nans), x(~nans), pingDat[~nans])
+
+            pingDat[:nadirGap] = np.nan # Zero out top maxGap pixels to remove relocated water column
+            print(pingDat)
+
+            # Find where firs non-zero pixel is
+            nonZero = np.where(pingDat>0)[0]
+            print(pingDat[nonZero])
+            
+            # Interpolate over gaps past nonZero
+            if len(nonZero) > 0:
+                firstNonZero = nonZero[0]
+                nans, x = np.isnan(pingDat[firstNonZero:]), lambda z: z.nonzero()[0]
+                pingDat[firstNonZero:][nans] = np.interp(x(nans), x(~nans), pingDat[firstNonZero:][~nans])
+
+            # Store relocated ping in output array
+            if son:
+                srcDat[:,j] = np.around(pingDat, 0)
+            else:
+                srcDat[:,j] = pingDat
+
+            del pingDat
+
+        if son:
+            self.sonDat = srcDat.astype(int) # Store in class attribute for later use
+        else:
+            self.sonDat = srcDat
+        del srcDat
+        return #self
+
+    # ======================================================================
+    def _WCR_crop(self,
+                  sonMeta,
+                  crop=True):
+        # Load depth (in real units) and convert to pixels
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int)
+        minDep = min(bedPick)
+
+        sonDat = self.sonDat
+        # Zero out water column
+        for j, d in enumerate(bedPick):
+            sonDat[:d, j] = 0
+
+        # Crop to min depth
+        if crop:
+            sonDat = sonDat[minDep:,]
+
+        self.sonDat = sonDat
+
+        return minDep
+    
+    # ======================================================================
+    def _WCO(self,
+                  sonMeta):
+        # Load depth (in real units) and convert to pixels
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int)
+        maxDep = max(bedPick)
+
+        sonDat = self.sonDat
+        # Zero out water column
+        for j, d in enumerate(bedPick):
+            sonDat[d:, j] = 0
+
+        # Crop to min depth
+        sonDat = sonDat[:maxDep,]
+
+        self.sonDat = sonDat
+
+        return maxDep
+
+    # ======================================================================
+    def _SHW_mask(self, i, son=True):
+        '''
+
+        '''
+
+        # Get sonar data and shadow pix coordinates
+        if son:
+            self._getScanChunkSingle(i)
+        sonDat = self.sonDat
+        shw_pix = self.shadow[i]
+
+        # Create a mask and work on that first, then mask sonDat
+        mask = np.ones(sonDat.shape)
+
+        for k, val in shw_pix.items():
+            for v in val:
+                try:
+                    mask[v[0]:v[1], k] = 0
+                except:
+                    pass
+
+        self.shadowMask = mask
+
+        return #self
+
+
+    # ======================================================================
+    def _SHW_crop(self, i, maxCrop=True, croprange=True):
+        '''
+        maxCrop: True: ping-wise crop; False: crop tile to max range
+        '''
+        buf=50 # Add buf if maxCrop is false
+
+        # Get sonar data
+        sonDat = self.sonDat
+
+        # Get sonar data and shadow pix coordinates
+        self._SHW_mask(i)
+        mask = self.shadowMask
+
+        # Remove non-contiguous regions
+        reg = label(mask)
+
+        # Find region w/ min row value/highest up on sonogram
+        highReg = -1
+        minRow = mask.shape[0]
+        for region in regionprops(reg):
+            minr, minc, maxr, maxc = region.bbox
+
+            if (minr < minRow) and (highReg != 0):
+                highReg = region.label
+                minRow = minr
+
+        # Keep only region matching highReg, update mask with reg
+        mask = np.where(reg==highReg, 1, 0)
+
+        # Find max range of valid son returns
+        max_r = []
+        mask[mask.shape[0]-1, :] = 0 # Zero-out last row
+
+        R = mask.shape[0] # max range
+        P = mask.shape[1] # number of pings
+
+        for c in range(P):
+            bed = np.where(mask[:,c]==1)[0]
+            try:
+                bed = np.split(bed, np.where(np.diff(bed) != 1)[0]+1)[-1][-1]
+            except:
+                bed = np.nan
+
+            max_r.append(bed)
+
+        # Find max range
+        max_r = np.nanmax(max_r).astype(int)
+
+        if maxCrop:
+            # Keep ping-wise crop (aggressive crop)
+            pass
+        else:
+            # Keep all returns up to max_r
+            if (max_r+buf) > mask.shape[0]:
+                mask[:max_r,:] = 1
+            else:
+                mask[:max_r+buf,:] = 1
+                max_r += buf
+
+        # Mask shadows on sonDat
+        sonDat = sonDat * mask
+
+        # Crop SonDat
+        if croprange:
+            sonDat = sonDat[:max_r,:]
+
+        self.sonDat = sonDat
+        del mask, reg
+
+        return max_r
+
+    # ======================================================================
+    def _writeTiles(self,
+                    k,
+                    imgOutPrefix,
+                    tileFile='.jpg',
+                    colormap=False):
+        '''
+        Using currently saved ping ping returns stored in self.sonDAT,
+        saves an unrectified image of the sonar echogram.
