implemented reference subtraction from B_scan. Reference is average from all visible B-scan.

RFG_ADC_dataplotter.py

@@ -198,12 +198,19 @@ def _prepare_fft_segment(
     return resampled, take_fft
 
 
-def _compute_fft_row(
+def _fft_mag_to_db(mag: np.ndarray) -> np.ndarray:
+    """Перевод модуля спектра в дБ с отсечкой отрицательных значений после вычитания фона."""
+    mag_arr = np.asarray(mag, dtype=np.float32)
+    safe_mag = np.maximum(mag_arr, 0.0)
+    return (20.0 * np.log10(safe_mag + 1e-9)).astype(np.float32, copy=False)
+
+
+def _compute_fft_mag_row(
     sweep: np.ndarray,
     freqs: Optional[np.ndarray],
     bins: int,
 ) -> np.ndarray:
-    """Посчитать FFT-строку, используя калиброванную частотную ось при подготовке входа."""
+    """Посчитать линейный модуль FFT-строки, используя калиброванную частотную ось."""
     if bins <= 0:
         return np.zeros((0,), dtype=np.float32)
 
@@ -217,10 +224,18 @@ def _compute_fft_row(
     fft_in[:take_fft] = fft_seg * win
     spec = np.fft.ifft(fft_in)
     mag = np.abs(spec).astype(np.float32)
-    fft_row = 20.0 * np.log10(mag + 1e-9)
+    if mag.shape[0] != bins:
-    if fft_row.shape[0] != bins:
+        mag = mag[:bins]
-        fft_row = fft_row[:bins]
+    return mag
-    return fft_row
+
+
+def _compute_fft_row(
+    sweep: np.ndarray,
+    freqs: Optional[np.ndarray],
+    bins: int,
+) -> np.ndarray:
+    """Посчитать FFT-строку в дБ."""
+    return _fft_mag_to_db(_compute_fft_mag_row(sweep, freqs, bins))
 
 
 def _compute_distance_axis(freqs: Optional[np.ndarray], bins: int) -> np.ndarray:
@@ -1080,8 +1095,8 @@ def main():
     parser.add_argument(
         "--backend",
         choices=["auto", "pg", "mpl"],
-        default="auto",
+        default="pg",
-        help="Графический бэкенд: pyqtgraph (pg) — быстрее; matplotlib (mpl) — совместимый. По умолчанию auto",
+        help="Графический бэкенд: pyqtgraph (pg) — быстрее; matplotlib (mpl) — совместимый. По умолчанию pg",
     )
     parser.add_argument(
         "--norm-type",
@@ -1119,14 +1134,18 @@ def main():
     args = parser.parse_args()
 
     # Попробуем быстрый бэкенд (pyqtgraph) при auto/pg
-    if args.backend in ("pg"):
+    if args.backend == "pg":
         try:
             return run_pyqtgraph(args)
         except Exception as e:
-            if args.backend == "pg":
             sys.stderr.write(f"[error] PyQtGraph бэкенд недоступен: {e}\n")
             sys.exit(1)
-            # При auto — тихо откатываемся на matplotlib
+
+    if args.backend == "auto":
+        try:
+            return run_pyqtgraph(args)
+        except Exception:
+            pass  # При auto — тихо откатываемся на matplotlib
 
     try:
         import matplotlib
@@ -1186,6 +1205,7 @@ def main():
     ymax_slider = None
     contrast_slider = None
     calib_enabled = False
+    bg_subtract_enabled = False
     peak_calibrate_mode = bool(getattr(args, "calibrate", False))
     current_peak_width: Optional[float] = None
     norm_type = str(getattr(args, "norm_type", "projector")).strip().lower()
@@ -1283,12 +1303,15 @@ def main():
     def _normalize_sweep(raw: np.ndarray, calib: np.ndarray) -> np.ndarray:
         return _normalize_by_calib(raw, calib, norm_type=norm_type)
 
