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515049d2ed23c5b022634b065f98b077b4e9c20e
radar_system/python_app/gui/controllers/sections/processing_section.py
T
Ayzen 45861f4047 sar3d: GPU port of the notebook with four views 
The sar3d processor is rewritten as a checked port of Multi_antenna_3D_clean_v1.ipynb:
NVRTC kernels, timing from the trace stamps, notebook parameter names and one cubic
SAR_VOXEL_M. It adds front, side, top and 3D views, drops gpr_cpp and the parity tools,
and the GUI speed now applies only while the socket speed is ignored.
2026-10-02 16:05:22 +03:00

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40 KiB
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"""Builder for processing mode and live-parameter section."""
from __future__ import annotations
from PyQt6.QtWidgets import (
QCheckBox,
QComboBox,
QDoubleSpinBox,
QFormLayout,
QGroupBox,
QLabel,
QLineEdit,
QPlainTextEdit,
QSizePolicy,
QSpinBox,
QStackedWidget,
QVBoxLayout,
QWidget,
)
from python_app.gui.controllers.app_window_config.state_builders import GUI_SAVE_HISTORY_LIMIT
from python_app.gui.controllers.sections.layout_helpers import FormRow, build_two_column_form_widget
# Same semantics on every GPR-like page; the data_processor applies them.
_IGNORE_SOCKET_SPEED_TOOLTIP = (
"Checked: the speed below drives the motion correction. Unchecked: the speed a locator "
"socket client streams ('vlc') does, and the field below only stands in while no client "
"has sent one in the last 5 s."
)
def _format_geometry_row(position: int, x_m: float, y_m: float, z_m: float) -> str:
"""Render one geometry row, trimming trailing zero y/z so 1D layouts stay compact."""
if z_m != 0.0:
return f"{position} {x_m:g} {y_m:g} {z_m:g}"
if y_m != 0.0:
return f"{position} {x_m:g} {y_m:g}"
return f"{position} {x_m:g}"
def _format_tx_geometry(owner) -> str:
"""Render Tx geometry defaults into editable line-based text."""
return "\n".join(
_format_geometry_row(int(entry.output_pos), float(entry.x_m), float(entry.y_m), float(entry.z_m))
for entry in owner._defaults_config.gpr.tx_geometry
)
def _format_rx_geometry(owner) -> str:
"""Render Rx geometry defaults into editable line-based text."""
return "\n".join(
_format_geometry_row(int(entry.input_pos), float(entry.x_m), float(entry.y_m), float(entry.z_m))
for entry in owner._defaults_config.gpr.rx_geometry
)
def _build_processing_mode_page(parent: QStackedWidget, rows: list[FormRow], *, split_index: int | None = None) -> QWidget:
"""Create one processing-mode page with a two-column form body."""
page = QWidget(parent)
page.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
page_layout = QVBoxLayout(page)
page_layout.setContentsMargins(0, 0, 0, 0)
page_layout.setSpacing(0)
page_layout.addWidget(build_two_column_form_widget(page, rows, split_index=split_index))
return page
def build_processing_group(owner) -> QGroupBox:
"""Create processing mode section with pass-through, B-scan, GPR, and 3D SAR pages."""
group = QGroupBox("Processing")
form = QFormLayout(group)
form.setFieldGrowthPolicy(QFormLayout.FieldGrowthPolicy.AllNonFixedFieldsGrow)
processing_defaults = owner._gui_defaults.processing
pass_defaults = processing_defaults.pass_through
bscan_defaults = processing_defaults.bscan
gpr_live_defaults = processing_defaults.gpr
legacy_gpr_defaults = processing_defaults.legacy_gpr
sar3d_defaults = processing_defaults.sar3d
owner._processing_mode = QComboBox()
owner._processing_mode.addItems(["pass_through", "bscan", "gpr", "legacy_gpr", "sar3d"])
owner._set_combo_current_text(owner._processing_mode, processing_defaults.selected_mode)
owner._processing_mode_pages = QStackedWidget(group)
owner._processing_mode_pages.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
owner._show_magnitude_checkbox = QCheckBox("Show magnitude")
owner._show_magnitude_checkbox.setChecked(bool(pass_defaults.show_magnitude))
owner._show_phase_checkbox = QCheckBox("Show phase")
owner._show_phase_checkbox.setChecked(bool(pass_defaults.show_phase))
owner._unwrap_phase_checkbox = QCheckBox("Unwrap phase")
owner._unwrap_phase_checkbox.setToolTip(
"Plot the cumulative (unwrapped) phase instead of wrapping to ±180°; "
"the phase axis auto-scales to the unwrapped range."
