projector version

data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp

@@ -90,6 +90,21 @@ struct ProcessingLiveConfig {
     float gpr_visible_x_max_m = 2.0F;
     float gpr_visible_z_min_m = 0.0F;
     float gpr_visible_z_max_m = 14.0F;
+    // 3D SAR (sar3d processor) parameters; defaults mirror VNA_AlGo gpr_core.
+    // Frequency band, depth gate, antenna selection and motion (speed, look
+    // angle, direction, phase correction) are shared with the gpr_* fields.
+    std::uint32_t sar3d_frame_radius = 6U;
+    float sar3d_edge_frame_weight = 0.75F;
+    float sar3d_pitch_deg = 6.0F;
+    float sar3d_center_depth_m = 5.6F;
+    float sar3d_half_width_x_m = 1.8F;
+    float sar3d_half_width_y_m = 1.0F;
+    float sar3d_half_width_z_m = 1.8F;
+    std::uint32_t sar3d_grid_nx = 150U;
+    std::uint32_t sar3d_grid_ny = 120U;
+    std::uint32_t sar3d_grid_nz = 160U;
+    bool sar3d_use_compensation = true;
+    bool sar3d_normalize_pairs = true;
     // When true, the data_processor ignores socket-supplied `vlc` updates and
     // keeps using `gpr_speed_m_s` from this file. Mirrored from the GUI's
     // "ignore socket speed" checkbox.

data_acq_and_processing/processing/data_processor/src/data_processor.cpp

@@ -13,6 +13,7 @@
 #include "bscan_processor.hpp"
 #include "gpr_processor.hpp"
 #include "passthrough_processor.hpp"
+#include "sar3d_processor.hpp"
 
 namespace radar::processing {
 namespace {
@@ -280,6 +281,10 @@ auto create_default_processors() -> ProcessorRegistry {
         auto processor = std::make_unique<LegacyGprProcessor>();
         processors.emplace(processor->name(), std::move(processor));
     }
+    {
+        auto processor = std::make_unique<Sar3dProcessor>();
+        processors.emplace(processor->name(), std::move(processor));
+    }
     return processors;
 }
 

data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp

@@ -386,6 +386,45 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
         config.gpr_object_approach_min_frames =
             parse_u32_number(*found, "processing.gpr_object_approach_min_frames");
     }
+    if (const auto found = root.find("sar3d_frame_radius"); found != root.end()) {
+        config.sar3d_frame_radius = parse_u32_number(*found, "processing.sar3d_frame_radius");
+    }
+    for (const auto& [key, target] : {
+             std::pair{"sar3d_edge_frame_weight", &config.sar3d_edge_frame_weight},
+             std::pair{"sar3d_pitch_deg", &config.sar3d_pitch_deg},
+             std::pair{"sar3d_center_depth_m", &config.sar3d_center_depth_m},
+             std::pair{"sar3d_half_width_x_m", &config.sar3d_half_width_x_m},
+             std::pair{"sar3d_half_width_y_m", &config.sar3d_half_width_y_m},
+             std::pair{"sar3d_half_width_z_m", &config.sar3d_half_width_z_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 = static_cast<float>(found->get<double>());
+        }
+    }
+    for (const auto& [key, target] : {
+             std::pair{"sar3d_grid_nx", &config.sar3d_grid_nx},
+             std::pair{"sar3d_grid_ny", &config.sar3d_grid_ny},
+             std::pair{"sar3d_grid_nz", &config.sar3d_grid_nz},
+         }) {
+        if (const auto found = root.find(key); found != root.end()) {
+            *target = parse_u32_number(*found, std::string("processing.") + key);
+        }
+    }
+    if (const auto found = root.find("sar3d_use_compensation"); found != root.end()) {
+        if (!found->is_boolean()) {
+            throw std::runtime_error("processing.sar3d_use_compensation must be bool");
+        }
+        config.sar3d_use_compensation = found->get<bool>();
+    }
+    if (const auto found = root.find("sar3d_normalize_pairs"); found != root.end()) {
+        if (!found->is_boolean()) {
+            throw std::runtime_error("processing.sar3d_normalize_pairs must be bool");
+        }
+        config.sar3d_normalize_pairs = found->get<bool>();
+    }
     if (const auto found = root.find("ignore_socket_speed"); found != root.end()) {
         if (!found->is_boolean()) {
             throw std::runtime_error("processing.ignore_socket_speed must be bool");