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sar3d: port the Multi_antenna_3D_clean_v1 notebook algorithm

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The old sar3d core was a port of the superseded Horns_3D notebook and
produced wrong volumes. The compute core now follows the reference
notebook exactly:

- segmented_interleaved frame timing rebuilt from per-trace capture
  stamps (uniform tx_per_segment split as the no-stamps fallback), with
  the coarse inter-segment dtau and the intra-sweep dtau applied as one
  phase ramp before the IFFT;
- ground scene coordinates with the ground_depth_m lift (scene Y=0 is
  the ground), full-region grid instead of a window around a center
  depth, geo_ref compensation anchored on the ground plane, power 0.3;
- notebook finalization in C++: |acc/cnt|, depth mask, normalization
  without the Y-edge planes, separable Gaussian over (Z, X), level;
- CUDA kernel computes geometry in double: float32 loses ~3e-4 of an
  A-scan sample in tau and drifts ~1e-4 from the float64 reference.

Live-config keys follow: the center_depth/half_width/grid_n window knobs
are replaced by ground/voxel/y-range/margin/sigma/power/tx_per_segment.

Parity against the notebook npz exports (frames 0034-0036 of the
20260922_mine_fast_true dataset): max|diff| <= 1.6e-6 off the depth-mask
knife edge, identical argmax, level rel diff <= 7e-7. Verified via
make sar3d_parity --dump-dir + scripts/sar3d_volume_compare.py; the
executable spec lives in scripts/sar3d_reference_check.py (bit-tight
against the npz, including the animation shifted-grid arithmetic).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
awe
2026-09-25 16:42:01 +03:00
co-authored by Claude Fable 5
parent e9a0b43ed3
commit b8cb572bc4
17 changed files with 1264 additions and 353 deletions
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Makefile
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@@ -145,11 +145,14 @@ all: $(TARGETS)
kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector
# On-demand parity check of the sar3d processor against the gpr_cpp
# standalone_bp example (same .npy dataset). Not part of `all`.
# On-demand parity check of the sar3d processor against the reference notebook
# volumes (scripts/sar3d_volume_compare.py diffs the dumped volume against a
# *_volume.npz export). Not part of `all`.
SAR3D_PARITY_OBJS := $(addprefix $(BUILD_DIR)/, \
data_acq_and_processing/processing/tools/sar3d_parity_main.o \
data_acq_and_processing/processing/processors/src/sar3d_processor.o)
data_acq_and_processing/processing/processors/src/sar3d_processor.o \
data_acq_and_processing/common_cpp/config/src/run_config.o \
data_acq_and_processing/common_cpp/ipc/src/shared_types.o)
sar3d_parity: $(BIN_DIR)/sar3d_parity