)
owner._unwrap_phase_checkbox.setChecked(bool(pass_defaults.unwrap_phase))
owner._pass_through_combo_filter_input = QLineEdit(str(pass_defaults.combo_filter))
owner._pass_through_combo_filter_input.setPlaceholderText("empty = all, e.g. 0:0,1:0")
owner._pass_through_fixed_y_enabled = QCheckBox("Fix magnitude Y range")
owner._pass_through_fixed_y_enabled.setChecked(bool(pass_defaults.fixed_y_enabled))
owner._pass_through_y_min_db = QDoubleSpinBox()
owner._pass_through_y_min_db.setDecimals(1)
owner._pass_through_y_min_db.setRange(-240.0, 240.0)
owner._pass_through_y_min_db.setSingleStep(1.0)
owner._pass_through_y_min_db.setValue(float(pass_defaults.y_min_db))
owner._pass_through_y_max_db = QDoubleSpinBox()
owner._pass_through_y_max_db.setDecimals(1)
owner._pass_through_y_max_db.setRange(-240.0, 240.0)
owner._pass_through_y_max_db.setSingleStep(1.0)
owner._pass_through_y_max_db.setValue(float(pass_defaults.y_max_db))
owner._sync_pass_through_y_controls()
pass_through_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
owner._show_magnitude_checkbox,
owner._show_phase_checkbox,
owner._unwrap_phase_checkbox,
("Switch combos", owner._pass_through_combo_filter_input),
owner._pass_through_fixed_y_enabled,
("Y min dB", owner._pass_through_y_min_db),
("Y max dB", owner._pass_through_y_max_db),
],
split_index=5,
)
owner._processing_mode_pages.addWidget(pass_through_page)
owner._bscan_axis = QComboBox()
owner._bscan_axis.addItems(["abs", "real", "phase"])
owner._set_combo_current_text(owner._bscan_axis, bscan_defaults.axis)
owner._bscan_cut_m = QDoubleSpinBox()
owner._bscan_cut_m.setDecimals(3)
owner._bscan_cut_m.setRange(0.0, 2.0)
owner._bscan_cut_m.setSingleStep(0.001)
owner._bscan_cut_m.setValue(float(bscan_defaults.cut_m))
owner._bscan_max_depth_m = QDoubleSpinBox()
owner._bscan_max_depth_m.setDecimals(1)
owner._bscan_max_depth_m.setRange(0.1, 20.0)
owner._bscan_max_depth_m.setSingleStep(0.1)
owner._bscan_max_depth_m.setValue(float(bscan_defaults.max_depth_m))
owner._bscan_gain = QDoubleSpinBox()
owner._bscan_gain.setDecimals(1)
owner._bscan_gain.setRange(0.0, 3.0)
owner._bscan_gain.setSingleStep(0.1)
owner._bscan_gain.setValue(float(bscan_defaults.gain))
owner._bscan_start_freq_mhz = QDoubleSpinBox()
owner._bscan_start_freq_mhz.setDecimals(1)
owner._bscan_start_freq_mhz.setRange(100.0, 8800.0)
owner._bscan_start_freq_mhz.setSingleStep(10.0)
owner._bscan_start_freq_mhz.setValue(float(bscan_defaults.start_freq_mhz))
owner._bscan_stop_freq_mhz = QDoubleSpinBox()
owner._bscan_stop_freq_mhz.setDecimals(1)
owner._bscan_stop_freq_mhz.setRange(100.0, 8800.0)
owner._bscan_stop_freq_mhz.setSingleStep(10.0)
owner._bscan_stop_freq_mhz.setValue(float(bscan_defaults.stop_freq_mhz))
owner._bscan_subtract_mean_ascan = QCheckBox("Subtract mean A-scan")
owner._bscan_subtract_mean_ascan.setChecked(bool(bscan_defaults.subtract_mean_ascan))
owner._bscan_history_window = QSpinBox()
owner._bscan_history_window.setMinimum(1)
owner._bscan_history_window.setMaximum(GUI_SAVE_HISTORY_LIMIT)
owner._bscan_history_window.setValue(int(bscan_defaults.history_window_scans))
owner._bscan_history_window.setToolTip(
"How many past sweeps the B-scan shows once acquisition is stopped. While "
"running, the window stays clamped to the C++ ring capacity."
)
bscan_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
("Axis", owner._bscan_axis),
("Cut m", owner._bscan_cut_m),
("Max depth m", owner._bscan_max_depth_m),
("Gain", owner._bscan_gain),
("Start MHz", owner._bscan_start_freq_mhz),
("Stop MHz", owner._bscan_stop_freq_mhz),
("Scans to show (stopped)", owner._bscan_history_window),
owner._bscan_subtract_mean_ascan,
],
split_index=4,
)
owner._processing_mode_pages.addWidget(bscan_page)
gpr_defaults = owner._defaults_config.gpr
# Medium permittivity is a legacy-GPR-only knob (shown on the legacy page below).
# Coherent BP fixes the medium to eps_r = 1 (Horns_motion_3libre.py), so it is not
# offered there. Applies on the next pipeline start (a run_config field).
owner._gpr_relative_permittivity = QDoubleSpinBox()
owner._gpr_relative_permittivity.setDecimals(4)
owner._gpr_relative_permittivity.setRange(0.0001, 1000.0)
owner._gpr_relative_permittivity.setSingleStep(0.05)
owner._gpr_relative_permittivity.setToolTip("Applied on the next pipeline start (Save Config and restart).")
