версия перед отпуском

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

backend/dataset_generator.py

@@ -177,44 +177,83 @@ def _build_seafloor_meta(
     *,
     beam_count: int = 45,
     length_count: int | None = None,
+    mle_mode: bool = False,
+    auv_depth: float | None = None,
+    swath_angle_deg: float = 90.0,
+    relief_scale_pct: float = 100.0,
 ) -> dict[str, Any]:
-    """Build continuous seafloor heightfield parameters (no point cloud yet)."""
+    """Build continuous seafloor heightfield parameters (no point cloud yet).
+
+    ``relief_scale_pct`` scales random unevenness relative to scene size
+    (100 = baseline, clearly visible relief; higher = larger features).
+    """
     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)
-    size_y = rng.uniform(8.0, 16.0)
-    base_z = rng.uniform(-1.2, -0.2)
-    amplitude = rng.uniform(0.05, 0.35)
-    frequency = rng.uniform(0.4, 2.2)
+    swath_deg = max(5.0, min(170.0, float(swath_angle_deg)))
+    relief_pct = max(5.0, min(500.0, float(relief_scale_pct)))
 
-    hills = [
-        (
-            rng.uniform(-size_x * 0.4, size_x * 0.4),
-            rng.uniform(-size_y * 0.4, size_y * 0.4),
-            rng.uniform(0.15, 0.7),
-            rng.uniform(0.6, 2.2),
+    if mle_mode and auv_depth is not None:
+        # Swath footprint from altitude above flat datum (like МЛЭ).
+        depth = max(0.3, float(auv_depth))
+        half_w = depth * math.tan(math.radians(swath_deg) * 0.5)
+        size_x = max(4.0, 2.0 * half_w * 1.08)
+        dx = size_x / max(beams - 1, 1)
+        size_y = max(4.0, dx * max(length_points - 1, 1) * rng.uniform(0.95, 1.12))
+    else:
+        size_x = rng.uniform(8.0, 16.0)
+        size_y = rng.uniform(8.0, 16.0)
+
+    base_z = rng.uniform(-1.2, -0.2)
+
+    # Feature size tied to scene so relief stays visible in the point cloud.
+    # At 100%: characteristic scale ≈ 28% of the shorter scene side.
+    scene_ref = max(4.0, min(size_x, size_y))
+    feature_scale = scene_ref * (relief_pct / 100.0) * 0.28
+    feature_scale = max(0.35, feature_scale)
+    max_rad = scene_ref * 0.42
+
+    # Background undulation — several waves across the patch.
+    amplitude = feature_scale * rng.uniform(0.12, 0.28)
+    frequency = (2.0 * math.pi / scene_ref) * rng.uniform(1.8, 3.6)
+
+    n_hills = rng.randint(2, 5)
+    hills = []
+    for _ in range(n_hills):
+        hills.append(
+            (
+                rng.uniform(-size_x * 0.38, size_x * 0.38),
+                rng.uniform(-size_y * 0.38, size_y * 0.38),
+                feature_scale * rng.uniform(0.45, 1.05),
+                min(max_rad, feature_scale * rng.uniform(0.75, 1.55)),
+            )
         )
-        for _ in range(rng.randint(1, 4))
-    ]
-    valleys = [
-        (
-            rng.uniform(-size_x * 0.4, size_x * 0.4),
-            rng.uniform(-size_y * 0.4, size_y * 0.4),
-            rng.uniform(0.1, 0.55),
-            rng.uniform(0.5, 2.0),
+
+    n_valleys = rng.randint(1, 4)
+    valleys = []
+    for _ in range(n_valleys):
+        valleys.append(
+            (
+                rng.uniform(-size_x * 0.38, size_x * 0.38),
+                rng.uniform(-size_y * 0.38, size_y * 0.38),
+                feature_scale * rng.uniform(0.3, 0.75),
+                min(max_rad, feature_scale * rng.uniform(0.65, 1.4)),
+            )
         )
-        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, 0.35),
-            rng.uniform(0.15, 0.9),
+
+    # More medium bumps at lower scale; fewer but larger when scale is high.
+    density = max(0.45, min(1.8, 120.0 / max(relief_pct, 20.0)))
+    n_bumps = int(round(rng.uniform(10, 20) * density))
+    n_bumps = max(8, min(40, n_bumps))
+    bumps = []
+    for _ in range(n_bumps):
+        bumps.append(
+            (
+                rng.uniform(-size_x * 0.46, size_x * 0.46),
+                rng.uniform(-size_y * 0.46, size_y * 0.46),
+                feature_scale * rng.uniform(0.12, 0.45),
+                min(max_rad * 0.7, feature_scale * rng.uniform(0.25, 0.85)),
+            )
         )
-        for _ in range(rng.randint(4, 14))
-    ]
 
     return {
         "sizeX": size_x,
@@ -232,6 +271,11 @@ def _build_seafloor_meta(
         "pingCount": length_points,
         "swathBeams": beams,
         "noise": rng.uniform(0.002, 0.02),
+        "mleMode": bool(mle_mode),
+        "auvDepth": float(auv_depth) if auv_depth is not None else None,
+        "swathAngleDeg": swath_deg,
+        "reliefScalePct": relief_pct,
+        "featureScale": feature_scale,
     }
 
