best version

Co-authored-by: Cursor <cursoragent@cursor.com>

backend/dataset_generator.py

@@ -1,7 +1,10 @@
 """Batch synthetic sonar dataset generator for PointNet semantic segmentation.
 
 Produces paired Area_X_scene_XXXX.npy + .obj files under sonar_dataset/.
-Target class 1 = user-provided object (from .obj mesh vertices); class 0 = seafloor / clutter.
+Each scene point is one echosounder return: for every beam×ping ray the first
+hit (object or seafloor) is recorded; denser object returns come only from
+sonar resolution and geometry, not from overlaying a second cloud.
+Target class 1 = user-provided object; class 0 = seafloor.
 """
 
 from __future__ import annotations
@@ -15,12 +18,7 @@ from scene_generator import (
     apply_transform,
     export_npy_float64,
     export_obj,
-    generate_box,
-    generate_pipe,
-    generate_sphere,
-    generate_torus,
     parse_obj_points,
-    points_to_pointnet_rows,
 )
 
 # Full dataset layout (train / val / test).
@@ -84,35 +82,6 @@ def load_object_points_from_obj_text(text: str) -> list[list[float]]:
     return normalize_object_points(points)
 
 
-def resample_object_points(
-    template: list[list[float]],
-    count: int,
-    *,
-    noise: float = 0.0,
-    seed: int = 1,
-) -> list[list[float]]:
-    """Subsample (or sample with replacement) template points to the requested count."""
-    if not template:
-        raise ValueError("Object template is empty.")
-    rng = random.Random(int(seed))
-    count = max(1, int(count))
-    out: list[list[float]] = []
-    n = len(template)
-    for _ in range(count):
-        src = template[rng.randrange(n)]
-        if noise > 0:
-            out.append(
-                [
-                    src[0] + rng.uniform(-noise, noise),
-                    src[1] + rng.uniform(-noise, noise),
-                    src[2] + rng.uniform(-noise, noise),
-                ]
-            )
-        else:
-            out.append([src[0], src[1], src[2]])
-    return out
-
-
 def object_half_extent_z(points: list[list[float]]) -> float:
     if not points:
         return 0.35
@@ -121,7 +90,7 @@ def object_half_extent_z(points: list[list[float]]) -> float:
 
 
 # ---------------------------------------------------------------------------
-# Seafloor / clutter
+# Seafloor heightfield + echosounder ray casting
 # ---------------------------------------------------------------------------
 
 def _seafloor_height(
@@ -153,17 +122,13 @@ def _seafloor_height(
     return z
 
 
-def _generate_seafloor(
+def _build_seafloor_meta(
     rng: random.Random,
     *,
     beam_count: int = 45,
     length_count: int | None = None,
-) -> tuple[list[list[float]], dict[str, Any]]:
+) -> dict[str, Any]:
-    """Sample seafloor as a square relief grid.
+    """Build continuous seafloor heightfield parameters (no point cloud yet)."""
-
-    beam_count controls width resolution (X axis).
-    length_count controls length resolution (Y axis).
-    """
     beams = max(1, int(beam_count))
     length_points = beams if length_count is None else max(1, int(length_count))
     size_x = rng.uniform(8.0, 16.0)
@@ -171,7 +136,6 @@ def _generate_seafloor(
     base_z = rng.uniform(-1.2, -0.2)
     amplitude = rng.uniform(0.05, 0.35)
     frequency = rng.uniform(0.4, 2.2)
-    noise = rng.uniform(0.005, 0.04)
 
     hills = [
         (
@@ -191,17 +155,18 @@ def _generate_seafloor(
         )
         for _ in range(rng.randint(1, 3))
     ]
+    # Relief clutter / false features as heightfield bumps (not extra points)
     bumps = [
         (
             rng.uniform(-size_x * 0.45, size_x * 0.45),
             rng.uniform(-size_y * 0.45, size_y * 0.45),
-            rng.uniform(0.03, 0.18),
+            rng.uniform(0.03, 0.35),
-            rng.uniform(0.15, 0.55),
+            rng.uniform(0.15, 0.9),
         )
-        for _ in range(rng.randint(3, 12))
+        for _ in range(rng.randint(4, 14))
     ]
 
-    meta = {
+    return {
         "sizeX": size_x,
         "sizeY": size_y,
         "baseZ": base_z,
@@ -214,59 +179,11 @@ def _generate_seafloor(
         "lengthCount": length_points,
         "gridWidthPoints": beams,
         "gridLengthPoints": length_points,
+        "pingCount": length_points,
+        "swathBeams": beams,
+        "noise": rng.uniform(0.002, 0.02),
     }
 
