diff --git a/.gitignore b/.gitignore
index 209932b..6bf0190 100644
--- a/.gitignore
+++ b/.gitignore
@@ -56,3 +56,6 @@ docs/剖面网格数据的色阶数据2等文件.tar
 /installer/staging/
 /installer/dist/
 /installer/redist/
+
+# ---- Radar sample data: keep .head/.cor (small text), ignore big .data binaries ----
+samples/**/*.data
diff --git a/docs/superpowers/plans/2026-06-29-3d-radar-volume-ingest.md b/docs/superpowers/plans/2026-06-29-3d-radar-volume-ingest.md
new file mode 100644
index 0000000..250e1e7
--- /dev/null
+++ b/docs/superpowers/plans/2026-06-29-3d-radar-volume-ingest.md
@@ -0,0 +1,1052 @@
+# 三维雷达体接入（规范化格式）Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** 让一条"规范化 `.head/.data/.cor`"三维雷达测线在桌面 app 里**登记成 `dd_radar_3d` DS**并渲染成体，复用现成切片/异常工具。
+
+**Architecture:** 在稳定的 `core::BuiltI16` 汇聚点接入新格式——新写"规范化 reader + bridge"产出 `BuiltI16` → `builtI16ToVolumeGrid` → `createRadarVolumeGrid`；上层走 **DS 优先**：`registerRadarDataset` 把体以 `ddCode=dd_radar_3d` 登记进 `volumes_`（运行期路由只认 `volumes_` 成员，故 `isVolumeDataset`/`loadVolume`/`addDatasetAsync` 零改动）→ 勾选 → 渲染。先把现有 `Gpr3dvVolumeBridge` 的"扫值域→量化→通道插值→填体→spacing"抽成共享 helper（消 DRY），Impulse 与规范化两路同调。
+
+**Tech Stack:** C++17、Qt6、VTK 9.6.2、GoogleTest/CTest、CMake(Ninja)、vcpkg。
+
+## Global Constraints
+
+- C++17；命名空间 `geopro::io::gpr` / `geopro::data`；类型 `PascalCase`、函数 `camelCase`、成员 `snake_`、常量 `kPascalCase`。
+- 体轴映射固定：**X=道(nx=K) / Y=通道(ny=M) / Z=采样(nz=N)**。
+- 数据体磁盘主序固定：**position-major**，扁平索引 `((t*M + c)*N + s)`（t=道, c=通道, s=采样；采样最快、道最慢）。⚠️ 与体内存布局(`((k*ny+j)*nx+i)`，道最快)相反 → **逐体素散射填值，严禁 memcpy/整块拷贝**。
+- 量化：复用 `geopro::core::Quant`（`scale=(vmax-vmin)/64000`、`offset=中点`）；GPR 体稠密无空洞 → **不置 `kBlank`**；不特判 `-32768`（饱和真实值，经 `toQ` 落普通区间）。
+- `BITS` 真源 = `.head` 的 `BITS` 字段（P0 仅支持 16-bit；32-bit 抛 `not implemented`）。`ENDIAN_TYPE` 1=小端/2=大端。
+- 通道插值复用纯函数 `geopro::io::gpr::planChannelInterpolation(offsets, targetDy)`（默认 `targetDy=0.025`），通道横向偏移取自 `.head` 的 `CH_X_OFFSETS`，**绝不跨线**。
+- 内存：app 体是 `std::vector<double>`（int16 的 4×）；单线默认 `coarse=4`（峰值 <0.5GB）。多线/全分辨率不在本计划（走 P2 核外）。
+- 构建/测试：⚠️ **`cmake`/`ctest`/`cl` 不在 PATH** —— 必须经 `D:\Git\lanbingtech\geopro\build.bat`（自带 vcvars + VS cmake/ctest）。各 task 步骤里写的 `cmake --build ... && ctest -R ...` 是**意图**，实际跑：(1) **构建+全测**：PowerShell `D:\Git\lanbingtech\geopro\build.bat test`（构建 geopro_tests + ctest 全跑，~68s，**基线 444/444 全绿**——经 build.bat 时 proj.db 等都能找到）；(2) **聚焦单测**（构建后快速复跑）：`build/release/tests/geopro_tests.exe --gtest_filter=Pattern*`（雷达测试不依赖 proj.db，可直接跑）；(3) **app**：`build.bat app`。**重链前关掉在跑的 app/exe**（LNK1104）。**别删** `build/release`。
+- 提交：Conventional Commits（`feat:`/`refactor:`/`test:`），分支 `feat/3d-radar-volume-ingest`（已存在）。
+- 失败排查：桌面日志 `%LOCALAPPDATA%/Geomative/Geopro3/logs/geopro_*.log`。
+
+---
+
+### Task 1: 抽出共享建体 helper `assembleRadarVolume`（消 HIGH-1 DRY）
+
+把 `Gpr3dvVolumeBridge.cpp:132-197` 的"扫值域→Quant→通道插值→逐体素填→spacing"抽成格式无关的共享函数，Impulse 路改为调用它，行为不变（现有 gtest 兜底）。
+
+**Files:**
+- Create: `src/io/gpr/RadarVolumeAssembler.hpp`
+- Create: `src/io/gpr/RadarVolumeAssembler.cpp`
+- Modify: `src/io/gpr/Gpr3dvVolumeBridge.cpp:99-197`（dims 之后改为组 `RadarCubeDesc` + sampler 调 helper）
+- Modify: `src/io/CMakeLists.txt`（加 `RadarVolumeAssembler.cpp`）
+- Test: `tests/io/gpr/test_radar_volume_assembler.cpp`
+- Modify: `tests/CMakeLists.txt`（加新测试源）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  namespace geopro::io::gpr {
+  struct RadarCubeDesc {
+    int channels = 0;                  // M
+    int traces = 0;                    // K(源道数, 下采样前)
+    int samples = 0;                   // N
+    std::vector<double> chXOffsets;    // 每通道横向偏移(米); size==channels 时启用通道插值
+    double dxBase = 1.0;               // 道距(米) → dx = dxBase*stride
+    double dyWhenNotInterpolated = 1.0;// 未插值时 Y 间距(米)
+    double dz = 1.0;                   // 深度采样间距(米)
+  };
+  using CubeSampler = std::function<double(int c, int t, int s)>;
+  // 扫值域→Quant→通道插值(planChannelInterpolation)→逐体素填→spacing。轴 X=道/Y=通道/Z=样本。
+  // coarse≥1 沿道下采样(nxOut=ceil(K/coarse), dx×coarse)；targetDy>0 启用通道插值。GPR 稠密不置 kBlank。
+  geopro::core::BuiltI16 assembleRadarVolume(const RadarCubeDesc& desc,
+                                             const CubeSampler& sample,
+                                             int coarse, double targetDy);
+  }
+  ```
+- Consumes: `geopro::core::{BuiltI16,Quant,ScalarVolumeI16}`、`planChannelInterpolation`。
+
+- [ ] **Step 1: 写失败测试**
+
+`tests/io/gpr/test_radar_volume_assembler.cpp`：
+```cpp
+#include <gtest/gtest.h>
+#include "core/algo/GprVolumeBuilder.hpp"
+#include "io/gpr/RadarVolumeAssembler.hpp"
+
+using geopro::io::gpr::RadarCubeDesc;
+using geopro::io::gpr::assembleRadarVolume;
+
+// 2 道 × 3 通道 × 4 采样，值 = 100*c + 10*t + s。不插值(chXOffsets 空)、coarse=1。
+TEST(RadarVolumeAssembler, AxisMapAndQuantRoundTrip) {
+  RadarCubeDesc d;
+  d.channels = 3; d.traces = 2; d.samples = 4;
+  d.dxBase = 0.1; d.dyWhenNotInterpolated = 0.5; d.dz = 0.05;
+  auto sampler = [](int c, int t, int s) { return 100.0 * c + 10.0 * t + s; };
+
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/1, /*targetDy=*/0.0);
+
+  EXPECT_EQ(b.vol.nx(), 2);  // 道
+  EXPECT_EQ(b.vol.ny(), 3);  // 通道(未插值=原通道数)
+  EXPECT_EQ(b.vol.nz(), 4);  // 采样
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.1);
+  EXPECT_DOUBLE_EQ(b.spacing[1], 0.5);
+  EXPECT_DOUBLE_EQ(b.spacing[2], 0.05);
+  EXPECT_NEAR(b.vminPhys, 0.0, 1e-9);          // c0,t0,s0
+  EXPECT_NEAR(b.vmaxPhys, 213.0, 1e-9);        // c2,t1,s3 = 200+10+3
+  // 反量化对位：体素(道 t=1, 通道 c=2, 采样 s=3) 应≈213(量化误差内)。
+  const double recon = b.quant.toPhys(b.vol.at(1, 2, 3));
+  EXPECT_NEAR(recon, 213.0, b.quant.scale);
+}
+
+// coarse=2：4 道 → nxOut=2，dx×2。
+TEST(RadarVolumeAssembler, CoarseDownsamplesTracesAndScalesDx) {
+  RadarCubeDesc d;
+  d.channels = 1; d.traces = 4; d.samples = 2; d.dxBase = 0.1;
+  auto sampler = [](int, int t, int s) { return 10.0 * t + s; };
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/2, 0.0);
+  EXPECT_EQ(b.vol.nx(), 2);
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.2);
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(1, 0, 0)), 20.0, b.quant.scale);  // 输出道1 = 源道2
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R RadarVolumeAssembler -V`
+Expected: 编译失败（`RadarVolumeAssembler.hpp` 不存在）。
+
+- [ ] **Step 3: 写 helper 实现**
+
+`src/io/gpr/RadarVolumeAssembler.hpp`：
+```cpp
+#ifndef GEOPRO_IO_GPR_RADARVOLUMEASSEMBLER_HPP
+#define GEOPRO_IO_GPR_RADARVOLUMEASSEMBLER_HPP
+#include <functional>
+#include <vector>
+#include "core/algo/GprVolumeBuilder.hpp"
+namespace geopro::io::gpr {
+struct RadarCubeDesc {
+  int channels = 0; int traces = 0; int samples = 0;
+  std::vector<double> chXOffsets;
+  double dxBase = 1.0; double dyWhenNotInterpolated = 1.0; double dz = 1.0;
+};
+using CubeSampler = std::function<double(int c, int t, int s)>;
+geopro::core::BuiltI16 assembleRadarVolume(const RadarCubeDesc& desc,
+                                           const CubeSampler& sample,
+                                           int coarse, double targetDy);
+}  // namespace geopro::io::gpr
+#endif
+```
+`src/io/gpr/RadarVolumeAssembler.cpp`（搬 `Gpr3dvVolumeBridge.cpp:115-195` 的逻辑，数据访问换成 `sample(c,t,s)`）：
+```cpp
+#include "io/gpr/RadarVolumeAssembler.hpp"
+#include <cmath>
+#include <limits>
+#include <stdexcept>
+#include "core/model/ScalarVolumeI16.hpp"
+#include "io/gpr/GprGeometry.hpp"  // planChannelInterpolation, ChannelInterpRow
+namespace geopro::io::gpr {
+
+geopro::core::BuiltI16 assembleRadarVolume(const RadarCubeDesc& d,
+                                           const CubeSampler& sample,
+                                           int coarse, double targetDy) {
+  if (d.channels <= 0 || d.traces <= 0 || d.samples <= 0)
+    throw std::runtime_error("assembleRadarVolume: 维度为空");
+  const int stride = coarse > 1 ? coarse : 1;
+  const int nxOut = (d.traces + stride - 1) / stride;
+  const int nz = d.samples;
+
+  // 通道插值方案(读 chXOffsets 规则化到 targetDy)；退路=逐通道 identity。
+  std::vector<ChannelInterpRow> rows;
+  bool interpolated = false;
+  if (static_cast<int>(d.chXOffsets.size()) == d.channels && targetDy > 0.0) {
+    rows = planChannelInterpolation(d.chXOffsets, targetDy);
+    interpolated = (static_cast<int>(rows.size()) != d.channels);
+  }
+  if (rows.empty())
+    for (int c = 0; c < d.channels; ++c) rows.push_back({c, c, 0.0});
+  const int ny = static_cast<int>(rows.size());
+
+  // 扫值域 → Quant(中点 offset, 64000 裕度)。
+  double vmin = std::numeric_limits<double>::infinity();
+  double vmax = -std::numeric_limits<double>::infinity();
+  for (int c = 0; c < d.channels; ++c)
+    for (int t = 0; t < d.traces; ++t)
+      for (int s = 0; s < d.samples; ++s) {
+        const double v = sample(c, t, s);
+        if (v < vmin) vmin = v;
+        if (v > vmax) vmax = v;
+      }
+  if (!(vmin <= vmax)) { vmin = 0.0; vmax = 0.0; }
+  geopro::core::Quant quant;
+  quant.scale = (vmax > vmin) ? (vmax - vmin) / 64000.0 : 1.0;
+  quant.offset = 0.5 * (vmin + vmax);
+
+  // 逐(输出行 j, 输出道 to, 采样 s)填，散射写入(绝不 memcpy)。
+  geopro::core::BuiltI16 built;
+  built.vol = geopro::core::ScalarVolumeI16(nxOut, ny, nz);
+  for (int j = 0; j < ny; ++j) {
+    const int a = rows[j].a, b = rows[j].b;
+    const double wb = rows[j].wb, wa = 1.0 - wb;
+    for (int to = 0; to < nxOut; ++to) {
+      const int t = to * stride;
+      for (int s = 0; s < nz; ++s) {
+        const double va = sample(a, t, s);
+        const double vb = (b == a) ? va : sample(b, t, s);
+        built.vol.at(to, j, s) = quant.toQ(wa * va + wb * vb);
+      }
+    }
+  }
+
+  const double dy = interpolated ? targetDy : d.dyWhenNotInterpolated;
+  built.quant = quant;
+  built.origin = {0.0, 0.0, 0.0};
+  built.spacing = {d.dxBase * stride, dy, d.dz};
+  built.vminPhys = vmin;
+  built.vmaxPhys = vmax;
+  return built;
+}
+}  // namespace geopro::io::gpr
+```
+在 `src/io/CMakeLists.txt` 现有 gpr 源清单里加 `gpr/RadarVolumeAssembler.cpp`（紧挨 `gpr/Gpr3dvVolumeBridge.cpp`）。在 `tests/CMakeLists.txt` 现有 `geopro_tests` 源清单里加 `io/gpr/test_radar_volume_assembler.cpp`（紧挨 `io/gpr/test_gpr3dv_volume_bridge.cpp`）。
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R RadarVolumeAssembler -V`
+Expected: 2 个用例 PASS。
+
+- [ ] **Step 5: Impulse 路改调 helper（保持现有 gtest 绿）**
+
+把 `Gpr3dvVolumeBridge.cpp` 内联的"扫值域+Quant+填体+spacing"（约 :132-195）替换为：组 `RadarCubeDesc desc{channels, traces, samples, latOff, h.distanceInc>1e-9?h.distanceInc:1.0, channelSpacingY(h,channels), depthSpacingZ(h)}` + `CubeSampler sample = [&processed](int c,int t,int s){ const auto& ch=processed.volumeData[c]; if(t>=(int)ch.size()) return 0.0; const auto& tr=ch[t]; return s<(int)tr.size()? (double)tr[s] : 0.0; }`，调 `const auto built = assembleRadarVolume(desc, sample, coarse, targetDy);`，再回填 `metricsOut`（nx/ny/nz 取 `built.vol.*()`，dx/dy/dz 取 `built.spacing[*]`，vmin/vmax 取 `built.vminPhys/vmaxPhys`，before/after/load/pipeline 仍用原 Impulse 统计）。保留 `latOff`/`channelSpacingY`/`depthSpacingZ`/`meanAbsAmplitude` 不动。`#include "io/gpr/RadarVolumeAssembler.hpp"`。
+
+- [ ] **Step 6: 跑现有 Impulse 测试确认无回归**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R "Gpr3dv|RadarVolumeAssembler" -V`
+Expected: `test_gpr3dv_volume_bridge` 全部仍 PASS + 新测试 PASS（行为不变）。
+
+- [ ] **Step 7: Commit**
+
+```bash
+git add src/io/gpr/RadarVolumeAssembler.hpp src/io/gpr/RadarVolumeAssembler.cpp \
+        src/io/gpr/Gpr3dvVolumeBridge.cpp src/io/CMakeLists.txt \
+        tests/io/gpr/test_radar_volume_assembler.cpp tests/CMakeLists.txt
+git commit -m "refactor(gpr): 抽出共享 assembleRadarVolume，Impulse 路改调(消填体 DRY)"
+```
+
+---
+
+### Task 2: 规范化 `.head` 解析器
+
+**Files:**
+- Create: `src/io/gpr/NormalizedRadarReader.hpp`
+- Create: `src/io/gpr/NormalizedRadarReader.cpp`
+- Modify: `src/io/CMakeLists.txt`（加 `NormalizedRadarReader.cpp`）
+- Test: `tests/io/gpr/test_normalized_radar_reader.cpp`
+- Modify: `tests/CMakeLists.txt`（加新测试源）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  namespace geopro::io::gpr {
+  struct RadarHeader {
+    int samples = 0;                 // N (SAMPLES)
+    int channels = 0;                // M (NUMBER_OF_CH)
+    long lastTrace = 0;              // 总扫描数=K*M (LAST_TRACE)
+    int traces = 0;                  // K = lastTrace/channels
+    int bits = 16;                   // 8/16/32 (BITS)
+    int endianType = 1;              // 1 小端/2 大端 (ENDIAN_TYPE)
+    double distanceInterval = 1.0;   // 道距 m (DISTANCE_INTERVAL)
+    double timeWindowNs = 0.0;       // 时窗 ns (TIMEWINDOW)
+    double dielectric = 0.0;         // 介电常数 (DIELECTRIC, 0=未知)
+    std::vector<double> chXOffsets;  // 通道横向偏移 m (CH_X_OFFSETS)
+  };
+  // 解析 KEY:VALUE 文本头。缺 SAMPLES/NUMBER_OF_CH/LAST_TRACE 任一 → std::runtime_error。
+  // traces = lastTrace/channels（不整除抛错）。
+  RadarHeader parseRadarHead(const std::string& headText);
+  // 由 dielectric 求波速(m/ns): >0 时 0.2998/sqrt(eps)，否则 0.1(默认)。
+  double waveVelocityMperNs(const RadarHeader& h);
+  // 深度采样间距(米): timeWindowNs/(samples-1) × 波速/2。samples<=1 → 0。
+  double depthSpacingZ(const RadarHeader& h);
+  }
+  ```
+
+- [ ] **Step 1: 写失败测试**
+
+`tests/io/gpr/test_normalized_radar_reader.cpp`：
+```cpp
+#include <gtest/gtest.h>
+#include "io/gpr/NormalizedRadarReader.hpp"
+using namespace geopro::io::gpr;
+
+TEST(NormalizedRadarHead, ParsesCoreFieldsAndDerivesTraces) {
+  const std::string head =
+      "SAMPLES:516\nNUMBER_OF_CH:16\nLAST_TRACE:60448\nBITS:16\nENDIAN_TYPE:1\n"
+      "DISTANCE_INTERVAL:0.099194\nTIMEWINDOW:96.419553\nDIELECTRIC:\n"
+      "CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 "
+      "0.880 0.960 1.040 1.120 1.200 1.280\n";
+  const RadarHeader h = parseRadarHead(head);
+  EXPECT_EQ(h.samples, 516);
+  EXPECT_EQ(h.channels, 16);
+  EXPECT_EQ(h.lastTrace, 60448);
+  EXPECT_EQ(h.traces, 3778);          // 60448/16
+  EXPECT_EQ(h.bits, 16);
+  EXPECT_EQ(h.endianType, 1);
+  EXPECT_DOUBLE_EQ(h.distanceInterval, 0.099194);
+  ASSERT_EQ(h.chXOffsets.size(), 16u);
+  EXPECT_DOUBLE_EQ(h.chXOffsets.front(), 0.080);
+  EXPECT_DOUBLE_EQ(h.chXOffsets.back(), 1.280);
+}
+
+TEST(NormalizedRadarHead, MissingRequiredFieldThrows) {
+  EXPECT_THROW(parseRadarHead("SAMPLES:516\nNUMBER_OF_CH:16\n"), std::runtime_error);
+}
+
+TEST(NormalizedRadarHead, DepthSpacingUsesDefaultVelocityWhenNoDielectric) {
+  const std::string head = "SAMPLES:516\nNUMBER_OF_CH:16\nLAST_TRACE:32\n"
+                           "TIMEWINDOW:96.419553\nDIELECTRIC:\n";
+  const RadarHeader h = parseRadarHead(head);
+  EXPECT_NEAR(waveVelocityMperNs(h), 0.1, 1e-9);            // 无介电 → 默认 0.1
+  const double dz = depthSpacingZ(h);
+  EXPECT_NEAR(dz, (96.419553 / 515.0) * 0.1 / 2.0, 1e-9);
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: 编译失败（头不存在）。
+
+- [ ] **Step 3: 写实现**
+
+`src/io/gpr/NormalizedRadarReader.hpp`：放上面 Interfaces 的结构体与三个函数声明，加 `#include <string>`/`<vector>`，`#ifndef` 守卫。
+`src/io/gpr/NormalizedRadarReader.cpp`（解析 KEY:VALUE）：
+```cpp
+#include "io/gpr/NormalizedRadarReader.hpp"
+#include <cmath>
+#include <map>
+#include <sstream>
+#include <stdexcept>
+namespace geopro::io::gpr {
+namespace {
+std::map<std::string, std::string> parseKv(const std::string& text) {
+  std::map<std::string, std::string> kv;
+  std::istringstream in(text);
+  std::string line;
+  while (std::getline(in, line)) {
+    const auto pos = line.find(':');
+    if (pos == std::string::npos) continue;
+    std::string k = line.substr(0, pos), v = line.substr(pos + 1);
+    auto trim = [](std::string& s) {
+      const auto a = s.find_first_not_of(" \t\r\n");
+      const auto b = s.find_last_not_of(" \t\r\n");
+      s = (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
+    };
+    trim(k); trim(v);
+    kv[k] = v;
+  }
+  return kv;
+}
+int reqInt(const std::map<std::string, std::string>& kv, const char* k) {
+  auto it = kv.find(k);
+  if (it == kv.end() || it->second.empty())
+    throw std::runtime_error(std::string("规范化 .head 缺字段: ") + k);
+  return std::stoi(it->second);
+}
+double optD(const std::map<std::string, std::string>& kv, const char* k, double dv) {
+  auto it = kv.find(k);
+  return (it == kv.end() || it->second.empty()) ? dv : std::stod(it->second);
+}
+}  // namespace
+
+RadarHeader parseRadarHead(const std::string& headText) {
+  const auto kv = parseKv(headText);
+  RadarHeader h;
+  h.samples = reqInt(kv, "SAMPLES");
+  h.channels = reqInt(kv, "NUMBER_OF_CH");
+  h.lastTrace = reqInt(kv, "LAST_TRACE");
+  if (h.channels <= 0 || h.lastTrace % h.channels != 0)
+    throw std::runtime_error("LAST_TRACE 不能被 NUMBER_OF_CH 整除");
+  h.traces = static_cast<int>(h.lastTrace / h.channels);
+  h.bits = static_cast<int>(optD(kv, "BITS", 16));
+  h.endianType = static_cast<int>(optD(kv, "ENDIAN_TYPE", 1));
+  h.distanceInterval = optD(kv, "DISTANCE_INTERVAL", 1.0);
+  h.timeWindowNs = optD(kv, "TIMEWINDOW", 0.0);
+  h.dielectric = optD(kv, "DIELECTRIC", 0.0);
+  auto it = kv.find("CH_X_OFFSETS");
+  if (it != kv.end() && !it->second.empty()) {
+    std::istringstream os(it->second);
+    double v;
+    while (os >> v) h.chXOffsets.push_back(v);
+  }
+  return h;
+}
+double waveVelocityMperNs(const RadarHeader& h) {
+  return h.dielectric > 0.0 ? 0.2998 / std::sqrt(h.dielectric) : 0.1;
+}
+double depthSpacingZ(const RadarHeader& h) {
+  if (h.samples <= 1 || h.timeWindowNs <= 0.0) return 0.0;
+  return (h.timeWindowNs / (h.samples - 1)) * waveVelocityMperNs(h) / 2.0;
+}
+}  // namespace geopro::io::gpr
+```
+加 `src/io/CMakeLists.txt`：`gpr/NormalizedRadarReader.cpp`。加 `tests/CMakeLists.txt`：`io/gpr/test_normalized_radar_reader.cpp`。
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R NormalizedRadarHead -V`
+Expected: 3 个用例 PASS。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/io/gpr/NormalizedRadarReader.hpp src/io/gpr/NormalizedRadarReader.cpp \
+        src/io/CMakeLists.txt tests/io/gpr/test_normalized_radar_reader.cpp tests/CMakeLists.txt
+git commit -m "feat(radar): 规范化 .head 解析(维度/字节序/通道偏移/深度间距)"
+```
+
+---
+
+### Task 3: 规范化 `.data` 立方体读取（position-major，16-bit）
+
+**Files:**
+- Modify: `src/io/gpr/NormalizedRadarReader.hpp`（加 `readRadarDataCube` 声明）
+- Modify: `src/io/gpr/NormalizedRadarReader.cpp`（加实现）
+- Test: `tests/io/gpr/test_normalized_radar_reader.cpp`（加用例）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  // 读规范化 .data → 扁平 int16 立方体，position-major 索引 ((t*M + c)*N + s)。
+  // 按 header.bits/endianType 解码；P0 仅 16-bit(32-bit 抛 not implemented)。
+  // 文件大小须 == lastTrace*samples*(bits/8)，否则抛 std::runtime_error。
+  std::vector<std::int16_t> readRadarDataCube(const std::string& dataPath,
+                                              const RadarHeader& h);
+  ```
+- Consumes: `RadarHeader`（Task 2）。
+
+- [ ] **Step 1: 写失败测试**
+
+加到 `test_normalized_radar_reader.cpp`：
+```cpp
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+namespace fs = std::filesystem;
+
+TEST(NormalizedRadarData, ReadsPositionMajorCubeLittleEndian) {
+  // K=2 道, M=3 通道, N=2 采样; 值 v(t,c,s)=int16(100*t+10*c+s)。position-major 写。
+  fs::path dir = fs::temp_directory_path() / "radar_data_test";
+  fs::create_directories(dir);
+  const fs::path dp = dir / "L.data";
+  {
+    std::ofstream f(dp, std::ios::binary);
+    for (int t = 0; t < 2; ++t)
+      for (int c = 0; c < 3; ++c)
+        for (int s = 0; s < 2; ++s) {
+          std::int16_t v = static_cast<std::int16_t>(100 * t + 10 * c + s);
+          f.write(reinterpret_cast<const char*>(&v), sizeof(v));  // 小端(x86)
+        }
+  }
+  geopro::io::gpr::RadarHeader h;
+  h.samples = 2; h.channels = 3; h.lastTrace = 6; h.traces = 2; h.bits = 16; h.endianType = 1;
+  const auto cube = geopro::io::gpr::readRadarDataCube(dp.string(), h);
+  ASSERT_EQ(cube.size(), 2u * 3u * 2u);
+  auto at = [&](int t, int c, int s) { return cube[(size_t(t) * 3 + c) * 2 + s]; };
+  EXPECT_EQ(at(0, 0, 0), 0);
+  EXPECT_EQ(at(1, 2, 1), 121);   // 100+20+1
+  EXPECT_EQ(at(0, 1, 0), 10);
+}
+
+TEST(NormalizedRadarData, WrongFileSizeThrows) {
+  fs::path dir = fs::temp_directory_path() / "radar_data_test";
+  fs::create_directories(dir);
+  const fs::path dp = dir / "bad.data";
+  { std::ofstream f(dp, std::ios::binary); std::int16_t v = 0; f.write((char*)&v, 2); }
+  geopro::io::gpr::RadarHeader h;
+  h.samples = 2; h.channels = 3; h.lastTrace = 6; h.traces = 2; h.bits = 16;
+  EXPECT_THROW(geopro::io::gpr::readRadarDataCube(dp.string(), h), std::runtime_error);
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: `readRadarDataCube` 未声明，编译失败。
+
+- [ ] **Step 3: 写实现**
+
+`NormalizedRadarReader.hpp` 加声明（+`#include <cstdint>`）。`.cpp` 加：
+```cpp
+#include <fstream>
+#include <filesystem>
+// ...
+std::vector<std::int16_t> readRadarDataCube(const std::string& dataPath,
+                                            const RadarHeader& h) {
+  if (h.bits != 16)
+    throw std::runtime_error("readRadarDataCube: 暂仅支持 16-bit(BITS=" +
+                             std::to_string(h.bits) + " 待实现)");
+  const std::size_t n = static_cast<std::size_t>(h.lastTrace) * h.samples;
+  const std::uintmax_t expect = static_cast<std::uintmax_t>(n) * 2;
+  std::error_code ec;
+  const auto fsize = std::filesystem::file_size(dataPath, ec);
+  if (ec || fsize != expect)
+    throw std::runtime_error("规范化 .data 大小不符: " + dataPath);
+  std::vector<std::int16_t> cube(n);
+  std::ifstream f(dataPath, std::ios::binary);
+  if (!f) throw std::runtime_error("打开 .data 失败: " + dataPath);
+  f.read(reinterpret_cast<char*>(cube.data()), static_cast<std::streamsize>(expect));
+  if (!f) throw std::runtime_error("读 .data 失败: " + dataPath);
+  if (h.endianType == 2)  // 大端 → 主机小端(x86)，逐元素交换字节
+    for (auto& v : cube) {
+      const std::uint16_t u = static_cast<std::uint16_t>(v);
+      v = static_cast<std::int16_t>((u >> 8) | (u << 8));
+    }
+  return cube;
+}
+```
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R NormalizedRadarData -V`
+Expected: 2 个用例 PASS。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/io/gpr/NormalizedRadarReader.hpp src/io/gpr/NormalizedRadarReader.cpp \
+        tests/io/gpr/test_normalized_radar_reader.cpp
+git commit -m "feat(radar): 规范化 .data 立方体读取(position-major/16bit/字节序)"
+```
+
+---
+
+### Task 4: 规范化 `.cor` 轨迹解析
+
+本期只解析（单线渲染不依赖），为 P1 多线配准预留。
+
+**Files:**
+- Modify: `src/io/gpr/NormalizedRadarReader.hpp`（加 `TracePos` + `parseRadarCor`）
+- Modify: `src/io/gpr/NormalizedRadarReader.cpp`
+- Test: `tests/io/gpr/test_normalized_radar_reader.cpp`（加用例）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  struct TracePos { int index = 0; double lat = 0, lon = 0, elev = 0; int solution = 0; };
+  // 解析 .cor：跳过 "VERSION:" 行，每行 [序号 纬度 N/S 经度 E/W 高程 M 解状态] (制表/空格分隔)。
+  std::vector<TracePos> parseRadarCor(const std::string& corText);
+  ```
+
+- [ ] **Step 1: 写失败测试**
+
+```cpp
+TEST(NormalizedRadarCor, ParsesRowsSkippingVersion) {
+  const std::string cor =
+      "VERSION:1\n"
+      "1\t317.179340\tN\t472.759046\tE\t49.980000\tM\t4\n"
+      "12\t317.201303\tN\t472.700649\tE\t51.040000\tM\t4\n";
+  const auto pts = geopro::io::gpr::parseRadarCor(cor);
+  ASSERT_EQ(pts.size(), 2u);
+  EXPECT_EQ(pts[0].index, 1);
+  EXPECT_DOUBLE_EQ(pts[0].lat, 317.179340);
+  EXPECT_DOUBLE_EQ(pts[0].lon, 472.759046);
+  EXPECT_DOUBLE_EQ(pts[1].elev, 51.040000);
+  EXPECT_EQ(pts[1].solution, 4);
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: `parseRadarCor` 未声明。
+
+- [ ] **Step 3: 写实现**
+
+`.hpp` 加 `TracePos`/`parseRadarCor`。`.cpp` 加：
+```cpp
+std::vector<TracePos> parseRadarCor(const std::string& corText) {
+  std::vector<TracePos> out;
+  std::istringstream in(corText);
+  std::string line;
+  while (std::getline(in, line)) {
+    if (line.empty() || line.rfind("VERSION", 0) == 0) continue;
+    std::istringstream ls(line);
+    TracePos p; std::string ns, ew, m;
+    if (ls >> p.index >> p.lat >> ns >> p.lon >> ew >> p.elev >> m >> p.solution)
+      out.push_back(p);
+  }
+  return out;
+}
+```
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R NormalizedRadarCor -V`
+Expected: PASS。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/io/gpr/NormalizedRadarReader.hpp src/io/gpr/NormalizedRadarReader.cpp \
+        tests/io/gpr/test_normalized_radar_reader.cpp
+git commit -m "feat(radar): 规范化 .cor 轨迹解析(P1 配准预留)"
+```
+
+---
+
+### Task 5: 规范化体 bridge `buildLineVolumeFromNormalized`
+
+组合 reader + `assembleRadarVolume`，产出 `BuiltI16`。
+
+**Files:**
+- Create: `src/io/gpr/NormalizedRadarVolumeBridge.hpp`
+- Create: `src/io/gpr/NormalizedRadarVolumeBridge.cpp`
+- Modify: `src/io/CMakeLists.txt`
+- Test: `tests/io/gpr/test_normalized_radar_bridge.cpp`
+- Modify: `tests/CMakeLists.txt`
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  namespace geopro::io::gpr {
+  // 读 {lineDir}/{prefix}.head + .data → assembleRadarVolume → BuiltI16(轴 X=道/Y=通道/Z=采样)。
+  // coarse 沿道下采样；targetDy 线内通道插值(读 .head CH_X_OFFSETS)。失败抛 std::runtime_error。
+  geopro::core::BuiltI16 buildLineVolumeFromNormalized(const std::string& lineDir,
+                                                       const std::string& linePrefix,
+                                                       int coarse = 4,
+                                                       double targetDy = 0.025);
+  }
+  ```
+- Consumes: `parseRadarHead`/`readRadarDataCube`/`depthSpacingZ`（Task 2-3）、`assembleRadarVolume`（Task 1）。
+
+- [ ] **Step 1: 写失败测试**
+
+`tests/io/gpr/test_normalized_radar_bridge.cpp`：
+```cpp
+#include <gtest/gtest.h>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include "core/algo/GprVolumeBuilder.hpp"
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
+namespace fs = std::filesystem;
+
+TEST(NormalizedRadarBridge, BuildsVolumeWithExpectedAxes) {
+  // K=4 道, M=2 通道, N=3 采样, 无通道偏移(不插值), coarse=1。
+  fs::path dir = fs::temp_directory_path() / "radar_bridge_test";
+  fs::create_directories(dir);
+  { std::ofstream f(dir / "L.head");
+    f << "SAMPLES:3\nNUMBER_OF_CH:2\nLAST_TRACE:8\nBITS:16\nENDIAN_TYPE:1\n"
+         "DISTANCE_INTERVAL:0.1\nTIMEWINDOW:30\nDIELECTRIC:9\n"; }
+  { std::ofstream f(dir / "L.data", std::ios::binary);
+    for (int t = 0; t < 4; ++t) for (int c = 0; c < 2; ++c) for (int s = 0; s < 3; ++s) {
+      std::int16_t v = static_cast<std::int16_t>(t * 10 + c * 100 + s);
+      f.write(reinterpret_cast<const char*>(&v), 2); } }
+  const auto b = geopro::io::gpr::buildLineVolumeFromNormalized(
+      (dir).string(), "L", /*coarse=*/1, /*targetDy=*/0.0);  // targetDy=0 不插值
+  EXPECT_EQ(b.vol.nx(), 4);   // 道
+  EXPECT_EQ(b.vol.ny(), 2);   // 通道
+  EXPECT_EQ(b.vol.nz(), 3);   // 采样
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.1);  // dx=DISTANCE_INTERVAL
+  EXPECT_GT(b.spacing[2], 0.0);         // dz 由 timewindow/dielectric 求得 >0
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(3, 1, 2)), 132.0, b.quant.scale);  // t3c1s2=30+100+2
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: 头不存在，编译失败。
+
+- [ ] **Step 3: 写实现**
+
+`src/io/gpr/NormalizedRadarVolumeBridge.hpp`：守卫 + 声明。`.cpp`：
+```cpp
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
+#include "io/gpr/NormalizedRadarReader.hpp"
+#include "io/gpr/RadarVolumeAssembler.hpp"
+namespace geopro::io::gpr {
+geopro::core::BuiltI16 buildLineVolumeFromNormalized(const std::string& lineDir,
+                                                     const std::string& linePrefix,
+                                                     int coarse, double targetDy) {
+  const std::string head = lineDir + "/" + linePrefix + ".head";
+  const std::string data = lineDir + "/" + linePrefix + ".data";
+  std::string headText;
+  { std::ifstream f(head); if (!f) throw std::runtime_error("打开 .head 失败: " + head);
+    std::stringstream ss; ss << f.rdbuf(); headText = ss.str(); }
+  const RadarHeader h = parseRadarHead(headText);
+  const std::vector<std::int16_t> cube = readRadarDataCube(data, h);
+  const int M = h.channels, N = h.samples;
+  RadarCubeDesc d;
+  d.channels = M; d.traces = h.traces; d.samples = N;
+  d.chXOffsets = h.chXOffsets;
+  d.dxBase = h.distanceInterval > 1e-9 ? h.distanceInterval : 1.0;
+  d.dyWhenNotInterpolated =
+      (h.chXOffsets.size() >= 2)
+          ? (h.chXOffsets.back() - h.chXOffsets.front()) / (M - 1)
+          : 1.0;
+  d.dz = depthSpacingZ(h) > 1e-12 ? depthSpacingZ(h) : 1.0;
+  CubeSampler sample = [&cube, M, N](int c, int t, int s) {
+    return static_cast<double>(cube[(static_cast<std::size_t>(t) * M + c) * N + s]);
+  };
+  return assembleRadarVolume(d, sample, coarse, targetDy);
+}
+}  // namespace geopro::io::gpr
+```
+（`.cpp` 顶部 `#include <fstream>`/`<sstream>`/`<stdexcept>`。）加 `src/io/CMakeLists.txt`：`gpr/NormalizedRadarVolumeBridge.cpp`；加 `tests/CMakeLists.txt`：`io/gpr/test_normalized_radar_bridge.cpp`。
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R NormalizedRadarBridge -V`
+Expected: PASS。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/io/gpr/NormalizedRadarVolumeBridge.hpp src/io/gpr/NormalizedRadarVolumeBridge.cpp \
+        src/io/CMakeLists.txt tests/io/gpr/test_normalized_radar_bridge.cpp tests/CMakeLists.txt
+git commit -m "feat(radar): 规范化体 bridge buildLineVolumeFromNormalized"
+```
+
+---
+
+### Task 6: 数据层 `createRadarVolumeGrid`
+
+**Files:**
+- Modify: `src/data/GprVolumeRepository.hpp`（加声明）
+- Modify: `src/data/GprVolumeRepository.cpp`（加实现）
+- Test: `tests/data/test_gpr_volume_repository.cpp`（加用例）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  // 规范化测线 → BuiltI16(buildLineVolumeFromNormalized) → 反量化 VolumeGrid。
+  VolumeGrid createRadarVolumeGrid(const std::string& lineDir, const std::string& linePrefix,
+                                   int coarse = 4, double targetDy = 0.025);
+  ```
+- Consumes: `buildLineVolumeFromNormalized`（Task 5）、`builtI16ToVolumeGrid`（现成）。
+
+- [ ] **Step 1: 写失败测试**
+
+加到 `tests/data/test_gpr_volume_repository.cpp`（仿现有 `createGprVolumeGrid` 测试，用 Task 5 同款合成 .head/.data）：
+```cpp
+TEST(GprVolumeRepository, CreateRadarVolumeGridFromNormalized) {
+  fs::path dir = fs::temp_directory_path() / "radar_repo_test";
+  fs::create_directories(dir);
+  { std::ofstream f(dir / "L.head");
+    f << "SAMPLES:3\nNUMBER_OF_CH:2\nLAST_TRACE:8\nBITS:16\nENDIAN_TYPE:1\n"
+         "DISTANCE_INTERVAL:0.1\nTIMEWINDOW:30\nDIELECTRIC:9\n"; }
+  { std::ofstream f(dir / "L.data", std::ios::binary);
+    for (int t = 0; t < 4; ++t) for (int c = 0; c < 2; ++c) for (int s = 0; s < 3; ++s) {
+      std::int16_t v = static_cast<std::int16_t>(t * 10 + c * 100 + s);
+      f.write(reinterpret_cast<const char*>(&v), 2); } }
+  const auto grid = geopro::data::createRadarVolumeGrid(dir.string(), "L", 1, 0.0);
+  EXPECT_EQ(grid.vol.nx(), 4);
+  EXPECT_EQ(grid.vol.ny(), 2);
+  EXPECT_EQ(grid.vol.nz(), 3);
+  EXPECT_GT(grid.vmax, grid.vmin);
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: `createRadarVolumeGrid` 未声明。
+
+- [ ] **Step 3: 写实现**
+
+`GprVolumeRepository.hpp` 在 `createGprVolumeGrid` 声明后加 `createRadarVolumeGrid`（注释说明走规范化链）。`.cpp` 加：
+```cpp
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
+// ...
+VolumeGrid createRadarVolumeGrid(const std::string& lineDir,
+                                 const std::string& linePrefix, int coarse,
+                                 double targetDy) {
+  const geopro::core::BuiltI16 built =
+      geopro::io::gpr::buildLineVolumeFromNormalized(lineDir, linePrefix, coarse, targetDy);
+  return builtI16ToVolumeGrid(built);
+}
+```
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R "GprVolumeRepository" -V`
+Expected: 新用例 + 现有用例全 PASS。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/data/GprVolumeRepository.hpp src/data/GprVolumeRepository.cpp \
+        tests/data/test_gpr_volume_repository.cpp
+git commit -m "feat(radar): 数据层 createRadarVolumeGrid(规范化→VolumeGrid)"
+```
+
+---
+
+### Task 7: DS 优先登记 `registerRadarDataset` + `loadVolume` 懒加载后台建体
+
+把规范化测线登记成一条 **`dd_radar_3d`** DS（不是游离 `dd_voxel` vol-N），**只存元数据、不建体**；首次勾选时 `loadVolume` 在**后台线程**建体（仿 `finalizeVolume`，避免 UI 冻结 + spinner 卡死）。运行期路由只认 `volumes_` 成员（已验：`isVolumeDataset`=`volumes_.count`、`loadVolume` 按 dsId 查、`addDatasetAsync` 按 `isVolumeDataset` 分流），故 `isVolumeDataset/addDatasetAsync` 零改动。
+
+**Files:**
+- Modify: `src/data/api/Api3dRepository.hpp`（`StoredVolume` 加字段 + 声明 `registerRadarDataset`）
+- Modify: `src/data/api/Api3dRepository.cpp`（`registerRadarDataset` + `loadVolume` radar 分支 + `volumeRows()` 输出 `sv.ddCode`）
+- Test: `tests/data/test_3d_repo.cpp`（加用例：登记为 `dd_radar_3d` + `loadVolume` 同步退化路径产有效体）
+
+**Interfaces:**
+- Produces:
+  ```cpp
+  // 登记一条 dd_radar_3d 体 DS：只存元数据(lineDir/prefix/coarse)，不建体。id="radar-"+(++counter)。
+  std::string registerRadarDataset(const std::string& lineDir, const std::string& linePrefix,
+                                   const std::string& name, const std::string& structParentId,
+                                   int coarse = 4);
+  ```
+- Consumes: `createRadarVolumeGrid`（Task 6）。
+- `StoredVolume`(`Api3dRepository.hpp:139`) 新增字段：`std::string lineDir, linePrefix, ddCode = "dd_voxel", structParentId; int coarse = 4;`。
+
+- [ ] **Step 1: 写失败测试**
+
+加到 `tests/data/test_3d_repo.cpp`（用 Task 6 同款合成目录；构造 repo 照本文件现有用例的构造方式。gtest 无 `QCoreApplication` → `loadVolume` 走同步退化路径，回调即时触发）：
+```cpp
+TEST(Api3dRepository, RegisterRadarDatasetRoutesAsDdRadar3d) {
+  // ...写合成 dir/L.head + L.data(同 Task 6)...
+  geopro::data::Api3dRepository repo(/*照本文件现有构造*/);
+  const std::string id = repo.registerRadarDataset(dir.string(), "L", "测线L",
+                                                   /*structParentId=*/"tm-1", /*coarse=*/1);
+  EXPECT_FALSE(id.empty());
+  EXPECT_TRUE(repo.isVolumeDataset(id));            // 运行期按 volumes_ 成员判体 → 真(即便未建体)
+  const auto rows = repo.volumeRows();
+  ASSERT_FALSE(rows.empty());
+  EXPECT_EQ(rows.back().ddCode, "dd_radar_3d");     // 不是 dd_voxel
+  EXPECT_EQ(rows.back().structParentId, "tm-1");
+}
+
+TEST(Api3dRepository, LoadVolumeBuildsRadarLazily) {
+  // ...写合成 dir/L.head + L.data(同上)...
+  geopro::data::Api3dRepository repo(/*照本文件现有构造*/);
+  const std::string id = repo.registerRadarDataset(dir.string(), "L", "测线L", "", 1);
+  bool got = false;
+  repo.loadVolume(id,
+      [&](geopro::data::VolumeGrid g, geopro::core::ColorScale) {
+        got = true;
+        EXPECT_GT(g.vol.nx(), 0); EXPECT_GT(g.vol.ny(), 0); EXPECT_GT(g.vol.nz(), 0);
+      },
+      [&](const std::string& e) { FAIL() << e; });
+  EXPECT_TRUE(got);   // 无 QCoreApplication → 同步交付
+}
+```
+
+- [ ] **Step 2: 跑测试确认失败**
+
+Run: `cmake --build build/release --target geopro_tests 2>&1 | head`
+Expected: `registerRadarDataset` 未声明。
+
+- [ ] **Step 3: 写实现**
+
+`Api3dRepository.hpp`：`StoredVolume`(:139 附近) 加 `std::string lineDir, linePrefix, ddCode = "dd_voxel", structParentId; int coarse = 4;`；在 `createGprVolume` 声明后加 `registerRadarDataset` 声明。
+`.cpp` 加 `registerRadarDataset`（只存元数据，**不建体**）：
+```cpp
+std::string Api3dRepository::registerRadarDataset(const std::string& lineDir,
+                                                  const std::string& linePrefix,
+                                                  const std::string& name,
+                                                  const std::string& structParentId,
+                                                  int coarse) {
+  const std::string id = "radar-" + std::to_string(++volumeCounter_);
+  StoredVolume sv;
+  sv.name = name;
+  sv.ddCode = "dd_radar_3d";
+  sv.lineDir = lineDir;
+  sv.linePrefix = linePrefix;
+  sv.coarse = coarse;
+  sv.structParentId = structParentId;
+  sv.createTime = QDateTime::currentDateTime()
+                      .toString(QStringLiteral("yyyy-MM-dd HH:mm")).toStdString();
+  volumes_[id] = std::move(sv);   // 不预填 cachedGrid → 懒建
+  return id;
+}
+```
+`loadVolume`（`Api3dRepository.cpp:347` 的 `if (sv.cachedGrid)` 块之后、IDW 路径 `:351` 之前）插入 radar 分支（仿 `finalizeVolume:268-335` 后台线程范式，`#include "data/GprVolumeRepository.hpp"` 已在）：
+```cpp
+  if (!sv.linePrefix.empty()) {  // radar DS：后台建体，避免阻塞 UI（与 finalizeVolume 同范式）
+    const std::string lineDir = sv.lineDir, linePrefix = sv.linePrefix;
+    const int coarse = sv.coarse;
+    auto deliver = [this, dsId, onOk, onErr](std::shared_ptr<VolumeGrid> g, std::string err) {
+      if (!g) { onErr("Api3dRepository::loadVolume(radar): " + err); return; }
+      core::ColorScale scale;
+      const double mid = 0.5 * (g->vmin + g->vmax);
+      scale.addStop(g->vmin, core::Rgba{20, 24, 40, 255});
+      scale.addStop(mid, core::Rgba{140, 140, 150, 255});
+      scale.addStop(g->vmax, core::Rgba{235, 232, 220, 255});
+      if (auto it2 = volumes_.find(dsId); it2 != volumes_.end()) {
+        it2->second.cachedGrid = *g;     // 缓存 → 下次命中直渲
+        it2->second.cachedScale = scale;
+      }
+      onOk(*g, scale);
+    };
+    auto compute = [lineDir, linePrefix, coarse]() {
+      std::shared_ptr<VolumeGrid> g; std::string err;
+      try { g = std::make_shared<VolumeGrid>(
+                geopro::data::createRadarVolumeGrid(lineDir, linePrefix, coarse)); }
+      catch (const std::exception& e) { err = e.what(); }
+      return std::make_tuple(g, err);
+    };
+    if (!QCoreApplication::instance()) {  // headless/单测 → 同步
+      auto r = compute(); deliver(std::get<0>(r), std::get<1>(r)); return;
+    }
+    std::thread([compute, deliver]() mutable {
+      auto r = compute();
+      auto g = std::get<0>(r); auto err = std::get<1>(r);
+      QMetaObject::invokeMethod(qApp,
+          [deliver, g, err]() mutable { deliver(std::move(g), std::move(err)); },
+          Qt::QueuedConnection);
+    }).detach();
+    return;
+  }
+```
+改 `volumeRows()`（`Api3dRepository.cpp:170` 附近）：`r.ddCode = "dd_voxel";` → `r.ddCode = sv.ddCode;`，且 `r.structParentId = sv.request ? sv.request->structParentId : sv.structParentId;`（radar 无 request，用 sv.structParentId）。
+
+- [ ] **Step 4: 跑测试确认通过**
+
+Run: `cmake --build build/release --target geopro_tests && ctest --test-dir build/release -R "Api3dRepository" -V`
+Expected: 2 个新用例 + 现有用例全 PASS（现有体 `sv.ddCode` 默认 `"dd_voxel"`、`linePrefix` 空不走 radar 分支，行为不变）。
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add src/data/api/Api3dRepository.hpp src/data/api/Api3dRepository.cpp tests/data/test_3d_repo.cpp
+git commit -m "feat(radar): registerRadarDataset 登记 dd_radar_3d DS + loadVolume 懒加载后台建体"
+```
+
+---
+
+### Task 8: 本地导入入口 + `dd_radar_3d` 三处 ddCode gate 放开
+
+导入登记 DS（瞬时，建体走 Task 7 的懒加载后台路径），并放开三处硬编码 `dd_voxel` 的 ddCode 判断让 radar 体可切片/调色阶/看详情。**评审 CRITICAL：列表右键「生成切片」是 UI 唯一切片入口，不放开 `CategorySection.cpp:397` 则 radar 体无法切片、P0 验收②不可达。**
+
+**Files:**
+- Modify: `src/app/main.cpp`（导入菜单动作 + `detailRequested` gate）
+- Modify: `src/app/panels/columns/CategorySection.cpp:397`（右键「生成切片」+「色阶」同一 if 块的 gate）
+
+**Interfaces:**
+- Consumes: `scene3dRepo->registerRadarDataset`（Task 7）、`refreshAnalysis`、`analysisTab`、`window`。
+
+- [ ] **Step 1: 加导入菜单动作**
+
+在 `main.cpp` 中 `refreshAnalysis` 已定义、`analysisTab` 已存在处（紧接 `generateVolumeRequested` 连接块之后，约 :982 后）插入。**登记瞬时、不建体**——勾选后由 Task 7 的 `loadVolume` 后台建体，列表项 spinner 显进度，失败由 controller `loadFailed`→toast 兜底（`main.cpp:995`）：
+```cpp
+// 本地导入三维雷达测线目录(后端未就绪的过渡入口)：选目录+前缀 → registerRadarDataset(登记dd_radar_3d DS) → 勾选→后台建体渲染。
+{
+  QMenu* radarMenu = window.menuBar()->addMenu(QStringLiteral("三维雷达"));
+  QAction* importAct = radarMenu->addAction(QStringLiteral("导入测线目录(本地)…"));
+  QObject::connect(importAct, &QAction::triggered, &window,
+                   [&window, scene3dRepo, refreshAnalysis, analysisTab]() {
+    const QString dir = QFileDialog::getExistingDirectory(
+        &window, QStringLiteral("选择规范化三维雷达测线目录(含 *.head/*.data)"));
+    if (dir.isEmpty()) return;
+    bool ok = false;
+    const QString prefix = QInputDialog::getText(
+        &window, QStringLiteral("测线前缀"),
+        QStringLiteral("输入测线前缀(如 南同大道_000)："), QLineEdit::Normal, QString(), &ok);
+    if (!ok || prefix.isEmpty()) return;
+    // structParentId 暂空(P0 挂三维体段根；P1 接 TM 归属)。
+    const std::string newId = scene3dRepo->registerRadarDataset(
+        dir.toLocal8Bit().toStdString(), prefix.toLocal8Bit().toStdString(),
+        prefix.toStdString(), /*structParentId=*/std::string(), /*coarse=*/4);
+    { const QSignalBlocker block(analysisTab); refreshAnalysis(); }  // DS 进三维体段(不触发渲染)
+    const QString qid = QString::fromStdString(newId);
+    analysisTab->setItemChecked(qid, true);   // 勾选 → addDatasetAsync → loadVolume 后台建体渲染
+    analysisTab->setItemBusy(qid, true);       // spinner; 渲染完成由 datasetRendered 撤(main.cpp:987)
+    analysisTab->scrollItemToTop(qid);
+  });
+}
+```
+确认 `main.cpp` 顶部已 include `<QMenu>`/`<QMenuBar>`/`<QFileDialog>`/`<QInputDialog>`（缺则补）。
+
+- [ ] **Step 2: 放开列表右键「生成切片/色阶」gate（评审 CRITICAL）**
+
+`src/app/panels/columns/CategorySection.cpp`：右键菜单的「生成切片」(:398-402) 与「色阶」(:403) **同在 `:397` 的 `if (ddCode == "dd_voxel")` 块内** → **只改 :397 这一处**判定即同时放开二者（无独立 :403 gate）：
+- `:397` `if (ddCode == QStringLiteral("dd_voxel"))` → `if (ddCode == QStringLiteral("dd_voxel") || ddCode == QStringLiteral("dd_radar_3d"))`
+
+（这是 UI 唯一切片创建入口 `sliceRequested`→`main.cpp:1061`→`interactionMgr->addSlice`；不改则 radar 体右键无切片/色阶。`addSlice` 依赖的 volume image 由勾选→后台建体→`addVolume` 附着，与"先勾选渲染再切片"次序一致。）
+
+- [ ] **Step 3: dd_radar_3d 双击详情路由**
+
+`main.cpp` 的 `analysisTab` `detailRequested` 处理器（约 :1003-1013）目前只认 `dd_slice`/`dd_voxel`。把 `dd_voxel` 分支 `if (ddCode == QStringLiteral("dd_voxel"))` 改为 `if (ddCode == QStringLiteral("dd_voxel") || ddCode == QStringLiteral("dd_radar_3d"))`（`volumeInfo(dsId)` 对 radar DS 有效——它在 `volumes_` 里、loadVolume 后 `cachedGrid` 就绪 loaded=true）。
+> 注（MEDIUM 显示瑕疵，本期可不处理）：体属性对话框对 radar 会显示 `StoredVolume.params` 的默认 IDW 参数(cellXY/power…)与 pointCount=0，因 radar 不走 IDW。如需净化，给 `VolumePropertiesDialog` 加"radar 体隐藏插值参数段"分支，登记到 backlog。
+
+- [ ] **Step 4: 构建 app**
+
+Run: `build.bat app`（先关掉在跑的 app，避免 LNK1104）
+Expected: 链接通过，生成 exe。
+
+- [ ] **Step 5: 人工联调验收**
+
+启动 app → 登录 → 菜单「三维雷达 → 导入测线目录(本地)」→ 选 `samples/radar/malamira_南同大道`、前缀 `南同大道_000` → 三维体段出现 `南同大道_000`（**ddCode=dd_radar_3d**）行、自动勾选、列表项转 spinner、后台建体完成后渲染出体（spinner 撤）。验：① 体可见；② **右键该行有「生成切片」**→切 updown/leftright/frontback 三向；③ 画点/线/面异常并保存、挂在体下；④ 双击该行弹体属性。日志看 `geopro_*.log` 无异常。
+
+- [ ] **Step 6: Commit**
+
+```bash
+git add src/app/main.cpp src/app/panels/columns/CategorySection.cpp
+git commit -m "feat(radar): 导入入口 + dd_radar_3d 切片/色阶/详情 gate 放开"
+```
+
+---
+
+### Task 9: 双数据集互证（明星路 in-app 首次稠密渲染）
+
+按评审 HIGH-2：明星路 in-app 渲染从未跑过，需接其导入入口（复用现成 `createGprVolume`，仍走 `.iprb` 路径、体 ddCode 仍为 `dd_voxel` vol-N——Impulse 归 `dd_radar_3d` 待其规范化插件就绪），与 Mala 同入口形态，证下游对 14ch/16ch 几何无关。**只验"管路通+几何无关"，不验成像一致**（明星路处理后 vs Mala 原始）。
+
+**Files:**
+- Modify: `src/app/main.cpp`（Task 8 的 `radarMenu` 加第二个动作）
+
+- [ ] **Step 1: 加 Impulse 导入动作**
+
+在 Task 8 的 `radarMenu` 内追加：
+```cpp
+QAction* importImpulseAct = radarMenu->addAction(QStringLiteral("导入Impulse测线目录(.iprb)…"));
+QObject::connect(importImpulseAct, &QAction::triggered, &window,
+                 [&window, scene3dRepo, refreshAnalysis, analysisTab, vtkLoading]() {
+  const QString dir = QFileDialog::getExistingDirectory(
+      &window, QStringLiteral("选择 Impulse 测线目录(含 *.iprb/*.ord)"));
+  if (dir.isEmpty()) return;
+  bool ok = false;
+  const QString prefix = QInputDialog::getText(
+      &window, QStringLiteral("测线前缀"),
+      QStringLiteral("输入测线前缀(如 明星路_010)："), QLineEdit::Normal, QString(), &ok);
+  if (!ok || prefix.isEmpty()) return;
+  vtkLoading->showOver(QStringLiteral("正在建Impulse体…"));
+  QTimer::singleShot(0, &window, [=]() {
+    std::string newId;
+    try {
+      newId = scene3dRepo->createGprVolume(dir.toLocal8Bit().toStdString(),
+                                           prefix.toLocal8Bit().toStdString(),
+                                           prefix.toStdString(), /*coarse=*/8);
+    } catch (const std::exception& e) {
+      vtkLoading->hide();
+      geopro::app::showToast(&window,
+          QStringLiteral("建体失败：%1").arg(QString::fromLocal8Bit(e.what())));
+      return;
+    }
+    { const QSignalBlocker block(analysisTab); refreshAnalysis(); }
+    vtkLoading->hide();
+    const QString qid = QString::fromStdString(newId);
+    // createGprVolume 预填 cachedGrid → setItemChecked 内 loadVolume 同步渲染、datasetRendered 自动撤 busy；
+    //   故此处【不要】再 setItemBusy(true)（否则 spinner 永久转圈 —— 评审 MEDIUM）。
+    analysisTab->setItemChecked(qid, true);
+    analysisTab->scrollItemToTop(qid);
+  });
+});
+```
+> 注：明星路体经 `createGprVolume` 仍是 eager 同步建体（~74MB×14ch，建体期 UI 短冻，已用 `vtkLoading` 蒙版遮挡）。这是现有 `.iprb` 路径、本期不改；Mala 走 Task 7 懒加载后台路径不受影响。
+
+- [ ] **Step 2: 构建 + 双数据集联调**
+
+Run: `build.bat app`（先关 app）
+验收：分别导入 `D:/Downloads/明星路`(前缀 `明星路_001`) 与 `samples/radar/malamira_南同大道`(前缀 `南同大道_000`)，两体都能渲染 + 切片 + 异常。以 `gpr_poc` CLI 的明星路成像为离线对照基线，确认 in-app 明星路体几何合理（不要求与 Mala 成像可比）。
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add src/app/main.cpp
+git commit -m "feat(radar): Impulse 测线本地导入入口(双数据集互证下游)"
+```
+
+---
+
+## 完成判据
+- `geopro_tests` 全绿（含新 reader/assembler/bridge/repo 用例 + 现有 Gpr3dv/Api3d 无回归）。
+- app 内导入 Mala 规范化测线 → 渲染 + 三向切片 + 三类异常 OK。
+- app 内导入明星路 Impulse 测线 → 渲染 OK（双数据集互证）。
+- 未触碰 controller/view 渲染内核、切片/异常工具、三级树（下游零改动达成）。
diff --git a/docs/superpowers/specs/2026-06-29-3d-radar-volume-ingest-design.md b/docs/superpowers/specs/2026-06-29-3d-radar-volume-ingest-design.md
new file mode 100644
index 0000000..144ca0d
--- /dev/null
+++ b/docs/superpowers/specs/2026-06-29-3d-radar-volume-ingest-design.md
@@ -0,0 +1,198 @@
+# 三维雷达 DS 接入设计：规范化格式 → 体渲染 + 切片 + 异常 — 2026-06-29
+
+> 负责人范围：**仅三维雷达的体渲染 + 切片 + 异常标注**（不含 2D 波列图详情页、不含二维雷达）。
+> 本 spec 基于精读现有架构（HEAD `main`）+ Explore 代理交叉验证 + 用真实 Mala 数据实测确诊。
+> 所有"数据事实"均已用 `D:/Downloads/MALA南同大道_rSlicer` 6 条测线核对，**无未验证假设**。
+
+---
+
+## 1. 背景与锁定决策
+
+客户新增雷达数据类型，模型层级沿用 `项目 → GS → TM(TmObject) → DS列表`。三维雷达 TM 携带
+`头信息(.head)` + DS 列表 `= 雷达RTK轨迹(.cor,备份+快照) + 每频率 雷达3D-频率N(打标.index + 通道1..N data.data)`。
+数据体 = **K 切片(沿运动) × M 通道(sweep) × N 采样(深度)**（与 IDS/OpenGPR 手册一致）。
+
+四项锁定决策（用户 2026-06-29 确认）：
+
+| 维度 | 决策 |
+|---|---|
+| 职责范围 | 仅三维体 + 切片 + 异常；不做 2D 波列图详情、不做二维雷达 |
+| 数据来源 | 后端未就绪 → 先读**本地已转换好的目录**（后端就绪后切按 DS 下载） |
+| 输入格式 | 客户端**规范化 `.head/.data/.cor/.index`**（新写 reader） |
+| 渲染规模 | 先**单线 / 下采样稠密体**打通 |
+
+---
+
+## 2. 已验证的数据事实（★C++ reader 必须遵守，零假设）
+
+实测工具：`tools/radar_convert/malamira.py probe`（B-scan/C-scan 主序核对）。
+
+1. **数据体主序 = position-major**：磁盘扫描顺序 = `(道0:通道0..M-1)(道1:通道0..M-1)…`，每 sweep 内 N 采样连续。
+   即 `flat.reshape(K, M, N)[道][通道][采样]`。probe 确诊：position-major 的 B-scan 出现连续直达波 +
+   地层 + 双曲线绕射；channel-major 为竖条乱码（已排除）。
+2. **直接对应 geopro 体轴** `X=道(nx=K)` / `Y=通道(ny=M)` / `Z=采样(nz=N)`，**无需轴置换**——与现有
+   `Gpr3dvVolumeBridge` 轴映射完全一致。⚠️ 但**磁盘主序(采样最快→通道→道)与体内存布局(道最快，`((k·ny+j)·nx+i)`，
+   `ScalarVolumeI16.hpp:58`)相反**，新 reader 必须**逐体素散射重排填值**（照 bridge 的 `vol.at(to,j,s)=`），
+   **严禁 memcpy/整块拷贝**。"无需转置"指轴语义，不是字节布局。
+3. **维度推导**：`M=NUMBER_OF_CH`、`N=SAMPLES`、`K=LAST_TRACE/NUMBER_OF_CH`（`.head` 的 `LAST_TRACE`
+   是**总扫描数**=K×M，不是道数）。
+4. **数据类型**：int16 小端(`.rd3`/`bits=16`) / int32 小端(`.rd7`/`bits=32`)。`-32768` 是直达波饱和真实值，**非空值哨兵**。
+5. **`BITS` 公式 bug**：客户文档 §3.3 `BITS = 文件大小/LAST_TRACE/NUMBER_OF_CH×8` **漏了 SAMPLES 维、量纲错**。
+   正确：`bytes = 文件大小/(LAST_TRACE×SAMPLES)`，并与扩展名交叉校验。**须同步后端**（见 `tools/radar_convert/README.md`）。
+6. **ddCode（数据字典 DD0623 权威）**：三维雷达体 DS = **`dd_radar_3d`**（本次新增，形态=三维插值模型）；
+   轨迹 DS = **`dd_trajectory_data`**（保留，复用现成 `TrajectoryStrategy`/`TrajectoryMapView`，零改动）；
+   `dd_voxel` **仅物探反演体(电阻率/速度)、不含雷达**；`dd_slice` 切片共用；`dd_radar_rtk_trajectory` 已删除。
+   **雷达体不复用 `dd_voxel`。**
+
+---
+
+## 3. 架构论点：DS 优先 + 只换最内层 reader
+
+### 3a. 数据层：只换最内层 reader（下游建体链复用）
+
+现有真实雷达体链路是分层的，**只有最内层 reader 绑定厂商格式**：
+
+```
+data::createRadarVolumeGrid             [data/GprVolumeRepository 新]
+  ├ io::gpr::buildLineVolumeFromNormalized  ← 新写：仅此层认规范化 .head/.data
+  └ data::builtI16ToVolumeGrid          [data/GprVolumeRepository.cpp:11]  int16→float 稠密体
+```
+（范本：现有 `createGprVolume`[`Api3dRepository.cpp:128`]→`createGprVolumeGrid`→`buildLineVolumeFromGpr3dv`(Impulse .iprb)。
+我们换最内层 reader，复用 `builtI16ToVolumeGrid` 及其下游。）**产 `core::BuiltI16`（轴 X=道/Y=通道/Z=采样）即可**，
+这正是 `GprVolumeRepository.cpp:14` 注释写明的"数据层方案 A"。
+
+### 3b. DS 优先：运行期路由按 `volumes_` 成员，不看 ddCode（关键发现，已验真代码）
+桌面端体渲染的运行期分流**只认 `Api3dRepository::volumes_` map 是否含此 dsId**，与 ddCode/"vol-" 前缀无关：
+- `isVolumeDataset(dsId)` = `volumes_.count(dsId)`（`Api3dRepository.cpp:105`）；
+- `VtkSceneController::addDatasetAsync`(:182) 按 `isVolumeDataset` 分流体素/帘面；
+- `loadVolume(dsId)`(:341) 唯一查找键 = `volumes_` 的 dsId；命中 `cachedGrid` 直渲(:347)。
+
+**所以 DS 优先落地 = 把一条"真实 radar DS id"为 key 的 `StoredVolume` 写进 `volumes_`**（携 `ddCode=dd_radar_3d` + `lineDir/prefix`），
+则 `isVolumeDataset/addDatasetAsync/loadVolume` **零改动**自动按体渲染。三维分析栏 voxel 段内容来自 `volumeRows()`→
+`section("voxel")->setDatasets`（`main.cpp:602`，**绕过 `splitByCategory`**），故 `dimensionOf`/`CategoryConfig` **也无需改**——
+唯一要改 `volumeRows()`(:170) 把硬编码 `dd_voxel` 改成输出该 DS 的真实 ddCode。
+
+### 完全复用、不碰的部分
+`render::buildVoxel`（GPU 体绘制）、勾选→`addDatasetAsync`→`loadVolume`→`addVolume` 路由、`isVolumeDataset`、
+切片（`SliceTool` updown 深度 C-scan / leftright·frontback B-scan + `InteractionManager`）、
+异常（`AnomalyDrawTool` 点/线/面 → `dd_anomaly` 挂体）、跨视图色阶联动、`builtI16ToVolumeGrid` 适配器、
+轨迹 `dd_trajectory_data` 详情视图。
+
+---
+
+## 4. 插件化转换层（已落地 Mala）
+
+转换 = "按雷达型号的插件"，本地 Python 工具 = 未来服务端下发插件的原型，契约不变：
+
+```
+plugin_id           : RADAR_TYPE_MALAMIRA            # 对齐文档 §2.1 型号列表
+supports(fileset)   -> bool
+convert(lineDir, prefix, outDir) -> {head, data, cor}   # 厂商原始 → 规范化
+```
+
+- **`RADAR_TYPE_MALAMIRA`（已完成）**：`tools/radar_convert/malamira.py`。`.rad→.head`(§3.3)、
+  `.rd3→.data`(§3.5 原样拷贝)、`.pos→.cor`(§2.2.2)。`info/convert/probe` 三命令。6 条线全部转换 + 校验通过。
+  与文档偏差 5 处见 `tools/radar_convert/README.md`（含 BITS 公式修正）。
+- **`RADAR_TYPE_IMPLUSE`（规划，暂不做）**：见 §7。
+
+客户端职责（未来）：设备对接/原始导入 → 按型号拉插件 → `convert` → 喂规范化 reader。
+
+**契约两点待补（登记）**：(a) `convert` 返回 `{head,data,cor}` **未含 `.index`(打标)**，有打标的型号需扩约定；
+(b) 规范化 `.data` 无扩展名，C++ reader 解析字节宽(2/4) **单点依赖 `.head` 的 `BITS` 字段** → 保证转换器 BITS 永远正确是隐性前提（`malamira.py` 的 `filesize==LAST_TRACE×SAMPLES×bytes` 断言已守住，见 §2.5）。
+
+---
+
+## 5. 新增 / 改动清单（C++ 侧，待实现）
+
+| # | 文件 | 动作 |
+|---|---|---|
+| ① | `src/io/gpr/NormalizedRadarReader.{hpp,cpp}` **新** | 纯函数：`parseHead(.head)→RadarHeader`；`readDataCube(.data,header)→cube`（按 `BITS`+`ENDIAN_TYPE` 解二进制，`reshape(K,M,N)` 主序已定）；`parseCor(.cor)→vector<TracePos>`（先解析，世界配准后置） |
+| ② | `src/io/gpr/NormalizedRadarVolumeBridge.{hpp,cpp}` **新** | `buildLineVolumeFromNormalized(lineDir,prefix,metrics,coarse,targetDy)→core::BuiltI16`。⚠️ **DRY**：`Gpr3dvVolumeBridge.cpp:133-197` 的值域扫描/`Quant`构造/逐体素填值/spacing 当前内联且耦合 Impulse 模型——动工时**先把这段抽成共享 helper**（签名接受抽象立方体访问器 `(c,t,s)→short` + 通道偏移/几何），两个 bridge 同调；`planChannelInterpolation`/`depthOfSample` 已是共享纯函数。**不要复制填体循环**（否则两份独立漂移） |
+| ③ | `src/data/GprVolumeRepository.{hpp,cpp}` 改 | 加 `createRadarVolumeGrid(lineDir,prefix,coarse,targetDy)`（调②，复用 `builtI16ToVolumeGrid`）。**不动**现有 `createGprVolumeGrid` |
+| ④ | `src/data/api/Api3dRepository.{cpp,hpp}` 改 | **DS 优先 + 懒加载后台建体**（3 处）：(a) `StoredVolume`(:139) 加 `lineDir/linePrefix/coarse/ddCode/structParentId` 字段（`ddCode` 默认 `"dd_voxel"`，存量行为不变）；(b) 新 `registerRadarDataset(lineDir,prefix,name,structParentId,coarse)`——**只存元数据、不建体**，以 `ddCode="dd_radar_3d"` 写进 `volumes_`，id=`"radar-"+(++counter)`，瞬时返回；(c) `loadVolume`(:347 后) 加 radar 分支：未命中 cachedGrid 且有 `linePrefix` → **后台线程** `createRadarVolumeGrid`（仿 `finalizeVolume:268-335` 的 `std::thread`+`QMetaObject::invokeMethod(qApp,...)` 回主线程；无 `QCoreApplication` 时退化同步，可单测）→ 建体 + 灰度色阶 + 缓存 + async `onOk`；(d) `volumeRows()`(:170) 输出 `sv.ddCode` + `sv.structParentId`。运行期 `isVolumeDataset/addDatasetAsync` 按 `volumes_` 成员 → **零改动**。**懒加载+后台建体同时消除 UI 冻结(评审 HIGH)与 spinner 永久转圈(评审 MEDIUM)**。⚠️ `dimensionOf`/`CategoryConfig`/`splitByCategory` **不需改**（voxel 段走 `volumeRows` 注入、绕过分类，见 §3b） |
+| ⑤ | `src/app/main.cpp` + `src/app/panels/columns/CategorySection.cpp` 改 | (1) 导入入口「三维雷达→导入测线目录」：选目录+前缀 → `registerRadarDataset` → `refreshAnalysis` → `setItemChecked(true)`+`setItemBusy(true)`+`scrollItemToTop`（同 `generateVolume:978-980`；渲染异步、spinner 由 `datasetRendered` 撤）。(2) **放开两处 ddCode gate**给 `dd_radar_3d`：`main.cpp:1011` `detailRequested`→体属性；**`CategorySection.cpp:397`** 列表右键 `if (ddCode=="dd_voxel")` 块（「生成切片」+「色阶」**同在此一个块内**，**只改 :397 这一处**即同时放开二者，无独立 :403 gate）——**不改则 radar 体无切片入口、P0 验收②不可达 — 评审 CRITICAL**|
+| ⑥ | 测试 | `tests/io/gpr/test_normalized_radar_reader.cpp`（喂 `tests/data/radar/` 截断样例，断言维度/字节序/通道插值/主序） |
+
+### 几何映射（关键算法，纯函数易测）
+- **X(沿线 spacing)** = `DISTANCE_INTERVAL`（距离模式，本期唯一支持）。
+- **Y(通道横向)** = 复用 `GprGeometry::planChannelInterpolation(chXOffsets, targetDy)`（`GprGeometry.hpp:27`）——
+  通道偏移取自 `.head` 的 `CH_X_OFFSETS`（不读 `.ord`），线内插值、**绝不跨线**（默认 2.5cm）。
+- **Z(深度 spacing)** = `TIMEWINDOW/(SAMPLES-1) × 波速/2`；波速由 `DIELECTRIC` 求，`.rad` 无该字段时用默认波速。
+- **量化** → `core::BuiltI16`（复用 `core/algo/GprVolumeBuilder.hpp`）。
+- **`.cor`/`.index`** 本期只解析不深用：单线放原点沿 +X，切片/异常即可工作。逐道 GPS 世界配准 + 打标 → 多线阶段。
+
+---
+
+## 6. 分期
+
+- **P0（本期）**：①–⑥，单线规范化体打通。**验收**：导入 `samples/radar/malamira_南同大道`（如 000 线）→
+  三维体段出现一条 **`dd_radar_3d`** DS → 勾选 → `loadVolume` 懒建体渲染 → 切 updown/leftright/frontback → 画点/线/面异常并挂体下。
+- **P1**：`.cor` 逐道 GPS 世界配准 + 高程、`.index` 打标、多线合一场景、轨迹 DS(`dd_trajectory_data`) 一并登记、DS 进左侧数据集树(挂 TM)。
+- **P2**：大体量 → 把 `gpr_poc` 的 `ChunkedVolumeStore`+`*VolumeSource` 核外/LOD 接进 app（碰 controller/view，单独立项）。
+
+---
+
+## 7. 双数据集测试策略 + Impulse 转换器决策
+
+已有完整 POC 基于**另一套雷达数据 明星路（Impulse）**，交接见 `.superpowers/sdd/HANDOFF-2026-06-27-gpr-lod-slice.md`。
+明星路 数据在本地（`D:/Downloads/明星路`，14G，20 测线）。
+
+**关键差异**：明星路 是 `RADAR_TYPE_IMPLUSE`——每线 **14 通道为 14 个独立 `.iprb` 二进制**（`_A01.._A14`，各 ~74MB）+
+逐通道 `.iprh` + `.ord` + `.gps/.time/.cor/.mrk`。Mala 则把 16 通道打进**一个** position-major `.rd3`。
+现有 C++ P1 链（`buildLineVolumeFromGpr3dv`）**能直读 `.iprb`**。
+
+> ⚠️ **校正（评审 HIGH-2）**：明星路真正"经验证"的渲染是 **`gpr_poc` CLI 的核外 LOD 多线**路径，**不是** app 内
+> `createGprVolume→builtI16ToVolumeGrid→loadVolume→addVolume` 的**稠密单体**路径——后者的 **app 导入 UI 触发从未接**
+> （HANDOFF-2026-06-27 §6 第 3 条："数据层 `createGprVolume` 已就绪，但 UI 触发未接"）。故 app 内稠密渲染对**两套数据都是首次**。
+
+**决策：本期不建 Impulse→规范化 转换器。** 理由：
+1. Impulse `.iprb` 原始二进制远比 Mala "改名+字段映射"复杂（14 个独立通道文件、需逆向二进制布局）；且 P1 链含**处理**
+   （gain/filter），而规范化 `.data` 是**原始**——raw vs processed 语义需先厘清。高成本、低边际价值。
+2. 明星路 的 `.iprb` 已有现成 in-app 数据层入口（`createGprVolume`，只差接 UI 触发），复用成本低。
+
+**双数据集测试（校正后表述）**：
+- **Mala（16ch，规范化 reader 新路径）** + **明星路（14ch，现有 `.iprb` P1 路径）** 在 app 内**首次**稠密渲染，
+  二者喂**同一条下游 render/slice/anomaly 链** → 互证下游对两种通道数/几何无关。**前置任务**：明星路 in-app 导入入口
+  同样需接（复用现成 `createGprVolume`，与清单⑤同形）。
+- 以 **`gpr_poc` CLI 的明星路成像作为离线对照基线**（那才是已验证的），不声称 in-app 已验证。
+- ⚠️ 注意：明星路是**处理后**数据、Mala 是**原始**数据 → 双测只验"管路通 + 几何/通道数无关"，**不验"成像一致"**（二者有无增益滤波，视觉不可比）。
+- 把 **`RADAR_TYPE_IMPLUSE` 转换器列为规划的第二插件**，待规范化管线需吞并 Impulse（多半与服务端插件同步）时再做，
+  届时一并解决 raw/processed 取舍。当前"插件产规范化→reader 吃规范化"契约**仅对 Mala 一家成立，属过渡态**。
+
+---
+
+## 8. 风险 / 待确认
+
+1. **`.cor` 坐标语义**：`.pos` 是本地投影坐标（米），按文档直映入经纬度列、N/E/M 占位、解状态=4。
+   真实 CRS 未知；单线渲染不依赖 `.cor` 配准，多线阶段需后端给 `CRS_CODE`。
+2. **波速默认值**：Mala `.rad` 无 `DIELECTRIC` → Z 深度 spacing 用默认波速（建议介电常数≈9 / v≈0.1 m·ns⁻¹），
+   仅影响深度标尺，不影响体结构。需确认默认值。
+3. **采集模式**：本期只支持**距离模式**（X 用 `DISTANCE_INTERVAL`）；时间模式（`SCAN_SECOND`）推迟。
+4. **大体量 / 内存实算**：app 侧 `ScalarVolume` 是 `std::vector<double>`（8 字节/体素，**比 int16 体放大 4×**，是真正天花板）。
+   单线最大线（K=3778, ny≈49@2.5cm, N=516）：coarse=4 → nx=945 → 体素 23.9M → **≈182 MiB**（+中间 BuiltI16 48MB +VTK 副本，单线峰值 <0.5GB，**P0 安全**）；
+   coarse=1 全分辨率 → **≈764 MB** 仅体（单线勉强，非 P0 默认）。**多线/全分辨率必走 P2 核外**（`ChunkedVolumeStore`，已有 gpr_poc 实现）。
+
+---
+
+## 9. 测试计划
+
+- **转换器（已验证）**：`info` 维度校验 6/6 通过；`convert` 产物 `.data` 与源 `.rd3` 字节一致；`probe` 主序确诊。
+- **C++ reader 单测**：`tests/data/radar/` 放截断样例（position-major 可按字节前截 K' 道得合法小体）；
+  断言 K/M/N、字节序、`planChannelInterpolation` 行数、主序填值正确。
+- **bridge/repo 单测**：`createRadarVolumeGrid` 产 `VolumeGrid` 维度/spacing/vmin-vmax 合理；NaN 空值语义。
+- **联调（人工）**：`build.bat app` → 导入样例 → 渲染 + 三向切片 + 三类异常；对照 明星路 现有路径同场景。
+- 失败排查看桌面日志 `%LOCALAPPDATA%/Geomative/Geopro3/logs/geopro_*.log`。
+
+---
+
+## 10. 文件地图（现有锚点）
+
+- 数据体模型 `src/data/repo/I3dSceneRepository.hpp:19`（`VolumeGrid` 稠密 float）
+- 渲染入口 `src/controller/I3dSceneView.hpp:45`（`addVolume`）/ `src/app/VtkSceneView.cpp:173`
+- 体素工厂 `src/render/actors/VoxelActor.hpp:29/47`（`buildVoxel`/`buildVoxelI16`）
+- GPR IO `src/io/gpr/Gpr3dvVolumeBridge.hpp:47`（轴映射范本）/ `GprGeometry.hpp:27,32`（通道插值/深度）
+- 体进 app `src/data/api/Api3dRepository.cpp:128`（`createGprVolume`）/ `src/data/GprVolumeRepository.cpp:11,38`
+- 切片/异常 `src/render/interact/SliceTool.hpp` / `InteractionManager.hpp:52,57` / `AnomalyDrawTool.hpp:33`
+- 三级树 `src/app/panels/columns/CategoryAnalysisTab.hpp:28` / `CategoryConfig.hpp:23`
+- 转换器 `tools/radar_convert/malamira.py` + `README.md`；样例 `samples/radar/malamira_南同大道/`
+- 详情视图扩展（如未来做 2D 波列图，非本期）`docs/superpowers/specs/2026-06-28-dataset-detail-view-architecture-and-extension-guide.md`
diff --git a/docs/superpowers/specs/2026-06-30-radar-import-process-render-pipeline.md b/docs/superpowers/specs/2026-06-30-radar-import-process-render-pipeline.md
new file mode 100644
index 0000000..1c9fac0
--- /dev/null
+++ b/docs/superpowers/specs/2026-06-30-radar-import-process-render-pipeline.md
@@ -0,0 +1,115 @@
+# 三维雷达 导入→处理→渲染 全链路方案（结合 POC 评估）
+
+> 2026-06-30。本文把用户给出的雷达产品目标落成方案，并结合 POC（明星路 13G）已验证的资产，
+> 评估复用/缺口、定关键架构缝与决策、排风险与分期。范围限定**三维雷达**（渲染/切片/异常 +
+> 其上游的导入/处理管线）；不含 2D 雷达图、不含后端反演链。
+
+## 1. 用户目标（七步）
+
+1. 设备经 USB 接到用户电脑。
+2. 客户端「设备连接」功能：自动识别设备、打开 USB 存储，用户选文件导入。
+3. 另一导入分支：文件已在用户电脑，经**文件夹选择**导入。
+4. 导入过程按文件类型（不同型号雷达）**自动加载插件**，对数据做 **ds 标准化转换**。
+5. 导入完成自动形成 **项目 / GS / TM / ds** 结构（建 GS/TM 的「方案」待细化）。
+6. 数据集详情页：用**数据处理插件**处理原始数据，插件支持多种方法（用户勾选）；
+   另**固定加入两个客户端内置处理方法**：**插值**、**预渲染**（即为 LOD 做准备）。
+   处理后**存为新 ds**。
+7. VTK 视图：选三维雷达 ds 渲染、切片等；**所选 ds 可能是未处理原数据，也可能是处理后数据**（不同 ds）。
+
+## 2. 关键决策（用户已拍板）
+
+- **D1 — 预渲染（LOD 烘焙）是可选的。** 默认勾选，但用户可取消。
+  → **渲染路径必须同时支持「未预渲染」与「已预渲染」两类 ds**（不能假设所有大体都已烘焙 LOD）。
+  → 采用**混合渲染源**（见 §4）：原/插值 ds 走整卷源；预渲染 ds 走 LOD 源。
+
+## 3. POC ↔ 目标 映射（复用 vs 缺口）
+
+**结论：算法基本齐（POC/app 已有标准化、插值、增益、LOD 引擎、渲染源抽象）；缺的是三层"框架/管线"
++ 设备接入。**
+
+| 步骤 | 已有（POC/现状） | 缺口 |
+|---|---|---|
+| 1–2 设备 USB/存储 | 无 | **全新**：Windows 设备识别 + USB 盘浏览（与 POC 无关，纯平台 plumbing） |
+| 3 文件夹导入 | 已有导入入口、`tools/radar_convert` malamira 转换器 | 文件夹选择 + 批量 |
+| 4 按型号插件标准化 | 转换算法有（malamira→规范化 `.head/.data`、`RadarVolumeAssembler`、int16 量化） | **导入插件框架**（按文件类型注册 reader）；现写死一种 |
+| 5 项目/GS/TM/ds 结构 | ds 树（`sourceShowParentId` 派生嵌套）已在 | 自动建 GS/TM 的「方案」 |
+| 6 处理插件 + 两内置 | 两内置**算法都有**：插值=`createRadarVolumeGrid` 通道插值(targetDy)；预渲染=`ChunkedVolumeStore::write`+`buildPyramidStreaming`。增益(dewow/AGC/tpow)亦有 | **处理插件框架** + 「处理→存为新 ds」管线 + 多方法勾选 UI |
+| 7 选 ds 渲染/切片 | **渲染源抽象 `IVolumeRenderSource`（整卷/LOD 多态，含 `sliceSource()`）** + 整卷渲染 + 切片 + 异常 | 把 app 雷达路径迁到 `IVolumeRenderSource`；LOD 源接进 app（Track D） |
+
+## 4. 架构缝：`IVolumeRenderSource`（已设计好，最低风险）
+
+POC 已建好渲染源抽象（`src/render/source/IVolumeRenderSource.hpp`）：上层（控制器/`SliceTool`）只认此接口，
+运行时在两种实现间切换：
+
+- **`WholeVolumeSource`（整卷）** —— 给**未预渲染**的原/插值 ds（小体，单纹理够用）。
+- **`ViewAdaptiveVolumeSource`（核外金字塔 LOD）** —— 给**已预渲染**的 ds（大体，按相机选层/选块重组单纹理）。
+
+接口自带 `update(vtkCamera)`、`currentImages()`、**`sliceSource()`**（切片/异常的 reslice 基底也走它），
+故"切片在两种源上都能切"是接口内建能力，不需两套切片代码。
+
+> **D1 落到这里**：选 ds 渲染时按"该 ds 是否带 LOD store"路由到对应源。未预渲染 → 整卷源（现有内存
+> 体路径迁入即可）；已预渲染 → LOD 源（Track D 接入）。
+
+## 5. 处理与数据血缘模型
+
+- 处理一律**产出新 ds**，挂在源 ds 下（复用现有派生树 `sourceShowParentId`）：
+  ```
+  原始 ds ─[插值]→ 插值 ds ─[预渲染]→ 预渲染 ds(LOD store)
+        └─[增益/migration/…(可多选)]→ 处理 ds
+  ```
+- **两个内置处理方法**（client 自带、固定加入）：
+  - **插值**：线内通道插值（读真实道偏移、目标横向间距如 2.5cm，**绝不跨线**）。算法=`createRadarVolumeGrid` 的 targetDy 路径。
+  - **预渲染（LOD 烘焙）**：把体烘成 **`ChunkedVolumeStore` 分块金字塔**（int16 量化、64³ brick、qCompress、
+    逐级 2× 降采样、每块 min/max；流式 `buildPyramidStreaming` 不持整卷）。产出 = 一个 **store 目录**，
+    不是普通稠密体 → 该 ds 须带「类型=LOD store + 路径」标记，供 §4 渲染路由。
+- 顺序：通常先插值再预渲染（烘焙插值后的体）；模型支持任选基底（也可直接烘原始）。
+
+## 6. 预渲染专用落盘格式（LOD 前置，已实现于 POC）
+
+`ChunkedVolumeStore`（一个目录，非单文件）：
+- `meta.json`：几何 + 量化(scale/offset) + 逐块索引(offset/压缩长/**每块 min/max**)；
+- `data.bin`：逐块 int16 → qCompress；块内 i 最快、k 最慢；偏移全 64 位（卷 >2GB）；
+- `data_L1.bin…`：金字塔各级（逐级 2× 降采样）。
+
+构建：整卷 `write` 或流式 `StreamingVolumeWriter`（逐块写不持整卷）+ `buildPyramid(Streaming)`。
+渲染：`ViewAdaptiveVolumeSource` 打开 store，`update(相机)`→选层+选块→`readBrick`→重组单 `vtkImageData`，
+**内存恒定、绕 16384 纹理墙**。
+
+## 7. 需要新建的三块骨架
+
+1. **插件框架（两类，别混）**
+   - **导入插件**（步4）：按文件类型/型号 → 标准化成 ds 的 reader 注册表。
+   - **处理插件**（步6）：吃一个 ds → 产出新 ds 的 transform，可多选串联；两内置（插值、预渲染）即自带处理插件。
+   - 待定：插件接口（输入 ds/参数 → 输出 ds）、发现/注册、进程内 DLL（ABI/崩溃隔离风险）vs 子进程。
+2. **「处理 → 新 ds」管线**：血缘落树、预渲染 ds 的 store 路径/缓存/失效/磁盘占用、重处理**异步+进度+可取消**。
+3. **设备/USB 接入**（步1–2）：Windows 设备识别 + USB 盘浏览。最独立、与 POC 无关，可最后做；先跑通文件夹导入。
+
+## 8. 风险排序
+
+1. **中**：插件框架（架构骨架，影响步4/6，定义不好后面返工）。
+2. **中**：预渲染 ds 的渲染/切片路由（Track D 核心；但**引擎+缝已验证**，是"接线"风险非"能不能做"风险）。
+3. **低–中**：处理管线异步/进度/缓存（工程量明确）。
+4. **低**：设备 USB（plumbing，独立）。
+
+## 9. 分期建议
+
+- **P0 验证最高技术风险**：把 app 雷达渲染迁到 `IVolumeRenderSource`，使
+  - 未预渲染 ds → `WholeVolumeSource`（迁现有内存体路径）；
+  - 预渲染 ds → `ViewAdaptiveVolumeSource`；
+  南同大道先烘一个小 store 验"选 ds→按是否预渲染路由→渲染+切片"全链路。**验通则整个方案立住。**
+- **P1 插件框架**：先定**处理插件**接口（含两内置），跑通"原 ds→插值→预渲染→渲染"；导入插件框架并行。
+- **P2 处理管线 UI/异步**：详情页多方法勾选、进度、新 ds 落树。
+- **P3 设备 USB**：最后接。
+
+## 10. 现状基线（本轮已落地的交互/渲染精修，作为接入前的稳定底座）
+
+- 切片拾取**精确化**：光标射线 vs 切片真实矩形求交 + 可见数据(alpha)双判定，去除外扩（雷达+反演通用）。
+- 取消选中：点击体/空白/帘面即取消（精确"命中切片"判据）+ Esc 兜底。
+- 滚轮步长：按**沿法向体素间距 × N**（Shift 粗调），不随体长跳变。
+- 双击正视：缩放到切片（按面内尺寸+视角框住），不再"又小又远"。
+- 不透明度：各向异性体用特征尺度（门控；近立方反演维持原对角线）。
+- **B 方案视角导航**：#1 绕拾取点旋转（无选中时绕光标射线穿体中段点，不甩飞）；
+  #2 沿线位置滑块（雷达专属，沿最长轴 dolly 到窗口；仅细长体显示）。
+- 雷达显示**增益模式**右键切换（AGC/保幅 tpow/关），纯显示重建、不动原始数据。
+
+> 这些是**单内存体 + 渲染期采样距自适应**底座；多分辨率/视锥 LOD 仍属 §4/§9 的 Track D 接入范畴（未做）。
diff --git a/samples/radar/malamira_南同大道/README.md b/samples/radar/malamira_南同大道/README.md
new file mode 100644
index 0000000..625291d
--- /dev/null
+++ b/samples/radar/malamira_南同大道/README.md
@@ -0,0 +1,21 @@
+# 样例：MALA南同大道（RADAR_TYPE_MALAMIRA → 规范化格式）
+
+三维雷达联调/单测固定样例。由 `tools/radar_convert/malamira.py` 从原始 Mala Mira
+数据转换而来（16 通道、516 采样、距离模式，6 条测线）。
+
+- `*.head` / `*.cor`：**纳入 git**（小文本）。
+- `*.data`：**.gitignore 忽略**（每条 ~40–62MB，共 ~277MB，过大不入库）。需要时按下方命令重生成。
+
+## 重新生成 .data（及全部规范化档）
+
+```bash
+python tools/radar_convert/malamira.py convert \
+    "D:/Downloads/MALA南同大道_rSlicer" \
+    --out "samples/radar/malamira_南同大道"
+```
+
+原始数据来源：`D:/Downloads/MALA南同大道_rSlicer`（厂商 Mala rSlicer 导出，`.rad/.rd3/_G01.pos`）。
+
+## 已验证数据事实（见 tools/radar_convert/README.md）
+- `.data` 主序 = **position-major** `(K道, M通道, N采样)`，int16 小端，无需转置。
+- 维度：K∈[2333,3778]，M=16，N=516；`K = LAST_TRACE / NUMBER_OF_CH`。
diff --git a/samples/radar/malamira_南同大道/南同大道_000.cor b/samples/radar/malamira_南同大道/南同大道_000.cor
new file mode 100644
index 0000000..a6279fa
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_000.cor
@@ -0,0 +1,527 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_000.head b/samples/radar/malamira_南同大道/南同大道_000.head
new file mode 100644
index 0000000..5789cfe
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_000.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:10:46
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:60448
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.099194
+START_POSITION:0.000000
+STOP_POSITION:374.656262
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/samples/radar/malamira_南同大道/南同大道_001.cor b/samples/radar/malamira_南同大道/南同大道_001.cor
new file mode 100644
index 0000000..025cd5a
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_001.cor
@@ -0,0 +1,335 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_001.head b/samples/radar/malamira_南同大道/南同大道_001.head
new file mode 100644
index 0000000..9e32f00
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_001.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:10:48
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:41456
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.097424
+START_POSITION:0.000000
+STOP_POSITION:252.327351
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/samples/radar/malamira_南同大道/南同大道_002.cor b/samples/radar/malamira_南同大道/南同大道_002.cor
new file mode 100644
index 0000000..1546199
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_002.cor
@@ -0,0 +1,346 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_002.head b/samples/radar/malamira_南同大道/南同大道_002.head
new file mode 100644
index 0000000..33086c5
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_002.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:10:50
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:50480
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.095571
+START_POSITION:0.000000
+STOP_POSITION:301.431752
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/samples/radar/malamira_南同大道/南同大道_003.cor b/samples/radar/malamira_南同大道/南同大道_003.cor
new file mode 100644
index 0000000..4277048
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_003.cor
@@ -0,0 +1,245 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_003.head b/samples/radar/malamira_南同大道/南同大道_003.head
new file mode 100644
index 0000000..39fce2e
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_003.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:10:52
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:38144
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.095224
+START_POSITION:0.000000
+STOP_POSITION:226.917805
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/samples/radar/malamira_南同大道/南同大道_004.cor b/samples/radar/malamira_南同大道/南同大道_004.cor
new file mode 100644
index 0000000..f898dbe
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_004.cor
@@ -0,0 +1,313 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_004.head b/samples/radar/malamira_南同大道/南同大道_004.head
new file mode 100644
index 0000000..e67c39e
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_004.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:10:54
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:52496
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.095304
+START_POSITION:0.000000
+STOP_POSITION:312.597339
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/samples/radar/malamira_南同大道/南同大道_005.cor b/samples/radar/malamira_南同大道/南同大道_005.cor
new file mode 100644
index 0000000..0aa32e9
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_005.cor
@@ -0,0 +1,342 @@
+VERSION:1
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diff --git a/samples/radar/malamira_南同大道/南同大道_005.head b/samples/radar/malamira_南同大道/南同大道_005.head
new file mode 100644
index 0000000..9630475
--- /dev/null
+++ b/samples/radar/malamira_南同大道/南同大道_005.head
@@ -0,0 +1,34 @@
+DATE:2022-03-10
+START_TIME:11:02
+STOP_TIME:
+UNITS:m
+MODE:距离模式
+ANTENNAS:200 MHz shielded
+FREQUENCY:5351.611816
+STACKS:2
+LAST_TRACE:37328
+POSITIVE_DIRECTION:1
+SAMPLES:516
+TIME_INTERVAL:0.000000
+TIMEWINDOW:96.419553
+DEPTH:
+ZERO_POSITION:
+DIELECTRIC:
+SOIL_TYPE:
+BITS:16
+MARK:
+DISTANCE_INTERVAL:0.095987
+START_POSITION:0.000000
+STOP_POSITION:223.841500
+WHEEL_GPS:
+WHEEL_CALIBRATION:84.4270000000
+SCAN_SECOND:
+NUMBER_OF_CH:16
+CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 0.880 0.960 1.040 1.120 1.200 1.280
+RTK_X_OFFSET:
+RTK_Y_OFFSET:0.350
+RTK_Z_OFFSET:
+GAIN:
+FILTER:
+SMOOTH:
+ENDIAN_TYPE:1
diff --git a/src/app/DatasetDimension.cpp b/src/app/DatasetDimension.cpp
index 91d85db..b4c1e2d 100644
--- a/src/app/DatasetDimension.cpp
+++ b/src/app/DatasetDimension.cpp
@@ -7,7 +7,7 @@ namespace {
 enum class Dim { D3, D2, Analysis, Other };
 Dim dimOf(const std::string& c) {
     if (c == "dd_voxel" || c == "dd_Structual3D" || c == "dd_Property3D" ||
-        c == "dd_section" || c == "dd_inversion_data")
+        c == "dd_section" || c == "dd_inversion_data" || c == "dd_radar_3d")
         return Dim::D3;
     if (c == "dd_slice") return Dim::Analysis;
     if (c == "dd_trajectory_data") return Dim::D2;
diff --git a/src/app/VtkSceneView.cpp b/src/app/VtkSceneView.cpp
index b9e10cc..11526e9 100644
--- a/src/app/VtkSceneView.cpp
+++ b/src/app/VtkSceneView.cpp
@@ -216,14 +216,22 @@ void VtkSceneView::addVolume(const std::string& dsId, const geopro::data::Volume
         volumeOwnerDs_ = dsId;
         volumes_[dsId] = VolumeRec{image, cs, vol.vmin, vol.vmax, volume};  // 多体并发：登记本体 image+actor
 