-    def _set_calib_enabled():
+    def _sync_checkbox_states():
-        nonlocal calib_enabled, current_sweep_norm
+        nonlocal calib_enabled, bg_subtract_enabled, current_sweep_norm
         try:
-            calib_enabled = bool(cb.get_status()[0]) if cb is not None else False
+            states = cb.get_status() if cb is not None else ()
+            calib_enabled = bool(states[0]) if len(states) > 0 else False
+            bg_subtract_enabled = bool(states[1]) if len(states) > 1 else False
         except Exception:
             calib_enabled = False
+            bg_subtract_enabled = False
         if calib_enabled and current_sweep_raw is not None and last_calib_sweep is not None:
             current_sweep_norm = _normalize_sweep(current_sweep_raw, last_calib_sweep)
         else:
@@ -1299,11 +1322,11 @@ def main():
         ax_smin = fig.add_axes([0.92, 0.55, 0.02, 0.35])
         ax_smax = fig.add_axes([0.95, 0.55, 0.02, 0.35])
         ax_sctr = fig.add_axes([0.98, 0.55, 0.02, 0.35])
-        ax_cb = fig.add_axes([0.92, 0.45, 0.08, 0.08])
+        ax_cb = fig.add_axes([0.90, 0.40, 0.10, 0.14])
         ymin_slider = Slider(ax_smin, "R min", 0.0, 1.0, valinit=0.0, orientation="vertical")
         ymax_slider = Slider(ax_smax, "R max", 0.0, 1.0, valinit=1.0, orientation="vertical")
         contrast_slider = Slider(ax_sctr, "Int max", 0, 100, valinit=100, valstep=1, orientation="vertical")
-        cb = CheckButtons(ax_cb, ["калибровка"], [False])
+        cb = CheckButtons(ax_cb, ["нормировка", "вычет фона"], [False, False])
 
         def _on_ylim_change(_val):
             try:
@@ -1318,7 +1341,7 @@ def main():
         ymax_slider.on_changed(_on_ylim_change)
         # Контраст влияет на верхнюю границу цветовой шкалы (процент от авто-диапазона)
         contrast_slider.on_changed(lambda _v: fig.canvas.draw_idle())
-        cb.on_clicked(lambda _v: _set_calib_enabled())
+        cb.on_clicked(lambda _v: _sync_checkbox_states())
     except Exception:
         pass
 
@@ -1449,11 +1472,12 @@ def main():
         if ring_time is not None:
             ring_time[head] = time.time()
         head = (head + 1) % ring.shape[0]
-        # FFT строка (дБ)
+        # FFT строка (линейный модуль; перевод в дБ делаем при отображении)
         if ring_fft is not None:
             bins = ring_fft.shape[1]
-            fft_row = _compute_fft_row(s, freqs, bins)
+            fft_mag = _compute_fft_mag_row(s, freqs, bins)
-            ring_fft[(head - 1) % ring_fft.shape[0], :] = fft_row
+            ring_fft[(head - 1) % ring_fft.shape[0], :] = fft_mag
+            fft_row = _fft_mag_to_db(fft_mag)
             # Экстремумы для цветовой шкалы
             fr_min = np.nanmin(fft_row)
             fr_max = np.nanmax(fft_row)
@@ -1519,7 +1543,7 @@ def main():
         return base_t
 
     def _subtract_recent_mean_fft(disp_fft: np.ndarray) -> np.ndarray:
-        """Вычесть среднее по каждой частоте за последние spec_mean_sec секунд."""
+        """Вычесть среднее по каждой дальности за последние spec_mean_sec секунд в линейной области."""
         if spec_mean_sec <= 0.0:
             return disp_fft
         disp_times = make_display_times()
@@ -1536,6 +1560,33 @@ def main():
         mean_spec = np.nan_to_num(mean_spec, nan=0.0)
         return disp_fft - mean_spec[:, None]
 
+    def _visible_bg_fft(disp_fft: np.ndarray) -> Optional[np.ndarray]:
+        """Оценка фона по медиане в текущем видимом по времени окне B-scan."""
+        if not bg_subtract_enabled or disp_fft.size == 0:
+            return None
+        ny, nx = disp_fft.shape
+        if ny <= 0 or nx <= 0:
+            return None
+        try:
+            x0, x1 = ax_spec.get_xlim()
+        except Exception:
+            x0, x1 = 0.0, float(nx - 1)
+        xmin, xmax = sorted((float(x0), float(x1)))
+        ix0 = max(0, min(nx - 1, int(np.floor(xmin))))
+        ix1 = max(0, min(nx - 1, int(np.ceil(xmax))))
+        if ix1 < ix0:
+            ix1 = ix0
+        window = disp_fft[:, ix0 : ix1 + 1]
+        if window.size == 0:
+            return None
+        try:
+            bg_spec = np.nanmedian(window, axis=1)
+        except Exception:
+            return None
+        if not np.any(np.isfinite(bg_spec)):
+            return None
+        return np.nan_to_num(bg_spec, nan=0.0).astype(np.float32, copy=False)
+
     def make_display_ring_fft():
         if ring_fft is None:
             return np.zeros((1, 1), dtype=np.float32)
@@ -1658,12 +1709,34 @@ def main():
 
