247 lines
12 KiB
Python
247 lines
12 KiB
Python
"""Independent 3D SAR views of the volume published by the sar3d processor.
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Scene axes: X across, Y height above the ground (Y = 0 is the ground), Z along
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the ground away from the radar. Payloads share normalization by the maximum
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away from the Y boundaries:
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- ``sar3d_front``, ``sar3d_side``, ``sar3d_top``: maximum projections onto X-Y
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(looking ahead from the radar), Z-Y (from the side) and X-Z (from above);
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- ``sar3d_oblique``: orthographic projection along the camera of the notebook's
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3D scene; ``sar3d_oblique_basis`` (2x3) gives its image axes u and v as scene
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directions, which places the scene box, the ground and the maximum on it;
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- ``sar3d_target_width``: axial FWHM [X, Y, Z] in metres through the joint peak.
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- ``sar3d_peak``: [level, X, Y, Z] of that maximum before normalization.
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- ``sar3d_status``: [code, UTF-8 bytes...] with ready CUDA (0), no signal (1),
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processing error (2), or CUDA unavailable (3), including the explanation.
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"""
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from __future__ import annotations
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import itertools
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import numpy as np
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import pyqtgraph as pg
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from PyQt6.QtCore import QRectF, Qt
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from PyQt6.QtWidgets import QGridLayout, QLabel, QVBoxLayout, QWidget
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from python_app.gui.controllers.renderers.common import (
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ANTENNA_STYLES, build_lut, create_plot, image_rect, selected_antenna_coordinates,
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)
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from python_app.gui.result_payloads import collection_payload_by_name
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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 GuiSar3dStateModel
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from python_app.models.run_config_schema import GprModel
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# Status codes published by the sar3d processor in its "sar3d_status" table.
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SAR3D_STATES = {0: "ready", 1: "no signal", 2: "error", 3: "warning"}
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_GROUND_COLOR = (115, 105, 88)
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_SCENE_BOX_COLOR = "#898781"
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# payload -> (title, x label, y label, scene axes (0 = X, 1 = Y, 2 = Z) along the plot axes)
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SAR3D_VIEWS: dict[str, tuple[str, str, str, tuple[int, int] | None]] = {
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"sar3d_front": ("Front (X-Y)", "X", "Y", (0, 1)),
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"sar3d_side": ("Side (Z-Y)", "Z", "Y", (2, 1)),
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"sar3d_top": ("Top (X-Z)", "X", "Z", (0, 2)),
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"sar3d_oblique": ("3D Projection", "", "", None),
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}
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# Corners of the scene box indexed by bits (x, y, z); an edge joins corners one bit apart.
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_BOX_EDGES = [(a, b) for a, b in itertools.combinations(range(8), 2) if bin(a ^ b).count("1") == 1]
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# Axis names go on the edges meeting at the bottom corner nearest the camera (X max, Y min, Z min).
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_AXIS_EDGES = {"X": (0, 1), "Y": (1, 3), "Z": (1, 5)}
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def sar3d_status(collection: ResultCollection) -> tuple[int, str] | None:
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"""Status code (a SAR3D_STATES key) and message, one UTF-8 byte per table column."""
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payload = collection_payload_by_name(collection, "sar3d_status", kind=4)
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if payload is None:
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return None
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if payload.table.ndim != 2 or not payload.table.size or not np.isfinite(payload.table).all():
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return 2, "Invalid SAR3D status table"
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row = payload.table[0]
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code = int(row[0])
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if code not in SAR3D_STATES or code != row[0]:
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return 2, f"Unknown SAR3D status code: {row[0]}"
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return code, bytes(row[1:].astype(np.uint8)).decode("utf-8", errors="replace")
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class Sar3dRenderer:
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"""Draws the 3D SAR views."""