-        // G3 等值面：在值域高段(0.7)抽不透明实心异常体(参考图红块)。挂同一 dsProps_ → 随体一并移除。
-        const double isoVal = vol.vmin + 0.7 * (vol.vmax - vol.vmin);
-        auto iso = geopro::render::buildIsosurface(image, cs, vol.vmin, vol.vmax, isoVal);
-        if (iso) {
-            iso->PickableOff();                                // 不参与拾取（同体 actor，避免串选）
-            iso->SetVisibility(analysisMode2D_ ? 0 : 1);       // 3D 内容：二维分析下隐藏
-            scene_.addActor(iso);
-            dsProps_[dsId].push_back(iso);
+        // G3 等值面：在值域高段(0.7)抽不透明实心异常体(参考图红块)——【反演专属】。
+        //   雷达体(registerRadarDataset 产的 "radar-" id)跳过：振幅体的 0.7 阈值面=强反射层，
+        //   既无地球物理含义、又是 SetOpacity(1.0) 实色 actor【不受体不透明度控制】(用户实测：
+        //   体不透明度调 0 仍见灰色实面=就是它)。"radar-" 是该体唯一生产者指定的稳定 id。
+        //   注：impulse-GPR("vol-")同为振幅体、亦不该有等值面，但 "vol-" 与反演共用前缀，
+        //   待 ddCode 贯通 addVolume 后再统一按类型门控(见 spec §11)。
+        const bool isRadarVolume = dsId.rfind("radar-", 0) == 0;
+        if (!isRadarVolume) {
+            const double isoVal = vol.vmin + 0.7 * (vol.vmax - vol.vmin);
+            auto iso = geopro::render::buildIsosurface(image, cs, vol.vmin, vol.vmax, isoVal);
+            if (iso) {
+                iso->PickableOff();                            // 不参与拾取（同体 actor，避免串选）
+                iso->SetVisibility(analysisMode2D_ ? 0 : 1);   // 3D 内容：二维分析下隐藏
+                scene_.addActor(iso);
+                dsProps_[dsId].push_back(iso);
+            }
         }
         if (onVolumeChanged) onVolumeChanged();
     }
@@ -359,6 +367,39 @@ void VtkSceneView::applyCameraView(geopro::controller::ViewDir dir) {
     if (onCameraChanged) onCameraChanged();  // 相机变了 → 底图按新视锥重算覆盖
 }
 
