351 lines
14 KiB
Python
351 lines
14 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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RADAR_TYPE_MALAMIRA 转换插件（本地原型）。
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把 Mala Mira rSlicer 原始三件套（.rad + .rd3|.rd7 + _G01.pos）转换成客户端规范化
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格式（.head + .data + .cor），并提供 probe 子命令出图核对 .rd3 数据体主序。
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本工具实现的 convert 契约 = 未来"服务端下发插件"的接口：
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plugin_id : RADAR_TYPE_MALAMIRA
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supports(fileset) -> bool
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convert(lineDir, prefix, outDir) -> {head, data, cor}
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字段映射规则见客户《雷达业务开发说明》§3.3 / §2.2.2 / §3.5。与文档的少量偏差见 README.md。
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"""
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import argparse
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import os
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import shutil
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import sys
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import numpy as np
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PLUGIN_ID = "RADAR_TYPE_MALAMIRA"
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# 规范化 .head 字段顺序（三维雷达，文档 §1.2.2）。
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HEAD_FIELD_ORDER = [
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"DATE", "START_TIME", "STOP_TIME", "UNITS", "MODE", "ANTENNAS", "FREQUENCY",
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"STACKS", "LAST_TRACE", "POSITIVE_DIRECTION", "SAMPLES", "TIME_INTERVAL",
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"TIMEWINDOW", "DEPTH", "ZERO_POSITION", "DIELECTRIC", "SOIL_TYPE", "BITS",
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"MARK", "DISTANCE_INTERVAL", "START_POSITION", "STOP_POSITION", "WHEEL_GPS",
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"WHEEL_CALIBRATION", "SCAN_SECOND", "NUMBER_OF_CH", "CH_X_OFFSETS",
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"RTK_X_OFFSET", "RTK_Y_OFFSET", "RTK_Z_OFFSET", "GAIN", "FILTER", "SMOOTH",
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"ENDIAN_TYPE",
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]
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# ---------------------------------------------------------------------------
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# 解析 .rad
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# ---------------------------------------------------------------------------
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def parse_rad(rad_path):
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"""读 Mala .rad（ASCII，KEY:VALUE 行）→ dict（保留原始键，值去首尾空白）。"""
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raw = {}
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with open(rad_path, "r", encoding="utf-8", errors="replace") as f:
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for line in f:
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if ":" not in line:
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continue
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key, _, val = line.partition(":")
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raw[key.strip()] = val.strip()
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return raw
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def _f(raw, key, default=None):
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v = raw.get(key, "")
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if v == "" or v is None:
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return default
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try:
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return float(v)
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except ValueError:
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return default
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def _i(raw, key, default=None):
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v = _f(raw, key, None)
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return int(round(v)) if v is not None else default
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def compute_dims(raw, data_path):
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"""从 .rad + 数据文件大小推导体维度并做一致性校验。
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返回 dict：positions(K)=道/切片数, channels(M), samples(N),
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last_trace(总扫描数=K*M), bits, bytes_per_sample。
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"""
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samples = _i(raw, "SAMPLES")
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channels = _i(raw, "NUMBER_OF_CH")
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last_trace = _i(raw, "LAST TRACE") # Mala 中 = 总扫描数(道 * 通道)
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if not samples or not channels or not last_trace:
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raise ValueError(
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"缺少 SAMPLES / NUMBER_OF_CH / LAST TRACE，无法推导维度: %s" % data_path)
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ext = os.path.splitext(data_path)[1].lower()
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bytes_per_sample = 2 if ext == ".rd3" else 4 if ext == ".rd7" else None
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if bytes_per_sample is None:
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raise ValueError("未知数据扩展名(仅 .rd3/.rd7): %s" % data_path)
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filesize = os.path.getsize(data_path)
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expect = last_trace * samples * bytes_per_sample
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if filesize != expect:
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raise ValueError(
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"数据体大小不符: %s 实际 %d 字节, 期望 LAST_TRACE(%d)*SAMPLES(%d)*%d = %d"
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% (data_path, filesize, last_trace, samples, bytes_per_sample, expect))
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if last_trace % channels != 0:
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raise ValueError(
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"LAST_TRACE(%d) 不能被 NUMBER_OF_CH(%d) 整除，无法切分道/通道"
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% (last_trace, channels))