owner._gpr_relative_permittivity.setValue(float(gpr_defaults.relative_permittivity))
owner._gpr_tx_geometry_input = QPlainTextEdit(_format_tx_geometry(owner))
owner._gpr_tx_geometry_input.setPlaceholderText("output_pos x_m [y_m] [z_m]")
owner._gpr_tx_geometry_input.setFixedHeight(78)
owner._gpr_rx_geometry_input = QPlainTextEdit(_format_rx_geometry(owner))
owner._gpr_rx_geometry_input.setPlaceholderText("input_pos x_m [y_m] [z_m]")
owner._gpr_rx_geometry_input.setFixedHeight(78)
owner._gpr_common_page = _build_processing_mode_page(
group,
[
("Tx geometry", owner._gpr_tx_geometry_input),
("Rx geometry", owner._gpr_rx_geometry_input),
],
split_index=1,
)
owner._gpr_geometry_hint = QLabel("To apply Tx/Rx geometry changes: Save Config and restart the app")
owner._gpr_geometry_hint.setWordWrap(True)
owner._gpr_common_page.layout().addWidget(owner._gpr_geometry_hint)
owner._gpr_input_positions_input = QLineEdit(str(gpr_live_defaults.input_positions))
owner._gpr_input_positions_input.setPlaceholderText("0,1,2")
owner._gpr_output_positions_input = QLineEdit(str(gpr_live_defaults.output_positions))
owner._gpr_output_positions_input.setPlaceholderText("0,1")
owner._gpr_min_depth_m = QDoubleSpinBox()
owner._gpr_min_depth_m.setDecimals(2)
owner._gpr_min_depth_m.setRange(0.0, 50.0)
owner._gpr_min_depth_m.setSingleStep(0.1)
owner._gpr_min_depth_m.setValue(float(gpr_live_defaults.min_depth_m))
owner._gpr_max_depth_m = QDoubleSpinBox()
owner._gpr_max_depth_m.setDecimals(2)
owner._gpr_max_depth_m.setRange(0.1, 50.0)
owner._gpr_max_depth_m.setSingleStep(0.1)
owner._gpr_max_depth_m.setValue(float(gpr_live_defaults.max_depth_m))
owner._gpr_range_comp_power = QDoubleSpinBox()
owner._gpr_range_comp_power.setDecimals(3)
owner._gpr_range_comp_power.setRange(0.0, 5.0)
owner._gpr_range_comp_power.setSingleStep(0.01)
owner._gpr_range_comp_power.setValue(float(gpr_live_defaults.range_comp_power))
owner._gpr_object_min_frac = QDoubleSpinBox()
owner._gpr_object_min_frac.setDecimals(2)
owner._gpr_object_min_frac.setRange(0.0, 1.0)
owner._gpr_object_min_frac.setSingleStep(0.05)
owner._gpr_object_min_frac.setToolTip(
"Object detection stops once a peak falls below this fraction of the global "
"maximum (Horns_motion_3libre.py BP_OBJECT_MIN_FRAC)."
)
owner._gpr_object_min_frac.setValue(float(gpr_live_defaults.object_min_frac))
owner._gpr_score_mode = QComboBox()
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(_IGNORE_SOCKET_SPEED_TOOLTIP)
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))
owner._gpr_draw_top_m_objects = QSpinBox()
owner._gpr_draw_top_m_objects.setRange(0, 10_000)
owner._gpr_draw_top_m_objects.setValue(int(gpr_live_defaults.draw_top_m_objects))
owner._gpr_object_approach_min_frames = QSpinBox()
owner._gpr_object_approach_min_frames.setRange(1, 100)
owner._gpr_object_approach_min_frames.setToolTip(
"Show an object only after it persists as a motion-consistent track this many "
"consecutive frames (1 disables the approach filter)."
