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Changed ellipsoid algorithm to use a master ellipsoid

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30hours 2024-03-04 11:10:50 +00:00
parent 56439cbaf0
commit 82a019a6ad
4 changed files with 38 additions and 33 deletions
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12
api/map/event/ellipsoid.js
View file

@ -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],

9
api/map/event/radar.js
View file

@ -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],

46
event/algorithm/coordreg/EllipsoidParametric.py
View file

@ -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])
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[key][i][0], 3),
round(samples_intersect[key][i][1], 3),
round(samples_intersect[key][i][2])])
round(samples_intersect[i][0], 3),
round(samples_intersect[i][1], 3),
round(samples_intersect[i][2])])
return output

2
event/event.py
View file

@ -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)])