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Port the SAR3D background gate, CLEAN and object boxes from Multi_depthnorm_clean

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- BG_GATE_ENABLE: frame peak over its median background (sar3d_background); the
  GUI scales the frame with bg_gate_gain and its cloud threshold.
- SAR_CLEAN_ENABLE: CLEAN of a one-frame aperture on a 4x10x4 cm search grid over
  the whole scene; objects in their own scale (sar3d_objects).
- SAR_MARK_ENABLE: boxes by class around object groups (sar3d_marks), with the
  legend under the views.
- SAR_VOXEL_M as three steps X/Y/Z with the notebook defaults 0.025/0.02/0.02.
- GPU backend: image/download/load/project API, per-plane block reduction for the
  maximum, depth gate without FMA; sar3d host code built with -ffp-contract=off.
- References regenerated from notebook cells 1 and 5, with new CLEAN scenes and a
  synthetic box-rule case; docs updated.
This commit is contained in:
Ayzen
2026-10-16 12:08:57 +03:00
parent 9a9b8ce5c7
commit b88d704126
26 changed files with 1895 additions and 407 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_acq_and_processing/tests/backprojection_fixture.cpp
+58 -17
View File
@@ -1,9 +1,11 @@
#include "sar3d_processor.hpp"
#include "gpr_processor.hpp"
#include "../processing/processors/src/sar3d_clean.hpp"
#include <algorithm>
#include <complex>
#include <iostream>
#include <numbers>
#include <vector>
#include <nlohmann/json.hpp>
@@ -40,11 +42,37 @@ auto collection(const Json& source) -> ipc::PreprocessedCollection {
}
return result;
}
// Boxes around given CLEAN objects, rows [x, y, z, y_low, y_high, level], in a scene with the
// given X and Y bounds and radar placement (sar3d::marks).
auto marks(const Json& input) -> Json {
std::vector<processing::sar3d::CleanObject> objects;
for (const auto& row : input.at("objects")) {
objects.push_back({.index = {}, .position = {row.at(0), row.at(1), row.at(2)},
.y_low = row.at(3), .y_high = row.at(4), .level = row.at(5)});
}
const auto x = input.at("x").get<std::vector<double>>();
const auto y = input.at("y").get<std::vector<double>>();
const processing::sar3d::VolumeRequest frame{
.grid = {x, y, {}},
.pitch_rad = input.at("pitch").get<double>() * (std::numbers::pi / 180.0),
.ground_depth_m = input.at("ground"),
.min_depth_m = input.at("min_depth"),
.max_depth_m = input.at("max_depth"),
};
Json rows = Json::array();
for (const auto& mark : processing::sar3d::marks(objects, frame)) {
Json row = Json::array({static_cast<int>(mark.kind)});
for (const double edge : mark.box) { row.push_back(edge); }
rows.push_back(std::move(row));
}
return Json{{"marks", rows}};
}
}
// Runs GPR or sar3d on one request or a batch, retaining processor caches. Each request holds the antenna
// geometry, the live settings and the latest and previous collections; the
// published payloads go to stdout as JSON.
// published payloads go to stdout as JSON. A request with mode "marks" boxes given objects instead.
int main() {
try {
const Json source = Json::parse(std::cin);
@@ -54,6 +82,10 @@ int main() {
processing::Sar3dProcessor sar;
processing::GprProcessor gpr;
for (const auto& input : requests) {
if (input.value("mode", "sar3d") == "marks") {
results.push_back(marks(input));
continue;
}
config::RunConfig config;
config.rings.results.slot_size_bytes = input.value("slot", config.rings.results.slot_size_bytes);
for (const auto& row : input.at("tx")) {
@@ -62,6 +94,7 @@ int main() {
for (const auto& row : input.at("rx")) {
config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
}
const bool gpr_mode = input.value("mode", "sar3d") == "gpr";
processing::ProcessingLiveConfig live;
live.gpr_start_freq_mhz = input.at("f_start").get<double>() / 1e6;
live.gpr_stop_freq_mhz = input.at("f_stop").get<double>() / 1e6;
@@ -69,31 +102,39 @@ int main() {
live.gpr_max_depth_m = input.at("max_depth");
live.gpr_speed_m_s = input.at("speed");
live.gpr_look_angle_deg = input.at("pitch");
live.sar3d_voxel_m = input.at("voxel");
live.sar3d_bp_ground_depth_m = input.at("ground");
live.sar3d_frame_radius = input.at("radius");
live.sar3d_comp_range_power = input.at("power");
live.sar3d_use_compensation = input.at("compensation");
live.sar3d_normalize_each_frame = input.at("normalize");
live.pair_depth_equalize = input.value("equalize", true);
live.gpr_background_subtract_enabled = input.value("subtract_mean", false);
live.gpr_background_mean_count = input.value("mean_count", 10U);
live.sar3d_x_size_m = input.value("x_size", 0.0F);
live.sar3d_y_min_m = input.value("y_min", -0.5F);
live.sar3d_y_max_m = input.value("y_max", 2.0F);
live.sar3d_z_size_m = input.value("z_size", 0.0F);
live.gpr_bp_ground_depth_m = input.at("ground");
live.gpr_range_comp_power = input.at("power");
live.gpr_motion_mode = input.value("motion", "int_minus");
live.gpr_object_approach_min_frames = 1;
live.gpr_remove_sidelobe_objects_enabled = false;
if (gpr_mode) {
live.gpr_bp_ground_depth_m = input.at("ground");
live.gpr_range_comp_power = input.at("power");
live.gpr_motion_mode = input.value("motion", "int_minus");
live.gpr_object_approach_min_frames = 1;
live.gpr_remove_sidelobe_objects_enabled = false;
} else {
const auto& voxel = input.at("voxel");
live.sar3d_voxel_x_m = voxel.at(0);
live.sar3d_voxel_y_m = voxel.at(1);
live.sar3d_voxel_z_m = voxel.at(2);
live.sar3d_bp_ground_depth_m = input.at("ground");
live.sar3d_frame_radius = input.at("radius");
live.sar3d_comp_range_power = input.at("power");
live.sar3d_use_compensation = input.at("compensation");
live.sar3d_normalize_each_frame = input.at("normalize");
live.sar3d_x_size_m = input.value("x_size", 0.0F);
live.sar3d_y_min_m = input.value("y_min", -0.5F);
live.sar3d_y_max_m = input.value("y_max", 2.0F);
live.sar3d_z_size_m = input.value("z_size", 0.0F);
live.sar3d_bg_gate_enabled = input.value("bg_gate", live.sar3d_bg_gate_enabled);
live.sar3d_clean_enabled = input.value("clean", live.sar3d_clean_enabled);
}
std::vector<ipc::PreprocessedCollection> previous;
for (const auto& member : input.at("previous")) {
previous.push_back(collection(member));
}
const auto latest = collection(input.at("latest"));
for (const auto& trace : latest.traces) { config.run_combos.push_back(trace.combo); }
processing::ProcessorInterface& processor = input.value("mode", "sar3d") == "gpr"
processing::ProcessorInterface& processor = gpr_mode
? static_cast<processing::ProcessorInterface&>(gpr) : static_cast<processing::ProcessorInterface&>(sar);
const auto result = processor.process_collection(config, latest, previous, live);
Json payloads = Json::array();