-    half_x = size_x * 0.5
-    half_y = size_y * 0.5
-    points: list[list[float]] = []
-    for yi in range(length_points):
-        y = -half_y if length_points == 1 else (-half_y + size_y * yi / (length_points - 1))
-        for xi in range(beams):
-            x = -half_x if beams == 1 else (-half_x + size_x * xi / (beams - 1))
-            x += rng.uniform(-noise * 2, noise * 2)
-            yj = y + rng.uniform(-noise * 2, noise * 2)
-            z = _seafloor_height(
-                x,
-                yj,
-                base_z=base_z,
-                amplitude=amplitude,
-                frequency=frequency,
-                hills=hills,
-                valleys=valleys,
-                bumps=bumps,
-            )
-            z += rng.uniform(-noise, noise)
-            points.append([x, yj, z])
-
-    # Local noise clusters (false sonar clutter blobs)
-    for _ in range(rng.randint(1, 5)):
-        cx = rng.uniform(-half_x * 0.8, half_x * 0.8)
-        cy = rng.uniform(-half_y * 0.8, half_y * 0.8)
-        cz = _seafloor_height(
-            cx,
-            cy,
-            base_z=base_z,
-            amplitude=amplitude,
-            frequency=frequency,
-            hills=hills,
-            valleys=valleys,
-            bumps=bumps,
-        ) + rng.uniform(0.0, 0.25)
-        n_blob = rng.randint(40, 280)
-        spread = rng.uniform(0.15, 0.7)
-        for _ in range(n_blob):
-            points.append(
-                [
-                    cx + rng.gauss(0, spread),
-                    cy + rng.gauss(0, spread),
-                    cz + rng.gauss(0, spread * 0.35),
-                ]
-            )
-
-    meta["pingCount"] = length_points
-    meta["swathBeams"] = beams
-    return points, meta
-
 
 def _height_at(x: float, y: float, meta: dict[str, Any]) -> float:
     return _seafloor_height(
@@ -281,76 +198,167 @@ def _height_at(x: float, y: float, meta: dict[str, Any]) -> float:
     )
 
 
-def _generate_false_objects(rng: random.Random, meta: dict[str, Any]) -> list[list[float]]:
+def _grid_xy(xi: int, yi: int, meta: dict[str, Any]) -> tuple[float, float]:
-    n_objects = rng.randint(0, 6)
+    beams = int(meta["beamCount"])
-    points: list[list[float]] = []
+    length_points = int(meta["lengthCount"])
-    half_x = float(meta["sizeX"]) * 0.5
+    size_x = float(meta["sizeX"])
-    half_y = float(meta["sizeY"]) * 0.5
+    size_y = float(meta["sizeY"])
-
+    half_x = size_x * 0.5
-    for i in range(n_objects):
+    half_y = size_y * 0.5
-        kind = rng.choice(["sphere", "box", "torus", "pipe"])
+    x = -half_x if beams == 1 else (-half_x + size_x * xi / (beams - 1))
-        count = rng.randint(80, 900)
+    y = -half_y if length_points == 1 else (-half_y + size_y * yi / (length_points - 1))
-        noise = rng.uniform(0.005, 0.03)
+    return x, y
-        seed = rng.randint(0, 10_000_000)
-        if kind == "sphere":
-            local = generate_sphere(
-                {"radius": rng.uniform(0.08, 0.55), "count": count, "noise": noise, "seed": seed}
-            )
-        elif kind == "box":
-            local = generate_box(
-                {
-                    "sizeX": rng.uniform(0.15, 1.2),
-                    "sizeY": rng.uniform(0.15, 1.0),
-                    "sizeZ": rng.uniform(0.08, 0.6),
-                    "count": count,
-                    "noise": noise,
-                    "seed": seed,
-                }
-            )
-        elif kind == "torus":
-            major = rng.uniform(0.15, 0.6)
-            local = generate_torus(
-                {
-                    "majorR": major,
-                    "minorR": rng.uniform(0.03, major * 0.4),
-                    "count": count,
-                    "noise": noise,
-                    "seed": seed,
-                }
-            )
-        else:
-            local = generate_pipe(
-                {
-                    "length": rng.uniform(0.4, 2.5),
-                    "radius": rng.uniform(0.04, 0.2),
-                    "axis": rng.choice(["x", "y", "z"]),
-                    "count": count,
-                    "noise": noise,
-                    "seed": seed,
-                }
-            )
-
-        tx = rng.uniform(-half_x * 0.75, half_x * 0.75)
-        ty = rng.uniform(-half_y * 0.75, half_y * 0.75)
-        floor_z = _height_at(tx, ty, meta)
-        # Rest on / slightly into seafloor
-        tz = floor_z + rng.uniform(-0.05, 0.35)
-        transform = {
-            "x": tx,
-            "y": ty,
-            "z": tz,
-            "rx": rng.uniform(-0.4, 0.4),
-            "ry": rng.uniform(-0.4, 0.4),
-            "rz": rng.uniform(0, 2 * math.pi),
-        }
-        world = apply_transform(local, transform)
-        # Drop points buried deep under seafloor
-        for p in world:
-            if p[2] >= _height_at(p[0], p[1], meta) - 0.02:
-                points.append(p)
-    return points
 