+void VtkSceneView::focusAlongLongAxis(double t, double windowFrac) {
+    double b[6];
+    if (!computeDataBounds(b) || !scene_.renderer()) return;
+    const double ex = b[1] - b[0], ey = b[3] - b[2], ez = b[5] - b[4];
+    const int ax = (ex >= ey && ex >= ez) ? 0 : (ey >= ez ? 1 : 2);  // 最长轴
+    const double lo = b[2 * ax], hi = b[2 * ax + 1], len = hi - lo;
+    if (len <= 0.0) return;
+    if (t < 0.0) t = 0.0;
+    if (t > 1.0) t = 1.0;
+    if (windowFrac <= 0.0) windowFrac = 0.12;
+    const double half = 0.5 * windowFrac * len;
+    const double center = lo + t * len;
+    double sub[6] = {b[0], b[1], b[2], b[3], b[4], b[5]};         // 短轴满幅
+    sub[2 * ax] = (center - half < lo) ? lo : center - half;      // 长轴只取窗口段
+    sub[2 * ax + 1] = (center + half > hi) ? hi : center + half;
+    scene_.renderer()->ResetCamera(sub);  // 保持朝向，仅重定位+缩放到该窗口
+    scene_.renderer()->ResetCameraClippingRange();
+    if (renderWindow_) renderWindow_->Render();
+    if (onCameraChanged) onCameraChanged();  // 底图随新视锥重算
+}
+
+double VtkSceneView::longAxisElongation() const {
+    double b[6];
+    if (!computeDataBounds(b)) return 0.0;
+    const double ex = std::abs(b[1] - b[0]), ey = std::abs(b[3] - b[2]), ez = std::abs(b[5] - b[4]);
+    double mx = ex, mn = ex;
+    if (ey > mx) mx = ey;
+    if (ez > mx) mx = ez;
+    if (ey < mn) mn = ey;
+    if (ez < mn) mn = ez;
+    return (mn > 0.0) ? mx / mn : 0.0;
+}
+
 void VtkSceneView::zoom(double factor) {
     geopro::render::zoomBy(scene_.renderer(), factor);
     if (renderWindow_) renderWindow_->Render();
diff --git a/src/app/VtkSceneView.hpp b/src/app/VtkSceneView.hpp
index 6b1c8a9..abd63d1 100644
--- a/src/app/VtkSceneView.hpp
+++ b/src/app/VtkSceneView.hpp
@@ -94,6 +94,13 @@ public:
     void setAnalysisMode2D(bool is2D);
     bool isAnalysisMode2D() const { return analysisMode2D_; }
 
