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Commit cc914e25 authored by Merlo, Jason's avatar Merlo, Jason
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Added range-doppler and spectrogram widgets

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# -*- coding: utf-8 -*-
"""
Data-Cube Widget Class.
Contains RadarWidget class used to visualize a radar Data-Cube represenataion
of fast- and slow-time data.
Author: Jason Merlo
Maintainer: Jason Merlo (merlojas@msu.edu)
"""
import pyqtgraph as pg # Used for RadarWidget superclass
import numpy as np # Used for numerical operations
from scipy import signal # Used for upsampling
import time # Used for FPS calculations
from matplotlib import cm # Used for colormaps
class DataCubeWidget(pg.PlotWidget):
def __init__(self, radar, fast_time_yrange=[-90,20],
fast_time_xrange=[-5e3,5e3]):
super(SpectrogramWidget, self).__init__()
# Copy arguments to member variables
self.data_mgr = radar.data_mgr
self.source = self.data_mgr.source
self.radar = radar
self.spectrogram_length = spectrogram_length
self.update_period = \
self.source.sample_chunk_size / self.source.sample_rate
self.show_max_plot = show_max_plot
# TODO temp
self.downsample = 10
# FPS ticker data
self.lastTime = time.time()
self.fps = None
# -----
self.img = pg.ImageItem()
self.addItem(self.img)
# Allocate image array to store spectrogram
self.img_array = np.zeros((int(self.radar.cfft_data.size / self.downsample), spectrogram_length))
# Get the colormap
colormap = cm.get_cmap("jet") # cm.get_cmap("CMRmap")
colormap._init()
lut = (colormap._lut * 255).view(np.ndarray)
# set colormap
self.img.setLookupTable(lut)
self.img.setLevels([-90, 0])
self.img.scale(1, self.radar.bin_size * self.downsample)
self.setRange(disableAutoRange=True, yRange=np.array(fft_xrange))
self.setLimits(
yMin=-self.source.sample_rate/2, yMax=self.source.sample_rate/2)
self.img.translate(0, -self.radar.cfft_data.size / (2 * self.downsample))
self.setLabel('left', 'Frequency', units='Hz')
self.showGrid(x=False, y=True)
left_axis=self.getAxis('left')
left_axis.setGrid(255)
self.img.setCompositionMode(pg.QtGui.QPainter.CompositionMode_Plus)
def update_datacube(self):
if self.radar.cfft_data is not None:
pass
def update_plot(self):
ALPHA = 0.75
AVG_SAMPLES = 2*self.speed
if self.radar.cfft_data is not None:
downsampled = self.radar.cfft_data[::self.downsample]
log_fft = 10 * np.log(downsampled)
avg_samples = self.img_array[:, -AVG_SAMPLES:]
avg_psd = np.average(avg_samples, axis=1)
new_psd = avg_psd * (1-ALPHA)/self.speed + log_fft * ALPHA
self.img_array = np.roll(self.img_array, -self.speed, 1)
self.img_array[:,-self.speed:] = np.repeat(np.expand_dims(new_psd, axis=1), self.speed,axis=1)
self.img.setImage(self.img_array.T, autoLevels=False, autoDownsample=True)
print(self.getAxis("left").range)
def update_fps(self):
now = time.time()
dt = now - self.lastTime
self.lastTime = now
if self.fps is None:
self.fps = 1.0 / dt
else:
s = np.clip(dt * 3., 0, 1)
self.fps = self.fps * (1 - s) + (1.0 / dt) * s
print('%0.2f fps' % self.fps)
def update(self):
self.update_spectrogram()
self.update_fps()
def reset(self):
self.fmax_data = []
# When paused, redraw after reset
if self.data_mgr.paused:
self.update()
# -*- coding: utf-8 -*-
"""
FFT Widget Class.