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positions = last_trace // channels
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return {
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"positions": positions,
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"channels": channels,
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"samples": samples,
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"last_trace": last_trace,
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"bits": bytes_per_sample * 8,
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"bytes_per_sample": bytes_per_sample,
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"filesize": filesize,
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}
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# ---------------------------------------------------------------------------
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# .rad -> .head
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# ---------------------------------------------------------------------------
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def build_head(raw, dims):
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"""按 §3.3 把 .rad 映射成规范化 .head 字段 dict。无对应字段留空。"""
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ch_y = raw.get("CH_Y_OFFSETS", "").split()
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head = {k: "" for k in HEAD_FIELD_ORDER}
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head.update({
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"DATE": raw.get("DATE", ""),
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"START_TIME": raw.get("TIME", ""),
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"UNITS": raw.get("UNITS", ""),
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"MODE": "距离模式", # Mala 默认距离模式(§3.3 要点 4)
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"ANTENNAS": raw.get("ANTENNAS", ""),
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"FREQUENCY": raw.get("FREQUENCY", ""),
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"STACKS": raw.get("STACKS", ""),
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"LAST_TRACE": str(dims["last_trace"]),
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"POSITIVE_DIRECTION": raw.get("POSITIVE DIRECTION", ""),
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"SAMPLES": str(dims["samples"]),
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"TIME_INTERVAL": raw.get("TIME INTERVAL", ""),
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"TIMEWINDOW": raw.get("TIMEWINDOW", ""),
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"BITS": str(dims["bits"]),
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"DISTANCE_INTERVAL": raw.get("DISTANCE INTERVAL", ""),
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"START_POSITION": raw.get("START POSITION", ""),
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"STOP_POSITION": raw.get("STOP POSITION", ""),
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"WHEEL_CALIBRATION": raw.get("WHEEL CALIBRATION", ""),
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"NUMBER_OF_CH": str(dims["channels"]),
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"CH_X_OFFSETS": raw.get("CH_X_OFFSETS", "").strip(),
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"RTK_Y_OFFSET": ch_y[0] if ch_y else "", # §3.3：取 CH_Y_OFFSETS 首元素
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"ENDIAN_TYPE": "1", # Mala rd3 小端(§3.3 要点 1)
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})
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return head
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def write_head(head, out_path):
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with open(out_path, "w", encoding="utf-8", newline="\n") as f:
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for k in HEAD_FIELD_ORDER:
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f.write("%s:%s\n" % (k, head.get(k, "")))
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# ---------------------------------------------------------------------------
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# .pos -> .cor (§2.2.2 场景二)
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# ---------------------------------------------------------------------------
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def convert_pos_to_cor(pos_path, cor_path):
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""".pos(本地坐标: 序号 北 东 高程) → .cor(序号 纬度 N 经度 E 高程 M 解状态=4)。
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注：.pos 为本地投影坐标(米)，按文档直接映射 北→纬度 / 东→经度；N/E/M 为占位标识，
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解状态固定填 4(RTK Fixed)。单线渲染不依赖 .cor 做世界配准，多线阶段再用。
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"""
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rows = []
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with open(pos_path, "r", encoding="utf-8", errors="replace") as f:
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for line in f:
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s = line.strip()
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if not s or s.upper().startswith("UNITS"):
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continue
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parts = s.split()
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if len(parts) < 4:
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continue
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idx = int(float(parts[0]))
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north, east, elev = float(parts[1]), float(parts[2]), float(parts[3])
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rows.append((idx, north, east, elev))
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with open(cor_path, "w", encoding="utf-8", newline="\n") as f:
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f.write("VERSION:1\n")
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for idx, north, east, elev in rows:
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f.write("%d\t%.6f\tN\t%.6f\tE\t%.6f\tM\t4\n" % (idx, north, east, elev))
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return len(rows)
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# ---------------------------------------------------------------------------
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# 测线发现
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# ---------------------------------------------------------------------------
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def find_lines(line_dir):