 
@@ -574,6 +618,174 @@ def _cast_echosounder_returns(
     return rows, object_count, background_count
 
 
+def _build_object_height_field(
+    world_pts: list[list[float]],
+    meta: dict[str, Any],
+) -> dict[str, Any] | None:
+    """Dense XY max-Z map of object surface for angled multibeam probes."""
+    if not world_pts:
+        return None
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    nx = max(32, min(256, beams * 3))
+    ny = max(32, min(256, length_points * 3))
+    size_x = float(meta["sizeX"])
+    size_y = float(meta["sizeY"])
+    half_x = size_x * 0.5
+    half_y = size_y * 0.5
+    cell_w = size_x / max(nx - 1, 1)
+    cell_h = size_y / max(ny - 1, 1)
+    splat_rx = cell_w * 1.1
+    splat_ry = cell_h * 1.1
+    field: list[list[float | None]] = [[None for _ in range(nx)] for _ in range(ny)]
+
+    for px, py, pz in world_pts:
+        fx = 0.0 if nx == 1 else (px + half_x) / size_x * (nx - 1)
+        fy = 0.0 if ny == 1 else (py + half_y) / size_y * (ny - 1)
+        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 >= nx or yi >= ny:
+                    continue
+                cx = -half_x if nx == 1 else (-half_x + size_x * xi / (nx - 1))
+                cy = -half_y if ny == 1 else (-half_y + size_y * yi / (ny - 1))
+                if abs(px - cx) > splat_rx or abs(py - cy) > splat_ry:
+                    continue
+                floor_z = _height_at(cx, cy, meta)
+                if pz < floor_z - 0.01:
+                    continue
+                prev = field[yi][xi]
+                if prev is None or pz > prev:
+                    field[yi][xi] = pz
+
+    return {
+        "nx": nx,
+        "ny": ny,
+        "sizeX": size_x,
+        "sizeY": size_y,
+        "field": field,
+    }
+
+
+def _sample_object_height_field(
+    field_info: dict[str, Any] | None,
+    x: float,
+    y: float,
+) -> float | None:
+    if not field_info:
+        return None
+    nx = int(field_info["nx"])
+    ny = int(field_info["ny"])
+    size_x = float(field_info["sizeX"])
+    size_y = float(field_info["sizeY"])
+    half_x = size_x * 0.5
+    half_y = size_y * 0.5
+    u = (x + half_x) / max(size_x, 1e-6)
+    v = (y + half_y) / max(size_y, 1e-6)
+    if u < -0.02 or u > 1.02 or v < -0.02 or v > 1.02:
+        return None
+    u = min(1.0, max(0.0, u))
+    v = min(1.0, max(0.0, v))
+    fx = u * (nx - 1)
+    fy = v * (ny - 1)
+    i0 = int(math.floor(fx))
+    j0 = int(math.floor(fy))
+    i1 = min(nx - 1, i0 + 1)
+    j1 = min(ny - 1, j0 + 1)
+    vals = [
+        field_info["field"][j0][i0],
+        field_info["field"][j0][i1],
+        field_info["field"][j1][i0],
+        field_info["field"][j1][i1],
+    ]
+    present = [z for z in vals if z is not None]
+    if not present:
+        return None
+    return max(present)
+
+
+def _cast_mle_fan_returns(
+    rng: random.Random,
+    meta: dict[str, Any],
+    object_field: dict[str, Any] | None,
+    *,
+    auv_depth: float,
+    swath_angle_deg: float = 90.0,
+) -> tuple[list[list[float]], int, int]:
+    """Multibeam fan: beamCount rays × lengthCount pings from constant altitude.
+
+    AUV height is measured from flat seafloor datum (baseZ), not terrain-following.
+    """
+    beams = int(meta["beamCount"])
+    length_points = int(meta["lengthCount"])
+    noise = float(meta.get("noise", 0.01))
+    base_z = float(meta["baseZ"])
+    depth = max(0.3, float(auv_depth))
+    origin_z = base_z + depth
+    swath = math.radians(max(5.0, min(170.0, float(swath_angle_deg))))
+    size_y = float(meta["sizeY"])
+    half_y = size_y * 0.5
+    # Reach outer beams with margin past the swath edge.
+    max_range = max(depth / max(math.cos(swath * 0.5), 0.12) * 1.35, depth * 2.0, 4.0)
+    step = max(0.08, min(0.45, max_range / 220.0))
+    max_steps = int(math.ceil(max_range / step)) + 2
+
+    rows: list[list[float]] = []
+    object_count = 0
+    background_count = 0
+
+    for yi in range(length_points):
+        y = -half_y if length_points == 1 else (-half_y + size_y * yi / (length_points - 1))
+        ox, oy, oz = 0.0, y, origin_z
+        for xi in range(beams):
+            t = 0.5 if beams == 1 else xi / (beams - 1)
+            angle = -swath * 0.5 + swath * t
+            dx = math.sin(angle)
+            dy = 0.0
+            dz = -math.cos(angle)
+
+            hit_x, hit_y, hit_z = ox, oy, base_z
+            is_object = False
+            px = ox + dx * step * 0.5
+            py = oy + dy * step * 0.5
+            pz = oz + dz * step * 0.5
+            for _ in range(max_steps):
+                dist = math.hypot(px - ox, py - oy, pz - oz)
+                if dist > max_range:
+                    break
+                floor_z = _height_at(px, py, meta)
+                obj_z = _sample_object_height_field(object_field, px, py)
+                if obj_z is not None and pz <= obj_z and obj_z >= floor_z - 0.01:
+                    hit_x, hit_y, hit_z = px, py, obj_z
+                    is_object = True
+                    break
+                if pz <= floor_z:
+                    hit_x, hit_y, hit_z = px, py, floor_z
+                    break
+                px += dx * step
+                py += dy * step
+                pz += dz * step
+            else:
+                # No intersection within range — project to flat nadir estimate.
+                hit_x = ox + dx * max_range
+                hit_y = oy + dy * max_range
+                hit_z = _height_at(hit_x, hit_y, meta)
+
+            z = hit_z + rng.uniform(-noise, noise)
+            if is_object:
+                cls = 1.0
+                object_count += 1
+            else:
+                cls = 0.0
+                background_count += 1
+            rows.append([float(hit_x), float(hit_y), float(z), 0.0, 0.0, 0.0, cls])
+
+    return rows, object_count, background_count
+
+
 # ---------------------------------------------------------------------------
 # Balance plan + single scene
 # ---------------------------------------------------------------------------
@@ -657,12 +869,19 @@ def generate_sonar_scene(
     object_kind: str | None = None,
     beam_count: int = 45,
     length_count: int | None = None,
+    mle_mode: bool = False,
+    auv_depth: float | None = None,
+    swath_angle_deg: float = 90.0,
+    relief_scale_pct: float = 100.0,
 ) -> dict[str, Any]:
     """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.
     object_kind ``pipe`` places a border-to-border pipeline with optional silt.
+
+    When ``mle_mode`` is True, returns are cast as a multibeam fan from constant
+    altitude ``auv_depth`` above the flat seafloor datum (baseZ).
     """
     rng = random.Random(int(seed))
     if visibility not in ("absent",) + VISIBILITY_TIERS:
@@ -671,11 +890,26 @@ def generate_sonar_scene(
     if visibility != "absent" and kind != "pipe" and not object_points:
         raise ValueError("object_points required when visibility is not absent.")
 
