fix beamformer and qtimage

add ipy

flandre/config.py

@@ -99,12 +99,15 @@ class SoftwareConfig:
         j = json.loads(path.read_text(encoding='utf-8'))
         arg_d = dict()
         for field in dataclasses.fields(SoftwareConfig):
-            v = j[field.name]
+            try:
-            match field.type:
+                v = j[field.name]
-                case Path():
+                match field.type:
-                    arg_d[field.name] = Path(v)
+                    case Path():
-                case _:
+                        arg_d[field.name] = Path(v)
-                    arg_d[field.name] = v
+                    case _:
+                        arg_d[field.name] = v
+            except KeyError:
+                pass
         sc = SoftwareConfig(**arg_d)
         return sc
 

flandre/nodes/Beamformer.py

@@ -5,11 +5,14 @@ import cupy as cp
 import cv2
 import zmq
 
+from flandre.beamformer.das import gen_pwi
+from flandre.beamformer.dist import direct_dist
 from flandre.config import C
 from flandre.nodes.Node import Node
+from flandre.utils.Config import DeviceConfig
 from flandre.utils.Msg import BMMsg, ImageArgMsg, SetSeqMetaMsg, Msg, RfFrameWithMetaMsg, BeamformerMsg, \
     RequestRfFrameMsg, \
-    SeqMetaMsg
+    SeqMetaMsg, RfMatMsg
 from flandre.utils.RfFile import RfSequenceMeta
 from flandre.utils.RfMat import RfMat
 
@@ -28,22 +31,33 @@ class Beamformer(Node):
         self.muxer_req_socket.connect(C.muxer_rep_socket)
         self.c.poller.register(self.muxer_req_socket, zmq.POLLIN)
 
-    def process(self, data: RfMat, arg: ImageArgMsg):
+    def process_pwi(self, data: RfMat, arg: ImageArgMsg, pwi):
         if data is None:
             return
         d2 = (data
               .crop(arg.t_start, arg.t_end)
+              .dct(80, 1500)
+              .call(lambda m: m.astype(cp.int16))
+              .call(pwi)
+              .call(cp.asarray, order='C')
+              .argrelextrema()
+              .conv_guass(b=18 * 0.01)
               .rotate90()
               .grey()
               .cpu()
-              .resize((C.video_width, C.video_height))
+              # .resize((C.video_width, C.video_height))
-              .watermark()
+              # .watermark()
-              .call(cv2.cvtColor, cv2.COLOR_GRAY2RGBA)
+              # .call(cv2.cvtColor, cv2.COLOR_GRAY2RGBA)
               )
-        self.send(BMMsg(0, d2.__bytes__()))
+        # print(d2.m.dtype)
+        # input()
+        # self.send(BMMsg(0, d2.__bytes__()))
+        self.send(RfMatMsg(d2))
 
     def loop(self):
         time.sleep(1)
+        dc = DeviceConfig()
+        pwi,_ = gen_pwi(direct_dist(dc), dc)
         while True:
             self.muxer_req_socket.send(b'')
             r = dict(self.c.poller.poll())
@@ -66,4 +80,5 @@ class Beamformer(Node):
                 fb1 = cp.frombuffer(s, dtype=cp.int16)
                 seq_meta = RfSequenceMeta.from_name(seq_msg.name)
                 mat = RfMat(fb1.reshape(seq_meta.shape), b_msg.meta, seq_meta)
-                self.process(mat, arg_msg)
+                if seq_meta.mode == RfSequenceMeta.RfSequenceMode.PWI:
+                    self.process_pwi(mat, arg_msg, pwi)

flandre/nodes/ImageQt.py

@@ -1,14 +1,16 @@
+import logging
 import sys
 
+import numpy as np
 from PyQt6.QtCore import QByteArray, Qt
-from PyQt6.QtGui import QImage, QPixmap
+from PyQt6.QtGui import QImage, QPixmap, QKeyEvent
 from PyQt6.QtWidgets import QMainWindow, QApplication, QGraphicsPixmapItem, QGraphicsScene
 
 from flandre.config import C
 from flandre.nodes.Node import Node
 from flandre.pyqt.Image import Ui_MainWindow
 from flandre.pyqt.ZMQReceiver import ZMQReceiver
-from flandre.utils.Msg import KillMsg, Msg, BMMsg
+from flandre.utils.Msg import KillMsg, Msg, BMMsg, RfMatMsg, KeyPressMsg
 
