348 lines
17 KiB
Python
348 lines
17 KiB
Python
"""Live reflector measurements and target-phase diagnostics for MIMO calibration."""
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from __future__ import annotations
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import copy
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import math
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import numpy as np
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import pyqtgraph as pg
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from PyQt6.QtCore import QSignalBlocker, QRectF, Qt, pyqtSignal
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from PyQt6.QtWidgets import (
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QCheckBox, QComboBox, QDialog, QDoubleSpinBox, QFormLayout, QGroupBox,
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QHBoxLayout, QHeaderView, QLabel, QLineEdit, QPushButton, QScrollArea, QTableWidget, QTableWidgetItem,
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QToolButton, QVBoxLayout, QWidget,
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)
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from python_app.models.dataset_model import SweepCollection
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from python_app.gui.theme import PLOT_BACKGROUND
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class ObjectCalibrationDialog(QDialog):
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"""Collect full-matrix sweeps, then associate each group with measured XYZ."""
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capture_requested = pyqtSignal()
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calculate_requested = pyqtSignal()
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cancel_requested = pyqtSignal()
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def __init__(self, set_name: str, parent=None) -> None:
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super().__init__(parent)
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self.setWindowTitle("MIMO Object Calibration")
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self.resize(1000, 850)
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self._captures: list[dict] = []
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self._config: dict | None = None
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self._provenance: dict | None = None
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self._capture_pending = self._calculating = False
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self._calibration: dict | None = None
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root_layout = QVBoxLayout(self)
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scroll = QScrollArea(self)
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scroll.setWidgetResizable(True)
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content = QWidget(scroll)
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layout = QVBoxLayout(content)
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scroll.setWidget(content)
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root_layout.addWidget(scroll)
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name_row = QHBoxLayout()
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name_row.addWidget(QLabel("Set name", self))
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self._set_name_input = QLineEdit(set_name, self)
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name_row.addWidget(self._set_name_input)
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layout.addLayout(name_row)
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explanation = QLabel(
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"Capture data, then enter the measured reflector centre: "
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"X across the array, Y above the ground, Z along the ground. "
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"S21 through calibration and the selected reference are already applied; "
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"object calibration is disabled during capture. Only antenna pairs with configured "
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"Tx/Rx geometry are calibrated; other acquired pairs remain unchanged.", self,
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)
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explanation.setWordWrap(True)
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layout.addWidget(explanation)
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self._table = QTableWidget(0, 5, self)
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self._table.setMaximumHeight(140)
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self._table.setHorizontalHeaderLabels(["Target", "Sweeps", "X (m)", "Y (m)", "Z (m)"])
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horizontal, vertical = self._table.horizontalHeader(), self._table.verticalHeader()
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assert horizontal is not None and vertical is not None
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horizontal.setSectionResizeMode(QHeaderView.ResizeMode.Stretch)
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vertical.hide()
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self._table.setSelectionBehavior(QTableWidget.SelectionBehavior.SelectRows)
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layout.addWidget(self._table)
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actions = QHBoxLayout()
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self._capture_button = QPushButton("Capture Data", self)
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self._capture_button.clicked.connect(self.capture_requested.emit)
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self._remove_button = QPushButton("Remove Selected Target", self)
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self._remove_button.setProperty("role", "destructive")
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self._remove_button.clicked.connect(self._remove_capture)
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actions.addWidget(self._capture_button)
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actions.addWidget(self._remove_button)
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actions.addStretch(1)
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layout.addLayout(actions)
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self._settings: dict[str, QDoubleSpinBox | QCheckBox | QComboBox] = {}
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form = QFormLayout()
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for key, title, default, low, high in (
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("sphere_radius_m", "Sphere radius (m, 0 = point)", .16, 0, 100),
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("antenna_height_m", "Antenna origin height above ground (m)", .92, 0, 100),
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("pitch_deg", "Radar downward tilt (°)", 10, -90, 90),
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):
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form.addRow(title, self._number(key, default, low, high))
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layout.addLayout(form)
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# A disclosure header: only the header shows until the operator opens it.
