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This commit is contained in:
awe
2026-09-17 17:58:36 +03:00
parent e113ef60ab
commit e202f57ef8
16 changed files with 864 additions and 67 deletions
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python_app/gui/controllers/app_window_config/live_processing_mixin.py
+6
View File
@@ -64,6 +64,10 @@ _WEB_LIVE_SCHEMA = [
("gpr_start_freq_mhz", "Geometry & depth", _GPR_LIKE_MODES, _dual("_gpr_start_freq_mhz", {"legacy_gpr": "_legacy_gpr_start_freq_mhz", "sar3d": "_sar3d_start_freq_mhz"})),
("gpr_stop_freq_mhz", "Geometry & depth", _GPR_LIKE_MODES, _dual("_gpr_stop_freq_mhz", {"legacy_gpr": "_legacy_gpr_stop_freq_mhz", "sar3d": "_sar3d_stop_freq_mhz"})),
("gpr_imaging_plane_y_m", "Geometry & depth", ("gpr",), _attr("_gpr_imaging_plane_y_m")),
("gpr_plane_mode", "Geometry & depth", ("gpr",), _attr("_gpr_plane_mode")),
("gpr_ground_depth_m", "Geometry & depth", ("gpr",), _attr("_gpr_ground_depth_m")),
("gpr_ground_pitch_override_enabled", "Geometry & depth", ("gpr",), _attr("_gpr_ground_pitch_override_enabled")),
("gpr_ground_pitch_deg", "Geometry & depth", ("gpr",), _attr("_gpr_ground_pitch_deg")),
("gpr_range_comp_power", "Imaging", ("gpr",), _attr("_gpr_range_comp_power")),
("gpr_score_mode", "Imaging", ("gpr",), _attr("_gpr_score_mode")),
("gpr_background_subtract_enabled", "Imaging", _GPR_MODES, _dual("_gpr_background_subtract_enabled", {"legacy_gpr": "_legacy_gpr_background_subtract_enabled"})),
@@ -82,6 +86,8 @@ _WEB_LIVE_SCHEMA = [
("gpr_visible_z_min_m", "Visible window", _GPR_MODES, _dual("_gpr_visible_z_min_m", {"legacy_gpr": "_legacy_gpr_visible_z_min_m"})),
("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_timing_mode", "Motion", ("gpr",), _attr("_gpr_timing_mode")),
("gpr_tx_per_segment", "Motion", ("gpr",), _attr("_gpr_tx_per_segment")),
("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"})),
python_app/gui/controllers/app_window_config/profile_io_mixin.py
+16
View File
@@ -309,6 +309,12 @@ class AppWindowConfigProfileIOMixin:
self._gpr_background_mean_count,
self._gpr_remove_sidelobe_objects_enabled,
self._gpr_imaging_plane_y_m,
self._gpr_timing_mode,
self._gpr_tx_per_segment,
self._gpr_plane_mode,
self._gpr_ground_depth_m,
self._gpr_ground_pitch_override_enabled,
self._gpr_ground_pitch_deg,
self._gpr_render_mode,
self._gpr_visible_x_min_m,
self._gpr_visible_x_max_m,
@@ -507,6 +513,16 @@ class AppWindowConfigProfileIOMixin:
bool(gui_state.processing.gpr.remove_sidelobe_objects_enabled)
)
self._gpr_imaging_plane_y_m.setValue(float(gui_state.processing.gpr.imaging_plane_y_m))
self._set_combo_current_text(self._gpr_timing_mode, gui_state.processing.gpr.timing_mode)
self._gpr_tx_per_segment.setValue(int(gui_state.processing.gpr.tx_per_segment))
self._set_combo_current_text(self._gpr_plane_mode, gui_state.processing.gpr.plane_mode)
self._gpr_ground_depth_m.setValue(float(gui_state.processing.gpr.ground_depth_m))
ground_pitch_override_enabled = bool(
gui_state.processing.gpr.ground_pitch_override_enabled
)
self._gpr_ground_pitch_override_enabled.setChecked(ground_pitch_override_enabled)
self._gpr_ground_pitch_deg.setValue(float(gui_state.processing.gpr.ground_pitch_deg))