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def __init__(self) -> None:
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self.widget = QWidget()
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layout = QVBoxLayout(self.widget)
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layout.setContentsMargins(0, 0, 0, 0)
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layout.setSpacing(6)
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self.status_label = QLabel()
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self.status_label.setTextFormat(Qt.TextFormat.PlainText)
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self.status_label.setWordWrap(True)
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layout.addWidget(self.status_label)
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self.grid = QWidget()
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grid_layout = QGridLayout(self.grid)
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grid_layout.setContentsMargins(0, 0, 0, 0)
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grid_layout.setSpacing(6)
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layout.addWidget(self.grid, stretch=1)
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lut = build_lut(["#081c15", "#1b4332", "#ffd166", "#f94144"]) # the GPR palette
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lut = np.column_stack([lut, np.full(len(lut), 255, dtype=np.uint8)])
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lut[0, 3] = 0 # below SAR_CLOUD_THRESHOLD
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self.plots: dict[str, pg.PlotWidget] = {}
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self.antennas: dict[str, tuple[pg.ScatterPlotItem, pg.ScatterPlotItem]] = {}
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self.images: dict[str, pg.ImageItem] = {}
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self.targets: dict[str, pg.PlotCurveItem] = {}
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for index, (name, (title, x_label, y_label, axes)) in enumerate(SAR3D_VIEWS.items()):
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plot = create_plot(title)
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grid_layout.addWidget(plot, index // 2, index % 2)
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self.plots[name] = plot
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plot.setAspectLocked(True)
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if axes is not None:
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markers = (pg.ScatterPlotItem(), pg.ScatterPlotItem())
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for marker in markers:
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marker.setZValue(4)
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plot.addItem(marker)
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self.antennas[name] = markers
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item = plot.getPlotItem()
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assert item is not None
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view = item.getViewBox()
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view.setMouseEnabled(x=False, y=False)
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view.enableAutoRange(x=False, y=False)
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item.hideButtons()
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image = pg.ImageItem(axisOrder="row-major", lut=lut)
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plot.addItem(image)
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# Hollow, so the response at the maximum stays visible.
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peak = pg.PlotCurveItem(pen=pg.mkPen(PLOT_FOREGROUND, width=1.5))
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peak.setZValue(3)
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plot.addItem(peak)
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self.images[name] = image
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self.targets[name] = peak
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if x_label:
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plot.setLabel("bottom", x_label, units="m")
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plot.setLabel("left", y_label, units="m")
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if y_label == "Y":
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ground = pg.InfiniteLine(pos=0.0, angle=0,
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pen=pg.mkPen(_GROUND_COLOR, width=1, style=Qt.PenStyle.DashLine))
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ground.setZValue(2)
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plot.addItem(ground)
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oblique = self.plots["sar3d_oblique"]
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oblique.hideAxis("bottom")
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oblique.hideAxis("left")
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# The notebook scene's ground, under the image so it shows through weak voxels.
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self.ground = pg.PlotCurveItem(
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pen=pg.mkPen(_GROUND_COLOR), brush=pg.mkBrush(*_GROUND_COLOR, 110), fillLevel="enclosed"
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)
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self.ground.setZValue(-1)
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oblique.addItem(self.ground)
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self.box = pg.PlotCurveItem(pen=pg.mkPen(_SCENE_BOX_COLOR), connect="pairs")
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self.box.setZValue(2)
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oblique.addItem(self.box)
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self.axis_labels: dict[str, pg.TextItem] = {}
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for axis_name in _AXIS_EDGES:
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label = pg.TextItem(axis_name, color=PLOT_FOREGROUND, anchor=(0.5, 0.5))
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oblique.addItem(label)
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self.axis_labels[axis_name] = label
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self.clear()
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def clear(self, message: str = "SAR3D: waiting for measurements") -> None:
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"""Clear all four 3D SAR views."""
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for name, (title, *_rest) in SAR3D_VIEWS.items():
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self.images[name].hide()
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self.targets[name].setData([], [])
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self.plots[name].setTitle(title)
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for markers in self.antennas.values():
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for marker in markers:
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marker.setData([], [])
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self.box.setData([], [])
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self.ground.setData([], [])
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for label in self.axis_labels.values():
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label.hide()
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self.status_label.setText(message)
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def draw(self, collection: ResultCollection, settings: GuiSar3dStateModel, geometry: GprModel) -> bool:
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"""Draw four maximum projections of the volume; return success."""
