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new GPR

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This commit is contained in:
Ayzen
2026-06-11 19:51:30 +03:00
parent 9661504e51
commit f0d095de80
16 changed files with 1786 additions and 72 deletions
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python_app/gui/controllers/app_window_config/live_processing_mixin.py
+5 -4
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@@ -74,11 +74,13 @@ _WEB_LIVE_SCHEMA = [
("gpr_visible_x_max_m", "Visible window", _GPR_MODES, _dual("_gpr_visible_x_max_m", "_legacy_gpr_visible_x_max_m")),
("gpr_visible_z_min_m", "Visible window", _GPR_MODES, _dual("_gpr_visible_z_min_m", "_legacy_gpr_visible_z_min_m")),
("gpr_visible_z_max_m", "Visible window", _GPR_MODES, _dual("_gpr_visible_z_max_m", "_legacy_gpr_visible_z_max_m")),
("gpr_look_angle_deg", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_look_angle_deg")),
("gpr_motion_mode", "Motion", ("gpr",), _attr("_gpr_motion_mode")),
("gpr_look_angle_deg", "Motion", _GPR_MODES, _dual("_gpr_look_angle_deg", "_legacy_gpr_look_angle_deg")),
("gpr_direction_sign", "Motion", ("gpr",), _attr("_gpr_direction_sign")),
("gpr_apply_freq_phase_correction", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_apply_freq_phase_correction")),
("gpr_reference_mode", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_reference_mode")),
("ignore_socket_speed", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_ignore_socket_speed_enabled")),
("gpr_speed_m_s", "Motion", ("legacy_gpr",), _attr("_legacy_gpr_speed_m_s")),
("ignore_socket_speed", "Motion", _GPR_MODES, _dual("_gpr_ignore_socket_speed_enabled", "_legacy_gpr_ignore_socket_speed_enabled")),
("gpr_speed_m_s", "Motion", _GPR_MODES, _dual("_gpr_speed_m_s", "_legacy_gpr_speed_m_s")),
]
_WEB_LIVE_GETTERS = {field: getter for field, _group, _modes, getter in _WEB_LIVE_SCHEMA}
@@ -93,7 +95,6 @@ _NON_WIDGET_LIVE_FIELDS = frozenset({
"reprocess_current_result",
"history_command",
"history_command_seq",
"gpr_direction_sign",
})
# Display toggles: GUI-only rendering choices (kept in the GUI profile, not the live
python_app/gui/controllers/app_window_config/profile_io_mixin.py
+12
View File
@@ -293,6 +293,11 @@ class AppWindowConfigProfileIOMixin:
self._gpr_range_comp_power,
self._gpr_angle_comp_power,
self._gpr_score_mode,
self._gpr_motion_mode,
self._gpr_look_angle_deg,
self._gpr_direction_sign,
self._gpr_ignore_socket_speed_enabled,
self._gpr_speed_m_s,
self._gpr_max_detected_objects_to_draw,
self._gpr_draw_top_m_objects,
self._gpr_start_freq_mhz,
@@ -453,6 +458,13 @@ class AppWindowConfigProfileIOMixin:
self._gpr_range_comp_power.setValue(float(gui_state.processing.gpr.range_comp_power))
self._gpr_angle_comp_power.setValue(float(gui_state.processing.gpr.angle_comp_power))
self._set_combo_current_text(self._gpr_score_mode, gui_state.processing.gpr.score_mode)
self._set_combo_current_text(self._gpr_motion_mode, gui_state.processing.gpr.motion_mode)
self._gpr_look_angle_deg.setValue(float(gui_state.processing.gpr.look_angle_deg))
self._gpr_direction_sign.setValue(float(gui_state.processing.gpr.direction_sign))
self._gpr_ignore_socket_speed_enabled.setChecked(
bool(gui_state.processing.gpr.ignore_socket_speed_enabled)
)
self._gpr_speed_m_s.setValue(float(gui_state.processing.gpr.speed_m_s))
self._gpr_max_detected_objects_to_draw.setValue(