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advanced_toggle = QToolButton(self)
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advanced_toggle.setText("Calculation Settings")
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advanced_toggle.setToolButtonStyle(Qt.ToolButtonStyle.ToolButtonTextBesideIcon)
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advanced_toggle.setArrowType(Qt.ArrowType.RightArrow)
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advanced_toggle.setAutoRaise(True)
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advanced = QGroupBox(self)
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advanced_form = QFormLayout(advanced)
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for key, title, default, low, high in (
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("f_min", "Estimation band start (MHz)", 2000, 0, 100000),
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("f_max", "Estimation band stop (MHz)", 6000, 0, 100000),
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("gate_half_m", "Echo path gate half-width (m)", .15, .001, 100),
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("gate_taper_m", "Gate taper width (m)", .03, .001, 100),
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("coarse_range_search_m", "Coarse path search (±m, 0 = off)", .6, 0, 100),
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("refine_range_m", "Coordinate refinement (±m)", .1, 0, 100),
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):
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advanced_form.addRow(title, self._number(key, default, low, high))
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axes = QWidget(advanced)
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axes_layout = QHBoxLayout(axes)
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axes_layout.setContentsMargins(0, 0, 0, 0)
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self._refine_axes = {}
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for axis in "xyz":
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checkbox = QCheckBox(axis.upper(), axes)
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checkbox.setChecked(True)
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self._refine_axes[axis] = checkbox
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axes_layout.addWidget(checkbox)
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axes_layout.addStretch(1)
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advanced_form.addRow("Refine coordinates", axes)
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phase_model = QComboBox(advanced)
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phase_model.addItems(["const", "linear", "poly3", "raw"])
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phase_model.setCurrentText("linear")
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self._settings["phase_model"] = phase_model
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advanced_form.addRow("Antenna phase model", phase_model)
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amplitude = QCheckBox("Equalize amplitudes", advanced)
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self._settings["apply_amplitude"] = amplitude
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advanced_form.addRow(amplitude)
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advanced.hide()
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def toggle_advanced() -> None:
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shown = advanced.isHidden()
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advanced_toggle.setArrowType(Qt.ArrowType.DownArrow if shown else Qt.ArrowType.RightArrow)
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advanced.setVisible(shown)
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advanced_toggle.clicked.connect(toggle_advanced)
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layout.addWidget(advanced_toggle)
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layout.addWidget(advanced)
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self._target_combo = QComboBox(self)
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layout.addWidget(self._target_combo)
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self._phase_view = pg.GraphicsLayoutWidget(parent=self)
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self._phase_view.setBackground(PLOT_BACKGROUND)
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self._phase_view.setMinimumHeight(270)
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self._phase_plots = []
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self._phase_images = []
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self._phase_text = []
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for column, title in enumerate(("Before", "After")):
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plot = self._phase_view.ci.addPlot(row=0, col=column, title=title, enableMenu=False)
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plot.setLabel("bottom", "Rx")
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plot.setLabel("left", "Tx")
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plot.getViewBox().setAspectLocked(True)
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plot.getViewBox().invertY(True)
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plot.getViewBox().setMouseEnabled(x=False, y=False)
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image = pg.ImageItem(axisOrder="row-major")
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plot.addItem(image)
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self._phase_plots.append(plot)
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self._phase_images.append(image)
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self._phase_colorbar = pg.ColorBarItem(
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values=(-180, 180), colorMap=pg.colormap.get("CET-C2"),
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label="Phase (deg)", interactive=False, colorMapMenu=False,
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)
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self._phase_colorbar.setImageItem(self._phase_images)
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self._phase_colorbar.axis.setTicks([[(value, str(value)) for value in (-180, -90, 0, 90, 180)]])
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self._phase_view.ci.addItem(self._phase_colorbar, row=0, col=2)
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layout.addWidget(self._phase_view)
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self._quality_label = QLabel("Pair phases at the target will appear after calculation.", self)
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self._quality_label.setWordWrap(True)
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layout.addWidget(self._quality_label)
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self._status_label = QLabel("Ready to capture", self)
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self._status_label.setWordWrap(True)
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layout.addWidget(self._status_label)
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footer = QHBoxLayout()
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self._calculate_button = QPushButton("Calculate and Save", self)
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self._calculate_button.setProperty("role", "primary")
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self._calculate_button.clicked.connect(self.calculate_requested.emit)
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self._cancel_button = QPushButton("Cancel Operation", self)
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self._cancel_button.clicked.connect(self.cancel_requested.emit)
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close_button = QPushButton("Close", self)
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close_button.clicked.connect(self.reject)
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footer.addWidget(self._calculate_button)
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footer.addWidget(self._cancel_button)
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footer.addStretch(1)
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footer.addWidget(close_button)
