Ayzen
b88d704126
- BG_GATE_ENABLE: frame peak over its median background (sar3d_background); the GUI scales the frame with bg_gate_gain and its cloud threshold. - SAR_CLEAN_ENABLE: CLEAN of a one-frame aperture on a 4x10x4 cm search grid over the whole scene; objects in their own scale (sar3d_objects). - SAR_MARK_ENABLE: boxes by class around object groups (sar3d_marks), with the legend under the views. - SAR_VOXEL_M as three steps X/Y/Z with the notebook defaults 0.025/0.02/0.02. - GPU backend: image/download/load/project API, per-plane block reduction for the maximum, depth gate without FMA; sar3d host code built with -ffp-contract=off. - References regenerated from notebook cells 1 and 5, with new CLEAN scenes and a synthetic box-rule case; docs updated.
351 lines
20 KiB
Python
351 lines
20 KiB
Python
"""Builder for processing mode and live-parameter section."""
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from __future__ import annotations
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from PyQt6.QtCore import QRegularExpression, Qt
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from PyQt6.QtGui import QRegularExpressionValidator
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from PyQt6.QtWidgets import (
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QCheckBox,
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QDoubleSpinBox,
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QFormLayout,
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QGroupBox,
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QLineEdit,
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QSlider,
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QSizePolicy,
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QStackedWidget,
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QVBoxLayout,
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QWidget,
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)
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from python_app.gui.controllers.sections.layout_helpers import FormRow, build_two_column_form_widget
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from python_app.gui.antenna_geometry_editor import AntennaGeometryEditor
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from python_app.gui.controllers.sections.views import (
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ProcessingView, SectionView, choice, double_spin, integer_spin, write_setting,
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)
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from python_app.models.gui_profile_schema import GuiStateModel
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from python_app.models.run_config_schema import RunConfigModel
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from python_app.models.setting_fields import GUI_FIELDS
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from python_app.models.run_config_validation import POSITION_CSV_PATTERN
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# Same semantics on every GPR-like page; the data_processor applies them.
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_IGNORE_SOCKET_SPEED_TOOLTIP = (
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"Checked: the speed below drives the motion correction. Unchecked: the speed a locator "
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"socket client streams ('vlc') does, and the field below only stands in while no client "
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"has sent one in the last 5 s."
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)
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def _build_processing_mode_page(parent: QWidget, rows: list[FormRow], *, split_index: int | None = None) -> QWidget:
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"""Create one processing-mode page with a two-column form body."""
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page = QWidget(parent)
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page.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
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page_layout = QVBoxLayout(page)
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page_layout.setContentsMargins(0, 0, 0, 0)
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page_layout.setSpacing(0)
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page_layout.addWidget(build_two_column_form_widget(page, rows, split_index=split_index))
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return page
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def build_processing_group(config: RunConfigModel, gui: GuiStateModel) -> ProcessingView:
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"""Create processing mode section with pass-through, B-scan, GPR, and 3D SAR pages."""
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view = SectionView(QGroupBox("Processing"))
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group = view.group
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form = QFormLayout(group)
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form.setFieldGrowthPolicy(QFormLayout.FieldGrowthPolicy.AllNonFixedFieldsGrow)
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processing_mode = view.add("_processing_mode", choice(['pass_through', 'bscan', 'gpr', 'sar3d']))
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processing_mode_pages = QStackedWidget(group)
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processing_mode_pages.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
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show_magnitude_checkbox = view.add("_show_magnitude_checkbox", QCheckBox("Show magnitude"))
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show_phase_checkbox = view.add("_show_phase_checkbox", QCheckBox("Show phase"))
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unwrap_phase_checkbox = view.add("_unwrap_phase_checkbox", QCheckBox("Unwrap phase"))
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unwrap_phase_checkbox.setToolTip(
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"Plot the cumulative (unwrapped) phase instead of wrapping to ±180°; "
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"the phase axis auto-scales to the unwrapped range."