+    // ── B 方案#2：沿线位置巡航（雷达超长测线）──────────────────────────────────────
+    //   t∈[0,1] 沿数据【最长轴】定位；取景到该位置一段【窗口】(windowFrac=窗口占长轴比例)，
+    //   保持当前朝向(ResetCamera 只重定位+缩放、不转向)→ 像滚动读长 radargram。短轴满幅、长轴只取一段。
+    void focusAlongLongAxis(double t, double windowFrac);
+    // 数据包围盒长短轴比(max/min 跨度)。用于判是否细长(雷达)→ 决定沿线滑块显隐。无数据返回 0。
+    double longAxisElongation() const;
+
     // ── 二维分析改造 B 期：选中 2D 足迹沿高程 Z 拖动 ───────────────────────────────
     //   仅二维分析下用。pickMapLineAt：在屏幕(x,y)拾取足迹(只考虑可见足迹，不被地形/底图干扰)；命中则
     //     选中(additive=Ctrl 多选切换，否则单选替换)并高亮，返回是否有选中(交互样式据此决定 Z 拖动/平移)。
diff --git a/src/app/main.cpp b/src/app/main.cpp
index 52ece32..9d3a598 100644
--- a/src/app/main.cpp
+++ b/src/app/main.cpp
@@ -245,6 +245,38 @@ private:
     std::vector<QWidget*> raiseAfter_;  // 定位后再 raise 到 overlay 之上的常驻控件（工具条/提示）
 };
 
+// 底部条浮层定位器：把 overlay 钉在 host（QVTK 画布）底部、横向铺满(留边距)。
+//   用于 B 方案#2 雷达沿线位置滑块。仅外观，无 Q_OBJECT/moc。
+class BottomBarOverlay : public QObject {
+public:
+    BottomBarOverlay(QWidget* overlay, QWidget* host, int margin = 12, int barHeight = 34)
+        : QObject(host), overlay_(overlay), host_(host), margin_(margin), barHeight_(barHeight)
+    {
+        host_->installEventFilter(this);
+    }
+    void reposition()
+    {
+        const QSize h = host_->size();
+        const int w = std::max(160, h.width() - 2 * margin_);
+        overlay_->resize(w, barHeight_);
+        overlay_->move(margin_, std::max(0, h.height() - barHeight_ - margin_));
+        if (overlay_->isVisible()) overlay_->raise();  // GL 子控件须 raise 才可见
+    }
+
+protected:
+    bool eventFilter(QObject* obj, QEvent* e) override
+    {
+        if (obj == host_ && (e->type() == QEvent::Resize || e->type() == QEvent::Show)) reposition();
+        return QObject::eventFilter(obj, e);
+    }
+
+private:
+    QWidget* overlay_;
+    QWidget* host_;
+    int margin_;
+    int barHeight_;
+};
+
 // 取 vector 中位数（用于由测线 lat/lon 推世界系原点）。空则返回 0。
 double median(std::vector<double> v)
 {
@@ -471,6 +503,39 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
         elevHint->show();
         elevHint->raise();
     });
+    // ── B 方案#2：雷达沿线位置滑块（超长测线巡航）────────────────────────────────────
+    //   拖动 → 相机沿数据最长轴 dolly 到该位置的一段窗口(focusAlongLongAxis)。仅细长(雷达)体显示。
+    auto* alongLineBar = new QWidget(vtkWidget);
+    alongLineBar->setObjectName(QStringLiteral("alongLineBar"));
+    auto* alongLineSlider = new QSlider(Qt::Horizontal, alongLineBar);
+    {
+        auto* lay = new QHBoxLayout(alongLineBar);
+        lay->setContentsMargins(12, 4, 12, 4);
+        lay->setSpacing(10);
+        auto* lbl = new QLabel(QStringLiteral("沿线位置"), alongLineBar);
+        lbl->setObjectName(QStringLiteral("alongLineLbl"));
+        alongLineSlider->setRange(0, 1000);
+        alongLineSlider->setValue(0);
+        lay->addWidget(lbl);
+        lay->addWidget(alongLineSlider, 1);
+    }
+    geopro::app::applyTokenizedStyleSheet(
+        alongLineBar,
+        QStringLiteral("QWidget#alongLineBar{background:#0E1A2D;"
+                       "border:1px solid {{border/default}};border-radius:8px;}"
+                       "QLabel#alongLineLbl{color:#E6ECF5;border:none;}"));
+    alongLineBar->hide();  // 默认隐藏，仅细长(雷达)体显示
+    auto* alongLineOverlay = new BottomBarOverlay(alongLineBar, vtkWidget);
+    QObject::connect(alongLineSlider, &QSlider::valueChanged, vtkWidget,
+                     [sceneView](int v) { sceneView->focusAlongLongAxis(v / 1000.0, 0.12); });
+    // 显隐刷新：仅三维分析 + 细长(长短轴比≥4，即雷达)体时显示沿线滑块。
+    auto refreshAlongLineBar = std::make_shared<std::function<void()>>(
+        [sceneView, alongLineBar, alongLineOverlay]() {
+            const bool show = !sceneView->isAnalysisMode2D() && sceneView->longAxisElongation() >= 4.0;
+            alongLineBar->setVisible(show);
+            if (show) alongLineOverlay->reposition();
+        });
+
     if (auto* style = interactionMgr->pickStyle()) {
         // 命中可见足迹→选中(Ctrl 多选)并返回是否进入 Z 拖动；未命中(返回 false)→交互样式回退平移。
         style->onPick2D = [sceneView](int x, int y, bool additive) {
@@ -567,7 +632,8 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
     };
 
     // 体素变化（重建/清场）后把体素 image 推给 InteractionManager（切片基底），并调和已保存切片 + 异常。
-    sceneView->onVolumeChanged = [interactionMgr, sceneView, syncSlices, refreshAnomalies]() {
+    sceneView->onVolumeChanged = [interactionMgr, sceneView, syncSlices, refreshAnomalies,
+                                  refreshAlongLineBar]() {
         // 多体并发：先移除 interactionMgr 中已不再渲染的体（关其切片），再 upsert 当前所有已渲染体 image。
         for (const std::string& id : interactionMgr->volumeIds())
             if (!sceneView->isVolumeRendered(id)) interactionMgr->removeVolumeImage(id);
@@ -576,6 +642,7 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
                                            kv.second.vmin, kv.second.vmax);
         syncSlices();         // 体到场/移除后调和各体下已勾选切片（多体并存）
         refreshAnomalies();   // 同步重载异常 actor + 刷新异常列表
+        (*refreshAlongLineBar)();  // 体增删 → 据是否细长(雷达)刷新沿线滑块显隐(B#2)
     };
 
     // ── 抽屉信号 → 控制器/交互（Task 7/12 接线）──────────────────────────────
@@ -607,10 +674,15 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
     //   后下发控制器（setCheckedDatasets 全量 diff，须并集；否则一栏勾选会清掉另一栏的图元）。
     auto checkedProfiles = std::make_shared<QStringList>();
     auto checkedAnalysis = std::make_shared<QStringList>();
-    auto pushChecked = [sceneCtrl, checkedProfiles, checkedAnalysis]() {
+    // 引导层(emptyState)隐藏器：emptyState 在后文(~1390)才创建，故用可后置赋值的回调转发，
+    //   让「三维分析栏勾选(体/切片)」这条渲染路径也能隐藏不透明引导层——否则它盖住已渲染的体
+    //   (雷达体由分析栏勾选触发渲染，但旧逻辑只在对象树勾选时隐藏引导层 → 体被盖住看不到)。
+    auto setSceneEmptyVisible = std::make_shared<std::function<void(bool)>>();
+    auto pushChecked = [sceneCtrl, checkedProfiles, checkedAnalysis, setSceneEmptyVisible]() {
         QStringList all = *checkedProfiles;
         all += *checkedAnalysis;
         sceneCtrl->setCheckedDatasets(all);
+        if (*setSceneEmptyVisible) (*setSceneEmptyVisible)(all.isEmpty());  // 场景有内容→隐藏引导层
     };
 
     // ── VTK 视图切片右键菜单（设计 §2.3）──────────────────────────────────────
@@ -980,6 +1052,66 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
                              analysisTab->scrollItemToTop(qid);  // 新三维体行尽量滚到分析栏顶部
                          });
                      });
+    // 本地导入三维雷达测线(后端未就绪的过渡入口)：入口=三维体段头「+ 导入雷达测线」按钮(CategorySection)
+    //   → analysisTab.radarImportRequested(impulse)。app 无原生菜单栏(menuBar 被 TopBar 经 setMenuWidget 占用),
+    //   故入口放可见的段头按钮。impulse=false 走规范化(.head/.data, 懒加载后台建体)；true 走 Impulse(.iprb, eager)。
+    QObject::connect(
+        analysisTab, &geopro::app::CategoryAnalysisTab::radarImportRequested, &window,
+        [&window, scene3dRepo, refreshAnalysis, analysisTab, vtkLoading](bool impulse) {
+            if (!impulse) {  // 规范化 .head/.data → registerRadarDataset(dd_radar_3d, 懒加载后台建体)
+                const QString dir = QFileDialog::getExistingDirectory(
+                    &window, QStringLiteral("选择规范化三维雷达测线目录(含 *.head/*.data)"));
+                if (dir.isEmpty()) return;
+                bool ok = false;
+                const QString prefix = QInputDialog::getText(
+                    &window, QStringLiteral("测线前缀"),
+                    QStringLiteral("输入测线前缀(如 南同大道_000)："), QLineEdit::Normal, QString(), &ok);
+                if (!ok || prefix.isEmpty()) return;
+                // structParentId 暂空(P0 挂三维体段根；P1 接 TM 归属)。
+                // coarse=1 全分辨率(沿线不抽稀)：验收期要肉眼判读反射/双曲线/通道连续性，
+                //   不能被沿线抽稀糊掉。单线峰值内存 ~0.7–1.5GB(spec §8.4)；若 OOM 退回 2。
+                const std::string newId = scene3dRepo->registerRadarDataset(
+                    dir.toLocal8Bit().toStdString(), prefix.toLocal8Bit().toStdString(),
+                    prefix.toStdString(), /*structParentId=*/std::string(), /*coarse=*/1);
+                { const QSignalBlocker block(analysisTab); refreshAnalysis(); }  // DS 进三维体段(不触发渲染)
+                const QString qid = QString::fromStdString(newId);
+                analysisTab->setItemChecked(qid, true);  // 勾选 → addDatasetAsync → loadVolume 后台建体渲染
+                analysisTab->setItemBusy(qid, true);      // spinner; 渲染完成由 datasetRendered 撤
+                analysisTab->scrollItemToTop(qid);
+                return;
+            }
+            // 明星路 Impulse(.iprb)：复用现成 createGprVolume(eager 同步建体，预填 cachedGrid)。双数据集互证下游几何无关。
+            const QString dir = QFileDialog::getExistingDirectory(
+                &window, QStringLiteral("选择 Impulse 测线目录(含 *.iprb/*.ord)"));
+            if (dir.isEmpty()) return;
+            bool ok = false;
+            const QString prefix = QInputDialog::getText(
+                &window, QStringLiteral("测线前缀"),
+                QStringLiteral("输入测线前缀(如 明星路_010)："), QLineEdit::Normal, QString(), &ok);
+            if (!ok || prefix.isEmpty()) return;
+            vtkLoading->showOver(QStringLiteral("正在建Impulse体…"));
+            // 内层捕获 window 引用(非 [=] 值拷贝)：QMainWindow 拷贝构造已删除，且 showToast 需非 const QWidget*。
+            QTimer::singleShot(0, &window, [=, &window]() {
+                std::string newId;
+                try {
+                    newId = scene3dRepo->createGprVolume(dir.toLocal8Bit().toStdString(),
+                                                         prefix.toLocal8Bit().toStdString(),
+                                                         prefix.toStdString(), /*coarse=*/8);
+                } catch (const std::exception& e) {
+                    vtkLoading->hide();
+                    geopro::app::showToast(&window,
+                        QStringLiteral("建体失败：%1").arg(QString::fromLocal8Bit(e.what())));
+                    return;
+                }
+                { const QSignalBlocker block(analysisTab); refreshAnalysis(); }
+                vtkLoading->hide();
+                const QString qid = QString::fromStdString(newId);
+                // createGprVolume 预填 cachedGrid → setItemChecked 内 loadVolume 同步渲染、datasetRendered 自动撤 busy；
+                //   故此处【不要】再 setItemBusy(true)（否则 spinner 永久转圈）。
+                analysisTab->setItemChecked(qid, true);
+                analysisTab->scrollItemToTop(qid);
+            });
+        });
     // 任一数据集（剖面/体）异步加载开始 → 列表项复选框转等待 spinner；渲染完成 → 复原复选框。
     //   覆盖非三维体：勾选剖面首次渲染较慢时也有等待反馈（用户反馈）。
     QObject::connect(sceneCtrl, &geopro::controller::VtkSceneController::datasetLoading, analysisTab,
@@ -1008,7 +1140,7 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
                                  geopro::app::SlicePropertiesDialog dlg(name, sp, &window);
                                  dlg.exec();
                              }
-                         } else if (ddCode == QStringLiteral("dd_voxel")) {
+                         } else if (ddCode == QStringLiteral("dd_voxel") || ddCode == QStringLiteral("dd_radar_3d")) {
                              geopro::data::Api3dRepository::VolumeInfo info;
                              if (scene3dRepo->volumeInfo(dsId.toStdString(), info)) {
                                  geopro::app::VolumePropertiesDialog dlg(name, info, &window);
@@ -1133,6 +1265,17 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
                              QMessageBox::warning(&window, QStringLiteral("导出"),
                                                   QStringLiteral("导出失败。"));
                      });
+    // 雷达体显示增益模式切换（右键「增益模式」）：仓储切模式+清缓存 → 控制器清缓存/旧色阶并(勾选中)
+    //   异步用新增益重建体重渲。0=关(原始) 1=AGC(显深部) 2=保幅 tpow(判振幅)。纯显示，不动原始 .data。
+    QObject::connect(
+        analysisTab, &geopro::app::CategoryAnalysisTab::radarGainModeRequested, &window,
+        [scene3dRepo, sceneCtrl](const QString& qid, int mode) {
+            const auto m = (mode == 0) ? geopro::data::RadarGainMode::Off
+                           : (mode == 2) ? geopro::data::RadarGainMode::Tpow
+                                         : geopro::data::RadarGainMode::Agc;
+            if (scene3dRepo->setRadarGainMode(qid.toStdString(), m))
+                sceneCtrl->rebuildRadarVolume(qid.toStdString());
+        });
     // 色阶（三维体/切片）：复刻原版「色阶配置」对话框，确定后体素 + 其切片随新色阶重渲染。
     //   仅对当前已渲染的三维体生效（切片色阶继承体色阶，经 InteractionManager 重建）。
     QObject::connect(analysisTab, &geopro::app::CategoryAnalysisTab::colorScaleRequested, &window,
@@ -1277,11 +1420,12 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
     //   渲染 [VtkSceneView]。顺序：先 ①②(都不渲染)，最后 ③ 收尾统一渲染。只翻可见标志、不清空/重建 →
     //   切换瞬时；地形+底图常驻。
     QObject::connect(drawer, &geopro::app::ColumnDrawer::analysisModeChanged, &window,
-                     [interactionMgr, sceneCtrl, sceneView, viewToolbar](bool is2D) {
+                     [interactionMgr, sceneCtrl, sceneView, viewToolbar, refreshAlongLineBar](bool is2D) {
                          interactionMgr->setMode2D(is2D);
                          sceneCtrl->onAnalysisModeChanged(is2D);
                          sceneView->setAnalysisMode2D(is2D);
                          viewToolbar->setAnalysisMode2D(is2D);  // 二维下禁用 6 向快捷视图
+                         (*refreshAlongLineBar)();              // 二维隐藏沿线滑块、三维细长体显示(B#2)
                      });
 
     // 首个真实剖面到达 → frame 重锚到数据 lat/lon 后，把选中的底图加载到数据所在位置
@@ -1373,8 +1517,10 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
 
     auto* emptyCentering = new CenterOverlay(emptyState, vtkWidget);
     // 引导层定位后，把工具条与提示浮层 raise 到其上 → 工具条永在最上层（修：缩小渲染区时引导层挡工具条）。
-    emptyCentering->setRaiseAfter({viewToolbar, anomalyHint, elevHint});
+    emptyCentering->setRaiseAfter({viewToolbar, anomalyHint, elevHint, alongLineBar});
     emptyCentering->reposition();
+    // 引导层隐藏器就位(见 pushChecked 处声明)：场景(剖面∪三维分析)有勾选 → 隐藏不透明引导层、露出渲染。
+    *setSceneEmptyVisible = [emptyState](bool empty) { emptyState->setVisible(empty); };
 
     auto* vtkDock = new ads::CDockWidget(QStringLiteral("VTK视图"));
     vtkDock->setWidget(centerWidget);
@@ -1548,10 +1694,11 @@ void buildWorkbench(QMainWindow& window, geopro::data::LocalSampleRepository& re
     auto generation = std::make_shared<unsigned long long>(0);
     QObject::connect(
         objectTree, &geopro::app::ObjectTreePanel::checkedSourcesChanged, &window,
-        [&projectRepo, &nav, drawer, emptyState, generation, lastSourceRows,
+        [&projectRepo, &nav, drawer, emptyState, generation, lastSourceRows, checkedAnalysis,
          refreshAnalysis](const QList<geopro::data::DataSource>& sources) {
             const unsigned long long myGen = ++(*generation);
-            emptyState->setVisible(sources.isEmpty());  // 有勾选→隐藏引导层，露出中央渲染
+            // 引导层隐藏 = 对象树无源 且 三维分析栏也无勾选(否则取消勾选对象树会盖住仍在渲染的雷达体)。
+            emptyState->setVisible(sources.isEmpty() && checkedAnalysis->isEmpty());
             if (sources.isEmpty()) {
                 *lastSourceRows = {};
                 refreshAnalysis();  // 清空 5 段(客户端三维体仍驻留) + col2D
diff --git a/src/app/panels/columns/CategoryAnalysisTab.cpp b/src/app/panels/columns/CategoryAnalysisTab.cpp
index 7f5959c..2680571 100644
--- a/src/app/panels/columns/CategoryAnalysisTab.cpp
+++ b/src/app/panels/columns/CategoryAnalysisTab.cpp
@@ -47,11 +47,15 @@ CategoryAnalysisTab::CategoryAnalysisTab(geopro::data::DatasetFieldDictionary* d
                 });
         connect(sec, &CategorySection::generateVolumeRequested, this,
                 &CategoryAnalysisTab::generateVolumeRequested);
+        connect(sec, &CategorySection::radarImportRequested, this,
+                &CategoryAnalysisTab::radarImportRequested);
         connect(sec, &CategorySection::detailRequested, this, &CategoryAnalysisTab::detailRequested);
         connect(sec, &CategorySection::deleteDatasetRequested, this,
                 &CategoryAnalysisTab::deleteDatasetRequested);
         connect(sec, &CategorySection::sliceRequested, this, &CategoryAnalysisTab::sliceRequested);
         connect(sec, &CategorySection::colorScaleRequested, this, &CategoryAnalysisTab::colorScaleRequested);
+        connect(sec, &CategorySection::radarGainModeRequested, this,
+                &CategoryAnalysisTab::radarGainModeRequested);
         connect(sec, &CategorySection::sliceSaveRequested, this, &CategoryAnalysisTab::sliceSaveRequested);
         connect(sec, &CategorySection::sliceSaveAsRequested, this, &CategoryAnalysisTab::sliceSaveAsRequested);
         connect(sec, &CategorySection::sliceExportImageRequested, this,
diff --git a/src/app/panels/columns/CategoryAnalysisTab.hpp b/src/app/panels/columns/CategoryAnalysisTab.hpp
index 2f927d0..eb00c5a 100644
--- a/src/app/panels/columns/CategoryAnalysisTab.hpp
+++ b/src/app/panels/columns/CategoryAnalysisTab.hpp
@@ -39,11 +39,13 @@ public:
 signals:
     void checkedDatasetsChanged(const QStringList& dsIds);  // 5 段勾选并集
     void generateVolumeRequested(const QString& dsTypeCode, const QStringList& sourceDsIds);
+    void radarImportRequested(bool impulse);  // 三维体段头「+导入雷达测线」(false=规范化, true=Impulse)
     void detailRequested(const QString& dsId, const QString& ddCode, const QString& name);
     void deleteDatasetRequested(const QString& dsId, const QString& ddCode);  // 右键删除切片/异常
     // ── 三维体段操作转发（迁自旧 Column3DAnalysis，全接）──
     void sliceRequested(geopro::render::interact::SliceAxis axis, const QString& volumeDsId);
     void colorScaleRequested(const QString& dsId);
+    void radarGainModeRequested(const QString& dsId, int mode);  // 雷达体显示增益模式(0关/1AGC/2保幅)
     void sliceSaveRequested(const QString& dsId);
     void sliceSaveAsRequested(const QString& dsId);
     void sliceExportImageRequested(const QString& dsId);
diff --git a/src/app/panels/columns/CategorySection.cpp b/src/app/panels/columns/CategorySection.cpp
index 2d9544f..ef66c92 100644
--- a/src/app/panels/columns/CategorySection.cpp
+++ b/src/app/panels/columns/CategorySection.cpp
@@ -83,6 +83,32 @@ CategorySection::CategorySection(const CategorySpec& spec, geopro::data::Dataset
         });
         hl->addWidget(gen);
     }
+    // 三维体段头「+ 导入雷达测线」(后端未就绪的本地过渡入口)：弹出菜单选 规范化/Impulse。
+    //   次级强调按钮样式同「+新增三维体」；点击发 radarImportRequested(impulse) → 上层走导入流程。
+    if (spec_.id == "voxel") {
+        auto* imp = new QToolButton(headerRow);
+        imp->setText(QStringLiteral("+ 导入雷达测线"));
+        imp->setCursor(Qt::PointingHandCursor);
+        imp->setPopupMode(QToolButton::InstantPopup);
+        applyTokenizedStyleSheet(
+            imp, QStringLiteral(
+                     "QToolButton{border:1px solid {{accent/primary}};border-radius:%1px;"
+                     "color:{{accent/primary}};background:transparent;padding:%2px %3px;font-size:%4px;}"
+                     "QToolButton::menu-indicator{image:none;width:0;}"
+                     "QToolButton:hover{background:{{bg/selected}};}"
+                     "QToolButton:pressed{background:{{bg/hover}};}")
+                     .arg(radius::kSm)
+                     .arg(scaledPx(space::kXxs))
+                     .arg(scaledPx(space::kMd))
+                     .arg(scaledPx(type::kCaption)));
+        auto* menu = new QMenu(imp);
+        menu->addAction(QStringLiteral("规范化测线目录(.head/.data)…"), this,
+                        [this] { emit radarImportRequested(false); });
+        menu->addAction(QStringLiteral("Impulse 测线目录(.iprb)…"), this,
+                        [this] { emit radarImportRequested(true); });
+        imp->setMenu(menu);
+        hl->addWidget(imp);
+    }
     root->addWidget(headerRow);
 
     body_ = new QWidget(this);
@@ -394,13 +420,22 @@ void CategorySection::showContextMenu(const QPoint& pos) {
     QMenu menu(this);
     menu.addAction(QStringLiteral("详情"), this,
                    [this, id, ddCode, name] { emit detailRequested(id, ddCode, name); });
-    if (ddCode == QStringLiteral("dd_voxel")) {  // 三维体
+    if (ddCode == QStringLiteral("dd_voxel") || ddCode == QStringLiteral("dd_radar_3d")) {  // 三维体
         QMenu* sl = menu.addMenu(QStringLiteral("生成切片"));  // id=被右键的三维体 dsId（切片建到该体上）
         sl->addAction(QStringLiteral("上下"), this, [this, id] { emit sliceRequested(SliceAxis::UpDown, id); });
         sl->addAction(QStringLiteral("前后"), this, [this, id] { emit sliceRequested(SliceAxis::FrontBack, id); });
         sl->addAction(QStringLiteral("左右"), this, [this, id] { emit sliceRequested(SliceAxis::LeftRight, id); });
         sl->addAction(QStringLiteral("任意"), this, [this, id] { emit sliceRequested(SliceAxis::Oblique, id); });
         menu.addAction(QStringLiteral("色阶"), this, [this, id] { emit colorScaleRequested(id); });
+        if (ddCode == QStringLiteral("dd_radar_3d")) {  // 雷达体：显示增益模式切换(纯显示，重建体)
+            QMenu* gm = menu.addMenu(QStringLiteral("增益模式"));
+            gm->addAction(QStringLiteral("AGC（显深部·找目标）"), this,
+                          [this, id] { emit radarGainModeRequested(id, 1); });
+            gm->addAction(QStringLiteral("保幅 tpow（判振幅·复核）"), this,
+                          [this, id] { emit radarGainModeRequested(id, 2); });
+            gm->addAction(QStringLiteral("关（原始振幅）"), this,
+                          [this, id] { emit radarGainModeRequested(id, 0); });
+        }
     } else if (ddCode == QStringLiteral("dd_slice")) {  // 切片(列表中均为已保存=定稿锁定，无保存/另存)
         QMenu* ex = menu.addMenu(QStringLiteral("导出"));
         ex->addAction(QStringLiteral("图片"), this, [this, id] { emit sliceExportImageRequested(id); });
diff --git a/src/app/panels/columns/CategorySection.hpp b/src/app/panels/columns/CategorySection.hpp
index 4de7528..1ce1714 100644
--- a/src/app/panels/columns/CategorySection.hpp
+++ b/src/app/panels/columns/CategorySection.hpp
@@ -51,11 +51,13 @@ signals:
     void checkedDatasetsChanged(const QStringList& dsIds);                                  // 数据行勾选=渲染
     void collapsedChanged();  // 折叠/展开切换 → 外层 CategoryAnalysisTab 重排各段 stretch
     void generateVolumeRequested(const QString& dsTypeCode, const QStringList& sourceDsIds);  // 段头「+新增三维体」
+    void radarImportRequested(bool impulse);  // 三维体段头「+导入雷达测线」(false=规范化 .head/.data, true=Impulse .iprb)
     void detailRequested(const QString& dsId, const QString& ddCode, const QString& name);  // 双击/右键=详情
     void deleteDatasetRequested(const QString& dsId, const QString& ddCode);                // 右键删除（切片/异常）
     // ── 三维体段右键操作（迁自旧 Column3DAnalysis，全接）──
     void sliceRequested(geopro::render::interact::SliceAxis axis, const QString& volumeDsId);  // 体→生成切片(轴+目标体)
     void colorScaleRequested(const QString& dsId);                  // 体/切片→色阶
+    void radarGainModeRequested(const QString& dsId, int mode);    // 雷达体→显示增益模式(0关/1AGC/2保幅tpow)
     void sliceSaveRequested(const QString& dsId);                   // 切片→保存位姿
     void sliceSaveAsRequested(const QString& dsId);                 // 切片→另存
     void sliceExportImageRequested(const QString& dsId);           // 切片→导出图片
diff --git a/src/controller/DatasetViewState.hpp b/src/controller/DatasetViewState.hpp
index ad0b4ce..72b22f0 100644
--- a/src/controller/DatasetViewState.hpp
+++ b/src/controller/DatasetViewState.hpp
@@ -39,6 +39,10 @@ public:
         if (!scales_.contains(dsId)) scales_.insert(dsId, cs);
     }
 
+    // 清除某 ds 的色阶真源（不广播）：体被以新参数重建(如雷达切增益模式→值域大变)时调，
+    //   让下次 seedColorScale 用重建后的新色阶，而非沿用旧窗口。
+    void clearColorScale(const QString& dsId) { scales_.remove(dsId); }
+
 signals:
     void colorScaleChanged(const QString& dsId);
 
diff --git a/src/controller/VtkSceneController.cpp b/src/controller/VtkSceneController.cpp
index c41ef4b..a2ec377 100644
--- a/src/controller/VtkSceneController.cpp
+++ b/src/controller/VtkSceneController.cpp
@@ -323,6 +323,18 @@ void VtkSceneController::setVolumeColorScale(const std::string& dsId,
     view_.renderIncremental();
 }
 
+void VtkSceneController::rebuildRadarVolume(const std::string& dsId) {
+    // 仓储已切增益模式并失效其 cachedGrid(setRadarGainMode)。此处：
+    //   1) 清控制器缓存(否则命中旧体)；2) 清旧色阶真源(增益后值域大变，须用重建后新窗口)；
+    //   3) 移除旧 actor；4) 若勾选中 → 异步用新增益重建体并重渲。
+    volumeCache_.erase(dsId);
+    volumeScaleCache_.erase(dsId);
+    if (state_) state_->clearColorScale(QString::fromStdString(dsId));
+    view_.removeDataset(dsId);
+    if (isChecked(dsId)) addDatasetAsync(dsId, rebuildGeneration_);
+    view_.renderIncremental();
+}
+
 void VtkSceneController::setAxesMode(AxesMode mode) {
     axesMode_ = mode;
     rebuildInternal();  // 坐标轴随场景重建（clear 会移除旧坐标轴 prop）
diff --git a/src/controller/VtkSceneController.hpp b/src/controller/VtkSceneController.hpp
index 5a03f63..2521c0d 100644
--- a/src/controller/VtkSceneController.hpp
+++ b/src/controller/VtkSceneController.hpp
@@ -57,6 +57,9 @@ public slots:
     // 三维体透明度调节（工具条滑块）：运行时更新已渲染体的不透明度，并作为后续新体默认（0~1）。
     void setVolumeOpacity(double maxOpacity);
     void rebuild();  // 主题切换等外部触发的重渲染
+    // 雷达体增益模式切换后重建：仓储已切模式+清缓存(setRadarGainMode)，此处清控制器缓存/旧色阶
+    //   并(若勾选中)异步用新增益重建体、重渲。
+    void rebuildRadarVolume(const std::string& dsId);
 
     // 色阶编辑器「确定」：写入色阶真源(state_)，经 colorScaleChanged 统一就地重着色（体/帘面 + 切片）。
     //   兼容旧调用点；真正的重着色在 recolorDataset()。无 state_ 时退化为直连重建。
diff --git a/src/data/GprVolumeRepository.cpp b/src/data/GprVolumeRepository.cpp
index a1b1277..12ca216 100644
--- a/src/data/GprVolumeRepository.cpp
+++ b/src/data/GprVolumeRepository.cpp
@@ -1,10 +1,14 @@
 #include "data/GprVolumeRepository.hpp"
 
+#include <algorithm>
 #include <cmath>
+#include <cstdint>
 #include <limits>
+#include <vector>
 
 #include "core/model/ScalarVolumeI16.hpp"
 #include "io/gpr/Gpr3dvVolumeBridge.hpp"
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
 
 namespace geopro::data {
 
@@ -17,20 +21,63 @@ VolumeGrid builtI16ToVolumeGrid(const geopro::core::BuiltI16& built) {
   out.vol = geopro::core::ScalarVolume(nx, ny, nz);
   out.origin = built.origin;
   out.spacing = built.spacing;
-  out.vmin = built.vminPhys;
-  out.vmax = built.vmaxPhys;
 
