"""GPR heatmaps and object overlays with renderer-owned graphics and geometry.""" from __future__ import annotations from PyQt6.QtCore import QRectF import numpy as np import pyqtgraph as pg from python_app.gui.controllers.renderers.common import build_lut, create_plot from python_app.gui.result_payloads import ( collection_payload_by_name, collection_payloads_by_prefix, filter_object_rows, gpr_object_rows, ) from python_app.models.run_config_validation import parse_position_csv from python_app.models.dataset_model import ResultCollection, ResultPayload from python_app.models.gui_profile_schema import GuiGprStateModel, GuiLegacyGprStateModel from python_app.models.run_config_schema import GprModel GprSettings = GuiGprStateModel | GuiLegacyGprStateModel def normalized_display_range(start: float, stop: float, *, minimum_span: float = 0.1) -> tuple[float, float]: """Order display bounds and expand an empty interval around its center.""" lower, upper = sorted((float(start), float(stop))) if upper - lower >= minimum_span: return lower, upper center = 0.5 * (lower + upper) return center - 0.5 * minimum_span, center + 0.5 * minimum_span def display_y_min(z_min: float, z_max: float) -> float: """Leave room for antenna markers when the surface is visible.""" if z_min > 0.0: return z_min return z_min - max(max(z_max - z_min, 1e-6) * 0.03, 0.06) def object_label_candidates( x_m: float, z_m: float, *, x_span: float, z_span: float, ) -> list[tuple[float, float, tuple[float, float]]]: """Candidate label placements, ordered by proximity to the object.""" dx, dz = max(x_span * 0.015, 0.02), max(z_span * 0.02, 0.02) return [ (x_m + dx, z_m - dz, (0.0, 1.0)), (x_m + dx, z_m + dz, (0.0, 0.0)), (x_m - dx, z_m - dz, (1.0, 1.0)), (x_m - dx, z_m + dz, (1.0, 0.0)), (x_m, z_m - dz * 1.35, (0.5, 1.0)), (x_m, z_m + dz * 1.35, (0.5, 0.0)), (x_m + dx * 2.2, z_m - dz * 1.5, (0.0, 1.0)), (x_m + dx * 2.2, z_m + dz * 1.5, (0.0, 0.0)), (x_m - dx * 2.2, z_m - dz * 1.5, (1.0, 1.0)), (x_m - dx * 2.2, z_m + dz * 1.5, (1.0, 0.0)), ] def _title(settings: GprSettings, *, objects_only: bool = False) -> str: title = f"Legacy GPR {settings.mode}" if isinstance(settings, GuiLegacyGprStateModel) else "GPR coherent BP" return f"{title} Objects Only" if objects_only else title class GprRenderer: """Draw one collection from explicit display settings and antenna geometry.""" def __init__(self) -> None: self.widget = create_plot("GPR coherent BP") self.widget.setBackground("#0f141c") plot = self.widget.getPlotItem() assert plot is not None self._plot = plot self._view = plot.getViewBox() self._plot.showGrid(x=True, y=True, alpha=0.2) self._configure_axes() self._lookup_table = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"]) self._image = pg.ImageItem(axisOrder="row-major") self._tx = pg.ScatterPlotItem() self._rx = pg.ScatterPlotItem() self._points = pg.ScatterPlotItem() self._region_centers = pg.ScatterPlotItem() self._markers = (self._tx, self._rx, self._points, self._region_centers) for item, z_value in zip((self._image, *self._markers), (0, 20, 20, 30, 30)): item.setZValue(z_value) item.hide() self._plot.addItem(item) self._labels: list[pg.TextItem] = [] self._masks: list[pg.ImageItem] = [] self._contours: list[pg.IsocurveItem] = [] self._geometry_signature: tuple[object, ...] | None = None self._selected_geometry = (np.zeros(0, dtype=np.float32), np.zeros(0, dtype=np.float32)) def _configure_axes(self) -> None: plot = self._plot plot.showAxis("left", show=True) plot.showAxis("bottom", show=True) plot.setClipToView(True) plot.setLabel("bottom", "X", units="m") plot.setLabel("left", "Range", units="m") plot.setMenuEnabled(False) plot.hideButtons() view = self._view