         # Обновление водопада спектров
         if changed and ring_fft is not None:
-            disp_fft = make_display_ring_fft()
+            disp_fft_lin = make_display_ring_fft()
-            disp_fft = _subtract_recent_mean_fft(disp_fft)
+            disp_fft_lin = _subtract_recent_mean_fft(disp_fft_lin)
+            bg_spec = _visible_bg_fft(disp_fft_lin)
+            if bg_spec is not None:
+                num = np.maximum(disp_fft_lin, 0.0).astype(np.float32, copy=False) + 1e-9
+                den = bg_spec[:, None] + 1e-9
+                disp_fft = (20.0 * np.log10(num / den)).astype(np.float32, copy=False)
+            else:
+                disp_fft = _fft_mag_to_db(disp_fft_lin)
             # Новые данные справа: без реверса
             img_fft_obj.set_data(disp_fft)
             # Подписи времени не обновляем динамически (оставляем авто-тики)
             # Автодиапазон по среднему спектру за видимый интервал (как в хорошей версии)
+            if bg_spec is not None:
+                try:
+                    p5 = float(np.nanpercentile(disp_fft, 5))
+                    p95 = float(np.nanpercentile(disp_fft, 95))
+                    span = max(abs(p5), abs(p95))
+                except Exception:
+                    span = float("nan")
+                if np.isfinite(span) and span > 0.0:
+                    try:
+                        c = float(contrast_slider.val) / 100.0 if contrast_slider is not None else 1.0
+                    except Exception:
+                        c = 1.0
+                    span_eff = max(span * c, 1e-6)
+                    img_fft_obj.set_clim(vmin=-span_eff, vmax=span_eff)
+            else:
                 try:
                     # disp_fft имеет форму (bins, time); берём среднее по времени
                     mean_spec = np.nanmean(disp_fft, axis=1)
@@ -1776,15 +1849,10 @@ def run_pyqtgraph(args):
     peak_calibrate_mode = bool(getattr(args, "calibrate", False))
     try:
         import pyqtgraph as pg
-        from PyQt5 import QtCore, QtWidgets  # noqa: F401
+        from pyqtgraph.Qt import QtCore, QtWidgets  # type: ignore
-    except Exception:
-        # Возможно установлена PySide6
-        try:
-            import pyqtgraph as pg
-            from PySide6 import QtCore, QtWidgets  # noqa: F401
     except Exception as e:
         raise RuntimeError(
-                "pyqtgraph/PyQt5(Pyside6) не найдены. Установите: pip install pyqtgraph PyQt5"
+            "pyqtgraph и совместимый Qt backend не найдены. Установите: pip install pyqtgraph PyQt5"
         ) from e
 
     # Очередь завершённых свипов и поток чтения
@@ -1823,8 +1891,25 @@ def run_pyqtgraph(args):
         app.setQuitOnLastWindowClosed(True)
     except Exception:
         pass
-    win = pg.GraphicsLayoutWidget(show=True, title=args.title)
+    main_window = QtWidgets.QWidget()
-    win.resize(1200, 600)
+    try:
+        main_window.setWindowTitle(str(args.title))
+    except Exception:
+        pass
+    main_layout = QtWidgets.QHBoxLayout(main_window)
+    main_layout.setContentsMargins(6, 6, 6, 6)
+    main_layout.setSpacing(6)
+    win = pg.GraphicsLayoutWidget(show=False, title=args.title)
+    main_layout.addWidget(win)
+    settings_widget = QtWidgets.QWidget()
+    settings_layout = QtWidgets.QVBoxLayout(settings_widget)
+    settings_layout.setContentsMargins(6, 6, 6, 6)
+    settings_layout.setSpacing(8)
+    try:
+        settings_widget.setMinimumWidth(170)
+    except Exception:
+        pass
+    main_layout.addWidget(settings_widget)
 
     # Плот последнего свипа (слева-сверху)
     p_line = win.addPlot(row=0, col=0, title="Сырые данные")
@@ -1889,20 +1974,17 @@ def run_pyqtgraph(args):
     spec_left_line.setVisible(False)
     spec_right_line.setVisible(False)
 
