252 lines
13 KiB
Python
252 lines
13 KiB
Python
"""Independent 3D SAR views of the volume published by the sar3d processor.
|
|
|
|
Scene axes: X across, Y height above the ground (Y = 0 is the ground), Z along
|
|
the ground away from the radar. Payloads share normalization by the maximum
|
|
away from the Y boundaries:
|
|
|
|
- ``sar3d_front``, ``sar3d_side``, ``sar3d_top``: maximum projections onto X-Y
|
|
(looking ahead from the radar), Z-Y (from the side) and X-Z (from above);
|
|
- ``sar3d_oblique``: orthographic projection along the camera of the notebook's
|
|
3D scene; ``sar3d_oblique_basis`` (2x3) gives its image axes u and v as scene
|
|
directions, which places the scene box, the ground and the maximum on it;
|
|
- ``sar3d_target_width``: axial FWHM [X, Y, Z] in metres through the joint peak.
|
|
- ``sar3d_peak``: [level, X, Y, Z] of that maximum before normalization.
|
|
- ``sar3d_status``: [code, UTF-8 bytes...] with ready CUDA (0), no signal (1),
|
|
processing error (2), or CUDA unavailable (3), including the explanation.
|
|
"""
|
|
|
|
from __future__ import annotations
|
|
|
|
import itertools
|
|
|
|
import numpy as np
|
|
import pyqtgraph as pg
|
|
from PyQt6.QtCore import QRectF, Qt
|
|
from PyQt6.QtWidgets import QGridLayout, QLabel, QVBoxLayout, QWidget
|
|
|
|
from python_app.gui.controllers.renderers.common import ANTENNA_STYLES, build_lut, create_plot, selected_antenna_coordinates
|
|
from python_app.gui.result_payloads import collection_payload_by_name
|
|
from python_app.models.dataset_model import ResultCollection, ResultPayload
|
|
from python_app.models.gui_profile_schema import GuiSar3dStateModel
|
|
from python_app.models.run_config_schema import GprModel
|
|
|
|
# Status codes published by the sar3d processor in its "sar3d_status" table.
|
|
SAR3D_STATES = {0: "ready", 1: "no signal", 2: "error", 3: "warning"}
|
|
|
|
# payload -> (title, x label, y label, scene axes (0 = X, 1 = Y, 2 = Z) along the plot axes)
|
|
SAR3D_VIEWS: dict[str, tuple[str, str, str, tuple[int, int] | None]] = {
|
|
"sar3d_front": ("Front (X-Y)", "X", "Y", (0, 1)),
|
|
"sar3d_side": ("Side (Z-Y)", "Z", "Y", (2, 1)),
|
|
"sar3d_top": ("Top (X-Z)", "X", "Z", (0, 2)),
|
|
"sar3d_oblique": ("3D Projection", "", "", None),
|
|
}
|
|
|
|
# Corners of the scene box indexed by bits (x, y, z); an edge joins corners one bit apart.
|
|
_BOX_EDGES = [(a, b) for a, b in itertools.combinations(range(8), 2) if bin(a ^ b).count("1") == 1]
|
|
# Axis names go on the edges meeting at the bottom corner nearest the camera (X max, Y min, Z min).
|
|
_AXIS_EDGES = {"X": (0, 1), "Y": (1, 3), "Z": (1, 5)}
|
|
|
|
|
|
def sar3d_status(collection: ResultCollection) -> tuple[int, str] | None:
|
|
"""Status code (a SAR3D_STATES key) and message, one UTF-8 byte per table column."""
|
|
payload = collection_payload_by_name(collection, "sar3d_status", kind=4)
|
|
if payload is None:
|
|
return None
|
|
if payload.table.ndim != 2 or not payload.table.size or not np.isfinite(payload.table).all():
|
|
return 2, "Invalid SAR3D status table"
|
|
row = payload.table[0]
|
|
code = int(row[0])
|
|
if code not in SAR3D_STATES or code != row[0]:
|
|
return 2, f"Unknown SAR3D status code: {row[0]}"
|
|
return code, bytes(row[1:].astype(np.uint8)).decode("utf-8", errors="replace")
|
|
|
|
|
|
def _image_rect(x_axis: np.ndarray, y_axis: np.ndarray) -> QRectF:
|
|
"""Rectangle covering the pixels centred on the axis samples."""
