Fixed centroid process

config/config.yml

@@ -26,6 +26,7 @@ process:
     nTrain: 20
     minDelay: 5
     minDoppler: 20
+    nCentroid: 6
 
 network:
   ip: 0.0.0.0

config/radar4.yml

@@ -26,6 +26,7 @@ process:
     nTrain: 6
     minDelay: 5
     minDoppler: 15
+    nCentroid: 6
 
 network:
   ip: 0.0.0.0

src/blah2.cpp

@@ -148,7 +148,8 @@ int main(int argc, char **argv)
 
   // setup process detection
   double pfa, minDoppler;
-  int8_t nGuard, nTrain, minDelay;
+  int8_t nGuard, nTrain;
+  int8_t minDelay;
   tree["process"]["detection"]["pfa"] >> pfa;
   tree["process"]["detection"]["nGuard"] >> nGuard;
   tree["process"]["detection"]["nTrain"] >> nTrain;
@@ -157,7 +158,9 @@ int main(int argc, char **argv)
   CfarDetector1D *cfarDetector1D = new CfarDetector1D(pfa, nGuard, nTrain, minDelay, minDoppler);
 
   // setup process centroid
-  Centroid *centroid = new Centroid(nGuard, nGuard, 1/tCpi);
+  uint16_t nCentroid;
+  tree["process"]["detection"]["nCentroid"] >> nCentroid;
+  Centroid *centroid = new Centroid(nCentroid, nCentroid, 1/tCpi);
 
   // setup output data
   bool saveMap;

src/process/detection/Centroid.cpp

@@ -4,7 +4,7 @@
 #include <cmath>
 
 // constructor
-Centroid::Centroid(int8_t _nDelay, int8_t _nDoppler, double _resolutionDoppler)
+Centroid::Centroid(uint16_t _nDelay, uint16_t _nDoppler, double _resolutionDoppler)
 {
   // input
   nDelay = _nDelay;
@@ -25,7 +25,7 @@ Detection *Centroid::process(Detection *x)
   snr = x->get_snr();
 
   // centroid data
-  int8_t delayMin, delayMax;
+  uint16_t delayMin, delayMax;
   double dopplerMin, dopplerMax;
   bool isCentroid;
   std::vector<double> delay2, doppler2, snr2;
@@ -33,8 +33,8 @@ Detection *Centroid::process(Detection *x)
   // loop over every detection
   for (size_t i = 0; i < snr.size(); i++)
   {
-    delayMin = delay[i] - nDelay;
-    delayMax = delay[i] + nDelay;
+    delayMin = (int)(delay[i]) - nDelay;
+    delayMax = (int)(delay[i]) + nDelay;
     dopplerMin = doppler[i] - (nDoppler * resolutionDoppler);
     dopplerMax = doppler[i] + (nDoppler * resolutionDoppler);
     isCentroid = true;

src/process/detection/Centroid.h

@@ -3,7 +3,6 @@
 /// @brief A class to remove duplicate target detections.
 /// @details If detection SNR is larger than neighbours, then remove.
 /// @author 30hours
-/// @todo Still a bug where sometimes 2 consecutive range detections get through.
 
 #ifndef CENTROID_H
 #define CENTROID_H
@@ -15,10 +14,10 @@ class Centroid
 {
 private:
   /// @brief Number of delay bins to check.
-  int8_t nDelay;
+  uint16_t nDelay;
 
   /// @brief Number of Doppler bins to check.
-  int8_t nDoppler;
+  uint16_t nDoppler;
 
   /// @brief Doppler resolution to convert Hz to bins (Hz).
   double resolutionDoppler;
@@ -32,7 +31,7 @@ public:
   /// @param nDoppler Number of Doppler bins to check.
   /// @param resolutionDoppler Doppler resolution to convert Hz to bins (Hz).
   /// @return The object.
-  Centroid(int8_t nDelay, int8_t nDoppler, double resolutionDoppler);
+  Centroid(uint16_t nDelay, uint16_t nDoppler, double resolutionDoppler);
 
   /// @brief Destructor.
   /// @return Void.

src/process/detection/Interpolate.h

@@ -0,0 +1,48 @@
+/// @file Interpolate.h
+/// @class Interpolate
+/// @brief A class to remove duplicate target detections.
+/// @details If detection SNR is larger than neighbours, then remove.
+/// @author 30hours
+/// @todo Still a bug where sometimes 2 consecutive range detections get through.
+
+#ifndef CENTROID_H
+#define CENTROID_H
+
+#include <Map.h>
+#include <Detection.h>
+#include <stdint.h>
+
+class Centroid
+{
+private:
+  /// @brief Number of delay bins to check.
+  int8_t nDelay;
+
+  /// @brief Number of Doppler bins to check.
+  int8_t nDoppler;
+
+  /// @brief Doppler resolution to convert Hz to bins (Hz).
+  double resolutionDoppler;
+
+  /// @brief Pointer to detection data to store result.
+  Detection *detection;
+
+public:
+  /// @brief Constructor.
+  /// @param nDelay Number of delay bins to check.
+  /// @param nDoppler Number of Doppler bins to check.
+  /// @param resolutionDoppler Doppler resolution to convert Hz to bins (Hz).
+  /// @return The object.
+  Interpolate(int8_t nDelay, int8_t nDoppler, double resolutionDoppler);
+
+  /// @brief Destructor.
+  /// @return Void.
+  ~Interpolate();
+
+  /// @brief Implement the 1D CFAR detector.
+  /// @param x Detections from the 1D CFAR detector.
+  /// @return Centroided detections.
+  Detection *process(Detection *x);
+};
+
+#endif