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до изменения генератора датасета

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
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2026-07-24 13:12:17 +03:00
co-authored by Cursor
parent 0614ea384a
commit a6e8ba31bd
4 changed files with 67 additions and 107 deletions
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frontend/web/src/composables/useGboSimulator.js
+11 -3
View File
@@ -63,6 +63,14 @@ function sampleHeight(meshInfo, x, y) {
return (h00 * (1 - tx) + h10 * tx) * (1 - ty) + (h01 * (1 - tx) + h11 * tx) * ty; return (h00 * (1 - tx) + h10 * tx) * (1 - ty) + (h01 * (1 - tx) + h11 * tx) * ty;
} }
/** Flat seafloor datum (without corridor relief). AUV altitude is measured from this. */
function referenceSeafloorZ(meshInfo) {
if (!meshInfo) return -5;
const base = Number(meshInfo.baseZ);
if (Number.isFinite(base)) return base;
return sampleHeight(meshInfo, 0, 0);
}
/** /**
* @param {import('vue').Ref} containerRef main 3D view * @param {import('vue').Ref} containerRef main 3D view
* @param {import('vue').Ref} surveyRef bottom-right survey surface panel * @param {import('vue').Ref} surveyRef bottom-right survey surface panel
@@ -959,7 +967,7 @@ export function useGboSimulator(containerRef, surveyRef) {
function placeAuv(x, y, depth, headingDeg) { function placeAuv(x, y, depth, headingDeg) {
if (!auvPivot) return; if (!auvPivot) return;
const floorZ = sampleHeight(meshInfo, x, y); const floorZ = referenceSeafloorZ(meshInfo);
auvPivot.position.set(x, y, floorZ + Math.max(0.3, Number(depth) || 2.5)); auvPivot.position.set(x, y, floorZ + Math.max(0.3, Number(depth) || 2.5));
headingRad = degToRad(headingDeg); headingRad = degToRad(headingDeg);
auvPivot.rotation.set(0, 0, headingRad); auvPivot.rotation.set(0, 0, headingRad);
@@ -1016,8 +1024,8 @@ export function useGboSimulator(containerRef, surveyRef) {
traveled += step; traveled += step;
const nx = auvPivot.position.x + Math.cos(headingRad) * step; const nx = auvPivot.position.x + Math.cos(headingRad) * step;
const ny = auvPivot.position.y + Math.sin(headingRad) * step; const ny = auvPivot.position.y + Math.sin(headingRad) * step;
const floorZ = sampleHeight(meshInfo, nx, ny); // Constant altitude vs flat datum — do not follow seafloor relief.
auvPivot.position.set(nx, ny, floorZ + auvDepth); auvPivot.position.set(nx, ny, referenceSeafloorZ(meshInfo) + auvDepth);
updateRays(true); updateRays(true);
updateTrail(); updateTrail();
onStatus({ onStatus({
frontend/web/src/composables/useMleSimulator.js
+52 -100
View File
@@ -63,6 +63,14 @@ function sampleHeight(meshInfo, x, y) {
return (h00 * (1 - tx) + h10 * tx) * (1 - ty) + (h01 * (1 - tx) + h11 * tx) * ty; return (h00 * (1 - tx) + h10 * tx) * (1 - ty) + (h01 * (1 - tx) + h11 * tx) * ty;
} }
/** Flat seafloor datum (without corridor relief). AUV altitude is measured from this. */
function referenceSeafloorZ(meshInfo) {
if (!meshInfo) return -5;
const base = Number(meshInfo.baseZ);
if (Number.isFinite(base)) return base;
return sampleHeight(meshInfo, 0, 0);
}
/** /**
* @param {import('vue').Ref} containerRef main 3D view * @param {import('vue').Ref} containerRef main 3D view
* @param {import('vue').Ref} surveyRef bottom-right survey surface panel * @param {import('vue').Ref} surveyRef bottom-right survey surface panel
@@ -257,8 +265,8 @@ export function useMleSimulator(containerRef, surveyRef) {
} }
/** /**
* Preview of seafloor/object contacts the AUV will meet along the survey track. * Preview of the future survey swath on the seafloor only (relief / unevenness).
* Starts at current echosounder footprint and extends forward by surveyLength. * Does not wrap or outline the bottom object — object contacts appear only during motion.