-    # Отдельное окно контролов: GraphicsLayoutWidget не принимает обычные QWidget через addItem.
+    # Правая панель настроек внутри основного окна.
-    calib_cb = QtWidgets.QCheckBox("калибровка")
+    calib_cb = QtWidgets.QCheckBox("нормировка")
-    control_window = None
+    bg_subtract_cb = QtWidgets.QCheckBox("вычет фона")
-    control_layout = None
-    if peak_calibrate_mode:
-        control_window = QtWidgets.QWidget()
     try:
-            control_window.setWindowTitle(f"{args.title} controls")
+        settings_title = QtWidgets.QLabel("Настройки")
+        settings_layout.addWidget(settings_title)
     except Exception:
         pass
-        control_layout = QtWidgets.QVBoxLayout(control_window)
+    settings_layout.addWidget(calib_cb)
-        control_layout.setContentsMargins(8, 8, 8, 8)
+    settings_layout.addWidget(bg_subtract_cb)
-        control_layout.setSpacing(6)
+    calib_window = None
-        control_layout.addWidget(calib_cb)
 
     # Статусная строка (внизу окна)
     status = pg.LabelItem(justify="left")
@@ -1931,6 +2013,7 @@ def run_pyqtgraph(args):
     spec_clip = _parse_spec_clip(getattr(args, "spec_clip", None))
     spec_mean_sec = float(getattr(args, "spec_mean_sec", 0.0))
     calib_enabled = False
+    bg_subtract_enabled = False
     current_peak_width: Optional[float] = None
     norm_type = str(getattr(args, "norm_type", "projector")).strip().lower()
     c_edits = []
@@ -1959,16 +2042,31 @@ def run_pyqtgraph(args):
         else:
             current_sweep_norm = None
 
+    def _set_bg_subtract_enabled():
+        nonlocal bg_subtract_enabled
+        try:
+            bg_subtract_enabled = bool(bg_subtract_cb.isChecked())
+        except Exception:
+            bg_subtract_enabled = False
+
     try:
         calib_cb.stateChanged.connect(lambda _v: _set_calib_enabled())
     except Exception:
         pass
+    try:
+        bg_subtract_cb.stateChanged.connect(lambda _v: _set_bg_subtract_enabled())
+    except Exception:
+        pass
 
     if peak_calibrate_mode:
         try:
-            c_widget = QtWidgets.QWidget()
+            calib_window = QtWidgets.QWidget()
-            c_layout = QtWidgets.QFormLayout(c_widget)
+            try:
-            c_layout.setContentsMargins(0, 0, 0, 0)
+                calib_window.setWindowTitle(f"{args.title} freq calibration")
+            except Exception:
+                pass
+            calib_layout = QtWidgets.QFormLayout(calib_window)
+            calib_layout.setContentsMargins(8, 8, 8, 8)
 
             def _apply_c_value(idx: int, edit):
                 global CALIBRATION_C
@@ -1990,15 +2088,16 @@ def run_pyqtgraph(args):
                     edit.editingFinished.connect(lambda i=idx, e=edit: _apply_c_value(i, e))
                 except Exception:
                     pass
-                c_layout.addRow(f"C{idx}", edit)
+                calib_layout.addRow(f"C{idx}", edit)
                 c_edits.append(edit)
-            if control_layout is not None:
+            try:
-                control_layout.addWidget(c_widget)
+                calib_window.show()
+            except Exception:
+                pass
         except Exception:
             pass
-    if control_window is not None:
     try:
-            control_window.show()
+        settings_layout.addStretch(1)
     except Exception:
         pass
 
@@ -2076,6 +2175,33 @@ def run_pyqtgraph(args):
             return None
         return (vmin, vmax)
 
+    def _visible_bg_fft(disp_fft: np.ndarray) -> Optional[np.ndarray]:
+        """Оценка фона по медиане в текущем видимом по времени окне B-scan."""
+        if not bg_subtract_enabled or disp_fft.size == 0:
+            return None
+        ny, nx = disp_fft.shape
+        if ny <= 0 or nx <= 0:
+            return None
+        try:
+            (x0, x1), _ = p_spec.viewRange()
+        except Exception:
+            x0, x1 = 0.0, float(nx - 1)
+        xmin, xmax = sorted((float(x0), float(x1)))
+        ix0 = max(0, min(nx - 1, int(np.floor(xmin))))
+        ix1 = max(0, min(nx - 1, int(np.ceil(xmax))))
+        if ix1 < ix0:
+            ix1 = ix0
+        window = disp_fft[:, ix0 : ix1 + 1]
+        if window.size == 0:
+            return None
+        try:
+            bg_spec = np.nanmedian(window, axis=1)
+        except Exception:
+            return None
+        if not np.any(np.isfinite(bg_spec)):
+            return None
+        return np.nan_to_num(bg_spec, nan=0.0).astype(np.float32, copy=False)
+
     def push_sweep(s: np.ndarray, freqs: Optional[np.ndarray] = None):
         nonlocal ring, ring_time, head, ring_fft, y_min_fft, y_max_fft
         if s is None or s.size == 0 or ring is None:
@@ -2088,11 +2214,12 @@ def run_pyqtgraph(args):
         if ring_time is not None:
             ring_time[head] = time.time()
         head = (head + 1) % ring.shape[0]
-        # FFT строка (дБ)
+        # FFT строка (линейный модуль; перевод в дБ делаем при отображении)
         if ring_fft is not None:
             bins = ring_fft.shape[1]
-            fft_row = _compute_fft_row(s, freqs, bins)
+            fft_mag = _compute_fft_mag_row(s, freqs, bins)
-            ring_fft[(head - 1) % ring_fft.shape[0], :] = fft_row
+            ring_fft[(head - 1) % ring_fft.shape[0], :] = fft_mag
+            fft_row = _fft_mag_to_db(fft_mag)
             fr_min = np.nanmin(fft_row)
             fr_max = np.nanmax(fft_row)
             if y_min_fft is None or (not np.isnan(fr_min) and fr_min < y_min_fft):
@@ -2272,21 +2399,38 @@ def run_pyqtgraph(args):
                 pass
 