|
|
dx = (x_axis[-1] - x_axis[0]) / max(len(x_axis) - 1, 1)
|
|
dy = (y_axis[-1] - y_axis[0]) / max(len(y_axis) - 1, 1)
|
|
return QRectF(x_axis[0] - dx / 2, y_axis[0] - dy / 2, x_axis[-1] - x_axis[0] + dx, y_axis[-1] - y_axis[0] + dy)
|
|
|
|
|
|
class Sar3dRenderer:
|
|
"""Draws the 3D SAR views."""
|
|
|
|
def __init__(self) -> None:
|
|
self.widget = QWidget()
|
|
layout = QVBoxLayout(self.widget)
|
|
layout.setContentsMargins(0, 0, 0, 0)
|
|
layout.setSpacing(6)
|
|
self.status_label = QLabel()
|
|
self.status_label.setTextFormat(Qt.TextFormat.PlainText)
|
|
self.status_label.setWordWrap(True)
|
|
layout.addWidget(self.status_label)
|
|
self.grid = QWidget()
|
|
grid_layout = QGridLayout(self.grid)
|
|
grid_layout.setContentsMargins(0, 0, 0, 0)
|
|
grid_layout.setSpacing(6)
|
|
layout.addWidget(self.grid, stretch=1)
|
|
self.plots: dict[str, pg.PlotWidget] = {}
|
|
for index, (name, (title, *_rest)) in enumerate(SAR3D_VIEWS.items()):
|
|
plot = create_plot(title)
|
|
grid_layout.addWidget(plot, index // 2, index % 2)
|
|
self.plots[name] = plot
|
|
lut = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"]) # the GPR palette
|
|
lut = np.column_stack([lut, np.full(len(lut), 255, dtype=np.uint8)])
|
|
lut[0, 3] = 0 # below SAR_CLOUD_THRESHOLD
|
|
self.antennas: dict[str, tuple[pg.ScatterPlotItem, pg.ScatterPlotItem]] = {}
|
|
self.images: dict[str, pg.ImageItem] = {}
|
|
self.targets: dict[str, pg.PlotCurveItem] = {}
|
|
for name, (_title, x_label, y_label, _axes) in SAR3D_VIEWS.items():
|
|
plot = self.plots[name]
|
|
plot.setAspectLocked(True)
|
|
if _axes is not None:
|
|
markers = (pg.ScatterPlotItem(), pg.ScatterPlotItem())
|
|
for marker in markers:
|
|
marker.setZValue(4)
|
|
plot.addItem(marker)
|
|
self.antennas[name] = markers
|
|
item = plot.getPlotItem()
|
|
assert item is not None
|
|
view = item.getViewBox()
|
|
view.setMouseEnabled(x=False, y=False)
|
|
view.setMenuEnabled(False)
|
|
view.enableAutoRange(x=False, y=False)
|
|
item.hideButtons()
|
|
image = pg.ImageItem(axisOrder="row-major", lut=lut)
|
|
plot.addItem(image)
|
|
# Hollow, so the response at the maximum stays visible.
|
|
peak = pg.PlotCurveItem(pen=pg.mkPen("w", width=1.5))
|
|
peak.setZValue(3)
|
|
plot.addItem(peak)
|
|
self.images[name] = image
|
|
self.targets[name] = peak
|
|
if x_label:
|
|
plot.showGrid(x=True, y=True, alpha=0.2)
|
|
plot.setLabel("bottom", x_label, units="m")
|
|
plot.setLabel("left", y_label, units="m")
|
|
if y_label == "Y":
|
|
ground = pg.InfiniteLine(pos=0.0, angle=0, pen=pg.mkPen("w", width=1, style=Qt.PenStyle.DashLine))
|
|
ground.setZValue(2)
|
|
plot.addItem(ground)
|
|
|
|
oblique = self.plots["sar3d_oblique"]
|
|
oblique.hideAxis("bottom")
|
|
oblique.hideAxis("left")
|
|
oblique.setAspectLocked(True)
