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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
Download Patch File Download Diff File Expand all files Collapse all files
python_app/gui/controllers/app_window_config/live_processing_mixin.py
+4 -1
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@@ -93,9 +93,12 @@ _WEB_LIVE_SCHEMA = [
("sar3d_pitch_override_enabled", "3D SAR", ("sar3d",), _attr("_sar3d_pitch_override_enabled")),
("sar3d_pitch_deg", "3D SAR", ("sar3d",), _attr("_sar3d_pitch_deg")),
("sar3d_ground_depth_m", "3D SAR", ("sar3d",), _attr("_sar3d_ground_depth_m")),
("sar3d_x_margin_m", "3D SAR", ("sar3d",), _attr("_sar3d_x_margin_m")),
("sar3d_x_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_x_min_m")),
("sar3d_x_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_x_max_m")),
("sar3d_y_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_y_min_m")),
("sar3d_y_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_y_max_m")),
("sar3d_z_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_z_min_m")),
("sar3d_z_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_z_max_m")),
("sar3d_voxel_x_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_x_m")),
("sar3d_voxel_y_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_y_m")),
("sar3d_voxel_z_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_z_m")),
python_app/gui/controllers/app_window_config/profile_io_mixin.py
+8 -2
View File
@@ -353,9 +353,12 @@ class AppWindowConfigProfileIOMixin:
self._sar3d_pitch_override_enabled,
self._sar3d_pitch_deg,
self._sar3d_ground_depth_m,
self._sar3d_x_margin_m,
self._sar3d_x_min_m,
self._sar3d_x_max_m,
self._sar3d_y_min_m,
self._sar3d_y_max_m,
self._sar3d_z_min_m,
self._sar3d_z_max_m,
self._sar3d_voxel_x_m,
self._sar3d_voxel_y_m,
self._sar3d_voxel_z_m,
@@ -570,9 +573,12 @@ class AppWindowConfigProfileIOMixin:
self._sar3d_pitch_override_enabled.setChecked(bool(sar3d_state.pitch_override_enabled))
self._sar3d_pitch_deg.setValue(float(sar3d_state.pitch_deg))
self._sar3d_ground_depth_m.setValue(float(sar3d_state.ground_depth_m))
self._sar3d_x_margin_m.setValue(float(sar3d_state.x_margin_m))
self._sar3d_x_min_m.setValue(float(sar3d_state.x_min_m))
self._sar3d_x_max_m.setValue(float(sar3d_state.x_max_m))
self._sar3d_y_min_m.setValue(float(sar3d_state.y_min_m))
self._sar3d_y_max_m.setValue(float(sar3d_state.y_max_m))
self._sar3d_z_min_m.setValue(float(sar3d_state.z_min_m))
self._sar3d_z_max_m.setValue(float(sar3d_state.z_max_m))
self._sar3d_voxel_x_m.setValue(float(sar3d_state.voxel_x_m))
self._sar3d_voxel_y_m.setValue(float(sar3d_state.voxel_y_m))
self._sar3d_voxel_z_m.setValue(float(sar3d_state.voxel_z_m))
python_app/gui/controllers/app_window_config/state_builders.py
+4 -1
View File
@@ -441,9 +441,12 @@ class AppWindowConfigStateBuildersMixin:
pitch_override_enabled=bool(self._sar3d_pitch_override_enabled.isChecked()),
pitch_deg=float(self._sar3d_pitch_deg.value()),
ground_depth_m=float(self._sar3d_ground_depth_m.value()),
x_margin_m=float(self._sar3d_x_margin_m.value()),
x_min_m=float(self._sar3d_x_min_m.value()),
x_max_m=float(self._sar3d_x_max_m.value()),
y_min_m=float(self._sar3d_y_min_m.value()),
y_max_m=float(self._sar3d_y_max_m.value()),
z_min_m=float(self._sar3d_z_min_m.value()),
z_max_m=float(self._sar3d_z_max_m.value()),
voxel_x_m=float(self._sar3d_voxel_x_m.value()),
voxel_y_m=float(self._sar3d_voxel_y_m.value()),
voxel_z_m=float(self._sar3d_voxel_z_m.value()),
python_app/gui/controllers/sections/processing_section.py
+31 -8
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@@ -685,12 +685,29 @@ def build_processing_group(owner) -> QGroupBox:
"Height of the lower antenna row above the ground (m); scene Y=0 is the ground."