-    meta = _build_seafloor_meta(rng, beam_count=beam_count, length_count=length_count)
+    use_mle = bool(mle_mode)
+    depth = max(0.3, float(auv_depth)) if auv_depth is not None else None
+    if use_mle and depth is None:
+        depth = 2.5
+
+    meta = _build_seafloor_meta(
+        rng,
+        beam_count=beam_count,
+        length_count=length_count,
+        mle_mode=use_mle,
+        auv_depth=depth,
+        swath_angle_deg=swath_angle_deg,
+        relief_scale_pct=relief_scale_pct,
+    )
     expected = int(meta["beamCount"]) * int(meta["lengthCount"])
 
     object_info: dict[str, Any] | None = None
     object_hits: dict[tuple[int, int], float] | None = None
+    object_field: dict[str, Any] | None = None
+    world: list[list[float]] | None = None
     if visibility != "absent":
         if kind == "pipe":
             world, object_info = _place_pipeline_in_scene(
@@ -692,14 +926,32 @@ def generate_sonar_scene(
                 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)
+        if use_mle:
+            object_field = _build_object_height_field(world, meta)
+            hit_cells = 0
+            if object_field:
+                for row in object_field["field"]:
+                    hit_cells += sum(1 for z in row if z is not None)
+            object_info["hitCellCount"] = hit_cells
+            object_info["keptCount"] = hit_cells
+        else:
+            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 use_mle:
+        rows, object_point_count, background_point_count = _cast_mle_fan_returns(
+            rng,
+            meta,
+            object_field,
+            auv_depth=float(depth),
+            swath_angle_deg=float(meta.get("swathAngleDeg", swath_angle_deg)),
+        )
+    else:
+        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)}")
 