 
+def _cell_size(meta: dict[str, Any]) -> tuple[float, float]:
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    size_x = float(meta["sizeX"])
+    size_y = float(meta["sizeY"])
+    return size_x / max(beams - 1, 1), size_y / max(length_points - 1, 1)
+
+
+def _world_to_grid_index(
+    x: float,
+    y: float,
+    meta: dict[str, Any],
+) -> tuple[float, float]:
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    size_x = float(meta["sizeX"])
+    size_y = float(meta["sizeY"])
+    half_x = size_x * 0.5
+    half_y = size_y * 0.5
+    fx = 0.0 if beams == 1 else (x + half_x) / size_x * (beams - 1)
+    fy = 0.0 if length_points == 1 else (y + half_y) / size_y * (length_points - 1)
+    return fx, fy
+
+
+def _place_object_in_scene(
+    rng: random.Random,
+    meta: dict[str, Any],
+    visibility: str,
+    object_template: list[list[float]],
+    object_scale: float = 1.0,
+) -> tuple[list[list[float]], dict[str, Any]]:
+    """Pose the object on the seafloor; return world-space template vertices + info."""
+    base_scale = max(0.01, float(object_scale))
+    if visibility == "nearly_hidden":
+        burial = rng.uniform(0.35, 0.75)
+        scale = base_scale * rng.uniform(0.7, 1.15)
+    elif visibility == "partial":
+        burial = rng.uniform(0.12, 0.4)
+        scale = base_scale * rng.uniform(0.8, 1.3)
+    else:
+        burial = rng.uniform(-0.05, 0.15)
+        scale = base_scale * rng.uniform(0.85, 1.4)
+
+    local = [[p[0] * scale, p[1] * scale, p[2] * scale] for p in object_template]
+    half_x = float(meta["sizeX"]) * 0.35
+    half_y = float(meta["sizeY"]) * 0.35
+    tx = rng.uniform(-half_x, half_x)
+    ty = rng.uniform(-half_y, half_y)
+    floor_z = _height_at(tx, ty, meta)
+    half_h = object_half_extent_z(local)
+    tz = floor_z + half_h * (1.0 - 2.0 * burial)
+    transform = {
+        "x": tx,
+        "y": ty,
+        "z": tz,
+        "rx": rng.uniform(-0.25, 0.25),
+        "ry": rng.uniform(-0.2, 0.2),
+        "rz": rng.uniform(0, 2 * math.pi),
+    }
+    world = apply_transform(local, transform)
+    info = {
+        "visibility": visibility,
+        "transform": transform,
+        "scale": scale,
+        "objectScale": base_scale,
+        "burial": burial,
+        "vertexCount": len(world),
+        "classLabel": "object",
+        "classId": 1,
+    }
+    return world, info
+
+
+def _rasterize_object_hits(
+    world_pts: list[list[float]],
+    meta: dict[str, Any],
+) -> dict[tuple[int, int], float]:
+    """Project object vertices onto the sonar grid: first-hit Z per beam×ping cell.
+
+    Sensor looks down (+Z is closer). A cell stores the highest object Z that
+    falls into its footprint, so later casting can compare against seafloor Z.
+    """
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    cell_w, cell_h = _cell_size(meta)
+    # Cover gaps between sparse mesh vertices across neighboring cells
+    splat_rx = cell_w * 0.85
+    splat_ry = cell_h * 0.85
+    hits: dict[tuple[int, int], float] = {}
+
+    for px, py, pz in world_pts:
+        fx, fy = _world_to_grid_index(px, py, meta)
+        xi0 = int(math.floor(fx))
+        yi0 = int(math.floor(fy))
+        for dyi in (-1, 0, 1, 2):
+            for dxi in (-1, 0, 1, 2):
+                xi = xi0 + dxi
+                yi = yi0 + dyi
+                if xi < 0 or yi < 0 or xi >= beams or yi >= length_points:
+                    continue
+                cx, cy = _grid_xy(xi, yi, meta)
+                if abs(px - cx) > splat_rx or abs(py - cy) > splat_ry:
+                    continue
+                floor_z = _height_at(cx, cy, meta)
+                # Buried volume does not return a sonar echo above the seafloor
+                if pz < floor_z - 0.01:
+                    continue
+                key = (xi, yi)
+                prev = hits.get(key)
+                if prev is None or pz > prev:
+                    hits[key] = pz
+    return hits
+
+
+def _cast_echosounder_returns(
+    rng: random.Random,
+    meta: dict[str, Any],
+    object_hits: dict[tuple[int, int], float] | None,
+) -> tuple[list[list[float]], int, int]:
+    """One return per ray: first surface hit from above (object or seafloor).
+
+    Returns PointNet rows [x,y,z,r,g,b,class], object_count, background_count.
+    """
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    noise = float(meta.get("noise", 0.01))
+    rows: list[list[float]] = []
+    object_count = 0
+    background_count = 0
+
+    for yi in range(length_points):
+        for xi in range(beams):
+            x, y = _grid_xy(xi, yi, meta)
+            floor_z = _height_at(x, y, meta)
+            obj_z = object_hits.get((xi, yi)) if object_hits else None
+
+            # Looking down: larger Z is closer → first intersection wins.
+            if obj_z is not None and obj_z > floor_z:
+                z = obj_z + rng.uniform(-noise, noise)
+                cls = 1.0
+                object_count += 1
+            else:
+                z = floor_z + rng.uniform(-noise, noise)
+                cls = 0.0
+                background_count += 1
+
+            rows.append([float(x), float(y), float(z), 0.0, 0.0, 0.0, cls])
+
+    return rows, object_count, background_count
 