)
owner._gpr_object_approach_min_frames.setValue(int(gpr_live_defaults.object_approach_min_frames))
owner._gpr_start_freq_mhz = QDoubleSpinBox()
owner._gpr_start_freq_mhz.setDecimals(1)
owner._gpr_start_freq_mhz.setRange(100.0, 8800.0)
owner._gpr_start_freq_mhz.setSingleStep(10.0)
owner._gpr_start_freq_mhz.setValue(float(gpr_live_defaults.start_freq_mhz))
owner._gpr_stop_freq_mhz = QDoubleSpinBox()
owner._gpr_stop_freq_mhz.setDecimals(1)
owner._gpr_stop_freq_mhz.setRange(100.0, 8800.0)
owner._gpr_stop_freq_mhz.setSingleStep(10.0)
owner._gpr_stop_freq_mhz.setValue(float(gpr_live_defaults.stop_freq_mhz))
owner._gpr_background_subtract_enabled = QCheckBox("Subtract mean of previous collections")
owner._gpr_background_subtract_enabled.setChecked(bool(gpr_live_defaults.background_subtract_enabled))
owner._gpr_background_mean_count = QSpinBox()
owner._gpr_background_mean_count.setRange(0, 10_000)
owner._gpr_background_mean_count.setValue(int(gpr_live_defaults.background_mean_count))
owner._gpr_remove_sidelobe_objects_enabled = QCheckBox("Remove sidelobe objects")
owner._gpr_remove_sidelobe_objects_enabled.setChecked(bool(gpr_live_defaults.remove_sidelobe_objects_enabled))
owner._gpr_render_mode = QComboBox()
owner._gpr_render_mode.addItems(["heatmap", "objects_only"])
owner._set_combo_current_text(owner._gpr_render_mode, gpr_live_defaults.render_mode)
owner._gpr_visible_x_min_m = QDoubleSpinBox()
owner._gpr_visible_x_min_m.setDecimals(2)
owner._gpr_visible_x_min_m.setRange(-100.0, 100.0)
owner._gpr_visible_x_min_m.setSingleStep(0.1)
owner._gpr_visible_x_min_m.setValue(float(gpr_live_defaults.visible_x_min_m))
owner._gpr_visible_x_max_m = QDoubleSpinBox()
owner._gpr_visible_x_max_m.setDecimals(2)
owner._gpr_visible_x_max_m.setRange(-100.0, 100.0)
owner._gpr_visible_x_max_m.setSingleStep(0.1)
owner._gpr_visible_x_max_m.setValue(float(gpr_live_defaults.visible_x_max_m))
owner._gpr_visible_z_min_m = QDoubleSpinBox()
owner._gpr_visible_z_min_m.setDecimals(2)
owner._gpr_visible_z_min_m.setRange(0.0, 100.0)
owner._gpr_visible_z_min_m.setSingleStep(0.1)
owner._gpr_visible_z_min_m.setValue(float(gpr_live_defaults.visible_z_min_m))
owner._gpr_visible_z_max_m = QDoubleSpinBox()
owner._gpr_visible_z_max_m.setDecimals(2)
owner._gpr_visible_z_max_m.setRange(0.0, 100.0)
owner._gpr_visible_z_max_m.setSingleStep(0.1)
owner._gpr_visible_z_max_m.setValue(float(gpr_live_defaults.visible_z_max_m))
owner._gpr_imaging_plane_y_m = QDoubleSpinBox()
owner._gpr_imaging_plane_y_m.setDecimals(3)
owner._gpr_imaging_plane_y_m.setRange(-50.0, 50.0)
owner._gpr_imaging_plane_y_m.setSingleStep(0.05)
owner._gpr_imaging_plane_y_m.setValue(float(gpr_live_defaults.imaging_plane_y_m))
owner._gpr_imaging_plane_y_m.setToolTip(
"Y coordinate of the BP imaging slice (m). Use 0 for legacy 1D antenna layouts."
)
gpr_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
("Input positions", owner._gpr_input_positions_input),
("Output positions", owner._gpr_output_positions_input),
("Min depth m", owner._gpr_min_depth_m),
("Max depth m", owner._gpr_max_depth_m),
("Range comp power", owner._gpr_range_comp_power),
("Object min frac", owner._gpr_object_min_frac),
("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),
("Max detected objects", owner._gpr_max_detected_objects_to_draw),
("Draw top M objects", owner._gpr_draw_top_m_objects),
("Approach min frames", owner._gpr_object_approach_min_frames),
("Start MHz", owner._gpr_start_freq_mhz),
("Stop MHz", owner._gpr_stop_freq_mhz),
("Imaging plane Y m", owner._gpr_imaging_plane_y_m),
("Visible X min m", owner._gpr_visible_x_min_m),
("Visible X max m", owner._gpr_visible_x_max_m),
("Visible Z min m", owner._gpr_visible_z_min_m),
("Visible Z max m", owner._gpr_visible_z_max_m),
owner._gpr_background_subtract_enabled,
("Mean count", owner._gpr_background_mean_count),
owner._gpr_remove_sidelobe_objects_enabled,
