The processor appended sweeps the GUI fed back to its own history, so its next replay
published them twice and out of order, and the B-scan came out with rotated columns.
Fed-back sweeps now stay out of that history, results are kept in timestamp order,
picking the displayed combo only redraws and only new sweeps are recorded to disk.
The sar3d processor is rewritten as a checked port of Multi_antenna_3D_clean_v1.ipynb:
NVRTC kernels, timing from the trace stamps, notebook parameter names and one cubic
SAR_VOXEL_M. It adds front, side, top and 3D views, drops gpr_cpp and the parity tools,
and the GUI speed now applies only while the socket speed is ignored.
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>
- replay_raw_producer carries the RECORDED per-trace capture windows
from each snapshot's meta.json (re-anchored by the same shift as the
frame time) instead of one synthetic window for all traces — without
this the segmented timing model degenerates in replay;
- GUI/profile/orchestration swap the removed window knobs
(center_depth, half_width_*, grid_n*) for the notebook parameters
(ground depth, pitch override, voxel pitch, Y range, X margin, norm
edge margin, smooth sigma, comp power, tx per segment).
Headless replay smoke on the 20260922_mine_fast_true dataset passes:
51 sar3d result collections, transparent preprocessor.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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