Port the SAR3D background gate, CLEAN and object boxes from Multi_depthnorm_clean
- BG_GATE_ENABLE: frame peak over its median background (sar3d_background); the GUI scales the frame with bg_gate_gain and its cloud threshold. - SAR_CLEAN_ENABLE: CLEAN of a one-frame aperture on a 4x10x4 cm search grid over the whole scene; objects in their own scale (sar3d_objects). - SAR_MARK_ENABLE: boxes by class around object groups (sar3d_marks), with the legend under the views. - SAR_VOXEL_M as three steps X/Y/Z with the notebook defaults 0.025/0.02/0.02. - GPU backend: image/download/load/project API, per-plane block reduction for the maximum, depth gate without FMA; sar3d host code built with -ffp-contract=off. - References regenerated from notebook cells 1 and 5, with new CLEAN scenes and a synthetic box-rule case; docs updated.
This commit is contained in:
Ayzen
@@ -9,23 +9,33 @@ away from the Y boundaries:
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- ``sar3d_oblique``: orthographic projection along the camera of the notebook's
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3D scene; ``sar3d_oblique_basis`` (2x3) gives its image axes u and v as scene
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directions, which places the scene box, the ground and the maximum on it;
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- ``sar3d_target_width``: axial FWHM [X, Y, Z] in metres through the joint peak.
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- ``sar3d_peak``: [level, X, Y, Z] of that maximum before normalization.
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- ``sar3d_peak``: [level, X, Y, Z] of the marked maximum; level is the normalization.
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- ``sar3d_target_width``: axial FWHM [X, Y, Z] in metres through that maximum,
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without CLEAN objects.
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- ``sar3d_background``: [peak over background, BG_GATE_3D_SHOW, BG_GATE_3D_FULL]
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while BG_GATE_ENABLE is on; the frame is scaled by ``bg_gate_gain``.
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- ``sar3d_objects``: CLEAN objects, strongest first, rows [X, Y, Z, level in
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backgrounds]. The projections then show the residual with every object in its
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own 0-1 scale, and the marked maximum is the first object.
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- ``sar3d_marks``: boxes around groups of the objects, rows [class, X0, X1, Y0,
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Y1, Z0, Z1], classes as in ``SAR3D_MARKS``.
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- ``sar3d_status``: [code, UTF-8 bytes...] with ready CUDA (0), no signal (1),
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processing error (2), or CUDA unavailable (3), including the explanation.
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"""
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from __future__ import annotations
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from collections.abc import Callable
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import itertools
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import numpy as np
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from numpy.typing import ArrayLike
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import pyqtgraph as pg
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from PyQt6.QtCore import QRectF, Qt
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from PyQt6.QtWidgets import QGridLayout, QLabel, QVBoxLayout, QWidget
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from python_app.gui.controllers.renderers.common import (
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ANTENNA_STYLES, build_lut, create_plot, image_rect, selected_antenna_coordinates,
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ANTENNA_STYLES, OVERLAY_FILL, build_lut, create_plot, image_rect, selected_antenna_coordinates,
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)
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from python_app.gui.result_payloads import collection_payload_by_name
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from python_app.gui.theme import PLOT_FOREGROUND
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@@ -36,6 +46,19 @@ from python_app.models.run_config_schema import GprModel
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# Status codes published by the sar3d processor in its "sar3d_status" table.
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SAR3D_STATES = {0: "ready", 1: "no signal", 2: "error", 3: "warning"}
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# Box classes of "sar3d_marks" (notebook _SAR_MARK_STYLE): name, color, dashed. A box at the
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# boundary is not yet decidable: part of its response may lie outside the scene.
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SAR3D_MARKS: dict[int, tuple[str, tuple[int, int, int], bool]] = {
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0: ("very low", (229, 38, 43), False),
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1: ("on the ground", (255, 154, 31), False),
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2: ("above the ground", (47, 111, 222), False),
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3: ("at the boundary", (138, 138, 138), True),
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}
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# Under the views and inside the captured grid, so the web view shows it too.
