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Update GPR and SAR3D processing

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This commit is contained in:
Ayzen
2026-10-08 16:24:01 +03:00
parent 390015ec39
commit 3575ca68f5
67 changed files with 1187 additions and 2581 deletions
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python_app/gui/controllers/sections/processing_section.py
+35 -89
View File
@@ -2,7 +2,7 @@
from __future__ import annotations
from PyQt6.QtCore import QRegularExpression
from PyQt6.QtCore import QRegularExpression, Qt
from PyQt6.QtGui import QRegularExpressionValidator
from PyQt6.QtWidgets import (
QCheckBox,
@@ -10,6 +10,7 @@ from PyQt6.QtWidgets import (
QFormLayout,
QGroupBox,
QLineEdit,
QSlider,
QSizePolicy,
QStackedWidget,
QVBoxLayout,
@@ -51,7 +52,7 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
group = view.group
form = QFormLayout(group)
form.setFieldGrowthPolicy(QFormLayout.FieldGrowthPolicy.AllNonFixedFieldsGrow)
processing_mode = view.add("_processing_mode", choice(['pass_through', 'bscan', 'gpr', 'legacy_gpr', 'sar3d']))
processing_mode = view.add("_processing_mode", choice(['pass_through', 'bscan', 'gpr', 'sar3d']))
processing_mode_pages = QStackedWidget(group)
processing_mode_pages.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
show_magnitude_checkbox = view.add("_show_magnitude_checkbox", QCheckBox("Show magnitude"))
@@ -112,10 +113,6 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
gpr_defaults = config.gpr
# Medium permittivity is a legacy-GPR-only knob (shown on the legacy page below).
# Coherent BP fixes the medium to eps_r = 1, so it is not offered there.
gpr_relative_permittivity = view.add("_gpr_relative_permittivity", double_spin(0.0001, 1000.0, 4, 0.05))
gpr_relative_permittivity.setValue(float(gpr_defaults.relative_permittivity))
gpr_tx_geometry_input = view.add("_gpr_tx_geometry_input", AntennaGeometryEditor(
"output_pos", gpr_defaults.tx_geometry, position_count=config.output_switch.positions,
))
@@ -178,10 +175,9 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
gpr_visible_x_max_m = view.add("_gpr_visible_x_max_m", double_spin(-100.0, 100.0, 2, 0.1))
gpr_visible_z_min_m = view.add("_gpr_visible_z_min_m", double_spin(0.0, 100.0, 2, 0.1))
gpr_visible_z_max_m = view.add("_gpr_visible_z_max_m", double_spin(0.0, 100.0, 2, 0.1))
gpr_imaging_plane_y_m = view.add("_gpr_imaging_plane_y_m", double_spin(-50.0, 50.0, 3, 0.05))
gpr_imaging_plane_y_m.setToolTip(
"Y coordinate of the BP imaging slice (m). Use 0 for legacy 1D antenna layouts."
)
gpr_bp_ground_depth_m = view.add("_gpr_bp_ground_depth_m", double_spin(0.0, 50.0, 3, 0.05))
gpr_bp_ground_depth_m.setToolTip("Height of the radar origin above the ground; the BP slice follows the ground and radar tilt.")