 
 class Adv(QMainWindow, Ui_MainWindow):
@@ -23,6 +25,24 @@ class Adv(QMainWindow, Ui_MainWindow):
         self.s = QGraphicsScene()
         self.s.addItem(self.g)
         self.graphicsView.setScene(self.s)
+        self.grey = True
+        self.scale = False
+
+    def keyPressEvent(self, a0: QKeyEvent):
+        t = a0.text()
+        match t:
+            case 'm':
+                self.grey = not self.grey
+            case 's':
+                self.scale = not self.scale
+
+    def on_key(self, key):
+        # test for a specific key
+        logging.info(f'{type(key)}')
+        # if key == QtCore.Qt.Key_Return:
+        #     print('return key pressed')
+        # else:
+        #     print('key pressed: %i' % key)
 
     def on_zmq_event(self, msg: QByteArray):
         msg = Msg.decode_msg(msg.data())
@@ -39,10 +59,33 @@ class Adv(QMainWindow, Ui_MainWindow):
             )
             self.g.setPixmap(QPixmap(qImg))
             self.graphicsView.fitInView(self.s.sceneRect(), Qt.AspectRatioMode.KeepAspectRatio)
+        elif isinstance(msg, RfMatMsg):
+            w = msg.rfmat.m.shape[1]
+            h = msg.rfmat.m.shape[0]
+            if self.grey:
+                d2 = msg.rfmat.grey()
+                qImg = QImage(
+                    d2.__bytes__(),
+                    w, h, w,
+                    QImage.Format.Format_Grayscale8
+                )
+            else:
+                d2 = msg.rfmat.pseudo_color()
+                qImg = QImage(
+                    d2.__bytes__(),
+                    w, h, 3 * w,
+                    QImage.Format.Format_BGR888
+                )
+
+            self.g.setPixmap(QPixmap(qImg))
+            if self.scale:
+                self.graphicsView.fitInView(self.s.sceneRect())
+            else:
+                self.graphicsView.fitInView(self.s.sceneRect(), Qt.AspectRatioMode.KeepAspectRatio)
 
 
 class ImageQt(Node):
-    topics = [BMMsg]
+    topics = [BMMsg, RfMatMsg, KeyPressMsg]
 
     def __init__(self):
         super().__init__()

flandre/utils/Msg.py

@@ -4,7 +4,10 @@ import struct
 from enum import auto, Enum
 from pathlib import Path
 
-from flandre.utils.RfMeta import RfFrameMeta
+import numpy as np
+
+# from flandre.utils.RfMat import RfMat
+from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
 
 
 class BG(Enum):
@@ -48,6 +51,8 @@ class BG(Enum):
     SetDeviceSwitchMsg = auto()
     DeviceSwitchMsg = auto()
     HeaderByteMsg = auto()
+    RfMatMsg = auto()
+    KeyPressMsg = auto()
 
 
 class Msg:
@@ -134,6 +139,11 @@ class StrMsg(Msg):
     value: str = ''
 
 
+@dataclasses.dataclass
+class KeyPressMsg(StrMsg):
+    pass
+
+
 @dataclasses.dataclass
 class BoolMsg(Msg):
     value: bool
@@ -302,6 +312,32 @@ class RfFrameMsg(Msg):
         )
 
 
+class RfMatMsg(HeaderByteMsg):
+
+    def __init__(self, rfmat: 'RfMat'):
+        self.rfmat = rfmat
+
+        super().__init__(dict(
+            frame_meta=rfmat.frame_meta.json_str,
+            seq_meta=rfmat.seq_meta.json_str,
+            data_shape=rfmat.m.shape,
+            dtype=str(rfmat.m.dtype),
+        ), rfmat.m.tobytes())
+
+    @classmethod
+    def decode(cls, data) -> 'RfMatMsg':
+        from flandre.utils.RfMat import RfMat
+        msg = super(RfMatMsg, cls).decode(data)
+        dt = np.dtype(msg.header['dtype'])
+        mat = np.frombuffer(msg.data, dtype=dt).reshape(msg.header['data_shape'])
+        rfmat = RfMat(
+            mat,
+            RfFrameMeta.from_json_str(msg.header['frame_meta']),
+            RfSequenceMeta.from_json_str(msg.header['seq_meta']),
+        )
+        return RfMatMsg(rfmat)
+
+
 class RfFrameWithMetaMsg(HeaderByteMsg):
     @dataclasses.dataclass
     class Header:
@@ -327,6 +363,7 @@ class RfFrameWithMetaMsg(HeaderByteMsg):
         header = cls.Header(**msg.header)
         return RfFrameWithMetaMsg(header.sender, RfFrameMeta.from_name(header.meta), msg.data, header.is_zip)
 
