203 lines
8.9 KiB
Python
203 lines
8.9 KiB
Python
"""GPR heatmaps and object overlays with renderer-owned graphics and geometry."""
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from __future__ import annotations
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from PyQt6.QtCore import QRectF
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import numpy as np
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import pyqtgraph as pg
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from python_app.gui.controllers.renderers.common import (
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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 (
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collection_payload_by_name, gpr_object_rows,
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)
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from python_app.gui.theme import PLOT_FOREGROUND
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from python_app.models.dataset_model import ResultCollection, ResultPayload
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from python_app.models.gui_profile_schema import GuiGprStateModel
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from python_app.models.run_config_schema import GprModel
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def normalized_display_range(start: float, stop: float, *, minimum_span: float = 0.1) -> tuple[float, float]:
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"""Order display bounds and expand an empty interval around its center."""
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lower, upper = sorted((float(start), float(stop)))
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if upper - lower >= minimum_span:
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return lower, upper
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center = 0.5 * (lower + upper)
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return center - 0.5 * minimum_span, center + 0.5 * minimum_span
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def display_y_min(z_min: float, z_max: float) -> float:
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"""Leave room for antenna markers when the surface is visible."""
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if z_min > 0.0:
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return z_min
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return z_min - max(max(z_max - z_min, 1e-6) * 0.03, 0.06)
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def object_label_candidates(
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x_m: float, z_m: float, *, x_span: float, z_span: float,
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) -> list[tuple[float, float, tuple[float, float]]]:
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"""Candidate label placements, ordered by proximity to the object."""
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dx, dz = max(x_span * 0.015, 0.02), max(z_span * 0.02, 0.02)
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return [
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(x_m + dx, z_m - dz, (0.0, 1.0)),
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(x_m + dx, z_m + dz, (0.0, 0.0)),
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(x_m - dx, z_m - dz, (1.0, 1.0)),
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(x_m - dx, z_m + dz, (1.0, 0.0)),
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(x_m, z_m - dz * 1.35, (0.5, 1.0)),
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(x_m, z_m + dz * 1.35, (0.5, 0.0)),
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(x_m + dx * 2.2, z_m - dz * 1.5, (0.0, 1.0)),
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(x_m + dx * 2.2, z_m + dz * 1.5, (0.0, 0.0)),
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(x_m - dx * 2.2, z_m - dz * 1.5, (1.0, 1.0)),
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(x_m - dx * 2.2, z_m + dz * 1.5, (1.0, 0.0)),
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]
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def _title(*, objects_only: bool = False) -> str:
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title = "GPR coherent BP — ground plane"
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return f"{title} Objects Only" if objects_only else title
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class GprRenderer:
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"""Draw one collection from explicit display settings and antenna geometry."""
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def __init__(self) -> None:
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self.widget = create_plot(_title())
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plot = self.widget.getPlotItem()
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assert plot is not None
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self._plot = plot
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self._view = plot.getViewBox()
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plot.setLabel("bottom", "X", units="m")
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plot.setLabel("left", "Range", units="m")
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plot.hideButtons()
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self._view.enableAutoRange(x=False, y=False)
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self._view.setMouseEnabled(x=False, y=False)
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self._lookup_table = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"])
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self._image = pg.ImageItem(axisOrder="row-major")
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self._tx = pg.ScatterPlotItem()
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self._rx = pg.ScatterPlotItem()
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self._points = pg.ScatterPlotItem()
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self._markers = (self._tx, self._rx, self._points)
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for item, z_value in zip((self._image, *self._markers), (0, 20, 20, 30)):
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item.setZValue(z_value)
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item.hide()
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self._plot.addItem(item)
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self._labels: list[pg.TextItem] = []
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self._geometry_signature: tuple[object, ...] | None = None
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self._selected_geometry = (np.empty((0, 3)), np.empty((0, 3)))
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def _clear_annotations(self) -> None:
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for item in self._labels:
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self._plot.removeItem(item)
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self._labels.clear()
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def clear(self) -> None:
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"""Clear displayed data while retaining reusable graphics items."""