         if changed and ring_fft is not None:
-            disp_fft = ring_fft if head == 0 else np.roll(ring_fft, -head, axis=0)
+            disp_fft_lin = ring_fft if head == 0 else np.roll(ring_fft, -head, axis=0)
-            disp_fft = disp_fft.T
+            disp_fft_lin = disp_fft_lin.T
             if spec_mean_sec > 0.0 and ring_time is not None:
                 disp_times = ring_time if head == 0 else np.roll(ring_time, -head)
                 now_t = time.time()
                 mask = np.isfinite(disp_times) & (disp_times >= (now_t - spec_mean_sec))
                 if np.any(mask):
                     try:
-                        mean_spec = np.nanmean(disp_fft[:, mask], axis=1)
+                        mean_spec = np.nanmean(disp_fft_lin[:, mask], axis=1)
                         mean_spec = np.nan_to_num(mean_spec, nan=0.0)
-                        disp_fft = disp_fft - mean_spec[:, None]
+                        disp_fft_lin = disp_fft_lin - mean_spec[:, None]
                     except Exception:
                         pass
+            bg_spec = _visible_bg_fft(disp_fft_lin)
+            if bg_spec is not None:
+                num = np.maximum(disp_fft_lin, 0.0).astype(np.float32, copy=False) + 1e-9
+                den = bg_spec[:, None] + 1e-9
+                disp_fft = (20.0 * np.log10(num / den)).astype(np.float32, copy=False)
+            else:
+                disp_fft = _fft_mag_to_db(disp_fft_lin)
             # Автодиапазон по среднему спектру за видимый интервал (как в хорошей версии)
             levels = None
+            if bg_spec is not None:
+                try:
+                    p5 = float(np.nanpercentile(disp_fft, 5))
+                    p95 = float(np.nanpercentile(disp_fft, 95))
+                    span = max(abs(p5), abs(p95))
+                    if np.isfinite(span) and span > 0.0:
+                        levels = (-span, span)
+                except Exception:
+                    levels = None
+            else:
                 try:
                     mean_spec = np.nanmean(disp_fft, axis=1)
                     vmin_v = float(np.nanmin(mean_spec))
@@ -2337,9 +2481,13 @@ def run_pyqtgraph(args):
             pass
         stop_event.set()
         reader.join(timeout=1.0)
-        if control_window is not None:
         try:
-                control_window.close()
+            main_window.close()
+        except Exception:
+            pass
+        if calib_window is not None:
+            try:
+                calib_window.close()
             except Exception:
                 pass
 
@@ -2352,7 +2500,7 @@ def run_pyqtgraph(args):
     except Exception:
         prev_sigint = None
 
-    orig_close_event = getattr(win, "closeEvent", None)
+    orig_close_event = getattr(main_window, "closeEvent", None)
 
     def _close_event(event):
         try:
@@ -2371,12 +2519,16 @@ def run_pyqtgraph(args):
             pass
 
     try:
-        win.closeEvent = _close_event  # type: ignore[method-assign]
+        main_window.closeEvent = _close_event  # type: ignore[method-assign]
     except Exception:
         pass
 
     app.aboutToQuit.connect(on_quit)
-    win.show()
+    try:
+        main_window.resize(1200, 680)
+    except Exception:
+        pass
+    main_window.show()
     exec_fn = getattr(app, "exec_", None) or getattr(app, "exec", None)
     try:
         exec_fn()