def update(self, data):
self.frame_scatter.setData(
np.tile(self.depths, self.sensor_config.sweeps_per_frame),
data["frame"].flatten(),
)
self.fast_scatter.setData(self.depths, data["fast"])
self.slow_scatter.setData(self.depths, data["slow"])
self.data_plot.setYRange(
*self.frame_smooth_limits.update(data["frame"]))
noise = data["noise"]
self.noise_curve.setData(self.depths, noise)
self.noise_plot.setYRange(0, self.noise_smooth_max.update(noise))
movement_x = data["presence_distance"]
move_ys = data["depthwise_presence"]
self.inter_curve.setData(self.depths, data["inter"])
self.total_curve.setData(self.depths, move_ys)
m = self.move_smooth_max.update(np.max(move_ys))
m = max(m, 2 * self.processing_config.detection_threshold)
self.move_plot.setYRange(0, m)
self.move_depth_line.setPos(movement_x)
self.move_depth_line.setVisible(bool(data["presence_detected"]))
move_hist_ys = data["presence_history"]
move_hist_xs = np.linspace(-self.history_length_s, 0,
len(move_hist_ys))
self.move_hist_curve.setData(move_hist_xs,
np.minimum(move_hist_ys, OUTPUT_MAX))
if data["presence_detected"]:
present_text = "Presence detected at {:.0f} cm".format(movement_x *
100)
present_html = self.present_html_format.format(present_text)
self.present_text_item.setHtml(present_html)
self.present_text_item.show()
self.not_present_text_item.hide()
else:
self.present_text_item.hide()
self.not_present_text_item.show()
brush = utils.pg_brush_cycler(0)
for sector in self.sectors:
sector.setBrush(brush)
if data["presence_detected"]:
index = (data["presence_distance_index"] +
self.sector_offset) // self.sector_size
self.sectors[index].setBrush(utils.pg_brush_cycler(1))
def update(self, data):
# Data plots
for i, ys in enumerate(data["frame"].T):
self.data_curves[i].setData(ys)
# Spectral density plot
psd_db = 20 * np.log10(data["nasd_temporal_max"])
psd_threshold_db = 20 * np.log10(data["temporal_max_threshold"])
m = self.smooth_max.update(max(2 * psd_threshold_db, np.max(psd_db)))
self.sd_plot.setYRange(0, m)
self.sd_curve.setData(self.bin_vs * self.unit.scale, psd_db)
self.sd_threshold_line.setPos(psd_threshold_db)
# Rolling speed plot
vs = data["vel_history"] * self.unit.scale
mask = ~np.isnan(vs)
ts = -np.flip(np.arange(vs.size)) * self.dt
bs = data["belongs_to_last_sequence"]
brushes = [utils.pg_brush_cycler(int(b)) for b in bs[mask]]
self.vel_scatter.setData(ts[mask], vs[mask], brush=brushes)
v = data["vel"]
if v:
html = self.vel_html_fmt.format(v * self.unit.scale,
self.unit.label)
self.vel_text_item.setHtml(html)
self.vel_text_item.show()
self.vel_max_line.setPos(v * self.unit.scale)
self.vel_max_line.show()
else:
self.vel_text_item.hide()
self.vel_max_line.hide()
# Sequence speed plot
hs = data["sequence_vels"] * self.unit.scale
self.bar_graph.setOpts(height=hs)
if hs[-1] > 1e-3:
html = self.vel_html_fmt.format(hs[-1], self.unit.label)
self.sequences_text_item.setHtml(html)
def setup(self, win):
win.setWindowTitle("Acconeer presence detection example")
self.limit_lines = []
dashed_pen = pg.mkPen("k", width=2.5, style=QtCore.Qt.DashLine)
# Data plot
self.data_plot = win.addPlot(
row=0,
col=0,
title="Frame (blue), fast (orange), and slow (green)",
)
self.data_plot.setMenuEnabled(False)
self.data_plot.setMouseEnabled(x=False, y=False)
self.data_plot.hideButtons()
self.data_plot.showGrid(x=True, y=True)
self.data_plot.setLabel("bottom", "Depth (m)")
self.data_plot.setLabel("left", "Amplitude")
self.data_plot.setYRange(0, 2**16)
self.frame_scatter = pg.ScatterPlotItem(
size=10,
brush=utils.pg_brush_cycler(0),
)
self.fast_scatter = pg.ScatterPlotItem(
size=10,
brush=utils.pg_brush_cycler(1),
)
self.slow_scatter = pg.ScatterPlotItem(
size=10,
brush=utils.pg_brush_cycler(2),
)
self.data_plot.addItem(self.frame_scatter)
self.data_plot.addItem(self.fast_scatter)
self.data_plot.addItem(self.slow_scatter)
self.frame_smooth_limits = utils.SmoothLimits(
self.sensor_config.update_rate)
# Noise estimation plot
self.noise_plot = win.addPlot(
row=1,
col=0,
title="Noise",
)
self.noise_plot.setMenuEnabled(False)
self.noise_plot.setMouseEnabled(x=False, y=False)
self.noise_plot.hideButtons()
self.noise_plot.showGrid(x=True, y=True)
self.noise_plot.setLabel("bottom", "Depth (m)")
self.noise_plot.setLabel("left", "Amplitude")
self.noise_curve = self.noise_plot.plot(pen=utils.pg_pen_cycler())
self.noise_smooth_max = utils.SmoothMax(self.sensor_config.update_rate)
# Depthwise presence plot
self.move_plot = win.addPlot(
row=2,
col=0,
title="Depthwise presence",
)
self.move_plot.setMenuEnabled(False)
self.move_plot.setMouseEnabled(x=False, y=False)
self.move_plot.hideButtons()
self.move_plot.showGrid(x=True, y=True)
self.move_plot.setLabel("bottom", "Depth (m)")
self.move_plot.setLabel("left", "Norm. ampl.")