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"""遍历目录，返回有效测线 [(prefix, rad, data, pos|None)]（§3.2 抽取规则）。"""
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out = []
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for name in sorted(os.listdir(line_dir)):
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if not name.lower().endswith(".rad"):
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continue
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prefix = name[:-4]
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rad = os.path.join(line_dir, name)
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data = None
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for ext in (".rd3", ".rd7"):
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cand = os.path.join(line_dir, prefix + ext)
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if os.path.exists(cand):
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data = cand
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break
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if data is None:
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print(" [跳过] %s 缺 .rd3/.rd7 数据文件" % prefix, file=sys.stderr)
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continue
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pos = os.path.join(line_dir, prefix + "_G01.pos")
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out.append((prefix, rad, data, pos if os.path.exists(pos) else None))
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return out
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# ---------------------------------------------------------------------------
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# convert
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# ---------------------------------------------------------------------------
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def convert_line(prefix, rad, data, pos, out_dir):
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raw = parse_rad(rad)
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dims = compute_dims(raw, data)
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os.makedirs(out_dir, exist_ok=True)
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head = build_head(raw, dims)
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write_head(head, os.path.join(out_dir, prefix + ".head"))
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shutil.copyfile(data, os.path.join(out_dir, prefix + ".data")) # §3.5 原样拷贝
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cor_n = convert_pos_to_cor(pos, os.path.join(out_dir, prefix + ".cor")) if pos else 0
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print("[%s] 道(K)=%d 通道(M)=%d 采样(N)=%d bits=%d .data=%.1fMB .cor=%d点%s"
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% (prefix, dims["positions"], dims["channels"], dims["samples"],
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dims["bits"], dims["filesize"] / 1e6, cor_n,
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"" if pos else " (无轨迹)"))
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return dims
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def cmd_convert(args):
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if args.prefix:
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rad = os.path.join(args.line_dir, args.prefix + ".rad")
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data = None
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for ext in (".rd3", ".rd7"):
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if os.path.exists(os.path.join(args.line_dir, args.prefix + ext)):
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data = os.path.join(args.line_dir, args.prefix + ext)
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pos = os.path.join(args.line_dir, args.prefix + "_G01.pos")
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convert_line(args.prefix, rad, data, pos if os.path.exists(pos) else None,
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args.out)
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else:
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lines = find_lines(args.line_dir)
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print("发现 %d 条测线，输出 → %s" % (len(lines), args.out))
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for prefix, rad, data, pos in lines:
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convert_line(prefix, rad, data, pos, args.out)
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# ---------------------------------------------------------------------------
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# probe：核对 .rd3 数据体主序
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# ---------------------------------------------------------------------------
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def load_flat(data_path, dims, endian="<"):
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dt = np.dtype("%si%d" % (endian, dims["bytes_per_sample"]))
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flat = np.fromfile(data_path, dtype=dt)
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n = dims["last_trace"] * dims["samples"]
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if flat.size != n:
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raise ValueError("读到 %d 个样本，期望 %d" % (flat.size, n))
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return flat.astype(np.float32)
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def _clip(img):
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"""按 99 分位绝对值裁剪对比度，返回 (img, vmax)。"""
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v = np.percentile(np.abs(img), 99) or 1.0
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return img, v
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def cmd_probe(args):
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import matplotlib
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matplotlib.use("Agg")
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import matplotlib.pyplot as plt
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raw = parse_rad(os.path.join(args.line_dir, args.prefix + ".rad"))
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data = None
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for ext in (".rd3", ".rd7"):
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cand = os.path.join(args.line_dir, args.prefix + ext)
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if os.path.exists(cand):
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data = cand
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dims = compute_dims(raw, data)