@@ -713,6 +965,8 @@ def generate_sonar_scene(
         "pointCount": len(rows),
         "objectPointCount": object_point_count,
         "backgroundPointCount": background_point_count,
+        "auvDepth": float(depth) if use_mle else None,
+        "mleMode": use_mle,
         "rows": rows,
         "points": xyz,
         "meta": {
@@ -731,6 +985,10 @@ def generate_sonar_scene(
             "pingCount": meta.get("pingCount"),
             "swathBeams": meta.get("swathBeams"),
             "gridPointCount": expected,
+            "mleMode": use_mle,
+            "auvDepth": float(depth) if use_mle else None,
+            "swathAngleDeg": meta.get("swathAngleDeg"),
+            "reliefScalePct": meta.get("reliefScalePct"),
             "floorFeatures": {
                 "hills": len(meta["hills"]),
                 "valleys": len(meta["valleys"]),
@@ -812,8 +1070,31 @@ def build_run_manifest(
     nearly_hidden_pct: float = 20.0,
     partial_pct: float = 40.0,
     visible_pct: float = 40.0,
+    mle_mode: bool = False,
+    auv_depth_min: float | None = None,
+    auv_depth_max: float | None = None,
+    relief_scale_pct: float = 100.0,
 ) -> dict[str, Any]:
     model_filename = _normalize_model_filename(object_name)
+    settings: dict[str, Any] = {
+        "count": int(count),
+        "seed": int(seed),
+        "outputDir": str(output_dir),
+        "objectScale": float(object_scale),
+        "objectScaleIsMax": bool(object_scale_is_max),
+        "beamCount": int(beam_count),
+        "lengthCount": int(length_count),
+        "objectName": model_filename,
+        "absentPct": float(absent_pct),
+        "nearlyHiddenPct": float(nearly_hidden_pct),
+        "partialPct": float(partial_pct),
+        "visiblePct": float(visible_pct),
+        "mleMode": bool(mle_mode),
+        "reliefScalePct": float(relief_scale_pct),
+    }
+    if mle_mode:
+        settings["auvDepthMin"] = float(auv_depth_min) if auv_depth_min is not None else None
+        settings["auvDepthMax"] = float(auv_depth_max) if auv_depth_max is not None else None
     return {
         "version": DATASET_RUN_VERSION,
         "generatedAt": datetime.now(timezone.utc).isoformat(),
@@ -821,20 +1102,7 @@ def build_run_manifest(
         "outputDir": str(run_dir),
         "baseDir": str(base_dir),
         "objectName": model_filename,
-        "settings": {
-            "count": int(count),
-            "seed": int(seed),
-            "outputDir": str(output_dir),
-            "objectScale": float(object_scale),
-            "objectScaleIsMax": bool(object_scale_is_max),
-            "beamCount": int(beam_count),
-            "lengthCount": int(length_count),
-            "objectName": model_filename,
-            "absentPct": float(absent_pct),
-            "nearlyHiddenPct": float(nearly_hidden_pct),
-            "partialPct": float(partial_pct),
-            "visiblePct": float(visible_pct),
-        },
+        "settings": settings,
         "objectVertexCount": int(object_vertex_count),
         "stats": stats,
         "written": written,
@@ -1144,6 +1412,10 @@ def iter_generate_dataset(
     nearly_hidden_pct: float = 20.0,
     partial_pct: float = 40.0,
     visible_pct: float = 40.0,
+    mle_mode: bool = False,
+    auv_depth_min: float = 2.0,
+    auv_depth_max: float = 8.0,
+    relief_scale_pct: float = 100.0,
 ):
     """Yield NDJSON-friendly progress events, then a final ``done`` payload.
 
@@ -1183,6 +1455,18 @@ def iter_generate_dataset(
     if length_count > 1024:
         raise ValueError("length_count (Длина) must be <= 1024")
 