+
+        ----------
+        Parameters
+        ----------
+        k : int
+            DESCRIPTION - Chunk number
+        imgOutPrefix : str
+            DESCRIPTION - Prefix to add to exported image
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from self._getScanChunkALL() or self._getScanChunkSingle() after
+        sonar data loaded to memory with self._loadSonChunk()
+
+        -------
+        Returns
+        -------
+        *.PNG of sonogram to output directory
+
+        --------------------
+        Next Processing Step
+        --------------------
+        NA
+        '''
+        data = self.sonDat.astype('uint8') # Get the sonar data
+
+        # File name zero padding
+        addZero = self._addZero(k)
+
+        # Prepare output directory if it doesn't exist
+        outDir = os.path.join(self.outDir, imgOutPrefix)
+        try:
+            os.mkdir(outDir)
+        except:
+            pass
+
+        channel = os.path.split(self.outDir)[-1] #ss_port, ss_star, etc.
+        projName = os.path.split(self.projDir)[-1] #to append project name to filename
+        imsave(os.path.join(outDir, projName+'_'+imgOutPrefix+'_'+channel+'_'+addZero+str(k)+tileFile), data, check_contrast=False)
+
+        return
+
+    def _writeTilesPlot(self,
+                    k,
+                    imgOutPrefix,
+                    tileFile='.jpg',
+                    colormap=False):
+        '''
+        Using currently saved ping ping returns stored in self.sonDAT,
+        saves an unrectified image of the sonar echogram.
+
+        ----------
+        Parameters
+        ----------
+        k : int
+            DESCRIPTION - Chunk number
+        imgOutPrefix : str
+            DESCRIPTION - Prefix to add to exported image
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from self._getScanChunkALL() or self._getScanChunkSingle() after
+        sonar data loaded to memory with self._loadSonChunk()
+
+        -------
+        Returns
+        -------
+        *.PNG of sonogram to output directory
+
+        --------------------
+        Next Processing Step
+        --------------------
+        NA
+        '''
+        data = self.sonDat.astype('uint8') # Get the sonar data
+
+        # File name zero padding
+        addZero = self._addZero(k)
+
+        # Prepare output directory if it doesn't exist
+        outDir = os.path.join(self.outDir, imgOutPrefix)
+        try:
+            os.mkdir(outDir)
+        except:
+            pass
+        
+        # Prepare the name
+        channel = os.path.split(self.outDir)[-1] #ss_port, ss_star, etc.
+        projName = os.path.split(self.projDir)[-1] #to append project name to filename
+        outfile = os.path.join(outDir, projName+'_'+imgOutPrefix+'_'+channel+'_'+addZero+str(k)+tileFile)
+
+        # Save as a plot for colormap
+        if colormap:
+            # plt.imshow(data, cmap=self.sonogram_colorMap)
+            # plt.savefig(outfile)
+
+            norm_data = data / 255.0
+            colored_data = plt.cm.get_cmap(self.sonogram_colorMap)(norm_data)
+            colored_data = (colored_data[:, :, :3] * 255).astype('uint8')
+            data = colored_data
+
+            # imsave(outfile, data)
+
+        else:
+            pass
+        
+            # imsave(outfile, data, check_contrast=False)
+
+        imsave(outfile, data, check_contrast=False)
+            
+
+        return
+
+
+    ############################################################################
+    # Export imagery for labeling                                              #
+    ############################################################################
+
+    # ======================================================================
+    def _exportTilesSpd(self,
+                        chunk,
+                        spdCor = False, 
+                        mask_shdw = False,
+                        maxCrop = False,
+                        tileFile='.jpg'):
+        '''
+
+        '''
+        # Make sonar imagery directory for each beam if it doesn't exist
+        try:
+            os.mkdir(self.outDir)
+        except:
+            pass
+
+        if self.wcp:
+            # Do speed correction
+            self._doSpdCor(chunk, spdCor=spdCor, mask_shdw=mask_shdw, maxCrop=maxCrop, do_egn=self.egn, stretch_wcp=True)
+
+            if self.sonDat is not np.nan:
+                self._writeTilesPlot(chunk, imgOutPrefix='wcp', tileFile=tileFile, colormap=True)
+            else:
+                pass
+
+        if self.wcm:
+            # Do speed correction
+            self._doSpdCor(chunk, spdCor=spdCor, mask_shdw=mask_shdw, mask_wc=True, maxCrop=maxCrop, do_egn=self.egn, stretch_wcp=True)
+
+            if self.sonDat is not np.nan:
+                self._writeTilesPlot(chunk, imgOutPrefix='wcm', tileFile=tileFile, colormap=True)
+            else:
+                pass
+
+        if self.wcr_src:
+            # Do speed correction
+            self._doSpdCor(chunk, spdCor=spdCor, mask_shdw=mask_shdw, src=True, maxCrop=maxCrop, do_egn=self.egn, stretch_wcp=True)
+
+            if self.sonDat is not np.nan:
+                self._writeTilesPlot(chunk, imgOutPrefix='src', tileFile=tileFile, colormap=True)
+            else:
+                pass
+
+        if self.wco:
+            # Do speed correction
+            self._doSpdCor(chunk, spdCor=spdCor, mask_bed=True, maxCrop=maxCrop, do_egn=self.egn, stretch_wcp=True)
+
+            if self.sonDat is not np.nan:
+                self._writeTilesPlot(chunk, imgOutPrefix='wco', tileFile=tileFile, colormap=True)
+            else:
+                pass
+
+        gc.collect()
+        return
+
+
+    # ======================================================================
+    def _doSpdCor(self, 
+                  chunk, 
+                  spdCor=False,
+                  mask_shdw=False, 
+                  src=False,
+                  mask_wc=False,
+                  mask_bed=False,
+                  maxCrop=0, 
+                  son=True, 
+                  integer=True, 
+                  do_egn=False, 
+                  stretch_wcp=False):
+
+        if not hasattr(self, 'sonMetaDF'):
+            self._loadSonMeta()
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==chunk