gpr_pair_depth_equalize = view.add("_gpr_pair_depth_equalize", QCheckBox("PAIR_DEPTH_EQUALIZE"))
gpr_page = _build_processing_mode_page(
processing_mode_pages,
@@ -204,89 +200,22 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
("Approach min frames", gpr_object_approach_min_frames),
("Start (MHz)", gpr_start_freq_mhz),
("Stop (MHz)", gpr_stop_freq_mhz),
("Imaging plane Y (m)", gpr_imaging_plane_y_m),
("Radar height (m)", gpr_bp_ground_depth_m),
("Visible X min (m)", gpr_visible_x_min_m),
("Visible X max (m)", gpr_visible_x_max_m),
("Visible Z min (m)", gpr_visible_z_min_m),
("Visible Z max (m)", gpr_visible_z_max_m),
gpr_background_subtract_enabled,
("Mean count", gpr_background_mean_count),
gpr_pair_depth_equalize,
gpr_remove_sidelobe_objects_enabled,
],
split_index=8,
)
processing_mode_pages.addWidget(gpr_page)
legacy_gpr_config_mode = view.add("_legacy_gpr_config_mode", choice(['point', 'extended']))
legacy_gpr_input_positions_input = view.add("_legacy_gpr_input_positions_input", QLineEdit())
legacy_gpr_input_positions_input.setPlaceholderText("0,1,2")
legacy_gpr_output_positions_input = view.add("_legacy_gpr_output_positions_input", QLineEdit())
legacy_gpr_output_positions_input.setPlaceholderText("0,1")
legacy_gpr_min_depth_m = view.add("_legacy_gpr_min_depth_m", double_spin(0.0, 50.0, 2, 0.1))
legacy_gpr_max_depth_m = view.add("_legacy_gpr_max_depth_m", double_spin(0.1, 50.0, 2, 0.1))
legacy_gpr_comp_power = view.add("_legacy_gpr_comp_power", double_spin(0.0, 5.0, 3, 0.05))
legacy_gpr_snr_thresh = view.add("_legacy_gpr_snr_thresh", double_spin(0.0, 1000.0, 2, 0.1))
legacy_gpr_snr_comp_max = view.add("_legacy_gpr_snr_comp_max", double_spin(0.0, 1000.0, 2, 0.5))
legacy_gpr_start_freq_mhz = view.add("_legacy_gpr_start_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
legacy_gpr_stop_freq_mhz = view.add("_legacy_gpr_stop_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
legacy_gpr_speed_m_s = view.add("_legacy_gpr_speed_m_s", double_spin(-100.0, 100.0, 3, 0.01))
legacy_gpr_ignore_socket_speed_enabled = view.add("_legacy_gpr_ignore_socket_speed_enabled", QCheckBox("Ignore socket speed"))
legacy_gpr_ignore_socket_speed_enabled.setToolTip(_IGNORE_SOCKET_SPEED_TOOLTIP)
legacy_gpr_look_angle_deg = view.add("_legacy_gpr_look_angle_deg", double_spin(-90.0, 90.0, 2, 0.1))
# Intra-sweep phase compensation toggle. When checked, S21 phase is
# corrected per frequency point before the IFFT so the radar's motion
# during one sweep is removed at the spectrum stage. Only matters when
# speed != 0; otherwise has no effect by construction.
legacy_gpr_apply_freq_phase_correction = view.add("_legacy_gpr_apply_freq_phase_correction", QCheckBox("Apply intra-sweep phase correction"))