+    use_mle = bool(mle_mode)
+    depth_lo = max(0.3, float(auv_depth_min))
+    depth_hi = max(0.3, float(auv_depth_max))
+    if depth_hi < depth_lo:
+        depth_lo, depth_hi = depth_hi, depth_lo
+    if use_mle and (not math.isfinite(depth_lo) or not math.isfinite(depth_hi)):
+        raise ValueError("Диапазон высот must be finite numbers")
+
+    relief_pct = max(5.0, min(500.0, float(relief_scale_pct)))
+    if not math.isfinite(relief_pct):
+        raise ValueError("relief_scale_pct (Размер неровностей) must be finite")
+
     absent_pct = _clamp_pct(absent_pct, name="absent_pct")
     nearly_hidden_pct = _clamp_pct(nearly_hidden_pct, name="nearly_hidden_pct")
     partial_pct = _clamp_pct(partial_pct, name="partial_pct")
@@ -1236,6 +1520,7 @@ def iter_generate_dataset(
             scene_scale = scene_rng.uniform(lo, hi)
         else:
             scene_scale = object_scale
+        scene_depth = scene_rng.uniform(depth_lo, depth_hi) if use_mle else None
         scene = generate_sonar_scene(
             seed=scene_seed,
             visibility=visibility,
@@ -1244,6 +1529,9 @@ def iter_generate_dataset(
             object_kind=kind,
             beam_count=beam_count,
             length_count=length_count,
+            mle_mode=use_mle,
+            auv_depth=scene_depth,
+            relief_scale_pct=relief_pct,
         )
         if scene.get("object") and scene["object"].get("vertexCount"):
             object_vertex_count = int(scene["object"]["vertexCount"])
@@ -1260,6 +1548,7 @@ def iter_generate_dataset(
             "pointCount": scene["pointCount"],
             "objectPointCount": scene["objectPointCount"],
             "objectScale": scene_scale,
+            "auvDepth": scene.get("auvDepth"),
             "files": paths,
         }
         written.append(entry)
@@ -1302,6 +1591,10 @@ def iter_generate_dataset(
         "seed": int(seed),
         "beamCount": beam_count,
         "lengthCount": length_count,
+        "mleMode": use_mle,
+        "auvDepthMin": depth_lo if use_mle else None,
+        "auvDepthMax": depth_hi if use_mle else None,
+        "reliefScalePct": relief_pct,
         "objectName": object_name,
         "objectKind": kind,
         "objectScale": object_scale,
@@ -1334,6 +1627,10 @@ def iter_generate_dataset(
         nearly_hidden_pct=nearly_hidden_pct,
         partial_pct=partial_pct,
         visible_pct=visible_pct,
+        mle_mode=use_mle,
+        auv_depth_min=depth_lo if use_mle else None,
+        auv_depth_max=depth_hi if use_mle else None,
+        relief_scale_pct=relief_pct,
     )
     write_run_manifest(run_dir, manifest)
     result["settingsPath"] = str(run_dir / DATASET_RUN_FILENAME)
@@ -1356,6 +1653,10 @@ def generate_dataset(
     nearly_hidden_pct: float = 20.0,
     partial_pct: float = 40.0,
     visible_pct: float = 40.0,
+    mle_mode: bool = False,
+    auv_depth_min: float = 2.0,
+    auv_depth_max: float = 8.0,
+    relief_scale_pct: float = 100.0,
 ) -> dict[str, Any]:
     """Generate `count` unique scenes into a new timestamped run folder under output_dir."""
     result: dict[str, Any] | None = None
@@ -1374,6 +1675,10 @@ def generate_dataset(
         nearly_hidden_pct=nearly_hidden_pct,
         partial_pct=partial_pct,
         visible_pct=visible_pct,
+        mle_mode=mle_mode,
+        auv_depth_min=auv_depth_min,
+        auv_depth_max=auv_depth_max,
+        relief_scale_pct=relief_scale_pct,
     ):
         if event.get("type") == "done":
             result = event["result"]

backend/main.py

@@ -503,6 +503,10 @@ async def dataset_generate(
     nearlyHiddenPct: float = Form(20.0),
     partialPct: float = Form(40.0),
     visiblePct: float = Form(40.0),
+    mleMode: bool = Form(False),
+    auvDepthMin: float = Form(2.0),
+    auvDepthMax: float = Form(8.0),
+    reliefScalePct: float = Form(100.0),
     modelPreset: str | None = Form(None),
     model: UploadFile | None = File(None),
 ) -> StreamingResponse:
@@ -549,6 +553,10 @@ async def dataset_generate(
                 nearly_hidden_pct=nearlyHiddenPct,
                 partial_pct=partialPct,
                 visible_pct=visiblePct,
+                mle_mode=mleMode,
+                auv_depth_min=auvDepthMin,
+                auv_depth_max=auvDepthMax,
+                relief_scale_pct=reliefScalePct,
             ):
                 yield json.dumps(event, ensure_ascii=False) + "\n"
         except ValueError as exc:

frontend/web/src/api/client.js

@@ -301,6 +301,10 @@ export const api = {
     nearlyHiddenPct = 20,
     partialPct = 40,
     visiblePct = 40,
+    mleMode = false,
+    auvDepthMin = 2,
+    auvDepthMax = 8,
+    reliefScalePct = 100,
     modelPreset = null,
     modelFile = null,
     onProgress,
@@ -323,6 +327,10 @@ export const api = {
     formData.append("nearlyHiddenPct", String(nearlyHiddenPct ?? 20));
     formData.append("partialPct", String(partialPct ?? 40));
     formData.append("visiblePct", String(visiblePct ?? 40));
+    formData.append("mleMode", mleMode ? "true" : "false");
+    formData.append("auvDepthMin", String(auvDepthMin ?? 2));
+    formData.append("auvDepthMax", String(auvDepthMax ?? 8));
+    formData.append("reliefScalePct", String(reliefScalePct ?? 100));
     if (preset) {
       formData.append("modelPreset", preset);
     } else {

