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Fix some CFAR bugs (SNR was wrong)
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0e89d773fc
commit
0e70d8642e
4 changed files with 38 additions and 10 deletions
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@ -213,6 +213,7 @@ int main(int argc, char **argv)
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// ambiguity process
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map = ambiguity->process(x, y);
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map->set_metrics();
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uint64_t t3 = current_time_us();
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double delta_t3 = (double)(t3-t2) / 1000;
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timing_name.push_back("ambiguity_processing");
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@ -226,7 +227,6 @@ int main(int argc, char **argv)
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timing_time.push_back(delta_t4);
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// output map data
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map->set_metrics();
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mapJson = map->to_json();
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mapJson = map->delay_bin_to_km(mapJson, fs);
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if (saveMap)
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@ -262,16 +262,16 @@ int main(int argc, char **argv)
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timing_time.push_back(delta_t6);
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std::cout << "CPI time (ms): " << delta_t6 << std::endl;
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// output CPI timestamp for updating data
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std::string t0_string = std::to_string(t0);
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socket_timestamp.write_some(asio::buffer(t0_string, 100), err);
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// output timing data
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timing->update(t0/1000, timing_time, timing_name);
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jsonTiming = timing->to_json();
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socket_timing.write_some(asio::buffer(jsonTiming, 1500), err);
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timing_time.clear();
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timing_name.clear();
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// output CPI timestamp for updating data
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std::string t0_string = std::to_string(t0);
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socket_timestamp.write_some(asio::buffer(t0_string, 100), err);
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}
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}
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});
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@ -16,6 +16,21 @@ Detection::Detection(std::vector<double> _delay, std::vector<double> _doppler, s
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snr = _snr;
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}
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std::vector<double> Detection::get_delay()
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{
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return delay;
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}
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std::vector<double> Detection::get_doppler()
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{
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return doppler;
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}
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std::vector<double> Detection::get_snr()
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{
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return snr;
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}
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uint8_t Detection::get_nDetections()
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{
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return delay.size();
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@ -13,13 +13,13 @@
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class Detection
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{
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private:
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/// @brief Detections in delay (bins)
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/// @brief Detections in delay (bins).
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std::vector<double> delay;
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/// @brief Detections in Doppler (Hz)
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/// @brief Detections in Doppler (Hz).
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std::vector<double> doppler;
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/// @brief Detections in SNR
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/// @brief Detections in SNR.
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std::vector<double> snr;
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public:
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@ -29,6 +29,18 @@ public:
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/// @return The object.
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Detection(std::vector<double> delay, std::vector<double> doppler, std::vector<double> snr);
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/// @brief Get detections in delay.
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/// @return Detections in delay (bins).
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std::vector<double> get_delay();
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/// @brief Get detections in Doppler.
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/// @return Detections in Doppler (Hz).
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std::vector<double> get_doppler();
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/// @brief Detections in SNR.
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/// @return Detections in SNR.
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std::vector<double> get_snr();
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/// @brief Get number of detections.
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/// @return Number of detections
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uint8_t get_nDetections();
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@ -44,7 +44,7 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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for (int j = 0; j < nDelayBins; j++)
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{
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mapRowSquare.push_back((double) std::abs(mapRow[j]*mapRow[j]));
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mapRowSnr.push_back((double)20 * std::log10(std::abs(mapRow[j])));
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mapRowSnr.push_back((double)10 * std::log10(std::abs(mapRow[j])) - x->noisePower);
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}
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for (int j = 0; j < nDelayBins; j++)
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{
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@ -84,13 +84,14 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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// detection if over threshold
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if (mapRowSquare[j] > threshold)
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{
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delay.push_back(j + x->delay[0] + 1);
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delay.push_back(j + x->delay[0]);
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doppler.push_back(x->doppler[i]);
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snr.push_back(mapRowSnr[j]);
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}
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iTrain.clear();
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}
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mapRowSquare.clear();
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mapRowSnr.clear();
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}
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// create detection
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