-  // 逐体素反量化(布局一致：i 最快、k 最慢)。
+  // 逐体素反量化(布局一致：i 最快、k 最慢) + 同遍累计 int16 直方图(零额外遍历)。
   //   kBlank → NaN：下游 render::buildVoxel 把 NaN 映射到 [vmin,vmax] 外的哨兵 →
-  //   传递函数置全透明(与 float 路径空值语义一致)。
+  //   传递函数置全透明(与 float 路径空值语义一致)。GPR 稠密体无 kBlank，直方图即全体素。
   const std::vector<std::int16_t>& src = built.vol.data();
   std::vector<double>& dst = out.vol.data();
   const double nan = std::numeric_limits<double>::quiet_NaN();
+  constexpr int kHistN = 65536;          // int16 全域，桶 b ↔ 量化值 q = b - 32768
+  std::vector<std::uint32_t> hist(kHistN, 0);
+  std::uint64_t total = 0;
   for (std::size_t idx = 0; idx < src.size(); ++idx) {
     const std::int16_t q = src[idx];
-    dst[idx] = (q == geopro::core::ScalarVolumeI16::kBlank)
-                   ? nan
-                   : built.quant.toPhys(q);
+    if (q == geopro::core::ScalarVolumeI16::kBlank) {
+      dst[idx] = nan;
+      continue;
+    }
+    dst[idx] = built.quant.toPhys(q);
+    ++hist[static_cast<int>(q) + 32768];
+    ++total;
+  }
+
+  // 显示值域 = 【双极对称】99% 窗口(GPR 标准 B-scan)，而非全 min/max、也非非对称分位。
+  //   GPR 振幅正负振荡：基线(零反射)应=中灰、强负=黑、强正=白，且窗口对称否则色调失衡。
+  //   做法：以【中位数=基线】为中心向两侧等距扩张，直到覆盖 99% 样本 → ±A。强反射/饱和值
+  //   (原始数据实测有 int16 下限 -32768 的钳值)落在 1% 尾外 → clamp 到端色，结构铺开如实显示。
+  //   对齐独立 Python radargram(双极对称 ±p99)；用全值域=灰板，用非对称 2/98=过饱和+灰点偏移。
+  //   退化(全同值)兜底回全值域。
+  out.vmin = built.vminPhys;
+  out.vmax = built.vmaxPhys;
+  if (total > 0) {
+    // 中位数桶(基线≈零振幅)。
+    int centerQ = 32767;
+    {
+      const double half = 0.5 * static_cast<double>(total);
+      std::uint64_t cum = 0;
+      for (int b = 0; b < kHistN; ++b) {
+        cum += hist[b];
+        if (static_cast<double>(cum) > half) { centerQ = b - 32768; break; }
+      }
+    }
+    // 自中位数对称外扩，覆盖 99% → 半宽 A。
+    const double need = 0.99 * static_cast<double>(total);
+    const int ci = centerQ + 32768;
+    std::uint64_t cum = (ci >= 0 && ci < kHistN) ? hist[ci] : 0;
+    int A = 0;
+    for (int r = 1; r < kHistN; ++r) {
+      const int lo = ci - r, hi = ci + r;
+      if (lo >= 0 && lo < kHistN) cum += hist[lo];
+      if (hi >= 0 && hi < kHistN) cum += hist[hi];
+      if (static_cast<double>(cum) >= need) { A = r; break; }
+    }
+    if (A > 0) {
+      const int loQ = std::max(-32768, centerQ - A);
+      const int hiQ = std::min(32767, centerQ + A);
+      out.vmin = built.quant.toPhys(static_cast<std::int16_t>(loQ));
+      out.vmax = built.quant.toPhys(static_cast<std::int16_t>(hiQ));
+    }
   }
   return out;
 }
@@ -47,4 +94,83 @@ VolumeGrid createGprVolumeGrid(const std::string& lineDir,
   return builtI16ToVolumeGrid(built);
 }
 
+namespace {
+// 单道(沿深度 n)增益：先 dewow(减滑动均值去低频 DC)，再按模式 AGC(除滑窗 RMS，显弱反射但抹相对幅)
+//   或 Tpow(×(k+1)^幂，保幅补衰减)。前缀和 O(n)。
+void gainTraceInPlace(double* col, int n, RadarGainMode mode, int dewowWin, int agcWin,
+                      double tpowPower) {
+  if (n <= 0 || mode == RadarGainMode::Off) return;
+  if (dewowWin > 1) {
+    const int h = dewowWin / 2;
+    std::vector<double> ps(n + 1, 0.0);
+    for (int k = 0; k < n; ++k) ps[k + 1] = ps[k] + col[k];
+    std::vector<double> o(n);
+    for (int k = 0; k < n; ++k) {
+      const int lo = std::max(0, k - h), hi = std::min(n, k + h + 1);
+      o[k] = col[k] - (ps[hi] - ps[lo]) / (hi - lo);
+    }
+    for (int k = 0; k < n; ++k) col[k] = o[k];
+  }
+  if (mode == RadarGainMode::Agc && agcWin > 1) {
+    const int h = agcWin / 2;
+    std::vector<double> ps2(n + 1, 0.0);
+    for (int k = 0; k < n; ++k) ps2[k + 1] = ps2[k] + col[k] * col[k];
+    for (int k = 0; k < n; ++k) {
+      const int lo = std::max(0, k - h), hi = std::min(n, k + h + 1);
+      const double rms = std::sqrt((ps2[hi] - ps2[lo]) / (hi - lo)) + 1e-6;
+      col[k] /= rms;
+    }
+  } else if (mode == RadarGainMode::Tpow && tpowPower > 0.0) {
+    for (int k = 0; k < n; ++k)
+      col[k] *= std::pow(static_cast<double>(k + 1), tpowPower);  // 保幅：随深度放大、不抹相对强弱
+  }
+}
+
+// 逐道显示增益 + 增益后重取双极对称 99% 窗口。纯显示：只改 app 渲染体 g.vol，原始 .data 不变。
+void applyRadarDisplayGain(VolumeGrid& g, RadarGainMode mode, int dewowWin, int agcWin,
+                           double tpowPower) {
+  const int nx = g.vol.nx(), ny = g.vol.ny(), nz = g.vol.nz();
+  if (nx <= 0 || ny <= 0 || nz <= 0) return;
+  std::vector<double>& d = g.vol.data();
+  auto idx = [nx, ny](int i, int j, int k) {
+    return (static_cast<std::size_t>(k) * ny + j) * nx + i;
+  };
+  std::vector<double> col(nz);
+  for (int j = 0; j < ny; ++j)
+    for (int i = 0; i < nx; ++i) {
+      for (int k = 0; k < nz; ++k) col[k] = d[idx(i, j, k)];
+      gainTraceInPlace(col.data(), nz, mode, dewowWin, agcWin, tpowPower);
+      for (int k = 0; k < nz; ++k) d[idx(i, j, k)] = col[k];
+    }
+  // 增益后重取窗口(中位数中心、对称 99%)，否则旧窗口与增益后量纲不符。
+  std::vector<double> a(d.begin(), d.end());
+  if (!a.empty()) {
+    const std::size_t m = a.size() / 2;
+    std::nth_element(a.begin(), a.begin() + m, a.end());
+    const double med = a[m];
+    for (double& x : a) x = std::abs(x - med);
+    const std::size_t q = static_cast<std::size_t>(0.99 * (a.size() - 1));
+    std::nth_element(a.begin(), a.begin() + q, a.end());
+    const double A = a[q] > 0.0 ? a[q] : 1.0;
+    g.vmin = med - A;
+    g.vmax = med + A;
+  }
+}
+}  // namespace
+
+VolumeGrid createRadarVolumeGrid(const std::string& lineDir,
+                                 const std::string& linePrefix, int coarse,
+                                 double targetDy, RadarGainMode gainMode) {
+  // 走规范化测线链(io::gpr) 读 .head/.data → int16 量化体 → 反量化为 app 的 float 体。
+  // 与 createGprVolumeGrid 同适配器(builtI16ToVolumeGrid)，仅上游数据源不同。
+  const geopro::core::BuiltI16 built =
+      geopro::io::gpr::buildLineVolumeFromNormalized(lineDir, linePrefix, coarse,
+                                                     targetDy);
+  VolumeGrid g = builtI16ToVolumeGrid(built);
+  // 显示增益(纯显示)：Agc 显深部弱反射 / Tpow 保幅。原始数据不变；窗口随增益重取。
+  if (gainMode != RadarGainMode::Off)
+    applyRadarDisplayGain(g, gainMode, /*dewowWin=*/30, /*agcWin=*/50, /*tpowPower=*/1.5);
+  return g;
+}
+
 }  // namespace geopro::data
diff --git a/src/data/GprVolumeRepository.hpp b/src/data/GprVolumeRepository.hpp
index 59f7ff8..4737e91 100644
--- a/src/data/GprVolumeRepository.hpp
+++ b/src/data/GprVolumeRepository.hpp
@@ -33,6 +33,25 @@ VolumeGrid createGprVolumeGrid(const std::string& lineDir,
                               const std::string& linePrefix, int coarse = 4,
                               double targetDy = 0.025);
 
+// 走【规范化测线链】(io::gpr::buildLineVolumeFromNormalized) 建逐线雷达体并适配
+// 成 app 的 VolumeGrid。读 {lineDir}/{linePrefix}.head + .data(轴 X=道/Y=通道/
+// Z=采样)→ BuiltI16(int16+Quant) → builtI16ToVolumeGrid 反量化 → VolumeGrid。
+//   与 createGprVolumeGrid(P1/P2 链)同输出格式，下游 addVolume 无需改动；区别仅是
+//   上游数据源走规范化 .head/.data 而非 .iprh/.iprb。
+//   coarse(≥1)沿测线下采样；targetDy(米，>0 启用)线内通道插值(读 .head CH_X_OFFSETS)。
+//   失败(加载失败/解析失败)→ 抛 std::runtime_error(由 io::gpr 链抛出，原样透传)。
+// 雷达显示增益模式(纯显示、逐道沿深度、不动原始 .data；窗口随增益重取)：
+//   Off  = 原始振幅；
+//   Agc  = dewow + 滑窗 RMS 归一：最大化显出深部弱反射(找目标)，但【抹相对振幅】；
+//   Tpow = dewow + ×时间^幂：保幅增益(补几何扩散/衰减)，【保留相对强弱】——判振幅/复核异常用。
+//   (审阅者点③：标深部目标前应在 Tpow 保幅下也确认，不只信 Agc。)
+enum class RadarGainMode { Off, Agc, Tpow };
+
+VolumeGrid createRadarVolumeGrid(const std::string& lineDir,
+                                 const std::string& linePrefix, int coarse = 4,
+                                 double targetDy = 0.025,
+                                 RadarGainMode gainMode = RadarGainMode::Off);
+
 }  // namespace geopro::data
 
 #endif  // GEOPRO_DATA_GPRVOLUMEREPOSITORY_HPP
diff --git a/src/data/api/Api3dRepository.cpp b/src/data/api/Api3dRepository.cpp
index 5e16bac..5c4649c 100644
--- a/src/data/api/Api3dRepository.cpp
+++ b/src/data/api/Api3dRepository.cpp
@@ -29,6 +29,22 @@ namespace geopro::data {
 
 namespace {
 constexpr const char* kNotReady = "后端三维端点未就绪";
+
+// 雷达中性灰度色阶。⚠ core::ColorScale 是【阶梯/分段常数】(colorAt 取下界 stop，不插值)：
+//   只放 3 个 stop(黑/灰/白) → 整个 [mid,vmax) 正振幅全塌成一级灰、[vmin,mid) 全黑，连续 GPR
+//   数据被压成 3 级(深部 DC 渲成恒灰、丢层理)——实测确诊的真 bug。故铺 256 级平滑斜坡
+//   black→white，colorAt 才能给出连续灰阶。(反演等值面仍用稀疏 stop 的阶梯，故意离散，不动。)
+core::ColorScale radarGrayScale(double vmin, double vmax) {
+    core::ColorScale cs;
+    constexpr int kLevels = 256;
+    for (int i = 0; i < kLevels; ++i) {
+        const double f = static_cast<double>(i) / (kLevels - 1);  // 0..1
+        const double val = vmin + (vmax - vmin) * f;
+        const auto g = static_cast<unsigned char>(std::lround(f * 255.0));
+        cs.addStop(val, core::Rgba{g, g, g, 255});
+    }
+    return cs;
+}
 }  // namespace
 
 Api3dRepository::Api3dRepository(IAsyncDatasetRepository& dsRepo,
@@ -40,7 +56,7 @@ DsDimension Api3dRepository::dimensionOf(const DsRow& ds) const {
     // TODO(P3): 与 LocalSample3dRepository 重复，宜提取共享映射(后续清理)。
     const std::string& c = ds.ddCode;
     if (c == "dd_voxel" || c == "dd_Structual3D" || c == "dd_Property3D" || c == "dd_section" ||
-        c == "dd_inversion_data") {
+        c == "dd_inversion_data" || c == "dd_radar_3d") {
         return DsDimension::Dim3D;
     }
     if (c == "dd_slice") return DsDimension::Analysis3D;
@@ -130,12 +146,8 @@ std::string Api3dRepository::createGprVolume(const std::string& lineDir,
                                              const std::string& name, int coarse) {
     // 走 io::gpr 逐线管线（含线内通道插值）直接产体（抛异常透传给调用方）。
     VolumeGrid grid = geopro::data::createGprVolumeGrid(lineDir, linePrefix, coarse);
-    // 简易灰度色阶（负→暗、零→灰、正→亮）覆盖体值域，使体素渲染可见。
-    core::ColorScale scale;
-    const double mid = 0.5 * (grid.vmin + grid.vmax);
-    scale.addStop(grid.vmin, core::Rgba{20, 24, 40, 255});
-    scale.addStop(mid, core::Rgba{140, 140, 150, 255});
-    scale.addStop(grid.vmax, core::Rgba{235, 232, 220, 255});
+    // 中性灰度(GPR 标准 B-scan)，256 级连续——3-stop 会被 colorAt 阶梯压成 3 级(见 radarGrayScale)。
+    const core::ColorScale scale = radarGrayScale(grid.vmin, grid.vmax);
 
     const std::string id = "vol-" + std::to_string(++volumeCounter_);
     StoredVolume sv;
@@ -148,6 +160,34 @@ std::string Api3dRepository::createGprVolume(const std::string& lineDir,
     return id;
 }
 
+std::string Api3dRepository::registerRadarDataset(const std::string& lineDir,
+                                                  const std::string& linePrefix,
+                                                  const std::string& name,
+                                                  const std::string& structParentId, int coarse) {
+    // 只存元数据、不建体（懒建在首次 loadVolume 后台线程做并缓存）→ DS 优先、勾选才付出建体成本。
+    const std::string id = "radar-" + std::to_string(++volumeCounter_);
+    StoredVolume sv;
+    sv.name = name;
+    sv.ddCode = "dd_radar_3d";
+    sv.lineDir = lineDir;
+    sv.linePrefix = linePrefix;
+    sv.coarse = coarse;
+    sv.structParentId = structParentId;
+    sv.createTime =
+        QDateTime::currentDateTime().toString(QStringLiteral("yyyy-MM-dd HH:mm")).toStdString();
+    volumes_[id] = std::move(sv);  // 不预填 cachedGrid → 懒建
+    return id;
+}
+
+bool Api3dRepository::setRadarGainMode(const std::string& dsId, RadarGainMode mode) {
+    auto it = volumes_.find(dsId);
+    if (it == volumes_.end() || it->second.ddCode != "dd_radar_3d") return false;
+    if (it->second.gainMode == mode) return true;  // 未变化也算成功（调用方可跳过重渲）
+    it->second.gainMode = mode;
+    it->second.cachedGrid.reset();  // 失效缓存体 → 下次 loadVolume 用新增益模式重建
+    return true;
+}
+
 const VoxelGenerateRequest* Api3dRepository::lastVoxelRequest(const std::string& dsId) const {
     const auto it = volumes_.find(dsId);
     return (it != volumes_.end() && it->second.request) ? &*it->second.request : nullptr;
@@ -167,9 +207,10 @@ std::vector<DsRow> Api3dRepository::volumeRows() const {
         DsRow r;
         r.id = id;
         r.dsName = sv.name;
-        r.ddCode = "dd_voxel";
+        r.ddCode = sv.ddCode;  // 雷达体="dd_radar_3d"，其余 dd_voxel
         r.typeName = "三维体";
-        r.structParentId = sv.request ? sv.request->structParentId : std::string();  // 结构归属(生成位置)
+        // 结构归属(生成位置)：mock 请求体路径取 request->structParentId，雷达体路径取 sv.structParentId。
+        r.structParentId = sv.request ? sv.request->structParentId : sv.structParentId;
         r.createTime = sv.createTime;
         rows.push_back(std::move(r));
     }
@@ -348,6 +389,51 @@ void Api3dRepository::loadVolume(const std::string& dsId,
         onOk(*sv.cachedGrid, sv.cachedScale);
         return;
     }
+
+    if (!sv.linePrefix.empty()) {  // 雷达体 DS：后台建体，避免阻塞 UI（与 finalizeVolume 同范式）
+        const std::string lineDir = sv.lineDir, linePrefix = sv.linePrefix;
+        const int coarse = sv.coarse;
+        const RadarGainMode gainMode = sv.gainMode;  // 显示增益模式(右键可切，切时清缓存重建)
+        auto deliver = [this, dsId, onOk, onErr](std::shared_ptr<VolumeGrid> g, std::string err) {
+            if (!g) {
+                onErr("Api3dRepository::loadVolume(radar): " + err);
+                return;
+            }
+            // 中性灰度，256 级连续(见 radarGrayScale：3-stop 会被 colorAt 阶梯压成 3 级)。
+            const core::ColorScale scale = radarGrayScale(g->vmin, g->vmax);
+            if (auto it2 = volumes_.find(dsId); it2 != volumes_.end()) {
+                it2->second.cachedGrid = *g;  // 缓存 → 下次命中直渲
+                it2->second.cachedScale = scale;
+            }
+            onOk(*g, scale);
+        };
+        auto compute = [lineDir, linePrefix, coarse, gainMode]() {
+            std::shared_ptr<VolumeGrid> g;
+            std::string err;
+            try {
+                g = std::make_shared<VolumeGrid>(geopro::data::createRadarVolumeGrid(
+                    lineDir, linePrefix, coarse, /*targetDy=*/0.025, gainMode));
+            } catch (const std::exception& e) {
+                err = e.what();
+            }
+            return std::make_tuple(g, err);
+        };
+        if (!QCoreApplication::instance()) {  // headless/单测 → 同步交付
+            auto r = compute();
+            deliver(std::get<0>(r), std::get<1>(r));
+            return;
+        }
+        std::thread([compute, deliver]() mutable {
+            auto r = compute();
+            auto g = std::get<0>(r);  // 具名变量（非结构化绑定）→ C++17 可被 lambda 捕获
+            auto err = std::get<1>(r);
+            QMetaObject::invokeMethod(
+                qApp, [deliver, g, err]() mutable { deliver(std::move(g), std::move(err)); },
+                Qt::QueuedConnection);
+        }).detach();
+        return;
+    }
+
     const VolumeBuildParams params = sv.params;  // 拷贝：异步回调期间存储可能变动
     if (params.sourceDatasetIds.empty()) {
         onErr("Api3dRepository::loadVolume: 三维体无源数据集");
diff --git a/src/data/api/Api3dRepository.hpp b/src/data/api/Api3dRepository.hpp
index 6fe5416..e5df097 100644
--- a/src/data/api/Api3dRepository.hpp
+++ b/src/data/api/Api3dRepository.hpp
@@ -9,6 +9,7 @@
 
 #include "dto/Vtk3dRequests.hpp"
 #include "geo/GeoLocalFrame.hpp"
+#include "GprVolumeRepository.hpp"  // RadarGainMode（雷达显示增益模式）
 #include "repo/I3dSceneRepository.hpp"
 #include "repo/VolumeBuildParams.hpp"
 
@@ -48,6 +49,15 @@ public:
     // 返回新 dsId；失败抛 std::runtime_error（加载/立方体空，由 io::gpr 链透传）。
     std::string createGprVolume(const std::string& lineDir, const std::string& linePrefix,
                                 const std::string& name, int coarse = 8);
+    // 登记一条规范化测线为 dd_radar_3d 体 DS：只存元数据(lineDir/prefix/coarse)，【不立即建体】。
+    //   首次 loadVolume 时在后台线程惰性建体并缓存（仿 finalizeVolume，避免阻塞 UI）。
+    //   id="radar-N"；structParentId=结构归属(生成位置)。返回新 dsId。
+    std::string registerRadarDataset(const std::string& lineDir, const std::string& linePrefix,
+                                     const std::string& name, const std::string& structParentId,
+                                     int coarse = 4);
+    // 切换雷达体显示增益模式（右键菜单）：设新模式 + 清缓存体(强制下次 loadVolume 用新模式重建)。
+    //   返回 true=是雷达体且已切换；false=非雷达体(忽略)。调用方随后清控制器缓存并重渲该 dsId。
+    bool setRadarGainMode(const std::string& dsId, RadarGainMode mode);
     // 取回某三维体组装的请求体（测试/联调）；非本 repo 创建或无 request 时返回 nullptr。
     const VoxelGenerateRequest* lastVoxelRequest(const std::string& dsId) const;
     // 清空内存态三维体/切片/异常（切换项目时调；否则上个项目的体/切片/异常残留在新项目列表）。
@@ -144,6 +154,12 @@ private:
         std::optional<std::size_t> pointCount;  // 聚合散点数（finalizeVolume 时持久化，详情统计用）
         std::optional<VoxelGenerateRequest> request;  // 组装的真实请求体（createVolume(req) 路径填充）
         std::string createTime;  // 创建时刻（mock，列表副标题/详情用）
+        // 雷达体 DS（registerRadarDataset 路径）：只存元数据，loadVolume 懒建。
+        std::string lineDir, linePrefix;  // 规范化测线 .head/.data 所在目录 + 前缀
+        std::string ddCode = "dd_voxel";  // 数据字典码（雷达体="dd_radar_3d"，其余默认 dd_voxel）
+        std::string structParentId;       // 结构归属(生成位置)；雷达体无 request 时由此提供
+        int coarse = 4;                   // 沿测线下采样因子（控内存）
+        RadarGainMode gainMode = RadarGainMode::Agc;  // 显示增益模式（右键切换；默认 AGC 显深部）
     };
     std::map<std::string, StoredVolume> volumes_;  // dsId → 体
     int volumeCounter_ = 0;
diff --git a/src/data/repo/LocalSample3dRepository.cpp b/src/data/repo/LocalSample3dRepository.cpp
index 096c212..17f3a7b 100644
--- a/src/data/repo/LocalSample3dRepository.cpp
+++ b/src/data/repo/LocalSample3dRepository.cpp
@@ -44,7 +44,7 @@ DsDimension LocalSample3dRepository::dimensionOf(const DsRow& ds) const {
     const std::string& c = ds.ddCode;
     // 真三维体 / 体素 / 帘面（dd_section/反演剖面摆成竖直帘面）入三维数据集。
     if (c == "dd_voxel" || c == "dd_Structual3D" || c == "dd_Property3D" || c == "dd_section" ||
-        c == "dd_inversion_data") {
+        c == "dd_inversion_data" || c == "dd_radar_3d") {
         return DsDimension::Dim3D;
     }
     // 切片：三维分析栏。
diff --git a/src/io/gpr/CMakeLists.txt b/src/io/gpr/CMakeLists.txt
index 4afd503..0470637 100644
--- a/src/io/gpr/CMakeLists.txt
+++ b/src/io/gpr/CMakeLists.txt
@@ -1,6 +1,7 @@
 add_library(geopro_io_gpr STATIC
   IprHeader.cpp IprbReader.cpp GprGeometry.cpp GprSurveyAssembler.cpp
-  GpsTrack.cpp)
+  GpsTrack.cpp NormalizedRadarReader.cpp
+  RadarVolumeAssembler.cpp NormalizedRadarVolumeBridge.cpp)
 target_include_directories(geopro_io_gpr PUBLIC ${CMAKE_SOURCE_DIR}/src)
 target_compile_features(geopro_io_gpr PUBLIC cxx_std_17)
 # GprSurveyAssembler 返回 geopro::core::GprSurvey（头文件内联，仅需 include 解析）。
diff --git a/src/io/gpr/Gpr3dvVolumeBridge.cpp b/src/io/gpr/Gpr3dvVolumeBridge.cpp
index e3b7bcf..a6dceaf 100644
--- a/src/io/gpr/Gpr3dvVolumeBridge.cpp
+++ b/src/io/gpr/Gpr3dvVolumeBridge.cpp
@@ -1,8 +1,8 @@
 #include "io/gpr/Gpr3dvVolumeBridge.hpp"
 
+#include <algorithm>
 #include <chrono>
 #include <cmath>
-#include <limits>
 #include <stdexcept>
 #include <vector>
 
@@ -13,7 +13,7 @@
 #include "RadarProcessor.h"
 
 #include "core/model/ScalarVolumeI16.hpp"
-#include "io/gpr/GprGeometry.hpp"  // planChannelInterpolation
+#include "io/gpr/RadarVolumeAssembler.hpp"  // assembleRadarVolume(共享建体)
 
 namespace geopro::io::gpr {
 
@@ -71,7 +71,6 @@ geopro::core::BuiltI16 buildLineVolumeFromGpr3dv(const std::string& lineDir,
                                                  const std::string& linePrefix,
                                                  BridgeMetrics* metricsOut,
                                                  int coarse, double targetDy) {
-  const int stride = coarse > 1 ? coarse : 1;  // 沿测线下采样步长(≥1)
   const QString dir = QString::fromLocal8Bit(lineDir.c_str());
   const QString base = QString::fromLocal8Bit(linePrefix.c_str());
 
@@ -107,106 +106,48 @@ geopro::core::BuiltI16 buildLineVolumeFromGpr3dv(const std::string& lineDir,
                              std::to_string(traces) + "/" +
                              std::to_string(samples) + ")");
   }
-  // 下采样后输出道数(向上取整保留末道附近)：nxOut = ceil(traces/stride)。
-  const int nxOut = (traces + stride - 1) / stride;
-  const int nx = nxOut;    // X=道(沿测线，已按 stride 下采样)
-  const int nz = samples;  // Z=样本(深度)
-
-  // §1 线内通道插值：读各通道真实横向偏移(header.chXOffsets) → 规则网格化 Y 到 targetDy。
-  // 绝不跨线；间距/通道数从数据来，不假设。退路(无偏移/未启用)= 逐通道 identity。
+  // §1 线内通道插值偏移：读各通道真实横向偏移(header.chXOffsets)。绝不跨线；间距/
+  // 通道数从数据来，不假设。空/不等长 → 不启用通道插值(helper 内退路=逐通道 identity)。
   std::vector<double> latOff;
   const auto& chx = processed.header.chXOffsets;
   if (chx.size() == channels)
     for (int c = 0; c < channels; ++c)
       latOff.push_back(static_cast<double>(chx[c]));
-  std::vector<geopro::io::gpr::ChannelInterpRow> rows;
-  bool interpolated = false;
-  if (static_cast<int>(latOff.size()) == channels && targetDy > 0.0) {
-    rows = planChannelInterpolation(latOff, targetDy);
-    interpolated = (static_cast<int>(rows.size()) != channels);
-  }
-  if (rows.empty())
-    for (int c = 0; c < channels; ++c) rows.push_back({c, c, 0.0});
-  const int ny = static_cast<int>(rows.size());  // Y=通道(横向，可能已插值加密)
 
-  // 3) 扫处理后值域 → Quant(offset=中点，防溢出)。
+  // 3) 组立方体描述 + 采样器(volumeData[通道][道][样本]，越界取 0)，调共享建体 helper。
+  //    扫值域→Quant(中点 offset)→通道插值(规则化 Y 到 targetDy)→逐体素填→spacing 均在
+  //    helper 内完成(与后续规范化 .head/.data 路共用同一逻辑，零漂移)。
+  const GPRDataModel::Header& h = processed.header;
+  RadarCubeDesc desc;
+  desc.channels = channels;
+  desc.traces = traces;
+  desc.samples = samples;
+  desc.chXOffsets = latOff;
+  desc.dxBase = h.distanceInc > 1e-9 ? h.distanceInc : 1.0;  // 道距(米)
+  desc.dyWhenNotInterpolated = channelSpacingY(h, channels);  // 原通道横距(米)
+  desc.dz = depthSpacingZ(h);                                 // 深度采样距(米)
+  CubeSampler sample = [&processed](int c, int t, int s) -> double {
+    const auto& ch = processed.volumeData[c];
+    if (t >= static_cast<int>(ch.size())) return 0.0;
+    const auto& tr = ch[t];
+    return s < static_cast<int>(tr.size()) ? static_cast<double>(tr[s]) : 0.0;
+  };
+
   const auto tFill = std::chrono::steady_clock::now();
-  short rawMin = std::numeric_limits<short>::max();
-  short rawMax = std::numeric_limits<short>::min();
-  for (int c = 0; c < channels; ++c) {
-    const auto& chData = processed.volumeData[c];
-    for (int t = 0; t < traces && t < chData.size(); ++t) {
-      const auto& trData = chData[t];
-      for (int s = 0; s < samples && s < trData.size(); ++s) {
-        const short v = trData[s];
-        if (v < rawMin) rawMin = v;
-        if (v > rawMax) rawMax = v;
-      }
-    }
-  }
-  if (rawMin > rawMax) {  // 退化(理论不至)：置零区间。
-    rawMin = 0;
-    rawMax = 0;
-  }
-  const double vmin = static_cast<double>(rawMin);
-  const double vmax = static_cast<double>(rawMax);
-
-  geopro::core::Quant quant;
-  // 量化到 int16 有效区间 [-32767, 32767](kBlank=-32768 保留)，留两端裕度用 64000。
-  quant.scale = (vmax > vmin) ? (vmax - vmin) / 64000.0 : 1.0;
-  quant.offset = 0.5 * (vmin + vmax);  // 中点 → 防溢出
-
-  // 4) 逐 (输出行 j, trace, sample) 填体。每个输出行 = 两侧最近真实通道线性插值
-  //    (a==b 时即原通道)。GPR 立方体稠密(每体素有值)，无空洞 → 不置 kBlank。
-  //    沿测线按 stride 下采样：输出道 to → 源道 t = to*stride。
-  geopro::core::BuiltI16 built;
-  built.vol = geopro::core::ScalarVolumeI16(nx, ny, nz);
-  for (int j = 0; j < ny; ++j) {
-    const auto& chA = processed.volumeData[rows[j].a];
-    const auto& chB = processed.volumeData[rows[j].b];
-    const double wb = rows[j].wb, wa = 1.0 - wb;
-    for (int to = 0; to < nxOut; ++to) {
-      const int t = to * stride;
-      const bool hasA = t < static_cast<int>(chA.size());
-      const bool hasB = t < static_cast<int>(chB.size());
-      for (int s = 0; s < samples; ++s) {
-        const double va =
-            (hasA && s < static_cast<int>(chA[t].size())) ? chA[t][s] : 0.0;
-        const double vb =
-            (hasB && s < static_cast<int>(chB[t].size())) ? chB[t][s] : 0.0;
-        // X=输出道 to、Y=输出行 j、Z=样本 s。
-        built.vol.at(to, j, s) = quant.toQ(wa * va + wb * vb);
-      }
-    }
-  }
+  geopro::core::BuiltI16 built = assembleRadarVolume(desc, sample, coarse, targetDy);
   const double fillMs = nowMs(tFill);
 
