Rework radar system
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Ayzen
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"""GPR heatmaps and object overlays with renderer-owned graphics and geometry."""
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from __future__ import annotations
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from PyQt6.QtCore import QRectF
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import numpy as np
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import pyqtgraph as pg
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from python_app.gui.controllers.renderers.common import build_lut, create_plot
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from python_app.gui.result_payloads import (
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collection_payload_by_name, collection_payloads_by_prefix,
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filter_object_rows, gpr_object_rows,
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)
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from python_app.models.run_config_validation import parse_position_csv
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from python_app.models.dataset_model import ResultCollection, ResultPayload
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from python_app.models.gui_profile_schema import GuiGprStateModel, GuiLegacyGprStateModel
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from python_app.models.run_config_schema import GprModel
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GprSettings = GuiGprStateModel | GuiLegacyGprStateModel
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def normalized_display_range(start: float, stop: float, *, minimum_span: float = 0.1) -> tuple[float, float]:
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"""Order display bounds and expand an empty interval around its center."""
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lower, upper = sorted((float(start), float(stop)))
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if upper - lower >= minimum_span:
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return lower, upper
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center = 0.5 * (lower + upper)
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return center - 0.5 * minimum_span, center + 0.5 * minimum_span
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def display_y_min(z_min: float, z_max: float) -> float:
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"""Leave room for antenna markers when the surface is visible."""
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if z_min > 0.0:
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return z_min
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return z_min - max(max(z_max - z_min, 1e-6) * 0.03, 0.06)
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def object_label_candidates(
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x_m: float, z_m: float, *, x_span: float, z_span: float,
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) -> list[tuple[float, float, tuple[float, float]]]:
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"""Candidate label placements, ordered by proximity to the object."""
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dx, dz = max(x_span * 0.015, 0.02), max(z_span * 0.02, 0.02)
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return [
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(x_m + dx, z_m - dz, (0.0, 1.0)),
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(x_m + dx, z_m + dz, (0.0, 0.0)),
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(x_m - dx, z_m - dz, (1.0, 1.0)),
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(x_m - dx, z_m + dz, (1.0, 0.0)),
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(x_m, z_m - dz * 1.35, (0.5, 1.0)),
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(x_m, z_m + dz * 1.35, (0.5, 0.0)),
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(x_m + dx * 2.2, z_m - dz * 1.5, (0.0, 1.0)),
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(x_m + dx * 2.2, z_m + dz * 1.5, (0.0, 0.0)),
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(x_m - dx * 2.2, z_m - dz * 1.5, (1.0, 1.0)),
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(x_m - dx * 2.2, z_m + dz * 1.5, (1.0, 0.0)),
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]
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def _title(settings: GprSettings, *, objects_only: bool = False) -> str:
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title = f"Legacy GPR {settings.mode}" if isinstance(settings, GuiLegacyGprStateModel) else "GPR coherent BP"
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return f"{title} Objects Only" if objects_only else title
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class GprRenderer:
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"""Draw one collection from explicit display settings and antenna geometry."""
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def __init__(self) -> None:
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self.widget = create_plot("GPR coherent BP")
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self.widget.setBackground("#0f141c")
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plot = self.widget.getPlotItem()
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assert plot is not None
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self._plot = plot
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self._view = plot.getViewBox()
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self._plot.showGrid(x=True, y=True, alpha=0.2)
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self._configure_axes()
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self._lookup_table = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"])
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self._image = pg.ImageItem(axisOrder="row-major")
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self._tx = pg.ScatterPlotItem()
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self._rx = pg.ScatterPlotItem()
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self._points = pg.ScatterPlotItem()
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self._region_centers = pg.ScatterPlotItem()
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self._markers = (self._tx, self._rx, self._points, self._region_centers)
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for item, z_value in zip((self._image, *self._markers), (0, 20, 20, 30, 30)):
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item.setZValue(z_value)
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item.hide()
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self._plot.addItem(item)
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self._labels: list[pg.TextItem] = []
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self._masks: list[pg.ImageItem] = []
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self._contours: list[pg.IsocurveItem] = []
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self._geometry_signature: tuple[object, ...] | None = None
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self._selected_geometry = (np.zeros(0, dtype=np.float32), np.zeros(0, dtype=np.float32))
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def _configure_axes(self) -> None:
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plot = self._plot
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plot.showAxis("left", show=True)
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plot.showAxis("bottom", show=True)
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plot.setClipToView(True)
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plot.setLabel("bottom", "X", units="m")
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plot.setLabel("left", "Range", units="m")
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plot.setMenuEnabled(False)
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plot.hideButtons()
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view = self._view
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view.invertY(False)
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view.enableAutoRange(x=False, y=False)
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view.setMouseEnabled(x=False, y=False)
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view.setMenuEnabled(False)
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def _clear_annotations(self) -> None:
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for item in (*self._labels, *self._masks):
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self._plot.removeItem(item)
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self._labels.clear()
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self._masks.clear()
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self._contours.clear()
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def clear(self, settings: GprSettings) -> None:
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"""Clear displayed data while retaining reusable graphics items."""