Contains RadarWidget class used to draw the max frequency and FFT graphs
Author: Jason Merlo
Maintainer: Jason Merlo (merlojas@msu.edu)
"""
import pyqtgraph as pg # Used for RadarWidget superclass
import numpy as np # Used for numerical operations
from scipy import signal # Used for upsampling
import time # Used for FPS calculations
from matplotlib import cm # Used for colormaps
class SpectrogramWidget(pg.PlotWidget):
def __init__(self, radar, spectrogram_length=100, show_max_plot=False,
fft_yrange=[-90,20], fft_xrange=[-5e3,5e3]):
super(SpectrogramWidget, self).__init__()
# Copy arguments to member variables
self.data_mgr = radar.data_mgr
self.source = self.data_mgr.source
self.radar = radar
self.spectrogram_length = spectrogram_length
self.update_period = \
self.source.sample_chunk_size / self.source.sample_rate
self.show_max_plot = show_max_plot
# TODO temp
self.speed = 10
self.downsample = 10
# Add FFT max plot to layout
# if show_max_plot:
# self.fmax_data = []
#
# self.fmax_plot = self.addPlot()
#
# # Set up fmax plot
# self.fmax_plot.setDownsampling(mode='peak')
# self.fmax_plot.setClipToView(True)
# # self.fmax_plot.setRange(xRange=[-fmax_len, 0], yRange=[-0.5, 0.5])
# self.fmax_plot.setRange(xRange=[-fmax_len, 0])
# # self.fmax_plot.setLimits(
# # xMax=0, yMax=20, yMin=-20)
# self.fmax_pw = self.fmax_plot.plot()
#
# # self.fmax_line = pg.InfiniteLine(angle=0, movable=False)
# # self.fmax_plot.addItem(self.fmax_line)
#
# # self.a_pw = self.fmax_plot.plot()
# self.fmax_plot.setLabel('left', text="Frequency", units="Hz")
# self.fmax_ax_bottom = self.fmax_plot.getAxis('bottom')
# self.fmax_ax_bottom.setScale(self.update_period)
# self.fmax_plot.setLabel('bottom', text="Chirps", units="")
#
# # Create next row for FFT plot
# self.nextRow()
#
# # Calculate reasonable ranges for FFT peak outputs
# # fft_xrange = [-50 / self.radar.bin_size, 50 / self.radar.bin_size]
# # fft_yrange = [-100, 0]
#
# # Add FFT plot
# self.fft_plot = self.addPlot()
#
# # Set up fft plot
# self.fft_plot.setDownsampling(mode='peak')
# self.fft_plot.setClipToView(True)
# # self.fft_plot.setLogMode(x=False, y=True) # Log Y-axis of FFT views
# self.fft_plot.setRange(disableAutoRange=True,
# xRange=np.array(fft_xrange)/self.radar.bin_size,
# yRange=fft_yrange)
# self.fft_plot.setLimits(
# xMin=-self.source.sample_rate/(2*self.radar.bin_size),
# xMax=self.source.sample_rate/(2*self.radar.bin_size),
# yMin=fft_yrange[0], yMax=fft_yrange[1])
# self.fft_pw = self.fft_plot.plot()
# self.fft_max_freq_line = pg.InfiniteLine(angle=90, movable=False)
# self.fft_max_pwr_line = pg.InfiniteLine(angle=0, movable=False)
# self.fft_plot.addItem(self.fft_max_freq_line)
# self.fft_plot.addItem(self.fft_max_pwr_line)
# self.fft_ax_bottom = self.fft_plot.getAxis('bottom')
# self.fft_ax_bottom.setScale(self.radar.bin_size)
# self.fft_plot.setLabel('bottom', text="Frequency", units="Hz")
# self.fft_plot.setLabel('left', text="Magnitude", units="dBV")
# FPS ticker data
self.lastTime = time.time()
self.fps = None
# -----
self.img = pg.ImageItem()
self.addItem(self.img)
# Allocate image array to store spectrogram
self.img_array = np.zeros((int(self.radar.cfft_data.size / self.downsample), spectrogram_length))
# Get the colormap
colormap = cm.get_cmap("jet") # cm.get_cmap("CMRmap")
colormap._init()
lut = (colormap._lut * 255).view(np.ndarray)
# set colormap
self.img.setLookupTable(lut)
self.img.setLevels([-90, 0])
# setup the correct scaling for y-axis
# log_freq_range = np.linspace(0, np.log10(self.source.chunk_size),
# self.radar.cfft.size)
# yscale = (log_freq_range[-1] / self.img_array.shape[0])
# self.img.scale((1. / self.source.sample_rate) * self.source.chunk_size / self.speed, yscale)
# self.setLogMode(y=True)
self.img.scale(1, self.radar.bin_size * self.downsample)
self.setRange(disableAutoRange=True, yRange=np.array(fft_xrange))
self.setLimits(
yMin=-self.source.sample_rate/2, yMax=self.source.sample_rate/2)
self.img.translate(0, -self.radar.cfft_data.size / (2 * self.downsample))
self.setLabel('left', 'Frequency', units='Hz')
self.showGrid(x=False, y=True)
left_axis=self.getAxis('left')
left_axis.setGrid(255)
self.img.setCompositionMode(pg.QtGui.QPainter.CompositionMode_Plus)
# self.setLabel('right', 'Range', 'm')
# right_axis=self.getAxis('right')
# right_axis.setScale((log_freq_range[-1] / self.img_array.shape[0]) * (FC / (2*spc.c)))
def update_spectrogram(self):
ALPHA = 0.75
AVG_SAMPLES = 2*self.speed
if self.radar.cfft_data is not None:
downsampled = self.radar.cfft_data[::self.downsample]
log_fft = 10 * np.log(downsampled)
avg_samples = self.img_array[:, -AVG_SAMPLES:]
avg_psd = np.average(avg_samples, axis=1)
new_psd = avg_psd * (1-ALPHA)/self.speed + log_fft * ALPHA
self.img_array = np.roll(self.img_array, -self.speed, 1)
self.img_array[:,-self.speed:] = np.repeat(np.expand_dims(new_psd, axis=1), self.speed,axis=1)
self.img.setImage(self.img_array.T, autoLevels=False, autoDownsample=True)
print(self.getAxis("left").range)
def update_fps(self):
now = time.time()
dt = now - self.lastTime
self.lastTime = now
if self.fps is None:
self.fps = 1.0 / dt
else:
s = np.clip(dt * 3., 0, 1)
self.fps = self.fps * (1 - s) + (1.0 / dt) * s
print('%0.2f fps' % self.fps)
def update(self):
self.update_spectrogram()
self.update_fps()
def reset(self):
self.fmax_data = []
# When paused, redraw after reset
if self.data_mgr.paused:
self.update()
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