From 82a019a6ad8492be83956d1cdc44492f90b9bdb3 Mon Sep 17 00:00:00 2001
From: 30hours <nathan@30hours.dev>
Date: Mon, 4 Mar 2024 11:10:50 +0000
Subject: [PATCH] Changed ellipsoid algorithm to use a master ellipsoid

---
 api/map/event/ellipsoid.js                    | 12 ++---
 api/map/event/radar.js                        |  9 +++-
 .../algorithm/coordreg/EllipsoidParametric.py | 48 +++++++++----------
 event/event.py                                |  2 +-
 4 files changed, 38 insertions(+), 33 deletions(-)

diff --git a/api/map/event/ellipsoid.js b/api/map/event/ellipsoid.js
index 3d27480..77c2517 100644
--- a/api/map/event/ellipsoid.js
+++ b/api/map/event/ellipsoid.js
@@ -11,21 +11,21 @@ function event_ellipsoid() {
     return response.json();
   })
   .then(data => {
+
+    if (!data["ellipsoids"]) {
+      return;
+    }
+
     if (Object.keys(data["ellipsoids"]).length !== 0) {
-      console.log('remove');
       removeEntitiesByType("ellipsoids");
     }
     else {
-      removeEntitiesOlderThanAndFade("ellipsoids", 30, 0.2);
-      console.log('fade');
+      removeEntitiesOlderThanAndFade("ellipsoids", 5, 0.5);
     }
     for (const key in data["ellipsoids"]) {
       if (data["ellipsoids"].hasOwnProperty(key)) {
         const points = data["ellipsoids"][key];
 
-        console.log(key);
-        console.log(points);
-
         for (const point in points) {
           addPoint(
             points[point][0], 
diff --git a/api/map/event/radar.js b/api/map/event/radar.js
index bb23dc2..fde9312 100644
--- a/api/map/event/radar.js
+++ b/api/map/event/radar.js
@@ -11,13 +11,18 @@ function event_radar() {
     return response.json();
   })
   .then(data => {
+
+    if (!data["detections_localised"]) {
+      return;
+    }
+
+    removeEntitiesOlderThanAndFade("detection", 10, 0.5);
+
     for (const key in data["detections_localised"]) {
       if (data["detections_localised"].hasOwnProperty(key)) {
         const target = data["detections_localised"][key];
         const points = target["points"];
 
-        removeEntitiesOlderThanAndFade("detection", 60, 0.5);
-
         for (const point in points) {
           addPoint(
             points[point][0], 
diff --git a/event/algorithm/coordreg/EllipsoidParametric.py b/event/algorithm/coordreg/EllipsoidParametric.py
index 2fe0052..299340e 100644
--- a/event/algorithm/coordreg/EllipsoidParametric.py
+++ b/event/algorithm/coordreg/EllipsoidParametric.py
@@ -75,39 +75,39 @@ class EllipsoidParametric:
                     radar["radar"]
                   )
 
-                samples = self.sample(ellipsoid, radar["delay"]*1000, 20)
+                samples = self.sample(ellipsoid, radar["delay"]*1000, 120)
                 target_samples[target][radar["radar"]] = samples
 
-            # find close points
+            # find close points - ellipsoid 1 = master
             radar_keys = list(target_samples[target].keys())
-            samples_intersect = {key: [] for key in radar_keys}
+            samples_intersect = []
             threshold = 200
-            for i in range(0, len(target_samples[target])-1):
 
-                for j in range(i+1, len(target_samples[target])):
-
-                    for point1 in target_samples[target][radar_keys[i]]:
-
-                        for point2 in target_samples[target][radar_keys[j]]:
-
-                            if Geometry.distance_ecef(point1, point2) < threshold:
-                                samples_intersect[radar_keys[i]].append(point1)
-                                samples_intersect[radar_keys[j]].append(point2)
+            # loop points in master ellipsoid
+            for point1 in target_samples[target][radar_keys[0]]:
+                valid_point = True
+                # loop over each other list
+                for i in range(1, len(radar_keys)):
+                    # loop points in other list
+                    if not any(Geometry.distance_ecef(point1, point2) < threshold 
+                      for point2 in target_samples[target][radar_keys[i]]):
+                        valid_point = False
+                        break
+                if valid_point:
+                    samples_intersect.append(point1)
 
             # remove duplicates and convert to LLA
             output[target] = {}
             output[target]["points"] = []
-            for key in radar_keys:
-              samples_intersect[key] = [list(t) for t in {tuple(point) for point in samples_intersect[key]}]
-              for i in range(len(samples_intersect[key])):
-                samples_intersect[key][i] = Geometry.ecef2lla(
-                  samples_intersect[key][i][0], 
-                  samples_intersect[key][i][1], 
-                  samples_intersect[key][i][2])
-                output[target]["points"].append([
-                  round(samples_intersect[key][i][0], 3),
-                  round(samples_intersect[key][i][1], 3),
-                  round(samples_intersect[key][i][2])])
+            for i in range(len(samples_intersect)):
+              samples_intersect[i] = Geometry.ecef2lla(
+                samples_intersect[i][0], 
+                samples_intersect[i][1], 
+                samples_intersect[i][2])
+              output[target]["points"].append([
+                round(samples_intersect[i][0], 3),
+                round(samples_intersect[i][1], 3),
+                round(samples_intersect[i][2])])
 
         return output
 
diff --git a/event/event.py b/event/event.py
index 85fbd99..baf9b2e 100644
--- a/event/event.py
+++ b/event/event.py
@@ -131,7 +131,7 @@ async def event():
             [x_rx, y_rx, z_rx],
             radar["radar"]
           )
-          points = ellipsoidParametric.sample(ellipsoid, radar["delay"]*1000, 50)
+          points = ellipsoidParametric.sample(ellipsoid, radar["delay"]*1000, 30)
           for i in range(len(points)):
             lat, lon, alt = Geometry.ecef2lla(points[i][0], points[i][1], points[i][2])
             points[i] = ([round(lat, 3), round(lon, 3), round(alt)])