],
split_index=8,
)
owner._processing_mode_pages.addWidget(gpr_page)
owner._legacy_gpr_config_mode = QComboBox()
owner._legacy_gpr_config_mode.addItems(["point", "extended"])
owner._set_combo_current_text(owner._legacy_gpr_config_mode, legacy_gpr_defaults.mode)
owner._legacy_gpr_input_positions_input = QLineEdit(str(legacy_gpr_defaults.input_positions))
owner._legacy_gpr_input_positions_input.setPlaceholderText("0,1,2")
owner._legacy_gpr_output_positions_input = QLineEdit(str(legacy_gpr_defaults.output_positions))
owner._legacy_gpr_output_positions_input.setPlaceholderText("0,1")
owner._legacy_gpr_min_depth_m = QDoubleSpinBox()
owner._legacy_gpr_min_depth_m.setDecimals(2)
owner._legacy_gpr_min_depth_m.setRange(0.0, 50.0)
owner._legacy_gpr_min_depth_m.setSingleStep(0.1)
owner._legacy_gpr_min_depth_m.setValue(float(legacy_gpr_defaults.min_depth_m))
owner._legacy_gpr_max_depth_m = QDoubleSpinBox()
owner._legacy_gpr_max_depth_m.setDecimals(2)
owner._legacy_gpr_max_depth_m.setRange(0.1, 50.0)
owner._legacy_gpr_max_depth_m.setSingleStep(0.1)
owner._legacy_gpr_max_depth_m.setValue(float(legacy_gpr_defaults.max_depth_m))
owner._legacy_gpr_comp_power = QDoubleSpinBox()
owner._legacy_gpr_comp_power.setDecimals(3)
owner._legacy_gpr_comp_power.setRange(0.0, 5.0)
owner._legacy_gpr_comp_power.setSingleStep(0.05)
owner._legacy_gpr_comp_power.setValue(float(legacy_gpr_defaults.comp_power))
owner._legacy_gpr_snr_thresh = QDoubleSpinBox()
owner._legacy_gpr_snr_thresh.setDecimals(2)
owner._legacy_gpr_snr_thresh.setRange(0.0, 1_000.0)
owner._legacy_gpr_snr_thresh.setSingleStep(0.1)
owner._legacy_gpr_snr_thresh.setValue(float(legacy_gpr_defaults.snr_thresh))
owner._legacy_gpr_snr_comp_max = QDoubleSpinBox()
owner._legacy_gpr_snr_comp_max.setDecimals(2)
owner._legacy_gpr_snr_comp_max.setRange(0.0, 1_000.0)
owner._legacy_gpr_snr_comp_max.setSingleStep(0.5)
owner._legacy_gpr_snr_comp_max.setValue(float(legacy_gpr_defaults.snr_comp_max))
owner._legacy_gpr_start_freq_mhz = QDoubleSpinBox()
owner._legacy_gpr_start_freq_mhz.setDecimals(1)
owner._legacy_gpr_start_freq_mhz.setRange(100.0, 8800.0)
owner._legacy_gpr_start_freq_mhz.setSingleStep(10.0)
owner._legacy_gpr_start_freq_mhz.setValue(float(legacy_gpr_defaults.start_freq_mhz))
owner._legacy_gpr_stop_freq_mhz = QDoubleSpinBox()
owner._legacy_gpr_stop_freq_mhz.setDecimals(1)
owner._legacy_gpr_stop_freq_mhz.setRange(100.0, 8800.0)
owner._legacy_gpr_stop_freq_mhz.setSingleStep(10.0)
owner._legacy_gpr_stop_freq_mhz.setValue(float(legacy_gpr_defaults.stop_freq_mhz))
owner._legacy_gpr_speed_m_s = QDoubleSpinBox()
owner._legacy_gpr_speed_m_s.setDecimals(3)
owner._legacy_gpr_speed_m_s.setRange(-100.0, 100.0)
owner._legacy_gpr_speed_m_s.setSingleStep(0.01)
owner._legacy_gpr_speed_m_s.setValue(float(legacy_gpr_defaults.speed_m_s))
owner._legacy_gpr_ignore_socket_speed_enabled = QCheckBox("Ignore socket speed")
owner._legacy_gpr_ignore_socket_speed_enabled.setChecked(
bool(legacy_gpr_defaults.ignore_socket_speed_enabled)
)
owner._legacy_gpr_ignore_socket_speed_enabled.setToolTip(_IGNORE_SOCKET_SPEED_TOOLTIP)
owner._legacy_gpr_look_angle_deg = QDoubleSpinBox()
owner._legacy_gpr_look_angle_deg.setDecimals(2)
owner._legacy_gpr_look_angle_deg.setRange(-90.0, 90.0)
owner._legacy_gpr_look_angle_deg.setSingleStep(0.1)
owner._legacy_gpr_look_angle_deg.setValue(float(legacy_gpr_defaults.look_angle_deg))
# Intra-sweep phase compensation toggle. When checked, S21 phase is
# corrected per frequency point before the IFFT so the radar's motion
# during one sweep is removed at the spectrum stage. Only matters when
# speed != 0; otherwise has no effect by construction.
owner._legacy_gpr_apply_freq_phase_correction = QCheckBox("Apply intra-sweep phase correction")
owner._legacy_gpr_apply_freq_phase_correction.setChecked(
bool(legacy_gpr_defaults.apply_freq_phase_correction)
)
