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

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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
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data_acq_and_processing/gpr_cpp/src/geometry.cpp
+31 -29
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@@ -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