*/ */
function buildPathReliefPreview() { function buildPathReliefPreview() {
clearPathRelief(); clearPathRelief();
@@ -277,122 +285,65 @@ export function useMleSimulator(containerRef, surveyRef) {
const startY = auvPivot.position.y; const startY = auvPivot.position.y;
const depth = Math.max(0.3, Number(auvDepth) || 2.5); const depth = Math.max(0.3, Number(auvDepth) || 2.5);
// Station 0: real beam hits (where rays touch seafloor/object now).
const currentHits = castBeamHits();
const positions = new Float32Array(nAlong * nAcross * 3); const positions = new Float32Array(nAlong * nAcross * 3);
const colors = new Float32Array(nAlong * nAcross * 3); const colors = new Float32Array(nAlong * nAcross * 3);
const flat = new THREE.Color(0x2f6b52); const flat = new THREE.Color(0x2f6b52);
const mid = new THREE.Color(0xe6a820); const mid = new THREE.Color(0xe6a820);
const hot = new THREE.Color(0xfff176); const hot = new THREE.Color(0xfff176);
const objTint = new THREE.Color(0xff6b2d);
const writeVertex = (row, col, x, y, z, intensity, isObject) => { const writeVertex = (row, col, x, y, z, intensity) => {
const o = (row * nAcross + col) * 3; const o = (row * nAcross + col) * 3;
positions[o] = x; positions[o] = x;
positions[o + 1] = y; positions[o + 1] = y;
positions[o + 2] = z + 0.08; // slightly above so it reads over the wireframe positions[o + 2] = z + 0.08; // slightly above so it reads over the wireframe
let c; const c =
if (isObject) { intensity < 0.35
c = objTint; ? flat.clone().lerp(mid, intensity / 0.35)
} else if (intensity < 0.35) { : mid.clone().lerp(hot, Math.min(1, (intensity - 0.35) / 0.65));
c = flat.clone().lerp(mid, intensity / 0.35);
} else {
c = mid.clone().lerp(hot, Math.min(1, (intensity - 0.35) / 0.65));
}
// Keep the whole swath visible; boost alpha via brightness on relief.
colors[o] = c.r; colors[o] = c.r;
colors[o + 1] = c.g; colors[o + 1] = c.g;
colors[o + 2] = c.b; colors[o + 2] = c.b;
}; };
for (let col = 0; col < nAcross; col += 1) { const probeSeafloorHit = (ax, ay, originZ, dirX, dirY, dirZ) => {
const u = nAcross === 1 ? 0.5 : col / (nAcross - 1); let hitX = ax;
if (currentHits.length) { let hitY = ay;
const src = currentHits[Math.min(currentHits.length - 1, Math.round(u * (currentHits.length - 1)))]; let hitZ = sampleHeight(meshInfo, ax, ay);
const intensity = reliefIntensity(src.x, src.y); const step = Math.max(0.3, maxRange / 180);
writeVertex(0, col, src.x, src.y, src.z, Math.max(intensity, src.isObject ? 1 : 0.2), !!src.isObject); let px = ax;
} else { let py = ay;
const angle = -swath * 0.5 + swath * u; let pz = originZ;
const dirX = Math.sin(angle) * acrossX; for (let s = 0; s < 220; s += 1) {
const dirY = Math.sin(angle) * acrossY; px += dirX * step;
const dirZ = -Math.cos(angle); py += dirY * step;
// fallback probe from AUV pz += dirZ * step;
let hitX = startX; if (Math.hypot(px - ax, py - ay) + Math.abs(pz - originZ) > maxRange * 1.15) break;
let hitY = startY; const floorZ = sampleHeight(meshInfo, px, py);
let hitZ = sampleHeight(meshInfo, startX, startY); if (pz <= floorZ) {
const originZ = hitZ + depth; hitX = px;
const step = Math.max(0.3, maxRange / 180); hitY = py;
let px = startX; hitZ = floorZ;
let py = startY; break;
let pz = originZ;
for (let s = 0; s < 220; s += 1) {
px += dirX * step;
py += dirY * step;
pz += dirZ * step;
const floorZ = sampleHeight(meshInfo, px, py);
if (pz <= floorZ) {
hitX = px;
hitY = py;
hitZ = floorZ;
break;
}
} }
writeVertex(0, col, hitX, hitY, hitZ, Math.max(0.15, reliefIntensity(hitX, hitY)), false);
} }
} return { hitX, hitY, hitZ };
};
// Forward stations: predicted beam footprint along the future track. // Stations along track: seafloor footprint only (ignore object mesh until simulation).