+
 @dataclasses.dataclass
 class BytesMsg(Msg):
     value: bytes
@@ -402,7 +439,11 @@ if __name__ == '__main__':
     # c2 = c.decode(c.encode())
     # print(c2.header, c2.data)
 
-    c = RfFrameWithMetaMsg(1, RfFrameMeta(1, 11, 111), b'asdasdasdads',True)
+    # c = RfFrameWithMetaMsg(1, RfFrameMeta(1, 11, 111), b'asdasdasdads', True)
-    print(c.sender, c.meta, c.data, c._header)
+    # print(c.sender, c.meta, c.data, c._header)
-    c2 = c.decode(c.encode())
+    # c2 = c.decode(c.encode())
-    print(c2.sender, c2.meta, c2.data, c2._header)
+    # print(c2.sender, c2.meta, c2.data, c2._header)
+
+    rfmat = RfMat(np.array([1, 2, 3]), RfFrameMeta(), RfSequenceMeta())
+    e = RfMatMsg(rfmat).encode()
+    d = RfMatMsg.decode(e)

flandre/utils/RfMat.py

@@ -1,7 +1,20 @@
+import cupyx
 import cv2
+import matplotlib
 import numpy as np
 import cupy as cp
 
+import cupyx
+import cupyx.scipy.fft
+import cupyx.scipy.ndimage
+import cupyx.scipy.signal
+import cv2
+import scipy
+import scipy.signal
+from cupyx.scipy.fft import dctn, idctn
+from scipy.stats import norm as norms
+
+
 from flandre.utils.RfFile import RfFrame, RfSequenceMeta
 from flandre.utils.RfMeta import RfFrameMeta
 
@@ -74,6 +87,19 @@ class RfMat:
         m = self.norm().m
         return self.copy((m * 255).astype(self.p.uint8))
 
+    def pseudo_color(self):
+        m = self.norm().m * 0.7
+        p = self.p
+        h = m
+        s = p.zeros_like(h) + 1
+        v = p.zeros_like(h) + 1
+        hsv = p.stack((h, s, v), axis=2)
+        if p == cp:
+            rgb = matplotlib.colors.hsv_to_rgb(hsv.get())
+        else:
+            rgb = matplotlib.colors.hsv_to_rgb(hsv)
+        return self.copy((rgb * 255).astype(np.uint8))
+
     def cpu(self):
         if self.device == 'cpu':
             return self
@@ -139,6 +165,57 @@ class RfMat:
     def rotate90(self):
         return self.copy(self.p.rot90(self.m, k=3))
 
+    def dct(self, mmin, mmax):
+        dct_ = scipy.fft.dct
+        idct = scipy.fft.idct
+        if self.p == cp:
+            dct_ = cupyx.scipy.fft.dct
+            idct = cupyx.scipy.fft.idct
+        m_dct = dct_(self.m)
+        if self.seq_meta.d() == 2:
+            m_dct[:, mmax:] = 0
+            m_dct[:, :mmin] = 0
+        elif self.seq_meta.d() == 3:
+            m_dct[:, :, mmax:] = 0
+            m_dct[:, :, :mmin] = 0
+        else:
+            raise NotImplementedError()
+        return self.copy(idct(m_dct))
+
+    def argrelextrema(self, axis=1):
+        arg = scipy.signal.argrelextrema
+        m = self.m
+        p = self.p
+        if p == cp:
+            arg = cupyx.scipy.signal.argrelextrema
+        rm = p.zeros_like(m)
+        indies1 = arg(m, p.greater, axis=axis)
+        bl = p.zeros_like(m, dtype=p.bool_)
+        indies2 = arg(m, p.less, axis=axis)
+        bl2 = p.zeros_like(m, dtype=p.bool_)
+        bl[indies1] = True
+        bl2[indies2] = True
+        i1 = bl & (m > 0)
+        i2 = bl2 & (m < 0)
+        idx = i1 | i2
+        rm[idx] = m[idx].__abs__()
+        return self.copy(rm)
+
+    def conv_guass(self, b=0.01, axis=1):
+        cv = scipy.ndimage.convolve1d
+        m = self.m
+        p = self.p
+        if p == cp:
+            cv = cupyx.scipy.ndimage.convolve1d
+        rv = norms(loc=0, scale=b)
+        x2 = np.arange(-1, 1.1, 0.1)
+        w = rv.pdf(x2)
+        if p == cp:
+            w = cp.asarray(w)
+        rm = cv(m, w, axis=axis)
+        return self.copy(rm)
+
+
 
 if __name__ == '__main__':
     cp.zeros((1, 2, 3)) + 1

flandre/utils/RfMeta.py

@@ -1,9 +1,11 @@
+import dataclasses
 import json
+from dataclasses import dataclass
 from enum import Enum, auto
 from pathlib import Path
 from typing import Annotated, get_type_hints
 
