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added new filtration and fixed processing parameters

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This commit is contained in:
Ayzen
2026-06-23 21:55:40 +03:00
parent 4ca4b27246
commit 42532c9868
21 changed files with 365 additions and 140 deletions
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data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp
+9 -5
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@@ -45,8 +45,10 @@ struct ProcessingLiveConfig {
float gpr_min_depth_m = 2.0F;
float gpr_max_depth_m = 14.0F;
float gpr_range_comp_power = 0.1F;
float gpr_angle_comp_power = 0.0F;
float gpr_comp_power = 0.2F;
// BP object-detection stop level, as a fraction of the global peak (Python
// Horns_motion_3libre.py BP_OBJECT_MIN_FRAC); peaks below it are not objects.
float gpr_object_min_frac = 0.7F;
std::string gpr_score_mode = "combined";
// Backprojection intra-sweep speed-correction mode: "int_minus" (full
// correction) or "int_focus" (focusing residual only). Mirrors the Python
@@ -73,13 +75,15 @@ struct ProcessingLiveConfig {
// BP image is computed in the y=imaging_plane_y_m slice of the 3D grid.
// Default 0 keeps legacy 1D antenna layouts imaging in the antenna plane.
float gpr_imaging_plane_y_m = 0.0F;
// Locator filter parameters. Mode-dependent threshold (legacy_gpr uses
// `legacy_gpr_min_visible_pair_count`, everything else uses
// `gpr_min_visible_score`). Draw limits apply only to non-legacy modes.
float gpr_min_visible_score = 0.0F;
// Coherent BP object visibility (window + the draw limits below) is applied in
// the processor itself, matching Horns_motion_3libre.py — there is NO score
// threshold for it. Only legacy GPR still thresholds, on a pair count.
float legacy_gpr_min_visible_pair_count = 0.0F;
std::uint32_t gpr_max_detected_objects_to_draw = 0;
std::uint32_t gpr_draw_top_m_objects = 0;
// Cross-frame approach filter: an object is shown only once it persists as a
// motion-consistent track over this many consecutive frames (<= 1 disables it).
std::uint32_t gpr_object_approach_min_frames = 3;
// Visible X/Z window (metres). The locator clips broadcast objects to this
// window so the socket emits only what the desktop plot actually shows.
float gpr_visible_x_min_m = -2.0F;
data_acq_and_processing/processing/data_processor/src/data_processor.cpp
+15 -21
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@@ -65,7 +65,7 @@ void DataProcessor::run(const std::atomic<bool>& stop_requested) {
std::uint64_t last_applied_history_command_seq = 0;
std::uint64_t error_count = 0;
std::uint64_t consecutive_errors = 0;
// Fix #55: track the socket-fed speed used for the last reprocess so a change
// track the socket-fed speed used for the last reprocess so a change
// arriving without a live-config revision bump still triggers a reprocess of
// the current result (gated below by reprocess_current_result).
std::optional<double> last_reprocessed_socket_speed = std::nullopt;
@@ -124,7 +124,7 @@ void DataProcessor::run(const std::atomic<bool>& stop_requested) {
publish_locator(replay_result, live_config);
}
last_replayed_revision = live_revision;
// Fix #55: record the speed we just reprocessed with so an
//record the speed we just reprocessed with so an
// unchanged socket value does not retrigger every iteration.
last_reprocessed_socket_speed = current_socket_speed;
}
@@ -232,29 +232,23 @@ auto DataProcessor::build_locator_filter(const ProcessingLiveConfig& live_config
live_config.processor_mode.empty() ? default_processor_mode_ : live_config.processor_mode;
radar::locator::FilterParams filter{};
// Clip broadcast objects to the same visible X/Z window the desktop plot uses,
// so the socket emits only the objects the operator actually sees.
filter.visible_bounds = radar::locator::VisibleBounds{
.x_min = live_config.gpr_visible_x_min_m,
.x_max = live_config.gpr_visible_x_max_m,
.z_min = live_config.gpr_visible_z_min_m,
.z_max = live_config.gpr_visible_z_max_m,
};
if (requested_mode == "legacy_gpr") {
// Legacy GPR emits its objects unfiltered, so the socket applies the legacy
// rule here: clip to the visible window and threshold on the pair count. The
// GUI disables "draw top N" for legacy, so we skip it on the wire to match.
filter.visible_bounds = radar::locator::VisibleBounds{
.x_min = live_config.gpr_visible_x_min_m,
.x_max = live_config.gpr_visible_x_max_m,
.z_min = live_config.gpr_visible_z_min_m,
.z_max = live_config.gpr_visible_z_max_m,
};
filter.min_score = live_config.legacy_gpr_min_visible_pair_count;
// The GUI deliberately disables the "draw top N" capping for legacy
// GPR, so we also skip it on the wire to match observation semantics.
filter.draw_limits.reset();
} else {
filter.min_score = live_config.gpr_min_visible_score;
if (live_config.gpr_max_detected_objects_to_draw > 0U
&& live_config.gpr_draw_top_m_objects > 0U) {
filter.draw_limits = radar::locator::DrawLimits{
.max_detected_objects = live_config.gpr_max_detected_objects_to_draw,
.draw_top_objects = live_config.gpr_draw_top_m_objects,
};
}
}
// Coherent BP already emits the FINAL visible object set from the processor
// (window + N/M, no score threshold — matching Horns_motion_3libre.py), so the
// socket forwards it verbatim. The default FilterParams passes everything through
// (it only drops non-finite rows), keeping the filtering logic in one place.
return filter;
}
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp
+7 -9
View File
@@ -255,11 +255,11 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
}
config.gpr_range_comp_power = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_angle_comp_power"); found != root.end()) {
if (const auto found = root.find("gpr_object_min_frac"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_angle_comp_power must be number");
throw std::runtime_error("processing.gpr_object_min_frac must be number");
}
config.gpr_angle_comp_power = static_cast<float>(found->get<double>());
config.gpr_object_min_frac = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_comp_power"); found != root.end()) {
if (!found->is_number()) {
@@ -355,12 +355,6 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
}
config.gpr_imaging_plane_y_m = static_cast<float>(found->get<double>());
}
if (const auto found = root.find("gpr_min_visible_score"); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error("processing.gpr_min_visible_score must be number");
}
config.gpr_min_visible_score = static_cast<float>(found->get<double>());
}
for (const auto& [key, target] : {
std::pair{"gpr_visible_x_min_m", &config.gpr_visible_x_min_m},
std::pair{"gpr_visible_x_max_m", &config.gpr_visible_x_max_m},
@@ -388,6 +382,10 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
config.gpr_draw_top_m_objects =
parse_u32_number(*found, "processing.gpr_draw_top_m_objects");
}
if (const auto found = root.find("gpr_object_approach_min_frames"); found != root.end()) {
config.gpr_object_approach_min_frames =
parse_u32_number(*found, "processing.gpr_object_approach_min_frames");
}
if (const auto found = root.find("ignore_socket_speed"); found != root.end()) {
if (!found->is_boolean()) {
throw std::runtime_error("processing.ignore_socket_speed must be bool");