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)
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pass_through_combo_filter_input = view.add("_pass_through_combo_filter_input", QLineEdit())
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pass_through_combo_filter_input.setPlaceholderText("empty = all, e.g. 0:0,1:0")
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pass_through_fixed_y_enabled = view.add("_pass_through_fixed_y_enabled", QCheckBox("Fix magnitude Y range"))
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pass_through_y_min_db = view.add("_pass_through_y_min_db", double_spin(-240.0, 240.0, 1, 1.0))
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pass_through_y_max_db = view.add("_pass_through_y_max_db", double_spin(-240.0, 240.0, 1, 1.0))
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pass_through_page = _build_processing_mode_page(
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processing_mode_pages,
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[
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show_magnitude_checkbox,
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show_phase_checkbox,
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unwrap_phase_checkbox,
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("Switch combos", pass_through_combo_filter_input),
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pass_through_fixed_y_enabled,
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("Y min (dB)", pass_through_y_min_db),
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("Y max (dB)", pass_through_y_max_db),
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],
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split_index=5,
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)
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processing_mode_pages.addWidget(pass_through_page)
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bscan_axis = view.add("_bscan_axis", choice(['abs', 'real', 'phase']))
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bscan_cut_m = view.add("_bscan_cut_m", double_spin(0.0, 2.0, 3, 0.001))
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bscan_max_depth_m = view.add("_bscan_max_depth_m", double_spin(0.1, 20.0, 1, 0.1))
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bscan_gain = view.add("_bscan_gain", double_spin(0.0, 3.0, 1, 0.1))
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bscan_start_freq_mhz = view.add("_bscan_start_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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bscan_stop_freq_mhz = view.add("_bscan_stop_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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bscan_subtract_mean_ascan = view.add("_bscan_subtract_mean_ascan", QCheckBox("Subtract mean A-scan"))
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bscan_history_window = view.add("_bscan_history_window", integer_spin(1, 1000))
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bscan_history_window.setToolTip(
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"How many past sweeps the B-scan shows once acquisition is stopped. While "
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"running, the window stays clamped to the C++ ring capacity."
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)
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bscan_page = _build_processing_mode_page(
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processing_mode_pages,
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[
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("Axis", bscan_axis),
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("Cut (m)", bscan_cut_m),
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("Max depth (m)", bscan_max_depth_m),
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("Gain", bscan_gain),
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("Start (MHz)", bscan_start_freq_mhz),
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("Stop (MHz)", bscan_stop_freq_mhz),
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("Scans to show (stopped)", bscan_history_window),
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bscan_subtract_mean_ascan,
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],
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split_index=4,
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)
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processing_mode_pages.addWidget(bscan_page)
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gpr_defaults = config.gpr
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gpr_tx_geometry_input = view.add("_gpr_tx_geometry_input", AntennaGeometryEditor(
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"output_pos", gpr_defaults.tx_geometry, position_count=config.output_switch.positions,
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))
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gpr_rx_geometry_input = view.add("_gpr_rx_geometry_input", AntennaGeometryEditor(
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"input_pos", gpr_defaults.rx_geometry, position_count=config.input_switch.positions,
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))
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gpr_common_page = _build_processing_mode_page(
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group,
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[
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("Tx geometry", gpr_tx_geometry_input),
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("Rx geometry", gpr_rx_geometry_input),
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],
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split_index=1,
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)
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gpr_input_positions_input = view.add("_gpr_input_positions_input", QLineEdit())
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gpr_input_positions_input.setPlaceholderText("0,1,2")
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gpr_output_positions_input = view.add("_gpr_output_positions_input", QLineEdit())
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gpr_output_positions_input.setPlaceholderText("0,1")
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gpr_min_depth_m = view.add("_gpr_min_depth_m", double_spin(0.0, 50.0, 2, 0.1))
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gpr_max_depth_m = view.add("_gpr_max_depth_m", double_spin(0.1, 50.0, 2, 0.1))
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gpr_range_comp_power = view.add("_gpr_range_comp_power", double_spin(0.0, 5.0, 3, 0.01))
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gpr_object_min_frac = view.add("_gpr_object_min_frac", double_spin(0.0, 1.0, 2, 0.05))
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gpr_object_min_frac.setToolTip(
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"Object detection stops once a peak falls below this fraction of the global maximum."
