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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/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`.