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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The old sar3d core was a port of the superseded Horns_3D notebook and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
Download Patch File Download Diff File Expand all files Collapse all files
data_acq_and_processing/processing/data_processor/include/processing_live_config.hpp
+33 -13
View File
@@ -90,21 +90,41 @@ 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;
// 3D SAR (sar3d processor) parameters; defaults mirror the reference
// notebook Multi_antenna_3D_clean_v1.ipynb (cells 0/4). 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 = 0U;
float sar3d_edge_frame_weight = 0.8F;
// Frame pitch for ground coordinates and inter-frame offsets. Override
// disabled -> the pitch follows gpr_look_angle_deg (notebook
// BP_GROUND_PITCH_DEG = None).
bool sar3d_pitch_override_enabled = false;
float sar3d_pitch_deg = 17.5F;
// Height of the LOWER antenna row above the ground; scene Y=0 is the ground.
float sar3d_ground_depth_m = 1.25F;
// Full-region grid: X spans the antennas +- x_margin, Y is height above the
// ground, Z covers radar depths [gpr_min_depth, gpr_max_depth] over the Y
// range. Voxel pitch per axis.
float sar3d_x_margin_m = 2.0F;
float sar3d_y_min_m = -0.5F;
float sar3d_y_max_m = 2.0F;
float sar3d_voxel_x_m = 0.025F;
float sar3d_voxel_y_m = 0.02F;
float sar3d_voxel_z_m = 0.02F;
// Volume finalization: normalization ignores this much of the grid's Y
// edges (constant-range ridge), then Gaussian smoothing over (Z, X).
float sar3d_norm_edge_margin_m = 0.3F;
float sar3d_smooth_sigma = 1.5F;
// Geometric spreading compensation 1/(Rtx*Rrx)^power, capped.
float sar3d_comp_range_power = 0.3F;
// Fallback frame segmentation when per-trace capture stamps are absent.
std::uint32_t sar3d_tx_per_segment = 2U;
bool sar3d_use_compensation = true;
bool sar3d_normalize_pairs = true;
// Debug: when non-empty, the processor dumps every finished volume to this
// directory (raw float32 + json header). Used by the parity tool only.
std::string sar3d_volume_dump_dir{};
// Bottom-view projection angle around the vertical Y axis, degrees:
// 0 = front view (X horizontal), 90 = side view (Z horizontal),
// intermediate values project along the rotated horizontal direction.
data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp
+23 -20
View File
@@ -392,10 +392,16 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
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},
std::pair{"sar3d_ground_depth_m", &config.sar3d_ground_depth_m},
std::pair{"sar3d_x_margin_m", &config.sar3d_x_margin_m},
std::pair{"sar3d_y_min_m", &config.sar3d_y_min_m},
std::pair{"sar3d_y_max_m", &config.sar3d_y_max_m},
std::pair{"sar3d_voxel_x_m", &config.sar3d_voxel_x_m},
std::pair{"sar3d_voxel_y_m", &config.sar3d_voxel_y_m},
std::pair{"sar3d_voxel_z_m", &config.sar3d_voxel_z_m},
std::pair{"sar3d_norm_edge_margin_m", &config.sar3d_norm_edge_margin_m},
std::pair{"sar3d_smooth_sigma", &config.sar3d_smooth_sigma},
std::pair{"sar3d_comp_range_power", &config.sar3d_comp_range_power},
std::pair{"sar3d_bottom_view_deg", &config.sar3d_bottom_view_deg},
}) {
if (const auto found = root.find(key); found != root.end()) {
@@ -405,27 +411,24 @@ void apply_legacy_gpr_algorithm_alias(ProcessingLiveConfig& config, const std::s
*target = static_cast<float>(found->get<double>());
}
}
if (const auto found = root.find("sar3d_tx_per_segment"); found != root.end()) {
config.sar3d_tx_per_segment = parse_u32_number(*found, "processing.sar3d_tx_per_segment");
if (config.sar3d_tx_per_segment == 0U) {
throw std::runtime_error("processing.sar3d_tx_per_segment must be >= 1");
}
}
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},
std::pair{"sar3d_pitch_override_enabled", &config.sar3d_pitch_override_enabled},
std::pair{"sar3d_use_compensation", &config.sar3d_use_compensation},
std::pair{"sar3d_normalize_pairs", &config.sar3d_normalize_pairs},
}) {
if (const auto found = root.find(key); found != root.end()) {
*target = parse_u32_number(*found, std::string("processing.") + key);
if (!found->is_boolean()) {
throw std::runtime_error(std::string("processing.") + key + " must be bool");
}
*target = found->get<bool>();
}
}
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");