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_BOX_LEGEND = "Boxes: " + " ".join(
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f"<span style='color: rgb{color}'>■</span> {name}" for name, color, _dashed in SAR3D_MARKS.values())
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_GROUND_COLOR = (115, 105, 88)
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_SCENE_BOX_COLOR = "#898781"
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@@ -47,7 +70,7 @@ SAR3D_VIEWS: dict[str, tuple[str, str, str, tuple[int, int] | None]] = {
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"sar3d_oblique": ("3D Projection", "", "", None),
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}
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# Corners of the scene box indexed by bits (x, y, z); an edge joins corners one bit apart.
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# Corners of a box indexed by bits (x, y, z); an edge joins corners one bit apart.
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_BOX_EDGES = [(a, b) for a, b in itertools.combinations(range(8), 2) if bin(a ^ b).count("1") == 1]
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# Axis names go on the edges meeting at the bottom corner nearest the camera (X max, Y min, Z min).
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_AXIS_EDGES = {"X": (0, 1), "Y": (1, 3), "Z": (1, 5)}
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@@ -67,6 +90,45 @@ def sar3d_status(collection: ResultCollection) -> tuple[int, str] | None:
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return code, bytes(row[1:].astype(np.uint8)).decode("utf-8", errors="replace")
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def bg_gate_gain(ratio: float, show: float, full: float, floor: float) -> float:
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"""Scale of a frame by its peak over background (notebook bg_gate_gain).
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Below ``show`` the frame is empty; at ``show`` its maximum lands on ``floor``, the
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cloud threshold, so an object appears as a point; from ``full`` the scale is full.
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"""
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if ratio < show:
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return 0.0
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if full <= show:
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return 1.0
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return float(np.clip(floor + (1.0 - floor) * (ratio - show) / (full - show), floor, 1.0))
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Projection = Callable[[ArrayLike], np.ndarray]
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def _projection(axes: tuple[int, int] | None, basis: np.ndarray) -> Projection:
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"""Scene points -> plot coordinates of a view: two scene axes, or the oblique image axes."""
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if axes is None:
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return lambda points: np.asarray(points, dtype=float) @ basis.T
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return lambda points: np.asarray(points, dtype=float)[..., list(axes)]
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def _box_corners(bounds: np.ndarray) -> np.ndarray:
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"""Eight corners of the box [X0, X1, Y0, Y1, Z0, Z1], indexed by bits (x, y, z)."""
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return np.array([[bounds[2*axis + ((index >> axis) & 1)] for axis in range(3)] for index in range(8)])
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def _table(collection: ResultCollection, name: str, columns: int) -> np.ndarray:
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"""Rows of a table payload; none when it is absent."""
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payload = collection_payload_by_name(collection, name, kind=4)
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if payload is None:
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return np.empty((0, columns))
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table = np.asarray(payload.table, dtype=float)
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if table.ndim != 2 or table.shape[1] != columns:
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raise ValueError(f"{name} must have {columns} columns")
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return table
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class Sar3dRenderer:
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"""Draws the 3D SAR views."""
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@@ -91,6 +153,9 @@ class Sar3dRenderer:
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self.antennas: dict[str, tuple[pg.ScatterPlotItem, pg.ScatterPlotItem]] = {}
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self.images: dict[str, pg.ImageItem] = {}
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self.targets: dict[str, pg.PlotCurveItem] = {}
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self.marks: dict[str, dict[int, pg.PlotCurveItem]] = {}
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self.objects: dict[str, pg.ScatterPlotItem] = {}
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self.object_labels: dict[str, list[pg.TextItem]] = {}
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for index, (name, (title, x_label, y_label, axes)) in enumerate(SAR3D_VIEWS.items()):
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plot = create_plot(title)
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grid_layout.addWidget(plot, index // 2, index % 2)
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@@ -116,6 +181,21 @@ class Sar3dRenderer:
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plot.addItem(peak)
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self.images[name] = image
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self.targets[name] = peak
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self.marks[name] = {}
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for kind, (_name, color, dashed) in SAR3D_MARKS.items():
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style = Qt.PenStyle.DashLine if dashed else Qt.PenStyle.SolidLine
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# A dark outline keeps the box visible over pixels of its own colour.
