awe/radar_system
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

sar3d: fixed default scene window X [-2,2], Y [-0.5,2], Z [0,8] m

Browse Source 
The grid bounds are now explicit config (sar3d_x/y/z_min/max_m) instead of
being derived from the antenna span and the depth gate. The depth mask
still zeroes voxels outside [min_depth, max_depth], so the wider Z window
just shows the masked wedge. The bound fields are double: the parity tool
recomputes the notebook-derived bounds (notebook_grid_bounds) and passes
them through the live config, and a float roundtrip shifted the axes by
~1e-7 m, flipping depth-mask knife-edge voxels against the reference npz.
Parity on frames 0034-0036 unchanged (1.3e-6, axes bit-match).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
awe
2026-09-25 17:12:18 +03:00
co-authored by Claude Fable 5
parent 60f6c9e567
commit 7329750c0c
16 changed files with 220 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_acq_and_processing/gpr_cpp/examples/standalone_bp.cpp
+5 -2
View File
@@ -135,8 +135,11 @@ int main(int argc, char** argv) {
frames.push_back(ApertureFrame{a.get(), offs[f], wts[f]});
}
// полнообластная ground-сетка (как одиночный 3D в ноутбуке)
Grid grid = build_full_region_grid(geom, bp, sar, mot.pitch_deg);
// ноутбучные границы сцены (размах антенн ±2 м, полоса глубин) вместо
// фиксированного окна по умолчанию
notebook_grid_bounds(geom, bp, sar, mot.pitch_deg, 2.0,
sar.x_min_m, sar.x_max_m, sar.z_min_m, sar.z_max_m);
Grid grid = build_full_region_grid(sar);
printf("сетка %dx%dx%d, счёт объёма...\n", grid.NX(), grid.NY(), grid.NZ());
VolumeRaw vol = engine.aperture_volume(frames, grid);
data_acq_and_processing/gpr_cpp/include/gpr/config.hpp
+7 -4
View File
@@ -94,12 +94,15 @@ struct SARConfig {
bool use_compensation = true;
// Высота НИЖНЕГО ряда антенн над землёй; Y=0 сцены — поверхность земли.
double ground_depth_m = 1.25;
// Полнообластная сетка: X — размах антенн ±x_margin_m, Y — высота над
// землёй, Z — полоса, покрывающая радарные глубины [min,max]_depth на всех
// высотах Y (см. build_full_region_grid).
double x_margin_m = 2.0;
// Явные границы сцены [м]: X — поперёк, Y — высота над землёй, Z — вдаль.
// Воксели с радарной глубиной вне [min_depth, max_depth] всё равно
// обнуляются маской, так что Z-окно шире полосы глубин безопасно.
double x_min_m = -2.0;
double x_max_m = 2.0;
double y_min_m = -0.5;
double y_max_m = 2.0;
double z_min_m = 0.0;
double z_max_m = 8.0;
std::array<double, 3> voxel_m{0.025, 0.02, 0.02}; // шаг (X, Y, Z)
// Финализация объёма: нормировка без верхних/нижних norm_edge_margin_m по Y
// (там ложный гребень постоянной дальности), сглаживание по (Z,X) в каждом
data_acq_and_processing/gpr_cpp/include/gpr/geometry.hpp
+10 -5
View File
@@ -22,11 +22,16 @@ std::vector<double> frame_weights(const std::vector<FrameOffset>& offsets, doubl
// y = (-ground_depth + depth*sin(pitch)) / cos(pitch) (порт bp_plane_y).
double ground_plane_y(double depth, double ground_depth_m, double pitch_rad);
// Полнообластная сетка сцены (порт sar_build_full_region_grid):
// X — размах антенн ±x_margin, Y — [y_min, y_max] над землёй, Z — полоса,
// покрывающая радарные глубины [min_depth, max_depth] на всех высотах Y.
Grid build_full_region_grid(const GeometryConfig&, const BPConfig&, const SARConfig&,
double pitch_deg);
// Сетка сцены по явным границам SARConfig (x/y/z_min..max, шаг voxel_m);
// оси — linspace c числом точек round(span/step)+1, как в ноутбуке.
