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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/processors/src/sar3d_processor.cpp
+5 -2
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@@ -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.