# Anchor point for the motion model's per-event `dt_ref`. `frame_center`
# spreads motion symmetrically around the frame midpoint; `first_tx_event`
# accumulates it forward from the first event center.
owner._legacy_gpr_reference_mode = QComboBox()
owner._legacy_gpr_reference_mode.addItems(["frame_center", "first_tx_event"])
owner._set_combo_current_text(owner._legacy_gpr_reference_mode, legacy_gpr_defaults.reference_mode)
owner._legacy_gpr_background_subtract_enabled = QCheckBox("Subtract mean of previous collections")
owner._legacy_gpr_background_subtract_enabled.setChecked(bool(legacy_gpr_defaults.background_subtract_enabled))
owner._legacy_gpr_background_mean_count = QSpinBox()
owner._legacy_gpr_background_mean_count.setRange(0, 10_000)
owner._legacy_gpr_background_mean_count.setValue(int(legacy_gpr_defaults.background_mean_count))
owner._legacy_gpr_render_mode = QComboBox()
owner._legacy_gpr_render_mode.addItems(["heatmap", "objects_only"])
owner._set_combo_current_text(owner._legacy_gpr_render_mode, legacy_gpr_defaults.render_mode)
owner._legacy_gpr_min_visible_pair_count = QSpinBox()
owner._legacy_gpr_min_visible_pair_count.setRange(1, 10_000)
owner._legacy_gpr_min_visible_pair_count.setValue(int(legacy_gpr_defaults.min_visible_pair_count))
owner._legacy_gpr_visible_x_min_m = QDoubleSpinBox()
owner._legacy_gpr_visible_x_min_m.setDecimals(2)
owner._legacy_gpr_visible_x_min_m.setRange(-100.0, 100.0)
owner._legacy_gpr_visible_x_min_m.setSingleStep(0.1)
owner._legacy_gpr_visible_x_min_m.setValue(float(legacy_gpr_defaults.visible_x_min_m))
owner._legacy_gpr_visible_x_max_m = QDoubleSpinBox()
owner._legacy_gpr_visible_x_max_m.setDecimals(2)
owner._legacy_gpr_visible_x_max_m.setRange(-100.0, 100.0)
owner._legacy_gpr_visible_x_max_m.setSingleStep(0.1)
owner._legacy_gpr_visible_x_max_m.setValue(float(legacy_gpr_defaults.visible_x_max_m))
owner._legacy_gpr_visible_z_min_m = QDoubleSpinBox()
owner._legacy_gpr_visible_z_min_m.setDecimals(2)
owner._legacy_gpr_visible_z_min_m.setRange(0.0, 100.0)
owner._legacy_gpr_visible_z_min_m.setSingleStep(0.1)
owner._legacy_gpr_visible_z_min_m.setValue(float(legacy_gpr_defaults.visible_z_min_m))
owner._legacy_gpr_visible_z_max_m = QDoubleSpinBox()
owner._legacy_gpr_visible_z_max_m.setDecimals(2)
owner._legacy_gpr_visible_z_max_m.setRange(0.0, 100.0)
owner._legacy_gpr_visible_z_max_m.setSingleStep(0.1)
owner._legacy_gpr_visible_z_max_m.setValue(float(legacy_gpr_defaults.visible_z_max_m))
legacy_gpr_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
("Config mode", owner._legacy_gpr_config_mode),
("Relative permittivity", owner._gpr_relative_permittivity),
("Input positions", owner._legacy_gpr_input_positions_input),
("Output positions", owner._legacy_gpr_output_positions_input),
("Min depth m", owner._legacy_gpr_min_depth_m),
("Max depth m", owner._legacy_gpr_max_depth_m),
("Comp power", owner._legacy_gpr_comp_power),
("SNR thresh", owner._legacy_gpr_snr_thresh),
("SNR comp max", owner._legacy_gpr_snr_comp_max),
("Speed m/s", owner._legacy_gpr_speed_m_s),
owner._legacy_gpr_ignore_socket_speed_enabled,
("Render mode", owner._legacy_gpr_render_mode),
("Min visible pairs", owner._legacy_gpr_min_visible_pair_count),
("Start MHz", owner._legacy_gpr_start_freq_mhz),
("Stop MHz", owner._legacy_gpr_stop_freq_mhz),
("Look angle deg", owner._legacy_gpr_look_angle_deg),
("Reference mode", owner._legacy_gpr_reference_mode),
owner._legacy_gpr_apply_freq_phase_correction,
("Visible X min m", owner._legacy_gpr_visible_x_min_m),
("Visible X max m", owner._legacy_gpr_visible_x_max_m),
("Visible Z min m", owner._legacy_gpr_visible_z_min_m),
("Visible Z max m", owner._legacy_gpr_visible_z_max_m),
owner._legacy_gpr_background_subtract_enabled,
("Mean count", owner._legacy_gpr_background_mean_count),
],
split_index=10,
)
owner._processing_mode_pages.addWidget(legacy_gpr_page)
# 3D SAR page. The labels are the names of the reference notebook
# Multi_antenna_3D_clean_v1.ipynb; the shared gpr_* fields get their own
# widgets here, like on the legacy page.
owner._sar3d_input_positions_input = QLineEdit(str(sar3d_defaults.input_positions))
owner._sar3d_input_positions_input.setPlaceholderText("0,1,2")
owner._sar3d_output_positions_input = QLineEdit(str(sar3d_defaults.output_positions))
owner._sar3d_output_positions_input.setPlaceholderText("0,1")
owner._sar3d_start_freq_mhz = QDoubleSpinBox()
owner._sar3d_start_freq_mhz.setDecimals(1)
owner._sar3d_start_freq_mhz.setRange(100.0, 8800.0)
owner._sar3d_start_freq_mhz.setSingleStep(10.0)
owner._sar3d_start_freq_mhz.setValue(float(sar3d_defaults.start_freq_mhz))
owner._sar3d_stop_freq_mhz = QDoubleSpinBox()
owner._sar3d_stop_freq_mhz.setDecimals(1)
owner._sar3d_stop_freq_mhz.setRange(100.0, 8800.0)
owner._sar3d_stop_freq_mhz.setSingleStep(10.0)
owner._sar3d_stop_freq_mhz.setValue(float(sar3d_defaults.stop_freq_mhz))
owner._sar3d_min_depth_m = QDoubleSpinBox()
owner._sar3d_min_depth_m.setDecimals(2)
owner._sar3d_min_depth_m.setRange(0.0, 50.0)
owner._sar3d_min_depth_m.setSingleStep(0.1)
owner._sar3d_min_depth_m.setValue(float(sar3d_defaults.min_depth_m))
owner._sar3d_min_depth_m.setToolTip("Radar depth gate start (m); the scene grid along Z follows the gate.")