|
|
# The notebook scene's ground, under the image so it shows through weak voxels.
|
|
self.ground = pg.PlotCurveItem(
|
|
pen=pg.mkPen(115, 105, 88), brush=pg.mkBrush(115, 105, 88, 110), fillLevel="enclosed"
|
|
)
|
|
self.ground.setZValue(-1)
|
|
oblique.addItem(self.ground)
|
|
self.box = pg.PlotCurveItem(pen=pg.mkPen(190, 190, 190, 170), connect="pairs")
|
|
self.box.setZValue(2)
|
|
oblique.addItem(self.box)
|
|
self.axis_labels: dict[str, pg.TextItem] = {}
|
|
for axis_name in _AXIS_EDGES:
|
|
label = pg.TextItem(axis_name, color=(190, 190, 190), anchor=(0.5, 0.5))
|
|
oblique.addItem(label)
|
|
self.axis_labels[axis_name] = label
|
|
self.clear()
|
|
|
|
def clear(self, message: str = "SAR3D: waiting for measurements") -> None:
|
|
"""Clear all four 3D SAR views."""
|
|
for name, (title, *_rest) in SAR3D_VIEWS.items():
|
|
self.images[name].hide()
|
|
self.targets[name].setData([], [])
|
|
self.plots[name].setTitle(title)
|
|
for markers in self.antennas.values():
|
|
for marker in markers:
|
|
marker.setData([], [])
|
|
self.box.setData([], [])
|
|
self.ground.setData([], [])
|
|
for label in self.axis_labels.values():
|
|
label.hide()
|
|
self.status_label.setText(message)
|
|
|
|
def draw(self, collection: ResultCollection, settings: GuiSar3dStateModel, geometry: GprModel) -> bool:
|
|
"""Draw four maximum projections of the volume; return success."""
|
|
status = sar3d_status(collection)
|
|
if status is not None and status[0] != 0:
|
|
self.clear(f"SAR3D: {SAR3D_STATES[status[0]]} — {status[1]}")
|
|
return False
|
|
payloads: dict[str, ResultPayload] = {}
|
|
for name in SAR3D_VIEWS:
|
|
payload = collection_payload_by_name(collection, name, kind=3)
|
|
if payload is None or not payload.image.size:
|
|
self.clear("SAR3D: waiting for projection data")
|
|
return False
|
|
payloads[name] = payload
|
|
basis = collection_payload_by_name(collection, "sar3d_oblique_basis", kind=4)
|
|
if basis is None:
|
|
self.clear("SAR3D: waiting for projection data")
|
|
return False
|
|
peak = collection_payload_by_name(collection, "sar3d_peak", kind=4)
|
|
level, *peak_xyz = peak.table[0] if peak is not None else (None,)
|
|
|
|
antennas = selected_antenna_coordinates(geometry, settings.input_positions, settings.output_positions)
|
|
pitch = np.radians(settings.look_angle_deg)
|
|
for coordinates in antennas:
|
|
y, z = coordinates[:, 1].copy(), coordinates[:, 2].copy()
|
|
coordinates[:, 1] = settings.bp_ground_depth_m + y*np.cos(pitch) - z*np.sin(pitch)
|
|
coordinates[:, 2] = y*np.sin(pitch) + z*np.cos(pitch)
|
|
width_payload = collection_payload_by_name(collection, "sar3d_target_width", kind=4)
|
|
widths = width_payload.table[0] if width_payload is not None else np.full(3, settings.voxel_m)
|
|
zoom = settings.zoom_percent / 100.0
|
|
for name, payload in payloads.items():
|
|