int(gui_state.processing.gpr.max_detected_objects_to_draw)
)
python_app/gui/controllers/app_window_config/state_builders.py
+12 -2
View File
@@ -223,9 +223,14 @@ class AppWindowConfigStateBuildersMixin:
output_positions=self._default_gpr_output_positions_from_config(config),
min_depth_m=2.0,
max_depth_m=14.0,
range_comp_power=0.28,
angle_comp_power=0.10,
range_comp_power=0.1,
angle_comp_power=0.0,
score_mode="combined",
motion_mode="int_minus",
look_angle_deg=0.0,
direction_sign=1.0,
speed_m_s=0.0,
ignore_socket_speed_enabled=False,
max_detected_objects_to_draw=5,
draw_top_m_objects=2,
start_freq_mhz=3000.0,
@@ -347,6 +352,11 @@ class AppWindowConfigStateBuildersMixin:
range_comp_power=float(self._gpr_range_comp_power.value()),
angle_comp_power=float(self._gpr_angle_comp_power.value()),
score_mode=self._gpr_score_mode.currentText(),
motion_mode=self._gpr_motion_mode.currentText(),
look_angle_deg=float(self._gpr_look_angle_deg.value()),
direction_sign=float(self._gpr_direction_sign.value()),
speed_m_s=float(self._gpr_speed_m_s.value()),
ignore_socket_speed_enabled=bool(self._gpr_ignore_socket_speed_enabled.isChecked()),
max_detected_objects_to_draw=int(self._gpr_max_detected_objects_to_draw.value()),
draw_top_m_objects=int(self._gpr_draw_top_m_objects.value()),
start_freq_mhz=float(self._gpr_start_freq_mhz.value()),
python_app/gui/controllers/sections/processing_section.py
+52
View File
@@ -234,6 +234,48 @@ def build_processing_group(owner) -> QGroupBox:
owner._gpr_score_mode.addItems(["peak", "combined"])
owner._set_combo_current_text(owner._gpr_score_mode, gpr_live_defaults.score_mode)
owner._gpr_motion_mode = QComboBox()
owner._gpr_motion_mode.addItems(["int_minus", "int_focus"])
owner._set_combo_current_text(owner._gpr_motion_mode, gpr_live_defaults.motion_mode)
owner._gpr_motion_mode.setToolTip(
"Intra-sweep speed correction before the IFFT. int_minus: full correction; "
"int_focus: focusing residual only (no net Z shift)."
)
owner._gpr_look_angle_deg = QDoubleSpinBox()
owner._gpr_look_angle_deg.setDecimals(2)
owner._gpr_look_angle_deg.setRange(-90.0, 90.0)
owner._gpr_look_angle_deg.setSingleStep(0.5)
owner._gpr_look_angle_deg.setValue(float(gpr_live_defaults.look_angle_deg))
owner._gpr_look_angle_deg.setToolTip(
"Radar look angle vs the range axis (deg). Used by intra-sweep motion correction."
)
owner._gpr_direction_sign = QDoubleSpinBox()
owner._gpr_direction_sign.setDecimals(0)
owner._gpr_direction_sign.setRange(-1.0, 1.0)
owner._gpr_direction_sign.setSingleStep(2.0)
owner._gpr_direction_sign.setValue(float(gpr_live_defaults.direction_sign))
owner._gpr_direction_sign.setToolTip(
"Motion direction along range: +1 (later frequencies deeper) or -1 (shallower)."
)
owner._gpr_ignore_socket_speed_enabled = QCheckBox("Ignore socket speed")
owner._gpr_ignore_socket_speed_enabled.setChecked(bool(gpr_live_defaults.ignore_socket_speed_enabled))
owner._gpr_ignore_socket_speed_enabled.setToolTip(
"When checked, use the speed below for motion correction instead of the "
"value streamed over the locator socket."
)
owner._gpr_speed_m_s = QDoubleSpinBox()
owner._gpr_speed_m_s.setDecimals(3)
owner._gpr_speed_m_s.setRange(-100.0, 100.0)
owner._gpr_speed_m_s.setSingleStep(0.05)
owner._gpr_speed_m_s.setValue(float(gpr_live_defaults.speed_m_s))
owner._gpr_speed_m_s.setToolTip(
"Radar speed (m/s) used by intra-sweep motion correction when 'Ignore socket speed' is on."