view.invertY(False) view.enableAutoRange(x=False, y=False) view.setMouseEnabled(x=False, y=False) view.setMenuEnabled(False) def _clear_annotations(self) -> None: for item in (*self._labels, *self._masks): self._plot.removeItem(item) self._labels.clear() self._masks.clear() self._contours.clear() def clear(self, settings: GprSettings) -> None: """Clear displayed data while retaining reusable graphics items.""" self._configure_axes() self._clear_annotations() self._image.hide() for marker in self._markers: marker.setData(x=[], y=[]) marker.hide() self._plot.setTitle(_title(settings)) def _geometry(self, settings: GprSettings, geometry: GprModel) -> tuple[np.ndarray, np.ndarray]: inputs = tuple(parse_position_csv(settings.input_positions)) outputs = tuple(parse_position_csv(settings.output_positions)) signature = ( tuple((entry.output_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.tx_geometry), tuple((entry.input_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.rx_geometry), inputs, outputs, ) if signature != self._geometry_signature: self._selected_geometry = ( np.asarray([ entry.x_m for entry in sorted(geometry.tx_geometry, key=lambda entry: entry.output_pos) if not outputs or entry.output_pos in outputs ], dtype=np.float32), np.asarray([ entry.x_m for entry in sorted(geometry.rx_geometry, key=lambda entry: entry.input_pos) if not inputs or entry.input_pos in inputs ], dtype=np.float32), ) self._geometry_signature = signature return self._selected_geometry def _draw_geometry(self, settings: GprSettings, geometry: GprModel) -> None: tx, rx = self._geometry(settings, geometry) for marker, xs, symbol, brush, pen in ( (self._tx, tx, "t", "#ff595e", "#ffca3a"), (self._rx, rx, "t1", "#4cc9f0", "#e0fbfc"), ): marker.setData( x=xs, y=np.zeros_like(xs), symbol=symbol, size=13, brush=pg.mkBrush(brush), pen=pg.mkPen(pen, width=1.0), ) marker.setVisible(xs.size > 0) def _label(self, text: str, x: float, y: float, color: str) -> pg.TextItem: label = pg.TextItem(text=text, color=color, anchor=(0.0, 1.0)) label.setZValue(40) label.setPos(x, y) self._plot.addItem(label) self._labels.append(label) return label def _draw_regions(self, collection: ResultCollection, rect: QRectF) -> None: centers_payload = collection_payload_by_name(collection, "gpr_region_centers", kind=4) if centers_payload is not None and np.asarray(centers_payload.table).size > 0: centers = np.asarray(centers_payload.table, dtype=np.float32) self._region_centers.setData( x=centers[:, 0], y=centers[:, 1], symbol="o", size=10, brush=pg.mkBrush("#80ed99"), pen=pg.mkPen("#081c15", width=1.1), ) self._region_centers.show() for row in centers: self._label(f"{float(row[2]):.0f}", float(row[0]), float(row[1]), "#d8f3dc") for payload in collection_payloads_by_prefix(collection, "gpr_region_mask_", kind=3): mask = np.asarray(payload.image, dtype=np.float32) if mask.ndim != 2 or mask.size == 0: continue mask_image = pg.ImageItem(axisOrder="row-major") mask_image.setZValue(5) mask_image.setImage(mask, autoLevels=False) mask_image.setRect(rect) mask_image.setOpacity(0.0) self._plot.addItem(mask_image) contour = pg.IsocurveItem(data=mask) contour.setLevel(0.5) contour.setPen("#4cc9f0", width=1.3) contour.setParentItem(mask_image) self._masks.append(mask_image) self._contours.append(contour) @staticmethod def _place_object_label( label: pg.TextItem, x: float, z: float, x_span: float, z_span: float, occupied: list[QRectF], ) -> None: for label_x, label_z, anchor in object_label_candidates(x, z, x_span=x_span, z_span=z_span): label.setAnchor(anchor) label.setPos(label_x, label_z) rect = label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0) if not any(rect.intersects(other) for other in