# Anchor point for the motion model's per-event `dt_ref`. `frame_center`
# spreads motion symmetrically around the frame midpoint; `first_tx_event`
# accumulates it forward from the first event center.
legacy_gpr_reference_mode = view.add("_legacy_gpr_reference_mode", choice(['frame_center', 'first_tx_event']))
legacy_gpr_background_subtract_enabled = view.add("_legacy_gpr_background_subtract_enabled", QCheckBox("Subtract mean of previous collections"))
legacy_gpr_background_mean_count = view.add("_legacy_gpr_background_mean_count", integer_spin(0, 10000))
legacy_gpr_render_mode = view.add("_legacy_gpr_render_mode", choice(['heatmap', 'objects_only']))
legacy_gpr_min_visible_pair_count = view.add("_legacy_gpr_min_visible_pair_count", integer_spin(1, 10000))
legacy_gpr_visible_x_min_m = view.add("_legacy_gpr_visible_x_min_m", double_spin(-100.0, 100.0, 2, 0.1))
legacy_gpr_visible_x_max_m = view.add("_legacy_gpr_visible_x_max_m", double_spin(-100.0, 100.0, 2, 0.1))
legacy_gpr_visible_z_min_m = view.add("_legacy_gpr_visible_z_min_m", double_spin(0.0, 100.0, 2, 0.1))
legacy_gpr_visible_z_max_m = view.add("_legacy_gpr_visible_z_max_m", double_spin(0.0, 100.0, 2, 0.1))
legacy_gpr_page = _build_processing_mode_page(
processing_mode_pages,
[
("Config mode", legacy_gpr_config_mode),
("Relative permittivity", gpr_relative_permittivity),
("Input positions", legacy_gpr_input_positions_input),
("Output positions", legacy_gpr_output_positions_input),
("Min depth (m)", legacy_gpr_min_depth_m),
("Max depth (m)", legacy_gpr_max_depth_m),
("Compensation power", legacy_gpr_comp_power),
("SNR threshold", legacy_gpr_snr_thresh),
("Max SNR compensation", legacy_gpr_snr_comp_max),
("Speed (m/s)", legacy_gpr_speed_m_s),
legacy_gpr_ignore_socket_speed_enabled,
("Render mode", legacy_gpr_render_mode),
("Min visible pairs", legacy_gpr_min_visible_pair_count),
("Start (MHz)", legacy_gpr_start_freq_mhz),
("Stop (MHz)", legacy_gpr_stop_freq_mhz),
("Look angle (°)", legacy_gpr_look_angle_deg),
("Reference mode", legacy_gpr_reference_mode),
legacy_gpr_apply_freq_phase_correction,
("Visible X min (m)", legacy_gpr_visible_x_min_m),
("Visible X max (m)", legacy_gpr_visible_x_max_m),
("Visible Z min (m)", legacy_gpr_visible_z_min_m),
("Visible Z max (m)", legacy_gpr_visible_z_max_m),
legacy_gpr_background_subtract_enabled,
("Mean count", legacy_gpr_background_mean_count),
],
split_index=10,
)
processing_mode_pages.addWidget(legacy_gpr_page)
# 3D SAR page. The labels are the names of the reference notebook
# Multi_antenna_3D_clean_v1.ipynb; the shared gpr_* fields get their own
# widgets here, like on the legacy page.
# Multi_antenna_demonstrate_depthnorm.ipynb; the shared gpr_* fields get their own
# widgets here, like on the GPR page.
sar3d_input_positions_input = view.add("_sar3d_input_positions_input", QLineEdit())
sar3d_input_positions_input.setPlaceholderText("0,1,2")
sar3d_output_positions_input = view.add("_sar3d_output_positions_input", QLineEdit())
@@ -311,8 +240,8 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
sar3d_speed_m_s = view.add("_sar3d_speed_m_s", double_spin(-100.0, 100.0, 3, 0.05))
sar3d_frame_radius = view.add("_sar3d_frame_radius", integer_spin(0, 24))
sar3d_frame_radius.setToolTip(
"Aperture of 2*r+1 consecutive frames. 0: the current frame only (needs a vertical antenna "
"baseline); >0 adds aperture from motion and needs an accurate speed. The image lags by r frames."
"Causal aperture: current and r previous frames. 0: the current frame only (needs a vertical antenna "
"baseline); >0 adds aperture from motion and needs an accurate speed. The scene follows the current frame."
)
sar3d_bp_ground_depth_m = view.add("_sar3d_bp_ground_depth_m", double_spin(0.0, 10.0, 2, 0.05))
sar3d_bp_ground_depth_m.setToolTip("Height of the lower antenna row above the ground (m); scene Y = 0 is the ground.")