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Update class attributes based on current chunk
+        self.pingMax = np.nanmax(sonMeta['ping_cnt']) # store to determine max range per chunk
+
+        if ~np.isnan(self.pingMax):
+            # Load chunk's sonar data into memory
+            if son:
+                # self._loadSonChunk()
+                self._getScanChunkSingle(chunk)
+
+            # egn
+            if do_egn:
+
+                self._egn_wcp(chunk, sonMeta, do_rescale=True)
+                self._egnDoStretch(stretch_wcp=stretch_wcp)
+
+            # Remove shadows and crop
+            # if self.remShadow and (lbl_set==2):
+            if (self.remShadow and mask_shdw) or (self.remShadow and maxCrop):
+                self._SHW_crop(chunk, maxCrop=mask_shdw, croprange=maxCrop)
+            sonDat = self.sonDat
+
+            if src:
+                # slant range correction
+                self._WCR_SRC(sonMeta)
+
+            # Remove water column and crop
+            if mask_wc:
+                _ = self._WCR_crop(sonMeta, crop=maxCrop)
+
+            if mask_bed:
+                _ = self._WCO(sonMeta)
+
+            sonDat = self.sonDat
+
+            if spdCor == 0:
+                # Don't do speed correction
+                pass
+            elif spdCor == 1:
+
+                # Distance (in meters)
+                d = sonMeta['trk_dist'].to_numpy()
+                d = np.max(d) - np.min(d)
+
+                pixM = sonMeta['pixM']
+                # Find most common pixel size
+                if len(pixM.unique()) > 1:
+                    pixM = pixM.mode()[0]
+                else:
+                    pixM = pixM.iloc[0]
+
+                # Distance in pix
+                d = round(d / pixM, 0).astype(int)
+
+                sonDat = resize(sonDat,
+                                (sonDat.shape[0], d),
+                                mode='reflect',
+                                clip=True,
+                                preserve_range=True)
+
+            else:
+                sonDat = resize(sonDat,
+                                (sonDat.shape[0], sonDat.shape[1]*spdCor),
+                                mode='reflect',
+                                clip=False, preserve_range=True)#.astype('uint8')
+
+            if integer:
+                self.sonDat = sonDat.astype('uint8')
+            else:
+                self.sonDat = sonDat
+
+        else:
+            self.sonDat = np.nan
+
+        return
+
+    # ======================================================================
+    def _exportMovWin(self,
+                      i : int,
+                      stride : int,
+                      tileType: list,
+                      pingMax: int,
+                      depMax: int):
+        
+        '''
+        '''
+
+        # Set chunk index
+        a_idx = i-1
+        b_idx = i
+
+        # Iterate each tile type
+        for t in tileType:
+            if t == 'wco':
+                cropMax = depMax
+            else:
+                cropMax = pingMax
+            inDir = os.path.join(self.outDir, t)
+            outDir = os.path.join(self.outDir, t+'_mw')
+
+            if not os.path.exists(outDir):
+                try:
+                    os.mkdir(outDir)
+                except:
+                    pass
+
+            # Find the images
+            images = os.listdir(inDir)
+            images.sort()
+
+            # Get each image
+            a_img = images[a_idx]
+            b_img = images[b_idx]
+
+            # Get image name
+            img_name = a_img.split('.')[0]
+
+            # Open each image
+            a_img = imread(os.path.join(inDir, a_img))
+            b_img = imread(os.path.join(inDir, b_img))
+
+            def resize_to_pingMax(img, cropMax):
+                ndims = img.ndim
+                current_size = img.shape[0]
+                if current_size < cropMax:
+                    # Pad with zeros 
+                    if ndims == 2:
+                        padding = ((0, cropMax - current_size), (0, 0))
+                    else:
+                        padding = ((0, cropMax - current_size), (0, 0), (0,0))
+                    resized_img = np.pad(img, padding, mode='constant', constant_values=0)
+                elif current_size > cropMax:
+                    # Truncate the array
+                    resized_img = img[:cropMax, :]
+                else:
+                    # No change needed
+                    resized_img = img
+                return resized_img
+
+            # Resize a_img and b_img
+            a_img = resize_to_pingMax(a_img, cropMax)
+            b_img = resize_to_pingMax(b_img, cropMax)
+
+            # Set stride based on first image
+            # stride = int(round(a_img.shape[1] * stride, 0))
+            to_stride = int(round(self.nchunk * stride, 0))
+
+            # Set window size based on first image
+            # winSize = a_img.shape[1]
+            winSize = self.nchunk
+
+            # Concatenate images
+            movWin = np.concatenate((a_img, b_img), axis=1)
+
+            # Last window idx
+            lastWinIDX = self.nchunk
+
+            win = 0
+            # Iterate each window
+            while win < lastWinIDX:
+                window = movWin[:, win:win+winSize]
+
+                zero = self._addZero(win)
+
+                # Save window
+                imsave(os.path.join(outDir, img_name+'_'+zero+str(win)+'.jpg'), window)
+
+                win += to_stride
+
+        return
+
+
+    
+    ############################################################################
+    # Miscellaneous                                                            #
+    ############################################################################
+
+    # ======================================================================
+    def _getScanChunkSingle(self,
+                            chunk,
+                            cog=True,
+                            filterIntensity = False,
+                            remWater = False):
+        '''
+        During rectification, if non-rectified tiles have not been exported,
+        this will load the chunk's scan data from the sonar recording.