Grid build_full_region_grid(const SARConfig&);
// Ноутбучные границы (sar_build_full_region_grid): X — размах антенн ±margin,
// Z — полоса, покрывающая радарные глубины [min_depth, max_depth] на всех
// высотах Y. Используются parity-инструментом для сверки с эталонными npz.
void notebook_grid_bounds(const GeometryConfig&, const BPConfig&, const SARConfig&,
double pitch_deg, double x_margin_m,
double& x_min, double& x_max, double& z_min, double& z_max);
// point_to_scene: оси радара → сцена (поворот на pitch + подъём на ground_depth,
// если ground; Y=0 сцены — земля).
data_acq_and_processing/gpr_cpp/src/geometry.cpp
+31 -29
View File
@@ -58,8 +58,7 @@ double ground_plane_y(double depth, double ground_depth_m, double pitch_rad) {
return (-ground_depth_m + depth * std::sin(pitch_rad)) / std::cos(pitch_rad);
}
Grid build_full_region_grid(const GeometryConfig& geom, const BPConfig& bp, const SARConfig& sar,
double pitch_deg) {
Grid build_full_region_grid(const SARConfig& sar) {
// numpy: linspace(lo, hi, max(round(span/step)+1, 2)); nearbyint = банковское
// округление python round()
auto axis = [](double lo, double hi, double step, std::vector<double>& out) {
@@ -67,36 +66,39 @@ Grid build_full_region_grid(const GeometryConfig& geom, const BPConfig& bp, cons
out.resize(n);
for (int i = 0; i < n; ++i) out[i] = lo + (hi - lo) * i / (double)(n - 1);
};
double x_lo = geom.x_tx[0], x_hi = geom.x_tx[0];
for (double x : geom.x_tx) { x_lo = std::min(x_lo, x); x_hi = std::max(x_hi, x); }
for (double x : geom.x_rx) { x_lo = std::min(x_lo, x); x_hi = std::max(x_hi, x); }
x_lo -= sar.x_margin_m;
x_hi += sar.x_margin_m;
Grid g;
axis(x_lo, x_hi, sar.voxel_m[0], g.x);
axis(sar.x_min_m, sar.x_max_m, sar.voxel_m[0], g.x);
axis(sar.y_min_m, sar.y_max_m, sar.voxel_m[1], g.y);
if (sar.coord_mode_ground) {
// Радарная z линейна по Z сцены при фиксированной высоте:
// z_rad(Y, Z=0) = -(Y - ground_depth)*sin(p), z = (depth - z_rad)/cos(p).
double p = pitch_deg * M_PI / 180.0;
double cos_p = std::cos(p), sin_p = std::sin(p);
double z_lo = 0.0, z_hi = 0.0;
bool first = true;
for (double y : {sar.y_min_m, sar.y_max_m}) {
for (double depth : {bp.min_depth, bp.max_depth}) {
double z_rad0 = -(y - sar.ground_depth_m) * sin_p;
double z = (depth - z_rad0) / cos_p;
if (first) { z_lo = z_hi = z; first = false; }
z_lo = std::min(z_lo, z);
z_hi = std::max(z_hi, z);
}
}
axis(z_lo, z_hi, sar.voxel_m[2], g.z);
} else {
axis(bp.min_depth, bp.max_depth, sar.voxel_m[2], g.z);
}
axis(sar.z_min_m, sar.z_max_m, sar.voxel_m[2], g.z);
return g;
}
void notebook_grid_bounds(const GeometryConfig& geom, const BPConfig& bp, const SARConfig& sar,
double pitch_deg, double x_margin_m,
double& x_min, double& x_max, double& z_min, double& z_max) {
double x_lo = geom.x_tx[0], x_hi = geom.x_tx[0];
for (double x : geom.x_tx) { x_lo = std::min(x_lo, x); x_hi = std::max(x_hi, x); }
for (double x : geom.x_rx) { x_lo = std::min(x_lo, x); x_hi = std::max(x_hi, x); }
x_min = x_lo - x_margin_m;
x_max = x_hi + x_margin_m;
// Радарная z линейна по Z сцены при фиксированной высоте:
// z_rad(Y, Z=0) = -(Y - ground_depth)*sin(p), z = (depth - z_rad)/cos(p).
double p = pitch_deg * M_PI / 180.0;
double cos_p = std::cos(p), sin_p = std::sin(p);
double z_lo = 0.0, z_hi = 0.0;
bool first = true;
for (double y : {sar.y_min_m, sar.y_max_m}) {
for (double depth : {bp.min_depth, bp.max_depth}) {
double z_rad0 = -(y - sar.ground_depth_m) * sin_p;
double z = (depth - z_rad0) / cos_p;
if (first) { z_lo = z_hi = z; first = false; }
z_lo = std::min(z_lo, z);
z_hi = std::max(z_hi, z);
}
}
z_min = z_lo;
z_max = z_hi;
}
} // namespace gpr
data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp
+12 -6
View File
@@ -103,12 +103,18 @@ struct ProcessingLiveConfig {
float sar3d_pitch_deg = 17.5F;
// Height of the LOWER antenna row above the ground; scene Y=0 is the ground.