-  // 5) 几何：origin=0，spacing 按 X=道距 / Y=通道横距 / Z=深度采样距。
-  const GPRDataModel::Header& h = processed.header;
-  // 下采样后相邻输出道在世界中跨 stride 个原始道距 → dx ×stride 保持真实尺度。
-  const double dxBase = h.distanceInc > 1e-9 ? h.distanceInc : 1.0;
-  const double dx = dxBase * stride;
-  // 插值后 Y 已规则化到 targetDy 网格；否则用原通道横距。
-  const double dy = interpolated ? targetDy : channelSpacingY(h, channels);
-  const double dz = depthSpacingZ(h);
-
-  built.quant = quant;
-  built.origin = {0.0, 0.0, 0.0};
-  built.spacing = {dx, dy, dz};
-  built.vminPhys = vmin;
-  built.vmaxPhys = vmax;
-
   if (metricsOut) {
-    metricsOut->nx = nx;
-    metricsOut->ny = ny;
-    metricsOut->nz = nz;
+    metricsOut->nx = built.vol.nx();
+    metricsOut->ny = built.vol.ny();
+    metricsOut->nz = built.vol.nz();
     metricsOut->meanAbsBefore = meanBefore;
     metricsOut->meanAbsAfter = meanAfter;
-    metricsOut->vminPhys = vmin;
-    metricsOut->vmaxPhys = vmax;
-    metricsOut->dx = dx;
-    metricsOut->dy = dy;
-    metricsOut->dz = dz;
+    metricsOut->vminPhys = built.vminPhys;
+    metricsOut->vmaxPhys = built.vmaxPhys;
+    metricsOut->dx = built.spacing[0];
+    metricsOut->dy = built.spacing[1];
+    metricsOut->dz = built.spacing[2];
     metricsOut->loadMs = loadMs;
     metricsOut->pipelineMs = pipelineMs;
     metricsOut->fillMs = fillMs;
diff --git a/src/io/gpr/NormalizedRadarReader.cpp b/src/io/gpr/NormalizedRadarReader.cpp
new file mode 100644
index 0000000..a3d360f
--- /dev/null
+++ b/src/io/gpr/NormalizedRadarReader.cpp
@@ -0,0 +1,107 @@
+#include "io/gpr/NormalizedRadarReader.hpp"
+#include <cmath>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include <map>
+#include <sstream>
+#include <stdexcept>
+#include <system_error>
+namespace geopro::io::gpr {
+namespace {
+std::map<std::string, std::string> parseKv(const std::string& text) {
+  std::map<std::string, std::string> kv;
+  std::istringstream in(text);
+  std::string line;
+  while (std::getline(in, line)) {
+    const auto pos = line.find(':');
+    if (pos == std::string::npos) continue;
+    std::string k = line.substr(0, pos), v = line.substr(pos + 1);
+    auto trim = [](std::string& s) {
+      const auto a = s.find_first_not_of(" \t\r\n");
+      const auto b = s.find_last_not_of(" \t\r\n");
+      s = (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
+    };
+    trim(k); trim(v);
+    kv[k] = v;
+  }
+  return kv;
+}
+int reqInt(const std::map<std::string, std::string>& kv, const char* k) {
+  auto it = kv.find(k);
+  if (it == kv.end() || it->second.empty())
+    throw std::runtime_error(std::string("规范化 .head 缺字段: ") + k);
+  return std::stoi(it->second);
+}
+double optD(const std::map<std::string, std::string>& kv, const char* k, double dv) {
+  auto it = kv.find(k);
+  return (it == kv.end() || it->second.empty()) ? dv : std::stod(it->second);
+}
+}  // namespace
+
+RadarHeader parseRadarHead(const std::string& headText) {
+  const auto kv = parseKv(headText);
+  RadarHeader h;
+  h.samples = reqInt(kv, "SAMPLES");
+  h.channels = reqInt(kv, "NUMBER_OF_CH");
+  h.lastTrace = reqInt(kv, "LAST_TRACE");
+  if (h.channels <= 0 || h.lastTrace % h.channels != 0)
+    throw std::runtime_error("LAST_TRACE 不能被 NUMBER_OF_CH 整除");
+  h.traces = static_cast<int>(h.lastTrace / h.channels);
+  h.bits = static_cast<int>(optD(kv, "BITS", 16));
+  h.endianType = static_cast<int>(optD(kv, "ENDIAN_TYPE", 1));
+  h.distanceInterval = optD(kv, "DISTANCE_INTERVAL", 1.0);
+  h.timeWindowNs = optD(kv, "TIMEWINDOW", 0.0);
+  h.dielectric = optD(kv, "DIELECTRIC", 0.0);
+  auto it = kv.find("CH_X_OFFSETS");
+  if (it != kv.end() && !it->second.empty()) {
+    std::istringstream os(it->second);
+    double v;
+    while (os >> v) h.chXOffsets.push_back(v);
+  }
+  return h;
+}
+double waveVelocityMperNs(const RadarHeader& h) {
+  return h.dielectric > 0.0 ? 0.2998 / std::sqrt(h.dielectric) : 0.1;
+}
+double depthSpacingZ(const RadarHeader& h) {
+  if (h.samples <= 1 || h.timeWindowNs <= 0.0) return 0.0;
+  return (h.timeWindowNs / (h.samples - 1)) * waveVelocityMperNs(h) / 2.0;
+}
+std::vector<std::int16_t> readRadarDataCube(const std::string& dataPath,
+                                            const RadarHeader& h) {
+  if (h.bits != 16)
+    throw std::runtime_error("readRadarDataCube: 暂仅支持 16-bit(BITS=" +
+                             std::to_string(h.bits) + " 待实现)");
+  const std::size_t n = static_cast<std::size_t>(h.lastTrace) * h.samples;
+  const std::uintmax_t expect = static_cast<std::uintmax_t>(n) * 2;
+  std::error_code ec;
+  const auto fsize = std::filesystem::file_size(dataPath, ec);
+  if (ec || fsize != expect)
+    throw std::runtime_error("规范化 .data 大小不符: " + dataPath);
+  std::vector<std::int16_t> cube(n);
+  std::ifstream f(dataPath, std::ios::binary);
+  if (!f) throw std::runtime_error("打开 .data 失败: " + dataPath);
+  f.read(reinterpret_cast<char*>(cube.data()), static_cast<std::streamsize>(expect));
+  if (!f) throw std::runtime_error("读 .data 失败: " + dataPath);
+  if (h.endianType == 2)  // 大端 → 主机小端(x86)，逐元素交换字节
+    for (auto& v : cube) {
+      const std::uint16_t u = static_cast<std::uint16_t>(v);
+      v = static_cast<std::int16_t>((u >> 8) | (u << 8));
+    }
+  return cube;
+}
+std::vector<TracePos> parseRadarCor(const std::string& corText) {
+  std::vector<TracePos> out;
+  std::istringstream in(corText);
+  std::string line;
+  while (std::getline(in, line)) {
+    if (line.empty() || line.rfind("VERSION", 0) == 0) continue;
+    std::istringstream ls(line);
+    TracePos p; std::string ns, ew, m;
+    if (ls >> p.index >> p.lat >> ns >> p.lon >> ew >> p.elev >> m >> p.solution)
+      out.push_back(p);
+  }
+  return out;
+}
+}  // namespace geopro::io::gpr
diff --git a/src/io/gpr/NormalizedRadarReader.hpp b/src/io/gpr/NormalizedRadarReader.hpp
new file mode 100644
index 0000000..d6fab03
--- /dev/null
+++ b/src/io/gpr/NormalizedRadarReader.hpp
@@ -0,0 +1,49 @@
+#ifndef GEOPRO_IO_GPR_NORMALIZED_RADAR_READER_HPP
+#define GEOPRO_IO_GPR_NORMALIZED_RADAR_READER_HPP
+
+#include <cstdint>
+#include <string>
+#include <vector>
+
+namespace geopro::io::gpr {
+
+// 规范化雷达 .head（KEY:VALUE 文本头，每行一项）解析结果。
+struct RadarHeader {
+  int samples = 0;                 // N (SAMPLES)
+  int channels = 0;                // M (NUMBER_OF_CH)
+  long lastTrace = 0;              // 总扫描数=K*M (LAST_TRACE)
+  int traces = 0;                  // K = lastTrace/channels
+  int bits = 16;                   // 8/16/32 (BITS)
+  int endianType = 1;              // 1 小端/2 大端 (ENDIAN_TYPE)
+  double distanceInterval = 1.0;   // 道距 m (DISTANCE_INTERVAL)
+  double timeWindowNs = 0.0;       // 时窗 ns (TIMEWINDOW)
+  double dielectric = 0.0;         // 介电常数 (DIELECTRIC, 0=未知)
+  std::vector<double> chXOffsets;  // 通道横向偏移 m (CH_X_OFFSETS)
+};
+
+// 解析 KEY:VALUE 文本头。缺 SAMPLES/NUMBER_OF_CH/LAST_TRACE 任一 → std::runtime_error。
+// traces = lastTrace/channels（不整除抛错）。
+RadarHeader parseRadarHead(const std::string& headText);
+
+// 由 dielectric 求波速(m/ns): >0 时 0.2998/sqrt(eps)，否则 0.1(默认)。
+double waveVelocityMperNs(const RadarHeader& h);
+
+// 深度采样间距(米): timeWindowNs/(samples-1) × 波速/2。samples<=1 → 0。
+double depthSpacingZ(const RadarHeader& h);
+
+// 读规范化 .data → 扁平 int16 立方体，position-major 索引 ((t*M + c)*N + s)。
+// 按 header.bits/endianType 解码；P0 仅 16-bit(32-bit 抛 not implemented)。
+// 文件大小须 == lastTrace*samples*(bits/8)，否则抛 std::runtime_error。
+std::vector<std::int16_t> readRadarDataCube(const std::string& dataPath,
+                                            const RadarHeader& h);
+
+// 规范化 .cor 轨迹单点：序号/纬度/经度/高程/解状态。
+struct TracePos { int index = 0; double lat = 0, lon = 0, elev = 0; int solution = 0; };
+
+// 解析 .cor：跳过 "VERSION:" 行，每行 [序号 纬度 N/S 经度 E/W 高程 M 解状态]
+// (制表/空格分隔)。本期仅解析，为 P1 多线配准预留。
+std::vector<TracePos> parseRadarCor(const std::string& corText);
+
+}  // namespace geopro::io::gpr
+
+#endif  // GEOPRO_IO_GPR_NORMALIZED_RADAR_READER_HPP
diff --git a/src/io/gpr/NormalizedRadarVolumeBridge.cpp b/src/io/gpr/NormalizedRadarVolumeBridge.cpp
new file mode 100644
index 0000000..ca021d6
--- /dev/null
+++ b/src/io/gpr/NormalizedRadarVolumeBridge.cpp
@@ -0,0 +1,55 @@
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
+
+#include <cstddef>
+#include <cstdint>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+#include <vector>
+
+#include "io/gpr/NormalizedRadarReader.hpp"
+#include "io/gpr/RadarVolumeAssembler.hpp"
+
+namespace geopro::io::gpr {
+
+geopro::core::BuiltI16 buildLineVolumeFromNormalized(const std::string& lineDir,
+                                                     const std::string& linePrefix,
+                                                     int coarse, double targetDy) {
+  const std::string head = lineDir + "/" + linePrefix + ".head";
+  const std::string data = lineDir + "/" + linePrefix + ".data";
+
+  std::string headText;
+  {
+    std::ifstream f(head);
+    if (!f) throw std::runtime_error("打开 .head 失败: " + head);
+    std::stringstream ss;
+    ss << f.rdbuf();
+    headText = ss.str();
+  }
+
+  const RadarHeader h = parseRadarHead(headText);
+  const std::vector<std::int16_t> cube = readRadarDataCube(data, h);
+  const int M = h.channels;
+  const int N = h.samples;
+
+  RadarCubeDesc d;
+  d.channels = M;
+  d.traces = h.traces;
+  d.samples = N;
+  d.chXOffsets = h.chXOffsets;
+  d.dxBase = h.distanceInterval > 1e-9 ? h.distanceInterval : 1.0;
+  d.dyWhenNotInterpolated =
+      (h.chXOffsets.size() >= 2 && M > 1)
+          ? (h.chXOffsets.back() - h.chXOffsets.front()) / (M - 1)
+          : 1.0;
+  d.dz = depthSpacingZ(h) > 1e-12 ? depthSpacingZ(h) : 1.0;
+
+  // position-major 立方体索引 ((t*M + c)*N + s)，与 readRadarDataCube 一致。
+  CubeSampler sample = [&cube, M, N](int c, int t, int s) {
+    return static_cast<double>(cube[(static_cast<std::size_t>(t) * M + c) * N + s]);
+  };
+
+  return assembleRadarVolume(d, sample, coarse, targetDy);
+}
+
+}  // namespace geopro::io::gpr
diff --git a/src/io/gpr/NormalizedRadarVolumeBridge.hpp b/src/io/gpr/NormalizedRadarVolumeBridge.hpp
new file mode 100644
index 0000000..128e89f
--- /dev/null
+++ b/src/io/gpr/NormalizedRadarVolumeBridge.hpp
@@ -0,0 +1,20 @@
+#ifndef GEOPRO_IO_GPR_NORMALIZED_RADAR_VOLUME_BRIDGE_HPP
+#define GEOPRO_IO_GPR_NORMALIZED_RADAR_VOLUME_BRIDGE_HPP
+
+#include <string>
+
+#include "core/algo/GprVolumeBuilder.hpp"  // geopro::core::BuiltI16
+
+namespace geopro::io::gpr {
+
+// 读 {lineDir}/{linePrefix}.head + .data → assembleRadarVolume → BuiltI16
+// (轴 X=道/Y=通道/Z=采样)。coarse 沿道下采样；targetDy 线内通道插值(读 .head
+// CH_X_OFFSETS)。打开/解析失败抛 std::runtime_error。
+geopro::core::BuiltI16 buildLineVolumeFromNormalized(const std::string& lineDir,
+                                                     const std::string& linePrefix,
+                                                     int coarse = 4,
+                                                     double targetDy = 0.025);
+
+}  // namespace geopro::io::gpr
+
+#endif  // GEOPRO_IO_GPR_NORMALIZED_RADAR_VOLUME_BRIDGE_HPP
diff --git a/src/io/gpr/RadarVolumeAssembler.cpp b/src/io/gpr/RadarVolumeAssembler.cpp
new file mode 100644
index 0000000..9ccc1c6
--- /dev/null
+++ b/src/io/gpr/RadarVolumeAssembler.cpp
@@ -0,0 +1,68 @@
+#include "io/gpr/RadarVolumeAssembler.hpp"
+#include <cmath>
+#include <limits>
+#include <stdexcept>
+#include "core/model/ScalarVolumeI16.hpp"
+#include "io/gpr/GprGeometry.hpp"  // planChannelInterpolation, ChannelInterpRow
+namespace geopro::io::gpr {
+
+geopro::core::BuiltI16 assembleRadarVolume(const RadarCubeDesc& d,
+                                           const CubeSampler& sample,
+                                           int coarse, double targetDy) {
+  if (d.channels <= 0 || d.traces <= 0 || d.samples <= 0)
+    throw std::runtime_error("assembleRadarVolume: 维度为空");
+  const int stride = coarse > 1 ? coarse : 1;
+  const int nxOut = (d.traces + stride - 1) / stride;
+  const int nz = d.samples;
+
+  // 通道插值方案(读 chXOffsets 规则化到 targetDy)；退路=逐通道 identity。
+  std::vector<ChannelInterpRow> rows;
+  bool interpolated = false;
+  if (static_cast<int>(d.chXOffsets.size()) == d.channels && targetDy > 0.0) {
+    rows = planChannelInterpolation(d.chXOffsets, targetDy);
+    interpolated = (static_cast<int>(rows.size()) != d.channels);
+  }
+  if (rows.empty())
+    for (int c = 0; c < d.channels; ++c) rows.push_back({c, c, 0.0});
+  const int ny = static_cast<int>(rows.size());
+
+  // 扫值域 → Quant(中点 offset, 64000 裕度)。
+  double vmin = std::numeric_limits<double>::infinity();
+  double vmax = -std::numeric_limits<double>::infinity();
+  for (int c = 0; c < d.channels; ++c)
+    for (int t = 0; t < d.traces; ++t)
+      for (int s = 0; s < d.samples; ++s) {
+        const double v = sample(c, t, s);
+        if (v < vmin) vmin = v;
+        if (v > vmax) vmax = v;
+      }
+  if (!(vmin <= vmax)) { vmin = 0.0; vmax = 0.0; }
+  geopro::core::Quant quant;
+  quant.scale = (vmax > vmin) ? (vmax - vmin) / 64000.0 : 1.0;
+  quant.offset = 0.5 * (vmin + vmax);
+
+  // 逐(输出行 j, 输出道 to, 采样 s)填，散射写入(绝不 memcpy)。
+  geopro::core::BuiltI16 built;
+  built.vol = geopro::core::ScalarVolumeI16(nxOut, ny, nz);
+  for (int j = 0; j < ny; ++j) {
+    const int a = rows[j].a, b = rows[j].b;
+    const double wb = rows[j].wb, wa = 1.0 - wb;
+    for (int to = 0; to < nxOut; ++to) {
+      const int t = to * stride;
+      for (int s = 0; s < nz; ++s) {
+        const double va = sample(a, t, s);
+        const double vb = (b == a) ? va : sample(b, t, s);
+        built.vol.at(to, j, s) = quant.toQ(wa * va + wb * vb);
+      }
+    }
+  }
+
+  const double dy = interpolated ? targetDy : d.dyWhenNotInterpolated;
+  built.quant = quant;
+  built.origin = {0.0, 0.0, 0.0};
+  built.spacing = {d.dxBase * stride, dy, d.dz};
+  built.vminPhys = vmin;
+  built.vmaxPhys = vmax;
+  return built;
+}
+}  // namespace geopro::io::gpr
diff --git a/src/io/gpr/RadarVolumeAssembler.hpp b/src/io/gpr/RadarVolumeAssembler.hpp
new file mode 100644
index 0000000..676ebb3
--- /dev/null
+++ b/src/io/gpr/RadarVolumeAssembler.hpp
@@ -0,0 +1,17 @@
+#ifndef GEOPRO_IO_GPR_RADARVOLUMEASSEMBLER_HPP
+#define GEOPRO_IO_GPR_RADARVOLUMEASSEMBLER_HPP
+#include <functional>
+#include <vector>
+#include "core/algo/GprVolumeBuilder.hpp"
+namespace geopro::io::gpr {
+struct RadarCubeDesc {
+  int channels = 0; int traces = 0; int samples = 0;
+  std::vector<double> chXOffsets;
+  double dxBase = 1.0; double dyWhenNotInterpolated = 1.0; double dz = 1.0;
+};
+using CubeSampler = std::function<double(int c, int t, int s)>;
+geopro::core::BuiltI16 assembleRadarVolume(const RadarCubeDesc& desc,
+                                           const CubeSampler& sample,
+                                           int coarse, double targetDy);
+}  // namespace geopro::io::gpr
+#endif
diff --git a/src/render/actors/VoxelActor.cpp b/src/render/actors/VoxelActor.cpp
index aeb43d2..eaa8d38 100644
--- a/src/render/actors/VoxelActor.cpp
+++ b/src/render/actors/VoxelActor.cpp
@@ -73,9 +73,25 @@ vtkSmartPointer<vtkVolume> assembleVolume(vtkImageData* img,
         std::min({std::abs(sp[0]), std::abs(sp[1]), std::abs(sp[2])});  // 最细体素维度
     double bnd[6];
     img->GetBounds(bnd);
-    const double diag = std::sqrt((bnd[1] - bnd[0]) * (bnd[1] - bnd[0]) +
-                                  (bnd[3] - bnd[2]) * (bnd[3] - bnd[2]) +
-                                  (bnd[5] - bnd[4]) * (bnd[5] - bnd[4]));  // 包围盒对角(最长穿越路径)
+    const double ex = std::abs(bnd[1] - bnd[0]), ey = std::abs(bnd[3] - bnd[2]),
+                 ez = std::abs(bnd[5] - bnd[4]);
+    const double diag = std::sqrt(ex * ex + ey * ey + ez * ez);
+    // 不透明度单位距离的尺度基准：
+    //   - 【各向异性】体(细长，如雷达 375×1.4×5m)：对角线被长轴主宰(375m)→ 单位距离过大 →
+    //     不透明度只在 100% 才实心、稍降即很透(用户实测)。改用【特征尺度=三轴几何平均 cbrt】，
+    //     对各向异性稳健。
+    //   - 【近立方】体(反演)：维持原对角线，观感不变(门控：长短轴比 ≤ kAnisoRatio 走对角线)。
+    constexpr double kAnisoRatio = 4.0;
+    const double maxE = std::max({ex, ey, ez}), minE = std::min({ex, ey, ez});
+    const bool anisotropic = (minE > 0.0) && (maxE / minE > kAnisoRatio);
+    const double charLen = anisotropic ? std::cbrt(ex * ey * ez) : diag;
+
+    // 大体(如雷达：24M 体素、深度采样距 mm 级 → 单条光线上千采样步)开启【交互期】采样距自适应：
+    //   旋转时 VTK 自动加大采样步(变粗)保流畅，停手即恢复设定的细采样距(0.3×minSp)出全质量帧。
+    //   只是渲染期降采样、【绝不动数据】；切片/异常取自全分辨率体，保真不受影响。
+    //   小体(反演，实测~7ms/帧)保持全程全质量，避免"停手补高清"的视觉突跳。
+    constexpr vtkIdType kInteractiveLodVoxels = 4'000'000;
+    const int interactiveAdjust = (img->GetNumberOfPoints() > kInteractiveLodVoxels) ? 1 : 0;
 
     vtkSmartPointer<vtkVolumeMapper> mapper;
     if (mask && g_gpuVolumeSupported) {
@@ -84,8 +100,8 @@ vtkSmartPointer<vtkVolume> assembleVolume(vtkImageData* img,
         gpu->SetInputData(img);
         gpu->SetMaskInput(mask);
         gpu->SetMaskTypeToBinary();
-        gpu->SetAutoAdjustSampleDistances(0);  // 全程全质量（GPU 直接 mapper 无交互降采样开关）
-        // 关了自适应必须显式给【细】采样距离，否则用粗默认值 → 看到一层层体素(分层伪影)。
+        gpu->SetAutoAdjustSampleDistances(interactiveAdjust);  // 大体:交互降采样保流畅,停手全质量;小体:全程全质量
+        // 静止帧用【细】采样距离(0.3×minSp)：否则用粗默认值 → 看到一层层体素(分层伪影)。
         if (minSp > 0) gpu->SetSampleDistance(static_cast<float>(0.3 * minSp));
         // 抖动：用噪声纹理微扰每条光线的采样起点，消除规则采样面造成的「木纹/分层」伪影（VTK 官方此用途）。
         gpu->SetUseJittering(1);
@@ -94,9 +110,9 @@ vtkSmartPointer<vtkVolume> assembleVolume(vtkImageData* img,
         // SmartVolumeMapper：有 GPU 走 GPU ray cast，否则自动回退 CPU，避免无 GPU 时卡死/失败。
         vtkNew<vtkSmartVolumeMapper> sm;
         sm->SetInputData(img);
-        // 全程统一全质量(GPU 足够快, 实测 ~7ms/帧)：关掉交互降采样, 避免"停手补高清"那一帧突跳停顿。
-        sm->SetAutoAdjustSampleDistances(0);
-        sm->SetInteractiveAdjustSampleDistances(0);
+        // 大体交互降采样保流畅(停手恢复全质量)；小体全程全质量(GPU 足够快, 实测 ~7ms/帧)避免突跳。
+        sm->SetAutoAdjustSampleDistances(interactiveAdjust);
+        sm->SetInteractiveAdjustSampleDistances(interactiveAdjust);
         mapper = sm;
     }
 
@@ -105,11 +121,10 @@ vtkSmartPointer<vtkVolume> assembleVolume(vtkImageData* img,
     prop->SetScalarOpacity(opacity);
     prop->SetInterpolationTypeToLinear();
     prop->ShadeOff();
-    // 不透明度单位距离 = 包围盒对角 × kOpacityUnitFraction：控制沿深度的累积速度，使色阶「不透明度」滑块
-    //   有层次。取对角/10：100%(每单位=1.0)→沿体累积到≈实心、10% 很淡。太大(=整条对角)→100% 也偏透；
-    //   太小(=体素)→ 低不透明度也累积到全不透明。
+    // 不透明度单位距离 = 尺度基准(charLen：各向异性=特征尺度 / 近立方=对角线) × kOpacityUnitFraction。
+    //   控制累积速度使「不透明度」滑块有层次；细长体走特征尺度后不再"只有 100% 实心、99% 即很透"。
     constexpr double kOpacityUnitFraction = 0.1;
-    if (diag > 0) prop->SetScalarOpacityUnitDistance(kOpacityUnitFraction * diag);
+    if (charLen > 0) prop->SetScalarOpacityUnitDistance(kOpacityUnitFraction * charLen);
 
     auto volume = vtkSmartPointer<vtkVolume>::New();
     volume->SetMapper(mapper);
diff --git a/src/render/interact/InteractionManager.cpp b/src/render/interact/InteractionManager.cpp
index 0fd34d1..35b11d8 100644
--- a/src/render/interact/InteractionManager.cpp
+++ b/src/render/interact/InteractionManager.cpp
@@ -58,11 +58,22 @@ void InteractionManager::installStyle() {
     style_->onPick = [this](const Vec3& w) { onPicked(w); };
     style_->onDoubleClick = [this](const Vec3& w) { onDoubleClicked(w); };
     style_->onWheelStep = [this](int dir) { return onWheel(dir); };
+    // Esc 取消选中：清选中+高亮 + 同步列表清选 + 重渲（拉近后点不到空白处取消时的可靠出口）。
+    style_->onDeselect = [this]() {
+        if (selected_ < 0) return;
+        deselectSlice();
+        if (onSliceSelectionChanged) onSliceSelectionChanged(std::string{});
+        safeRender();
+    };
+    // 精确"命中切片"判定：光标射线 vs 切片真实矩形求交(点帘面/非切片物/边界外都不算)。
+    style_->hitTestSlice = [this]() { return pointOnSlice(); };
     // D39: 提供旋转中心 = 选中切片中心（有选中→true）。style 在按下拖动时据此绕选中切片旋转。
     style_->getRotateCenter = [this](Vec3& c) {
-        if (selected_ < 0 || selected_ >= static_cast<int>(slices_.size())) return false;
-        c = slices_[static_cast<std::size_t>(selected_)]->center();
-        return true;
+        if (selected_ >= 0 && selected_ < static_cast<int>(slices_.size())) {
+            c = slices_[static_cast<std::size_t>(selected_)]->center();  // 选中切片→绕其中心
+            return true;
+        }
+        return rayVolumePivot(c);  // 无选中→绕光标射线穿过的体中段点(不甩飞)；无体命中→false(默认焦点)
     };
     interactor_->SetInteractorStyle(style_);
 
@@ -83,6 +94,8 @@ void InteractionManager::uninstallStyle() {
         style_->onDoubleClick = nullptr;
         style_->onWheelStep = nullptr;
         style_->getRotateCenter = nullptr;
+        style_->onDeselect = nullptr;
+        style_->hitTestSlice = nullptr;
     }
     // 摘除右键观察者（this 即将析构）。
     if (interactor_ && rightBtnTag_ != 0) {
@@ -470,6 +483,114 @@ int InteractionManager::nearestSlice(const Vec3& worldPoint) const {
     return idx;
 }
 
+bool InteractionManager::cursorRay(double nearP[3], double dir[3]) const {
+    if (!interactor_ || !renderer_) return false;
+    const int* pos = interactor_->GetEventPosition();
+    if (!pos) return false;
+    // 屏幕点在近/远裁剪面的世界坐标 → 连成视线(相机透视/正交均适用)。
+    auto toWorld = [this](int x, int y, double z, double out[3]) {
+        renderer_->SetDisplayPoint(x, y, z);
+        renderer_->DisplayToWorld();
+        double w[4];
+        renderer_->GetWorldPoint(w);
+        const double iw = (w[3] != 0.0) ? 1.0 / w[3] : 1.0;
+        out[0] = w[0] * iw;
+        out[1] = w[1] * iw;
+        out[2] = w[2] * iw;
+    };
+    double farP[3];
+    toWorld(pos[0], pos[1], 0.0, nearP);
+    toWorld(pos[0], pos[1], 1.0, farP);
+    dir[0] = farP[0] - nearP[0];
+    dir[1] = farP[1] - nearP[1];
+    dir[2] = farP[2] - nearP[2];
+    return true;
+}
+
+bool InteractionManager::rayVolumePivot(Vec3& out) const {
+    double nearP[3], d[3];
+    if (!cursorRay(nearP, d)) return false;
+    bool found = false;
+    double bestEnter = 0.0;
+    for (const auto& kv : volumes_) {
+        if (!kv.second.image) continue;
+        const std::array<double, 6> b = imageBounds(kv.second.image);
+        double tEnter = -1e300, tExit = 1e300;  // slab 法求 ray∩包围盒 [tEnter,tExit]
+        bool ok = true;
+        for (int i = 0; i < 3; ++i) {
+            const double lo = b[2 * i], hi = b[2 * i + 1];
+            if (std::abs(d[i]) < 1e-12) {
+                if (nearP[i] < lo || nearP[i] > hi) {
+                    ok = false;
+                    break;
+                }
+            } else {
+                double t1 = (lo - nearP[i]) / d[i], t2 = (hi - nearP[i]) / d[i];
+                if (t1 > t2) {
+                    const double tmp = t1;
+                    t1 = t2;
+                    t2 = tmp;
+                }
+                if (t1 > tEnter) tEnter = t1;
+                if (t2 < tExit) tExit = t2;
+            }
+        }
+        if (!ok || tExit < tEnter || tExit < 0.0) continue;
+        const double tin = (tEnter > 0.0 ? tEnter : 0.0);
+        if (!found || tin < bestEnter) {  // 多体取最近命中
+            bestEnter = tin;
+            const double tmid = 0.5 * (tin + tExit);  // 体内中段点 → 稳定支点
+            out = {nearP[0] + d[0] * tmid, nearP[1] + d[1] * tmid, nearP[2] + d[2] * tmid};
+            found = true;
+        }
+    }
+    return found;
+}
+
+bool InteractionManager::pointOnSlice() const {
+    double nearP[3], d[3];
+    if (!cursorRay(nearP, d)) return false;
+    for (const auto& sp : slices_) {
+        double o[3], p1[3], p2[3];
+        sp->planePoints(o, p1, p2);  // 切片真实矩形：o + u·e1 + v·e2 (u,v∈[0,1])
+        const double e1[3] = {p1[0] - o[0], p1[1] - o[1], p1[2] - o[2]};
+        const double e2[3] = {p2[0] - o[0], p2[1] - o[1], p2[2] - o[2]};
+        const double n[3] = {e1[1] * e2[2] - e1[2] * e2[1], e1[2] * e2[0] - e1[0] * e2[2],
+                             e1[0] * e2[1] - e1[1] * e2[0]};
+        const double denom = d[0] * n[0] + d[1] * n[1] + d[2] * n[2];
+        if (std::abs(denom) < 1e-12) continue;  // 视线平行于切面
+        const double t =
+            ((o[0] - nearP[0]) * n[0] + (o[1] - nearP[1]) * n[1] + (o[2] - nearP[2]) * n[2]) / denom;
+        if (t < 0.0) continue;  // 交点在相机后方
+        const double h[3] = {nearP[0] + d[0] * t, nearP[1] + d[1] * t, nearP[2] + d[2] * t};
+        const double hd[3] = {h[0] - o[0], h[1] - o[1], h[2] - o[2]};
+        const double e1sq = e1[0] * e1[0] + e1[1] * e1[1] + e1[2] * e1[2];
+        const double e2sq = e2[0] * e2[0] + e2[1] * e2[1] + e2[2] * e2[2];
+        if (e1sq <= 0.0 || e2sq <= 0.0) continue;
+        const double u = (hd[0] * e1[0] + hd[1] * e1[1] + hd[2] * e1[2]) / e1sq;
+        const double v = (hd[0] * e2[0] + hd[1] * e2[1] + hd[2] * e2[2]) / e2sq;
+        if (u < 0.0 || u > 1.0 || v < 0.0 || v > 1.0) continue;  // 不在切片矩形内
+        // 矩形命中后还需该点处切片有【可见数据】(不透明)——切片矩形=体网格截面，常比可见数据大
+        //   (反演有大片空值网格、雷达边缘空采样)。落在矩形但透明(空值/外区)处不算"在切片上"，
+        //   否则点 ds 边缘空白区(如截图左侧标尺处)仍误判命中 → 治用户实测的外扩。
+        const vtkSmartPointer<vtkImageData> rgba = sp->coloredResliceImage();
+        if (!rgba) return true;  // 无着色图(理论不至) → 退化为矩形命中
+        int dims[3];
+        rgba->GetDimensions(dims);
+        if (dims[0] < 1 || dims[1] < 1 || rgba->GetNumberOfScalarComponents() < 4)
+            return true;  // 无 alpha 通道 → 退化为矩形命中
+        // 着色输出像素 (i,j) 沿 e1/e2 方向 → (u,v)·(dim-1)（vtkImagePlaneWidget reslice 轴约定）。
+        int px = static_cast<int>(u * (dims[0] - 1) + 0.5);
+        int py = static_cast<int>(v * (dims[1] - 1) + 0.5);
+        px = px < 0 ? 0 : (px > dims[0] - 1 ? dims[0] - 1 : px);
+        py = py < 0 ? 0 : (py > dims[1] - 1 ? dims[1] - 1 : py);
+        const auto* pix = static_cast<const unsigned char*>(rgba->GetScalarPointer(px, py, 0));
+        if (pix && pix[3] > 10) return true;  // alpha>阈值 = 该点切片可见 → 在切片上
+        // 透明(空值/外区) → 不算在此切片上，继续看其它切片
+    }
+    return false;
+}
+
 void InteractionManager::onPicked(const Vec3& worldPoint) {
     // 单击 = 选中命中切片；点在切片外（如点到体/帘面）→ 取消选中（idx=-1）。**不动相机**。
     //   解决"选了切片无法取消"：点击切片之外即清选中，滚轮恢复缩放（见 onWheel）。
@@ -497,7 +618,20 @@ void InteractionManager::faceSlice(int idx) {
     if (!cam) return;
     const Vec3 focal = slices_[static_cast<std::size_t>(idx)]->center();
     const Vec3 normal = slices_[static_cast<std::size_t>(idx)]->normal();
-    const double dist = cam->GetDistance();  // 保持当前观察距离
+    // 缩放到切片：按切片【面内尺寸】(法向两侧两轴的跨度)+ 相机视角算"刚好框住"的距离，
+    //   而非沿用当前(拉远看整条线时可能几百米)距离——否则正视后切片又小又远(用户实测)。
+    const VolumeImg* vol = volumeOf(slices_[static_cast<std::size_t>(idx)]->volumeDsId());
+    const std::array<double, 6> b = imageBounds(vol ? vol->image : nullptr);
+    const double ext[3] = {b[1] - b[0], b[3] - b[2], b[5] - b[4]};
+    const double an[3] = {std::abs(normal[0]), std::abs(normal[1]), std::abs(normal[2])};
+    const int ax = (an[0] >= an[1] && an[0] >= an[2]) ? 0 : (an[1] >= an[2] ? 1 : 2);  // 法向主轴
+    double inMax = 0.0;
+    for (int i = 0; i < 3; ++i)
+        if (i != ax) inMax = (ext[i] > inMax ? ext[i] : inMax);  // 面内最大尺寸
+    double dist = cam->GetDistance();  // 兜底(无体边界)
+    const double vaRad = cam->GetViewAngle() * 3.14159265358979323846 / 180.0;
+    if (inMax > 0.0 && vaRad > 0.0)
+        dist = (0.5 * inMax) / std::tan(0.5 * vaRad) * 1.1;  // 框住面内最大尺寸 + 10% 余量
     const FaceOnCamera face = faceOnCamera(focal, normal, dist);
     cam->SetFocalPoint(focal[0], focal[1], focal[2]);
     cam->SetPosition(face.position[0], face.position[1], face.position[2]);
@@ -513,7 +647,17 @@ bool InteractionManager::onWheel(int dir) {
     //   配合 onPicked 的"点击切片外取消选中"：取消后滚轮即恢复缩放，解决"选了切片无法缩放"。
     //   （不采用"悬停即推进"：推进时鼠标难持续压在移动的切片上，且过敏感。）
     if (selected_ < 0 || selected_ >= static_cast<int>(slices_.size())) return false;
-    const double step = wheelStep(imageBounds(selectedVolumeImage()), dir);  // 选中切片所属体
+    // 步长按切片【法向上的体素间距 × N】算：一格挪 N 个采样，与体总长无关——细长雷达体也不会
+    //   因长轴 375m 而步太大/跳过。Shift=粗调(×10)；超长轴粗定位另靠沿线滑块(后续)。
+    const Vec3 n = slices_[static_cast<std::size_t>(selected_)]->normal();
+    std::array<double, 3> sp{1.0, 1.0, 1.0};
+    if (vtkImageData* img = selectedVolumeImage()) {
+        double s[3];
+        img->GetSpacing(s);
+        sp = {s[0], s[1], s[2]};
+    }
+    const int voxels = (interactor_ && interactor_->GetShiftKey()) ? 20 : 2;  // Shift=粗调
+    const double step = wheelStep(sp, n, voxels, dir);
     slices_[static_cast<std::size_t>(selected_)]->advance(step);
     safeRender();
     return true;  // 消费滚轮（推进选中切片，不缩放）
diff --git a/src/render/interact/InteractionManager.hpp b/src/render/interact/InteractionManager.hpp
index 244b64a..d32d0d6 100644
--- a/src/render/interact/InteractionManager.hpp
+++ b/src/render/interact/InteractionManager.hpp
@@ -142,6 +142,14 @@ private:
 