+
+        Stores the number of pings per chunk, chunk id, and byte index location
+        in son file, then calls self._loadSonChunk() to read the data.
+
+        ----------
+        Parameters
+        ----------
+        chunk : int
+            DESCRIPTION - Chunk number
+        remWater : bool
+            DESCRIPTION - Flag indicating if water column should be removed and
+                          slant range corrected.
+
+        ----------------------------
+        Required Pre-processing step
+        ----------------------------
+        Called from child class c_rectObj._rectSon()
+
+        -------
+        Returns
+        -------
+        Self with chunk's sonar intensities loaded in memory
+
+        --------------------
+        Next Processing Step
+        --------------------
+        Return to child class c_rectObj._rectSon() to complete rectification
+        '''
+        # Open sonar metadata file to df
+        sonMetaAll = pd.read_csv(self.sonMetaFile)
+
+        # Filter df by chunk
+        if cog:
+            isChunk = sonMetaAll['chunk_id']==chunk
+        else:
+            isChunk = sonMetaAll['chunk_id_2']==chunk
+            isChunk.iloc[chunk+1] = True
+        sonMeta = sonMetaAll[isChunk].reset_index()
+
+        # Update class attributes based on current chunk
+        rangeCnt = np.unique(sonMeta['ping_cnt'], return_counts=True)
+        pingMaxi = np.argmax(rangeCnt[1])
+        self.pingMax = int(rangeCnt[0][pingMaxi])
+
+        self.headIdx = sonMeta['index']#.astype(int) # store byte offset per ping
+        self.son_offset = sonMeta['son_offset']
+        self.pingCnt = sonMeta['ping_cnt']#.astype(int) # store ping count per ping
+
+        # Load chunk's sonar data into memory
+        self._loadSonChunk()
+        # Do PPDRC filter
+        if filterIntensity:
+            self._doPPDRC()
+        # Remove water if exporting wcr imagery
+        if remWater:
+            self._WCR(sonMeta)     
+
+        del self.headIdx, self.pingCnt
+
+        return
+    
+    def _getScanSlice(self, transect, start_idx, end_idx, remWater = False):
+        '''
+        
+        '''
+
+        # Open sonar metadata file to df
+        sonMetaAll = pd.read_csv(self.sonMetaFile)
+
+        # Filter by transect
+        sonMetaAll = sonMetaAll[sonMetaAll['transect'] == transect].reset_index(drop=True)
+        
+        # Filter sonMeta
+        # sonMeta = sonMeta[(sonMeta['index'] >= start_idx) & (sonMeta['index'] <= end_idx)]
+        sonMeta = sonMeta.iloc[start_idx:end_idx]
+        sonMeta = sonMeta.reset_index()
+
+        # Update class attributes based on current chunk
+        rangeCnt = np.unique(sonMeta['ping_cnt'], return_counts=True)
+        pingMaxi = np.argmax(rangeCnt[1])
+        self.pingMax = int(rangeCnt[0][pingMaxi])
+
+        self.headIdx = sonMeta['index']#.astype(int) # store byte offset per ping
+        self.son_offset = sonMeta['son_offset']
+        self.pingCnt = sonMeta['ping_cnt']#.astype(int) # store ping count per ping
+
+        # Load chunk's sonar data into memory
+        self._loadSonChunk()
+
+        # Remove water if exporting wcr imagery
+        if remWater:
+            self._WCR(sonMeta)     
+
+        del self.headIdx, self.pingCnt
+
+        return
+
+    # ======================================================================
+    def _loadSonMeta(self):
+        '''
+        Load sonar metadata from csv to pandas df
+        '''
+        meta = pd.read_csv(self.sonMetaFile)
+        self.sonMetaDF = meta
+        return
+
+    # ======================================================================
+    def _getChunkID(self):
+        '''
+        Utility to load unique chunk ID's from son obj and return in a list
+        '''
+
+        # Load son metadata csv to df
+        self._loadSonMeta()
+
+        df = self.sonMetaDF
+
+        if 'filter' in df.columns:
+            # Remove filtered pings
+            df = df[df['filter'] == True]
+
+        # Get unique chunk id's
+        df = df.groupby(['chunk_id', 'index']).size().reset_index().rename(columns={0:'count'})
+        chunks = pd.unique(df['chunk_id']).astype(int)
+
+        del self.sonMetaDF, df
+        return chunks
+    
+    # ======================================================================
+    def _getChunkID_Update(self):
+        '''
+        Utility to load unique chunk ID's from son obj and return in a list
+        '''
+
+        # Load son metadata csv to df
+        self._loadSonMeta()
+
+        # # Get unique chunk id's
+        # df = self.sonMetaDF.groupby(['chunk_id', 'index']).size().reset_index().rename(columns={0:'count'})
+        # chunks = pd.unique(df['chunk_id']).astype(int)
+
+        # Use index as chunk id
+        df = self.sonMetaDF
+        chunks = df.index.values.astype(int)
+
+        df['chunk_id_2'] = chunks
+        self._saveSonMetaCSV(df)
+
+        del self.sonMetaDF, df
+        return chunks
+
+    # ======================================================================
+    def _addZero(self, chunk):
+        # Determine leading zeros to match naming convention
+        if chunk < 10:
+            addZero = '0000'
+        elif chunk < 100:
+            addZero = '000'
+        elif chunk < 1000:
+            addZero = '00'
+        elif chunk < 10000:
+            addZero = '0'
+        else:
+            addZero = ''
+
+        return addZero
+
+
+    # ======================================================================
+    def _cleanup(self):
+
+        try:
+            del self.sonMetaDF
+        except:
+            pass
+
+        try:
+            del self.sonDat
+        except:
+            pass
+
+        # Delete temp files
+        t = glob(os.path.join(self.projDir, '*', '*temp*'), recursive=True)
+        for f in t:
+            try:
+                os.remove(f)
+            except:
+                pass
+
+    # ======================================================================
+    def _pickleSon(self):
+        '''
+        Pickle sonObj so we can reload later if needed.
