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/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`.