)
owner._gpr_max_detected_objects_to_draw = QSpinBox()
owner._gpr_max_detected_objects_to_draw.setRange(0, 10_000)
owner._gpr_max_detected_objects_to_draw.setValue(int(gpr_live_defaults.max_detected_objects_to_draw))
@@ -317,6 +359,11 @@ def build_processing_group(owner) -> QGroupBox:
("Range comp power", owner._gpr_range_comp_power),
("Angle comp power", owner._gpr_angle_comp_power),
("Score mode", owner._gpr_score_mode),
("Motion mode", owner._gpr_motion_mode),
("Look angle deg", owner._gpr_look_angle_deg),
("Direction sign", owner._gpr_direction_sign),
owner._gpr_ignore_socket_speed_enabled,
("Speed m/s", owner._gpr_speed_m_s),
("Render mode", owner._gpr_render_mode),
("Min visible score", owner._gpr_min_visible_score),
("Max detected objects", owner._gpr_max_detected_objects_to_draw),
@@ -524,6 +571,11 @@ def build_processing_group(owner) -> QGroupBox:
owner._gpr_range_comp_power.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_angle_comp_power.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_score_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_motion_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_look_angle_deg.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_direction_sign.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_ignore_socket_speed_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._gpr_speed_m_s.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_start_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_stop_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_background_subtract_enabled.toggled.connect(owner._on_processing_live_settings_changed)
python_app/models/gui_profile_codec.py
+37
View File
@@ -288,6 +288,36 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
gui.processing.gpr.score_mode,
"gui.processing.gpr",
),
motion_mode=_optional_string(
gpr_object,
"motion_mode",
gui.processing.gpr.motion_mode,
"gui.processing.gpr",
),
look_angle_deg=_optional_float(
gpr_object,
"look_angle_deg",
gui.processing.gpr.look_angle_deg,
"gui.processing.gpr",
),
direction_sign=_optional_float(
gpr_object,
"direction_sign",
gui.processing.gpr.direction_sign,
"gui.processing.gpr",
),
speed_m_s=_optional_float(
gpr_object,
"speed_m_s",
gui.processing.gpr.speed_m_s,
"gui.processing.gpr",
),
ignore_socket_speed_enabled=_optional_bool(
gpr_object,
"ignore_socket_speed_enabled",
gui.processing.gpr.ignore_socket_speed_enabled,
"gui.processing.gpr",
),
max_detected_objects_to_draw=_optional_int(
gpr_object,
"max_detected_objects_to_draw",
@@ -425,6 +455,8 @@ def gui_profile_from_dict(payload: dict[str, Any]) -> GuiProfileModel:
raise ValueError("gui.processing.gpr.render_mode must be one of: heatmap, objects_only")
if gui.processing.gpr.score_mode not in {"peak", "combined"}:
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.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"}:
@@ -550,6 +582,11 @@ def gui_profile_to_dict(model: GuiProfileModel) -> dict[str, Any]:
"range_comp_power": gui.processing.gpr.range_comp_power,
"angle_comp_power": gui.processing.gpr.angle_comp_power,
"score_mode": gui.processing.gpr.score_mode,
"motion_mode": gui.processing.gpr.motion_mode,
"look_angle_deg": gui.processing.gpr.look_angle_deg,
"direction_sign": gui.processing.gpr.direction_sign,
"speed_m_s": gui.processing.gpr.speed_m_s,
"ignore_socket_speed_enabled": gui.processing.gpr.ignore_socket_speed_enabled,
"max_detected_objects_to_draw": gui.processing.gpr.max_detected_objects_to_draw,
"draw_top_m_objects": gui.processing.gpr.draw_top_m_objects,
"start_freq_mhz": gui.processing.gpr.start_freq_mhz,
python_app/models/gui_profile_schema.py
+10 -2
View File
@@ -58,9 +58,17 @@ class GuiGprStateModel:
output_positions: str = ""
min_depth_m: float = 2.0
max_depth_m: float = 14.0
range_comp_power: float = 0.28
angle_comp_power: float = 0.10
range_comp_power: float = 0.1
angle_comp_power: float = 0.0
score_mode: str = "combined"
motion_mode: str = "int_minus"
# Intra-sweep motion-correction inputs. Sweep time is derived from acquisition
# metadata; speed comes from the socket unless `ignore_socket_speed_enabled`,
# in which case `speed_m_s` from here is used.
look_angle_deg: float = 0.0
direction_sign: float = 1.0
speed_m_s: float = 0.0
ignore_socket_speed_enabled: bool = False
max_detected_objects_to_draw: int = 5
draw_top_m_objects: int = 2
start_freq_mhz: float = 3000.0
python_app/orchestration/live_processing_config.py
+7 -2
View File
@@ -31,10 +31,14 @@ class ProcessingLiveConfig:
gpr_output_positions: list[int] | None = None
gpr_min_depth_m: float = 2.0
gpr_max_depth_m: float = 14.0
gpr_range_comp_power: float = 0.28
gpr_angle_comp_power: float = 0.10
gpr_range_comp_power: float = 0.1
gpr_angle_comp_power: float = 0.0
gpr_comp_power: float = 0.2
gpr_score_mode: str = "combined"
# Backprojection intra-sweep speed-correction mode: "int_minus" (full
# correction) or "int_focus" (focusing residual only). Mirrors Python
# Horns_motion_3libre.py MOTION_CORRECTION_MODE.
gpr_motion_mode: str = "int_minus"
gpr_max_detected_objects_to_draw: int = 5
gpr_draw_top_m_objects: int = 2
gpr_speed_m_s: float = 0.0
@@ -108,6 +112,7 @@ class ProcessingLiveConfig:
"gpr_angle_comp_power": float(self.gpr_angle_comp_power),
"gpr_comp_power": float(self.gpr_comp_power),
"gpr_score_mode": str(self.gpr_score_mode),
"gpr_motion_mode": str(self.gpr_motion_mode),
"gpr_max_detected_objects_to_draw": int(self.gpr_max_detected_objects_to_draw),
"gpr_draw_top_m_objects": int(self.gpr_draw_top_m_objects),
"gpr_speed_m_s": float(self.gpr_speed_m_s),