for (let row = 1; row < nAlong; row += 1) { // Beam origins stay at constant altitude above the flat datum (not terrain-following).
const along = (row / (nAlong - 1)) * length; const originZ = referenceSeafloorZ(meshInfo) + depth;
for (let row = 0; row < nAlong; row += 1) {
const along = nAlong === 1 ? 0 : (row / (nAlong - 1)) * length;
const ax = startX + hx * along; const ax = startX + hx * along;
const ay = startY + hy * along; const ay = startY + hy * along;
const floorHere = sampleHeight(meshInfo, ax, ay);
const originZ = floorHere + depth;
for (let col = 0; col < nAcross; col += 1) { for (let col = 0; col < nAcross; col += 1) {
const u = nAcross === 1 ? 0.5 : col / (nAcross - 1); const u = nAcross === 1 ? 0.5 : col / (nAcross - 1);
const angle = -swath * 0.5 + swath * u; const angle = -swath * 0.5 + swath * u;
const dirX = Math.sin(angle) * acrossX; const dirX = Math.sin(angle) * acrossX;
const dirY = Math.sin(angle) * acrossY; const dirY = Math.sin(angle) * acrossY;
const dirZ = -Math.cos(angle); const dirZ = -Math.cos(angle);
let hitX = ax; const { hitX, hitY, hitZ } = probeSeafloorHit(ax, ay, originZ, dirX, dirY, dirZ);
let hitY = ay; writeVertex(row, col, hitX, hitY, hitZ, Math.max(0.12, reliefIntensity(hitX, hitY)));
let hitZ = floorHere;
let isObject = false;
const step = Math.max(0.3, maxRange / 180);
let px = ax;
let py = ay;
let pz = originZ;
for (let s = 0; s < 220; s += 1) {
px += dirX * step;
py += dirY * step;
pz += dirZ * step;
if (Math.hypot(px - ax, py - ay) + Math.abs(pz - originZ) > maxRange * 1.15) break;
const floorZ = sampleHeight(meshInfo, px, py);
if (pz <= floorZ) {
hitX = px;
hitY = py;
hitZ = floorZ;
break;
}
}
// Object occlusion preview: if object mesh is above floor along beam, tint as object.
if (objectPivot) {
const origin = new THREE.Vector3(ax, ay, originZ);
const dir = new THREE.Vector3(dirX, dirY, dirZ).normalize();
raycaster.set(origin, dir);
raycaster.far = maxRange;
const intersects = raycaster.intersectObject(objectPivot, true);
if (intersects.length) {
const dFloor = Math.hypot(hitX - ax, hitY - ay, hitZ - originZ);
if (intersects[0].distance < dFloor) {
hitX = intersects[0].point.x;
hitY = intersects[0].point.y;
hitZ = intersects[0].point.z;
isObject = true;
}
}
}
writeVertex(row, col, hitX, hitY, hitZ, Math.max(0.12, reliefIntensity(hitX, hitY)), isObject);
} }
} }
@@ -893,7 +844,7 @@ export function useMleSimulator(containerRef, surveyRef) {
function placeAuv(x, y, depth, headingDeg) { function placeAuv(x, y, depth, headingDeg) {
if (!auvPivot) return; if (!auvPivot) return;
const floorZ = sampleHeight(meshInfo, x, y); const floorZ = referenceSeafloorZ(meshInfo);
auvPivot.position.set(x, y, floorZ + Math.max(0.3, Number(depth) || 2.5)); auvPivot.position.set(x, y, floorZ + Math.max(0.3, Number(depth) || 2.5));
headingRad = degToRad(headingDeg); headingRad = degToRad(headingDeg);
auvPivot.rotation.set(0, 0, headingRad); auvPivot.rotation.set(0, 0, headingRad);
@@ -915,7 +866,7 @@ export function useMleSimulator(containerRef, surveyRef) {
); );
} }
function castBeamHits() { function castBeamHits({ includeObject = true } = {}) {
if (!auvPivot || !meshInfo) return []; if (!auvPivot || !meshInfo) return [];
const origin = auvPivot.position.clone(); const origin = auvPivot.position.clone();
const count = Math.max(1, Math.min(256, Number(beamCount) || 45)); const count = Math.max(1, Math.min(256, Number(beamCount) || 45));
@@ -923,7 +874,7 @@ export function useMleSimulator(containerRef, surveyRef) {
const maxRange = Math.max(1, Number(detectionRangeM) || DETECTION_RANGE_DEFAULT); const maxRange = Math.max(1, Number(detectionRangeM) || DETECTION_RANGE_DEFAULT);
raycaster.far = maxRange; raycaster.far = maxRange;
const across = new THREE.Vector3(-Math.sin(headingRad), Math.cos(headingRad), 0); const across = new THREE.Vector3(-Math.sin(headingRad), Math.cos(headingRad), 0);
