Ayzen
b88d704126
- 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.
155 lines
7.4 KiB
C++
155 lines
7.4 KiB
C++
#include "sar3d_processor.hpp"
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#include "gpr_processor.hpp"
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#include "../processing/processors/src/sar3d_clean.hpp"
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#include <algorithm>
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#include <complex>
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#include <iostream>
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#include <numbers>
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#include <vector>
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#include <nlohmann/json.hpp>
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using Json = nlohmann::json;
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using namespace radar;
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namespace {
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auto complex_samples(const Json& samples) -> std::vector<std::complex<float>> {
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std::vector<std::complex<float>> values;
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for (const auto& sample : samples) {
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values.emplace_back(sample.at(0).get<float>(), sample.at(1).get<float>());
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}
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return values;
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}
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auto collection(const Json& source) -> ipc::PreprocessedCollection {
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ipc::PreprocessedCollection result;
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result.collection_id = source.at("id");
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result.monotonic_ns = source.at("timestamp");
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for (const auto& entry : source.at("traces")) {
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ipc::SweepTraceBlock trace;
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trace.combo = {entry.at("input"), entry.at("output")};
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trace.capture_start_ns = entry.at("start");
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trace.capture_end_ns = entry.at("end");
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trace.frequency_hz = entry.at("frequency").get<std::vector<float>>();
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for (const auto& sample : complex_samples(entry.at("s21"))) {
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trace.s21.push_back({sample.real(), sample.imag()});
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}
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if (result.traces.empty() || trace.capture_start_ns < result.capture_start_ns) {
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result.capture_start_ns = trace.capture_start_ns;
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}
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result.capture_end_ns = std::max(result.capture_end_ns, trace.capture_end_ns);
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result.traces.push_back(std::move(trace));
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}
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return result;
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}
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// Boxes around given CLEAN objects, rows [x, y, z, y_low, y_high, level], in a scene with the
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// given X and Y bounds and radar placement (sar3d::marks).
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auto marks(const Json& input) -> Json {
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std::vector<processing::sar3d::CleanObject> objects;
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for (const auto& row : input.at("objects")) {
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objects.push_back({.index = {}, .position = {row.at(0), row.at(1), row.at(2)},
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.y_low = row.at(3), .y_high = row.at(4), .level = row.at(5)});
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}
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const auto x = input.at("x").get<std::vector<double>>();
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const auto y = input.at("y").get<std::vector<double>>();
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const processing::sar3d::VolumeRequest frame{
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.grid = {x, y, {}},
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.pitch_rad = input.at("pitch").get<double>() * (std::numbers::pi / 180.0),
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.ground_depth_m = input.at("ground"),
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.min_depth_m = input.at("min_depth"),
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.max_depth_m = input.at("max_depth"),
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};
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Json rows = Json::array();
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for (const auto& mark : processing::sar3d::marks(objects, frame)) {
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Json row = Json::array({static_cast<int>(mark.kind)});
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for (const double edge : mark.box) { row.push_back(edge); }
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rows.push_back(std::move(row));
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}
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return Json{{"marks", rows}};
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}
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}
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// Runs GPR or sar3d on one request or a batch, retaining processor caches. Each request holds the antenna
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// geometry, the live settings and the latest and previous collections; the
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// published payloads go to stdout as JSON. A request with mode "marks" boxes given objects instead.
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int main() {
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try {
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const Json source = Json::parse(std::cin);
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const bool batch = source.is_array();
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const Json requests = batch ? source : Json::array({source});
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Json results = Json::array();
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processing::Sar3dProcessor sar;
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processing::GprProcessor gpr;
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for (const auto& input : requests) {
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if (input.value("mode", "sar3d") == "marks") {
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results.push_back(marks(input));
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continue;
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}
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config::RunConfig config;
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config.rings.results.slot_size_bytes = input.value("slot", config.rings.results.slot_size_bytes);
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for (const auto& row : input.at("tx")) {
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config.gpr.tx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
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}
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for (const auto& row : input.at("rx")) {
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config.gpr.rx_geometry.push_back({row.at(0), row.at(1), row.at(2), row.at(3)});
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}
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const bool gpr_mode = input.value("mode", "sar3d") == "gpr";
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processing::ProcessingLiveConfig live;
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live.gpr_start_freq_mhz = input.at("f_start").get<double>() / 1e6;
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live.gpr_stop_freq_mhz = input.at("f_stop").get<double>() / 1e6;
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live.gpr_min_depth_m = input.at("min_depth");
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live.gpr_max_depth_m = input.at("max_depth");
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live.gpr_speed_m_s = input.at("speed");
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live.gpr_look_angle_deg = input.at("pitch");
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live.pair_depth_equalize = input.value("equalize", true);
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live.gpr_background_subtract_enabled = input.value("subtract_mean", false);
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live.gpr_background_mean_count = input.value("mean_count", 10U);
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if (gpr_mode) {
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live.gpr_bp_ground_depth_m = input.at("ground");
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live.gpr_range_comp_power = input.at("power");
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live.gpr_motion_mode = input.value("motion", "int_minus");
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live.gpr_object_approach_min_frames = 1;
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live.gpr_remove_sidelobe_objects_enabled = false;
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} else {
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const auto& voxel = input.at("voxel");
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live.sar3d_voxel_x_m = voxel.at(0);
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live.sar3d_voxel_y_m = voxel.at(1);
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live.sar3d_voxel_z_m = voxel.at(2);
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live.sar3d_bp_ground_depth_m = input.at("ground");
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live.sar3d_frame_radius = input.at("radius");
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live.sar3d_comp_range_power = input.at("power");
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live.sar3d_use_compensation = input.at("compensation");
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live.sar3d_normalize_each_frame = input.at("normalize");
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live.sar3d_x_size_m = input.value("x_size", 0.0F);
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live.sar3d_y_min_m = input.value("y_min", -0.5F);
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live.sar3d_y_max_m = input.value("y_max", 2.0F);
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live.sar3d_z_size_m = input.value("z_size", 0.0F);
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live.sar3d_bg_gate_enabled = input.value("bg_gate", live.sar3d_bg_gate_enabled);
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live.sar3d_clean_enabled = input.value("clean", live.sar3d_clean_enabled);
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}
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std::vector<ipc::PreprocessedCollection> previous;
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for (const auto& member : input.at("previous")) {
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previous.push_back(collection(member));
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}
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const auto latest = collection(input.at("latest"));
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for (const auto& trace : latest.traces) { config.run_combos.push_back(trace.combo); }
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processing::ProcessorInterface& processor = gpr_mode
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? static_cast<processing::ProcessorInterface&>(gpr) : static_cast<processing::ProcessorInterface&>(sar);
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const auto result = processor.process_collection(config, latest, previous, live);
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Json payloads = Json::array();
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for (const auto& payload : result.collection_payloads) {
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payloads.push_back({{"name", payload.processing_name},
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{"x", payload.image_x_axis}, {"y", payload.image_y_axis},
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{"image", payload.image_values}, {"table", payload.table_values},
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{"columns", payload.table_columns}});
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}
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results.push_back(Json{{"payloads", payloads}});
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}
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std::cout << (batch ? results : results.at(0)) << '\n';
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} catch (const std::exception& error) {
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std::cout << Json{{"error", error.what()}} << '\n';
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return 1;
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}
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}
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