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curve = pg.PlotCurveItem(pen=pg.mkPen(color, width=2, style=style), connect="pairs",
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shadowPen=pg.mkPen(PLOT_FOREGROUND, width=4, style=style))
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curve.setZValue(3)
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plot.addItem(curve)
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self.marks[name][kind] = curve
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objects = pg.ScatterPlotItem(symbol="d", size=11, brush=pg.mkBrush("#ffffff"),
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pen=pg.mkPen("#111111", width=1.5))
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objects.setZValue(5)
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plot.addItem(objects)
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self.objects[name] = objects
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self.object_labels[name] = []
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if x_label:
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plot.setLabel("bottom", x_label, units="m")
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plot.setLabel("left", y_label, units="m")
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@@ -142,6 +222,11 @@ class Sar3dRenderer:
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label = pg.TextItem(axis_name, color=PLOT_FOREGROUND, anchor=(0.5, 0.5))
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oblique.addItem(label)
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self.axis_labels[axis_name] = label
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self.box_legend = QLabel(_BOX_LEGEND)
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self.box_legend.setTextFormat(Qt.TextFormat.RichText)
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self.box_legend.setWordWrap(True)
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self.box_legend.hide()
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grid_layout.addWidget(self.box_legend, 2, 0, 1, 2)
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self.clear()
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def clear(self, message: str = "SAR3D: waiting for measurements") -> None:
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@@ -153,12 +238,45 @@ class Sar3dRenderer:
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for markers in self.antennas.values():
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for marker in markers:
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marker.setData([], [])
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self._draw_marks(np.empty((0, 7)), {})
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self._draw_objects(np.empty((0, 4)), {})
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self.box.setData([], [])
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self.ground.setData([], [])
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for label in self.axis_labels.values():
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label.hide()
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self.status_label.setText(message)
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def _draw_marks(self, boxes: np.ndarray, projections: dict[str, Projection]) -> None:
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"""Boxes around the CLEAN object groups, one curve per class and view."""
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for view, curves in self.marks.items():
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for kind, curve in curves.items():
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rows = boxes[boxes[:, 0] == kind, 1:]
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if not len(rows) or view not in projections:
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curve.setData([], [])
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continue
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points = projections[view](np.concatenate([_box_corners(row)[np.ravel(_BOX_EDGES)] for row in rows]))
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curve.setData(points[:, 0], points[:, 1])
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def _draw_objects(self, objects: np.ndarray, projections: dict[str, Projection]) -> None:
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"""Numbered CLEAN objects with their level in frame backgrounds."""
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for name, markers in self.objects.items():
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plot = self.plots[name]
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for label in self.object_labels[name]:
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plot.removeItem(label)
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self.object_labels[name].clear()
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if not len(objects) or name not in projections:
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markers.setData([], [])
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continue
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points = projections[name](objects[:, :3])
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markers.setData(points[:, 0], points[:, 1])
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for number, ((x, y), level) in enumerate(zip(points, objects[:, 3]), start=1):
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label = pg.TextItem(f"{number}: {level:.0f} bg", color=PLOT_FOREGROUND,
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fill=pg.mkBrush(*OVERLAY_FILL), anchor=(0.5, 1.2))
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label.setZValue(6)
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label.setPos(float(x), float(y))
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plot.addItem(label)
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self.object_labels[name].append(label)
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def draw(self, collection: ResultCollection, settings: GuiSar3dStateModel, geometry: GprModel) -> bool:
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"""Draw four maximum projections of the volume; return success."""