self._gpr_ground_pitch_deg.setEnabled(ground_pitch_override_enabled)
self._set_combo_current_text(self._gpr_render_mode, gui_state.processing.gpr.render_mode)
self._gpr_visible_x_min_m.setValue(float(gui_state.processing.gpr.visible_x_min_m))
self._gpr_visible_x_max_m.setValue(float(gui_state.processing.gpr.visible_x_max_m))
python_app/gui/controllers/app_window_config/state_builders.py
+6
View File
@@ -391,6 +391,12 @@ class AppWindowConfigStateBuildersMixin:
background_mean_count=int(self._gpr_background_mean_count.value()),
remove_sidelobe_objects_enabled=bool(self._gpr_remove_sidelobe_objects_enabled.isChecked()),
imaging_plane_y_m=float(self._gpr_imaging_plane_y_m.value()),
timing_mode=self._gpr_timing_mode.currentText(),
tx_per_segment=int(self._gpr_tx_per_segment.value()),
plane_mode=self._gpr_plane_mode.currentText(),
ground_depth_m=float(self._gpr_ground_depth_m.value()),
ground_pitch_override_enabled=bool(self._gpr_ground_pitch_override_enabled.isChecked()),
ground_pitch_deg=float(self._gpr_ground_pitch_deg.value()),
render_mode=self._gpr_render_mode.currentText(),
visible_x_min_m=float(self._gpr_visible_x_min_m.value()),
visible_x_max_m=float(self._gpr_visible_x_max_m.value()),
python_app/gui/controllers/sections/processing_section.py
+63 -1
View File
@@ -376,9 +376,58 @@ def build_processing_group(owner) -> QGroupBox:
owner._gpr_imaging_plane_y_m.setSingleStep(0.05)
owner._gpr_imaging_plane_y_m.setValue(float(gpr_live_defaults.imaging_plane_y_m))
owner._gpr_imaging_plane_y_m.setToolTip(
"Y coordinate of the BP imaging slice (m). Use 0 for legacy 1D antenna layouts."
"Y coordinate of the BP imaging slice (m) in 'const' plane mode. "
"Use 0 for legacy 1D antenna layouts."
)
owner._gpr_timing_mode = QComboBox()
owner._gpr_timing_mode.addItems(["segmented_interleaved", "interleaved"])
owner._set_combo_current_text(owner._gpr_timing_mode, gpr_live_defaults.timing_mode)
owner._gpr_timing_mode.setToolTip(
"Acquisition timing model for motion correction: 'segmented_interleaved' — Tx run "
"in sequential segments (real hardware), 'interleaved' — legacy whole-frame model."
)
owner._gpr_tx_per_segment = QSpinBox()
owner._gpr_tx_per_segment.setRange(1, 64)
owner._gpr_tx_per_segment.setValue(int(gpr_live_defaults.tx_per_segment))
owner._gpr_tx_per_segment.setToolTip(
"Fallback Tx count per segment when per-trace capture timestamps are absent; "
"timestamp grouping wins when available."
)
owner._gpr_plane_mode = QComboBox()
owner._gpr_plane_mode.addItems(["ground", "const"])
owner._set_combo_current_text(owner._gpr_plane_mode, gpr_live_defaults.plane_mode)
owner._gpr_plane_mode.setToolTip(
"BP imaging plane: 'ground' follows the ground given the frame pitch "
"(needed with vertically spread antennas), 'const' is the legacy fixed Y."
)
owner._gpr_ground_depth_m = QDoubleSpinBox()
owner._gpr_ground_depth_m.setDecimals(3)
owner._gpr_ground_depth_m.setRange(0.0, 50.0)
owner._gpr_ground_depth_m.setSingleStep(0.05)
owner._gpr_ground_depth_m.setValue(float(gpr_live_defaults.ground_depth_m))
owner._gpr_ground_depth_m.setToolTip(
"Height of the lower antenna row above the ground (m); structural constant."