 
 # ---------------------------------------------------------------------------
@@ -373,82 +381,6 @@ def plan_scene_labels(count: int, seed: int) -> list[str]:
     return labels
 
 
-def _place_object(
-    rng: random.Random,
-    meta: dict[str, Any],
-    visibility: str,
-    object_template: list[list[float]],
-    object_scale: float = 1.0,
-) -> tuple[list[list[float]], dict[str, Any]]:
-    """Sample, transform, and bury target object; return surviving world points + info."""
-    base_scale = max(0.01, float(object_scale))
-    if visibility == "nearly_hidden":
-        count = rng.randint(80, 600)
-        burial = rng.uniform(0.35, 0.75)
-        scale = base_scale * rng.uniform(0.7, 1.15)
-    elif visibility == "partial":
-        count = rng.randint(400, 2500)
-        burial = rng.uniform(0.12, 0.4)
-        scale = base_scale * rng.uniform(0.8, 1.3)
-    else:  # visible
-        count = rng.randint(1500, 8000)
-        burial = rng.uniform(-0.05, 0.15)
-        scale = base_scale * rng.uniform(0.85, 1.4)
-
-    noise = rng.uniform(0.004, 0.025)
-    local = resample_object_points(
-        object_template,
-        count,
-        noise=noise,
-        seed=rng.randint(0, 10_000_000),
-    )
-    # Apply world scale to unit-normalized template
-    local = [[p[0] * scale, p[1] * scale, p[2] * scale] for p in local]
-
-    half_x = float(meta["sizeX"]) * 0.35
-    half_y = float(meta["sizeY"]) * 0.35
-    tx = rng.uniform(-half_x, half_x)
-    ty = rng.uniform(-half_y, half_y)
-    floor_z = _height_at(tx, ty, meta)
-
-    half_h = object_half_extent_z(local)
-    tz = floor_z + half_h * (1.0 - 2.0 * burial)
-
-    transform = {
-        "x": tx,
-        "y": ty,
-        "z": tz,
-        "rx": rng.uniform(-0.25, 0.25),
-        "ry": rng.uniform(-0.2, 0.2),
-        "rz": rng.uniform(0, 2 * math.pi),
-    }
-    world = apply_transform(local, transform)
-
-    kept: list[list[float]] = []
-    for p in world:
-        surface = _height_at(p[0], p[1], meta)
-        eps = 0.01 if visibility != "nearly_hidden" else -0.02
-        if p[2] >= surface + eps:
-            kept.append(p)
-
-    if visibility == "nearly_hidden" and len(kept) < 15 and world:
-        ranked = sorted(world, key=lambda p: p[2] - _height_at(p[0], p[1], meta), reverse=True)
-        kept = ranked[: max(15, min(40, len(ranked) // 8))]
-
-    info = {
-        "visibility": visibility,
-        "transform": transform,
-        "requestedCount": count,
-        "keptCount": len(kept),
-        "scale": scale,
-        "objectScale": base_scale,
-        "burial": burial,
-        "classLabel": "object",
-        "classId": 1,
-    }
-    return kept, info
-
-
 def generate_sonar_scene(
     *,
     seed: int,
@@ -458,48 +390,42 @@ def generate_sonar_scene(
     beam_count: int = 45,
     length_count: int | None = None,
 ) -> dict[str, Any]:
-    """Build one unique sonar scene. visibility in absent|nearly_hidden|partial|visible."""
+    """Build one sonar scene via beam×ping first-hit casting.
+
+    visibility in absent|nearly_hidden|partial|visible.
+    Scene size is always beam_count × length_count returns.
+    """
     rng = random.Random(int(seed))
     if visibility not in ("absent",) + VISIBILITY_TIERS:
         raise ValueError(f"Unknown visibility: {visibility}")
     if visibility != "absent" and not object_points:
         raise ValueError("object_points required when visibility is not absent.")
 