@@ -321,6 +250,17 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
sar3d_use_compensation = view.add("_sar3d_use_compensation", QCheckBox("SAR_USE_COMPENSATION"))
sar3d_normalize_each_frame = view.add("_sar3d_normalize_each_frame", QCheckBox("SAR_NORMALIZE_EACH_FRAME"))
sar3d_normalize_each_frame.setToolTip("Scale every Tx/Rx A-scan by its median inside the depth gate.")
sar3d_pair_depth_equalize = view.add("_sar3d_pair_depth_equalize", QCheckBox("PAIR_DEPTH_EQUALIZE"))
sar3d_background_subtract_enabled = view.add("_sar3d_background_subtract_enabled", QCheckBox("Subtract mean of previous collections"))
sar3d_background_mean_count = view.add("_sar3d_background_mean_count", integer_spin(0, 10000))
sar3d_x_size_m = view.add("_sar3d_x_size_m", double_spin(0.0, 100.0, 2, 0.1))
sar3d_y_min_m = view.add("_sar3d_y_min_m", double_spin(-50.0, 50.0, 2, 0.1))
sar3d_y_max_m = view.add("_sar3d_y_max_m", double_spin(-50.0, 50.0, 2, 0.1))
sar3d_z_size_m = view.add("_sar3d_z_size_m", double_spin(0.0, 100.0, 2, 0.1))
sar3d_cloud_threshold = view.add("_sar3d_cloud_threshold", double_spin(0.0, 1.0, 2, 0.05))
sar3d_zoom_percent = view.add("_sar3d_zoom_percent", QSlider(Qt.Orientation.Horizontal))
sar3d_zoom_percent.setRange(100, 1000)
sar3d_zoom_percent.setToolTip("100% shows the full scene; higher values zoom towards its brightest object.")
sar3d_page = _build_processing_mode_page(
processing_mode_pages,
@@ -340,6 +280,15 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
("COMP_RANGE_POWER", sar3d_comp_range_power),
sar3d_use_compensation,
sar3d_normalize_each_frame,
sar3d_pair_depth_equalize,
sar3d_background_subtract_enabled,
("Mean count", sar3d_background_mean_count),
("SAR_X_SIZE_M (0 = auto)", sar3d_x_size_m),
("SAR_Y_RANGE_M min", sar3d_y_min_m),
("SAR_Y_RANGE_M max", sar3d_y_max_m),
("SAR_Z_SIZE_M (0 = auto)", sar3d_z_size_m),
("SAR_CLOUD_THRESHOLD", sar3d_cloud_threshold),
("Zoom (%)", sar3d_zoom_percent),
],
split_index=8,
)
@@ -367,17 +316,14 @@ def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> Proces
geometry_page=gpr_common_page, geometries=(gpr_tx_geometry_input, gpr_rx_geometry_input),
fixed_y=pass_through_fixed_y_enabled, y_bounds=(pass_through_y_min_db, pass_through_y_max_db),
speed_controls=((gpr_ignore_socket_speed_enabled, gpr_speed_m_s),
(legacy_gpr_ignore_socket_speed_enabled, legacy_gpr_speed_m_s),
(sar3d_ignore_socket_speed_enabled, sar3d_speed_m_s)),
trace_controls=(show_magnitude_checkbox, show_phase_checkbox, unwrap_phase_checkbox,
pass_through_combo_filter_input, pass_through_fixed_y_enabled,
pass_through_y_min_db, pass_through_y_max_db),
visual_controls=(gpr_render_mode, legacy_gpr_render_mode),
visual_controls=(gpr_render_mode, sar3d_cloud_threshold, sar3d_zoom_percent),
locator_controls=(gpr_max_detected_objects_to_draw, gpr_draw_top_m_objects,
legacy_gpr_min_visible_pair_count, gpr_visible_x_min_m, gpr_visible_x_max_m,
gpr_visible_z_min_m, gpr_visible_z_max_m, legacy_gpr_visible_x_min_m,
legacy_gpr_visible_x_max_m, legacy_gpr_visible_z_min_m, legacy_gpr_visible_z_max_m),
gpr_visible_x_min_m, gpr_visible_x_max_m,
gpr_visible_z_min_m, gpr_visible_z_max_m),
frequency_controls=(bscan_start_freq_mhz, bscan_stop_freq_mhz, gpr_start_freq_mhz, gpr_stop_freq_mhz,
legacy_gpr_start_freq_mhz, legacy_gpr_stop_freq_mhz,
sar3d_start_freq_mhz, sar3d_stop_freq_mhz),
)