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sar3d: GPU port of the notebook with four views

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The sar3d processor is rewritten as a checked port of Multi_antenna_3D_clean_v1.ipynb:
NVRTC kernels, timing from the trace stamps, notebook parameter names and one cubic
SAR_VOXEL_M. It adds front, side, top and 3D views, drops gpr_cpp and the parity tools,
and the GUI speed now applies only while the socket speed is ignored.
This commit is contained in:
Ayzen
2026-10-02 16:05:22 +03:00
parent 61ef8720e1
commit 45861f4047
50 changed files with 1737 additions and 8144 deletions
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python_app/gui/controllers/app_window_config/live_processing_mixin.py
+31 -41
View File
@@ -13,7 +13,6 @@ from PyQt6.QtWidgets import (
)
from python_app.gui.runtime.constraints import validate_processing_mode_constraints
from python_app.gui.runtime.sar3d_views import sar3d_bottom_view_deg_from_label
from python_app.orchestration.live_processing_config import ProcessingLiveConfig
_GPR_MODES = ("gpr", "legacy_gpr")
@@ -83,32 +82,17 @@ _WEB_LIVE_SCHEMA = [
("gpr_visible_z_max_m", "Visible window", _GPR_MODES, _dual("_gpr_visible_z_max_m", {"legacy_gpr": "_legacy_gpr_visible_z_max_m"})),
("gpr_motion_mode", "Motion", ("gpr",), _attr("_gpr_motion_mode")),
("gpr_look_angle_deg", "Motion", _GPR_LIKE_MODES, _dual("_gpr_look_angle_deg", {"legacy_gpr": "_legacy_gpr_look_angle_deg", "sar3d": "_sar3d_look_angle_deg"})),
("gpr_direction_sign", "Motion", ("gpr", "sar3d"), _dual("_gpr_direction_sign", {"sar3d": "_sar3d_direction_sign"})),
("gpr_apply_freq_phase_correction", "Motion", ("legacy_gpr", "sar3d"), _dual("_legacy_gpr_apply_freq_phase_correction", {"sar3d": "_sar3d_apply_freq_phase_correction"})),
("gpr_direction_sign", "Motion", ("gpr",), _attr("_gpr_direction_sign")),
("gpr_apply_freq_phase_correction", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_apply_freq_phase_correction")),
("gpr_reference_mode", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_reference_mode")),
("ignore_socket_speed", "Motion", _GPR_LIKE_MODES, _dual("_gpr_ignore_socket_speed_enabled", {"legacy_gpr": "_legacy_gpr_ignore_socket_speed_enabled", "sar3d": "_sar3d_ignore_socket_speed_enabled"})),
("gpr_speed_m_s", "Motion", _GPR_LIKE_MODES, _dual("_gpr_speed_m_s", {"legacy_gpr": "_legacy_gpr_speed_m_s", "sar3d": "_sar3d_speed_m_s"})),
("sar3d_frame_radius", "3D SAR", ("sar3d",), _attr("_sar3d_frame_radius")),
("sar3d_edge_frame_weight", "3D SAR", ("sar3d",), _attr("_sar3d_edge_frame_weight")),
("sar3d_pitch_override_enabled", "3D SAR", ("sar3d",), _attr("_sar3d_pitch_override_enabled")),
("sar3d_pitch_deg", "3D SAR", ("sar3d",), _attr("_sar3d_pitch_deg")),
("sar3d_ground_depth_m", "3D SAR", ("sar3d",), _attr("_sar3d_ground_depth_m")),
("sar3d_x_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_x_min_m")),
("sar3d_x_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_x_max_m")),
("sar3d_y_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_y_min_m")),
("sar3d_y_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_y_max_m")),
("sar3d_z_min_m", "3D SAR", ("sar3d",), _attr("_sar3d_z_min_m")),
("sar3d_z_max_m", "3D SAR", ("sar3d",), _attr("_sar3d_z_max_m")),
("sar3d_voxel_x_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_x_m")),
("sar3d_voxel_y_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_y_m")),
("sar3d_voxel_z_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_z_m")),
("sar3d_norm_edge_margin_m", "3D SAR", ("sar3d",), _attr("_sar3d_norm_edge_margin_m")),
("sar3d_smooth_sigma", "3D SAR", ("sar3d",), _attr("_sar3d_smooth_sigma")),
("sar3d_voxel_m", "3D SAR", ("sar3d",), _attr("_sar3d_voxel_m")),
("sar3d_bp_ground_depth_m", "3D SAR", ("sar3d",), _attr("_sar3d_bp_ground_depth_m")),
("sar3d_comp_range_power", "3D SAR", ("sar3d",), _attr("_sar3d_comp_range_power")),
("sar3d_tx_per_segment", "3D SAR", ("sar3d",), _attr("_sar3d_tx_per_segment")),
("sar3d_use_compensation", "3D SAR", ("sar3d",), _attr("_sar3d_use_compensation")),
("sar3d_normalize_pairs", "3D SAR", ("sar3d",), _attr("_sar3d_normalize_pairs")),
("sar3d_bottom_view_deg", "3D SAR", ("sar3d",), _attr("_sar3d_bottom_view")),
("sar3d_normalize_each_frame", "3D SAR", ("sar3d",), _attr("_sar3d_normalize_each_frame")),
]
_WEB_LIVE_GETTERS = {field: getter for field, _group, _modes, getter in _WEB_LIVE_SCHEMA}
@@ -259,7 +243,7 @@ class AppWindowLiveProcessingMixin:
:meth:`_is_gpr_processing_mode`; this predicate gates only the shared
behaviors (result drain on settings changes, geometry page visibility).