-    floor_pts, meta = _generate_seafloor(rng, beam_count=beam_count, length_count=length_count)
+    meta = _build_seafloor_meta(rng, beam_count=beam_count, length_count=length_count)
-    clutter = _generate_false_objects(rng, meta)
+    expected = int(meta["beamCount"]) * int(meta["lengthCount"])
 
-    jitter = rng.uniform(0.0, 0.015)
-    background = floor_pts + clutter
-    if jitter > 0:
-        background = [
-            [
-                p[0] + rng.uniform(-jitter, jitter),
-                p[1] + rng.uniform(-jitter, jitter),
-                p[2] + rng.uniform(-jitter, jitter),
-            ]
-            for p in background
-        ]
-
-    drop = rng.uniform(0.0, 0.12)
-    if drop > 0:
-        background = [p for p in background if rng.random() >= drop]
-
-    object_pts: list[list[float]] = []
     object_info: dict[str, Any] | None = None
+    object_hits: dict[tuple[int, int], float] | None = None
     if visibility != "absent":
-        object_pts, object_info = _place_object(
+        world, object_info = _place_object_in_scene(
             rng,
             meta,
             visibility,
             object_points,
             object_scale=object_scale,
         )
+        object_hits = _rasterize_object_hits(world, meta)
+        object_info["hitCellCount"] = len(object_hits)
+        object_info["keptCount"] = len(object_hits)
+        object_info["requestedCount"] = expected
+
+    rows, object_point_count, background_point_count = _cast_echosounder_returns(
+        rng, meta, object_hits
+    )
+    if len(rows) != expected:
+        raise RuntimeError(f"Ray count mismatch: expected {expected}, got {len(rows)}")
 
-    # class 0 = background, class 1 = object
-    rows = points_to_pointnet_rows(background, 0.0)
-    rows.extend(points_to_pointnet_rows(object_pts, 1.0))
     rng.shuffle(rows)
-
     xyz = [[r[0], r[1], r[2]] for r in rows]
     return {
         "seed": int(seed),
@@ -507,15 +433,18 @@ def generate_sonar_scene(
         "hasObject": visibility != "absent",
         "object": object_info,
         "pointCount": len(rows),
-        "objectPointCount": len(object_pts),
+        "objectPointCount": object_point_count,
-        "backgroundPointCount": len(background),
+        "backgroundPointCount": background_point_count,
         "rows": rows,
         "points": xyz,
         "meta": {
             "sizeX": meta["sizeX"],
             "sizeY": meta["sizeY"],
             "beamCount": meta.get("beamCount", beam_count),
-            "lengthCount": meta.get("lengthCount", length_count if length_count is not None else beam_count),
+            "lengthCount": meta.get(
+                "lengthCount",
+                length_count if length_count is not None else beam_count,
+            ),
             "gridWidthPoints": meta.get("gridWidthPoints", beam_count),
             "gridLengthPoints": meta.get(
                 "gridLengthPoints",
@@ -523,6 +452,7 @@ def generate_sonar_scene(
             ),
             "pingCount": meta.get("pingCount"),
             "swathBeams": meta.get("swathBeams"),
+            "gridPointCount": expected,
             "floorFeatures": {
                 "hills": len(meta["hills"]),
                 "valleys": len(meta["valleys"]),
@@ -666,6 +596,7 @@ def generate_dataset(
     object_points: list[list[float]],
     object_name: str | None = None,
     object_scale: float = 1.0,
+    object_scale_is_max: bool = False,
     beam_count: int = 45,
     length_count: int | None = None,
 ) -> dict[str, Any]:
@@ -673,8 +604,11 @@ def generate_dataset(
 