occupied): occupied.append(rect) return occupied.append(label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0)) def _draw_points( self, rows: np.ndarray, settings: GprSettings, objects_only: bool, x_span: float, z_span: float, ) -> None: if rows.size == 0: return self._points.setData( x=rows[:, 0], y=rows[:, 1], symbol="o" if objects_only else "d", size=18 if objects_only else 11, brush=pg.mkBrush("#ff4d4f" if objects_only else "#ffffff"), pen=pg.mkPen("#ff4d4f" if objects_only else "#111111", width=1.6 if objects_only else 1.1), ) self._points.show() occupied: list[QRectF] = [] for x_value, z_value, score in rows: x, z = float(x_value), float(z_value) text = f"{float(score):.0f}" if isinstance(settings, GuiLegacyGprStateModel) else f"{float(score):.2f}" if objects_only: text += f" | x={x:.1f} | z={z:.1f}" label = self._label(text, x, z, "#ffd6d9" if objects_only else "#ffffff") if objects_only: self._place_object_label(label, x, z, x_span, z_span, occupied) def draw(self, collection: ResultCollection, settings: GprSettings, geometry: GprModel) -> bool: """Render a heatmap or object-only view, returning whether data is present.""" objects_only = settings.render_mode == "objects_only" accumulator = collection_payload_by_name(collection, "gpr_accumulator", kind=3) x_min, x_max = normalized_display_range(settings.visible_x_min_m, settings.visible_x_max_m) z_min, z_max = normalized_display_range(settings.visible_z_min_m, settings.visible_z_max_m) rows = gpr_object_rows(collection) # Coherent BP rows are finalized in C++; only legacy GPR uses GUI filtering. if isinstance(settings, GuiLegacyGprStateModel): rows = filter_object_rows( rows, min_score=float(settings.min_visible_pair_count), x_bounds=(x_min, x_max), z_bounds=(z_min, z_max), ) if objects_only: if accumulator is None and rows.size == 0: self.clear(settings) return False elif accumulator is None or not self._valid_accumulator(accumulator): self.clear(settings) return False self.widget.setUpdatesEnabled(False) try: self._clear_annotations() self._image.hide() for marker in (self._points, self._region_centers): marker.setData(x=[], y=[]) marker.hide() self._view.invertY(False) self._draw_geometry(settings, geometry) rect: QRectF | None = None if not objects_only and accumulator is not None: image = np.asarray(accumulator.image, dtype=np.float32) xs = np.asarray(accumulator.image_x_axis, dtype=np.float32) ys = np.asarray(accumulator.image_y_axis, dtype=np.float32) rect = QRectF( float(xs[0]), float(ys[0]), max(float(xs[-1]) - float(xs[0]), 1e-6), max(float(ys[-1]) - float(ys[0]), 1e-6), ) self._image.setImage(image, autoLevels=False) self._image.setRect(rect) self._image.setLookupTable(self._lookup_table) self._image.setLevels((float(np.min(image)), float(np.max(image) + 1e-6))) self._image.show() self._view.setXRange(x_min, x_max, padding=0.0) self._view.setYRange(display_y_min(z_min, z_max), z_max, padding=0.0) points = collection_payload_by_name(collection, "gpr_points", kind=4) if points is None or np.asarray(points.table).size == 0: rows = np.zeros((0, 3), dtype=np.float32) self._draw_points(rows, settings, objects_only, x_max - x_min, z_max - z_min) if rect is not None: self._draw_regions(collection, rect) if objects_only: self._view.setXRange(x_min, x_max, padding=0.0) self._view.setYRange(display_y_min(z_min, z_max), z_max, padding=0.0) self._plot.setTitle(_title(settings, objects_only=objects_only)) finally: self.widget.setUpdatesEnabled(True) return True @staticmethod def _valid_accumulator(payload: ResultPayload) -> bool: image = np.asarray(payload.image) return image.ndim == 2 and image.size > 0 and np.size(payload.image_x_axis) > 0 and np.size(payload.image_y_axis) > 0