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status = sar3d_status(collection)
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@@ -178,6 +296,22 @@ class Sar3dRenderer:
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return False
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peak = collection_payload_by_name(collection, "sar3d_peak", kind=4)
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level, *peak_xyz = peak.table[0] if peak is not None else (None,)
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objects = _table(collection, "sar3d_objects", 4)
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marks = _table(collection, "sar3d_marks", 7)
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# Frame relative to its background; CLEAN objects are each in their own scale already.
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background = _table(collection, "sar3d_background", 3)
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gain = 1.0
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background_note = ""
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if len(background):
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ratio, appear, full = (float(value) for value in background[0])
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background_note = f"peak {ratio:.1f} backgrounds"
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if not len(objects):
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gain = bg_gate_gain(ratio, appear, full, settings.cloud_threshold)
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state = ("below the appearance level, frame empty" if gain <= 0.0
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else "full scale" if gain >= 1.0 else f"scale ×{gain:.2f}")
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background_note += f" (appears from {appear:g}, full scale from {full:g}): {state}"
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# Objects replace the peak marker, and so does a frame below the appearance level.
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show_peak = not len(objects) and gain > 0.0
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antennas = selected_antenna_coordinates(geometry, settings.input_positions, settings.output_positions)
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pitch = np.radians(settings.look_angle_deg)
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@@ -186,48 +320,51 @@ class Sar3dRenderer:
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coordinates[:, 1] = settings.bp_ground_depth_m + y*np.cos(pitch) - z*np.sin(pitch)
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coordinates[:, 2] = y*np.sin(pitch) + z*np.cos(pitch)
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width_payload = collection_payload_by_name(collection, "sar3d_target_width", kind=4)
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widths = width_payload.table[0] if width_payload is not None else np.full(3, settings.voxel_m)
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steps = np.array([settings.voxel_x_m, settings.voxel_y_m, settings.voxel_z_m])
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widths = width_payload.table[0] if width_payload is not None else steps
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zoom = settings.zoom_percent / 100.0
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projections = {name: _projection(axes, basis.table) for name, (*_labels, axes) in SAR3D_VIEWS.items()}
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for name, payload in payloads.items():
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title, _x_label, _y_label, axes = SAR3D_VIEWS[name]
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rect = image_rect(payload.image_x_axis, payload.image_y_axis)
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image = self.images[name]
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image.setImage(np.where(payload.image >= settings.cloud_threshold, payload.image, 0),
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autoLevels=False, levels=(0, 1))
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shown = payload.image * gain
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image.setImage(np.where(shown >= settings.cloud_threshold, shown, 0), autoLevels=False, levels=(0, 1))
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image.setRect(rect)
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image.show()
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plot = self.plots[name]
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position = (basis.table @ np.asarray(peak_xyz) if axes is None else np.asarray(peak_xyz)[list(axes)]) if peak_xyz else None
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position = projections[name](peak_xyz) if peak_xyz else None
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if axes is not None:
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for marker, coordinates, (symbol, brush, pen) in zip(self.antennas[name], antennas, ANTENNA_STYLES):
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xx, yy = coordinates[:, axes[0]], coordinates[:, axes[1]]
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marker.setData(x=xx, y=yy, symbol=symbol, size=13, brush=pg.mkBrush(brush), pen=pg.mkPen(pen))
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if len(xx):
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pad = settings.voxel_m
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pad = steps.max()
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rect = rect.united(QRectF(xx.min()-pad, yy.min()-pad, np.ptp(xx)+2*pad, np.ptp(yy)+2*pad))
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if position is not None:
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if position is not None and show_peak:
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extent = np.abs(basis.table) @ widths if axes is None else widths[list(axes)]
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half = .5 * max(extent)
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self.targets[name].setData(position[0]+np.array([-half, half, half, -half, -half]),
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position[1]+np.array([-half, -half, half, half, -half]))
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if zoom > 1.0:
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center = position + (np.array([rect.center().x(), rect.center().y()])-position) / zoom**2
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rect = QRectF(center[0]-rect.width()/(2*zoom), center[1]-rect.height()/(2*zoom),
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rect.width()/zoom, rect.height()/zoom)
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else:
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self.targets[name].setData([], [])
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if position is not None and zoom > 1.0:
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center = position + (np.array([rect.center().x(), rect.center().y()])-position) / zoom**2
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rect = QRectF(center[0]-rect.width()/(2*zoom), center[1]-rect.height()/(2*zoom),
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rect.width()/zoom, rect.height()/zoom)
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plot.setRange(rect, padding=0.04)
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plot.setTitle(title)
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boxes = marks if settings.mark_enabled else np.empty((0, 7))
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self._draw_marks(boxes, projections)
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# The legend follows the settings rather than each frame, so the views keep their size.