zero_curve = self.move_plot.plot(self.depths,
np.zeros_like(self.depths))
self.inter_curve = self.move_plot.plot()
self.total_curve = self.move_plot.plot()
self.move_smooth_max = utils.SmoothMax(
self.sensor_config.update_rate,
tau_decay=1.0,
tau_grow=0.25,
)
self.move_depth_line = pg.InfiniteLine(pen=pg.mkPen("k", width=1.5))
self.move_depth_line.hide()
self.move_plot.addItem(self.move_depth_line)
limit_line = pg.InfiniteLine(angle=0, pen=dashed_pen)
self.move_plot.addItem(limit_line)
self.limit_lines.append(limit_line)
fbi = pg.FillBetweenItem(
zero_curve,
self.inter_curve,
brush=utils.pg_brush_cycler(0),
)
self.move_plot.addItem(fbi)
fbi = pg.FillBetweenItem(
self.inter_curve,
self.total_curve,
brush=utils.pg_brush_cycler(1),
)
self.move_plot.addItem(fbi)
# Presence history plot
self.move_hist_plot = pg.PlotItem(title="Presence history")
self.move_hist_plot.setMenuEnabled(False)
self.move_hist_plot.setMouseEnabled(x=False, y=False)
self.move_hist_plot.hideButtons()
self.move_hist_plot.showGrid(x=True, y=True)
self.move_hist_plot.setLabel("bottom", "Time (s)")
self.move_hist_plot.setLabel(
"left", "Score (limited to {})".format(OUTPUT_MAX))
self.move_hist_plot.setXRange(-self.history_length_s, 0)
self.move_hist_plot.setYRange(0, OUTPUT_MAX)
self.move_hist_curve = self.move_hist_plot.plot(
pen=utils.pg_pen_cycler())
limit_line = pg.InfiniteLine(angle=0, pen=dashed_pen)
self.move_hist_plot.addItem(limit_line)
self.limit_lines.append(limit_line)
self.present_html_format = '<div style="text-align: center">' \
'<span style="color: #FFFFFF;font-size:15pt;">' \
"{}</span></div>"
not_present_html = '<div style="text-align: center">' \
'<span style="color: #FFFFFF;font-size:15pt;">' \
"{}</span></div>".format("No presence detected")
self.present_text_item = pg.TextItem(
fill=pg.mkColor(0xff, 0x7f, 0x0e, 200),
anchor=(0.5, 0),
)
self.not_present_text_item = pg.TextItem(
html=not_present_html,
fill=pg.mkColor(0x1f, 0x77, 0xb4, 180),
anchor=(0.5, 0),
)
pos = (-self.history_length_s / 2, 0.95 * OUTPUT_MAX)
self.present_text_item.setPos(*pos)
self.not_present_text_item.setPos(*pos)
self.move_hist_plot.addItem(self.present_text_item)
self.move_hist_plot.addItem(self.not_present_text_item)
self.present_text_item.hide()
# Sector plot
self.sector_plot = pg.PlotItem()
self.sector_plot.setAspectLocked()
self.sector_plot.hideAxis("left")
self.sector_plot.hideAxis("bottom")
self.sectors = []
pen = pg.mkPen("k", width=1)
span_deg = 25
for r in np.flip(np.arange(self.num_sectors) + 1):
sector = pg.QtGui.QGraphicsEllipseItem(-r, -r, r * 2, r * 2)
sector.setStartAngle(-16 * span_deg)
sector.setSpanAngle(16 * span_deg * 2)
sector.setPen(pen)
self.sector_plot.addItem(sector)
self.sectors.append(sector)
self.sectors.reverse()
sublayout = win.addLayout(row=3, col=0)
sublayout.layout.setColumnStretchFactor(0, 2)
sublayout.addItem(self.move_hist_plot, col=0)
sublayout.addItem(self.sector_plot, col=1)
self.setup_is_done = True
self.update_processing_config()