owner._sar3d_max_depth_m = QDoubleSpinBox()
owner._sar3d_max_depth_m.setDecimals(2)
owner._sar3d_max_depth_m.setRange(0.1, 50.0)
owner._sar3d_max_depth_m.setSingleStep(0.1)
owner._sar3d_max_depth_m.setValue(float(sar3d_defaults.max_depth_m))
owner._sar3d_max_depth_m.setToolTip("Radar depth gate end (m); the scene grid along Z follows the gate.")
owner._sar3d_voxel_m = QDoubleSpinBox()
owner._sar3d_voxel_m.setDecimals(3)
owner._sar3d_voxel_m.setRange(0.01, 0.1)
owner._sar3d_voxel_m.setSingleStep(0.005)
owner._sar3d_voxel_m.setValue(float(sar3d_defaults.voxel_m))
owner._sar3d_voxel_m.setToolTip(
"Edge of the cubic voxel (m), the same along X, Y and Z. Smaller is finer and slower: "
"halving it makes 8 times more voxels."
)
owner._sar3d_look_angle_deg = QDoubleSpinBox()
owner._sar3d_look_angle_deg.setDecimals(2)
owner._sar3d_look_angle_deg.setRange(-90.0, 90.0)
owner._sar3d_look_angle_deg.setSingleStep(0.5)
owner._sar3d_look_angle_deg.setValue(float(sar3d_defaults.look_angle_deg))
owner._sar3d_look_angle_deg.setToolTip(
"Downward tilt of the radar (deg): motion correction along range and the ground scene axes."
)
owner._sar3d_ignore_socket_speed_enabled = QCheckBox("Ignore socket speed")
owner._sar3d_ignore_socket_speed_enabled.setChecked(bool(sar3d_defaults.ignore_socket_speed_enabled))
owner._sar3d_ignore_socket_speed_enabled.setToolTip(_IGNORE_SOCKET_SPEED_TOOLTIP)
owner._sar3d_speed_m_s = QDoubleSpinBox()
owner._sar3d_speed_m_s.setDecimals(3)
owner._sar3d_speed_m_s.setRange(-100.0, 100.0)
owner._sar3d_speed_m_s.setSingleStep(0.05)
owner._sar3d_speed_m_s.setValue(float(sar3d_defaults.speed_m_s))
owner._sar3d_frame_radius = QSpinBox()
owner._sar3d_frame_radius.setRange(0, 24)
owner._sar3d_frame_radius.setValue(int(sar3d_defaults.frame_radius))
owner._sar3d_frame_radius.setToolTip(
"Aperture of 2*r+1 consecutive frames. 0: the current frame only (needs a vertical antenna "
"baseline); >0 adds aperture from motion and needs an accurate speed. The image lags by r frames."
)
owner._sar3d_bp_ground_depth_m = QDoubleSpinBox()
owner._sar3d_bp_ground_depth_m.setDecimals(2)
owner._sar3d_bp_ground_depth_m.setRange(0.0, 10.0)
owner._sar3d_bp_ground_depth_m.setSingleStep(0.05)
owner._sar3d_bp_ground_depth_m.setValue(float(sar3d_defaults.bp_ground_depth_m))
owner._sar3d_bp_ground_depth_m.setToolTip("Height of the lower antenna row above the ground (m); scene Y = 0 is the ground.")
owner._sar3d_comp_range_power = QDoubleSpinBox()
owner._sar3d_comp_range_power.setDecimals(2)
owner._sar3d_comp_range_power.setRange(0.0, 2.0)
owner._sar3d_comp_range_power.setSingleStep(0.05)
owner._sar3d_comp_range_power.setValue(float(sar3d_defaults.comp_range_power))
owner._sar3d_comp_range_power.setToolTip("Geometric spreading compensation (Rtx*Rrx)^power, capped at 5.")
owner._sar3d_use_compensation = QCheckBox("SAR_USE_COMPENSATION")
owner._sar3d_use_compensation.setChecked(bool(sar3d_defaults.use_compensation))
owner._sar3d_normalize_each_frame = QCheckBox("SAR_NORMALIZE_EACH_FRAME")
owner._sar3d_normalize_each_frame.setChecked(bool(sar3d_defaults.normalize_each_frame))
owner._sar3d_normalize_each_frame.setToolTip("Scale every Tx/Rx A-scan by its median inside the depth gate.")