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K, M, N = dims["positions"], dims["channels"], dims["samples"]
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flat = load_flat(data, dims, "<" if args.endian == "little" else ">")
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os.makedirs(args.out, exist_ok=True)
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print("[probe] %s K(道)=%d M(通道)=%d N(采样)=%d amp[min=%.0f max=%.0f mean|.|=%.1f]"
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% (args.prefix, K, M, N, flat.min(), flat.max(), np.abs(flat).mean()))
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ch = args.channel
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# H1: position-major sweeps 顺序 = (pos0:ch0..chM-1)(pos1:..) → reshape(K,M,N)
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h1 = flat.reshape(K, M, N)
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bscan_h1 = h1[:, ch, :].T # (N 采样 × K 道)
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# H2: channel-major sweeps 顺序 = (ch0:pos0..posK-1)(ch1:..) → reshape(M,K,N)
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h2 = flat.reshape(M, K, N)
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bscan_h2 = h2[ch, :, :].T # (N 采样 × K 道)
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# C-scan（H1 主序下某采样深度的 道×通道 平面）
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cscan_h1 = h1[:, :, args.depth] # (K × M)
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panels = [
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("H1 position-major B-scan ch%d" % ch, bscan_h1, "trace (K)", "sample (N)"),
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("H2 channel-major B-scan ch%d" % ch, bscan_h2, "trace (K)", "sample (N)"),
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("H1 C-scan @sample %d" % args.depth, cscan_h1, "channel (M)", "trace (K)"),
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]
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fig, axes = plt.subplots(1, 3, figsize=(18, 6))
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for axp, (title, img, xl, yl) in zip(axes, panels):
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_, vmax = _clip(img)
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axp.imshow(img, aspect="auto", cmap="gray", vmin=-vmax, vmax=vmax,
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interpolation="nearest")
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axp.set_title(title)
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axp.set_xlabel(xl)
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axp.set_ylabel(yl)
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fig.suptitle("%s %s -- main-order check: the coherent B-scan (layers/hyperbolas) is correct"
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% (PLUGIN_ID, args.prefix), fontsize=12)
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fig.tight_layout()
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out_png = os.path.join(args.out, "probe_%s.png" % args.prefix)
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fig.savefig(out_png, dpi=110)
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print("[probe] 出图 → %s" % out_png)
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# ---------------------------------------------------------------------------
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def cmd_info(args):
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lines = find_lines(args.line_dir)
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print("目录 %s 发现 %d 条测线 (plugin=%s)" % (args.line_dir, len(lines), PLUGIN_ID))
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for prefix, rad, data, pos in lines:
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raw = parse_rad(rad)
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dims = compute_dims(raw, data)
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print(" %-18s K=%-5d M=%-3d N=%-4d bits=%d dx=%s tw=%sns ch_x=%d个 轨迹=%s"
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% (prefix, dims["positions"], dims["channels"], dims["samples"],
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dims["bits"], raw.get("DISTANCE INTERVAL", "?"),
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raw.get("TIMEWINDOW", "?"),
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len(raw.get("CH_X_OFFSETS", "").split()),
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"有" if pos else "无"))
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def main():
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ap = argparse.ArgumentParser(description="RADAR_TYPE_MALAMIRA 转换插件(本地原型)")
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sub = ap.add_subparsers(dest="cmd", required=True)
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p = sub.add_parser("info", help="列出目录内测线 + 维度校验")
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p.add_argument("line_dir")
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p.set_defaults(func=cmd_info)
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p = sub.add_parser("convert", help="转换为规范化 .head/.data/.cor")
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p.add_argument("line_dir")
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p.add_argument("--prefix", default=None, help="只转某条线(默认全部)")
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p.add_argument("--out", required=True, help="输出目录")
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p.set_defaults(func=cmd_convert)
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p = sub.add_parser("probe", help="出图核对 .rd3 数据体主序")
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p.add_argument("line_dir")
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p.add_argument("--prefix", required=True)
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p.add_argument("--out", required=True)
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p.add_argument("--channel", type=int, default=0)
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p.add_argument("--depth", type=int, default=200, help="C-scan 取的采样深度")
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p.add_argument("--endian", choices=["little", "big"], default="little")
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p.set_defaults(func=cmd_probe)
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args = ap.parse_args()
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args.func(args)
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if __name__ == "__main__":
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main()
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