"""
return mode in set(_GPR_LIKE_MODES)
return mode in _GPR_LIKE_MODES
def _validate_processing_mode_selection(self, mode: str) -> None:
"""Validate requested processing mode against current stable/live GUI state."""
@@ -295,10 +279,6 @@ class AppWindowLiveProcessingMixin:
# Switch-position CSV text -> integer lists.
values["gpr_input_positions"] = self._parse_csv_int_list(values["gpr_input_positions"])
values["gpr_output_positions"] = self._parse_csv_int_list(values["gpr_output_positions"])
# Bottom-view combo label -> projection angle in degrees.
values["sar3d_bottom_view_deg"] = sar3d_bottom_view_deg_from_label(
str(values["sar3d_bottom_view_deg"])
)
# Order-normalize the pass-through Y range so a reversed entry still works.
y_min_db, y_max_db = values["pass_through_y_min_db"], values["pass_through_y_max_db"]
values["pass_through_y_min_db"] = min(y_min_db, y_max_db)
@@ -424,13 +404,23 @@ class AppWindowLiveProcessingMixin:
except Exception as exc: # noqa: BLE001
self._show_exception("Failed to update live processing settings", exc)
def _on_legacy_gpr_ignore_socket_speed_toggled(self, ignore_socket_speed: bool) -> None:
"""Reflect socket/manual speed authority in the GUI and live config."""
try:
self._legacy_gpr_speed_m_s.setEnabled(bool(ignore_socket_speed))
self._write_live_processing_config()
except Exception as exc: # noqa: BLE001
self._show_exception("Failed to update socket-speed mode", exc)
def _sync_socket_speed_controls(self) -> None:
"""Enable each GPR-like speed field only while its page ignores the socket speed.
Unchecked, the speed a locator client streams drives the processing and the
field only stands in while no client sends one, so it must not look editable.
"""
for checkbox, speed in (
(self._gpr_ignore_socket_speed_enabled, self._gpr_speed_m_s),
(self._legacy_gpr_ignore_socket_speed_enabled, self._legacy_gpr_speed_m_s),
(self._sar3d_ignore_socket_speed_enabled, self._sar3d_speed_m_s),
):
speed.setEnabled(checkbox.isChecked())
def _on_ignore_socket_speed_toggled(self, *_args) -> None:
"""Switch the speed authority between the socket client and the GUI field."""
self._sync_socket_speed_controls()
self._on_processing_live_settings_changed()
def _on_gpr_visual_settings_changed(self, *_args) -> None:
"""Redraw current GPR result using updated GUI-only render settings."""