)
owner._gpr_ground_pitch_override_enabled = QCheckBox("Override ground pitch")
owner._gpr_ground_pitch_override_enabled.setChecked(
bool(gpr_live_defaults.ground_pitch_override_enabled)
)
owner._gpr_ground_pitch_override_enabled.setToolTip(
"Unchecked: the ground plane uses 'Look angle deg' as the frame pitch."
)
owner._gpr_ground_pitch_deg = QDoubleSpinBox()
owner._gpr_ground_pitch_deg.setDecimals(2)
owner._gpr_ground_pitch_deg.setRange(-90.0, 90.0)
owner._gpr_ground_pitch_deg.setSingleStep(0.1)
owner._gpr_ground_pitch_deg.setValue(float(gpr_live_defaults.ground_pitch_deg))
owner._gpr_ground_pitch_deg.setEnabled(bool(gpr_live_defaults.ground_pitch_override_enabled))
gpr_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
@@ -400,6 +449,12 @@ def build_processing_group(owner) -> QGroupBox:
("Approach min frames", owner._gpr_object_approach_min_frames),
("Start MHz", owner._gpr_start_freq_mhz),
("Stop MHz", owner._gpr_stop_freq_mhz),
("Timing mode", owner._gpr_timing_mode),
("Tx per segment", owner._gpr_tx_per_segment),
("Plane mode", owner._gpr_plane_mode),
("Ground depth m", owner._gpr_ground_depth_m),
owner._gpr_ground_pitch_override_enabled,
("Ground pitch deg", owner._gpr_ground_pitch_deg),
("Imaging plane Y m", owner._gpr_imaging_plane_y_m),
("Visible X min m", owner._gpr_visible_x_min_m),
("Visible X max m", owner._gpr_visible_x_max_m),
@@ -793,6 +848,13 @@ def build_processing_group(owner) -> QGroupBox:
owner._gpr_background_mean_count.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_remove_sidelobe_objects_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._gpr_imaging_plane_y_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_timing_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_tx_per_segment.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_plane_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_ground_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_ground_pitch_override_enabled.toggled.connect(owner._gpr_ground_pitch_deg.setEnabled)
owner._gpr_ground_pitch_override_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._gpr_ground_pitch_deg.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_render_mode.currentTextChanged.connect(owner._on_gpr_visual_settings_changed)
owner._gpr_max_detected_objects_to_draw.valueChanged.connect(owner._on_gpr_locator_threshold_changed)
owner._gpr_draw_top_m_objects.valueChanged.connect(owner._on_gpr_locator_threshold_changed)
python_app/models/gui_profile_codec.py
+52
View File
@@ -380,6 +380,42 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
gui.processing.gpr.imaging_plane_y_m,
"gui.processing.gpr",
),
timing_mode=_optional_string(
gpr_object,
"timing_mode",
gui.processing.gpr.timing_mode,
"gui.processing.gpr",
),
tx_per_segment=_optional_int(
gpr_object,
"tx_per_segment",
gui.processing.gpr.tx_per_segment,
"gui.processing.gpr",
),
plane_mode=_optional_string(
gpr_object,
"plane_mode",
gui.processing.gpr.plane_mode,
"gui.processing.gpr",
),
ground_depth_m=_optional_float(
gpr_object,
"ground_depth_m",
gui.processing.gpr.ground_depth_m,
"gui.processing.gpr",
),
ground_pitch_override_enabled=_optional_bool(
gpr_object,