frontend/web/src/composables/useGboSimulator.js

@@ -63,6 +63,14 @@ function sampleHeight(meshInfo, x, y) {
   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} surveyRef bottom-right survey surface panel
@@ -959,7 +967,7 @@ export function useGboSimulator(containerRef, surveyRef) {
 
   function placeAuv(x, y, depth, headingDeg) {
     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));
     headingRad = degToRad(headingDeg);
     auvPivot.rotation.set(0, 0, headingRad);
@@ -1016,8 +1024,8 @@ export function useGboSimulator(containerRef, surveyRef) {
       traveled += step;
       const nx = auvPivot.position.x + Math.cos(headingRad) * step;
       const ny = auvPivot.position.y + Math.sin(headingRad) * step;
-      const floorZ = sampleHeight(meshInfo, nx, ny);
-      auvPivot.position.set(nx, ny, floorZ + auvDepth);
+      // Constant altitude vs flat datum — do not follow seafloor relief.
+      auvPivot.position.set(nx, ny, referenceSeafloorZ(meshInfo) + auvDepth);
       updateRays(true);
       updateTrail();
       onStatus({

frontend/web/src/composables/useMleSimulator.js

@@ -63,6 +63,14 @@ function sampleHeight(meshInfo, x, y) {
   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} 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.
-   * Starts at current echosounder footprint and extends forward by surveyLength.
+   * Preview of the future survey swath on the seafloor only (relief / unevenness).
+   * Does not wrap or outline the bottom object — object contacts appear only during motion.
    */
   function buildPathReliefPreview() {
     clearPathRelief();
@@ -277,122 +285,65 @@ export function useMleSimulator(containerRef, surveyRef) {
     const startY = auvPivot.position.y;
     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 colors = new Float32Array(nAlong * nAcross * 3);
     const flat = new THREE.Color(0x2f6b52);
     const mid = new THREE.Color(0xe6a820);
     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;
       positions[o] = x;
       positions[o + 1] = y;
       positions[o + 2] = z + 0.08; // slightly above so it reads over the wireframe
-      let c;
-      if (isObject) {
-        c = objTint;
-      } else if (intensity < 0.35) {
-        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.
+      const c =
+        intensity < 0.35
+          ? flat.clone().lerp(mid, intensity / 0.35)
+          : mid.clone().lerp(hot, Math.min(1, (intensity - 0.35) / 0.65));
       colors[o] = c.r;
       colors[o + 1] = c.g;
       colors[o + 2] = c.b;
     };
 
-    for (let col = 0; col < nAcross; col += 1) {
-      const u = nAcross === 1 ? 0.5 : col / (nAcross - 1);
-      if (currentHits.length) {
-        const src = currentHits[Math.min(currentHits.length - 1, Math.round(u * (currentHits.length - 1)))];
-        const intensity = reliefIntensity(src.x, src.y);
-        writeVertex(0, col, src.x, src.y, src.z, Math.max(intensity, src.isObject ? 1 : 0.2), !!src.isObject);
-      } else {
-        const angle = -swath * 0.5 + swath * u;
-        const dirX = Math.sin(angle) * acrossX;
-        const dirY = Math.sin(angle) * acrossY;
-        const dirZ = -Math.cos(angle);
-        // fallback probe from AUV
-        let hitX = startX;
-        let hitY = startY;
-        let hitZ = sampleHeight(meshInfo, startX, startY);
-        const originZ = hitZ + depth;
-        const step = Math.max(0.3, maxRange / 180);
-        let px = startX;
-        let py = startY;
-        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;
-          }
+    const probeSeafloorHit = (ax, ay, originZ, dirX, dirY, dirZ) => {
+      let hitX = ax;
+      let hitY = ay;
+      let hitZ = sampleHeight(meshInfo, ax, ay);
+      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;
         }
-        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.
-    for (let row = 1; row < nAlong; row += 1) {
-      const along = (row / (nAlong - 1)) * length;
+    // Stations along track: seafloor footprint only (ignore object mesh until simulation).
+    // Beam origins stay at constant altitude above the flat datum (not terrain-following).
+    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 ay = startY + hy * along;
-      const floorHere = sampleHeight(meshInfo, ax, ay);
-      const originZ = floorHere + depth;
       for (let col = 0; col < nAcross; col += 1) {
         const u = nAcross === 1 ? 0.5 : col / (nAcross - 1);
         const angle = -swath * 0.5 + swath * u;
         const dirX = Math.sin(angle) * acrossX;
         const dirY = Math.sin(angle) * acrossY;
         const dirZ = -Math.cos(angle);
-        let hitX = ax;
-        let hitY = ay;
-        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);
+        const { hitX, hitY, hitZ } = probeSeafloorHit(ax, ay, originZ, dirX, dirY, dirZ);
+        writeVertex(row, col, hitX, hitY, hitZ, Math.max(0.12, reliefIntensity(hitX, hitY)));
       }
     }
 
