feat(shenron): Stabilize radar physics with spatial and signal calibration

Includes -2m shift, Z-filtering, and Blackman-Harris windowing

scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/lidar.py

@@ -90,15 +90,17 @@ def Cropped_forRadar(pc, veh_coord, veh_angle, radarobj):
     # skew_pc = np.vstack(((skew_pc ).T, pc[:, 3], pc[:, 5])).T  #x,y,z,speed,material
     skew_pc = np.vstack(((skew_pc ).T, pc[:, 3], pc[:, 5],pc[:,6])).T  #x,y,z,speed,material, cosines
 
-    # Restoration: X is Side (Index 0), Y is Forward (Index 1)
-    rowy = np.where((skew_pc[:, 1] > 0.5)) # Start 0.5m forward to avoid bumper
+    # NORMALIZATION: The points are now relative to the bumper (X=2.0). 
+    # Any point with Y < 0.2 is the car's own hood or internal bumper structure.
+    rowy = np.where((skew_pc[:, 1] > 0.2)) 
     new_pc = skew_pc[rowy, :].squeeze(0)
 
     new_pc = new_pc[new_pc[:,4]!=0] # Drop empty materials
 
     new_pc = new_pc[(new_pc[:,0]<30)*(new_pc[:,0]>-30)] # Side range (X) is +-30m
     new_pc = new_pc[(new_pc[:,1]<120)] # Forward range (Y) extended to 120m for headroom
-    new_pc = new_pc[(new_pc[:,2]<10)] # Height cut-off
+    new_pc = new_pc[(new_pc[:,2]<10)] # Height cut-off (Up)
+    new_pc = new_pc[(new_pc[:,2]>-2.2)] # Ground-level cut-off (30cm road-clearance to keep wheels/bumpers)
 
     simobj = Sceneset(new_pc)
 
@@ -158,10 +160,11 @@ def run_lidar(sim_config, sem_lidar_frame):
     test = new_map_material(load_pc)
     
     # LEGACY REQUIREMENT: Shenron physics engine expects Index 1 to be Forward.
-    # We swap CARLA's X (Forward) into Index 1 and CARLA's Y (Right) into Index 0.
+    # MOUNT OFFSET: Radar is at +2.0m (Front Bumper), LiDAR is at +0.0m (Center Roof).
+    # We subtract 2.0m from the CARLA X (Forward) to normalize points to the Radar Center.
     points = np.zeros((np.shape(test)[0], 7))
     points[:, 0] = test[:, 1] # Side (Y in CARLA)
-    points[:, 1] = test[:, 0] # Forward (X in CARLA)
+    points[:, 1] = test[:, 0] - 2.0 # Normalized Forward (X in CARLA)
     points[:, 2] = test[:, 2] # Up (Z in CARLA)
 
     """

scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/lidar_utils.py

@@ -142,9 +142,9 @@ def new_map_material(test):
 
     unlabel_roughness = 0
     wood_roughness = 0.0017 #1.7mm
-    conc_roughness = 0.0017 #1.7mm
+    conc_roughness = 0.01 # 1cm (Increased from 1.7mm for stability)
     human_roughness = 0.0001 # 100um
-    metal_roughness = 0.0001 # 100um 
+    metal_roughness = 0.02 # 2cm (Increased from 100um to prevent NPC disappearance on turns)
     
     roughness = np.array([unlabel_roughness,wood_roughness,conc_roughness,human_roughness,metal_roughness])
 

scripts/ISOLATE/e2e_agent_sem_lidar2shenron_package/shenron/Sceneset.py

@@ -407,7 +407,7 @@ def get_loss_3(points, rho, elev_angle, angles, radar, use_spec = True, use_diff
     tx_dist_loss_exponent = 2
     rx_dist_loss_exponent = 0
 
-    spec_angle_thresh = 2*np.pi/180#*(1/rho)
+    spec_angle_thresh = 5.0*np.pi/180 # Increased from 2.0 to 5.0 for stability on turns
 
     P_incident = np.power(rho,2) * np.sin(elev_angle) * voxel_phi * voxel_theta * (1/np.power(rho,tx_dist_loss_exponent)) * K_sq 
 

scripts/ISOLATE/sim_radar_utils/radar_processor.py

@@ -22,12 +22,10 @@ cfarCfg = config['CFAR']
 class RadarProcessor:
     def __init__(self):
         # radar data will be shaped as (# of chirp, # of sample, # of antenna)
-        # self.rangeWin = np.tile(signal.windows.hann(radarCfg['N']), (radarCfg['Np'], len(radarCfg['AntIdx']), 1))
-        self.rangeWin = np.tile(signal.windows.hann(radarCfg['N']), (radarCfg['Np'], radarCfg['NrChn'], 1))
+        self.rangeWin = np.tile(signal.windows.blackmanharris(radarCfg['N']), (radarCfg['Np'], radarCfg['NrChn'], 1))
         self.rangeWin = np.transpose(self.rangeWin, (2, 0, 1))
 
-        # self.velWin = np.tile(signal.windows.hann(radarCfg['Np']), (radarCfg['N'], len(radarCfg['AntIdx']), 1))
-        self.velWin = np.tile(signal.windows.hann(radarCfg['Np']), (radarCfg['N'], radarCfg['NrChn'], 1))
+        self.velWin = np.tile(signal.windows.blackmanharris(radarCfg['Np']), (radarCfg['N'], radarCfg['NrChn'], 1))
         self.velWin = np.transpose(self.velWin, (0, 2, 1))
 
         rangeRes = fftCfg['c0'] / (2*(radarCfg['fStop'] - radarCfg['fStrt']))

scripts/test_shenron.py

@@ -81,7 +81,7 @@ def run_testbench(iter_name):
         return
         
     iter_dir.mkdir(parents=True, exist_ok=True)
-    radar_types = ['awrl1432', 'radarbook', 'ti_cascade']
+    radar_types = ['awrl1432', 'radarbook']
     
     print(f"\n======================================")
     print(f"SHENRON TESTBENCH ITERATION: {iter_name}")