title, _x_label, _y_label, axes = SAR3D_VIEWS[name]
|
|
rect = _image_rect(payload.image_x_axis, payload.image_y_axis)
|
|
image = self.images[name]
|
|
image.setImage(np.where(payload.image >= settings.cloud_threshold, payload.image, 0),
|
|
autoLevels=False, levels=(0, 1))
|
|
image.setRect(rect)
|
|
image.show()
|
|
plot = self.plots[name]
|
|
position = (basis.table @ np.asarray(peak_xyz) if axes is None else np.asarray(peak_xyz)[list(axes)]) if peak_xyz else None
|
|
if axes is not None:
|
|
for marker, coordinates, (symbol, brush, pen) in zip(self.antennas[name], antennas, ANTENNA_STYLES):
|
|
xx, yy = coordinates[:, axes[0]], coordinates[:, axes[1]]
|
|
marker.setData(x=xx, y=yy, symbol=symbol, size=13, brush=pg.mkBrush(brush), pen=pg.mkPen(pen))
|
|
if len(xx):
|
|
pad = settings.voxel_m
|
|
rect = rect.united(QRectF(xx.min()-pad, yy.min()-pad, np.ptp(xx)+2*pad, np.ptp(yy)+2*pad))
|
|
if position is not None:
|
|
extent = np.abs(basis.table) @ widths if axes is None else widths[list(axes)]
|
|
half = .5 * max(extent)
|
|
self.targets[name].setData(position[0]+np.array([-half, half, half, -half, -half]),
|
|
position[1]+np.array([-half, -half, half, half, -half]))
|
|
if zoom > 1.0:
|
|
center = position + (np.array([rect.center().x(), rect.center().y()])-position) / zoom**2
|
|
rect = QRectF(center[0]-rect.width()/(2*zoom), center[1]-rect.height()/(2*zoom),
|
|
rect.width()/zoom, rect.height()/zoom)
|
|
else:
|
|
self.targets[name].setData([], [])
|
|
plot.setRange(rect, padding=0.04)
|
|
plot.setTitle(title)
|
|
|
|
# Scene box and ground on the oblique view, from the extents of the other views.
|
|
front, top = payloads["sar3d_front"], payloads["sar3d_top"]
|
|
bounds = [
|
|
(front.image_x_axis[0], front.image_x_axis[-1]),
|
|
(front.image_y_axis[0], front.image_y_axis[-1]),
|
|
(top.image_y_axis[0], top.image_y_axis[-1]),
|
|
]
|
|
corners = np.array([[bounds[axis][(index >> axis) & 1] for axis in range(3)] for index in range(8)])
|
|
projected = corners @ basis.table.T
|
|
box = projected[np.ravel(_BOX_EDGES)]
|
|
self.box.setData(box[:, 0], box[:, 1])
|
|
centre = projected.mean(axis=0)
|
|
for axis_name, (start, end) in _AXIS_EDGES.items():
|
|
middle = (projected[start] + projected[end]) / 2
|
|
self.axis_labels[axis_name].setPos(*(middle + 0.08 * (middle - centre))) # just outside
|
|
self.axis_labels[axis_name].show()
|
|
(x0, x1), _, (z0, z1) = bounds
|
|
ground = (np.array([[x0, 0.0, z0], [x1, 0.0, z0], [x1, 0.0, z1], [x0, 0.0, z1], [x0, 0.0, z0]]) @ basis.table.T).T
|
|
self.ground.setData(ground[0], ground[1])
|
|
summary = f"SAR3D: ready — {status[1]}" if status else "SAR3D: ready"
|
|
if level is not None:
|
|
x, y, z = peak_xyz
|
|
summary += f" | max X {x:+.2f}, Y {y:+.2f}, Z {z:.2f} m | level {level:.3g}"
|
|
self.status_label.setText(f"{summary} | zoom {settings.zoom_percent}%")
|
|
return True
|