+        '''
+        if not hasattr(self, 'sonMetaPickle'):
+            outFile = self.sonMetaFile.replace(".csv", ".meta")
+            self.sonMetaPickle = outFile
+        else:
+            outFile = self.sonMetaPickle
+
+        with open(outFile, 'wb') as sonFile:
+            pickle.dump(self, sonFile)
+
+        return
+
+
+    # ======================================================================
+    def __str__(self):
+        '''
+        Generic print function to print contents of sonObj.
+        '''
+        output = "sonObj Contents"
+        output += '\n\t'
+        output += self.__repr__()
+        temp = vars(self)
+        for item in temp:
+            output += '\n\t'
+            output += "{} : {}".format(item, temp[item])
+        return output
+
+    ############################################################################
+    # Corrections                                                              #
+    ############################################################################
+
+    # ======================================================================
+    def _egnCalcChunkMeans(self, chunk):
+        '''
+
+        '''
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==chunk
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Update class attributes based on current chunk
+        self.pingMax = np.nanmax(sonMeta['ping_cnt']) # store to determine max range per chunk
+        self.headIdx = sonMeta['index'] # store byte offset per ping
+        self.pingCnt = sonMeta['ping_cnt'] # store ping count per ping
+
+        ############
+        # load sonar
+        # self._loadSonChunk()
+        self._getScanChunkSingle(chunk)
+
+        #####################################
+        # Get wc avg (for wcp egn) before src
+        self._WC_mask(chunk, son=False) # Son false because sonDat already loaded
+        bedMask = 1-self.wcMask # Invert zeros and ones
+        wc = self.sonDat*bedMask # Mask bed pixels
+        wc[wc == 0] = np.nan # Set zeros to nan
+        mean_intensity_wc = np.nanmean(wc, axis=1) # get one avg for wc
+        del bedMask, wc, self.wcMask
+
+        ################
+        # remove shadows
+        if self.remShadow:
+            # Get mask
+            self._SHW_mask(chunk)
+
+            # Mask out shadows
+            self.sonDat = self.sonDat*self.shadowMask
+            del self.shadowMask
+
+        ########################
+        # slant range correction
+        self._WCR_SRC(sonMeta)
+
+        # Set zeros to nans (????)
+        self.sonDat = self.sonDat.astype('float')
+        self.sonDat[self.sonDat == 0] = np.nan
+
+        #####
+        # WCR
+        #####
+
+        ##############################
+        # Calculate range-wise average
+        mean_intensity_wcr = np.nanmean(self.sonDat, axis=1)
+
+        del self.sonDat
+        gc.collect()
+        return mean_intensity_wcr, mean_intensity_wc
+
+    # ======================================================================
+    def _egnCalcGlobalMeans(self, chunk_means):
+        '''
+        Calculate weighted average of chunk_means
+        '''
+
+        #####################
+        # Find largest vector
+        lv = 0
+        for c in chunk_means:
+            if c[0].shape[0] > lv:
+                lv = c[0].shape[0]
+
+        ########################
+        # Stack vectors in array
+
+        # Create nan array
+        wc_means = np.empty((lv, len(chunk_means)))
+        wc_means[:] = np.nan
+        
+        bed_means = np.empty((lv, len(chunk_means)))
+        bed_means[:] = np.nan
+        
+        # Stack arrays
+        for i, m in enumerate(chunk_means):
+            ## Bed means
+            bed_means[:m[0].shape[0], i] = m[0]
+        
+            ## WC means
+            wc_means[:m[1].shape[0], i] = m[1]
+
+        del chunk_means
+
+        ################
+        # Calculate mean
+        self.egn_bed_means = np.nanmean(bed_means, axis=1)
+        self.egn_wc_means = np.nanmean(wc_means, axis=1)
+        del bed_means, wc_means
+
+        gc.collect()
+        return
+
+    # ======================================================================
+    def _egnCalcHist(self, chunk):
+        '''
+        Calculate EGN statistics
+        '''
+        if not hasattr(self, "sonMetaDF"):
+            self._loadSonMeta()
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==chunk
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Update class attributes based on current chunk
+        self.pingMax = np.nanmax(sonMeta['ping_cnt']) # store to determine max range per chunk
+        self.headIdx = sonMeta['index'] # store byte offset per ping
+        self.pingCnt = sonMeta['ping_cnt'] # store ping count per ping
+
+        ############
+        # load sonar
+        # self._loadSonChunk()