     object_points: normalized template vertices from user .obj (class 1 = object).
     object_scale: relative size multiplier vs unit-normalized mesh (1.0 = default).
-    beam_count: number of width points for seafloor grid (X axis).
+    object_scale_is_max: if True, treat object_scale as upper bound and sample
-    length_count: number of length points for seafloor grid (Y axis). Defaults to beam_count.
+        per-scene scale uniformly from [1, object_scale] (AUV altitude variation).
+    beam_count: across-track beams (width resolution, X).
+    length_count: along-track pings (length resolution, Y). Defaults to beam_count.
+    Each scene has exactly beam_count × length_count sonar returns (first-hit casting).
     """
     count = int(count)
     if count < 1:
@@ -688,6 +622,7 @@ def generate_dataset(
         raise ValueError("object_scale must be > 0")
     if object_scale > 100:
         raise ValueError("object_scale must be <= 100")
+    object_scale_is_max = bool(object_scale_is_max)
     beam_count = int(beam_count)
     if beam_count < 1:
         raise ValueError("beam_count (Кол-во лучей) must be >= 1")
@@ -723,11 +658,19 @@ def generate_dataset(
     for i in range(count):
         visibility = labels[i]
         scene_seed = int(seed) + i * 10007 + 17
+        scene_rng = random.Random(scene_seed ^ 0xC0FFEE)
+        if object_scale_is_max:
+            lo, hi = 1.0, object_scale
+            if hi < lo:
+                lo, hi = hi, lo
+            scene_scale = scene_rng.uniform(lo, hi)
+        else:
+            scene_scale = object_scale
         scene = generate_sonar_scene(
             seed=scene_seed,
             visibility=visibility,
             object_points=template,
-            object_scale=object_scale,
+            object_scale=scene_scale,
             beam_count=beam_count,
             length_count=length_count,
         )
@@ -743,6 +686,7 @@ def generate_dataset(
             "hasObject": scene["hasObject"],
             "pointCount": scene["pointCount"],
             "objectPointCount": scene["objectPointCount"],
+            "objectScale": scene_scale,
             "files": paths,
         }
         written.append(entry)
@@ -777,6 +721,7 @@ def generate_dataset(
         "lengthCount": length_count,
         "objectName": object_name,
         "objectScale": object_scale,
+        "objectScaleIsMax": object_scale_is_max,
         "objectVertexCount": len(template),
         "classLabels": {"0": "background", "1": "object"},
         "stats": stats,

backend/main.py

@@ -425,6 +425,7 @@ async def dataset_generate(
     seed: int = Form(42),
     outputDir: str = Form("sonar_dataset"),
     objectScale: float = Form(1.0),
+    objectScaleIsMax: bool = Form(False),
     beamCount: int = Form(45),
     lengthCount: int | None = Form(None),
     model: UploadFile = File(...),
@@ -443,6 +444,7 @@ async def dataset_generate(
             object_points=object_points,
             object_name=filename,
             object_scale=objectScale,
+            object_scale_is_max=objectScaleIsMax,
             beam_count=beamCount,
             length_count=lengthCount,
         )

frontend/web/src/api/client.js

@@ -294,6 +294,7 @@ export const api = {
     seed = 42,
     outputDir = "sonar_dataset",
     objectScale = 1,
+    objectScaleIsMax = false,
     beamCount = 45,
     lengthCount = 45,
     modelFile,
@@ -306,6 +307,7 @@ export const api = {
     formData.append("seed", String(seed));
     formData.append("outputDir", outputDir || "sonar_dataset");
     formData.append("objectScale", String(objectScale ?? 1));
+    formData.append("objectScaleIsMax", objectScaleIsMax ? "true" : "false");
     formData.append("beamCount", String(beamCount ?? 45));
     formData.append("lengthCount", String(lengthCount ?? 45));
     formData.append("model", modelFile, modelFile.name || "model.obj");