@@ -556,13 +546,13 @@ class AppWindowLiveProcessingMixin:
elif mode == "sar3d":
self._log(
"Processing mode selected: sar3d "
f"(inputs={self._sar3d_input_positions_input.text().strip() or '<all>'}, "
f"outputs={self._sar3d_output_positions_input.text().strip() or '<all>'}, "
f"depth={self._sar3d_min_depth_m.value():g}..{self._sar3d_max_depth_m.value():g} m, "
f"freq={self._sar3d_start_freq_mhz.value():g}..{self._sar3d_stop_freq_mhz.value():g} MHz, "
f"frame_radius={self._sar3d_frame_radius.value()}, "
f"voxel={self._sar3d_voxel_x_m.value():g}x{self._sar3d_voxel_y_m.value():g}x{self._sar3d_voxel_z_m.value():g} m, "
f"ground_depth={self._sar3d_ground_depth_m.value():g} m)"
f"(INPUT_IDX={self._sar3d_input_positions_input.text().strip() or '<all>'}, "
f"OUTPUT_IDX={self._sar3d_output_positions_input.text().strip() or '<all>'}, "
f"F={self._sar3d_start_freq_mhz.value():g}..{self._sar3d_stop_freq_mhz.value():g} MHz, "
f"DEPTH={self._sar3d_min_depth_m.value():g}..{self._sar3d_max_depth_m.value():g} m, "
f"SAR_VOXEL_M={self._sar3d_voxel_m.value():g}, "
f"LOOK_ANGLE_DEG={self._sar3d_look_angle_deg.value():g}, "
f"SAR_FRAME_RADIUS={self._sar3d_frame_radius.value()})"
)
def _clear_history_mode_caches(self) -> None:
@@ -574,7 +564,7 @@ class AppWindowLiveProcessingMixin:
self._clear_trace_plots()
if hasattr(self, "_gpr_plot"):
self._clear_gpr_plot()
if hasattr(self, "_sar3d_xz_plot"):
if hasattr(self, "_sar3d_plots"):
self._clear_sar3d_plot()
def _redraw_after_history_deletion(self) -> None:
python_app/gui/controllers/app_window_config/profile_io_mixin.py
+9 -47
View File
@@ -10,7 +10,6 @@ from pathlib import Path
from PyQt6.QtCore import QSignalBlocker
from PyQt6.QtWidgets import QFileDialog
from python_app.gui.runtime.sar3d_views import sar3d_bottom_view_label_from_deg
from python_app.models.gui_profile_model import GuiProfileModel
from python_app.models.run_config_model import RunConfigModel
from python_app.orchestration.preprocess_assets import (
@@ -346,28 +345,12 @@ class AppWindowConfigProfileIOMixin:
self._sar3d_speed_m_s,
self._sar3d_ignore_socket_speed_enabled,
self._sar3d_look_angle_deg,
self._sar3d_direction_sign,
self._sar3d_apply_freq_phase_correction,
self._sar3d_frame_radius,
self._sar3d_edge_frame_weight,
self._sar3d_pitch_override_enabled,
self._sar3d_pitch_deg,
self._sar3d_ground_depth_m,
self._sar3d_x_min_m,
self._sar3d_x_max_m,
self._sar3d_y_min_m,
self._sar3d_y_max_m,
self._sar3d_z_min_m,
self._sar3d_z_max_m,
self._sar3d_voxel_x_m,
self._sar3d_voxel_y_m,
self._sar3d_voxel_z_m,
self._sar3d_norm_edge_margin_m,
self._sar3d_smooth_sigma,
self._sar3d_voxel_m,
self._sar3d_bp_ground_depth_m,
self._sar3d_comp_range_power,
self._sar3d_tx_per_segment,
self._sar3d_use_compensation,
self._sar3d_normalize_pairs,
self._sar3d_normalize_each_frame,
self._save_count,
self._record_count,
self._save_path_input,
@@ -532,11 +515,9 @@ class AppWindowConfigProfileIOMixin:
self._legacy_gpr_start_freq_mhz.setValue(float(gui_state.processing.legacy_gpr.start_freq_mhz))
self._legacy_gpr_stop_freq_mhz.setValue(float(gui_state.processing.legacy_gpr.stop_freq_mhz))
self._legacy_gpr_speed_m_s.setValue(float(gui_state.processing.legacy_gpr.speed_m_s))
ignore_socket_speed_enabled = bool(
gui_state.processing.legacy_gpr.ignore_socket_speed_enabled
self._legacy_gpr_ignore_socket_speed_enabled.setChecked(
bool(gui_state.processing.legacy_gpr.ignore_socket_speed_enabled)
)
self._legacy_gpr_ignore_socket_speed_enabled.setChecked(ignore_socket_speed_enabled)
self._legacy_gpr_speed_m_s.setEnabled(ignore_socket_speed_enabled)
self._legacy_gpr_look_angle_deg.setValue(float(gui_state.processing.legacy_gpr.look_angle_deg))
self._legacy_gpr_apply_freq_phase_correction.setChecked(
bool(gui_state.processing.legacy_gpr.apply_freq_phase_correction)
@@ -566,32 +547,13 @@ class AppWindowConfigProfileIOMixin:
self._sar3d_speed_m_s.setValue(float(sar3d_state.speed_m_s))
self._sar3d_ignore_socket_speed_enabled.setChecked(bool(sar3d_state.ignore_socket_speed_enabled))
self._sar3d_look_angle_deg.setValue(float(sar3d_state.look_angle_deg))
self._sar3d_direction_sign.setValue(float(sar3d_state.direction_sign))