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)
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gpr_score_mode = view.add("_gpr_score_mode", choice(['peak', 'combined']))
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gpr_motion_mode = view.add("_gpr_motion_mode", choice(['int_minus', 'int_focus']))
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gpr_motion_mode.setToolTip(
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"Intra-sweep speed correction before the IFFT. int_minus: full correction; "
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"int_focus: focusing residual only (no net Z shift)."
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)
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gpr_look_angle_deg = view.add("_gpr_look_angle_deg", double_spin(-90.0, 90.0, 2, 0.5))
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gpr_look_angle_deg.setToolTip(
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"Radar look angle vs the range axis (deg). Used by intra-sweep motion correction."
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)
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gpr_direction_sign = view.add("_gpr_direction_sign", double_spin(-1.0, 1.0, 0, 2.0))
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gpr_direction_sign.setToolTip(
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"Motion direction along range: +1 (later frequencies deeper) or -1 (shallower)."
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)
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gpr_ignore_socket_speed_enabled = view.add("_gpr_ignore_socket_speed_enabled", QCheckBox("Ignore socket speed"))
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gpr_ignore_socket_speed_enabled.setToolTip(_IGNORE_SOCKET_SPEED_TOOLTIP)
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gpr_speed_m_s = view.add("_gpr_speed_m_s", double_spin(-100.0, 100.0, 3, 0.05))
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gpr_speed_m_s.setToolTip(
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"Radar speed (m/s) used by intra-sweep motion correction when 'Ignore socket speed' is on."
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)
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gpr_max_detected_objects_to_draw = view.add("_gpr_max_detected_objects_to_draw", integer_spin(0, 10000))
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gpr_draw_top_m_objects = view.add("_gpr_draw_top_m_objects", integer_spin(0, 10000))
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gpr_object_approach_min_frames = view.add("_gpr_object_approach_min_frames", integer_spin(1, 100))
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gpr_object_approach_min_frames.setToolTip(
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"Show an object only after it persists as a motion-consistent track this many "
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"consecutive frames (1 disables the approach filter)."
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)
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gpr_start_freq_mhz = view.add("_gpr_start_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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gpr_stop_freq_mhz = view.add("_gpr_stop_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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gpr_background_subtract_enabled = view.add("_gpr_background_subtract_enabled", QCheckBox("Subtract mean of previous collections"))
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gpr_background_mean_count = view.add("_gpr_background_mean_count", integer_spin(0, 10000))
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gpr_remove_sidelobe_objects_enabled = view.add("_gpr_remove_sidelobe_objects_enabled", QCheckBox("Remove sidelobe objects"))
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gpr_render_mode = view.add("_gpr_render_mode", choice(['heatmap', 'objects_only']))
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gpr_visible_x_min_m = view.add("_gpr_visible_x_min_m", double_spin(-100.0, 100.0, 2, 0.1))
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gpr_visible_x_max_m = view.add("_gpr_visible_x_max_m", double_spin(-100.0, 100.0, 2, 0.1))
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gpr_visible_z_min_m = view.add("_gpr_visible_z_min_m", double_spin(0.0, 100.0, 2, 0.1))
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gpr_visible_z_max_m = view.add("_gpr_visible_z_max_m", double_spin(0.0, 100.0, 2, 0.1))
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gpr_bp_ground_depth_m = view.add("_gpr_bp_ground_depth_m", double_spin(0.0, 50.0, 3, 0.05))
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gpr_bp_ground_depth_m.setToolTip("Height of the radar origin above the ground; the BP slice follows the ground and radar tilt.")