     // 找离世界点最近的切片索引；无切片返回 -1。
     int nearestSlice(const Vec3& worldPoint) const;
+    // 精确判定：当前光标【射线】是否穿过某张切片真实矩形(origin/point1/point2)内。
+    //   用射线-矩形求交(非带容差的 picker 点)→ 切片边界外不再误判命中(治外扩)。点帘面也判 false。
+    bool pointOnSlice() const;
+    // 当前光标射线：近/远裁剪面世界点 → nearP + 方向 dir。无 interactor/renderer 返回 false。
+    bool cursorRay(double nearP[3], double dir[3]) const;
+    // 旋转支点(B 方案#1)：无选中切片时，取光标射线穿过的体【中段点】(进/出包围盒中点)，多体取最近命中。
+    //   绕它旋转→当前所视区域居中、不甩飞(治长体旋转丢目标)。无体命中返回 false(回退默认绕焦点)。
+    bool rayVolumePivot(Vec3& out) const;
     // 在当前鼠标屏幕位置拾取 → 命中的切片索引；未命中切片返回 -1。
     int pickSliceAtCursor() const;
     // 按 SliceTool 指针设为选中（widget 交互回调用：触碰即选中）。
diff --git a/src/render/interact/PickInteractorStyle.cpp b/src/render/interact/PickInteractorStyle.cpp
index 533576a..7194ec6 100644
--- a/src/render/interact/PickInteractorStyle.cpp
+++ b/src/render/interact/PickInteractorStyle.cpp
@@ -2,6 +2,7 @@
 
 #include <chrono>
 #include <cmath>
+#include <cstring>
 
 #include <vtkCallbackCommand.h>
 #include <vtkCamera.h>
@@ -66,14 +67,17 @@ void PickInteractorStyle::OnLeftButtonDown() {
         return;
     }
     Vec3 world;
-    const bool hit = pickWorld(world);
+    const bool hit = pickWorld(world);  // 仍用于取选中所需世界点(onPick)
+    // 命中切片【精确判定】：光标射线穿过某切片真实矩形内才算(不靠带容差的 picker 点)。
+    //   边界外/帘面/其它物 → false → 抬键单击即取消。
+    downHitSlice_ = hitTestSlice && hitTestSlice();
 
     // 手动双击判定（GetRepeatCount 在 QVTK+Windows 不可靠，评审 M5）：
     //   两次左键按下间隔 < 阈值且屏幕位置相近 → 双击。
     const double now = nowMs();
     const int* pos = iren ? iren->GetEventPosition() : nullptr;
     bool isDouble = false;
-    if (hit && pos && lastDownTime_ >= 0.0) {
+    if (downHitSlice_ && pos && lastDownTime_ >= 0.0) {  // 仅命中切片才判双击(正视)
         const double dtMs = now - lastDownTime_;
         const int dx = pos[0] - lastDownPos_[0];
         const int dy = pos[1] - lastDownPos_[1];
@@ -91,21 +95,24 @@ void PickInteractorStyle::OnLeftButtonDown() {
         lastDownTime_ = -1.0;  // 重置，避免三击连判
         return;                // 不进入拖动旋转
     }
-    if (hit) {
-        // 单击命中 → 选中所在切片（onPick 内仅选中, 不动相机）。
+    if (downHitSlice_ && hit) {
+        // 单击命中【切片】→ 选中（onPick 内仅选中, 不动相机）。点帘面/非切片物/边界外不选中→抬键即取消。
         if (onPick) onPick(world);
     }
-    // 不在按下时动相机（动相机=跳）；绕选中物旋转在 Rotate() 内做（增量绕支点，不跳）。
+    // 捕获本次拖动的旋转支点【一次】(在 onPick 选中之后取，故能用新选中切片)：拖动中光标会移动，
+    //   不能每帧重取(否则支点漂)。选中切片→其中心；否则→光标射线穿过的体中段点；无→默认绕焦点。
+    hasRotatePivot_ = (getRotateCenter && getRotateCenter(rotatePivot_));
+    // 不在按下时动相机（动相机=跳）；绕支点旋转在 Rotate() 内做（增量绕支点，不跳）。
     Superclass::OnLeftButtonDown();
 }
 
 void PickInteractorStyle::Rotate() {
     if (lock2D_) return;  // 二维分析禁旋转(仅平移+缩放)
-    Vec3 c;
-    if (!this->CurrentRenderer || !getRotateCenter || !getRotateCenter(c)) {
-        Superclass::Rotate();  // 无选中物 → 默认绕焦点旋转
+    if (!this->CurrentRenderer || !hasRotatePivot_) {
+        Superclass::Rotate();  // 无支点 → 默认绕焦点旋转
         return;
     }
+    const Vec3 c = rotatePivot_;  // 按下时已捕获、拖动中固定
     auto* rwi = this->Interactor;
     auto* cam = this->CurrentRenderer->GetActiveCamera();
     if (!rwi || !cam) return;
@@ -114,8 +121,10 @@ void PickInteractorStyle::Rotate() {
     const int* size = this->CurrentRenderer->GetRenderWindow()->GetSize();
     if (size[0] <= 0 || size[1] <= 0) return;
     // 与 TrackballCamera 同口径的角度映射。
+    //   俯仰：本类绕 right=cross(DOP,up) 旋转，而 VTK 默认 Elevation 绕 cross(-DOP,up)=-right →
+    //   轴反向。故 elevation 取 +20（非 -20）抵消，使选中切片后上下方向与未选中(默认)时一致。
     const double azimuth = dx * (-20.0 / size[0]) * this->MotionFactor;
-    const double elevation = dy * (-20.0 / size[1]) * this->MotionFactor;
+    const double elevation = dy * (20.0 / size[1]) * this->MotionFactor;
 
     double up[3], dop[3], right[3];
     cam->GetViewUp(up);
@@ -185,6 +194,17 @@ void PickInteractorStyle::OnLeftButtonUp() {
         if (onDrag2DEnd) onDrag2DEnd();
         return;
     }
+    // 单击(抬键位移<阈值=非拖动)且按下未命中切片 → 取消选中（点空/点体；体 PickableOff 故点体也 hit=false）。
+    //   拖空白旋转：抬键位移大 → 不取消，保留"绕选中切片旋转"。Esc 仍是完全拉近时的兜底。
+    if (!lock2D_ && !downHitSlice_ && onDeselect) {
+        auto* iren = this->GetInteractor();
+        const int* up = iren ? iren->GetEventPosition() : nullptr;
+        if (up) {
+            const int dx = up[0] - lastDownPos_[0], dy = up[1] - lastDownPos_[1];
+            if (dx * dx + dy * dy <= kClickSlopPx2) onDeselect();  // 是单击 → 取消
+        }
+    }
+    hasRotatePivot_ = false;       // 拖动结束 → 清支点(下次按下重新捕获)
     Superclass::OnLeftButtonUp();  // 平移/旋转/缩放等由基类按 State 收尾
 }
 
@@ -205,4 +225,15 @@ void PickInteractorStyle::OnMouseWheelBackward() {
     Superclass::OnMouseWheelBackward();
 }
 
+void PickInteractorStyle::OnKeyPress() {
+    // Esc → 取消选中切片（拉近后满屏切片、点不到空白处取消时的可靠出口）。其它键走默认。
+    auto* iren = this->GetInteractor();
+    const char* sym = iren ? iren->GetKeySym() : nullptr;
+    if (sym && std::strcmp(sym, "Escape") == 0) {
+        if (onDeselect) onDeselect();
+        return;
+    }
+    Superclass::OnKeyPress();
+}
+
 }  // namespace geopro::render::interact
diff --git a/src/render/interact/PickInteractorStyle.hpp b/src/render/interact/PickInteractorStyle.hpp
index 5c9b41f..81089be 100644
--- a/src/render/interact/PickInteractorStyle.hpp
+++ b/src/render/interact/PickInteractorStyle.hpp
@@ -30,6 +30,12 @@ public:
     // 取当前旋转中心（D39）：有选中三维体/切片→填其中心、返回 true；否则 false（绕默认焦点）。
     //   在"按下开始拖动"时调用一次，把焦点设到该中心(位置同步补偿,画面不变)→ 之后绕它旋转、不跳。
     std::function<bool(Vec3& center)> getRotateCenter;
+    // 取消选中切片（Esc 键触发）。拉近后满屏切片、点不到空白处取消时的可靠出口。
+    std::function<void()> onDeselect;
+    // 精确判定：当前光标【射线】是否穿过某张切片的真实矩形(origin/point1/point2)内。
+    //   不靠带容差/夹取的 picker 命中点 → 切片边界外不再误判命中(用户实测的外扩)。
+    //   点帘面/其它非切片物/边界外 → 返回 false → 单击即取消选中。
+    std::function<bool()> hitTestSlice;
 
     // 二维分析锁：开 → 左键拖动改为平移、禁旋转(仅平移+缩放)；关 → 恢复三维拾取/旋转交互。
     void setLock2D(bool on) { lock2D_ = on; }
@@ -51,6 +57,7 @@ public:
     void OnLeftButtonDown() override;
     void OnMouseWheelForward() override;
     void OnMouseWheelBackward() override;
+    void OnKeyPress() override;  // Esc → onDeselect（取消选中切片）
     // 绕选中物中心旋转(D39)：有 getRotateCenter 时, 绕该中心增量旋转整个相机(位置+焦点+up),
     //   中心在世界/屏幕都不动→不跳; 否则回退默认(绕焦点)。
     void Rotate() override;
@@ -68,6 +75,15 @@ private:
     //   记上次左键按下时刻+屏幕位置，两次按下间隔 < kDoubleClickMs 且位置相近视为双击。
     double lastDownTime_ = -1.0;  // 单调时钟(毫秒)，-1=无
     int lastDownPos_[2] = {0, 0};
+    // 左键按下时是否命中【切片】(精确：经 hitTestSlice 判点在切片矩形内，非"任意可拾取物")。
+    //   抬键若为单击(无拖动)且未命中切片 → 取消选中(点空/点体/帘面/其它非切片物)。
+    //   体 PickableOff、帘面虽可拾取但 hitTestSlice 判其非切片 → 都走取消。拖动则不取消(保留旋转)。
+    bool downHitSlice_ = false;
+
+    // 旋转支点：按下(拖动起点)时经 getRotateCenter 捕获一次，拖动中固定不漂(光标会动→不可每帧重取)。
+    //   选中切片=其中心；否则=光标射线穿过的体中段点。无则 hasRotatePivot_=false→默认绕焦点。
+    Vec3 rotatePivot_{};
+    bool hasRotatePivot_ = false;
 
     // 二维分析模式：左键=平移、禁旋转(仅平移+缩放)。由 InteractionManager 在切 tab 时设。
     bool lock2D_ = false;
diff --git a/src/render/interact/SlicePlaneMath.cpp b/src/render/interact/SlicePlaneMath.cpp
index 9def0c2..edf5815 100644
--- a/src/render/interact/SlicePlaneMath.cpp
+++ b/src/render/interact/SlicePlaneMath.cpp
@@ -56,10 +56,12 @@ Vec3 clampToBounds(const Vec3& origin, const std::array<double, 6>& b) {
             clamp1(origin[2], b[4], b[5])};
 }
 
-double wheelStep(const std::array<double, 6>& b, int dir) {
-    const double dx = b[1] - b[0], dy = b[3] - b[2], dz = b[5] - b[4];
-    const double diag = std::sqrt(dx * dx + dy * dy + dz * dz);
-    const double mag = diag * 0.02;  // 一次滚轮 ≈ 1/50 对角线
+double wheelStep(const std::array<double, 3>& spacing, const Vec3& normal, int voxels, int dir) {
+    // 沿法向的体素间距 = 各轴间距在法向上的投影绝对值和(轴向切片即取对应轴间距)。
+    //   一格 = voxels 个采样，与体总长无关 → 超长轴(雷达沿线)也只挪几个采样、不跳过、不过冲。
+    const double sn = std::abs(spacing[0] * normal[0]) + std::abs(spacing[1] * normal[1]) +
+                      std::abs(spacing[2] * normal[2]);
+    const double mag = (sn > 0.0 ? sn : 1.0) * (voxels > 0 ? voxels : 1);
     return (dir >= 0 ? mag : -mag);
 }
 
diff --git a/src/render/interact/SlicePlaneMath.hpp b/src/render/interact/SlicePlaneMath.hpp
index 2beac40..49d741c 100644
--- a/src/render/interact/SlicePlaneMath.hpp
+++ b/src/render/interact/SlicePlaneMath.hpp
@@ -43,9 +43,10 @@ struct FaceOnCamera {
 };
 FaceOnCamera faceOnCamera(const Vec3& focal, const Vec3& normal, double dist);
 
-// 滚轮推进步长：取包围盒对角线长度的固定比例 × 方向(±1)。
-//   使一次滚轮在体内移动适中（约 1/50 对角线）；dir>0 沿法向、dir<0 反向。
-double wheelStep(const std::array<double, 6>& bounds, int dir);
+// 滚轮推进步长：按【沿切片法向的体素间距】× voxels × 方向(±1)，即一格移动 voxels 个采样。
+//   与体总长无关(不会因长轴 375m 而步太大、也不因比例而跳过内容)；spacing=体的三轴间距(含纵向夸张)。
+//   voxels 小=细调；调用方可在 Shift 时传更大值做粗调。超长轴的粗定位另靠"沿线滑块"，非滚轮。
+double wheelStep(const std::array<double, 3>& spacing, const Vec3& normal, int voxels, int dir);
 
 // 在切片中心列表中找离世界点最近的索引（按到平面的距离最小）。
 //   centers/normals 等长；空列表返回 -1。worldPoint 在哪张切片上→该索引。
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index c5f4da8..e55bd49 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -226,11 +226,17 @@ target_sources(geopro_tests PRIVATE io/gpr/test_gpr_geometry.cpp)
 target_sources(geopro_tests PRIVATE io/gpr/test_gpr_survey_assembler.cpp)
 # GpsTrack：.gps 解析 + 经纬→局部米 + 沿轨迹里程插值/航向（G1 build-geo 基础，纯 C++17）。
 target_sources(geopro_tests PRIVATE io/gpr/test_gps_track.cpp)
+# NormalizedRadarReader：规范化 .head(KEY:VALUE) 解析(维度/字节序/通道偏移/波速/深度间距，纯 C++17)。
+target_sources(geopro_tests PRIVATE io/gpr/test_normalized_radar_reader.cpp)
+# NormalizedRadarVolumeBridge：组合 reader(.head/.data) + assembleRadarVolume → BuiltI16(轴 X=道/Y=通道/Z=采样)。
+target_sources(geopro_tests PRIVATE io/gpr/test_normalized_radar_bridge.cpp)
 target_link_libraries(geopro_tests PRIVATE geopro_io_gpr)
 
 # Gpr3dvVolumeBridge(P2)：gpr3dv 处理后立方体 → geopro 量化体(轴 X=道/Y=通道/Z=样本)。
 # 链 geopro_gpr3dv_bridge(含 vendored gpr3dv + Qt)。
 target_sources(geopro_tests PRIVATE io/gpr/test_gpr3dv_volume_bridge.cpp)
+# RadarVolumeAssembler：格式无关共享建体(扫值域→Quant→通道插值→逐体素填→spacing)。
+target_sources(geopro_tests PRIVATE io/gpr/test_radar_volume_assembler.cpp)
 target_link_libraries(geopro_tests PRIVATE geopro_gpr3dv_bridge)
 
 add_subdirectory(spike)   # spike S3: banded contour 渲染验证
diff --git a/tests/app/test_dataset_dimension.cpp b/tests/app/test_dataset_dimension.cpp
index 72cbc22..6d5852d 100644
--- a/tests/app/test_dataset_dimension.cpp
+++ b/tests/app/test_dataset_dimension.cpp
@@ -14,14 +14,16 @@ TEST(DatasetDimension, SplitsByDdCode) {
     std::vector<DsRow> in{
         row("a", "dd_section"),          // 3D
         row("b", "dd_voxel"),            // 3D
+        row("f", "dd_radar_3d"),         // 3D（三维雷达体，spec §6.1）
         row("c", "dd_trajectory_data"),  // 2D
         row("d", "dd_slice"),            // Analysis
         row("e", "dd_unknownxyz"),       // Other -> not in any bucket
     };
     DimBuckets b = splitByDimension(in);
-    ASSERT_EQ(b.dim3D.size(), 2u);
+    ASSERT_EQ(b.dim3D.size(), 3u);
     EXPECT_EQ(b.dim3D[0].id, "a");
     EXPECT_EQ(b.dim3D[1].id, "b");
+    EXPECT_EQ(b.dim3D[2].id, "f");
     ASSERT_EQ(b.dim2D.size(), 1u);
     EXPECT_EQ(b.dim2D[0].id, "c");
     ASSERT_EQ(b.analysis.size(), 1u);
diff --git a/tests/data/test_3d_repo.cpp b/tests/data/test_3d_repo.cpp
index b6955f3..2785fa8 100644
--- a/tests/data/test_3d_repo.cpp
+++ b/tests/data/test_3d_repo.cpp
@@ -1,7 +1,14 @@
 #include <gtest/gtest.h>
 
+#include <QCoreApplication>
+#include <QEventLoop>
+
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
 #include <memory>
 #include <string>
+#include <system_error>
 
 #include "api/Api3dRepository.hpp"
 #include "geo/GeoLocalFrame.hpp"
@@ -35,6 +42,8 @@ TEST(LocalSample3dRepo, DimensionOfMapsDdCode) {
     EXPECT_EQ(repo.dimensionOf(rowWith("dd_Property3D")), DsDimension::Dim3D);
     EXPECT_EQ(repo.dimensionOf(rowWith("dd_section")), DsDimension::Dim3D);
     EXPECT_EQ(repo.dimensionOf(rowWith("dd_inversion_data")), DsDimension::Dim3D);
+    // 三维雷达体（数据字典 DD0623 dd_radar_3d）→ 三维数据集（spec §6.1）。
+    EXPECT_EQ(repo.dimensionOf(rowWith("dd_radar_3d")), DsDimension::Dim3D);
     EXPECT_EQ(repo.dimensionOf(rowWith("dd_slice")), DsDimension::Analysis3D);
     // 足迹型 → 二维：数据字典 DD0623 只 dd_trajectory_data 为统一通用轨迹「保留」；
     //   瞬变电磁/雷达通道/RTK 等轨迹型字典均「删除」→ 不再归 2D（落 Other）。
@@ -148,6 +157,17 @@ TEST(Api3dRepo, LoadMapLineNullHandleCallsOnError) {
     EXPECT_TRUE(errCalled);
 }
 
+// dimensionOf（Api，与 LocalSample3dRepository 同口径）：三维雷达体 dd_radar_3d → 三维（spec §6.1）。
+TEST(Api3dRepo, DimensionOfMapsDdRadar3dToDim3D) {
+    StubAsyncRepo dsRepo;
+    auto frame = std::make_shared<geopro::core::GeoLocalFrame>(22.0, 114.0);
+    Api3dRepository repo(dsRepo, frame);
+
+    EXPECT_EQ(repo.dimensionOf(rowWith("dd_radar_3d")), DsDimension::Dim3D);
+    EXPECT_EQ(repo.dimensionOf(rowWith("dd_voxel")), DsDimension::Dim3D);
+    EXPECT_EQ(repo.dimensionOf(rowWith("dd_unknown_xyz")), DsDimension::Other);
+}
+
 // volumeInfo：未知 dsId（非三维体）→ 返回 false，不弹空对话框。
 TEST(Api3dRepo, VolumeInfoUnknownIdReturnsFalse) {
     StubAsyncRepo dsRepo;
@@ -190,3 +210,82 @@ TEST(Api3dRepo, AnomalyRowsCarryMountAsParent) {
     EXPECT_EQ(rs->parentId, "slice-9");   // 挂切片
     EXPECT_EQ(rs->typeName, "异常");      // typeName 空 → 回退"异常"
 }
+
+namespace {
+// 写一条规范化测线合成数据（.head + .data）；同 Task 6 createRadarVolumeGrid 用例口径：
+//   SAMPLES=3 / NUMBER_OF_CH=2 / LAST_TRACE=8 → X=道(4 段)、Y=通道(2)、Z=采样(3)。
+void writeSyntheticRadarLine(const std::filesystem::path& dir) {
+    namespace fs = std::filesystem;
+    fs::create_directories(dir);
+    {
+        std::ofstream f(dir / "L.head");
+        f << "SAMPLES:3\nNUMBER_OF_CH:2\nLAST_TRACE:8\nBITS:16\nENDIAN_TYPE:1\n"
+             "DISTANCE_INTERVAL:0.1\nTIMEWINDOW:30\nDIELECTRIC:9\n";
+    }
+    {
+        std::ofstream f(dir / "L.data", std::ios::binary);
+        for (int t = 0; t < 4; ++t)
+            for (int c = 0; c < 2; ++c)
+                for (int s = 0; s < 3; ++s) {
+                    std::int16_t v = static_cast<std::int16_t>(t * 10 + c * 100 + s);
+                    f.write(reinterpret_cast<const char*>(&v), 2);
+                }
+    }
+}
+}  // namespace
+
+// registerRadarDataset：登记为 dd_radar_3d 体 DS（只存元数据、不建体）→ 仍被认作三维体，
+//   volumeRows 输出 ddCode="dd_radar_3d" + structParentId。
+TEST(Api3dRepo, RegisterRadarDatasetRoutesAsDdRadar3d) {
+    const auto dir = std::filesystem::temp_directory_path() / "api3d_radar_register";
+    std::error_code ec;
+    std::filesystem::remove_all(dir, ec);
+    writeSyntheticRadarLine(dir);
+
+    StubAsyncRepo dsRepo;
+    auto frame = std::make_shared<geopro::core::GeoLocalFrame>(22.0, 114.0);
+    Api3dRepository repo(dsRepo, frame);
+
+    const std::string id = repo.registerRadarDataset(dir.string(), "L", "测线L",
+                                                     /*structParentId=*/"tm-1", /*coarse=*/1);
+    EXPECT_FALSE(id.empty());
+    EXPECT_TRUE(repo.isVolumeDataset(id));  // 运行期按 volumes_ 成员判体 → 真(即便未建体)
+    const auto rows = repo.volumeRows();
+    ASSERT_FALSE(rows.empty());
+    EXPECT_EQ(rows.back().ddCode, "dd_radar_3d");  // 不是 dd_voxel
+    EXPECT_EQ(rows.back().structParentId, "tm-1");
+
+    std::filesystem::remove_all(dir, ec);
+}
+
+// loadVolume：首次勾选时懒建雷达体（无 QCoreApplication → 同步交付；全量测试中若其它用例已建
+//   QCoreApplication 单例则走异步，processEvents 排空队列交付）。回调收到有效 VolumeGrid。
+TEST(Api3dRepo, LoadVolumeBuildsRadarLazily) {
+    const auto dir = std::filesystem::temp_directory_path() / "api3d_radar_lazy";
+    std::error_code ec;
+    std::filesystem::remove_all(dir, ec);
+    writeSyntheticRadarLine(dir);
+
+    StubAsyncRepo dsRepo;
+    auto frame = std::make_shared<geopro::core::GeoLocalFrame>(22.0, 114.0);
+    Api3dRepository repo(dsRepo, frame);
+
+    const std::string id = repo.registerRadarDataset(dir.string(), "L", "测线L", "", 1);
+    bool got = false;
+    repo.loadVolume(
+        id,
+        [&](VolumeGrid g, geopro::core::ColorScale) {
+            got = true;
+            EXPECT_GT(g.vol.nx(), 0);
+            EXPECT_GT(g.vol.ny(), 0);
+            EXPECT_GT(g.vol.nz(), 0);
+        },
+        [&](const std::string& e) { FAIL() << e; });
+    // 全量测试单进程中其它用例(test_async_repo_dispatch/test_auth)会建持久 QCoreApplication 单例 →
+    //   radar 分支走异步(std::thread + queued 交付)，需驱动事件循环排空；无 app 时同步交付 got 已真。
+    for (int i = 0; i < 200 && !got && QCoreApplication::instance(); ++i)
+        QCoreApplication::processEvents(QEventLoop::AllEvents, 10);
+    EXPECT_TRUE(got);
+
+    std::filesystem::remove_all(dir, ec);
+}
diff --git a/tests/data/test_gpr_volume_repository.cpp b/tests/data/test_gpr_volume_repository.cpp
index 58b8006..0b45bc1 100644
--- a/tests/data/test_gpr_volume_repository.cpp
+++ b/tests/data/test_gpr_volume_repository.cpp
@@ -57,12 +57,42 @@ TEST(GprVolumeRepositoryAdapter, DequantDimsSpacingAndBlank) {
   EXPECT_DOUBLE_EQ(g.spacing[1], 1.37);
   EXPECT_DOUBLE_EQ(g.spacing[2], 0.05);
 
-  // 物理值域 = BuiltI16 的 vminPhys/vmaxPhys。
-  EXPECT_DOUBLE_EQ(g.vmin, 5.0);
-  EXPECT_DOUBLE_EQ(g.vmax, 20.0);
+  // 显示值域 = 双极对称窗口(以中位数为中心)，非全 vminPhys/vmaxPhys。3 个有效体素 {9,12,20}：
+  //   中位数=12 → 窗口对称、【中点=中位数 12】(灰点落基线)。vmin<vmax。
+  EXPECT_LT(g.vmin, g.vmax);
+  EXPECT_NEAR(0.5 * (g.vmin + g.vmax), 12.0, 1e-9);  // 对称中点=中位数(基线→中灰)
   EXPECT_TRUE(g.valid());
 }
 
+// 双极对称显示窗口：强离群(模拟原始 GPR 首波/路面/int16 饱和钳值)落在 1% 尾外应被裁剪，
+//   窗口对称且中点落基线(中位数)，而非被 ±极值撑满(否则结构压成中灰"灰板"或过饱和)。
+TEST(GprVolumeRepositoryAdapter, RobustDisplayRangeClipsOutliers) {
+  geopro::core::BuiltI16 built;
+  built.vol = geopro::core::ScalarVolumeI16(1004, 1, 1);
+  built.quant.scale = 1.0;   // phys = q
+  built.quant.offset = 0.0;
+  built.origin = {0.0, 0.0, 0.0};
+  built.spacing = {0.1, 0.1, 0.05};
+  built.vminPhys = -30000.0;  // 全值域(含离群)——不应被采用为显示值域
+  built.vmaxPhys = 30000.0;
+  // 1000 个"结构"体素 q=-500..499(基线≈0) + 各 2 个 ±30000 强离群(共 1004，离群 0.4% < 1% 尾)。
+  for (int i = 0; i < 1000; ++i)
+    built.vol.at(i, 0, 0) = static_cast<std::int16_t>(i - 500);
+  built.vol.at(1000, 0, 0) = 30000;
+  built.vol.at(1001, 0, 0) = 30000;
+  built.vol.at(1002, 0, 0) = -30000;
+  built.vol.at(1003, 0, 0) = -30000;
+
+  const geopro::data::VolumeGrid g = geopro::data::builtI16ToVolumeGrid(built);
+
+  // 对称 99% 窗口裁掉两端 0.4% 离群 → 显示窗落在结构范围(±500)内，远离 ±30000。
+  EXPECT_GT(g.vmin, -1000.0);  // 负向离群被裁
+  EXPECT_LT(g.vmax, 1000.0);   // 正向离群被裁
+  EXPECT_NEAR(0.5 * (g.vmin + g.vmax), 0.0, 5.0);  // 对称：中点≈基线(中位数≈0)
+  // 数据本身仍保留离群(只是显示窗收窄)——抽查离群体素反量化值未被改动。
+  EXPECT_DOUBLE_EQ(g.vol.at(1000, 0, 0), 30000.0);
+}
+
 // 写一个合成通道：.iprh 文本头 + .iprb 纯 int16 波形([trace*samples + s]，s 最快)。
 // 与 test_gpr3dv_volume_bridge 同口径，确保 createGprVolumeGrid 走真 P1/P2 链。
 void writeSyntheticChannel(const fs::path& iprhPath, int samples, int traces,
@@ -153,4 +183,24 @@ TEST_F(GprVolumeRepositoryChainTest, ThrowsOnMissingLine) {
                std::runtime_error);
 }
 
