feat: compare localization algorithms in camera

apps/acoustic-camera/simulation-worker.js

@@ -1,6 +1,7 @@
 import { synthesizeMicrophoneSignals } from "/packages/acoustics-core/propagation.js";
 import { sampleQuasiStaticWindow } from "/packages/acoustics-core/trajectory.js";
-import { computeDasWithBackend } from "/packages/webgpu-kernels/compute.js";
+import { createLocalizationAnalysisPlan } from "/packages/acoustics-core/localization.js";
+import { computeLocalizationWithBackend } from "/packages/webgpu-kernels/compute.js";
 
 function post(type, jobId, payload = {}, transfer = []) {
   self.postMessage({ type, jobId, ...payload }, transfer);
@@ -46,7 +47,20 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
   const frames = [];
   const transfer = [];
   let signalGeneration = 0;
-  let beamforming = 0;
+  let localizationTime = 0;
+  const localizationScene = { speedOfSound: scene.speedOfSound };
+  const algorithm = experiment.beamforming.algorithm ?? "das";
+  const requestedBackend = experiment.beamforming.backend ?? "auto";
+  const reuseCpuPlan = algorithm === "gcc-phat" || requestedBackend === "cpu";
+  let localizationExperiment = experiment;
+  let analysisPlan = reuseCpuPlan
+    ? createLocalizationAnalysisPlan({
+        sampleRate: scene.sampleRate,
+        arrayDefinition,
+        scene: localizationScene,
+        experiment: localizationExperiment,
+      })
+    : undefined;
 
   post("progress", jobId, {
     stage: "timeline-start",
@@ -82,13 +96,14 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
     const frameSignalGeneration = performance.now() - signalStartedAt;
     signalGeneration += frameSignalGeneration;
 
-    const beamformingStartedAt = performance.now();
-    const das = await computeDasWithBackend({
+    const localizationStartedAt = performance.now();
+    const localization = await computeLocalizationWithBackend({
       channels: synthesis.channels,
       sampleRate: synthesis.sampleRate,
       arrayDefinition,
-      scene: synthesisWindow.scene,
-      experiment,
+      scene: localizationScene,
+      experiment: localizationExperiment,
+      ...(analysisPlan ? { analysisPlan } : {}),
       onFallback: ({ error }) =>
         post("fallback", jobId, {
           code: error.code,
@@ -105,9 +120,32 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
           progress,
         }),
     });
-    const frameBeamforming = performance.now() - beamformingStartedAt;
-    beamforming += frameBeamforming;
-    collectBandTransfers(das, transfer);
+    const frameLocalization = performance.now() - localizationStartedAt;
+    localizationTime += frameLocalization;
+    collectBandTransfers(localization, transfer);
+
+    if (
+      !analysisPlan &&
+      localization.backend === "cpu" &&
+      localization.fallback?.from === "webgpu"
+    ) {
+      // Auto has established that WebGPU is unavailable for this worker. Keep
+      // the first frame's honest fallback metadata, then avoid retrying the GPU
+      // and rebuilding CPU geometry/workspaces on every remaining live frame.
+      localizationExperiment = {
+        ...experiment,
+        beamforming: {
+          ...experiment.beamforming,
+          backend: "cpu",
+        },
+      };
+      analysisPlan = createLocalizationAnalysisPlan({
+        sampleRate: scene.sampleRate,
+        arrayDefinition,
+        scene: localizationScene,
+        experiment: localizationExperiment,
+      });
+    }
 
     frames.push({
       index: plannedFrame.index ?? frameIndex,
@@ -116,12 +154,13 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
       sampleTime: synthesisWindow.sampleTime,
       duration: synthesisWindow.duration,
       run: {
-        ...das,
+        ...localization,
         signalStats: signalStats(synthesis),
         timingMs: {
           total: performance.now() - frameStartedAt,
           signalGeneration: frameSignalGeneration,
-          beamforming: frameBeamforming,
+          localization: frameLocalization,
+          beamforming: frameLocalization,
         },
       },
     });
@@ -145,6 +184,7 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
     {
       timeline: {
         backend: backends.size === 1 ? frames[0].run.backend : "mixed",
+        algorithm: experiment.beamforming.algorithm ?? "das",
         requestedBackend: experiment.beamforming.backend ?? "auto",
         duration: scene.duration,
         frameCount: frames.length,
@@ -153,7 +193,8 @@ async function runTimeline({ jobId, scene, arrayDefinition, experiment, assetBuf
         timingMs: {
           total: performance.now() - totalStartedAt,
           signalGeneration,
-          beamforming,
+          localization: localizationTime,
+          beamforming: localizationTime,
         },
       },
     },
@@ -184,8 +225,8 @@ self.addEventListener("message", async (event) => {
       message: `마이크 신호 합성 완료 · ${signalGeneration.toFixed(0)} ms`,
     });
 
-    const beamformingStartedAt = performance.now();
-    const das = await computeDasWithBackend({
+    const localizationStartedAt = performance.now();
+    const localization = await computeLocalizationWithBackend({
       channels: synthesis.channels,
       sampleRate: synthesis.sampleRate,
       arrayDefinition,
@@ -198,20 +239,21 @@ self.addEventListener("message", async (event) => {
         }),
       onProgress: (progress) => post("progress", jobId, { stage: progress.stage, progress }),
     });
-    const beamforming = performance.now() - beamformingStartedAt;
+    const localizationTime = performance.now() - localizationStartedAt;
     const transfer = [];
-    collectBandTransfers(das, transfer);
+    collectBandTransfers(localization, transfer);
     post(
       "result",
       jobId,
       {
         run: {
-          ...das,
+          ...localization,
           signalStats: signalStats(synthesis),
           timingMs: {
             total: performance.now() - totalStartedAt,
             signalGeneration,
-            beamforming,
+            localization: localizationTime,
+            beamforming: localizationTime,
           },
         },
       },