@@ -893,7 +844,7 @@ export function useMleSimulator(containerRef, surveyRef) {
 
   function placeAuv(x, y, depth, headingDeg) {
     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));
     headingRad = degToRad(headingDeg);
     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 [];
     const origin = auvPivot.position.clone();
     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);
     raycaster.far = maxRange;
     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 = [];
     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 objDist = Infinity;
-      if (objectPivot) {
+      if (includeObject && objectPivot) {
         raycaster.set(origin, beamDir);
         const intersects = raycaster.intersectObject(objectPivot, true);
         if (intersects.length && intersects[0].distance <= maxRange) {
@@ -996,7 +947,8 @@ export function useMleSimulator(containerRef, surveyRef) {
     }
     if (!auvPivot || !meshInfo) return;
     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);
     for (let i = 0; i < hits.length; i += 1) {
       const o = i * 6;
@@ -1060,8 +1012,8 @@ export function useMleSimulator(containerRef, surveyRef) {
       traveled += step;
       const nx = auvPivot.position.x + Math.cos(headingRad) * step;
       const ny = auvPivot.position.y + Math.sin(headingRad) * step;
-      const floorZ = sampleHeight(meshInfo, nx, ny);
-      auvPivot.position.set(nx, ny, floorZ + auvDepth);
+      // Constant altitude vs flat datum — do not follow seafloor relief.
+      auvPivot.position.set(nx, ny, referenceSeafloorZ(meshInfo) + auvDepth);
       updateRays(true);
       updateTrail();
       onStatus({

frontend/web/src/stores/dataset.js

@@ -19,6 +19,10 @@ const PERSIST_KEYS = [
   "nearlyHiddenPct",
   "partialPct",
   "visiblePct",
+  "mleMode",
+  "auvDepthMin",
+  "auvDepthMax",
+  "reliefScalePct",
 ];
 
 function loadPersistedDataset() {
@@ -52,6 +56,10 @@ export const useDatasetStore = defineStore("dataset", {
     objectScaleIsMax: !!saved.objectScaleIsMax,
     beamCount: saved.beamCount ?? 45,
     lengthCount: saved.lengthCount ?? 45,
+    mleMode: !!saved.mleMode,
+    auvDepthMin: saved.auvDepthMin ?? 2,
+    auvDepthMax: saved.auvDepthMax ?? 8,
+    reliefScalePct: saved.reliefScalePct ?? 100,
     absentPct: saved.absentPct ?? 30,
     nearlyHiddenPct: saved.nearlyHiddenPct ?? 20,
     partialPct: saved.partialPct ?? 40,
@@ -283,7 +291,11 @@ export const useDatasetStore = defineStore("dataset", {
       this.statusText = "Генерация датасета…";
       const modelLabel = this.selectedModelLabel || this.modelFileName || this.modelPreset;
       this.pushLog(
-        `Старт: count=${this.count}, seed=${this.seed}, beams=${this.beamCount}, length=${this.lengthCount}, scale=${this.objectScale}${this.objectScaleIsMax ? " (макс.)" : ""}, без объекта=${this.absentPct}%, видимость=${this.nearlyHiddenPct}/${this.partialPct}/${this.visiblePct}%, dir=${this.outputDir}, model=${modelLabel}`,
+        `Старт: count=${this.count}, seed=${this.seed}, beams=${this.beamCount}, length=${this.lengthCount}, неровности=${this.reliefScalePct}%${
+          this.mleMode
+            ? `, МЛЭ высоты=${this.auvDepthMin}…${this.auvDepthMax} м`
+            : ""
+        }, scale=${this.objectScale}${this.objectScaleIsMax ? " (макс.)" : ""}, без объекта=${this.absentPct}%, видимость=${this.nearlyHiddenPct}/${this.partialPct}/${this.visiblePct}%, dir=${this.outputDir}, model=${modelLabel}`,
       );
       try {
         const result = await api.datasetGenerate({
@@ -298,6 +310,10 @@ export const useDatasetStore = defineStore("dataset", {
           nearlyHiddenPct: Number(this.nearlyHiddenPct) || 0,
           partialPct: Number(this.partialPct) || 0,
           visiblePct: Number(this.visiblePct) || 0,
+          mleMode: !!this.mleMode,
+          auvDepthMin: Number(this.auvDepthMin) || 2,
+          auvDepthMax: Number(this.auvDepthMax) || 8,
+          reliefScalePct: Number(this.reliefScalePct) || 100,
           modelPreset: this.modelSource === "preset" ? this.modelPreset : null,
           modelFile: this.modelSource === "file" ? this.modelFile : null,
           onProgress: (event) => {
@@ -321,8 +337,12 @@ export const useDatasetStore = defineStore("dataset", {
                   entry.objectScale != null
                     ? `, scale=${Number(entry.objectScale).toFixed(3)}`
                     : "";
+                const depthPart =
+                  entry.auvDepth != null
+                    ? `, h=${Number(entry.auvDepth).toFixed(2)} м`
+                    : "";
                 this.pushLog(
-                  `${entry.stem}: pts=${entry.pointCount}, object=${entry.objectPointCount}, ${entry.visibility}${scalePart}`,
+                  `${entry.stem}: pts=${entry.pointCount}, object=${entry.objectPointCount}, ${entry.visibility}${scalePart}${depthPart}`,
                 );
               }
             }