+        self._getScanChunkSingle(chunk)
+
+
+        ################
+        # remove shadows
+        if self.remShadow:
+            # Get mask
+            self._SHW_mask(chunk)
+
+            # Mask out shadows
+            self.sonDat = self.sonDat*self.shadowMask
+            del self.shadowMask
+
+        ########
+        # Do EGN
+        nonEGNSonDat = self.sonDat.copy()
+        self._egn_wcp(chunk, sonMeta, do_rescale=True)
+        
+        
+        ######################
+        # Calculate histograms
+        
+        # Histgram with water column present
+        wcp_hist, _ = np.histogram(self.sonDat, bins=255, range=(0,255))
+
+        ########
+        # Do EGN
+        self.sonDat = nonEGNSonDat
+        self._egn()
+
+        ######################
+        # Calculate histograms
+
+        # Histogram with water column removed
+        self._WCR_SRC(sonMeta)
+        wcr_hist, _ = np.histogram(self.sonDat, bins=255, range=(0,255))
+
+
+        del self.sonDat, nonEGNSonDat
+
+        return wcp_hist, wcr_hist
+        # return wcr_hist
+
+    # ======================================================================
+    def _egnCalcGlobalHist(self, hist):
+        '''
+        '''
+
+        # Zero arrays to store sum of histograms
+        wcp_hist = np.zeros((hist[0][0].shape))
+        wcr_hist = np.zeros((hist[0][0].shape))
+
+        for (wcp, wcr) in hist:
+            wcp_hist += wcp
+            wcr_hist += wcr
+
+        del hist
+
+        self.egn_wcp_hist = wcp_hist
+        self.egn_wcr_hist = wcr_hist
+
+        return
+
+    # ======================================================================
+    def _egnCalcMinMax(self, chunk):
+        '''
+        Calculate local min and max values after applying EGN
+        '''
+        # Get sonMetaDF
+        if not hasattr(self, 'sonMetaDF'):
+            self._loadSonMeta()
+
+        # Filter sonMetaDF by chunk
+        isChunk = self.sonMetaDF['chunk_id']==chunk
+        sonMeta = self.sonMetaDF[isChunk].copy().reset_index()
+
+        # Update class attributes based on current chunk
+        self.pingMax = np.nanmax(sonMeta['ping_cnt']) # store to determine max range per chunk
+        self.headIdx = sonMeta['index'] # store byte offset per ping
+        self.pingCnt = sonMeta['ping_cnt'] # store ping count per ping
+
+        ############
+        # load sonar
+        # self._loadSonChunk()
+        self._getScanChunkSingle(chunk)
+
+        ################
+        # remove shadows
+        if self.remShadow:
+            # Get mask
+            self._SHW_mask(chunk)
+
+            # Mask out shadows
+            self.sonDat = self.sonDat*self.shadowMask
+            del self.shadowMask
+
+        #############
+        # Do wc stats
+
+        # Get wc pixels
+        self._WC_mask(chunk, son=False) # Son false because sonDat already loaded
+        bedMask = 1-self.wcMask # Invert zeros and ones
+        wc = self.sonDat*bedMask # Mask bed pixels
+        wc[wc == 0] = np.nan # Set zeros to nan
+        
+        # Get copy of sonDat so we can calculate egn on wc pixels
+        sonDat = self.sonDat.copy()
+        self.sonDat = wc
+        
+        # Do EGN
+        self._egn(wc=True, do_rescale=False)
+
+        # Calculate min and max
+        wc_min = np.nanmin(self.sonDat)
+        wc_max = np.nanmax(self.sonDat)
+
+        ##############
+        # Do bed stats
+
+        # Store sonDat
+        self.sonDat = sonDat
+
+        ########################
+        # slant range correction
+        self._WCR_SRC(sonMeta)
+
+        ########
+        # Do EGN
+        self._egn(do_rescale=False)
+
+        ###################
+        # Calculate min/max
+        min = np.nanmin(self.sonDat)
+        max = np.nanmax(self.sonDat)
+
+        del self.sonDat
+
+        return (min, max), (wc_min, wc_max)
+
+    # ======================================================================
+    def _egnCalcGlobalMinMax(self, min_max):
+        '''
+        '''
+
+        bed_mins = []
+        bed_maxs = []
+        wc_mins = []
+        wc_maxs = []
+        for ((b_min, b_max), (w_min, w_max)) in min_max:
+            bed_mins.append(b_min)
+            bed_maxs.append(b_max)
+        
+            wc_mins.append(w_min)
+            wc_maxs.append(w_max)
+
+        self.egn_bed_min = np.nanmin(bed_mins)
+        self.egn_bed_max = np.nanmax(bed_maxs)
+
+        self.egn_wc_min = np.nanmin(wc_mins)
+        self.egn_wc_max = np.nanmax(wc_maxs)
+
+        return
+
+    # ======================================================================
+    def _egn(self, wc = False, do_rescale=True):
+        '''
+        Apply empirical gain normalization to sonDat
+        '''
+
+        # Get sonar data
+        sonDat = self.sonDat
+
+        # Get egn means
+        if wc:
+            egn_means = self.egn_wc_means.copy() # Don't want to overwrite