float sar3d_ground_depth_m = 1.25F;
// Full-region grid: X spans the antennas +- x_margin, Y is height above the
// ground, Z covers radar depths [gpr_min_depth, gpr_max_depth] over the Y
// range. Voxel pitch per axis.
float sar3d_x_margin_m = 2.0F;
float sar3d_y_min_m = -0.5F;
float sar3d_y_max_m = 2.0F;
// Scene grid bounds (metres): X across, Y height above the ground, Z along
// the ground away from the radar. Voxels whose radar depth falls outside
// [gpr_min_depth, gpr_max_depth] are zeroed by the mask regardless.
// Doubles, not floats: the parity tool feeds the notebook-derived bounds
// through here and a float roundtrip shifts the grid by ~1e-7 m, flipping
// knife-edge voxels of the depth mask against the reference volumes.
double sar3d_x_min_m = -2.0;
double sar3d_x_max_m = 2.0;
double sar3d_y_min_m = -0.5;
double sar3d_y_max_m = 2.0;
double sar3d_z_min_m = 0.0;
double sar3d_z_max_m = 8.0;
float sar3d_voxel_x_m = 0.025F;
float sar3d_voxel_y_m = 0.02F;
float sar3d_voxel_z_m = 0.02F;
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp
+15 -3
View File
@@ -393,9 +393,6 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
std::pair{"sar3d_edge_frame_weight", &config.sar3d_edge_frame_weight},
std::pair{"sar3d_pitch_deg", &config.sar3d_pitch_deg},
std::pair{"sar3d_ground_depth_m", &config.sar3d_ground_depth_m},
std::pair{"sar3d_x_margin_m", &config.sar3d_x_margin_m},
std::pair{"sar3d_y_min_m", &config.sar3d_y_min_m},
std::pair{"sar3d_y_max_m", &config.sar3d_y_max_m},
std::pair{"sar3d_voxel_x_m", &config.sar3d_voxel_x_m},
std::pair{"sar3d_voxel_y_m", &config.sar3d_voxel_y_m},
std::pair{"sar3d_voxel_z_m", &config.sar3d_voxel_z_m},
@@ -411,6 +408,21 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
*target = static_cast<float>(found->get<double>());
}
}
for (const auto& [key, target] : {
std::pair{"sar3d_x_min_m", &config.sar3d_x_min_m},
std::pair{"sar3d_x_max_m", &config.sar3d_x_max_m},
std::pair{"sar3d_y_min_m", &config.sar3d_y_min_m},
std::pair{"sar3d_y_max_m", &config.sar3d_y_max_m},
std::pair{"sar3d_z_min_m", &config.sar3d_z_min_m},
std::pair{"sar3d_z_max_m", &config.sar3d_z_max_m},
}) {
if (const auto found = root.find(key); found != root.end()) {
if (!found->is_number()) {
throw std::runtime_error(std::string("processing.") + key + " must be number");
}
*target = found->get<double>();
}
}
if (const auto found = root.find("sar3d_tx_per_segment"); found != root.end()) {
config.sar3d_tx_per_segment = parse_u32_number(*found, "processing.sar3d_tx_per_segment");
if (config.sar3d_tx_per_segment == 0U) {
data_acq_and_processing/processing/processors/src/sar3d_processor.cpp
+5 -2
View File
@@ -155,9 +155,12 @@ struct Selection {
sar.frame_radius = static_cast<int>(std::max<std::uint32_t>(0U, live_config.sar3d_frame_radius));
sar.edge_frame_weight = static_cast<double>(live_config.sar3d_edge_frame_weight);
sar.ground_depth_m = static_cast<double>(live_config.sar3d_ground_depth_m);
sar.x_margin_m = static_cast<double>(live_config.sar3d_x_margin_m);
sar.x_min_m = static_cast<double>(live_config.sar3d_x_min_m);
sar.x_max_m = static_cast<double>(live_config.sar3d_x_max_m);
sar.y_min_m = static_cast<double>(live_config.sar3d_y_min_m);
sar.y_max_m = static_cast<double>(live_config.sar3d_y_max_m);
sar.z_min_m = static_cast<double>(live_config.sar3d_z_min_m);
sar.z_max_m = static_cast<double>(live_config.sar3d_z_max_m);
sar.voxel_m = {
static_cast<double>(live_config.sar3d_voxel_x_m),
static_cast<double>(live_config.sar3d_voxel_y_m),
@@ -570,7 +573,7 @@ auto Sar3dProcessor::process_collection(
state_->engine_fp = engine_fp;
}
const gpr::Grid grid = gpr::build_full_region_grid(geom, bp, sar, motion.pitch_deg);
const gpr::Grid grid = gpr::build_full_region_grid(sar);
const gpr::VolumeRaw raw = state_->engine->aperture_volume(frames, grid);
// Full notebook finalization: |acc/cnt|, depth gate, normalization
// without the Y-edge planes, Gaussian smoothing over (Z, X), clip.