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self._clear_annotations()
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self._image.hide()
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for marker in self._markers:
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marker.hide()
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self._plot.setTitle(_title())
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def _geometry(self, settings: GuiGprStateModel, geometry: GprModel) -> tuple[np.ndarray, np.ndarray]:
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signature = (
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tuple((entry.output_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.tx_geometry),
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tuple((entry.input_pos, entry.x_m, entry.y_m, entry.z_m) for entry in geometry.rx_geometry),
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settings.input_positions, settings.output_positions,
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)
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if signature != self._geometry_signature:
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self._selected_geometry = selected_antenna_coordinates(geometry, settings.input_positions, settings.output_positions)
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self._geometry_signature = signature
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return self._selected_geometry
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def _draw_geometry(self, settings: GuiGprStateModel, geometry: GprModel) -> None:
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tx, rx = self._geometry(settings, geometry)
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for marker, coordinates, (symbol, brush, pen) in zip((self._tx, self._rx), (tx, rx), ANTENNA_STYLES):
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marker.setData(x=coordinates[:, 0], y=coordinates[:, 2], symbol=symbol, size=13,
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brush=pg.mkBrush(brush), pen=pg.mkPen(pen, width=1.0))
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marker.setVisible(len(coordinates) > 0)
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def _draw_image(self, accumulator: ResultPayload) -> None:
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image = np.asarray(accumulator.image, dtype=np.float32)
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self._image.setImage(image, autoLevels=False)
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self._image.setRect(image_rect(accumulator.image_x_axis, accumulator.image_y_axis))
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self._image.setLookupTable(self._lookup_table)
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self._image.setLevels((float(np.min(image)), float(np.max(image) + 1e-6)))
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self._image.show()
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def _label(self, text: str, x: float, y: float) -> pg.TextItem:
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label = pg.TextItem(text=text, color=PLOT_FOREGROUND, fill=pg.mkBrush(*OVERLAY_FILL), anchor=(0.0, 1.0))
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label.setZValue(40)
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label.setPos(x, y)
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self._plot.addItem(label)
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self._labels.append(label)
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return label
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@staticmethod
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def _place_object_label(
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label: pg.TextItem, x: float, z: float, x_span: float, z_span: float, occupied: list[QRectF],
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) -> None:
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for label_x, label_z, anchor in object_label_candidates(x, z, x_span=x_span, z_span=z_span):
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label.setAnchor(anchor)
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label.setPos(label_x, label_z)
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rect = label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0)
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if not any(rect.intersects(other) for other in occupied):
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occupied.append(rect)
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return
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occupied.append(label.sceneBoundingRect().adjusted(-4.0, -4.0, 4.0, 4.0))
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def _draw_points(
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self, rows: np.ndarray, objects_only: bool, x_span: float, z_span: float,
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) -> None:
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if rows.size == 0:
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self._points.hide()
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return
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self._points.setData(
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x=rows[:, 0], y=rows[:, 1], symbol="o" if objects_only else "d",
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size=18 if objects_only else 11,
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brush=pg.mkBrush("#ff4d4f" if objects_only else "#ffffff"),
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pen=pg.mkPen("#ff4d4f" if objects_only else "#111111", width=1.6 if objects_only else 1.1),
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)
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self._points.show()
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occupied: list[QRectF] = []
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for x_value, z_value, score in rows:
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x, z = float(x_value), float(z_value)
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text = f"{float(score):.2f}"
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if objects_only:
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text += f" | x={x:.1f} | z={z:.1f}"
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label = self._label(text, x, z)
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if objects_only:
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self._place_object_label(label, x, z, x_span, z_span, occupied)
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def draw(self, collection: ResultCollection, settings: GuiGprStateModel, geometry: GprModel) -> bool:
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"""Render a heatmap or object-only view, returning whether data is present."""
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objects_only = settings.render_mode == "objects_only"
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accumulator = collection_payload_by_name(collection, "gpr_accumulator", kind=3)
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rows = gpr_object_rows(collection)
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if objects_only:
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if accumulator is None and rows.size == 0:
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self.clear()
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return False
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elif accumulator is None or not self._valid_accumulator(accumulator):
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self.clear()
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return False
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x_min, x_max = normalized_display_range(settings.visible_x_min_m, settings.visible_x_max_m)
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z_min, z_max = normalized_display_range(settings.visible_z_min_m, settings.visible_z_max_m)
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self._view.setXRange(x_min, x_max, padding=0.0)
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self._view.setYRange(display_y_min(z_min, z_max), z_max, padding=0.0)
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self._clear_annotations()
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self._draw_geometry(settings, geometry)
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if objects_only or accumulator is None:
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self._image.hide()
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else:
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self._draw_image(accumulator)
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self._draw_points(rows, objects_only, x_max - x_min, z_max - z_min)
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self._plot.setTitle(_title(objects_only=objects_only))
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return True
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@staticmethod
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def _valid_accumulator(payload: ResultPayload) -> bool:
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image = np.asarray(payload.image)
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return image.ndim == 2 and image.size > 0 and np.size(payload.image_x_axis) > 0 and np.size(payload.image_y_axis) > 0
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