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gpr_pair_depth_equalize = view.add("_gpr_pair_depth_equalize", QCheckBox("PAIR_DEPTH_EQUALIZE"))
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gpr_page = _build_processing_mode_page(
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processing_mode_pages,
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[
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("Input positions", gpr_input_positions_input),
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("Output positions", gpr_output_positions_input),
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("Min depth (m)", gpr_min_depth_m),
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("Max depth (m)", gpr_max_depth_m),
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("Range compensation power", gpr_range_comp_power),
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("Object threshold fraction", gpr_object_min_frac),
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("Score mode", gpr_score_mode),
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("Motion mode", gpr_motion_mode),
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("Look angle (°)", gpr_look_angle_deg),
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("Direction sign", gpr_direction_sign),
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gpr_ignore_socket_speed_enabled,
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("Speed (m/s)", gpr_speed_m_s),
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("Render mode", gpr_render_mode),
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("Max detected objects", gpr_max_detected_objects_to_draw),
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("Draw top M objects", gpr_draw_top_m_objects),
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("Approach min frames", gpr_object_approach_min_frames),
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("Start (MHz)", gpr_start_freq_mhz),
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("Stop (MHz)", gpr_stop_freq_mhz),
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("Radar height (m)", gpr_bp_ground_depth_m),
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("Visible X min (m)", gpr_visible_x_min_m),
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("Visible X max (m)", gpr_visible_x_max_m),
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("Visible Z min (m)", gpr_visible_z_min_m),
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("Visible Z max (m)", gpr_visible_z_max_m),
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gpr_background_subtract_enabled,
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("Mean count", gpr_background_mean_count),
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gpr_pair_depth_equalize,
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gpr_remove_sidelobe_objects_enabled,
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],
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split_index=8,
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)
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processing_mode_pages.addWidget(gpr_page)
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# 3D SAR page. The labels are the names of the reference notebook
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# Multi_depthnorm_clean.ipynb; the shared gpr_* fields get their own
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# widgets here, like on the GPR page.
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sar3d_input_positions_input = view.add("_sar3d_input_positions_input", QLineEdit())
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sar3d_input_positions_input.setPlaceholderText("0,1,2")
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sar3d_output_positions_input = view.add("_sar3d_output_positions_input", QLineEdit())
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sar3d_output_positions_input.setPlaceholderText("0,1")
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sar3d_start_freq_mhz = view.add("_sar3d_start_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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sar3d_stop_freq_mhz = view.add("_sar3d_stop_freq_mhz", double_spin(100.0, 8800.0, 1, 10.0))
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sar3d_min_depth_m = view.add("_sar3d_min_depth_m", double_spin(0.0, 50.0, 2, 0.1))
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sar3d_min_depth_m.setToolTip("Radar depth gate start (m); the scene grid along Z follows the gate.")
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sar3d_max_depth_m = view.add("_sar3d_max_depth_m", double_spin(0.1, 50.0, 2, 0.1))
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sar3d_max_depth_m.setToolTip("Radar depth gate end (m); the scene grid along Z follows the gate.")
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sar3d_voxel_x_m = view.add("_sar3d_voxel_x_m", double_spin(0.01, 0.1, 3, 0.005))
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sar3d_voxel_y_m = view.add("_sar3d_voxel_y_m", double_spin(0.01, 0.1, 3, 0.005))
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sar3d_voxel_z_m = view.add("_sar3d_voxel_z_m", double_spin(0.01, 0.1, 3, 0.005))
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for axis, step in zip("XYZ", (sar3d_voxel_x_m, sar3d_voxel_y_m, sar3d_voxel_z_m)):
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step.setToolTip(f"Voxel step along {axis} (m). Smaller is finer and slower: halving all three "
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"steps makes 8 times more voxels.")
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sar3d_look_angle_deg = view.add("_sar3d_look_angle_deg", double_spin(-90.0, 90.0, 2, 0.5))
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sar3d_look_angle_deg.setToolTip(
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"Downward tilt of the radar (deg): motion correction along range and the ground scene axes."
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)
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sar3d_ignore_socket_speed_enabled = view.add("_sar3d_ignore_socket_speed_enabled", QCheckBox("Ignore socket speed"))
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sar3d_ignore_socket_speed_enabled.setToolTip(_IGNORE_SOCKET_SPEED_TOOLTIP)
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sar3d_speed_m_s = view.add("_sar3d_speed_m_s", double_spin(-100.0, 100.0, 3, 0.05))
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sar3d_frame_radius = view.add("_sar3d_frame_radius", integer_spin(0, 24))
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sar3d_frame_radius.setToolTip(
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"Causal aperture: current and r previous frames. 0: the current frame only (needs a vertical antenna "
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"baseline); >0 adds aperture from motion and needs an accurate speed. The scene follows the current frame."