+        else:
+            egn_means = self.egn_bed_means.copy() # Don't want to overwrite
+
+        # Slice egn means if too long
+        egn_means = egn_means[:sonDat.shape[0]]
+
+        # Take last value of egn means and add to end if not long enough
+        if sonDat.shape[0] > egn_means.shape[0]:
+            t = np.ones((sonDat.shape[0]))
+            l = egn_means[-1] # last value
+            t[:egn_means.shape[0]] = egn_means
+            t[egn_means.shape[0]:] = l # insert last value
+            egn_means = t
+            del t
+
+        # Divide each ping by mean vector
+        sonDat = sonDat / egn_means[:, None]
+
+        if do_rescale:
+            # Rescale by global min and max
+            if wc:
+                m = self.egn_wc_min
+                M = self.egn_wc_max
+            else:
+                m = self.egn_bed_min
+                M = self.egn_bed_max
+
+            mn = 0
+            mx = 255
+            sonDat = (mx-mn)*(sonDat-m)/(M-m)+mn
+
+        self.sonDat = sonDat
+        del sonDat, egn_means
+        return
+
+    # ======================================================================
+    def _egn_wcp_OLD(self, chunk, sonMeta, do_rescale=True):
+        '''
+        Apply empirical gain normalization to sonDat
+        '''
+
+        # Get sonar data
+        sonDat = self.sonDat.astype(np.float32).copy()
+
+        # Get water column mask
+        self._WC_mask(chunk, son=False) # So we don't reload sonDat
+        wcMask = 1-self.wcMask # Get the mask, invert zeros and ones
+        del self.sonDat
+
+        # Get water column, mask bed
+        wc = sonDat * wcMask
+
+        # Apply egn to wc
+        self.sonDat = wc
+        self._egn(wc=True, do_rescale=False)
+        wc = self.sonDat.copy()
+        wc = np.nan_to_num(wc, nan=0) # replace nans with zero
+        del self.sonDat
+
+        # Get egn_means
+        egn_means = self.egn_bed_means.copy() # Don't want to overwrite
+
+        # Get bedpicks, in pixel units
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int).to_numpy()
+
+        # Iterate each ping
+        for j in range(sonDat.shape[1]):
+            depth = bedPick[j] # Get bedpick
+            # Create 1d array to store relocated egn avgs for given ping.
+            egn_p = (np.zeros((sonDat.shape[0])).astype(np.float32))
+
+            # Iterate over each avg
+            for i in range(sonDat.shape[0]):
+                # Set wc avgs to 1 (unchanged)
+                if i < depth:
+                    egn_p[i] = 1
+
+                else:
+                    # Get egn_means index (range) for given slant range (i)
+                    avgIndex = round(np.sqrt(i**2 - depth**2),0).astype(int)
+                    r_avg = egn_means[avgIndex] # Get egn_mean value
+                    egn_p[i] = r_avg # Store range avg at appropriate slant range
+
+            sonDat[:,j] = sonDat[:,j] / egn_p
+
+        # Mask water column in sonDat
+        # wcMask = 1-wcMask
+        sonDat = sonDat * self.wcMask
+        sonDat = np.nan_to_num(sonDat, nan=0) # replace nans with zero
+
+        # Add water column pixels back in
+        sonDat = sonDat + wc
+
+        if do_rescale:
+            # Rescale by global min and max
+            m = min(self.egn_wc_min, self.egn_bed_min)
+            M = max(self.egn_wc_max, self.egn_bed_max)
+            mn = 0
+            mx = 255
+            sonDat = (mx-mn)*(sonDat-m)/(M-m)+mn
+
+        sonDat = np.where(sonDat < mn, mn, sonDat)
+        sonDat = np.where(sonDat > mx, mx, sonDat)
+
+        self.sonDat = sonDat.astype('uint8')
+        return
+
+    # ======================================================================
+    def _egn_wcp(self, chunk, sonMeta, do_rescale=True):
+        '''
+        Apply empirical gain normalization to sonDat
+        '''
+
+        # Get sonar data
+        sonDat = self.sonDat.astype(np.float32).copy()
+
+        # Get egn_bed_means
+        egn_means = self.egn_bed_means.copy() # Don't want to overwrite
+
+        # Get egn_wc_means
+        egn_wc_means = self.egn_wc_means.copy()
+
+        # Take last value of egn means and add to end if not long enough
+        if sonDat.shape[0] > egn_means.shape[0]:
+            t = np.ones((sonDat.shape[0]))
+            l = egn_means[-1] # last value
+            t[:egn_means.shape[0]] = egn_means
+            t[egn_means.shape[0]:] = l # insert last value
+            egn_means = t
+            del t, l
+
+        # Get bedpicks, in pixel units
+        bedPick = round(sonMeta['dep_m'] / sonMeta['pixM'], 0).astype(int).to_numpy()
+
+        # Iterate each ping
+        for j in range(sonDat.shape[1]):
+            depth = bedPick[j] # Get bedpick
+            dd = depth**2
+
+            # Create 1d array to store relocated egn avgs for given ping.