frontend/web/src/stores/dataset.js

@@ -13,6 +13,7 @@ export const useDatasetStore = defineStore("dataset", {
     modelFile: null,
     modelFileName: "",
     objectScale: 1,
+    objectScaleIsMax: false,
     beamCount: 45,
     lengthCount: 45,
     lastResult: null,
@@ -117,7 +118,7 @@ export const useDatasetStore = defineStore("dataset", {
       this.busy = true;
       this.statusText = "Генерация датасета…";
       this.pushLog(
-        `Старт: count=${this.count}, seed=${this.seed}, beams=${this.beamCount}, length=${this.lengthCount}, scale=${this.objectScale}, dir=${this.outputDir}, model=${this.modelFileName}`,
+        `Старт: count=${this.count}, seed=${this.seed}, beams=${this.beamCount}, length=${this.lengthCount}, scale=${this.objectScale}${this.objectScaleIsMax ? " (макс.)" : ""}, dir=${this.outputDir}, model=${this.modelFileName}`,
       );
       try {
         const result = await api.datasetGenerate({
@@ -125,6 +126,7 @@ export const useDatasetStore = defineStore("dataset", {
           seed: Number(this.seed) || 0,
           outputDir: String(this.outputDir || "sonar_dataset"),
           objectScale: Number(this.objectScale) || 1,
+          objectScaleIsMax: !!this.objectScaleIsMax,
           beamCount: Number(this.beamCount) || 45,
           lengthCount: Number(this.lengthCount) || 45,
           modelFile: this.modelFile,
@@ -133,8 +135,11 @@ export const useDatasetStore = defineStore("dataset", {
         this.resolvedOutputDir = result?.outputDir || null;
         const s = result?.stats || {};
         this.statusText = `Готово: ${result.count} сцен → ${result.outputDir}`;
+        const scaleNote = result.objectScaleIsMax
+          ? `scale=1…${result.objectScale ?? this.objectScale} (макс.)`
+          : `scale=${result.objectScale ?? this.objectScale}`;
         this.pushLog(
-          `Модель: ${result.objectName || this.modelFileName} (${result.objectVertexCount || "?"} вершин), scale=${result.objectScale ?? this.objectScale}, ширина=${result.beamCount ?? this.beamCount}, длина=${result.lengthCount ?? this.lengthCount}. class 1 = object.`,
+          `Модель: ${result.objectName || this.modelFileName} (${result.objectVertexCount || "?"} вершин), ${scaleNote}, ширина=${result.beamCount ?? this.beamCount}, длина=${result.lengthCount ?? this.lengthCount}. class 1 = object.`,
         );
         this.pushLog(
           `Записано ${result.count} сцен. С объектом: ${s.withObject}, без: ${s.withoutObject}.`,
@@ -143,8 +148,10 @@ export const useDatasetStore = defineStore("dataset", {
           `Видимость: nearly_hidden=${s.nearly_hidden || 0}, partial=${s.partial || 0}, visible=${s.visible || 0}, absent=${s.absent || 0}.`,
         );
         for (const item of result.written || []) {
+          const scalePart =
+            item.objectScale != null ? `, scale=${Number(item.objectScale).toFixed(3)}` : "";
           this.pushLog(
-            `${item.stem}: pts=${item.pointCount}, object=${item.objectPointCount}, ${item.visibility}`,
+            `${item.stem}: pts=${item.pointCount}, object=${item.objectPointCount}, ${item.visibility}${scalePart}`,
           );
         }
 

