projector version

python_app/gui/controllers/app_window_plot/__init__.py

@@ -3,11 +3,13 @@
 from python_app.gui.controllers.app_window_plot.bscan_plot_mixin import AppWindowBscanPlotMixin
 from python_app.gui.controllers.app_window_plot.bscan_replay_mixin import AppWindowBscanReplayMixin
 from python_app.gui.controllers.app_window_plot.gpr_plot_mixin import AppWindowGprPlotMixin
+from python_app.gui.controllers.app_window_plot.sar3d_plot_mixin import AppWindowSar3dPlotMixin
 from python_app.gui.controllers.app_window_plot.trace_plot_mixin import AppWindowTracePlotMixin
 
 __all__ = [
     "AppWindowBscanPlotMixin",
     "AppWindowBscanReplayMixin",
     "AppWindowGprPlotMixin",
+    "AppWindowSar3dPlotMixin",
     "AppWindowTracePlotMixin",
 ]

python_app/gui/controllers/app_window_plot/sar3d_plot_mixin.py

@@ -0,0 +1,131 @@
+"""3D SAR projection rendering helpers.
+
+The sar3d processor publishes two normalized max-projections of the imaged
+volume as collection-level ImageF32 payloads:
+
+- ``sar3d_proj_xz`` — side view: X (m) horizontal, Z/range (m) vertical;
+- ``sar3d_proj_xy`` — top view: X (m) horizontal, Y (m) vertical;
+
+plus ``sar3d_peak`` (ScalarF32), the volume peak before normalization. Both
+projections are drawn on their own PlotWidgets stacked in one plot-stack page
+(side view on top), mirroring how the pass-through page stacks its two plots.
+"""
+
+from __future__ import annotations
+
+from PyQt6.QtCore import QRectF
+import numpy as np
+import pyqtgraph as pg
+
+from python_app.models.dataset_model import ResultCollection
+
+
+class AppWindowSar3dPlotMixin:
+    """Renders 3D SAR volume projections published by the sar3d processor."""
+
+    def _configure_sar3d_plot_axes(self) -> None:
+        """Apply persistent axis labels and view settings to both projection plots."""
+        for plot, y_label in (
+            (self._sar3d_xz_plot, "Range Z"),
+            (self._sar3d_xy_plot, "Cross-range Y"),
+        ):
+            plot_item = plot.getPlotItem()
+            plot_item.showAxis("left", show=True)
+            plot_item.showAxis("bottom", show=True)
+            plot_item.setClipToView(True)
+            plot.setLabel("bottom", "X", units="m")
+            plot.setLabel("left", y_label, units="m")
+            view_box = plot.getViewBox()
+            view_box.invertY(False)
+            view_box.enableAutoRange(x=False, y=False)
+            self._disable_gpr_plot_interaction(plot, view_box)
+
+    def _ensure_sar3d_plot_items(self) -> None:
+        """Create persistent projection image items once and reuse them on redraw."""
+        if self._sar3d_xz_image_item is not None:
+            return
+
+        self._configure_sar3d_plot_axes()
+        if self._sar3d_lookup_table is None:
+            # Same palette as the GPR accumulator so both imagers read alike.
+            self._sar3d_lookup_table = self._build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"])
+
+        self._sar3d_xz_image_item = pg.ImageItem(axisOrder="row-major")
+        self._sar3d_xz_image_item.setZValue(0)
+        self._sar3d_xz_image_item.hide()
+        self._sar3d_xz_plot.addItem(self._sar3d_xz_image_item)
+
+        self._sar3d_xy_image_item = pg.ImageItem(axisOrder="row-major")
+        self._sar3d_xy_image_item.setZValue(0)
+        self._sar3d_xy_image_item.hide()
+        self._sar3d_xy_plot.addItem(self._sar3d_xy_image_item)
+
+    def _clear_sar3d_plot(self) -> None:
+        """Clear both 3D SAR projection surfaces."""
+        if not hasattr(self, "_sar3d_xz_plot"):
+            return
+        self._configure_sar3d_plot_axes()
+        if self._sar3d_xz_image_item is not None:
+            self._sar3d_xz_image_item.hide()
+        if self._sar3d_xy_image_item is not None:
+            self._sar3d_xy_image_item.hide()
+        self._sar3d_xz_plot.setTitle("3D SAR side view (X-Z)")
+        self._sar3d_xy_plot.setTitle("3D SAR top view (X-Y)")
+
+    def _draw_sar3d_projection(self, plot: pg.PlotWidget, image_item: pg.ImageItem, payload) -> bool:
+        """Draw one normalized projection payload onto its plot; return success."""
+        image = np.asarray(payload.image, dtype=np.float32)
+        x_axis = np.asarray(payload.image_x_axis, dtype=np.float32)
+        y_axis = np.asarray(payload.image_y_axis, dtype=np.float32)
+        if image.ndim != 2 or image.size == 0 or x_axis.size == 0 or y_axis.size == 0:
+            image_item.hide()
+            return False
+
+        x_min = float(x_axis[0])
+        x_max = float(x_axis[-1])
+        y_min = float(y_axis[0])
+        y_max = float(y_axis[-1])
+        rect = QRectF(x_min, y_min, max(x_max - x_min, 1e-6), max(y_max - y_min, 1e-6))
+
+        image_item.setImage(image, autoLevels=False)
+        image_item.setRect(rect)
+        image_item.setLookupTable(self._sar3d_lookup_table)
+        # Projections are normalized to [0, 1] by the processor.
+        image_item.setLevels((0.0, 1.0))
+        image_item.show()
+        plot.setXRange(x_min, x_max, padding=0.0)
+        plot.setYRange(y_min, y_max, padding=0.0)
+        return True
+
+    def _draw_sar3d_projections(self, collection: ResultCollection) -> bool:
+        """Draw the latest collection-level 3D SAR side and top projections."""
+        xz_payload = self._collection_payload_by_name(collection, "sar3d_proj_xz", kind=3)
+        xy_payload = self._collection_payload_by_name(collection, "sar3d_proj_xy", kind=3)
+        if xz_payload is None and xy_payload is None:
+            self._clear_sar3d_plot()
+            return False
+
+        for plot in (self._sar3d_xz_plot, self._sar3d_xy_plot):
+            plot.setUpdatesEnabled(False)
+        try:
+            self._ensure_sar3d_plot_items()
+            xz_drawn = xz_payload is not None and self._draw_sar3d_projection(
+                self._sar3d_xz_plot, self._sar3d_xz_image_item, xz_payload
+            )
+            xy_drawn = xy_payload is not None and self._draw_sar3d_projection(
+                self._sar3d_xy_plot, self._sar3d_xy_image_item, xy_payload
+            )
+            if not xz_drawn and not xy_drawn:
+                self._clear_sar3d_plot()
+                return False
+
+            peak_payload = self._collection_payload_by_name(collection, "sar3d_peak", kind=2)
+            peak_suffix = ""
+            if peak_payload is not None:
+                peak_suffix = f" | peak={float(peak_payload.scalar_value):.3g}"
+            self._sar3d_xz_plot.setTitle(f"3D SAR side view (X-Z){peak_suffix}")
+            self._sar3d_xy_plot.setTitle("3D SAR top view (X-Y)")
+        finally:
+            for plot in (self._sar3d_xz_plot, self._sar3d_xy_plot):
+                plot.setUpdatesEnabled(True)
+        return True

python_app/gui/controllers/app_window_plot/trace_plot_mixin.py

@@ -78,7 +78,7 @@ class AppWindowTracePlotMixin:
 
     def _on_trace_visibility_changed(self, *_args) -> None:
         """Redraw pass-through traces when magnitude/phase toggles changed."""
-        if self._processing_mode.currentText() in {"bscan", "gpr", "legacy_gpr"}:
+        if self._processing_mode.currentText() in {"bscan", "gpr", "legacy_gpr", "sar3d"}:
             return
         if self._result_history:
             self._draw_results(self._result_history[-1])