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root_layout.addLayout(footer)
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self._table.itemChanged.connect(self._measurements_changed)
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self._target_combo.currentIndexChanged.connect(self._draw_phase_effect)
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for field in [*self._settings.values(), *self._refine_axes.values()]:
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signal = (field.valueChanged if isinstance(field, QDoubleSpinBox) else
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field.toggled if isinstance(field, QCheckBox) else field.currentTextChanged)
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signal.connect(self._measurements_changed)
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self._update_actions()
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def _number(self, key: str, value: float, low: float, high: float) -> QDoubleSpinBox:
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field = QDoubleSpinBox(self)
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field.setDecimals(0 if key in {"f_min", "f_max"} else 1 if key == "pitch_deg" else 3)
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field.setRange(low, high)
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field.setSingleStep(100 if key in {"f_min", "f_max"} else .1 if key == "pitch_deg" else .01)
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field.setValue(value)
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self._settings[key] = field
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return field
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def add_capture(self, collections: list[SweepCollection], config: dict, provenance: dict) -> None:
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"""Freeze a captured group before the operator enters its target coordinates."""
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if not collections:
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raise ValueError("No reflector sweeps were captured")
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if self._config is not None and (
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any(config.get(key) != self._config.get(key) for key in ("radar", "gpr", "preprocess"))
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or config.get("run", {}).get("combos") != self._config.get("run", {}).get("combos")
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or provenance != self._provenance
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):
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raise ValueError("Radar settings, geometry, channels or preprocessing changed between captures")
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if self._config is None:
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self._config = copy.deepcopy(config)
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self._provenance = copy.deepcopy(provenance)
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self._captures.append({"collections": copy.deepcopy(collections)})
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row = self._table.rowCount()
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with QSignalBlocker(self._table):
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self._table.insertRow(row)
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for column, value in enumerate((str(row + 1), str(len(collections)), "", "", "")):
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item = QTableWidgetItem(value)
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if column < 2:
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item.setFlags(item.flags() & ~Qt.ItemFlag.ItemIsEditable)
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self._table.setItem(row, column, item)
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self._table.setCurrentCell(row, 2)
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self._measurements_changed()
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self.set_status("Data captured. Enter the reflector centre coordinates for the new target.")
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self._update_actions()
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def calculation_inputs(self) -> tuple[list[dict], dict, dict, dict]:
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"""Validate XYZ after capture; expose a frozen recipe to the worker."""
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if not self._captures or self._config is None or self._provenance is None:
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raise ValueError("Capture reflector data first")
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groups = []
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for row, capture in enumerate(self._captures):
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try:
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coordinates = []
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for column in (2, 3, 4):
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item = self._table.item(row, column)
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assert item is not None
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coordinates.append(float(item.text().strip()))
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target = tuple(coordinates)
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except ValueError as exc:
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raise ValueError(f"Enter X, Y and Z of the reflector centre for target {row + 1}") from exc
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if not all(math.isfinite(value) for value in target):
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raise ValueError(f"Target {row + 1} coordinates must be finite numbers")
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groups.append({**capture, "target_scene_m": target})
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settings: dict[str, float | bool | str | tuple[str, ...] | tuple[int, ...]] = {
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key: field.value() * (1e6 if key in {"f_min", "f_max"} else 1) if isinstance(field, QDoubleSpinBox) else
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field.isChecked() if isinstance(field, QCheckBox) else field.currentText()
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for key, field in self._settings.items()
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}
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settings["refine_axes"] = tuple(axis for axis, field in self._refine_axes.items() if field.isChecked())
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geometry = self._config["gpr"]
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settings["input_idx"] = tuple(sorted(entry["input_pos"] for entry in geometry["rx_geometry"]))
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settings["output_idx"] = tuple(sorted(entry["output_pos"] for entry in geometry["tx_geometry"]))
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return groups, copy.deepcopy(self._config), settings, copy.deepcopy(self._provenance)
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def set_name(self) -> str:
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return self._set_name_input.text().strip()
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def set_capture_pending(self, pending: bool) -> None:
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self._capture_pending = pending
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self._update_actions()
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def set_calculating(self, calculating: bool) -> None:
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self._calculating = calculating
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self._update_actions()
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def set_status(self, message: str) -> None:
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self._status_label.setText(message)
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def show_calibration(self, metadata: dict) -> None:
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"""Display phase diagnostics stored with the calculated calibration set."""