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self.box_legend.setVisible(settings.mark_enabled and settings.clean_enabled)
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self._draw_objects(np.empty((0, 4)) if settings.mark_enabled else objects, projections)
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# Scene box and ground on the oblique view, from the extents of the other views.
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front, top = payloads["sar3d_front"], payloads["sar3d_top"]
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bounds = [
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(front.image_x_axis[0], front.image_x_axis[-1]),
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(front.image_y_axis[0], front.image_y_axis[-1]),
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(top.image_y_axis[0], top.image_y_axis[-1]),
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]
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corners = np.array([[bounds[axis][(index >> axis) & 1] for axis in range(3)] for index in range(8)])
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projected = corners @ basis.table.T
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bounds = np.array([front.image_x_axis[0], front.image_x_axis[-1], front.image_y_axis[0],
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front.image_y_axis[-1], top.image_y_axis[0], top.image_y_axis[-1]])
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projected = _box_corners(bounds) @ basis.table.T
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box = projected[np.ravel(_BOX_EDGES)]
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self.box.setData(box[:, 0], box[:, 1])
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centre = projected.mean(axis=0)
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@@ -235,12 +372,20 @@ class Sar3dRenderer:
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middle = (projected[start] + projected[end]) / 2
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self.axis_labels[axis_name].setPos(*(middle + 0.08 * (middle - centre))) # just outside
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self.axis_labels[axis_name].show()
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(x0, x1), _, (z0, z1) = bounds
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x0, x1, _y0, _y1, z0, z1 = bounds
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ground = (np.array([[x0, 0.0, z0], [x1, 0.0, z0], [x1, 0.0, z1], [x0, 0.0, z1], [x0, 0.0, z0]]) @ basis.table.T).T
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self.ground.setData(ground[0], ground[1])
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summary = f"SAR3D: ready — {status[1]}" if status else "SAR3D: ready"
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notes = [f"SAR3D: ready — {status[1]}" if status else "SAR3D: ready"]
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if background_note:
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notes.append(background_note)
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if len(boxes):
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counts = {kind: int(np.sum(boxes[:, 0] == kind)) for kind in SAR3D_MARKS}
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notes.append("boxes: " + ", ".join(f"{counts[kind]} {name}" for kind, (name, *_style)
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in SAR3D_MARKS.items() if kind != 3 or counts[kind]))
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if level is not None:
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x, y, z = peak_xyz
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summary += f" | max X {x:+.2f}, Y {y:+.2f}, Z {z:.2f} m | level {level:.3g}"
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self.status_label.setText(f"{summary} | zoom {settings.zoom_percent}%")
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notes.append(f"max X {x:+.2f}, Y {y:+.2f}, Z {z:.2f} m | level {level:.3g}")
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notes.append(f"zoom {settings.zoom_percent}%")
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self.status_label.setText(" | ".join(notes))
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return True
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