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)
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sar3d_bp_ground_depth_m = view.add("_sar3d_bp_ground_depth_m", double_spin(0.0, 10.0, 2, 0.05))
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sar3d_bp_ground_depth_m.setToolTip("Height of the lower antenna row above the ground (m); scene Y = 0 is the ground.")
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sar3d_comp_range_power = view.add("_sar3d_comp_range_power", double_spin(0.0, 2.0, 2, 0.05))
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sar3d_comp_range_power.setToolTip("Geometric spreading compensation (Rtx*Rrx)^power, capped at 5.")
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sar3d_use_compensation = view.add("_sar3d_use_compensation", QCheckBox("SAR_USE_COMPENSATION"))
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sar3d_normalize_each_frame = view.add("_sar3d_normalize_each_frame", QCheckBox("SAR_NORMALIZE_EACH_FRAME"))
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sar3d_normalize_each_frame.setToolTip("Scale every Tx/Rx A-scan by its median inside the depth gate.")
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sar3d_pair_depth_equalize = view.add("_sar3d_pair_depth_equalize", QCheckBox("PAIR_DEPTH_EQUALIZE"))
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sar3d_background_subtract_enabled = view.add("_sar3d_background_subtract_enabled", QCheckBox("Subtract mean of previous collections"))
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sar3d_background_mean_count = view.add("_sar3d_background_mean_count", integer_spin(0, 10000))
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sar3d_bg_gate_enabled = view.add("_sar3d_bg_gate_enabled", QCheckBox("BG_GATE_ENABLE"))
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sar3d_bg_gate_enabled.setToolTip(
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"Show the frame relative to its background, the median of the volume: below 6 backgrounds the "
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"frame is empty, at 6 its maximum appears at SAR_CLOUD_THRESHOLD, from 8.5 the scale is full."
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)
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sar3d_clean_enabled = view.add("_sar3d_clean_enabled", QCheckBox("SAR_CLEAN_ENABLE"))
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sar3d_clean_enabled.setToolTip(
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"CLEAN: subtract the strongest responses one by one, so weak objects show beside strong ones; "
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"each object is drawn in its own 0-1 scale. Runs on a one-frame aperture: always with "
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"SAR_FRAME_RADIUS = 0, otherwise while no previous frame is available, as after Start."
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)
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sar3d_x_size_m = view.add("_sar3d_x_size_m", double_spin(0.0, 100.0, 2, 0.1))
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sar3d_y_min_m = view.add("_sar3d_y_min_m", double_spin(-50.0, 50.0, 2, 0.1))
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sar3d_y_max_m = view.add("_sar3d_y_max_m", double_spin(-50.0, 50.0, 2, 0.1))
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sar3d_z_size_m = view.add("_sar3d_z_size_m", double_spin(0.0, 100.0, 2, 0.1))
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sar3d_cloud_threshold = view.add("_sar3d_cloud_threshold", double_spin(0.0, 1.0, 2, 0.05))
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sar3d_zoom_percent = view.add("_sar3d_zoom_percent", QSlider(Qt.Orientation.Horizontal))
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sar3d_zoom_percent.setRange(100, 1000)
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sar3d_zoom_percent.setToolTip("100% shows the full scene; higher values zoom towards its brightest object.")
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sar3d_mark_enabled = view.add("_sar3d_mark_enabled", QCheckBox("SAR_MARK_ENABLE"))
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sar3d_mark_enabled.setToolTip(
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"Box the CLEAN objects by height: red very low (like a mine), orange on the ground, blue above it, "
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"dashed grey at the scene boundary (not yet decidable). Off: numbered objects instead."
