def on_point_clicked(self, plot_item: pg.PlotDataItem,
points: list) -> None:
"""
Callback function for the click event on a detection. The detection is highlighted with a white circle around it
and the detection's properties are written on the info label.
:param plot_item: the PlotDataItem which holds the points
:param points: List of points which where clicked on.
:return: None
"""
scatter_data = plot_item.scatter.data
if len(points) > 0:
empty_pen = QtGui.QPen()
empty_pen.setStyle(QtCore.Qt.NoPen)
scatter_data["pen"] = np.array([empty_pen] * len(scatter_data),
dtype=object)
uuids = np.array([x[11] for x in scatter_data["data"]])
detection = points[0].data()
det_uuid = detection["uuid"]
idx = np.where(uuids == det_uuid)[0]
if len(idx) > 0:
idx = idx[0]
scatter_data["pen"][idx] = pg.mkPen(color="w", width=3)
plot_item.opts["symbolPen"] = scatter_data["pen"]
plot_item.updateItems()
tr_id = detection["track_id"].decode()
if len(tr_id) == 0:
tr_id = "<None>"
info_text = (
"UUID = {}\nSensor ID = {}\nTimestamp = {}\nRange = {:.3f} m\nAzimuth = {:.3f}°\nRCS = {:.3f} dBsm\n"
"x (cc) = {:.3f} m\ny (cc) = {:.3f} m\nRadial Velocity = {:.3f} m/s\n"
"Compensated Rad. Vel. = {:.3f} m/s\n"
"Label ID = {} ({})\nTrack ID = {}").format(
detection["uuid"].decode(), detection["sensor_id"],
detection["timestamp"], detection["range_sc"],
np.rad2deg(detection["azimuth_sc"]), detection["rcs"],
detection["x_cc"], detection["y_cc"], detection["vr"],
detection["vr_compensated"], detection["label_id"],
self.label_id_to_display_name[detection["label_id"]],
tr_id)
if "pred_label_id" in detection.dtype.names:
pred_label = detection["pred_label_id"]
pred_instance = detection["pred_instance_id"]
info_text += "\nPredicted Label = {} ({})".format(
pred_label,
self.prediction_mapping_names.get(
pred_label, "Unknown"))
mapped_true_label = self.prediction_mapping.get(
detection["label_id"], "Unknown")
info_text += "\nMapped True Label = {} ({})".format(
mapped_true_label,
self.prediction_mapping_names.get(
mapped_true_label, "Unknown"))
if pred_instance is None:
info_text += "\nPredicted Instance = <None>"
else:
info_text += "\nPredicted Instance = {}".format(
pred_instance)
self.info_label.setText(info_text)