self._sar3d_apply_freq_phase_correction.setChecked(bool(sar3d_state.apply_freq_phase_correction))
self._sar3d_frame_radius.setValue(int(sar3d_state.frame_radius))
self._sar3d_edge_frame_weight.setValue(float(sar3d_state.edge_frame_weight))
self._sar3d_pitch_override_enabled.setChecked(bool(sar3d_state.pitch_override_enabled))
self._sar3d_pitch_deg.setValue(float(sar3d_state.pitch_deg))
self._sar3d_ground_depth_m.setValue(float(sar3d_state.ground_depth_m))
self._sar3d_x_min_m.setValue(float(sar3d_state.x_min_m))
self._sar3d_x_max_m.setValue(float(sar3d_state.x_max_m))
self._sar3d_y_min_m.setValue(float(sar3d_state.y_min_m))
self._sar3d_y_max_m.setValue(float(sar3d_state.y_max_m))
self._sar3d_z_min_m.setValue(float(sar3d_state.z_min_m))
self._sar3d_z_max_m.setValue(float(sar3d_state.z_max_m))
self._sar3d_voxel_x_m.setValue(float(sar3d_state.voxel_x_m))
self._sar3d_voxel_y_m.setValue(float(sar3d_state.voxel_y_m))
self._sar3d_voxel_z_m.setValue(float(sar3d_state.voxel_z_m))
self._sar3d_norm_edge_margin_m.setValue(float(sar3d_state.norm_edge_margin_m))
self._sar3d_smooth_sigma.setValue(float(sar3d_state.smooth_sigma))
self._sar3d_voxel_m.setValue(float(sar3d_state.voxel_m))
self._sar3d_bp_ground_depth_m.setValue(float(sar3d_state.bp_ground_depth_m))
self._sar3d_comp_range_power.setValue(float(sar3d_state.comp_range_power))
self._sar3d_tx_per_segment.setValue(int(sar3d_state.tx_per_segment))
self._sar3d_use_compensation.setChecked(bool(sar3d_state.use_compensation))
self._sar3d_normalize_pairs.setChecked(bool(sar3d_state.normalize_pairs))
self._set_combo_current_text(
self._sar3d_bottom_view,
sar3d_bottom_view_label_from_deg(float(sar3d_state.bottom_view_deg)),
)
self._sar3d_normalize_each_frame.setChecked(bool(sar3d_state.normalize_each_frame))
self._sync_socket_speed_controls()
self._save_count.setValue(int(gui_state.data_actions.save_count))
self._record_count.setValue(int(gui_state.data_actions.record_count))
python_app/gui/controllers/app_window_config/state_builders.py
+3 -23
View File
@@ -25,7 +25,6 @@ from python_app.orchestration.preprocess_assets import (
VISIBLE_PREPROCESS_ASSET_KEYS,
preprocess_asset_model,
)
from python_app.gui.runtime.sar3d_views import sar3d_bottom_view_deg_from_label
from python_app.storage.npz_store import radar_key_from_config
@@ -434,31 +433,12 @@ class AppWindowConfigStateBuildersMixin:
speed_m_s=float(self._sar3d_speed_m_s.value()),
ignore_socket_speed_enabled=bool(self._sar3d_ignore_socket_speed_enabled.isChecked()),
look_angle_deg=float(self._sar3d_look_angle_deg.value()),
direction_sign=float(self._sar3d_direction_sign.value()),
apply_freq_phase_correction=bool(self._sar3d_apply_freq_phase_correction.isChecked()),
frame_radius=int(self._sar3d_frame_radius.value()),
edge_frame_weight=float(self._sar3d_edge_frame_weight.value()),
pitch_override_enabled=bool(self._sar3d_pitch_override_enabled.isChecked()),
pitch_deg=float(self._sar3d_pitch_deg.value()),
ground_depth_m=float(self._sar3d_ground_depth_m.value()),
x_min_m=float(self._sar3d_x_min_m.value()),
x_max_m=float(self._sar3d_x_max_m.value()),
y_min_m=float(self._sar3d_y_min_m.value()),
y_max_m=float(self._sar3d_y_max_m.value()),
z_min_m=float(self._sar3d_z_min_m.value()),
z_max_m=float(self._sar3d_z_max_m.value()),
voxel_x_m=float(self._sar3d_voxel_x_m.value()),
voxel_y_m=float(self._sar3d_voxel_y_m.value()),
voxel_z_m=float(self._sar3d_voxel_z_m.value()),
norm_edge_margin_m=float(self._sar3d_norm_edge_margin_m.value()),
smooth_sigma=float(self._sar3d_smooth_sigma.value()),
voxel_m=float(self._sar3d_voxel_m.value()),
bp_ground_depth_m=float(self._sar3d_bp_ground_depth_m.value()),
comp_range_power=float(self._sar3d_comp_range_power.value()),
tx_per_segment=int(self._sar3d_tx_per_segment.value()),
use_compensation=bool(self._sar3d_use_compensation.isChecked()),
normalize_pairs=bool(self._sar3d_normalize_pairs.isChecked()),
bottom_view_deg=sar3d_bottom_view_deg_from_label(
self._sar3d_bottom_view.currentText()
),
normalize_each_frame=bool(self._sar3d_normalize_each_frame.isChecked()),
),
),
data_actions=GuiDataActionsStateModel(