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)
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sar3d_page = _build_processing_mode_page(
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processing_mode_pages,
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[
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("INPUT_IDX", sar3d_input_positions_input),
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("OUTPUT_IDX", sar3d_output_positions_input),
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("F_START MHz", sar3d_start_freq_mhz),
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("F_STOP MHz", sar3d_stop_freq_mhz),
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("MIN_DEPTH", sar3d_min_depth_m),
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("MAX_DEPTH", sar3d_max_depth_m),
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("SAR_VOXEL_M X", sar3d_voxel_x_m),
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("SAR_VOXEL_M Y", sar3d_voxel_y_m),
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("SAR_VOXEL_M Z", sar3d_voxel_z_m),
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("LOOK_ANGLE_DEG", sar3d_look_angle_deg),
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sar3d_ignore_socket_speed_enabled,
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("SPEED_M_S", sar3d_speed_m_s),
|
|
("SAR_FRAME_RADIUS", sar3d_frame_radius),
|
|
("BP_GROUND_DEPTH_M", sar3d_bp_ground_depth_m),
|
|
("COMP_RANGE_POWER", sar3d_comp_range_power),
|
|
sar3d_use_compensation,
|
|
sar3d_normalize_each_frame,
|
|
sar3d_pair_depth_equalize,
|
|
sar3d_background_subtract_enabled,
|
|
("Mean count", sar3d_background_mean_count),
|
|
sar3d_bg_gate_enabled,
|
|
sar3d_clean_enabled,
|
|
("SAR_X_SIZE_M (0 = auto)", sar3d_x_size_m),
|
|
("SAR_Y_RANGE_M min", sar3d_y_min_m),
|
|
("SAR_Y_RANGE_M max", sar3d_y_max_m),
|
|
("SAR_Z_SIZE_M (0 = auto)", sar3d_z_size_m),
|
|
("SAR_CLOUD_THRESHOLD", sar3d_cloud_threshold),
|
|
("Zoom (%)", sar3d_zoom_percent),
|
|
sar3d_mark_enabled,
|
|
],
|
|
)
|
|
processing_mode_pages.addWidget(sar3d_page)
|
|
|
|
form.addRow(processing_mode_pages)
|
|
form.addRow(gpr_common_page)
|
|
|
|
band = config.radar.rph_radar.band if config.is_rph_radar else config.radar.sweep
|
|
for binding in GUI_FIELDS:
|
|
if binding.path[0] == "processing":
|
|
widget = view.fields[binding.spec.widget]
|
|
if isinstance(widget, AntennaGeometryEditor):
|
|
raise TypeError("Geometry is not a scalar GUI setting")
|
|
if binding.path[-1] in {"start_freq_mhz", "stop_freq_mhz"}:
|
|
assert isinstance(widget, QDoubleSpinBox)
|
|
widget.setRange(band.start_hz / 1e6, band.stop_hz / 1e6)
|
|
if binding.spec.live in {"gpr_input_positions", "gpr_output_positions"}:
|
|
assert isinstance(widget, QLineEdit)
|
|
widget.setValidator(QRegularExpressionValidator(QRegularExpression(POSITION_CSV_PATTERN), widget))
|
|
write_setting(widget, binding.read(gui))
|
|
|
|
return ProcessingView(
|
|
group=group, fields=view.fields, mode=processing_mode, pages=processing_mode_pages,
|
|
geometry_page=gpr_common_page, geometries=(gpr_tx_geometry_input, gpr_rx_geometry_input),
|
|
fixed_y=pass_through_fixed_y_enabled, y_bounds=(pass_through_y_min_db, pass_through_y_max_db),
|
|
speed_controls=((gpr_ignore_socket_speed_enabled, gpr_speed_m_s),
|
|
(sar3d_ignore_socket_speed_enabled, sar3d_speed_m_s)),
|
|
trace_controls=(show_magnitude_checkbox, show_phase_checkbox, unwrap_phase_checkbox,
|
|
pass_through_combo_filter_input, pass_through_fixed_y_enabled,
|
|
pass_through_y_min_db, pass_through_y_max_db),
|
|
visual_controls=(gpr_render_mode, sar3d_cloud_threshold, sar3d_zoom_percent, sar3d_mark_enabled),
|
|
locator_controls=(gpr_max_detected_objects_to_draw, gpr_draw_top_m_objects,
|
|
gpr_visible_x_min_m, gpr_visible_x_max_m,
|
|
gpr_visible_z_min_m, gpr_visible_z_max_m),
|
|
frequency_controls=(bscan_start_freq_mhz, bscan_stop_freq_mhz, gpr_start_freq_mhz, gpr_stop_freq_mhz,
|
|
sar3d_start_freq_mhz, sar3d_stop_freq_mhz),
|
|
)
|