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self._calibration = metadata
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with QSignalBlocker(self._target_combo):
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self._target_combo.clear()
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for index, target in enumerate(metadata["targets"]):
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xyz = target["nominal_scene_m"]
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self._target_combo.addItem(f"Target {index + 1}: {xyz}")
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self._draw_phase_effect()
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def _clear_phase_effect(self) -> None:
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for image in self._phase_images:
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image.clear()
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for plot, text in self._phase_text:
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plot.removeItem(text)
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self._phase_text.clear()
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for plot, title in zip(self._phase_plots, ("Before", "After")):
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plot.setTitle(title)
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def _draw_phase_effect(self, *_args) -> None:
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"""Render notebook cell 5: Tx-by-Rx phase maps relative to each matrix sum."""
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self._clear_phase_effect()
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if self._calibration is None:
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return
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diagnostics = self._calibration["diagnostics"]
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index = self._target_combo.currentIndex()
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if not 0 <= index < len(diagnostics):
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self._quality_label.setText("This target has no phase diagnostics.")
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return
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diagnostic = diagnostics[index]
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tx, rx = self._calibration["tx_output_pos"], self._calibration["rx_input_pos"]
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for key, plot, image in zip(("before", "after"), self._phase_plots, self._phase_images):
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matrix = np.asarray(diagnostic[f"phase_{key}_deg"], dtype=float)
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image.setImage(matrix, autoLevels=False, levels=(-180, 180))
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image.setRect(QRectF(-.5, -.5, len(rx), len(tx)))
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plot.getAxis("bottom").setTicks([[(i, f"Rx{port}") for i, port in enumerate(rx)]])
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plot.getAxis("left").setTicks([[(i, f"Tx{port}") for i, port in enumerate(tx)]])
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plot.setRange(xRange=(-.5, len(rx) - .5), yRange=(-.5, len(tx) - .5), padding=0)
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plot.setTitle(f"{key.title()}: pair phase at target (STD {diagnostic[f'phase_std_{key}_deg']:.0f}°)")
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for (row, column), value in np.ndenumerate(matrix):
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text = pg.TextItem(f"{value:+.0f}", color="w", anchor=(.5, .5), fill=pg.mkBrush(0, 0, 0, 90))
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text.setPos(column, row)
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plot.addItem(text)
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self._phase_text.append((plot, text))
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self._quality_label.setText("Each matrix shows phase relative to its own coherent sum, in degrees.")
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def _remove_capture(self) -> None:
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row = self._table.currentRow()
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if row >= 0:
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self._captures.pop(row)
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with QSignalBlocker(self._table):
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self._table.removeRow(row)
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for index in range(self._table.rowCount()):
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item = self._table.item(index, 0)
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assert item is not None
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item.setText(str(index + 1))
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if not self._captures:
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self._config = None
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self._provenance = None
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self._measurements_changed()
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self._update_actions()
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def _measurements_changed(self, *_args) -> None:
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self._calibration = None
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with QSignalBlocker(self._target_combo):
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self._target_combo.clear()
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self._clear_phase_effect()
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self._quality_label.setText("Measurements or settings changed. Recalculate to update the phase maps.")
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def _update_actions(self) -> None:
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busy = self._capture_pending or self._calculating
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self._capture_button.setEnabled(not busy)
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self._remove_button.setEnabled(not busy and bool(self._captures))
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self._calculate_button.setEnabled(not busy and bool(self._captures))
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self._cancel_button.setEnabled(busy)
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self._table.setEnabled(not busy)
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self._set_name_input.setEnabled(not busy)
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for field in [*self._settings.values(), *self._refine_axes.values()]:
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field.setEnabled(not busy)
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def reject(self) -> None:
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self.cancel_requested.emit()
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super().reject()
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