frontend/web/src/views/DatasetView.vue

@@ -79,6 +79,10 @@ watch(
     store.objectScaleIsMax,
     store.beamCount,
     store.lengthCount,
+    store.mleMode,
+    store.auvDepthMin,
+    store.auvDepthMax,
+    store.reliefScalePct,
     store.absentPct,
     store.nearlyHiddenPct,
     store.partialPct,
@@ -276,7 +280,12 @@ function runOptionLabel(run) {
             :disabled="store.busy"
           />
           <span class="ref-caption">
-            Поперечные лучи эхолота (X): N лучей = N возвратов по ширине галса.
+            <template v-if="store.mleMode">
+              Число лучей веера МЛЭ в одном пинге (поперек курса).
+            </template>
+            <template v-else>
+              Поперечные лучи эхолота (X): N лучей = N возвратов по ширине галса.
+            </template>
           </span>
         </label>
 
@@ -291,7 +300,72 @@ function runOptionLabel(run) {
             :disabled="store.busy"
           />
           <span class="ref-caption">
-            Пинги вдоль курса (Y): L возвратов по длине. Итого точек сцены: N×L (первый отклик луча).
+            <template v-if="store.mleMode">
+              Число пингов вдоль курса. Итого точек сцены: лучи × пинги.
+            </template>
+            <template v-else>
+              Пинги вдоль курса (Y): L возвратов по длине. Итого точек сцены: N×L (первый отклик луча).
+            </template>
+          </span>
+        </label>
+
+        <label class="field check-block">
+          <span class="field-label-row">
+            <label class="check-inline">
+              <input
+                v-model="store.mleMode"
+                type="checkbox"
+                :disabled="store.busy"
+              />
+              Съёмка как многолучевой эхолот
+            </label>
+          </span>
+          <span class="ref-caption">
+            Рельеф и объекты — как первый отклик веера МЛЭ (наклонными лучами), а не ортогональной сеткой.
+          </span>
+        </label>
+
+        <div v-if="store.mleMode" class="grid-2">
+          <label class="field">
+            <span>Диапазон высот, м (от)</span>
+            <input
+              v-model.number="store.auvDepthMin"
+              type="number"
+              min="0.3"
+              max="200"
+              step="0.1"
+              :disabled="store.busy"
+            />
+          </label>
+          <label class="field">
+            <span>Диапазон высот, м (до)</span>
+            <input
+              v-model.number="store.auvDepthMax"
+              type="number"
+              min="0.3"
+              max="200"
+              step="0.1"
+              :disabled="store.busy"
+            />
+          </label>
+          <span class="ref-caption" style="grid-column: 1 / -1">
+            Для каждой сцены высота АНПА над ровным дном выбирается случайно из этого диапазона.
+          </span>
+        </div>
+
+        <label class="field">
+          <span>Размер неровностей, %</span>
+          <input
+            v-model.number="store.reliefScalePct"
+            type="number"
+            min="5"
+            max="500"
+            step="5"
+            :disabled="store.busy"
+          />
+          <span class="ref-caption">
+            Масштаб случайного рельефа дна относительно размера сцены.
+            100% — заметные холмы/впадины; 200% — примерно вдвое крупнее.
           </span>
         </label>
 
@@ -638,6 +712,12 @@ function runOptionLabel(run) {
   gap: 4px;
   font-size: 13px;
 }
+.grid-2 {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 10px 12px;
+  align-items: start;
+}
 .field-label-row {
   display: flex;
   align-items: center;

frontend/web/src/views/GboView.vue

@@ -221,11 +221,11 @@ function onShotSurvey() {
             <input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" />
           </label>
           <label class="field">
-            <span>Y (старт)</span>
+            <span>Y</span>
             <input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" />
           </label>
           <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" />
           </label>
           <label class="field">

frontend/web/src/views/MleView.vue

@@ -241,11 +241,11 @@ function onShotSurvey() {
             <input v-model.number="store.auvX" type="number" step="0.5" :disabled="store.running" />
           </label>
           <label class="field">
-            <span>Y (старт)</span>
+            <span>Y</span>
             <input v-model.number="store.auvY" type="number" step="0.5" :disabled="store.running" />
           </label>
           <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" />
           </label>
           <label class="field">