sar3d_page = _build_processing_mode_page(
owner._processing_mode_pages,
[
("INPUT_IDX", owner._sar3d_input_positions_input),
("OUTPUT_IDX", owner._sar3d_output_positions_input),
("F_START MHz", owner._sar3d_start_freq_mhz),
("F_STOP MHz", owner._sar3d_stop_freq_mhz),
("MIN_DEPTH", owner._sar3d_min_depth_m),
("MAX_DEPTH", owner._sar3d_max_depth_m),
("SAR_VOXEL_M", owner._sar3d_voxel_m),
("LOOK_ANGLE_DEG", owner._sar3d_look_angle_deg),
owner._sar3d_ignore_socket_speed_enabled,
("SPEED_M_S", owner._sar3d_speed_m_s),
("SAR_FRAME_RADIUS", owner._sar3d_frame_radius),
("BP_GROUND_DEPTH_M", owner._sar3d_bp_ground_depth_m),
("COMP_RANGE_POWER", owner._sar3d_comp_range_power),
owner._sar3d_use_compensation,
owner._sar3d_normalize_each_frame,
],
split_index=8,
)
owner._processing_mode_pages.addWidget(sar3d_page)
owner._processing_mode.currentTextChanged.connect(owner._on_processing_mode_changed)
owner._show_magnitude_checkbox.toggled.connect(owner._on_trace_visibility_changed)
owner._show_phase_checkbox.toggled.connect(owner._on_trace_visibility_changed)
owner._unwrap_phase_checkbox.toggled.connect(owner._on_trace_visibility_changed)
owner._pass_through_combo_filter_input.editingFinished.connect(owner._on_trace_visibility_changed)
owner._pass_through_fixed_y_enabled.toggled.connect(owner._sync_pass_through_y_controls)
owner._pass_through_fixed_y_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._pass_through_y_min_db.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._pass_through_y_max_db.valueChanged.connect(owner._on_processing_live_settings_changed)
form.addRow("Mode", owner._processing_mode)
form.addRow(owner._processing_mode_pages)
form.addRow(owner._gpr_common_page)
owner._bscan_axis.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_cut_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_max_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_gain.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_start_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_stop_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._bscan_subtract_mean_ascan.toggled.connect(owner._on_processing_live_settings_changed)
owner._bscan_history_window.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_input_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
owner._gpr_output_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
owner._gpr_min_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_max_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_range_comp_power.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_object_min_frac.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_ignore_socket_speed_toggled)
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)
owner._gpr_background_mean_count.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_remove_sidelobe_objects_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._gpr_imaging_plane_y_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_render_mode.currentTextChanged.connect(owner._on_gpr_visual_settings_changed)
owner._gpr_max_detected_objects_to_draw.valueChanged.connect(owner._on_gpr_locator_threshold_changed)
owner._gpr_draw_top_m_objects.valueChanged.connect(owner._on_gpr_locator_threshold_changed)
owner._gpr_object_approach_min_frames.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._gpr_visible_x_min_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._gpr_visible_x_max_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._gpr_visible_z_min_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._gpr_visible_z_max_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._legacy_gpr_config_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_input_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_output_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_min_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_max_depth_m.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_comp_power.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_snr_thresh.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_snr_comp_max.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_start_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_stop_freq_mhz.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_speed_m_s.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_ignore_socket_speed_enabled.toggled.connect(owner._on_ignore_socket_speed_toggled)
owner._legacy_gpr_look_angle_deg.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_apply_freq_phase_correction.toggled.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_reference_mode.currentTextChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_background_subtract_enabled.toggled.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_background_mean_count.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._legacy_gpr_render_mode.currentTextChanged.connect(owner._on_gpr_visual_settings_changed)
owner._legacy_gpr_min_visible_pair_count.valueChanged.connect(owner._on_gpr_locator_threshold_changed)
owner._legacy_gpr_visible_x_min_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._legacy_gpr_visible_x_max_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._legacy_gpr_visible_z_min_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._legacy_gpr_visible_z_max_m.valueChanged.connect(owner._on_gpr_locator_window_changed)
owner._sar3d_input_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
owner._sar3d_output_positions_input.editingFinished.connect(owner._on_processing_live_settings_changed)
for widget in (
owner._sar3d_start_freq_mhz,
owner._sar3d_stop_freq_mhz,
owner._sar3d_min_depth_m,
owner._sar3d_max_depth_m,
owner._sar3d_voxel_m,
owner._sar3d_look_angle_deg,
owner._sar3d_speed_m_s,
owner._sar3d_frame_radius,
owner._sar3d_bp_ground_depth_m,
owner._sar3d_comp_range_power,
):
widget.valueChanged.connect(owner._on_processing_live_settings_changed)
owner._sar3d_ignore_socket_speed_enabled.toggled.connect(owner._on_ignore_socket_speed_toggled)
owner._sar3d_use_compensation.toggled.connect(owner._on_processing_live_settings_changed)
owner._sar3d_normalize_each_frame.toggled.connect(owner._on_processing_live_settings_changed)
owner._sync_socket_speed_controls()
owner._set_processing_mode_page(owner._processing_mode.currentText())
return group
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