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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/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) {