-from attr import dataclass
+# from attr import dataclass
 
 COMMIT_KEY = 'COMMIT'
 
@@ -88,6 +90,19 @@ class RfMeta:
     def json_str(self):
         return json.dumps(self.__dict__)
 
+    @classmethod
+    def from_json_str(clz, j: str):
+        j = json.loads(j)
+        meta = clz()
+        for field in dataclasses.fields(clz):
+            v = j[field.name]
+            match v:
+                case None:
+                    pass
+                case _:
+                    meta.__setattr__(field.name, field.type(v))
+        return meta
+
 
 @dataclass
 class RfFrameMeta(RfMeta):
@@ -129,7 +144,49 @@ class RfSequenceMeta(RfMeta):
             res *= int(i)
         return res
 
+    def d(self):
+        return self.shape.__len__()
+
+    @property
+    def json_str(self):
+        d = dict()
+        for field in dataclasses.fields(RfSequenceMeta):
+            v = self.__getattribute__(field.name)
+            match v:
+                case self.RfSequenceMode():
+                    d[field.name] = v.name
+                case _:
+                    d[field.name] = v
+        return json.dumps(d)
+
+    @classmethod
+    def from_json_str(clz, j: str):
+        j = json.loads(j)
+        meta = RfSequenceMeta()
+        for field in dataclasses.fields(RfSequenceMeta):
+            v = j[field.name]
+            match field.name:
+                case 'mode':
+                    meta.mode = RfSequenceMeta.RfSequenceMode[v]
+                case _:
+                    if v is None:
+                        meta.__setattr__(field.name, None)
+                    else:
+                        meta.__setattr__(field.name, field.type(v))
+        return meta
+
 
 if __name__ == '__main__':
-    r = RfSequenceMeta.from_name('asdasd1,S=(64 1501),M=PWI,U=30')
+    # r = RfSequenceMeta.from_name('asdasd1,S=(64 1501),M=PWI,U=30')
+    # print(r)
+    # print(r.json_str)
+    #
+    # r2 = RfSequenceMeta.from_json_str(r.json_str)
+    # print(r2)
+
+    r = RfFrameMeta.from_name('E=1,S=123')
     print(r)
+    print(r.json_str)
+
+    r2 = RfFrameMeta.from_json_str(r.json_str)
+    print(r2)

flandre/utils/archive.py

@@ -22,8 +22,6 @@ def folder_to_zip(folder: Path):
         meta.blake2b = b2b
         print(i, b2b, file, meta.json_str)
 
-
-
         src = file
         dst = TEMP_FOLDER / f'{i}.zst'
         dstj = TEMP_FOLDER / f'{i}.json'
@@ -34,6 +32,25 @@ def folder_to_zip(folder: Path):
     subprocess.run(['zip', '-0', '-j', '-r', TEMP_FOLDER.parent / f'{folder.name}.zip', TEMP_FOLDER])
 
 
+def to_zip(li: list[tuple[Path, 'RfFrameMeta', list[tuple[Path, str]]]], temp_dst: Path, zipdst: Path):
+    shutil.rmtree(temp_dst)
+    temp_dst.mkdir(parents=True, exist_ok=True)
+    for i, (file, meta, farr) in enumerate(li):
+        b2b = hashlib.blake2b(file.read_bytes(), digest_size=4).hexdigest()
+        meta.blake2b = b2b
+        src = file
+        dst = temp_dst / f'{i}.zst'
+        subprocess.run(['zstd', '-f', src, '-o', dst])
+
+        dstj = temp_dst / f'{i}.json'
+        dstj.write_text(meta.json_str)
+
+        for srcf, suffix in farr:
+            dstf = temp_dst / f'{i}{suffix}'
+            shutil.copy(srcf, dstf)
+    subprocess.run(['zip', '-0', '-j', '-r', zipdst, temp_dst])
+
+
 def zip_to_bytes(file: Path, name: int):
     return zstd.loads(zipfile.ZipFile(file).open(f'{name}.zst').read())
 

pyproject.toml

@@ -18,6 +18,7 @@ dependencies = [
     "pyjoystick>=1.2.4",
     "platformdirs>=4.3.6",
     "zstd>=1.5.6.7",
+    "matplotlib>=3.10.1",
 ]
 