frontend/web/src/views/DatasetView.vue

@@ -119,7 +119,17 @@ function onHighlightClassChange(event) {
         </label>
 
         <label class="field">
-          <span>Относительный масштаб объекта</span>
+          <span class="field-label-row">
+            <span>Относительный масштаб объекта</span>
+            <label class="check-inline" title="Верхняя граница: для каждой сцены масштаб случайный от 1 до заданного значения">
+              <input
+                v-model="store.objectScaleIsMax"
+                type="checkbox"
+                :disabled="store.busy"
+              />
+              макс.
+            </label>
+          </span>
           <input
             v-model.number="store.objectScale"
             type="number"
@@ -128,7 +138,14 @@ function onHighlightClassChange(event) {
             step="0.05"
             :disabled="store.busy"
           />
-          <span class="ref-caption">1.0 = размер после нормализации mesh; &gt;1 увеличивает объект</span>
+          <span class="ref-caption">
+            <template v-if="store.objectScaleIsMax">
+              Верхняя граница: для каждой сцены масштаб случайно из [1 … значение] (имитация разной высоты АНПА).
+            </template>
+            <template v-else>
+              1.0 = размер после нормализации mesh; &gt;1 увеличивает объект
+            </template>
+          </span>
         </label>
 
         <label class="field">
@@ -142,7 +159,7 @@ function onHighlightClassChange(event) {
             :disabled="store.busy"
           />
           <span class="ref-caption">
-            Ширина рельефа (X): N лучей = N точек по ширине сетки дна.
+            Поперечные лучи эхолота (X): N лучей = N возвратов по ширине галса.
           </span>
         </label>
 
@@ -157,7 +174,7 @@ function onHighlightClassChange(event) {
             :disabled="store.busy"
           />
           <span class="ref-caption">
-            Длина рельефа (Y): L = число точек по длине сетки дна.
+            Пинги вдоль курса (Y): L возвратов по длине. Итого точек сцены: N×L (первый отклик луча).
           </span>
         </label>
 
@@ -283,12 +300,23 @@ function onHighlightClassChange(event) {
 
 <style scoped>
 .dataset-layout {
+  grid-template-columns: 320px minmax(0, 1fr);
   align-items: stretch;
+  height: calc(100vh - 56px);
+  min-height: 0;
+  max-height: calc(100vh - 56px);
+  overflow: hidden;
+  gap: 12px;
+  padding: 12px;
 }
 .dataset-sidebar {
-  width: 320px;
+  width: auto;
-  max-width: 100%;
+  max-width: none;
-  overflow: auto;
+  height: 100%;
+  min-height: 0;
+  overflow-x: hidden;
+  overflow-y: auto;
+  align-content: start;
 }
 .panel {
   padding: 14px 16px 20px;
@@ -338,6 +366,27 @@ function onHighlightClassChange(event) {
   gap: 4px;
   font-size: 13px;
 }
+.field-label-row {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 8px;
+}
+.check-inline {
+  display: inline-flex;
+  align-items: center;
+  gap: 4px;
+  font-size: 12px;
+  color: var(--muted-text);
+  cursor: pointer;
+  user-select: none;
+  white-space: nowrap;
+}
+.check-inline input {
+  width: auto;
+  margin: 0;
+  accent-color: var(--chain-selected-border, #6ea8ff);
+}
 .field input,
 .field select {
   padding: 6px 8px;
@@ -424,17 +473,19 @@ function onHighlightClassChange(event) {
   font-size: 11px;
 }
 .dataset-content {
-  min-height: 0;
-  height: calc(100vh - 76px);
   display: flex;
   flex-direction: column;
   gap: 8px;
-  padding: 8px 12px 12px 0;
+  min-width: 0;
+  min-height: 0;
+  height: 100%;
+  overflow: hidden;
+  padding: 0;
 }
 .viewer-wrap {
   position: relative;
-  flex: 1;
+  flex: 1 1 auto;
-  min-height: 280px;
+  min-height: 0;
   border: 1px solid var(--header-border);
   border-radius: var(--radius-sm, 6px);
   overflow: hidden;
@@ -456,6 +507,7 @@ function onHighlightClassChange(event) {
 }
 .log-panel {
   flex: 0 0 140px;
+  min-height: 0;
   overflow: hidden;
   display: flex;
   flex-direction: column;
@@ -466,10 +518,23 @@ function onHighlightClassChange(event) {
 .log {
   margin: 0;
   flex: 1;
+  min-height: 0;
   overflow: auto;
   font-size: 11px;
   line-height: 1.35;
   white-space: pre-wrap;
   color: var(--muted-text);
 }
+
+@media (max-width: 1100px) {
+  .dataset-layout {
+    grid-template-columns: 1fr;
+    grid-template-rows: minmax(200px, 36vh) minmax(0, 1fr);
+    height: calc(100vh - 56px);
+    max-height: calc(100vh - 56px);
+  }
+  .dataset-sidebar {
+    height: 100%;
+  }
+}
 </style>