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status = sar3d_status(collection)
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if status is not None and status[0] != 0:
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self.clear(f"SAR3D: {SAR3D_STATES[status[0]]} — {status[1]}")
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return False
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payloads: dict[str, ResultPayload] = {}
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for name in SAR3D_VIEWS:
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payload = collection_payload_by_name(collection, name, kind=3)
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if payload is None or not payload.image.size:
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self.clear("SAR3D: waiting for projection data")
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return False
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payloads[name] = payload
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basis = collection_payload_by_name(collection, "sar3d_oblique_basis", kind=4)
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if basis is None:
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self.clear("SAR3D: waiting for projection data")
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return False
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peak = collection_payload_by_name(collection, "sar3d_peak", kind=4)
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level, *peak_xyz = peak.table[0] if peak is not None else (None,)
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antennas = selected_antenna_coordinates(geometry, settings.input_positions, settings.output_positions)
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pitch = np.radians(settings.look_angle_deg)
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for coordinates in antennas:
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y, z = coordinates[:, 1].copy(), coordinates[:, 2].copy()
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coordinates[:, 1] = settings.bp_ground_depth_m + y*np.cos(pitch) - z*np.sin(pitch)
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coordinates[:, 2] = y*np.sin(pitch) + z*np.cos(pitch)
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width_payload = collection_payload_by_name(collection, "sar3d_target_width", kind=4)
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widths = width_payload.table[0] if width_payload is not None else np.full(3, settings.voxel_m)
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zoom = settings.zoom_percent / 100.0
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for name, payload in payloads.items():
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title, _x_label, _y_label, axes = SAR3D_VIEWS[name]
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rect = image_rect(payload.image_x_axis, payload.image_y_axis)
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image = self.images[name]
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image.setImage(np.where(payload.image >= settings.cloud_threshold, payload.image, 0),
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autoLevels=False, levels=(0, 1))
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image.setRect(rect)
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image.show()
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plot = self.plots[name]
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position = (basis.table @ np.asarray(peak_xyz) if axes is None else np.asarray(peak_xyz)[list(axes)]) if peak_xyz else None
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if axes is not None:
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for marker, coordinates, (symbol, brush, pen) in zip(self.antennas[name], antennas, ANTENNA_STYLES):
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xx, yy = coordinates[:, axes[0]], coordinates[:, axes[1]]
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marker.setData(x=xx, y=yy, symbol=symbol, size=13, brush=pg.mkBrush(brush), pen=pg.mkPen(pen))
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if len(xx):
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pad = settings.voxel_m
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rect = rect.united(QRectF(xx.min()-pad, yy.min()-pad, np.ptp(xx)+2*pad, np.ptp(yy)+2*pad))
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if position is not None:
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extent = np.abs(basis.table) @ widths if axes is None else widths[list(axes)]
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half = .5 * max(extent)
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self.targets[name].setData(position[0]+np.array([-half, half, half, -half, -half]),
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position[1]+np.array([-half, -half, half, half, -half]))
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if zoom > 1.0:
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center = position + (np.array([rect.center().x(), rect.center().y()])-position) / zoom**2
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rect = QRectF(center[0]-rect.width()/(2*zoom), center[1]-rect.height()/(2*zoom),
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rect.width()/zoom, rect.height()/zoom)
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else:
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self.targets[name].setData([], [])
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plot.setRange(rect, padding=0.04)
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plot.setTitle(title)
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# Scene box and ground on the oblique view, from the extents of the other views.
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front, top = payloads["sar3d_front"], payloads["sar3d_top"]
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bounds = [
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(front.image_x_axis[0], front.image_x_axis[-1]),
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(front.image_y_axis[0], front.image_y_axis[-1]),
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(top.image_y_axis[0], top.image_y_axis[-1]),
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]
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corners = np.array([[bounds[axis][(index >> axis) & 1] for axis in range(3)] for index in range(8)])
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projected = corners @ basis.table.T
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box = projected[np.ravel(_BOX_EDGES)]
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self.box.setData(box[:, 0], box[:, 1])
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centre = projected.mean(axis=0)
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for axis_name, (start, end) in _AXIS_EDGES.items():
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middle = (projected[start] + projected[end]) / 2
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self.axis_labels[axis_name].setPos(*(middle + 0.08 * (middle - centre))) # just outside
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self.axis_labels[axis_name].show()
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(x0, x1), _, (z0, z1) = bounds
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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
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self.ground.setData(ground[0], ground[1])
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summary = f"SAR3D: ready — {status[1]}" if status else "SAR3D: ready"
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if level is not None:
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x, y, z = peak_xyz
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summary += f" | max X {x:+.2f}, Y {y:+.2f}, Z {z:.2f} m | level {level:.3g}"
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self.status_label.setText(f"{summary} | zoom {settings.zoom_percent}%")
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return True
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