+            egn_p = (np.zeros((sonDat.shape[0])).astype(np.float32))
+
+            # Iterate over each avg
+            for i in range(sonDat.shape[0]):
+                # Set wc avgs to 1 (unchanged)
+                if i < depth:
+                    # egn_p[i] = 1 # Original crappy method
+
+
+                    # Using the WC means is the 'correct' way to normalize the wc
+                    # but it ends up being brighter and 'noisier' which may be good
+                    # for looking at suspended sediments, but using the bed means
+                    # helps to eliminate the noise
+                    denoiseWC = True # Could be added as param in future
+
+                    if denoiseWC:
+                        egn_p[i] = egn_means[i] # Use bed means
+                    else:
+                        egn_p[i] = egn_wc_means[i] # Use wc means
+
+                # Relocate egn mean based on slant range
+                else:
+                    # Get egn_means index (range) for given slant range (i)
+                    avgIndex = int(round(math.sqrt(i**2 - dd),0))
+                    r_avg = egn_means[avgIndex] # Get egn_mean value
+                    egn_p[i] = r_avg # Store range avg at appropriate slant range
+                    del avgIndex, r_avg
+
+            # Apply correction to ping
+            sonDat[:,j] = sonDat[:,j] / egn_p
+
+            del egn_p
+
+        mn = 0
+        mx = 255
+
+        if do_rescale:
+            # Rescale by global min and max
+
+            m = min(self.egn_wc_min, self.egn_bed_min)
+            M = max(self.egn_wc_max, self.egn_bed_max)
+
+            sonDat = (mx-mn)*(sonDat-m)/(M-m)+mn
+
+        # Set values below/above 0/255 to 0/255
+        sonDat = np.where(sonDat < mn, mn, sonDat)
+        sonDat = np.where(sonDat > mx, mx, sonDat)
+
+        self.sonDat = sonDat.astype('uint8')
+        del sonDat
+        return
+
+
+    # ======================================================================
+    def _egnCalcStretch(self, egn_stretch, egn_stretch_factor):
+        '''
+        '''
+        # Store variables
+        self.egn_stretch = egn_stretch
+        self.egn_stretch_factor = egn_stretch_factor
+
+        # Get histogram percentages
+        wcp_pcnt = self.egn_wcp_hist_pcnt
+        wcr_pcnt = self.egn_wcr_hist_pcnt
+
+        if egn_stretch == 1:
+
+            # Find Globabl mins and max
+            histIndex = np.where(wcr_pcnt[1:]>0)[0]
+            self.egn_wcr_stretch_min = histIndex[0]
+            self.egn_wcr_stretch_max = histIndex[-1]
+
+            histIndex = np.where(wcp_pcnt[1:]>0)[0]
+            self.egn_wcp_stretch_min = histIndex[0]
+            self.egn_wcp_stretch_max = histIndex[-1]
+
+
+        elif egn_stretch == 2:
+            # Percent clip
+            egn_stretch_factor = egn_stretch_factor / 100
+
+            #####
+            # WCP
+            
+            # Left tail
+            m = 1 # Store pixel value (Don't count 0)
+            mp = 0 # Store percentage
+            v = wcp_pcnt[m]
+            while (mp+v) < egn_stretch_factor:
+            # while ((mp+v) < egn_stretch_factor) and (m < 255):
+                m += 1
+                mp += v
+                # v = wcp_pcnt[m]
+                try:
+                    v = wcp_pcnt[m]
+                except:
+                    v = 0
+                    break
+            
+            self.egn_wcp_stretch_min = m
+            del m, mp, v
+            
+            # Right tail
+            m = 254
+            mp = 0
+            v = wcp_pcnt[m]
+            while (mp+v) < egn_stretch_factor:
+            # while ((mp+v) < egn_stretch_factor) and (m >= 0):
+                m -= 1
+                mp += v
+                # v = wcp_pcnt[m]
+                try:
+                    v = wcp_pcnt[m]
+                except:
+                    v = 0
+                    break
+            
+            
+            self.egn_wcp_stretch_max = m
+            del m, mp, v
+
+            #####
+            # WCR
+
+            # Left tail
+            m = 1 # Store pixel value (Don't count 0)
+            mp = 0 # Store percentage
+            v = wcr_pcnt[m]
+            while (mp+v) < egn_stretch_factor:
+            # while ((mp+v) < egn_stretch_factor) and (m < 255):
+                m += 1
+                mp += v
+                # v = wcp_pcnt[m]
+                try:
+                    v = wcr_pcnt[m]
+                except:
+                    v = 0
+                    break
+
+            self.egn_wcr_stretch_min = m
+            del m, mp, v
+
+            # Right tail
+            m = 254
+            mp = 0
+            v = wcr_pcnt[m]
+            while (mp+v) < egn_stretch_factor:
+            # while ((mp+v) < egn_stretch_factor) and (m >= 0):
+                m -= 1
+                mp += v
+                # v = wcp_pcnt[m]
+                try:
+                    v = wcr_pcnt[m]
+                except:
+                    v = 0
+                    break
+
+            self.egn_wcr_stretch_max = m
+            del m, mp, v
+
+        return (self.egn_wcp_stretch_min, self.egn_wcp_stretch_max), (self.egn_wcr_stretch_min, self.egn_wcr_stretch_max)
+
+
+    # ======================================================================
+    def _egnDoStretch(self, stretch_wcp=False):
+        '''
+        '''
+
+        # Get sonDat
+        sonDat = self.sonDat.astype('float64')
+
+        # Create mask from zero values
+        mask = np.where(sonDat == 0, 0, 1)
+
+        # Get stretch min max
+        if stretch_wcp:
+            m = self.egn_wcp_stretch_min
+            M = self.egn_wcp_stretch_max
+        else:
+            m = self.egn_wcr_stretch_min
+            M = self.egn_wcr_stretch_max
+
+        mn = 0
+        mx = 255
+
+        sonDat = np.clip(sonDat, m, M)
+
+        sonDat = (mx-mn)*(sonDat-m)/(M-m)+mn
+
+        # Try masking out zeros
+        sonDat = sonDat*mask
+        del mask
+
+        self.sonDat = sonDat.astype('uint8')
+        del sonDat
+        return