awe/radar_system
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix graph and white background added

Browse Source
This commit is contained in:
Ayzen
2026-10-15 14:46:06 +03:00
parent 5102ed751c
commit 9a9b8ce5c7
35 changed files with 730 additions and 463 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python_app/gui/controllers/renderers/sar3d.py
+20 -25
View File
@@ -24,8 +24,11 @@ import pyqtgraph as pg
from PyQt6.QtCore import QRectF, Qt
from PyQt6.QtWidgets import QGridLayout, QLabel, QVBoxLayout, QWidget
from python_app.gui.controllers.renderers.common import ANTENNA_STYLES, build_lut, create_plot, selected_antenna_coordinates
from python_app.gui.controllers.renderers.common import (
ANTENNA_STYLES, build_lut, create_plot, image_rect, selected_antenna_coordinates,
)
from python_app.gui.result_payloads import collection_payload_by_name
from python_app.gui.theme import PLOT_FOREGROUND
from python_app.models.dataset_model import ResultCollection, ResultPayload
from python_app.models.gui_profile_schema import GuiSar3dStateModel
from python_app.models.run_config_schema import GprModel
@@ -33,6 +36,9 @@ from python_app.models.run_config_schema import GprModel
# Status codes published by the sar3d processor in its "sar3d_status" table.
SAR3D_STATES = {0: "ready", 1: "no signal", 2: "error", 3: "warning"}
_GROUND_COLOR = (115, 105, 88)
_SCENE_BOX_COLOR = "#898781"
# payload -> (title, x label, y label, scene axes (0 = X, 1 = Y, 2 = Z) along the plot axes)
SAR3D_VIEWS: dict[str, tuple[str, str, str, tuple[int, int] | None]] = {
"sar3d_front": ("Front (X-Y)", "X", "Y", (0, 1)),
@@ -61,13 +67,6 @@ def sar3d_status(collection: ResultCollection) -> tuple[int, str] | None:
return code, bytes(row[1:].astype(np.uint8)).decode("utf-8", errors="replace")
def _image_rect(x_axis: np.ndarray, y_axis: np.ndarray) -> QRectF:
"""Rectangle covering the pixels centred on the axis samples."""
dx = (x_axis[-1] - x_axis[0]) / max(len(x_axis) - 1, 1)
dy = (y_axis[-1] - y_axis[0]) / max(len(y_axis) - 1, 1)
return QRectF(x_axis[0] - dx / 2, y_axis[0] - dy / 2, x_axis[-1] - x_axis[0] + dx, y_axis[-1] - y_axis[0] + dy)
class Sar3dRenderer:
"""Draws the 3D SAR views."""
@@ -85,21 +84,19 @@ class Sar3dRenderer:
grid_layout.setContentsMargins(0, 0, 0, 0)
grid_layout.setSpacing(6)
layout.addWidget(self.grid, stretch=1)
self.plots: dict[str, pg.PlotWidget] = {}
for index, (name, (title, *_rest)) in enumerate(SAR3D_VIEWS.items()):
plot = create_plot(title)
grid_layout.addWidget(plot, index // 2, index % 2)
self.plots[name] = plot
lut = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"]) # the GPR palette
lut = np.column_stack([lut, np.full(len(lut), 255, dtype=np.uint8)])
lut[0, 3] = 0 # below SAR_CLOUD_THRESHOLD
self.plots: dict[str, pg.PlotWidget] = {}
self.antennas: dict[str, tuple[pg.ScatterPlotItem, pg.ScatterPlotItem]] = {}
self.images: dict[str, pg.ImageItem] = {}
self.targets: dict[str, pg.PlotCurveItem] = {}
for name, (_title, x_label, y_label, _axes) in SAR3D_VIEWS.items():
plot = self.plots[name]
for index, (name, (title, x_label, y_label, axes)) in enumerate(SAR3D_VIEWS.items()):
plot = create_plot(title)
grid_layout.addWidget(plot, index // 2, index % 2)
self.plots[name] = plot
plot.setAspectLocked(True)
if _axes is not None:
if axes is not None:
markers = (pg.ScatterPlotItem(), pg.ScatterPlotItem())
for marker in markers:
marker.setZValue(4)
@@ -109,42 +106,40 @@ class Sar3dRenderer:
assert item is not None
view = item.getViewBox()
view.setMouseEnabled(x=False, y=False)
view.setMenuEnabled(False)
view.enableAutoRange(x=False, y=False)
item.hideButtons()
image = pg.ImageItem(axisOrder="row-major", lut=lut)
plot.addItem(image)
# Hollow, so the response at the maximum stays visible.
peak = pg.PlotCurveItem(pen=pg.mkPen("w", width=1.5))
peak = pg.PlotCurveItem(pen=pg.mkPen(PLOT_FOREGROUND, width=1.5))
peak.setZValue(3)
plot.addItem(peak)
self.images[name] = image
self.targets[name] = peak
if x_label:
plot.showGrid(x=True, y=True, alpha=0.2)
plot.setLabel("bottom", x_label, units="m")
plot.setLabel("left", y_label, units="m")
if y_label == "Y":
ground = pg.InfiniteLine(pos=0.0, angle=0, pen=pg.mkPen("w", width=1, style=Qt.PenStyle.DashLine))
ground = pg.InfiniteLine(pos=0.0, angle=0,
pen=pg.mkPen(_GROUND_COLOR, width=1, style=Qt.PenStyle.DashLine))
ground.setZValue(2)
plot.addItem(ground)
oblique = self.plots["sar3d_oblique"]
oblique.hideAxis("bottom")
oblique.hideAxis("left")
oblique.setAspectLocked(True)
# The notebook scene's ground, under the image so it shows through weak voxels.
self.ground = pg.PlotCurveItem(
pen=pg.mkPen(115, 105, 88), brush=pg.mkBrush(115, 105, 88, 110), fillLevel="enclosed"
pen=pg.mkPen(_GROUND_COLOR), brush=pg.mkBrush(*_GROUND_COLOR, 110), fillLevel="enclosed"
)
self.ground.setZValue(-1)
oblique.addItem(self.ground)
self.box = pg.PlotCurveItem(pen=pg.mkPen(190, 190, 190, 170), connect="pairs")
self.box = pg.PlotCurveItem(pen=pg.mkPen(_SCENE_BOX_COLOR), connect="pairs")
self.box.setZValue(2)
oblique.addItem(self.box)
self.axis_labels: dict[str, pg.TextItem] = {}
for axis_name in _AXIS_EDGES:
label = pg.TextItem(axis_name, color=(190, 190, 190), anchor=(0.5, 0.5))
label = pg.TextItem(axis_name, color=PLOT_FOREGROUND, anchor=(0.5, 0.5))
oblique.addItem(label)
self.axis_labels[axis_name] = label
self.clear()
@@ -195,7 +190,7 @@ class Sar3dRenderer:
zoom = settings.zoom_percent / 100.0
for name, payload in payloads.items():
title, _x_label, _y_label, axes = SAR3D_VIEWS[name]
rect = _image_rect(payload.image_x_axis, payload.image_y_axis)
rect = image_rect(payload.image_x_axis, payload.image_y_axis)
image = self.images[name]
image.setImage(np.where(payload.image >= settings.cloud_threshold, payload.image, 0),
autoLevels=False, levels=(0, 1))