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awe
2026-09-16 13:22:21 +03:00
parent b3339d101c
commit 16ccafff69
17 changed files with 213 additions and 37 deletions
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data_acq_and_processing/processing/processors/src/sar3d_processor.cpp
+52 -5
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@@ -457,6 +457,15 @@ auto Sar3dProcessor::process_collection(
// Finalization (port of gpr_core sar_finish_volume, minus smoothing):
// |acc/(cnt+eps)|, ground-coordinate depth gate, normalization to peak.
//
// Two projections match the legacy render conventions (X across,
// Z range/"вдаль", Y up):
// - top view `sar3d_proj_xz`: max over Y, axes X (horizontal) / Z;
// - bottom view `sar3d_proj_bottom`: vertical axis is always Y, the
// horizontal axis u is the ground direction rotated by
// `sar3d_bottom_view_deg` around Y: 0° = front view (u = X, max
// along Z), 90° = side view (u = Z, max along X), intermediate
// angles project along the rotated perpendicular.
const int nx = volume.NX;
const int ny = volume.NY;
const int nz = volume.NZ;
@@ -464,8 +473,36 @@ auto Sar3dProcessor::process_collection(
const double cos_p = std::cos(pitch_rad);
const double sin_p = std::sin(pitch_rad);
const double theta_deg = std::clamp(static_cast<double>(live_config.sar3d_bottom_view_deg), 0.0, 90.0);
const double theta_rad = theta_deg * M_PI / 180.0;
const double cos_t = std::cos(theta_rad);
const double sin_t = std::sin(theta_rad);
// Exact-axis fast paths keep the front/side views on the native grid.
const bool front_view = theta_deg <= 1e-9;
const bool side_view = theta_deg >= 90.0 - 1e-9;
std::vector<double> u_axis{};
if (front_view) {
u_axis = grid.x;
} else if (side_view) {
u_axis = grid.z;
} else {
const double u_a = grid.x.front() * cos_t + grid.z.front() * sin_t;
const double u_b = grid.x.front() * cos_t + grid.z.back() * sin_t;
const double u_c = grid.x.back() * cos_t + grid.z.front() * sin_t;
const double u_d = grid.x.back() * cos_t + grid.z.back() * sin_t;
const double u_min = std::min(std::min(u_a, u_b), std::min(u_c, u_d));
const double u_max = std::max(std::max(u_a, u_b), std::max(u_c, u_d));
u_axis.resize(static_cast<std::size_t>(nx));
for (int iu = 0; iu < nx; ++iu) {
u_axis[static_cast<std::size_t>(iu)] = u_min + (u_max - u_min) * iu / static_cast<double>(nx - 1);
}
}
const int nu = static_cast<int>(u_axis.size());
const double u_start = u_axis.front();
const double inv_du = nu > 1 ? static_cast<double>(nu - 1) / (u_axis.back() - u_start) : 0.0;
std::vector<float> projection_xz(static_cast<std::size_t>(nz) * nx, 0.0F);
std::vector<float> projection_xy(static_cast<std::size_t>(ny) * nx, 0.0F);
std::vector<float> projection_bottom(static_cast<std::size_t>(ny) * nu, 0.0F);
float peak = 0.0F;
for (int iy = 0; iy < ny; ++iy) {
for (int iz = 0; iz < nz; ++iz) {
@@ -475,6 +512,8 @@ auto Sar3dProcessor::process_collection(
continue;
}
const std::size_t row = (static_cast<std::size_t>(iy) * nz + iz) * nx;
const std::size_t bottom_row = static_cast<std::size_t>(iy) * nu;
const double z_sin_t = grid.z[iz] * sin_t;
for (int ix = 0; ix < nx; ++ix) {
const std::size_t voxel = row + static_cast<std::size_t>(ix);
const float value = std::abs(volume.acc[voxel]) /
@@ -482,8 +521,16 @@ auto Sar3dProcessor::process_collection(
peak = std::max(peak, value);
auto& xz_cell = projection_xz[static_cast<std::size_t>(iz) * nx + ix];
xz_cell = std::max(xz_cell, value);
auto& xy_cell = projection_xy[static_cast<std::size_t>(iy) * nx + ix];
xy_cell = std::max(xy_cell, value);
int bin = ix;
if (side_view) {
bin = iz;
} else if (!front_view) {
const double u = grid.x[ix] * cos_t + z_sin_t;
bin = static_cast<int>(std::lround((u - u_start) * inv_du));
bin = std::clamp(bin, 0, nu - 1);
}
auto& bottom_cell = projection_bottom[bottom_row + static_cast<std::size_t>(bin)];
bottom_cell = std::max(bottom_cell, value);
}
}
}
@@ -491,7 +538,7 @@ auto Sar3dProcessor::process_collection(
for (auto& value : projection_xz) {
value /= peak;
}
for (auto& value : projection_xy) {
for (auto& value : projection_bottom) {
value /= peak;
}
}
@@ -500,7 +547,7 @@ auto Sar3dProcessor::process_collection(
build_image_payload("sar3d_proj_xz", grid.x, grid.z, std::move(projection_xz))
);
results.collection_payloads.push_back(
build_image_payload("sar3d_proj_xy", grid.x, grid.y, std::move(projection_xy))
build_image_payload("sar3d_proj_bottom", u_axis, grid.y, std::move(projection_bottom))
);
ipc::ResultPayload peak_payload{};
peak_payload.processing_name = "sar3d_peak";