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self._configure_axes()
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self._clear_annotations()
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self._image.hide()
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for marker in self._markers:
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marker.setData(x=[], y=[])
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marker.hide()
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self._plot.setTitle(_title(settings))
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def _geometry(self, settings: GprSettings, geometry: GprModel) -> tuple[np.ndarray, np.ndarray]:
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inputs = tuple(parse_position_csv(settings.input_positions))
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outputs = tuple(parse_position_csv(settings.output_positions))
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signature = (
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tuple((entry.output_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.tx_geometry),
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tuple((entry.input_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.rx_geometry),
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inputs, outputs,
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)
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if signature != self._geometry_signature:
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self._selected_geometry = (
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np.asarray([
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entry.x_m for entry in sorted(geometry.tx_geometry, key=lambda entry: entry.output_pos)
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if not outputs or entry.output_pos in outputs
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], dtype=np.float32),
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np.asarray([
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entry.x_m for entry in sorted(geometry.rx_geometry, key=lambda entry: entry.input_pos)
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if not inputs or entry.input_pos in inputs
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], dtype=np.float32),
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)
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self._geometry_signature = signature
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return self._selected_geometry
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def _draw_geometry(self, settings: GprSettings, geometry: GprModel) -> None:
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tx, rx = self._geometry(settings, geometry)
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for marker, xs, symbol, brush, pen in (
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(self._tx, tx, "t", "#ff595e", "#ffca3a"),
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(self._rx, rx, "t1", "#4cc9f0", "#e0fbfc"),
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):
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marker.setData(
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x=xs, y=np.zeros_like(xs), symbol=symbol, size=13,
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brush=pg.mkBrush(brush), pen=pg.mkPen(pen, width=1.0),
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)
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marker.setVisible(xs.size > 0)
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def _label(self, text: str, x: float, y: float, color: str) -> pg.TextItem:
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label = pg.TextItem(text=text, color=color, anchor=(0.0, 1.0))
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label.setZValue(40)
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label.setPos(x, y)
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self._plot.addItem(label)
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self._labels.append(label)
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return label
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def _draw_regions(self, collection: ResultCollection, rect: QRectF) -> None:
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centers_payload = collection_payload_by_name(collection, "gpr_region_centers", kind=4)
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if centers_payload is not None and np.asarray(centers_payload.table).size > 0:
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centers = np.asarray(centers_payload.table, dtype=np.float32)
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self._region_centers.setData(
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x=centers[:, 0], y=centers[:, 1], symbol="o", size=10,
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brush=pg.mkBrush("#80ed99"), pen=pg.mkPen("#081c15", width=1.1),
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)
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self._region_centers.show()
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for row in centers:
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self._label(f"{float(row[2]):.0f}", float(row[0]), float(row[1]), "#d8f3dc")
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for payload in collection_payloads_by_prefix(collection, "gpr_region_mask_", kind=3):
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mask = np.asarray(payload.image, dtype=np.float32)
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if mask.ndim != 2 or mask.size == 0:
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continue
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mask_image = pg.ImageItem(axisOrder="row-major")
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mask_image.setZValue(5)
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mask_image.setImage(mask, autoLevels=False)
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mask_image.setRect(rect)
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mask_image.setOpacity(0.0)
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self._plot.addItem(mask_image)
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contour = pg.IsocurveItem(data=mask)
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contour.setLevel(0.5)
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contour.setPen("#4cc9f0", width=1.3)
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contour.setParentItem(mask_image)
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self._masks.append(mask_image)
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self._contours.append(contour)
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@staticmethod
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def _place_object_label(
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label: pg.TextItem, x: float, z: float, x_span: float, z_span: float, occupied: list[QRectF],
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) -> None:
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for label_x, label_z, anchor in object_label_candidates(x, z, x_span=x_span, z_span=z_span):
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label.setAnchor(anchor)
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label.setPos(label_x, label_z)
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rect = label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0)
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if not any(rect.intersects(other) for other in occupied):
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occupied.append(rect)
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return
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occupied.append(label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0))
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def _draw_points(