)
owner._sar3d_x_margin_m = QDoubleSpinBox()
owner._sar3d_x_margin_m.setDecimals(2)
owner._sar3d_x_margin_m.setRange(0.0, 20.0)
owner._sar3d_x_margin_m.setSingleStep(0.1)
owner._sar3d_x_margin_m.setValue(float(sar3d_defaults.x_margin_m))
owner._sar3d_x_margin_m.setToolTip("Grid X margin beyond the antenna span (m).")
owner._sar3d_x_min_m = QDoubleSpinBox()
owner._sar3d_x_min_m.setDecimals(2)
owner._sar3d_x_min_m.setRange(-50.0, 50.0)
owner._sar3d_x_min_m.setSingleStep(0.1)
owner._sar3d_x_min_m.setValue(float(sar3d_defaults.x_min_m))
owner._sar3d_x_max_m = QDoubleSpinBox()
owner._sar3d_x_max_m.setDecimals(2)
owner._sar3d_x_max_m.setRange(-50.0, 50.0)
owner._sar3d_x_max_m.setSingleStep(0.1)
owner._sar3d_x_max_m.setValue(float(sar3d_defaults.x_max_m))
owner._sar3d_z_min_m = QDoubleSpinBox()
owner._sar3d_z_min_m.setDecimals(2)
owner._sar3d_z_min_m.setRange(-50.0, 50.0)
owner._sar3d_z_min_m.setSingleStep(0.1)
owner._sar3d_z_min_m.setValue(float(sar3d_defaults.z_min_m))
owner._sar3d_z_max_m = QDoubleSpinBox()
owner._sar3d_z_max_m.setDecimals(2)
owner._sar3d_z_max_m.setRange(-50.0, 50.0)
owner._sar3d_z_max_m.setSingleStep(0.1)
owner._sar3d_z_max_m.setValue(float(sar3d_defaults.z_max_m))
owner._sar3d_y_min_m = QDoubleSpinBox()
owner._sar3d_y_min_m.setDecimals(2)
@@ -789,9 +806,12 @@ def build_processing_group(owner) -> QGroupBox:
owner._sar3d_pitch_override_enabled,
("Pitch deg", owner._sar3d_pitch_deg),
("Ground depth m", owner._sar3d_ground_depth_m),
("X margin m", owner._sar3d_x_margin_m),
("X min m", owner._sar3d_x_min_m),
("X max m", owner._sar3d_x_max_m),
("Y min m", owner._sar3d_y_min_m),
("Y max m", owner._sar3d_y_max_m),
("Z min m", owner._sar3d_z_min_m),
("Z max m", owner._sar3d_z_max_m),
("Voxel X m", owner._sar3d_voxel_x_m),
("Voxel Y m", owner._sar3d_voxel_y_m),
("Voxel Z m", owner._sar3d_voxel_z_m),
@@ -895,7 +915,10 @@ def build_processing_group(owner) -> QGroupBox:
owner._sar3d_pitch_override_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._sar3d_pitch_deg.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_ground_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_x_margin_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_x_min_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_x_max_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_z_min_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_z_max_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_y_min_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_y_max_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_voxel_x_m.valueChanged.connect(owner._on_processing_live_settings_changed)
python_app/models/gui_profile_codec.py
+29 -4
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@@ -551,10 +551,16 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
gui.processing.sar3d.ground_depth_m,
"gui.processing.sar3d",
),
x_margin_m=_optional_float(
x_min_m=_optional_float(
sar3d_object,
"x_margin_m",
gui.processing.sar3d.x_margin_m,
"x_min_m",
gui.processing.sar3d.x_min_m,
"gui.processing.sar3d",
),
x_max_m=_optional_float(
sar3d_object,
"x_max_m",
gui.processing.sar3d.x_max_m,
"gui.processing.sar3d",
),
y_min_m=_optional_float(
@@ -569,6 +575,18 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
gui.processing.sar3d.y_max_m,
"gui.processing.sar3d",
),
z_min_m=_optional_float(
sar3d_object,
"z_min_m",
gui.processing.sar3d.z_min_m,
"gui.processing.sar3d",
),
z_max_m=_optional_float(
sar3d_object,
"z_max_m",
gui.processing.sar3d.z_max_m,
"gui.processing.sar3d",
),
voxel_x_m=_optional_float(
sar3d_object,
"voxel_x_m",
@@ -675,8 +693,12 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
raise ValueError("gui.processing.sar3d.edge_frame_weight must be within [0, 1]")
if min(gui.processing.sar3d.voxel_x_m, gui.processing.sar3d.voxel_y_m, gui.processing.sar3d.voxel_z_m) <= 0.0:
raise ValueError("gui.processing.sar3d.voxel_x/y/z_m must each be > 0")
if gui.processing.sar3d.x_max_m <= gui.processing.sar3d.x_min_m:
raise ValueError("gui.processing.sar3d.x_max_m must be > x_min_m")
if gui.processing.sar3d.y_max_m <= gui.processing.sar3d.y_min_m:
raise ValueError("gui.processing.sar3d.y_max_m must be > y_min_m")
if gui.processing.sar3d.z_max_m <= gui.processing.sar3d.z_min_m:
raise ValueError("gui.processing.sar3d.z_max_m must be > z_min_m")
if gui.processing.sar3d.ground_depth_m < 0.0:
raise ValueError("gui.processing.sar3d.ground_depth_m must be >= 0")
if gui.processing.sar3d.tx_per_segment < 1:
@@ -849,9 +871,12 @@ def gui_profile_to_dict(model: GuiProfileModel) -> dict[str, Any]:
"pitch_override_enabled": gui.processing.sar3d.pitch_override_enabled,
"pitch_deg": gui.processing.sar3d.pitch_deg,
"ground_depth_m": gui.processing.sar3d.ground_depth_m,
"x_margin_m": gui.processing.sar3d.x_margin_m,
"x_min_m": gui.processing.sar3d.x_min_m,
"x_max_m": gui.processing.sar3d.x_max_m,
"y_min_m": gui.processing.sar3d.y_min_m,
"y_max_m": gui.processing.sar3d.y_max_m,
"z_min_m": gui.processing.sar3d.z_min_m,
"z_max_m": gui.processing.sar3d.z_max_m,
"voxel_x_m": gui.processing.sar3d.voxel_x_m,
"voxel_y_m": gui.processing.sar3d.voxel_y_m,
"voxel_z_m": gui.processing.sar3d.voxel_z_m,
python_app/models/gui_profile_schema.py
+4 -1
View File
@@ -148,9 +148,12 @@ class GuiSar3dStateModel:
pitch_override_enabled: bool = False
pitch_deg: float = 17.5
ground_depth_m: float = 1.25
x_margin_m: float = 2.0
x_min_m: float = -2.0
x_max_m: float = 2.0
y_min_m: float = -0.5
y_max_m: float = 2.0
z_min_m: float = 0.0
z_max_m: float = 8.0
voxel_x_m: float = 0.025
voxel_y_m: float = 0.02
voxel_z_m: float = 0.02
python_app/orchestration/live_processing_config.py
+11 -4
View File
@@ -82,11 +82,15 @@ class ProcessingLiveConfig:
sar3d_pitch_deg: float = 17.5
# Height of the lower antenna row above the ground (scene Y=0 = ground).
sar3d_ground_depth_m: float = 1.25
# Full-region grid: X spans the antennas +- margin, Y is height above the
# ground, Z covers the radar depth gate over the Y range.
sar3d_x_margin_m: float = 2.0
# Scene grid bounds (metres): X across, Y height above the ground, Z along
# the ground away from the radar. Voxels outside the radar depth gate are
# zeroed by the mask regardless of the Z window.
sar3d_x_min_m: float = -2.0
sar3d_x_max_m: float = 2.0
sar3d_y_min_m: float = -0.5
sar3d_y_max_m: float = 2.0
sar3d_z_min_m: float = 0.0
sar3d_z_max_m: float = 8.0
sar3d_voxel_x_m: float = 0.025
sar3d_voxel_y_m: float = 0.02
sar3d_voxel_z_m: float = 0.02
@@ -171,9 +175,12 @@ class ProcessingLiveConfig:
"sar3d_pitch_override_enabled": bool(self.sar3d_pitch_override_enabled),
"sar3d_pitch_deg": float(self.sar3d_pitch_deg),
"sar3d_ground_depth_m": float(self.sar3d_ground_depth_m),
"sar3d_x_margin_m": float(self.sar3d_x_margin_m),
"sar3d_x_min_m": float(self.sar3d_x_min_m),
"sar3d_x_max_m": float(self.sar3d_x_max_m),
"sar3d_y_min_m": float(self.sar3d_y_min_m),
"sar3d_y_max_m": float(self.sar3d_y_max_m),
"sar3d_z_min_m": float(self.sar3d_z_min_m),
"sar3d_z_max_m": float(self.sar3d_z_max_m),
"sar3d_voxel_x_m": float(self.sar3d_voxel_x_m),
"sar3d_voxel_y_m": float(self.sar3d_voxel_y_m),
"sar3d_voxel_z_m": float(self.sar3d_voxel_z_m),
python_app/scripts/replay_smoke_run.py
+4 -1
View File
@@ -89,9 +89,12 @@ def _sar3d_live_config(profile_path: Path) -> ProcessingLiveConfig:
)
live.sar3d_pitch_deg = float(sar3d.get("pitch_deg", live.sar3d_pitch_deg))
live.sar3d_ground_depth_m = float(sar3d.get("ground_depth_m", live.sar3d_ground_depth_m))
live.sar3d_x_margin_m = float(sar3d.get("x_margin_m", live.sar3d_x_margin_m))
live.sar3d_x_min_m = float(sar3d.get("x_min_m", live.sar3d_x_min_m))
live.sar3d_x_max_m = float(sar3d.get("x_max_m", live.sar3d_x_max_m))
live.sar3d_y_min_m = float(sar3d.get("y_min_m", live.sar3d_y_min_m))
live.sar3d_y_max_m = float(sar3d.get("y_max_m", live.sar3d_y_max_m))
live.sar3d_z_min_m = float(sar3d.get("z_min_m", live.sar3d_z_min_m))
live.sar3d_z_max_m = float(sar3d.get("z_max_m", live.sar3d_z_max_m))
live.sar3d_voxel_x_m = float(sar3d.get("voxel_x_m", live.sar3d_voxel_x_m))
live.sar3d_voxel_y_m = float(sar3d.get("voxel_y_m", live.sar3d_voxel_y_m))
live.sar3d_voxel_z_m = float(sar3d.get("voxel_z_m", live.sar3d_voxel_z_m))