if (objectPivot) objectPivot.updateMatrixWorld(true); if (includeObject && objectPivot) objectPivot.updateMatrixWorld(true);
const hits = []; const hits = [];
for (let i = 0; i < count; i += 1) { for (let i = 0; i < count; i += 1) {
@@ -952,10 +903,10 @@ export function useMleSimulator(containerRef, surveyRef) {
} }
} }
// Object first-hit (mesh raycast) — echosounder return if closer than seafloor // Object first-hit (mesh raycast) — only during simulation / survey accumulation
let objPoint = null; let objPoint = null;
let objDist = Infinity; let objDist = Infinity;
if (objectPivot) { if (includeObject && objectPivot) {
raycaster.set(origin, beamDir); raycaster.set(origin, beamDir);
const intersects = raycaster.intersectObject(objectPivot, true); const intersects = raycaster.intersectObject(objectPivot, true);
if (intersects.length && intersects[0].distance <= maxRange) { if (intersects.length && intersects[0].distance <= maxRange) {
@@ -996,7 +947,8 @@ export function useMleSimulator(containerRef, surveyRef) {
} }
if (!auvPivot || !meshInfo) return; if (!auvPivot || !meshInfo) return;
const origin = auvPivot.position.clone(); const origin = auvPivot.position.clone();
const hits = castBeamHits(); // Before motion starts, rays and path preview ignore the object (seafloor only).
const hits = castBeamHits({ includeObject: !!accumulateSurvey || running });
const positions = new Float32Array(hits.length * 2 * 3); const positions = new Float32Array(hits.length * 2 * 3);
for (let i = 0; i < hits.length; i += 1) { for (let i = 0; i < hits.length; i += 1) {
const o = i * 6; const o = i * 6;
@@ -1060,8 +1012,8 @@ export function useMleSimulator(containerRef, surveyRef) {
traveled += step; traveled += step;
const nx = auvPivot.position.x + Math.cos(headingRad) * step; const nx = auvPivot.position.x + Math.cos(headingRad) * step;
const ny = auvPivot.position.y + Math.sin(headingRad) * step; const ny = auvPivot.position.y + Math.sin(headingRad) * step;
const floorZ = sampleHeight(meshInfo, nx, ny); // Constant altitude vs flat datum — do not follow seafloor relief.
auvPivot.position.set(nx, ny, floorZ + auvDepth); auvPivot.position.set(nx, ny, referenceSeafloorZ(meshInfo) + auvDepth);
updateRays(true); updateRays(true);
updateTrail(); updateTrail();
onStatus({ onStatus({
frontend/web/src/views/GboView.vue
+2 -2
View File
@@ -221,11 +221,11 @@ function onShotSurvey() {
<input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" /> <input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">
<span>Y (старт)</span> <span>Y</span>
<input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" /> <input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">
<span>Высота над дном, м</span> <span>Высота над дном (без неровностей), м</span>
<input v-model.number="store.auvDepth" type="number" min="0.3" step="0.1" :disabled="store.running" /> <input v-model.number="store.auvDepth" type="number" min="0.3" step="0.1" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">
frontend/web/src/views/MleView.vue
+2 -2
View File
@@ -241,11 +241,11 @@ function onShotSurvey() {
<input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" /> <input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">
<span>Y (старт)</span> <span>Y</span>
<input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" /> <input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">
<span>Высота над дном, м</span> <span>Высота над дном (без неровностей), м</span>
<input v-model.number="store.auvDepth" type="number" min="0.3" step="0.1" :disabled="store.running" /> <input v-model.number="store.auvDepth" type="number" min="0.3" step="0.1" :disabled="store.running" />
</label> </label>
<label class="field"> <label class="field">