data_acq_and_processing/processing/tools/sar3d_parity_main.cpp
+40 -8
View File
@@ -27,6 +27,8 @@
#include <nlohmann/json.hpp>
#include "gpr/config.hpp"
#include "gpr/geometry.hpp"
#include "processing_live_config.hpp"
#include "run_config.hpp"
#include "sar3d_processor.hpp"
@@ -85,7 +87,11 @@ NpyArray load_npy(const std::string& path) {
}
// Live config matching the reference notebook run (npz meta parameters).
auto build_live_config() -> radar::processing::ProcessingLiveConfig {
// The default program grid is a fixed window (X -2..2, Z 0..8), while the
// notebook derives its bounds from the antenna span and the depth gate — so
// the notebook bounds are recomputed here and passed explicitly.
auto build_live_config(const radar::config::RunConfig& run_config)
-> radar::processing::ProcessingLiveConfig {
radar::processing::ProcessingLiveConfig live{};
live.processor_mode = "sar3d";
live.gpr_start_freq_mhz = 2000.0F;
@@ -96,6 +102,32 @@ auto build_live_config() -> radar::processing::ProcessingLiveConfig {
live.gpr_look_angle_deg = 17.5F;
live.gpr_direction_sign = 1.0F;
live.gpr_apply_freq_phase_correction = true;
gpr::GeometryConfig geom{};
geom.input_idx.clear();
geom.output_idx.clear();
geom.rx_positions.clear();
geom.tx_positions.clear();
for (const auto& entry : run_config.gpr.rx_geometry) {
geom.input_idx.push_back(static_cast<int>(entry.input_pos));
geom.rx_positions.push_back({entry.x_m, entry.y_m, entry.z_m});
}
for (const auto& entry : run_config.gpr.tx_geometry) {
geom.output_idx.push_back(static_cast<int>(entry.output_pos));
geom.tx_positions.push_back({entry.x_m, entry.y_m, entry.z_m});
}
geom.finalize();
gpr::BPConfig bp{};
bp.min_depth = live.gpr_min_depth_m;
bp.max_depth = live.gpr_max_depth_m;
gpr::SARConfig sar{};
double x_min = 0.0, x_max = 0.0, z_min = 0.0, z_max = 0.0;
gpr::notebook_grid_bounds(geom, bp, sar, live.gpr_look_angle_deg, /*x_margin_m=*/2.0,
x_min, x_max, z_min, z_max);
live.sar3d_x_min_m = x_min;
live.sar3d_x_max_m = x_max;
live.sar3d_z_min_m = z_min;
live.sar3d_z_max_m = z_max;
return live;
}
@@ -240,7 +272,13 @@ int main(int argc, char** argv) {
}
const auto center_index = static_cast<std::size_t>(center_it - snapshots.begin());
auto live = build_live_config();
const auto run_config = radar::config::load_run_config(root + "/config_profile.json");
if (run_config.gpr.tx_geometry.empty() || run_config.gpr.rx_geometry.empty()) {
std::printf("FAIL: config_profile.json has no gpr geometry\n");
return 1;
}
auto live = build_live_config(run_config);
live.sar3d_volume_dump_dir = dump_dir;
const auto radius = static_cast<std::size_t>(live.sar3d_frame_radius);
if (center_index < radius || center_index + radius >= snapshots.size()) {
@@ -248,12 +286,6 @@ int main(int argc, char** argv) {
return 1;
}
const auto run_config = radar::config::load_run_config(root + "/config_profile.json");
if (run_config.gpr.tx_geometry.empty() || run_config.gpr.rx_geometry.empty()) {
std::printf("FAIL: config_profile.json has no gpr geometry\n");
return 1;
}
// The processor centers the aperture `radius` frames before the newest
// collection, so feeding [center-r .. center+r] in order reproduces the
// symmetric aperture around `center`.