+// 规范化链(.head/.data → buildLineVolumeFromNormalized → 反量化)产 VolumeGrid。
+// 合成同 Task 5 桥接测试：SAMPLES=3/NUMBER_OF_CH=2/LAST_TRACE=8 → X=道(4 段)、
+// Y=通道(2)、Z=采样(3)；coarse=1/targetDy=0 关下采样与通道插值，维度直读。
+TEST(GprVolumeRepository, CreateRadarVolumeGridFromNormalized) {
+  fs::path dir = fs::temp_directory_path() / "radar_repo_test";
+  fs::create_directories(dir);
+  { std::ofstream f(dir / "L.head");
+    f << "SAMPLES:3\nNUMBER_OF_CH:2\nLAST_TRACE:8\nBITS:16\nENDIAN_TYPE:1\n"
+         "DISTANCE_INTERVAL:0.1\nTIMEWINDOW:30\nDIELECTRIC:9\n"; }
+  { std::ofstream f(dir / "L.data", std::ios::binary);
+    for (int t = 0; t < 4; ++t) for (int c = 0; c < 2; ++c) for (int s = 0; s < 3; ++s) {
+      std::int16_t v = static_cast<std::int16_t>(t * 10 + c * 100 + s);
+      f.write(reinterpret_cast<const char*>(&v), 2); } }
+  const auto grid = geopro::data::createRadarVolumeGrid(dir.string(), "L", 1, 0.0);
+  EXPECT_EQ(grid.vol.nx(), 4);
+  EXPECT_EQ(grid.vol.ny(), 2);
+  EXPECT_EQ(grid.vol.nz(), 3);
+  EXPECT_GT(grid.vmax, grid.vmin);
+}
+
 }  // namespace
diff --git a/tests/io/gpr/test_normalized_radar_bridge.cpp b/tests/io/gpr/test_normalized_radar_bridge.cpp
new file mode 100644
index 0000000..8e06d1f
--- /dev/null
+++ b/tests/io/gpr/test_normalized_radar_bridge.cpp
@@ -0,0 +1,28 @@
+#include <gtest/gtest.h>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include "core/algo/GprVolumeBuilder.hpp"
+#include "io/gpr/NormalizedRadarVolumeBridge.hpp"
+namespace fs = std::filesystem;
+
+TEST(NormalizedRadarBridge, BuildsVolumeWithExpectedAxes) {
+  // K=4 道, M=2 通道, N=3 采样, 无通道偏移(不插值), coarse=1。
+  fs::path dir = fs::temp_directory_path() / "radar_bridge_test";
+  fs::create_directories(dir);
+  { std::ofstream f(dir / "L.head");
+    f << "SAMPLES:3\nNUMBER_OF_CH:2\nLAST_TRACE:8\nBITS:16\nENDIAN_TYPE:1\n"
+         "DISTANCE_INTERVAL:0.1\nTIMEWINDOW:30\nDIELECTRIC:9\n"; }
+  { std::ofstream f(dir / "L.data", std::ios::binary);
+    for (int t = 0; t < 4; ++t) for (int c = 0; c < 2; ++c) for (int s = 0; s < 3; ++s) {
+      std::int16_t v = static_cast<std::int16_t>(t * 10 + c * 100 + s);
+      f.write(reinterpret_cast<const char*>(&v), 2); } }
+  const auto b = geopro::io::gpr::buildLineVolumeFromNormalized(
+      (dir).string(), "L", /*coarse=*/1, /*targetDy=*/0.0);  // targetDy=0 不插值
+  EXPECT_EQ(b.vol.nx(), 4);   // 道
+  EXPECT_EQ(b.vol.ny(), 2);   // 通道
+  EXPECT_EQ(b.vol.nz(), 3);   // 采样
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.1);  // dx=DISTANCE_INTERVAL
+  EXPECT_GT(b.spacing[2], 0.0);         // dz 由 timewindow/dielectric 求得 >0
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(3, 1, 2)), 132.0, b.quant.scale);  // t3c1s2=30+100+2
+}
diff --git a/tests/io/gpr/test_normalized_radar_reader.cpp b/tests/io/gpr/test_normalized_radar_reader.cpp
new file mode 100644
index 0000000..a41443f
--- /dev/null
+++ b/tests/io/gpr/test_normalized_radar_reader.cpp
@@ -0,0 +1,87 @@
+#include <gtest/gtest.h>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include "io/gpr/NormalizedRadarReader.hpp"
+using namespace geopro::io::gpr;
+namespace fs = std::filesystem;
+
+TEST(NormalizedRadarHead, ParsesCoreFieldsAndDerivesTraces) {
+  const std::string head =
+      "SAMPLES:516\nNUMBER_OF_CH:16\nLAST_TRACE:60448\nBITS:16\nENDIAN_TYPE:1\n"
+      "DISTANCE_INTERVAL:0.099194\nTIMEWINDOW:96.419553\nDIELECTRIC:\n"
+      "CH_X_OFFSETS:0.080 0.160 0.240 0.320 0.400 0.480 0.560 0.640 0.720 0.800 "
+      "0.880 0.960 1.040 1.120 1.200 1.280\n";
+  const RadarHeader h = parseRadarHead(head);
+  EXPECT_EQ(h.samples, 516);
+  EXPECT_EQ(h.channels, 16);
+  EXPECT_EQ(h.lastTrace, 60448);
+  EXPECT_EQ(h.traces, 3778);          // 60448/16
+  EXPECT_EQ(h.bits, 16);
+  EXPECT_EQ(h.endianType, 1);
+  EXPECT_DOUBLE_EQ(h.distanceInterval, 0.099194);
+  ASSERT_EQ(h.chXOffsets.size(), 16u);
+  EXPECT_DOUBLE_EQ(h.chXOffsets.front(), 0.080);
+  EXPECT_DOUBLE_EQ(h.chXOffsets.back(), 1.280);
+}
+
+TEST(NormalizedRadarHead, MissingRequiredFieldThrows) {
+  EXPECT_THROW(parseRadarHead("SAMPLES:516\nNUMBER_OF_CH:16\n"), std::runtime_error);
+}
+
+TEST(NormalizedRadarHead, DepthSpacingUsesDefaultVelocityWhenNoDielectric) {
+  const std::string head = "SAMPLES:516\nNUMBER_OF_CH:16\nLAST_TRACE:32\n"
+                           "TIMEWINDOW:96.419553\nDIELECTRIC:\n";
+  const RadarHeader h = parseRadarHead(head);
+  EXPECT_NEAR(waveVelocityMperNs(h), 0.1, 1e-9);            // 无介电 → 默认 0.1
+  const double dz = depthSpacingZ(h);
+  EXPECT_NEAR(dz, (96.419553 / 515.0) * 0.1 / 2.0, 1e-9);
+}
+
+TEST(NormalizedRadarData, ReadsPositionMajorCubeLittleEndian) {
+  // K=2 道, M=3 通道, N=2 采样; 值 v(t,c,s)=int16(100*t+10*c+s)。position-major 写。
+  fs::path dir = fs::temp_directory_path() / "radar_data_test";
+  fs::create_directories(dir);
+  const fs::path dp = dir / "L.data";
+  {
+    std::ofstream f(dp, std::ios::binary);
+    for (int t = 0; t < 2; ++t)
+      for (int c = 0; c < 3; ++c)
+        for (int s = 0; s < 2; ++s) {
+          std::int16_t v = static_cast<std::int16_t>(100 * t + 10 * c + s);
+          f.write(reinterpret_cast<const char*>(&v), sizeof(v));  // 小端(x86)
+        }
+  }
+  geopro::io::gpr::RadarHeader h;
+  h.samples = 2; h.channels = 3; h.lastTrace = 6; h.traces = 2; h.bits = 16; h.endianType = 1;
+  const auto cube = geopro::io::gpr::readRadarDataCube(dp.string(), h);
+  ASSERT_EQ(cube.size(), 2u * 3u * 2u);
+  auto at = [&](int t, int c, int s) { return cube[(size_t(t) * 3 + c) * 2 + s]; };
+  EXPECT_EQ(at(0, 0, 0), 0);
+  EXPECT_EQ(at(1, 2, 1), 121);   // 100+20+1
+  EXPECT_EQ(at(0, 1, 0), 10);
+}
+
+TEST(NormalizedRadarCor, ParsesRowsSkippingVersion) {
+  const std::string cor =
+      "VERSION:1\n"
+      "1\t317.179340\tN\t472.759046\tE\t49.980000\tM\t4\n"
+      "12\t317.201303\tN\t472.700649\tE\t51.040000\tM\t4\n";
+  const auto pts = geopro::io::gpr::parseRadarCor(cor);
+  ASSERT_EQ(pts.size(), 2u);
+  EXPECT_EQ(pts[0].index, 1);
+  EXPECT_DOUBLE_EQ(pts[0].lat, 317.179340);
+  EXPECT_DOUBLE_EQ(pts[0].lon, 472.759046);
+  EXPECT_DOUBLE_EQ(pts[1].elev, 51.040000);
+  EXPECT_EQ(pts[1].solution, 4);
+}
+
+TEST(NormalizedRadarData, WrongFileSizeThrows) {
+  fs::path dir = fs::temp_directory_path() / "radar_data_test";
+  fs::create_directories(dir);
+  const fs::path dp = dir / "bad.data";
+  { std::ofstream f(dp, std::ios::binary); std::int16_t v = 0; f.write((char*)&v, 2); }
+  geopro::io::gpr::RadarHeader h;
+  h.samples = 2; h.channels = 3; h.lastTrace = 6; h.traces = 2; h.bits = 16;
+  EXPECT_THROW(geopro::io::gpr::readRadarDataCube(dp.string(), h), std::runtime_error);
+}
diff --git a/tests/io/gpr/test_radar_volume_assembler.cpp b/tests/io/gpr/test_radar_volume_assembler.cpp
new file mode 100644
index 0000000..6afee13
--- /dev/null
+++ b/tests/io/gpr/test_radar_volume_assembler.cpp
@@ -0,0 +1,92 @@
+#include <gtest/gtest.h>
+#include "core/algo/GprVolumeBuilder.hpp"
+#include "io/gpr/RadarVolumeAssembler.hpp"
+
+using geopro::io::gpr::RadarCubeDesc;
+using geopro::io::gpr::assembleRadarVolume;
+
+// 2 道 × 3 通道 × 4 采样，值 = 100*c + 10*t + s。不插值(chXOffsets 空)、coarse=1。
+TEST(RadarVolumeAssembler, AxisMapAndQuantRoundTrip) {
+  RadarCubeDesc d;
+  d.channels = 3; d.traces = 2; d.samples = 4;
+  d.dxBase = 0.1; d.dyWhenNotInterpolated = 0.5; d.dz = 0.05;
+  auto sampler = [](int c, int t, int s) { return 100.0 * c + 10.0 * t + s; };
+
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/1, /*targetDy=*/0.0);
+
+  EXPECT_EQ(b.vol.nx(), 2);  // 道
+  EXPECT_EQ(b.vol.ny(), 3);  // 通道(未插值=原通道数)
+  EXPECT_EQ(b.vol.nz(), 4);  // 采样
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.1);
+  EXPECT_DOUBLE_EQ(b.spacing[1], 0.5);
+  EXPECT_DOUBLE_EQ(b.spacing[2], 0.05);
+  EXPECT_NEAR(b.vminPhys, 0.0, 1e-9);          // c0,t0,s0
+  EXPECT_NEAR(b.vmaxPhys, 213.0, 1e-9);        // c2,t1,s3 = 200+10+3
+  // 反量化对位：体素(道 t=1, 通道 c=2, 采样 s=3) 应≈213(量化误差内)。
+  const double recon = b.quant.toPhys(b.vol.at(1, 2, 3));
+  EXPECT_NEAR(recon, 213.0, b.quant.scale);
+}
+
+// coarse=2：4 道 → nxOut=2，dx×2。
+TEST(RadarVolumeAssembler, CoarseDownsamplesTracesAndScalesDx) {
+  RadarCubeDesc d;
+  d.channels = 1; d.traces = 4; d.samples = 2; d.dxBase = 0.1;
+  auto sampler = [](int, int t, int s) { return 10.0 * t + s; };
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/2, 0.0);
+  EXPECT_EQ(b.vol.nx(), 2);
+  EXPECT_DOUBLE_EQ(b.spacing[0], 0.2);
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(1, 0, 0)), 20.0, b.quant.scale);  // 输出道1 = 源道2
+}
+
+// ── 合成靶标：在【装配出的体】里验通道插值的几何忠实度 ──────────────────────
+// 现有 test_gpr_geometry 只验 planChannelInterpolation 的【行规划】；这两个测试验
+// assembleRadarVolume 把规划【应用到体】是否正确——即用户要判断的"通道插值在体里
+// 对不对、会不会造缝"。
+// 布局：3 通道偏移 {0, 0.10, 0.20}，targetDy=0.05 → ny=round(0.2/0.05)+1=5：
+//   行 j0=ch0 / j1=blend(ch0,ch1,0.5) / j2=ch1 / j3=blend(ch1,ch2,0.5) / j4=ch2。
+namespace {
+RadarCubeDesc make3ChDesc() {
+  RadarCubeDesc d;
+  d.channels = 3; d.traces = 2; d.samples = 3;
+  d.dxBase = 0.1; d.dz = 0.05;
+  d.chXOffsets = {0.0, 0.10, 0.20};  // 触发通道插值
+  return d;
+}
+}  // namespace
+
+// 平层反射（同一深度 s=2 全通道等值 500）穿过通道插值后【全部行仍等于 500】——
+// 不出现"插值行衰减/锯齿/横向缝"（用户最担心的 10cm 缝就是这条若失败）。
+TEST(RadarVolumeAssembler, FlatReflectorStaysFlatAcrossInterpolatedRows) {
+  const RadarCubeDesc d = make3ChDesc();
+  // s==2：平层反射(全通道 500)；s==0：逐通道阶梯(ch0=100/ch1=200/ch2=300)验混合；其余 0。
+  auto sampler = [](int c, int /*t*/, int s) {
+    if (s == 2) return 500.0;
+    if (s == 0) return 100.0 * (c + 1);
+    return 0.0;
+  };
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/1, /*targetDy=*/0.05);
+  ASSERT_EQ(b.vol.ny(), 5);  // 3 通道 → 5 行(含 2 条插值)
+  ASSERT_EQ(b.vol.nx(), 2);
+  ASSERT_EQ(b.vol.nz(), 3);
+  EXPECT_DOUBLE_EQ(b.spacing[1], 0.05);  // 插值后 dy=targetDy
+  // 平层在【每一行、每一道】都应保持 500（插值不破坏横向连续）。
+  for (int j = 0; j < b.vol.ny(); ++j)
+    for (int to = 0; to < b.vol.nx(); ++to)
+      EXPECT_NEAR(b.quant.toPhys(b.vol.at(to, j, 2)), 500.0, b.quant.scale)
+          << "行 j=" << j << " 道 to=" << to << " 处平层被插值破坏";
+}
+
+// 插值行 = 相邻两通道的正确线性混合（j1 在 ch0=100/ch1=200 之间 wb=0.5 → 150）；
+// 纯通道行 = 原通道值（j0=100 / j2=200 / j4=300）。验"插值没造假峰、没错位"。
+TEST(RadarVolumeAssembler, InterpolatedRowIsCorrectLinearBlend) {
+  const RadarCubeDesc d = make3ChDesc();
+  auto sampler = [](int c, int /*t*/, int s) { return s == 0 ? 100.0 * (c + 1) : 0.0; };
+  const geopro::core::BuiltI16 b = assembleRadarVolume(d, sampler, /*coarse=*/1, /*targetDy=*/0.05);
+  ASSERT_EQ(b.vol.ny(), 5);
+  const double tol = b.quant.scale;
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(0, 0, 0)), 100.0, tol);  // j0 = ch0
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(0, 1, 0)), 150.0, tol);  // j1 = blend(100,200,0.5)
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(0, 2, 0)), 200.0, tol);  // j2 = ch1
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(0, 3, 0)), 250.0, tol);  // j3 = blend(200,300,0.5)
+  EXPECT_NEAR(b.quant.toPhys(b.vol.at(0, 4, 0)), 300.0, tol);  // j4 = ch2
+}
diff --git a/tests/render/test_slice_plane_math.cpp b/tests/render/test_slice_plane_math.cpp
index 44dd2b2..4c082ae 100644
--- a/tests/render/test_slice_plane_math.cpp
+++ b/tests/render/test_slice_plane_math.cpp
@@ -95,17 +95,22 @@ TEST(SlicePlaneMath, FaceOnNormalizesNormal) {
     expectVec(cam.position, 0, 6, 0);
 }
 
-// ── wheelStep：滚轮推进步长（按对角线比例 × 方向）──
+// ── wheelStep：步长 = 沿法向体素间距 × voxels × 方向（spacing=三轴间距，X法向取X间距）──
 TEST(SlicePlaneMath, WheelStepForwardPositive) {
-    EXPECT_GT(wheelStep({0, 10, 0, 0, 0, 0}, +1), 0.0);
+    EXPECT_GT(wheelStep({0.1, 0.1, 0.05}, {1, 0, 0}, 2, +1), 0.0);
 }
 TEST(SlicePlaneMath, WheelStepBackwardNegative) {
-    EXPECT_LT(wheelStep({0, 10, 0, 0, 0, 0}, -1), 0.0);
+    EXPECT_LT(wheelStep({0.1, 0.1, 0.05}, {1, 0, 0}, 2, -1), 0.0);
 }
-TEST(SlicePlaneMath, WheelStepScalesWithBounds) {
-    const double small = wheelStep({0, 10, 0, 0, 0, 0}, 1);
-    const double big = wheelStep({0, 100, 0, 0, 0, 0}, 1);
-    EXPECT_GT(big, small);  // 体越大步长越大
+TEST(SlicePlaneMath, WheelStepScalesWithVoxels) {
+    const double fine = wheelStep({0.1, 0.1, 0.05}, {1, 0, 0}, 1, 1);
+    const double coarse = wheelStep({0.1, 0.1, 0.05}, {1, 0, 0}, 10, 1);
+    EXPECT_GT(coarse, fine);  // voxels 越大步长越大(Shift 粗调)
+}
+// 只取法向那条轴的【间距】(非总长)：长轴间距大也不影响 Z 法向步长；1 体素 = Z 间距 0.05。
+TEST(SlicePlaneMath, WheelStepUsesNormalAxisSpacing) {
+    const double zStep = wheelStep({100.0, 0.1, 0.05}, {0, 0, 1}, 1, 1);  // Z 法向 → 取 Z 间距 0.05
+    EXPECT_NEAR(zStep, 0.05, 1e-9);  // 与 X 间距 100 无关
 }
 
 // ── nearestPlane：找点所在切片（按到平面距离最小）──
diff --git a/tools/radar_convert/README.md b/tools/radar_convert/README.md
new file mode 100644
index 0000000..4855a35
--- /dev/null
+++ b/tools/radar_convert/README.md
@@ -0,0 +1,71 @@
+# radar_convert — 雷达原始数据 → 规范化格式 转换插件（本地原型）
+
+把厂商原始雷达数据转换成客户端**规范化格式** `.head / .data / .cor (/.index)`，供三维雷达
+渲染器消费。本目录是**未来"服务端下发转换插件"的本地原型**：今天的 Python 工具实现的
+`convert` 契约，将来由客户端按设备型号拉取对应插件执行，接口不变。
+
+当前实现型号：**`RADAR_TYPE_MALAMIRA`**（Mala Mira rSlicer，`.rad + .rd3|.rd7 + _G01.pos`）。
+
+---
+
+## 插件契约（本地工具 = 未来插件，接口一致）
+
+```
+plugin_id           : RADAR_TYPE_MALAMIRA
+supports(fileset)   -> bool                       # 据文件组成判断是否本插件可处理
+convert(lineDir, prefix, outDir) -> {head,data,cor}
+```
+
+- **输入**：一条测线三件套 `{prefix}.rad` + `{prefix}.rd3|.rd7` + `{prefix}_G01.pos`（轨迹可选）。
+- **输出**：规范化目录 `{prefix}.head` + `{prefix}.data` + `{prefix}.cor`。
+- 映射规则源自客户《雷达业务开发说明》§3.3（.rad→.head）/ §3.5（.rd3→.data）/ §2.2.2（.pos→.cor）。
+
+## 用法
+
+```bash
+# 1) 列出目录内测线 + 维度一致性校验（不写文件）
+python tools/radar_convert/malamira.py info  <lineDir>
+
+# 2) 转换（--prefix 省略=全部测线）
+python tools/radar_convert/malamira.py convert <lineDir> --out <outDir> [--prefix 南同大道_000]
+
+# 3) probe：出图核对 .rd3 数据体主序（写一张 PNG 到 --out）
+python tools/radar_convert/malamira.py probe <lineDir> --prefix 南同大道_000 --out <dir>
+```
+
+---
+
+## 数据体维度与排列（★渲染器必读，已用真实数据核对）
+
+- 体维度：`K`(道/切片，沿运动) × `M`(通道) × `N`(采样/深度)。
+  - `M = NUMBER_OF_CH`，`N = SAMPLES`，`K = LAST_TRACE / NUMBER_OF_CH`。
+  - `.rad` 的 `LAST TRACE` 是**总扫描数**（=K×M），不是道数 K。`.head` 原样透传该值，
+    渲染器按 `K = LAST_TRACE / NUMBER_OF_CH` 求道数。
+- **`.data` 主序 = position-major（已 probe 核对，MALA南同大道_000）**：
+  磁盘扫描顺序 = `(道0: 通道0..M-1)(道1: 通道0..M-1)…`，每个 sweep 内 `N` 个采样连续。
+  即 `flat.reshape(K, M, N)[道][通道][采样]`。
+  - 直接对应 geopro 体轴 `X=道(nx=K)`、`Y=通道(ny=M)`、`Z=采样(nz=N)`，**无需转置**。
+  - 反例（错误主序）：channel-major `reshape(M,K,N)` 的 B-scan 呈竖条乱码——probe 已排除。
+- 数据类型：`int16` 小端（`.rd3`）/ `int32` 小端（`.rd7`）。`.rd3` 中出现 `-32768`
+  为直达波饱和的真实值，非空值哨兵。
+
+---
+
+## 与客户文档的偏差（实现时的取舍，便于后端对齐）
+
+| # | 项 | 文档 | 本工具 | 理由 |
+|---|---|---|---|---|
+| 1 | `BITS` 计算 | `文件大小/LAST_TRACE/NUMBER_OF_CH×8` | `bytes = 文件大小/(LAST_TRACE×SAMPLES)`，×8；并与扩展名(.rd3→16/.rd7→32)交叉校验 | 文档公式漏了 SAMPLES 维、量纲不符；本式对 6 条线均得 16，且 `文件大小==LAST_TRACE×SAMPLES×bytes` 严格成立 |
+| 2 | `ENDIAN_TYPE` | §3.3 表："留空" | 填 `1`（小端） | 同节要点 1 明确"通常小端即 1"；渲染需确定字节序 |
+| 3 | `WHEEL_CALIBRATION` | §3.3 表："留空" | 透传 `.rad` 实际值 | `.rad` 有该字段，透传更忠实（不影响渲染） |
+| 4 | `.cor` 坐标 | 北→纬度 / 东→经度 | 同文档直映，N/E/M 为占位标识，解状态=4 | `.pos` 是本地投影坐标(米)、非经纬度；CRS 未知。单线渲染不依赖 .cor 配准，多线阶段再处理 |
+| 5 | `.index` | 可选打标文件 | 本数据集无打标 → 不产出 | 该目录仅有 FCODES.TXT(编码字典)，无 .index 源 |
+
+---
+
+## 已验证（MALA南同大道_rSlicer，6 条测线，2026-06-29）
+
+- `info`：6 条线全部通过 `文件大小 == LAST_TRACE×SAMPLES×bytes` 校验。
+  K∈[2333,3778]，M=16，N=516，bits=16，距离模式，dx≈0.095–0.099m，时窗 96.42ns，均含轨迹。
+- `convert`：6 条线 `.head/.data/.cor` 全部产出；`.data` 与源 `.rd3` 字节数严格一致。
+- `probe`：position-major B-scan 出现连续直达波 + 地层 + 双曲线绕射 → 主序确认。
diff --git a/tools/radar_convert/malamira.py b/tools/radar_convert/malamira.py
new file mode 100644
index 0000000..13f368c
--- /dev/null
+++ b/tools/radar_convert/malamira.py
@@ -0,0 +1,350 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+RADAR_TYPE_MALAMIRA 转换插件（本地原型）。
+
+把 Mala Mira rSlicer 原始三件套（.rad + .rd3|.rd7 + _G01.pos）转换成客户端规范化
+格式（.head + .data + .cor），并提供 probe 子命令出图核对 .rd3 数据体主序。
+
+本工具实现的 convert 契约 = 未来"服务端下发插件"的接口：
+    plugin_id : RADAR_TYPE_MALAMIRA
+    supports(fileset) -> bool
+    convert(lineDir, prefix, outDir) -> {head, data, cor}
+
+字段映射规则见客户《雷达业务开发说明》§3.3 / §2.2.2 / §3.5。与文档的少量偏差见 README.md。
+"""
+
+import argparse
+import os
+import shutil
+import sys
+
+import numpy as np
+
+PLUGIN_ID = "RADAR_TYPE_MALAMIRA"
+
+# 规范化 .head 字段顺序（三维雷达，文档 §1.2.2）。
+HEAD_FIELD_ORDER = [
+    "DATE", "START_TIME", "STOP_TIME", "UNITS", "MODE", "ANTENNAS", "FREQUENCY",
+    "STACKS", "LAST_TRACE", "POSITIVE_DIRECTION", "SAMPLES", "TIME_INTERVAL",
+    "TIMEWINDOW", "DEPTH", "ZERO_POSITION", "DIELECTRIC", "SOIL_TYPE", "BITS",
+    "MARK", "DISTANCE_INTERVAL", "START_POSITION", "STOP_POSITION", "WHEEL_GPS",
+    "WHEEL_CALIBRATION", "SCAN_SECOND", "NUMBER_OF_CH", "CH_X_OFFSETS",
+    "RTK_X_OFFSET", "RTK_Y_OFFSET", "RTK_Z_OFFSET", "GAIN", "FILTER", "SMOOTH",
+    "ENDIAN_TYPE",
+]
+
+
+# ---------------------------------------------------------------------------
+# 解析 .rad
+# ---------------------------------------------------------------------------
+def parse_rad(rad_path):
+    """读 Mala .rad（ASCII，KEY:VALUE 行）→ dict（保留原始键，值去首尾空白）。"""
+    raw = {}
+    with open(rad_path, "r", encoding="utf-8", errors="replace") as f:
+        for line in f:
+            if ":" not in line:
+                continue
+            key, _, val = line.partition(":")
+            raw[key.strip()] = val.strip()
+    return raw
+
+
+def _f(raw, key, default=None):
+    v = raw.get(key, "")
+    if v == "" or v is None:
+        return default
+    try:
+        return float(v)
+    except ValueError:
+        return default
+
+
+def _i(raw, key, default=None):
+    v = _f(raw, key, None)
+    return int(round(v)) if v is not None else default
+
+
+def compute_dims(raw, data_path):
+    """从 .rad + 数据文件大小推导体维度并做一致性校验。
+
+    返回 dict：positions(K)=道/切片数, channels(M), samples(N),
+              last_trace(总扫描数=K*M), bits, bytes_per_sample。
+    """
+    samples = _i(raw, "SAMPLES")
+    channels = _i(raw, "NUMBER_OF_CH")
+    last_trace = _i(raw, "LAST TRACE")  # Mala 中 = 总扫描数(道 * 通道)
+    if not samples or not channels or not last_trace:
+        raise ValueError(
+            "缺少 SAMPLES / NUMBER_OF_CH / LAST TRACE，无法推导维度: %s" % data_path)
+
+    ext = os.path.splitext(data_path)[1].lower()
+    bytes_per_sample = 2 if ext == ".rd3" else 4 if ext == ".rd7" else None
+    if bytes_per_sample is None:
+        raise ValueError("未知数据扩展名(仅 .rd3/.rd7): %s" % data_path)
+
+    filesize = os.path.getsize(data_path)
+    expect = last_trace * samples * bytes_per_sample
+    if filesize != expect:
+        raise ValueError(
+            "数据体大小不符: %s 实际 %d 字节, 期望 LAST_TRACE(%d)*SAMPLES(%d)*%d = %d"
+            % (data_path, filesize, last_trace, samples, bytes_per_sample, expect))
+
+    if last_trace % channels != 0:
+        raise ValueError(
+            "LAST_TRACE(%d) 不能被 NUMBER_OF_CH(%d) 整除，无法切分道/通道"
+            % (last_trace, channels))
+
+    positions = last_trace // channels
+    return {
+        "positions": positions,
+        "channels": channels,
+        "samples": samples,
+        "last_trace": last_trace,
+        "bits": bytes_per_sample * 8,
+        "bytes_per_sample": bytes_per_sample,
+        "filesize": filesize,
+    }
+
+
+# ---------------------------------------------------------------------------
+# .rad -> .head
+# ---------------------------------------------------------------------------
+def build_head(raw, dims):
+    """按 §3.3 把 .rad 映射成规范化 .head 字段 dict。无对应字段留空。"""
+    ch_y = raw.get("CH_Y_OFFSETS", "").split()
+    head = {k: "" for k in HEAD_FIELD_ORDER}
+    head.update({
+        "DATE": raw.get("DATE", ""),
+        "START_TIME": raw.get("TIME", ""),
+        "UNITS": raw.get("UNITS", ""),
+        "MODE": "距离模式",  # Mala 默认距离模式(§3.3 要点 4)
+        "ANTENNAS": raw.get("ANTENNAS", ""),
+        "FREQUENCY": raw.get("FREQUENCY", ""),
+        "STACKS": raw.get("STACKS", ""),
+        "LAST_TRACE": str(dims["last_trace"]),
+        "POSITIVE_DIRECTION": raw.get("POSITIVE DIRECTION", ""),
+        "SAMPLES": str(dims["samples"]),
+        "TIME_INTERVAL": raw.get("TIME INTERVAL", ""),
+        "TIMEWINDOW": raw.get("TIMEWINDOW", ""),
+        "BITS": str(dims["bits"]),
+        "DISTANCE_INTERVAL": raw.get("DISTANCE INTERVAL", ""),
+        "START_POSITION": raw.get("START POSITION", ""),
+        "STOP_POSITION": raw.get("STOP POSITION", ""),
+        "WHEEL_CALIBRATION": raw.get("WHEEL CALIBRATION", ""),
+        "NUMBER_OF_CH": str(dims["channels"]),
+        "CH_X_OFFSETS": raw.get("CH_X_OFFSETS", "").strip(),
+        "RTK_Y_OFFSET": ch_y[0] if ch_y else "",  # §3.3：取 CH_Y_OFFSETS 首元素
+        "ENDIAN_TYPE": "1",  # Mala rd3 小端(§3.3 要点 1)
+    })
+    return head
+
+
+def write_head(head, out_path):
+    with open(out_path, "w", encoding="utf-8", newline="\n") as f:
+        for k in HEAD_FIELD_ORDER:
+            f.write("%s:%s\n" % (k, head.get(k, "")))
+
+
+# ---------------------------------------------------------------------------
+# .pos -> .cor  (§2.2.2 场景二)
+# ---------------------------------------------------------------------------
+def convert_pos_to_cor(pos_path, cor_path):
+    """.pos(本地坐标: 序号 北 东 高程) → .cor(序号 纬度 N 经度 E 高程 M 解状态=4)。
+
+    注：.pos 为本地投影坐标(米)，按文档直接映射 北→纬度 / 东→经度；N/E/M 为占位标识，
+    解状态固定填 4(RTK Fixed)。单线渲染不依赖 .cor 做世界配准，多线阶段再用。
+    """
+    rows = []
+    with open(pos_path, "r", encoding="utf-8", errors="replace") as f:
+        for line in f:
+            s = line.strip()
+            if not s or s.upper().startswith("UNITS"):
+                continue
+            parts = s.split()
+            if len(parts) < 4:
+                continue
+            idx = int(float(parts[0]))
+            north, east, elev = float(parts[1]), float(parts[2]), float(parts[3])
+            rows.append((idx, north, east, elev))
+    with open(cor_path, "w", encoding="utf-8", newline="\n") as f:
+        f.write("VERSION:1\n")
+        for idx, north, east, elev in rows:
+            f.write("%d\t%.6f\tN\t%.6f\tE\t%.6f\tM\t4\n" % (idx, north, east, elev))
+    return len(rows)
+
+
+# ---------------------------------------------------------------------------
+# 测线发现
+# ---------------------------------------------------------------------------
+def find_lines(line_dir):
+    """遍历目录，返回有效测线 [(prefix, rad, data, pos|None)]（§3.2 抽取规则）。"""
+    out = []
+    for name in sorted(os.listdir(line_dir)):
+        if not name.lower().endswith(".rad"):
+            continue
+        prefix = name[:-4]
+        rad = os.path.join(line_dir, name)
+        data = None
+        for ext in (".rd3", ".rd7"):
+            cand = os.path.join(line_dir, prefix + ext)
+            if os.path.exists(cand):
+                data = cand
+                break
+        if data is None:
+            print("  [跳过] %s 缺 .rd3/.rd7 数据文件" % prefix, file=sys.stderr)
+            continue
+        pos = os.path.join(line_dir, prefix + "_G01.pos")
+        out.append((prefix, rad, data, pos if os.path.exists(pos) else None))
+    return out
+
+
+# ---------------------------------------------------------------------------
+# convert
+# ---------------------------------------------------------------------------
+def convert_line(prefix, rad, data, pos, out_dir):
+    raw = parse_rad(rad)
+    dims = compute_dims(raw, data)
+    os.makedirs(out_dir, exist_ok=True)
+
+    head = build_head(raw, dims)
+    write_head(head, os.path.join(out_dir, prefix + ".head"))
+    shutil.copyfile(data, os.path.join(out_dir, prefix + ".data"))  # §3.5 原样拷贝
+    cor_n = convert_pos_to_cor(pos, os.path.join(out_dir, prefix + ".cor")) if pos else 0
+
+    print("[%s] 道(K)=%d 通道(M)=%d 采样(N)=%d  bits=%d  .data=%.1fMB  .cor=%d点%s"
+          % (prefix, dims["positions"], dims["channels"], dims["samples"],
+             dims["bits"], dims["filesize"] / 1e6, cor_n,
+             "" if pos else "  (无轨迹)"))
+    return dims
+
+
+def cmd_convert(args):
+    if args.prefix:
+        rad = os.path.join(args.line_dir, args.prefix + ".rad")
+        data = None
+        for ext in (".rd3", ".rd7"):
+            if os.path.exists(os.path.join(args.line_dir, args.prefix + ext)):
+                data = os.path.join(args.line_dir, args.prefix + ext)
+        pos = os.path.join(args.line_dir, args.prefix + "_G01.pos")
+        convert_line(args.prefix, rad, data, pos if os.path.exists(pos) else None,
+                     args.out)
+    else:
+        lines = find_lines(args.line_dir)
+        print("发现 %d 条测线，输出 → %s" % (len(lines), args.out))
+        for prefix, rad, data, pos in lines:
+            convert_line(prefix, rad, data, pos, args.out)
+
+
+# ---------------------------------------------------------------------------
+# probe：核对 .rd3 数据体主序
+# ---------------------------------------------------------------------------
+def load_flat(data_path, dims, endian="<"):
+    dt = np.dtype("%si%d" % (endian, dims["bytes_per_sample"]))
+    flat = np.fromfile(data_path, dtype=dt)
+    n = dims["last_trace"] * dims["samples"]
+    if flat.size != n:
+        raise ValueError("读到 %d 个样本，期望 %d" % (flat.size, n))
+    return flat.astype(np.float32)
+
+
+def _clip(img):
+    """按 99 分位绝对值裁剪对比度，返回 (img, vmax)。"""
+    v = np.percentile(np.abs(img), 99) or 1.0
+    return img, v
+
+
+def cmd_probe(args):
+    import matplotlib
+    matplotlib.use("Agg")
+    import matplotlib.pyplot as plt
+
+    raw = parse_rad(os.path.join(args.line_dir, args.prefix + ".rad"))
+    data = None
+    for ext in (".rd3", ".rd7"):
+        cand = os.path.join(args.line_dir, args.prefix + ext)
+        if os.path.exists(cand):
+            data = cand
+    dims = compute_dims(raw, data)
+    K, M, N = dims["positions"], dims["channels"], dims["samples"]
+    flat = load_flat(data, dims, "<" if args.endian == "little" else ">")
+    os.makedirs(args.out, exist_ok=True)
+
+    print("[probe] %s  K(道)=%d M(通道)=%d N(采样)=%d  amp[min=%.0f max=%.0f mean|.|=%.1f]"
+          % (args.prefix, K, M, N, flat.min(), flat.max(), np.abs(flat).mean()))
+
+    ch = args.channel
+    # H1: position-major  sweeps 顺序 = (pos0:ch0..chM-1)(pos1:..)  → reshape(K,M,N)
+    h1 = flat.reshape(K, M, N)
+    bscan_h1 = h1[:, ch, :].T  # (N 采样 × K 道)
+    # H2: channel-major   sweeps 顺序 = (ch0:pos0..posK-1)(ch1:..)  → reshape(M,K,N)
+    h2 = flat.reshape(M, K, N)
+    bscan_h2 = h2[ch, :, :].T  # (N 采样 × K 道)
+    # C-scan（H1 主序下某采样深度的 道×通道 平面）
+    cscan_h1 = h1[:, :, args.depth]  # (K × M)
+
+    panels = [
+        ("H1 position-major  B-scan ch%d" % ch, bscan_h1, "trace (K)", "sample (N)"),
+        ("H2 channel-major  B-scan ch%d" % ch, bscan_h2, "trace (K)", "sample (N)"),
+        ("H1 C-scan @sample %d" % args.depth, cscan_h1, "channel (M)", "trace (K)"),
+    ]
+    fig, axes = plt.subplots(1, 3, figsize=(18, 6))
+    for axp, (title, img, xl, yl) in zip(axes, panels):
+        _, vmax = _clip(img)
+        axp.imshow(img, aspect="auto", cmap="gray", vmin=-vmax, vmax=vmax,
+                   interpolation="nearest")
+        axp.set_title(title)
+        axp.set_xlabel(xl)
+        axp.set_ylabel(yl)
+    fig.suptitle("%s  %s  -- main-order check: the coherent B-scan (layers/hyperbolas) is correct"
+                 % (PLUGIN_ID, args.prefix), fontsize=12)
+    fig.tight_layout()
+    out_png = os.path.join(args.out, "probe_%s.png" % args.prefix)
+    fig.savefig(out_png, dpi=110)
+    print("[probe] 出图 → %s" % out_png)
+
+
+# ---------------------------------------------------------------------------
+def cmd_info(args):
+    lines = find_lines(args.line_dir)
+    print("目录 %s  发现 %d 条测线 (plugin=%s)" % (args.line_dir, len(lines), PLUGIN_ID))
+    for prefix, rad, data, pos in lines:
+        raw = parse_rad(rad)
+        dims = compute_dims(raw, data)
+        print("  %-18s K=%-5d M=%-3d N=%-4d bits=%d  dx=%s  tw=%sns  ch_x=%d个  轨迹=%s"
+              % (prefix, dims["positions"], dims["channels"], dims["samples"],
+                 dims["bits"], raw.get("DISTANCE INTERVAL", "?"),
+                 raw.get("TIMEWINDOW", "?"),
+                 len(raw.get("CH_X_OFFSETS", "").split()),
+                 "有" if pos else "无"))
+
+
+def main():
+    ap = argparse.ArgumentParser(description="RADAR_TYPE_MALAMIRA 转换插件(本地原型)")
+    sub = ap.add_subparsers(dest="cmd", required=True)
+
+    p = sub.add_parser("info", help="列出目录内测线 + 维度校验")
+    p.add_argument("line_dir")
+    p.set_defaults(func=cmd_info)
+
+    p = sub.add_parser("convert", help="转换为规范化 .head/.data/.cor")
+    p.add_argument("line_dir")
+    p.add_argument("--prefix", default=None, help="只转某条线(默认全部)")
+    p.add_argument("--out", required=True, help="输出目录")
+    p.set_defaults(func=cmd_convert)
+
+    p = sub.add_parser("probe", help="出图核对 .rd3 数据体主序")
+    p.add_argument("line_dir")
+    p.add_argument("--prefix", required=True)
+    p.add_argument("--out", required=True)
+    p.add_argument("--channel", type=int, default=0)
+    p.add_argument("--depth", type=int, default=200, help="C-scan 取的采样深度")
+    p.add_argument("--endian", choices=["little", "big"], default="little")
+    p.set_defaults(func=cmd_probe)
+
+    args = ap.parse_args()
+    args.func(args)
+
+
+if __name__ == "__main__":
+    main()