 [tool.setuptools.packages.find]

test/process_leagacy.py

@@ -0,0 +1,30 @@
+from pathlib import Path
+
+from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
+from flandre.utils.archive import to_zip
+
+if __name__ == '__main__':
+    # rr = RfSequenceMeta
+    tempdst = Path('/mnt/16T/private_dataset/ustemp')
+    arr = []
+    for (i,
+         file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')):
+        file = Path(file)
+        x, y, _ = file.name.split('_')
+        r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100)
+        arr.append((file, r))
+    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
+
+    arg = []
+
+    for i, item in enumerate(arr):
+        file, meta = item
+        meta.sequence_id = i
+        print(file.name, meta.sequence_id, meta.robot_x, meta.robot_y)
+        pic = file.with_suffix('.png')
+        farr = []
+        if pic.exists():
+            farr.append((pic, '.png'))
+        arg.append((file, meta, farr))
+
+    to_zip(arg, tempdst, Path('/mnt/16T/private_dataset/us/steel-top,U=30,M=PWI,S=(256 1502).zip'))

test/testcupy.py

@@ -0,0 +1,14 @@
+import json
+
+import cupy as cp
+
+import numpy as np
+
+if __name__ == '__main__':
+    arr = np.array([
+        [1, 2, 3],
+        [1, 2, 3],
+    ])
+    print(type(arr.shape))
+    print(np.frombuffer(arr.tobytes(), dtype=np.dtype(str(arr.dtype))).reshape(arr.shape))
+

uv.lock

@@ -253,6 +253,27 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b2/fb/08b3f4bf05da99aba8ffea52a558758def16e8516bc75ca94ff73587e7d3/construct-2.10.70-py3-none-any.whl", hash = "sha256:c80be81ef595a1a821ec69dc16099550ed22197615f4320b57cc9ce2a672cb30", size = 63020 },
 ]
 
+[[package]]
+name = "contourpy"
+version = "1.3.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "numpy" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/25/c2/fc7193cc5383637ff390a712e88e4ded0452c9fbcf84abe3de5ea3df1866/contourpy-1.3.1.tar.gz", hash = "sha256:dfd97abd83335045a913e3bcc4a09c0ceadbe66580cf573fe961f4a825efa699", size = 13465753 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/37/6b/175f60227d3e7f5f1549fcb374592be311293132207e451c3d7c654c25fb/contourpy-1.3.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:0ffa84be8e0bd33410b17189f7164c3589c229ce5db85798076a3fa136d0e509", size = 271494 },
+    { url = "https://files.pythonhosted.org/packages/6b/6a/7833cfae2c1e63d1d8875a50fd23371394f540ce809d7383550681a1fa64/contourpy-1.3.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:805617228ba7e2cbbfb6c503858e626ab528ac2a32a04a2fe88ffaf6b02c32bc", size = 255444 },
+    { url = "https://files.pythonhosted.org/packages/7f/b3/7859efce66eaca5c14ba7619791b084ed02d868d76b928ff56890d2d059d/contourpy-1.3.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ade08d343436a94e633db932e7e8407fe7de8083967962b46bdfc1b0ced39454", size = 307628 },
+    { url = "https://files.pythonhosted.org/packages/48/b2/011415f5e3f0a50b1e285a0bf78eb5d92a4df000553570f0851b6e309076/contourpy-1.3.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:47734d7073fb4590b4a40122b35917cd77be5722d80683b249dac1de266aac80", size = 347271 },
+    { url = "https://files.pythonhosted.org/packages/84/7d/ef19b1db0f45b151ac78c65127235239a8cf21a59d1ce8507ce03e89a30b/contourpy-1.3.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2ba94a401342fc0f8b948e57d977557fbf4d515f03c67682dd5c6191cb2d16ec", size = 318906 },
+    { url = "https://files.pythonhosted.org/packages/ba/99/6794142b90b853a9155316c8f470d2e4821fe6f086b03e372aca848227dd/contourpy-1.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:efa874e87e4a647fd2e4f514d5e91c7d493697127beb95e77d2f7561f6905bd9", size = 323622 },
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