"ground_pitch_override_enabled",
gui.processing.gpr.ground_pitch_override_enabled,
"gui.processing.gpr",
),
ground_pitch_deg=_optional_float(
gpr_object,
"ground_pitch_deg",
gui.processing.gpr.ground_pitch_deg,
"gui.processing.gpr",
),
render_mode=_optional_string(
gpr_object,
"render_mode",
@@ -598,6 +634,16 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
raise ValueError("gui.processing.gpr.score_mode must be one of: peak, combined")
if gui.processing.gpr.motion_mode not in {"int_minus", "int_focus"}:
raise ValueError("gui.processing.gpr.motion_mode must be one of: int_minus, int_focus")
if gui.processing.gpr.timing_mode not in {"segmented_interleaved", "interleaved"}:
raise ValueError(
"gui.processing.gpr.timing_mode must be one of: segmented_interleaved, interleaved"
)
if gui.processing.gpr.tx_per_segment < 1:
raise ValueError("gui.processing.gpr.tx_per_segment must be >= 1")
if gui.processing.gpr.plane_mode not in {"ground", "const"}:
raise ValueError("gui.processing.gpr.plane_mode must be one of: ground, const")
if gui.processing.gpr.ground_depth_m < 0.0:
raise ValueError("gui.processing.gpr.ground_depth_m must be >= 0")
if gui.processing.legacy_gpr.mode not in {"point", "extended"}:
raise ValueError("gui.processing.legacy_gpr.mode must be one of: point, extended")
if gui.processing.legacy_gpr.render_mode not in {"heatmap", "objects_only"}:
@@ -750,6 +796,12 @@ def gui_profile_to_dict(model: GuiProfileModel) -> dict[str, Any]:
"background_mean_count": gui.processing.gpr.background_mean_count,
"remove_sidelobe_objects_enabled": gui.processing.gpr.remove_sidelobe_objects_enabled,
"imaging_plane_y_m": gui.processing.gpr.imaging_plane_y_m,
"timing_mode": gui.processing.gpr.timing_mode,
"tx_per_segment": gui.processing.gpr.tx_per_segment,
"plane_mode": gui.processing.gpr.plane_mode,
"ground_depth_m": gui.processing.gpr.ground_depth_m,
"ground_pitch_override_enabled": gui.processing.gpr.ground_pitch_override_enabled,
"ground_pitch_deg": gui.processing.gpr.ground_pitch_deg,
"render_mode": gui.processing.gpr.render_mode,
"visible_x_min_m": gui.processing.gpr.visible_x_min_m,
"visible_x_max_m": gui.processing.gpr.visible_x_max_m,
python_app/models/gui_profile_schema.py
+12
View File
@@ -87,6 +87,18 @@ class GuiGprStateModel:
background_mean_count: int = 10
remove_sidelobe_objects_enabled: bool = True
imaging_plane_y_m: float = 0.0
# Acquisition timing model for motion correction: "segmented_interleaved"
# (real hardware: Tx segments run sequentially) or "interleaved" (legacy:
# all Tx interleave over the whole frame).
timing_mode: str = "segmented_interleaved"
# Fallback segment size when per-trace capture timestamps are absent.
tx_per_segment: int = 2
# Imaging plane: "ground" follows the ground given the frame pitch;
# "const" is the legacy fixed y = imaging_plane_y_m.
plane_mode: str = "ground"
ground_depth_m: float = 1.25
ground_pitch_override_enabled: bool = False
ground_pitch_deg: float = 6.5
render_mode: str = "heatmap"
visible_x_min_m: float = -2.0
visible_x_max_m: float = 2.0
python_app/orchestration/live_processing_config.py
+25
View File
@@ -62,6 +62,25 @@ class ProcessingLiveConfig:
gpr_background_mean_count: int = 10
gpr_remove_sidelobe_objects_enabled: bool = True
gpr_imaging_plane_y_m: float = 0.0
# Acquisition timing model for backprojection motion correction:
# "segmented_interleaved" — Tx outputs run in sequential segments, each
# segment sweeps all frequencies over its window while its Tx interleave
# per frequency (real hardware scheme, notebook FREQUENCY_TIMING_MODE);
# "interleaved" — legacy model, all Tx interleave over the whole frame.
gpr_timing_mode: str = "segmented_interleaved"
# Fallback segment size when per-trace capture timestamps are absent;
# timestamp grouping wins when available.
gpr_tx_per_segment: int = 2
# Imaging plane for the 2D BP map: "ground" — plane follows the ground
# given the frame pitch (notebook BP_PLANE_MODE='ground'), "const" —
# legacy fixed y = gpr_imaging_plane_y_m.
gpr_plane_mode: str = "ground"
# Height of the LOWER antenna row above the ground, metres (structural
# constant, notebook BP_GROUND_DEPTH_M).
gpr_ground_depth_m: float = 1.25
# Frame pitch used by the ground plane. Disabled -> gpr_look_angle_deg.
gpr_ground_pitch_override_enabled: bool = False
gpr_ground_pitch_deg: float = 6.5
# Locator filter parameter consumed by the C++ TCP locator server. Coherent BP
# objects are already finalized in the processor (no score threshold); only legacy
# GPR still thresholds, on a pair count.
@@ -149,6 +168,12 @@ class ProcessingLiveConfig:
"gpr_background_mean_count": int(self.gpr_background_mean_count),
"gpr_remove_sidelobe_objects_enabled": bool(self.gpr_remove_sidelobe_objects_enabled),
"gpr_imaging_plane_y_m": float(self.gpr_imaging_plane_y_m),
"gpr_timing_mode": str(self.gpr_timing_mode),
"gpr_tx_per_segment": int(self.gpr_tx_per_segment),
"gpr_plane_mode": str(self.gpr_plane_mode),
"gpr_ground_depth_m": float(self.gpr_ground_depth_m),
"gpr_ground_pitch_override_enabled": bool(self.gpr_ground_pitch_override_enabled),
"gpr_ground_pitch_deg": float(self.gpr_ground_pitch_deg),
"legacy_gpr_min_visible_pair_count": float(self.legacy_gpr_min_visible_pair_count),
"gpr_visible_x_min_m": float(self.gpr_visible_x_min_m),
"gpr_visible_x_max_m": float(self.gpr_visible_x_max_m),
python_app/scripts/gpr_timing_check_reference.py
+101
View File
@@ -0,0 +1,101 @@
"""Notebook-formula reference for the C++ `gpr_timing_check` tool.
Recomputes the same synthetic 4x4 scenario with the Multi_antenna_3D notebook
formulas (compute_pair_timestamps_for_snapshot + compute_frequency_sample_times
+ apply_intra_sweep_phase_correction, 'segmented_interleaved' branch) and
prints the motion phase at the same probe indices in the same format. Run:
make gpr_timing_check && build/bin/gpr_timing_check > /tmp/cpp.txt
python python_app/scripts/gpr_timing_check_reference.py > /tmp/ref.txt
The `int_minus` / `int_focus` lines of both outputs must match to ~1e-9 rad
(phases are compared wrapped to (-pi, pi]).
"""
from __future__ import annotations
import numpy as np
SPEED_OF_LIGHT = 299_792_458.0 # C++ kSpeedOfLightMetersPerSec
SPEED_M_S = 1.42
LOOK_ANGLE_DEG = 19.5
DIRECTION_SIGN = 1.0
F_START = 1.5e9
F_STOP = 6.0e9
N_FREQ = 11
# Trace windows of the synthetic collection (absolute seconds): segment A is
# Tx0/Tx1, segment B is Tx2/Tx3 (260 ms, stretched).
WINDOWS = {0: (1.000, 1.223), 1: (1.000, 1.223), 2: (1.223, 1.483), 3: (1.223, 1.483)}
TX_ORDER = [0, 1, 2, 3]
PROBE_INDICES = (0, 5, 10)
def wrap(phase: np.ndarray) -> np.ndarray:
"""Wrap phases to (-pi, pi] the way -arg(exp(-1j*phi)) reports them."""