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self, rows: np.ndarray, settings: GprSettings, objects_only: bool, x_span: float, z_span: float,
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) -> None:
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if rows.size == 0:
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return
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self._points.setData(
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x=rows[:, 0], y=rows[:, 1], symbol="o" if objects_only else "d",
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size=18 if objects_only else 11,
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brush=pg.mkBrush("#ff4d4f" if objects_only else "#ffffff"),
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pen=pg.mkPen("#ff4d4f" if objects_only else "#111111", width=1.6 if objects_only else 1.1),
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)
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self._points.show()
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occupied: list[QRectF] = []
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for x_value, z_value, score in rows:
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x, z = float(x_value), float(z_value)
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text = f"{float(score):.0f}" if isinstance(settings, GuiLegacyGprStateModel) else f"{float(score):.2f}"
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if objects_only:
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text += f" | x={x:.1f} | z={z:.1f}"
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label = self._label(text, x, z, "#ffd6d9" if objects_only else "#ffffff")
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if objects_only:
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self._place_object_label(label, x, z, x_span, z_span, occupied)
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def draw(self, collection: ResultCollection, settings: GprSettings, geometry: GprModel) -> bool:
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"""Render a heatmap or object-only view, returning whether data is present."""
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objects_only = settings.render_mode == "objects_only"
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accumulator = collection_payload_by_name(collection, "gpr_accumulator", kind=3)
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x_min, x_max = normalized_display_range(settings.visible_x_min_m, settings.visible_x_max_m)
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z_min, z_max = normalized_display_range(settings.visible_z_min_m, settings.visible_z_max_m)
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rows = gpr_object_rows(collection)
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# Coherent BP rows are finalized in C++; only legacy GPR uses GUI filtering.
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if isinstance(settings, GuiLegacyGprStateModel):
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rows = filter_object_rows(
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rows, min_score=float(settings.min_visible_pair_count),
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x_bounds=(x_min, x_max), z_bounds=(z_min, z_max),
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)
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if objects_only:
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if accumulator is None and rows.size == 0:
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self.clear(settings)
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return False
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elif accumulator is None or not self._valid_accumulator(accumulator):
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self.clear(settings)
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return False
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self.widget.setUpdatesEnabled(False)
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try:
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self._clear_annotations()
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self._image.hide()
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for marker in (self._points, self._region_centers):
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marker.setData(x=[], y=[])
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marker.hide()
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self._view.invertY(False)
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self._draw_geometry(settings, geometry)
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rect: QRectF | None = None
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if not objects_only and accumulator is not None:
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image = np.asarray(accumulator.image, dtype=np.float32)
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xs = np.asarray(accumulator.image_x_axis, dtype=np.float32)
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ys = np.asarray(accumulator.image_y_axis, dtype=np.float32)
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rect = QRectF(
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float(xs[0]), float(ys[0]),
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max(float(xs[-1]) - float(xs[0]), 1e-6),
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max(float(ys[-1]) - float(ys[0]), 1e-6),
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)
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self._image.setImage(image, autoLevels=False)
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self._image.setRect(rect)
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self._image.setLookupTable(self._lookup_table)
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self._image.setLevels((float(np.min(image)), float(np.max(image) + 1e-6)))
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self._image.show()
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self._view.setXRange(x_min, x_max, padding=0.0)
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self._view.setYRange(display_y_min(z_min, z_max), z_max, padding=0.0)
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points = collection_payload_by_name(collection, "gpr_points", kind=4)
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if points is None or np.asarray(points.table).size == 0:
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rows = np.zeros((0, 3), dtype=np.float32)
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self._draw_points(rows, settings, objects_only, x_max - x_min, z_max - z_min)
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if rect is not None:
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self._draw_regions(collection, rect)
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if objects_only:
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self._view.setXRange(x_min, x_max, padding=0.0)
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self._view.setYRange(display_y_min(z_min, z_max), z_max, padding=0.0)
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self._plot.setTitle(_title(settings, objects_only=objects_only))
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finally:
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self.widget.setUpdatesEnabled(True)
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return True
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@staticmethod
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def _valid_accumulator(payload: ResultPayload) -> bool:
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image = np.asarray(payload.image)
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return image.ndim == 2 and image.size > 0 and np.size(payload.image_x_axis) > 0 and np.size(payload.image_y_axis) > 0
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