return -np.angle(np.exp(-1j * phase))
def main() -> None:
freqs = np.linspace(F_START, F_STOP, N_FREQ)
first = min(start for start, _ in WINDOWS.values())
last = max(end for _, end in WINDOWS.values())
acq_s = last - first
t_ref = 0.5 * acq_s
# Group Tx with identical windows into segments (snapshot_acquisition_timing
# + compute_pair_timestamps_for_snapshot).
groups: dict[tuple[float, float], list[int]] = {}
for tx in TX_ORDER:
groups.setdefault(WINDOWS[tx], []).append(tx)
seg_of = {}
for window in sorted(groups):
for slot, tx in enumerate(groups[window]):
seg_of[tx] = (window, slot, len(groups[window]))
cos_theta = np.cos(np.radians(LOOK_ANGLE_DEG))
motion_factor = DIRECTION_SIGN * SPEED_M_S * cos_theta
print(f"reference: frame_center_s={t_ref:.9f} acq_s={acq_s:.9f}")
phi_by_tx = {}
for tx in TX_ORDER:
(t0_abs, t1_abs), slot, n_slots = seg_of[tx]
seg_start = t0_abs - first
seg_end = t1_abs - first
t_seg = seg_end - seg_start
t_center = 0.5 * (seg_start + seg_end)
# compute_frequency_sample_times, segmented branch.
dt_event = t_seg / (n_slots * N_FREQ)
t_abs = seg_start + (n_slots * np.arange(N_FREQ) + slot) * dt_event
dt_intra = t_abs - t_center
dtau_intra = 2.0 * motion_factor * dt_intra / SPEED_OF_LIGHT
dt_pair = t_center - t_ref
dtau_pair = 2.0 * motion_factor * dt_pair / SPEED_OF_LIGHT
phi = 2.0 * np.pi * freqs * (dtau_intra + dtau_pair)
phi_by_tx[tx] = phi
wrapped = wrap(phi)
print(
f"int_minus tx o{tx}: "
+ " ".join(f"phi(k={k})={wrapped[k]:.12e}" for k in PROBE_INDICES)
)
for tx in TX_ORDER:
phi = phi_by_tx[tx]
# int_focus: remove the constant + linear-in-frequency component
# (least squares on [1, f_rel], notebook intra_phase_focus_only).
f_rel = freqs - freqs.mean()
design = np.column_stack([np.ones_like(f_rel), f_rel])
beta, *_ = np.linalg.lstsq(design, phi, rcond=None)
residual = phi - design @ beta
wrapped = wrap(residual)
print(
f"int_focus tx o{tx}: "
+ " ".join(f"phi(k={k})={wrapped[k]:.12e}" for k in PROBE_INDICES)
)
if __name__ == "__main__":
main()
python_app/tests/test_gui_profile_codec.py
+12
View File
@@ -68,6 +68,18 @@ class GuiProfileCodecTest(unittest.TestCase):
with self.assertRaises(ValueError): # combos_text must be a JSON string, not a number
GuiProfileModel.from_dict({"gui": {"switches": {"combos_text": 123}}})
def test_invalid_gpr_timing_mode_is_rejected(self) -> None:
with self.assertRaisesRegex(ValueError, "timing_mode"):
GuiProfileModel.from_dict({"gui": {"processing": {"gpr": {"timing_mode": "bogus"}}}})
def test_invalid_gpr_plane_mode_is_rejected(self) -> None:
with self.assertRaisesRegex(ValueError, "plane_mode"):
GuiProfileModel.from_dict({"gui": {"processing": {"gpr": {"plane_mode": "bogus"}}}})
def test_invalid_gpr_tx_per_segment_is_rejected(self) -> None:
with self.assertRaisesRegex(ValueError, "tx_per_segment"):
GuiProfileModel.from_dict({"gui": {"processing": {"gpr": {"tx_per_segment": 0}}}})
def test_legacy_gpr_payload_migrates_selected_mode(self) -> None:
# An old payload that selects 'gpr' but carries a legacy root gpr.mode is migrated.
decoded = GuiProfileModel.from_dict({